# UvA Rescue Team Logfile
#
# Created Date: 28-07-2010
# Created Time: 11:01
#
# Machine: U013153
#
# Original Filename: Logs\Hercules.log

NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 0}
SEN {Time 11.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 11.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 11.2481} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.2738} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.461} {Name Sonar15 Range 5.1816}
SEN {Time 11.3195} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.169,0.169,0.172,0.172,0.193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.266,3.242,3.377,3.377,3.377,0,0,0,0,0,0,0,0,3.112,3.108,3.107,3.107,3.097,3.094,3.091,3.089,3.074,3.072,3.072,3.068,3.068,3.061,3.061,3.058,0.141,0.133,0.133,0.141,0.141,0.15,0.153,0.153,0.153,0.153,0.153,0.158,3.028,3.028,3.029,3.029,3.029,3.029,3.029,0.164,0.16,0.156,0.156,0.156,0.164,0.165,0.169,3.526,3.527,3.535,3.527,3.526,3.525,3.525,3.524,3.525,3.527,3.531,3.537,3.537,3.537,3.538,3.541,3.538,3.538,3.538,3.538,3.537,3.537,3.541,3.541,3.537,3.546,3.546,3.546,3.547,3.554,3.556,3.566,3.566,3.568,3.566,3.569,3.569,3.569,3.576,3.586,3.588,3.591,3.596,3.596,3.6,3.6,3.605,3.61,3.614,3.625,3.631,3.637,3.652,3.664,3.665,3.667,3.668,3.675,3.671,3.681,3.681,3.691,3.702,3.709,3.713,3.737,3.74,3.75,3.752,3.769,3.772,3.774,3.785,3.796,3.797,3.815,3.818,3.827,3.832,3.846,3.863,3.879,3.88,3.88,3.904,3.916,3.922,3.94,3.946,3.964,3.984,3.991,4.005,4.007,4.02,4.036,4.061,4.068,4.081,4.088,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,4.017,0,3.922,3.893,3.819,3.787,3.76,3.73,3.711,3.688,3.652,3.634,3.608,3.58,3.559,3.536,3.523,3.497,3.48,3.456,3.432,3.403,3.39,3.363,3.349,3.318,3.304,3.29,3.272,3.245,3.228,3.219,3.198,3.181,3.163,3.148,3.136,3.123,3.117,3.101,3.085,3.078,3.05,3.048,3.034,3.023,2.997,2.991,2.959,2.955,2.941,2.934,2.925,2.917,2.903,2.899,2.884,2.861,2.853,2.851,2.833,2.818,2.804,2.8,2.791,2.78,2.764,2.754,2.744,2.735,2.728,2.713,2.712,2.707,2.7,2.699,2.686,2.676,2.665,2.652,2.644,2.641,2.629,2.629,2.61,2.6,2.593,2.59,2.586,2.583,2.575,2.57,2.56,2.558,2.551,2.534,2.533,2.532,2.532,2.517,2.517,2.517,2.517,2.505,2.499,2.488,2.482,2.48,2.479,2.474,2.472,2.471,2.46,2.459,2.455,2.449,2.439,2.438,2.433,2.432,2.429,2.429,2.428,2.426,2.417,2.415,2.413,2.411,2.409,2.409,2.409,2.407,2.406,2.398,2.398,2.398,2.397,2.392,2.391,2.391,2.391,2.389,2.388,2.387,2.386,2.386,2.386,2.386,2.384,2.387,2.385,2.384,2.385,2.385,2.385,2.387,2.387,2.387,2.387,2.387,2.391,2.392,2.393,2.394,2.397,2.398,2.399,2.403,2.404,2.404,2.404,2.406,2.408,2.41,2.415,2.421,2.425,2.425,2.425,2.426,2.426,2.428,2.435,2.437,2.442,2.444,2.45,2.457,2.461,2.462,2.468,2.472,2.476,2.481,2.484,2.485,2.488,2.499,2.499,2.502,2.51,2.515,2.525,2.534,2.537,2.538,2.539,2.541,2.559,2.561,2.571,2.575,2.578,2.584,2.585,2.597,2.612,2.625,2.626,2.637,2.641,2.653,2.665,2.673,2.674,2.681,2.691,2.698,2.701,2.704,2.722,2.722,2.738,2.741,2.751,2.762,2.771,2.78,2.793,2.799,2.824,2.827,2.845,2.856,2.865,2.87,2.877,2.897,2.911,2.924,2.939,2.955,2.955,2.978,2.983,2.997,3.019,3.026,3.033,3.042,3.059,3.077,3.097,3.105,3.136,3.148,3.155,3.172,3.185,3.207,3.22,3.229,3.249,3.277,3.285,3.304,3.331,3.355,3.358,3.386,3.401,3.435,3.453,3.469,3.488,3.514,3.539,3.561,3.588,3.621,3.64,3.664,3.689,3.715,3.74,3.772,3.797,3.817,3.867,3.888,3.912,3.985,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.309,3.307,3.294,3.291,3.272,3.265,3.261,3.26,3.245,3.229,3.218,3.213,3.201,3.199,3.196,3.182,3.18,3.172,3.165,3.151,3.147,3.137,3.134,3.121,3.118,3.108,3.106,3.105,3.101,3.088,3.082,3.081,3.081,3.063,3.061,3.058,3.051,3.049,3.045,3.041,3.041,3.037,3.036,3.024,3.023,3.021,3.016,3.013,3.005,3.004,3,2.998,2.998,3,3,3,3,3,3.003,2.996,2.994,2.994,2.994,2.987,2.986,2.986,2.981,2.981,2.979,2.981,2.979,2.973,2.973,2.982,2.982,2.982,2.983,2.983,2.976,2.974,2.976,2.974,2.974,2.981,2.984,2.987,2.987,2.987,2.987,2.99,2.997,2.999,2.999,3.006,3.004,3.006,3.007,3.008,3.012,3.014,3.014,3.018,3.024,3.028,3.032,3.033,3.034,3.038,3.047,3.05,3.05,3.052,3.064,3.067,3.073,3.075,3.081,3.081,3.09,3.097,3.104,3.111,3.112,3.112,3.112,3.113,3.126,3.128,3.139,3.144,3.146,3.153,3.162,3.165,3.174,3.174,3.18,3.193,3.2,3.209,3.211,3.213,3.218,3.225,3.234,3.246,3.248,3.266,3.267,3.28,3.28,3.284,3.285,3.82,3.828,3.834,3.845,3.86,3.868,3.889,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 19.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 19.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 19.4208} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.5748}
SEN {Time 19.4915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.18,0.174,0.174,0.18,0.18,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.242,3.242,3.372,3.372,0,0,0,0,0,0,0,0,0,3.116,3.108,3.099,3.096,3.095,3.09,3.09,3.086,3.078,3.073,3.07,3.065,3.065,3.062,3.048,0.151,0.146,0.145,0.145,0.145,0.145,0.146,0.151,0.151,0.15,0.151,0.16,3.024,3.037,3.037,3.037,3.036,3.036,0.165,0.163,0.163,0.16,0.157,0.157,0.157,0.157,0.166,3.444,3.525,3.529,3.532,3.532,3.532,3.533,3.532,3.529,3.528,3.528,3.525,3.528,3.528,3.532,3.532,3.533,3.534,3.534,3.534,3.538,3.538,3.54,3.548,3.548,3.548,3.548,3.548,3.552,3.553,3.557,3.562,3.562,3.564,3.565,3.566,3.566,3.568,3.578,3.586,3.587,3.594,3.595,3.597,3.597,3.599,3.606,3.608,3.618,3.623,3.639,3.647,3.652,3.653,3.656,3.662,3.672,3.675,3.678,3.679,3.687,3.704,3.707,3.707,3.713,3.731,3.757,3.761,3.761,3.767,3.773,3.781,3.784,3.795,3.801,3.818,3.82,3.821,3.831,3.845,3.847,3.865,3.879,3.883,3.905,3.915,3.929,3.946,3.96,3.967,3.976,3.981,4.001,4.004,4.023,4.041,4.055,4.067,4.084,4.093,0.016,0.016,0,0,0,0,0,4.01,3.981,3.981,3.947,3.91,3.864,3.814,3.79,3.756,3.74,3.707,3.686,3.657,3.638,3.601,3.582,3.567,3.551,3.521,3.496,3.484,3.461,3.437,3.408,3.381,3.377,3.346,3.326,3.303,3.294,3.27,3.248,3.232,3.227,3.207,3.188,3.168,3.153,3.126,3.124,3.107,3.096,3.092,3.072,3.06,3.033,3.026,3.009,2.992,2.986,2.972,2.955,2.947,2.942,2.929,2.915,2.903,2.888,2.884,2.861,2.854,2.846,2.842,2.822,2.817,2.802,2.79,2.774,2.77,2.762,2.75,2.749,2.735,2.723,2.713,2.707,2.702,2.698,2.68,2.673,2.656,2.65,2.64,2.638,2.637,2.628,2.612,2.609,2.593,2.585,2.582,2.578,2.574,2.569,2.564,2.552,2.546,2.54,2.537,2.537,2.532,2.52,2.519,2.507,2.502,2.502,2.502,2.492,2.481,2.481,2.476,2.473,2.472,2.472,2.468,2.455,2.447,2.445,2.444,2.443,2.443,2.439,2.435,2.43,2.428,2.428,2.424,2.413,2.412,2.412,2.41,2.41,2.408,2.402,2.402,2.401,2.399,2.397,2.397,2.397,2.396,2.394,2.394,2.394,2.393,2.391,2.391,2.391,2.393,2.393,2.393,2.391,2.386,2.383,2.383,2.383,2.383,2.384,2.39,2.385,2.385,2.392,2.393,2.392,2.395,2.397,2.397,2.397,2.398,2.401,2.402,2.402,2.403,2.404,2.407,2.413,2.414,2.424,2.424,2.424,2.427,2.428,2.428,2.431,2.435,2.439,2.441,2.444,2.448,2.45,2.461,2.463,2.466,2.468,2.472,2.485,2.487,2.489,2.497,2.497,2.505,2.505,2.514,2.517,2.522,2.524,2.532,2.536,2.551,2.551,2.562,2.572,2.572,2.573,2.583,2.584,2.588,2.599,2.61,2.623,2.632,2.642,2.644,2.647,2.664,2.672,2.676,2.679,2.691,2.697,2.708,2.714,2.726,2.727,2.741,2.743,2.755,2.773,2.781,2.798,2.798,2.806,2.82,2.834,2.852,2.855,2.867,2.869,2.882,2.899,2.911,2.927,2.937,2.953,2.956,2.975,2.982,3,3.015,3.029,3.033,3.049,3.065,3.081,3.104,3.115,3.128,3.145,3.158,3.163,3.188,3.204,3.224,3.226,3.253,3.281,3.284,3.323,3.332,3.342,3.359,3.382,3.405,3.439,3.453,3.477,3.487,3.516,3.529,3.569,3.596,3.62,3.643,3.668,3.686,3.718,3.738,3.781,3.8,3.831,3.865,3.895,3.918,3.95,4.044,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.31,3.306,3.298,3.287,3.28,3.261,3.26,3.258,3.24,3.23,3.215,3.213,3.211,3.202,3.197,3.188,3.174,3.169,3.159,3.155,3.151,3.139,3.133,3.12,3.119,3.114,3.105,3.103,3.1,3.093,3.09,3.081,3.076,3.067,3.063,3.062,3.052,3.05,3.045,3.044,3.042,3.03,3.03,3.029,3.026,3.016,3.015,3.011,3.011,3.01,3.004,3.003,3.003,3.003,3.002,2.994,2.994,2.994,2.994,2.991,2.994,2.994,2.991,2.987,2.986,2.985,2.985,2.983,2.983,2.98,2.98,2.98,2.983,2.985,2.985,2.985,2.985,2.976,2.976,2.976,2.982,2.984,2.984,2.987,2.987,2.987,2.987,2.987,2.987,2.99,2.998,2.998,2.997,2.997,3.001,3.007,3.007,3.007,3.007,3.007,3.019,3.02,3.033,3.033,3.033,3.037,3.037,3.039,3.044,3.048,3.052,3.052,3.059,3.061,3.069,3.08,3.082,3.085,3.09,3.102,3.104,3.111,3.115,3.115,3.12,3.122,3.122,3.127,3.141,3.143,3.146,3.15,3.154,3.157,3.178,3.184,3.192,3.193,3.193,3.195,3.195,3.21,3.216,3.22,3.243,3.246,3.253,3.256,3.257,3.276,3.276,3.288,3.293,3.824,3.828,3.835,3.851,3.866,3.885,3.896,3.915,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 19.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 19.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 19.6477} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.5748}
SEN {Time 19.6875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.182,0.182,0.184,0.184,0.21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.239,3.239,3.381,3.381,0,0,0,0,0,0,0,0,0,3.117,3.115,3.11,3.095,3.092,3.091,3.089,3.089,3.078,3.075,3.071,3.062,3.062,3.062,3.062,3.058,0.143,0.143,0.143,0.143,0.145,0.145,0.145,0.151,0.145,0.151,0.16,3.029,3.033,3.034,3.034,3.033,3.033,0.167,0.158,0.158,0.158,0.156,0.156,0.162,0.162,0.172,3.442,3.525,3.53,3.533,3.533,3.531,3.533,3.531,3.531,3.531,3.534,3.535,3.535,3.537,3.537,3.537,3.531,3.543,3.536,3.536,3.541,3.541,3.54,3.541,3.541,3.545,3.546,3.548,3.555,3.555,3.555,3.558,3.559,3.563,3.566,3.568,3.579,3.579,3.579,3.579,3.587,3.588,3.593,3.601,3.602,3.611,3.616,3.617,3.623,3.625,3.639,3.651,3.652,3.657,3.658,3.663,3.669,3.673,3.676,3.679,3.683,3.699,3.711,3.713,3.732,3.738,3.741,3.751,3.751,3.766,3.778,3.792,3.794,3.798,3.803,3.806,3.814,3.819,3.833,3.846,3.87,3.871,3.886,3.887,3.898,3.909,3.917,3.937,3.945,3.972,3.983,3.983,3.995,4.023,4.026,4.04,4.063,4.077,4.083,4.095,0.016,0.016,0,0,0,0.007,0.016,4.018,3.973,3.96,3.922,3.875,3.853,3.821,3.791,3.768,3.732,3.717,3.687,3.653,3.632,3.612,3.585,3.565,3.545,3.522,3.497,3.475,3.469,3.437,3.413,3.387,3.366,3.339,3.327,3.302,3.302,3.276,3.249,3.232,3.224,3.198,3.175,3.169,3.153,3.133,3.128,3.11,3.099,3.085,3.077,3.053,3.036,3.029,3.013,3,2.983,2.973,2.955,2.953,2.941,2.923,2.918,2.904,2.898,2.877,2.866,2.849,2.848,2.836,2.823,2.816,2.805,2.8,2.789,2.772,2.757,2.749,2.745,2.739,2.719,2.709,2.709,2.697,2.695,2.671,2.666,2.663,2.656,2.649,2.646,2.643,2.63,2.622,2.612,2.601,2.598,2.586,2.578,2.567,2.561,2.561,2.559,2.556,2.542,2.539,2.539,2.532,2.517,2.513,2.512,2.507,2.503,2.501,2.494,2.49,2.487,2.481,2.475,2.47,2.462,2.462,2.461,2.458,2.453,2.442,2.44,2.438,2.435,2.432,2.43,2.423,2.423,2.417,2.417,2.417,2.414,2.414,2.414,2.411,2.411,2.4,2.4,2.399,2.398,2.397,2.397,2.396,2.396,2.396,2.396,2.391,2.386,2.386,2.386,2.386,2.387,2.387,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.388,2.387,2.387,2.388,2.388,2.388,2.39,2.392,2.396,2.401,2.401,2.401,2.408,2.408,2.408,2.409,2.411,2.414,2.414,2.419,2.421,2.421,2.424,2.428,2.43,2.433,2.434,2.441,2.445,2.447,2.454,2.456,2.462,2.464,2.47,2.473,2.478,2.48,2.486,2.488,2.498,2.5,2.504,2.508,2.517,2.52,2.522,2.528,2.532,2.539,2.548,2.557,2.561,2.567,2.571,2.578,2.581,2.59,2.591,2.6,2.618,2.62,2.632,2.639,2.64,2.642,2.67,2.67,2.673,2.676,2.687,2.695,2.712,2.718,2.73,2.732,2.741,2.743,2.758,2.763,2.77,2.783,2.798,2.808,2.818,2.834,2.846,2.856,2.87,2.877,2.883,2.904,2.915,2.931,2.932,2.949,2.961,2.976,2.991,2.992,3.013,3.028,3.04,3.048,3.064,3.081,3.093,3.103,3.125,3.148,3.16,3.169,3.185,3.204,3.228,3.236,3.251,3.271,3.278,3.303,3.319,3.356,3.36,3.392,3.405,3.433,3.459,3.477,3.501,3.511,3.536,3.556,3.595,3.62,3.641,3.653,3.692,3.709,3.744,3.77,3.803,3.82,3.856,3.88,3.922,3.96,4.02,4.062,4.088,4.088,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.322,3.318,3.296,3.292,3.29,3.264,3.256,3.256,3.233,3.224,3.223,3.217,3.202,3.199,3.195,3.183,3.171,3.168,3.166,3.153,3.145,3.135,3.134,3.131,3.115,3.114,3.105,3.103,3.097,3.097,3.092,3.081,3.07,3.069,3.067,3.066,3.058,3.053,3.046,3.039,3.038,3.035,3.029,3.028,3.024,3.023,3.018,3.011,3.008,3.004,3.004,3,2.998,2.998,2.998,2.997,2.994,2.997,3,2.994,2.994,2.994,2.993,2.99,2.985,2.985,2.984,2.984,2.984,2.984,2.984,2.979,2.979,2.978,2.978,2.979,2.979,2.979,2.979,2.979,2.979,2.979,2.982,2.982,2.981,2.987,2.987,2.991,2.991,2.996,2.998,2.999,3.003,3.004,3.007,3.009,3.01,3.01,3.013,3.013,3.017,3.022,3.025,3.025,3.031,3.033,3.039,3.048,3.049,3.053,3.056,3.06,3.064,3.066,3.069,3.074,3.084,3.091,3.097,3.099,3.099,3.113,3.114,3.114,3.114,3.121,3.127,3.132,3.135,3.141,3.15,3.152,3.158,3.161,3.172,3.18,3.184,3.185,3.187,3.195,3.209,3.215,3.22,3.223,3.24,3.253,3.257,3.258,3.263,3.282,3.282,3.282,3.293,3.815,3.827,3.839,3.85,3.851,3.877,3.905,3.916,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 19.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 19.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 19.8397} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8674} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.5748}
SEN {Time 19.8874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.177,0.177,0.177,0.177,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.266,3.245,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.113,3.111,3.105,3.095,3.09,3.089,3.087,3.084,3.075,3.069,3.069,3.067,3.063,3.061,3.047,0.148,0.148,0.148,0.148,0.148,0.148,0.151,0.154,0.154,0.149,0.154,0.158,3.027,3.036,3.04,3.04,3.036,3.036,0.168,0.163,0.163,0.163,0.159,0.159,0.16,0.16,0.174,3.451,3.535,3.537,3.537,3.537,3.537,3.53,3.53,3.532,3.532,3.532,3.532,3.532,3.532,3.532,3.532,3.532,3.54,3.54,3.537,3.537,3.537,3.537,3.544,3.546,3.546,3.546,3.55,3.552,3.553,3.553,3.553,3.556,3.561,3.569,3.57,3.571,3.577,3.577,3.579,3.582,3.593,3.604,3.606,3.606,3.609,3.609,3.618,3.619,3.619,3.634,3.642,3.649,3.649,3.661,3.662,3.674,3.675,3.678,3.686,3.687,3.702,3.703,3.724,3.728,3.729,3.743,3.757,3.758,3.761,3.765,3.779,3.79,3.795,3.796,3.818,3.819,3.821,3.831,3.85,3.859,3.875,3.885,3.89,3.913,3.92,3.926,3.931,3.947,3.964,3.984,3.987,4,4.022,4.023,4.053,4.057,4.074,4.084,4.091,0.016,0.016,0,0,0,0,0,4.015,3.98,3.95,3.91,3.882,3.855,3.822,3.787,3.769,3.738,3.719,3.686,3.678,3.639,3.602,3.588,3.556,3.542,3.527,3.495,3.481,3.452,3.43,3.409,3.384,3.369,3.343,3.336,3.304,3.294,3.269,3.25,3.235,3.222,3.203,3.187,3.165,3.158,3.137,3.121,3.109,3.095,3.082,3.079,3.059,3.044,3.036,3.017,2.992,2.992,2.976,2.958,2.955,2.94,2.93,2.916,2.904,2.891,2.866,2.864,2.851,2.843,2.84,2.828,2.815,2.803,2.803,2.779,2.773,2.759,2.743,2.737,2.732,2.724,2.713,2.698,2.693,2.691,2.679,2.673,2.666,2.657,2.652,2.645,2.628,2.623,2.621,2.611,2.603,2.599,2.585,2.572,2.567,2.561,2.56,2.554,2.55,2.544,2.54,2.534,2.53,2.525,2.517,2.513,2.508,2.508,2.499,2.496,2.49,2.486,2.485,2.473,2.467,2.461,2.459,2.455,2.455,2.453,2.443,2.443,2.441,2.435,2.432,2.432,2.429,2.42,2.418,2.418,2.417,2.417,2.414,2.409,2.407,2.406,2.405,2.401,2.401,2.401,2.4,2.398,2.398,2.398,2.397,2.394,2.392,2.391,2.389,2.387,2.387,2.386,2.386,2.387,2.386,2.386,2.387,2.39,2.39,2.39,2.393,2.39,2.39,2.392,2.393,2.393,2.395,2.395,2.397,2.401,2.401,2.401,2.402,2.405,2.405,2.41,2.411,2.411,2.415,2.419,2.42,2.42,2.423,2.424,2.431,2.434,2.441,2.441,2.442,2.444,2.454,2.456,2.459,2.463,2.464,2.475,2.48,2.484,2.484,2.486,2.488,2.498,2.5,2.502,2.508,2.519,2.522,2.528,2.536,2.541,2.541,2.543,2.56,2.562,2.563,2.571,2.579,2.588,2.591,2.602,2.619,2.62,2.626,2.629,2.639,2.648,2.659,2.674,2.675,2.685,2.691,2.705,2.705,2.719,2.728,2.73,2.74,2.741,2.757,2.764,2.78,2.794,2.801,2.81,2.821,2.839,2.845,2.855,2.868,2.875,2.887,2.905,2.914,2.928,2.932,2.958,2.96,2.973,2.991,2.998,3.017,3.032,3.039,3.056,3.064,3.077,3.096,3.109,3.123,3.137,3.156,3.165,3.182,3.202,3.229,3.235,3.258,3.278,3.285,3.31,3.332,3.344,3.378,3.392,3.409,3.439,3.464,3.48,3.505,3.52,3.529,3.561,3.588,3.613,3.639,3.659,3.68,3.714,3.739,3.779,3.806,3.827,3.853,3.873,3.915,3.981,4.021,4.049,4.049,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.309,3.294,3.289,3.281,3.28,3.268,3.265,3.258,3.245,3.224,3.217,3.215,3.208,3.208,3.198,3.188,3.177,3.173,3.164,3.152,3.152,3.149,3.135,3.119,3.113,3.11,3.106,3.103,3.102,3.09,3.088,3.083,3.076,3.072,3.069,3.067,3.057,3.056,3.052,3.047,3.044,3.03,3.03,3.029,3.027,3.026,3.019,3.014,3.008,3.008,3.008,3.007,3.006,3.001,2.998,2.996,2.993,2.993,2.996,2.993,2.99,2.99,2.99,2.99,2.989,2.989,2.987,2.984,2.983,2.982,2.978,2.977,2.978,2.979,2.979,2.98,2.982,2.982,2.983,2.982,2.982,2.98,2.98,2.98,2.981,2.985,2.985,2.993,2.993,2.994,2.996,2.996,2.996,2.996,3.003,3.006,3.01,3.015,3.015,3.017,3.019,3.02,3.02,3.022,3.031,3.032,3.039,3.047,3.048,3.051,3.052,3.053,3.063,3.065,3.07,3.079,3.084,3.085,3.088,3.094,3.094,3.107,3.112,3.112,3.117,3.121,3.131,3.133,3.137,3.14,3.145,3.15,3.163,3.164,3.175,3.181,3.188,3.188,3.195,3.197,3.199,3.202,3.218,3.221,3.232,3.249,3.258,3.258,3.27,3.277,3.277,3.283,3.291,3.815,3.823,3.833,3.847,3.855,3.882,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 20.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 20.0397} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.096} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.413} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.5748}
SEN {Time 20.0835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.18,0.175,0.175,0.18,0.18,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.27,3.261,3.27,3.247,3.233,3.233,3.378,3.378,0,0,0,0,0,0,0,0,0,3.116,3.112,3.111,3.105,3.09,3.087,3.087,3.083,3.077,3.077,3.067,3.066,3.067,3.062,3.062,3.062,0.149,0.149,0.149,0.149,0.146,0.149,0.149,0.152,0.149,0.152,0.156,3.028,3.029,3.03,3.03,3.029,3.029,0.165,0.163,0.163,0.163,0.149,0.149,0.161,0.161,0.17,3.438,3.527,3.535,3.535,3.53,3.529,3.53,3.53,3.533,3.533,3.533,3.533,3.533,3.534,3.534,3.536,3.538,3.538,3.54,3.539,3.54,3.541,3.541,3.541,3.544,3.544,3.546,3.547,3.554,3.554,3.556,3.557,3.566,3.569,3.573,3.573,3.574,3.579,3.579,3.58,3.587,3.591,3.592,3.599,3.6,3.605,3.616,3.621,3.623,3.623,3.637,3.645,3.653,3.66,3.661,3.667,3.669,3.675,3.676,3.679,3.691,3.698,3.701,3.719,3.727,3.742,3.748,3.751,3.755,3.762,3.765,3.782,3.788,3.791,3.804,3.813,3.827,3.839,3.843,3.847,3.855,3.868,3.885,3.897,3.9,3.91,3.923,3.943,3.947,3.957,3.978,3.991,3.998,4.014,4.027,4.047,4.061,4.073,4.083,0.016,0.016,0.016,0,0,0,0,0,0,0.007,3.981,3.919,3.879,3.87,3.829,3.806,3.767,3.736,3.703,3.695,3.666,3.633,3.607,3.59,3.571,3.544,3.535,3.504,3.471,3.453,3.429,3.416,3.384,3.372,3.357,3.333,3.303,3.291,3.268,3.257,3.23,3.227,3.207,3.18,3.166,3.156,3.131,3.125,3.108,3.1,3.086,3.069,3.063,3.039,3.025,3.016,2.999,2.996,2.974,2.955,2.953,2.935,2.928,2.915,2.907,2.894,2.875,2.869,2.851,2.845,2.831,2.825,2.823,2.812,2.802,2.789,2.768,2.758,2.751,2.742,2.728,2.719,2.706,2.701,2.698,2.698,2.68,2.674,2.665,2.66,2.642,2.642,2.638,2.622,2.616,2.609,2.603,2.598,2.594,2.584,2.57,2.566,2.557,2.556,2.555,2.533,2.533,2.532,2.53,2.524,2.522,2.516,2.51,2.506,2.506,2.494,2.484,2.48,2.478,2.474,2.472,2.467,2.466,2.459,2.452,2.451,2.445,2.442,2.442,2.439,2.43,2.425,2.425,2.424,2.421,2.421,2.419,2.419,2.414,2.411,2.41,2.409,2.408,2.408,2.398,2.398,2.398,2.399,2.399,2.399,2.396,2.395,2.391,2.389,2.389,2.389,2.389,2.388,2.388,2.388,2.388,2.388,2.388,2.388,2.389,2.393,2.393,2.393,2.393,2.39,2.39,2.39,2.39,2.397,2.398,2.401,2.399,2.403,2.404,2.405,2.403,2.406,2.411,2.417,2.418,2.423,2.424,2.424,2.424,2.429,2.432,2.432,2.437,2.441,2.442,2.447,2.45,2.455,2.459,2.463,2.467,2.472,2.475,2.48,2.485,2.488,2.496,2.497,2.504,2.507,2.513,2.521,2.533,2.535,2.535,2.536,2.54,2.545,2.561,2.562,2.576,2.576,2.585,2.593,2.595,2.596,2.612,2.616,2.628,2.633,2.635,2.642,2.674,2.683,2.685,2.687,2.688,2.699,2.703,2.717,2.717,2.722,2.737,2.75,2.756,2.766,2.769,2.791,2.803,2.809,2.82,2.829,2.83,2.853,2.873,2.88,2.89,2.911,2.922,2.931,2.933,2.952,2.959,2.97,2.98,2.988,3.015,3.024,3.041,3.058,3.058,3.08,3.094,3.11,3.127,3.145,3.149,3.17,3.182,3.203,3.224,3.239,3.255,3.284,3.291,3.311,3.325,3.354,3.367,3.38,3.406,3.436,3.455,3.47,3.5,3.517,3.544,3.573,3.602,3.616,3.641,3.67,3.694,3.721,3.736,3.771,3.806,3.817,3.858,3.873,3.925,3.949,4.023,4.058,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.32,3.314,3.312,3.297,3.29,3.287,3.266,3.258,3.254,3.238,3.232,3.221,3.211,3.2,3.196,3.196,3.184,3.173,3.17,3.166,3.15,3.148,3.146,3.144,3.122,3.12,3.118,3.116,3.116,3.111,3.103,3.09,3.086,3.08,3.076,3.07,3.065,3.056,3.056,3.051,3.05,3.046,3.04,3.033,3.032,3.023,3.02,3.017,3.012,3.012,3.011,3.009,3.001,2.999,2.999,2.999,2.999,2.996,2.996,2.996,2.996,2.996,2.996,2.996,2.992,2.989,2.989,2.987,2.983,2.981,2.981,2.981,2.981,2.981,2.982,2.982,2.981,2.981,2.981,2.981,2.981,2.982,2.982,2.982,2.983,2.982,2.982,2.985,2.989,2.989,2.994,2.994,3.002,3.002,3.004,3.004,3.013,3.013,3.013,3.013,3.016,3.017,3.018,3.028,3.032,3.032,3.033,3.04,3.043,3.044,3.055,3.057,3.061,3.061,3.064,3.07,3.079,3.084,3.086,3.093,3.099,3.101,3.115,3.115,3.116,3.117,3.119,3.124,3.126,3.14,3.145,3.147,3.157,3.158,3.158,3.171,3.174,3.193,3.202,3.202,3.202,3.202,3.202,3.214,3.222,3.229,3.252,3.253,3.26,3.263,3.284,3.284,3.284,3.291,3.814,3.825,3.84,3.841,3.855,3.875,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 20.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 20.2413} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.096} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.413} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.5748}
SEN {Time 20.2835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.18,0.181,0.181,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.245,3.245,3.37,3.37,0,0,0,0,0,0,0,0,0,3.115,3.112,3.107,3.092,3.091,3.09,3.088,3.079,3.074,3.067,3.065,3.064,3.064,3.062,3.052,0.147,0.145,0.145,0.145,0.147,0.145,0.148,0.152,0.158,0.152,0.158,0.162,3.032,3.032,3.039,3.039,3.032,3.029,0.166,0.16,0.159,0.155,0.155,0.155,0.156,0.16,0.163,3.44,3.534,3.534,3.534,3.534,3.533,3.532,3.532,3.53,3.53,3.53,3.53,3.533,3.534,3.534,3.538,3.538,3.538,3.539,3.538,3.538,3.539,3.546,3.546,3.547,3.547,3.547,3.553,3.554,3.555,3.56,3.561,3.561,3.561,3.561,3.571,3.573,3.579,3.585,3.587,3.588,3.594,3.596,3.604,3.606,3.61,3.611,3.614,3.617,3.622,3.625,3.64,3.64,3.644,3.651,3.66,3.662,3.669,3.679,3.684,3.701,3.708,3.711,3.72,3.724,3.745,3.749,3.75,3.756,3.759,3.768,3.781,3.786,3.791,3.791,3.811,3.819,3.819,3.844,3.852,3.861,3.881,3.895,3.895,3.917,3.918,3.925,3.94,3.943,3.96,3.974,3.985,3.995,4.014,4.025,4.033,4.05,4.085,4.086,0.016,0.016,0.016,0,0,0,0,0,0,0,3.988,3.941,3.886,3.854,3.831,3.794,3.757,3.727,3.713,3.696,3.653,3.65,3.613,3.592,3.553,3.546,3.519,3.498,3.472,3.453,3.438,3.408,3.385,3.369,3.342,3.331,3.308,3.294,3.276,3.247,3.223,3.215,3.205,3.184,3.171,3.157,3.134,3.117,3.111,3.097,3.087,3.079,3.047,3.032,3.026,3.017,2.992,2.986,2.966,2.956,2.952,2.938,2.928,2.916,2.9,2.896,2.882,2.875,2.856,2.84,2.827,2.822,2.81,2.799,2.796,2.791,2.769,2.766,2.748,2.743,2.732,2.718,2.711,2.708,2.708,2.694,2.671,2.665,2.66,2.659,2.643,2.638,2.635,2.618,2.607,2.603,2.602,2.6,2.584,2.581,2.574,2.572,2.558,2.554,2.552,2.541,2.535,2.529,2.528,2.523,2.511,2.511,2.505,2.505,2.503,2.491,2.485,2.48,2.48,2.477,2.474,2.473,2.467,2.462,2.451,2.448,2.445,2.444,2.442,2.435,2.432,2.427,2.423,2.421,2.417,2.413,2.412,2.412,2.411,2.41,2.408,2.408,2.406,2.401,2.4,2.398,2.397,2.397,2.394,2.397,2.393,2.392,2.392,2.39,2.388,2.388,2.388,2.388,2.387,2.387,2.383,2.383,2.383,2.383,2.387,2.388,2.388,2.388,2.389,2.39,2.39,2.39,2.393,2.394,2.394,2.396,2.404,2.405,2.406,2.405,2.405,2.407,2.408,2.412,2.413,2.414,2.417,2.419,2.42,2.423,2.43,2.437,2.44,2.443,2.443,2.446,2.447,2.451,2.458,2.46,2.467,2.472,2.473,2.474,2.483,2.487,2.495,2.5,2.504,2.504,2.515,2.521,2.522,2.527,2.533,2.534,2.544,2.557,2.565,2.567,2.571,2.575,2.58,2.591,2.595,2.601,2.616,2.622,2.624,2.631,2.638,2.644,2.669,2.67,2.671,2.678,2.684,2.697,2.717,2.72,2.729,2.73,2.738,2.74,2.765,2.768,2.775,2.783,2.799,2.804,2.826,2.837,2.851,2.858,2.87,2.87,2.882,2.9,2.915,2.923,2.935,2.945,2.948,2.965,2.982,3.002,3.013,3.026,3.039,3.048,3.061,3.076,3.089,3.111,3.126,3.136,3.158,3.171,3.191,3.204,3.221,3.232,3.25,3.276,3.283,3.306,3.325,3.354,3.356,3.392,3.416,3.441,3.456,3.474,3.5,3.515,3.536,3.57,3.597,3.615,3.639,3.649,3.692,3.712,3.743,3.772,3.797,3.823,3.868,3.88,3.927,3.987,4.018,4.045,4.045,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.32,3.31,3.301,3.286,3.278,3.264,3.254,3.254,3.247,3.23,3.221,3.212,3.198,3.196,3.192,3.175,3.175,3.17,3.16,3.158,3.148,3.142,3.13,3.124,3.121,3.118,3.11,3.107,3.104,3.094,3.092,3.081,3.079,3.07,3.069,3.064,3.061,3.056,3.051,3.037,3.035,3.034,3.032,3.029,3.029,3.015,3.015,3.014,3.009,3.004,3.004,3.004,3.003,3.001,2.999,2.999,2.992,2.992,3,3,2.993,2.993,2.991,2.991,2.988,2.985,2.985,2.984,2.983,2.981,2.981,2.98,2.981,2.982,2.984,2.984,2.984,2.984,2.984,2.984,2.984,2.98,2.984,2.984,2.986,2.987,2.988,2.989,2.99,2.995,2.996,3,3.002,3.003,3.003,3.009,3.009,3.009,3.014,3.018,3.018,3.023,3.025,3.026,3.029,3.034,3.037,3.041,3.045,3.054,3.058,3.059,3.063,3.068,3.073,3.08,3.085,3.088,3.092,3.094,3.103,3.11,3.11,3.116,3.12,3.12,3.121,3.134,3.136,3.146,3.147,3.157,3.157,3.158,3.175,3.178,3.195,3.195,3.195,3.199,3.202,3.202,3.208,3.216,3.239,3.253,3.253,3.26,3.262,3.283,3.283,3.288,3.297,3.822,3.827,3.828,3.852,3.859,3.879,3.892,3.917,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 20.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 20.4396} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.096} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.413} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 5.2324}
SEN {Time 20.4845} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.185,0.176,0.176,0.185,0.185,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.255,3.374,3.374,3.374,0,0,0,0,0,0,0,0,0,3.12,3.118,3.109,3.097,3.096,3.09,3.089,3.086,3.073,3.072,3.068,3.063,3.063,3.062,3.052,0.143,0.14,0.14,0.142,0.143,0.148,0.148,0.148,0.148,0.148,0.148,0.155,3.034,3.034,3.034,3.034,3.029,3.028,0.163,0.161,0.161,0.161,0.161,0.161,0.166,0.166,0.171,3.448,3.535,3.536,3.539,3.539,3.535,3.531,3.531,3.531,3.533,3.533,3.533,3.533,3.535,3.535,3.535,3.538,3.539,3.539,3.539,3.538,3.539,3.546,3.546,3.545,3.546,3.546,3.547,3.55,3.55,3.553,3.554,3.554,3.555,3.557,3.57,3.573,3.574,3.582,3.59,3.596,3.596,3.596,3.602,3.613,3.618,3.618,3.618,3.619,3.628,3.635,3.639,3.643,3.644,3.652,3.664,3.665,3.678,3.68,3.686,3.687,3.708,3.71,3.722,3.731,3.74,3.74,3.749,3.75,3.754,3.762,3.771,3.794,3.802,3.805,3.814,3.824,3.827,3.842,3.846,3.851,3.877,3.886,3.896,3.907,3.918,3.92,3.94,3.955,3.959,3.978,3.982,3.998,4.023,4.033,4.053,4.055,4.059,4.091,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,3.992,3.946,3.92,3.884,3.856,3.82,3.788,3.768,3.741,3.721,3.699,3.664,3.634,3.603,3.588,3.553,3.546,3.531,3.498,3.482,3.452,3.432,3.413,3.381,3.368,3.345,3.325,3.302,3.293,3.28,3.252,3.236,3.216,3.202,3.179,3.166,3.155,3.133,3.128,3.111,3.099,3.083,3.069,3.053,3.044,3.029,3.017,3,2.994,2.972,2.958,2.956,2.94,2.922,2.909,2.901,2.9,2.878,2.869,2.851,2.846,2.833,2.815,2.81,2.806,2.792,2.786,2.776,2.76,2.752,2.738,2.73,2.719,2.718,2.716,2.7,2.697,2.678,2.676,2.662,2.654,2.642,2.641,2.638,2.624,2.615,2.61,2.601,2.6,2.595,2.581,2.572,2.565,2.561,2.553,2.544,2.53,2.53,2.53,2.528,2.524,2.517,2.514,2.504,2.504,2.503,2.499,2.485,2.482,2.48,2.477,2.474,2.47,2.466,2.457,2.45,2.449,2.447,2.444,2.441,2.436,2.429,2.427,2.427,2.426,2.424,2.424,2.421,2.416,2.412,2.412,2.412,2.412,2.407,2.405,2.401,2.398,2.398,2.398,2.395,2.395,2.395,2.395,2.394,2.389,2.387,2.387,2.386,2.386,2.386,2.388,2.388,2.388,2.389,2.389,2.389,2.389,2.393,2.393,2.393,2.39,2.39,2.39,2.393,2.393,2.394,2.395,2.397,2.4,2.405,2.405,2.406,2.406,2.408,2.408,2.417,2.42,2.423,2.424,2.425,2.428,2.43,2.433,2.434,2.446,2.446,2.449,2.453,2.453,2.46,2.462,2.466,2.474,2.477,2.48,2.484,2.489,2.493,2.495,2.503,2.507,2.507,2.512,2.519,2.523,2.531,2.543,2.544,2.552,2.563,2.567,2.569,2.569,2.579,2.586,2.59,2.595,2.607,2.616,2.62,2.635,2.644,2.653,2.672,2.673,2.681,2.687,2.69,2.695,2.696,2.711,2.724,2.726,2.746,2.749,2.76,2.775,2.779,2.787,2.797,2.809,2.824,2.834,2.849,2.853,2.869,2.874,2.89,2.903,2.918,2.927,2.933,2.952,2.959,2.975,2.988,2.994,3.019,3.029,3.035,3.053,3.062,3.075,3.1,3.114,3.125,3.141,3.15,3.168,3.185,3.203,3.225,3.228,3.25,3.281,3.299,3.315,3.329,3.353,3.359,3.385,3.412,3.429,3.462,3.484,3.5,3.524,3.546,3.556,3.583,3.612,3.645,3.671,3.69,3.719,3.741,3.771,3.795,3.815,3.861,3.89,3.92,3.959,4.043,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.323,3.31,3.297,3.287,3.277,3.258,3.258,3.256,3.242,3.229,3.22,3.217,3.202,3.197,3.193,3.186,3.173,3.17,3.164,3.156,3.151,3.148,3.14,3.126,3.124,3.117,3.106,3.105,3.1,3.092,3.09,3.085,3.078,3.076,3.073,3.061,3.053,3.052,3.051,3.048,3.048,3.048,3.029,3.029,3.022,3.022,3.019,3.013,3.008,3.005,3.005,3.003,3.003,2.996,2.996,2.994,2.992,2.992,3,2.996,2.996,2.996,2.991,2.988,2.988,2.984,2.981,2.981,2.98,2.98,2.981,2.981,2.98,2.981,2.981,2.984,2.984,2.984,2.982,2.979,2.979,2.979,2.982,2.982,2.983,2.985,2.986,2.993,2.996,2.996,2.997,2.997,3.003,3.003,3.005,3.007,3.007,3.01,3.017,3.019,3.017,3.019,3.03,3.031,3.035,3.035,3.035,3.035,3.046,3.051,3.052,3.054,3.062,3.062,3.064,3.084,3.085,3.086,3.093,3.093,3.097,3.118,3.118,3.118,3.118,3.121,3.121,3.129,3.138,3.139,3.15,3.157,3.159,3.162,3.174,3.175,3.198,3.205,3.209,3.209,3.211,3.211,3.222,3.224,3.233,3.244,3.248,3.257,3.262,3.283,3.283,3.289,3.291,3.828,3.838,3.845,3.847,3.86,3.869,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 20.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 20.6396} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.096} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6162} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 5.2324}
SEN {Time 20.6835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.181,0.18,0.177,0.181,0.181,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.252,3.387,3.387,3.387,0,0,0,0,0,0,0,0,0,3.116,3.109,3.107,3.099,3.096,3.093,3.084,3.084,3.066,3.066,3.063,3.063,3.063,3.06,3.064,3.064,0.144,0.144,0.144,0.144,0.143,0.148,0.155,0.155,0.145,0.155,0.161,3.033,3.036,3.036,3.036,3.033,3.029,0.162,0.161,0.16,0.159,0.154,0.154,0.154,0.155,0.172,3.45,3.525,3.526,3.526,3.526,3.526,3.537,3.537,3.537,3.535,3.535,3.535,3.535,3.535,3.539,3.538,3.538,3.539,3.544,3.544,3.544,3.544,3.545,3.541,3.541,3.548,3.541,3.541,3.546,3.557,3.557,3.559,3.562,3.568,3.568,3.57,3.572,3.573,3.584,3.589,3.593,3.597,3.595,3.601,3.601,3.608,3.608,3.612,3.615,3.629,3.63,3.635,3.649,3.656,3.662,3.67,3.672,3.673,3.68,3.696,3.7,3.704,3.71,3.712,3.717,3.733,3.738,3.755,3.758,3.759,3.761,3.775,3.794,3.803,3.806,3.82,3.821,3.829,3.846,3.849,3.856,3.871,3.881,3.89,3.899,3.921,3.922,3.94,3.946,3.964,3.967,3.991,4.007,4.017,4.038,4.046,4.06,4.079,4.088,4.093,0.016,0.016,0.016,0.007,0,0,0,0,0,3.99,3.949,3.878,3.854,3.819,3.789,3.766,3.73,3.707,3.697,3.655,3.638,3.614,3.586,3.566,3.545,3.527,3.488,3.472,3.45,3.431,3.411,3.383,3.374,3.347,3.328,3.306,3.292,3.275,3.253,3.233,3.222,3.194,3.179,3.16,3.153,3.142,3.123,3.097,3.097,3.083,3.074,3.05,3.046,3.029,3.026,2.997,2.99,2.961,2.955,2.951,2.945,2.928,2.911,2.904,2.901,2.878,2.869,2.859,2.848,2.833,2.818,2.817,2.805,2.802,2.788,2.781,2.761,2.747,2.745,2.736,2.729,2.721,2.706,2.695,2.691,2.673,2.67,2.655,2.655,2.646,2.638,2.628,2.621,2.609,2.609,2.604,2.597,2.589,2.587,2.57,2.567,2.567,2.553,2.552,2.541,2.53,2.528,2.528,2.528,2.517,2.513,2.505,2.503,2.495,2.494,2.484,2.479,2.474,2.473,2.468,2.462,2.462,2.462,2.46,2.459,2.449,2.444,2.439,2.431,2.431,2.429,2.427,2.424,2.42,2.419,2.416,2.414,2.412,2.412,2.407,2.406,2.406,2.404,2.402,2.399,2.399,2.396,2.396,2.396,2.396,2.396,2.394,2.388,2.387,2.387,2.387,2.385,2.384,2.384,2.383,2.384,2.383,2.383,2.384,2.388,2.389,2.39,2.39,2.39,2.39,2.393,2.393,2.394,2.394,2.395,2.397,2.409,2.41,2.41,2.409,2.41,2.41,2.41,2.415,2.417,2.418,2.418,2.423,2.423,2.431,2.436,2.439,2.441,2.443,2.445,2.447,2.456,2.46,2.461,2.463,2.474,2.474,2.481,2.491,2.491,2.493,2.495,2.506,2.507,2.514,2.523,2.523,2.529,2.535,2.541,2.552,2.552,2.562,2.564,2.571,2.573,2.579,2.586,2.586,2.596,2.598,2.617,2.621,2.636,2.64,2.645,2.664,2.676,2.686,2.686,2.691,2.696,2.698,2.714,2.726,2.731,2.734,2.74,2.754,2.772,2.789,2.794,2.808,2.812,2.813,2.831,2.847,2.855,2.863,2.87,2.885,2.904,2.923,2.93,2.935,2.948,2.957,2.98,2.991,3.003,3.022,3.032,3.034,3.055,3.07,3.079,3.094,3.106,3.127,3.133,3.148,3.172,3.19,3.206,3.228,3.23,3.248,3.276,3.288,3.311,3.336,3.345,3.365,3.387,3.401,3.436,3.458,3.479,3.487,3.524,3.541,3.568,3.6,3.62,3.65,3.662,3.692,3.711,3.741,3.777,3.795,3.819,3.849,3.882,3.929,3.954,3.985,4.049,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.32,3.303,3.297,3.291,3.289,3.264,3.259,3.253,3.243,3.228,3.22,3.22,3.2,3.197,3.192,3.189,3.184,3.174,3.164,3.155,3.148,3.143,3.14,3.127,3.122,3.12,3.112,3.103,3.101,3.092,3.088,3.079,3.074,3.074,3.069,3.066,3.059,3.053,3.052,3.052,3.047,3.035,3.029,3.026,3.023,3.022,3.018,3.014,3.005,3.005,3.005,3.005,3.005,2.998,2.998,2.997,2.995,2.995,2.997,2.999,2.999,2.999,2.99,2.987,2.986,2.984,2.982,2.982,2.982,2.986,2.986,2.986,2.986,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.983,2.982,2.983,2.99,2.991,2.99,2.99,2.994,2.994,2.997,3.002,3.009,3.009,3.01,3.01,3.013,3.015,3.021,3.017,3.024,3.029,3.024,3.024,3.033,3.043,3.045,3.046,3.048,3.051,3.055,3.067,3.071,3.072,3.083,3.084,3.09,3.091,3.095,3.097,3.113,3.116,3.117,3.119,3.121,3.121,3.13,3.137,3.143,3.148,3.153,3.158,3.163,3.168,3.179,3.184,3.196,3.199,3.202,3.204,3.215,3.215,3.218,3.236,3.253,3.257,3.263,3.265,3.273,3.273,3.28,3.293,3.818,3.827,3.831,3.849,3.866,3.887,3.898,3.921,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 20.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 20.8405} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6162} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 5.2324}
SEN {Time 20.8834} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.177,0.177,0.185,0.185,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.247,3.377,3.377,3.377,0,0,0,0,0,0,0,0,0,3.114,3.109,3.107,3.1,3.095,3.091,3.085,3.083,3.069,3.069,3.068,3.064,3.064,3.054,3.051,0.143,0.143,0.143,0.143,0.143,0.143,0.146,0.146,0.146,0.144,0.146,0.15,3.027,3.027,3.035,3.035,3.027,3.018,0.168,0.16,0.155,0.153,0.152,0.152,0.153,0.153,0.169,3.449,3.523,3.528,3.529,3.529,3.53,3.532,3.53,3.53,3.534,3.534,3.533,3.534,3.534,3.537,3.538,3.538,3.539,3.539,3.539,3.539,3.542,3.543,3.543,3.543,3.543,3.543,3.547,3.554,3.555,3.554,3.558,3.558,3.563,3.567,3.572,3.574,3.574,3.581,3.587,3.588,3.595,3.6,3.601,3.601,3.601,3.614,3.617,3.619,3.631,3.637,3.637,3.642,3.649,3.662,3.67,3.673,3.673,3.678,3.697,3.7,3.705,3.709,3.713,3.72,3.736,3.747,3.747,3.748,3.759,3.761,3.785,3.785,3.79,3.798,3.81,3.818,3.83,3.844,3.85,3.857,3.877,3.891,3.898,3.898,3.914,3.917,3.922,3.946,3.959,3.979,3.979,4.002,4.03,4.033,4.036,4.056,4.067,0.016,0.016,0.016,0.007,0,0,0.007,0,0.016,4.01,3.976,3.953,3.923,3.878,3.853,3.83,3.818,3.767,3.741,3.71,3.69,3.667,3.632,3.616,3.589,3.557,3.546,3.519,3.504,3.481,3.453,3.435,3.402,3.387,3.372,3.35,3.339,3.311,3.297,3.269,3.246,3.229,3.219,3.205,3.185,3.158,3.153,3.135,3.121,3.106,3.102,3.091,3.069,3.061,3.043,3.027,3.008,2.998,2.993,2.969,2.955,2.951,2.937,2.926,2.915,2.906,2.891,2.883,2.865,2.861,2.846,2.839,2.817,2.816,2.803,2.8,2.78,2.77,2.763,2.758,2.752,2.73,2.725,2.712,2.705,2.695,2.695,2.686,2.682,2.663,2.654,2.64,2.64,2.637,2.626,2.611,2.611,2.604,2.593,2.589,2.589,2.577,2.56,2.559,2.554,2.551,2.541,2.538,2.532,2.53,2.52,2.518,2.506,2.505,2.502,2.5,2.494,2.483,2.483,2.483,2.478,2.477,2.471,2.464,2.455,2.452,2.448,2.444,2.439,2.438,2.438,2.437,2.43,2.427,2.425,2.424,2.414,2.414,2.413,2.412,2.412,2.408,2.405,2.403,2.401,2.401,2.399,2.399,2.397,2.396,2.392,2.392,2.392,2.392,2.388,2.388,2.388,2.388,2.388,2.384,2.384,2.384,2.385,2.386,2.389,2.389,2.389,2.389,2.389,2.391,2.394,2.394,2.394,2.397,2.397,2.397,2.399,2.404,2.406,2.406,2.407,2.408,2.411,2.412,2.413,2.416,2.418,2.418,2.418,2.425,2.427,2.433,2.435,2.436,2.436,2.44,2.446,2.452,2.454,2.456,2.461,2.474,2.478,2.478,2.481,2.482,2.49,2.491,2.497,2.5,2.503,2.513,2.525,2.528,2.535,2.535,2.539,2.543,2.545,2.561,2.566,2.568,2.569,2.586,2.591,2.594,2.599,2.607,2.608,2.624,2.641,2.644,2.647,2.658,2.677,2.681,2.683,2.684,2.692,2.708,2.721,2.728,2.728,2.744,2.747,2.756,2.766,2.783,2.794,2.799,2.802,2.814,2.833,2.848,2.858,2.866,2.874,2.885,2.908,2.918,2.928,2.938,2.946,2.961,2.967,2.992,2.996,3.023,3.028,3.035,3.051,3.061,3.079,3.103,3.112,3.129,3.141,3.151,3.17,3.189,3.202,3.219,3.234,3.258,3.278,3.279,3.311,3.328,3.343,3.36,3.39,3.409,3.435,3.457,3.482,3.502,3.526,3.531,3.559,3.59,3.612,3.641,3.672,3.695,3.72,3.737,3.769,3.798,3.828,3.857,3.883,3.919,3.952,3.983,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.32,3.32,3.301,3.301,3.285,3.285,3.265,3.264,3.256,3.24,3.237,3.219,3.217,3.207,3.206,3.206,3.188,3.17,3.168,3.158,3.15,3.144,3.142,3.134,3.133,3.113,3.108,3.106,3.106,3.104,3.094,3.084,3.084,3.073,3.067,3.066,3.064,3.06,3.053,3.051,3.047,3.046,3.034,3.031,3.027,3.026,3.021,3.017,3.017,3.011,3.009,3.006,3.004,2.998,2.998,2.994,2.993,2.99,2.993,2.994,2.994,2.994,2.994,2.994,2.994,2.986,2.986,2.986,2.986,2.986,2.989,2.989,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.98,2.98,2.98,2.979,2.984,2.986,2.986,2.985,2.986,2.986,2.991,2.991,2.993,2.997,2.997,2.999,3.004,3.004,3.01,3.01,3.011,3.018,3.017,3.019,3.025,3.027,3.03,3.031,3.04,3.042,3.048,3.049,3.053,3.055,3.056,3.067,3.069,3.073,3.084,3.088,3.089,3.095,3.104,3.116,3.118,3.118,3.119,3.12,3.123,3.131,3.138,3.141,3.145,3.155,3.161,3.168,3.17,3.186,3.194,3.199,3.199,3.201,3.209,3.209,3.215,3.219,3.233,3.246,3.253,3.257,3.266,3.275,3.275,3.289,3.299,3.814,3.831,3.837,3.843,3.864,3.878,3.903,3.91,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 21.0405} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.6162} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 5.2324}
SEN {Time 21.0806} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.179,0.179,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.24,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.113,3.111,3.106,3.101,3.099,3.095,3.09,3.08,3.079,3.069,3.063,3.062,3.062,3.059,3.051,0.145,0.145,0.145,0.145,0.145,0.15,0.153,0.155,0.155,0.155,0.155,0.155,3.035,3.036,3.036,3.036,3.036,3.036,3.024,0.168,0.166,0.16,0.16,0.16,0.162,0.163,0.169,3.453,3.533,3.533,3.533,3.532,3.532,3.532,3.532,3.532,3.531,3.528,3.528,3.531,3.534,3.538,3.538,3.538,3.539,3.545,3.545,3.546,3.546,3.546,3.546,3.546,3.546,3.549,3.553,3.557,3.56,3.56,3.56,3.56,3.563,3.568,3.571,3.579,3.579,3.581,3.582,3.589,3.589,3.594,3.598,3.601,3.609,3.609,3.613,3.621,3.623,3.629,3.644,3.656,3.658,3.664,3.668,3.668,3.672,3.681,3.688,3.701,3.705,3.706,3.707,3.728,3.728,3.738,3.748,3.756,3.771,3.772,3.772,3.798,3.803,3.806,3.808,3.81,3.824,3.837,3.851,3.86,3.873,3.885,3.892,3.905,3.912,3.924,3.943,3.95,3.963,3.984,3.991,4.008,4.017,4.024,4.04,4.053,4.072,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0.007,4.014,3.959,3.918,3.881,3.846,3.829,3.799,3.773,3.732,3.711,3.687,3.663,3.647,3.603,3.59,3.569,3.549,3.521,3.503,3.481,3.461,3.429,3.406,3.378,3.36,3.348,3.331,3.303,3.293,3.262,3.241,3.228,3.225,3.206,3.191,3.164,3.154,3.137,3.124,3.111,3.098,3.088,3.077,3.058,3.047,3.029,3.019,2.997,2.986,2.97,2.966,2.949,2.935,2.923,2.91,2.9,2.897,2.887,2.873,2.853,2.843,2.842,2.819,2.812,2.808,2.797,2.777,2.77,2.769,2.753,2.739,2.732,2.721,2.709,2.701,2.701,2.692,2.681,2.678,2.667,2.658,2.644,2.64,2.638,2.628,2.612,2.61,2.592,2.589,2.584,2.578,2.576,2.573,2.561,2.558,2.552,2.547,2.54,2.534,2.532,2.525,2.519,2.505,2.502,2.498,2.496,2.492,2.49,2.483,2.482,2.476,2.468,2.467,2.467,2.463,2.458,2.453,2.44,2.44,2.439,2.437,2.435,2.43,2.426,2.423,2.418,2.416,2.414,2.412,2.411,2.411,2.407,2.406,2.405,2.405,2.401,2.398,2.397,2.396,2.396,2.393,2.393,2.393,2.392,2.388,2.386,2.386,2.385,2.384,2.383,2.384,2.384,2.386,2.387,2.389,2.389,2.389,2.389,2.39,2.39,2.391,2.391,2.39,2.392,2.393,2.393,2.398,2.403,2.405,2.406,2.406,2.406,2.406,2.411,2.411,2.412,2.42,2.421,2.421,2.424,2.429,2.429,2.429,2.436,2.444,2.445,2.449,2.459,2.462,2.464,2.464,2.465,2.475,2.475,2.481,2.488,2.493,2.494,2.496,2.5,2.505,2.512,2.514,2.519,2.522,2.528,2.54,2.544,2.556,2.563,2.565,2.573,2.575,2.593,2.595,2.597,2.6,2.605,2.612,2.623,2.637,2.638,2.644,2.66,2.675,2.677,2.679,2.689,2.696,2.697,2.719,2.725,2.73,2.744,2.747,2.753,2.771,2.777,2.787,2.805,2.811,2.822,2.833,2.847,2.861,2.875,2.876,2.886,2.902,2.914,2.932,2.937,2.947,2.956,2.971,2.982,2.994,3.016,3.029,3.044,3.052,3.063,3.078,3.1,3.107,3.118,3.147,3.149,3.171,3.187,3.204,3.222,3.229,3.261,3.278,3.28,3.312,3.332,3.344,3.352,3.387,3.408,3.437,3.461,3.481,3.493,3.517,3.535,3.551,3.586,3.611,3.637,3.673,3.697,3.715,3.729,3.768,3.799,3.823,3.86,3.884,3.92,3.951,3.98,4.031,4.064,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.318,3.304,3.298,3.296,3.282,3.264,3.258,3.253,3.24,3.232,3.224,3.221,3.203,3.199,3.198,3.188,3.173,3.168,3.161,3.153,3.15,3.137,3.133,3.12,3.119,3.115,3.107,3.105,3.104,3.092,3.089,3.084,3.074,3.07,3.07,3.069,3.065,3.061,3.056,3.053,3.048,3.032,3.03,3.029,3.026,3.021,3.019,3.015,3.008,3.006,3.002,3.002,2.999,2.995,2.992,2.992,2.991,2.992,2.996,2.996,2.994,2.994,2.992,2.988,2.987,2.982,2.982,2.982,2.982,2.978,2.978,2.978,2.978,2.98,2.981,2.981,2.985,2.981,2.987,2.981,2.981,2.981,2.982,2.982,2.986,2.987,2.99,2.99,2.993,2.994,2.999,3.001,3.001,3.004,3.006,3.008,3.008,3.012,3.012,3.014,3.021,3.023,3.029,3.033,3.033,3.033,3.037,3.042,3.044,3.051,3.054,3.057,3.062,3.066,3.068,3.072,3.082,3.085,3.092,3.094,3.095,3.11,3.118,3.118,3.118,3.124,3.125,3.131,3.139,3.142,3.151,3.154,3.157,3.158,3.172,3.178,3.18,3.197,3.198,3.198,3.2,3.207,3.217,3.222,3.231,3.249,3.251,3.256,3.26,3.278,3.278,3.279,3.297,3.826,3.83,3.831,3.842,3.865,3.885,3.906,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 21.2315} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.3462}
SEN {Time 21.2795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.176,0.18,0.18,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.252,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.111,3.108,3.106,3.096,3.093,3.085,3.085,3.084,3.075,3.069,3.068,3.062,3.062,3.052,3.052,3.052,0.141,0.141,0.141,0.141,0.144,0.148,0.152,0.153,0.152,0.153,0.157,3.032,3.032,3.035,3.035,3.032,3.029,0.165,0.161,0.158,0.153,0.153,0.153,0.157,0.169,0.184,3.452,3.524,3.528,3.531,3.528,3.528,3.528,3.53,3.53,3.531,3.531,3.53,3.529,3.529,3.529,3.535,3.535,3.543,3.544,3.543,3.539,3.543,3.543,3.543,3.543,3.544,3.544,3.554,3.554,3.554,3.554,3.554,3.557,3.557,3.561,3.568,3.573,3.575,3.575,3.579,3.579,3.589,3.599,3.601,3.606,3.606,3.61,3.616,3.617,3.62,3.633,3.636,3.645,3.65,3.66,3.667,3.672,3.674,3.686,3.695,3.699,3.703,3.706,3.717,3.726,3.744,3.747,3.751,3.759,3.769,3.769,3.779,3.782,3.796,3.809,3.81,3.815,3.83,3.845,3.851,3.856,3.873,3.885,3.886,3.9,3.907,3.925,3.944,3.951,3.958,3.984,3.99,3.997,4.008,4.024,4.055,4.055,4.071,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,3.991,3.959,3.876,3.86,3.816,3.799,3.765,3.736,3.716,3.696,3.664,3.641,3.616,3.583,3.56,3.546,3.529,3.511,3.482,3.464,3.438,3.405,3.381,3.368,3.352,3.335,3.312,3.296,3.273,3.256,3.241,3.229,3.203,3.179,3.177,3.157,3.136,3.126,3.11,3.096,3.09,3.072,3.06,3.039,3.025,3.013,2.994,2.986,2.974,2.956,2.951,2.938,2.924,2.924,2.903,2.899,2.876,2.866,2.858,2.849,2.832,2.82,2.813,2.801,2.791,2.775,2.773,2.769,2.751,2.748,2.739,2.716,2.708,2.708,2.7,2.688,2.681,2.674,2.66,2.651,2.64,2.636,2.634,2.625,2.612,2.608,2.603,2.591,2.588,2.58,2.569,2.567,2.566,2.554,2.546,2.541,2.539,2.534,2.528,2.519,2.517,2.511,2.507,2.506,2.501,2.498,2.488,2.486,2.485,2.476,2.473,2.467,2.462,2.457,2.456,2.445,2.443,2.437,2.436,2.433,2.429,2.429,2.424,2.424,2.418,2.418,2.417,2.411,2.409,2.409,2.407,2.405,2.404,2.402,2.4,2.397,2.395,2.395,2.395,2.395,2.398,2.398,2.398,2.39,2.386,2.386,2.386,2.387,2.387,2.387,2.387,2.384,2.384,2.384,2.389,2.391,2.393,2.393,2.394,2.394,2.394,2.394,2.395,2.395,2.395,2.397,2.403,2.406,2.406,2.406,2.406,2.408,2.409,2.41,2.418,2.418,2.42,2.42,2.42,2.427,2.439,2.439,2.44,2.442,2.445,2.446,2.45,2.458,2.458,2.46,2.464,2.475,2.476,2.484,2.485,2.494,2.494,2.495,2.5,2.506,2.511,2.517,2.518,2.525,2.53,2.541,2.55,2.553,2.565,2.57,2.574,2.575,2.577,2.588,2.593,2.607,2.611,2.612,2.627,2.633,2.64,2.646,2.671,2.679,2.679,2.68,2.698,2.699,2.713,2.714,2.721,2.723,2.749,2.756,2.756,2.769,2.778,2.791,2.798,2.811,2.821,2.827,2.841,2.852,2.871,2.873,2.889,2.909,2.918,2.924,2.934,2.951,2.955,2.973,2.982,3,3.016,3.028,3.038,3.054,3.066,3.084,3.107,3.121,3.125,3.147,3.153,3.166,3.182,3.199,3.224,3.235,3.255,3.278,3.291,3.318,3.325,3.357,3.358,3.387,3.411,3.438,3.464,3.484,3.489,3.529,3.543,3.569,3.599,3.612,3.632,3.658,3.696,3.716,3.742,3.787,3.804,3.832,3.869,3.884,3.916,3.948,3.984,4.022,4.087,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.315,3.306,3.297,3.293,3.288,3.273,3.261,3.256,3.241,3.232,3.23,3.227,3.207,3.202,3.197,3.179,3.179,3.167,3.163,3.16,3.153,3.139,3.136,3.125,3.119,3.116,3.109,3.1,3.099,3.093,3.09,3.082,3.079,3.074,3.071,3.063,3.058,3.053,3.051,3.043,3.042,3.032,3.032,3.032,3.029,3.024,3.02,3.017,3.007,3.005,3.005,3.004,3.002,2.994,2.995,2.994,2.991,2.991,2.995,2.994,2.995,2.995,2.994,2.987,2.986,2.985,2.983,2.981,2.981,2.981,2.981,2.981,2.982,2.982,2.982,2.982,2.982,2.983,2.983,2.982,2.979,2.977,2.977,2.979,2.977,2.982,2.983,2.983,2.99,2.991,2.997,2.997,2.998,3.001,3.001,3.006,3.006,3.008,3.011,3.017,3.019,3.019,3.025,3.029,3.036,3.037,3.042,3.043,3.044,3.047,3.052,3.056,3.06,3.066,3.07,3.073,3.082,3.085,3.086,3.095,3.101,3.115,3.117,3.117,3.121,3.121,3.126,3.126,3.142,3.145,3.148,3.151,3.164,3.168,3.171,3.18,3.19,3.191,3.201,3.204,3.213,3.215,3.218,3.227,3.238,3.247,3.249,3.261,3.262,3.271,3.271,3.277,3.286,3.804,3.831,3.837,3.844,3.865,3.872,3.909,3.92,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 21.4324} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.3462}
SEN {Time 21.4805} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.172,0.172,0.177,0.177,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.265,3.263,3.235,3.235,3.372,3.372,0,0,0,0,0,0,0,0,3.116,3.114,3.113,3.109,3.097,3.096,3.093,3.089,3.08,3.075,3.073,3.073,3.062,3.062,3.053,3.053,3.047,0.153,0.153,0.153,0.153,0.153,0.155,0.155,0.155,0.153,0.155,0.156,3.041,3.041,3.045,3.045,3.041,3.025,0.167,0.16,0.158,0.158,0.157,0.157,0.158,0.163,0.168,3.456,3.525,3.529,3.529,3.529,3.532,3.536,3.536,3.536,3.536,3.535,3.535,3.536,3.538,3.538,3.538,3.536,3.538,3.536,3.536,3.538,3.54,3.546,3.546,3.544,3.547,3.55,3.554,3.556,3.56,3.559,3.563,3.563,3.563,3.57,3.572,3.577,3.577,3.577,3.577,3.578,3.588,3.595,3.598,3.6,3.607,3.615,3.62,3.62,3.62,3.635,3.64,3.652,3.655,3.663,3.665,3.669,3.67,3.675,3.681,3.694,3.701,3.706,3.714,3.725,3.741,3.748,3.751,3.755,3.755,3.76,3.775,3.789,3.793,3.803,3.804,3.811,3.823,3.841,3.848,3.855,3.877,3.881,3.887,3.896,3.914,3.923,3.944,3.954,3.975,3.981,3.991,4.003,4.005,4.021,4.037,4.058,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,3.984,3.918,3.871,3.859,3.811,3.792,3.765,3.732,3.715,3.693,3.663,3.638,3.618,3.592,3.563,3.54,3.527,3.496,3.469,3.457,3.428,3.406,3.383,3.361,3.332,3.322,3.299,3.294,3.274,3.251,3.233,3.226,3.203,3.18,3.165,3.151,3.135,3.124,3.111,3.094,3.092,3.07,3.064,3.043,3.029,3.025,2.994,2.992,2.967,2.963,2.953,2.936,2.925,2.912,2.899,2.894,2.882,2.871,2.849,2.835,2.829,2.82,2.813,2.804,2.801,2.787,2.77,2.756,2.75,2.744,2.724,2.712,2.71,2.71,2.702,2.689,2.681,2.671,2.658,2.656,2.642,2.639,2.636,2.632,2.623,2.61,2.598,2.597,2.582,2.577,2.577,2.567,2.558,2.55,2.548,2.538,2.534,2.53,2.529,2.517,2.515,2.507,2.504,2.504,2.501,2.501,2.491,2.487,2.484,2.476,2.466,2.464,2.462,2.462,2.453,2.447,2.445,2.44,2.438,2.437,2.435,2.423,2.423,2.423,2.423,2.421,2.417,2.415,2.409,2.409,2.409,2.408,2.403,2.403,2.401,2.399,2.399,2.393,2.393,2.393,2.393,2.392,2.39,2.387,2.386,2.386,2.386,2.393,2.393,2.393,2.39,2.387,2.385,2.385,2.385,2.385,2.385,2.387,2.389,2.391,2.391,2.391,2.392,2.392,2.393,2.393,2.404,2.404,2.404,2.407,2.407,2.408,2.409,2.412,2.419,2.423,2.423,2.423,2.425,2.43,2.432,2.434,2.435,2.438,2.44,2.449,2.456,2.462,2.463,2.464,2.467,2.475,2.477,2.479,2.484,2.484,2.484,2.484,2.499,2.501,2.517,2.52,2.521,2.521,2.523,2.536,2.551,2.555,2.565,2.569,2.574,2.578,2.585,2.594,2.597,2.599,2.61,2.611,2.629,2.635,2.636,2.636,2.662,2.677,2.679,2.682,2.682,2.695,2.703,2.716,2.733,2.737,2.741,2.745,2.755,2.764,2.779,2.79,2.802,2.815,2.815,2.828,2.841,2.855,2.868,2.87,2.885,2.901,2.918,2.924,2.942,2.949,2.96,2.975,2.989,3.006,3.011,3.02,3.038,3.055,3.063,3.084,3.103,3.114,3.125,3.139,3.151,3.166,3.196,3.207,3.224,3.227,3.258,3.279,3.292,3.32,3.335,3.351,3.364,3.384,3.404,3.44,3.459,3.467,3.497,3.524,3.539,3.561,3.596,3.614,3.642,3.665,3.687,3.716,3.755,3.761,3.807,3.821,3.858,3.886,3.913,3.984,4.025,4.047,4.047,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.334,3.315,3.308,3.298,3.293,3.278,3.257,3.257,3.255,3.255,3.238,3.226,3.226,3.201,3.198,3.193,3.182,3.175,3.166,3.166,3.153,3.15,3.142,3.136,3.121,3.12,3.119,3.102,3.098,3.097,3.096,3.091,3.082,3.079,3.077,3.069,3.06,3.06,3.054,3.052,3.042,3.036,3.036,3.03,3.027,3.026,3.026,3.022,3.017,3.011,3.01,3.001,2.996,2.996,2.993,2.995,2.995,2.995,2.995,2.995,2.995,2.994,2.994,2.987,2.986,2.986,2.984,2.984,2.982,2.979,2.979,2.983,2.983,2.983,2.983,2.983,2.98,2.98,2.982,2.982,2.977,2.978,2.978,2.978,2.978,2.981,2.985,2.989,2.989,2.991,2.994,2.998,2.998,2.998,3.003,3.004,3.006,3.006,3.011,3.012,3.013,3.024,3.024,3.028,3.029,3.033,3.037,3.037,3.037,3.046,3.053,3.059,3.06,3.063,3.064,3.068,3.08,3.085,3.086,3.096,3.096,3.112,3.118,3.118,3.118,3.12,3.12,3.128,3.132,3.135,3.148,3.148,3.152,3.156,3.159,3.171,3.18,3.192,3.195,3.197,3.203,3.205,3.206,3.214,3.219,3.242,3.243,3.248,3.257,3.259,3.278,3.278,3.279,3.301,3.818,3.837,3.843,3.852,3.86,3.881,3.901,3.906,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 21.6324} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.3462}
SEN {Time 21.6805} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.177,0.177,0.18,0.183,0.183,0.209,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.254,3.254,3.252,3.245,3.245,3.379,3.379,0,0,0,0,0,0,0,0,3.119,3.119,3.116,3.116,3.096,3.095,3.093,3.092,3.088,3.074,3.073,3.072,3.068,3.065,3.051,3.051,3.049,0.148,0.143,0.143,0.143,0.143,0.15,0.154,0.155,0.154,0.155,0.156,3.034,3.034,3.038,3.038,3.034,3.027,0.165,0.163,0.163,0.161,0.154,0.154,0.16,0.16,0.175,3.459,3.527,3.531,3.532,3.533,3.533,3.533,3.533,3.533,3.533,3.533,3.538,3.538,3.539,3.538,3.537,3.536,3.536,3.536,3.537,3.54,3.542,3.544,3.546,3.544,3.546,3.546,3.546,3.548,3.552,3.557,3.562,3.563,3.573,3.573,3.574,3.574,3.582,3.575,3.585,3.587,3.59,3.598,3.598,3.604,3.607,3.61,3.613,3.616,3.627,3.628,3.636,3.649,3.66,3.663,3.67,3.671,3.675,3.681,3.685,3.689,3.696,3.7,3.714,3.731,3.737,3.745,3.749,3.75,3.76,3.772,3.786,3.794,3.8,3.804,3.808,3.812,3.823,3.84,3.844,3.859,3.867,3.879,3.887,3.906,3.917,3.921,3.938,3.945,3.956,3.98,3.986,4.013,4.017,4.038,4.04,4.059,4.069,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.091,4.012,3.99,3.951,3.924,3.884,3.859,3.827,3.793,3.768,3.736,3.714,3.701,3.666,3.639,3.613,3.585,3.556,3.546,3.524,3.509,3.48,3.462,3.442,3.406,3.388,3.375,3.354,3.328,3.305,3.284,3.265,3.251,3.23,3.228,3.211,3.184,3.163,3.147,3.131,3.127,3.111,3.097,3.087,3.077,3.045,3.038,3.03,3.021,2.993,2.99,2.961,2.96,2.957,2.943,2.922,2.92,2.901,2.899,2.878,2.86,2.854,2.849,2.838,2.825,2.809,2.793,2.793,2.776,2.773,2.767,2.754,2.752,2.737,2.716,2.712,2.703,2.703,2.692,2.683,2.679,2.663,2.65,2.646,2.643,2.64,2.621,2.612,2.6,2.599,2.599,2.598,2.586,2.573,2.57,2.56,2.553,2.547,2.537,2.535,2.533,2.528,2.521,2.52,2.514,2.513,2.513,2.51,2.495,2.483,2.482,2.474,2.474,2.474,2.47,2.465,2.46,2.456,2.449,2.446,2.443,2.44,2.435,2.434,2.428,2.426,2.423,2.414,2.416,2.414,2.411,2.411,2.411,2.408,2.406,2.403,2.403,2.399,2.399,2.399,2.399,2.396,2.395,2.393,2.39,2.39,2.39,2.388,2.386,2.386,2.388,2.385,2.391,2.391,2.391,2.388,2.388,2.386,2.388,2.388,2.385,2.388,2.39,2.39,2.39,2.391,2.393,2.394,2.394,2.397,2.402,2.406,2.407,2.409,2.409,2.413,2.414,2.417,2.42,2.421,2.425,2.426,2.427,2.433,2.436,2.437,2.439,2.44,2.441,2.453,2.459,2.459,2.464,2.468,2.471,2.476,2.48,2.483,2.492,2.493,2.493,2.501,2.508,2.517,2.519,2.529,2.537,2.537,2.545,2.547,2.554,2.557,2.561,2.566,2.577,2.583,2.595,2.604,2.605,2.607,2.615,2.618,2.634,2.64,2.642,2.662,2.663,2.682,2.688,2.69,2.698,2.708,2.717,2.723,2.729,2.749,2.749,2.754,2.766,2.776,2.793,2.809,2.811,2.83,2.832,2.846,2.863,2.871,2.873,2.879,2.901,2.914,2.925,2.939,2.944,2.956,2.968,2.99,2.995,3.021,3.035,3.041,3.048,3.062,3.087,3.09,3.11,3.121,3.143,3.16,3.169,3.186,3.215,3.228,3.242,3.252,3.278,3.287,3.315,3.331,3.351,3.359,3.397,3.414,3.432,3.447,3.473,3.487,3.526,3.54,3.558,3.59,3.607,3.642,3.663,3.693,3.725,3.753,3.775,3.798,3.825,3.858,3.875,3.916,3.95,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.321,3.306,3.289,3.287,3.28,3.265,3.253,3.252,3.234,3.23,3.218,3.217,3.202,3.198,3.198,3.198,3.185,3.177,3.158,3.153,3.152,3.14,3.136,3.13,3.117,3.111,3.107,3.102,3.101,3.095,3.093,3.085,3.078,3.071,3.067,3.066,3.066,3.06,3.056,3.044,3.044,3.042,3.038,3.037,3.027,3.022,3.019,3.011,3.009,3.005,3.005,3.003,3.002,3,2.997,2.997,2.996,2.997,2.997,2.997,2.993,2.992,2.992,2.984,2.984,2.984,2.983,2.983,2.983,2.98,2.983,2.98,2.98,2.98,2.982,2.982,2.982,2.982,2.984,2.982,2.98,2.98,2.982,2.982,2.99,2.991,2.991,2.991,2.991,2.991,2.994,2.998,2.999,3.001,3.006,3.006,3.006,3.006,3.015,3.017,3.02,3.024,3.028,3.033,3.036,3.038,3.038,3.038,3.047,3.053,3.057,3.057,3.061,3.067,3.073,3.079,3.08,3.083,3.093,3.094,3.104,3.111,3.114,3.117,3.121,3.125,3.125,3.128,3.131,3.141,3.148,3.158,3.161,3.165,3.179,3.179,3.189,3.196,3.198,3.202,3.203,3.214,3.214,3.229,3.23,3.252,3.254,3.264,3.265,3.279,3.279,3.288,3.289,3.813,3.824,3.84,3.85,3.869,3.878,3.909,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 21.8324} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.5748}
SEN {Time 21.8796} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.181,0.177,0.174,0.181,0.181,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.242,3.374,3.374,3.374,0,0,0,0,0,0,0,0,3.119,3.112,3.109,3.108,3.095,3.093,3.092,3.09,3.087,3.078,3.075,3.068,3.063,3.063,3.056,3.048,0.144,0.144,0.144,0.144,0.144,0.145,0.15,0.15,0.15,0.147,0.15,0.157,3.026,3.027,3.029,3.029,3.027,3.027,0.168,0.166,0.166,0.165,0.151,0.151,0.156,0.156,0.175,3.453,3.527,3.532,3.534,3.534,3.534,3.534,3.536,3.536,3.536,3.536,3.536,3.535,3.532,3.535,3.539,3.536,3.536,3.539,3.536,3.536,3.54,3.546,3.546,3.547,3.55,3.547,3.547,3.552,3.553,3.56,3.562,3.566,3.568,3.569,3.57,3.57,3.577,3.578,3.579,3.581,3.602,3.604,3.604,3.605,3.607,3.612,3.616,3.622,3.639,3.641,3.645,3.647,3.648,3.657,3.673,3.675,3.676,3.676,3.686,3.694,3.707,3.708,3.716,3.73,3.732,3.739,3.751,3.754,3.755,3.773,3.781,3.783,3.792,3.804,3.823,3.831,3.831,3.84,3.844,3.855,3.873,3.893,3.895,3.915,3.918,3.923,3.939,3.943,3.965,3.974,3.989,4.01,4.016,4.034,4.039,4.056,4.084,4.093,0.016,0.016,0.016,0.016,0,0,0,0,0,3.976,3.951,3.917,3.895,3.865,3.823,3.794,3.772,3.732,3.709,3.682,3.65,3.636,3.623,3.592,3.559,3.538,3.523,3.497,3.478,3.458,3.428,3.417,3.384,3.369,3.336,3.332,3.311,3.294,3.266,3.244,3.23,3.221,3.202,3.187,3.168,3.158,3.129,3.128,3.111,3.094,3.088,3.077,3.052,3.05,3.024,3.016,2.997,2.994,2.971,2.955,2.955,2.94,2.924,2.91,2.905,2.901,2.878,2.865,2.859,2.846,2.841,2.823,2.816,2.809,2.796,2.774,2.771,2.77,2.751,2.749,2.719,2.706,2.704,2.703,2.702,2.692,2.681,2.677,2.668,2.659,2.643,2.641,2.633,2.624,2.61,2.604,2.6,2.591,2.589,2.58,2.567,2.565,2.561,2.548,2.546,2.544,2.54,2.533,2.528,2.522,2.521,2.506,2.501,2.5,2.499,2.497,2.491,2.486,2.485,2.475,2.474,2.472,2.468,2.459,2.455,2.452,2.451,2.449,2.44,2.434,2.428,2.428,2.426,2.425,2.424,2.423,2.414,2.412,2.41,2.408,2.407,2.407,2.401,2.4,2.399,2.398,2.397,2.397,2.397,2.395,2.39,2.39,2.39,2.389,2.389,2.389,2.387,2.384,2.383,2.384,2.384,2.383,2.385,2.385,2.385,2.385,2.386,2.388,2.39,2.39,2.39,2.39,2.39,2.39,2.4,2.402,2.402,2.403,2.408,2.408,2.413,2.413,2.414,2.414,2.417,2.418,2.421,2.421,2.426,2.427,2.428,2.433,2.436,2.446,2.446,2.45,2.454,2.456,2.458,2.461,2.463,2.474,2.474,2.478,2.478,2.49,2.495,2.499,2.505,2.517,2.517,2.52,2.52,2.528,2.53,2.537,2.548,2.548,2.557,2.561,2.574,2.579,2.592,2.592,2.596,2.601,2.608,2.622,2.624,2.637,2.637,2.639,2.67,2.671,2.676,2.682,2.686,2.697,2.702,2.716,2.726,2.732,2.741,2.742,2.754,2.769,2.77,2.78,2.796,2.809,2.821,2.838,2.85,2.864,2.871,2.875,2.88,2.905,2.915,2.931,2.939,2.944,2.961,2.97,2.987,3.003,3.019,3.03,3.037,3.048,3.06,3.073,3.1,3.106,3.113,3.145,3.156,3.171,3.189,3.202,3.225,3.228,3.258,3.281,3.289,3.32,3.33,3.343,3.358,3.385,3.401,3.432,3.454,3.476,3.492,3.523,3.537,3.561,3.591,3.614,3.644,3.664,3.684,3.729,3.745,3.765,3.802,3.819,3.865,3.894,3.919,3.948,3.997,4.017,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.32,3.313,3.304,3.284,3.278,3.262,3.256,3.255,3.24,3.229,3.228,3.227,3.205,3.202,3.202,3.182,3.177,3.175,3.161,3.148,3.147,3.138,3.132,3.132,3.12,3.117,3.11,3.108,3.103,3.091,3.091,3.087,3.076,3.067,3.064,3.061,3.061,3.052,3.046,3.045,3.042,3.039,3.034,3.03,3.029,3.025,3.021,3.018,3.006,3.003,3.002,3.002,2.999,2.997,2.997,2.997,2.997,2.998,2.999,2.999,2.998,2.998,2.998,2.991,2.983,2.989,2.987,2.983,2.983,2.983,2.983,2.983,2.983,2.982,2.982,2.982,2.986,2.982,2.986,2.986,2.986,2.984,2.986,2.987,2.987,2.986,2.987,2.987,2.994,2.994,2.996,2.996,2.998,3.003,3.003,3.003,3.009,3.014,3.016,3.016,3.023,3.025,3.027,3.032,3.033,3.039,3.042,3.047,3.052,3.053,3.053,3.054,3.065,3.071,3.071,3.072,3.073,3.086,3.09,3.097,3.097,3.112,3.114,3.114,3.116,3.12,3.123,3.132,3.137,3.148,3.149,3.153,3.16,3.167,3.171,3.182,3.187,3.197,3.197,3.197,3.197,3.203,3.222,3.229,3.237,3.246,3.256,3.263,3.271,3.284,3.284,3.285,3.287,3.827,3.828,3.832,3.844,3.86,3.88,3.902,3.914,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 22.0323} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.5748}
SEN {Time 22.0755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.176,0.177,0.181,0.181,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.259,3.259,3.251,3.235,3.235,3.379,3.379,0,0,0,0,0,0,0,0,3.114,3.113,3.111,3.105,3.092,3.092,3.088,3.087,3.085,3.071,3.068,3.066,3.066,3.065,3.061,3.06,0.145,0.142,0.142,0.143,0.145,0.143,0.151,0.149,0.151,0.151,0.153,0.155,3.026,3.029,3.031,3.031,3.029,3.029,0.168,0.164,0.159,0.159,0.157,0.157,0.161,0.161,0.171,3.442,3.529,3.529,3.531,3.531,3.531,3.531,3.531,3.535,3.536,3.536,3.536,3.535,3.536,3.536,3.536,3.534,3.534,3.534,3.534,3.537,3.538,3.543,3.546,3.546,3.546,3.546,3.549,3.558,3.558,3.558,3.562,3.562,3.562,3.568,3.571,3.571,3.572,3.58,3.584,3.586,3.599,3.604,3.604,3.609,3.609,3.616,3.617,3.619,3.624,3.642,3.644,3.645,3.656,3.66,3.668,3.673,3.679,3.684,3.687,3.695,3.699,3.702,3.72,3.729,3.733,3.743,3.748,3.75,3.765,3.767,3.778,3.793,3.795,3.806,3.807,3.815,3.832,3.842,3.846,3.863,3.887,3.895,3.896,3.903,3.917,3.918,3.932,3.956,3.962,3.982,3.982,4.008,4.024,4.03,4.042,4.063,4.078,4.087,0.016,0.016,0.016,0,0,0,0,0.007,0,4.051,3.948,3.918,3.873,3.852,3.822,3.785,3.78,3.732,3.729,3.7,3.666,3.633,3.613,3.587,3.558,3.537,3.527,3.496,3.479,3.456,3.428,3.401,3.394,3.376,3.338,3.329,3.305,3.285,3.271,3.254,3.235,3.219,3.199,3.181,3.172,3.152,3.133,3.124,3.114,3.09,3.073,3.068,3.048,3.041,3.029,3.014,2.995,2.987,2.968,2.957,2.957,2.938,2.93,2.915,2.905,2.893,2.876,2.864,2.859,2.841,2.838,2.818,2.806,2.8,2.795,2.784,2.778,2.768,2.758,2.739,2.736,2.717,2.712,2.706,2.697,2.688,2.68,2.665,2.654,2.651,2.645,2.638,2.637,2.627,2.619,2.608,2.607,2.595,2.589,2.584,2.573,2.565,2.556,2.554,2.552,2.543,2.542,2.537,2.528,2.527,2.521,2.513,2.508,2.506,2.499,2.496,2.483,2.482,2.474,2.473,2.473,2.473,2.466,2.461,2.449,2.449,2.447,2.444,2.434,2.433,2.43,2.424,2.424,2.423,2.423,2.418,2.413,2.413,2.411,2.411,2.411,2.411,2.407,2.403,2.402,2.4,2.399,2.399,2.396,2.396,2.394,2.391,2.39,2.39,2.389,2.389,2.389,2.389,2.387,2.387,2.389,2.387,2.389,2.392,2.39,2.39,2.392,2.391,2.391,2.391,2.391,2.39,2.39,2.389,2.389,2.391,2.396,2.404,2.406,2.411,2.411,2.412,2.412,2.413,2.416,2.42,2.425,2.425,2.426,2.427,2.43,2.433,2.434,2.441,2.442,2.446,2.447,2.455,2.46,2.463,2.47,2.471,2.475,2.488,2.491,2.495,2.498,2.498,2.499,2.51,2.516,2.52,2.521,2.521,2.531,2.54,2.551,2.552,2.562,2.563,2.568,2.57,2.581,2.588,2.59,2.59,2.607,2.62,2.625,2.633,2.645,2.656,2.666,2.674,2.676,2.679,2.68,2.695,2.704,2.725,2.731,2.733,2.738,2.742,2.756,2.773,2.776,2.786,2.799,2.803,2.817,2.828,2.846,2.859,2.865,2.871,2.882,2.905,2.916,2.933,2.936,2.944,2.956,2.972,2.99,2.997,3.022,3.039,3.045,3.058,3.063,3.083,3.095,3.105,3.121,3.137,3.155,3.166,3.184,3.205,3.224,3.235,3.258,3.278,3.294,3.31,3.328,3.348,3.354,3.391,3.409,3.43,3.454,3.478,3.497,3.518,3.541,3.575,3.605,3.616,3.644,3.67,3.687,3.71,3.744,3.776,3.807,3.825,3.858,3.885,3.919,3.964,3.97,4.057,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.327,3.306,3.291,3.283,3.278,3.264,3.258,3.255,3.243,3.232,3.227,3.214,3.198,3.198,3.189,3.186,3.179,3.169,3.158,3.155,3.153,3.139,3.137,3.127,3.119,3.112,3.11,3.107,3.101,3.091,3.091,3.089,3.082,3.076,3.069,3.063,3.061,3.053,3.05,3.044,3.043,3.039,3.029,3.026,3.023,3.022,3.021,3.015,3.008,3.004,3.004,3.004,3.002,3.001,2.999,2.998,2.993,2.999,2.999,2.993,2.993,2.992,2.992,2.988,2.985,2.985,2.989,2.985,2.984,2.985,2.984,2.982,2.982,2.982,2.979,2.979,2.982,2.979,2.979,2.979,2.979,2.979,2.981,2.985,2.988,2.989,2.989,2.989,2.993,2.994,2.994,2.997,3.006,3.006,3.007,3.007,3.007,3.008,3.01,3.016,3.022,3.025,3.026,3.027,3.032,3.034,3.043,3.048,3.051,3.055,3.056,3.061,3.062,3.062,3.069,3.073,3.083,3.087,3.092,3.093,3.099,3.11,3.119,3.119,3.12,3.121,3.122,3.129,3.14,3.145,3.146,3.15,3.164,3.164,3.174,3.183,3.188,3.189,3.2,3.201,3.202,3.213,3.218,3.223,3.236,3.246,3.249,3.265,3.269,3.278,3.278,3.288,3.298,3.812,3.833,3.836,3.842,3.866,3.879,3.903,3.923,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 22.2327} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.5748}
SEN {Time 22.2754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.174,0.174,0.173,0.174,0.174,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.381,3.381,3.381,0,0,0,0,0,0,0,0,0,3.113,3.11,3.11,3.1,3.095,3.091,3.089,3.081,3.075,3.07,3.069,3.059,3.059,3.058,3.057,0.152,0.14,0.14,0.14,0.15,0.139,0.147,0.147,0.149,0.147,0.149,0.159,3.021,3.032,3.039,3.039,3.032,3.032,0.168,0.163,0.154,0.155,0.153,0.153,0.155,0.156,0.176,3.446,3.528,3.532,3.532,3.532,3.532,3.533,3.528,3.528,3.528,3.532,3.531,3.532,3.532,3.534,3.534,3.534,3.531,3.531,3.531,3.533,3.54,3.547,3.547,3.547,3.549,3.547,3.547,3.558,3.558,3.558,3.558,3.564,3.569,3.572,3.572,3.575,3.579,3.575,3.579,3.581,3.589,3.594,3.599,3.6,3.609,3.609,3.615,3.619,3.633,3.634,3.641,3.651,3.654,3.661,3.662,3.669,3.67,3.687,3.688,3.696,3.706,3.708,3.717,3.73,3.734,3.745,3.749,3.752,3.765,3.766,3.778,3.787,3.794,3.798,3.801,3.82,3.833,3.845,3.855,3.86,3.876,3.882,3.891,3.897,3.917,3.934,3.942,3.944,3.964,3.983,3.988,3.992,4.013,4.036,4.046,4.067,4.085,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,3.94,3.919,3.88,3.855,3.831,3.798,3.764,3.748,3.715,3.705,3.664,3.653,3.611,3.589,3.563,3.541,3.529,3.5,3.482,3.452,3.428,3.406,3.39,3.369,3.338,3.326,3.305,3.293,3.262,3.247,3.236,3.224,3.198,3.18,3.176,3.156,3.136,3.121,3.113,3.097,3.081,3.076,3.052,3.041,3.036,3.018,3.001,2.99,2.963,2.957,2.954,2.931,2.931,2.924,2.904,2.898,2.876,2.868,2.857,2.847,2.833,2.826,2.806,2.806,2.787,2.773,2.771,2.759,2.756,2.741,2.73,2.72,2.71,2.706,2.697,2.693,2.674,2.666,2.659,2.654,2.638,2.638,2.637,2.634,2.619,2.604,2.603,2.602,2.587,2.584,2.569,2.569,2.564,2.555,2.548,2.548,2.539,2.537,2.525,2.521,2.513,2.51,2.505,2.502,2.502,2.496,2.491,2.479,2.478,2.472,2.471,2.466,2.463,2.459,2.457,2.454,2.453,2.442,2.44,2.432,2.431,2.43,2.427,2.426,2.425,2.418,2.414,2.413,2.413,2.413,2.411,2.411,2.406,2.403,2.399,2.398,2.398,2.397,2.394,2.394,2.394,2.392,2.39,2.392,2.389,2.389,2.389,2.389,2.388,2.388,2.388,2.388,2.386,2.385,2.385,2.386,2.388,2.388,2.392,2.393,2.394,2.394,2.397,2.394,2.397,2.397,2.401,2.401,2.401,2.404,2.404,2.408,2.409,2.411,2.418,2.419,2.425,2.425,2.425,2.425,2.43,2.434,2.438,2.438,2.441,2.447,2.447,2.456,2.462,2.463,2.466,2.468,2.476,2.483,2.49,2.491,2.498,2.5,2.502,2.508,2.514,2.525,2.53,2.53,2.533,2.538,2.541,2.542,2.558,2.56,2.564,2.569,2.572,2.595,2.595,2.602,2.616,2.621,2.627,2.631,2.639,2.646,2.663,2.671,2.674,2.679,2.698,2.701,2.713,2.72,2.724,2.726,2.74,2.74,2.757,2.762,2.77,2.785,2.799,2.813,2.829,2.837,2.839,2.855,2.869,2.875,2.885,2.899,2.919,2.921,2.934,2.953,2.957,2.974,2.987,2.989,3.018,3.029,3.039,3.055,3.062,3.082,3.098,3.11,3.126,3.145,3.161,3.174,3.193,3.205,3.223,3.236,3.253,3.277,3.281,3.319,3.323,3.348,3.37,3.386,3.411,3.436,3.45,3.476,3.497,3.52,3.535,3.565,3.597,3.624,3.644,3.668,3.698,3.723,3.744,3.774,3.791,3.832,3.862,3.878,3.914,3.947,4.056,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.317,3.307,3.3,3.293,3.282,3.268,3.264,3.259,3.243,3.23,3.225,3.215,3.205,3.202,3.201,3.188,3.172,3.165,3.156,3.154,3.149,3.144,3.135,3.128,3.117,3.115,3.114,3.108,3.101,3.09,3.09,3.082,3.073,3.072,3.072,3.064,3.055,3.055,3.054,3.048,3.042,3.031,3.031,3.028,3.027,3.019,3.018,3.017,3.013,3.007,3.006,3.004,3.003,3.003,2.999,2.999,2.997,2.999,2.999,2.997,2.994,2.997,2.995,2.989,2.989,2.987,2.987,2.987,2.987,2.988,2.988,2.983,2.983,2.983,2.983,2.982,2.982,2.977,2.977,2.977,2.981,2.981,2.981,2.983,2.986,2.988,2.99,2.988,2.99,2.991,2.994,2.996,2.996,3.001,3.002,3.007,3.01,3.011,3.012,3.013,3.02,3.02,3.021,3.021,3.033,3.036,3.04,3.047,3.05,3.05,3.05,3.052,3.058,3.066,3.066,3.079,3.085,3.087,3.091,3.094,3.099,3.108,3.113,3.116,3.117,3.118,3.12,3.124,3.135,3.142,3.149,3.159,3.159,3.161,3.17,3.188,3.19,3.19,3.194,3.202,3.202,3.205,3.215,3.224,3.235,3.247,3.253,3.261,3.262,3.284,3.284,3.287,3.291,3.818,3.83,3.835,3.845,3.873,3.88,3.902,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 22.4243} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.5748}
SEN {Time 22.4755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.18,0.183,0.183,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.261,3.253,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.119,3.108,3.105,3.095,3.093,3.092,3.086,3.084,3.075,3.067,3.065,3.065,3.065,3.062,3.05,0.15,0.148,0.148,0.148,0.148,0.147,0.15,0.15,0.15,0.148,0.15,0.154,3.035,3.047,3.047,3.047,3.035,3.033,0.165,0.159,0.159,0.159,0.148,0.148,0.158,0.158,0.17,3.459,3.531,3.539,3.539,3.533,3.536,3.536,3.533,3.535,3.536,3.535,3.535,3.535,3.537,3.537,3.537,3.537,3.536,3.536,3.536,3.546,3.546,3.546,3.546,3.546,3.55,3.549,3.55,3.551,3.552,3.555,3.56,3.571,3.572,3.574,3.576,3.58,3.583,3.58,3.583,3.589,3.59,3.596,3.599,3.6,3.603,3.611,3.616,3.616,3.631,3.636,3.645,3.651,3.654,3.661,3.672,3.672,3.673,3.678,3.688,3.691,3.707,3.712,3.719,3.724,3.731,3.735,3.751,3.755,3.771,3.774,3.788,3.79,3.796,3.804,3.814,3.814,3.831,3.842,3.849,3.861,3.872,3.888,3.888,3.907,3.914,3.93,3.945,3.949,3.954,3.974,3.992,4.004,4.006,4.032,4.036,4.056,4.078,4.093,4.093,0.016,0.016,0.016,0.007,0,0,0,4.019,3.976,3.936,3.919,3.885,3.862,3.816,3.783,3.758,3.738,3.715,3.689,3.665,3.65,3.618,3.596,3.555,3.549,3.523,3.49,3.477,3.457,3.434,3.404,3.393,3.372,3.346,3.331,3.296,3.29,3.263,3.252,3.238,3.215,3.204,3.186,3.163,3.155,3.132,3.118,3.108,3.099,3.087,3.08,3.059,3.044,3.033,3.017,2.998,2.989,2.97,2.956,2.952,2.934,2.927,2.916,2.907,2.894,2.878,2.872,2.856,2.843,2.835,2.818,2.812,2.802,2.794,2.78,2.77,2.77,2.746,2.736,2.731,2.725,2.716,2.709,2.697,2.693,2.679,2.672,2.663,2.65,2.636,2.634,2.631,2.626,2.622,2.607,2.606,2.597,2.589,2.585,2.581,2.562,2.554,2.552,2.548,2.545,2.532,2.531,2.529,2.521,2.517,2.511,2.508,2.507,2.507,2.493,2.483,2.482,2.478,2.474,2.474,2.47,2.463,2.462,2.457,2.457,2.448,2.437,2.437,2.433,2.429,2.427,2.426,2.425,2.42,2.418,2.413,2.413,2.413,2.413,2.413,2.411,2.403,2.401,2.399,2.399,2.396,2.396,2.392,2.397,2.396,2.397,2.396,2.396,2.392,2.391,2.387,2.391,2.39,2.39,2.39,2.39,2.39,2.389,2.39,2.388,2.388,2.388,2.39,2.392,2.392,2.392,2.393,2.393,2.395,2.402,2.402,2.402,2.404,2.41,2.41,2.413,2.413,2.413,2.413,2.413,2.419,2.424,2.426,2.426,2.431,2.432,2.437,2.438,2.449,2.45,2.452,2.454,2.46,2.463,2.473,2.478,2.479,2.48,2.48,2.491,2.496,2.497,2.499,2.502,2.516,2.518,2.525,2.535,2.536,2.536,2.543,2.553,2.556,2.564,2.568,2.571,2.585,2.591,2.598,2.601,2.605,2.617,2.635,2.643,2.648,2.652,2.664,2.673,2.683,2.684,2.688,2.701,2.703,2.71,2.724,2.729,2.74,2.74,2.757,2.771,2.789,2.793,2.803,2.804,2.822,2.836,2.845,2.853,2.87,2.879,2.883,2.911,2.918,2.919,2.934,2.95,2.955,2.965,2.985,2.994,3.013,3.029,3.04,3.059,3.07,3.082,3.096,3.108,3.123,3.142,3.148,3.161,3.188,3.204,3.227,3.23,3.258,3.286,3.288,3.324,3.33,3.359,3.362,3.38,3.414,3.438,3.463,3.477,3.5,3.522,3.53,3.554,3.593,3.634,3.67,3.684,3.684,3.718,3.736,3.766,3.803,3.824,3.852,3.883,3.917,3.949,4.021,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.32,3.315,3.295,3.289,3.288,3.261,3.259,3.259,3.247,3.223,3.22,3.219,3.209,3.202,3.196,3.188,3.175,3.174,3.161,3.154,3.153,3.143,3.137,3.126,3.121,3.114,3.106,3.105,3.1,3.092,3.09,3.085,3.077,3.075,3.07,3.07,3.06,3.057,3.053,3.048,3.045,3.035,3.029,3.029,3.029,3.024,3.022,3.015,3.013,3.005,3.005,3,3,3,3.001,3,2.999,2.999,3.001,2.999,2.994,2.994,2.994,2.986,2.985,2.986,2.986,2.984,2.981,2.981,2.981,2.981,2.981,2.984,2.984,2.984,2.984,2.984,2.984,2.983,2.984,2.984,2.984,2.984,2.988,2.984,2.988,2.988,2.994,2.994,2.995,2.998,3,3.003,3.01,3.011,3.011,3.011,3.011,3.017,3.017,3.018,3.027,3.029,3.029,3.034,3.038,3.042,3.043,3.05,3.057,3.058,3.065,3.066,3.078,3.079,3.08,3.088,3.094,3.099,3.104,3.115,3.115,3.115,3.117,3.121,3.129,3.129,3.136,3.147,3.148,3.153,3.164,3.168,3.174,3.175,3.188,3.193,3.202,3.205,3.209,3.209,3.222,3.227,3.245,3.247,3.255,3.259,3.264,3.275,3.275,3.275,3.29,3.82,3.832,3.837,3.85,3.869,3.873,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 22.6253} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.2484} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.5748}
SEN {Time 22.6755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.182,0.182,0.183,0.183,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.264,3.252,3.234,3.234,3.377,3.377,0,0,0,0,0,0,0,0,0,3.118,3.112,3.104,3.095,3.093,3.093,3.086,3.083,3.077,3.076,3.075,3.069,3.069,3.054,3.05,0.146,0.143,0.143,0.143,0.146,0.143,0.144,0.144,0.148,0.144,0.148,0.16,3.038,3.038,3.042,3.042,3.042,3.027,0.168,0.166,0.157,0.152,0.152,0.152,0.156,0.163,0.166,3.448,3.52,3.525,3.529,3.533,3.534,3.534,3.532,3.536,3.533,3.532,3.533,3.533,3.533,3.533,3.535,3.543,3.543,3.543,3.539,3.539,3.539,3.539,3.543,3.543,3.545,3.544,3.544,3.554,3.557,3.559,3.562,3.566,3.567,3.571,3.576,3.576,3.582,3.583,3.584,3.586,3.596,3.596,3.601,3.608,3.609,3.616,3.62,3.621,3.626,3.627,3.633,3.635,3.647,3.656,3.663,3.67,3.675,3.682,3.686,3.691,3.71,3.712,3.716,3.719,3.727,3.74,3.747,3.751,3.763,3.771,3.773,3.775,3.8,3.806,3.807,3.808,3.826,3.838,3.856,3.859,3.876,3.887,3.892,3.902,3.919,3.923,3.927,3.935,3.954,3.98,3.989,4.004,4.02,4.038,4.046,4.069,4.075,4.086,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,3.992,3.96,3.855,3.818,3.8,3.773,3.728,3.712,3.686,3.662,3.64,3.614,3.592,3.563,3.533,3.516,3.497,3.479,3.454,3.443,3.412,3.389,3.379,3.355,3.324,3.313,3.29,3.264,3.248,3.233,3.217,3.203,3.189,3.172,3.157,3.133,3.121,3.117,3.093,3.082,3.079,3.056,3.035,3.033,3.012,2.994,2.993,2.973,2.96,2.955,2.934,2.922,2.918,2.91,2.901,2.883,2.866,2.854,2.843,2.831,2.818,2.808,2.801,2.796,2.776,2.769,2.761,2.75,2.748,2.739,2.731,2.72,2.703,2.701,2.69,2.674,2.674,2.658,2.651,2.638,2.637,2.634,2.632,2.616,2.616,2.605,2.599,2.592,2.582,2.573,2.57,2.566,2.554,2.553,2.552,2.545,2.539,2.525,2.52,2.514,2.513,2.513,2.508,2.508,2.498,2.481,2.481,2.475,2.468,2.467,2.464,2.463,2.464,2.463,2.453,2.451,2.451,2.439,2.437,2.432,2.427,2.427,2.423,2.418,2.416,2.408,2.408,2.408,2.412,2.412,2.412,2.408,2.406,2.403,2.4,2.399,2.397,2.393,2.393,2.393,2.393,2.393,2.393,2.392,2.389,2.388,2.388,2.388,2.381,2.381,2.385,2.385,2.387,2.387,2.389,2.39,2.39,2.393,2.393,2.393,2.393,2.395,2.394,2.395,2.397,2.397,2.401,2.405,2.405,2.406,2.406,2.408,2.412,2.414,2.419,2.42,2.423,2.425,2.425,2.432,2.436,2.439,2.44,2.442,2.442,2.453,2.456,2.46,2.463,2.468,2.473,2.474,2.484,2.485,2.496,2.496,2.498,2.5,2.504,2.518,2.524,2.528,2.529,2.537,2.538,2.547,2.552,2.559,2.566,2.569,2.579,2.584,2.59,2.592,2.599,2.611,2.623,2.634,2.636,2.641,2.647,2.662,2.67,2.682,2.69,2.691,2.701,2.71,2.716,2.717,2.734,2.737,2.738,2.759,2.78,2.78,2.791,2.809,2.811,2.826,2.832,2.842,2.849,2.862,2.872,2.883,2.904,2.92,2.931,2.943,2.954,2.959,2.97,2.988,2.999,3.01,3.025,3.04,3.058,3.065,3.072,3.103,3.114,3.124,3.142,3.15,3.171,3.196,3.202,3.22,3.23,3.253,3.284,3.295,3.315,3.326,3.351,3.373,3.396,3.41,3.432,3.46,3.475,3.501,3.523,3.534,3.555,3.577,3.616,3.652,3.667,3.692,3.716,3.749,3.772,3.794,3.824,3.859,3.879,3.922,3.955,3.984,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.324,3.303,3.295,3.287,3.285,3.267,3.257,3.251,3.241,3.238,3.228,3.219,3.198,3.197,3.196,3.195,3.175,3.167,3.164,3.15,3.148,3.136,3.133,3.12,3.116,3.112,3.11,3.107,3.095,3.091,3.09,3.079,3.074,3.071,3.069,3.062,3.054,3.052,3.05,3.048,3.043,3.033,3.027,3.027,3.026,3.025,3.021,3.018,3.005,3.005,3.005,3.005,3.001,2.997,2.995,2.994,2.994,2.994,2.995,2.995,2.995,2.99,2.99,2.985,2.985,2.985,2.985,2.983,2.983,2.983,2.983,2.984,2.984,2.984,2.984,2.979,2.979,2.979,2.985,2.979,2.985,2.979,2.979,2.979,2.979,2.979,2.985,2.991,2.994,2.994,2.998,2.999,3.001,3.001,3.003,3.006,3.015,3.015,3.015,3.023,3.02,3.023,3.029,3.034,3.034,3.034,3.039,3.043,3.045,3.049,3.057,3.06,3.067,3.07,3.079,3.081,3.083,3.086,3.09,3.095,3.097,3.112,3.121,3.121,3.123,3.124,3.126,3.13,3.132,3.138,3.15,3.155,3.16,3.168,3.169,3.177,3.18,3.186,3.196,3.198,3.201,3.202,3.215,3.223,3.234,3.249,3.253,3.259,3.263,3.277,3.277,3.29,3.29,3.821,3.829,3.83,3.848,3.864,3.883,3.924,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 83.80} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 83.80} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 83.8009} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.588} {Name Sonar15 Range 1.3462}
SEN {Time 83.8435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.181,0.178,0.18,0.181,0.181,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.251,3.228,3.228,3.372,3.372,0,0,0,0,0,0,0,0,0,3.112,3.109,3.107,3.104,3.09,3.089,3.081,3.076,3.071,3.071,3.069,3.067,3.067,3.061,3.061,3.061,0.146,0.145,0.145,0.145,0.144,0.144,0.144,0.147,0.144,0.147,0.152,3.029,3.029,3.036,3.036,3.029,3.025,0.166,0.162,0.162,0.158,0.155,0.155,0.158,0.158,0.18,3.452,3.519,3.525,3.527,3.527,3.528,3.529,3.534,3.536,3.536,3.536,3.536,3.532,3.532,3.532,3.532,3.531,3.533,3.535,3.531,3.535,3.542,3.545,3.545,3.546,3.546,3.546,3.551,3.553,3.556,3.556,3.556,3.556,3.556,3.563,3.564,3.568,3.574,3.579,3.586,3.588,3.59,3.591,3.596,3.602,3.61,3.61,3.622,3.622,3.624,3.635,3.636,3.642,3.649,3.666,3.672,3.673,3.674,3.681,3.681,3.682,3.703,3.706,3.721,3.726,3.734,3.744,3.748,3.754,3.768,3.776,3.777,3.783,3.794,3.799,3.81,3.814,3.829,3.84,3.841,3.866,3.871,3.891,3.894,3.898,3.907,3.912,3.929,3.951,3.955,3.976,3.988,4.004,4.023,4.041,4.046,4.066,4.067,4.087,4.093,0.016,0.016,0,0,0,0.007,0.016,4.019,3.97,3.97,3.95,3.925,3.864,3.821,3.789,3.768,3.734,3.706,3.699,3.659,3.649,3.619,3.585,3.552,3.543,3.525,3.492,3.473,3.444,3.43,3.415,3.387,3.377,3.353,3.336,3.311,3.29,3.271,3.257,3.233,3.214,3.205,3.178,3.172,3.144,3.131,3.128,3.106,3.099,3.082,3.074,3.053,3.04,3.027,3.018,2.997,2.987,2.966,2.954,2.951,2.941,2.927,2.922,2.905,2.901,2.886,2.865,2.853,2.844,2.839,2.818,2.817,2.803,2.797,2.773,2.77,2.76,2.745,2.744,2.735,2.728,2.712,2.697,2.686,2.681,2.673,2.671,2.66,2.65,2.642,2.632,2.626,2.623,2.618,2.617,2.593,2.583,2.58,2.574,2.568,2.567,2.553,2.549,2.546,2.53,2.528,2.525,2.523,2.521,2.517,2.513,2.502,2.5,2.496,2.492,2.486,2.485,2.483,2.47,2.47,2.467,2.466,2.46,2.453,2.444,2.438,2.435,2.434,2.432,2.431,2.426,2.426,2.421,2.418,2.418,2.417,2.408,2.408,2.409,2.408,2.407,2.407,2.398,2.398,2.397,2.396,2.396,2.395,2.392,2.392,2.392,2.39,2.389,2.386,2.386,2.386,2.386,2.384,2.384,2.384,2.384,2.385,2.389,2.385,2.388,2.389,2.389,2.389,2.394,2.394,2.394,2.393,2.392,2.392,2.392,2.399,2.4,2.402,2.402,2.404,2.404,2.405,2.405,2.413,2.417,2.418,2.418,2.423,2.423,2.433,2.433,2.433,2.439,2.442,2.446,2.45,2.459,2.462,2.464,2.465,2.466,2.466,2.478,2.48,2.482,2.491,2.494,2.507,2.508,2.512,2.515,2.522,2.524,2.531,2.535,2.538,2.541,2.551,2.559,2.571,2.571,2.58,2.591,2.592,2.601,2.608,2.611,2.627,2.627,2.631,2.634,2.657,2.674,2.676,2.681,2.681,2.684,2.695,2.718,2.718,2.72,2.745,2.746,2.759,2.775,2.777,2.781,2.797,2.8,2.821,2.829,2.838,2.856,2.874,2.876,2.883,2.901,2.909,2.922,2.933,2.952,2.956,2.972,2.987,2.995,3.018,3.029,3.037,3.053,3.068,3.082,3.1,3.107,3.125,3.141,3.15,3.173,3.188,3.21,3.219,3.221,3.253,3.27,3.278,3.309,3.331,3.351,3.367,3.379,3.415,3.434,3.46,3.462,3.487,3.516,3.538,3.567,3.593,3.616,3.644,3.655,3.68,3.712,3.745,3.77,3.801,3.821,3.865,3.871,3.915,3.943,3.977,4.028,4.064,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.309,3.308,3.305,3.287,3.284,3.258,3.257,3.25,3.248,3.229,3.228,3.223,3.202,3.201,3.198,3.186,3.172,3.162,3.158,3.155,3.149,3.148,3.14,3.122,3.119,3.115,3.113,3.111,3.101,3.088,3.086,3.085,3.072,3.069,3.069,3.063,3.049,3.047,3.044,3.043,3.042,3.036,3.035,3.029,3.028,3.021,3.02,3.018,3.017,3.003,3.003,2.999,2.999,2.999,2.995,2.994,2.994,2.994,2.998,2.998,2.998,2.991,2.99,2.987,2.986,2.986,2.986,2.979,2.979,2.979,2.979,2.979,2.98,2.98,2.98,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.977,2.977,2.986,2.988,2.99,2.995,2.995,2.996,3,3,3.001,3.004,3.004,3.006,3.006,3.011,3.011,3.022,3.023,3.027,3.027,3.029,3.032,3.037,3.037,3.049,3.049,3.049,3.051,3.057,3.061,3.066,3.075,3.082,3.084,3.086,3.094,3.1,3.114,3.114,3.114,3.114,3.121,3.121,3.124,3.133,3.146,3.148,3.151,3.156,3.158,3.176,3.179,3.188,3.191,3.202,3.203,3.205,3.209,3.215,3.224,3.234,3.251,3.251,3.258,3.265,3.278,3.278,3.283,3.293,3.817,3.831,3.843,3.848,3.861,3.877,3.896,3.904,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 83.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 83.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 83.9939} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.588} {Name Sonar15 Range 1.3462}
SEN {Time 84.0395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.177,0.177,0.178,0.178,0.191,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.264,3.26,3.26,3.259,3.229,3.229,3.38,3.38,0,0,0,0,0,0,0,0,0,3.116,3.107,3.107,3.092,3.085,3.085,3.085,3.084,3.068,3.068,3.066,3.062,3.062,3.06,3.05,0.145,0.143,0.143,0.145,0.146,0.146,0.151,0.15,0.15,0.147,0.15,0.15,3.029,3.031,3.033,3.033,3.033,3.033,0.167,0.16,0.154,0.154,0.146,0.146,0.154,0.165,0.173,3.436,3.525,3.526,3.526,3.526,3.527,3.527,3.529,3.534,3.535,3.535,3.534,3.533,3.53,3.53,3.533,3.535,3.535,3.535,3.538,3.54,3.541,3.546,3.546,3.546,3.546,3.546,3.556,3.556,3.556,3.555,3.555,3.555,3.561,3.563,3.564,3.567,3.576,3.582,3.584,3.585,3.591,3.595,3.598,3.6,3.608,3.608,3.62,3.624,3.627,3.628,3.631,3.645,3.654,3.666,3.668,3.671,3.671,3.682,3.689,3.691,3.697,3.7,3.712,3.726,3.729,3.732,3.735,3.739,3.767,3.77,3.78,3.788,3.794,3.804,3.804,3.821,3.826,3.842,3.844,3.847,3.867,3.876,3.896,3.905,3.907,3.915,3.922,3.927,3.948,3.967,3.99,3.998,4.004,4.031,4.038,4.049,4.07,4.082,0.016,0.016,0.016,0.016,0.007,0,0,0,4.011,3.981,3.961,3.919,3.881,3.859,3.831,3.798,3.762,3.739,3.716,3.686,3.668,3.64,3.612,3.579,3.554,3.538,3.523,3.498,3.477,3.456,3.428,3.417,3.386,3.371,3.341,3.332,3.307,3.29,3.27,3.254,3.24,3.224,3.202,3.184,3.163,3.152,3.13,3.12,3.105,3.095,3.087,3.071,3.043,3.036,3.031,3.021,3,2.985,2.971,2.952,2.951,2.935,2.927,2.92,2.905,2.898,2.876,2.865,2.856,2.842,2.837,2.821,2.804,2.794,2.79,2.773,2.773,2.764,2.754,2.741,2.735,2.717,2.708,2.704,2.694,2.684,2.673,2.67,2.658,2.649,2.631,2.629,2.625,2.622,2.612,2.61,2.603,2.594,2.583,2.577,2.564,2.561,2.555,2.552,2.549,2.534,2.534,2.532,2.532,2.523,2.523,2.51,2.502,2.494,2.493,2.491,2.485,2.478,2.47,2.466,2.464,2.46,2.46,2.459,2.454,2.452,2.447,2.445,2.433,2.432,2.43,2.426,2.424,2.424,2.418,2.416,2.416,2.41,2.409,2.409,2.408,2.406,2.404,2.403,2.4,2.396,2.394,2.394,2.391,2.388,2.388,2.388,2.388,2.388,2.381,2.381,2.381,2.384,2.388,2.388,2.385,2.387,2.385,2.385,2.387,2.387,2.388,2.388,2.391,2.394,2.391,2.391,2.391,2.389,2.389,2.389,2.399,2.402,2.403,2.404,2.408,2.41,2.41,2.417,2.419,2.42,2.421,2.421,2.424,2.427,2.429,2.431,2.431,2.434,2.443,2.443,2.452,2.455,2.46,2.464,2.465,2.471,2.475,2.477,2.485,2.487,2.488,2.502,2.502,2.506,2.515,2.516,2.521,2.529,2.53,2.534,2.539,2.546,2.559,2.565,2.566,2.572,2.575,2.59,2.601,2.606,2.611,2.617,2.622,2.626,2.641,2.649,2.661,2.671,2.673,2.681,2.688,2.695,2.708,2.721,2.724,2.724,2.738,2.747,2.752,2.768,2.775,2.784,2.799,2.813,2.821,2.836,2.845,2.848,2.868,2.871,2.882,2.899,2.909,2.931,2.937,2.938,2.958,2.968,2.983,2.991,3.018,3.02,3.04,3.05,3.066,3.08,3.088,3.11,3.125,3.139,3.159,3.169,3.188,3.203,3.224,3.234,3.256,3.269,3.272,3.301,3.329,3.355,3.371,3.382,3.405,3.44,3.458,3.479,3.496,3.518,3.528,3.566,3.585,3.619,3.643,3.648,3.684,3.711,3.745,3.77,3.794,3.82,3.856,3.871,3.918,3.949,3.978,4.086,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.316,3.304,3.301,3.283,3.281,3.272,3.264,3.258,3.244,3.226,3.218,3.214,3.2,3.199,3.196,3.184,3.168,3.168,3.168,3.162,3.144,3.138,3.129,3.124,3.117,3.113,3.111,3.111,3.103,3.093,3.089,3.089,3.075,3.074,3.068,3.068,3.051,3.051,3.051,3.051,3.047,3.039,3.033,3.032,3.027,3.027,3.017,3.014,3.012,3.008,3.002,3,2.998,2.998,2.999,2.998,2.994,2.999,2.999,2.994,2.994,2.994,2.994,2.993,2.987,2.984,2.987,2.982,2.981,2.982,2.981,2.981,2.982,2.982,2.982,2.983,2.983,2.981,2.981,2.979,2.979,2.979,2.984,2.985,2.985,2.985,2.99,2.994,2.994,2.995,2.996,2.997,2.997,3,3.001,3.007,3.008,3.011,3.012,3.016,3.014,3.023,3.024,3.024,3.027,3.035,3.037,3.037,3.043,3.045,3.049,3.058,3.058,3.063,3.072,3.075,3.079,3.088,3.095,3.107,3.111,3.112,3.114,3.115,3.116,3.122,3.122,3.126,3.131,3.14,3.151,3.152,3.162,3.162,3.175,3.18,3.19,3.194,3.195,3.199,3.201,3.211,3.22,3.22,3.239,3.247,3.251,3.261,3.267,3.269,3.269,3.277,3.29,3.814,3.831,3.836,3.838,3.864,3.876,3.906,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 84.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 84.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 84.1939} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.3462}
SEN {Time 84.2395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.178,0.184,0.184,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.251,3.251,3.242,3.236,3.236,3.378,3.378,0,0,0,0,0,0,0,0,0,3.119,3.116,3.115,3.098,3.093,3.091,3.091,3.085,3.078,3.076,3.073,3.056,3.056,3.055,3.056,3.055,0.138,0.138,0.147,0.147,0.149,0.149,0.15,0.149,0.149,0.15,0.152,3.029,3.029,3.038,3.038,3.038,3.038,3.038,0.159,0.156,0.154,0.153,0.153,0.154,0.158,0.165,3.457,3.537,3.537,3.537,3.533,3.53,3.53,3.53,3.529,3.528,3.53,3.53,3.532,3.533,3.534,3.534,3.534,3.534,3.534,3.534,3.536,3.536,3.544,3.544,3.546,3.546,3.546,3.551,3.553,3.553,3.553,3.553,3.56,3.562,3.562,3.571,3.569,3.577,3.577,3.587,3.59,3.593,3.593,3.595,3.599,3.605,3.607,3.621,3.623,3.628,3.637,3.639,3.645,3.652,3.654,3.661,3.662,3.665,3.689,3.689,3.697,3.699,3.708,3.718,3.727,3.738,3.741,3.751,3.751,3.766,3.769,3.78,3.785,3.792,3.805,3.809,3.81,3.826,3.838,3.847,3.868,3.882,3.883,3.892,3.898,3.911,3.925,3.946,3.959,3.97,3.979,3.98,3.995,4.016,4.026,4.045,4.058,4.083,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.022,3.993,3.993,3.952,3.91,3.842,3.817,3.8,3.766,3.726,3.713,3.698,3.655,3.644,3.613,3.58,3.556,3.539,3.524,3.499,3.484,3.449,3.43,3.404,3.386,3.364,3.356,3.331,3.299,3.288,3.268,3.252,3.233,3.228,3.202,3.189,3.166,3.15,3.124,3.119,3.115,3.099,3.086,3.071,3.051,3.046,3.022,3.015,2.992,2.983,2.963,2.951,2.948,2.939,2.919,2.913,2.904,2.9,2.881,2.871,2.852,2.848,2.832,2.824,2.808,2.801,2.799,2.779,2.769,2.755,2.744,2.736,2.728,2.722,2.711,2.707,2.698,2.682,2.673,2.669,2.661,2.66,2.638,2.635,2.634,2.621,2.619,2.611,2.597,2.59,2.58,2.577,2.572,2.57,2.568,2.55,2.543,2.533,2.533,2.532,2.53,2.521,2.521,2.51,2.505,2.498,2.492,2.491,2.488,2.476,2.473,2.47,2.467,2.463,2.461,2.45,2.449,2.445,2.443,2.439,2.438,2.437,2.434,2.429,2.425,2.425,2.423,2.423,2.41,2.41,2.41,2.41,2.41,2.409,2.409,2.399,2.394,2.394,2.394,2.394,2.394,2.391,2.397,2.393,2.393,2.39,2.387,2.387,2.386,2.387,2.385,2.385,2.385,2.385,2.385,2.385,2.385,2.386,2.386,2.389,2.389,2.392,2.392,2.392,2.392,2.392,2.392,2.393,2.399,2.399,2.4,2.401,2.401,2.406,2.411,2.411,2.412,2.419,2.419,2.42,2.423,2.423,2.427,2.427,2.437,2.438,2.44,2.441,2.444,2.446,2.454,2.455,2.472,2.473,2.478,2.479,2.485,2.488,2.491,2.495,2.503,2.504,2.505,2.508,2.512,2.53,2.531,2.543,2.543,2.549,2.55,2.564,2.568,2.571,2.576,2.581,2.586,2.599,2.615,2.619,2.622,2.628,2.636,2.651,2.67,2.671,2.672,2.684,2.686,2.702,2.714,2.716,2.719,2.719,2.738,2.741,2.755,2.768,2.769,2.789,2.801,2.802,2.827,2.83,2.843,2.85,2.867,2.873,2.884,2.906,2.913,2.927,2.928,2.955,2.955,2.969,2.986,2.996,3.022,3.029,3.033,3.053,3.065,3.074,3.097,3.113,3.124,3.141,3.148,3.169,3.189,3.207,3.222,3.238,3.252,3.275,3.28,3.305,3.33,3.355,3.361,3.376,3.413,3.434,3.463,3.477,3.494,3.527,3.537,3.564,3.584,3.606,3.639,3.658,3.699,3.721,3.736,3.775,3.786,3.813,3.845,3.879,3.91,3.946,3.971,4.011,4.055,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.319,3.313,3.304,3.295,3.288,3.287,3.268,3.263,3.255,3.242,3.232,3.216,3.214,3.204,3.201,3.197,3.182,3.172,3.171,3.166,3.154,3.148,3.14,3.137,3.127,3.127,3.127,3.121,3.108,3.099,3.095,3.095,3.087,3.081,3.07,3.069,3.06,3.055,3.051,3.046,3.045,3.039,3.027,3.027,3.025,3.025,3.025,3.017,3.012,3.004,3.003,3.003,2.997,2.997,2.997,2.997,2.996,2.995,2.995,2.995,3.004,3.004,3.004,2.996,2.992,2.989,2.986,2.986,2.986,2.986,2.983,2.98,2.975,2.978,2.978,2.978,2.978,2.983,2.983,2.983,2.98,2.98,2.979,2.98,2.982,2.985,2.985,2.988,2.99,2.992,2.992,2.992,3,3,3.004,3.008,3.008,3.008,3.011,3.014,3.016,3.022,3.023,3.029,3.03,3.032,3.032,3.039,3.042,3.049,3.05,3.05,3.052,3.062,3.064,3.067,3.079,3.082,3.088,3.089,3.097,3.102,3.11,3.117,3.117,3.121,3.121,3.122,3.126,3.139,3.144,3.148,3.162,3.163,3.165,3.171,3.176,3.189,3.195,3.199,3.2,3.2,3.204,3.215,3.224,3.233,3.253,3.256,3.259,3.266,3.275,3.275,3.281,3.291,3.822,3.834,3.835,3.847,3.856,3.875,3.894,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 84.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 84.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 84.3949} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 5.6642}
SEN {Time 84.4395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.173,0.173,0.176,0.176,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.253,3.372,3.372,3.372,0,0,0,0,0,0,0,0,0,3.114,3.113,3.111,3.1,3.094,3.092,3.086,3.075,3.072,3.072,3.072,3.067,3.066,3.06,3.058,0.146,0.145,0.144,0.145,0.145,0.145,0.153,0.153,0.153,0.153,0.153,0.158,3.027,3.027,3.034,3.034,3.034,3.034,3.034,0.166,0.159,0.153,0.153,0.153,0.159,0.162,0.168,3.445,3.529,3.534,3.534,3.534,3.529,3.529,3.527,3.527,3.531,3.531,3.531,3.533,3.534,3.538,3.538,3.534,3.534,3.534,3.534,3.538,3.541,3.542,3.542,3.543,3.545,3.545,3.552,3.554,3.556,3.556,3.558,3.558,3.559,3.563,3.574,3.574,3.575,3.575,3.579,3.582,3.595,3.597,3.597,3.602,3.603,3.605,3.61,3.613,3.626,3.634,3.636,3.637,3.652,3.654,3.664,3.666,3.667,3.675,3.679,3.689,3.702,3.711,3.712,3.715,3.737,3.742,3.751,3.753,3.758,3.759,3.772,3.794,3.794,3.795,3.81,3.822,3.823,3.835,3.847,3.852,3.874,3.882,3.887,3.897,3.905,3.918,3.924,3.947,3.956,3.98,3.982,4.009,4.011,4.033,4.043,4.05,4.067,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.019,3.971,3.947,3.919,3.884,3.865,3.822,3.798,3.767,3.731,3.705,3.697,3.659,3.643,3.619,3.594,3.568,3.541,3.529,3.511,3.481,3.451,3.427,3.411,3.381,3.379,3.353,3.335,3.308,3.281,3.265,3.249,3.231,3.219,3.199,3.178,3.164,3.149,3.136,3.133,3.112,3.106,3.084,3.071,3.051,3.047,3.028,3.015,2.995,2.992,2.958,2.956,2.951,2.941,2.925,2.915,2.895,2.895,2.891,2.871,2.858,2.848,2.832,2.814,2.81,2.803,2.795,2.777,2.769,2.757,2.746,2.742,2.723,2.718,2.715,2.702,2.695,2.682,2.669,2.669,2.662,2.658,2.636,2.632,2.63,2.623,2.613,2.611,2.601,2.594,2.581,2.581,2.569,2.561,2.556,2.552,2.547,2.533,2.533,2.532,2.532,2.521,2.517,2.514,2.5,2.498,2.498,2.498,2.482,2.481,2.481,2.467,2.466,2.463,2.458,2.456,2.449,2.442,2.44,2.439,2.438,2.436,2.432,2.429,2.427,2.425,2.42,2.414,2.412,2.411,2.408,2.408,2.407,2.405,2.402,2.401,2.4,2.395,2.395,2.395,2.394,2.392,2.393,2.393,2.39,2.39,2.39,2.385,2.387,2.385,2.38,2.38,2.381,2.381,2.381,2.384,2.384,2.384,2.385,2.388,2.389,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.397,2.402,2.402,2.402,2.408,2.413,2.413,2.413,2.418,2.418,2.418,2.418,2.423,2.423,2.43,2.435,2.437,2.437,2.442,2.443,2.449,2.453,2.461,2.464,2.464,2.468,2.475,2.478,2.484,2.487,2.492,2.492,2.505,2.505,2.505,2.513,2.515,2.52,2.53,2.544,2.544,2.547,2.547,2.564,2.57,2.575,2.584,2.585,2.591,2.596,2.611,2.617,2.621,2.625,2.626,2.645,2.67,2.674,2.675,2.68,2.687,2.692,2.716,2.718,2.73,2.735,2.742,2.743,2.76,2.765,2.774,2.791,2.791,2.803,2.816,2.834,2.852,2.857,2.868,2.872,2.882,2.903,2.911,2.923,2.924,2.954,2.959,2.972,2.99,3,3.014,3.031,3.041,3.052,3.059,3.074,3.101,3.117,3.121,3.144,3.15,3.174,3.191,3.205,3.227,3.227,3.253,3.272,3.28,3.307,3.326,3.35,3.367,3.388,3.405,3.435,3.46,3.472,3.492,3.513,3.528,3.563,3.598,3.61,3.629,3.662,3.676,3.713,3.74,3.775,3.804,3.82,3.859,3.884,3.914,3.948,3.978,4.01,4.061,4.087,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.324,3.317,3.3,3.297,3.291,3.274,3.258,3.252,3.249,3.231,3.217,3.214,3.198,3.194,3.194,3.179,3.178,3.175,3.16,3.154,3.15,3.143,3.132,3.127,3.121,3.111,3.105,3.097,3.093,3.092,3.09,3.089,3.08,3.074,3.068,3.06,3.059,3.059,3.054,3.044,3.035,3.034,3.034,3.033,3.029,3.022,3.015,3.012,3.012,3.012,3.005,3.002,2.997,2.995,2.995,2.994,2.993,2.993,2.995,2.993,2.993,2.993,2.991,2.989,2.989,2.986,2.985,2.985,2.985,2.985,2.979,2.978,2.978,2.979,2.979,2.982,2.982,2.982,2.982,2.982,2.981,2.984,2.984,2.984,2.984,2.984,2.986,2.988,2.989,2.99,2.994,3,3,3,3,3.005,3.007,3.008,3.012,3.012,3.016,3.018,3.027,3.027,3.028,3.034,3.034,3.036,3.04,3.047,3.057,3.063,3.068,3.068,3.071,3.081,3.082,3.091,3.097,3.101,3.106,3.114,3.114,3.115,3.121,3.123,3.127,3.128,3.139,3.139,3.151,3.154,3.157,3.158,3.166,3.179,3.187,3.192,3.193,3.196,3.196,3.207,3.212,3.223,3.235,3.244,3.247,3.26,3.268,3.27,3.27,3.278,3.288,3.815,3.823,3.838,3.844,3.856,3.863,3.89,3.913,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 84.60} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 84.60} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 84.5959} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 5.6642}
SEN {Time 84.6365} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.176,0.176,0.184,0.184,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.119,3.114,3.112,3.098,3.092,3.091,3.09,3.089,3.081,3.075,3.071,3.06,3.06,3.057,3.05,0.146,0.145,0.145,0.145,0.146,0.139,0.153,0.152,0.153,0.152,0.153,0.158,3.03,3.031,3.031,3.031,3.034,3.034,3.031,0.162,0.162,0.157,0.155,0.155,0.161,0.161,0.177,3.446,3.522,3.526,3.532,3.532,3.533,3.533,3.533,3.533,3.534,3.534,3.534,3.534,3.53,3.53,3.53,3.543,3.543,3.543,3.543,3.543,3.543,3.544,3.549,3.549,3.55,3.549,3.552,3.553,3.56,3.56,3.56,3.559,3.559,3.559,3.578,3.579,3.579,3.578,3.578,3.587,3.589,3.59,3.59,3.594,3.599,3.613,3.617,3.618,3.618,3.63,3.634,3.639,3.649,3.655,3.663,3.67,3.675,3.675,3.684,3.687,3.706,3.708,3.713,3.72,3.734,3.74,3.746,3.755,3.756,3.768,3.778,3.781,3.798,3.801,3.807,3.812,3.821,3.844,3.849,3.872,3.874,3.885,3.887,3.893,3.918,3.924,3.932,3.948,3.951,3.974,3.979,4.001,4.021,4.033,4.045,4.053,4.076,4.091,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0,4.021,3.974,3.925,3.871,3.854,3.826,3.787,3.767,3.74,3.719,3.699,3.667,3.646,3.617,3.58,3.558,3.538,3.523,3.497,3.459,3.451,3.437,3.408,3.382,3.373,3.342,3.327,3.304,3.29,3.277,3.253,3.239,3.219,3.208,3.184,3.169,3.148,3.138,3.127,3.109,3.096,3.086,3.065,3.06,3.035,3.028,3.017,2.994,2.984,2.966,2.959,2.95,2.936,2.927,2.914,2.896,2.895,2.881,2.868,2.866,2.839,2.825,2.819,2.809,2.805,2.805,2.782,2.771,2.758,2.751,2.746,2.731,2.712,2.706,2.698,2.693,2.69,2.685,2.672,2.662,2.66,2.641,2.637,2.631,2.621,2.607,2.607,2.602,2.59,2.575,2.573,2.573,2.569,2.563,2.549,2.547,2.542,2.536,2.531,2.531,2.521,2.519,2.509,2.508,2.498,2.498,2.495,2.481,2.481,2.478,2.467,2.465,2.465,2.461,2.459,2.451,2.449,2.44,2.439,2.437,2.432,2.426,2.425,2.425,2.424,2.42,2.416,2.413,2.411,2.407,2.407,2.407,2.407,2.402,2.401,2.401,2.4,2.4,2.396,2.396,2.391,2.388,2.388,2.388,2.388,2.387,2.387,2.387,2.387,2.387,2.386,2.386,2.386,2.385,2.386,2.386,2.387,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.389,2.389,2.39,2.402,2.402,2.403,2.403,2.406,2.406,2.406,2.41,2.41,2.413,2.416,2.424,2.426,2.427,2.436,2.436,2.437,2.438,2.442,2.442,2.451,2.451,2.455,2.458,2.471,2.471,2.477,2.478,2.48,2.482,2.492,2.498,2.498,2.501,2.511,2.512,2.523,2.529,2.534,2.539,2.54,2.545,2.559,2.567,2.567,2.569,2.577,2.591,2.594,2.606,2.617,2.617,2.618,2.625,2.641,2.65,2.665,2.672,2.674,2.683,2.688,2.699,2.702,2.723,2.727,2.729,2.731,2.737,2.756,2.772,2.777,2.789,2.805,2.811,2.815,2.83,2.835,2.854,2.865,2.868,2.882,2.901,2.911,2.924,2.94,2.952,2.958,2.967,2.989,2.996,3.009,3.029,3.031,3.053,3.062,3.084,3.102,3.113,3.125,3.135,3.155,3.172,3.182,3.197,3.225,3.232,3.26,3.28,3.292,3.318,3.332,3.348,3.361,3.382,3.404,3.444,3.466,3.481,3.493,3.516,3.529,3.558,3.587,3.605,3.627,3.657,3.694,3.716,3.754,3.769,3.795,3.821,3.854,3.886,3.911,3.977,4.025,4.06,4.06,4.092,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.321,3.307,3.295,3.29,3.28,3.268,3.263,3.261,3.248,3.226,3.224,3.223,3.201,3.2,3.198,3.19,3.172,3.172,3.157,3.156,3.153,3.146,3.127,3.123,3.121,3.114,3.107,3.104,3.103,3.094,3.09,3.087,3.072,3.066,3.066,3.063,3.061,3.053,3.053,3.043,3.04,3.032,3.03,3.029,3.026,3.019,3.019,3.018,3.016,3.007,3.007,2.997,2.997,2.997,2.995,2.992,2.989,2.989,2.992,2.999,2.999,3.055,2.999,2.993,2.991,2.984,2.984,2.983,2.982,2.983,2.986,2.983,2.983,2.986,2.983,2.981,2.981,2.98,2.98,2.98,2.98,2.981,2.981,2.981,2.983,2.989,2.99,2.99,2.99,2.992,2.994,2.994,2.994,2.997,3,3.002,3.013,3.013,3.014,3.014,3.019,3.024,3.031,3.032,3.036,3.039,3.04,3.047,3.05,3.051,3.052,3.056,3.068,3.07,3.072,3.073,3.081,3.089,3.092,3.099,3.101,3.116,3.117,3.117,3.118,3.118,3.123,3.127,3.13,3.149,3.153,3.157,3.158,3.159,3.164,3.175,3.187,3.189,3.196,3.198,3.204,3.207,3.219,3.225,3.235,3.246,3.254,3.254,3.256,3.278,3.278,3.286,3.287,3.818,3.829,3.839,3.84,3.864,3.872,3.896,3.906,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 84.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 84.79} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 84.7878} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.556} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 5.6642}
SEN {Time 84.8355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.179,0.177,0.177,0.179,0.179,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.378,3.378,3.378,0,0,0,0,0,0,0,0,0,3.116,3.107,3.105,3.095,3.089,3.089,3.085,3.084,3.075,3.072,3.071,3.066,3.061,3.06,3.057,0.149,0.143,0.143,0.143,0.149,0.143,0.145,0.145,0.154,0.145,0.154,0.155,3.029,3.036,3.036,3.036,3.031,3.031,0.163,0.163,0.163,0.163,0.151,0.151,0.163,0.163,0.172,3.452,3.522,3.53,3.532,3.532,3.532,3.533,3.533,3.531,3.531,3.531,3.531,3.531,3.53,3.53,3.534,3.532,3.537,3.54,3.54,3.54,3.541,3.547,3.547,3.547,3.55,3.55,3.553,3.555,3.557,3.56,3.561,3.56,3.56,3.562,3.579,3.579,3.579,3.579,3.579,3.582,3.583,3.592,3.592,3.598,3.599,3.608,3.615,3.619,3.623,3.637,3.64,3.641,3.645,3.662,3.669,3.676,3.677,3.678,3.679,3.687,3.7,3.707,3.71,3.718,3.735,3.748,3.754,3.754,3.762,3.77,3.775,3.78,3.801,3.803,3.809,3.813,3.827,3.836,3.838,3.847,3.869,3.883,3.886,3.904,3.917,3.921,3.932,3.948,3.958,3.979,3.988,4.003,4.013,4.034,4.035,4.06,4.062,4.08,0.016,0.016,0,0,0,0,0.016,4.085,4.085,4.005,3.981,3.921,3.872,3.863,3.822,3.794,3.77,3.738,3.712,3.684,3.662,3.623,3.609,3.588,3.563,3.542,3.532,3.506,3.472,3.448,3.432,3.404,3.395,3.367,3.352,3.335,3.298,3.296,3.271,3.253,3.233,3.222,3.202,3.185,3.163,3.154,3.145,3.119,3.107,3.102,3.085,3.068,3.056,3.04,3.027,3.007,2.993,2.988,2.966,2.951,2.951,2.933,2.923,2.919,2.893,2.889,2.877,2.876,2.863,2.845,2.826,2.823,2.81,2.807,2.805,2.777,2.769,2.76,2.746,2.732,2.731,2.718,2.711,2.706,2.698,2.688,2.677,2.675,2.654,2.647,2.643,2.636,2.632,2.624,2.621,2.618,2.597,2.595,2.587,2.572,2.562,2.561,2.559,2.551,2.549,2.543,2.532,2.532,2.527,2.516,2.512,2.509,2.503,2.498,2.494,2.489,2.483,2.482,2.476,2.476,2.474,2.471,2.459,2.454,2.452,2.449,2.438,2.437,2.436,2.433,2.431,2.43,2.425,2.424,2.417,2.417,2.415,2.412,2.409,2.409,2.406,2.405,2.404,2.401,2.401,2.399,2.399,2.394,2.393,2.391,2.391,2.39,2.388,2.385,2.385,2.385,2.387,2.387,2.387,2.387,2.389,2.386,2.386,2.386,2.386,2.386,2.387,2.388,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.394,2.401,2.401,2.401,2.402,2.402,2.402,2.411,2.415,2.416,2.416,2.416,2.416,2.416,2.425,2.427,2.431,2.438,2.438,2.447,2.448,2.451,2.453,2.457,2.462,2.466,2.477,2.479,2.482,2.483,2.485,2.496,2.498,2.501,2.501,2.51,2.512,2.53,2.53,2.533,2.537,2.538,2.541,2.558,2.559,2.569,2.569,2.579,2.58,2.587,2.592,2.607,2.622,2.631,2.64,2.642,2.644,2.658,2.669,2.673,2.683,2.689,2.705,2.71,2.714,2.722,2.731,2.737,2.748,2.75,2.761,2.773,2.784,2.801,2.802,2.825,2.838,2.839,2.855,2.865,2.871,2.887,2.898,2.912,2.921,2.935,2.952,2.953,2.97,2.987,2.997,3.019,3.025,3.035,3.044,3.069,3.079,3.099,3.112,3.122,3.142,3.155,3.167,3.19,3.202,3.222,3.237,3.256,3.274,3.28,3.303,3.335,3.339,3.353,3.385,3.413,3.44,3.448,3.473,3.497,3.52,3.545,3.561,3.592,3.617,3.636,3.667,3.694,3.705,3.744,3.768,3.794,3.828,3.862,3.883,3.919,3.936,3.977,4.024,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.322,3.309,3.291,3.287,3.283,3.266,3.265,3.252,3.249,3.226,3.225,3.218,3.201,3.197,3.196,3.184,3.173,3.16,3.158,3.152,3.151,3.144,3.137,3.126,3.118,3.116,3.111,3.106,3.1,3.098,3.094,3.087,3.076,3.073,3.07,3.063,3.053,3.053,3.048,3.045,3.037,3.036,3.025,3.023,3.023,3.021,3.018,3.017,3.013,3.006,3.005,3.001,2.999,2.997,2.998,2.996,2.993,2.996,2.998,2.996,2.994,2.994,2.99,2.989,2.989,2.989,2.985,2.984,2.984,2.982,2.981,2.979,2.979,2.977,2.977,2.979,2.98,2.979,2.979,2.98,2.978,2.978,2.982,2.987,2.988,2.988,2.988,2.99,2.989,2.993,2.999,3,3.001,3.003,3.006,3.006,3.006,3.008,3.008,3.009,3.018,3.021,3.023,3.027,3.032,3.035,3.039,3.039,3.048,3.049,3.049,3.056,3.058,3.061,3.069,3.079,3.079,3.084,3.09,3.105,3.105,3.106,3.115,3.115,3.117,3.121,3.125,3.125,3.142,3.15,3.152,3.155,3.159,3.165,3.171,3.176,3.189,3.196,3.197,3.201,3.204,3.207,3.229,3.23,3.231,3.244,3.246,3.257,3.262,3.278,3.278,3.281,3.282,3.818,3.831,3.838,3.839,3.861,3.874,3.895,3.902,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 84.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 84.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 84.9888} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.556} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 5.6642}
SEN {Time 85.0355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.176,0.173,0.176,0.176,0.197,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.261,3.252,3.367,3.367,3.367,0,0,0,0,0,0,0,0,0,3.113,3.112,3.105,3.099,3.092,3.085,3.085,3.077,3.077,3.072,3.066,3.058,3.058,3.057,3.057,3.051,0.144,0.141,0.141,0.141,0.141,0.143,0.148,0.151,0.148,0.151,0.154,3.026,3.026,3.032,3.032,3.026,3.025,0.158,0.156,0.155,0.154,0.154,0.154,0.155,0.163,0.179,3.443,3.526,3.529,3.529,3.529,3.529,3.532,3.527,3.529,3.529,3.529,3.529,3.529,3.529,3.531,3.532,3.532,3.533,3.541,3.541,3.541,3.541,3.543,3.547,3.543,3.547,3.547,3.546,3.546,3.548,3.548,3.557,3.559,3.566,3.571,3.573,3.575,3.579,3.583,3.584,3.584,3.586,3.594,3.597,3.598,3.602,3.61,3.614,3.618,3.618,3.629,3.634,3.643,3.648,3.666,3.669,3.669,3.671,3.68,3.68,3.697,3.702,3.709,3.716,3.722,3.728,3.738,3.74,3.747,3.758,3.762,3.764,3.781,3.785,3.798,3.821,3.823,3.825,3.835,3.849,3.856,3.875,3.891,3.896,3.908,3.913,3.921,3.935,3.95,3.953,3.967,3.977,3.991,4.003,4.031,4.04,4.06,4.073,4.094,4.095,0.016,0.016,0,0,0,0,0,4.014,3.976,3.95,3.913,3.879,3.86,3.818,3.794,3.76,3.739,3.715,3.695,3.657,3.629,3.615,3.58,3.575,3.549,3.521,3.497,3.474,3.459,3.436,3.403,3.384,3.365,3.345,3.326,3.308,3.291,3.271,3.26,3.239,3.224,3.21,3.184,3.159,3.155,3.129,3.129,3.109,3.095,3.088,3.076,3.056,3.045,3.03,3.017,2.995,2.99,2.977,2.958,2.957,2.938,2.92,2.911,2.902,2.889,2.876,2.866,2.855,2.844,2.836,2.814,2.813,2.804,2.795,2.781,2.779,2.764,2.752,2.733,2.733,2.726,2.714,2.704,2.7,2.68,2.672,2.669,2.655,2.653,2.64,2.638,2.633,2.619,2.612,2.599,2.595,2.589,2.581,2.578,2.569,2.569,2.563,2.556,2.544,2.537,2.536,2.529,2.529,2.52,2.516,2.503,2.503,2.5,2.499,2.499,2.489,2.476,2.476,2.474,2.474,2.466,2.465,2.463,2.453,2.448,2.446,2.441,2.436,2.433,2.429,2.429,2.428,2.424,2.418,2.412,2.41,2.41,2.41,2.407,2.406,2.405,2.402,2.401,2.4,2.4,2.397,2.393,2.395,2.393,2.393,2.393,2.393,2.388,2.387,2.387,2.384,2.384,2.384,2.385,2.385,2.388,2.388,2.388,2.388,2.388,2.388,2.389,2.39,2.393,2.394,2.394,2.395,2.396,2.396,2.396,2.396,2.398,2.398,2.403,2.404,2.409,2.412,2.414,2.416,2.416,2.417,2.417,2.423,2.424,2.426,2.427,2.429,2.436,2.443,2.444,2.455,2.455,2.458,2.458,2.464,2.47,2.473,2.475,2.476,2.482,2.49,2.495,2.508,2.508,2.51,2.519,2.525,2.525,2.525,2.537,2.537,2.541,2.561,2.561,2.569,2.572,2.581,2.584,2.584,2.594,2.602,2.613,2.627,2.63,2.636,2.645,2.663,2.673,2.673,2.675,2.691,2.693,2.708,2.717,2.721,2.724,2.731,2.744,2.756,2.769,2.783,2.787,2.798,2.807,2.816,2.834,2.837,2.849,2.869,2.87,2.881,2.904,2.913,2.923,2.936,2.952,2.962,2.974,2.99,2.994,3.015,3.027,3.035,3.053,3.061,3.075,3.097,3.105,3.123,3.14,3.16,3.169,3.189,3.198,3.228,3.232,3.247,3.275,3.277,3.302,3.329,3.354,3.36,3.385,3.406,3.433,3.459,3.467,3.489,3.512,3.545,3.568,3.6,3.62,3.639,3.659,3.682,3.714,3.743,3.775,3.801,3.812,3.851,3.882,3.915,3.983,4.016,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.339,3.317,3.307,3.297,3.288,3.288,3.284,3.26,3.258,3.239,3.231,3.224,3.211,3.209,3.2,3.192,3.183,3.172,3.166,3.156,3.147,3.145,3.144,3.133,3.124,3.116,3.113,3.113,3.109,3.104,3.087,3.087,3.083,3.076,3.068,3.065,3.065,3.052,3.05,3.05,3.045,3.043,3.041,3.025,3.025,3.024,3.024,3.023,3.021,3.01,3.007,3.006,3.003,3.003,2.997,2.997,2.996,2.996,2.997,2.999,2.991,2.99,2.99,2.989,2.988,2.986,2.986,2.984,2.983,2.983,2.984,2.983,2.98,2.983,2.98,2.98,2.98,2.98,2.979,2.979,2.979,2.979,2.979,2.979,2.99,2.99,2.984,2.992,2.99,2.99,2.992,2.996,3.001,3.001,3.006,3.009,3.01,3.012,3.012,3.013,3.014,3.014,3.02,3.028,3.029,3.033,3.037,3.038,3.041,3.044,3.05,3.057,3.064,3.065,3.065,3.069,3.077,3.078,3.084,3.088,3.106,3.107,3.11,3.111,3.111,3.111,3.121,3.126,3.127,3.132,3.146,3.15,3.157,3.157,3.159,3.174,3.177,3.191,3.192,3.193,3.198,3.2,3.21,3.211,3.22,3.232,3.251,3.253,3.26,3.267,3.283,3.283,3.287,3.288,3.818,3.831,3.835,3.835,3.868,3.871,3.9,3.907,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 85.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 85.1907} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.556} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 5.6642}
SEN {Time 85.2395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.182,0.177,0.175,0.182,0.182,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.262,3.253,3.232,3.232,3.38,3.38,0,0,0,0,0,0,0,0,0,3.12,3.11,3.108,3.094,3.093,3.091,3.09,3.09,3.073,3.073,3.073,3.073,3.06,3.056,3.055,0.147,0.146,0.146,0.146,0.146,0.143,0.153,0.153,0.153,0.148,0.153,0.153,3.025,3.025,3.037,3.037,3.042,3.042,3.042,0.166,0.166,0.163,0.153,0.153,0.153,0.153,0.174,3.456,3.524,3.524,3.529,3.529,3.529,3.535,3.535,3.537,3.539,3.537,3.536,3.536,3.536,3.535,3.535,3.535,3.536,3.538,3.538,3.54,3.541,3.541,3.54,3.54,3.541,3.541,3.546,3.551,3.554,3.554,3.555,3.555,3.557,3.561,3.572,3.574,3.578,3.578,3.578,3.589,3.589,3.59,3.592,3.599,3.604,3.613,3.616,3.619,3.628,3.642,3.643,3.645,3.647,3.657,3.661,3.669,3.669,3.67,3.672,3.685,3.702,3.71,3.716,3.728,3.733,3.74,3.745,3.756,3.762,3.765,3.788,3.789,3.794,3.795,3.804,3.824,3.826,3.83,3.839,3.853,3.876,3.891,3.897,3.906,3.916,3.92,3.932,3.945,3.952,3.979,3.99,3.99,4.009,4.029,4.038,4.052,4.071,4.086,4.092,0.016,0.016,0,0,0,0,4.067,4.029,3.988,3.956,3.92,3.88,3.858,3.826,3.789,3.762,3.739,3.719,3.682,3.656,3.631,3.613,3.585,3.555,3.546,3.518,3.489,3.479,3.437,3.434,3.407,3.383,3.372,3.348,3.336,3.303,3.289,3.271,3.251,3.234,3.221,3.205,3.187,3.173,3.155,3.138,3.125,3.11,3.101,3.087,3.075,3.058,3.051,3.03,3.013,2.994,2.991,2.969,2.956,2.956,2.94,2.926,2.918,2.902,2.895,2.882,2.874,2.852,2.839,2.829,2.815,2.806,2.804,2.796,2.785,2.777,2.765,2.751,2.735,2.724,2.719,2.715,2.707,2.693,2.686,2.676,2.67,2.656,2.651,2.647,2.638,2.632,2.613,2.605,2.603,2.598,2.596,2.582,2.581,2.571,2.566,2.559,2.551,2.544,2.542,2.538,2.522,2.522,2.521,2.516,2.507,2.503,2.501,2.501,2.491,2.481,2.477,2.476,2.473,2.468,2.464,2.462,2.458,2.457,2.451,2.442,2.439,2.429,2.427,2.425,2.423,2.423,2.419,2.418,2.418,2.417,2.411,2.409,2.408,2.408,2.405,2.402,2.401,2.398,2.397,2.397,2.394,2.394,2.394,2.394,2.394,2.389,2.388,2.386,2.385,2.385,2.385,2.388,2.388,2.388,2.388,2.388,2.387,2.384,2.387,2.387,2.387,2.386,2.387,2.389,2.389,2.39,2.392,2.392,2.397,2.397,2.398,2.4,2.401,2.404,2.404,2.41,2.413,2.414,2.414,2.415,2.419,2.421,2.424,2.426,2.435,2.44,2.444,2.444,2.447,2.447,2.454,2.455,2.461,2.464,2.464,2.466,2.48,2.481,2.49,2.49,2.495,2.501,2.503,2.512,2.514,2.519,2.534,2.534,2.536,2.547,2.549,2.554,2.557,2.572,2.575,2.58,2.588,2.592,2.601,2.609,2.61,2.626,2.627,2.631,2.638,2.659,2.671,2.675,2.687,2.689,2.695,2.703,2.713,2.717,2.731,2.734,2.74,2.751,2.766,2.773,2.789,2.804,2.806,2.817,2.827,2.843,2.847,2.871,2.871,2.889,2.904,2.92,2.929,2.934,2.953,2.963,2.972,2.983,2.998,3.01,3.023,3.039,3.047,3.065,3.081,3.102,3.11,3.123,3.139,3.16,3.166,3.184,3.198,3.222,3.23,3.253,3.274,3.283,3.301,3.329,3.341,3.362,3.387,3.411,3.43,3.452,3.481,3.499,3.519,3.536,3.552,3.587,3.61,3.631,3.66,3.687,3.705,3.731,3.759,3.804,3.831,3.862,3.88,3.914,3.95,3.987,4.023,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.319,3.306,3.294,3.288,3.285,3.264,3.259,3.257,3.241,3.229,3.228,3.214,3.207,3.206,3.196,3.189,3.177,3.161,3.151,3.15,3.149,3.141,3.131,3.121,3.117,3.116,3.115,3.109,3.106,3.093,3.091,3.084,3.07,3.07,3.069,3.069,3.061,3.058,3.052,3.046,3.043,3.035,3.03,3.029,3.029,3.028,3.019,3.017,3.007,3,3,3,3.001,3.001,3.001,2.998,2.992,2.992,2.998,2.997,2.997,2.997,2.992,2.99,2.987,2.985,2.982,2.982,2.98,2.98,2.98,2.98,2.983,2.983,2.983,2.978,2.979,2.979,2.979,2.979,2.98,2.98,2.98,2.981,2.982,2.982,2.989,2.991,2.992,2.994,2.995,3,3.004,3.006,3.006,3.006,3.006,3.006,3.012,3.012,3.02,3.023,3.025,3.026,3.026,3.038,3.038,3.041,3.047,3.05,3.05,3.057,3.06,3.062,3.067,3.079,3.082,3.082,3.082,3.093,3.106,3.109,3.11,3.112,3.119,3.121,3.123,3.128,3.136,3.141,3.144,3.153,3.158,3.163,3.174,3.175,3.186,3.192,3.192,3.195,3.2,3.209,3.21,3.222,3.235,3.247,3.257,3.261,3.267,3.279,3.279,3.286,3.29,3.814,3.83,3.833,3.847,3.863,3.872,3.892,3.913,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 85.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 85.3907} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 5.6642}
SEN {Time 85.4355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.185,0.175,0.174,0.185,0.185,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.254,3.254,3.253,3.235,3.235,3.371,3.371,0,0,0,0,0,0,0,0,0,3.117,3.112,3.109,3.097,3.094,3.092,3.09,3.086,3.074,3.068,3.067,3.064,3.064,3.064,3.058,0.143,0.143,0.143,0.143,0.144,0.144,0.151,0.156,0.157,0.156,0.157,0.157,3.021,3.031,3.038,3.038,3.031,3.031,0.164,0.161,0.161,0.161,0.153,0.153,0.158,0.158,0.173,3.527,3.528,3.532,3.532,3.532,3.533,3.534,3.534,3.536,3.536,3.536,3.53,3.53,3.53,3.53,3.532,3.535,3.535,3.536,3.541,3.541,3.541,3.543,3.543,3.543,3.553,3.548,3.547,3.548,3.554,3.555,3.555,3.559,3.559,3.566,3.57,3.57,3.574,3.574,3.574,3.582,3.589,3.594,3.594,3.602,3.603,3.61,3.61,3.613,3.626,3.629,3.638,3.65,3.653,3.653,3.66,3.661,3.666,3.673,3.689,3.69,3.695,3.697,3.717,3.726,3.738,3.743,3.745,3.747,3.76,3.763,3.781,3.789,3.791,3.796,3.813,3.819,3.829,3.839,3.844,3.851,3.864,3.889,3.894,3.901,3.913,3.919,3.931,3.941,3.961,3.977,3.982,3.997,4.01,4.024,4.035,4.051,4.081,4.086,4.092,0.016,0.016,0,0,0,0,0,4.025,3.978,3.978,3.945,3.919,3.851,3.802,3.785,3.756,3.723,3.713,3.697,3.661,3.644,3.614,3.587,3.562,3.546,3.525,3.501,3.483,3.455,3.433,3.408,3.376,3.369,3.35,3.331,3.302,3.291,3.263,3.242,3.236,3.22,3.215,3.186,3.169,3.15,3.134,3.121,3.106,3.092,3.091,3.079,3.054,3.035,3.032,3.013,3,2.985,2.968,2.958,2.955,2.945,2.923,2.915,2.902,2.888,2.88,2.866,2.849,2.84,2.826,2.82,2.814,2.805,2.801,2.783,2.768,2.762,2.747,2.743,2.729,2.72,2.704,2.698,2.688,2.682,2.678,2.673,2.665,2.66,2.641,2.64,2.636,2.62,2.615,2.61,2.596,2.587,2.581,2.579,2.575,2.572,2.561,2.557,2.551,2.537,2.535,2.531,2.528,2.525,2.522,2.507,2.506,2.501,2.5,2.496,2.496,2.474,2.473,2.473,2.473,2.472,2.463,2.46,2.451,2.447,2.444,2.443,2.437,2.433,2.431,2.426,2.425,2.424,2.42,2.42,2.413,2.411,2.411,2.407,2.406,2.406,2.405,2.402,2.402,2.4,2.4,2.396,2.394,2.394,2.392,2.389,2.388,2.388,2.388,2.387,2.384,2.384,2.384,2.387,2.387,2.387,2.387,2.387,2.384,2.384,2.387,2.389,2.389,2.39,2.39,2.39,2.392,2.392,2.392,2.394,2.396,2.4,2.401,2.401,2.402,2.402,2.41,2.411,2.423,2.423,2.424,2.424,2.426,2.426,2.427,2.427,2.435,2.435,2.442,2.447,2.451,2.458,2.461,2.465,2.466,2.475,2.475,2.478,2.479,2.482,2.49,2.496,2.504,2.509,2.511,2.515,2.52,2.53,2.531,2.534,2.535,2.543,2.554,2.571,2.578,2.581,2.584,2.589,2.596,2.602,2.61,2.615,2.618,2.625,2.634,2.642,2.667,2.674,2.675,2.677,2.688,2.698,2.709,2.71,2.724,2.728,2.745,2.751,2.761,2.776,2.777,2.786,2.8,2.804,2.826,2.837,2.837,2.857,2.868,2.87,2.888,2.904,2.916,2.926,2.94,2.951,2.952,2.97,2.987,2.995,3.019,3.025,3.033,3.053,3.064,3.081,3.1,3.105,3.122,3.143,3.157,3.172,3.191,3.199,3.226,3.237,3.256,3.278,3.278,3.303,3.321,3.352,3.359,3.385,3.398,3.429,3.449,3.473,3.495,3.522,3.538,3.553,3.592,3.612,3.64,3.654,3.68,3.714,3.74,3.766,3.806,3.823,3.853,3.882,3.92,3.957,3.969,4.019,4.05,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.319,3.317,3.314,3.303,3.291,3.278,3.268,3.26,3.257,3.246,3.231,3.225,3.22,3.209,3.204,3.195,3.178,3.174,3.171,3.161,3.151,3.15,3.141,3.14,3.126,3.117,3.117,3.116,3.109,3.102,3.095,3.091,3.086,3.077,3.072,3.067,3.066,3.059,3.049,3.048,3.048,3.048,3.04,3.04,3.03,3.021,3.021,3.02,3.013,3.009,3.008,3.004,3.004,3.002,2.998,2.998,2.994,2.994,2.994,2.998,2.996,2.996,2.996,2.995,2.991,2.984,2.984,2.984,2.982,2.981,2.981,2.982,2.981,2.982,2.986,2.986,2.986,2.986,2.98,2.979,2.978,2.978,2.977,2.977,2.98,2.98,2.984,2.986,2.987,2.992,2.995,2.999,3.003,3.003,3.004,3.005,3.005,3.009,3.012,3.014,3.015,3.018,3.025,3.025,3.029,3.035,3.041,3.041,3.046,3.047,3.051,3.053,3.054,3.061,3.063,3.071,3.078,3.08,3.086,3.086,3.095,3.099,3.114,3.118,3.118,3.118,3.124,3.124,3.13,3.141,3.144,3.148,3.156,3.159,3.161,3.167,3.182,3.195,3.202,3.203,3.203,3.204,3.205,3.222,3.224,3.239,3.239,3.25,3.254,3.267,3.282,3.282,3.283,3.294,3.818,3.829,3.829,3.836,3.851,3.881,3.909,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 85.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 85.5917} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 1.6002}
SEN {Time 85.6325} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.174,0.174,0.182,0.182,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.242,3.227,3.227,3.372,3.372,0,0,0,0,0,0,0,0,0,3.116,3.111,3.111,3.096,3.094,3.094,3.091,3.083,3.076,3.07,3.067,3.064,3.064,3.063,3.056,0.143,0.143,0.143,0.143,0.146,0.146,0.148,0.148,0.152,0.148,0.152,0.155,3.033,3.033,3.036,3.036,3.033,3.029,0.168,0.166,0.163,0.154,0.154,0.154,0.156,0.157,0.179,3.528,3.531,3.532,3.532,3.532,3.532,3.534,3.53,3.53,3.531,3.531,3.53,3.531,3.533,3.533,3.538,3.538,3.539,3.539,3.539,3.539,3.541,3.542,3.542,3.542,3.542,3.542,3.543,3.549,3.552,3.552,3.554,3.563,3.563,3.565,3.569,3.571,3.574,3.583,3.588,3.589,3.59,3.595,3.601,3.606,3.609,3.611,3.613,3.615,3.628,3.632,3.636,3.648,3.65,3.651,3.665,3.671,3.679,3.68,3.684,3.686,3.7,3.712,3.72,3.723,3.739,3.74,3.757,3.76,3.762,3.763,3.771,3.785,3.787,3.801,3.811,3.812,3.833,3.835,3.845,3.85,3.873,3.884,3.887,3.898,3.913,3.913,3.936,3.941,3.955,3.981,3.992,3.998,4.018,4.025,4.03,4.063,4.076,4.085,0.016,0.016,0.016,0,0,0,0,0,4.015,3.98,3.934,3.914,3.882,3.856,3.819,3.805,3.757,3.732,3.712,3.691,3.662,3.649,3.61,3.575,3.556,3.537,3.519,3.505,3.474,3.449,3.428,3.408,3.39,3.385,3.349,3.328,3.313,3.282,3.273,3.255,3.234,3.209,3.202,3.187,3.164,3.156,3.127,3.121,3.104,3.095,3.085,3.071,3.055,3.045,3.03,3.011,2.992,2.982,2.975,2.958,2.952,2.935,2.93,2.918,2.9,2.893,2.88,2.869,2.86,2.855,2.837,2.818,2.808,2.797,2.793,2.776,2.776,2.752,2.743,2.739,2.733,2.72,2.713,2.709,2.695,2.69,2.674,2.665,2.654,2.653,2.639,2.637,2.632,2.631,2.623,2.61,2.598,2.597,2.578,2.578,2.564,2.563,2.559,2.558,2.554,2.543,2.536,2.531,2.528,2.522,2.515,2.507,2.505,2.501,2.498,2.494,2.489,2.481,2.479,2.472,2.467,2.464,2.461,2.459,2.449,2.449,2.447,2.436,2.434,2.432,2.426,2.426,2.418,2.416,2.416,2.416,2.414,2.409,2.406,2.408,2.406,2.406,2.404,2.401,2.4,2.397,2.397,2.397,2.394,2.394,2.394,2.394,2.392,2.386,2.386,2.386,2.385,2.386,2.385,2.386,2.385,2.386,2.385,2.386,2.386,2.387,2.393,2.393,2.387,2.387,2.39,2.39,2.392,2.392,2.394,2.394,2.394,2.398,2.403,2.405,2.408,2.409,2.41,2.41,2.418,2.418,2.418,2.418,2.418,2.418,2.427,2.434,2.44,2.441,2.441,2.445,2.45,2.452,2.458,2.458,2.463,2.472,2.479,2.483,2.488,2.488,2.488,2.488,2.495,2.501,2.506,2.509,2.518,2.52,2.525,2.541,2.544,2.551,2.558,2.564,2.567,2.569,2.582,2.588,2.59,2.593,2.612,2.625,2.626,2.628,2.63,2.647,2.671,2.673,2.674,2.68,2.686,2.705,2.715,2.72,2.72,2.721,2.738,2.747,2.754,2.768,2.776,2.789,2.798,2.805,2.83,2.833,2.838,2.849,2.861,2.876,2.887,2.904,2.915,2.926,2.939,2.953,2.959,2.974,2.989,3.002,3.02,3.033,3.034,3.046,3.066,3.075,3.101,3.108,3.121,3.143,3.15,3.177,3.193,3.205,3.224,3.225,3.254,3.271,3.288,3.311,3.328,3.34,3.364,3.391,3.405,3.434,3.451,3.48,3.487,3.53,3.531,3.551,3.596,3.615,3.638,3.653,3.693,3.715,3.741,3.769,3.8,3.828,3.86,3.864,3.923,3.955,3.978,4.067,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.31,3.305,3.302,3.285,3.279,3.265,3.263,3.255,3.247,3.228,3.221,3.22,3.201,3.196,3.193,3.184,3.176,3.168,3.162,3.155,3.15,3.133,3.128,3.125,3.122,3.118,3.116,3.113,3.104,3.093,3.089,3.084,3.076,3.075,3.072,3.068,3.062,3.05,3.05,3.043,3.037,3.033,3.032,3.029,3.025,3.025,3.022,3.016,3.007,3.006,3.006,3.004,3,3,3,2.999,2.999,2.999,3,3.052,0.007,3.052,2.985,2.985,2.985,2.986,2.986,2.986,2.986,2.983,2.983,2.979,2.979,2.979,2.98,2.977,2.98,2.98,2.98,2.977,2.98,2.977,2.977,2.98,2.98,2.983,2.99,2.99,2.993,2.993,2.993,2.994,3.002,3.002,3.007,3.007,3.007,3.01,3.008,3.011,3.015,3.019,3.019,3.028,3.03,3.036,3.038,3.041,3.047,3.054,3.057,3.057,3.058,3.061,3.067,3.083,3.086,3.088,3.093,3.101,3.101,3.108,3.116,3.116,3.118,3.12,3.126,3.131,3.136,3.145,3.147,3.156,3.16,3.167,3.178,3.179,3.195,3.198,3.199,3.198,3.198,3.203,3.226,3.228,3.231,3.247,3.252,3.258,3.26,3.279,3.279,3.285,3.293,3.822,3.824,3.831,3.839,3.87,3.879,3.902,3.905,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 85.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 85.7846} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 1.6002}
SEN {Time 85.8315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.174,0.174,0.176,0.176,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.252,3.237,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.119,3.114,3.113,3.102,3.091,3.088,3.084,3.083,3.08,3.07,3.068,3.063,3.063,3.061,3.06,0.146,0.143,0.143,0.143,0.143,0.14,0.143,0.157,0.157,0.151,0.157,0.161,3.037,3.037,3.038,3.038,3.038,3.038,3.038,0.17,0.167,0.147,0.147,0.147,0.154,0.16,0.173,3.461,3.529,3.529,3.529,3.529,3.532,3.533,3.533,3.533,3.533,3.53,3.53,3.53,3.53,3.53,3.537,3.537,3.539,3.539,3.539,3.536,3.536,3.536,3.544,3.544,3.548,3.548,3.546,3.551,3.556,3.556,3.561,3.561,3.561,3.566,3.57,3.573,3.583,3.585,3.585,3.588,3.589,3.589,3.604,3.609,3.612,3.612,3.613,3.617,3.619,3.628,3.631,3.642,3.648,3.658,3.667,3.674,3.675,3.683,3.684,3.688,3.706,3.713,3.717,3.731,3.741,3.741,3.743,3.746,3.764,3.771,3.779,3.779,3.783,3.792,3.812,3.819,3.828,3.839,3.842,3.854,3.87,3.891,3.893,3.901,3.912,3.918,3.938,3.94,3.955,3.966,3.987,3.999,4.011,4.039,4.044,4.062,4.078,4.082,4.092,0.016,0.016,0.016,0,0.007,0,0.016,4.021,3.976,3.963,3.909,3.873,3.863,3.82,3.791,3.769,3.747,3.711,3.697,3.667,3.636,3.612,3.582,3.564,3.54,3.517,3.497,3.472,3.464,3.424,3.402,3.383,3.37,3.35,3.327,3.308,3.292,3.278,3.257,3.234,3.225,3.202,3.194,3.175,3.158,3.134,3.121,3.103,3.093,3.089,3.075,3.058,3.038,3.025,3.022,2.999,2.99,2.978,2.957,2.947,2.935,2.929,2.915,2.908,2.892,2.882,2.866,2.855,2.846,2.838,2.829,2.81,2.807,2.79,2.772,2.772,2.761,2.747,2.746,2.733,2.713,2.708,2.705,2.695,2.684,2.674,2.659,2.654,2.653,2.643,2.638,2.632,2.629,2.623,2.618,2.594,2.593,2.579,2.575,2.568,2.562,2.555,2.548,2.547,2.54,2.538,2.538,2.53,2.529,2.522,2.51,2.505,2.499,2.497,2.494,2.487,2.475,2.472,2.47,2.47,2.468,2.459,2.455,2.453,2.452,2.452,2.438,2.438,2.433,2.433,2.424,2.421,2.421,2.417,2.417,2.412,2.408,2.408,2.409,2.408,2.408,2.408,2.403,2.402,2.399,2.399,2.395,2.392,2.392,2.392,2.392,2.392,2.392,2.384,2.384,2.384,2.385,2.385,2.385,2.385,2.387,2.387,2.389,2.389,2.39,2.392,2.392,2.391,2.391,2.391,2.389,2.391,2.392,2.396,2.396,2.397,2.402,2.404,2.404,2.404,2.402,2.402,2.402,2.412,2.416,2.421,2.423,2.425,2.427,2.43,2.43,2.433,2.437,2.442,2.447,2.448,2.453,2.455,2.458,2.465,2.472,2.473,2.481,2.483,2.491,2.491,2.496,2.499,2.501,2.508,2.509,2.522,2.525,2.534,2.535,2.547,2.551,2.551,2.567,2.567,2.58,2.583,2.591,2.595,2.598,2.606,2.61,2.613,2.631,2.635,2.645,2.667,2.67,2.673,2.684,2.691,2.693,2.712,2.72,2.722,2.724,2.741,2.744,2.754,2.767,2.776,2.794,2.801,2.81,2.822,2.825,2.838,2.849,2.866,2.876,2.891,2.904,2.911,2.919,2.939,2.959,2.961,2.972,2.985,2.997,3.011,3.03,3.042,3.049,3.06,3.071,3.101,3.102,3.128,3.142,3.15,3.169,3.186,3.201,3.217,3.233,3.246,3.278,3.282,3.308,3.335,3.344,3.361,3.386,3.408,3.432,3.458,3.474,3.499,3.521,3.542,3.567,3.597,3.619,3.637,3.662,3.69,3.714,3.744,3.772,3.799,3.83,3.847,3.884,3.912,3.956,3.987,4.053,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.307,3.298,3.289,3.279,3.267,3.262,3.253,3.242,3.227,3.22,3.217,3.211,3.203,3.197,3.19,3.173,3.173,3.166,3.155,3.154,3.145,3.131,3.121,3.114,3.114,3.111,3.1,3.098,3.091,3.089,3.088,3.079,3.07,3.069,3.062,3.052,3.05,3.048,3.042,3.036,3.031,3.029,3.029,3.028,3.023,3.014,3.014,3.013,3.006,3.002,3.002,3.002,3.002,2.998,2.996,2.994,2.994,2.996,2.994,2.994,2.994,2.994,2.987,2.984,2.987,2.986,2.984,2.982,2.982,2.982,2.98,2.98,2.98,2.98,2.979,2.979,2.979,2.979,2.979,2.982,2.982,2.982,2.983,2.986,2.986,2.987,2.993,2.993,2.994,2.994,2.997,2.997,2.997,3.004,3.008,3.008,3.009,3.009,3.012,3.015,3.018,3.023,3.029,3.035,3.037,3.041,3.045,3.045,3.049,3.05,3.05,3.057,3.061,3.065,3.077,3.086,3.088,3.092,3.099,3.1,3.115,3.115,3.115,3.118,3.118,3.119,3.125,3.134,3.146,3.152,3.153,3.154,3.159,3.176,3.182,3.19,3.191,3.192,3.198,3.2,3.21,3.218,3.224,3.232,3.248,3.25,3.257,3.263,3.278,3.278,3.278,3.297,3.816,3.832,3.841,3.845,3.849,3.88,3.893,3.914,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 85.99} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 85.9857} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.6416} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.6002}
SEN {Time 86.0315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.172,0.172,0.176,0.176,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.371,3.371,3.371,0,0,0,0,0,0,0,0,0,3.121,3.118,3.112,3.096,3.095,3.092,3.084,3.082,3.077,3.073,3.071,3.06,3.06,3.059,3.053,0.146,0.143,0.143,0.143,0.143,0.148,0.149,0.149,0.153,0.149,0.153,0.153,3.034,3.037,3.04,3.04,3.04,3.04,0.164,0.163,0.163,0.16,0.156,0.16,0.163,0.163,0.175,3.453,3.53,3.531,3.531,3.531,3.531,3.53,3.529,3.529,3.529,3.528,3.528,3.529,3.529,3.533,3.533,3.533,3.538,3.536,3.536,3.545,3.545,3.545,3.545,3.546,3.546,3.546,3.549,3.551,3.552,3.553,3.562,3.563,3.564,3.565,3.565,3.574,3.579,3.579,3.579,3.58,3.585,3.595,3.599,3.606,3.607,3.608,3.614,3.62,3.624,3.635,3.637,3.652,3.655,3.658,3.661,3.664,3.665,3.682,3.687,3.692,3.696,3.708,3.713,3.725,3.734,3.744,3.748,3.749,3.756,3.765,3.782,3.785,3.788,3.794,3.806,3.817,3.841,3.843,3.849,3.86,3.876,3.884,3.901,3.905,3.906,3.909,3.928,3.941,3.964,3.97,3.984,4.006,4.008,4.028,4.044,4.061,4.07,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.011,3.98,3.953,3.921,3.881,3.857,3.821,3.782,3.759,3.743,3.725,3.697,3.655,3.642,3.618,3.579,3.573,3.545,3.52,3.486,3.476,3.457,3.432,3.414,3.387,3.366,3.341,3.329,3.296,3.295,3.271,3.254,3.229,3.213,3.204,3.186,3.166,3.157,3.142,3.121,3.104,3.103,3.086,3.071,3.056,3.038,3.028,3.015,2.995,2.993,2.973,2.962,2.952,2.933,2.923,2.919,2.899,2.898,2.88,2.874,2.851,2.843,2.832,2.818,2.811,2.804,2.786,2.773,2.767,2.765,2.749,2.748,2.735,2.722,2.713,2.709,2.702,2.69,2.68,2.68,2.658,2.644,2.634,2.632,2.629,2.627,2.621,2.608,2.602,2.599,2.592,2.572,2.572,2.567,2.554,2.553,2.544,2.533,2.53,2.527,2.522,2.52,2.517,2.509,2.501,2.501,2.496,2.495,2.493,2.481,2.481,2.47,2.465,2.464,2.462,2.46,2.451,2.446,2.44,2.437,2.436,2.436,2.432,2.431,2.428,2.426,2.417,2.416,2.415,2.411,2.408,2.408,2.408,2.399,2.399,2.399,2.399,2.399,2.399,2.394,2.394,2.394,2.395,2.395,2.395,2.387,2.385,2.385,2.385,2.385,2.385,2.385,2.384,2.384,2.384,2.387,2.387,2.389,2.389,2.389,2.388,2.388,2.387,2.387,2.389,2.389,2.39,2.394,2.401,2.402,2.404,2.406,2.406,2.408,2.409,2.411,2.416,2.418,2.419,2.419,2.425,2.425,2.425,2.429,2.429,2.429,2.437,2.449,2.449,2.454,2.458,2.459,2.464,2.476,2.479,2.481,2.482,2.487,2.491,2.5,2.505,2.505,2.508,2.513,2.52,2.523,2.524,2.538,2.543,2.547,2.557,2.56,2.561,2.564,2.577,2.592,2.594,2.596,2.602,2.616,2.621,2.633,2.637,2.651,2.657,2.667,2.67,2.676,2.681,2.697,2.701,2.719,2.725,2.729,2.736,2.738,2.753,2.778,2.78,2.789,2.796,2.809,2.815,2.829,2.831,2.85,2.869,2.874,2.887,2.904,2.91,2.921,2.933,2.941,2.952,2.97,2.986,2.995,3.017,3.025,3.046,3.059,3.072,3.079,3.095,3.109,3.119,3.15,3.157,3.171,3.186,3.205,3.228,3.235,3.254,3.278,3.285,3.31,3.329,3.35,3.375,3.385,3.41,3.436,3.454,3.468,3.495,3.519,3.54,3.554,3.603,3.61,3.632,3.664,3.677,3.695,3.736,3.779,3.797,3.822,3.86,3.874,3.933,3.964,3.98,4.051,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.313,3.312,3.288,3.278,3.277,3.26,3.257,3.256,3.241,3.226,3.221,3.211,3.201,3.201,3.198,3.197,3.174,3.161,3.159,3.148,3.148,3.143,3.134,3.121,3.116,3.116,3.114,3.111,3.1,3.092,3.086,3.076,3.072,3.071,3.066,3.06,3.056,3.056,3.053,3.053,3.039,3.036,3.033,3.028,3.027,3.024,3.02,3.019,3.008,3.007,3.001,3.001,3,2.999,2.996,2.995,2.995,2.995,2.995,2.998,2.998,2.998,2.993,2.993,2.992,2.99,2.981,2.981,2.981,2.981,2.981,2.978,2.978,2.978,2.981,2.981,2.984,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.982,2.982,2.985,2.986,2.993,2.996,2.997,2.997,3,3.001,3.003,3.004,3.005,3.009,3.009,3.01,3.018,3.026,3.027,3.028,3.03,3.036,3.037,3.037,3.046,3.049,3.054,3.057,3.063,3.064,3.072,3.078,3.086,3.089,3.091,3.095,3.102,3.114,3.114,3.114,3.115,3.119,3.128,3.133,3.134,3.144,3.145,3.156,3.156,3.158,3.17,3.175,3.186,3.195,3.202,3.203,3.203,3.203,3.218,3.221,3.235,3.244,3.247,3.266,3.273,3.276,3.276,3.285,3.293,3.822,3.831,3.832,3.833,3.877,3.886,3.909,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 86.19} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 86.1866} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9944} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.5748}
SEN {Time 86.2315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.181,0.181,0.181,0.181,0.181,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.244,3.238,3.244,3.376,3.376,0,0,0,0,0,0,0,0,0,3.117,3.11,3.109,3.099,3.097,3.092,3.088,3.083,3.067,3.067,3.065,3.059,3.059,3.059,3.059,3.059,0.139,0.139,0.142,0.142,0.147,0.147,0.147,0.148,0.148,0.15,0.153,3.029,3.029,3.029,3.029,3.029,3.027,0.166,0.156,0.156,0.155,0.154,0.153,0.154,0.154,0.174,3.454,3.527,3.53,3.531,3.531,3.527,3.533,3.526,3.526,3.531,3.531,3.53,3.53,3.53,3.53,3.533,3.533,3.533,3.533,3.532,3.532,3.533,3.547,3.547,3.547,3.551,3.546,3.546,3.552,3.555,3.555,3.558,3.559,3.562,3.566,3.57,3.57,3.577,3.579,3.584,3.588,3.588,3.589,3.596,3.596,3.6,3.614,3.614,3.622,3.624,3.631,3.634,3.644,3.648,3.66,3.667,3.67,3.67,3.677,3.682,3.687,3.702,3.705,3.723,3.726,3.739,3.751,3.755,3.762,3.763,3.77,3.781,3.786,3.787,3.796,3.809,3.822,3.824,3.838,3.845,3.863,3.872,3.873,3.883,3.906,3.907,3.915,3.934,3.948,3.963,3.981,3.994,4.004,4.013,4.027,4.044,4.06,4.068,4.085,0.016,0.016,0.016,0,0,0,0,4.062,4.013,3.99,3.957,3.928,3.873,3.842,3.818,3.79,3.774,3.748,3.721,3.698,3.652,3.636,3.611,3.592,3.566,3.546,3.51,3.497,3.476,3.46,3.433,3.396,3.379,3.367,3.349,3.344,3.312,3.297,3.272,3.257,3.228,3.221,3.201,3.19,3.172,3.153,3.129,3.121,3.118,3.098,3.093,3.066,3.05,3.047,3.03,3.015,3.002,2.998,2.972,2.954,2.948,2.938,2.925,2.917,2.904,2.897,2.878,2.86,2.856,2.851,2.833,2.816,2.801,2.8,2.797,2.778,2.769,2.769,2.753,2.74,2.723,2.714,2.709,2.708,2.7,2.69,2.68,2.671,2.657,2.646,2.639,2.639,2.63,2.624,2.609,2.597,2.595,2.585,2.585,2.583,2.567,2.565,2.557,2.547,2.546,2.537,2.533,2.529,2.528,2.525,2.513,2.508,2.502,2.502,2.498,2.492,2.479,2.476,2.475,2.474,2.472,2.47,2.459,2.458,2.449,2.449,2.447,2.444,2.438,2.43,2.427,2.427,2.427,2.423,2.418,2.416,2.416,2.413,2.41,2.409,2.408,2.405,2.402,2.398,2.398,2.397,2.396,2.394,2.394,2.394,2.392,2.392,2.392,2.392,2.388,2.384,2.384,2.384,2.384,2.384,2.385,2.385,2.385,2.385,2.387,2.387,2.387,2.39,2.39,2.39,2.39,2.386,2.386,2.386,2.389,2.398,2.398,2.405,2.405,2.399,2.399,2.407,2.41,2.413,2.417,2.421,2.421,2.421,2.423,2.423,2.427,2.428,2.431,2.435,2.439,2.441,2.445,2.459,2.459,2.462,2.464,2.47,2.473,2.475,2.483,2.485,2.485,2.496,2.506,2.507,2.508,2.508,2.519,2.52,2.531,2.537,2.54,2.545,2.555,2.56,2.563,2.565,2.566,2.583,2.583,2.594,2.611,2.617,2.628,2.634,2.639,2.645,2.662,2.664,2.673,2.679,2.693,2.697,2.702,2.712,2.721,2.727,2.731,2.734,2.749,2.77,2.779,2.79,2.801,2.807,2.82,2.827,2.84,2.854,2.862,2.869,2.884,2.905,2.91,2.919,2.939,2.956,2.962,2.967,2.983,2.996,3.02,3.027,3.034,3.042,3.06,3.083,3.104,3.108,3.111,3.137,3.153,3.174,3.194,3.2,3.226,3.233,3.253,3.274,3.282,3.307,3.323,3.345,3.357,3.387,3.406,3.432,3.457,3.482,3.498,3.517,3.536,3.56,3.6,3.604,3.629,3.668,3.694,3.722,3.745,3.777,3.788,3.812,3.857,3.881,3.908,4.023,4.065,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.309,3.303,3.281,3.274,3.26,3.26,3.257,3.238,3.224,3.22,3.218,3.207,3.204,3.202,3.189,3.177,3.168,3.162,3.161,3.154,3.141,3.133,3.124,3.123,3.113,3.108,3.104,3.101,3.095,3.088,3.088,3.083,3.076,3.072,3.07,3.061,3.051,3.048,3.044,3.043,3.029,3.028,3.027,3.027,3.022,3.02,3.019,3.003,3.003,3.003,2.999,2.998,2.993,2.993,2.993,2.993,2.994,2.998,2.998,2.995,2.995,2.995,2.989,2.988,2.985,2.984,2.983,2.982,2.979,2.979,2.979,2.979,2.979,2.979,2.98,2.98,2.979,2.978,2.98,2.976,2.976,2.979,2.984,2.981,2.981,2.987,2.995,2.997,2.997,2.997,2.997,2.996,2.996,2.998,2.999,3.009,3.01,3.016,3.017,3.016,3.021,3.021,3.022,3.03,3.033,3.038,3.043,3.043,3.048,3.052,3.053,3.06,3.063,3.069,3.078,3.083,3.086,3.092,3.103,3.105,3.109,3.115,3.117,3.117,3.119,3.125,3.135,3.143,3.144,3.145,3.152,3.153,3.157,3.17,3.184,3.188,3.196,3.199,3.199,3.2,3.207,3.213,3.224,3.241,3.246,3.253,3.261,3.262,3.278,3.278,3.28,3.284,3.819,3.83,3.832,3.85,3.873,3.879,3.898,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 86.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 86.3876} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.5748}
SEN {Time 86.4315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.175,0.175,0.18,0.18,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.253,3.247,3.238,3.247,3.376,3.376,0,0,0,0,0,0,0,0,0,3.115,3.11,3.108,3.101,3.095,3.093,3.086,3.082,3.082,3.077,3.072,3.065,3.065,3.056,3.056,3.053,0.143,0.143,0.143,0.143,0.145,0.147,0.153,0.153,0.153,0.153,0.153,3.029,3.029,3.029,3.029,3.029,3.028,0.166,0.162,0.154,0.154,0.154,0.154,0.156,0.159,0.177,3.455,3.521,3.522,3.53,3.53,3.53,3.534,3.53,3.53,3.532,3.532,3.531,3.532,3.533,3.533,3.535,3.535,3.533,3.535,3.538,3.538,3.539,3.546,3.546,3.546,3.546,3.546,3.548,3.55,3.551,3.551,3.553,3.557,3.566,3.566,3.568,3.574,3.575,3.574,3.579,3.586,3.587,3.593,3.594,3.596,3.601,3.608,3.615,3.621,3.625,3.627,3.63,3.641,3.65,3.664,3.669,3.67,3.671,3.673,3.676,3.692,3.699,3.704,3.709,3.719,3.734,3.735,3.743,3.751,3.762,3.766,3.77,3.787,3.789,3.8,3.808,3.816,3.817,3.843,3.846,3.852,3.867,3.878,3.887,3.906,3.919,3.922,3.936,3.947,3.954,3.964,3.989,4.006,4.017,4.04,4.041,4.061,4.077,4.079,4.092,0.016,0.016,0.016,0,0.007,0.016,4.065,4.032,3.974,3.948,3.918,3.886,3.861,3.823,3.806,3.764,3.731,3.712,3.693,3.665,3.637,3.598,3.576,3.562,3.546,3.525,3.503,3.48,3.457,3.422,3.413,3.388,3.374,3.358,3.337,3.303,3.29,3.27,3.254,3.226,3.212,3.199,3.181,3.164,3.154,3.145,3.134,3.116,3.097,3.088,3.074,3.059,3.037,3.029,3.021,2.997,2.994,2.978,2.965,2.963,2.936,2.928,2.916,2.904,2.897,2.878,2.862,2.851,2.845,2.829,2.822,2.81,2.801,2.792,2.776,2.77,2.762,2.747,2.743,2.732,2.728,2.714,2.696,2.688,2.686,2.674,2.67,2.667,2.65,2.638,2.629,2.628,2.625,2.625,2.618,2.599,2.594,2.584,2.575,2.566,2.565,2.55,2.55,2.544,2.539,2.534,2.531,2.528,2.523,2.522,2.504,2.501,2.495,2.495,2.489,2.483,2.475,2.472,2.472,2.47,2.466,2.454,2.454,2.449,2.449,2.443,2.443,2.431,2.429,2.429,2.427,2.426,2.426,2.42,2.414,2.414,2.414,2.414,2.414,2.412,2.41,2.402,2.401,2.398,2.398,2.398,2.396,2.396,2.394,2.392,2.392,2.392,2.39,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.389,2.385,2.385,2.389,2.389,2.39,2.39,2.39,2.39,2.396,2.396,2.396,2.393,2.393,2.393,2.402,2.402,2.405,2.403,2.403,2.406,2.409,2.414,2.416,2.423,2.423,2.421,2.421,2.423,2.428,2.432,2.435,2.438,2.442,2.444,2.446,2.451,2.459,2.46,2.461,2.465,2.473,2.479,2.485,2.486,2.492,2.493,2.498,2.505,2.511,2.517,2.521,2.53,2.536,2.537,2.543,2.549,2.561,2.564,2.564,2.566,2.575,2.59,2.591,2.602,2.603,2.617,2.623,2.624,2.638,2.64,2.668,2.676,2.677,2.687,2.689,2.697,2.712,2.714,2.719,2.727,2.745,2.751,2.759,2.767,2.773,2.785,2.798,2.809,2.815,2.825,2.845,2.857,2.871,2.876,2.879,2.907,2.914,2.927,2.935,2.948,2.95,2.97,2.983,3,3.016,3.026,3.044,3.054,3.07,3.077,3.098,3.115,3.124,3.135,3.151,3.175,3.184,3.212,3.224,3.23,3.253,3.278,3.286,3.304,3.326,3.345,3.366,3.385,3.403,3.436,3.453,3.482,3.503,3.521,3.53,3.565,3.596,3.619,3.629,3.664,3.684,3.71,3.741,3.774,3.806,3.822,3.858,3.883,3.92,3.954,3.981,4.018,4.064,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.322,3.307,3.292,3.283,3.278,3.263,3.262,3.253,3.245,3.228,3.226,3.223,3.202,3.199,3.197,3.182,3.172,3.171,3.155,3.149,3.145,3.141,3.135,3.122,3.118,3.114,3.111,3.11,3.098,3.096,3.09,3.089,3.082,3.073,3.066,3.063,3.056,3.054,3.046,3.045,3.041,3.038,3.032,3.032,3.029,3.022,3.018,3.015,3.014,3.018,3.014,3.004,3.001,2.997,2.997,2.988,2.988,2.988,2.995,3,3,3,2.992,2.989,2.979,2.987,2.986,2.986,2.986,2.986,2.98,2.979,2.979,2.979,2.977,2.974,2.976,2.976,2.976,2.977,2.978,2.98,2.981,2.983,2.981,2.984,2.988,2.989,2.99,2.996,2.996,2.997,2.998,3.004,3.004,3.004,3.004,3.007,3.012,3.012,3.016,3.021,3.029,3.034,3.034,3.038,3.04,3.047,3.049,3.049,3.053,3.061,3.066,3.066,3.077,3.085,3.085,3.088,3.09,3.09,3.108,3.112,3.115,3.115,3.119,3.122,3.123,3.123,3.137,3.139,3.144,3.158,3.161,3.162,3.175,3.176,3.182,3.19,3.191,3.192,3.208,3.219,3.221,3.228,3.235,3.248,3.254,3.266,3.27,3.27,3.27,3.278,3.29,3.819,3.837,3.848,3.849,3.853,3.878,3.889,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.59} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 86.59} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 86.5886} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8514} {Name Sonar15 Range 1.5748}
SEN {Time 86.6285} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.174,0.174,0.177,0.177,0.191,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.262,3.251,3.235,3.235,3.379,3.379,0,0,0,0,0,0,0,0,0,3.113,3.112,3.109,3.095,3.092,3.092,3.086,3.081,3.07,3.069,3.068,3.059,3.059,3.055,3.059,3.059,0.145,0.145,0.145,0.145,0.144,0.145,0.151,0.152,0.151,0.152,0.152,3.026,3.035,3.035,3.035,3.035,3.035,0.167,0.164,0.158,0.155,0.153,0.153,0.158,0.163,0.171,3.448,3.531,3.531,3.531,3.531,3.531,3.531,3.533,3.534,3.534,3.534,3.533,3.529,3.529,3.529,3.529,3.532,3.533,3.535,3.535,3.535,3.539,3.546,3.546,3.547,3.547,3.548,3.552,3.552,3.556,3.559,3.559,3.559,3.559,3.559,3.567,3.57,3.575,3.576,3.585,3.587,3.589,3.589,3.6,3.602,3.615,3.617,3.619,3.624,3.626,3.631,3.636,3.64,3.653,3.663,3.668,3.668,3.671,3.683,3.685,3.692,3.702,3.708,3.715,3.716,3.729,3.737,3.744,3.751,3.763,3.767,3.774,3.784,3.789,3.798,3.811,3.819,3.826,3.84,3.853,3.861,3.884,3.886,3.891,3.901,3.912,3.914,3.936,3.941,3.956,3.978,3.986,3.997,4.002,4.028,4.039,4.059,4.08,4.093,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.058,4.014,3.943,3.916,3.895,3.86,3.819,3.793,3.753,3.728,3.717,3.693,3.665,3.635,3.614,3.587,3.563,3.538,3.52,3.498,3.48,3.453,3.432,3.404,3.386,3.367,3.343,3.329,3.298,3.289,3.265,3.243,3.23,3.223,3.203,3.178,3.169,3.157,3.141,3.122,3.113,3.09,3.086,3.074,3.056,3.045,3.031,3.017,2.995,2.993,2.968,2.957,2.952,2.942,2.933,2.925,2.91,2.904,2.882,2.861,2.856,2.845,2.828,2.82,2.809,2.798,2.787,2.777,2.775,2.769,2.753,2.738,2.729,2.716,2.71,2.707,2.696,2.693,2.678,2.672,2.66,2.657,2.641,2.629,2.627,2.625,2.612,2.61,2.603,2.603,2.585,2.575,2.57,2.566,2.556,2.551,2.548,2.534,2.534,2.532,2.53,2.525,2.52,2.508,2.504,2.499,2.497,2.496,2.483,2.482,2.478,2.475,2.474,2.471,2.462,2.459,2.451,2.449,2.442,2.442,2.436,2.432,2.432,2.429,2.427,2.424,2.424,2.416,2.411,2.41,2.407,2.407,2.405,2.405,2.405,2.403,2.4,2.398,2.397,2.397,2.392,2.392,2.392,2.392,2.392,2.389,2.386,2.386,2.386,2.386,2.386,2.386,2.387,2.387,2.384,2.384,2.386,2.385,2.385,2.386,2.386,2.395,2.395,2.388,2.39,2.39,2.39,2.392,2.403,2.403,2.406,2.403,2.403,2.405,2.41,2.414,2.414,2.419,2.426,2.426,2.427,2.428,2.43,2.433,2.435,2.439,2.442,2.442,2.452,2.453,2.457,2.461,2.47,2.473,2.477,2.478,2.478,2.49,2.49,2.492,2.498,2.508,2.51,2.514,2.525,2.53,2.533,2.541,2.543,2.548,2.558,2.561,2.564,2.565,2.579,2.593,2.596,2.607,2.612,2.615,2.622,2.632,2.639,2.64,2.658,2.664,2.678,2.683,2.688,2.692,2.707,2.715,2.721,2.726,2.733,2.737,2.759,2.776,2.78,2.791,2.798,2.804,2.817,2.83,2.848,2.853,2.868,2.878,2.89,2.901,2.911,2.926,2.93,2.947,2.958,2.965,2.986,3.001,3.019,3.031,3.042,3.055,3.062,3.077,3.096,3.107,3.12,3.143,3.155,3.172,3.198,3.215,3.224,3.233,3.248,3.274,3.286,3.312,3.329,3.35,3.367,3.39,3.403,3.436,3.457,3.481,3.486,3.526,3.529,3.553,3.6,3.626,3.638,3.677,3.692,3.714,3.744,3.767,3.81,3.822,3.851,3.883,3.916,3.941,3.975,4.025,4.057,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.322,3.31,3.307,3.292,3.287,3.278,3.27,3.257,3.253,3.246,3.228,3.223,3.219,3.202,3.198,3.196,3.183,3.173,3.171,3.163,3.157,3.148,3.14,3.138,3.122,3.117,3.114,3.107,3.106,3.104,3.09,3.089,3.082,3.078,3.075,3.065,3.063,3.056,3.055,3.05,3.042,3.038,3.03,3.029,3.026,3.026,3.019,3.016,3.012,3.01,3.01,3.007,3.003,2.998,2.995,2.995,2.995,2.995,2.999,3,2.999,2.99,2.99,2.987,2.987,2.986,2.984,2.986,2.986,2.983,2.98,2.982,2.977,2.977,2.977,2.978,2.978,2.978,2.978,2.978,2.977,2.977,2.977,2.982,2.982,2.982,2.986,2.986,2.99,2.99,2.991,2.994,3,3.001,3.002,3.003,3.003,3.003,3.01,3.013,3.015,3.018,3.024,3.024,3.034,3.036,3.036,3.042,3.047,3.049,3.052,3.054,3.054,3.064,3.064,3.074,3.078,3.081,3.087,3.089,3.096,3.101,3.112,3.114,3.114,3.117,3.121,3.124,3.127,3.145,3.146,3.151,3.158,3.163,3.164,3.167,3.183,3.184,3.188,3.189,3.192,3.195,3.208,3.211,3.219,3.233,3.253,3.255,3.258,3.268,3.275,3.275,3.287,3.303,3.82,3.826,3.836,3.847,3.853,3.879,3.9,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 86.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 86.7805} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8514} {Name Sonar15 Range 4.826}
SEN {Time 86.8285} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.178,0.178,0.178,0.181,0.181,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.249,3.249,3.243,3.236,3.236,3.375,3.375,0,0,0,0,0,0,0,0,3.114,3.114,3.11,3.11,3.094,3.092,3.092,3.088,3.085,3.076,3.073,3.067,3.061,3.061,3.057,3.061,3.056,0.148,0.148,0.148,0.148,0.144,0.147,0.147,0.153,0.153,0.153,0.154,3.023,3.03,3.047,3.047,3.047,3.047,3.047,0.165,0.161,0.158,0.154,0.154,0.157,0.157,0.163,3.441,3.518,3.53,3.532,3.532,3.532,3.534,3.534,3.531,3.531,3.531,3.53,3.531,3.535,3.54,3.54,3.54,3.536,3.534,3.534,3.536,3.544,3.546,3.546,3.546,3.546,3.547,3.55,3.55,3.56,3.558,3.561,3.561,3.566,3.566,3.566,3.566,3.577,3.577,3.588,3.59,3.595,3.598,3.598,3.598,3.602,3.609,3.612,3.626,3.63,3.63,3.638,3.648,3.654,3.663,3.663,3.665,3.675,3.681,3.681,3.692,3.697,3.708,3.711,3.721,3.731,3.737,3.745,3.747,3.758,3.767,3.774,3.79,3.791,3.798,3.798,3.815,3.826,3.844,3.848,3.865,3.875,3.892,3.893,3.906,3.913,3.918,3.942,3.945,3.954,3.971,3.978,4.002,4.015,4.043,4.045,4.053,4.065,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.066,4.015,3.983,3.949,3.921,3.889,3.861,3.826,3.803,3.767,3.749,3.711,3.677,3.66,3.634,3.61,3.587,3.56,3.534,3.516,3.498,3.475,3.459,3.439,3.413,3.388,3.372,3.355,3.329,3.302,3.296,3.276,3.245,3.241,3.224,3.204,3.181,3.168,3.156,3.132,3.121,3.112,3.092,3.092,3.081,3.054,3.047,3.027,3.016,2.999,2.987,2.971,2.967,2.96,2.935,2.925,2.918,2.903,2.901,2.874,2.864,2.857,2.848,2.84,2.821,2.807,2.804,2.795,2.784,2.776,2.763,2.749,2.741,2.723,2.716,2.706,2.706,2.697,2.689,2.672,2.665,2.66,2.66,2.647,2.644,2.636,2.612,2.609,2.609,2.601,2.6,2.587,2.577,2.571,2.568,2.565,2.551,2.55,2.543,2.534,2.534,2.534,2.528,2.527,2.507,2.503,2.502,2.5,2.492,2.481,2.481,2.472,2.472,2.472,2.467,2.465,2.457,2.456,2.447,2.444,2.443,2.442,2.434,2.433,2.43,2.427,2.425,2.421,2.414,2.41,2.41,2.41,2.41,2.408,2.408,2.402,2.401,2.401,2.397,2.397,2.391,2.391,2.391,2.39,2.39,2.393,2.39,2.387,2.387,2.391,2.385,2.384,2.388,2.386,2.386,2.386,2.386,2.386,2.384,2.384,2.384,2.384,2.389,2.391,2.394,2.394,2.394,2.398,2.398,2.398,2.398,2.399,2.403,2.407,2.409,2.411,2.419,2.419,2.42,2.42,2.42,2.421,2.423,2.43,2.43,2.431,2.431,2.436,2.442,2.455,2.455,2.457,2.459,2.464,2.472,2.473,2.477,2.488,2.489,2.492,2.494,2.498,2.499,2.517,2.522,2.529,2.533,2.533,2.533,2.546,2.549,2.553,2.556,2.562,2.567,2.583,2.589,2.595,2.602,2.606,2.608,2.629,2.636,2.636,2.647,2.66,2.671,2.676,2.676,2.687,2.69,2.703,2.718,2.721,2.721,2.735,2.736,2.754,2.772,2.773,2.781,2.795,2.806,2.822,2.835,2.842,2.856,2.869,2.871,2.883,2.908,2.915,2.925,2.941,2.952,2.957,2.972,2.983,2.996,3.011,3.03,3.039,3.052,3.064,3.078,3.101,3.11,3.129,3.145,3.158,3.17,3.197,3.206,3.227,3.229,3.256,3.278,3.282,3.303,3.329,3.344,3.361,3.392,3.407,3.43,3.452,3.479,3.497,3.509,3.532,3.557,3.606,3.613,3.645,3.668,3.691,3.714,3.734,3.775,3.796,3.824,3.85,3.876,3.925,3.956,4.021,4.046,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.309,3.295,3.288,3.28,3.264,3.263,3.257,3.244,3.239,3.22,3.22,3.207,3.201,3.195,3.187,3.173,3.172,3.166,3.152,3.147,3.139,3.129,3.125,3.12,3.115,3.111,3.111,3.106,3.091,3.088,3.08,3.073,3.066,3.065,3.061,3.059,3.056,3.052,3.051,3.047,3.042,3.03,3.029,3.029,3.021,3.014,3.014,3.008,3.004,3.004,3.001,3.001,2.997,2.997,2.995,2.993,2.995,3.001,2.993,2.994,2.994,2.992,2.991,2.99,2.984,2.984,2.983,2.983,2.982,2.983,2.977,2.977,2.977,2.979,2.977,2.979,2.982,2.982,2.977,2.981,2.975,2.975,2.981,2.981,2.978,2.984,2.984,2.994,2.994,2.994,2.994,3,3,3.004,3.005,3.005,3.011,3.011,3.018,3.022,3.023,3.028,3.028,3.032,3.037,3.038,3.038,3.04,3.051,3.052,3.059,3.065,3.065,3.069,3.072,3.085,3.086,3.092,3.094,3.102,3.118,3.118,3.118,3.119,3.121,3.122,3.128,3.141,3.143,3.144,3.157,3.16,3.169,3.176,3.176,3.193,3.193,3.193,3.193,3.2,3.214,3.218,3.22,3.239,3.249,3.251,3.267,3.269,3.278,3.278,3.279,3.288,3.811,3.819,3.841,3.846,3.864,3.878,3.907,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 86.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 86.9814} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.8514} {Name Sonar15 Range 4.826}
SEN {Time 87.0275} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.181,0.181,0.181,0.183,0.183,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.26,3.26,3.238,3.229,3.229,3.373,3.373,0,0,0,0,0,0,0,0,0,3.112,3.108,3.106,3.098,3.092,3.091,3.088,3.088,3.085,3.075,3.073,3.065,3.064,3.055,3.055,3.051,0.145,0.145,0.145,0.145,0.146,0.148,0.153,0.157,0.153,0.157,0.161,3.02,3.029,3.036,3.036,3.039,3.039,3.039,0.167,0.162,0.153,0.152,0.152,0.153,0.164,0.173,3.519,3.531,3.531,3.529,3.529,3.529,3.529,3.529,3.529,3.532,3.532,3.532,3.532,3.532,3.532,3.533,3.54,3.54,3.54,3.539,3.539,3.539,3.545,3.546,3.546,3.546,3.546,3.553,3.555,3.555,3.555,3.557,3.562,3.564,3.567,3.569,3.574,3.577,3.578,3.579,3.579,3.599,3.6,3.6,3.607,3.611,3.611,3.612,3.616,3.628,3.628,3.639,3.645,3.645,3.666,3.666,3.667,3.667,3.675,3.683,3.688,3.702,3.71,3.719,3.721,3.732,3.739,3.751,3.755,3.766,3.766,3.774,3.78,3.794,3.796,3.81,3.818,3.824,3.841,3.848,3.858,3.882,3.89,3.891,3.898,3.913,3.919,3.942,3.951,3.959,3.975,3.979,4.001,4.011,4.018,4.035,4.055,4.062,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.061,4.061,4.018,3.987,3.913,3.891,3.866,3.817,3.785,3.765,3.745,3.71,3.687,3.655,3.64,3.617,3.587,3.561,3.542,3.518,3.499,3.484,3.454,3.438,3.417,3.378,3.366,3.344,3.332,3.308,3.293,3.265,3.248,3.23,3.219,3.209,3.176,3.165,3.152,3.128,3.12,3.112,3.101,3.083,3.077,3.052,3.044,3.031,3.015,3.001,2.997,2.968,2.955,2.949,2.937,2.92,2.907,2.893,2.892,2.882,2.869,2.857,2.849,2.833,2.816,2.812,2.796,2.793,2.775,2.77,2.764,2.743,2.737,2.725,2.709,2.709,2.699,2.698,2.684,2.672,2.664,2.653,2.648,2.646,2.641,2.637,2.625,2.624,2.613,2.593,2.589,2.581,2.574,2.568,2.559,2.555,2.545,2.54,2.54,2.538,2.53,2.53,2.522,2.522,2.513,2.502,2.501,2.499,2.498,2.493,2.479,2.473,2.466,2.466,2.463,2.462,2.453,2.451,2.448,2.446,2.445,2.44,2.435,2.433,2.431,2.429,2.425,2.421,2.418,2.414,2.412,2.409,2.409,2.409,2.404,2.404,2.404,2.402,2.401,2.393,2.393,2.393,2.393,2.393,2.393,2.389,2.388,2.388,2.386,2.386,2.386,2.387,2.386,2.387,2.387,2.387,2.385,2.383,2.383,2.383,2.383,2.385,2.385,2.387,2.39,2.391,2.39,2.391,2.391,2.399,2.402,2.403,2.404,2.407,2.409,2.411,2.414,2.414,2.417,2.417,2.421,2.426,2.427,2.431,2.434,2.438,2.439,2.443,2.444,2.446,2.446,2.457,2.462,2.47,2.47,2.479,2.482,2.487,2.487,2.494,2.495,2.498,2.5,2.506,2.513,2.521,2.522,2.536,2.545,2.545,2.545,2.555,2.565,2.566,2.569,2.584,2.585,2.593,2.596,2.612,2.615,2.623,2.627,2.631,2.644,2.665,2.671,2.673,2.675,2.687,2.693,2.712,2.718,2.72,2.723,2.737,2.738,2.757,2.766,2.774,2.791,2.798,2.802,2.823,2.829,2.839,2.855,2.866,2.877,2.884,2.902,2.905,2.926,2.937,2.944,2.956,2.971,2.985,2.998,3.019,3.039,3.045,3.056,3.07,3.077,3.097,3.108,3.122,3.146,3.152,3.166,3.186,3.204,3.224,3.238,3.257,3.274,3.281,3.309,3.327,3.352,3.354,3.381,3.405,3.443,3.457,3.479,3.481,3.523,3.533,3.552,3.589,3.612,3.631,3.659,3.673,3.711,3.75,3.776,3.805,3.825,3.847,3.88,3.922,3.974,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.323,3.303,3.294,3.291,3.284,3.264,3.262,3.258,3.247,3.231,3.231,3.227,3.214,3.197,3.196,3.187,3.175,3.166,3.157,3.154,3.148,3.146,3.135,3.121,3.115,3.109,3.109,3.105,3.098,3.09,3.088,3.083,3.072,3.07,3.067,3.065,3.055,3.055,3.05,3.046,3.043,3.031,3.031,3.029,3.029,3.028,3.023,3.02,3.005,3.003,3.001,2.999,2.998,2.995,2.994,2.994,2.992,2.994,2.994,2.994,2.994,2.994,2.988,2.983,2.982,2.981,2.982,2.982,2.982,2.981,2.977,2.975,2.975,2.975,2.978,2.978,2.978,2.976,2.976,2.976,2.976,2.977,2.982,2.985,2.985,2.986,2.987,2.987,2.987,2.994,2.996,2.996,2.996,3.005,3.005,3.005,3.007,3.012,3.014,3.014,3.02,3.021,3.025,3.028,3.033,3.035,3.036,3.038,3.041,3.057,3.057,3.058,3.058,3.061,3.078,3.085,3.086,3.088,3.09,3.099,3.103,3.109,3.111,3.111,3.12,3.122,3.122,3.125,3.136,3.143,3.144,3.15,3.158,3.159,3.176,3.179,3.188,3.194,3.194,3.198,3.199,3.206,3.218,3.22,3.243,3.25,3.25,3.262,3.263,3.276,3.276,3.285,3.294,3.821,3.829,3.834,3.838,3.86,3.874,3.9,3.907,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 87.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 87.1824} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 4.826}
SEN {Time 87.2275} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.175,0.175,0.181,0.181,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.269,3.256,3.256,3.25,3.239,3.239,3.365,3.365,0,0,0,0,0,0,0,0,0,3.117,3.111,3.107,3.096,3.095,3.095,3.093,3.09,3.076,3.07,3.069,3.061,3.061,3.059,3.061,3.059,0.147,0.141,0.143,0.143,0.143,0.144,0.153,0.153,0.153,0.153,0.153,3.029,3.029,3.039,3.039,3.039,3.039,3.039,0.165,0.16,0.153,0.153,0.153,0.153,0.159,0.178,3.463,3.529,3.531,3.531,3.532,3.532,3.534,3.532,3.532,3.532,3.525,3.525,3.533,3.533,3.537,3.537,3.537,3.537,3.535,3.535,3.535,3.546,3.546,3.546,3.546,3.546,3.539,3.539,3.55,3.555,3.555,3.557,3.56,3.561,3.573,3.574,3.574,3.579,3.579,3.582,3.587,3.591,3.596,3.603,3.603,3.603,3.604,3.606,3.616,3.622,3.631,3.64,3.643,3.65,3.659,3.667,3.669,3.674,3.677,3.683,3.687,3.709,3.71,3.714,3.716,3.73,3.737,3.747,3.75,3.767,3.768,3.772,3.791,3.793,3.8,3.817,3.819,3.824,3.835,3.838,3.847,3.878,3.887,3.893,3.899,3.914,3.918,3.939,3.94,3.947,3.984,3.99,4.009,4.017,4.025,4.036,4.056,4.063,4.081,0.016,0.016,0.016,0,0,0,0,0.007,4.062,3.995,3.961,3.915,3.886,3.854,3.825,3.799,3.768,3.737,3.708,3.684,3.657,3.64,3.613,3.582,3.576,3.55,3.521,3.484,3.474,3.458,3.436,3.413,3.387,3.372,3.338,3.336,3.308,3.286,3.267,3.252,3.229,3.22,3.208,3.183,3.159,3.146,3.134,3.123,3.112,3.102,3.088,3.072,3.056,3.042,3.025,3.016,2.994,2.989,2.962,2.958,2.952,2.932,2.931,2.913,2.902,2.886,2.884,2.865,2.854,2.844,2.831,2.812,2.812,2.8,2.792,2.778,2.773,2.756,2.746,2.745,2.73,2.724,2.711,2.711,2.704,2.682,2.674,2.672,2.656,2.652,2.639,2.631,2.627,2.621,2.611,2.605,2.6,2.594,2.592,2.571,2.569,2.567,2.559,2.554,2.546,2.531,2.531,2.531,2.531,2.52,2.52,2.506,2.505,2.504,2.504,2.503,2.49,2.486,2.479,2.47,2.467,2.467,2.465,2.46,2.444,2.443,2.443,2.441,2.439,2.437,2.43,2.425,2.417,2.417,2.417,2.417,2.417,2.41,2.41,2.409,2.409,2.409,2.406,2.403,2.398,2.395,2.396,2.395,2.392,2.391,2.391,2.39,2.39,2.387,2.385,2.383,2.383,2.383,2.383,2.383,2.384,2.384,2.384,2.384,2.384,2.385,2.389,2.389,2.391,2.391,2.391,2.391,2.393,2.393,2.393,2.394,2.395,2.398,2.404,2.405,2.408,2.409,2.413,2.414,2.419,2.42,2.42,2.42,2.421,2.421,2.426,2.428,2.429,2.434,2.443,2.443,2.453,2.455,2.455,2.456,2.463,2.468,2.472,2.473,2.479,2.483,2.483,2.497,2.504,2.508,2.508,2.517,2.525,2.527,2.531,2.533,2.536,2.552,2.558,2.566,2.57,2.571,2.576,2.586,2.592,2.603,2.61,2.613,2.615,2.63,2.639,2.64,2.666,2.676,2.677,2.684,2.684,2.692,2.704,2.706,2.725,2.725,2.744,2.746,2.756,2.761,2.782,2.786,2.799,2.805,2.824,2.825,2.837,2.852,2.867,2.876,2.887,2.899,2.909,2.926,2.935,2.949,2.957,2.968,2.986,3.003,3.017,3.029,3.039,3.054,3.067,3.078,3.093,3.105,3.119,3.135,3.154,3.173,3.202,3.22,3.22,3.226,3.252,3.278,3.288,3.319,3.332,3.344,3.362,3.386,3.399,3.432,3.451,3.472,3.492,3.518,3.533,3.571,3.59,3.61,3.631,3.665,3.696,3.714,3.74,3.775,3.803,3.823,3.851,3.887,3.909,3.952,3.983,4.02,4.052,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.32,3.314,3.29,3.287,3.282,3.26,3.256,3.248,3.245,3.236,3.221,3.213,3.206,3.203,3.201,3.182,3.18,3.168,3.159,3.152,3.148,3.139,3.133,3.123,3.119,3.11,3.106,3.106,3.105,3.103,3.09,3.087,3.071,3.07,3.069,3.061,3.054,3.054,3.052,3.043,3.043,3.036,3.031,3.029,3.029,3.028,3.028,3.023,3.011,3.006,3.005,3.004,3.004,3.001,3.001,2.996,2.994,2.996,3.001,2.996,2.996,2.996,2.99,2.988,2.982,2.985,2.985,2.981,2.981,2.985,2.983,2.981,2.983,2.983,2.981,2.981,2.983,2.981,2.981,2.978,2.978,2.978,2.982,2.985,2.988,2.988,2.988,2.988,2.988,2.991,2.995,3.003,3.003,3.003,3.005,3.008,3.01,3.011,3.013,3.015,3.016,3.017,3.021,3.032,3.032,3.035,3.037,3.038,3.039,3.05,3.056,3.057,3.064,3.068,3.07,3.086,3.089,3.091,3.097,3.102,3.104,3.114,3.115,3.115,3.117,3.121,3.121,3.132,3.132,3.145,3.153,3.154,3.161,3.166,3.178,3.179,3.186,3.193,3.197,3.198,3.201,3.219,3.219,3.224,3.233,3.246,3.25,3.261,3.266,3.276,3.276,3.28,3.284,3.828,3.828,3.834,3.847,3.861,3.88,3.905,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 87.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 87.3834} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 5.1816}
SEN {Time 87.4275} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.178,0.177,0.178,0.178,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.239,3.38,3.38,3.38,0,0,0,0,0,0,0,0,3.11,3.11,3.11,3.107,3.096,3.094,3.089,3.085,3.08,3.077,3.074,3.067,3.067,3.067,3.061,3.061,3.057,0.148,0.148,0.148,0.148,0.143,0.155,0.146,0.146,0.146,0.146,0.146,3.034,3.038,3.038,3.038,3.038,3.029,0.167,0.16,0.16,0.16,0.159,0.159,0.16,0.16,0.179,3.444,3.521,3.527,3.529,3.529,3.53,3.53,3.53,3.534,3.535,3.535,3.535,3.535,3.537,3.535,3.535,3.535,3.535,3.535,3.541,3.541,3.543,3.541,3.541,3.546,3.547,3.55,3.555,3.557,3.558,3.558,3.562,3.562,3.566,3.563,3.57,3.57,3.57,3.577,3.59,3.592,3.595,3.598,3.606,3.607,3.608,3.611,3.614,3.621,3.623,3.638,3.64,3.645,3.652,3.66,3.668,3.668,3.672,3.677,3.679,3.687,3.701,3.705,3.716,3.723,3.729,3.736,3.749,3.753,3.755,3.765,3.771,3.778,3.789,3.793,3.817,3.819,3.822,3.843,3.844,3.864,3.883,3.898,3.9,3.903,3.913,3.927,3.94,3.942,3.961,3.976,3.989,4.011,4.013,4.028,4.031,4.047,4.077,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,4.025,3.935,3.911,3.877,3.86,3.823,3.8,3.768,3.733,3.715,3.702,3.663,3.648,3.614,3.597,3.564,3.543,3.516,3.499,3.477,3.465,3.429,3.41,3.38,3.362,3.352,3.333,3.304,3.284,3.276,3.246,3.239,3.225,3.207,3.175,3.161,3.154,3.136,3.113,3.111,3.097,3.092,3.073,3.056,3.055,3.027,3.022,2.993,2.992,2.978,2.96,2.954,2.941,2.928,2.918,2.902,2.898,2.88,2.86,2.848,2.842,2.828,2.825,2.817,2.808,2.797,2.785,2.774,2.762,2.748,2.741,2.729,2.723,2.714,2.704,2.692,2.691,2.679,2.666,2.654,2.651,2.65,2.645,2.643,2.625,2.613,2.609,2.599,2.596,2.583,2.579,2.564,2.561,2.561,2.559,2.55,2.542,2.536,2.532,2.529,2.52,2.517,2.508,2.502,2.501,2.498,2.497,2.486,2.482,2.48,2.475,2.472,2.463,2.463,2.461,2.457,2.453,2.445,2.445,2.434,2.434,2.43,2.427,2.424,2.424,2.421,2.417,2.414,2.411,2.411,2.411,2.408,2.408,2.408,2.401,2.401,2.396,2.398,2.395,2.395,2.393,2.393,2.39,2.39,2.388,2.387,2.387,2.386,2.388,2.386,2.386,2.383,2.383,2.383,2.388,2.388,2.392,2.389,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.394,2.403,2.403,2.405,2.405,2.408,2.411,2.412,2.412,2.414,2.415,2.424,2.425,2.425,2.426,2.427,2.431,2.436,2.441,2.441,2.448,2.448,2.453,2.459,2.464,2.468,2.471,2.475,2.483,2.488,2.489,2.49,2.498,2.502,2.504,2.509,2.512,2.518,2.528,2.539,2.54,2.548,2.548,2.55,2.563,2.575,2.575,2.576,2.591,2.591,2.604,2.607,2.615,2.618,2.631,2.645,2.657,2.67,2.671,2.677,2.681,2.69,2.694,2.711,2.718,2.723,2.725,2.741,2.741,2.751,2.769,2.774,2.788,2.803,2.806,2.813,2.824,2.839,2.853,2.869,2.876,2.88,2.901,2.912,2.925,2.931,2.955,2.96,2.971,2.98,3.001,3.019,3.029,3.039,3.045,3.069,3.079,3.099,3.114,3.115,3.138,3.149,3.165,3.191,3.203,3.227,3.228,3.255,3.278,3.281,3.303,3.332,3.349,3.37,3.396,3.407,3.424,3.455,3.473,3.506,3.519,3.535,3.562,3.597,3.62,3.641,3.674,3.683,3.715,3.736,3.772,3.797,3.82,3.856,3.883,3.931,3.947,3.983,4.025,4.056,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.32,3.308,3.29,3.289,3.279,3.265,3.26,3.257,3.243,3.232,3.225,3.216,3.205,3.203,3.2,3.19,3.172,3.171,3.16,3.155,3.153,3.144,3.139,3.125,3.118,3.111,3.11,3.108,3.102,3.094,3.093,3.089,3.074,3.072,3.07,3.063,3.059,3.052,3.052,3.042,3.041,3.037,3.035,3.032,3.029,3.021,3.021,3.021,3.021,3.01,3.008,3,3,2.994,2.994,2.994,2.994,2.997,2.998,2.997,2.993,2.993,2.993,2.99,2.989,2.986,2.985,2.985,2.985,2.985,2.985,2.984,2.985,2.985,2.982,2.981,2.981,2.981,2.981,2.979,2.979,2.98,2.98,2.98,2.98,2.984,2.985,2.991,2.991,2.993,2.994,2.994,2.998,2.999,3.004,3.006,3.006,3.007,3.011,3.014,3.022,3.024,3.025,3.025,3.032,3.037,3.038,3.043,3.047,3.05,3.052,3.056,3.058,3.062,3.073,3.077,3.084,3.09,3.092,3.096,3.099,3.11,3.113,3.113,3.115,3.121,3.121,3.126,3.132,3.139,3.145,3.157,3.164,3.165,3.172,3.177,3.183,3.191,3.197,3.201,3.207,3.209,3.221,3.232,3.233,3.251,3.253,3.264,3.267,3.28,3.28,3.281,3.296,3.819,3.831,3.842,3.848,3.86,3.882,3.888,3.895,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 87.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 87.5844} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1816} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 5.1816}
SEN {Time 87.6245} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.181,0.178,0.176,0.181,0.181,0.197,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.269,3.269,0,3.26,3.247,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.119,3.111,3.111,3.096,3.091,3.091,3.086,3.082,3.076,3.075,3.069,3.065,3.065,3.056,3.056,3.054,0.15,0.15,0.15,0.15,0.141,0.151,0.152,0.153,0.152,0.153,0.16,3.017,3.031,3.034,3.034,3.042,3.042,3.042,0.158,0.158,0.158,0.156,0.159,0.16,0.16,0.165,3.435,3.532,3.532,3.532,3.535,3.535,3.535,3.531,3.527,3.527,3.54,3.54,3.54,3.54,3.54,3.539,3.539,3.539,3.539,3.539,3.539,3.547,3.547,3.547,3.54,3.54,3.54,3.547,3.551,3.553,3.553,3.558,3.561,3.566,3.565,3.574,3.574,3.577,3.579,3.581,3.588,3.59,3.591,3.593,3.593,3.598,3.616,3.617,3.618,3.626,3.631,3.634,3.652,3.662,3.672,3.675,3.675,3.677,3.681,3.681,3.692,3.695,3.71,3.711,3.73,3.738,3.738,3.744,3.75,3.756,3.767,3.781,3.794,3.795,3.796,3.812,3.822,3.827,3.842,3.852,3.859,3.861,3.883,3.894,3.906,3.913,3.919,3.942,3.944,3.958,3.977,3.985,4.005,4.006,4.034,4.037,4.061,4.073,4.088,0.016,0.016,0.016,0,0,0,0.007,0.016,0.016,4.02,3.996,3.917,3.886,3.854,3.822,3.791,3.765,3.731,3.705,3.697,3.67,3.634,3.613,3.579,3.561,3.544,3.519,3.5,3.484,3.455,3.437,3.405,3.379,3.366,3.349,3.338,3.295,3.291,3.268,3.253,3.235,3.227,3.205,3.176,3.17,3.16,3.147,3.127,3.105,3.097,3.087,3.072,3.057,3.044,3.022,3.017,2.991,2.989,2.973,2.957,2.955,2.943,2.925,2.911,2.904,2.902,2.888,2.868,2.854,2.84,2.832,2.826,2.808,2.803,2.794,2.786,2.775,2.77,2.753,2.743,2.722,2.716,2.706,2.705,2.7,2.694,2.686,2.665,2.661,2.65,2.641,2.64,2.633,2.626,2.618,2.613,2.601,2.597,2.583,2.574,2.568,2.565,2.561,2.56,2.558,2.537,2.536,2.535,2.532,2.521,2.519,2.507,2.506,2.505,2.5,2.495,2.491,2.483,2.476,2.474,2.474,2.471,2.468,2.454,2.451,2.449,2.448,2.442,2.435,2.434,2.431,2.431,2.43,2.425,2.42,2.418,2.415,2.41,2.409,2.409,2.409,2.406,2.404,2.404,2.398,2.398,2.398,2.395,2.394,2.394,2.394,2.393,2.388,2.385,2.385,2.384,2.385,2.386,2.386,2.387,2.387,2.387,2.388,2.388,2.385,2.385,2.385,2.385,2.391,2.394,2.394,2.392,2.392,2.391,2.391,2.392,2.398,2.398,2.401,2.406,2.406,2.411,2.411,2.411,2.412,2.413,2.418,2.419,2.419,2.421,2.428,2.434,2.435,2.436,2.443,2.45,2.453,2.455,2.46,2.462,2.465,2.472,2.479,2.479,2.483,2.486,2.492,2.503,2.506,2.511,2.522,2.522,2.523,2.523,2.534,2.536,2.546,2.552,2.561,2.567,2.567,2.569,2.578,2.589,2.589,2.599,2.604,2.609,2.622,2.632,2.636,2.642,2.665,2.67,2.677,2.684,2.686,2.69,2.713,2.721,2.722,2.724,2.739,2.752,2.766,2.777,2.777,2.789,2.802,2.805,2.821,2.834,2.836,2.858,2.872,2.879,2.886,2.904,2.922,2.929,2.934,2.949,2.957,2.965,2.988,3,3.024,3.028,3.039,3.05,3.061,3.084,3.098,3.119,3.121,3.142,3.153,3.164,3.184,3.203,3.218,3.229,3.261,3.28,3.29,3.312,3.322,3.352,3.363,3.386,3.412,3.432,3.454,3.48,3.49,3.528,3.535,3.566,3.594,3.62,3.636,3.662,3.675,3.711,3.742,3.771,3.806,3.827,3.867,3.87,3.912,3.948,3.978,4.085,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.312,3.303,3.295,3.285,3.28,3.262,3.261,3.253,3.241,3.23,3.224,3.218,3.204,3.196,3.196,3.195,3.173,3.164,3.163,3.152,3.146,3.137,3.129,3.123,3.12,3.114,3.113,3.107,3.103,3.095,3.086,3.081,3.074,3.072,3.067,3.066,3.061,3.054,3.045,3.043,3.04,3.038,3.033,3.032,3.028,3.023,3.02,3.014,3.007,3.004,3.004,3.003,3.001,3.001,2.999,2.994,2.998,2.998,2.999,2.998,2.998,2.994,2.994,2.994,2.994,2.988,2.988,2.986,2.985,2.978,2.978,2.974,2.974,2.978,2.979,2.982,2.982,2.981,2.981,2.981,2.981,2.981,2.983,2.984,2.984,2.985,2.987,2.99,2.992,2.999,3,3,3,3.004,3.007,3.007,3.007,3.014,3.015,3.018,3.024,3.024,3.025,3.025,3.029,3.031,3.044,3.047,3.047,3.047,3.053,3.055,3.065,3.066,3.067,3.072,3.084,3.085,3.092,3.096,3.096,3.11,3.115,3.115,3.117,3.121,3.121,3.122,3.136,3.148,3.151,3.154,3.157,3.162,3.174,3.177,3.181,3.19,3.2,3.2,3.206,3.207,3.222,3.224,3.231,3.244,3.249,3.259,3.261,3.281,3.281,3.286,3.292,3.817,3.829,3.83,3.838,3.854,3.883,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 87.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 87.7763} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1816} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.4102} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.1816}
SEN {Time 87.8235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.177,0.176,0.176,0.176,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,3.233,3.233,3.369,3.369,0,0,0,0,0,0,0,0,0,3.115,3.111,3.109,3.095,3.092,3.085,3.085,3.08,3.077,3.076,3.067,3.065,3.064,3.059,3.059,3.056,0.139,0.139,0.141,0.141,0.143,0.146,0.151,0.151,0.151,0.151,0.151,3.03,3.03,3.031,3.031,3.03,3.026,0.163,0.159,0.159,0.158,0.153,0.153,0.156,0.156,0.169,3.453,3.529,3.535,3.535,3.529,3.527,3.527,3.527,3.527,3.529,3.53,3.53,3.53,3.53,3.532,3.532,3.532,3.532,3.535,3.535,3.536,3.54,3.543,3.543,3.543,3.545,3.545,3.552,3.553,3.553,3.553,3.556,3.556,3.558,3.561,3.566,3.571,3.574,3.577,3.58,3.586,3.589,3.589,3.597,3.603,3.609,3.611,3.611,3.611,3.624,3.632,3.642,3.644,3.652,3.658,3.66,3.666,3.669,3.681,3.682,3.685,3.71,3.716,3.719,3.723,3.726,3.745,3.748,3.757,3.759,3.768,3.774,3.79,3.793,3.797,3.806,3.811,3.837,3.837,3.841,3.857,3.872,3.883,3.885,3.908,3.911,3.92,3.944,3.945,3.956,3.971,3.994,4,4.011,4.033,4.034,4.052,4.069,4.087,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.071,3.986,3.951,3.921,3.882,3.852,3.827,3.8,3.769,3.741,3.709,3.678,3.652,3.635,3.612,3.582,3.567,3.541,3.521,3.498,3.479,3.452,3.434,3.409,3.398,3.376,3.35,3.327,3.307,3.294,3.278,3.253,3.229,3.213,3.197,3.193,3.172,3.152,3.138,3.121,3.108,3.103,3.086,3.07,3.066,3.041,3.028,3.013,2.997,2.994,2.967,2.959,2.955,2.936,2.929,2.921,2.898,2.887,2.874,2.868,2.856,2.844,2.836,2.828,2.811,2.793,2.786,2.771,2.766,2.753,2.745,2.737,2.733,2.715,2.715,2.71,2.693,2.687,2.679,2.666,2.645,2.644,2.64,2.638,2.635,2.63,2.622,2.605,2.597,2.594,2.585,2.582,2.567,2.565,2.553,2.547,2.547,2.543,2.54,2.536,2.535,2.519,2.515,2.504,2.502,2.502,2.502,2.5,2.486,2.485,2.476,2.474,2.47,2.47,2.466,2.456,2.453,2.449,2.446,2.439,2.438,2.431,2.431,2.431,2.427,2.419,2.417,2.415,2.414,2.41,2.409,2.409,2.409,2.409,2.403,2.402,2.402,2.4,2.395,2.395,2.392,2.392,2.392,2.389,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.388,2.388,2.388,2.388,2.384,2.384,2.389,2.392,2.392,2.392,2.392,2.393,2.397,2.399,2.406,2.407,2.408,2.408,2.409,2.41,2.411,2.415,2.416,2.42,2.425,2.428,2.429,2.432,2.434,2.438,2.439,2.449,2.451,2.455,2.457,2.458,2.459,2.474,2.474,2.48,2.48,2.48,2.482,2.482,2.493,2.496,2.498,2.511,2.518,2.523,2.525,2.528,2.533,2.542,2.546,2.552,2.555,2.559,2.563,2.574,2.59,2.59,2.596,2.609,2.616,2.626,2.631,2.632,2.639,2.661,2.676,2.681,2.683,2.696,2.697,2.704,2.715,2.722,2.724,2.737,2.739,2.745,2.767,2.776,2.791,2.804,2.809,2.819,2.834,2.841,2.844,2.861,2.862,2.884,2.896,2.917,2.928,2.929,2.944,2.953,2.974,2.985,2.993,3.014,3.028,3.04,3.05,3.067,3.081,3.103,3.111,3.127,3.133,3.156,3.168,3.186,3.202,3.222,3.234,3.253,3.281,3.289,3.312,3.33,3.344,3.365,3.385,3.405,3.432,3.45,3.474,3.5,3.527,3.542,3.548,3.59,3.612,3.632,3.665,3.69,3.706,3.73,3.76,3.798,3.827,3.854,3.891,3.924,3.947,3.98,4.02,4.062,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.319,3.308,3.294,3.281,3.278,3.27,3.257,3.255,3.251,3.228,3.228,3.216,3.204,3.194,3.192,3.189,3.175,3.173,3.164,3.163,3.151,3.147,3.139,3.121,3.117,3.109,3.107,3.105,3.1,3.095,3.09,3.083,3.079,3.072,3.071,3.067,3.059,3.059,3.05,3.042,3.04,3.037,3.029,3.029,3.029,3.026,3.019,3.018,3.016,3.012,3.006,3.002,2.999,2.999,2.994,2.994,2.994,2.996,2.997,2.997,2.997,2.993,2.99,2.989,2.985,2.983,2.984,2.98,2.98,2.981,2.981,2.98,2.981,2.98,2.98,2.982,2.982,2.98,2.981,2.981,2.978,2.978,2.981,2.986,2.987,2.987,2.989,2.99,2.99,2.99,2.992,2.993,2.997,3.001,3.008,3.009,3.01,3.011,3.012,3.012,3.018,3.021,3.025,3.025,3.025,3.032,3.035,3.035,3.04,3.049,3.05,3.057,3.062,3.067,3.068,3.072,3.085,3.089,3.09,3.102,3.105,3.111,3.115,3.115,3.118,3.118,3.127,3.128,3.135,3.141,3.143,3.149,3.158,3.164,3.17,3.183,3.189,3.191,3.196,3.206,3.206,3.206,3.215,3.219,3.234,3.251,3.255,3.258,3.262,3.276,3.276,3.289,3.289,3.823,3.826,3.832,3.84,3.869,3.869,3.894,3.897,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 87.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 87.9773} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1816} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.4102} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 88.0235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.172,0.172,0.179,0.179,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.254,3.254,3.245,3.237,3.237,3.378,3.378,0,0,0,0,0,0,0,0,0,3.117,3.112,3.104,3.098,3.095,3.091,3.081,3.076,3.076,3.071,3.067,3.065,3.065,3.056,3.056,3.05,0.143,0.143,0.146,0.146,0.151,0.151,0.149,0.149,0.149,0.149,0.149,3.038,3.038,3.038,3.038,3.033,3.032,0.165,0.153,0.153,0.147,0.147,0.147,0.162,0.17,0.187,3.456,3.522,3.526,3.526,3.527,3.527,3.53,3.527,3.53,3.536,3.537,3.537,3.538,3.538,3.538,3.539,3.539,3.542,3.539,3.539,3.543,3.543,3.54,3.54,3.54,3.54,3.546,3.548,3.55,3.551,3.551,3.56,3.56,3.56,3.563,3.576,3.576,3.579,3.58,3.582,3.584,3.586,3.586,3.594,3.597,3.607,3.611,3.615,3.62,3.627,3.63,3.637,3.649,3.655,3.655,3.658,3.658,3.67,3.683,3.692,3.695,3.701,3.702,3.713,3.723,3.734,3.737,3.752,3.753,3.76,3.76,3.779,3.784,3.793,3.798,3.811,3.812,3.825,3.841,3.845,3.855,3.875,3.876,3.893,3.895,3.916,3.923,3.944,3.95,3.954,3.975,3.98,3.998,4.003,4.016,4.044,4.051,4.071,4.084,0.016,0.016,0.016,0,0,0,0,0.016,4.047,3.976,3.956,3.919,3.884,3.847,3.823,3.788,3.767,3.745,3.715,3.686,3.652,3.631,3.606,3.58,3.57,3.54,3.515,3.496,3.481,3.451,3.434,3.418,3.393,3.368,3.346,3.333,3.315,3.29,3.275,3.253,3.241,3.221,3.2,3.177,3.167,3.152,3.133,3.125,3.11,3.101,3.092,3.069,3.045,3.039,3.031,3.01,3,2.99,2.976,2.956,2.951,2.933,2.925,2.918,2.902,2.892,2.874,2.872,2.857,2.852,2.84,2.827,2.814,2.796,2.795,2.782,2.776,2.764,2.748,2.739,2.732,2.715,2.715,2.71,2.695,2.687,2.675,2.671,2.663,2.661,2.645,2.643,2.643,2.622,2.611,2.603,2.598,2.595,2.584,2.575,2.563,2.56,2.558,2.556,2.556,2.541,2.539,2.537,2.536,2.524,2.523,2.508,2.508,2.506,2.502,2.493,2.485,2.483,2.479,2.475,2.473,2.463,2.458,2.458,2.458,2.454,2.452,2.438,2.436,2.433,2.428,2.426,2.425,2.419,2.416,2.416,2.415,2.411,2.41,2.408,2.408,2.406,2.405,2.399,2.4,2.399,2.398,2.398,2.394,2.394,2.394,2.393,2.391,2.387,2.387,2.386,2.387,2.386,2.385,2.385,2.384,2.384,2.384,2.384,2.385,2.385,2.388,2.386,2.386,2.388,2.39,2.39,2.392,2.392,2.392,2.396,2.402,2.402,2.405,2.406,2.409,2.41,2.412,2.413,2.414,2.415,2.416,2.421,2.423,2.424,2.428,2.432,2.433,2.436,2.442,2.446,2.449,2.45,2.455,2.466,2.466,2.475,2.479,2.479,2.48,2.483,2.489,2.491,2.494,2.503,2.51,2.52,2.527,2.528,2.529,2.542,2.543,2.549,2.555,2.559,2.572,2.573,2.584,2.594,2.595,2.6,2.605,2.617,2.627,2.631,2.633,2.636,2.661,2.667,2.677,2.683,2.687,2.693,2.705,2.712,2.721,2.729,2.733,2.735,2.751,2.775,2.779,2.795,2.801,2.808,2.822,2.828,2.834,2.851,2.869,2.871,2.885,2.902,2.924,2.928,2.93,2.95,2.952,2.969,2.982,2.996,3.016,3.023,3.036,3.051,3.068,3.08,3.099,3.109,3.126,3.139,3.148,3.172,3.183,3.205,3.224,3.23,3.261,3.277,3.28,3.307,3.324,3.348,3.358,3.377,3.406,3.431,3.463,3.478,3.493,3.526,3.53,3.554,3.586,3.613,3.644,3.663,3.666,3.709,3.744,3.776,3.801,3.819,3.866,3.87,3.91,3.979,4.017,4.057,4.057,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.322,3.296,3.291,3.282,3.279,3.27,3.27,3.263,3.259,3.232,3.221,3.219,3.206,3.205,3.2,3.181,3.179,3.17,3.163,3.157,3.156,3.138,3.135,3.125,3.117,3.115,3.108,3.107,3.097,3.095,3.092,3.085,3.079,3.078,3.074,3.065,3.06,3.053,3.053,3.047,3.042,3.031,3.03,3.03,3.029,3.026,3.022,3.017,3.009,3.005,3.005,2.998,2.998,2.997,2.997,2.997,2.995,2.995,2.997,2.994,2.994,2.994,2.994,2.99,2.983,2.983,2.979,2.979,2.979,2.979,2.979,2.981,2.981,2.982,2.983,2.982,2.984,2.982,2.98,2.978,2.98,2.98,2.98,2.981,2.989,2.99,2.99,2.99,2.99,2.995,2.998,2.998,2.998,3.001,3.004,3.009,3.009,3.01,3.011,3.017,3.02,3.024,3.028,3.03,3.03,3.034,3.04,3.043,3.047,3.047,3.049,3.053,3.067,3.067,3.067,3.068,3.078,3.081,3.091,3.095,3.104,3.105,3.114,3.114,3.117,3.119,3.122,3.131,3.14,3.145,3.148,3.154,3.157,3.161,3.168,3.174,3.192,3.194,3.201,3.202,3.205,3.208,3.209,3.219,3.23,3.249,3.251,3.262,3.265,3.279,3.279,3.29,3.292,3.824,3.83,3.841,3.846,3.854,3.876,3.89,3.9,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 88.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 88.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 88.1782} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.4102} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.683} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 88.2235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.18,0.178,0.173,0.18,0.18,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.272,3.266,3.266,3.264,3.239,3.239,3.374,3.374,0,0,0,0,0,0,0,0,0,3.121,3.109,3.109,3.103,3.102,3.093,3.092,3.085,3.075,3.071,3.069,3.067,3.067,3.061,3.061,3.052,0.148,0.148,0.148,0.148,0.147,0.148,0.148,0.151,0.148,0.151,0.153,3.033,3.033,3.041,3.041,3.041,3.041,3.041,0.164,0.164,0.157,0.156,0.154,0.156,0.156,0.164,3.443,3.531,3.531,3.533,3.533,3.533,3.534,3.534,3.531,3.531,3.528,3.528,3.53,3.531,3.532,3.535,3.54,3.54,3.54,3.54,3.542,3.542,3.545,3.547,3.547,3.547,3.545,3.547,3.555,3.557,3.559,3.559,3.56,3.561,3.563,3.565,3.566,3.572,3.574,3.586,3.59,3.59,3.592,3.594,3.605,3.605,3.606,3.627,3.627,3.628,3.634,3.634,3.646,3.653,3.658,3.66,3.667,3.671,3.682,3.686,3.689,3.7,3.704,3.72,3.728,3.748,3.749,3.75,3.756,3.76,3.776,3.78,3.785,3.787,3.791,3.814,3.815,3.82,3.84,3.846,3.847,3.859,3.882,3.893,3.895,3.913,3.921,3.937,3.952,3.957,3.98,3.986,3.987,4.001,4.031,4.05,4.052,4.088,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.059,3.99,3.99,3.949,3.914,3.852,3.823,3.798,3.758,3.743,3.723,3.695,3.658,3.63,3.609,3.579,3.567,3.54,3.521,3.51,3.483,3.458,3.43,3.415,3.379,3.358,3.35,3.331,3.305,3.288,3.274,3.252,3.235,3.219,3.2,3.18,3.163,3.158,3.139,3.127,3.113,3.101,3.083,3.072,3.058,3.047,3.026,3.014,3.001,2.994,2.976,2.958,2.955,2.932,2.92,2.915,2.9,2.889,2.887,2.866,2.858,2.852,2.831,2.809,2.801,2.799,2.79,2.784,2.768,2.768,2.753,2.741,2.734,2.723,2.707,2.704,2.701,2.69,2.681,2.669,2.649,2.647,2.642,2.636,2.636,2.627,2.622,2.62,2.596,2.595,2.582,2.576,2.564,2.563,2.555,2.551,2.549,2.542,2.537,2.537,2.535,2.518,2.517,2.507,2.505,2.504,2.503,2.502,2.483,2.48,2.473,2.471,2.468,2.466,2.463,2.452,2.452,2.451,2.449,2.441,2.438,2.436,2.429,2.426,2.426,2.425,2.419,2.419,2.414,2.414,2.414,2.414,2.412,2.407,2.405,2.403,2.403,2.401,2.393,2.396,2.396,2.396,2.395,2.395,2.394,2.392,2.387,2.387,2.387,2.387,2.387,2.387,2.386,2.386,2.386,2.386,2.386,2.388,2.388,2.388,2.391,2.394,2.394,2.393,2.393,2.393,2.393,2.395,2.4,2.4,2.402,2.405,2.406,2.407,2.411,2.415,2.416,2.419,2.42,2.42,2.42,2.427,2.428,2.429,2.432,2.439,2.442,2.451,2.454,2.454,2.457,2.465,2.467,2.474,2.476,2.477,2.481,2.486,2.498,2.502,2.503,2.509,2.511,2.514,2.524,2.525,2.529,2.535,2.536,2.544,2.56,2.567,2.574,2.575,2.586,2.588,2.59,2.598,2.611,2.611,2.625,2.629,2.634,2.64,2.672,2.672,2.679,2.681,2.688,2.695,2.704,2.716,2.719,2.723,2.743,2.746,2.757,2.771,2.772,2.785,2.797,2.81,2.824,2.834,2.836,2.851,2.863,2.871,2.889,2.903,2.921,2.926,2.931,2.954,2.964,2.976,2.977,3.001,3.021,3.034,3.045,3.051,3.06,3.079,3.105,3.109,3.126,3.138,3.151,3.164,3.187,3.205,3.22,3.228,3.252,3.278,3.287,3.311,3.334,3.346,3.365,3.392,3.416,3.432,3.456,3.482,3.499,3.518,3.536,3.569,3.595,3.616,3.638,3.662,3.7,3.713,3.742,3.761,3.787,3.816,3.86,3.876,3.921,3.958,3.981,4.051,4.09,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.325,3.314,3.289,3.285,3.28,3.27,3.259,3.255,3.245,3.234,3.221,3.209,3.202,3.202,3.198,3.185,3.178,3.173,3.169,3.156,3.15,3.139,3.134,3.134,3.124,3.12,3.112,3.104,3.097,3.096,3.095,3.092,3.078,3.071,3.069,3.067,3.057,3.054,3.05,3.048,3.043,3.034,3.029,3.029,3.028,3.027,3.022,3.02,3.007,3.005,3.002,3.002,2.999,2.997,2.997,2.994,2.994,2.996,2.998,2.996,2.996,2.993,2.99,2.989,2.988,2.987,2.988,2.987,2.987,2.982,2.982,2.975,2.975,2.982,2.982,2.983,2.983,2.982,2.983,2.984,2.984,2.984,2.984,2.979,2.979,2.979,2.979,2.985,2.99,2.995,2.997,2.998,2.998,3.005,3.009,3.01,3.009,3.011,3.011,3.014,3.02,3.024,3.029,3.029,3.029,3.036,3.036,3.043,3.043,3.051,3.054,3.057,3.066,3.072,3.073,3.075,3.083,3.088,3.09,3.094,3.094,3.12,3.12,3.12,3.12,3.12,3.12,3.123,3.133,3.15,3.15,3.152,3.156,3.169,3.174,3.184,3.187,3.194,3.194,3.194,3.197,3.205,3.217,3.224,3.235,3.248,3.253,3.265,3.268,3.269,3.269,3.285,3.289,3.825,3.826,3.831,3.839,3.869,3.887,3.901,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 88.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 88.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 88.3793} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.683} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.5748}
SEN {Time 88.4235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.178,0.179,0.18,0.18,0.21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.263,3.247,3.239,3.239,3.367,3.367,0,0,0,0,0,0,0,0,0,3.116,3.107,3.104,3.104,3.096,3.092,3.092,3.09,3.073,3.071,3.07,3.058,3.058,3.057,3.052,0.145,0.145,0.145,0.145,0.145,0.148,0.149,0.149,0.154,0.149,0.154,0.157,3.032,3.033,3.041,3.041,3.033,3.033,0.161,0.154,0.154,0.155,0.154,0.155,0.157,0.159,0.172,3.442,3.525,3.53,3.53,3.53,3.528,3.528,3.528,3.54,3.54,3.54,3.535,3.535,3.534,3.535,3.534,3.535,3.535,3.535,3.539,3.54,3.542,3.542,3.543,3.545,3.545,3.546,3.546,3.55,3.552,3.556,3.556,3.566,3.569,3.571,3.571,3.575,3.577,3.577,3.58,3.58,3.583,3.594,3.596,3.598,3.611,3.611,3.621,3.624,3.63,3.633,3.633,3.646,3.657,3.663,3.665,3.667,3.67,3.679,3.688,3.69,3.699,3.703,3.713,3.719,3.728,3.742,3.748,3.752,3.752,3.77,3.774,3.782,3.798,3.799,3.807,3.815,3.83,3.836,3.844,3.859,3.87,3.884,3.89,3.91,3.913,3.917,3.926,3.942,3.961,3.989,3.993,4.007,4.011,4.028,4.043,4.061,4.084,4.086,4.088,0.016,0.016,0.016,0.016,0,0,0,0,3.973,3.956,3.919,3.88,3.85,3.815,3.787,3.769,3.731,3.713,3.676,3.652,3.628,3.611,3.594,3.563,3.547,3.526,3.496,3.473,3.458,3.435,3.406,3.393,3.373,3.348,3.331,3.299,3.291,3.269,3.253,3.232,3.214,3.2,3.191,3.165,3.159,3.132,3.121,3.112,3.098,3.09,3.078,3.045,3.044,3.028,3.013,2.994,2.987,2.965,2.955,2.951,2.943,2.921,2.919,2.902,2.89,2.875,2.868,2.855,2.85,2.837,2.822,2.815,2.803,2.795,2.781,2.773,2.763,2.746,2.739,2.73,2.721,2.715,2.712,2.687,2.68,2.679,2.673,2.659,2.658,2.637,2.633,2.633,2.627,2.618,2.607,2.592,2.586,2.585,2.579,2.574,2.572,2.563,2.554,2.553,2.537,2.534,2.532,2.528,2.521,2.512,2.503,2.502,2.5,2.495,2.494,2.484,2.483,2.478,2.478,2.477,2.47,2.46,2.449,2.446,2.443,2.442,2.441,2.437,2.435,2.434,2.429,2.427,2.423,2.42,2.415,2.411,2.411,2.411,2.411,2.408,2.408,2.408,2.408,2.408,2.403,2.403,2.392,2.392,2.391,2.392,2.391,2.391,2.389,2.385,2.385,2.385,2.387,2.385,2.386,2.385,2.386,2.386,2.388,2.388,2.388,2.388,2.389,2.388,2.39,2.393,2.393,2.395,2.395,2.397,2.397,2.397,2.401,2.406,2.408,2.407,2.407,2.409,2.409,2.415,2.416,2.42,2.423,2.426,2.427,2.431,2.438,2.438,2.441,2.442,2.446,2.449,2.452,2.462,2.464,2.468,2.472,2.474,2.485,2.485,2.487,2.492,2.498,2.504,2.509,2.513,2.516,2.52,2.525,2.535,2.541,2.55,2.553,2.564,2.565,2.569,2.574,2.579,2.586,2.59,2.593,2.61,2.612,2.624,2.625,2.639,2.647,2.668,2.675,2.676,2.688,2.69,2.702,2.703,2.706,2.723,2.727,2.744,2.748,2.755,2.761,2.772,2.785,2.807,2.809,2.817,2.832,2.843,2.855,2.871,2.871,2.879,2.901,2.922,2.926,2.937,2.95,2.955,2.963,2.989,2.995,3.016,3.022,3.041,3.049,3.068,3.086,3.106,3.111,3.116,3.135,3.159,3.164,3.187,3.202,3.224,3.23,3.264,3.277,3.283,3.304,3.336,3.354,3.37,3.385,3.403,3.439,3.449,3.479,3.497,3.522,3.546,3.567,3.58,3.612,3.628,3.662,3.685,3.708,3.741,3.768,3.803,3.834,3.86,3.879,3.908,3.96,4.024,4.061,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.321,3.305,3.297,3.282,3.278,3.268,3.259,3.259,3.239,3.229,3.223,3.219,3.203,3.2,3.199,3.188,3.175,3.175,3.164,3.155,3.148,3.138,3.131,3.121,3.118,3.112,3.111,3.109,3.1,3.094,3.091,3.08,3.074,3.072,3.068,3.068,3.056,3.055,3.052,3.046,3.046,3.041,3.041,3.035,3.023,3.02,3.017,3.017,3.009,3.003,3.003,3.003,2.999,2.994,2.994,2.994,2.993,2.994,2.999,2.994,2.992,2.987,2.987,2.987,2.984,2.984,2.984,2.983,2.983,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.98,2.98,2.98,2.98,2.985,2.985,2.979,2.979,2.984,2.984,2.986,2.989,2.992,2.994,2.995,2.998,2.998,3,3,3.004,3.007,3.013,3.013,3.014,3.018,3.02,3.022,3.022,3.03,3.036,3.036,3.04,3.046,3.046,3.054,3.055,3.065,3.067,3.073,3.082,3.082,3.086,3.097,3.097,3.099,3.115,3.115,3.115,3.115,3.121,3.129,3.132,3.137,3.147,3.148,3.157,3.159,3.16,3.17,3.178,3.187,3.192,3.196,3.197,3.206,3.206,3.215,3.216,3.228,3.253,3.254,3.265,3.27,3.283,3.283,3.286,3.287,3.818,3.825,3.828,3.848,3.861,3.875,3.891,3.918,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 88.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 88.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 88.5802} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.683} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.5748}
SEN {Time 88.6205} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.178,0.178,0.182,0.182,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.246,3.235,3.235,3.366,3.366,0,0,0,0,0,0,0,0,0,3.115,3.112,3.111,3.1,3.098,3.093,3.091,3.082,3.08,3.072,3.068,3.064,3.064,3.061,3.053,0.15,0.142,0.142,0.142,0.149,0.149,0.157,0.157,0.157,0.156,0.156,0.156,3.037,3.037,3.041,3.041,3.041,3.018,0.166,0.162,0.162,0.162,0.157,0.157,0.165,0.165,0.185,3.458,3.526,3.534,3.534,3.526,3.539,3.539,3.528,3.535,3.537,3.535,3.535,3.535,3.532,3.532,3.538,3.54,3.54,3.54,3.54,3.54,3.54,3.538,3.54,3.545,3.545,3.544,3.545,3.556,3.556,3.556,3.56,3.56,3.565,3.566,3.57,3.573,3.577,3.579,3.584,3.584,3.592,3.596,3.597,3.603,3.604,3.612,3.614,3.619,3.629,3.629,3.63,3.647,3.652,3.661,3.668,3.669,3.676,3.681,3.687,3.688,3.702,3.703,3.718,3.729,3.731,3.734,3.742,3.75,3.765,3.775,3.781,3.781,3.791,3.794,3.811,3.823,3.825,3.836,3.852,3.854,3.866,3.889,3.894,3.908,3.908,3.919,3.94,3.946,3.951,3.977,3.989,3.999,4.014,4.032,4.039,4.058,4.064,4.092,4.094,0.016,0.016,0.016,0.016,0,0.016,0,0.007,4.022,3.963,3.913,3.879,3.855,3.833,3.796,3.785,3.739,3.721,3.689,3.669,3.628,3.611,3.588,3.57,3.546,3.52,3.502,3.484,3.468,3.434,3.409,3.388,3.369,3.343,3.33,3.305,3.296,3.273,3.253,3.232,3.218,3.194,3.19,3.162,3.158,3.137,3.12,3.104,3.097,3.083,3.072,3.053,3.052,3.03,3.015,2.994,2.992,2.969,2.966,2.953,2.94,2.93,2.916,2.903,2.901,2.878,2.868,2.851,2.84,2.835,2.822,2.808,2.802,2.794,2.772,2.772,2.762,2.749,2.749,2.736,2.724,2.711,2.707,2.694,2.69,2.677,2.664,2.656,2.656,2.634,2.631,2.624,2.624,2.617,2.616,2.603,2.6,2.578,2.577,2.573,2.563,2.56,2.549,2.548,2.54,2.538,2.537,2.533,2.516,2.516,2.507,2.505,2.502,2.499,2.494,2.491,2.484,2.475,2.472,2.467,2.466,2.462,2.459,2.45,2.447,2.444,2.444,2.436,2.434,2.429,2.427,2.427,2.427,2.427,2.425,2.414,2.41,2.41,2.409,2.408,2.407,2.406,2.404,2.401,2.399,2.397,2.397,2.394,2.393,2.393,2.392,2.391,2.391,2.39,2.389,2.389,2.39,2.389,2.39,2.39,2.39,2.389,2.389,2.389,2.389,2.392,2.392,2.392,2.392,2.39,2.39,2.392,2.393,2.393,2.396,2.402,2.403,2.403,2.403,2.404,2.404,2.41,2.411,2.414,2.414,2.414,2.414,2.419,2.424,2.428,2.429,2.436,2.44,2.443,2.449,2.449,2.455,2.457,2.46,2.468,2.474,2.477,2.479,2.481,2.483,2.485,2.493,2.505,2.508,2.509,2.515,2.524,2.527,2.534,2.535,2.544,2.545,2.554,2.559,2.567,2.569,2.584,2.585,2.589,2.599,2.599,2.612,2.617,2.628,2.629,2.641,2.659,2.675,2.679,2.682,2.688,2.695,2.711,2.717,2.717,2.719,2.737,2.742,2.758,2.78,2.787,2.792,2.797,2.806,2.821,2.828,2.844,2.86,2.868,2.868,2.887,2.898,2.917,2.925,2.936,2.946,2.955,2.975,2.987,2.994,3.012,3.033,3.038,3.055,3.068,3.071,3.096,3.112,3.129,3.139,3.151,3.171,3.192,3.207,3.226,3.228,3.249,3.279,3.284,3.322,3.326,3.34,3.357,3.398,3.401,3.435,3.451,3.478,3.496,3.527,3.536,3.563,3.591,3.605,3.629,3.661,3.686,3.713,3.74,3.774,3.805,3.832,3.855,3.887,3.922,3.946,3.982,4.013,4.093,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.32,3.303,3.297,3.288,3.283,3.264,3.261,3.258,3.249,3.228,3.221,3.218,3.201,3.198,3.196,3.183,3.174,3.174,3.163,3.157,3.151,3.135,3.133,3.126,3.122,3.108,3.106,3.104,3.1,3.097,3.093,3.084,3.08,3.078,3.069,3.067,3.06,3.056,3.052,3.046,3.043,3.035,3.033,3.031,3.03,3.025,3.023,3.016,3.011,3.01,3.009,3.001,2.998,2.996,2.994,2.994,2.992,2.992,2.994,3.05,0.007,3.05,2.992,2.99,2.984,2.982,2.981,2.981,2.982,2.988,2.988,2.988,2.985,2.985,2.985,2.984,2.984,2.98,2.98,2.98,2.981,2.981,2.981,2.982,2.982,2.983,2.991,2.991,2.993,2.993,2.993,2.994,2.995,2.997,2.998,3.006,3.008,3.009,3.015,3.017,3.017,3.018,3.022,3.025,3.033,3.039,3.041,3.046,3.049,3.05,3.052,3.059,3.064,3.066,3.071,3.073,3.082,3.087,3.094,3.101,3.104,3.115,3.116,3.116,3.117,3.125,3.125,3.128,3.141,3.148,3.151,3.154,3.158,3.165,3.165,3.178,3.191,3.194,3.196,3.2,3.2,3.203,3.216,3.225,3.233,3.238,3.25,3.26,3.261,3.279,3.279,3.286,3.291,3.823,3.825,3.834,3.843,3.859,3.878,3.9,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 88.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 88.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 88.7722} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 1.5748}
SEN {Time 88.8206} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.175,0.175,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.243,3.243,3.243,3.376,3.376,0,0,0,0,0,0,0,0,0,3.117,3.112,3.111,3.099,3.091,3.09,3.089,3.089,3.079,3.079,3.075,3.066,3.065,3.056,3.047,0.147,0.145,0.145,0.145,0.145,0.145,0.145,0.145,0.153,0.148,0.153,0.153,3.031,3.031,3.04,3.04,3.031,3.024,0.17,0.165,0.165,0.154,0.154,0.153,0.154,0.154,0.175,3.432,3.528,3.532,3.532,3.532,3.53,3.53,3.528,3.528,3.525,3.53,3.53,3.537,3.537,3.537,3.537,3.537,3.537,3.537,3.539,3.539,3.542,3.545,3.545,3.542,3.546,3.546,3.548,3.556,3.559,3.56,3.562,3.562,3.562,3.562,3.573,3.574,3.575,3.576,3.584,3.59,3.595,3.595,3.602,3.603,3.604,3.605,3.622,3.622,3.624,3.633,3.64,3.645,3.651,3.655,3.668,3.669,3.672,3.673,3.686,3.69,3.703,3.706,3.717,3.727,3.737,3.75,3.754,3.755,3.76,3.77,3.783,3.792,3.792,3.8,3.809,3.831,3.831,3.844,3.849,3.854,3.883,3.887,3.889,3.907,3.92,3.928,3.939,3.945,3.949,3.965,3.991,4.011,4.013,4.037,4.038,4.051,4.072,4.094,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,3.952,3.934,3.889,3.854,3.817,3.794,3.764,3.734,3.716,3.697,3.666,3.64,3.612,3.582,3.551,3.544,3.52,3.498,3.487,3.456,3.435,3.405,3.385,3.367,3.349,3.325,3.31,3.284,3.271,3.246,3.237,3.224,3.2,3.177,3.164,3.157,3.135,3.131,3.106,3.095,3.094,3.073,3.05,3.04,3.032,3.02,3.003,2.989,2.975,2.964,2.961,2.942,2.927,2.913,2.894,2.892,2.883,2.869,2.857,2.847,2.834,2.814,2.807,2.799,2.796,2.781,2.769,2.76,2.746,2.738,2.726,2.719,2.709,2.704,2.694,2.688,2.669,2.667,2.664,2.655,2.645,2.637,2.631,2.619,2.616,2.612,2.6,2.592,2.589,2.576,2.571,2.569,2.561,2.559,2.554,2.533,2.533,2.531,2.524,2.522,2.521,2.513,2.506,2.505,2.504,2.498,2.482,2.481,2.476,2.474,2.474,2.473,2.471,2.454,2.45,2.45,2.446,2.445,2.44,2.437,2.432,2.431,2.423,2.42,2.419,2.419,2.414,2.413,2.411,2.41,2.41,2.41,2.41,2.403,2.401,2.398,2.396,2.396,2.396,2.396,2.395,2.392,2.391,2.389,2.388,2.387,2.387,2.387,2.385,2.385,2.387,2.384,2.384,2.387,2.387,2.387,2.388,2.387,2.389,2.389,2.389,2.389,2.39,2.39,2.397,2.4,2.4,2.401,2.402,2.405,2.405,2.407,2.41,2.41,2.416,2.42,2.423,2.423,2.426,2.426,2.43,2.432,2.435,2.442,2.443,2.444,2.458,2.458,2.46,2.46,2.46,2.474,2.475,2.476,2.481,2.482,2.484,2.501,2.501,2.509,2.512,2.519,2.525,2.528,2.535,2.535,2.539,2.545,2.561,2.572,2.573,2.575,2.575,2.586,2.588,2.595,2.608,2.618,2.623,2.631,2.631,2.643,2.661,2.662,2.672,2.679,2.693,2.698,2.704,2.711,2.723,2.73,2.741,2.745,2.755,2.771,2.777,2.788,2.803,2.804,2.822,2.83,2.832,2.855,2.874,2.877,2.878,2.907,2.917,2.927,2.934,2.955,2.955,2.971,2.981,3.001,3.016,3.025,3.043,3.045,3.056,3.082,3.099,3.111,3.125,3.137,3.155,3.169,3.196,3.205,3.218,3.235,3.255,3.28,3.288,3.318,3.326,3.346,3.366,3.388,3.399,3.427,3.456,3.479,3.498,3.523,3.543,3.57,3.593,3.615,3.639,3.656,3.686,3.711,3.728,3.764,3.795,3.828,3.866,3.888,3.914,3.951,3.976,4.02,4.06,4.092,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.323,3.312,3.298,3.286,3.278,3.266,3.257,3.253,3.247,3.223,3.222,3.216,3.204,3.197,3.193,3.184,3.167,3.165,3.161,3.155,3.148,3.147,3.136,3.122,3.118,3.113,3.109,3.107,3.104,3.094,3.093,3.089,3.079,3.072,3.07,3.067,3.054,3.051,3.051,3.045,3.045,3.03,3.03,3.03,3.029,3.02,3.02,3.014,3.008,3.008,3.007,3.002,3.002,3.002,3.002,2.998,2.994,2.994,2.994,3.002,3.002,3.002,2.991,2.991,2.989,2.985,2.984,2.984,2.98,2.98,2.98,2.98,2.981,2.982,2.985,2.982,2.982,2.982,2.979,2.978,2.979,2.981,2.981,2.982,2.982,2.982,2.982,2.989,2.996,2.996,2.998,2.996,2.998,3.001,3.003,3.006,3.007,3.009,3.011,3.018,3.019,3.02,3.022,3.022,3.029,3.034,3.035,3.042,3.043,3.051,3.056,3.056,3.061,3.063,3.071,3.078,3.08,3.088,3.092,3.095,3.102,3.108,3.117,3.117,3.122,3.126,3.127,3.133,3.136,3.145,3.148,3.154,3.158,3.165,3.168,3.184,3.188,3.193,3.193,3.196,3.201,3.21,3.21,3.217,3.239,3.247,3.25,3.259,3.267,3.272,3.272,3.28,3.299,3.82,3.827,3.832,3.84,3.862,3.877,3.904,3.915,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 88.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 88.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 88.9731} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.4384} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.5748}
SEN {Time 89.0195} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.174,0.174,0.179,0.179,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.263,3.257,3.257,3.247,3.239,3.239,3.376,3.376,0,0,0,0,0,0,0,0,0,3.118,3.116,3.114,3.093,3.092,3.092,3.09,3.078,3.078,3.077,3.076,3.063,3.063,3.051,3.051,3.047,0.153,0.148,0.148,0.148,0.145,0.147,0.147,0.148,0.147,0.148,0.153,3.027,3.041,3.041,3.041,3.032,3.032,0.172,0.166,0.159,0.149,0.149,0.149,0.149,0.164,0.17,3.524,3.534,3.534,3.534,3.531,3.531,3.531,3.531,3.531,3.537,3.537,3.537,3.537,3.533,3.533,3.537,3.533,3.537,3.54,3.54,3.54,3.542,3.542,3.546,3.542,3.546,3.546,3.546,3.55,3.551,3.557,3.568,3.568,3.57,3.57,3.57,3.57,3.582,3.582,3.582,3.582,3.583,3.595,3.595,3.602,3.604,3.608,3.613,3.625,3.627,3.629,3.638,3.647,3.652,3.669,3.67,3.671,3.673,3.685,3.685,3.696,3.697,3.7,3.718,3.731,3.731,3.737,3.748,3.75,3.767,3.774,3.779,3.783,3.79,3.794,3.819,3.821,3.831,3.847,3.853,3.855,3.871,3.879,3.887,3.898,3.912,3.922,3.936,3.95,3.952,3.979,3.983,4.004,4.009,4.021,4.042,4.062,4.073,4.087,0.016,0.016,0.016,0,0,0.009,0,0,0,0,3.948,3.91,3.878,3.852,3.819,3.788,3.757,3.731,3.719,3.701,3.673,3.634,3.611,3.578,3.57,3.546,3.522,3.497,3.47,3.454,3.433,3.412,3.388,3.368,3.343,3.335,3.308,3.289,3.267,3.253,3.227,3.223,3.21,3.178,3.169,3.153,3.136,3.121,3.111,3.093,3.081,3.077,3.058,3.051,3.037,3.016,3.002,2.986,2.972,2.957,2.955,2.941,2.933,2.924,2.904,2.895,2.879,2.873,2.856,2.836,2.833,2.822,2.813,2.808,2.797,2.783,2.779,2.756,2.75,2.746,2.728,2.728,2.715,2.712,2.698,2.693,2.677,2.668,2.652,2.65,2.646,2.638,2.637,2.618,2.607,2.606,2.603,2.594,2.587,2.584,2.576,2.562,2.556,2.549,2.544,2.542,2.542,2.527,2.527,2.524,2.517,2.514,2.512,2.506,2.503,2.497,2.484,2.484,2.48,2.473,2.472,2.468,2.463,2.457,2.452,2.451,2.449,2.447,2.435,2.433,2.432,2.43,2.425,2.418,2.417,2.416,2.416,2.413,2.41,2.41,2.407,2.403,2.402,2.402,2.402,2.402,2.402,2.398,2.397,2.394,2.39,2.39,2.39,2.39,2.388,2.387,2.388,2.388,2.393,2.393,2.393,2.387,2.385,2.385,2.385,2.387,2.387,2.387,2.392,2.394,2.394,2.394,2.396,2.394,2.397,2.398,2.402,2.402,2.402,2.402,2.402,2.402,2.412,2.415,2.419,2.419,2.419,2.419,2.419,2.425,2.43,2.43,2.435,2.437,2.438,2.442,2.453,2.454,2.457,2.466,2.467,2.471,2.473,2.475,2.487,2.487,2.489,2.496,2.5,2.512,2.516,2.519,2.519,2.532,2.535,2.544,2.546,2.55,2.559,2.566,2.569,2.571,2.578,2.593,2.593,2.603,2.618,2.618,2.63,2.634,2.639,2.646,2.666,2.668,2.672,2.675,2.684,2.703,2.715,2.716,2.727,2.728,2.735,2.736,2.75,2.769,2.774,2.795,2.804,2.808,2.814,2.83,2.841,2.852,2.869,2.87,2.888,2.896,2.915,2.935,2.938,2.952,2.956,2.974,2.977,2.994,3.023,3.029,3.032,3.05,3.066,3.075,3.106,3.108,3.114,3.138,3.153,3.161,3.188,3.212,3.227,3.238,3.259,3.278,3.292,3.319,3.325,3.343,3.363,3.388,3.407,3.432,3.459,3.482,3.503,3.522,3.535,3.563,3.604,3.615,3.651,3.672,3.693,3.709,3.736,3.766,3.791,3.825,3.862,3.888,3.922,3.953,3.978,4.064,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.322,3.302,3.287,3.287,3.285,3.278,3.26,3.257,3.248,3.233,3.223,3.22,3.202,3.198,3.195,3.19,3.185,3.172,3.163,3.154,3.148,3.139,3.138,3.122,3.122,3.113,3.112,3.11,3.099,3.098,3.093,3.088,3.08,3.076,3.071,3.067,3.059,3.059,3.05,3.039,3.033,3.033,3.03,3.029,3.025,3.023,3.021,3.013,3.007,3.004,3.004,3.004,2.999,2.999,2.999,2.998,2.998,2.999,3.002,2.999,2.999,2.99,2.99,2.988,2.987,2.986,2.984,2.981,2.98,2.98,2.98,2.98,2.98,2.98,2.986,2.984,2.984,2.982,2.982,2.981,2.981,2.982,2.984,2.987,2.987,2.984,2.987,2.99,2.984,2.991,2.993,2.993,2.999,3.002,3.002,3.002,3.008,3.01,3.017,3.021,3.021,3.023,3.025,3.029,3.037,3.039,3.041,3.041,3.042,3.049,3.061,3.061,3.066,3.066,3.072,3.083,3.092,3.092,3.092,3.094,3.105,3.11,3.118,3.118,3.118,3.12,3.127,3.128,3.14,3.146,3.156,3.16,3.16,3.162,3.173,3.18,3.193,3.195,3.197,3.198,3.198,3.211,3.22,3.225,3.236,3.247,3.253,3.259,3.261,3.282,3.282,3.282,3.295,3.815,3.833,3.834,3.849,3.86,3.872,3.896,3.899,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 89.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 89.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 89.1751} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.3462}
SEN {Time 89.2195} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.182,0.181,0.181,0.182,0.182,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.269,3.269,3.255,3.237,3.237,3.38,3.38,0,0,0,0,0,0,0,0,0,3.119,3.112,3.111,3.093,3.092,3.092,3.086,3.086,3.076,3.074,3.071,3.063,3.063,3.06,3.06,3.06,0.146,0.146,0.146,0.146,0.15,0.15,0.15,0.151,0.15,0.151,0.153,3.021,3.038,3.038,3.038,3.038,0.006,0.006,0.006,0.156,0.156,0.151,0.151,0.158,0.167,0.167,3.445,3.532,3.532,3.534,3.534,3.534,3.534,3.534,3.533,3.533,3.531,3.531,3.531,3.536,3.536,3.536,3.532,3.533,3.533,3.533,3.537,3.537,3.541,3.541,3.546,3.547,3.55,3.556,3.556,3.556,3.556,3.56,3.56,3.561,3.562,3.569,3.569,3.576,3.576,3.576,3.577,3.591,3.591,3.593,3.602,3.608,3.609,3.613,3.624,3.629,3.643,3.644,3.646,3.655,3.664,3.666,3.668,3.669,3.685,3.686,3.692,3.694,3.702,3.712,3.726,3.734,3.747,3.751,3.752,3.759,3.772,3.785,3.792,3.793,3.799,3.812,3.823,3.836,3.842,3.843,3.855,3.875,3.89,3.893,3.908,3.918,3.928,3.938,3.952,3.955,3.976,3.988,3.988,4.019,4.03,4.037,4.061,4.074,4.09,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,0.007,3.979,3.915,3.885,3.862,3.824,3.794,3.768,3.731,3.701,3.691,3.652,3.647,3.622,3.585,3.562,3.545,3.521,3.495,3.478,3.454,3.43,3.406,3.391,3.367,3.349,3.336,3.303,3.289,3.279,3.246,3.237,3.22,3.211,3.185,3.167,3.149,3.14,3.122,3.102,3.097,3.082,3.078,3.055,3.051,3.033,3.015,2.991,2.99,2.967,2.96,2.95,2.933,2.927,2.911,2.905,2.892,2.887,2.87,2.852,2.844,2.833,2.818,2.817,2.806,2.8,2.782,2.773,2.762,2.749,2.743,2.727,2.718,2.706,2.701,2.693,2.693,2.679,2.675,2.662,2.656,2.644,2.643,2.628,2.624,2.624,2.613,2.596,2.593,2.593,2.583,2.577,2.574,2.561,2.556,2.555,2.54,2.534,2.534,2.533,2.521,2.518,2.512,2.504,2.502,2.495,2.49,2.48,2.476,2.474,2.474,2.472,2.472,2.471,2.462,2.449,2.448,2.447,2.442,2.438,2.432,2.432,2.429,2.429,2.428,2.428,2.424,2.42,2.414,2.411,2.406,2.406,2.406,2.405,2.402,2.398,2.398,2.397,2.396,2.396,2.396,2.395,2.394,2.388,2.388,2.387,2.388,2.388,2.389,2.388,2.388,2.384,2.384,2.383,2.384,2.384,2.386,2.387,2.387,2.388,2.391,2.391,2.388,2.388,2.388,2.388,2.391,2.397,2.402,2.402,2.404,2.408,2.412,2.413,2.416,2.424,2.424,2.425,2.426,2.426,2.426,2.427,2.431,2.433,2.437,2.445,2.452,2.453,2.453,2.456,2.456,2.467,2.472,2.476,2.483,2.489,2.49,2.495,2.497,2.498,2.503,2.511,2.522,2.522,2.527,2.531,2.538,2.542,2.543,2.557,2.562,2.564,2.569,2.573,2.588,2.603,2.603,2.609,2.615,2.63,2.631,2.634,2.635,2.667,2.676,2.68,2.681,2.688,2.698,2.704,2.711,2.717,2.721,2.742,2.753,2.755,2.776,2.779,2.791,2.799,2.809,2.82,2.834,2.838,2.853,2.867,2.872,2.887,2.907,2.912,2.924,2.943,2.95,2.957,2.969,2.991,2.997,3.021,3.037,3.039,3.053,3.063,3.079,3.098,3.11,3.121,3.147,3.148,3.177,3.198,3.208,3.227,3.228,3.253,3.27,3.286,3.308,3.331,3.347,3.359,3.369,3.406,3.437,3.456,3.475,3.488,3.521,3.544,3.568,3.598,3.604,3.635,3.663,3.685,3.723,3.744,3.775,3.797,3.814,3.865,3.881,3.914,3.953,3.974,4.061,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.32,3.303,3.301,3.284,3.279,3.259,3.258,3.257,3.237,3.231,3.221,3.221,3.203,3.202,3.198,3.189,3.174,3.174,3.16,3.157,3.152,3.148,3.132,3.124,3.116,3.111,3.108,3.107,3.102,3.094,3.092,3.092,3.092,3.074,3.073,3.066,3.061,3.056,3.049,3.044,3.037,3.033,3.031,3.03,3.026,3.025,3.021,3.018,3.008,3.005,3.005,3,3,2.998,3,2.996,2.996,2.996,3,2.999,2.999,2.999,2.994,2.993,2.985,2.985,2.983,2.983,2.983,2.981,2.98,2.978,2.978,2.979,2.979,2.981,2.981,2.981,2.981,2.979,2.979,2.983,2.985,2.985,2.985,2.985,2.987,2.993,2.988,2.995,2.997,2.997,2.999,3.004,3.004,3.004,3.013,3.016,3.017,3.017,3.02,3.023,3.025,3.029,3.033,3.035,3.04,3.04,3.045,3.054,3.057,3.057,3.061,3.066,3.073,3.08,3.084,3.085,3.092,3.096,3.099,3.116,3.116,3.116,3.116,3.128,3.128,3.13,3.136,3.141,3.143,3.158,3.16,3.163,3.175,3.177,3.181,3.193,3.195,3.195,3.202,3.206,3.218,3.228,3.237,3.249,3.256,3.256,3.265,3.277,3.277,3.284,3.3,3.818,3.826,3.83,3.847,3.866,3.872,3.898,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 89.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 89.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 89.3751} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.8674} {Name Sonar15 Range 1.3462}
SEN {Time 89.4205} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.175,0.175,0.175,0.175,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.24,3.24,3.379,3.379,0,0,0,0,0,0,0,0,0,3.117,3.113,3.109,3.095,3.093,3.091,3.089,3.087,3.078,3.075,3.068,3.063,3.061,3.051,3.051,3.051,0.152,0.152,0.152,0.152,0.144,0.153,0.153,0.158,0.153,0.158,0.162,3.029,3.036,3.036,3.036,3.036,3.036,3.029,0.167,0.166,0.157,0.155,0.155,0.157,0.161,0.186,3.447,3.534,3.534,3.534,3.529,3.529,3.529,3.529,3.529,3.531,3.533,3.534,3.535,3.539,3.54,3.54,3.536,3.54,3.54,3.542,3.545,3.547,3.55,3.547,3.547,3.552,3.546,3.546,3.559,3.56,3.56,3.563,3.563,3.564,3.564,3.571,3.571,3.573,3.579,3.58,3.589,3.589,3.595,3.596,3.605,3.607,3.607,3.608,3.62,3.626,3.639,3.639,3.645,3.652,3.653,3.66,3.664,3.665,3.679,3.682,3.69,3.705,3.71,3.718,3.724,3.731,3.741,3.745,3.751,3.771,3.772,3.786,3.791,3.798,3.798,3.807,3.817,3.819,3.842,3.842,3.856,3.875,3.888,3.888,3.898,3.912,3.918,3.94,3.94,3.952,3.973,3.99,4.009,4.017,4.019,4.028,4.064,4.072,4.079,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,0,4.019,3.907,3.885,3.858,3.821,3.799,3.766,3.742,3.703,3.691,3.666,3.633,3.615,3.584,3.571,3.546,3.535,3.514,3.489,3.456,3.426,3.409,3.381,3.37,3.352,3.341,3.306,3.289,3.268,3.246,3.23,3.219,3.203,3.185,3.169,3.151,3.133,3.125,3.11,3.102,3.089,3.077,3.053,3.044,3.029,3.014,2.998,2.989,2.965,2.956,2.945,2.945,2.942,2.91,2.893,2.89,2.88,2.869,2.862,2.846,2.834,2.821,2.811,2.805,2.8,2.781,2.778,2.763,2.755,2.74,2.724,2.717,2.715,2.709,2.704,2.691,2.673,2.667,2.659,2.652,2.635,2.632,2.631,2.616,2.611,2.606,2.599,2.597,2.593,2.585,2.57,2.558,2.555,2.549,2.546,2.539,2.534,2.53,2.527,2.521,2.514,2.507,2.503,2.501,2.498,2.494,2.487,2.484,2.477,2.476,2.473,2.472,2.471,2.46,2.452,2.449,2.448,2.438,2.438,2.433,2.432,2.423,2.423,2.421,2.421,2.414,2.413,2.413,2.41,2.41,2.407,2.406,2.405,2.405,2.402,2.397,2.397,2.395,2.395,2.394,2.393,2.393,2.39,2.39,2.387,2.387,2.387,2.389,2.389,2.389,2.39,2.389,2.39,2.39,2.39,2.389,2.391,2.389,2.391,2.391,2.391,2.391,2.391,2.391,2.392,2.394,2.394,2.402,2.402,2.402,2.402,2.402,2.41,2.412,2.417,2.42,2.426,2.421,2.426,2.427,2.433,2.433,2.436,2.437,2.448,2.45,2.454,2.454,2.456,2.461,2.466,2.471,2.478,2.48,2.486,2.493,2.494,2.494,2.498,2.502,2.516,2.517,2.517,2.522,2.532,2.546,2.549,2.554,2.556,2.562,2.564,2.567,2.577,2.583,2.592,2.599,2.608,2.62,2.624,2.631,2.636,2.64,2.673,2.677,2.679,2.682,2.683,2.69,2.714,2.716,2.728,2.733,2.735,2.748,2.76,2.77,2.776,2.784,2.795,2.801,2.824,2.833,2.845,2.855,2.871,2.874,2.882,2.896,2.903,2.922,2.939,2.951,2.96,2.97,2.988,3.001,3.022,3.027,3.033,3.047,3.065,3.079,3.096,3.1,3.124,3.135,3.152,3.166,3.195,3.204,3.228,3.23,3.257,3.278,3.288,3.308,3.325,3.344,3.363,3.384,3.409,3.434,3.453,3.478,3.487,3.515,3.531,3.565,3.589,3.608,3.635,3.66,3.686,3.709,3.751,3.779,3.804,3.827,3.865,3.884,3.91,3.95,3.975,4.011,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.318,3.315,3.313,3.298,3.29,3.281,3.261,3.259,3.258,3.238,3.236,3.227,3.225,3.2,3.199,3.196,3.187,3.178,3.173,3.163,3.155,3.153,3.148,3.139,3.128,3.12,3.119,3.109,3.107,3.099,3.096,3.085,3.083,3.08,3.074,3.072,3.069,3.061,3.061,3.059,3.05,3.037,3.029,3.028,3.028,3.027,3.023,3.023,3.021,3.009,3.009,3.006,3.006,3.001,3.001,3.001,2.999,2.997,2.999,3.003,2.996,2.996,2.996,2.99,2.99,2.99,2.99,2.989,2.98,2.98,2.98,2.98,2.98,2.981,2.981,2.984,2.984,2.984,2.978,2.981,2.978,2.978,2.981,2.986,2.986,2.986,2.988,2.992,2.988,2.988,2.992,2.994,2.994,2.998,2.999,3.004,3.009,3.009,3.009,3.01,3.013,3.02,3.028,3.029,3.029,3.029,3.033,3.037,3.04,3.046,3.048,3.053,3.054,3.062,3.064,3.069,3.078,3.082,3.084,3.084,3.094,3.102,3.109,3.11,3.11,3.111,3.122,3.124,3.129,3.14,3.141,3.148,3.161,3.165,3.166,3.175,3.18,3.19,3.197,3.197,3.201,3.205,3.205,3.225,3.228,3.23,3.244,3.25,3.258,3.269,3.28,3.28,3.282,3.293,3.819,3.831,3.84,3.851,3.864,3.881,3.895,3.907,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 89.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 89.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 89.577} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.3462}
SEN {Time 89.6165} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.186,0.177,0.177,0.186,0.186,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.255,3.255,3.253,3.236,3.236,3.382,3.382,0,0,0,0,0,0,0,0,3.119,3.115,3.111,3.111,3.096,3.092,3.09,3.089,3.089,3.077,3.071,3.064,3.061,3.059,3.058,3.054,0.151,0.143,0.143,0.143,0.144,0.144,0.145,0.15,0.15,0.148,0.148,0.15,3.033,3.033,3.043,3.043,3.033,3.031,0.164,0.157,0.155,0.155,0.155,0.156,0.16,0.169,0.174,3.452,3.531,3.532,3.532,3.535,3.532,3.528,3.528,3.528,3.528,3.531,3.533,3.533,3.536,3.534,3.534,3.53,3.534,3.534,3.539,3.544,3.545,3.545,3.546,3.546,3.546,3.546,3.55,3.554,3.554,3.554,3.556,3.561,3.565,3.569,3.569,3.572,3.579,3.582,3.584,3.59,3.591,3.594,3.597,3.602,3.614,3.615,3.621,3.625,3.625,3.627,3.632,3.638,3.653,3.661,3.666,3.666,3.675,3.682,3.683,3.688,3.704,3.709,3.71,3.727,3.73,3.745,3.755,3.759,3.759,3.766,3.777,3.785,3.788,3.803,3.806,3.828,3.829,3.84,3.842,3.857,3.867,3.869,3.883,3.904,3.907,3.917,3.947,3.949,3.952,3.968,3.996,4.002,4.008,4.031,4.049,4.063,4.064,4.091,0.016,0.016,0.016,0,0,0,0,0,4.028,4.028,4.028,3.982,3.958,3.846,3.819,3.789,3.765,3.743,3.715,3.698,3.666,3.638,3.612,3.591,3.553,3.546,3.522,3.489,3.473,3.459,3.438,3.411,3.385,3.375,3.343,3.331,3.303,3.294,3.284,3.253,3.232,3.225,3.194,3.183,3.162,3.16,3.139,3.126,3.109,3.099,3.084,3.078,3.06,3.045,3.019,3.015,2.996,2.995,2.98,2.963,2.955,2.939,2.926,2.915,2.899,2.893,2.884,2.868,2.85,2.847,2.835,2.816,2.811,2.805,2.796,2.776,2.776,2.762,2.752,2.747,2.732,2.723,2.709,2.706,2.695,2.69,2.681,2.678,2.663,2.648,2.637,2.63,2.627,2.618,2.615,2.61,2.605,2.599,2.583,2.575,2.571,2.568,2.564,2.548,2.548,2.538,2.532,2.53,2.528,2.521,2.517,2.514,2.505,2.499,2.499,2.494,2.49,2.486,2.486,2.474,2.473,2.466,2.462,2.458,2.456,2.45,2.444,2.441,2.438,2.435,2.434,2.425,2.423,2.42,2.417,2.417,2.413,2.412,2.411,2.411,2.41,2.406,2.406,2.402,2.401,2.394,2.393,2.393,2.394,2.393,2.393,2.393,2.388,2.388,2.384,2.388,2.388,2.388,2.385,2.388,2.388,2.388,2.388,2.388,2.388,2.386,2.386,2.386,2.389,2.389,2.389,2.397,2.397,2.396,2.396,2.4,2.4,2.4,2.401,2.401,2.407,2.407,2.413,2.415,2.415,2.417,2.417,2.421,2.424,2.427,2.427,2.429,2.43,2.436,2.441,2.445,2.451,2.451,2.453,2.456,2.465,2.467,2.475,2.484,2.484,2.486,2.489,2.493,2.501,2.501,2.508,2.514,2.514,2.531,2.534,2.539,2.55,2.552,2.558,2.561,2.569,2.572,2.585,2.586,2.596,2.597,2.602,2.62,2.622,2.63,2.64,2.645,2.663,2.671,2.676,2.685,2.688,2.697,2.703,2.724,2.726,2.73,2.734,2.74,2.755,2.776,2.777,2.782,2.804,2.804,2.819,2.837,2.845,2.854,2.863,2.869,2.891,2.9,2.916,2.926,2.934,2.949,2.954,2.969,2.988,2.999,3.019,3.033,3.04,3.047,3.065,3.073,3.099,3.108,3.123,3.133,3.148,3.168,3.191,3.204,3.218,3.235,3.25,3.278,3.294,3.318,3.334,3.354,3.354,3.383,3.41,3.448,3.457,3.47,3.493,3.521,3.53,3.561,3.594,3.612,3.632,3.676,3.686,3.721,3.734,3.778,3.799,3.815,3.857,3.88,3.928,3.991,4.03,4.046,4.046,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.334,3.32,3.31,3.302,3.287,3.283,3.264,3.263,3.26,3.244,3.228,3.228,3.218,3.201,3.2,3.199,3.18,3.175,3.169,3.164,3.149,3.148,3.141,3.134,3.128,3.12,3.115,3.114,3.106,3.094,3.09,3.085,3.085,3.08,3.078,3.07,3.068,3.056,3.054,3.052,3.047,3.038,3.033,3.03,3.03,3.027,3.02,3.019,3.018,3.01,3.006,3.005,3.004,3.002,3,3,2.996,2.994,2.994,2.994,2.996,2.996,2.996,2.996,2.994,2.989,2.994,2.989,2.984,2.984,2.984,2.983,2.977,2.977,2.983,2.983,2.98,2.98,2.98,2.98,2.98,2.982,2.982,2.982,2.982,2.984,2.984,2.988,2.989,2.993,2.998,2.998,3,3,3.001,3.01,3.01,3.008,3.008,3.008,3.008,3.012,3.027,3.028,3.028,3.028,3.034,3.037,3.044,3.048,3.049,3.052,3.052,3.064,3.07,3.071,3.081,3.084,3.087,3.096,3.096,3.102,3.104,3.118,3.118,3.12,3.121,3.129,3.132,3.14,3.143,3.146,3.152,3.155,3.165,3.175,3.181,3.186,3.195,3.195,3.199,3.199,3.202,3.217,3.219,3.236,3.251,3.253,3.264,3.265,3.278,3.278,3.282,3.293,3.824,3.827,3.831,3.848,3.866,3.884,3.899,3.907,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 89.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 89.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 89.769} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.3462}
SEN {Time 89.8166} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.179,0.179,0.179,0.179,0.179,0.211,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.24,3.372,3.372,3.372,0,0,0,0,0,0,0,0,0,3.116,3.107,3.105,3.099,3.094,3.09,3.084,3.077,3.077,3.071,3.07,3.057,3.057,3.055,3.052,0.153,0.148,0.148,0.148,0.148,0.145,0.148,0.154,0.154,0.153,0.154,0.16,3.035,3.038,3.038,3.038,3.038,3.031,0.169,0.164,0.16,0.159,0.159,0.159,0.159,0.164,0.166,3.446,3.526,3.53,3.536,3.532,3.532,3.532,3.532,3.519,3.519,3.534,3.534,3.534,3.534,3.539,3.535,3.534,3.535,3.539,3.541,3.543,3.545,3.545,3.545,3.545,3.545,3.544,3.544,3.546,3.554,3.561,3.561,3.561,3.562,3.562,3.572,3.577,3.578,3.581,3.585,3.589,3.594,3.595,3.596,3.601,3.602,3.62,3.62,3.62,3.63,3.636,3.636,3.642,3.65,3.651,3.674,3.675,3.677,3.682,3.686,3.695,3.703,3.704,3.709,3.715,3.731,3.746,3.747,3.747,3.761,3.766,3.775,3.789,3.795,3.799,3.815,3.817,3.827,3.841,3.851,3.866,3.867,3.885,3.895,3.906,3.915,3.92,3.933,3.948,3.958,3.976,3.986,4.001,4.009,4.026,4.046,4.058,4.059,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,4.066,4.012,3.982,3.982,3.945,3.923,3.855,3.834,3.789,3.771,3.73,3.712,3.688,3.659,3.648,3.615,3.593,3.568,3.539,3.524,3.493,3.48,3.463,3.43,3.409,3.399,3.373,3.354,3.327,3.3,3.289,3.272,3.252,3.233,3.228,3.206,3.184,3.174,3.149,3.137,3.129,3.103,3.099,3.09,3.071,3.053,3.042,3.028,3.014,2.996,2.974,2.972,2.963,2.951,2.947,2.93,2.919,2.904,2.887,2.882,2.87,2.854,2.84,2.828,2.823,2.812,2.811,2.806,2.786,2.77,2.765,2.749,2.741,2.73,2.718,2.709,2.708,2.7,2.689,2.673,2.665,2.657,2.656,2.647,2.646,2.622,2.621,2.616,2.61,2.61,2.593,2.589,2.577,2.567,2.567,2.561,2.559,2.553,2.537,2.533,2.53,2.53,2.527,2.52,2.513,2.506,2.497,2.496,2.494,2.483,2.482,2.475,2.467,2.466,2.464,2.458,2.457,2.456,2.451,2.447,2.441,2.437,2.437,2.436,2.436,2.425,2.42,2.417,2.417,2.411,2.41,2.407,2.407,2.407,2.408,2.408,2.408,2.405,2.402,2.402,2.399,2.394,2.393,2.393,2.393,2.39,2.387,2.387,2.387,2.386,2.386,2.384,2.384,2.384,2.384,2.386,2.387,2.387,2.387,2.387,2.387,2.387,2.392,2.392,2.392,2.395,2.396,2.396,2.401,2.401,2.399,2.401,2.405,2.409,2.409,2.414,2.414,2.419,2.421,2.423,2.423,2.43,2.43,2.43,2.43,2.43,2.434,2.437,2.441,2.447,2.453,2.46,2.461,2.467,2.467,2.477,2.477,2.477,2.494,2.497,2.498,2.498,2.501,2.513,2.514,2.528,2.529,2.53,2.538,2.544,2.552,2.557,2.563,2.564,2.568,2.577,2.587,2.588,2.608,2.61,2.615,2.627,2.63,2.636,2.647,2.662,2.67,2.682,2.687,2.694,2.7,2.7,2.718,2.73,2.731,2.739,2.75,2.754,2.763,2.772,2.785,2.801,2.806,2.824,2.83,2.843,2.858,2.867,2.871,2.881,2.9,2.911,2.926,2.937,2.95,2.966,2.978,2.983,2.994,3.016,3.034,3.042,3.056,3.063,3.082,3.1,3.11,3.115,3.139,3.149,3.167,3.185,3.201,3.218,3.242,3.248,3.278,3.28,3.309,3.327,3.35,3.368,3.385,3.403,3.432,3.455,3.473,3.486,3.518,3.532,3.567,3.593,3.618,3.648,3.654,3.676,3.719,3.738,3.774,3.801,3.825,3.861,3.887,3.916,3.983,4.013,4.056,4.056,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.316,3.302,3.296,3.293,3.284,3.259,3.259,3.253,3.246,3.236,3.223,3.214,3.203,3.202,3.202,3.178,3.173,3.17,3.163,3.163,3.147,3.141,3.135,3.13,3.127,3.116,3.108,3.106,3.098,3.094,3.086,3.085,3.073,3.071,3.066,3.062,3.054,3.053,3.049,3.049,3.041,3.035,3.035,3.031,3.03,3.022,3.017,3.012,3.011,3.01,3.008,3.005,3.004,2.996,2.996,2.995,2.994,2.995,2.998,2.994,2.992,2.993,2.993,2.991,2.991,2.989,2.989,2.988,2.988,2.988,2.981,2.98,2.977,2.979,2.979,2.979,2.979,2.979,2.981,2.984,2.985,2.985,2.985,2.985,2.983,2.983,2.983,2.983,2.983,2.993,2.998,2.998,3,3,3.004,3.008,3.008,3.01,3.01,3.016,3.023,3.024,3.027,3.029,3.029,3.035,3.037,3.037,3.047,3.051,3.057,3.057,3.065,3.068,3.073,3.076,3.078,3.087,3.092,3.099,3.107,3.113,3.114,3.114,3.114,3.116,3.129,3.132,3.133,3.144,3.146,3.152,3.159,3.166,3.172,3.18,3.193,3.198,3.199,3.199,3.199,3.21,3.218,3.229,3.237,3.252,3.253,3.268,3.275,3.277,3.277,3.28,3.295,3.805,3.821,3.839,3.839,3.858,3.878,3.9,3.913,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 89.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 89.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 89.9701} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5306} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.08} {Name Sonar15 Range 1.3462}
SEN {Time 90.0155} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.18,0.186,0.186,0.197,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.274,3.253,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.116,3.116,3.103,3.095,3.095,3.089,3.086,3.083,3.082,3.076,3.068,3.056,3.056,3.056,3.056,3.048,0.141,0.141,0.143,0.143,0.148,0.151,0.153,0.153,0.153,0.153,0.153,3.027,3.035,3.045,3.045,3.045,3.045,3.045,0.164,0.16,0.157,0.157,0.157,0.157,0.161,0.177,3.455,3.527,3.528,3.53,3.53,3.53,3.532,3.53,3.533,3.536,3.536,3.534,3.536,3.535,3.535,3.535,3.535,3.535,3.539,3.54,3.541,3.542,3.543,3.544,3.546,3.547,3.549,3.549,3.551,3.555,3.555,3.556,3.556,3.559,3.566,3.567,3.575,3.577,3.577,3.586,3.59,3.594,3.595,3.595,3.6,3.608,3.613,3.615,3.615,3.631,3.637,3.639,3.644,3.654,3.659,3.662,3.664,3.666,3.679,3.684,3.691,3.702,3.715,3.716,3.72,3.728,3.74,3.752,3.761,3.77,3.779,3.782,3.792,3.795,3.799,3.806,3.812,3.839,3.841,3.846,3.857,3.869,3.888,3.894,3.913,3.917,3.922,3.931,3.948,3.961,3.978,3.986,4.003,4.019,4.033,4.045,4.062,4.067,4.088,4.09,0.016,0.016,0,0,0,0,4.062,4.027,3.988,3.946,3.919,3.889,3.861,3.816,3.781,3.761,3.736,3.716,3.691,3.661,3.63,3.614,3.593,3.569,3.539,3.526,3.499,3.482,3.459,3.43,3.406,3.395,3.371,3.34,3.328,3.303,3.287,3.269,3.254,3.236,3.222,3.198,3.183,3.165,3.159,3.137,3.125,3.11,3.102,3.082,3.07,3.068,3.042,3.031,3.015,2.997,2.994,2.978,2.957,2.954,2.939,2.921,2.917,2.908,2.896,2.881,2.862,2.859,2.849,2.836,2.824,2.81,2.805,2.801,2.784,2.776,2.761,2.748,2.735,2.729,2.717,2.707,2.705,2.698,2.696,2.675,2.672,2.656,2.653,2.644,2.644,2.642,2.626,2.611,2.609,2.599,2.599,2.587,2.58,2.563,2.56,2.553,2.552,2.548,2.547,2.538,2.536,2.534,2.527,2.52,2.507,2.505,2.501,2.499,2.488,2.485,2.485,2.475,2.473,2.463,2.462,2.461,2.461,2.46,2.456,2.445,2.442,2.441,2.439,2.431,2.429,2.426,2.42,2.42,2.414,2.414,2.413,2.409,2.409,2.407,2.404,2.404,2.398,2.401,2.398,2.398,2.399,2.399,2.395,2.395,2.393,2.391,2.391,2.391,2.391,2.388,2.386,2.387,2.386,2.387,2.387,2.387,2.387,2.387,2.387,2.391,2.391,2.391,2.391,2.39,2.39,2.389,2.389,2.389,2.398,2.398,2.404,2.405,2.405,2.41,2.411,2.413,2.413,2.417,2.417,2.42,2.427,2.428,2.429,2.432,2.433,2.44,2.44,2.44,2.443,2.449,2.457,2.462,2.464,2.466,2.473,2.476,2.481,2.486,2.489,2.49,2.497,2.504,2.509,2.512,2.516,2.52,2.523,2.528,2.535,2.546,2.549,2.562,2.565,2.568,2.57,2.579,2.584,2.588,2.591,2.605,2.613,2.623,2.637,2.639,2.64,2.661,2.669,2.675,2.68,2.688,2.689,2.707,2.725,2.73,2.731,2.738,2.74,2.748,2.763,2.771,2.784,2.804,2.808,2.826,2.828,2.84,2.854,2.868,2.876,2.882,2.906,2.915,2.919,2.935,2.949,2.96,2.964,2.987,2.999,3.017,3.038,3.039,3.052,3.072,3.076,3.102,3.11,3.119,3.148,3.15,3.164,3.201,3.211,3.22,3.232,3.256,3.271,3.29,3.309,3.327,3.347,3.355,3.39,3.4,3.435,3.455,3.472,3.5,3.524,3.533,3.554,3.587,3.604,3.638,3.667,3.688,3.718,3.741,3.764,3.8,3.824,3.858,3.885,3.914,3.948,3.98,4.029,4.053,4.094,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.325,3.312,3.296,3.278,3.276,3.264,3.262,3.251,3.233,3.23,3.23,3.227,3.219,3.195,3.193,3.189,3.182,3.171,3.163,3.146,3.146,3.144,3.136,3.132,3.116,3.114,3.111,3.111,3.102,3.101,3.089,3.083,3.073,3.068,3.067,3.064,3.058,3.055,3.047,3.045,3.043,3.032,3.032,3.027,3.026,3.026,3.017,3.016,3.012,3.01,3.007,3.001,3,3,2.996,2.996,2.992,2.996,2.996,3,3,3,2.992,2.983,2.983,2.983,2.981,2.981,2.981,2.981,2.982,2.982,2.981,2.979,2.979,2.979,2.979,2.978,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.988,2.99,2.99,2.99,2.991,2.997,2.999,3,3.003,3.007,3.013,3.017,3.017,3.017,3.019,3.019,3.019,3.021,3.028,3.03,3.033,3.034,3.036,3.044,3.049,3.051,3.051,3.061,3.062,3.069,3.073,3.073,3.093,3.094,3.095,3.101,3.115,3.119,3.119,3.121,3.122,3.126,3.127,3.141,3.147,3.148,3.153,3.156,3.166,3.172,3.184,3.194,3.194,3.194,3.196,3.202,3.209,3.218,3.221,3.242,3.247,3.254,3.261,3.261,3.277,3.277,3.278,3.289,3.817,3.828,3.839,3.843,3.85,3.868,3.899,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 90.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 90.17} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 90.171} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.3462}
SEN {Time 90.2155} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.185,0.177,0.175,0.185,0.185,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.253,3.379,3.379,3.379,0,0,0,0,0,0,0,0,3.113,3.113,3.113,3.113,3.096,3.095,3.093,3.092,3.089,3.082,3.079,3.071,3.067,3.067,3.06,3.06,3.06,0.147,0.147,0.147,0.147,0.143,0.151,0.153,0.159,0.154,0.159,0.16,3.032,3.032,3.033,3.033,3.042,3.042,3.042,0.167,0.163,0.156,0.153,0.153,0.156,0.159,0.176,3.462,3.524,3.531,3.532,3.531,3.531,3.534,3.534,3.529,3.534,3.534,3.529,3.531,3.531,3.531,3.531,3.54,3.544,3.544,3.54,3.544,3.544,3.544,3.544,3.544,3.546,3.546,3.552,3.556,3.558,3.559,3.561,3.561,3.561,3.561,3.569,3.575,3.58,3.58,3.581,3.582,3.591,3.597,3.598,3.607,3.608,3.618,3.621,3.626,3.626,3.632,3.637,3.644,3.656,3.657,3.67,3.67,3.675,3.678,3.689,3.692,3.703,3.713,3.716,3.721,3.731,3.738,3.745,3.746,3.765,3.773,3.777,3.782,3.786,3.797,3.815,3.818,3.829,3.848,3.849,3.858,3.869,3.884,3.89,3.893,3.913,3.92,3.939,3.953,3.966,3.982,3.989,4.002,4.016,4.034,4.041,4.053,4.075,4.088,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.017,3.992,3.966,3.912,3.876,3.845,3.828,3.794,3.761,3.751,3.714,3.686,3.66,3.641,3.62,3.59,3.568,3.536,3.523,3.503,3.479,3.469,3.446,3.408,3.392,3.373,3.346,3.336,3.31,3.286,3.271,3.251,3.231,3.218,3.207,3.188,3.158,3.153,3.133,3.126,3.114,3.101,3.089,3.072,3.055,3.051,3.029,3.025,2.994,2.993,2.966,2.964,2.954,2.94,2.93,2.92,2.899,2.891,2.883,2.869,2.854,2.843,2.831,2.815,2.814,2.801,2.8,2.777,2.773,2.768,2.754,2.75,2.731,2.71,2.71,2.702,2.699,2.695,2.686,2.675,2.663,2.657,2.637,2.637,2.637,2.622,2.612,2.61,2.602,2.599,2.594,2.588,2.576,2.566,2.56,2.552,2.546,2.535,2.534,2.529,2.523,2.522,2.52,2.505,2.501,2.501,2.5,2.5,2.487,2.486,2.481,2.471,2.466,2.464,2.461,2.456,2.45,2.447,2.442,2.441,2.439,2.438,2.434,2.426,2.426,2.426,2.421,2.419,2.414,2.411,2.408,2.406,2.406,2.406,2.405,2.403,2.401,2.399,2.399,2.395,2.394,2.393,2.393,2.391,2.39,2.39,2.39,2.389,2.389,2.389,2.39,2.39,2.39,2.389,2.386,2.386,2.386,2.386,2.388,2.388,2.392,2.394,2.394,2.394,2.394,2.394,2.397,2.401,2.401,2.402,2.406,2.403,2.403,2.409,2.41,2.41,2.414,2.415,2.416,2.421,2.427,2.43,2.432,2.435,2.436,2.436,2.442,2.451,2.452,2.453,2.456,2.458,2.472,2.474,2.478,2.483,2.483,2.491,2.498,2.499,2.502,2.506,2.508,2.518,2.519,2.534,2.541,2.546,2.547,2.553,2.559,2.561,2.564,2.57,2.587,2.589,2.591,2.598,2.616,2.619,2.626,2.631,2.635,2.646,2.67,2.67,2.674,2.681,2.686,2.703,2.706,2.711,2.726,2.727,2.741,2.742,2.758,2.77,2.776,2.792,2.8,2.801,2.816,2.835,2.849,2.858,2.865,2.874,2.879,2.905,2.918,2.925,2.931,2.943,2.955,2.976,2.988,3,3.021,3.036,3.041,3.051,3.065,3.079,3.105,3.112,3.125,3.15,3.151,3.166,3.187,3.202,3.227,3.228,3.255,3.277,3.283,3.314,3.331,3.354,3.359,3.376,3.411,3.434,3.454,3.485,3.492,3.531,3.539,3.567,3.595,3.61,3.63,3.671,3.691,3.72,3.749,3.767,3.803,3.825,3.861,3.871,3.909,3.936,3.979,4.06,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.325,3.315,3.296,3.286,3.284,3.269,3.26,3.257,3.243,3.228,3.221,3.213,3.206,3.202,3.201,3.178,3.17,3.166,3.161,3.155,3.148,3.145,3.141,3.131,3.122,3.116,3.112,3.112,3.103,3.099,3.089,3.084,3.076,3.076,3.072,3.069,3.056,3.055,3.047,3.046,3.043,3.033,3.032,3.029,3.029,3.027,3.021,3.01,3.009,3.009,3.009,3.002,3.002,2.998,2.998,2.995,2.994,2.994,2.994,2.998,2.998,2.998,2.99,2.989,2.986,2.986,2.986,2.986,2.986,2.986,2.986,2.985,2.985,2.985,2.982,2.98,2.982,2.982,2.982,2.982,2.986,2.986,2.987,2.987,2.987,2.986,2.992,2.991,2.991,2.992,2.993,2.995,3.002,3.006,3.007,3.007,3.008,3.01,3.01,3.012,3.024,3.025,3.029,3.029,3.03,3.031,3.043,3.043,3.046,3.051,3.056,3.059,3.063,3.063,3.065,3.081,3.088,3.088,3.092,3.094,3.103,3.111,3.116,3.116,3.119,3.124,3.128,3.132,3.135,3.148,3.148,3.157,3.157,3.159,3.169,3.188,3.191,3.196,3.201,3.201,3.207,3.211,3.225,3.229,3.237,3.246,3.249,3.255,3.262,3.276,3.276,3.28,3.298,3.822,3.83,3.842,3.855,3.864,3.883,3.894,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 90.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 90.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 90.372} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3876} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 5.1816}
SEN {Time 90.4165} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.179,0.177,0.179,0.179,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.254,3.376,3.376,3.376,0,0,0,0,0,0,0,0,0,3.115,3.11,3.106,3.101,3.096,3.095,3.093,3.083,3.077,3.077,3.065,3.064,3.064,3.062,3.053,0.153,0.152,0.152,0.152,0.152,0.143,0.153,0.153,0.153,0.153,0.153,0.155,3.032,3.034,3.034,3.034,3.034,3.034,3.023,0.164,0.161,0.149,0.149,0.149,0.153,0.157,0.174,3.455,3.524,3.534,3.536,3.535,3.535,3.535,3.532,3.532,3.532,3.535,3.54,3.54,3.54,3.54,3.537,3.537,3.537,3.537,3.541,3.546,3.547,3.548,3.548,3.548,3.549,3.546,3.546,3.55,3.551,3.554,3.559,3.559,3.565,3.565,3.57,3.576,3.585,3.585,3.588,3.592,3.593,3.593,3.602,3.602,3.61,3.61,3.61,3.621,3.625,3.634,3.64,3.646,3.654,3.662,3.668,3.67,3.674,3.679,3.679,3.693,3.698,3.708,3.715,3.719,3.741,3.742,3.743,3.745,3.753,3.768,3.773,3.782,3.791,3.805,3.818,3.82,3.826,3.838,3.842,3.863,3.873,3.887,3.895,3.91,3.916,3.924,3.936,3.947,3.95,3.972,3.989,4.003,4.012,4.038,4.042,4.045,4.079,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,4.019,3.979,3.945,3.917,3.875,3.853,3.823,3.78,3.763,3.738,3.704,3.689,3.661,3.639,3.614,3.583,3.567,3.541,3.519,3.505,3.474,3.45,3.435,3.415,3.393,3.372,3.347,3.332,3.306,3.285,3.271,3.248,3.233,3.226,3.207,3.189,3.164,3.155,3.135,3.12,3.116,3.099,3.092,3.077,3.061,3.045,3.029,3.026,2.998,2.99,2.966,2.957,2.953,2.943,2.926,2.917,2.905,2.902,2.882,2.871,2.855,2.844,2.835,2.826,2.814,2.801,2.797,2.781,2.78,2.764,2.752,2.745,2.733,2.716,2.706,2.703,2.699,2.687,2.679,2.67,2.66,2.655,2.638,2.636,2.632,2.62,2.616,2.607,2.606,2.602,2.585,2.577,2.569,2.562,2.56,2.553,2.543,2.537,2.532,2.532,2.53,2.527,2.519,2.513,2.51,2.508,2.497,2.494,2.487,2.483,2.481,2.475,2.468,2.468,2.458,2.458,2.456,2.455,2.449,2.446,2.439,2.438,2.433,2.431,2.429,2.427,2.425,2.418,2.413,2.413,2.411,2.409,2.406,2.405,2.405,2.404,2.402,2.396,2.396,2.394,2.394,2.394,2.394,2.392,2.391,2.39,2.389,2.39,2.388,2.385,2.385,2.384,2.384,2.384,2.388,2.388,2.388,2.388,2.389,2.388,2.389,2.393,2.394,2.394,2.395,2.395,2.395,2.396,2.404,2.404,2.405,2.405,2.405,2.405,2.409,2.412,2.413,2.414,2.421,2.423,2.426,2.431,2.431,2.433,2.433,2.433,2.444,2.448,2.449,2.458,2.459,2.464,2.465,2.473,2.477,2.483,2.487,2.495,2.499,2.5,2.503,2.508,2.51,2.521,2.522,2.528,2.537,2.537,2.537,2.542,2.554,2.561,2.566,2.569,2.574,2.589,2.598,2.601,2.602,2.605,2.628,2.643,2.647,2.652,2.667,2.672,2.677,2.683,2.691,2.697,2.703,2.717,2.726,2.737,2.743,2.745,2.75,2.766,2.784,2.786,2.795,2.802,2.808,2.83,2.849,2.863,2.873,2.874,2.884,2.902,2.918,2.927,2.932,2.955,2.964,2.973,2.984,3.006,3.019,3.028,3.034,3.053,3.063,3.074,3.102,3.115,3.122,3.138,3.154,3.174,3.193,3.2,3.227,3.233,3.252,3.275,3.284,3.313,3.331,3.349,3.361,3.375,3.409,3.432,3.459,3.472,3.497,3.526,3.545,3.555,3.594,3.606,3.636,3.664,3.685,3.716,3.75,3.775,3.805,3.818,3.854,3.884,3.919,3.941,3.972,4.02,4.06,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.313,3.309,3.296,3.292,3.28,3.268,3.265,3.255,3.253,3.231,3.23,3.227,3.203,3.199,3.196,3.187,3.172,3.165,3.16,3.156,3.154,3.146,3.137,3.128,3.122,3.116,3.11,3.11,3.105,3.101,3.089,3.084,3.074,3.074,3.069,3.067,3.062,3.051,3.051,3.042,3.042,3.035,3.035,3.034,3.032,3.024,3.023,3.023,3.013,3.011,3.003,3.003,3.003,3.003,3.003,3.001,2.996,2.996,2.996,2.996,2.989,2.986,2.986,2.986,2.986,2.986,2.988,2.987,2.986,2.981,2.987,2.981,2.981,2.983,2.983,2.979,2.98,2.979,2.979,2.979,2.98,2.983,2.983,2.984,2.985,2.987,2.987,2.993,2.993,2.995,2.995,3,3,3.001,3.001,3.001,3.008,3.015,3.015,3.016,3.023,3.025,3.026,3.029,3.032,3.036,3.039,3.041,3.044,3.044,3.052,3.054,3.06,3.065,3.074,3.078,3.084,3.087,3.093,3.097,3.102,3.111,3.112,3.112,3.115,3.118,3.127,3.13,3.136,3.141,3.146,3.158,3.16,3.165,3.171,3.179,3.193,3.193,3.202,3.205,3.207,3.207,3.214,3.222,3.239,3.249,3.249,3.262,3.264,3.282,3.282,3.288,3.29,3.819,3.827,3.838,3.843,3.851,3.881,3.891,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 90.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 90.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 90.5729} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.905} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 5.1816}
SEN {Time 90.6165} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.176,0.176,0.184,0.185,0.185,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.38,3.38,3.38,0,0,0,0,0,0,0,0,0,3.115,3.113,3.111,3.098,3.095,3.092,3.088,3.087,3.078,3.075,3.067,3.061,3.061,3.058,3.058,3.058,0.148,0.148,0.148,0.148,0.148,0.151,0.151,0.151,0.151,0.151,0.158,3.036,3.036,3.038,3.038,3.038,3.038,3.038,0.166,0.16,0.159,0.156,0.156,0.159,0.163,0.169,3.448,3.531,3.535,3.535,3.533,3.533,3.535,3.533,3.535,3.535,3.531,3.531,3.533,3.533,3.534,3.535,3.538,3.54,3.54,3.538,3.54,3.54,3.54,3.543,3.543,3.547,3.546,3.547,3.553,3.554,3.558,3.558,3.558,3.559,3.56,3.567,3.571,3.58,3.58,3.581,3.584,3.59,3.596,3.596,3.606,3.611,3.62,3.625,3.626,3.629,3.641,3.641,3.642,3.649,3.66,3.662,3.662,3.672,3.677,3.69,3.697,3.704,3.708,3.714,3.723,3.727,3.744,3.751,3.752,3.77,3.772,3.779,3.78,3.792,3.799,3.807,3.808,3.833,3.84,3.847,3.856,3.872,3.878,3.888,3.918,3.921,3.927,3.937,3.946,3.95,3.974,3.983,4.004,4.012,4.03,4.037,4.044,4.064,4.085,0.016,0.016,0.016,0,0,0,0,0.016,4.066,3.99,3.94,3.913,3.886,3.867,3.834,3.794,3.757,3.747,3.709,3.697,3.657,3.649,3.61,3.579,3.554,3.539,3.511,3.503,3.489,3.461,3.436,3.406,3.394,3.379,3.349,3.33,3.305,3.291,3.272,3.251,3.227,3.219,3.206,3.193,3.166,3.152,3.134,3.121,3.12,3.099,3.089,3.08,3.056,3.049,3.029,3.023,2.998,2.997,2.967,2.961,2.955,2.933,2.925,2.923,2.901,2.9,2.873,2.868,2.856,2.846,2.84,2.823,2.819,2.8,2.797,2.779,2.778,2.759,2.757,2.745,2.727,2.72,2.71,2.702,2.691,2.688,2.686,2.666,2.654,2.65,2.641,2.639,2.638,2.625,2.619,2.611,2.604,2.594,2.58,2.573,2.568,2.567,2.564,2.549,2.547,2.539,2.538,2.538,2.536,2.523,2.522,2.499,2.499,2.497,2.496,2.496,2.489,2.48,2.477,2.468,2.468,2.466,2.466,2.459,2.453,2.45,2.448,2.441,2.441,2.441,2.438,2.429,2.421,2.42,2.418,2.417,2.417,2.414,2.412,2.412,2.409,2.409,2.402,2.402,2.398,2.397,2.395,2.397,2.396,2.395,2.396,2.396,2.39,2.39,2.389,2.389,2.389,2.392,2.392,2.392,2.389,2.389,2.389,2.389,2.389,2.388,2.388,2.388,2.389,2.39,2.393,2.394,2.394,2.394,2.397,2.399,2.4,2.4,2.406,2.406,2.406,2.41,2.415,2.415,2.415,2.416,2.418,2.418,2.42,2.42,2.429,2.431,2.432,2.438,2.449,2.449,2.452,2.455,2.458,2.458,2.462,2.473,2.473,2.478,2.486,2.491,2.492,2.501,2.503,2.505,2.508,2.517,2.527,2.527,2.533,2.538,2.539,2.549,2.561,2.561,2.569,2.571,2.58,2.593,2.594,2.601,2.607,2.618,2.626,2.63,2.638,2.646,2.661,2.667,2.673,2.68,2.696,2.702,2.706,2.713,2.718,2.724,2.735,2.743,2.752,2.761,2.779,2.793,2.793,2.815,2.819,2.83,2.84,2.855,2.869,2.874,2.878,2.899,2.91,2.925,2.938,2.955,2.958,2.976,2.989,2.995,3.026,3.031,3.04,3.057,3.064,3.086,3.097,3.111,3.129,3.136,3.151,3.17,3.192,3.205,3.224,3.23,3.248,3.278,3.291,3.313,3.33,3.347,3.362,3.391,3.408,3.439,3.455,3.476,3.499,3.521,3.538,3.566,3.603,3.614,3.638,3.657,3.694,3.714,3.748,3.767,3.806,3.826,3.852,3.873,3.919,3.963,3.981,4.018,4.045,4.093,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.318,3.308,3.295,3.292,3.292,3.265,3.262,3.257,3.237,3.235,3.221,3.217,3.204,3.199,3.195,3.186,3.175,3.169,3.164,3.151,3.151,3.144,3.138,3.126,3.126,3.113,3.11,3.107,3.097,3.089,3.085,3.083,3.078,3.075,3.073,3.071,3.053,3.051,3.051,3.047,3.037,3.035,3.032,3.031,3.029,3.021,3.016,3.016,3.013,3.009,3.009,3.007,3.003,3.003,3.003,3.001,2.997,2.997,2.997,2.996,2.996,2.996,2.996,2.996,2.994,2.994,2.99,2.984,2.984,2.981,2.982,2.98,2.98,2.98,2.982,2.983,2.983,2.983,2.983,2.984,2.984,2.982,2.982,2.984,2.982,2.982,2.987,2.994,2.994,2.994,2.996,3.001,3.001,3.008,3.008,3.009,3.009,3.013,3.013,3.016,3.022,3.023,3.025,3.031,3.035,3.037,3.038,3.041,3.042,3.054,3.055,3.058,3.061,3.065,3.067,3.077,3.08,3.092,3.096,3.101,3.104,3.115,3.115,3.115,3.122,3.122,3.126,3.129,3.135,3.148,3.15,3.15,3.158,3.159,3.17,3.177,3.181,3.185,3.198,3.202,3.203,3.205,3.224,3.228,3.24,3.25,3.251,3.268,3.272,3.282,3.282,3.292,3.292,3.817,3.827,3.837,3.84,3.851,3.878,3.905,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 90.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 90.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 90.7739} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.905} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.1816}
SEN {Time 90.8129} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.178,0.181,0.182,0.182,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.249,3.234,3.234,3.369,3.369,0,0,0,0,0,0,0,0,0,3.114,3.113,3.112,3.098,3.091,3.088,3.088,3.087,3.078,3.075,3.071,3.062,3.062,3.062,3.054,0.144,0.144,0.144,0.144,0.148,0.148,0.153,0.153,0.153,0.149,0.153,0.154,3.029,3.041,3.046,3.046,3.046,3.046,0.166,0.161,0.161,0.161,0.156,0.156,0.161,0.161,0.174,3.471,3.525,3.527,3.53,3.53,3.531,3.535,3.535,3.535,3.535,3.532,3.532,3.532,3.532,3.532,3.534,3.534,3.537,3.541,3.541,3.543,3.544,3.545,3.545,3.546,3.547,3.547,3.547,3.557,3.558,3.558,3.559,3.563,3.563,3.569,3.578,3.579,3.579,3.578,3.583,3.586,3.592,3.595,3.597,3.601,3.601,3.61,3.622,3.623,3.632,3.635,3.637,3.648,3.648,3.652,3.663,3.67,3.674,3.68,3.682,3.685,3.705,3.716,3.723,3.725,3.733,3.743,3.753,3.754,3.767,3.778,3.782,3.793,3.795,3.8,3.821,3.826,3.827,3.834,3.843,3.851,3.875,3.89,3.893,3.895,3.913,3.918,3.932,3.942,3.957,3.983,3.992,3.996,4.016,4.026,4.038,4.053,4.067,4.091,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.025,3.984,3.944,3.925,3.925,3.883,3.865,3.799,3.767,3.744,3.716,3.697,3.669,3.637,3.614,3.588,3.563,3.545,3.523,3.494,3.481,3.459,3.433,3.413,3.389,3.363,3.35,3.336,3.309,3.289,3.273,3.248,3.239,3.226,3.209,3.187,3.168,3.157,3.136,3.118,3.112,3.101,3.091,3.074,3.058,3.048,3.029,3.021,2.996,2.994,2.977,2.956,2.952,2.946,2.93,2.919,2.907,2.895,2.874,2.866,2.859,2.845,2.833,2.815,2.806,2.804,2.797,2.781,2.765,2.755,2.748,2.746,2.73,2.72,2.711,2.706,2.698,2.695,2.671,2.667,2.657,2.654,2.641,2.64,2.64,2.626,2.618,2.612,2.604,2.597,2.59,2.571,2.569,2.564,2.56,2.558,2.555,2.544,2.54,2.533,2.532,2.524,2.521,2.511,2.503,2.499,2.498,2.497,2.487,2.485,2.482,2.472,2.47,2.463,2.46,2.455,2.454,2.448,2.446,2.442,2.438,2.437,2.435,2.427,2.427,2.419,2.415,2.415,2.415,2.414,2.414,2.412,2.412,2.409,2.402,2.401,2.4,2.398,2.396,2.396,2.396,2.396,2.396,2.39,2.39,2.389,2.387,2.387,2.387,2.389,2.385,2.388,2.388,2.389,2.389,2.389,2.389,2.387,2.387,2.386,2.387,2.391,2.394,2.394,2.395,2.394,2.4,2.404,2.404,2.403,2.408,2.403,2.403,2.412,2.412,2.418,2.419,2.42,2.421,2.423,2.426,2.427,2.428,2.432,2.434,2.437,2.45,2.451,2.453,2.453,2.457,2.46,2.46,2.472,2.479,2.483,2.488,2.489,2.493,2.495,2.5,2.509,2.512,2.516,2.525,2.525,2.537,2.548,2.548,2.55,2.564,2.566,2.568,2.568,2.58,2.585,2.594,2.598,2.602,2.606,2.617,2.634,2.634,2.653,2.668,2.673,2.68,2.681,2.692,2.694,2.702,2.723,2.725,2.734,2.742,2.747,2.754,2.77,2.774,2.793,2.8,2.804,2.817,2.823,2.851,2.857,2.872,2.878,2.888,2.905,2.913,2.927,2.938,2.945,2.957,2.971,2.991,3,3.023,3.031,3.043,3.051,3.07,3.073,3.102,3.112,3.129,3.142,3.153,3.179,3.192,3.205,3.221,3.235,3.258,3.281,3.294,3.298,3.331,3.349,3.369,3.392,3.402,3.434,3.46,3.478,3.499,3.527,3.527,3.547,3.589,3.614,3.641,3.667,3.694,3.717,3.735,3.767,3.794,3.827,3.863,3.872,3.917,3.96,3.98,4.02,4.058,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.323,3.305,3.3,3.295,3.283,3.267,3.266,3.257,3.247,3.234,3.227,3.225,3.202,3.198,3.193,3.187,3.177,3.165,3.16,3.158,3.148,3.142,3.141,3.131,3.123,3.114,3.112,3.111,3.108,3.093,3.089,3.088,3.088,3.07,3.069,3.068,3.056,3.054,3.053,3.046,3.04,3.04,3.038,3.031,3.029,3.031,3.022,3.018,3.009,3.008,3.008,3.007,3.001,2.996,2.996,2.996,2.994,2.994,2.994,2.999,2.999,2.999,2.995,2.989,2.986,2.985,2.985,2.985,2.985,2.985,2.985,2.985,2.985,2.979,2.979,2.977,2.979,2.979,2.978,2.978,2.981,2.988,2.988,2.988,2.986,2.986,2.986,2.984,2.986,2.994,2.994,3.001,3.001,3.003,3.009,3.014,3.014,3.015,3.015,3.015,3.019,3.023,3.025,3.029,3.032,3.039,3.042,3.046,3.048,3.048,3.058,3.058,3.066,3.07,3.07,3.077,3.078,3.092,3.096,3.098,3.099,3.11,3.116,3.121,3.121,3.124,3.13,3.134,3.14,3.147,3.148,3.151,3.155,3.166,3.174,3.182,3.19,3.191,3.199,3.201,3.208,3.217,3.218,3.227,3.238,3.251,3.251,3.262,3.266,3.279,3.279,3.286,3.292,3.816,3.827,3.832,3.84,3.862,3.88,3.895,3.91,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 90.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 90.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 90.9659} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.0292} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.905} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 91.0115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0,0.182,0.181,0.206,0.206,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.25,3.247,3.238,3.238,3.385,3.385,0,0,0,0,0,0,0,0,0,3.114,3.114,3.113,3.095,3.095,3.088,3.087,3.086,3.073,3.072,3.069,3.066,3.066,3.065,3.062,0.148,0.147,0.147,0.147,0.148,0.141,0.149,0.151,0.154,0.151,0.154,0.155,3.026,3.031,3.035,3.035,3.031,3.031,0.169,0.165,0.159,0.155,0.154,0.154,0.155,0.163,0.168,3.454,3.529,3.536,3.536,3.534,3.534,3.534,3.531,3.532,3.532,3.534,3.534,3.535,3.54,3.54,3.54,3.535,3.54,3.541,3.541,3.545,3.547,3.547,3.547,3.546,3.547,3.547,3.547,3.552,3.562,3.563,3.563,3.563,3.565,3.565,3.568,3.571,3.577,3.581,3.583,3.587,3.587,3.587,3.602,3.605,3.612,3.613,3.619,3.623,3.63,3.633,3.643,3.643,3.647,3.663,3.674,3.675,3.682,3.683,3.684,3.692,3.702,3.711,3.723,3.729,3.744,3.745,3.749,3.754,3.758,3.764,3.779,3.788,3.793,3.796,3.817,3.82,3.831,3.838,3.851,3.853,3.871,3.88,3.893,3.905,3.922,3.929,3.934,3.948,3.955,3.97,3.996,3.999,4.005,4.031,4.041,4.059,4.068,4.084,0.016,0.016,0.016,0.016,0,0,0,4.033,4.025,3.975,3.945,3.92,3.898,3.862,3.833,3.795,3.774,3.728,3.711,3.695,3.668,3.647,3.615,3.583,3.562,3.549,3.523,3.498,3.471,3.455,3.436,3.407,3.394,3.374,3.349,3.328,3.305,3.285,3.264,3.246,3.232,3.217,3.205,3.182,3.168,3.143,3.14,3.129,3.106,3.096,3.094,3.072,3.061,3.045,3.034,3.023,2.994,2.984,2.969,2.961,2.956,2.947,2.937,2.914,2.912,2.895,2.88,2.864,2.859,2.848,2.846,2.82,2.814,2.802,2.799,2.778,2.77,2.768,2.757,2.748,2.728,2.716,2.714,2.706,2.697,2.695,2.683,2.666,2.659,2.655,2.646,2.641,2.637,2.622,2.613,2.612,2.6,2.596,2.582,2.574,2.571,2.57,2.56,2.553,2.55,2.538,2.534,2.533,2.532,2.517,2.515,2.505,2.505,2.505,2.505,2.505,2.496,2.486,2.478,2.476,2.475,2.47,2.468,2.467,2.449,2.447,2.447,2.446,2.437,2.436,2.43,2.429,2.429,2.429,2.427,2.421,2.413,2.412,2.41,2.408,2.408,2.408,2.403,2.403,2.407,2.403,2.403,2.404,2.396,2.39,2.392,2.392,2.39,2.39,2.389,2.389,2.389,2.389,2.389,2.39,2.389,2.389,2.389,2.39,2.389,2.389,2.39,2.389,2.389,2.394,2.394,2.393,2.393,2.393,2.393,2.398,2.4,2.406,2.408,2.407,2.407,2.408,2.414,2.414,2.418,2.418,2.418,2.425,2.428,2.433,2.433,2.433,2.433,2.433,2.445,2.448,2.453,2.457,2.459,2.466,2.467,2.471,2.477,2.479,2.488,2.49,2.491,2.497,2.499,2.507,2.518,2.52,2.52,2.524,2.533,2.534,2.541,2.553,2.555,2.567,2.57,2.571,2.581,2.588,2.596,2.597,2.61,2.626,2.627,2.636,2.638,2.648,2.661,2.665,2.675,2.687,2.694,2.706,2.706,2.721,2.727,2.73,2.732,2.744,2.752,2.768,2.783,2.792,2.802,2.811,2.811,2.832,2.842,2.855,2.87,2.874,2.885,2.9,2.913,2.933,2.936,2.951,2.955,2.971,2.986,2.994,3.018,3.031,3.043,3.052,3.06,3.078,3.097,3.114,3.12,3.147,3.161,3.176,3.185,3.21,3.228,3.229,3.258,3.273,3.278,3.311,3.334,3.345,3.359,3.394,3.415,3.438,3.465,3.479,3.491,3.52,3.545,3.563,3.59,3.61,3.646,3.669,3.694,3.717,3.746,3.773,3.803,3.816,3.854,3.888,3.91,3.988,4.029,4.09,4.09,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.322,3.301,3.298,3.288,3.277,3.27,3.262,3.262,3.253,3.239,3.225,3.221,3.208,3.2,3.196,3.179,3.179,3.163,3.163,3.16,3.151,3.15,3.139,3.122,3.121,3.113,3.113,3.11,3.101,3.097,3.092,3.082,3.078,3.078,3.071,3.061,3.061,3.058,3.053,3.048,3.042,3.039,3.036,3.032,3.023,3.023,3.022,3.017,3.013,3.009,3.009,3.005,3.001,2.999,2.999,2.995,2.995,2.996,2.999,2.996,2.996,3,2.993,2.989,2.989,2.993,2.986,2.986,2.986,2.986,2.982,2.978,2.978,2.978,2.977,2.977,2.979,2.981,2.987,2.987,2.987,2.986,2.986,2.986,2.986,2.986,2.986,2.986,2.994,2.994,2.994,2.995,2.995,3.004,3.006,3.006,3.006,3.017,3.017,3.019,3.02,3.024,3.027,3.025,3.027,3.039,3.043,3.043,3.045,3.048,3.051,3.059,3.063,3.065,3.073,3.082,3.088,3.09,3.092,3.096,3.105,3.109,3.117,3.117,3.122,3.123,3.126,3.127,3.137,3.148,3.15,3.156,3.157,3.16,3.171,3.182,3.193,3.193,3.196,3.201,3.207,3.211,3.216,3.221,3.239,3.246,3.255,3.264,3.266,3.286,3.286,3.292,3.292,3.814,3.83,3.831,3.84,3.864,3.89,3.907,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 91.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 91.17} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 91.1668} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.0292} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 91.2115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.176,0.174,0.176,0.176,0.209,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.26,3.26,3.249,3.247,3.247,3.382,3.382,0,0,0,0,0,0,0,0,0,3.118,3.11,3.105,3.102,3.099,3.098,3.091,3.088,3.076,3.074,3.068,3.061,3.061,3.06,3.06,3.057,0.147,0.147,0.147,0.147,0.148,0.152,0.152,0.153,0.152,0.153,0.155,3.028,3.029,3.03,3.03,3.036,3.036,3.036,0.167,0.163,0.153,0.153,0.153,0.155,0.169,0.174,3.449,3.529,3.531,3.531,3.529,3.528,3.528,3.524,3.528,3.537,3.538,3.537,3.54,3.54,3.538,3.538,3.538,3.538,3.538,3.538,3.544,3.547,3.547,3.547,3.547,3.547,3.547,3.549,3.558,3.558,3.565,3.565,3.565,3.565,3.565,3.572,3.578,3.579,3.581,3.584,3.584,3.593,3.593,3.594,3.601,3.601,3.612,3.624,3.624,3.635,3.636,3.639,3.648,3.653,3.67,3.67,3.671,3.673,3.68,3.687,3.688,3.696,3.716,3.721,3.724,3.732,3.741,3.751,3.759,3.767,3.767,3.778,3.78,3.795,3.799,3.819,3.825,3.831,3.842,3.849,3.869,3.877,3.888,3.899,3.904,3.912,3.917,3.936,3.95,3.961,3.968,3.988,4.004,4.015,4.025,4.027,4.053,4.085,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,3.977,3.951,3.926,3.882,3.866,3.828,3.799,3.769,3.737,3.718,3.684,3.665,3.644,3.614,3.591,3.561,3.544,3.526,3.497,3.472,3.457,3.428,3.413,3.389,3.378,3.345,3.333,3.307,3.295,3.281,3.255,3.239,3.218,3.204,3.189,3.165,3.154,3.136,3.125,3.116,3.1,3.087,3.075,3.06,3.051,3.025,3.022,2.999,2.994,2.976,2.968,2.956,2.931,2.927,2.917,2.905,2.898,2.886,2.868,2.854,2.843,2.832,2.82,2.81,2.801,2.799,2.777,2.771,2.767,2.762,2.748,2.744,2.727,2.711,2.707,2.699,2.692,2.679,2.677,2.663,2.659,2.647,2.641,2.636,2.619,2.615,2.613,2.608,2.599,2.596,2.579,2.575,2.568,2.559,2.555,2.554,2.541,2.534,2.531,2.53,2.53,2.521,2.511,2.508,2.502,2.498,2.494,2.489,2.481,2.475,2.475,2.475,2.472,2.465,2.465,2.457,2.446,2.444,2.443,2.439,2.434,2.434,2.43,2.427,2.425,2.423,2.423,2.414,2.414,2.411,2.41,2.411,2.411,2.41,2.4,2.4,2.399,2.399,2.397,2.395,2.393,2.393,2.391,2.391,2.391,2.389,2.389,2.391,2.391,2.392,2.392,2.391,2.386,2.386,2.386,2.386,2.386,2.392,2.392,2.392,2.394,2.392,2.394,2.395,2.396,2.396,2.405,2.406,2.406,2.406,2.407,2.407,2.407,2.41,2.416,2.423,2.423,2.423,2.423,2.423,2.427,2.432,2.434,2.438,2.441,2.446,2.446,2.449,2.454,2.459,2.463,2.472,2.473,2.481,2.481,2.483,2.49,2.493,2.497,2.499,2.507,2.511,2.523,2.528,2.531,2.537,2.54,2.542,2.546,2.553,2.568,2.573,2.582,2.582,2.583,2.592,2.603,2.612,2.615,2.624,2.636,2.64,2.647,2.666,2.676,2.677,2.688,2.695,2.695,2.707,2.716,2.726,2.73,2.741,2.742,2.75,2.772,2.777,2.784,2.803,2.805,2.825,2.832,2.844,2.85,2.869,2.88,2.894,2.905,2.912,2.925,2.934,2.951,2.955,2.98,2.987,2.997,3.017,3.032,3.047,3.053,3.061,3.083,3.097,3.108,3.129,3.147,3.155,3.172,3.194,3.215,3.219,3.23,3.267,3.272,3.287,3.312,3.331,3.346,3.358,3.391,3.417,3.45,3.463,3.472,3.494,3.526,3.538,3.558,3.582,3.607,3.634,3.672,3.703,3.712,3.747,3.77,3.81,3.835,3.854,3.881,3.912,3.956,3.981,4.021,4.058,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.326,3.313,3.304,3.293,3.279,3.261,3.259,3.251,3.243,3.237,3.232,3.218,3.207,3.204,3.203,3.182,3.175,3.168,3.16,3.159,3.153,3.142,3.135,3.126,3.126,3.118,3.116,3.111,3.104,3.088,3.088,3.085,3.073,3.073,3.067,3.065,3.058,3.058,3.055,3.048,3.048,3.036,3.034,3.031,3.025,3.021,3.02,3.013,3.012,3.008,3.006,3.004,3.004,3.003,3.002,2.994,2.992,2.992,2.994,2.998,2.998,2.998,2.989,2.987,2.985,2.984,2.984,2.984,2.981,2.981,2.981,2.981,2.978,2.978,2.978,2.982,2.983,2.983,2.983,2.983,2.982,2.981,2.981,2.984,2.984,2.988,2.99,2.991,2.991,2.993,2.995,3.002,3.002,3.002,3.002,3.005,3.005,3.009,3.012,3.02,3.021,3.023,3.026,3.032,3.032,3.034,3.039,3.045,3.047,3.052,3.06,3.063,3.072,3.076,3.077,3.081,3.084,3.086,3.089,3.098,3.101,3.114,3.115,3.115,3.116,3.118,3.132,3.133,3.133,3.149,3.149,3.154,3.155,3.164,3.175,3.175,3.186,3.197,3.197,3.2,3.201,3.207,3.213,3.215,3.233,3.248,3.253,3.263,3.263,3.274,3.274,3.279,3.297,3.816,3.828,3.841,3.843,3.862,3.878,3.895,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 91.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 91.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 91.3678} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 5.0292} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 91.4125} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.179,0.182,0.183,0.183,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.251,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.118,3.114,3.11,3.098,3.097,3.091,3.087,3.084,3.073,3.072,3.07,3.065,3.065,3.065,3.065,3.055,0.149,0.149,0.148,0.149,0.152,0.154,0.157,0.157,0.152,0.157,0.157,3.033,3.033,3.038,3.038,3.038,3.038,3.038,0.169,0.156,0.155,0.155,0.155,0.156,0.161,0.178,3.458,3.52,3.528,3.532,3.532,3.534,3.534,3.534,3.53,3.53,3.53,3.534,3.534,3.536,3.539,3.539,3.532,3.539,3.531,3.531,3.541,3.546,3.546,3.546,3.546,3.546,3.546,3.546,3.552,3.552,3.562,3.564,3.566,3.567,3.567,3.568,3.571,3.573,3.58,3.581,3.59,3.6,3.6,3.602,3.602,3.602,3.612,3.62,3.622,3.627,3.628,3.641,3.65,3.655,3.66,3.665,3.667,3.676,3.682,3.685,3.687,3.707,3.708,3.722,3.73,3.744,3.751,3.755,3.756,3.759,3.777,3.78,3.793,3.794,3.804,3.812,3.824,3.831,3.84,3.842,3.846,3.876,3.892,3.892,3.899,3.903,3.911,3.941,3.943,3.959,3.98,3.993,3.998,4.013,4.037,4.038,4.064,4.072,4.085,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.018,3.984,3.952,3.923,3.875,3.864,3.815,3.799,3.777,3.747,3.719,3.698,3.652,3.641,3.618,3.588,3.555,3.539,3.515,3.504,3.474,3.458,3.432,3.405,3.387,3.365,3.34,3.329,3.311,3.297,3.282,3.253,3.24,3.225,3.199,3.184,3.171,3.157,3.139,3.128,3.121,3.1,3.085,3.072,3.058,3.049,3.035,3.019,2.998,2.979,2.967,2.961,2.954,2.933,2.931,2.918,2.905,2.896,2.882,2.871,2.856,2.844,2.828,2.812,2.809,2.797,2.794,2.784,2.775,2.769,2.764,2.743,2.727,2.717,2.708,2.703,2.698,2.696,2.676,2.673,2.656,2.649,2.648,2.63,2.628,2.619,2.609,2.605,2.597,2.595,2.589,2.58,2.577,2.569,2.553,2.548,2.543,2.54,2.537,2.536,2.533,2.527,2.516,2.509,2.503,2.498,2.495,2.491,2.486,2.484,2.477,2.475,2.472,2.466,2.464,2.461,2.456,2.453,2.447,2.439,2.438,2.432,2.431,2.429,2.428,2.427,2.426,2.417,2.413,2.412,2.407,2.408,2.407,2.405,2.405,2.403,2.4,2.399,2.397,2.392,2.392,2.392,2.393,2.393,2.393,2.39,2.387,2.386,2.386,2.39,2.389,2.389,2.389,2.389,2.385,2.385,2.385,2.39,2.39,2.39,2.39,2.392,2.393,2.392,2.395,2.395,2.395,2.399,2.402,2.402,2.404,2.407,2.407,2.407,2.411,2.419,2.419,2.42,2.42,2.42,2.426,2.429,2.431,2.438,2.44,2.441,2.442,2.446,2.448,2.45,2.452,2.458,2.471,2.472,2.475,2.488,2.488,2.489,2.489,2.493,2.504,2.505,2.513,2.513,2.532,2.534,2.541,2.541,2.548,2.55,2.558,2.563,2.573,2.576,2.584,2.591,2.594,2.597,2.611,2.613,2.616,2.635,2.636,2.645,2.676,2.678,2.682,2.684,2.689,2.695,2.71,2.717,2.722,2.722,2.739,2.741,2.764,2.78,2.78,2.789,2.802,2.802,2.822,2.825,2.836,2.856,2.872,2.879,2.893,2.898,2.911,2.929,2.933,2.949,2.956,2.973,2.988,2.999,3.018,3.027,3.038,3.057,3.068,3.077,3.095,3.105,3.122,3.144,3.148,3.17,3.186,3.202,3.224,3.235,3.257,3.274,3.276,3.313,3.327,3.349,3.368,3.396,3.399,3.439,3.453,3.476,3.491,3.518,3.527,3.558,3.599,3.618,3.644,3.672,3.686,3.712,3.744,3.781,3.81,3.82,3.862,3.871,3.92,3.955,3.982,4.027,4.065,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.32,3.309,3.3,3.296,3.288,3.26,3.257,3.256,3.237,3.236,3.221,3.207,3.2,3.198,3.197,3.194,3.176,3.172,3.16,3.156,3.148,3.143,3.142,3.12,3.119,3.111,3.105,3.101,3.099,3.094,3.089,3.089,3.076,3.073,3.07,3.067,3.058,3.051,3.044,3.042,3.042,3.036,3.028,3.028,3.027,3.027,3.025,3.022,3.015,3.011,3.008,3.005,3.005,3.004,3.003,2.996,2.992,2.992,2.996,2.998,2.998,2.998,2.998,2.991,2.989,2.986,2.986,2.986,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.984,2.984,2.983,2.983,2.983,2.982,2.981,2.982,2.983,2.983,2.989,2.991,2.991,2.993,2.994,2.997,3.006,3.008,3.01,3.01,3.015,3.019,3.02,3.02,3.023,3.032,3.033,3.033,3.035,3.039,3.039,3.04,3.047,3.05,3.051,3.065,3.072,3.073,3.073,3.085,3.089,3.091,3.096,3.097,3.106,3.121,3.121,3.121,3.124,3.127,3.127,3.133,3.149,3.152,3.152,3.153,3.16,3.165,3.187,3.189,3.198,3.198,3.202,3.202,3.202,3.215,3.221,3.24,3.251,3.252,3.265,3.265,3.277,3.277,3.282,3.291,3.816,3.828,3.836,3.847,3.858,3.879,3.894,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 91.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 91.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 91.5688} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 91.6125} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.183,0.181,0.178,0.183,0.183,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.261,3.233,3.377,3.377,3.377,0,0,0,0,0,0,0,0,0,3.117,3.112,3.107,3.107,3.09,3.09,3.089,3.089,3.079,3.076,3.067,3.067,3.067,3.06,3.06,3.06,0.145,0.145,0.145,0.145,0.145,0.147,0.147,0.151,0.151,0.154,0.156,3.033,3.033,3.036,3.036,3.033,3.031,0.17,0.167,0.167,0.158,0.154,0.154,0.165,0.165,0.175,3.443,3.527,3.527,3.529,3.529,3.529,3.53,3.53,3.533,3.53,3.53,3.53,3.533,3.533,3.539,3.539,3.539,3.538,3.538,3.538,3.546,3.546,3.548,3.546,3.546,3.546,3.55,3.554,3.556,3.556,3.556,3.558,3.556,3.556,3.575,3.576,3.578,3.579,3.58,3.581,3.586,3.586,3.595,3.596,3.608,3.612,3.612,3.615,3.618,3.623,3.637,3.639,3.657,3.665,3.666,3.667,3.67,3.673,3.673,3.684,3.686,3.69,3.698,3.702,3.717,3.738,3.738,3.745,3.757,3.76,3.762,3.768,3.79,3.794,3.803,3.819,3.82,3.836,3.838,3.844,3.854,3.878,3.886,3.895,3.91,3.918,3.925,3.933,3.946,3.949,3.969,3.987,4.007,4.018,4.04,4.043,4.062,4.074,4.082,4.092,0.016,0.016,0,0,0,0,0,0.007,4.007,3.958,3.916,3.873,3.852,3.831,3.794,3.774,3.739,3.721,3.702,3.662,3.632,3.607,3.598,3.568,3.529,3.517,3.486,3.476,3.455,3.438,3.414,3.382,3.379,3.354,3.332,3.306,3.289,3.272,3.252,3.234,3.226,3.202,3.18,3.168,3.152,3.144,3.121,3.12,3.103,3.095,3.077,3.057,3.049,3.026,3.016,2.994,2.992,2.969,2.966,2.956,2.942,2.931,2.915,2.91,2.896,2.881,2.869,2.855,2.842,2.833,2.83,2.811,2.81,2.805,2.774,2.769,2.767,2.758,2.737,2.731,2.715,2.714,2.706,2.696,2.694,2.678,2.66,2.653,2.649,2.647,2.637,2.633,2.623,2.622,2.619,2.609,2.596,2.583,2.578,2.573,2.571,2.557,2.548,2.546,2.54,2.539,2.538,2.538,2.527,2.522,2.511,2.509,2.501,2.499,2.498,2.487,2.481,2.481,2.479,2.477,2.471,2.464,2.454,2.451,2.449,2.447,2.444,2.444,2.443,2.435,2.429,2.42,2.42,2.418,2.417,2.415,2.411,2.411,2.412,2.412,2.412,2.412,2.403,2.402,2.4,2.4,2.395,2.395,2.395,2.393,2.393,2.393,2.393,2.39,2.389,2.386,2.386,2.383,2.386,2.386,2.387,2.387,2.387,2.387,2.388,2.388,2.389,2.392,2.394,2.395,2.394,2.394,2.394,2.395,2.395,2.401,2.402,2.404,2.402,2.402,2.406,2.406,2.416,2.421,2.421,2.421,2.421,2.421,2.421,2.426,2.431,2.434,2.437,2.438,2.443,2.455,2.457,2.459,2.46,2.463,2.472,2.475,2.477,2.485,2.488,2.491,2.498,2.5,2.508,2.516,2.518,2.521,2.531,2.537,2.54,2.544,2.549,2.553,2.561,2.562,2.566,2.571,2.579,2.589,2.603,2.625,2.627,2.631,2.633,2.637,2.645,2.665,2.672,2.674,2.684,2.689,2.693,2.702,2.72,2.722,2.731,2.736,2.74,2.761,2.772,2.778,2.783,2.801,2.808,2.822,2.827,2.846,2.858,2.864,2.874,2.886,2.904,2.911,2.922,2.941,2.95,2.958,2.972,2.991,2.995,3.022,3.024,3.036,3.047,3.064,3.07,3.101,3.114,3.125,3.138,3.152,3.175,3.193,3.211,3.217,3.238,3.255,3.283,3.287,3.309,3.331,3.357,3.359,3.391,3.4,3.435,3.463,3.468,3.487,3.516,3.539,3.566,3.602,3.621,3.643,3.66,3.685,3.705,3.737,3.776,3.805,3.824,3.851,3.88,3.921,3.955,3.992,4.015,4.062,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.313,3.303,3.3,3.289,3.281,3.26,3.258,3.258,3.243,3.23,3.221,3.219,3.204,3.2,3.196,3.183,3.181,3.168,3.163,3.154,3.148,3.146,3.142,3.124,3.116,3.112,3.11,3.106,3.098,3.092,3.092,3.091,3.085,3.076,3.07,3.065,3.056,3.051,3.051,3.05,3.049,3.038,3.038,3.029,3.029,3.023,3.022,3.017,3.009,3.006,3.006,3.006,3.005,3,2.997,2.996,2.994,2.994,2.994,2.994,3.045,3.045,2.992,2.991,2.991,2.983,2.982,2.982,2.983,2.982,2.982,2.982,2.982,2.981,2.981,2.982,2.982,2.982,2.984,2.985,2.986,2.986,2.986,2.986,2.984,2.982,2.984,2.991,2.989,2.991,2.993,2.994,2.994,2.996,2.999,3.008,3.017,3.017,3.017,3.019,3.021,3.023,3.024,3.029,3.033,3.037,3.043,3.044,3.048,3.05,3.061,3.061,3.061,3.061,3.074,3.085,3.085,3.087,3.097,3.101,3.104,3.111,3.113,3.113,3.118,3.118,3.132,3.133,3.14,3.149,3.153,3.154,3.157,3.162,3.175,3.178,3.183,3.2,3.202,3.205,3.205,3.213,3.22,3.228,3.235,3.252,3.254,3.267,3.268,3.284,3.284,3.29,3.292,3.818,3.829,3.846,3.851,3.857,3.879,3.9,3.91,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 91.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 91.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 91.7698} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 91.8124} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.174,0.174,0.176,0.176,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.242,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.118,3.113,3.107,3.097,3.096,3.091,3.085,3.081,3.079,3.075,3.072,3.064,3.064,3.063,3.045,0.156,0.15,0.15,0.15,0.151,0.15,0.151,0.152,0.152,0.146,0.152,0.152,3.031,3.035,3.035,3.035,3.035,3.035,0.17,0.167,0.167,0.167,0.154,0.154,0.163,0.163,0.167,3.454,3.528,3.532,3.533,3.534,3.534,3.533,3.533,3.536,3.534,3.534,3.536,3.534,3.534,3.536,3.536,3.54,3.54,3.54,3.54,3.54,3.543,3.546,3.546,3.546,3.553,3.548,3.548,3.553,3.558,3.558,3.558,3.562,3.564,3.567,3.575,3.575,3.575,3.579,3.58,3.586,3.591,3.594,3.601,3.602,3.606,3.614,3.617,3.626,3.627,3.632,3.636,3.648,3.655,3.66,3.662,3.672,3.676,3.681,3.683,3.696,3.706,3.71,3.713,3.726,3.73,3.733,3.751,3.754,3.763,3.776,3.778,3.791,3.792,3.794,3.811,3.82,3.83,3.846,3.855,3.858,3.87,3.892,3.894,3.904,3.917,3.921,3.935,3.95,3.963,3.986,3.988,3.996,3.998,4.03,4.044,4.048,4.075,4.095,0.016,0.016,0.016,0,0,0,0.007,0,0.007,4.022,3.963,3.917,3.871,3.852,3.821,3.794,3.777,3.744,3.704,3.694,3.663,3.64,3.613,3.592,3.569,3.548,3.516,3.499,3.488,3.462,3.426,3.417,3.388,3.374,3.352,3.333,3.295,3.288,3.268,3.253,3.237,3.228,3.206,3.191,3.174,3.148,3.139,3.13,3.113,3.096,3.093,3.074,3.059,3.055,3.03,3.015,2.988,2.984,2.973,2.955,2.955,2.943,2.927,2.912,2.905,2.9,2.88,2.861,2.855,2.843,2.833,2.82,2.82,2.813,2.794,2.779,2.769,2.761,2.755,2.745,2.737,2.723,2.71,2.705,2.696,2.686,2.682,2.678,2.659,2.649,2.633,2.631,2.63,2.63,2.628,2.617,2.595,2.593,2.591,2.575,2.57,2.563,2.555,2.554,2.551,2.547,2.54,2.539,2.537,2.525,2.521,2.509,2.508,2.502,2.501,2.498,2.486,2.479,2.477,2.471,2.468,2.467,2.466,2.459,2.455,2.453,2.45,2.444,2.436,2.434,2.432,2.43,2.426,2.424,2.419,2.417,2.413,2.413,2.413,2.413,2.407,2.407,2.405,2.403,2.403,2.401,2.401,2.395,2.395,2.395,2.395,2.392,2.391,2.391,2.389,2.389,2.389,2.389,2.388,2.388,2.385,2.385,2.385,2.386,2.386,2.387,2.388,2.388,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.397,2.398,2.401,2.404,2.408,2.41,2.41,2.416,2.418,2.418,2.418,2.421,2.418,2.418,2.424,2.427,2.431,2.433,2.444,2.451,2.453,2.46,2.46,2.46,2.463,2.472,2.472,2.476,2.478,2.481,2.484,2.497,2.502,2.504,2.507,2.514,2.516,2.528,2.528,2.529,2.536,2.539,2.551,2.566,2.569,2.57,2.57,2.579,2.585,2.591,2.601,2.608,2.61,2.618,2.627,2.637,2.65,2.668,2.673,2.674,2.678,2.684,2.697,2.703,2.721,2.731,2.736,2.741,2.742,2.754,2.769,2.773,2.791,2.801,2.812,2.818,2.83,2.846,2.864,2.873,2.876,2.886,2.902,2.913,2.924,2.932,2.955,2.959,2.976,2.986,3.003,3.022,3.032,3.043,3.048,3.068,3.085,3.098,3.115,3.129,3.142,3.161,3.172,3.191,3.206,3.217,3.232,3.258,3.275,3.281,3.305,3.329,3.351,3.369,3.395,3.412,3.439,3.453,3.478,3.5,3.52,3.537,3.564,3.586,3.618,3.652,3.667,3.694,3.719,3.745,3.769,3.8,3.815,3.854,3.883,3.919,3.971,3.992,4.022,4.063,4.091,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.318,3.306,3.29,3.282,3.282,3.272,3.267,3.258,3.243,3.228,3.224,3.217,3.208,3.197,3.195,3.188,3.181,3.169,3.165,3.155,3.151,3.144,3.137,3.132,3.124,3.112,3.107,3.103,3.102,3.099,3.098,3.089,3.077,3.073,3.072,3.067,3.059,3.058,3.05,3.046,3.044,3.035,3.035,3.033,3.033,3.017,3.016,3.014,3.008,3.004,3.004,2.997,2.997,2.997,3,3,3,3,3,2.994,2.994,2.992,2.992,2.992,2.992,2.988,2.988,2.986,2.985,2.981,2.981,2.981,2.981,2.982,2.983,2.982,2.982,2.983,2.985,2.981,2.982,2.982,2.982,2.982,2.985,2.99,2.99,2.99,2.99,2.993,2.997,3.001,3.004,3.006,3.007,3.008,3.008,3.011,3.012,3.016,3.017,3.027,3.029,3.029,3.037,3.041,3.044,3.049,3.05,3.057,3.058,3.059,3.061,3.065,3.067,3.075,3.086,3.088,3.093,3.104,3.106,3.117,3.118,3.118,3.118,3.118,3.128,3.129,3.134,3.148,3.152,3.153,3.156,3.161,3.168,3.174,3.191,3.2,3.2,3.205,3.205,3.206,3.217,3.224,3.235,3.253,3.253,3.266,3.27,3.283,3.283,3.286,3.287,3.813,3.825,3.831,3.839,3.871,3.886,3.901,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 91.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 91.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 91.9707} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 92.0086} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.176,0.176,0.176,0.176,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.258,3.252,3.234,3.234,3.373,3.373,0,0,0,0,0,0,0,0,0,3.116,3.115,3.108,3.097,3.094,3.093,3.083,3.082,3.075,3.074,3.071,3.067,3.067,3.061,3.059,0.147,0.143,0.143,0.146,0.147,0.146,0.151,0.151,0.153,0.151,0.153,0.154,3.029,3.029,3.029,3.029,3.029,3.028,0.173,0.164,0.154,0.154,0.151,0.151,0.154,0.162,0.172,3.454,3.532,3.532,3.532,3.53,3.53,3.53,3.53,3.532,3.533,3.533,3.533,3.533,3.533,3.535,3.541,3.541,3.541,3.541,3.541,3.544,3.546,3.546,3.546,3.546,3.546,3.546,3.546,3.551,3.554,3.559,3.561,3.561,3.563,3.567,3.568,3.568,3.578,3.581,3.585,3.594,3.594,3.595,3.596,3.601,3.602,3.611,3.614,3.617,3.626,3.64,3.64,3.643,3.645,3.664,3.666,3.667,3.678,3.679,3.682,3.689,3.697,3.709,3.724,3.73,3.731,3.741,3.749,3.749,3.751,3.763,3.779,3.783,3.802,3.81,3.812,3.817,3.821,3.829,3.851,3.855,3.874,3.889,3.896,3.9,3.908,3.921,3.937,3.947,3.961,3.978,3.996,4.006,4.018,4.021,4.046,4.055,4.073,0.016,0.016,0.016,0.016,0,0,0,0,0,0,3.985,3.953,3.921,3.875,3.866,3.834,3.797,3.761,3.753,3.713,3.698,3.662,3.633,3.605,3.6,3.573,3.562,3.524,3.497,3.477,3.459,3.449,3.416,3.395,3.379,3.351,3.332,3.304,3.288,3.283,3.251,3.232,3.231,3.209,3.183,3.165,3.164,3.14,3.125,3.109,3.1,3.086,3.077,3.052,3.042,3.037,3.018,3.004,2.987,2.971,2.96,2.949,2.939,2.929,2.926,2.91,2.893,2.878,2.867,2.855,2.842,2.834,2.821,2.81,2.804,2.796,2.782,2.78,2.766,2.748,2.744,2.728,2.727,2.72,2.711,2.693,2.693,2.684,2.671,2.661,2.647,2.644,2.64,2.631,2.628,2.618,2.612,2.596,2.588,2.587,2.577,2.576,2.575,2.562,2.56,2.554,2.544,2.535,2.531,2.527,2.527,2.514,2.513,2.513,2.509,2.502,2.495,2.488,2.486,2.475,2.468,2.466,2.465,2.462,2.456,2.456,2.454,2.442,2.439,2.438,2.438,2.435,2.434,2.427,2.424,2.417,2.414,2.414,2.412,2.411,2.41,2.408,2.408,2.406,2.406,2.399,2.398,2.398,2.393,2.393,2.393,2.393,2.393,2.393,2.39,2.39,2.388,2.388,2.387,2.384,2.387,2.387,2.387,2.39,2.39,2.39,2.39,2.389,2.389,2.389,2.389,2.394,2.394,2.394,2.393,2.393,2.393,2.398,2.401,2.403,2.406,2.406,2.406,2.411,2.416,2.417,2.424,2.424,2.419,2.425,2.426,2.427,2.43,2.433,2.444,2.445,2.446,2.45,2.456,2.457,2.457,2.465,2.466,2.468,2.482,2.483,2.485,2.486,2.5,2.503,2.503,2.508,2.52,2.525,2.527,2.531,2.537,2.546,2.546,2.557,2.562,2.566,2.571,2.576,2.582,2.593,2.6,2.601,2.621,2.627,2.631,2.637,2.638,2.665,2.67,2.68,2.685,2.687,2.7,2.709,2.718,2.719,2.733,2.735,2.738,2.757,2.769,2.779,2.793,2.804,2.816,2.819,2.834,2.843,2.863,2.864,2.872,2.884,2.91,2.92,2.924,2.927,2.952,2.959,2.974,2.991,2.996,3.02,3.027,3.048,3.055,3.073,3.077,3.106,3.118,3.124,3.143,3.156,3.172,3.185,3.203,3.228,3.234,3.259,3.271,3.287,3.308,3.325,3.347,3.356,3.383,3.397,3.432,3.459,3.481,3.499,3.516,3.538,3.562,3.601,3.606,3.633,3.658,3.681,3.719,3.749,3.774,3.808,3.819,3.86,3.885,3.914,3.947,3.984,4.013,4.046,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.332,3.309,3.298,3.282,3.279,3.266,3.261,3.257,3.241,3.232,3.225,3.224,3.207,3.207,3.202,3.19,3.175,3.172,3.158,3.15,3.148,3.146,3.14,3.121,3.119,3.115,3.112,3.104,3.095,3.095,3.093,3.092,3.077,3.074,3.074,3.065,3.061,3.055,3.054,3.045,3.041,3.036,3.035,3.03,3.03,3.019,3.018,3.016,3.012,3.006,3.006,3.002,2.998,2.996,2.996,2.996,2.996,2.996,3.002,3.002,2.993,2.992,2.992,2.99,2.987,2.986,2.985,2.985,2.984,2.984,2.982,2.979,2.979,2.979,2.983,2.983,2.984,2.984,2.984,2.983,2.983,2.981,2.981,2.981,2.983,2.983,2.983,2.984,2.995,2.996,2.997,3,2.997,3.005,3.008,3.008,3.01,3.014,3.019,3.022,3.022,3.022,3.024,3.028,3.034,3.036,3.043,3.044,3.056,3.056,3.059,3.059,3.061,3.066,3.071,3.078,3.08,3.092,3.092,3.101,3.106,3.115,3.116,3.117,3.121,3.121,3.121,3.129,3.143,3.146,3.15,3.153,3.16,3.162,3.175,3.182,3.184,3.186,3.201,3.201,3.203,3.206,3.22,3.227,3.24,3.252,3.253,3.263,3.264,3.274,3.274,3.284,3.292,3.818,3.837,3.838,3.839,3.858,3.874,3.905,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 92.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 92.1627} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.5626} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 6.4262} {Name Sonar15 Range 1.3462}
SEN {Time 92.2075} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.179,0.179,0.181,0.181,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.244,3.38,3.38,3.38,0,0,0,0,0,0,0,0,0,3.119,3.118,3.117,3.099,3.093,3.092,3.089,3.087,3.076,3.074,3.073,3.061,3.061,3.058,3.057,0.146,0.142,0.142,0.142,0.142,0.153,0.153,0.157,0.157,0.155,0.157,0.158,3.026,3.036,3.037,3.037,3.037,3.037,3.037,0.163,0.163,0.161,0.161,0.16,0.161,0.161,0.168,3.454,3.528,3.528,3.528,3.528,3.528,3.528,3.532,3.532,3.532,3.534,3.532,3.532,3.534,3.534,3.534,3.538,3.538,3.538,3.538,3.538,3.544,3.546,3.547,3.547,3.547,3.547,3.547,3.551,3.553,3.553,3.557,3.558,3.559,3.568,3.574,3.58,3.581,3.582,3.589,3.593,3.594,3.598,3.603,3.605,3.608,3.613,3.615,3.617,3.627,3.633,3.642,3.657,3.657,3.657,3.663,3.671,3.673,3.673,3.684,3.695,3.709,3.715,3.726,3.726,3.736,3.741,3.754,3.759,3.762,3.774,3.782,3.782,3.798,3.809,3.815,3.818,3.831,3.839,3.844,3.858,3.861,3.881,3.891,3.912,3.918,3.919,3.935,3.94,3.968,3.988,3.991,4.002,4.01,4.039,4.043,4.056,4.071,4.089,4.095,0.016,0.016,0.016,0.016,0.016,0.016,4.065,4.019,3.987,3.947,3.926,3.892,3.852,3.822,3.801,3.769,3.74,3.716,3.689,3.658,3.642,3.611,3.587,3.567,3.543,3.526,3.495,3.478,3.464,3.428,3.425,3.393,3.369,3.351,3.333,3.31,3.296,3.279,3.261,3.236,3.211,3.206,3.182,3.169,3.155,3.136,3.128,3.12,3.097,3.09,3.076,3.053,3.042,3.028,3.028,2.996,2.993,2.971,2.961,2.952,2.941,2.928,2.922,2.905,2.895,2.882,2.865,2.852,2.846,2.826,2.819,2.805,2.8,2.796,2.781,2.779,2.766,2.754,2.746,2.737,2.725,2.711,2.705,2.702,2.698,2.689,2.667,2.663,2.657,2.651,2.634,2.627,2.622,2.621,2.613,2.611,2.598,2.592,2.581,2.569,2.567,2.564,2.556,2.546,2.538,2.535,2.531,2.528,2.521,2.52,2.514,2.504,2.501,2.499,2.497,2.493,2.483,2.477,2.475,2.471,2.466,2.466,2.459,2.459,2.454,2.449,2.449,2.444,2.439,2.425,2.424,2.424,2.424,2.423,2.42,2.417,2.408,2.408,2.41,2.408,2.408,2.408,2.404,2.401,2.4,2.399,2.399,2.397,2.397,2.397,2.395,2.394,2.394,2.388,2.387,2.387,2.387,2.388,2.388,2.388,2.39,2.39,2.39,2.39,2.389,2.389,2.387,2.389,2.391,2.393,2.393,2.394,2.394,2.394,2.395,2.398,2.4,2.4,2.402,2.405,2.409,2.412,2.415,2.421,2.421,2.423,2.421,2.421,2.427,2.427,2.431,2.431,2.441,2.444,2.454,2.454,2.457,2.458,2.461,2.467,2.474,2.476,2.477,2.479,2.481,2.496,2.497,2.506,2.511,2.511,2.52,2.522,2.529,2.529,2.532,2.542,2.552,2.559,2.57,2.57,2.572,2.572,2.594,2.597,2.603,2.607,2.612,2.624,2.628,2.636,2.646,2.67,2.673,2.675,2.678,2.686,2.689,2.703,2.717,2.729,2.73,2.746,2.747,2.762,2.77,2.771,2.785,2.802,2.81,2.823,2.834,2.851,2.86,2.865,2.876,2.886,2.908,2.917,2.934,2.942,2.953,2.962,2.978,2.987,2.994,3.013,3.022,3.035,3.045,3.073,3.08,3.097,3.121,3.128,3.142,3.158,3.168,3.19,3.202,3.228,3.234,3.258,3.277,3.287,3.313,3.333,3.353,3.366,3.38,3.406,3.43,3.459,3.473,3.488,3.526,3.532,3.572,3.602,3.617,3.639,3.664,3.686,3.712,3.743,3.765,3.8,3.817,3.849,3.88,3.919,3.954,3.993,4.013,4.044,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.32,3.308,3.289,3.285,3.28,3.265,3.259,3.256,3.244,3.229,3.219,3.216,3.204,3.2,3.198,3.184,3.184,3.173,3.168,3.151,3.151,3.151,3.149,3.132,3.117,3.116,3.113,3.111,3.103,3.1,3.092,3.087,3.08,3.078,3.065,3.061,3.06,3.052,3.051,3.047,3.042,3.037,3.036,3.029,3.028,3.028,3.025,3.025,3.011,3.005,3.004,3.001,2.999,2.998,2.998,2.998,2.998,3.001,3.003,3.003,2.994,2.994,2.989,2.989,2.987,2.986,2.985,2.985,2.985,2.985,2.982,2.98,2.98,2.98,2.982,2.981,2.981,2.979,2.979,2.979,2.979,2.982,2.982,2.983,2.983,2.983,2.987,2.989,2.992,2.993,2.993,2.998,3.001,3.007,3.008,3.008,3.009,3.014,3.017,3.017,3.02,3.022,3.026,3.029,3.037,3.039,3.04,3.047,3.053,3.056,3.057,3.058,3.06,3.069,3.072,3.081,3.087,3.09,3.095,3.103,3.103,3.113,3.116,3.116,3.121,3.121,3.128,3.132,3.135,3.146,3.147,3.158,3.159,3.159,3.176,3.184,3.187,3.195,3.197,3.199,3.208,3.21,3.223,3.228,3.23,3.25,3.253,3.258,3.27,3.282,3.282,3.286,3.296,3.824,3.831,3.834,3.845,3.859,3.887,3.896,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 92.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 92.3637} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 6.4262} {Name Sonar15 Range 1.3462}
SEN {Time 92.4085} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.181,0.177,0.181,0.187,0.187,0.212,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.251,3.251,3.243,3.234,3.234,3.369,3.369,0,0,0,0,0,0,0,0,0,3.11,3.108,3.107,3.103,3.094,3.092,3.084,3.081,3.072,3.071,3.066,3.064,3.064,3.057,3.052,0.15,0.147,0.147,0.147,0.15,0.147,0.153,0.153,0.154,0.153,0.154,0.156,3.028,3.028,3.04,3.04,3.028,3.026,0.158,0.157,0.157,0.157,0.158,0.158,0.158,0.159,0.169,3.454,3.531,3.531,3.531,3.531,3.53,3.53,3.53,3.532,3.534,3.534,3.534,3.534,3.534,3.534,3.534,3.534,3.539,3.54,3.54,3.542,3.542,3.545,3.545,3.545,3.548,3.546,3.552,3.552,3.552,3.552,3.558,3.558,3.562,3.563,3.566,3.568,3.574,3.581,3.583,3.592,3.593,3.597,3.602,3.604,3.608,3.614,3.614,3.616,3.616,3.636,3.636,3.648,3.656,3.658,3.664,3.668,3.67,3.685,3.685,3.695,3.698,3.704,3.707,3.732,3.733,3.746,3.752,3.755,3.755,3.766,3.779,3.786,3.795,3.799,3.817,3.818,3.836,3.837,3.839,3.857,3.865,3.882,3.886,3.91,3.916,3.921,3.942,3.944,3.953,3.975,3.999,4.014,4.021,4.034,4.042,4.052,4.069,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.06,4.013,3.99,3.963,3.929,3.892,3.854,3.818,3.793,3.773,3.743,3.714,3.691,3.654,3.637,3.612,3.579,3.563,3.546,3.523,3.498,3.477,3.459,3.428,3.415,3.397,3.366,3.344,3.334,3.303,3.295,3.271,3.252,3.226,3.225,3.203,3.189,3.164,3.155,3.138,3.128,3.119,3.092,3.089,3.079,3.046,3.046,3.029,3.017,3.001,2.991,2.974,2.953,2.952,2.941,2.927,2.912,2.906,2.895,2.883,2.874,2.859,2.849,2.841,2.823,2.814,2.802,2.794,2.775,2.772,2.766,2.747,2.733,2.726,2.718,2.712,2.711,2.698,2.685,2.681,2.669,2.664,2.654,2.644,2.642,2.638,2.626,2.612,2.602,2.598,2.59,2.583,2.582,2.567,2.561,2.558,2.549,2.548,2.539,2.538,2.529,2.529,2.527,2.524,2.511,2.508,2.502,2.499,2.498,2.489,2.482,2.476,2.474,2.47,2.465,2.459,2.457,2.45,2.447,2.446,2.445,2.44,2.435,2.434,2.426,2.425,2.426,2.424,2.42,2.413,2.413,2.413,2.407,2.407,2.403,2.399,2.399,2.398,2.395,2.395,2.395,2.395,2.395,2.392,2.392,2.391,2.389,2.385,2.385,2.385,2.386,2.386,2.386,2.386,2.386,2.39,2.39,2.39,2.39,2.39,2.39,2.392,2.392,2.393,2.392,2.392,2.393,2.394,2.394,2.4,2.4,2.404,2.408,2.409,2.409,2.411,2.411,2.419,2.421,2.421,2.425,2.426,2.428,2.431,2.433,2.434,2.44,2.447,2.453,2.453,2.458,2.46,2.462,2.464,2.471,2.478,2.481,2.482,2.49,2.495,2.498,2.508,2.508,2.513,2.514,2.521,2.522,2.528,2.531,2.541,2.55,2.555,2.566,2.566,2.574,2.58,2.582,2.587,2.598,2.612,2.622,2.625,2.629,2.636,2.645,2.67,2.676,2.683,2.686,2.686,2.704,2.71,2.718,2.721,2.728,2.741,2.746,2.761,2.772,2.779,2.781,2.805,2.809,2.828,2.834,2.834,2.852,2.864,2.878,2.884,2.904,2.919,2.924,2.927,2.946,2.958,2.972,2.985,2.998,3.016,3.029,3.038,3.053,3.077,3.082,3.1,3.118,3.133,3.135,3.152,3.174,3.191,3.197,3.223,3.23,3.253,3.273,3.277,3.309,3.323,3.349,3.367,3.389,3.405,3.425,3.452,3.48,3.5,3.522,3.523,3.555,3.597,3.617,3.646,3.666,3.691,3.702,3.74,3.775,3.797,3.818,3.849,3.881,3.917,3.963,3.988,4.062,4.085,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.321,3.313,3.297,3.288,3.286,3.262,3.261,3.253,3.237,3.229,3.228,3.228,3.206,3.202,3.199,3.191,3.175,3.167,3.161,3.156,3.153,3.148,3.139,3.129,3.123,3.121,3.112,3.11,3.102,3.089,3.085,3.082,3.081,3.077,3.067,3.066,3.059,3.05,3.05,3.05,3.043,3.041,3.038,3.035,3.026,3.025,3.023,3.016,3.006,3.003,3.003,3.001,3.001,3.001,3.001,2.998,2.996,2.996,2.996,2.996,2.996,2.996,2.992,2.989,2.989,2.985,2.985,2.985,2.985,2.983,2.983,2.983,2.983,2.983,2.983,2.98,2.98,2.98,2.978,2.978,2.98,2.98,2.983,2.984,2.986,2.986,2.988,2.992,2.992,2.994,2.995,2.995,2.998,3,3,3.003,3.005,3.011,3.014,3.015,3.018,3.019,3.022,3.031,3.034,3.036,3.036,3.043,3.047,3.05,3.054,3.059,3.061,3.064,3.075,3.087,3.088,3.089,3.089,3.098,3.104,3.115,3.117,3.117,3.117,3.117,3.128,3.134,3.135,3.144,3.147,3.154,3.163,3.169,3.172,3.18,3.192,3.197,3.197,3.202,3.208,3.212,3.217,3.23,3.238,3.251,3.255,3.262,3.265,3.275,3.275,3.284,3.294,3.826,3.826,3.832,3.842,3.856,3.875,3.904,3.905,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 92.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 92.5646} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 6.4262} {Name Sonar15 Range 1.3462}
SEN {Time 92.6085} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.176,0.179,0.181,0.181,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,3.378,3.378,3.378,0,0,0,0,0,0,0,0,3.116,3.114,3.112,3.112,3.099,3.094,3.09,3.085,3.084,3.082,3.079,3.072,3.064,3.064,3.057,3.055,0.146,0.139,0.139,0.14,0.14,0.149,0.149,0.149,0.149,0.149,0.149,0.149,3.027,3.032,3.04,3.04,3.032,3.032,0.162,0.162,0.162,0.162,0.158,0.158,0.162,0.162,0.174,3.445,3.519,3.532,3.532,3.531,3.531,3.531,3.525,3.531,3.53,3.53,3.53,3.532,3.532,3.535,3.535,3.536,3.535,3.538,3.538,3.54,3.543,3.544,3.546,3.544,3.544,3.546,3.551,3.551,3.554,3.554,3.558,3.56,3.564,3.568,3.569,3.572,3.577,3.582,3.583,3.584,3.587,3.593,3.598,3.603,3.608,3.613,3.617,3.622,3.624,3.633,3.639,3.651,3.651,3.656,3.657,3.659,3.672,3.676,3.679,3.689,3.708,3.709,3.712,3.719,3.736,3.753,3.753,3.759,3.76,3.762,3.777,3.786,3.796,3.807,3.814,3.815,3.819,3.845,3.847,3.853,3.869,3.875,3.878,3.903,3.914,3.931,3.94,3.946,3.947,3.977,3.996,3.997,4.022,4.027,4.045,4.06,4.075,4.079,0.016,0.016,0.016,0,0,0,0,0,0.007,4.018,3.949,3.928,3.887,3.861,3.822,3.796,3.769,3.735,3.709,3.697,3.662,3.645,3.611,3.597,3.567,3.542,3.526,3.506,3.475,3.445,3.426,3.419,3.392,3.374,3.339,3.332,3.304,3.299,3.275,3.262,3.252,3.225,3.208,3.188,3.169,3.149,3.136,3.127,3.107,3.096,3.085,3.082,3.054,3.043,3.033,3.025,2.995,2.984,2.968,2.965,2.957,2.939,2.927,2.915,2.902,2.895,2.878,2.867,2.855,2.848,2.834,2.82,2.814,2.8,2.791,2.772,2.772,2.758,2.748,2.74,2.737,2.729,2.714,2.706,2.697,2.692,2.678,2.669,2.662,2.658,2.64,2.631,2.63,2.619,2.617,2.616,2.603,2.59,2.583,2.574,2.572,2.572,2.558,2.555,2.549,2.543,2.534,2.532,2.528,2.525,2.521,2.511,2.509,2.503,2.498,2.493,2.485,2.484,2.48,2.467,2.466,2.464,2.463,2.463,2.458,2.454,2.448,2.443,2.44,2.435,2.432,2.431,2.424,2.423,2.419,2.419,2.419,2.416,2.415,2.413,2.41,2.409,2.407,2.407,2.405,2.399,2.399,2.397,2.397,2.396,2.396,2.393,2.391,2.39,2.39,2.39,2.39,2.39,2.383,2.383,2.383,2.388,2.385,2.385,2.388,2.388,2.389,2.391,2.391,2.391,2.393,2.391,2.393,2.39,2.395,2.4,2.4,2.4,2.405,2.401,2.401,2.405,2.412,2.413,2.418,2.42,2.424,2.425,2.426,2.429,2.429,2.431,2.431,2.438,2.439,2.443,2.447,2.448,2.459,2.46,2.467,2.47,2.474,2.48,2.485,2.491,2.492,2.498,2.499,2.5,2.507,2.518,2.528,2.531,2.537,2.542,2.549,2.551,2.552,2.567,2.569,2.572,2.579,2.588,2.589,2.6,2.61,2.628,2.631,2.634,2.64,2.643,2.661,2.673,2.675,2.677,2.687,2.698,2.708,2.723,2.728,2.734,2.739,2.741,2.754,2.771,2.772,2.782,2.79,2.798,2.821,2.824,2.846,2.862,2.872,2.876,2.885,2.905,2.913,2.927,2.928,2.949,2.961,2.973,2.988,2.999,3.022,3.027,3.037,3.046,3.067,3.086,3.105,3.112,3.128,3.135,3.158,3.172,3.185,3.202,3.228,3.23,3.252,3.278,3.287,3.316,3.327,3.354,3.366,3.388,3.41,3.431,3.463,3.479,3.494,3.52,3.533,3.549,3.589,3.609,3.637,3.666,3.685,3.709,3.745,3.775,3.8,3.825,3.867,3.867,3.917,3.954,3.984,4.06,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.316,3.312,3.287,3.287,3.28,3.258,3.256,3.25,3.24,3.228,3.224,3.221,3.206,3.206,3.199,3.19,3.176,3.167,3.154,3.148,3.148,3.142,3.14,3.134,3.12,3.111,3.107,3.107,3.104,3.097,3.093,3.085,3.075,3.075,3.072,3.068,3.052,3.051,3.049,3.046,3.045,3.039,3.035,3.029,3.026,3.024,3.023,3.018,3.011,3.008,3.002,3.002,2.999,2.998,2.993,2.992,2.992,2.992,3.051,3.051,3.051,2.992,2.992,2.987,2.987,2.983,2.983,2.983,2.981,2.981,2.981,2.979,2.979,2.981,2.981,2.982,2.982,2.981,2.979,2.979,2.979,2.977,2.977,2.979,2.987,2.988,2.99,2.993,2.993,2.994,2.999,2.999,2.999,3.001,3.004,3.007,3.007,3.008,3.008,3.02,3.02,3.02,3.02,3.026,3.032,3.041,3.041,3.045,3.045,3.049,3.054,3.06,3.066,3.066,3.067,3.077,3.082,3.084,3.091,3.098,3.108,3.116,3.118,3.118,3.121,3.121,3.131,3.132,3.132,3.143,3.148,3.157,3.158,3.16,3.174,3.188,3.194,3.196,3.2,3.2,3.202,3.206,3.219,3.223,3.234,3.251,3.255,3.264,3.269,3.272,3.269,3.288,3.295,3.812,3.83,3.841,3.847,3.864,3.871,3.889,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 92.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 92.7666} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 1.6002}
SEN {Time 92.8085} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.18,0.178,0.179,0.18,0.18,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.259,3.253,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.117,3.117,3.116,3.098,3.094,3.092,3.085,3.084,3.075,3.075,3.07,3.066,3.066,3.061,3.061,3.059,0.146,0.146,0.146,0.146,0.145,0.145,0.145,0.153,0.15,0.153,0.153,3.029,3.029,3.036,3.036,3.029,3.027,0.165,0.163,0.163,0.163,0.158,0.158,0.16,0.16,0.173,3.465,3.53,3.53,3.53,3.53,3.535,3.535,3.535,3.535,3.535,3.534,3.534,3.537,3.538,3.538,3.538,3.537,3.541,3.541,3.541,3.543,3.545,3.547,3.548,3.548,3.551,3.549,3.549,3.553,3.555,3.555,3.56,3.564,3.565,3.565,3.567,3.568,3.582,3.582,3.583,3.591,3.595,3.597,3.597,3.597,3.599,3.607,3.623,3.628,3.631,3.632,3.637,3.64,3.652,3.659,3.671,3.673,3.676,3.676,3.688,3.688,3.698,3.704,3.712,3.717,3.736,3.747,3.752,3.754,3.76,3.77,3.787,3.789,3.798,3.799,3.818,3.818,3.82,3.837,3.845,3.858,3.871,3.875,3.894,3.906,3.921,3.926,3.939,3.941,3.952,3.974,3.992,4.003,4.011,4.025,4.041,4.063,4.077,4.083,0.016,0.016,0.016,0.016,0,0,0,0.007,0,4.061,3.961,3.932,3.893,3.866,3.831,3.8,3.768,3.738,3.716,3.695,3.654,3.641,3.606,3.582,3.559,3.543,3.524,3.491,3.474,3.459,3.444,3.414,3.391,3.372,3.352,3.334,3.303,3.28,3.271,3.253,3.24,3.218,3.195,3.182,3.167,3.159,3.134,3.124,3.109,3.1,3.09,3.074,3.06,3.036,3.028,3.02,2.995,2.995,2.975,2.959,2.947,2.936,2.934,2.924,2.907,2.893,2.884,2.866,2.853,2.845,2.838,2.821,2.816,2.794,2.788,2.776,2.773,2.761,2.76,2.747,2.739,2.723,2.71,2.705,2.702,2.696,2.677,2.668,2.656,2.653,2.652,2.651,2.63,2.615,2.609,2.606,2.605,2.604,2.591,2.583,2.57,2.568,2.56,2.558,2.549,2.544,2.528,2.527,2.527,2.527,2.514,2.512,2.507,2.504,2.503,2.502,2.494,2.484,2.477,2.474,2.471,2.467,2.461,2.461,2.458,2.456,2.448,2.444,2.438,2.434,2.433,2.431,2.425,2.42,2.419,2.416,2.416,2.416,2.416,2.416,2.403,2.403,2.403,2.403,2.402,2.401,2.398,2.395,2.393,2.392,2.392,2.391,2.389,2.389,2.389,2.392,2.392,2.392,2.383,2.383,2.383,2.383,2.386,2.386,2.386,2.387,2.388,2.388,2.39,2.39,2.391,2.391,2.392,2.395,2.4,2.402,2.404,2.404,2.405,2.406,2.409,2.41,2.411,2.411,2.414,2.419,2.424,2.426,2.426,2.426,2.434,2.435,2.436,2.438,2.44,2.45,2.452,2.454,2.456,2.462,2.465,2.475,2.48,2.485,2.485,2.486,2.486,2.497,2.506,2.51,2.51,2.517,2.525,2.528,2.531,2.535,2.543,2.549,2.566,2.57,2.57,2.574,2.581,2.587,2.592,2.599,2.603,2.617,2.628,2.633,2.634,2.642,2.661,2.672,2.675,2.68,2.685,2.699,2.705,2.721,2.723,2.73,2.741,2.741,2.757,2.771,2.774,2.79,2.798,2.805,2.825,2.831,2.844,2.854,2.867,2.868,2.882,2.904,2.921,2.927,2.933,2.957,2.962,2.977,2.99,3.001,3.017,3.025,3.048,3.05,3.068,3.079,3.095,3.119,3.128,3.145,3.157,3.165,3.189,3.205,3.225,3.227,3.258,3.285,3.29,3.318,3.335,3.347,3.366,3.392,3.411,3.44,3.451,3.476,3.496,3.529,3.533,3.563,3.593,3.606,3.638,3.665,3.701,3.705,3.737,3.772,3.795,3.818,3.864,3.885,3.932,3.949,3.986,4.027,4.058,4.079,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.324,3.303,3.294,3.292,3.285,3.263,3.262,3.255,3.251,3.233,3.224,3.222,3.203,3.202,3.201,3.188,3.172,3.17,3.164,3.155,3.151,3.147,3.137,3.129,3.119,3.117,3.113,3.111,3.105,3.093,3.089,3.079,3.075,3.075,3.074,3.073,3.055,3.054,3.048,3.047,3.045,3.035,3.031,3.029,3.029,3.029,3.022,3.016,3.01,3.01,3.005,3.005,3.001,3.001,3,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.989,2.989,2.991,2.99,2.987,2.984,2.984,2.982,2.982,2.979,2.979,2.98,2.982,2.98,2.982,2.982,2.984,2.984,2.985,2.985,2.987,2.989,2.994,2.994,2.997,2.997,3.003,3.005,3.005,3.007,3.007,3.006,3.008,3.008,3.008,3.015,3.016,3.017,3.029,3.031,3.032,3.034,3.034,3.04,3.043,3.045,3.045,3.055,3.063,3.068,3.068,3.082,3.085,3.089,3.092,3.101,3.104,3.109,3.117,3.117,3.118,3.123,3.125,3.13,3.144,3.145,3.148,3.152,3.16,3.161,3.172,3.173,3.184,3.193,3.202,3.202,3.207,3.21,3.21,3.222,3.232,3.248,3.253,3.26,3.266,3.286,3.286,3.288,3.289,3.817,3.836,3.837,3.851,3.853,3.88,3.899,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 92.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 92.9666} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 1.6002}
SEN {Time 93.0045} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.181,0.179,0.178,0.181,0.181,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.259,3.259,3.251,3.231,3.231,3.373,3.373,0,0,0,0,0,0,0,0,0,3.121,3.116,3.114,3.1,3.096,3.092,3.09,3.085,3.076,3.072,3.072,3.065,3.065,3.065,3.061,0.148,0.144,0.144,0.144,0.148,0.148,0.148,0.148,0.151,0.148,0.151,0.154,3.031,3.031,3.039,3.039,3.031,3.031,0.167,0.164,0.164,0.162,0.159,0.159,0.16,0.16,0.169,3.443,3.523,3.531,3.533,3.533,3.533,3.534,3.534,3.536,3.536,3.536,3.532,3.532,3.532,3.533,3.535,3.535,3.534,3.535,3.535,3.541,3.541,3.541,3.546,3.542,3.542,3.546,3.551,3.552,3.552,3.556,3.564,3.563,3.564,3.564,3.569,3.57,3.572,3.587,3.587,3.588,3.59,3.594,3.6,3.602,3.613,3.613,3.618,3.621,3.626,3.636,3.644,3.646,3.655,3.667,3.675,3.677,3.679,3.679,3.679,3.681,3.706,3.707,3.725,3.73,3.735,3.748,3.748,3.757,3.758,3.763,3.783,3.787,3.791,3.8,3.814,3.817,3.821,3.842,3.851,3.867,3.881,3.889,3.89,3.905,3.916,3.917,3.931,3.945,3.963,3.975,3.985,4.004,4.006,4.037,4.051,4.062,4.073,4.084,0.016,0.016,0.016,0.016,0,0,0,0.007,0,4.053,3.943,3.918,3.872,3.846,3.823,3.78,3.774,3.736,3.718,3.698,3.666,3.646,3.612,3.588,3.567,3.543,3.523,3.5,3.468,3.451,3.444,3.414,3.386,3.375,3.361,3.336,3.299,3.296,3.271,3.258,3.238,3.226,3.206,3.18,3.172,3.155,3.141,3.121,3.107,3.096,3.081,3.08,3.056,3.036,3.031,3.02,2.997,2.997,2.973,2.957,2.955,2.937,2.917,2.917,2.902,2.898,2.88,2.862,2.858,2.851,2.839,2.824,2.823,2.809,2.794,2.775,2.773,2.764,2.76,2.744,2.737,2.72,2.715,2.709,2.701,2.688,2.677,2.666,2.66,2.65,2.642,2.641,2.637,2.631,2.623,2.618,2.602,2.599,2.585,2.584,2.574,2.561,2.555,2.548,2.547,2.546,2.541,2.538,2.537,2.524,2.516,2.507,2.506,2.505,2.505,2.501,2.487,2.482,2.481,2.48,2.467,2.465,2.46,2.46,2.452,2.448,2.447,2.442,2.44,2.436,2.432,2.429,2.425,2.425,2.417,2.415,2.415,2.415,2.413,2.413,2.412,2.406,2.403,2.401,2.401,2.398,2.397,2.397,2.397,2.395,2.394,2.393,2.393,2.391,2.391,2.392,2.389,2.39,2.39,2.389,2.389,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.395,2.395,2.396,2.396,2.397,2.397,2.397,2.399,2.4,2.407,2.408,2.408,2.408,2.408,2.408,2.408,2.414,2.417,2.419,2.424,2.428,2.429,2.432,2.433,2.437,2.443,2.447,2.448,2.453,2.458,2.458,2.461,2.461,2.472,2.473,2.482,2.482,2.487,2.491,2.497,2.505,2.511,2.514,2.517,2.518,2.522,2.533,2.538,2.547,2.558,2.561,2.563,2.567,2.569,2.59,2.592,2.594,2.598,2.602,2.618,2.626,2.635,2.641,2.641,2.661,2.674,2.681,2.682,2.685,2.702,2.71,2.719,2.728,2.734,2.74,2.746,2.753,2.769,2.773,2.788,2.801,2.815,2.822,2.832,2.843,2.845,2.867,2.87,2.883,2.905,2.925,2.934,2.942,2.949,2.957,2.975,2.994,2.999,3.011,3.028,3.038,3.048,3.067,3.079,3.096,3.11,3.121,3.142,3.155,3.173,3.187,3.206,3.232,3.237,3.255,3.28,3.282,3.318,3.323,3.347,3.356,3.383,3.406,3.439,3.458,3.48,3.497,3.523,3.54,3.564,3.6,3.625,3.646,3.669,3.682,3.698,3.752,3.779,3.803,3.819,3.861,3.878,3.916,4.026,4.056,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.315,3.311,3.298,3.288,3.281,3.271,3.257,3.254,3.238,3.236,3.228,3.212,3.203,3.2,3.199,3.178,3.177,3.164,3.159,3.155,3.149,3.142,3.141,3.124,3.123,3.12,3.117,3.114,3.106,3.095,3.088,3.086,3.082,3.076,3.069,3.068,3.062,3.05,3.049,3.048,3.042,3.039,3.032,3.032,3.03,3.023,3.02,3.018,3.013,3.01,3.004,3.004,3.003,3.003,3.002,2.997,2.994,2.994,2.994,2.994,2.994,2.995,2.994,2.994,2.994,2.989,2.987,2.987,2.985,2.982,2.982,2.981,2.981,2.982,2.986,2.986,2.986,2.985,2.984,2.984,2.983,2.983,2.983,2.983,2.987,2.989,2.99,2.992,2.992,2.992,2.994,2.996,3,3.003,3.005,3.01,3.01,3.011,3.012,3.013,3.024,3.027,3.028,3.028,3.03,3.031,3.041,3.043,3.045,3.052,3.057,3.058,3.063,3.067,3.077,3.078,3.082,3.087,3.089,3.097,3.106,3.111,3.114,3.114,3.114,3.114,3.13,3.135,3.137,3.143,3.153,3.158,3.162,3.166,3.17,3.174,3.185,3.196,3.199,3.201,3.202,3.222,3.223,3.225,3.244,3.245,3.257,3.265,3.268,3.278,3.278,3.286,3.297,3.822,3.826,3.831,3.837,3.854,3.882,3.9,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 93.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 93.1595} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 1.6002}
SEN {Time 93.2036} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.173,0.171,0.173,0.173,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.262,3.241,3.237,3.237,3.381,3.381,0,0,0,0,0,0,0,0,0,3.112,3.11,3.109,3.097,3.096,3.094,3.094,3.086,3.077,3.075,3.073,3.071,3.063,3.062,3.047,0.149,0.141,0.141,0.141,0.149,0.145,0.153,0.153,0.153,0.152,0.153,0.161,3.035,3.04,3.044,3.044,3.045,3.045,3.045,0.163,0.16,0.157,0.155,0.155,0.157,0.162,0.165,3.52,3.533,3.533,3.533,3.533,3.533,3.533,3.53,3.53,3.53,3.53,3.53,3.534,3.533,3.533,3.534,3.534,3.536,3.536,3.536,3.537,3.544,3.544,3.544,3.546,3.546,3.546,3.546,3.554,3.559,3.559,3.562,3.564,3.566,3.568,3.57,3.573,3.576,3.585,3.585,3.587,3.589,3.591,3.596,3.597,3.6,3.614,3.618,3.62,3.625,3.63,3.64,3.64,3.659,3.667,3.667,3.67,3.681,3.685,3.688,3.689,3.693,3.706,3.714,3.722,3.734,3.744,3.751,3.758,3.765,3.778,3.782,3.782,3.783,3.796,3.806,3.822,3.831,3.848,3.849,3.854,3.874,3.891,3.892,3.899,3.905,3.917,3.923,3.948,3.954,3.976,3.992,4.008,4.018,4.021,4.036,4.059,4.074,4.087,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,4.018,3.979,3.956,3.929,3.899,3.859,3.821,3.803,3.773,3.743,3.715,3.691,3.659,3.644,3.622,3.6,3.56,3.545,3.523,3.496,3.47,3.446,3.432,3.412,3.393,3.366,3.353,3.332,3.309,3.287,3.268,3.251,3.236,3.231,3.206,3.184,3.173,3.15,3.135,3.134,3.108,3.098,3.084,3.07,3.057,3.046,3.031,3.015,2.994,2.981,2.971,2.96,2.958,2.941,2.93,2.921,2.901,2.897,2.878,2.87,2.855,2.844,2.829,2.822,2.809,2.807,2.8,2.775,2.771,2.761,2.749,2.748,2.74,2.722,2.712,2.709,2.695,2.689,2.673,2.67,2.659,2.649,2.635,2.634,2.626,2.621,2.616,2.61,2.608,2.601,2.583,2.575,2.571,2.568,2.563,2.55,2.548,2.541,2.538,2.537,2.537,2.523,2.52,2.507,2.507,2.504,2.504,2.498,2.49,2.483,2.48,2.474,2.47,2.465,2.462,2.457,2.457,2.448,2.445,2.443,2.44,2.438,2.433,2.429,2.429,2.429,2.418,2.417,2.417,2.412,2.411,2.411,2.409,2.408,2.407,2.401,2.399,2.399,2.396,2.396,2.396,2.396,2.395,2.394,2.388,2.387,2.386,2.386,2.386,2.386,2.386,2.387,2.391,2.391,2.391,2.391,2.39,2.39,2.388,2.387,2.388,2.393,2.394,2.394,2.394,2.394,2.394,2.394,2.397,2.401,2.407,2.407,2.409,2.409,2.411,2.411,2.412,2.418,2.419,2.425,2.425,2.428,2.428,2.433,2.433,2.437,2.452,2.452,2.452,2.455,2.456,2.463,2.467,2.47,2.472,2.48,2.483,2.487,2.494,2.5,2.506,2.509,2.513,2.522,2.524,2.527,2.528,2.534,2.543,2.556,2.565,2.566,2.573,2.576,2.585,2.591,2.598,2.602,2.605,2.615,2.629,2.63,2.639,2.649,2.675,2.677,2.678,2.68,2.68,2.693,2.705,2.706,2.725,2.726,2.742,2.748,2.755,2.776,2.776,2.789,2.797,2.811,2.822,2.832,2.841,2.85,2.871,2.878,2.884,2.908,2.914,2.93,2.934,2.953,2.955,2.973,2.992,2.998,3.026,3.029,3.043,3.052,3.073,3.089,3.103,3.115,3.124,3.136,3.153,3.168,3.19,3.205,3.225,3.235,3.26,3.278,3.284,3.308,3.325,3.353,3.368,3.386,3.405,3.432,3.45,3.481,3.502,3.527,3.54,3.561,3.591,3.613,3.638,3.66,3.67,3.708,3.731,3.782,3.801,3.831,3.859,3.881,3.918,3.953,3.975,4.029,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.323,3.308,3.299,3.289,3.281,3.263,3.26,3.259,3.247,3.228,3.226,3.225,3.203,3.202,3.197,3.186,3.173,3.169,3.166,3.155,3.147,3.14,3.138,3.126,3.112,3.112,3.11,3.11,3.105,3.104,3.084,3.083,3.071,3.069,3.068,3.065,3.054,3.052,3.048,3.048,3.042,3.04,3.032,3.031,3.027,3.027,3.025,3.024,3.012,3.009,3.005,3.003,3.002,3.002,3,2.999,2.993,2.993,2.993,2.995,2.995,2.995,2.995,2.993,2.991,2.987,2.987,2.987,2.987,2.984,2.984,2.984,2.984,2.984,2.985,2.985,2.985,2.981,2.982,2.982,2.982,2.982,2.983,2.984,2.985,2.986,2.987,2.994,2.994,2.996,3,3.004,3.004,3.007,3.009,3.009,3.009,3.013,3.013,3.014,3.018,3.023,3.026,3.028,3.035,3.036,3.041,3.045,3.048,3.049,3.054,3.059,3.063,3.072,3.078,3.081,3.089,3.089,3.094,3.099,3.106,3.112,3.116,3.116,3.116,3.122,3.127,3.13,3.133,3.147,3.149,3.155,3.157,3.172,3.175,3.176,3.198,3.198,3.199,3.199,3.201,3.207,3.228,3.232,3.232,3.249,3.256,3.258,3.267,3.278,3.278,3.28,3.3,3.824,3.837,3.837,3.84,3.863,3.876,3.9,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 93.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 93.3605} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.7498} {Name Sonar15 Range 1.6002}
SEN {Time 93.4035} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.179,0.185,0.185,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.25,3.244,3.232,3.232,3.379,3.379,0,0,0,0,0,0,0,0,0,3.12,3.117,3.114,3.099,3.094,3.093,3.092,3.092,3.077,3.072,3.067,3.065,3.065,3.055,3.054,0.15,0.149,0.149,0.149,0.15,0.143,0.151,0.154,0.154,0.148,0.154,0.155,3.028,3.029,3.035,3.035,3.029,3.029,0.167,0.167,0.152,0.152,0.152,0.152,0.154,0.163,0.165,3.456,3.522,3.527,3.528,3.53,3.528,3.53,3.531,3.531,3.531,3.537,3.533,3.533,3.533,3.533,3.531,3.531,3.531,3.533,3.533,3.536,3.538,3.548,3.547,3.548,3.55,3.55,3.554,3.556,3.556,3.56,3.561,3.561,3.561,3.57,3.57,3.572,3.576,3.579,3.585,3.588,3.59,3.595,3.598,3.602,3.604,3.619,3.62,3.625,3.628,3.636,3.638,3.653,3.653,3.671,3.672,3.673,3.674,3.678,3.684,3.69,3.701,3.708,3.718,3.725,3.737,3.746,3.751,3.759,3.759,3.76,3.777,3.787,3.802,3.802,3.815,3.82,3.826,3.84,3.842,3.863,3.875,3.886,3.888,3.896,3.905,3.917,3.944,3.945,3.971,3.976,3.997,4,4.008,4.028,4.046,4.066,4.071,4.086,4.089,0.016,0.016,0.016,0,0.007,0.016,4.06,4.023,3.98,3.947,3.928,3.902,3.863,3.812,3.794,3.773,3.737,3.726,3.685,3.667,3.637,3.616,3.589,3.56,3.546,3.517,3.498,3.483,3.458,3.432,3.414,3.387,3.371,3.352,3.336,3.311,3.289,3.266,3.249,3.238,3.217,3.202,3.181,3.175,3.16,3.138,3.127,3.11,3.096,3.088,3.081,3.059,3.041,3.035,3.009,2.994,2.993,2.974,2.968,2.957,2.938,2.93,2.919,2.9,2.897,2.886,2.87,2.857,2.85,2.837,2.818,2.804,2.799,2.795,2.778,2.776,2.771,2.756,2.747,2.745,2.723,2.71,2.703,2.702,2.69,2.682,2.679,2.659,2.653,2.643,2.642,2.64,2.627,2.611,2.603,2.6,2.598,2.595,2.589,2.575,2.566,2.562,2.551,2.551,2.538,2.537,2.533,2.525,2.522,2.519,2.51,2.505,2.504,2.502,2.495,2.493,2.487,2.473,2.473,2.471,2.465,2.465,2.464,2.455,2.451,2.448,2.445,2.437,2.431,2.43,2.427,2.425,2.425,2.424,2.421,2.413,2.412,2.408,2.408,2.408,2.408,2.408,2.407,2.402,2.397,2.394,2.394,2.394,2.394,2.392,2.391,2.391,2.391,2.388,2.388,2.388,2.388,2.388,2.388,2.388,2.386,2.386,2.389,2.39,2.389,2.389,2.39,2.39,2.394,2.394,2.394,2.394,2.395,2.395,2.396,2.398,2.398,2.404,2.406,2.404,2.408,2.41,2.41,2.419,2.42,2.426,2.426,2.427,2.428,2.434,2.435,2.436,2.436,2.45,2.452,2.456,2.459,2.462,2.463,2.464,2.473,2.478,2.479,2.481,2.487,2.487,2.492,2.505,2.518,2.52,2.524,2.527,2.53,2.53,2.534,2.54,2.543,2.562,2.563,2.568,2.57,2.582,2.592,2.599,2.605,2.61,2.616,2.627,2.638,2.639,2.649,2.656,2.672,2.679,2.683,2.692,2.702,2.706,2.715,2.723,2.729,2.742,2.743,2.753,2.771,2.778,2.791,2.801,2.809,2.821,2.834,2.837,2.85,2.868,2.874,2.885,2.901,2.914,2.926,2.934,2.952,2.957,2.971,2.982,2.998,3.019,3.032,3.045,3.05,3.064,3.075,3.1,3.119,3.128,3.143,3.157,3.164,3.193,3.208,3.227,3.237,3.253,3.276,3.284,3.308,3.33,3.342,3.372,3.384,3.4,3.43,3.45,3.475,3.495,3.516,3.55,3.564,3.591,3.619,3.642,3.663,3.674,3.712,3.743,3.776,3.802,3.828,3.885,3.916,3.969,3.969,3.974,4.031,4.066,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.314,3.311,3.301,3.293,3.285,3.277,3.261,3.261,3.245,3.234,3.23,3.225,3.207,3.197,3.195,3.18,3.179,3.173,3.162,3.155,3.148,3.143,3.137,3.134,3.121,3.115,3.114,3.111,3.11,3.099,3.09,3.089,3.076,3.075,3.072,3.071,3.058,3.058,3.053,3.044,3.042,3.035,3.028,3.027,3.023,3.023,3.023,3.019,3.018,3.008,3.005,3.004,3,3,2.998,2.998,2.995,2.995,2.998,2.995,2.994,2.994,2.994,2.993,2.99,2.986,2.986,2.982,2.982,2.982,2.98,2.98,2.98,2.98,2.982,2.983,2.983,2.983,2.98,2.98,2.98,2.98,2.982,2.984,2.984,2.984,2.989,2.989,2.99,2.995,2.998,3.002,3.002,3.006,3.011,3.012,3.012,3.013,3.016,3.021,3.024,3.029,3.029,3.032,3.033,3.034,3.039,3.039,3.047,3.051,3.051,3.056,3.066,3.072,3.074,3.084,3.085,3.094,3.096,3.097,3.11,3.111,3.122,3.122,3.123,3.122,3.122,3.132,3.134,3.144,3.147,3.148,3.16,3.162,3.175,3.184,3.185,3.187,3.191,3.195,3.2,3.217,3.217,3.217,3.241,3.247,3.248,3.26,3.261,3.275,3.275,3.283,3.297,3.802,3.827,3.846,3.848,3.866,3.883,3.899,3.913,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 93.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 93.5605} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.7498} {Name Sonar15 Range 1.5748}
SEN {Time 93.6035} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.173,0.173,0.185,0.185,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.265,3.258,3.258,3.246,3.239,3.239,3.378,3.378,0,0,0,0,0,0,0,0,0,3.114,3.113,3.105,3.103,3.094,3.094,3.085,3.083,3.078,3.075,3.074,3.066,3.066,3.061,3.06,0.154,0.144,0.144,0.144,0.147,0.147,0.15,0.158,0.158,0.154,0.158,0.158,3.029,3.03,3.037,3.037,3.03,3.03,0.163,0.162,0.162,0.162,0.154,0.154,0.163,0.166,0.18,3.451,3.52,3.529,3.529,3.529,3.523,3.536,3.529,3.532,3.529,3.532,3.529,3.532,3.532,3.539,3.539,3.539,3.539,3.539,3.54,3.541,3.541,3.543,3.543,3.543,3.543,3.543,3.545,3.551,3.557,3.557,3.564,3.565,3.569,3.569,3.571,3.575,3.578,3.589,3.591,3.592,3.596,3.596,3.6,3.608,3.609,3.61,3.614,3.621,3.628,3.628,3.64,3.649,3.652,3.661,3.67,3.672,3.673,3.683,3.685,3.696,3.704,3.705,3.712,3.723,3.731,3.743,3.745,3.748,3.756,3.772,3.773,3.78,3.784,3.788,3.808,3.809,3.839,3.845,3.846,3.86,3.877,3.886,3.892,3.899,3.908,3.918,3.94,3.943,3.953,3.976,3.977,3.993,4.021,4.028,4.049,4.062,4.076,4.089,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.007,4.024,3.948,3.928,3.879,3.848,3.824,3.79,3.771,3.742,3.708,3.688,3.671,3.64,3.611,3.599,3.561,3.537,3.533,3.498,3.481,3.456,3.429,3.405,3.389,3.365,3.356,3.336,3.312,3.288,3.271,3.261,3.232,3.223,3.21,3.191,3.163,3.157,3.135,3.124,3.108,3.092,3.089,3.074,3.058,3.052,3.03,3.02,2.997,2.995,2.979,2.961,2.959,2.941,2.937,2.911,2.903,2.898,2.878,2.87,2.85,2.848,2.831,2.825,2.814,2.806,2.802,2.773,2.772,2.76,2.757,2.744,2.74,2.722,2.72,2.711,2.702,2.694,2.682,2.671,2.66,2.656,2.637,2.636,2.635,2.628,2.609,2.608,2.598,2.593,2.582,2.578,2.57,2.564,2.552,2.551,2.548,2.542,2.54,2.54,2.523,2.521,2.518,2.513,2.512,2.506,2.5,2.494,2.483,2.482,2.479,2.473,2.466,2.466,2.46,2.457,2.453,2.448,2.447,2.441,2.439,2.436,2.436,2.43,2.43,2.424,2.418,2.418,2.417,2.413,2.408,2.407,2.407,2.405,2.405,2.405,2.402,2.401,2.393,2.393,2.393,2.394,2.394,2.394,2.393,2.391,2.389,2.389,2.387,2.386,2.386,2.389,2.389,2.389,2.389,2.389,2.39,2.39,2.387,2.39,2.39,2.391,2.392,2.392,2.395,2.392,2.398,2.4,2.4,2.404,2.405,2.407,2.41,2.413,2.415,2.416,2.419,2.419,2.42,2.423,2.423,2.428,2.434,2.434,2.436,2.438,2.442,2.443,2.449,2.451,2.457,2.46,2.468,2.474,2.478,2.478,2.485,2.489,2.497,2.498,2.5,2.51,2.511,2.515,2.516,2.524,2.535,2.542,2.551,2.551,2.552,2.557,2.567,2.578,2.581,2.587,2.593,2.599,2.612,2.62,2.63,2.631,2.632,2.645,2.667,2.672,2.677,2.68,2.685,2.694,2.715,2.723,2.727,2.733,2.739,2.744,2.761,2.769,2.782,2.789,2.804,2.809,2.821,2.833,2.843,2.857,2.873,2.879,2.888,2.904,2.917,2.923,2.936,2.955,2.96,2.971,2.984,2.997,3.021,3.029,3.036,3.053,3.069,3.082,3.102,3.114,3.124,3.143,3.163,3.168,3.183,3.215,3.222,3.231,3.251,3.28,3.284,3.311,3.329,3.341,3.358,3.391,3.407,3.433,3.455,3.473,3.508,3.524,3.547,3.565,3.585,3.605,3.638,3.667,3.702,3.723,3.749,3.781,3.795,3.812,3.861,3.883,3.91,3.945,3.987,4.021,4.075,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.326,3.305,3.297,3.287,3.276,3.268,3.265,3.26,3.241,3.235,3.229,3.223,3.206,3.201,3.196,3.187,3.176,3.171,3.162,3.158,3.155,3.143,3.14,3.121,3.12,3.119,3.111,3.108,3.099,3.089,3.085,3.084,3.083,3.08,3.069,3.064,3.061,3.06,3.059,3.046,3.044,3.043,3.028,3.027,3.024,3.02,3.02,3.019,3.015,3.011,3.011,3.007,3.007,3.002,3.001,3,2.995,2.995,2.995,2.99,2.99,2.988,2.988,2.985,2.985,2.985,2.985,2.984,2.981,2.981,2.98,2.98,2.98,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.986,2.987,2.987,2.986,2.992,2.992,2.992,2.992,2.992,2.992,3.003,3.003,3.004,3.006,3.01,3.01,3.015,3.017,3.019,3.021,3.023,3.024,3.03,3.036,3.039,3.043,3.045,3.047,3.054,3.055,3.056,3.067,3.067,3.07,3.082,3.085,3.086,3.09,3.1,3.104,3.117,3.117,3.117,3.117,3.125,3.125,3.126,3.142,3.144,3.155,3.159,3.16,3.167,3.171,3.178,3.191,3.197,3.198,3.198,3.198,3.207,3.21,3.216,3.23,3.249,3.256,3.259,3.263,3.278,3.278,3.285,3.287,3.818,3.831,3.837,3.843,3.862,3.876,3.893,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.76} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 93.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 93.7624} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.7498} {Name Sonar15 Range 1.5748}
SEN {Time 93.8045} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.183,0.182,0.18,0.183,0.183,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.252,3.38,3.38,3.38,0,0,0,0,0,0,0,0,0,3.124,3.117,3.116,3.106,3.093,3.092,3.092,3.092,3.081,3.076,3.067,3.064,3.064,3.061,3.061,3.055,0.153,0.153,0.153,0.15,0.146,0.15,0.15,0.152,0.152,0.153,0.167,3.021,3.029,3.033,3.033,3.047,3.047,3.047,0.167,0.164,0.159,0.153,0.153,0.164,0.168,0.177,3.448,3.524,3.529,3.535,3.531,3.531,3.531,3.531,3.531,3.531,3.534,3.536,3.536,3.536,3.536,3.541,3.54,3.541,3.543,3.541,3.543,3.545,3.546,3.546,3.546,3.547,3.547,3.547,3.551,3.556,3.556,3.557,3.561,3.571,3.571,3.572,3.579,3.579,3.579,3.588,3.588,3.59,3.593,3.61,3.611,3.611,3.616,3.618,3.622,3.624,3.632,3.638,3.653,3.663,3.666,3.669,3.675,3.675,3.682,3.685,3.691,3.697,3.711,3.714,3.726,3.738,3.743,3.757,3.76,3.765,3.774,3.776,3.792,3.803,3.808,3.816,3.819,3.826,3.834,3.848,3.87,3.882,3.885,3.892,3.894,3.916,3.92,3.938,3.951,3.964,3.974,3.987,3.993,4.012,4.028,4.038,4.049,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0.007,3.927,3.864,3.824,3.791,3.763,3.735,3.712,3.691,3.671,3.646,3.607,3.58,3.57,3.545,3.528,3.512,3.486,3.459,3.433,3.407,3.389,3.378,3.348,3.33,3.313,3.294,3.272,3.252,3.231,3.228,3.21,3.191,3.17,3.152,3.134,3.128,3.112,3.093,3.084,3.069,3.058,3.047,3.039,3.023,2.998,2.993,2.977,2.956,2.953,2.94,2.933,2.917,2.908,2.892,2.881,2.874,2.85,2.847,2.835,2.823,2.808,2.805,2.803,2.779,2.769,2.757,2.75,2.744,2.742,2.726,2.719,2.713,2.696,2.692,2.682,2.666,2.664,2.651,2.647,2.641,2.635,2.627,2.627,2.608,2.598,2.591,2.581,2.58,2.562,2.56,2.559,2.552,2.551,2.536,2.536,2.534,2.533,2.525,2.523,2.513,2.502,2.502,2.501,2.499,2.493,2.479,2.476,2.476,2.476,2.467,2.462,2.457,2.455,2.45,2.449,2.449,2.441,2.435,2.434,2.423,2.421,2.421,2.42,2.419,2.414,2.414,2.412,2.412,2.41,2.408,2.408,2.405,2.401,2.398,2.398,2.396,2.396,2.396,2.396,2.394,2.394,2.388,2.387,2.387,2.387,2.387,2.385,2.391,2.388,2.388,2.388,2.389,2.389,2.389,2.389,2.389,2.389,2.395,2.396,2.396,2.396,2.395,2.395,2.395,2.399,2.401,2.403,2.405,2.408,2.41,2.41,2.417,2.42,2.42,2.42,2.42,2.426,2.431,2.433,2.434,2.437,2.438,2.445,2.452,2.454,2.455,2.461,2.463,2.467,2.472,2.472,2.485,2.486,2.486,2.491,2.492,2.507,2.508,2.512,2.522,2.524,2.529,2.53,2.539,2.543,2.549,2.555,2.564,2.568,2.569,2.586,2.593,2.601,2.604,2.616,2.616,2.621,2.637,2.64,2.648,2.657,2.676,2.685,2.686,2.691,2.695,2.707,2.717,2.722,2.729,2.735,2.739,2.762,2.77,2.779,2.794,2.797,2.803,2.823,2.83,2.846,2.848,2.867,2.87,2.881,2.912,2.923,2.925,2.93,2.948,2.957,2.974,2.989,3.006,3.013,3.027,3.035,3.05,3.067,3.073,3.097,3.115,3.125,3.132,3.15,3.175,3.186,3.206,3.23,3.231,3.258,3.278,3.278,3.316,3.338,3.348,3.354,3.383,3.403,3.44,3.459,3.485,3.496,3.52,3.532,3.56,3.587,3.619,3.639,3.66,3.686,3.719,3.748,3.775,3.792,3.818,3.85,3.875,3.901,3.948,3.982,4.018,4.095,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.321,3.318,3.291,3.288,3.284,3.264,3.261,3.258,3.245,3.237,3.228,3.225,3.207,3.205,3.203,3.185,3.173,3.171,3.162,3.156,3.154,3.142,3.14,3.126,3.119,3.112,3.109,3.108,3.107,3.099,3.086,3.085,3.085,3.075,3.074,3.067,3.055,3.054,3.052,3.044,3.035,3.035,3.035,3.033,3.03,3.021,3.019,3.018,3.01,3.007,3.004,3,3,2.999,2.999,2.997,2.995,2.995,2.997,2.995,2.993,2.993,2.993,2.99,2.989,2.99,2.982,2.982,2.982,2.98,2.98,2.982,2.982,2.986,2.986,2.986,2.986,2.981,2.981,2.986,2.981,2.986,2.987,2.986,2.988,2.988,2.988,2.988,2.994,2.996,2.998,3.004,3.004,3.008,3.008,3.008,3.008,3.011,3.011,3.015,3.026,3.027,3.029,3.029,3.037,3.039,3.044,3.047,3.049,3.056,3.06,3.061,3.065,3.069,3.073,3.08,3.083,3.083,3.091,3.096,3.111,3.115,3.115,3.115,3.116,3.12,3.127,3.133,3.134,3.143,3.152,3.159,3.16,3.168,3.174,3.18,3.181,3.194,3.197,3.197,3.203,3.209,3.217,3.222,3.24,3.243,3.257,3.259,3.261,3.282,3.282,3.286,3.298,3.819,3.831,3.831,3.846,3.865,3.886,3.901,3.916,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 93.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 93.9544} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.2578} {Name Sonar15 Range 1.5748}
SEN {Time 93.9995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.174,0.174,0.179,0.179,0.208,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.253,3.24,3.23,3.23,3.23,3.371,0,0,0,0,0,0,0,0,0,3.119,3.116,3.116,3.098,3.095,3.092,3.084,3.079,3.079,3.075,3.07,3.07,3.07,3.064,3.07,3.07,0.147,0.147,0.147,0.147,0.145,0.154,0.154,0.154,0.148,0.154,0.154,3.032,3.035,3.042,3.042,3.043,3.043,3.043,0.17,0.162,0.153,0.153,0.153,0.154,0.157,0.16,3.444,3.529,3.529,3.529,3.529,3.529,3.535,3.535,3.535,3.535,3.533,3.533,3.533,3.535,3.537,3.537,3.539,3.539,3.539,3.54,3.54,3.54,3.553,3.553,3.553,3.555,3.555,3.557,3.557,3.559,3.56,3.562,3.562,3.567,3.567,3.567,3.574,3.576,3.576,3.582,3.586,3.593,3.597,3.597,3.602,3.607,3.619,3.62,3.621,3.624,3.633,3.636,3.644,3.648,3.661,3.662,3.67,3.675,3.678,3.69,3.696,3.699,3.701,3.705,3.725,3.733,3.752,3.753,3.759,3.763,3.767,3.78,3.788,3.793,3.806,3.806,3.815,3.834,3.843,3.847,3.858,3.868,3.89,3.899,3.908,3.917,3.92,3.94,3.953,3.96,3.982,3.992,4.005,4.021,4.022,4.041,4.055,4.082,4.087,4.088,0.016,0.016,0.016,0,0.007,0,0.007,0,4.066,3.949,3.926,3.891,3.86,3.824,3.804,3.771,3.731,3.714,3.682,3.664,3.633,3.614,3.582,3.566,3.547,3.533,3.493,3.482,3.451,3.433,3.421,3.395,3.38,3.344,3.335,3.307,3.3,3.273,3.257,3.229,3.216,3.202,3.188,3.172,3.156,3.133,3.121,3.109,3.105,3.084,3.072,3.057,3.042,3.027,3.015,2.991,2.986,2.965,2.961,2.955,2.935,2.931,2.918,2.905,2.897,2.883,2.868,2.854,2.843,2.827,2.818,2.81,2.805,2.793,2.776,2.775,2.768,2.757,2.749,2.727,2.722,2.714,2.705,2.698,2.691,2.678,2.669,2.663,2.655,2.646,2.632,2.625,2.622,2.617,2.608,2.608,2.599,2.587,2.585,2.575,2.563,2.562,2.559,2.555,2.542,2.535,2.531,2.53,2.528,2.519,2.506,2.502,2.501,2.499,2.496,2.488,2.486,2.486,2.478,2.474,2.466,2.466,2.461,2.454,2.45,2.448,2.444,2.439,2.435,2.432,2.431,2.424,2.423,2.421,2.419,2.416,2.411,2.411,2.411,2.41,2.407,2.404,2.403,2.402,2.4,2.397,2.396,2.396,2.396,2.396,2.396,2.386,2.386,2.386,2.387,2.391,2.391,2.39,2.39,2.389,2.389,2.389,2.389,2.388,2.39,2.39,2.39,2.391,2.391,2.391,2.391,2.394,2.396,2.397,2.403,2.406,2.406,2.409,2.409,2.409,2.411,2.411,2.413,2.413,2.419,2.421,2.426,2.426,2.429,2.43,2.431,2.438,2.441,2.443,2.444,2.449,2.457,2.457,2.458,2.47,2.474,2.475,2.476,2.487,2.492,2.495,2.499,2.501,2.505,2.515,2.521,2.522,2.527,2.531,2.539,2.553,2.559,2.559,2.563,2.568,2.576,2.581,2.582,2.586,2.591,2.615,2.625,2.627,2.634,2.64,2.641,2.67,2.672,2.681,2.681,2.684,2.699,2.703,2.723,2.73,2.73,2.733,2.741,2.76,2.774,2.778,2.788,2.791,2.802,2.823,2.831,2.848,2.859,2.871,2.874,2.886,2.906,2.906,2.921,2.937,2.954,2.963,2.98,2.989,2.998,3.014,3.022,3.049,3.052,3.069,3.074,3.1,3.109,3.13,3.142,3.157,3.17,3.19,3.205,3.226,3.236,3.259,3.278,3.284,3.313,3.328,3.354,3.368,3.392,3.402,3.441,3.459,3.474,3.496,3.515,3.538,3.572,3.604,3.619,3.641,3.669,3.689,3.716,3.744,3.774,3.798,3.831,3.856,3.876,3.923,3.946,3.994,4.06,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.316,3.31,3.292,3.291,3.281,3.27,3.259,3.259,3.257,3.242,3.218,3.213,3.207,3.201,3.196,3.182,3.18,3.177,3.163,3.154,3.153,3.145,3.14,3.132,3.114,3.114,3.111,3.107,3.099,3.097,3.097,3.092,3.08,3.075,3.07,3.066,3.057,3.057,3.053,3.05,3.046,3.041,3.033,3.031,3.028,3.028,3.026,3.025,3.013,3.008,3.004,3.003,3.003,3.002,2.994,2.994,2.994,2.994,2.997,2.997,2.997,2.994,2.993,2.992,2.991,2.988,2.985,2.984,2.982,2.98,2.98,2.98,2.98,2.985,2.986,2.985,2.985,2.984,2.984,2.984,2.983,2.983,2.983,2.983,2.982,2.982,2.985,2.993,2.994,2.997,2.998,2.998,3.001,3.001,3.004,3.008,3.008,3.01,3.01,3.016,3.021,3.025,3.029,3.029,3.033,3.034,3.038,3.048,3.05,3.053,3.053,3.058,3.063,3.074,3.076,3.081,3.087,3.09,3.092,3.101,3.103,3.116,3.121,3.121,3.121,3.126,3.129,3.132,3.14,3.145,3.15,3.153,3.155,3.158,3.173,3.175,3.188,3.192,3.201,3.203,3.206,3.206,3.219,3.221,3.233,3.248,3.249,3.265,3.268,3.275,3.275,3.281,3.292,3.819,3.827,3.835,3.851,3.87,3.888,3.896,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 94.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 94.1553} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.2578} {Name Sonar15 Range 1.5748}
SEN {Time 94.1998} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.18,0.18,0.182,0.19,0.19,0.22,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.115,3.109,3.105,3.101,3.1,3.092,3.091,3.09,3.077,3.076,3.073,3.064,3.064,3.062,3.062,3.062,0.148,0.148,0.148,0.148,0.152,0.152,0.157,0.157,0.154,0.154,0.159,3.028,3.04,3.04,3.04,3.029,3.029,0.16,0.159,0.155,0.155,0.155,0.158,0.16,0.162,0.174,3.446,3.529,3.534,3.534,3.532,3.534,3.535,3.532,3.536,3.536,3.536,3.537,3.537,3.536,3.536,3.537,3.537,3.538,3.539,3.543,3.544,3.547,3.547,3.547,3.539,3.539,3.539,3.555,3.557,3.557,3.557,3.559,3.56,3.56,3.569,3.57,3.571,3.573,3.579,3.581,3.59,3.6,3.602,3.604,3.604,3.608,3.614,3.614,3.625,3.633,3.634,3.634,3.639,3.643,3.664,3.664,3.67,3.673,3.68,3.685,3.685,3.713,3.719,3.728,3.738,3.74,3.749,3.749,3.751,3.773,3.781,3.787,3.79,3.79,3.797,3.806,3.811,3.831,3.848,3.853,3.872,3.878,3.886,3.889,3.909,3.921,3.927,3.944,3.954,3.955,3.973,3.987,4.006,4.013,4.027,4.033,4.072,4.08,4.087,4.091,0.016,0.016,0,0,0,0.009,0.009,0,0,0,0,0,3.865,3.835,3.796,3.764,3.738,3.716,3.683,3.647,3.629,3.607,3.591,3.558,3.547,3.527,3.507,3.462,3.458,3.435,3.411,3.392,3.371,3.341,3.329,3.307,3.289,3.268,3.246,3.24,3.227,3.212,3.178,3.169,3.158,3.131,3.122,3.111,3.099,3.087,3.071,3.055,3.032,3.03,3.024,3.001,2.99,2.971,2.966,2.955,2.942,2.921,2.921,2.902,2.89,2.88,2.868,2.858,2.849,2.841,2.827,2.814,2.806,2.802,2.781,2.778,2.764,2.752,2.748,2.73,2.725,2.714,2.71,2.698,2.689,2.677,2.669,2.661,2.658,2.643,2.638,2.631,2.63,2.624,2.618,2.597,2.595,2.593,2.585,2.57,2.569,2.559,2.553,2.551,2.542,2.538,2.535,2.529,2.529,2.522,2.509,2.508,2.505,2.503,2.495,2.484,2.484,2.478,2.477,2.476,2.473,2.47,2.466,2.454,2.453,2.447,2.444,2.44,2.438,2.438,2.432,2.43,2.43,2.43,2.415,2.415,2.411,2.411,2.411,2.411,2.405,2.402,2.402,2.402,2.398,2.398,2.397,2.397,2.399,2.399,2.396,2.396,2.394,2.389,2.389,2.389,2.389,2.387,2.39,2.389,2.389,2.389,2.39,2.389,2.39,2.39,2.39,2.39,2.393,2.393,2.393,2.393,2.393,2.394,2.402,2.402,2.402,2.402,2.406,2.406,2.414,2.414,2.418,2.42,2.421,2.421,2.421,2.423,2.426,2.426,2.428,2.431,2.441,2.442,2.446,2.454,2.456,2.458,2.459,2.47,2.474,2.477,2.48,2.489,2.491,2.494,2.494,2.509,2.515,2.522,2.523,2.523,2.527,2.533,2.546,2.548,2.555,2.557,2.558,2.566,2.567,2.576,2.585,2.594,2.606,2.607,2.617,2.625,2.628,2.647,2.648,2.67,2.675,2.677,2.686,2.694,2.703,2.704,2.717,2.728,2.729,2.74,2.747,2.753,2.773,2.78,2.791,2.8,2.804,2.818,2.834,2.84,2.859,2.869,2.876,2.885,2.905,2.917,2.928,2.931,2.951,2.958,2.969,2.978,2.991,3.023,3.032,3.039,3.053,3.063,3.074,3.104,3.109,3.12,3.141,3.155,3.165,3.195,3.205,3.218,3.221,3.262,3.279,3.287,3.321,3.333,3.354,3.367,3.392,3.415,3.438,3.464,3.481,3.504,3.518,3.531,3.564,3.592,3.608,3.634,3.666,3.691,3.718,3.753,3.782,3.8,3.82,3.865,3.888,3.912,3.939,3.97,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.317,3.309,3.295,3.294,3.279,3.263,3.263,3.26,3.237,3.225,3.218,3.218,3.204,3.201,3.197,3.19,3.175,3.169,3.167,3.149,3.149,3.148,3.136,3.136,3.122,3.12,3.114,3.106,3.105,3.095,3.089,3.087,3.078,3.074,3.071,3.068,3.061,3.057,3.054,3.045,3.043,3.038,3.034,3.029,3.029,3.023,3.022,3.015,3.013,3.01,3.009,3.006,3.006,3.002,3.002,3,2.996,3.002,3.002,2.994,2.994,2.994,2.994,2.994,2.994,2.985,2.985,2.985,2.985,2.985,2.983,2.978,2.978,2.98,2.983,2.984,2.984,2.986,2.984,2.984,2.985,2.983,2.982,2.983,2.983,2.983,2.989,2.991,2.993,2.997,2.998,3.001,3.001,3.002,3.003,3.004,3.009,3.014,3.019,3.019,3.023,3.027,3.029,3.031,3.032,3.034,3.043,3.045,3.049,3.053,3.056,3.059,3.062,3.064,3.075,3.082,3.083,3.086,3.091,3.099,3.102,3.116,3.116,3.116,3.119,3.129,3.13,3.134,3.136,3.146,3.154,3.157,3.157,3.164,3.176,3.183,3.187,3.193,3.196,3.196,3.211,3.217,3.217,3.22,3.235,3.252,3.255,3.26,3.268,3.273,3.273,3.287,3.296,3.814,3.824,3.833,3.845,3.863,3.884,3.902,3.916,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.36} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 94.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 94.3563} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.2578} {Name Sonar15 Range 1.5748}
SEN {Time 94.4005} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.176,0.176,0.184,0.184,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.246,3.374,3.374,3.374,0,0,0,0,0,0,0,0,0,3.116,3.114,3.111,3.105,3.094,3.092,3.092,3.089,3.077,3.073,3.071,3.069,3.069,3.058,3.052,0.146,0.146,0.146,0.146,0.149,0.149,0.156,0.158,0.158,0.155,0.158,0.162,3.034,3.034,3.048,3.048,3.034,3.021,0.169,0.166,0.163,0.155,0.155,0.155,0.157,0.165,0.172,3.457,3.521,3.521,3.524,3.524,3.533,3.534,3.534,3.534,3.533,3.533,3.533,3.533,3.533,3.534,3.536,3.541,3.542,3.542,3.544,3.544,3.546,3.546,3.546,3.546,3.546,3.55,3.552,3.556,3.556,3.558,3.559,3.563,3.563,3.568,3.57,3.575,3.577,3.582,3.584,3.587,3.596,3.6,3.605,3.607,3.609,3.617,3.619,3.623,3.626,3.626,3.632,3.65,3.652,3.652,3.666,3.669,3.674,3.688,3.69,3.697,3.698,3.708,3.722,3.728,3.735,3.744,3.744,3.751,3.764,3.767,3.775,3.78,3.793,3.808,3.816,3.826,3.833,3.834,3.845,3.857,3.871,3.882,3.889,3.912,3.917,3.922,3.925,3.957,3.963,3.981,3.998,4.003,4.02,4.023,4.037,4.045,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,3.958,3.917,3.882,3.857,3.821,3.791,3.766,3.736,3.707,3.686,3.661,3.642,3.618,3.58,3.567,3.546,3.527,3.506,3.477,3.458,3.441,3.416,3.392,3.367,3.348,3.332,3.31,3.296,3.271,3.258,3.241,3.231,3.205,3.193,3.16,3.148,3.14,3.125,3.109,3.101,3.088,3.079,3.061,3.052,3.029,3.012,2.997,2.997,2.969,2.961,2.954,2.939,2.927,2.918,2.904,2.898,2.882,2.864,2.855,2.846,2.837,2.829,2.814,2.807,2.795,2.771,2.766,2.763,2.755,2.748,2.734,2.727,2.712,2.71,2.696,2.688,2.687,2.675,2.661,2.655,2.642,2.639,2.631,2.62,2.613,2.61,2.601,2.593,2.585,2.583,2.578,2.566,2.559,2.552,2.552,2.545,2.537,2.529,2.528,2.527,2.523,2.509,2.504,2.5,2.499,2.49,2.488,2.484,2.481,2.479,2.467,2.466,2.465,2.459,2.456,2.453,2.448,2.442,2.441,2.438,2.436,2.432,2.42,2.42,2.42,2.42,2.42,2.414,2.413,2.413,2.412,2.408,2.407,2.404,2.4,2.399,2.397,2.395,2.395,2.395,2.395,2.395,2.395,2.388,2.388,2.388,2.389,2.389,2.389,2.388,2.388,2.388,2.39,2.39,2.39,2.39,2.391,2.392,2.392,2.392,2.395,2.393,2.393,2.395,2.395,2.396,2.406,2.406,2.407,2.409,2.409,2.41,2.412,2.412,2.414,2.417,2.424,2.424,2.424,2.427,2.433,2.433,2.434,2.438,2.439,2.442,2.454,2.459,2.461,2.461,2.463,2.463,2.476,2.485,2.486,2.493,2.496,2.498,2.5,2.507,2.515,2.519,2.529,2.536,2.538,2.543,2.546,2.555,2.56,2.563,2.564,2.566,2.584,2.59,2.602,2.605,2.61,2.618,2.625,2.636,2.637,2.649,2.67,2.673,2.679,2.689,2.69,2.693,2.709,2.716,2.725,2.726,2.739,2.742,2.753,2.767,2.775,2.794,2.799,2.811,2.817,2.834,2.848,2.858,2.87,2.871,2.89,2.902,2.911,2.921,2.938,2.946,2.968,2.972,2.985,3.007,3.018,3.035,3.046,3.049,3.07,3.082,3.092,3.107,3.12,3.14,3.154,3.174,3.192,3.207,3.224,3.234,3.255,3.282,3.29,3.314,3.337,3.346,3.37,3.388,3.409,3.436,3.459,3.479,3.497,3.528,3.535,3.558,3.606,3.621,3.646,3.662,3.692,3.713,3.737,3.779,3.804,3.822,3.851,3.871,3.934,3.948,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.316,3.309,3.288,3.288,3.283,3.268,3.261,3.258,3.25,3.228,3.228,3.225,3.211,3.2,3.191,3.182,3.178,3.171,3.164,3.156,3.153,3.143,3.135,3.131,3.12,3.116,3.114,3.11,3.101,3.095,3.09,3.089,3.079,3.077,3.072,3.067,3.058,3.054,3.053,3.046,3.045,3.045,3.04,3.035,3.032,3.029,3.02,3.019,3.008,3.007,3.006,3.005,3.005,3.005,3,3,2.995,2.995,2.995,2.994,2.994,2.994,2.994,2.994,2.993,2.985,2.985,2.985,2.985,2.985,2.985,2.984,2.983,2.983,2.983,2.982,2.982,2.978,2.978,2.978,2.986,2.986,2.988,2.988,2.986,2.983,2.988,2.991,2.993,2.996,2.998,3.002,3.003,3.004,3.004,3.005,3.008,3.01,3.01,3.011,3.022,3.028,3.032,3.03,3.033,3.039,3.037,3.037,3.042,3.054,3.058,3.06,3.06,3.071,3.073,3.086,3.089,3.091,3.091,3.101,3.106,3.113,3.115,3.115,3.12,3.121,3.13,3.13,3.132,3.146,3.155,3.159,3.161,3.163,3.175,3.176,3.189,3.191,3.192,3.196,3.2,3.206,3.223,3.227,3.244,3.254,3.259,3.265,3.268,3.276,3.276,3.28,3.29,3.819,3.831,3.838,3.853,3.859,3.873,3.901,3.907,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.56} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 94.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 94.5573} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.5748}
SEN {Time 94.5995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.175,0.175,0.179,0.179,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.246,3.381,3.381,3.381,0,0,0,0,0,0,0,0,0,3.118,3.114,3.105,3.094,3.094,3.093,3.091,3.089,3.074,3.072,3.07,3.07,3.07,3.065,3.065,3.065,0.151,0.151,0.151,0.151,0.149,0.149,0.149,0.156,0.149,0.156,0.159,3.035,3.036,3.043,3.043,3.047,3.047,3.047,0.165,0.157,0.156,0.153,0.153,0.153,0.159,0.164,3.459,3.523,3.526,3.531,3.54,3.54,3.54,3.538,3.535,3.533,3.533,3.533,3.533,3.533,3.534,3.534,3.534,3.538,3.538,3.536,3.536,3.541,3.551,3.551,3.551,3.551,3.549,3.549,3.551,3.555,3.555,3.56,3.562,3.562,3.568,3.568,3.57,3.574,3.574,3.579,3.584,3.605,3.605,3.605,3.605,3.605,3.616,3.62,3.621,3.628,3.637,3.641,3.642,3.656,3.66,3.665,3.665,3.672,3.676,3.696,3.697,3.709,3.71,3.716,3.721,3.728,3.739,3.75,3.753,3.765,3.766,3.771,3.79,3.791,3.797,3.819,3.823,3.83,3.852,3.854,3.859,3.872,3.883,3.894,3.909,3.915,3.917,3.94,3.95,3.952,3.972,3.99,4.005,4.017,4.04,4.05,4.052,4.064,4.09,0.016,0.016,0.016,0.016,0,0.007,0.016,4.057,4.003,3.977,3.951,3.923,3.893,3.866,3.825,3.787,3.766,3.735,3.72,3.691,3.669,3.642,3.608,3.591,3.566,3.534,3.522,3.511,3.472,3.455,3.433,3.406,3.392,3.371,3.363,3.341,3.31,3.288,3.287,3.251,3.245,3.22,3.205,3.193,3.17,3.15,3.132,3.127,3.103,3.096,3.089,3.088,3.058,3.042,3.025,3.01,3.001,2.994,2.972,2.966,2.949,2.938,2.929,2.906,2.902,2.897,2.886,2.878,2.852,2.841,2.836,2.827,2.812,2.808,2.799,2.784,2.777,2.764,2.751,2.74,2.724,2.719,2.716,2.715,2.699,2.693,2.68,2.672,2.66,2.657,2.641,2.64,2.632,2.625,2.615,2.611,2.603,2.592,2.591,2.584,2.581,2.576,2.556,2.553,2.55,2.536,2.536,2.532,2.53,2.514,2.514,2.508,2.504,2.498,2.496,2.495,2.493,2.487,2.485,2.474,2.472,2.471,2.465,2.455,2.452,2.45,2.449,2.443,2.44,2.44,2.439,2.437,2.43,2.421,2.418,2.418,2.418,2.416,2.411,2.411,2.406,2.406,2.404,2.399,2.399,2.399,2.396,2.396,2.396,2.395,2.395,2.393,2.392,2.391,2.389,2.385,2.385,2.385,2.385,2.385,2.386,2.387,2.387,2.387,2.39,2.387,2.391,2.391,2.391,2.393,2.393,2.393,2.393,2.393,2.393,2.398,2.397,2.405,2.407,2.405,2.405,2.405,2.407,2.416,2.417,2.42,2.42,2.42,2.421,2.423,2.428,2.434,2.438,2.442,2.445,2.445,2.454,2.46,2.46,2.46,2.462,2.474,2.478,2.48,2.487,2.492,2.494,2.496,2.505,2.506,2.511,2.519,2.531,2.533,2.538,2.54,2.54,2.555,2.558,2.559,2.568,2.572,2.583,2.59,2.6,2.602,2.613,2.617,2.625,2.634,2.636,2.644,2.661,2.674,2.689,2.691,2.691,2.706,2.708,2.712,2.721,2.725,2.735,2.739,2.761,2.783,2.784,2.785,2.797,2.809,2.826,2.831,2.839,2.858,2.874,2.88,2.892,2.91,2.917,2.919,2.937,2.949,2.96,2.966,2.989,3,3.022,3.038,3.041,3.052,3.067,3.08,3.106,3.11,3.126,3.135,3.147,3.167,3.19,3.21,3.236,3.236,3.25,3.282,3.285,3.314,3.339,3.354,3.366,3.385,3.405,3.433,3.457,3.472,3.497,3.516,3.535,3.568,3.591,3.61,3.634,3.662,3.689,3.705,3.752,3.773,3.806,3.831,3.85,3.885,3.914,3.986,4.018,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.32,3.314,3.294,3.29,3.272,3.263,3.261,3.259,3.245,3.233,3.229,3.226,3.204,3.202,3.201,3.187,3.179,3.171,3.167,3.157,3.155,3.142,3.141,3.127,3.123,3.111,3.108,3.107,3.102,3.094,3.091,3.089,3.079,3.071,3.07,3.067,3.059,3.05,3.048,3.045,3.043,3.036,3.035,3.031,3.029,3.028,3.022,3.017,3.013,3.013,3.011,3.008,3.007,3.004,3,2.999,2.998,2.998,2.998,3.005,3.043,3.043,3.005,2.996,2.994,2.99,2.988,2.988,2.988,2.987,2.985,2.983,2.983,2.983,2.984,2.98,2.984,2.98,2.98,2.979,2.979,2.979,2.981,2.983,2.983,2.99,2.993,2.996,2.997,2.997,2.999,2.999,2.999,2.999,3.008,3.009,3.013,3.014,3.015,3.018,3.022,3.022,3.025,3.033,3.037,3.039,3.044,3.044,3.049,3.05,3.051,3.054,3.067,3.07,3.072,3.079,3.083,3.093,3.101,3.103,3.112,3.112,3.116,3.116,3.118,3.118,3.126,3.127,3.142,3.148,3.15,3.159,3.16,3.163,3.178,3.18,3.193,3.194,3.196,3.199,3.2,3.202,3.209,3.221,3.231,3.254,3.256,3.257,3.267,3.289,3.289,3.29,3.29,3.82,3.831,3.842,3.847,3.863,3.875,3.9,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.75} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 94.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 94.7503} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.5748}
SEN {Time 94.7995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.179,0.183,0.185,0.185,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.234,3.234,3.229,3.234,3.239,3.38,0,0,0,0,0,0,0,0,0,3.123,3.112,3.109,3.1,3.096,3.094,3.093,3.086,3.077,3.074,3.074,3.063,3.063,3.063,3.06,3.06,0.152,0.152,0.147,0.152,0.147,0.154,0.152,0.154,0.152,0.154,0.156,3.033,3.035,3.039,3.039,3.039,3.039,0.166,0.159,0.159,0.159,0.153,0.153,0.161,0.161,0.188,3.443,3.522,3.53,3.53,3.53,3.532,3.534,3.534,3.534,3.533,3.533,3.533,3.533,3.536,3.536,3.537,3.535,3.537,3.537,3.537,3.541,3.546,3.549,3.549,3.549,3.549,3.547,3.547,3.552,3.554,3.558,3.561,3.563,3.563,3.568,3.574,3.576,3.578,3.584,3.587,3.588,3.59,3.597,3.598,3.604,3.613,3.616,3.618,3.619,3.62,3.63,3.632,3.65,3.652,3.654,3.677,3.679,3.68,3.682,3.682,3.69,3.708,3.71,3.716,3.73,3.732,3.743,3.751,3.753,3.762,3.762,3.782,3.788,3.793,3.807,3.818,3.822,3.83,3.848,3.856,3.863,3.873,3.886,3.889,3.89,3.912,3.923,3.941,3.953,3.958,3.97,3.983,4.008,4.024,4.033,4.048,4.066,4.076,4.087,0.016,0.016,0.016,0,0,0,0,0,0,0,3.978,3.953,3.885,3.875,3.833,3.797,3.771,3.74,3.726,3.695,3.652,3.635,3.614,3.583,3.556,3.541,3.515,3.505,3.475,3.457,3.448,3.399,3.39,3.367,3.351,3.339,3.311,3.298,3.278,3.251,3.234,3.227,3.198,3.187,3.172,3.154,3.14,3.118,3.117,3.105,3.089,3.081,3.046,3.044,3.029,3.026,2.996,2.983,2.974,2.964,2.955,2.942,2.928,2.922,2.906,2.894,2.89,2.876,2.864,2.852,2.837,2.822,2.804,2.803,2.802,2.774,2.769,2.763,2.756,2.75,2.732,2.721,2.719,2.716,2.692,2.688,2.672,2.668,2.665,2.655,2.637,2.636,2.634,2.634,2.625,2.612,2.597,2.593,2.584,2.583,2.58,2.571,2.564,2.555,2.553,2.536,2.534,2.529,2.529,2.529,2.528,2.513,2.509,2.508,2.506,2.5,2.483,2.483,2.483,2.472,2.47,2.468,2.467,2.462,2.454,2.454,2.443,2.443,2.437,2.434,2.434,2.434,2.431,2.43,2.427,2.42,2.413,2.412,2.411,2.411,2.411,2.41,2.406,2.404,2.403,2.399,2.397,2.397,2.397,2.395,2.394,2.394,2.392,2.388,2.386,2.386,2.386,2.39,2.39,2.39,2.39,2.39,2.39,2.388,2.387,2.387,2.387,2.393,2.395,2.396,2.396,2.393,2.393,2.393,2.393,2.394,2.397,2.4,2.408,2.408,2.414,2.414,2.414,2.414,2.414,2.414,2.42,2.424,2.424,2.424,2.424,2.431,2.435,2.444,2.445,2.448,2.451,2.455,2.46,2.47,2.473,2.475,2.48,2.48,2.482,2.483,2.487,2.5,2.506,2.518,2.518,2.522,2.527,2.53,2.532,2.534,2.543,2.547,2.561,2.567,2.573,2.577,2.58,2.587,2.587,2.597,2.603,2.615,2.627,2.635,2.642,2.646,2.667,2.671,2.672,2.691,2.692,2.697,2.705,2.722,2.723,2.724,2.736,2.745,2.761,2.779,2.783,2.795,2.803,2.814,2.826,2.834,2.845,2.855,2.869,2.874,2.878,2.906,2.918,2.935,2.937,2.952,2.96,2.975,2.994,3.001,3.013,3.028,3.047,3.058,3.066,3.071,3.098,3.113,3.121,3.138,3.159,3.181,3.201,3.216,3.231,3.241,3.253,3.281,3.288,3.312,3.339,3.357,3.367,3.38,3.407,3.44,3.462,3.484,3.504,3.516,3.533,3.565,3.595,3.606,3.635,3.663,3.697,3.714,3.751,3.77,3.802,3.826,3.854,3.872,3.918,3.94,4.018,4.063,4.093,4.093,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.327,3.313,3.29,3.288,3.283,3.269,3.264,3.261,3.248,3.244,3.228,3.219,3.206,3.201,3.196,3.184,3.175,3.171,3.159,3.151,3.148,3.136,3.128,3.126,3.121,3.111,3.109,3.107,3.101,3.09,3.087,3.087,3.078,3.07,3.069,3.069,3.062,3.06,3.053,3.052,3.035,3.034,3.034,3.029,3.029,3.02,3.018,3.012,3.01,3.009,3.009,3.006,3.004,3.003,2.999,2.996,2.993,2.993,2.993,2.993,2.992,2.992,2.991,2.991,2.982,2.982,2.983,2.983,2.983,2.988,2.988,2.985,2.988,2.988,2.985,2.982,2.986,2.982,2.982,2.982,2.986,2.982,2.985,2.985,2.987,2.985,2.987,2.988,2.988,2.991,2.999,3.001,3.002,3.007,3.007,3.01,3.013,3.014,3.016,3.016,3.025,3.026,3.028,3.028,3.03,3.038,3.045,3.045,3.05,3.051,3.055,3.058,3.06,3.061,3.073,3.075,3.088,3.096,3.098,3.103,3.104,3.117,3.117,3.117,3.118,3.121,3.125,3.135,3.137,3.148,3.155,3.157,3.159,3.164,3.172,3.177,3.187,3.189,3.194,3.199,3.202,3.202,3.215,3.216,3.23,3.254,3.257,3.263,3.276,3.282,3.282,3.291,3.293,3.823,3.831,3.833,3.833,3.859,3.868,3.904,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 94.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 94.9513} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.5748}
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SEN {Time 95.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 95.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 95.1523} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.5748}
SEN {Time 95.1955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.183,0.183,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.245,3.231,3.231,3.368,3.368,0,0,0,0,0,0,0,0,0,3.119,3.117,3.113,3.105,3.103,3.091,3.089,3.089,3.08,3.074,3.074,3.061,3.061,3.059,3.055,0.146,0.143,0.143,0.143,0.146,0.143,0.152,0.153,0.157,0.153,0.157,0.16,3.033,3.033,3.036,3.036,3.036,3.033,0.163,0.163,0.163,0.163,0.157,0.157,0.159,0.159,0.179,3.446,3.529,3.529,3.529,3.535,3.536,3.532,3.532,3.532,3.532,3.532,3.533,3.535,3.537,3.541,3.541,3.537,3.537,3.538,3.538,3.541,3.546,3.549,3.549,3.549,3.551,3.548,3.548,3.553,3.553,3.553,3.569,3.569,3.57,3.57,3.571,3.576,3.584,3.584,3.588,3.591,3.591,3.592,3.594,3.594,3.6,3.612,3.616,3.621,3.631,3.632,3.639,3.651,3.652,3.655,3.662,3.674,3.675,3.684,3.69,3.694,3.707,3.713,3.717,3.731,3.74,3.743,3.751,3.752,3.755,3.769,3.787,3.787,3.796,3.799,3.811,3.814,3.829,3.841,3.843,3.863,3.879,3.889,3.89,3.907,3.92,3.924,3.943,3.951,3.958,3.977,3.988,4.006,4.022,4.032,4.034,4.058,4.075,4.089,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,4.058,3.942,3.942,3.913,3.871,3.82,3.795,3.762,3.739,3.726,3.683,3.66,3.628,3.613,3.588,3.563,3.544,3.526,3.508,3.487,3.457,3.437,3.415,3.391,3.375,3.353,3.339,3.307,3.297,3.287,3.247,3.238,3.22,3.196,3.178,3.166,3.162,3.139,3.13,3.11,3.101,3.089,3.071,3.058,3.045,3.03,3.024,2.994,2.99,2.968,2.965,2.954,2.941,2.925,2.915,2.91,2.9,2.887,2.869,2.848,2.843,2.834,2.817,2.807,2.806,2.793,2.784,2.767,2.764,2.753,2.749,2.737,2.729,2.714,2.703,2.695,2.69,2.682,2.68,2.668,2.66,2.642,2.636,2.632,2.622,2.612,2.611,2.599,2.596,2.589,2.58,2.575,2.57,2.559,2.556,2.543,2.539,2.537,2.533,2.531,2.521,2.515,2.505,2.504,2.501,2.501,2.494,2.49,2.484,2.478,2.473,2.473,2.473,2.463,2.46,2.455,2.449,2.442,2.439,2.439,2.437,2.435,2.425,2.424,2.423,2.42,2.423,2.42,2.415,2.411,2.411,2.409,2.408,2.404,2.404,2.401,2.4,2.4,2.397,2.397,2.397,2.397,2.39,2.39,2.389,2.386,2.386,2.386,2.388,2.388,2.388,2.388,2.388,2.387,2.387,2.388,2.388,2.388,2.388,2.391,2.391,2.391,2.391,2.391,2.391,2.392,2.396,2.401,2.402,2.403,2.403,2.409,2.413,2.415,2.415,2.415,2.418,2.418,2.418,2.428,2.434,2.434,2.434,2.437,2.438,2.443,2.445,2.448,2.449,2.46,2.46,2.464,2.47,2.471,2.477,2.49,2.491,2.492,2.497,2.502,2.507,2.512,2.513,2.527,2.527,2.53,2.539,2.542,2.546,2.561,2.565,2.572,2.574,2.579,2.586,2.587,2.596,2.61,2.619,2.628,2.633,2.641,2.645,2.665,2.675,2.677,2.679,2.686,2.694,2.706,2.709,2.723,2.728,2.734,2.747,2.753,2.775,2.78,2.795,2.807,2.807,2.818,2.834,2.845,2.858,2.866,2.872,2.887,2.901,2.918,2.926,2.926,2.954,2.957,2.971,2.986,3.003,3.02,3.028,3.041,3.056,3.073,3.077,3.1,3.113,3.121,3.146,3.151,3.172,3.193,3.202,3.223,3.241,3.253,3.278,3.288,3.312,3.331,3.349,3.366,3.384,3.408,3.436,3.447,3.473,3.494,3.521,3.529,3.555,3.584,3.608,3.635,3.673,3.689,3.718,3.736,3.767,3.801,3.817,3.851,3.877,3.923,3.954,3.972,4.024,4.052,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.328,3.311,3.308,3.287,3.281,3.269,3.261,3.257,3.248,3.241,3.23,3.22,3.202,3.201,3.197,3.184,3.172,3.172,3.158,3.157,3.15,3.141,3.132,3.123,3.12,3.112,3.112,3.108,3.103,3.094,3.092,3.085,3.085,3.077,3.072,3.066,3.053,3.052,3.051,3.048,3.046,3.029,3.029,3.029,3.027,3.027,3.022,3.019,3.011,3.009,3.009,3.009,3.005,3,2.997,2.994,2.992,2.994,2.994,3,3,3,2.996,2.989,2.989,2.984,2.984,2.983,2.981,2.981,2.981,2.981,2.986,2.986,2.987,2.987,2.987,2.983,2.982,2.982,2.982,2.98,2.982,2.984,2.987,2.989,2.989,2.989,2.996,2.998,2.998,2.998,2.998,2.998,3.004,3.008,3.009,3.012,3.014,3.017,3.024,3.029,3.03,3.03,3.037,3.041,3.041,3.041,3.049,3.049,3.054,3.057,3.067,3.069,3.072,3.079,3.079,3.086,3.091,3.095,3.105,3.115,3.116,3.116,3.117,3.117,3.123,3.129,3.134,3.143,3.16,3.16,3.161,3.161,3.167,3.185,3.186,3.187,3.192,3.198,3.202,3.207,3.223,3.23,3.238,3.251,3.252,3.259,3.268,3.276,3.276,3.285,3.287,3.822,3.829,3.833,3.838,3.866,3.874,3.905,3.906,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 95.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 95.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 95.3532} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.5748}
SEN {Time 95.3965} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.174,0.174,0.183,0.183,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.252,3.252,3.248,3.237,3.237,3.381,3.381,0,0,0,0,0,0,0,0,0,3.119,3.114,3.109,3.106,3.098,3.094,3.092,3.088,3.079,3.079,3.074,3.061,3.061,3.061,3.059,0.148,0.147,0.147,0.147,0.147,0.148,0.153,0.15,0.155,0.15,0.155,0.156,3.025,3.032,3.035,3.035,3.032,3.032,0.171,0.163,0.163,0.157,0.155,0.155,0.162,0.162,0.172,3.459,3.529,3.534,3.535,3.535,3.535,3.537,3.537,3.537,3.537,3.537,3.535,3.535,3.535,3.535,3.535,3.535,3.539,3.539,3.539,3.539,3.539,3.551,3.551,3.551,3.551,3.551,3.551,3.553,3.557,3.559,3.561,3.561,3.562,3.568,3.571,3.576,3.577,3.582,3.584,3.585,3.591,3.594,3.597,3.606,3.61,3.613,3.614,3.614,3.623,3.633,3.634,3.635,3.65,3.661,3.674,3.675,3.679,3.681,3.683,3.689,3.712,3.719,3.722,3.727,3.731,3.743,3.749,3.749,3.762,3.764,3.784,3.785,3.791,3.796,3.815,3.828,3.837,3.84,3.843,3.861,3.88,3.884,3.892,3.91,3.911,3.916,3.936,3.95,3.958,3.969,3.988,3.997,4.014,4.041,4.047,4.048,4.079,4.093,4.094,0.016,0.016,0.016,0,0.007,0.016,4.077,4.02,3.986,3.954,3.922,3.884,3.856,3.824,3.797,3.76,3.743,3.714,3.692,3.665,3.638,3.617,3.593,3.564,3.546,3.521,3.508,3.467,3.457,3.439,3.405,3.39,3.375,3.343,3.329,3.308,3.292,3.273,3.252,3.234,3.222,3.214,3.186,3.168,3.158,3.139,3.124,3.115,3.104,3.086,3.066,3.049,3.04,3.032,3.012,2.996,2.993,2.97,2.956,2.95,2.937,2.929,2.913,2.902,2.896,2.883,2.869,2.856,2.845,2.842,2.831,2.818,2.809,2.798,2.778,2.77,2.763,2.752,2.739,2.72,2.716,2.707,2.703,2.701,2.685,2.677,2.67,2.658,2.655,2.652,2.642,2.642,2.634,2.624,2.612,2.593,2.591,2.582,2.578,2.566,2.566,2.556,2.551,2.549,2.547,2.54,2.54,2.531,2.522,2.519,2.508,2.505,2.504,2.504,2.495,2.489,2.486,2.482,2.472,2.472,2.467,2.462,2.462,2.46,2.458,2.453,2.444,2.437,2.435,2.43,2.428,2.419,2.419,2.417,2.417,2.417,2.417,2.416,2.416,2.413,2.406,2.404,2.401,2.4,2.4,2.4,2.4,2.4,2.395,2.397,2.394,2.393,2.388,2.388,2.388,2.388,2.388,2.386,2.385,2.385,2.385,2.385,2.385,2.386,2.386,2.391,2.387,2.391,2.395,2.395,2.388,2.395,2.395,2.395,2.396,2.404,2.404,2.406,2.407,2.407,2.408,2.409,2.415,2.415,2.42,2.42,2.419,2.424,2.424,2.427,2.433,2.433,2.441,2.451,2.451,2.454,2.457,2.461,2.461,2.472,2.472,2.476,2.477,2.477,2.48,2.499,2.499,2.501,2.508,2.51,2.519,2.521,2.532,2.533,2.536,2.54,2.55,2.564,2.566,2.569,2.573,2.582,2.592,2.598,2.599,2.6,2.612,2.625,2.633,2.638,2.651,2.671,2.672,2.678,2.681,2.691,2.705,2.706,2.709,2.726,2.728,2.746,2.748,2.759,2.769,2.776,2.797,2.799,2.806,2.822,2.831,2.85,2.862,2.866,2.875,2.886,2.905,2.921,2.928,2.928,2.949,2.96,2.976,2.996,3.008,3.019,3.03,3.043,3.055,3.066,3.077,3.103,3.115,3.126,3.144,3.151,3.175,3.195,3.209,3.227,3.228,3.256,3.28,3.283,3.309,3.331,3.343,3.369,3.386,3.417,3.432,3.459,3.471,3.496,3.517,3.546,3.566,3.598,3.614,3.629,3.662,3.698,3.711,3.746,3.769,3.796,3.819,3.862,3.876,3.92,3.946,4.021,4.053,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.321,3.307,3.298,3.288,3.276,3.269,3.258,3.253,3.241,3.238,3.228,3.224,3.21,3.203,3.194,3.185,3.174,3.169,3.16,3.156,3.145,3.14,3.137,3.126,3.122,3.118,3.112,3.111,3.1,3.09,3.089,3.086,3.083,3.079,3.067,3.064,3.061,3.05,3.049,3.043,3.04,3.039,3.03,3.025,3.025,3.025,3.018,3.013,3.012,3.006,3.006,3.003,3.003,3.003,3.003,2.999,2.997,2.997,2.999,2.994,2.993,2.993,2.99,2.989,2.986,2.983,2.983,2.983,2.983,2.981,2.984,2.981,2.981,2.982,2.986,2.986,2.986,2.984,2.984,2.984,2.984,2.988,2.989,2.989,2.989,2.987,2.987,2.987,2.989,2.996,2.997,3,3.001,3.003,3.004,3.006,3.008,3.011,3.013,3.016,3.019,3.021,3.024,3.024,3.032,3.035,3.039,3.045,3.05,3.055,3.06,3.061,3.065,3.067,3.071,3.076,3.08,3.09,3.096,3.098,3.104,3.113,3.114,3.114,3.118,3.118,3.122,3.129,3.137,3.146,3.153,3.157,3.159,3.168,3.176,3.177,3.185,3.195,3.199,3.202,3.203,3.207,3.217,3.224,3.242,3.246,3.256,3.262,3.266,3.284,3.284,3.284,3.295,3.82,3.831,3.832,3.836,3.866,3.884,3.898,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 95.55} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 95.55} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 95.5542} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 4.7752} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.5748}
SEN {Time 95.5955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0.186,0.174,0.174,0.181,0.181,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.261,3.261,3.25,3.235,3.235,3.38,3.38,0,0,0,0,0,0,0,0,0,3.114,3.113,3.11,3.1,3.096,3.095,3.09,3.082,3.074,3.073,3.071,3.07,3.067,3.06,3.06,3.058,0.154,0.148,0.148,0.148,0.148,0.153,0.16,0.16,0.153,0.16,0.16,3.029,3.033,3.033,3.033,3.033,3.033,3.033,0.173,0.159,0.156,0.156,0.156,0.157,0.168,0.18,3.45,3.529,3.533,3.533,3.531,3.531,3.531,3.53,3.531,3.531,3.532,3.531,3.532,3.534,3.539,3.539,3.539,3.54,3.545,3.547,3.547,3.547,3.546,3.544,3.544,3.546,3.545,3.546,3.549,3.554,3.554,3.558,3.561,3.565,3.566,3.573,3.573,3.578,3.578,3.584,3.587,3.596,3.598,3.599,3.599,3.6,3.603,3.62,3.62,3.63,3.64,3.648,3.651,3.651,3.659,3.663,3.664,3.675,3.682,3.687,3.69,3.702,3.711,3.72,3.725,3.733,3.741,3.755,3.759,3.767,3.779,3.787,3.79,3.792,3.805,3.816,3.823,3.826,3.847,3.85,3.863,3.865,3.879,3.888,3.91,3.916,3.927,3.933,3.957,3.965,3.975,3.989,3.999,4.003,4.037,4.037,4.051,4.079,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,0.016,4.072,4.018,3.96,3.918,3.893,3.859,3.831,3.796,3.758,3.745,3.717,3.692,3.66,3.647,3.622,3.587,3.56,3.538,3.525,3.498,3.477,3.469,3.441,3.42,3.387,3.377,3.354,3.336,3.301,3.29,3.276,3.261,3.245,3.222,3.21,3.188,3.167,3.159,3.138,3.128,3.111,3.096,3.089,3.075,3.055,3.049,3.026,3.014,2.993,2.988,2.973,2.962,2.959,2.941,2.927,2.913,2.903,2.898,2.879,2.876,2.853,2.85,2.826,2.816,2.813,2.808,2.794,2.772,2.77,2.765,2.752,2.744,2.739,2.724,2.712,2.705,2.696,2.687,2.68,2.67,2.655,2.653,2.64,2.639,2.636,2.628,2.618,2.617,2.592,2.59,2.582,2.574,2.565,2.563,2.56,2.557,2.557,2.544,2.538,2.533,2.528,2.528,2.521,2.514,2.514,2.504,2.499,2.498,2.496,2.49,2.483,2.47,2.467,2.464,2.462,2.462,2.461,2.456,2.447,2.439,2.438,2.433,2.431,2.431,2.426,2.426,2.423,2.423,2.415,2.415,2.413,2.413,2.411,2.408,2.408,2.408,2.402,2.402,2.397,2.397,2.397,2.397,2.395,2.394,2.394,2.391,2.39,2.389,2.388,2.388,2.385,2.385,2.387,2.388,2.388,2.389,2.389,2.39,2.39,2.39,2.391,2.391,2.391,2.392,2.395,2.394,2.395,2.395,2.401,2.403,2.408,2.406,2.41,2.41,2.412,2.412,2.417,2.417,2.419,2.419,2.423,2.431,2.431,2.432,2.436,2.437,2.45,2.45,2.451,2.451,2.457,2.46,2.464,2.471,2.479,2.485,2.489,2.489,2.493,2.497,2.498,2.501,2.516,2.518,2.525,2.528,2.53,2.537,2.538,2.55,2.558,2.569,2.57,2.576,2.577,2.597,2.598,2.598,2.602,2.615,2.632,2.642,2.645,2.646,2.667,2.673,2.679,2.686,2.687,2.692,2.711,2.715,2.732,2.732,2.747,2.748,2.759,2.761,2.777,2.787,2.805,2.808,2.83,2.842,2.843,2.851,2.867,2.876,2.889,2.895,2.915,2.929,2.934,2.955,2.964,2.974,2.986,2.997,3.023,3.025,3.04,3.052,3.074,3.078,3.103,3.116,3.129,3.144,3.155,3.166,3.195,3.208,3.23,3.231,3.248,3.279,3.291,3.3,3.329,3.345,3.361,3.392,3.409,3.431,3.456,3.475,3.499,3.533,3.548,3.558,3.59,3.615,3.638,3.671,3.688,3.705,3.742,3.774,3.804,3.833,3.866,3.88,3.914,3.957,3.982,4.019,4.06,4.087,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.311,3.304,3.293,3.286,3.263,3.26,3.249,3.248,3.234,3.221,3.211,3.207,3.202,3.197,3.185,3.171,3.166,3.164,3.154,3.152,3.133,3.13,3.127,3.124,3.117,3.115,3.115,3.102,3.092,3.089,3.087,3.079,3.073,3.072,3.061,3.061,3.056,3.051,3.044,3.041,3.037,3.035,3.031,3.029,3.029,3.024,3.02,3.009,3.008,3.006,3.005,3.005,3,3,2.999,2.997,2.997,3.005,2.997,2.996,2.996,2.994,2.991,2.989,2.989,2.987,2.987,2.987,2.987,2.986,2.986,2.986,2.982,2.98,2.98,2.981,2.978,2.978,2.978,2.978,2.978,2.982,2.984,2.986,2.986,2.987,2.991,2.987,2.993,2.994,2.998,3.002,3.002,3.002,3.007,3.009,3.009,3.013,3.017,3.021,3.022,3.027,3.028,3.037,3.04,3.04,3.043,3.049,3.053,3.053,3.057,3.061,3.069,3.074,3.08,3.086,3.089,3.092,3.106,3.107,3.11,3.117,3.117,3.119,3.12,3.126,3.129,3.134,3.149,3.15,3.157,3.159,3.162,3.172,3.186,3.189,3.194,3.194,3.195,3.199,3.202,3.215,3.222,3.239,3.251,3.253,3.26,3.267,3.276,3.276,3.284,3.289,3.822,3.831,3.837,3.847,3.866,3.873,3.896,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 95.75} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 95.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 95.7462} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 4.7752} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.6736} {Name Sonar15 Range 1.5748}
SEN {Time 95.7955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0.189,0.18,0.18,0.184,0.184,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.252,3.242,3.379,3.379,3.379,0,0,0,0,0,0,0,0,3.119,3.119,3.113,3.111,3.102,3.098,3.097,3.088,3.087,3.08,3.079,3.077,3.066,3.066,3.065,3.061,0.148,0.146,0.146,0.146,0.146,0.143,0.146,0.146,0.153,0.147,0.153,0.156,3.03,3.031,3.036,3.036,3.036,3.036,3.036,0.167,0.163,0.159,0.155,0.155,0.159,0.164,0.181,3.454,3.524,3.537,3.537,3.536,3.529,3.533,3.531,3.533,3.533,3.533,3.535,3.535,3.535,3.539,3.539,3.538,3.537,3.538,3.538,3.545,3.546,3.546,3.546,3.541,3.541,3.541,3.546,3.554,3.556,3.557,3.558,3.558,3.567,3.567,3.574,3.576,3.583,3.583,3.59,3.595,3.595,3.595,3.604,3.605,3.61,3.611,3.616,3.62,3.633,3.637,3.639,3.643,3.645,3.665,3.666,3.673,3.679,3.689,3.69,3.69,3.705,3.709,3.725,3.73,3.736,3.748,3.755,3.757,3.768,3.769,3.77,3.78,3.789,3.794,3.822,3.826,3.84,3.848,3.853,3.856,3.878,3.89,3.896,3.899,3.916,3.924,3.938,3.944,3.963,3.976,3.99,4.003,4.008,4.024,4.044,4.059,4.07,4.093,0.016,0.016,0.016,0.016,0,0.007,0,0.007,4.063,3.983,3.949,3.913,3.883,3.849,3.818,3.805,3.766,3.74,3.722,3.701,3.676,3.641,3.617,3.584,3.57,3.547,3.519,3.493,3.487,3.465,3.443,3.402,3.386,3.366,3.349,3.336,3.318,3.3,3.275,3.253,3.234,3.223,3.201,3.189,3.168,3.156,3.135,3.129,3.119,3.101,3.092,3.085,3.051,3.05,3.03,3.02,2.994,2.992,2.964,2.961,2.949,2.939,2.932,2.92,2.9,2.89,2.879,2.865,2.864,2.853,2.837,2.818,2.811,2.804,2.798,2.775,2.767,2.767,2.752,2.743,2.725,2.719,2.712,2.71,2.698,2.694,2.683,2.68,2.664,2.651,2.647,2.637,2.637,2.632,2.623,2.613,2.604,2.593,2.583,2.577,2.575,2.563,2.56,2.559,2.555,2.549,2.545,2.539,2.534,2.523,2.523,2.504,2.504,2.502,2.498,2.488,2.486,2.486,2.484,2.48,2.474,2.473,2.471,2.465,2.461,2.453,2.447,2.438,2.438,2.435,2.433,2.431,2.43,2.427,2.425,2.414,2.414,2.414,2.414,2.414,2.412,2.41,2.409,2.406,2.403,2.4,2.397,2.395,2.392,2.392,2.392,2.392,2.391,2.389,2.389,2.389,2.389,2.39,2.39,2.39,2.384,2.384,2.384,2.385,2.389,2.389,2.393,2.389,2.388,2.388,2.393,2.393,2.398,2.398,2.399,2.4,2.402,2.404,2.406,2.407,2.41,2.41,2.412,2.412,2.415,2.419,2.424,2.42,2.424,2.428,2.438,2.438,2.441,2.442,2.443,2.446,2.452,2.452,2.462,2.462,2.467,2.477,2.478,2.486,2.487,2.49,2.492,2.498,2.502,2.511,2.511,2.512,2.518,2.525,2.529,2.541,2.549,2.551,2.563,2.565,2.567,2.569,2.584,2.591,2.596,2.6,2.617,2.625,2.63,2.635,2.636,2.647,2.66,2.675,2.68,2.682,2.694,2.699,2.715,2.722,2.727,2.731,2.743,2.745,2.757,2.769,2.776,2.786,2.804,2.811,2.823,2.835,2.849,2.856,2.868,2.876,2.891,2.906,2.914,2.924,2.932,2.952,2.959,2.979,2.993,2.995,3.014,3.031,3.034,3.051,3.074,3.082,3.1,3.114,3.13,3.142,3.155,3.175,3.193,3.212,3.22,3.228,3.249,3.287,3.287,3.309,3.333,3.359,3.362,3.387,3.404,3.43,3.453,3.477,3.494,3.516,3.544,3.572,3.598,3.617,3.635,3.659,3.687,3.722,3.731,3.773,3.799,3.831,3.861,3.888,3.926,3.989,4.01,4.086,4.086,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.314,3.296,3.296,3.281,3.265,3.263,3.255,3.241,3.226,3.219,3.218,3.202,3.198,3.197,3.194,3.18,3.175,3.168,3.163,3.159,3.145,3.14,3.138,3.127,3.114,3.11,3.105,3.103,3.095,3.09,3.087,3.077,3.076,3.074,3.074,3.059,3.055,3.054,3.05,3.042,3.035,3.031,3.03,3.025,3.023,3.023,3.018,3.012,3.006,3.006,3.003,3.003,3.003,2.999,2.998,2.994,2.994,2.998,2.995,2.995,2.995,2.994,2.994,2.992,2.986,2.984,2.984,2.983,2.982,2.983,2.983,2.986,2.986,2.987,2.986,2.986,2.985,2.985,2.985,2.983,2.982,2.983,2.983,2.983,2.984,2.984,2.984,2.995,2.997,3.001,3.002,3.003,3.007,3.009,3.009,3.008,3.009,3.009,3.017,3.02,3.027,3.028,3.037,3.037,3.037,3.045,3.049,3.049,3.049,3.053,3.061,3.064,3.071,3.072,3.072,3.082,3.088,3.093,3.095,3.106,3.117,3.117,3.117,3.121,3.124,3.127,3.131,3.139,3.143,3.148,3.156,3.158,3.161,3.171,3.185,3.197,3.198,3.199,3.2,3.202,3.206,3.22,3.22,3.241,3.244,3.254,3.268,3.268,3.277,3.277,3.283,3.296,3.82,3.824,3.829,3.857,3.876,3.881,3.897,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 95.95} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 95.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 95.947} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 4.7752} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.6736} {Name Sonar15 Range 1.5748}
SEN {Time 95.9915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.18,0.182,0.182,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.262,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.113,3.111,3.11,3.101,3.097,3.094,3.091,3.086,3.08,3.072,3.072,3.068,3.063,3.06,3.053,0.151,0.15,0.148,0.148,0.15,0.15,0.153,0.154,0.154,0.154,0.155,0.163,3.028,3.029,3.036,3.036,3.029,3.029,0.168,0.158,0.158,0.158,0.157,0.157,0.163,0.163,0.171,3.449,3.531,3.533,3.533,3.531,3.531,3.531,3.531,3.531,3.534,3.536,3.534,3.529,3.536,3.536,3.539,3.539,3.539,3.546,3.546,3.546,3.548,3.548,3.548,3.548,3.548,3.548,3.555,3.557,3.558,3.562,3.562,3.562,3.565,3.566,3.573,3.574,3.581,3.584,3.586,3.589,3.596,3.596,3.6,3.603,3.603,3.606,3.614,3.624,3.632,3.637,3.639,3.645,3.648,3.654,3.671,3.677,3.677,3.677,3.692,3.693,3.704,3.715,3.719,3.722,3.737,3.74,3.745,3.751,3.768,3.77,3.771,3.791,3.792,3.801,3.812,3.825,3.832,3.847,3.849,3.858,3.882,3.888,3.89,3.9,3.91,3.916,3.935,3.947,3.961,3.975,3.994,3.997,4.019,4.035,4.046,4.065,4.071,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,3.984,3.965,3.914,3.873,3.85,3.829,3.801,3.773,3.744,3.722,3.699,3.659,3.631,3.614,3.584,3.557,3.546,3.531,3.5,3.478,3.461,3.432,3.413,3.385,3.363,3.351,3.339,3.31,3.299,3.271,3.253,3.237,3.232,3.205,3.187,3.166,3.153,3.137,3.123,3.118,3.095,3.092,3.076,3.054,3.044,3.024,3.016,2.997,2.993,2.971,2.963,2.956,2.933,2.928,2.923,2.903,2.9,2.879,2.866,2.855,2.843,2.838,2.824,2.82,2.815,2.803,2.786,2.775,2.764,2.754,2.745,2.73,2.72,2.708,2.704,2.701,2.69,2.684,2.675,2.654,2.652,2.643,2.637,2.636,2.628,2.626,2.616,2.6,2.594,2.588,2.586,2.582,2.569,2.566,2.554,2.547,2.542,2.537,2.532,2.53,2.525,2.521,2.514,2.507,2.503,2.502,2.502,2.484,2.48,2.478,2.476,2.476,2.473,2.466,2.456,2.451,2.45,2.445,2.44,2.44,2.439,2.428,2.427,2.424,2.424,2.42,2.419,2.419,2.418,2.417,2.415,2.409,2.408,2.403,2.402,2.403,2.4,2.397,2.397,2.398,2.396,2.395,2.393,2.391,2.391,2.391,2.391,2.39,2.389,2.388,2.388,2.389,2.386,2.386,2.386,2.386,2.386,2.387,2.39,2.392,2.395,2.395,2.39,2.39,2.39,2.39,2.401,2.402,2.403,2.404,2.405,2.407,2.411,2.413,2.413,2.416,2.417,2.421,2.424,2.425,2.429,2.432,2.435,2.437,2.439,2.452,2.452,2.453,2.457,2.459,2.459,2.471,2.476,2.478,2.479,2.48,2.486,2.493,2.503,2.509,2.509,2.511,2.514,2.521,2.53,2.534,2.535,2.539,2.556,2.562,2.569,2.573,2.578,2.579,2.587,2.589,2.598,2.61,2.613,2.617,2.622,2.638,2.644,2.672,2.673,2.679,2.679,2.687,2.704,2.714,2.723,2.729,2.733,2.739,2.743,2.753,2.771,2.781,2.788,2.807,2.812,2.828,2.835,2.84,2.855,2.867,2.877,2.887,2.902,2.915,2.93,2.934,2.948,2.953,2.976,2.985,3,3.019,3.028,3.032,3.051,3.068,3.08,3.095,3.113,3.13,3.144,3.158,3.17,3.19,3.208,3.229,3.235,3.257,3.279,3.281,3.31,3.334,3.351,3.367,3.394,3.407,3.431,3.451,3.476,3.489,3.535,3.535,3.553,3.583,3.614,3.634,3.669,3.697,3.716,3.738,3.767,3.79,3.829,3.861,3.877,3.917,3.985,4.026,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.325,3.307,3.292,3.286,3.278,3.266,3.264,3.261,3.248,3.248,3.229,3.225,3.202,3.198,3.198,3.189,3.174,3.169,3.162,3.158,3.149,3.139,3.138,3.124,3.122,3.113,3.113,3.111,3.095,3.093,3.092,3.088,3.078,3.077,3.071,3.071,3.063,3.056,3.052,3.048,3.044,3.04,3.032,3.031,3.028,3.022,3.018,3.014,3.011,3.011,3.01,3.008,3.003,2.999,2.999,2.996,2.995,2.995,2.995,2.996,2.996,2.996,2.996,2.994,2.993,2.989,2.989,2.986,2.985,2.983,2.98,2.98,2.98,2.98,2.981,2.985,2.985,2.981,2.985,2.98,2.98,2.98,2.983,2.983,2.983,2.988,2.992,2.99,2.99,2.993,2.997,2.999,2.999,3,3,3.004,3.007,3.016,3.016,3.016,3.023,3.024,3.027,3.029,3.03,3.039,3.041,3.042,3.044,3.049,3.055,3.059,3.065,3.067,3.072,3.081,3.082,3.087,3.092,3.099,3.105,3.115,3.115,3.116,3.121,3.123,3.124,3.133,3.143,3.148,3.151,3.155,3.164,3.165,3.17,3.178,3.187,3.191,3.199,3.208,3.221,3.221,3.222,3.225,3.233,3.243,3.248,3.259,3.261,3.286,3.286,3.287,3.292,3.816,3.831,3.838,3.844,3.864,3.892,3.912,3.915,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 96.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 96.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 96.1481} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.6736} {Name Sonar15 Range 1.5748}
SEN {Time 96.1915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.19,0.19,0.19,0.177,0.177,0.179,0.179,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.253,3.241,3.234,3.234,3.379,3.379,0,0,0,0,0,0,0,0,0,3.118,3.116,3.113,3.104,3.092,3.092,3.088,3.085,3.077,3.076,3.074,3.068,3.068,3.06,3.06,3.06,0.144,0.144,0.144,0.144,0.142,0.149,0.15,0.153,0.15,0.153,0.162,3.029,3.039,3.039,3.039,3.037,3.037,0.174,0.163,0.159,0.157,0.153,0.153,0.157,0.157,0.17,3.455,3.537,3.537,3.537,3.537,3.536,3.536,3.536,3.538,3.538,3.538,3.538,3.538,3.536,3.536,3.538,3.536,3.538,3.54,3.54,3.542,3.546,3.546,3.546,3.546,3.546,3.546,3.553,3.555,3.558,3.558,3.562,3.562,3.563,3.568,3.572,3.573,3.579,3.574,3.579,3.579,3.597,3.6,3.604,3.613,3.614,3.613,3.614,3.615,3.622,3.633,3.636,3.649,3.652,3.66,3.663,3.671,3.673,3.685,3.688,3.69,3.699,3.701,3.721,3.734,3.745,3.752,3.752,3.759,3.759,3.772,3.782,3.788,3.792,3.797,3.816,3.82,3.833,3.833,3.834,3.853,3.861,3.898,3.899,3.9,3.911,3.925,3.934,3.946,3.96,3.978,3.984,4.005,4.019,4.038,4.044,4.059,4.078,4.088,4.093,0.016,0.016,0,0,0,0,4.057,4.017,4.017,3.978,3.951,3.882,3.857,3.831,3.795,3.767,3.724,3.712,3.694,3.664,3.647,3.616,3.585,3.57,3.543,3.523,3.503,3.489,3.453,3.442,3.405,3.389,3.378,3.351,3.328,3.304,3.3,3.269,3.256,3.234,3.228,3.207,3.191,3.163,3.158,3.138,3.129,3.109,3.106,3.089,3.075,3.052,3.046,3.026,3.022,2.995,2.993,2.97,2.963,2.954,2.947,2.933,2.92,2.898,2.893,2.878,2.872,2.859,2.853,2.846,2.831,2.812,2.8,2.8,2.781,2.771,2.755,2.75,2.74,2.722,2.718,2.714,2.705,2.7,2.698,2.686,2.676,2.669,2.651,2.642,2.64,2.634,2.626,2.615,2.605,2.601,2.592,2.591,2.584,2.578,2.572,2.564,2.555,2.549,2.54,2.533,2.533,2.527,2.527,2.518,2.509,2.509,2.506,2.506,2.501,2.488,2.483,2.479,2.475,2.475,2.47,2.465,2.462,2.45,2.448,2.447,2.443,2.441,2.439,2.438,2.432,2.431,2.424,2.423,2.419,2.419,2.413,2.413,2.41,2.409,2.409,2.406,2.399,2.399,2.398,2.398,2.399,2.399,2.398,2.397,2.394,2.39,2.386,2.386,2.385,2.385,2.384,2.384,2.384,2.385,2.385,2.389,2.389,2.389,2.391,2.387,2.386,2.387,2.389,2.389,2.391,2.395,2.396,2.399,2.4,2.401,2.401,2.401,2.404,2.407,2.408,2.41,2.416,2.419,2.42,2.421,2.426,2.428,2.432,2.434,2.436,2.438,2.439,2.442,2.451,2.451,2.451,2.462,2.463,2.465,2.473,2.478,2.483,2.487,2.493,2.495,2.5,2.503,2.504,2.507,2.51,2.528,2.535,2.538,2.545,2.549,2.552,2.559,2.568,2.569,2.573,2.583,2.586,2.59,2.606,2.615,2.62,2.625,2.633,2.634,2.647,2.668,2.672,2.678,2.679,2.697,2.7,2.707,2.71,2.728,2.731,2.742,2.747,2.756,2.764,2.772,2.792,2.8,2.803,2.822,2.834,2.841,2.86,2.863,2.872,2.882,2.908,2.917,2.926,2.934,2.958,2.969,2.974,2.983,2.997,3.011,3.032,3.044,3.05,3.068,3.082,3.1,3.114,3.121,3.145,3.157,3.169,3.196,3.201,3.221,3.237,3.264,3.278,3.293,3.318,3.33,3.349,3.37,3.394,3.412,3.445,3.456,3.482,3.492,3.528,3.538,3.553,3.587,3.618,3.634,3.666,3.697,3.721,3.743,3.773,3.795,3.816,3.856,3.884,3.915,3.981,4.026,4.053,4.053,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.327,3.317,3.29,3.286,3.285,3.263,3.262,3.252,3.236,3.234,3.226,3.224,3.204,3.202,3.2,3.185,3.173,3.168,3.167,3.155,3.149,3.148,3.143,3.123,3.121,3.115,3.115,3.111,3.111,3.1,3.092,3.086,3.081,3.074,3.07,3.066,3.062,3.056,3.055,3.047,3.046,3.043,3.035,3.031,3.03,3.023,3.019,3.016,3.007,3.002,3.002,2.998,2.999,2.999,2.998,2.998,2.998,2.998,2.999,2.999,2.992,2.993,2.993,2.992,2.992,2.986,2.986,2.986,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.98,2.984,2.986,2.986,2.986,2.986,2.986,2.984,2.984,2.986,2.988,2.989,2.991,2.993,2.997,2.999,3,3.003,3.004,3.004,3.012,3.015,3.015,3.016,3.02,3.021,3.027,3.028,3.031,3.034,3.035,3.04,3.045,3.046,3.052,3.054,3.057,3.061,3.07,3.072,3.08,3.086,3.088,3.093,3.098,3.107,3.115,3.116,3.116,3.118,3.127,3.127,3.128,3.14,3.144,3.148,3.155,3.159,3.166,3.175,3.187,3.193,3.196,3.196,3.196,3.197,3.201,3.211,3.221,3.235,3.248,3.252,3.26,3.27,3.275,3.275,3.277,3.292,3.811,3.823,3.827,3.845,3.868,3.894,3.896,3.91,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 96.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 96.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 96.3492} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 1.5748}
SEN {Time 96.3915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.18,0.179,0.18,0.18,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.252,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.121,3.114,3.111,3.096,3.096,3.094,3.094,3.093,3.081,3.073,3.071,3.068,3.065,3.058,3.056,0.153,0.151,0.151,0.151,0.153,0.151,0.153,0.15,0.156,0.156,0.159,0.159,3.02,3.029,3.046,3.046,3.029,3.029,0.171,0.167,0.167,0.163,0.157,0.157,0.163,0.163,0.167,3.449,3.529,3.529,3.529,3.532,3.526,3.526,3.525,3.532,3.532,3.533,3.537,3.537,3.536,3.536,3.536,3.536,3.54,3.54,3.54,3.542,3.545,3.543,3.543,3.547,3.547,3.547,3.552,3.554,3.555,3.555,3.556,3.559,3.561,3.566,3.571,3.576,3.578,3.578,3.589,3.592,3.597,3.597,3.605,3.608,3.61,3.614,3.619,3.62,3.624,3.632,3.633,3.65,3.656,3.658,3.67,3.673,3.674,3.685,3.689,3.691,3.702,3.704,3.722,3.729,3.74,3.742,3.748,3.75,3.761,3.773,3.785,3.791,3.791,3.805,3.812,3.82,3.829,3.847,3.85,3.868,3.871,3.881,3.892,3.914,3.92,3.929,3.932,3.944,3.966,3.982,3.99,4.001,4.01,4.032,4.034,4.066,4.078,4.088,0.016,0.016,0.016,0,0,0,0,0.007,4.075,3.971,3.952,3.923,3.89,3.856,3.818,3.791,3.761,3.739,3.718,3.699,3.664,3.645,3.598,3.579,3.57,3.54,3.532,3.503,3.479,3.467,3.438,3.406,3.384,3.374,3.345,3.327,3.302,3.293,3.271,3.264,3.242,3.23,3.207,3.193,3.167,3.158,3.135,3.128,3.111,3.097,3.086,3.072,3.061,3.046,3.03,3.02,2.991,2.986,2.975,2.965,2.958,2.945,2.928,2.917,2.906,2.895,2.882,2.87,2.85,2.842,2.834,2.825,2.815,2.805,2.8,2.786,2.766,2.763,2.749,2.742,2.732,2.727,2.719,2.715,2.698,2.689,2.678,2.674,2.664,2.66,2.642,2.64,2.628,2.625,2.624,2.615,2.608,2.595,2.581,2.578,2.572,2.566,2.556,2.549,2.547,2.537,2.531,2.53,2.531,2.529,2.527,2.522,2.507,2.5,2.498,2.495,2.492,2.481,2.476,2.475,2.472,2.465,2.462,2.459,2.449,2.448,2.444,2.44,2.437,2.435,2.429,2.426,2.426,2.425,2.423,2.423,2.409,2.409,2.409,2.409,2.409,2.408,2.407,2.404,2.404,2.404,2.403,2.396,2.396,2.392,2.392,2.391,2.391,2.391,2.391,2.387,2.387,2.387,2.388,2.388,2.388,2.39,2.389,2.389,2.389,2.389,2.389,2.389,2.39,2.39,2.394,2.395,2.395,2.395,2.395,2.397,2.401,2.405,2.406,2.406,2.408,2.411,2.415,2.415,2.419,2.419,2.42,2.42,2.427,2.427,2.433,2.436,2.436,2.438,2.445,2.452,2.455,2.456,2.457,2.462,2.471,2.477,2.48,2.48,2.481,2.49,2.49,2.494,2.494,2.508,2.513,2.52,2.525,2.529,2.53,2.535,2.544,2.549,2.561,2.561,2.563,2.568,2.577,2.586,2.589,2.597,2.61,2.625,2.63,2.635,2.642,2.642,2.664,2.672,2.677,2.681,2.683,2.693,2.709,2.717,2.727,2.728,2.742,2.743,2.757,2.775,2.784,2.791,2.801,2.812,2.821,2.838,2.847,2.851,2.865,2.87,2.89,2.903,2.905,2.924,2.941,2.955,2.958,2.968,2.989,2.995,3.02,3.029,3.035,3.051,3.064,3.078,3.096,3.108,3.121,3.141,3.162,3.168,3.197,3.207,3.226,3.236,3.253,3.286,3.291,3.323,3.335,3.358,3.362,3.393,3.406,3.437,3.458,3.476,3.492,3.523,3.534,3.558,3.592,3.61,3.651,3.671,3.691,3.708,3.748,3.779,3.795,3.82,3.857,3.888,3.922,3.945,3.977,4.018,4.037,4.094,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.321,3.308,3.297,3.297,3.284,3.265,3.257,3.253,3.243,3.223,3.222,3.217,3.204,3.204,3.203,3.192,3.173,3.166,3.159,3.155,3.15,3.142,3.14,3.121,3.118,3.116,3.112,3.112,3.1,3.088,3.086,3.083,3.078,3.076,3.074,3.068,3.055,3.054,3.052,3.051,3.047,3.044,3.036,3.027,3.023,3.021,3.018,3.018,3.015,3.009,3.009,3.009,3.008,3.003,3.003,3.002,2.998,2.998,2.998,3.005,3.005,3.005,2.997,2.993,2.985,2.985,2.985,2.983,2.983,2.984,2.984,2.983,2.983,2.983,2.983,2.983,2.985,2.985,2.985,2.982,2.982,2.981,2.981,2.983,2.984,2.984,2.993,2.994,2.994,2.996,2.997,2.997,3,3.006,3.006,3.006,3.008,3.01,3.012,3.018,3.018,3.019,3.029,3.029,3.028,3.029,3.043,3.044,3.045,3.049,3.05,3.057,3.066,3.068,3.073,3.079,3.086,3.087,3.088,3.095,3.104,3.117,3.119,3.119,3.12,3.12,3.124,3.132,3.14,3.148,3.148,3.157,3.16,3.17,3.178,3.188,3.19,3.2,3.2,3.205,3.206,3.206,3.217,3.231,3.239,3.257,3.258,3.265,3.266,3.282,3.282,3.286,3.296,3.821,3.836,3.839,3.848,3.863,3.877,3.894,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 96.54} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 96.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 96.542} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 1.5748}
SEN {Time 96.5915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.182,0.18,0.182,0.187,0.187,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.265,3.247,3.234,3.234,3.387,3.387,0,0,0,0,0,0,0,0,0,3.126,3.113,3.109,3.097,3.094,3.092,3.088,3.086,3.074,3.074,3.07,3.07,3.065,3.062,3.053,0.151,0.151,0.151,0.151,0.153,0.153,0.151,0.151,0.153,0.151,0.153,0.156,3.023,3.04,3.04,3.04,3.035,3.035,0.166,0.162,0.162,0.162,0.156,0.156,0.162,0.162,0.168,3.446,3.52,3.528,3.529,3.53,3.53,3.535,3.535,3.532,3.535,3.532,3.532,3.534,3.537,3.537,3.537,3.537,3.542,3.542,3.535,3.542,3.546,3.545,3.546,3.546,3.548,3.548,3.551,3.551,3.558,3.558,3.56,3.562,3.565,3.565,3.567,3.574,3.577,3.575,3.583,3.589,3.589,3.595,3.604,3.607,3.61,3.613,3.614,3.622,3.631,3.641,3.642,3.645,3.657,3.662,3.662,3.67,3.679,3.685,3.686,3.689,3.704,3.715,3.721,3.723,3.737,3.74,3.751,3.76,3.768,3.769,3.77,3.784,3.802,3.812,3.816,3.817,3.832,3.846,3.851,3.852,3.869,3.877,3.889,3.915,3.929,3.933,3.94,3.946,3.95,3.98,3.995,4.004,4.013,4.025,4.04,4.056,4.072,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,3.981,3.95,3.885,3.857,3.825,3.798,3.768,3.74,3.714,3.697,3.656,3.64,3.614,3.587,3.563,3.542,3.512,3.499,3.478,3.463,3.444,3.417,3.389,3.369,3.346,3.331,3.309,3.29,3.267,3.257,3.232,3.223,3.219,3.19,3.177,3.16,3.131,3.122,3.112,3.098,3.093,3.072,3.055,3.054,3.028,3.027,2.993,2.982,2.968,2.958,2.957,2.943,2.93,2.915,2.895,2.895,2.882,2.869,2.855,2.845,2.839,2.818,2.815,2.806,2.798,2.78,2.774,2.764,2.753,2.742,2.731,2.723,2.711,2.705,2.694,2.693,2.684,2.678,2.663,2.653,2.644,2.637,2.631,2.621,2.619,2.613,2.612,2.598,2.585,2.577,2.573,2.565,2.56,2.555,2.55,2.54,2.539,2.539,2.534,2.522,2.512,2.509,2.509,2.505,2.505,2.501,2.485,2.484,2.482,2.476,2.473,2.47,2.467,2.463,2.459,2.455,2.453,2.448,2.437,2.431,2.43,2.427,2.43,2.424,2.424,2.418,2.417,2.413,2.413,2.413,2.411,2.411,2.404,2.402,2.404,2.402,2.401,2.399,2.397,2.396,2.394,2.396,2.394,2.39,2.386,2.386,2.386,2.391,2.391,2.391,2.387,2.387,2.387,2.387,2.391,2.391,2.392,2.392,2.394,2.394,2.394,2.394,2.395,2.397,2.4,2.401,2.406,2.406,2.406,2.406,2.406,2.406,2.41,2.417,2.418,2.418,2.427,2.427,2.427,2.427,2.431,2.432,2.436,2.437,2.444,2.452,2.452,2.458,2.461,2.462,2.471,2.477,2.479,2.482,2.485,2.493,2.498,2.503,2.504,2.506,2.511,2.514,2.521,2.528,2.538,2.546,2.548,2.55,2.56,2.563,2.566,2.57,2.582,2.589,2.595,2.6,2.621,2.622,2.623,2.629,2.635,2.646,2.669,2.675,2.678,2.683,2.685,2.707,2.707,2.721,2.723,2.728,2.732,2.738,2.757,2.773,2.782,2.787,2.802,2.806,2.822,2.833,2.843,2.854,2.873,2.878,2.884,2.899,2.919,2.928,2.942,2.948,2.956,2.975,2.989,2.997,3.022,3.029,3.041,3.054,3.062,3.083,3.103,3.119,3.123,3.14,3.15,3.172,3.202,3.212,3.224,3.231,3.255,3.277,3.28,3.309,3.328,3.349,3.367,3.395,3.41,3.43,3.459,3.476,3.497,3.52,3.547,3.551,3.588,3.615,3.646,3.673,3.697,3.716,3.739,3.771,3.805,3.824,3.865,3.882,3.907,3.931,3.982,4.015,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.327,3.314,3.299,3.292,3.28,3.258,3.256,3.255,3.246,3.235,3.229,3.221,3.204,3.198,3.193,3.18,3.173,3.172,3.166,3.152,3.15,3.148,3.138,3.122,3.121,3.117,3.111,3.106,3.102,3.092,3.091,3.088,3.081,3.076,3.072,3.062,3.059,3.056,3.055,3.049,3.047,3.035,3.034,3.029,3.025,3.029,3.023,3.016,3.013,3.011,3.006,3.004,3.002,2.997,2.996,2.993,2.993,2.993,2.993,2.998,2.998,2.998,2.993,2.991,2.991,2.991,2.987,2.985,2.983,2.987,2.987,2.981,2.984,2.984,2.984,2.982,2.984,2.984,2.984,2.982,2.984,2.984,2.985,2.985,2.985,2.985,2.992,2.993,2.993,2.994,2.997,2.997,3.005,3.005,3.007,3.007,3.007,3.007,3.013,3.018,3.018,3.025,3.027,3.033,3.033,3.034,3.046,3.047,3.049,3.05,3.052,3.058,3.065,3.065,3.067,3.079,3.09,3.092,3.099,3.102,3.104,3.11,3.116,3.116,3.116,3.121,3.126,3.13,3.133,3.145,3.149,3.158,3.158,3.163,3.171,3.181,3.188,3.188,3.197,3.206,3.206,3.21,3.216,3.223,3.235,3.254,3.255,3.26,3.27,3.275,3.275,3.277,3.289,3.815,3.835,3.839,3.854,3.869,3.885,3.889,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 96.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 96.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 96.743} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 1.5748}
SEN {Time 96.7917} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.187,0.18,0.187,0.187,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.258,3.239,3.236,3.236,3.377,3.377,0,0,0,0,0,0,0,0,0,3.113,3.107,3.106,3.097,3.092,3.092,3.092,3.086,3.073,3.071,3.069,3.055,3.055,3.055,3.055,3.051,0.147,0.147,0.147,0.147,0.148,0.149,0.15,0.15,0.149,0.15,0.155,3.028,3.028,3.028,3.028,3.027,3.023,0.169,0.167,0.161,0.154,0.154,0.154,0.156,0.161,0.181,3.444,3.527,3.527,3.527,3.532,3.529,3.529,3.536,3.536,3.536,3.536,3.536,3.534,3.534,3.534,3.534,3.532,3.534,3.532,3.532,3.537,3.546,3.546,3.546,3.546,3.546,3.546,3.553,3.553,3.553,3.553,3.562,3.567,3.571,3.571,3.573,3.574,3.58,3.58,3.585,3.587,3.589,3.591,3.604,3.606,3.607,3.614,3.614,3.623,3.624,3.625,3.627,3.644,3.658,3.667,3.674,3.676,3.676,3.681,3.681,3.695,3.699,3.7,3.714,3.733,3.734,3.74,3.743,3.756,3.757,3.778,3.781,3.786,3.799,3.801,3.807,3.812,3.821,3.844,3.85,3.858,3.867,3.891,3.893,3.906,3.924,3.925,3.939,3.943,3.955,3.971,3.979,4.009,4.021,4.029,4.034,4.048,4.07,0.016,0.016,0.016,0.016,0,0,0,0,4.073,4.017,3.982,3.945,3.914,3.887,3.856,3.821,3.801,3.778,3.748,3.709,3.686,3.662,3.63,3.62,3.583,3.552,3.538,3.516,3.498,3.489,3.463,3.443,3.413,3.387,3.364,3.345,3.342,3.313,3.292,3.27,3.25,3.239,3.224,3.206,3.181,3.165,3.148,3.134,3.127,3.12,3.099,3.09,3.083,3.062,3.05,3.03,3.013,2.994,2.987,2.969,2.96,2.946,2.943,2.931,2.926,2.905,2.903,2.881,2.866,2.855,2.853,2.846,2.821,2.807,2.805,2.802,2.789,2.772,2.768,2.754,2.74,2.736,2.717,2.709,2.706,2.691,2.69,2.679,2.674,2.66,2.659,2.643,2.63,2.63,2.624,2.617,2.611,2.597,2.595,2.577,2.577,2.569,2.567,2.561,2.548,2.546,2.54,2.537,2.532,2.525,2.521,2.518,2.507,2.506,2.506,2.505,2.499,2.489,2.477,2.474,2.474,2.473,2.471,2.471,2.465,2.454,2.452,2.451,2.447,2.443,2.44,2.434,2.429,2.429,2.427,2.426,2.426,2.423,2.417,2.41,2.408,2.406,2.406,2.406,2.404,2.404,2.402,2.401,2.398,2.398,2.397,2.397,2.393,2.388,2.387,2.387,2.385,2.384,2.383,2.384,2.384,2.385,2.388,2.392,2.392,2.39,2.39,2.39,2.39,2.39,2.391,2.392,2.392,2.396,2.396,2.397,2.402,2.402,2.404,2.404,2.405,2.407,2.408,2.41,2.415,2.415,2.428,2.428,2.424,2.429,2.429,2.43,2.43,2.434,2.443,2.443,2.447,2.45,2.453,2.46,2.462,2.47,2.479,2.48,2.482,2.489,2.491,2.493,2.493,2.503,2.507,2.518,2.528,2.529,2.531,2.533,2.54,2.549,2.55,2.557,2.564,2.564,2.565,2.576,2.591,2.597,2.604,2.611,2.617,2.627,2.63,2.644,2.648,2.659,2.672,2.674,2.683,2.698,2.705,2.711,2.718,2.721,2.728,2.735,2.743,2.758,2.776,2.779,2.794,2.806,2.815,2.824,2.825,2.837,2.849,2.872,2.875,2.879,2.893,2.911,2.928,2.937,2.955,2.965,2.977,2.987,2.996,3.012,3.029,3.029,3.049,3.069,3.076,3.108,3.113,3.129,3.138,3.15,3.169,3.191,3.202,3.223,3.228,3.254,3.292,3.294,3.316,3.341,3.344,3.365,3.387,3.409,3.443,3.466,3.486,3.491,3.519,3.533,3.565,3.596,3.607,3.636,3.656,3.687,3.716,3.742,3.776,3.802,3.83,3.86,3.885,3.914,3.937,3.981,4.019,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.333,3.319,3.304,3.284,3.281,3.267,3.258,3.254,3.246,3.232,3.222,3.221,3.204,3.204,3.201,3.184,3.171,3.169,3.163,3.16,3.152,3.144,3.134,3.128,3.123,3.117,3.115,3.109,3.096,3.096,3.092,3.085,3.075,3.071,3.069,3.068,3.061,3.055,3.051,3.048,3.047,3.038,3.029,3.029,3.029,3.024,3.02,3.019,3.018,3.007,3.007,3.005,3.005,3,2.998,2.998,2.996,2.999,2.999,2.999,2.995,2.995,2.995,2.994,2.989,2.987,2.987,2.987,2.986,2.986,2.984,2.98,2.979,2.979,2.979,2.979,2.98,2.983,2.983,2.98,2.983,2.982,2.982,2.983,2.983,2.985,2.985,2.985,2.991,2.993,2.994,2.994,3,3.008,3.008,3.01,3.013,3.014,3.018,3.018,3.018,3.029,3.032,3.035,3.035,3.036,3.046,3.049,3.049,3.05,3.053,3.056,3.063,3.068,3.071,3.078,3.081,3.09,3.093,3.1,3.105,3.113,3.113,3.113,3.113,3.116,3.127,3.13,3.137,3.149,3.152,3.153,3.161,3.161,3.175,3.187,3.195,3.198,3.199,3.2,3.2,3.207,3.213,3.225,3.244,3.248,3.25,3.264,3.266,3.28,3.28,3.284,3.292,3.813,3.827,3.845,3.847,3.87,3.88,3.89,3.916,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 96.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 96.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 96.944} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.5748}
SEN {Time 96.9925} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.183,0.18,0.183,0.183,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.25,3.378,3.378,3.378,0,0,0,0,0,0,0,0,0,3.112,3.111,3.109,3.096,3.092,3.092,3.091,3.089,3.076,3.071,3.07,3.067,3.066,3.055,3.053,0.15,0.143,0.143,0.143,0.143,0.149,0.15,0.15,0.154,0.15,0.154,0.159,3.029,3.029,3.035,3.035,3.029,3.029,0.167,0.166,0.164,0.161,0.159,0.159,0.161,0.163,0.177,3.449,3.53,3.53,3.53,3.53,3.53,3.535,3.535,3.535,3.535,3.53,3.53,3.53,3.532,3.532,3.534,3.538,3.543,3.543,3.542,3.542,3.545,3.542,3.542,3.542,3.542,3.542,3.552,3.552,3.552,3.552,3.561,3.561,3.561,3.565,3.566,3.569,3.573,3.585,3.586,3.592,3.595,3.595,3.597,3.597,3.604,3.616,3.617,3.618,3.631,3.637,3.64,3.642,3.646,3.658,3.677,3.679,3.681,3.681,3.685,3.69,3.7,3.706,3.712,3.715,3.736,3.739,3.742,3.757,3.77,3.774,3.783,3.784,3.786,3.796,3.816,3.824,3.828,3.84,3.852,3.858,3.868,3.887,3.891,3.896,3.908,3.916,3.936,3.948,3.952,3.975,3.993,4.005,4.022,4.029,4.035,4.06,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0,0.016,4.093,4.093,0,4.008,3.987,3.882,3.856,3.827,3.799,3.754,3.727,3.71,3.697,3.667,3.636,3.623,3.588,3.552,3.546,3.522,3.503,3.475,3.453,3.437,3.402,3.388,3.379,3.356,3.327,3.309,3.293,3.278,3.244,3.234,3.225,3.202,3.188,3.166,3.152,3.137,3.132,3.111,3.092,3.085,3.071,3.057,3.048,3.036,3.011,2.997,2.992,2.97,2.957,2.957,2.937,2.934,2.921,2.902,2.894,2.884,2.867,2.855,2.847,2.832,2.824,2.816,2.803,2.8,2.78,2.77,2.755,2.754,2.734,2.727,2.724,2.715,2.707,2.696,2.693,2.677,2.671,2.662,2.657,2.644,2.639,2.635,2.625,2.622,2.613,2.612,2.59,2.589,2.584,2.566,2.562,2.557,2.551,2.548,2.544,2.538,2.536,2.535,2.52,2.516,2.503,2.503,2.503,2.5,2.495,2.485,2.483,2.479,2.474,2.466,2.465,2.461,2.455,2.452,2.451,2.45,2.449,2.444,2.439,2.434,2.433,2.427,2.424,2.417,2.416,2.415,2.411,2.41,2.41,2.409,2.404,2.403,2.402,2.402,2.398,2.397,2.397,2.396,2.396,2.392,2.392,2.392,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.389,2.387,2.387,2.387,2.387,2.387,2.392,2.392,2.392,2.392,2.397,2.392,2.397,2.397,2.397,2.397,2.403,2.403,2.406,2.407,2.406,2.407,2.409,2.413,2.416,2.416,2.419,2.42,2.42,2.424,2.431,2.435,2.44,2.441,2.442,2.445,2.452,2.456,2.457,2.465,2.466,2.474,2.482,2.484,2.488,2.488,2.492,2.504,2.506,2.507,2.509,2.517,2.525,2.528,2.542,2.545,2.547,2.549,2.559,2.569,2.573,2.574,2.586,2.592,2.597,2.604,2.608,2.615,2.623,2.634,2.64,2.65,2.671,2.675,2.68,2.68,2.684,2.686,2.707,2.713,2.729,2.729,2.746,2.753,2.757,2.772,2.778,2.793,2.803,2.805,2.821,2.824,2.838,2.855,2.874,2.877,2.888,2.897,2.912,2.925,2.938,2.955,2.961,2.976,2.987,2.997,3.021,3.029,3.037,3.049,3.075,3.088,3.103,3.113,3.123,3.133,3.158,3.167,3.192,3.2,3.223,3.229,3.254,3.279,3.294,3.313,3.326,3.347,3.356,3.386,3.409,3.444,3.458,3.473,3.493,3.528,3.54,3.562,3.588,3.621,3.645,3.658,3.683,3.705,3.744,3.774,3.81,3.834,3.864,3.89,3.909,3.974,4.02,4.09,4.09,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.321,3.313,3.298,3.295,3.284,3.269,3.266,3.251,3.236,3.227,3.227,3.218,3.209,3.206,3.192,3.176,3.175,3.171,3.171,3.16,3.149,3.148,3.137,3.125,3.123,3.118,3.112,3.108,3.106,3.098,3.096,3.091,3.082,3.071,3.068,3.067,3.063,3.056,3.051,3.046,3.043,3.028,3.028,3.028,3.026,3.021,3.017,3.014,3.014,3.01,3.009,3.008,3.003,3,3,2.997,2.997,2.997,3.001,2.994,2.995,2.995,2.994,2.994,2.994,2.987,2.985,2.981,2.98,2.979,2.979,2.979,2.979,2.975,2.98,2.987,2.987,2.979,2.983,2.979,2.979,2.982,2.982,2.982,2.984,2.984,2.985,2.985,2.991,2.994,2.998,2.998,2.998,3.005,3.005,3.009,3.007,3.009,3.009,3.019,3.019,3.022,3.028,3.031,3.035,3.039,3.043,3.043,3.049,3.051,3.052,3.052,3.061,3.061,3.07,3.08,3.081,3.087,3.093,3.098,3.104,3.112,3.118,3.118,3.121,3.121,3.129,3.131,3.141,3.149,3.15,3.151,3.161,3.162,3.179,3.179,3.185,3.187,3.2,3.202,3.202,3.209,3.221,3.221,3.237,3.25,3.253,3.261,3.267,3.278,3.278,3.286,3.301,3.817,3.832,3.836,3.846,3.855,3.873,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 97.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 97.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 97.145} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.969} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 5.334}
SEN {Time 97.1875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.18,0.178,0.18,0.18,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.253,3.251,3.239,3.239,3.372,3.372,0,0,0,0,0,0,0,0,0,3.121,3.12,3.113,3.094,3.092,3.092,3.089,3.086,3.075,3.073,3.068,3.068,3.064,3.055,3.055,3.055,0.147,0.145,0.147,0.147,0.145,0.149,0.153,0.153,0.151,0.153,0.153,3.034,3.038,3.041,3.041,3.041,3.041,3.041,0.166,0.166,0.165,0.161,0.161,0.161,0.161,0.174,3.455,3.529,3.531,3.531,3.532,3.531,3.536,3.533,3.534,3.533,3.533,3.533,3.534,3.534,3.536,3.537,3.537,3.541,3.545,3.545,3.546,3.548,3.549,3.549,3.549,3.549,3.548,3.548,3.551,3.559,3.561,3.562,3.561,3.565,3.57,3.572,3.574,3.578,3.578,3.58,3.58,3.591,3.596,3.607,3.608,3.608,3.613,3.614,3.616,3.62,3.638,3.641,3.645,3.657,3.661,3.662,3.668,3.673,3.679,3.681,3.687,3.7,3.709,3.714,3.716,3.738,3.744,3.75,3.757,3.764,3.775,3.783,3.8,3.801,3.805,3.813,3.816,3.836,3.839,3.843,3.856,3.866,3.88,3.9,3.909,3.915,3.93,3.93,3.938,3.963,3.98,3.994,4.018,4.021,4.034,4.036,4.05,4.066,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,3.979,3.917,3.886,3.862,3.828,3.791,3.776,3.737,3.725,3.693,3.658,3.629,3.618,3.584,3.561,3.546,3.528,3.502,3.48,3.456,3.425,3.419,3.39,3.369,3.349,3.329,3.303,3.293,3.273,3.255,3.236,3.223,3.207,3.181,3.159,3.153,3.133,3.131,3.112,3.096,3.086,3.074,3.056,3.042,3.029,3.023,2.987,2.987,2.973,2.959,2.954,2.941,2.932,2.915,2.902,2.897,2.884,2.87,2.857,2.855,2.832,2.818,2.805,2.804,2.802,2.785,2.777,2.761,2.746,2.74,2.733,2.719,2.715,2.714,2.698,2.69,2.674,2.669,2.657,2.656,2.637,2.634,2.631,2.623,2.616,2.615,2.606,2.6,2.59,2.583,2.565,2.564,2.557,2.551,2.55,2.538,2.537,2.532,2.53,2.527,2.522,2.513,2.509,2.508,2.497,2.495,2.486,2.483,2.481,2.474,2.473,2.472,2.461,2.458,2.458,2.455,2.449,2.438,2.438,2.436,2.435,2.434,2.43,2.426,2.417,2.414,2.414,2.414,2.414,2.412,2.41,2.408,2.406,2.405,2.404,2.403,2.399,2.397,2.394,2.394,2.394,2.393,2.392,2.39,2.389,2.389,2.389,2.39,2.392,2.392,2.39,2.387,2.386,2.386,2.386,2.385,2.386,2.387,2.392,2.393,2.393,2.393,2.393,2.393,2.393,2.395,2.403,2.403,2.403,2.407,2.409,2.414,2.414,2.416,2.416,2.42,2.42,2.42,2.425,2.426,2.431,2.431,2.433,2.438,2.445,2.45,2.453,2.455,2.459,2.464,2.468,2.475,2.475,2.475,2.483,2.487,2.487,2.506,2.506,2.507,2.507,2.516,2.517,2.532,2.532,2.54,2.544,2.544,2.557,2.574,2.575,2.577,2.583,2.584,2.598,2.602,2.608,2.613,2.625,2.63,2.635,2.646,2.669,2.674,2.677,2.689,2.69,2.697,2.706,2.713,2.727,2.729,2.746,2.747,2.764,2.779,2.781,2.783,2.795,2.812,2.825,2.83,2.846,2.86,2.876,2.878,2.879,2.901,2.911,2.923,2.933,2.954,2.958,2.975,2.987,3.001,3.019,3.031,3.042,3.055,3.067,3.078,3.104,3.115,3.121,3.146,3.158,3.17,3.191,3.209,3.23,3.234,3.255,3.28,3.28,3.306,3.331,3.346,3.361,3.377,3.404,3.432,3.455,3.481,3.491,3.522,3.531,3.565,3.599,3.616,3.629,3.66,3.699,3.711,3.743,3.769,3.792,3.828,3.854,3.881,3.92,3.964,3.989,4.052,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.306,3.302,3.291,3.28,3.272,3.264,3.262,3.243,3.236,3.223,3.217,3.202,3.201,3.197,3.186,3.184,3.165,3.164,3.157,3.156,3.143,3.131,3.127,3.126,3.112,3.108,3.104,3.102,3.101,3.089,3.086,3.077,3.069,3.069,3.069,3.062,3.062,3.051,3.05,3.045,3.039,3.033,3.03,3.03,3.026,3.025,3.022,3.009,3.008,3.007,3.007,3.007,3.003,3.001,3,2.997,2.997,3,2.997,2.997,2.997,2.994,2.992,2.992,2.992,2.987,2.987,2.985,2.984,2.982,2.979,2.979,2.98,2.98,2.981,2.982,2.981,2.981,2.981,2.982,2.981,2.982,2.983,2.984,2.985,2.988,2.995,2.995,2.995,2.997,2.999,3.001,3.001,3.003,3.003,3.007,3.014,3.018,3.02,3.021,3.027,3.028,3.029,3.029,3.031,3.032,3.043,3.047,3.05,3.055,3.059,3.061,3.062,3.074,3.077,3.078,3.091,3.093,3.098,3.103,3.114,3.114,3.114,3.114,3.12,3.127,3.133,3.142,3.15,3.151,3.151,3.162,3.162,3.172,3.178,3.185,3.188,3.199,3.199,3.199,3.213,3.229,3.23,3.237,3.25,3.253,3.259,3.266,3.276,3.276,3.285,3.292,3.821,3.836,3.837,3.848,3.866,3.867,3.889,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 97.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 97.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 97.3459} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 5.334}
SEN {Time 97.3875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.174,0.181,0.181,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.268,3.26,3.234,3.234,3.383,3.383,0,0,0,0,0,0,0,0,0,3.117,3.114,3.111,3.1,3.096,3.095,3.088,3.087,3.085,3.069,3.069,3.063,3.063,3.061,3.055,0.154,0.144,0.144,0.144,0.146,0.146,0.146,0.151,0.151,0.147,0.151,0.152,3.027,3.027,3.042,3.042,3.027,3.027,0.168,0.163,0.16,0.154,0.153,0.153,0.154,0.158,0.185,3.453,3.527,3.53,3.535,3.535,3.535,3.535,3.537,3.532,3.532,3.535,3.535,3.535,3.535,3.538,3.538,3.538,3.538,3.538,3.538,3.538,3.545,3.545,3.545,3.545,3.544,3.544,3.544,3.548,3.553,3.553,3.559,3.564,3.564,3.564,3.57,3.579,3.579,3.579,3.579,3.586,3.59,3.59,3.597,3.607,3.609,3.617,3.618,3.626,3.631,3.631,3.635,3.637,3.653,3.662,3.664,3.672,3.681,3.681,3.685,3.688,3.698,3.702,3.718,3.726,3.727,3.733,3.754,3.757,3.766,3.776,3.786,3.79,3.797,3.8,3.82,3.825,3.826,3.833,3.842,3.846,3.883,3.885,3.888,3.898,3.912,3.913,3.937,3.944,3.957,3.981,3.99,3.997,4.01,4.033,4.039,4.062,4.072,4.089,0.016,0.016,0.016,0.016,0,0,0,0,0,3.982,3.953,3.925,3.87,3.867,3.827,3.795,3.772,3.739,3.722,3.697,3.65,3.637,3.61,3.6,3.57,3.546,3.526,3.499,3.474,3.46,3.434,3.412,3.386,3.372,3.347,3.334,3.306,3.286,3.28,3.26,3.236,3.221,3.206,3.18,3.162,3.157,3.136,3.126,3.112,3.095,3.088,3.08,3.055,3.049,3.034,3.022,2.994,2.993,2.971,2.964,2.958,2.943,2.922,2.918,2.909,2.905,2.879,2.873,2.855,2.843,2.834,2.822,2.813,2.799,2.798,2.793,2.773,2.764,2.755,2.739,2.738,2.725,2.717,2.712,2.703,2.692,2.676,2.674,2.663,2.646,2.637,2.636,2.632,2.631,2.62,2.619,2.612,2.598,2.586,2.578,2.574,2.563,2.563,2.553,2.544,2.544,2.536,2.534,2.534,2.525,2.521,2.515,2.514,2.506,2.505,2.502,2.487,2.486,2.477,2.466,2.465,2.465,2.463,2.462,2.457,2.455,2.447,2.442,2.436,2.436,2.435,2.427,2.42,2.42,2.417,2.42,2.42,2.417,2.412,2.414,2.414,2.414,2.411,2.401,2.401,2.399,2.398,2.392,2.392,2.392,2.394,2.394,2.394,2.392,2.39,2.389,2.386,2.385,2.386,2.386,2.386,2.386,2.391,2.391,2.391,2.389,2.389,2.389,2.386,2.386,2.39,2.392,2.394,2.394,2.394,2.394,2.404,2.404,2.407,2.407,2.41,2.413,2.413,2.414,2.414,2.42,2.42,2.421,2.427,2.429,2.43,2.435,2.435,2.438,2.446,2.448,2.452,2.453,2.458,2.461,2.466,2.478,2.479,2.482,2.489,2.492,2.494,2.502,2.504,2.505,2.513,2.517,2.531,2.535,2.535,2.541,2.546,2.554,2.559,2.562,2.566,2.568,2.58,2.596,2.596,2.608,2.613,2.618,2.627,2.631,2.634,2.647,2.659,2.671,2.677,2.682,2.693,2.697,2.7,2.716,2.725,2.73,2.744,2.744,2.745,2.769,2.774,2.798,2.801,2.803,2.824,2.828,2.843,2.857,2.864,2.867,2.884,2.91,2.919,2.924,2.941,2.954,2.962,2.976,2.978,2.996,3.017,3.031,3.042,3.051,3.072,3.085,3.103,3.114,3.129,3.141,3.154,3.171,3.185,3.207,3.22,3.239,3.257,3.281,3.285,3.313,3.336,3.358,3.367,3.382,3.403,3.439,3.458,3.478,3.496,3.514,3.543,3.563,3.594,3.616,3.639,3.667,3.69,3.715,3.742,3.771,3.806,3.812,3.844,3.876,3.91,3.954,3.987,4.065,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.314,3.311,3.294,3.287,3.281,3.272,3.257,3.253,3.24,3.229,3.228,3.223,3.202,3.2,3.198,3.188,3.178,3.171,3.166,3.153,3.148,3.139,3.132,3.123,3.117,3.115,3.111,3.106,3.099,3.092,3.091,3.09,3.081,3.079,3.074,3.064,3.056,3.053,3.051,3.047,3.036,3.029,3.029,3.029,3.029,3.023,3.022,3.017,3.016,3.01,3.009,3.006,3.006,3.001,3.001,3,2.996,2.996,2.996,2.993,2.993,2.991,2.99,2.987,2.983,2.983,2.983,2.983,2.983,2.987,2.987,2.987,2.987,2.983,2.983,2.978,2.981,2.978,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.988,2.989,2.992,2.993,2.995,2.996,2.998,3.002,3.006,3.009,3.011,3.011,3.017,3.018,3.022,3.025,3.031,3.031,3.033,3.035,3.038,3.045,3.047,3.047,3.056,3.062,3.068,3.071,3.073,3.078,3.084,3.092,3.094,3.105,3.106,3.113,3.114,3.114,3.114,3.122,3.126,3.134,3.141,3.147,3.154,3.162,3.163,3.163,3.176,3.184,3.192,3.196,3.199,3.206,3.208,3.213,3.221,3.224,3.238,3.251,3.258,3.261,3.272,3.28,3.28,3.285,3.292,3.816,3.83,3.835,3.841,3.864,3.883,3.887,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 97.54} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 97.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 97.5388} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.334}
SEN {Time 97.5875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.18,0.176,0.18,0.18,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.267,3.267,3.247,3.237,3.237,3.382,3.382,0,0,0,0,0,0,0,0,3.113,3.113,3.112,3.112,3.099,3.097,3.092,3.087,3.082,3.077,3.074,3.068,3.057,3.057,3.05,3.048,0.143,0.137,0.137,0.141,0.141,0.147,0.147,0.15,0.15,0.15,0.15,0.153,3.028,3.031,3.034,3.034,3.031,3.031,0.163,0.162,0.157,0.153,0.153,0.153,0.156,0.163,0.177,3.46,3.523,3.526,3.531,3.534,3.534,3.534,3.531,3.534,3.531,3.531,3.531,3.531,3.531,3.534,3.539,3.539,3.539,3.543,3.541,3.543,3.546,3.543,3.542,3.542,3.542,3.542,3.548,3.552,3.555,3.555,3.557,3.56,3.56,3.572,3.574,3.576,3.578,3.579,3.583,3.586,3.586,3.589,3.591,3.599,3.608,3.615,3.617,3.622,3.627,3.635,3.645,3.651,3.652,3.659,3.667,3.669,3.673,3.677,3.679,3.682,3.703,3.713,3.715,3.719,3.723,3.744,3.756,3.756,3.769,3.771,3.778,3.781,3.79,3.794,3.816,3.82,3.835,3.837,3.838,3.859,3.866,3.887,3.888,3.906,3.918,3.923,3.937,3.956,3.961,3.975,3.995,4.001,4.022,4.037,4.04,4.045,4.061,4.082,0.016,0.016,0.016,0,0,0,0,0,4.017,3.983,3.959,3.931,3.871,3.857,3.834,3.783,3.769,3.73,3.716,3.694,3.649,3.639,3.609,3.583,3.569,3.546,3.515,3.494,3.475,3.463,3.439,3.413,3.387,3.371,3.351,3.33,3.307,3.287,3.272,3.253,3.238,3.219,3.203,3.195,3.169,3.154,3.131,3.119,3.108,3.096,3.09,3.068,3.061,3.037,3.028,3.021,2.991,2.991,2.973,2.96,2.955,2.935,2.929,2.918,2.905,2.901,2.885,2.869,2.851,2.847,2.834,2.825,2.805,2.802,2.793,2.785,2.777,2.773,2.757,2.743,2.728,2.714,2.711,2.71,2.694,2.69,2.679,2.678,2.661,2.65,2.644,2.642,2.64,2.628,2.616,2.603,2.598,2.596,2.588,2.586,2.568,2.564,2.559,2.555,2.555,2.545,2.54,2.53,2.524,2.521,2.519,2.512,2.512,2.507,2.497,2.496,2.485,2.477,2.477,2.475,2.474,2.468,2.462,2.462,2.461,2.456,2.449,2.447,2.44,2.434,2.432,2.427,2.421,2.421,2.42,2.413,2.413,2.413,2.411,2.411,2.411,2.411,2.403,2.402,2.402,2.401,2.399,2.397,2.397,2.394,2.392,2.392,2.391,2.39,2.386,2.386,2.386,2.387,2.389,2.389,2.389,2.389,2.388,2.388,2.388,2.388,2.389,2.389,2.391,2.393,2.393,2.394,2.394,2.394,2.394,2.394,2.4,2.402,2.403,2.404,2.406,2.409,2.416,2.416,2.416,2.419,2.419,2.424,2.425,2.428,2.433,2.435,2.437,2.438,2.447,2.45,2.456,2.457,2.457,2.459,2.464,2.476,2.478,2.479,2.48,2.483,2.496,2.498,2.503,2.509,2.511,2.517,2.521,2.522,2.529,2.548,2.553,2.557,2.562,2.563,2.565,2.568,2.578,2.581,2.593,2.595,2.61,2.616,2.626,2.635,2.643,2.649,2.666,2.671,2.676,2.68,2.683,2.691,2.713,2.718,2.726,2.73,2.741,2.744,2.754,2.771,2.776,2.787,2.8,2.81,2.824,2.838,2.839,2.855,2.873,2.877,2.886,2.908,2.912,2.926,2.928,2.953,2.958,2.971,2.989,3.001,3.017,3.034,3.043,3.049,3.062,3.082,3.104,3.111,3.128,3.142,3.147,3.161,3.192,3.195,3.224,3.228,3.257,3.278,3.289,3.318,3.33,3.346,3.362,3.388,3.416,3.434,3.454,3.471,3.493,3.516,3.544,3.571,3.602,3.612,3.646,3.669,3.681,3.722,3.733,3.774,3.799,3.819,3.858,3.891,3.925,3.952,3.986,4.033,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.323,3.308,3.293,3.291,3.273,3.269,3.261,3.25,3.245,3.228,3.226,3.221,3.209,3.2,3.197,3.196,3.175,3.169,3.161,3.154,3.148,3.138,3.135,3.127,3.119,3.111,3.107,3.106,3.104,3.088,3.084,3.084,3.077,3.077,3.071,3.066,3.055,3.054,3.05,3.041,3.039,3.037,3.031,3.03,3.027,3.025,3.02,3.012,3.012,3.006,3.002,3.002,3,2.997,2.995,2.995,2.994,2.994,2.998,2.998,2.994,2.995,2.994,2.994,2.992,2.988,2.984,2.983,2.983,2.981,2.981,2.979,2.981,2.979,2.98,2.98,2.98,2.98,2.98,2.98,2.98,2.982,2.983,2.983,2.983,2.987,2.989,2.989,2.991,2.994,2.995,3.003,3.003,3.003,3.005,3.008,3.008,3.01,3.013,3.017,3.02,3.023,3.029,3.028,3.029,3.04,3.042,3.042,3.044,3.054,3.054,3.058,3.063,3.069,3.072,3.081,3.085,3.086,3.091,3.099,3.1,3.113,3.113,3.113,3.113,3.125,3.125,3.128,3.138,3.148,3.153,3.157,3.162,3.164,3.169,3.178,3.189,3.196,3.201,3.201,3.201,3.202,3.222,3.228,3.241,3.249,3.257,3.265,3.266,3.281,3.281,3.282,3.287,3.818,3.83,3.836,3.849,3.864,3.885,3.908,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 97.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 97.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 97.7399} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8796} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 1.5748}
SEN {Time 97.7875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.178,0.178,0.178,0.178,0.178,0.209,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.231,3.231,3.373,3.373,0,0,0,0,0,0,0,0,0,3.117,3.115,3.107,3.099,3.099,3.094,3.091,3.086,3.082,3.074,3.071,3.067,3.067,3.057,3.055,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.146,0.149,0.154,0.155,0.161,3.028,3.033,3.033,3.033,3.036,3.036,3.029,0.164,0.164,0.162,0.16,0.158,0.16,0.16,0.173,3.462,3.529,3.529,3.529,3.527,3.527,3.527,3.53,3.53,3.539,3.535,3.535,3.535,3.539,3.539,3.539,3.539,3.54,3.54,3.542,3.55,3.553,3.553,3.55,3.55,3.55,3.545,3.55,3.552,3.555,3.559,3.564,3.564,3.565,3.566,3.573,3.579,3.583,3.586,3.589,3.591,3.594,3.6,3.602,3.605,3.609,3.611,3.618,3.618,3.626,3.634,3.635,3.658,3.658,3.659,3.663,3.675,3.679,3.68,3.683,3.692,3.707,3.71,3.713,3.734,3.736,3.738,3.738,3.759,3.76,3.77,3.775,3.78,3.791,3.801,3.82,3.829,3.83,3.848,3.851,3.853,3.873,3.887,3.892,3.895,3.913,3.914,3.933,3.945,3.966,3.977,3.988,3.991,4.012,4.039,4.041,4.056,4.08,4.094,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.019,3.978,3.944,3.921,3.881,3.855,3.83,3.79,3.759,3.734,3.719,3.704,3.67,3.645,3.612,3.587,3.563,3.541,3.525,3.493,3.468,3.456,3.432,3.414,3.398,3.378,3.338,3.323,3.3,3.289,3.265,3.252,3.24,3.222,3.202,3.183,3.16,3.159,3.14,3.128,3.113,3.095,3.086,3.073,3.061,3.044,3.035,3.02,2.998,2.994,2.98,2.968,2.952,2.941,2.93,2.913,2.909,2.896,2.878,2.862,2.856,2.85,2.843,2.829,2.817,2.813,2.804,2.784,2.768,2.759,2.757,2.742,2.733,2.726,2.719,2.709,2.704,2.688,2.679,2.668,2.661,2.66,2.644,2.633,2.627,2.62,2.613,2.612,2.6,2.597,2.588,2.582,2.574,2.566,2.556,2.55,2.55,2.534,2.534,2.534,2.534,2.527,2.525,2.513,2.509,2.501,2.501,2.49,2.485,2.482,2.478,2.472,2.463,2.462,2.46,2.46,2.458,2.455,2.442,2.441,2.438,2.434,2.429,2.426,2.424,2.421,2.42,2.417,2.416,2.414,2.413,2.41,2.409,2.409,2.408,2.405,2.402,2.401,2.4,2.393,2.393,2.393,2.393,2.393,2.391,2.388,2.388,2.388,2.389,2.393,2.393,2.393,2.389,2.388,2.388,2.389,2.388,2.388,2.388,2.388,2.388,2.39,2.391,2.391,2.391,2.394,2.395,2.395,2.402,2.402,2.402,2.408,2.408,2.408,2.411,2.423,2.423,2.423,2.423,2.423,2.423,2.428,2.43,2.432,2.434,2.445,2.448,2.449,2.452,2.452,2.458,2.465,2.465,2.471,2.477,2.477,2.485,2.489,2.494,2.497,2.505,2.514,2.517,2.52,2.522,2.529,2.53,2.531,2.543,2.552,2.554,2.557,2.566,2.575,2.581,2.594,2.602,2.605,2.607,2.615,2.626,2.634,2.637,2.647,2.666,2.673,2.683,2.685,2.685,2.694,2.71,2.718,2.726,2.728,2.738,2.744,2.759,2.777,2.784,2.793,2.809,2.812,2.82,2.83,2.844,2.855,2.872,2.876,2.883,2.897,2.915,2.929,2.937,2.955,2.955,2.972,2.987,2.995,3.01,3.029,3.043,3.054,3.065,3.082,3.099,3.112,3.124,3.138,3.16,3.168,3.186,3.201,3.228,3.231,3.252,3.287,3.295,3.319,3.329,3.359,3.366,3.374,3.411,3.438,3.456,3.472,3.49,3.525,3.546,3.563,3.594,3.615,3.643,3.662,3.679,3.712,3.735,3.779,3.796,3.83,3.856,3.885,3.925,3.976,4.006,4.051,4.051,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.326,3.299,3.295,3.288,3.285,3.263,3.258,3.258,3.253,3.238,3.228,3.223,3.205,3.205,3.201,3.186,3.175,3.175,3.167,3.158,3.153,3.147,3.13,3.129,3.119,3.114,3.114,3.108,3.107,3.092,3.088,3.081,3.078,3.076,3.074,3.07,3.056,3.055,3.055,3.052,3.051,3.038,3.034,3.032,3.022,3.021,3.019,3.018,3.01,3.006,3.006,3.006,3.006,3.003,3.003,3,2.996,2.996,2.996,2.995,2.995,2.995,2.992,2.992,2.987,2.986,2.986,2.985,2.984,2.981,2.981,2.978,2.978,2.978,2.984,2.983,2.983,2.983,2.985,2.983,2.984,2.984,2.984,2.984,2.984,2.984,2.986,2.988,2.993,2.996,2.997,3.003,3.004,3.004,3.005,3.007,3.007,3.012,3.014,3.017,3.018,3.022,3.03,3.03,3.033,3.037,3.04,3.043,3.045,3.048,3.053,3.054,3.061,3.066,3.076,3.08,3.083,3.092,3.094,3.097,3.105,3.116,3.117,3.117,3.118,3.123,3.126,3.131,3.137,3.147,3.153,3.157,3.16,3.162,3.173,3.175,3.182,3.192,3.206,3.206,3.21,3.21,3.216,3.219,3.24,3.248,3.25,3.26,3.268,3.277,3.277,3.29,3.303,3.822,3.831,3.839,3.84,3.862,3.875,3.904,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 97.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 97.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 97.9408} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8796} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 1.5748}
SEN {Time 97.9875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.178,0.178,0.183,0.183,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.261,3.261,3.252,3.232,3.232,3.38,3.38,0,0,0,0,0,0,0,0,0,3.12,3.117,3.115,3.096,3.092,3.092,3.086,3.084,3.073,3.069,3.068,3.055,3.055,3.053,3.055,3.053,0.153,0.153,0.153,0.153,0.145,0.153,0.158,0.158,0.153,0.158,0.162,3.021,3.026,3.029,3.029,3.026,3.026,0.171,0.16,0.153,0.153,0.153,0.153,0.154,0.165,0.172,3.45,3.527,3.531,3.531,3.531,3.531,3.531,3.53,3.53,3.53,3.535,3.533,3.533,3.533,3.533,3.533,3.534,3.535,3.535,3.535,3.543,3.546,3.546,3.546,3.546,3.548,3.546,3.546,3.551,3.552,3.552,3.555,3.555,3.563,3.565,3.566,3.574,3.575,3.574,3.579,3.586,3.593,3.597,3.599,3.609,3.61,3.61,3.612,3.616,3.617,3.625,3.643,3.65,3.654,3.66,3.66,3.664,3.665,3.678,3.687,3.691,3.697,3.702,3.712,3.729,3.732,3.733,3.753,3.761,3.762,3.762,3.775,3.784,3.795,3.813,3.813,3.82,3.831,3.84,3.85,3.855,3.867,3.886,3.891,3.898,3.905,3.924,3.939,3.949,3.961,3.975,3.977,3.995,4.017,4.025,4.042,4.061,4.084,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,4.065,4.012,3.981,3.962,3.924,3.881,3.854,3.817,3.787,3.757,3.743,3.71,3.695,3.675,3.645,3.608,3.585,3.559,3.536,3.52,3.498,3.482,3.456,3.435,3.406,3.391,3.372,3.36,3.331,3.309,3.288,3.259,3.256,3.24,3.228,3.208,3.187,3.17,3.163,3.14,3.131,3.116,3.101,3.087,3.072,3.054,3.047,3.037,3.017,2.996,2.99,2.969,2.963,2.955,2.944,2.934,2.924,2.902,2.892,2.878,2.87,2.857,2.854,2.833,2.823,2.814,2.8,2.79,2.783,2.769,2.765,2.752,2.738,2.724,2.715,2.708,2.702,2.699,2.697,2.687,2.675,2.658,2.656,2.646,2.632,2.632,2.619,2.613,2.611,2.597,2.597,2.58,2.575,2.575,2.572,2.563,2.553,2.551,2.546,2.535,2.531,2.53,2.521,2.518,2.505,2.502,2.498,2.496,2.492,2.488,2.484,2.481,2.472,2.468,2.465,2.463,2.46,2.452,2.452,2.451,2.449,2.441,2.429,2.429,2.428,2.42,2.418,2.418,2.417,2.417,2.416,2.41,2.41,2.408,2.407,2.405,2.402,2.401,2.4,2.398,2.396,2.395,2.395,2.396,2.396,2.391,2.383,2.383,2.383,2.388,2.392,2.392,2.392,2.386,2.385,2.385,2.386,2.389,2.39,2.39,2.39,2.39,2.391,2.391,2.394,2.394,2.396,2.394,2.396,2.396,2.401,2.402,2.402,2.405,2.408,2.409,2.413,2.423,2.424,2.425,2.426,2.428,2.428,2.432,2.434,2.437,2.437,2.445,2.447,2.45,2.455,2.459,2.466,2.467,2.473,2.478,2.481,2.482,2.49,2.493,2.495,2.495,2.501,2.515,2.518,2.521,2.528,2.532,2.54,2.546,2.558,2.558,2.563,2.57,2.571,2.578,2.587,2.59,2.594,2.609,2.62,2.631,2.636,2.636,2.651,2.662,2.672,2.676,2.684,2.687,2.695,2.705,2.712,2.728,2.733,2.74,2.745,2.751,2.771,2.772,2.789,2.799,2.808,2.817,2.836,2.85,2.863,2.874,2.877,2.886,2.898,2.911,2.924,2.931,2.953,2.962,2.972,2.99,2.997,3.018,3.026,3.036,3.055,3.065,3.077,3.101,3.113,3.124,3.147,3.163,3.175,3.193,3.211,3.225,3.232,3.255,3.276,3.29,3.305,3.329,3.354,3.363,3.379,3.406,3.432,3.462,3.477,3.499,3.507,3.525,3.55,3.589,3.608,3.642,3.663,3.69,3.721,3.738,3.764,3.797,3.836,3.862,3.869,3.911,3.946,3.978,4.022,4.046,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.334,3.318,3.313,3.299,3.287,3.285,3.266,3.262,3.261,3.242,3.228,3.225,3.223,3.202,3.201,3.198,3.182,3.174,3.166,3.158,3.148,3.146,3.144,3.135,3.129,3.129,3.123,3.113,3.111,3.1,3.095,3.092,3.092,3.082,3.078,3.069,3.069,3.062,3.056,3.054,3.041,3.036,3.029,3.029,3.029,3.029,3.028,3.022,3.017,3.013,3.004,3.004,3.003,2.998,2.998,2.998,2.997,2.997,2.998,2.998,2.997,2.994,2.994,2.991,2.99,2.988,2.986,2.985,2.985,2.985,2.982,2.982,2.979,2.979,2.981,2.986,2.986,2.986,2.984,2.984,2.98,2.979,2.979,2.98,2.981,2.985,2.986,2.987,2.99,2.994,2.994,2.995,2.997,2.997,3.003,3.004,3.007,3.007,3.011,3.012,3.017,3.029,3.029,3.03,3.029,3.031,3.035,3.041,3.044,3.055,3.055,3.055,3.06,3.064,3.068,3.073,3.077,3.084,3.09,3.093,3.097,3.109,3.115,3.115,3.115,3.119,3.121,3.128,3.131,3.132,3.146,3.147,3.158,3.159,3.164,3.175,3.176,3.192,3.197,3.199,3.199,3.202,3.207,3.218,3.218,3.232,3.25,3.251,3.257,3.266,3.273,3.273,3.285,3.291,3.816,3.833,3.836,3.84,3.867,3.884,3.909,3.92,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 98.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 98.1417} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8796} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 1.5748}
SEN {Time 98.1835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.177,0.174,0.174,0.179,0.179,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.264,3.258,3.241,3.241,3.379,3.379,0,0,0,0,0,0,0,0,0,3.121,3.11,3.105,3.101,3.095,3.093,3.092,3.09,3.077,3.076,3.067,3.061,3.061,3.059,3.059,3.05,0.15,0.15,0.15,0.15,0.146,0.153,0.153,0.153,0.152,0.153,0.153,3.026,3.028,3.039,3.039,3.028,3.028,0.167,0.163,0.163,0.163,0.162,0.162,0.164,0.164,0.174,3.436,3.529,3.529,3.529,3.529,3.528,3.528,3.528,3.527,3.527,3.528,3.528,3.53,3.535,3.539,3.539,3.541,3.541,3.541,3.54,3.541,3.546,3.546,3.546,3.546,3.547,3.548,3.555,3.56,3.56,3.555,3.555,3.561,3.564,3.564,3.573,3.573,3.578,3.578,3.586,3.587,3.588,3.59,3.6,3.603,3.61,3.611,3.612,3.612,3.625,3.639,3.645,3.647,3.649,3.652,3.671,3.674,3.677,3.68,3.688,3.69,3.695,3.698,3.713,3.714,3.734,3.734,3.746,3.755,3.768,3.773,3.783,3.786,3.793,3.805,3.815,3.819,3.822,3.839,3.848,3.853,3.867,3.885,3.886,3.909,3.923,3.93,3.942,3.949,3.95,3.971,3.972,3.997,4.011,4.032,4.033,4.053,4.07,4.095,0.016,0.016,0.016,0.016,0.007,0,0,0,4.015,3.992,3.945,3.921,3.876,3.866,3.83,3.805,3.773,3.727,3.716,3.692,3.653,3.639,3.613,3.587,3.563,3.55,3.533,3.502,3.482,3.454,3.434,3.41,3.386,3.371,3.356,3.332,3.299,3.293,3.265,3.245,3.23,3.214,3.203,3.184,3.167,3.156,3.143,3.134,3.11,3.092,3.092,3.078,3.05,3.045,3.024,3.015,2.991,2.989,2.972,2.961,2.957,2.936,2.928,2.921,2.906,2.898,2.881,2.874,2.853,2.842,2.835,2.824,2.817,2.811,2.797,2.782,2.773,2.768,2.755,2.74,2.732,2.721,2.709,2.704,2.699,2.691,2.682,2.678,2.651,2.651,2.645,2.639,2.632,2.624,2.611,2.61,2.599,2.593,2.588,2.575,2.568,2.562,2.562,2.561,2.555,2.538,2.535,2.533,2.532,2.524,2.522,2.508,2.507,2.5,2.499,2.491,2.489,2.488,2.482,2.474,2.47,2.465,2.464,2.464,2.45,2.449,2.446,2.44,2.435,2.433,2.431,2.43,2.427,2.423,2.419,2.417,2.414,2.414,2.412,2.408,2.408,2.406,2.406,2.404,2.399,2.399,2.399,2.398,2.398,2.398,2.395,2.392,2.387,2.386,2.386,2.384,2.384,2.384,2.385,2.385,2.389,2.389,2.387,2.389,2.389,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.393,2.395,2.395,2.396,2.398,2.405,2.405,2.406,2.406,2.406,2.406,2.414,2.416,2.416,2.42,2.421,2.426,2.427,2.431,2.435,2.437,2.439,2.44,2.444,2.455,2.455,2.456,2.457,2.462,2.478,2.48,2.482,2.482,2.487,2.491,2.501,2.505,2.506,2.507,2.516,2.522,2.528,2.533,2.538,2.545,2.56,2.566,2.567,2.567,2.571,2.578,2.594,2.594,2.601,2.605,2.612,2.621,2.637,2.647,2.647,2.672,2.673,2.676,2.681,2.682,2.697,2.703,2.725,2.727,2.73,2.743,2.748,2.758,2.768,2.771,2.779,2.798,2.809,2.825,2.833,2.849,2.856,2.874,2.879,2.886,2.905,2.915,2.924,2.931,2.951,2.958,2.971,2.992,3.001,3.013,3.03,3.038,3.051,3.064,3.076,3.101,3.112,3.129,3.134,3.153,3.168,3.186,3.212,3.229,3.235,3.254,3.277,3.279,3.308,3.33,3.354,3.366,3.379,3.397,3.432,3.463,3.472,3.487,3.519,3.524,3.559,3.603,3.619,3.646,3.656,3.686,3.718,3.735,3.773,3.792,3.828,3.866,3.877,3.913,3.954,3.987,4.01,4.058,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.341,3.325,3.303,3.297,3.289,3.288,3.274,3.263,3.259,3.243,3.235,3.23,3.228,3.202,3.197,3.193,3.193,3.174,3.171,3.159,3.156,3.148,3.147,3.14,3.127,3.116,3.115,3.113,3.111,3.104,3.097,3.087,3.082,3.077,3.076,3.075,3.066,3.062,3.059,3.052,3.049,3.04,3.04,3.036,3.032,3.032,3.02,3.018,3.017,3.017,3.01,3.009,3.005,3.003,2.996,2.994,2.993,2.993,2.993,2.993,3,3,3,2.995,2.994,2.994,2.988,2.986,2.986,2.986,2.985,2.985,2.985,2.985,2.985,2.986,2.986,2.986,2.985,2.985,2.982,2.979,2.979,2.981,2.981,2.983,2.989,2.99,2.99,2.993,2.997,2.997,3.002,3.002,3.004,3.005,3.005,3.009,3.013,3.017,3.017,3.017,3.022,3.029,3.029,3.029,3.041,3.041,3.045,3.05,3.053,3.055,3.056,3.061,3.067,3.069,3.072,3.08,3.088,3.092,3.102,3.104,3.11,3.113,3.115,3.121,3.121,3.121,3.132,3.14,3.142,3.15,3.155,3.164,3.167,3.168,3.168,3.187,3.196,3.197,3.198,3.202,3.203,3.216,3.219,3.232,3.243,3.253,3.26,3.27,3.28,3.28,3.284,3.295,3.811,3.827,3.837,3.845,3.857,3.872,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 98.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 98.3338} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3716} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 5.2324}
SEN {Time 98.3835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.184,0.178,0.176,0.176,0.176,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.366,3.366,3.366,0,0,0,0,0,0,0,0,0,3.118,3.117,3.117,3.103,3.096,3.093,3.091,3.09,3.074,3.072,3.07,3.062,3.062,3.057,3.055,0.15,0.141,0.141,0.141,0.15,0.15,0.15,0.154,0.154,0.15,0.154,0.158,3.034,3.034,3.041,3.041,3.034,3.021,0.163,0.162,0.159,0.157,0.157,0.157,0.161,0.163,0.164,3.44,3.53,3.53,3.531,3.531,3.53,3.532,3.534,3.534,3.532,3.533,3.533,3.532,3.533,3.534,3.534,3.534,3.536,3.538,3.538,3.542,3.542,3.542,3.541,3.539,3.539,3.539,3.542,3.546,3.549,3.56,3.561,3.562,3.568,3.564,3.572,3.574,3.576,3.583,3.583,3.594,3.595,3.595,3.597,3.604,3.613,3.607,3.614,3.616,3.625,3.634,3.648,3.648,3.65,3.664,3.666,3.666,3.68,3.685,3.685,3.687,3.7,3.705,3.709,3.728,3.739,3.739,3.746,3.755,3.758,3.77,3.784,3.789,3.795,3.8,3.811,3.814,3.825,3.847,3.853,3.86,3.873,3.898,3.898,3.899,3.911,3.913,3.94,3.946,3.967,3.978,3.986,3.986,4.018,4.031,4.04,4.056,4.061,4.085,0.016,0.016,0.016,0.016,0.016,0,0,0.016,0.016,3.997,3.957,3.933,3.891,3.853,3.826,3.805,3.783,3.735,3.715,3.689,3.658,3.638,3.608,3.574,3.558,3.544,3.537,3.504,3.482,3.448,3.434,3.408,3.383,3.372,3.35,3.335,3.303,3.298,3.276,3.259,3.23,3.214,3.199,3.186,3.168,3.161,3.141,3.128,3.111,3.096,3.083,3.068,3.057,3.04,3.031,3.012,2.997,2.994,2.975,2.953,2.952,2.946,2.935,2.919,2.903,2.896,2.88,2.871,2.86,2.85,2.836,2.826,2.814,2.798,2.797,2.777,2.775,2.761,2.756,2.755,2.728,2.716,2.711,2.706,2.701,2.698,2.684,2.677,2.659,2.649,2.644,2.641,2.633,2.618,2.61,2.607,2.599,2.598,2.591,2.574,2.568,2.564,2.555,2.552,2.552,2.537,2.537,2.536,2.536,2.523,2.522,2.511,2.509,2.501,2.498,2.497,2.485,2.484,2.479,2.473,2.472,2.46,2.457,2.456,2.449,2.445,2.444,2.444,2.438,2.437,2.433,2.432,2.426,2.423,2.421,2.415,2.415,2.408,2.408,2.407,2.407,2.404,2.405,2.405,2.404,2.404,2.398,2.396,2.395,2.395,2.393,2.39,2.39,2.389,2.389,2.389,2.386,2.386,2.387,2.386,2.386,2.387,2.387,2.386,2.387,2.387,2.387,2.387,2.391,2.392,2.392,2.392,2.392,2.392,2.392,2.396,2.398,2.401,2.403,2.403,2.406,2.408,2.414,2.415,2.417,2.419,2.424,2.424,2.429,2.429,2.434,2.434,2.435,2.435,2.446,2.448,2.449,2.454,2.46,2.463,2.467,2.471,2.474,2.479,2.481,2.487,2.495,2.498,2.499,2.516,2.516,2.518,2.522,2.522,2.531,2.538,2.545,2.551,2.551,2.557,2.568,2.573,2.577,2.595,2.597,2.604,2.612,2.616,2.621,2.629,2.642,2.648,2.67,2.673,2.676,2.684,2.688,2.695,2.698,2.712,2.716,2.725,2.742,2.752,2.765,2.776,2.782,2.79,2.801,2.802,2.827,2.83,2.848,2.859,2.868,2.878,2.886,2.897,2.914,2.93,2.937,2.942,2.957,2.972,2.982,2.999,3.019,3.031,3.042,3.044,3.065,3.082,3.099,3.115,3.123,3.135,3.157,3.168,3.195,3.211,3.218,3.229,3.257,3.28,3.296,3.316,3.33,3.357,3.358,3.377,3.402,3.439,3.456,3.472,3.491,3.522,3.529,3.56,3.584,3.612,3.634,3.666,3.69,3.722,3.787,3.796,3.82,3.82,3.856,3.874,3.924,3.955,3.989,4.026,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.315,3.314,3.307,3.287,3.276,3.268,3.256,3.25,3.248,3.231,3.231,3.214,3.205,3.202,3.198,3.191,3.177,3.169,3.157,3.154,3.149,3.142,3.137,3.121,3.117,3.117,3.111,3.106,3.098,3.094,3.089,3.083,3.077,3.069,3.066,3.063,3.059,3.057,3.052,3.046,3.04,3.032,3.032,3.031,3.027,3.028,3.026,3.015,3.013,3.008,3.007,3.002,3.002,3.001,2.995,2.994,2.994,2.994,2.994,2.996,2.996,2.996,2.994,2.991,2.986,2.986,2.986,2.984,2.984,2.981,2.981,2.979,2.979,2.982,2.985,2.985,2.985,2.985,2.981,2.981,2.981,2.981,2.985,2.986,2.986,2.991,2.991,2.991,2.993,2.996,2.997,2.999,2.999,3,3.003,3.008,3.01,3.015,3.015,3.017,3.024,3.026,3.029,3.03,3.037,3.041,3.041,3.042,3.045,3.05,3.052,3.056,3.063,3.066,3.068,3.082,3.083,3.091,3.092,3.099,3.106,3.11,3.117,3.117,3.121,3.121,3.121,3.128,3.136,3.148,3.157,3.16,3.162,3.165,3.17,3.175,3.188,3.196,3.198,3.206,3.212,3.214,3.218,3.224,3.241,3.249,3.256,3.263,3.267,3.281,3.281,3.292,3.296,3.81,3.832,3.837,3.838,3.868,3.885,3.909,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.54} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 98.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 98.5438} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.842} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 5.2324}
SEN {Time 98.5835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.178,0.178,0.183,0.183,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.246,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.122,3.116,3.116,3.098,3.095,3.093,3.087,3.082,3.079,3.071,3.064,3.057,3.057,3.056,3.052,0.144,0.144,0.144,0.144,0.144,0.144,0.15,0.151,0.151,0.15,0.151,0.16,3.032,3.032,3.042,3.042,3.045,3.045,3.045,0.168,0.159,0.155,0.155,0.155,0.161,0.162,0.167,3.438,3.523,3.531,3.531,3.531,3.531,3.531,3.53,3.536,3.537,3.537,3.537,3.537,3.537,3.537,3.537,3.538,3.538,3.539,3.538,3.539,3.541,3.542,3.546,3.546,3.546,3.546,3.547,3.552,3.559,3.556,3.559,3.561,3.564,3.567,3.568,3.576,3.576,3.579,3.59,3.591,3.593,3.593,3.598,3.603,3.617,3.619,3.628,3.629,3.631,3.638,3.64,3.643,3.652,3.655,3.66,3.671,3.679,3.683,3.692,3.697,3.702,3.712,3.715,3.716,3.732,3.74,3.751,3.751,3.758,3.766,3.78,3.786,3.789,3.789,3.808,3.811,3.826,3.841,3.85,3.857,3.872,3.882,3.886,3.905,3.915,3.926,3.943,3.948,3.954,3.975,3.996,3.998,4.009,4.035,4.037,4.05,4.083,4.084,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,4.056,3.945,3.92,3.89,3.86,3.833,3.795,3.772,3.739,3.713,3.69,3.656,3.651,3.626,3.587,3.572,3.546,3.528,3.505,3.48,3.456,3.439,3.412,3.382,3.363,3.35,3.331,3.309,3.295,3.277,3.251,3.241,3.221,3.207,3.191,3.166,3.153,3.138,3.122,3.116,3.102,3.088,3.074,3.052,3.045,3.037,3.024,2.997,2.993,2.967,2.961,2.956,2.937,2.934,2.913,2.899,2.898,2.88,2.869,2.857,2.85,2.829,2.82,2.807,2.803,2.797,2.791,2.775,2.765,2.75,2.741,2.732,2.725,2.714,2.709,2.694,2.693,2.678,2.676,2.668,2.651,2.638,2.637,2.637,2.629,2.62,2.619,2.601,2.591,2.586,2.575,2.571,2.569,2.557,2.554,2.549,2.542,2.54,2.533,2.532,2.524,2.523,2.514,2.505,2.503,2.498,2.49,2.484,2.484,2.484,2.474,2.472,2.468,2.462,2.459,2.459,2.455,2.45,2.439,2.438,2.434,2.434,2.433,2.43,2.423,2.419,2.419,2.418,2.413,2.41,2.41,2.41,2.405,2.404,2.403,2.4,2.399,2.399,2.399,2.396,2.395,2.395,2.391,2.39,2.387,2.387,2.385,2.385,2.385,2.384,2.385,2.386,2.387,2.386,2.386,2.387,2.387,2.388,2.389,2.389,2.389,2.395,2.392,2.394,2.395,2.395,2.396,2.402,2.403,2.403,2.407,2.411,2.411,2.411,2.412,2.412,2.418,2.42,2.421,2.427,2.429,2.434,2.435,2.436,2.439,2.446,2.447,2.453,2.453,2.455,2.462,2.465,2.472,2.476,2.48,2.486,2.489,2.493,2.5,2.506,2.507,2.511,2.52,2.522,2.531,2.536,2.537,2.546,2.555,2.562,2.563,2.573,2.573,2.58,2.587,2.592,2.597,2.611,2.62,2.631,2.636,2.64,2.649,2.667,2.669,2.673,2.678,2.68,2.7,2.704,2.724,2.728,2.732,2.737,2.745,2.75,2.772,2.773,2.785,2.805,2.81,2.827,2.834,2.843,2.855,2.868,2.869,2.883,2.907,2.911,2.927,2.936,2.955,2.956,2.965,2.988,2.997,3.019,3.032,3.043,3.046,3.066,3.085,3.099,3.117,3.124,3.141,3.152,3.169,3.189,3.214,3.226,3.227,3.255,3.274,3.275,3.31,3.327,3.35,3.376,3.399,3.402,3.435,3.45,3.468,3.507,3.527,3.537,3.559,3.593,3.614,3.64,3.675,3.687,3.715,3.739,3.774,3.793,3.829,3.86,3.884,3.918,3.951,4.02,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.323,3.302,3.293,3.286,3.285,3.259,3.259,3.252,3.243,3.234,3.231,3.21,3.209,3.204,3.201,3.187,3.175,3.167,3.163,3.162,3.157,3.147,3.135,3.125,3.125,3.116,3.108,3.106,3.106,3.098,3.095,3.085,3.073,3.071,3.068,3.067,3.059,3.058,3.055,3.049,3.038,3.035,3.034,3.032,3.024,3.024,3.022,3.02,3.01,3.006,3.005,3.002,3.001,2.999,2.998,2.995,2.996,2.996,2.998,2.996,2.996,2.996,2.989,2.989,2.986,2.985,2.985,2.985,2.985,2.985,2.985,2.978,2.978,2.978,2.978,2.982,2.984,2.984,2.984,2.982,2.984,2.984,2.984,2.984,2.984,2.983,2.983,2.983,2.992,2.993,2.996,2.996,2.999,3.009,3.009,3.009,3.01,3.011,3.011,3.013,3.013,3.021,3.025,3.029,3.039,3.041,3.041,3.042,3.043,3.055,3.061,3.061,3.061,3.069,3.079,3.08,3.084,3.09,3.094,3.099,3.104,3.113,3.114,3.114,3.12,3.125,3.127,3.128,3.135,3.142,3.149,3.161,3.161,3.164,3.172,3.186,3.19,3.194,3.194,3.199,3.201,3.202,3.217,3.219,3.238,3.253,3.253,3.259,3.26,3.279,3.279,3.283,3.293,3.817,3.835,3.84,3.848,3.866,3.885,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.74} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 98.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 98.7357} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.842} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3086} {Name Sonar15 Range 5.2324}
SEN {Time 98.7835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.173,0.173,0.182,0.181,0.182,0.184,0.184,0.214,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.255,3.255,3.249,3.239,3.239,3.383,3.383,0,0,0,0,0,0,0,0,0,3.12,3.12,3.112,3.096,3.095,3.093,3.092,3.087,3.077,3.075,3.069,3.063,3.061,3.059,3.054,0.15,0.146,0.146,0.146,0.15,0.145,0.151,0.151,0.153,0.153,0.154,0.157,3.037,3.043,3.043,3.043,3.037,3.03,0.166,0.166,0.166,0.166,0.157,0.157,0.163,0.163,0.175,3.449,3.535,3.535,3.535,3.535,3.53,3.53,3.53,3.531,3.531,3.531,3.531,3.531,3.539,3.539,3.539,3.539,3.54,3.536,3.536,3.54,3.545,3.545,3.546,3.546,3.546,3.551,3.553,3.553,3.557,3.553,3.557,3.564,3.564,3.567,3.579,3.579,3.58,3.581,3.589,3.59,3.593,3.594,3.596,3.601,3.604,3.607,3.618,3.62,3.628,3.633,3.634,3.652,3.656,3.669,3.669,3.67,3.671,3.671,3.687,3.69,3.707,3.709,3.723,3.731,3.734,3.735,3.747,3.752,3.763,3.77,3.775,3.787,3.789,3.794,3.808,3.813,3.845,3.845,3.849,3.856,3.868,3.881,3.89,3.907,3.912,3.916,3.94,3.955,3.955,3.988,3.991,4.003,4.012,4.028,4.037,4.051,4.09,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,3.954,3.927,3.885,3.86,3.82,3.795,3.763,3.742,3.718,3.701,3.663,3.636,3.608,3.58,3.566,3.55,3.53,3.503,3.481,3.471,3.438,3.406,3.39,3.371,3.343,3.338,3.304,3.29,3.279,3.256,3.24,3.213,3.199,3.187,3.172,3.151,3.135,3.124,3.107,3.096,3.09,3.081,3.058,3.041,3.031,3.019,2.998,2.995,2.963,2.963,2.951,2.936,2.928,2.917,2.906,2.903,2.884,2.865,2.853,2.846,2.836,2.82,2.816,2.799,2.796,2.78,2.773,2.772,2.757,2.741,2.722,2.715,2.707,2.702,2.693,2.692,2.681,2.68,2.662,2.647,2.643,2.637,2.636,2.623,2.617,2.613,2.597,2.591,2.587,2.584,2.576,2.575,2.555,2.552,2.545,2.538,2.537,2.533,2.533,2.531,2.519,2.504,2.504,2.499,2.498,2.494,2.486,2.485,2.479,2.477,2.472,2.471,2.468,2.464,2.45,2.448,2.446,2.444,2.435,2.433,2.431,2.427,2.426,2.425,2.424,2.418,2.415,2.412,2.412,2.412,2.412,2.412,2.412,2.408,2.4,2.397,2.395,2.395,2.395,2.395,2.394,2.394,2.394,2.392,2.392,2.391,2.39,2.39,2.389,2.385,2.385,2.386,2.386,2.386,2.387,2.386,2.387,2.386,2.389,2.391,2.392,2.397,2.397,2.397,2.399,2.399,2.399,2.399,2.403,2.403,2.404,2.407,2.416,2.42,2.423,2.423,2.423,2.423,2.424,2.425,2.427,2.43,2.434,2.44,2.442,2.447,2.453,2.456,2.456,2.46,2.461,2.477,2.477,2.479,2.485,2.486,2.49,2.49,2.506,2.506,2.511,2.519,2.53,2.531,2.532,2.541,2.543,2.549,2.556,2.565,2.566,2.568,2.584,2.593,2.597,2.608,2.615,2.625,2.629,2.632,2.64,2.65,2.659,2.666,2.673,2.689,2.691,2.695,2.703,2.721,2.732,2.738,2.739,2.742,2.759,2.769,2.776,2.789,2.802,2.809,2.827,2.833,2.843,2.855,2.872,2.878,2.884,2.897,2.912,2.929,2.931,2.957,2.961,2.97,2.982,2.998,3.019,3.029,3.042,3.052,3.066,3.078,3.102,3.106,3.124,3.143,3.148,3.166,3.189,3.211,3.217,3.228,3.256,3.278,3.291,3.309,3.325,3.34,3.364,3.389,3.407,3.436,3.457,3.478,3.505,3.524,3.537,3.554,3.595,3.617,3.641,3.669,3.696,3.706,3.739,3.764,3.805,3.822,3.853,3.894,3.922,3.962,3.98,4.026,4.091,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.325,3.317,3.304,3.304,3.283,3.274,3.27,3.255,3.252,3.23,3.228,3.221,3.202,3.201,3.2,3.189,3.175,3.168,3.159,3.153,3.15,3.147,3.131,3.12,3.119,3.115,3.115,3.106,3.094,3.093,3.093,3.088,3.075,3.074,3.071,3.06,3.056,3.053,3.053,3.04,3.04,3.037,3.035,3.034,3.029,3.023,3.023,3.02,3.012,3.007,3.007,3.007,3.002,3.001,3,2.999,2.994,2.999,3,2.997,2.997,2.997,2.994,2.986,2.986,2.986,2.986,2.983,2.983,2.983,2.983,2.983,2.983,2.983,2.983,2.981,2.981,2.981,2.983,2.981,2.983,2.983,2.984,2.985,2.985,2.985,2.99,2.99,2.993,2.994,2.997,2.998,2.999,3.005,3.005,3.006,3.009,3.013,3.013,3.013,3.016,3.024,3.029,3.031,3.031,3.042,3.045,3.046,3.046,3.052,3.053,3.061,3.063,3.064,3.073,3.08,3.08,3.088,3.088,3.106,3.107,3.111,3.115,3.115,3.12,3.121,3.128,3.133,3.145,3.148,3.15,3.159,3.162,3.167,3.171,3.175,3.187,3.189,3.196,3.199,3.206,3.212,3.226,3.23,3.241,3.247,3.252,3.266,3.27,3.276,3.276,3.279,3.293,3.832,3.834,3.836,3.842,3.87,3.88,3.895,3.9,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.94} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 98.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 98.9357} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.842} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3086} {Name Sonar15 Range 5.6642}
SEN {Time 98.9835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.18,0.169,0.177,0.18,0.18,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.252,3.252,3.244,3.228,3.228,3.374,3.374,0,0,0,0,0,0,0,0,0,3.117,3.108,3.106,3.098,3.094,3.091,3.09,3.083,3.08,3.077,3.072,3.072,3.065,3.06,3.059,0.147,0.147,0.147,0.147,0.148,0.149,0.149,0.149,0.153,0.149,0.153,0.156,3.036,3.036,3.036,3.036,3.033,3.03,0.172,0.169,0.162,0.158,0.158,0.158,0.16,0.163,0.175,3.447,3.524,3.524,3.528,3.528,3.528,3.53,3.531,3.533,3.534,3.534,3.534,3.534,3.534,3.535,3.54,3.54,3.54,3.536,3.536,3.536,3.54,3.542,3.542,3.543,3.543,3.544,3.544,3.544,3.546,3.546,3.563,3.566,3.572,3.572,3.574,3.577,3.579,3.577,3.58,3.592,3.592,3.599,3.6,3.602,3.607,3.615,3.621,3.622,3.625,3.637,3.64,3.646,3.657,3.663,3.666,3.668,3.67,3.676,3.688,3.691,3.701,3.706,3.72,3.728,3.731,3.743,3.743,3.751,3.763,3.768,3.774,3.787,3.798,3.805,3.809,3.816,3.82,3.84,3.846,3.86,3.874,3.885,3.898,3.901,3.907,3.927,3.942,3.943,3.962,3.97,4.002,4.008,4.015,4.036,4.04,4.05,4.069,4.09,0.016,0.016,0.016,0.016,0,0.009,0.009,0,4.024,3.97,3.943,3.926,3.883,3.853,3.833,3.801,3.757,3.725,3.708,3.693,3.663,3.639,3.621,3.586,3.558,3.54,3.523,3.504,3.476,3.44,3.433,3.408,3.397,3.357,3.337,3.322,3.308,3.296,3.273,3.252,3.243,3.225,3.204,3.191,3.166,3.148,3.136,3.118,3.109,3.098,3.085,3.073,3.059,3.05,3.027,3.016,2.994,2.988,2.973,2.962,2.959,2.941,2.931,2.917,2.899,2.897,2.885,2.865,2.852,2.851,2.834,2.82,2.813,2.803,2.8,2.775,2.763,2.758,2.747,2.738,2.733,2.728,2.718,2.706,2.692,2.688,2.679,2.67,2.667,2.653,2.642,2.636,2.636,2.623,2.615,2.612,2.607,2.593,2.592,2.589,2.565,2.564,2.555,2.553,2.552,2.54,2.538,2.534,2.529,2.522,2.514,2.514,2.511,2.507,2.501,2.493,2.482,2.48,2.475,2.475,2.475,2.462,2.46,2.459,2.456,2.454,2.45,2.441,2.436,2.435,2.431,2.43,2.424,2.424,2.42,2.416,2.412,2.412,2.412,2.41,2.407,2.407,2.406,2.403,2.401,2.401,2.399,2.399,2.395,2.394,2.393,2.392,2.392,2.389,2.389,2.389,2.386,2.391,2.391,2.388,2.387,2.388,2.387,2.387,2.384,2.384,2.384,2.388,2.392,2.393,2.394,2.393,2.393,2.394,2.395,2.399,2.403,2.403,2.405,2.405,2.407,2.407,2.409,2.409,2.414,2.42,2.423,2.425,2.425,2.425,2.425,2.428,2.434,2.434,2.442,2.442,2.455,2.456,2.457,2.463,2.464,2.471,2.475,2.477,2.485,2.493,2.494,2.494,2.508,2.508,2.513,2.513,2.525,2.527,2.537,2.54,2.545,2.546,2.563,2.564,2.569,2.57,2.577,2.584,2.589,2.601,2.619,2.619,2.629,2.631,2.633,2.644,2.663,2.67,2.68,2.687,2.697,2.698,2.704,2.717,2.72,2.724,2.739,2.739,2.755,2.774,2.779,2.797,2.8,2.813,2.814,2.823,2.838,2.854,2.872,2.873,2.878,2.9,2.917,2.934,2.939,2.946,2.954,2.968,2.984,2.999,3.016,3.031,3.046,3.055,3.071,3.082,3.098,3.117,3.126,3.144,3.152,3.167,3.194,3.207,3.223,3.231,3.256,3.279,3.284,3.303,3.327,3.345,3.364,3.39,3.408,3.432,3.45,3.482,3.497,3.524,3.541,3.565,3.586,3.613,3.635,3.668,3.69,3.715,3.742,3.767,3.805,3.829,3.868,3.877,3.906,3.952,3.977,4.014,4.06,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.334,3.316,3.304,3.292,3.287,3.279,3.267,3.264,3.261,3.243,3.23,3.224,3.224,3.215,3.193,3.193,3.182,3.176,3.164,3.158,3.154,3.151,3.148,3.137,3.125,3.121,3.118,3.112,3.108,3.099,3.092,3.09,3.087,3.086,3.075,3.07,3.067,3.057,3.056,3.048,3.043,3.04,3.036,3.033,3.031,3.027,3.022,3.018,3.016,3.014,3.011,3.01,3.005,3.004,2.996,2.994,2.994,2.994,2.994,2.994,3.001,3.001,3.001,2.995,2.993,2.987,2.987,2.987,2.984,2.98,2.98,2.985,2.98,2.985,2.985,2.985,2.978,2.985,2.978,2.978,2.978,2.978,2.978,2.981,2.985,2.985,2.986,2.989,2.991,2.992,2.994,2.996,2.996,3.001,3.001,3.002,3.003,3.009,3.009,3.013,3.016,3.021,3.021,3.026,3.029,3.034,3.036,3.042,3.046,3.051,3.054,3.056,3.06,3.068,3.072,3.073,3.073,3.074,3.09,3.092,3.099,3.107,3.115,3.116,3.117,3.119,3.125,3.127,3.13,3.14,3.143,3.15,3.16,3.161,3.162,3.172,3.178,3.19,3.194,3.206,3.208,3.208,3.215,3.219,3.23,3.242,3.253,3.253,3.261,3.261,3.282,3.282,3.282,3.291,3.821,3.832,3.838,3.854,3.856,3.872,3.897,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 99.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 99.1365} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.588} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.2606} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3086} {Name Sonar15 Range 5.6642}
SEN {Time 99.1796} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.174,0.174,0.182,0.182,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,3.234,3.234,3.382,3.382,0,0,0,0,0,0,0,0,3.114,3.114,3.112,3.112,3.092,3.09,3.088,3.085,3.083,3.08,3.078,3.077,3.061,3.061,3.058,3.061,3.05,0.147,0.147,0.152,0.152,0.152,0.152,0.149,0.148,0.148,0.149,0.153,3.02,3.03,3.043,3.043,3.03,3.03,0.163,0.157,0.157,0.157,0.153,0.153,0.158,0.158,0.172,3.446,3.526,3.527,3.527,3.527,3.527,3.527,3.53,3.53,3.536,3.536,3.536,3.536,3.536,3.536,3.538,3.539,3.538,3.539,3.539,3.541,3.543,3.547,3.547,3.547,3.547,3.546,3.546,3.551,3.554,3.555,3.562,3.561,3.561,3.566,3.571,3.572,3.577,3.578,3.579,3.584,3.586,3.591,3.597,3.607,3.612,3.615,3.622,3.626,3.628,3.641,3.641,3.644,3.648,3.659,3.669,3.669,3.672,3.68,3.688,3.688,3.709,3.711,3.715,3.729,3.744,3.747,3.749,3.756,3.77,3.774,3.78,3.783,3.801,3.807,3.811,3.819,3.823,3.841,3.844,3.863,3.863,3.892,3.896,3.905,3.911,3.913,3.943,3.943,3.964,3.987,3.99,4.002,4.017,4.039,4.067,4.075,4.075,4.081,0.016,0.016,0.016,0,0,0,0,0,0,3.972,3.958,3.922,3.883,3.86,3.822,3.789,3.765,3.739,3.712,3.691,3.667,3.643,3.613,3.583,3.556,3.542,3.515,3.492,3.478,3.452,3.426,3.41,3.395,3.372,3.348,3.327,3.303,3.285,3.272,3.251,3.226,3.221,3.202,3.187,3.164,3.158,3.134,3.125,3.121,3.1,3.083,3.083,3.06,3.036,3.03,3.019,2.992,2.99,2.97,2.962,2.955,2.936,2.928,2.916,2.898,2.891,2.873,2.864,2.855,2.842,2.837,2.83,2.813,2.81,2.796,2.776,2.774,2.762,2.753,2.733,2.733,2.717,2.712,2.712,2.693,2.693,2.673,2.67,2.66,2.659,2.645,2.639,2.637,2.619,2.615,2.606,2.599,2.596,2.592,2.58,2.564,2.562,2.562,2.558,2.553,2.548,2.539,2.535,2.531,2.522,2.516,2.511,2.509,2.509,2.497,2.49,2.486,2.482,2.481,2.472,2.47,2.466,2.461,2.46,2.457,2.448,2.441,2.44,2.44,2.44,2.432,2.43,2.421,2.42,2.418,2.42,2.413,2.413,2.413,2.411,2.411,2.411,2.407,2.407,2.404,2.403,2.397,2.395,2.395,2.395,2.395,2.393,2.393,2.393,2.393,2.392,2.391,2.39,2.388,2.388,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.387,2.392,2.393,2.393,2.395,2.396,2.397,2.398,2.4,2.405,2.407,2.411,2.412,2.416,2.416,2.421,2.421,2.421,2.421,2.427,2.428,2.428,2.435,2.436,2.438,2.445,2.448,2.449,2.451,2.454,2.455,2.47,2.474,2.475,2.478,2.482,2.487,2.493,2.495,2.505,2.507,2.514,2.516,2.524,2.53,2.54,2.542,2.543,2.545,2.561,2.562,2.565,2.57,2.582,2.59,2.599,2.606,2.61,2.619,2.623,2.638,2.643,2.651,2.658,2.672,2.678,2.691,2.694,2.706,2.707,2.711,2.725,2.726,2.742,2.744,2.746,2.768,2.779,2.801,2.806,2.814,2.825,2.827,2.842,2.856,2.862,2.875,2.882,2.905,2.92,2.927,2.933,2.949,2.96,2.976,2.988,3,3.022,3.032,3.042,3.043,3.062,3.081,3.109,3.113,3.122,3.135,3.148,3.171,3.189,3.203,3.227,3.234,3.255,3.276,3.285,3.309,3.327,3.347,3.362,3.39,3.407,3.441,3.46,3.474,3.498,3.518,3.54,3.558,3.598,3.624,3.647,3.668,3.692,3.719,3.748,3.772,3.802,3.827,3.857,3.889,3.918,3.954,3.975,4.06,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.32,3.315,3.295,3.292,3.278,3.267,3.266,3.253,3.249,3.226,3.217,3.214,3.202,3.2,3.196,3.185,3.178,3.168,3.166,3.148,3.148,3.144,3.132,3.125,3.118,3.116,3.106,3.105,3.105,3.101,3.101,3.089,3.074,3.072,3.068,3.063,3.061,3.059,3.052,3.043,3.039,3.027,3.027,3.027,3.027,3.023,3.021,3.017,3.013,3.013,3.007,2.999,2.998,2.998,2.995,2.993,2.993,2.993,2.995,2.996,2.996,2.996,2.993,2.992,2.989,2.989,2.989,2.985,2.985,2.985,2.981,2.981,2.981,2.982,2.982,2.985,2.983,2.983,2.983,2.983,2.98,2.979,2.979,2.979,2.983,2.984,2.993,2.993,2.994,2.994,2.996,2.998,2.998,2.999,2.999,3.014,3.015,3.015,3.016,3.025,3.025,3.025,3.025,3.033,3.036,3.037,3.037,3.043,3.053,3.053,3.053,3.06,3.064,3.069,3.073,3.079,3.079,3.084,3.093,3.102,3.109,3.112,3.115,3.116,3.118,3.118,3.124,3.129,3.138,3.148,3.149,3.154,3.159,3.16,3.175,3.175,3.197,3.197,3.197,3.199,3.202,3.211,3.224,3.233,3.241,3.248,3.255,3.257,3.259,3.282,3.282,3.288,3.295,3.819,3.836,3.843,3.853,3.865,3.874,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.34} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 99.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 99.3375} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.588} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.2606} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 5.588} {Name Sonar15 Range 5.6642}
SEN {Time 99.3795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.18,0.18,0.18,0.18,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.253,3.235,3.229,3.229,3.229,3.379,0,0,0,0,0,0,0,0,0,3.121,3.114,3.109,3.101,3.1,3.095,3.088,3.087,3.075,3.071,3.068,3.061,3.061,3.057,3.054,0.142,0.142,0.142,0.142,0.142,0.142,0.147,0.147,0.148,0.147,0.148,0.153,3.026,3.026,3.033,3.033,3.026,3.022,0.171,0.162,0.162,0.16,0.16,0.16,0.16,0.16,0.171,3.455,3.53,3.53,3.53,3.53,3.53,3.532,3.532,3.533,3.533,3.532,3.532,3.533,3.532,3.533,3.533,3.533,3.535,3.537,3.537,3.541,3.546,3.549,3.549,3.549,3.55,3.55,3.55,3.552,3.554,3.554,3.558,3.559,3.562,3.568,3.575,3.581,3.583,3.585,3.588,3.593,3.595,3.598,3.602,3.602,3.615,3.615,3.619,3.621,3.626,3.631,3.634,3.64,3.658,3.663,3.671,3.671,3.677,3.677,3.685,3.688,3.704,3.707,3.716,3.717,3.736,3.744,3.747,3.747,3.756,3.766,3.771,3.783,3.791,3.806,3.819,3.821,3.829,3.843,3.844,3.86,3.871,3.89,3.892,3.899,3.914,3.914,3.935,3.944,3.946,3.967,3.99,3.991,4.014,4.036,4.051,4.063,4.086,4.09,0.016,0.016,0.016,0.016,0,0.007,0,0,0,3.982,3.942,3.918,3.899,3.854,3.826,3.802,3.771,3.74,3.711,3.695,3.666,3.646,3.614,3.586,3.561,3.548,3.522,3.5,3.479,3.464,3.447,3.411,3.378,3.37,3.343,3.326,3.31,3.29,3.273,3.251,3.235,3.216,3.208,3.174,3.167,3.151,3.14,3.133,3.112,3.092,3.087,3.073,3.055,3.045,3.037,3.014,2.997,2.99,2.965,2.963,2.954,2.942,2.927,2.921,2.902,2.899,2.884,2.872,2.862,2.854,2.834,2.814,2.807,2.805,2.798,2.784,2.774,2.755,2.753,2.741,2.734,2.721,2.707,2.702,2.7,2.683,2.678,2.674,2.667,2.657,2.657,2.64,2.635,2.631,2.617,2.609,2.596,2.591,2.582,2.574,2.571,2.565,2.564,2.562,2.562,2.542,2.537,2.534,2.53,2.524,2.518,2.515,2.505,2.499,2.498,2.493,2.492,2.483,2.475,2.473,2.471,2.461,2.46,2.46,2.457,2.455,2.446,2.443,2.443,2.433,2.429,2.426,2.425,2.421,2.421,2.417,2.416,2.412,2.412,2.412,2.412,2.407,2.406,2.402,2.401,2.401,2.4,2.396,2.396,2.395,2.394,2.394,2.389,2.389,2.388,2.389,2.386,2.385,2.385,2.383,2.383,2.385,2.389,2.389,2.389,2.389,2.39,2.392,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.402,2.402,2.404,2.408,2.405,2.408,2.408,2.41,2.41,2.414,2.419,2.423,2.425,2.428,2.43,2.431,2.432,2.44,2.442,2.45,2.451,2.455,2.458,2.458,2.468,2.473,2.475,2.481,2.491,2.492,2.492,2.499,2.501,2.511,2.512,2.518,2.525,2.533,2.535,2.54,2.54,2.54,2.561,2.566,2.567,2.572,2.58,2.586,2.593,2.597,2.611,2.613,2.622,2.627,2.643,2.652,2.67,2.674,2.675,2.686,2.688,2.689,2.704,2.721,2.726,2.734,2.744,2.747,2.753,2.769,2.771,2.781,2.792,2.816,2.821,2.832,2.849,2.859,2.866,2.867,2.887,2.903,2.915,2.918,2.941,2.948,2.961,2.975,2.989,3,3.018,3.024,3.039,3.052,3.071,3.076,3.093,3.105,3.13,3.148,3.157,3.165,3.193,3.204,3.226,3.23,3.256,3.277,3.282,3.319,3.336,3.351,3.356,3.383,3.414,3.438,3.458,3.471,3.489,3.523,3.544,3.567,3.596,3.619,3.646,3.661,3.688,3.711,3.747,3.774,3.806,3.829,3.856,3.887,3.933,3.95,4.016,4.067,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.324,3.307,3.298,3.284,3.272,3.265,3.261,3.251,3.239,3.232,3.225,3.209,3.204,3.201,3.197,3.18,3.178,3.169,3.158,3.156,3.155,3.147,3.136,3.124,3.117,3.113,3.113,3.113,3.099,3.095,3.092,3.087,3.077,3.074,3.069,3.069,3.056,3.054,3.054,3.048,3.035,3.035,3.033,3.031,3.029,3.022,3.022,3.02,3.019,3.006,3.006,3.004,3.002,3.001,2.998,2.997,2.993,2.993,2.998,2.993,2.993,2.993,2.991,2.988,2.987,2.983,2.983,2.983,2.983,2.985,2.985,2.983,2.983,2.983,2.983,2.985,2.985,2.983,2.986,2.983,2.983,2.983,2.981,2.981,2.981,2.981,2.982,2.986,2.994,2.994,3,3,3.001,3.001,3.004,3.006,3.01,3.014,3.014,3.015,3.015,3.023,3.024,3.026,3.029,3.033,3.039,3.042,3.051,3.055,3.056,3.059,3.066,3.066,3.076,3.077,3.078,3.085,3.088,3.097,3.101,3.114,3.114,3.114,3.121,3.121,3.124,3.125,3.132,3.145,3.146,3.157,3.157,3.163,3.165,3.181,3.189,3.19,3.194,3.199,3.203,3.21,3.214,3.222,3.232,3.254,3.258,3.26,3.265,3.281,3.281,3.286,3.303,3.822,3.827,3.843,3.847,3.866,3.871,3.891,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 99.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 99.5295} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.588} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.2606} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 5.588} {Name Sonar15 Range 5.08}
SEN {Time 99.5795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.177,0.177,0.182,0.182,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,3.237,3.237,3.378,3.378,0,0,0,0,0,0,0,0,0,3.117,3.111,3.106,3.096,3.095,3.089,3.086,3.086,3.074,3.073,3.073,3.068,3.061,3.059,3.059,3.055,0.161,0.153,0.153,0.153,0.148,0.152,0.152,0.156,0.152,0.156,0.157,3.032,3.034,3.034,3.034,3.034,3.035,0.007,0.17,0.158,0.158,0.153,0.153,0.158,0.161,0.172,3.455,3.531,3.535,3.535,3.531,3.531,3.534,3.532,3.534,3.534,3.534,3.532,3.533,3.533,3.533,3.537,3.537,3.538,3.537,3.537,3.546,3.546,3.546,3.546,3.545,3.545,3.548,3.55,3.551,3.557,3.558,3.558,3.559,3.572,3.572,3.574,3.574,3.577,3.577,3.579,3.591,3.591,3.591,3.603,3.603,3.604,3.608,3.616,3.621,3.63,3.633,3.639,3.65,3.658,3.663,3.663,3.672,3.681,3.687,3.692,3.697,3.703,3.715,3.715,3.719,3.736,3.746,3.747,3.751,3.766,3.767,3.78,3.782,3.791,3.791,3.803,3.82,3.828,3.839,3.841,3.853,3.875,3.882,3.89,3.899,3.915,3.922,3.938,3.94,3.96,3.966,3.995,4.002,4.025,4.03,4.037,4.061,4.073,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,4.05,3.987,3.949,3.931,3.876,3.854,3.821,3.801,3.777,3.731,3.704,3.694,3.651,3.643,3.619,3.594,3.564,3.542,3.525,3.506,3.472,3.449,3.433,3.413,3.384,3.367,3.353,3.328,3.3,3.295,3.274,3.257,3.248,3.218,3.203,3.188,3.166,3.159,3.138,3.125,3.113,3.095,3.089,3.074,3.06,3.05,3.035,3.02,2.994,2.989,2.972,2.961,2.958,2.937,2.921,2.916,2.907,2.897,2.884,2.875,2.855,2.851,2.828,2.826,2.815,2.811,2.809,2.774,2.766,2.762,2.745,2.74,2.728,2.723,2.718,2.709,2.701,2.694,2.677,2.672,2.667,2.656,2.637,2.636,2.633,2.621,2.613,2.613,2.602,2.596,2.584,2.576,2.575,2.568,2.564,2.55,2.55,2.537,2.536,2.532,2.528,2.522,2.515,2.505,2.502,2.5,2.496,2.494,2.493,2.488,2.485,2.48,2.471,2.467,2.465,2.461,2.456,2.453,2.448,2.444,2.44,2.437,2.437,2.425,2.425,2.425,2.424,2.423,2.417,2.411,2.408,2.408,2.406,2.406,2.401,2.399,2.398,2.393,2.393,2.393,2.396,2.396,2.396,2.396,2.392,2.389,2.386,2.386,2.386,2.386,2.388,2.389,2.389,2.391,2.389,2.389,2.391,2.391,2.392,2.392,2.392,2.39,2.39,2.39,2.39,2.392,2.394,2.399,2.401,2.403,2.403,2.403,2.408,2.408,2.415,2.415,2.42,2.423,2.423,2.426,2.427,2.427,2.428,2.434,2.437,2.442,2.444,2.444,2.447,2.455,2.459,2.46,2.47,2.475,2.476,2.479,2.483,2.488,2.491,2.499,2.507,2.509,2.51,2.52,2.521,2.531,2.532,2.537,2.538,2.541,2.555,2.567,2.569,2.573,2.582,2.588,2.592,2.596,2.612,2.612,2.619,2.628,2.633,2.639,2.667,2.676,2.678,2.68,2.688,2.694,2.702,2.71,2.724,2.727,2.736,2.745,2.746,2.765,2.77,2.79,2.805,2.812,2.818,2.823,2.835,2.85,2.861,2.869,2.879,2.903,2.919,2.93,2.933,2.951,2.955,2.979,2.989,2.996,3.016,3.028,3.035,3.057,3.069,3.081,3.103,3.105,3.126,3.137,3.148,3.169,3.189,3.209,3.218,3.233,3.26,3.281,3.29,3.301,3.329,3.35,3.367,3.393,3.411,3.438,3.455,3.467,3.499,3.526,3.527,3.56,3.59,3.618,3.632,3.668,3.689,3.714,3.735,3.764,3.798,3.817,3.876,3.915,3.952,3.952,4.018,4.055,4.095,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.331,3.303,3.297,3.287,3.283,3.266,3.261,3.252,3.235,3.233,3.228,3.222,3.204,3.202,3.198,3.181,3.173,3.172,3.164,3.155,3.151,3.142,3.133,3.124,3.121,3.116,3.112,3.106,3.104,3.092,3.092,3.09,3.07,3.066,3.065,3.063,3.056,3.05,3.048,3.047,3.042,3.039,3.034,3.032,3.028,3.023,3.017,3.015,3.014,3.012,3.002,3.002,3.002,2.998,2.998,2.997,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.991,2.985,2.984,2.984,2.982,2.982,2.984,2.984,2.98,2.982,2.981,2.979,2.976,2.981,2.976,2.976,2.981,2.983,2.981,2.984,2.984,2.981,2.981,2.984,2.988,2.99,2.992,2.992,2.995,3,3.002,3.006,3.006,3.006,3.012,3.014,3.018,3.022,3.028,3.029,3.031,3.031,3.038,3.041,3.047,3.047,3.05,3.056,3.059,3.066,3.071,3.072,3.078,3.079,3.08,3.096,3.101,3.102,3.114,3.117,3.117,3.118,3.121,3.122,3.127,3.137,3.145,3.15,3.159,3.16,3.164,3.172,3.178,3.184,3.195,3.2,3.202,3.206,3.216,3.221,3.223,3.236,3.244,3.247,3.262,3.267,3.278,3.278,3.285,3.29,3.814,3.831,3.838,3.845,3.847,3.873,3.903,3.904,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.73} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 99.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 99.7306} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3368} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 5.588} {Name Sonar15 Range 5.08}
SEN {Time 99.7795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.175,0.175,0.178,0.178,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.259,3.248,3.372,3.372,3.372,0,0,0,0,0,0,0,0,0,3.122,3.111,3.11,3.104,3.092,3.089,3.086,3.086,3.083,3.074,3.071,3.061,3.061,3.057,3.052,0.143,0.143,0.143,0.143,0.143,0.143,0.151,0.15,0.151,0.15,0.151,0.153,3.033,3.035,3.039,3.039,3.035,3.035,0.162,0.162,0.162,0.162,0.157,0.157,0.158,0.158,0.174,3.438,3.523,3.523,3.529,3.529,3.529,3.531,3.531,3.531,3.531,3.531,3.531,3.531,3.533,3.535,3.539,3.539,3.539,3.539,3.539,3.541,3.546,3.546,3.546,3.542,3.542,3.538,3.538,3.55,3.553,3.558,3.563,3.564,3.568,3.57,3.572,3.573,3.579,3.582,3.587,3.588,3.595,3.596,3.598,3.599,3.605,3.614,3.616,3.618,3.628,3.628,3.628,3.638,3.653,3.66,3.664,3.672,3.675,3.681,3.688,3.693,3.709,3.71,3.715,3.716,3.728,3.745,3.749,3.759,3.76,3.767,3.783,3.787,3.796,3.801,3.816,3.816,3.823,3.847,3.849,3.865,3.869,3.893,3.893,3.908,3.916,3.921,3.928,3.958,3.96,3.983,3.985,3.996,4.02,4.027,4.048,4.05,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.016,4.087,3.982,3.958,3.92,3.873,3.858,3.825,3.779,3.766,3.743,3.721,3.699,3.664,3.634,3.611,3.581,3.556,3.546,3.517,3.494,3.486,3.454,3.438,3.41,3.39,3.378,3.346,3.324,3.308,3.287,3.275,3.254,3.238,3.214,3.202,3.183,3.169,3.154,3.142,3.129,3.106,3.099,3.089,3.076,3.055,3.04,3.04,3.02,2.993,2.992,2.97,2.958,2.954,2.931,2.927,2.919,2.905,2.891,2.883,2.868,2.855,2.839,2.832,2.817,2.807,2.804,2.79,2.784,2.778,2.765,2.757,2.744,2.733,2.712,2.71,2.706,2.702,2.692,2.687,2.67,2.657,2.651,2.642,2.639,2.637,2.625,2.616,2.605,2.592,2.589,2.584,2.582,2.573,2.57,2.566,2.548,2.547,2.539,2.535,2.534,2.527,2.524,2.52,2.508,2.501,2.501,2.5,2.491,2.489,2.482,2.478,2.475,2.473,2.473,2.462,2.462,2.456,2.455,2.446,2.439,2.437,2.432,2.43,2.43,2.429,2.425,2.421,2.416,2.411,2.411,2.411,2.411,2.413,2.413,2.411,2.403,2.403,2.399,2.398,2.396,2.395,2.395,2.395,2.395,2.395,2.394,2.388,2.387,2.387,2.387,2.387,2.387,2.387,2.384,2.384,2.384,2.386,2.386,2.386,2.386,2.387,2.392,2.392,2.392,2.392,2.392,2.394,2.398,2.407,2.407,2.408,2.408,2.411,2.413,2.416,2.416,2.416,2.417,2.418,2.42,2.425,2.428,2.428,2.429,2.433,2.438,2.444,2.444,2.45,2.458,2.458,2.458,2.464,2.47,2.476,2.481,2.486,2.492,2.494,2.496,2.499,2.504,2.517,2.525,2.525,2.53,2.53,2.535,2.545,2.552,2.554,2.566,2.566,2.571,2.58,2.59,2.59,2.594,2.609,2.616,2.636,2.641,2.643,2.644,2.663,2.671,2.678,2.686,2.693,2.699,2.706,2.723,2.726,2.731,2.737,2.74,2.76,2.764,2.772,2.786,2.802,2.805,2.823,2.824,2.841,2.852,2.87,2.875,2.893,2.899,2.91,2.93,2.939,2.952,2.961,2.974,2.987,2.998,3.023,3.034,3.039,3.057,3.065,3.084,3.095,3.112,3.129,3.146,3.158,3.171,3.2,3.207,3.219,3.234,3.25,3.279,3.296,3.313,3.331,3.346,3.368,3.388,3.41,3.433,3.459,3.479,3.493,3.526,3.541,3.556,3.591,3.611,3.638,3.668,3.691,3.711,3.749,3.782,3.798,3.815,3.857,3.878,3.922,3.947,4.019,4.055,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.317,3.306,3.299,3.285,3.278,3.27,3.264,3.259,3.249,3.228,3.225,3.22,3.202,3.202,3.199,3.185,3.175,3.165,3.157,3.152,3.15,3.14,3.136,3.117,3.116,3.114,3.107,3.105,3.105,3.102,3.092,3.082,3.077,3.071,3.07,3.07,3.059,3.055,3.054,3.05,3.042,3.036,3.035,3.034,3.031,3.03,3.02,3.018,3.013,3.01,3.01,3.008,3.005,3.003,3.001,2.999,2.996,2.996,2.999,2.997,2.997,2.997,2.996,2.99,2.987,2.985,2.985,2.985,2.985,2.985,2.986,2.985,2.984,2.983,2.984,2.983,2.984,2.985,2.985,2.983,2.985,2.983,2.983,2.982,2.985,2.985,2.986,2.986,2.994,2.994,2.995,3,2.998,3.002,3.002,3.004,3.011,3.012,3.013,3.018,3.018,3.023,3.026,3.029,3.033,3.039,3.043,3.043,3.044,3.05,3.055,3.058,3.07,3.073,3.076,3.079,3.085,3.087,3.091,3.097,3.105,3.117,3.117,3.117,3.117,3.121,3.129,3.133,3.142,3.145,3.153,3.153,3.161,3.162,3.173,3.181,3.186,3.196,3.199,3.201,3.206,3.216,3.219,3.228,3.228,3.246,3.253,3.255,3.263,3.276,3.276,3.282,3.303,3.814,3.833,3.838,3.846,3.86,3.881,3.894,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.93} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 99.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 99.9315} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3368} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.588} {Name Sonar15 Range 5.08}
SEN {Time 99.9795} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.183,0.179,0.183,0.183,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.253,3.369,3.369,3.369,0,0,0,0,0,0,0,0,0,3.115,3.114,3.102,3.099,3.093,3.091,3.089,3.085,3.075,3.073,3.063,3.059,3.059,3.056,3.055,0.143,0.142,0.142,0.142,0.143,0.139,0.15,0.153,0.157,0.153,0.157,0.157,3.029,3.034,3.034,3.034,3.034,3.028,0.169,0.16,0.157,0.152,0.152,0.152,0.155,0.164,0.17,3.45,3.533,3.533,3.534,3.534,3.533,3.533,3.533,3.533,3.536,3.536,3.535,3.535,3.534,3.534,3.535,3.534,3.537,3.54,3.54,3.54,3.543,3.544,3.543,3.545,3.545,3.545,3.545,3.555,3.557,3.555,3.556,3.556,3.563,3.563,3.568,3.571,3.575,3.575,3.584,3.591,3.592,3.593,3.594,3.594,3.61,3.625,3.625,3.628,3.628,3.637,3.638,3.644,3.647,3.658,3.662,3.668,3.672,3.678,3.695,3.698,3.703,3.71,3.714,3.727,3.74,3.742,3.75,3.751,3.751,3.766,3.771,3.795,3.802,3.803,3.81,3.829,3.832,3.835,3.839,3.854,3.872,3.882,3.893,3.9,3.919,3.924,3.938,3.939,3.953,3.981,3.993,4,4.016,4.022,4.046,4.06,4.064,4.09,4.092,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,4.022,3.948,3.912,3.87,3.863,3.833,3.796,3.772,3.737,3.713,3.694,3.665,3.63,3.617,3.586,3.56,3.55,3.528,3.494,3.485,3.45,3.422,3.406,3.403,3.377,3.35,3.334,3.31,3.297,3.27,3.242,3.231,3.219,3.2,3.186,3.169,3.157,3.143,3.122,3.113,3.092,3.084,3.072,3.057,3.037,3.028,3.026,3.003,2.989,2.967,2.957,2.948,2.941,2.92,2.911,2.911,2.902,2.889,2.861,2.851,2.845,2.833,2.827,2.81,2.806,2.8,2.78,2.769,2.76,2.747,2.747,2.732,2.718,2.713,2.7,2.696,2.689,2.683,2.674,2.662,2.655,2.644,2.631,2.627,2.626,2.613,2.608,2.599,2.599,2.587,2.584,2.582,2.564,2.555,2.552,2.549,2.539,2.538,2.536,2.535,2.527,2.524,2.507,2.506,2.506,2.503,2.491,2.486,2.476,2.474,2.473,2.473,2.471,2.47,2.459,2.45,2.445,2.444,2.44,2.437,2.433,2.43,2.429,2.426,2.426,2.426,2.418,2.413,2.413,2.412,2.411,2.409,2.406,2.406,2.404,2.401,2.401,2.4,2.395,2.395,2.393,2.389,2.393,2.393,2.393,2.388,2.39,2.39,2.388,2.388,2.387,2.387,2.387,2.387,2.389,2.389,2.389,2.389,2.389,2.389,2.391,2.391,2.392,2.392,2.392,2.395,2.395,2.403,2.404,2.404,2.404,2.404,2.404,2.41,2.412,2.415,2.418,2.418,2.421,2.424,2.426,2.435,2.435,2.436,2.44,2.445,2.445,2.447,2.455,2.455,2.458,2.47,2.471,2.478,2.484,2.484,2.491,2.497,2.502,2.502,2.508,2.508,2.519,2.52,2.524,2.534,2.538,2.548,2.553,2.563,2.566,2.567,2.567,2.579,2.585,2.593,2.596,2.609,2.624,2.63,2.635,2.638,2.646,2.666,2.671,2.673,2.683,2.688,2.703,2.706,2.708,2.726,2.73,2.743,2.748,2.75,2.767,2.777,2.787,2.801,2.81,2.819,2.826,2.839,2.855,2.87,2.875,2.888,2.899,2.92,2.933,2.937,2.948,2.96,2.971,2.986,2.994,3.016,3.029,3.039,3.05,3.069,3.071,3.105,3.106,3.118,3.136,3.156,3.166,3.194,3.206,3.228,3.232,3.256,3.275,3.281,3.305,3.329,3.342,3.367,3.386,3.409,3.434,3.459,3.466,3.5,3.525,3.538,3.573,3.596,3.618,3.632,3.668,3.693,3.712,3.744,3.771,3.799,3.822,3.866,3.886,3.927,3.951,3.975,4.026,4.06,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.321,3.318,3.29,3.279,3.278,3.265,3.257,3.252,3.257,3.243,3.227,3.221,3.202,3.2,3.199,3.192,3.171,3.17,3.167,3.16,3.157,3.146,3.134,3.13,3.12,3.118,3.109,3.109,3.103,3.095,3.091,3.084,3.074,3.069,3.069,3.069,3.061,3.057,3.051,3.049,3.039,3.032,3.032,3.03,3.03,3.026,3.023,3.017,3.008,3.005,3.005,3.005,3.004,3.003,2.997,2.996,2.994,2.994,2.996,3.001,3.001,3.001,2.994,2.993,2.986,2.986,2.984,2.984,2.982,2.984,2.984,2.982,2.982,2.983,2.983,2.984,2.984,2.983,2.984,2.981,2.981,2.987,2.987,2.987,2.988,2.989,2.992,2.994,2.994,2.995,2.999,3.001,3.001,3.002,3.005,3.012,3.012,3.013,3.016,3.022,3.019,3.027,3.029,3.03,3.03,3.033,3.039,3.042,3.048,3.048,3.05,3.059,3.068,3.07,3.073,3.076,3.08,3.082,3.092,3.096,3.104,3.112,3.113,3.113,3.116,3.119,3.128,3.132,3.139,3.141,3.155,3.158,3.16,3.168,3.172,3.18,3.188,3.2,3.2,3.202,3.21,3.211,3.218,3.222,3.241,3.245,3.246,3.265,3.268,3.282,3.282,3.283,3.292,3.815,3.835,3.838,3.839,3.863,3.884,3.904,3.914,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.13} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 100.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 100.132} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3368} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.08}
SEN {Time 100.176} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.185,0.181,0.181,0.185,0.185,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.249,3.247,3.372,3.372,3.372,0,0,0,0,0,0,0,0,0,3.12,3.113,3.107,3.099,3.094,3.093,3.088,3.084,3.079,3.071,3.07,3.065,3.065,3.056,3.065,3.049,0.154,0.145,0.145,0.145,0.145,0.146,0.155,0.155,0.153,0.155,0.155,3.027,3.027,3.045,3.045,3.027,3.05,0.007,0.157,0.157,0.156,0.155,0.156,0.163,0.163,0.174,3.453,3.523,3.523,3.529,3.529,3.531,3.532,3.534,3.534,3.535,3.535,3.535,3.535,3.535,3.535,3.536,3.532,3.536,3.544,3.539,3.544,3.545,3.545,3.547,3.547,3.547,3.547,3.547,3.553,3.557,3.555,3.557,3.558,3.561,3.561,3.571,3.574,3.579,3.58,3.582,3.583,3.593,3.593,3.594,3.597,3.609,3.613,3.629,3.63,3.63,3.631,3.633,3.654,3.662,3.668,3.669,3.674,3.675,3.677,3.68,3.682,3.709,3.711,3.725,3.729,3.746,3.746,3.749,3.749,3.762,3.776,3.786,3.788,3.8,3.809,3.811,3.814,3.833,3.84,3.84,3.858,3.868,3.893,3.897,3.898,3.91,3.915,3.944,3.962,3.962,3.981,3.99,3.994,4.017,4.025,4.032,4.056,4.067,4.087,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,4.062,4.017,3.959,3.915,3.883,3.857,3.818,3.794,3.764,3.728,3.712,3.69,3.656,3.641,3.609,3.587,3.561,3.541,3.521,3.502,3.479,3.454,3.432,3.41,3.384,3.378,3.351,3.328,3.305,3.279,3.278,3.249,3.232,3.228,3.202,3.182,3.169,3.157,3.139,3.128,3.118,3.098,3.084,3.08,3.061,3.041,3.026,3.017,2.992,2.991,2.971,2.956,2.949,2.939,2.933,2.92,2.9,2.898,2.886,2.872,2.859,2.846,2.837,2.827,2.814,2.802,2.796,2.778,2.769,2.769,2.754,2.742,2.74,2.714,2.706,2.703,2.703,2.687,2.675,2.672,2.664,2.657,2.65,2.64,2.626,2.619,2.619,2.613,2.611,2.602,2.59,2.58,2.565,2.564,2.56,2.555,2.549,2.532,2.532,2.532,2.533,2.533,2.533,2.511,2.506,2.504,2.496,2.487,2.481,2.473,2.473,2.472,2.472,2.465,2.465,2.453,2.453,2.448,2.448,2.446,2.434,2.433,2.431,2.428,2.427,2.427,2.425,2.425,2.421,2.411,2.411,2.414,2.411,2.411,2.405,2.403,2.403,2.401,2.399,2.399,2.397,2.395,2.395,2.394,2.394,2.393,2.391,2.391,2.388,2.391,2.391,2.388,2.386,2.386,2.386,2.386,2.384,2.385,2.385,2.385,2.387,2.391,2.392,2.393,2.395,2.397,2.399,2.399,2.402,2.404,2.405,2.405,2.406,2.407,2.407,2.41,2.413,2.419,2.42,2.42,2.426,2.43,2.435,2.435,2.437,2.437,2.442,2.448,2.449,2.453,2.456,2.459,2.471,2.48,2.483,2.485,2.488,2.491,2.496,2.496,2.498,2.506,2.512,2.514,2.528,2.531,2.534,2.534,2.546,2.552,2.557,2.564,2.566,2.571,2.581,2.584,2.593,2.597,2.607,2.626,2.63,2.635,2.638,2.643,2.663,2.671,2.674,2.677,2.684,2.692,2.705,2.717,2.731,2.732,2.738,2.742,2.753,2.766,2.777,2.793,2.8,2.808,2.827,2.828,2.849,2.859,2.866,2.87,2.888,2.904,2.917,2.926,2.94,2.952,2.956,2.969,2.986,2.994,3.017,3.024,3.032,3.044,3.066,3.086,3.105,3.113,3.127,3.138,3.153,3.173,3.185,3.205,3.226,3.235,3.263,3.281,3.282,3.314,3.327,3.362,3.362,3.384,3.416,3.441,3.464,3.47,3.492,3.525,3.546,3.571,3.598,3.617,3.633,3.66,3.683,3.71,3.746,3.774,3.786,3.823,3.854,3.883,3.926,3.951,3.988,4.018,4.055,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.309,3.298,3.29,3.285,3.261,3.259,3.259,3.236,3.234,3.223,3.219,3.202,3.2,3.198,3.18,3.176,3.169,3.162,3.15,3.147,3.146,3.136,3.126,3.126,3.118,3.109,3.109,3.103,3.093,3.092,3.085,3.083,3.077,3.073,3.073,3.055,3.055,3.046,3.04,3.04,3.036,3.034,3.033,3.031,3.025,3.016,3.016,3.009,3.003,3.003,3.003,3.003,3.003,3.003,2.997,2.995,2.995,2.995,2.995,2.995,2.991,2.991,2.99,2.988,2.988,2.985,2.984,2.982,2.982,2.982,2.979,2.979,2.979,2.979,2.979,2.98,2.983,2.986,2.987,2.987,2.986,2.984,2.984,2.983,2.984,2.99,2.99,2.998,2.999,2.999,2.999,2.999,2.999,3.009,3.009,3.009,3.011,3.011,3.017,3.018,3.022,3.024,3.027,3.034,3.035,3.041,3.041,3.046,3.055,3.055,3.057,3.061,3.067,3.075,3.077,3.079,3.087,3.088,3.099,3.102,3.117,3.119,3.119,3.119,3.12,3.124,3.127,3.139,3.147,3.155,3.155,3.156,3.16,3.169,3.176,3.19,3.192,3.2,3.202,3.204,3.214,3.217,3.217,3.241,3.249,3.254,3.258,3.264,3.279,3.279,3.287,3.291,3.817,3.822,3.838,3.841,3.86,3.879,3.898,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 100.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 100.333} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.286} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6896}
SEN {Time 100.376} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.18,0.178,0.18,0.181,0.181,0.21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.273,3.273,0,3.257,3.253,3.377,3.377,3.377,0,0,0,0,0,0,0,0,0,3.119,3.118,3.116,3.102,3.094,3.093,3.092,3.088,3.074,3.07,3.069,3.063,3.063,3.056,3.053,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.159,0.159,0.151,0.159,0.16,3.028,3.033,3.034,3.034,3.04,3.04,3.04,0.165,0.165,0.163,0.156,0.156,0.16,0.16,0.18,3.453,3.529,3.534,3.534,3.529,3.528,3.528,3.526,3.526,3.538,3.538,3.533,3.533,3.533,3.533,3.533,3.533,3.541,3.541,3.537,3.541,3.545,3.545,3.545,3.545,3.545,3.545,3.55,3.555,3.557,3.557,3.557,3.559,3.563,3.566,3.569,3.571,3.573,3.579,3.582,3.593,3.594,3.595,3.597,3.602,3.607,3.619,3.619,3.622,3.624,3.628,3.631,3.639,3.649,3.666,3.666,3.67,3.677,3.683,3.684,3.692,3.696,3.714,3.721,3.724,3.736,3.747,3.751,3.754,3.757,3.77,3.779,3.792,3.799,3.8,3.817,3.823,3.829,3.83,3.85,3.86,3.861,3.886,3.9,3.906,3.916,3.93,3.946,3.947,3.952,3.98,3.985,3.988,4.019,4.036,4.037,4.057,4.071,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,3.949,3.916,3.878,3.864,3.811,3.796,3.763,3.745,3.722,3.687,3.664,3.645,3.614,3.581,3.562,3.539,3.521,3.501,3.487,3.463,3.433,3.413,3.39,3.376,3.349,3.335,3.308,3.3,3.28,3.262,3.228,3.219,3.209,3.183,3.158,3.152,3.14,3.128,3.109,3.103,3.091,3.077,3.058,3.056,3.029,3.02,2.995,2.991,2.962,2.961,2.957,2.939,2.925,2.917,2.898,2.888,2.886,2.867,2.855,2.85,2.834,2.821,2.817,2.805,2.789,2.773,2.77,2.764,2.751,2.745,2.732,2.724,2.715,2.713,2.698,2.692,2.675,2.665,2.658,2.652,2.64,2.639,2.635,2.632,2.623,2.618,2.608,2.59,2.581,2.58,2.569,2.561,2.556,2.555,2.552,2.543,2.539,2.533,2.528,2.522,2.521,2.514,2.512,2.505,2.503,2.496,2.486,2.481,2.479,2.475,2.468,2.463,2.461,2.46,2.45,2.449,2.448,2.446,2.445,2.44,2.432,2.424,2.424,2.423,2.419,2.419,2.419,2.417,2.415,2.41,2.408,2.404,2.404,2.397,2.395,2.394,2.393,2.393,2.393,2.394,2.394,2.394,2.391,2.387,2.387,2.387,2.389,2.389,2.389,2.386,2.386,2.386,2.391,2.391,2.391,2.388,2.388,2.388,2.389,2.39,2.394,2.395,2.396,2.396,2.399,2.402,2.402,2.404,2.406,2.406,2.408,2.409,2.41,2.41,2.412,2.42,2.42,2.426,2.426,2.428,2.43,2.431,2.433,2.445,2.446,2.45,2.454,2.454,2.457,2.461,2.467,2.471,2.478,2.49,2.49,2.49,2.49,2.497,2.502,2.503,2.505,2.522,2.532,2.535,2.54,2.543,2.544,2.545,2.556,2.563,2.566,2.573,2.581,2.587,2.589,2.596,2.607,2.622,2.629,2.633,2.64,2.644,2.662,2.671,2.675,2.685,2.696,2.7,2.707,2.722,2.725,2.729,2.734,2.741,2.759,2.78,2.782,2.798,2.804,2.807,2.817,2.831,2.846,2.855,2.864,2.867,2.885,2.905,2.921,2.921,2.935,2.949,2.955,2.971,2.986,2.994,3.014,3.023,3.039,3.048,3.07,3.081,3.102,3.112,3.128,3.148,3.153,3.174,3.196,3.202,3.225,3.237,3.254,3.284,3.288,3.308,3.326,3.354,3.368,3.388,3.397,3.445,3.46,3.479,3.498,3.52,3.539,3.561,3.59,3.624,3.633,3.664,3.688,3.713,3.748,3.768,3.791,3.815,3.846,3.88,3.91,3.96,3.984,4.02,4.062,4.088,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.322,3.319,3.315,3.295,3.285,3.283,3.262,3.255,3.255,3.244,3.233,3.226,3.224,3.203,3.202,3.198,3.184,3.176,3.163,3.162,3.156,3.151,3.139,3.134,3.128,3.121,3.112,3.11,3.106,3.105,3.098,3.09,3.089,3.074,3.073,3.068,3.067,3.06,3.057,3.056,3.053,3.038,3.031,3.031,3.031,3.031,3.031,3.023,3.011,3.01,3.008,3.008,3.008,3.003,3,3,2.999,2.994,2.994,3.004,2.994,2.994,2.994,2.994,2.993,2.991,2.988,2.988,2.984,2.982,2.982,2.984,2.984,2.985,2.985,2.985,2.982,2.982,2.982,2.98,2.98,2.98,2.98,2.98,2.986,2.986,2.986,2.989,2.993,2.996,2.997,2.998,2.999,2.999,3.007,3.007,3.01,3.011,3.011,3.016,3.018,3.018,3.027,3.028,3.029,3.036,3.037,3.039,3.048,3.048,3.049,3.053,3.062,3.069,3.071,3.077,3.077,3.084,3.09,3.091,3.096,3.106,3.109,3.117,3.117,3.119,3.119,3.127,3.133,3.142,3.15,3.151,3.157,3.162,3.162,3.174,3.178,3.188,3.191,3.191,3.199,3.207,3.208,3.223,3.226,3.238,3.244,3.257,3.264,3.265,3.273,3.273,3.287,3.297,3.819,3.831,3.832,3.852,3.857,3.886,3.891,3.909,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 100.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 100.525} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.286} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6896}
SEN {Time 100.576} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.178,0.177,0.178,0.178,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,3.241,3.241,3.379,3.379,0,0,0,0,0,0,0,0,0,3.118,3.118,3.113,3.101,3.093,3.089,3.087,3.08,3.079,3.074,3.073,3.062,3.062,3.054,3.054,3.054,0.145,0.145,0.145,0.145,0.14,0.147,0.147,0.149,0.147,0.149,0.153,3.033,3.033,3.04,3.04,3.033,3.033,0.166,0.165,0.165,0.162,0.162,0.162,0.162,0.162,0.164,3.448,3.526,3.529,3.533,3.533,3.537,3.533,3.533,3.53,3.53,3.53,3.53,3.53,3.534,3.534,3.54,3.54,3.54,3.54,3.54,3.54,3.547,3.547,3.547,3.545,3.545,3.545,3.552,3.552,3.554,3.555,3.556,3.558,3.56,3.567,3.568,3.57,3.574,3.58,3.58,3.589,3.595,3.595,3.599,3.6,3.611,3.612,3.619,3.621,3.624,3.63,3.633,3.643,3.645,3.668,3.669,3.674,3.677,3.682,3.685,3.689,3.707,3.71,3.719,3.721,3.734,3.737,3.748,3.753,3.758,3.767,3.774,3.789,3.794,3.798,3.813,3.816,3.829,3.84,3.847,3.861,3.869,3.888,3.903,3.905,3.914,3.92,3.94,3.952,3.963,3.983,3.994,4,4.015,4.031,4.04,4.046,4.072,4.089,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,3.972,3.921,3.889,3.843,3.819,3.786,3.759,3.74,3.706,3.688,3.655,3.64,3.613,3.588,3.566,3.545,3.521,3.492,3.481,3.465,3.432,3.405,3.396,3.373,3.353,3.331,3.313,3.301,3.263,3.256,3.227,3.218,3.202,3.189,3.162,3.148,3.139,3.121,3.113,3.094,3.092,3.066,3.058,3.045,3.037,3.023,3.001,2.987,2.963,2.961,2.955,2.945,2.93,2.911,2.91,2.896,2.881,2.871,2.86,2.848,2.832,2.82,2.809,2.807,2.801,2.779,2.775,2.764,2.757,2.735,2.732,2.711,2.707,2.705,2.701,2.695,2.688,2.68,2.658,2.65,2.648,2.638,2.628,2.622,2.613,2.611,2.599,2.593,2.586,2.584,2.576,2.556,2.556,2.555,2.543,2.54,2.54,2.538,2.532,2.527,2.525,2.511,2.507,2.505,2.505,2.498,2.481,2.481,2.479,2.478,2.47,2.468,2.465,2.457,2.455,2.448,2.447,2.444,2.437,2.435,2.434,2.425,2.423,2.421,2.421,2.415,2.412,2.412,2.411,2.411,2.411,2.411,2.407,2.405,2.401,2.401,2.4,2.394,2.391,2.391,2.393,2.391,2.389,2.389,2.388,2.386,2.386,2.386,2.386,2.39,2.39,2.39,2.387,2.387,2.387,2.387,2.386,2.387,2.387,2.388,2.39,2.398,2.398,2.4,2.4,2.401,2.4,2.401,2.402,2.402,2.405,2.405,2.416,2.416,2.416,2.42,2.423,2.426,2.426,2.429,2.429,2.431,2.434,2.444,2.444,2.445,2.454,2.455,2.459,2.462,2.466,2.468,2.472,2.483,2.487,2.491,2.493,2.494,2.503,2.504,2.511,2.513,2.518,2.522,2.527,2.536,2.542,2.55,2.563,2.563,2.563,2.565,2.585,2.592,2.594,2.597,2.612,2.619,2.62,2.629,2.639,2.647,2.673,2.677,2.68,2.684,2.687,2.698,2.698,2.707,2.715,2.727,2.743,2.745,2.755,2.779,2.779,2.785,2.802,2.806,2.824,2.834,2.839,2.853,2.875,2.88,2.884,2.892,2.914,2.929,2.937,2.957,2.961,2.972,2.989,3.006,3.015,3.024,3.036,3.043,3.063,3.078,3.102,3.111,3.131,3.144,3.154,3.172,3.188,3.207,3.208,3.235,3.251,3.279,3.289,3.314,3.336,3.346,3.354,3.386,3.402,3.434,3.454,3.462,3.497,3.528,3.541,3.567,3.594,3.615,3.636,3.661,3.698,3.723,3.735,3.801,3.828,3.851,3.851,3.887,3.924,3.961,3.988,4.008,4.061,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.321,3.303,3.297,3.285,3.283,3.261,3.259,3.257,3.247,3.238,3.22,3.213,3.209,3.205,3.195,3.185,3.176,3.164,3.162,3.161,3.152,3.143,3.142,3.127,3.122,3.12,3.113,3.113,3.099,3.096,3.089,3.088,3.079,3.076,3.072,3.069,3.06,3.053,3.05,3.05,3.044,3.038,3.03,3.03,3.024,3.023,3.022,3.017,3.016,3.005,3.005,3,2.999,2.994,2.994,2.994,2.994,2.994,3.001,2.997,2.997,2.997,2.996,2.985,2.985,2.984,2.98,2.98,2.981,2.981,2.981,2.984,2.984,2.985,2.984,2.984,2.982,2.982,2.981,2.98,2.981,2.982,2.982,2.984,2.988,2.99,2.991,2.99,2.99,2.991,2.991,2.994,2.997,3.003,3.006,3.009,3.01,3.01,3.012,3.019,3.016,3.019,3.023,3.031,3.035,3.038,3.038,3.046,3.046,3.048,3.058,3.06,3.061,3.063,3.067,3.079,3.085,3.088,3.093,3.098,3.107,3.113,3.117,3.117,3.117,3.121,3.132,3.133,3.136,3.147,3.151,3.151,3.152,3.154,3.176,3.176,3.185,3.188,3.193,3.203,3.205,3.207,3.207,3.227,3.229,3.252,3.255,3.262,3.267,3.277,3.277,3.278,3.281,3.829,3.832,3.835,3.841,3.864,3.881,3.887,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.73} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 100.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 100.726} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.2832} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.286} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 5.6896}
SEN {Time 100.776} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.175,0.174,0.175,0.175,0.212,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.378,3.378,3.378,0,0,0,0,0,0,0,0,0,3.123,3.118,3.11,3.098,3.092,3.092,3.091,3.088,3.073,3.072,3.07,3.066,3.066,3.059,3.059,3.059,0.148,0.148,0.148,0.148,0.143,0.153,0.153,0.153,0.153,0.153,0.158,3.038,3.038,3.04,3.04,3.038,3.026,0.171,0.162,0.158,0.158,0.155,0.158,0.16,0.161,0.172,3.445,3.532,3.533,3.537,3.537,3.537,3.538,3.532,3.532,3.533,3.536,3.536,3.537,3.537,3.539,3.539,3.539,3.541,3.542,3.542,3.542,3.543,3.545,3.544,3.547,3.551,3.551,3.554,3.554,3.557,3.562,3.56,3.565,3.57,3.565,3.57,3.57,3.572,3.575,3.585,3.589,3.589,3.589,3.592,3.595,3.601,3.614,3.617,3.622,3.624,3.634,3.635,3.639,3.654,3.671,3.671,3.675,3.675,3.676,3.682,3.687,3.707,3.711,3.721,3.729,3.731,3.731,3.751,3.755,3.759,3.77,3.78,3.789,3.792,3.811,3.822,3.823,3.824,3.841,3.845,3.859,3.879,3.886,3.887,3.903,3.914,3.925,3.94,3.947,3.952,3.987,3.997,3.999,4.014,4.021,4.034,4.046,4.076,4.092,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,4.015,3.951,3.917,3.876,3.856,3.82,3.782,3.755,3.733,3.723,3.685,3.663,3.637,3.616,3.579,3.559,3.546,3.529,3.509,3.486,3.463,3.437,3.414,3.391,3.372,3.349,3.333,3.303,3.292,3.277,3.253,3.231,3.227,3.2,3.181,3.168,3.148,3.133,3.132,3.113,3.094,3.084,3.075,3.052,3.047,3.03,3.017,2.994,2.987,2.973,2.958,2.949,2.936,2.926,2.911,2.9,2.899,2.887,2.874,2.855,2.851,2.836,2.82,2.814,2.804,2.8,2.778,2.769,2.757,2.753,2.738,2.731,2.723,2.715,2.704,2.691,2.685,2.68,2.678,2.661,2.66,2.643,2.633,2.628,2.624,2.617,2.607,2.596,2.591,2.579,2.577,2.568,2.567,2.563,2.557,2.551,2.538,2.537,2.535,2.529,2.524,2.521,2.506,2.505,2.503,2.502,2.496,2.494,2.485,2.477,2.471,2.47,2.468,2.464,2.461,2.451,2.45,2.449,2.446,2.439,2.432,2.426,2.426,2.426,2.424,2.424,2.42,2.417,2.416,2.416,2.407,2.406,2.406,2.405,2.402,2.402,2.399,2.397,2.397,2.397,2.397,2.394,2.393,2.393,2.392,2.391,2.388,2.388,2.388,2.387,2.388,2.388,2.388,2.388,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.392,2.394,2.399,2.405,2.407,2.407,2.408,2.409,2.411,2.412,2.413,2.419,2.42,2.42,2.421,2.424,2.428,2.429,2.433,2.441,2.444,2.447,2.453,2.456,2.463,2.463,2.465,2.472,2.479,2.482,2.482,2.484,2.484,2.494,2.506,2.512,2.512,2.523,2.524,2.532,2.533,2.539,2.543,2.544,2.56,2.562,2.569,2.569,2.587,2.591,2.594,2.6,2.6,2.619,2.627,2.629,2.637,2.641,2.667,2.676,2.68,2.684,2.687,2.697,2.707,2.721,2.726,2.731,2.734,2.742,2.758,2.77,2.773,2.797,2.804,2.817,2.818,2.829,2.845,2.85,2.866,2.872,2.881,2.906,2.924,2.931,2.938,2.952,2.958,2.972,2.982,3,3.019,3.028,3.04,3.052,3.064,3.084,3.104,3.108,3.126,3.139,3.15,3.18,3.19,3.202,3.219,3.226,3.256,3.28,3.297,3.314,3.319,3.347,3.356,3.386,3.404,3.429,3.458,3.48,3.499,3.53,3.547,3.57,3.595,3.609,3.631,3.67,3.685,3.714,3.736,3.766,3.794,3.829,3.863,3.878,3.92,3.944,3.984,4.022,4.058,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.324,3.305,3.293,3.282,3.278,3.265,3.262,3.259,3.246,3.232,3.227,3.215,3.211,3.207,3.203,3.184,3.175,3.17,3.165,3.152,3.151,3.143,3.139,3.126,3.121,3.117,3.117,3.114,3.102,3.098,3.09,3.089,3.071,3.07,3.065,3.065,3.063,3.056,3.054,3.045,3.044,3.038,3.035,3.033,3.03,3.03,3.024,3.016,3.012,3.008,3.008,3.008,3.008,3.004,3.001,2.996,2.994,2.996,3.001,2.996,2.993,2.993,2.993,2.99,2.99,2.99,2.987,2.985,2.984,2.98,2.98,2.978,2.978,2.978,2.987,2.989,2.989,2.987,2.981,2.981,2.981,2.976,2.981,2.985,2.989,2.989,2.993,2.994,2.994,2.994,2.995,3,3.001,3.002,3.002,3.004,3.008,3.008,3.016,3.017,3.018,3.018,3.032,3.032,3.032,3.033,3.038,3.042,3.045,3.054,3.061,3.061,3.065,3.066,3.067,3.077,3.083,3.088,3.09,3.099,3.102,3.118,3.118,3.118,3.12,3.12,3.124,3.132,3.136,3.148,3.149,3.161,3.162,3.165,3.175,3.181,3.192,3.194,3.199,3.2,3.207,3.218,3.219,3.222,3.231,3.244,3.255,3.261,3.266,3.274,3.274,3.277,3.29,3.814,3.827,3.831,3.846,3.867,3.873,3.899,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.93} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 100.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 100.927} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.2832} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 5.3086}
SEN {Time 100.976} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.176,0.178,0.18,0.18,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.241,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.118,3.115,3.108,3.106,3.097,3.089,3.086,3.084,3.08,3.079,3.073,3.067,3.067,3.053,3.053,3.052,0.143,0.143,0.146,0.146,0.148,0.151,0.15,0.15,0.15,0.15,0.15,3.024,3.024,3.037,3.037,3.024,3.022,0.17,0.164,0.156,0.156,0.156,0.156,0.163,0.17,0.176,3.444,3.527,3.528,3.534,3.535,3.535,3.537,3.534,3.532,3.532,3.53,3.53,3.531,3.536,3.536,3.536,3.536,3.54,3.54,3.542,3.542,3.542,3.545,3.546,3.546,3.546,3.548,3.548,3.548,3.548,3.563,3.563,3.563,3.563,3.563,3.563,3.571,3.58,3.58,3.586,3.586,3.591,3.594,3.597,3.598,3.608,3.624,3.625,3.625,3.625,3.625,3.626,3.639,3.652,3.661,3.665,3.673,3.674,3.679,3.688,3.688,3.7,3.707,3.719,3.734,3.738,3.741,3.745,3.757,3.763,3.77,3.782,3.787,3.793,3.803,3.817,3.823,3.829,3.834,3.844,3.853,3.881,3.888,3.891,3.91,3.911,3.914,3.937,3.95,3.957,3.981,3.993,4.005,4.009,4.033,4.042,4.057,4.074,4.088,4.093,0.016,0.016,0.016,0.016,0,0.016,0.016,0.016,4.019,3.99,3.905,3.887,3.853,3.828,3.794,3.761,3.738,3.709,3.692,3.663,3.637,3.613,3.591,3.566,3.532,3.515,3.496,3.486,3.459,3.438,3.415,3.385,3.374,3.352,3.328,3.309,3.288,3.264,3.253,3.233,3.223,3.206,3.184,3.16,3.153,3.133,3.115,3.114,3.1,3.087,3.072,3.056,3.048,3.036,3.025,2.991,2.982,2.971,2.96,2.956,2.936,2.931,2.92,2.899,2.886,2.886,2.867,2.855,2.848,2.839,2.82,2.819,2.801,2.792,2.777,2.775,2.768,2.756,2.75,2.737,2.714,2.71,2.705,2.697,2.696,2.682,2.677,2.663,2.649,2.642,2.639,2.636,2.627,2.613,2.607,2.605,2.596,2.593,2.586,2.573,2.562,2.556,2.55,2.548,2.536,2.534,2.53,2.528,2.523,2.52,2.502,2.502,2.5,2.499,2.499,2.499,2.484,2.483,2.467,2.467,2.467,2.466,2.465,2.452,2.446,2.443,2.443,2.439,2.438,2.427,2.426,2.424,2.421,2.42,2.42,2.416,2.415,2.412,2.409,2.403,2.403,2.401,2.401,2.401,2.4,2.395,2.394,2.394,2.394,2.395,2.395,2.395,2.392,2.39,2.39,2.39,2.39,2.388,2.387,2.387,2.387,2.387,2.385,2.386,2.386,2.387,2.386,2.387,2.388,2.39,2.391,2.393,2.393,2.393,2.397,2.4,2.403,2.406,2.406,2.406,2.406,2.411,2.414,2.416,2.421,2.425,2.425,2.425,2.428,2.43,2.432,2.432,2.438,2.44,2.441,2.449,2.455,2.461,2.466,2.468,2.468,2.474,2.482,2.488,2.49,2.492,2.492,2.501,2.502,2.507,2.511,2.529,2.532,2.54,2.541,2.542,2.55,2.561,2.564,2.566,2.568,2.573,2.591,2.594,2.607,2.608,2.617,2.626,2.627,2.641,2.648,2.662,2.68,2.681,2.685,2.694,2.694,2.711,2.723,2.723,2.732,2.742,2.747,2.756,2.77,2.77,2.788,2.803,2.815,2.824,2.834,2.84,2.853,2.87,2.872,2.885,2.903,2.911,2.931,2.932,2.957,2.958,2.974,2.987,3,3.018,3.03,3.034,3.046,3.065,3.086,3.105,3.121,3.124,3.14,3.151,3.173,3.192,3.209,3.229,3.235,3.256,3.283,3.288,3.303,3.321,3.349,3.36,3.39,3.41,3.433,3.454,3.471,3.493,3.524,3.537,3.568,3.588,3.614,3.647,3.681,3.692,3.709,3.74,3.776,3.807,3.82,3.854,3.881,3.921,3.953,3.975,4.018,4.042,4.083,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.319,3.308,3.294,3.294,3.275,3.275,3.269,3.261,3.248,3.239,3.227,3.216,3.201,3.198,3.195,3.184,3.172,3.17,3.16,3.152,3.148,3.141,3.134,3.127,3.12,3.12,3.119,3.115,3.096,3.094,3.089,3.085,3.081,3.078,3.072,3.068,3.062,3.059,3.055,3.045,3.043,3.041,3.032,3.029,3.029,3.028,3.021,3.02,3.01,3.009,3.007,3.006,3.004,2.999,2.996,2.994,2.991,2.994,2.996,2.991,2.991,2.991,2.991,2.991,2.991,2.991,2.985,2.984,2.984,2.984,2.985,2.983,2.985,2.985,2.986,2.986,2.986,2.985,2.986,2.979,2.978,2.978,2.978,2.978,2.981,2.991,2.991,2.991,2.996,2.996,3,3.004,3.004,3.007,3.007,3.007,3.007,3.014,3.016,3.019,3.02,3.026,3.028,3.03,3.035,3.037,3.04,3.047,3.051,3.054,3.057,3.061,3.063,3.064,3.065,3.074,3.079,3.092,3.093,3.099,3.099,3.114,3.115,3.115,3.121,3.126,3.131,3.134,3.136,3.143,3.145,3.151,3.156,3.162,3.171,3.188,3.19,3.194,3.195,3.196,3.205,3.21,3.212,3.218,3.238,3.246,3.253,3.258,3.264,3.276,3.276,3.285,3.294,3.817,3.838,3.842,3.844,3.873,3.878,3.897,3.904,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.13} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 101.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 101.128} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.2832} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.7244} {Name Sonar15 Range 5.3086}
SEN {Time 101.176} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.186,0.186,0.21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.254,3.253,3.374,3.374,3.374,0,0,0,0,0,0,0,0,0,3.12,3.116,3.113,3.096,3.09,3.089,3.089,3.085,3.078,3.074,3.07,3.06,3.06,3.058,3.055,0.143,0.142,0.142,0.142,0.143,0.142,0.144,0.144,0.152,0.152,0.153,0.155,3.028,3.028,3.033,3.033,3.039,3.039,3.039,0.163,0.163,0.163,0.161,0.154,0.161,0.161,0.171,3.453,3.529,3.529,3.531,3.529,3.53,3.53,3.53,3.529,3.53,3.527,3.527,3.533,3.533,3.533,3.533,3.533,3.539,3.541,3.539,3.541,3.541,3.541,3.541,3.541,3.541,3.542,3.548,3.548,3.558,3.558,3.565,3.565,3.565,3.571,3.576,3.579,3.58,3.582,3.583,3.59,3.594,3.597,3.601,3.604,3.609,3.611,3.612,3.618,3.62,3.633,3.642,3.645,3.651,3.667,3.67,3.671,3.671,3.685,3.686,3.69,3.705,3.706,3.707,3.719,3.741,3.745,3.75,3.758,3.768,3.776,3.78,3.789,3.791,3.799,3.817,3.818,3.824,3.844,3.849,3.862,3.877,3.89,3.903,3.912,3.918,3.922,3.943,3.96,3.961,3.985,3.991,4.003,4.023,4.033,4.041,4.064,4.072,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.015,3.994,3.994,3.96,3.917,3.854,3.828,3.793,3.763,3.725,3.708,3.703,3.66,3.642,3.61,3.581,3.549,3.549,3.533,3.507,3.473,3.454,3.434,3.409,3.386,3.371,3.342,3.339,3.309,3.298,3.273,3.254,3.244,3.22,3.201,3.183,3.165,3.155,3.128,3.127,3.114,3.092,3.083,3.07,3.052,3.051,3.029,3.016,2.989,2.986,2.977,2.96,2.957,2.933,2.924,2.913,2.909,2.903,2.876,2.874,2.856,2.851,2.834,2.826,2.811,2.798,2.791,2.777,2.771,2.766,2.756,2.746,2.736,2.721,2.707,2.704,2.693,2.69,2.685,2.674,2.656,2.645,2.645,2.644,2.629,2.618,2.615,2.612,2.604,2.599,2.585,2.58,2.576,2.573,2.559,2.545,2.541,2.541,2.539,2.534,2.533,2.529,2.518,2.507,2.506,2.5,2.5,2.496,2.492,2.478,2.474,2.468,2.467,2.464,2.464,2.461,2.456,2.453,2.449,2.445,2.437,2.433,2.432,2.429,2.429,2.424,2.419,2.419,2.417,2.415,2.414,2.414,2.409,2.408,2.402,2.402,2.399,2.399,2.398,2.394,2.394,2.394,2.393,2.39,2.389,2.389,2.389,2.389,2.388,2.387,2.387,2.384,2.387,2.387,2.387,2.386,2.391,2.39,2.39,2.391,2.391,2.391,2.392,2.392,2.394,2.394,2.396,2.398,2.403,2.404,2.404,2.405,2.409,2.413,2.416,2.416,2.417,2.417,2.418,2.423,2.425,2.425,2.432,2.435,2.436,2.443,2.446,2.447,2.456,2.462,2.463,2.463,2.466,2.473,2.477,2.479,2.482,2.489,2.492,2.494,2.504,2.504,2.516,2.519,2.521,2.525,2.529,2.542,2.547,2.552,2.56,2.568,2.569,2.571,2.589,2.595,2.598,2.599,2.606,2.617,2.627,2.628,2.633,2.647,2.672,2.674,2.674,2.688,2.69,2.69,2.7,2.713,2.722,2.73,2.746,2.751,2.767,2.768,2.774,2.786,2.797,2.813,2.824,2.833,2.836,2.863,2.868,2.874,2.884,2.903,2.915,2.934,2.935,2.949,2.956,2.972,2.985,2.995,3.022,3.029,3.043,3.056,3.063,3.073,3.094,3.11,3.126,3.135,3.146,3.174,3.187,3.204,3.228,3.236,3.257,3.281,3.282,3.309,3.335,3.348,3.354,3.385,3.406,3.445,3.466,3.486,3.493,3.522,3.539,3.562,3.579,3.614,3.633,3.661,3.696,3.71,3.744,3.767,3.803,3.819,3.854,3.891,3.913,3.945,3.982,4.015,4.058,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.314,3.306,3.294,3.29,3.285,3.261,3.259,3.253,3.246,3.235,3.22,3.22,3.2,3.198,3.194,3.185,3.185,3.169,3.158,3.153,3.152,3.149,3.149,3.142,3.121,3.113,3.11,3.11,3.1,3.096,3.092,3.081,3.079,3.078,3.069,3.069,3.062,3.056,3.052,3.047,3.042,3.03,3.029,3.029,3.028,3.028,3.028,3.018,3.014,3.008,3.008,3.005,3.002,3.002,2.998,2.998,2.998,2.998,2.998,3,3,3,2.99,2.99,2.99,2.99,2.99,2.988,2.98,2.98,2.98,2.978,2.978,2.982,2.983,2.986,2.986,2.986,2.986,2.977,2.977,2.977,2.98,2.98,2.99,2.99,2.992,2.993,2.992,2.993,2.994,2.999,3,3.004,3.004,3.004,3.005,3.008,3.01,3.018,3.018,3.023,3.028,3.028,3.037,3.039,3.04,3.041,3.042,3.053,3.061,3.064,3.065,3.07,3.075,3.084,3.085,3.087,3.087,3.093,3.103,3.11,3.113,3.116,3.121,3.121,3.129,3.134,3.136,3.146,3.154,3.154,3.156,3.16,3.17,3.188,3.193,3.195,3.196,3.199,3.204,3.207,3.213,3.224,3.237,3.249,3.252,3.268,3.269,3.278,3.278,3.281,3.297,3.817,3.823,3.845,3.849,3.872,3.876,3.9,3.902,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 101.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 101.329} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.699} {Name Sonar15 Range 5.3086}
SEN {Time 101.372} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.174,0.174,0.181,0.181,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.26,3.256,3.256,3.25,3.238,3.238,3.373,3.373,0,0,0,0,0,0,0,0,3.121,3.116,3.115,3.115,3.095,3.094,3.093,3.089,3.085,3.083,3.075,3.071,3.062,3.062,3.056,3.055,0.148,0.142,0.142,0.142,0.142,0.141,0.147,0.147,0.151,0.148,0.151,0.151,3.026,3.038,3.038,3.038,3.037,3.037,0.164,0.161,0.161,0.161,0.158,0.156,0.158,0.158,0.167,3.45,3.531,3.533,3.533,3.535,3.535,3.535,3.533,3.533,3.525,3.525,3.525,3.525,3.531,3.536,3.536,3.535,3.535,3.538,3.539,3.54,3.545,3.541,3.546,3.546,3.546,3.546,3.553,3.553,3.553,3.553,3.556,3.557,3.558,3.566,3.572,3.574,3.579,3.582,3.582,3.585,3.59,3.59,3.595,3.602,3.613,3.62,3.621,3.627,3.627,3.628,3.642,3.648,3.65,3.663,3.663,3.669,3.675,3.687,3.692,3.693,3.7,3.703,3.706,3.726,3.743,3.748,3.749,3.754,3.764,3.765,3.779,3.789,3.794,3.8,3.811,3.826,3.829,3.845,3.849,3.857,3.869,3.879,3.884,3.906,3.917,3.921,3.946,3.946,3.961,3.975,3.993,4.006,4.026,4.037,4.04,4.049,4.066,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.053,3.995,3.944,3.923,3.885,3.85,3.815,3.795,3.771,3.723,3.698,3.685,3.659,3.649,3.613,3.598,3.562,3.543,3.511,3.494,3.485,3.465,3.433,3.416,3.393,3.362,3.353,3.339,3.31,3.294,3.256,3.249,3.233,3.224,3.204,3.188,3.168,3.157,3.135,3.125,3.117,3.099,3.087,3.068,3.06,3.048,3.039,3.022,2.995,2.991,2.971,2.964,2.952,2.945,2.93,2.926,2.911,2.898,2.874,2.869,2.855,2.843,2.83,2.813,2.81,2.807,2.797,2.782,2.777,2.757,2.749,2.734,2.734,2.726,2.713,2.709,2.697,2.691,2.674,2.669,2.653,2.648,2.638,2.635,2.631,2.627,2.625,2.613,2.61,2.59,2.58,2.579,2.572,2.569,2.562,2.553,2.545,2.54,2.536,2.535,2.534,2.523,2.518,2.508,2.507,2.506,2.504,2.495,2.49,2.475,2.472,2.472,2.472,2.471,2.462,2.461,2.454,2.454,2.452,2.449,2.44,2.43,2.428,2.425,2.425,2.425,2.424,2.416,2.415,2.411,2.411,2.411,2.409,2.408,2.408,2.407,2.4,2.398,2.398,2.398,2.397,2.397,2.396,2.391,2.391,2.391,2.39,2.39,2.39,2.391,2.39,2.387,2.386,2.385,2.385,2.386,2.387,2.389,2.389,2.389,2.389,2.394,2.394,2.394,2.394,2.393,2.393,2.393,2.402,2.404,2.404,2.404,2.406,2.411,2.413,2.418,2.418,2.419,2.419,2.419,2.429,2.429,2.429,2.431,2.432,2.438,2.442,2.446,2.448,2.452,2.454,2.455,2.471,2.474,2.48,2.481,2.484,2.488,2.493,2.495,2.501,2.506,2.512,2.525,2.525,2.534,2.535,2.539,2.546,2.549,2.556,2.562,2.567,2.569,2.579,2.585,2.587,2.598,2.608,2.625,2.632,2.636,2.638,2.648,2.663,2.674,2.679,2.686,2.688,2.689,2.708,2.718,2.723,2.725,2.738,2.741,2.761,2.769,2.774,2.792,2.796,2.814,2.826,2.838,2.847,2.854,2.868,2.87,2.884,2.9,2.908,2.923,2.937,2.961,2.962,2.973,2.991,2.994,3.012,3.038,3.044,3.048,3.066,3.075,3.103,3.115,3.123,3.138,3.155,3.165,3.19,3.202,3.225,3.229,3.258,3.282,3.285,3.309,3.323,3.339,3.367,3.388,3.409,3.441,3.448,3.477,3.492,3.52,3.539,3.573,3.596,3.614,3.629,3.667,3.681,3.705,3.741,3.776,3.805,3.824,3.861,3.883,3.911,3.957,3.974,4.023,4.061,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.322,3.308,3.291,3.287,3.276,3.266,3.262,3.251,3.246,3.227,3.221,3.219,3.202,3.199,3.194,3.188,3.177,3.175,3.17,3.159,3.152,3.146,3.132,3.124,3.122,3.112,3.112,3.107,3.096,3.096,3.096,3.089,3.082,3.071,3.068,3.068,3.06,3.058,3.053,3.044,3.042,3.042,3.036,3.035,3.032,3.028,3.02,3.013,3.008,3.008,3.008,3.008,3.005,3.001,3.001,2.997,2.997,2.997,2.997,2.997,2.997,2.991,2.991,2.99,2.986,2.986,2.979,2.979,2.979,2.98,2.983,2.983,2.98,2.978,2.978,2.978,2.978,2.977,2.979,2.977,2.977,2.977,2.979,2.98,2.984,2.983,2.984,2.992,2.994,2.994,2.994,3.003,3.003,3.004,3.007,3.013,3.013,3.013,3.014,3.021,3.015,3.024,3.027,3.028,3.029,3.029,3.035,3.043,3.043,3.046,3.059,3.061,3.062,3.068,3.072,3.085,3.086,3.091,3.092,3.099,3.11,3.111,3.113,3.114,3.116,3.119,3.125,3.126,3.139,3.147,3.148,3.152,3.162,3.166,3.171,3.184,3.193,3.196,3.2,3.2,3.2,3.202,3.212,3.222,3.236,3.247,3.253,3.259,3.27,3.271,3.271,3.285,3.291,3.824,3.834,3.841,3.848,3.854,3.867,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 101.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 101.53} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.0546} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.699} {Name Sonar15 Range 5.1816}
SEN {Time 101.572} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.186,0.181,0.181,0.186,0.186,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.259,3.235,3.374,3.374,3.374,0,0,0,0,0,0,0,0,3.121,3.114,3.113,3.107,3.107,3.097,3.096,3.089,3.086,3.078,3.075,3.066,3.066,3.065,3.064,3.06,0.146,0.146,0.146,0.146,0.151,0.151,0.15,0.15,0.15,0.148,0.15,0.156,3.037,3.039,3.039,3.039,3.037,3.035,0.165,0.163,0.158,0.155,0.155,0.155,0.156,0.162,0.172,3.447,3.527,3.529,3.529,3.529,3.529,3.53,3.53,3.53,3.53,3.53,3.53,3.532,3.536,3.536,3.536,3.536,3.535,3.535,3.535,3.538,3.539,3.542,3.543,3.543,3.543,3.544,3.555,3.557,3.558,3.557,3.558,3.558,3.559,3.57,3.571,3.572,3.575,3.572,3.577,3.579,3.58,3.589,3.59,3.596,3.603,3.615,3.621,3.624,3.625,3.625,3.628,3.648,3.651,3.662,3.671,3.674,3.678,3.683,3.687,3.689,3.703,3.708,3.718,3.732,3.735,3.745,3.757,3.758,3.76,3.776,3.784,3.79,3.795,3.797,3.815,3.823,3.825,3.844,3.85,3.858,3.867,3.881,3.888,3.902,3.915,3.927,3.931,3.944,3.956,3.97,3.991,4.001,4.019,4.037,4.04,4.041,4.08,4.089,0.016,0.016,0.016,0.016,0,0,0,0,4.006,3.98,3.945,3.908,3.889,3.865,3.835,3.801,3.776,3.741,3.716,3.686,3.663,3.639,3.629,3.587,3.555,3.54,3.527,3.503,3.481,3.459,3.431,3.407,3.394,3.374,3.351,3.333,3.304,3.294,3.265,3.252,3.244,3.223,3.2,3.176,3.162,3.151,3.14,3.122,3.114,3.09,3.085,3.069,3.056,3.051,3.032,3.016,2.998,2.994,2.965,2.962,2.953,2.942,2.932,2.918,2.9,2.9,2.877,2.866,2.859,2.84,2.825,2.816,2.812,2.809,2.803,2.783,2.778,2.76,2.749,2.747,2.733,2.718,2.709,2.698,2.694,2.685,2.674,2.671,2.666,2.644,2.642,2.634,2.633,2.626,2.621,2.62,2.599,2.595,2.58,2.575,2.567,2.56,2.554,2.554,2.546,2.545,2.542,2.539,2.531,2.517,2.513,2.508,2.506,2.504,2.502,2.494,2.485,2.477,2.476,2.476,2.472,2.466,2.458,2.456,2.454,2.453,2.45,2.442,2.441,2.44,2.434,2.426,2.423,2.421,2.42,2.42,2.419,2.413,2.413,2.413,2.412,2.411,2.407,2.405,2.404,2.397,2.395,2.396,2.396,2.394,2.392,2.395,2.391,2.39,2.39,2.39,2.388,2.388,2.384,2.385,2.385,2.386,2.385,2.385,2.386,2.386,2.386,2.388,2.389,2.392,2.392,2.395,2.397,2.395,2.395,2.397,2.403,2.405,2.405,2.405,2.405,2.408,2.41,2.413,2.426,2.427,2.427,2.426,2.427,2.427,2.429,2.43,2.436,2.438,2.442,2.444,2.447,2.451,2.464,2.465,2.468,2.474,2.475,2.483,2.488,2.493,2.494,2.494,2.505,2.508,2.512,2.515,2.523,2.525,2.537,2.542,2.543,2.554,2.558,2.565,2.567,2.57,2.58,2.581,2.591,2.592,2.609,2.626,2.634,2.639,2.64,2.649,2.66,2.667,2.669,2.683,2.689,2.698,2.713,2.722,2.722,2.732,2.735,2.745,2.758,2.773,2.779,2.789,2.804,2.811,2.815,2.824,2.843,2.859,2.861,2.867,2.884,2.901,2.916,2.931,2.94,2.949,2.961,2.968,2.992,2.996,3.011,3.031,3.032,3.045,3.072,3.082,3.108,3.112,3.122,3.14,3.16,3.164,3.187,3.202,3.22,3.233,3.257,3.279,3.287,3.298,3.328,3.35,3.361,3.38,3.404,3.428,3.452,3.478,3.502,3.515,3.543,3.567,3.585,3.61,3.64,3.672,3.692,3.707,3.746,3.769,3.808,3.831,3.858,3.876,3.922,3.946,3.984,4.022,4.056,4.092,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.327,3.313,3.293,3.29,3.289,3.267,3.264,3.254,3.234,3.234,3.227,3.218,3.202,3.202,3.193,3.19,3.182,3.169,3.163,3.153,3.151,3.14,3.138,3.129,3.116,3.112,3.11,3.108,3.102,3.101,3.095,3.085,3.081,3.078,3.073,3.06,3.058,3.056,3.054,3.05,3.041,3.038,3.029,3.029,3.029,3.027,3.018,3.017,3.007,3.006,3.005,3.004,3.004,3.003,3.003,3,3,3,3.006,3.048,0.007,3.048,2.996,2.992,2.992,2.986,2.986,2.986,2.986,2.986,2.987,2.981,2.981,2.981,2.983,2.983,2.985,2.985,2.985,2.985,2.985,2.982,2.985,2.986,2.986,2.986,2.986,2.987,2.995,2.995,2.998,2.998,3.001,3.007,3.007,3.011,3.009,3.009,3.009,3.015,3.022,3.023,3.025,3.029,3.034,3.039,3.039,3.039,3.041,3.047,3.053,3.058,3.064,3.064,3.065,3.077,3.085,3.086,3.093,3.097,3.103,3.114,3.116,3.116,3.116,3.12,3.129,3.133,3.139,3.144,3.145,3.158,3.158,3.16,3.174,3.185,3.194,3.195,3.199,3.202,3.204,3.204,3.216,3.216,3.234,3.252,3.252,3.254,3.258,3.276,3.276,3.283,3.296,3.813,3.832,3.843,3.844,3.857,3.88,3.893,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 101.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 101.722} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8166} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.699} {Name Sonar15 Range 5.1816}
SEN {Time 101.772} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.177,0.174,0.177,0.177,0.187,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.26,3.253,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.123,3.115,3.11,3.095,3.093,3.09,3.088,3.081,3.073,3.073,3.068,3.061,3.061,3.056,3.054,0.147,0.144,0.143,0.143,0.143,0.143,0.143,0.151,0.154,0.151,0.154,0.158,3.024,3.024,3.029,3.029,3.031,3.031,3.031,0.163,0.161,0.153,0.153,0.153,0.154,0.163,0.179,3.522,3.524,3.538,3.532,3.532,3.532,3.532,3.532,3.535,3.538,3.538,3.535,3.534,3.532,3.532,3.532,3.532,3.543,3.543,3.543,3.544,3.544,3.544,3.544,3.54,3.54,3.54,3.55,3.553,3.553,3.554,3.561,3.561,3.564,3.568,3.568,3.568,3.572,3.575,3.578,3.586,3.59,3.597,3.599,3.599,3.605,3.607,3.612,3.613,3.62,3.633,3.633,3.64,3.652,3.656,3.666,3.675,3.677,3.681,3.686,3.689,3.702,3.703,3.709,3.713,3.725,3.741,3.747,3.753,3.765,3.769,3.77,3.775,3.786,3.803,3.813,3.828,3.829,3.841,3.849,3.854,3.866,3.886,3.889,3.9,3.917,3.928,3.94,3.942,3.959,3.962,3.99,4.007,4.007,4.032,4.039,4.056,4.077,4.094,0.016,0.016,0.016,0,0,0,0.007,4.095,4.021,3.986,3.943,3.915,3.872,3.856,3.83,3.798,3.772,3.738,3.701,3.695,3.667,3.643,3.617,3.591,3.562,3.547,3.527,3.493,3.473,3.455,3.434,3.415,3.389,3.376,3.349,3.327,3.3,3.292,3.27,3.248,3.234,3.222,3.206,3.182,3.163,3.152,3.143,3.125,3.116,3.094,3.093,3.078,3.057,3.042,3.027,3.013,2.988,2.985,2.971,2.956,2.953,2.935,2.933,2.912,2.893,2.89,2.877,2.87,2.856,2.852,2.843,2.825,2.805,2.802,2.797,2.787,2.774,2.758,2.747,2.742,2.726,2.719,2.705,2.705,2.693,2.689,2.679,2.674,2.668,2.664,2.642,2.641,2.639,2.624,2.615,2.613,2.594,2.592,2.578,2.577,2.568,2.566,2.56,2.554,2.542,2.537,2.537,2.533,2.529,2.528,2.523,2.509,2.508,2.5,2.5,2.499,2.489,2.481,2.475,2.474,2.474,2.472,2.471,2.459,2.454,2.449,2.444,2.443,2.442,2.437,2.433,2.432,2.423,2.421,2.42,2.413,2.411,2.411,2.411,2.411,2.411,2.406,2.403,2.403,2.4,2.4,2.397,2.394,2.394,2.394,2.394,2.393,2.393,2.388,2.386,2.386,2.385,2.385,2.386,2.386,2.386,2.386,2.385,2.385,2.387,2.387,2.39,2.39,2.39,2.39,2.39,2.388,2.39,2.39,2.39,2.393,2.396,2.4,2.403,2.406,2.41,2.412,2.413,2.414,2.414,2.42,2.42,2.42,2.42,2.42,2.427,2.432,2.435,2.438,2.439,2.442,2.454,2.457,2.463,2.465,2.465,2.479,2.479,2.48,2.483,2.484,2.487,2.5,2.507,2.509,2.51,2.51,2.523,2.523,2.535,2.536,2.548,2.553,2.56,2.564,2.569,2.571,2.584,2.597,2.598,2.599,2.601,2.619,2.627,2.632,2.632,2.651,2.663,2.672,2.674,2.684,2.686,2.688,2.705,2.717,2.729,2.73,2.739,2.743,2.751,2.773,2.781,2.794,2.801,2.811,2.825,2.828,2.842,2.856,2.865,2.873,2.887,2.91,2.916,2.927,2.934,2.953,2.953,2.968,2.981,3.002,3.016,3.035,3.036,3.052,3.065,3.091,3.098,3.109,3.129,3.141,3.155,3.169,3.189,3.207,3.222,3.232,3.255,3.276,3.285,3.317,3.336,3.358,3.36,3.386,3.408,3.435,3.462,3.469,3.494,3.514,3.531,3.568,3.587,3.614,3.64,3.661,3.695,3.723,3.73,3.758,3.796,3.821,3.855,3.894,3.916,3.943,3.972,4.017,4.058,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.315,3.308,3.294,3.28,3.278,3.265,3.263,3.259,3.25,3.228,3.223,3.215,3.21,3.201,3.195,3.19,3.175,3.169,3.163,3.153,3.148,3.14,3.129,3.126,3.121,3.112,3.111,3.109,3.101,3.09,3.09,3.088,3.084,3.076,3.069,3.068,3.061,3.06,3.055,3.045,3.043,3.038,3.033,3.025,3.023,3.023,3.018,3.012,3.01,3.004,3.004,3.001,2.999,2.998,2.994,2.994,2.994,2.994,2.995,2.995,2.992,2.992,2.986,2.985,2.985,2.985,2.985,2.985,2.985,2.984,2.981,2.98,2.98,2.981,2.983,2.983,2.985,2.983,2.983,2.981,2.98,2.98,2.983,2.983,2.989,2.989,2.99,2.993,2.99,2.993,2.994,3,3,3.003,3.007,3.012,3.008,3.012,3.015,3.018,3.021,3.021,3.029,3.029,3.036,3.038,3.039,3.044,3.047,3.059,3.06,3.06,3.06,3.061,3.061,3.079,3.088,3.089,3.093,3.096,3.107,3.109,3.113,3.114,3.114,3.119,3.126,3.128,3.133,3.144,3.147,3.154,3.154,3.158,3.169,3.178,3.19,3.19,3.195,3.2,3.208,3.21,3.215,3.216,3.234,3.242,3.252,3.262,3.264,3.276,3.276,3.277,3.289,3.816,3.822,3.838,3.853,3.868,3.874,3.895,3.906,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 101.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 101.923} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8166} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.1308} {Name Sonar15 Range 5.1816}
SEN {Time 101.972} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.174,0.173,0.173,0.191,0.191,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.253,3.372,3.372,3.372,0,0,0,0,0,0,0,0,0,3.114,3.113,3.107,3.102,3.092,3.092,3.082,3.082,3.081,3.07,3.07,3.063,3.063,3.055,3.055,3.048,0.141,0.141,0.141,0.141,0.139,0.144,0.144,0.147,0.147,0.149,0.152,3.032,3.032,3.033,3.033,3.033,3.033,3.033,0.163,0.16,0.156,0.156,0.156,0.156,0.156,0.157,3.452,3.532,3.534,3.534,3.534,3.534,3.531,3.529,3.531,3.531,3.534,3.536,3.536,3.536,3.536,3.536,3.536,3.537,3.538,3.541,3.543,3.543,3.545,3.545,3.545,3.547,3.545,3.545,3.55,3.557,3.559,3.559,3.559,3.559,3.56,3.572,3.575,3.576,3.576,3.587,3.589,3.589,3.592,3.606,3.609,3.61,3.612,3.612,3.631,3.633,3.635,3.643,3.645,3.646,3.663,3.668,3.669,3.675,3.684,3.691,3.691,3.702,3.704,3.718,3.724,3.724,3.748,3.753,3.761,3.763,3.769,3.775,3.783,3.789,3.801,3.81,3.822,3.838,3.838,3.855,3.86,3.878,3.883,3.89,3.906,3.917,3.926,3.938,3.941,3.945,3.973,3.985,4.008,4.014,4.031,4.034,4.05,4.067,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,4.013,3.975,3.938,3.924,3.89,3.866,3.821,3.787,3.761,3.724,3.72,3.698,3.662,3.643,3.617,3.586,3.556,3.543,3.51,3.498,3.477,3.454,3.433,3.41,3.385,3.375,3.352,3.339,3.311,3.288,3.261,3.25,3.234,3.221,3.197,3.183,3.168,3.157,3.137,3.123,3.114,3.102,3.091,3.074,3.058,3.042,3.025,3.013,2.999,2.99,2.963,2.957,2.951,2.941,2.927,2.919,2.906,2.889,2.876,2.869,2.855,2.849,2.841,2.825,2.807,2.805,2.8,2.777,2.762,2.755,2.749,2.743,2.734,2.72,2.711,2.701,2.697,2.69,2.68,2.678,2.664,2.651,2.642,2.635,2.633,2.632,2.623,2.615,2.596,2.594,2.587,2.582,2.57,2.556,2.554,2.554,2.552,2.539,2.537,2.537,2.532,2.524,2.517,2.504,2.502,2.5,2.499,2.495,2.489,2.48,2.476,2.47,2.468,2.458,2.458,2.456,2.451,2.446,2.446,2.444,2.44,2.434,2.427,2.426,2.425,2.424,2.421,2.416,2.414,2.413,2.413,2.413,2.412,2.404,2.403,2.4,2.397,2.397,2.396,2.396,2.392,2.39,2.39,2.39,2.39,2.39,2.39,2.387,2.384,2.384,2.387,2.387,2.387,2.387,2.387,2.387,2.39,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.391,2.393,2.398,2.4,2.4,2.401,2.404,2.408,2.41,2.411,2.411,2.421,2.424,2.424,2.426,2.426,2.427,2.429,2.434,2.436,2.436,2.443,2.447,2.453,2.457,2.457,2.46,2.46,2.472,2.472,2.478,2.478,2.486,2.493,2.5,2.501,2.502,2.513,2.515,2.519,2.53,2.534,2.538,2.544,2.551,2.552,2.566,2.568,2.57,2.584,2.59,2.593,2.6,2.608,2.61,2.616,2.629,2.635,2.646,2.67,2.671,2.68,2.682,2.688,2.697,2.698,2.717,2.725,2.729,2.735,2.742,2.756,2.771,2.776,2.796,2.805,2.808,2.82,2.83,2.84,2.853,2.868,2.873,2.885,2.909,2.919,2.929,2.933,2.947,2.955,2.969,2.977,3,3.015,3.027,3.047,3.06,3.07,3.081,3.099,3.108,3.125,3.139,3.151,3.164,3.184,3.202,3.225,3.237,3.252,3.272,3.284,3.311,3.325,3.355,3.372,3.391,3.41,3.437,3.456,3.476,3.484,3.52,3.539,3.55,3.584,3.615,3.647,3.662,3.679,3.717,3.74,3.757,3.81,3.828,3.868,3.877,3.927,3.957,3.972,4.057,4.092,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.305,3.3,3.3,3.295,3.286,3.276,3.261,3.256,3.242,3.228,3.224,3.222,3.202,3.201,3.196,3.183,3.174,3.168,3.164,3.158,3.149,3.149,3.134,3.125,3.118,3.109,3.107,3.103,3.101,3.095,3.092,3.085,3.078,3.074,3.069,3.065,3.064,3.052,3.048,3.047,3.047,3.037,3.032,3.031,3.029,3.028,3.022,3.022,3.006,3.005,3.005,3.001,3,3,3,3,2.997,2.997,2.997,3,3,3,2.996,2.992,2.991,2.991,2.991,2.988,2.986,2.986,2.986,2.981,2.981,2.984,2.984,2.985,2.985,2.984,2.983,2.978,2.978,2.978,2.978,2.982,2.988,2.988,2.989,2.992,2.991,2.991,2.994,2.994,2.995,3.002,3.008,3.008,3.008,3.008,3.015,3.018,3.022,3.025,3.027,3.029,3.031,3.041,3.041,3.046,3.048,3.054,3.056,3.058,3.063,3.07,3.073,3.076,3.079,3.086,3.088,3.102,3.103,3.107,3.115,3.115,3.12,3.125,3.129,3.131,3.142,3.144,3.146,3.16,3.161,3.162,3.173,3.176,3.185,3.194,3.194,3.196,3.205,3.205,3.215,3.218,3.242,3.248,3.262,3.263,3.265,3.282,3.282,3.285,3.292,3.815,3.834,3.839,3.858,3.865,3.877,3.905,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 102.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 102.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 102.124} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.8166} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.1308} {Name Sonar15 Range 1.5748}
SEN {Time 102.169} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.179,0.175,0.174,0.179,0.179,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.255,3.255,3.253,3.237,3.237,3.373,3.373,0,0,0,0,0,0,0,0,0,3.119,3.118,3.115,3.099,3.093,3.089,3.087,3.087,3.077,3.075,3.07,3.063,3.063,3.061,3.055,0.146,0.146,0.146,0.146,0.146,0.143,0.148,0.149,0.151,0.15,0.151,0.159,3.032,3.032,3.032,3.032,3.032,3.027,0.168,0.157,0.157,0.157,0.152,0.152,0.153,0.153,0.162,3.44,3.532,3.533,3.533,3.533,3.533,3.533,3.534,3.534,3.534,3.534,3.534,3.53,3.531,3.531,3.53,3.531,3.541,3.541,3.539,3.539,3.539,3.539,3.541,3.543,3.543,3.543,3.543,3.554,3.555,3.555,3.558,3.555,3.555,3.558,3.568,3.568,3.572,3.578,3.58,3.581,3.592,3.594,3.602,3.605,3.609,3.612,3.612,3.62,3.622,3.633,3.636,3.646,3.647,3.652,3.67,3.674,3.677,3.682,3.687,3.692,3.707,3.708,3.72,3.723,3.74,3.743,3.743,3.745,3.753,3.765,3.777,3.79,3.791,3.795,3.817,3.819,3.834,3.841,3.844,3.86,3.873,3.887,3.895,3.9,3.909,3.924,3.942,3.947,3.956,3.974,3.984,4.004,4.014,4.032,4.047,4.057,4.065,4.093,4.095,0.016,0.016,0.016,0,0.007,0,0.016,4.024,3.985,3.985,3.948,3.926,3.847,3.816,3.795,3.764,3.75,3.716,3.699,3.664,3.632,3.609,3.581,3.569,3.548,3.516,3.503,3.487,3.455,3.433,3.418,3.395,3.367,3.344,3.334,3.311,3.296,3.263,3.236,3.225,3.222,3.202,3.182,3.161,3.155,3.135,3.126,3.112,3.1,3.089,3.075,3.06,3.048,3.036,3.018,2.994,2.991,2.97,2.958,2.952,2.937,2.931,2.916,2.9,2.898,2.883,2.863,2.855,2.843,2.83,2.816,2.815,2.81,2.795,2.783,2.769,2.767,2.75,2.743,2.739,2.723,2.714,2.708,2.697,2.691,2.674,2.67,2.657,2.654,2.63,2.627,2.625,2.621,2.616,2.611,2.606,2.599,2.584,2.574,2.57,2.564,2.555,2.548,2.546,2.541,2.537,2.533,2.527,2.521,2.511,2.509,2.508,2.507,2.505,2.496,2.482,2.479,2.478,2.468,2.468,2.467,2.467,2.455,2.452,2.452,2.449,2.444,2.441,2.435,2.432,2.43,2.43,2.425,2.424,2.417,2.413,2.407,2.407,2.407,2.407,2.405,2.404,2.401,2.399,2.398,2.397,2.396,2.395,2.395,2.394,2.394,2.393,2.387,2.386,2.386,2.383,2.386,2.386,2.387,2.387,2.389,2.389,2.389,2.389,2.385,2.385,2.385,2.39,2.39,2.391,2.391,2.391,2.391,2.392,2.396,2.403,2.407,2.407,2.406,2.407,2.407,2.408,2.412,2.414,2.42,2.42,2.42,2.427,2.427,2.427,2.428,2.431,2.441,2.445,2.447,2.455,2.456,2.456,2.456,2.459,2.47,2.48,2.482,2.494,2.494,2.495,2.5,2.503,2.505,2.508,2.515,2.52,2.53,2.536,2.543,2.544,2.548,2.554,2.561,2.566,2.573,2.579,2.589,2.59,2.6,2.613,2.619,2.625,2.63,2.63,2.647,2.667,2.674,2.675,2.678,2.687,2.701,2.711,2.712,2.724,2.733,2.743,2.75,2.757,2.765,2.774,2.791,2.798,2.804,2.817,2.833,2.845,2.858,2.866,2.867,2.885,2.894,2.922,2.922,2.935,2.945,2.96,2.968,2.992,2.996,3.016,3.026,3.038,3.05,3.063,3.074,3.099,3.12,3.126,3.138,3.148,3.173,3.189,3.202,3.219,3.23,3.254,3.275,3.283,3.312,3.333,3.352,3.372,3.383,3.4,3.43,3.453,3.476,3.5,3.515,3.533,3.564,3.586,3.616,3.635,3.668,3.677,3.71,3.748,3.774,3.806,3.824,3.866,3.883,3.935,3.942,3.979,4.045,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.309,3.306,3.298,3.286,3.28,3.264,3.262,3.256,3.241,3.234,3.226,3.219,3.205,3.196,3.192,3.184,3.175,3.17,3.164,3.164,3.153,3.148,3.133,3.126,3.123,3.113,3.111,3.109,3.107,3.093,3.092,3.083,3.075,3.071,3.069,3.065,3.059,3.055,3.052,3.045,3.036,3.035,3.03,3.029,3.028,3.027,3.016,3.016,3.011,3.006,3.006,3.006,3.003,3,2.994,2.994,2.994,2.994,3.003,3.003,2.994,2.994,2.99,2.987,2.986,2.982,2.98,2.98,2.979,2.979,2.979,2.979,2.979,2.979,2.979,2.984,2.984,2.98,2.981,2.98,2.98,2.981,2.984,2.99,2.99,2.99,2.99,2.99,2.99,2.99,2.99,2.995,2.999,3.005,3.005,3.005,3.008,3.008,3.014,3.016,3.021,3.024,3.028,3.029,3.034,3.035,3.039,3.042,3.044,3.048,3.053,3.055,3.063,3.071,3.072,3.074,3.077,3.085,3.092,3.098,3.108,3.11,3.116,3.116,3.12,3.124,3.127,3.129,3.131,3.146,3.15,3.153,3.16,3.162,3.176,3.183,3.188,3.191,3.195,3.196,3.205,3.207,3.218,3.23,3.241,3.248,3.26,3.26,3.26,3.278,3.278,3.284,3.287,3.817,3.832,3.839,3.848,3.863,3.878,3.89,3.913,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 102.33} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 102.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 102.327} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2832} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.1308} {Name Sonar15 Range 1.5748}
SEN {Time 102.368} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.178,0.178,0.179,0.179,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.266,3.266,3.246,3.234,3.234,3.382,3.382,0,0,0,0,0,0,0,0,0,3.115,3.115,3.112,3.1,3.1,3.091,3.087,3.084,3.077,3.074,3.073,3.067,3.062,3.052,3.05,0.151,0.147,0.145,0.145,0.145,0.145,0.151,0.151,0.151,0.151,0.151,0.151,3.027,3.029,3.034,3.034,3.029,3.029,0.169,0.159,0.159,0.159,0.152,0.152,0.152,0.152,0.171,3.44,3.525,3.528,3.53,3.53,3.529,3.529,3.529,3.529,3.534,3.534,3.53,3.53,3.53,3.53,3.535,3.536,3.536,3.536,3.536,3.537,3.537,3.545,3.546,3.546,3.547,3.549,3.552,3.556,3.557,3.559,3.567,3.567,3.569,3.569,3.576,3.577,3.578,3.582,3.586,3.59,3.594,3.594,3.594,3.594,3.596,3.606,3.624,3.625,3.635,3.635,3.636,3.64,3.656,3.659,3.671,3.673,3.673,3.68,3.687,3.692,3.697,3.697,3.712,3.728,3.729,3.736,3.746,3.757,3.762,3.769,3.776,3.778,3.788,3.798,3.808,3.824,3.828,3.849,3.854,3.854,3.875,3.884,3.892,3.897,3.911,3.914,3.945,3.947,3.951,3.975,3.986,3.998,4.012,4.018,4.046,4.055,4.063,4.089,0.016,0.016,0.016,0,0,0,0.016,0.016,4.058,4.02,3.95,3.915,3.878,3.857,3.821,3.788,3.757,3.731,3.717,3.696,3.67,3.645,3.602,3.585,3.563,3.542,3.516,3.493,3.485,3.467,3.439,3.407,3.394,3.37,3.345,3.336,3.313,3.307,3.276,3.252,3.238,3.219,3.204,3.187,3.163,3.158,3.141,3.121,3.108,3.092,3.085,3.069,3.061,3.041,3.026,3.016,2.998,2.991,2.966,2.963,2.951,2.939,2.924,2.918,2.902,2.895,2.879,2.87,2.851,2.845,2.832,2.821,2.805,2.798,2.786,2.778,2.774,2.768,2.752,2.752,2.729,2.723,2.71,2.703,2.689,2.689,2.678,2.672,2.666,2.653,2.641,2.64,2.635,2.618,2.611,2.609,2.598,2.593,2.592,2.588,2.571,2.56,2.558,2.548,2.546,2.544,2.534,2.528,2.522,2.521,2.515,2.502,2.502,2.498,2.498,2.498,2.483,2.479,2.478,2.477,2.477,2.475,2.463,2.457,2.455,2.449,2.444,2.436,2.434,2.434,2.433,2.433,2.419,2.419,2.418,2.417,2.417,2.411,2.411,2.409,2.405,2.405,2.4,2.399,2.399,2.394,2.391,2.391,2.398,2.392,2.393,2.393,2.392,2.388,2.388,2.387,2.387,2.387,2.386,2.385,2.385,2.386,2.385,2.386,2.386,2.386,2.386,2.389,2.391,2.392,2.392,2.391,2.391,2.391,2.391,2.395,2.398,2.401,2.401,2.403,2.407,2.408,2.409,2.411,2.415,2.415,2.419,2.419,2.424,2.424,2.425,2.43,2.435,2.441,2.442,2.442,2.443,2.456,2.457,2.463,2.467,2.467,2.47,2.478,2.486,2.488,2.49,2.491,2.502,2.511,2.512,2.524,2.527,2.529,2.532,2.535,2.545,2.546,2.556,2.56,2.565,2.566,2.578,2.592,2.592,2.595,2.604,2.615,2.634,2.639,2.642,2.646,2.665,2.672,2.678,2.681,2.683,2.696,2.708,2.715,2.725,2.729,2.735,2.737,2.756,2.772,2.775,2.791,2.797,2.802,2.817,2.828,2.841,2.854,2.868,2.871,2.881,2.906,2.908,2.93,2.936,2.95,2.957,2.967,2.987,2.999,3.023,3.028,3.04,3.057,3.067,3.074,3.1,3.118,3.122,3.136,3.149,3.17,3.184,3.202,3.224,3.228,3.249,3.274,3.291,3.314,3.332,3.35,3.375,3.39,3.407,3.433,3.456,3.478,3.499,3.516,3.524,3.564,3.594,3.621,3.633,3.681,3.681,3.704,3.737,3.768,3.807,3.829,3.856,3.875,3.926,3.955,3.973,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.321,3.303,3.293,3.279,3.277,3.27,3.26,3.256,3.243,3.23,3.223,3.218,3.208,3.202,3.198,3.184,3.169,3.169,3.154,3.152,3.15,3.136,3.133,3.13,3.123,3.114,3.107,3.103,3.102,3.095,3.093,3.085,3.076,3.073,3.068,3.063,3.06,3.051,3.05,3.041,3.04,3.032,3.028,3.028,3.025,3.025,3.017,3.013,3.01,3.006,3.006,3.003,3.003,3,3,2.995,2.994,2.994,2.995,3.002,3.002,3.042,3.002,2.994,2.986,2.988,2.986,2.984,2.98,2.978,2.978,2.978,2.978,2.979,2.983,2.983,2.983,2.975,2.973,2.973,2.973,2.976,2.979,2.982,2.982,2.989,2.99,2.99,2.99,2.992,2.999,3.001,3.001,3.004,3.009,3.009,3.01,3.013,3.018,3.018,3.018,3.021,3.026,3.03,3.031,3.037,3.043,3.044,3.049,3.051,3.053,3.056,3.061,3.064,3.073,3.077,3.083,3.089,3.093,3.096,3.097,3.111,3.115,3.115,3.121,3.121,3.123,3.129,3.142,3.144,3.15,3.164,3.166,3.167,3.168,3.175,3.192,3.197,3.199,3.199,3.201,3.202,3.222,3.226,3.235,3.251,3.253,3.262,3.269,3.279,3.279,3.281,3.289,3.821,3.828,3.838,3.84,3.866,3.888,3.9,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 102.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 102.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 102.526} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2832} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.5748}
SEN {Time 102.568} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.175,0.174,0.174,0.175,0.175,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.256,3.256,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.114,3.113,3.104,3.099,3.096,3.095,3.086,3.082,3.078,3.069,3.066,3.061,3.061,3.061,3.061,3.061,0.151,0.149,0.149,0.149,0.148,0.149,0.151,0.153,0.151,0.153,0.156,3.037,3.037,3.038,3.038,3.037,3.032,0.166,0.163,0.163,0.153,0.152,0.152,0.153,0.163,0.176,3.45,3.523,3.523,3.524,3.525,3.536,3.537,3.536,3.53,3.532,3.53,3.53,3.53,3.528,3.528,3.529,3.529,3.529,3.529,3.529,3.538,3.54,3.54,3.547,3.547,3.549,3.547,3.547,3.554,3.557,3.554,3.557,3.558,3.561,3.561,3.567,3.573,3.577,3.577,3.579,3.582,3.59,3.594,3.594,3.595,3.595,3.606,3.614,3.616,3.63,3.636,3.639,3.639,3.652,3.66,3.66,3.672,3.672,3.685,3.686,3.691,3.694,3.705,3.709,3.722,3.734,3.746,3.756,3.759,3.761,3.77,3.775,3.787,3.791,3.8,3.808,3.815,3.822,3.843,3.852,3.853,3.868,3.878,3.879,3.905,3.909,3.921,3.942,3.944,3.95,3.973,3.985,4.005,4.013,4.033,4.045,4.056,4.072,4.083,0.016,0.016,0.016,0,0,0,0.007,4.089,4.02,3.997,3.958,3.918,3.875,3.873,3.825,3.791,3.778,3.732,3.717,3.696,3.66,3.643,3.612,3.583,3.572,3.539,3.526,3.502,3.476,3.444,3.432,3.409,3.384,3.375,3.349,3.331,3.315,3.29,3.269,3.252,3.226,3.217,3.202,3.182,3.159,3.157,3.14,3.128,3.105,3.101,3.089,3.07,3.057,3.05,3.03,3.023,3.001,2.988,2.97,2.955,2.951,2.942,2.925,2.913,2.895,2.893,2.877,2.869,2.86,2.843,2.828,2.813,2.805,2.802,2.798,2.788,2.774,2.756,2.742,2.741,2.727,2.72,2.71,2.701,2.69,2.687,2.675,2.669,2.66,2.658,2.642,2.639,2.629,2.621,2.62,2.613,2.604,2.597,2.587,2.574,2.566,2.564,2.556,2.549,2.546,2.544,2.53,2.529,2.528,2.528,2.518,2.513,2.507,2.501,2.5,2.492,2.487,2.477,2.475,2.473,2.464,2.461,2.46,2.457,2.457,2.454,2.444,2.44,2.437,2.435,2.429,2.429,2.427,2.425,2.419,2.416,2.416,2.415,2.415,2.415,2.408,2.403,2.403,2.403,2.403,2.402,2.395,2.393,2.393,2.393,2.392,2.39,2.39,2.39,2.389,2.389,2.389,2.388,2.386,2.384,2.384,2.386,2.386,2.386,2.386,2.384,2.384,2.384,2.384,2.391,2.391,2.391,2.391,2.392,2.392,2.394,2.398,2.403,2.404,2.404,2.404,2.409,2.411,2.411,2.416,2.416,2.42,2.426,2.428,2.428,2.43,2.433,2.434,2.442,2.443,2.444,2.444,2.455,2.458,2.462,2.465,2.471,2.472,2.478,2.479,2.487,2.492,2.497,2.5,2.505,2.506,2.524,2.525,2.525,2.53,2.536,2.544,2.548,2.558,2.563,2.566,2.57,2.572,2.585,2.595,2.603,2.612,2.618,2.618,2.627,2.64,2.651,2.666,2.674,2.675,2.678,2.689,2.704,2.712,2.713,2.723,2.727,2.736,2.746,2.751,2.768,2.774,2.79,2.796,2.807,2.82,2.826,2.838,2.861,2.871,2.873,2.884,2.903,2.911,2.932,2.938,2.955,2.966,2.974,2.987,2.994,3.022,3.029,3.039,3.052,3.065,3.079,3.097,3.117,3.126,3.135,3.148,3.166,3.192,3.209,3.23,3.231,3.256,3.269,3.279,3.313,3.325,3.35,3.361,3.395,3.416,3.428,3.447,3.464,3.498,3.521,3.539,3.555,3.597,3.615,3.646,3.66,3.696,3.715,3.74,3.762,3.797,3.818,3.855,3.867,3.913,3.95,3.99,4.013,4.057,4.081,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.309,3.307,3.3,3.287,3.285,3.274,3.258,3.254,3.243,3.228,3.225,3.223,3.205,3.201,3.191,3.185,3.167,3.166,3.161,3.15,3.146,3.143,3.139,3.121,3.116,3.113,3.103,3.103,3.102,3.092,3.087,3.084,3.081,3.074,3.07,3.07,3.054,3.05,3.047,3.042,3.041,3.033,3.033,3.03,3.028,3.027,3.023,3.019,3.01,3.001,3,3,2.997,2.996,2.997,2.994,2.993,2.993,3.046,2.993,2.992,2.991,2.989,2.988,2.987,2.985,2.982,2.98,2.98,2.981,2.981,2.979,2.981,2.982,2.982,2.982,2.984,2.982,2.978,2.978,2.978,2.978,2.983,2.983,2.983,2.985,2.989,2.99,2.989,2.991,2.992,2.992,2.998,3.005,3.005,3.012,3.012,3.013,3.013,3.017,3.02,3.022,3.027,3.027,3.034,3.036,3.036,3.036,3.041,3.046,3.048,3.049,3.066,3.068,3.077,3.079,3.083,3.087,3.089,3.098,3.102,3.11,3.117,3.118,3.12,3.122,3.125,3.125,3.125,3.141,3.144,3.149,3.153,3.164,3.175,3.183,3.186,3.193,3.2,3.202,3.202,3.203,3.213,3.221,3.237,3.248,3.252,3.266,3.266,3.275,3.275,3.276,3.294,3.814,3.819,3.836,3.852,3.868,3.876,3.9,3.906,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 102.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 102.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 102.718} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.2832} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.3462}
SEN {Time 102.768} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.181,0.175,0.178,0.181,0.181,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.237,3.375,3.375,3.375,0,0,0,0,0,0,0,0,0,3.118,3.113,3.106,3.095,3.092,3.092,3.085,3.08,3.073,3.072,3.066,3.058,3.058,3.057,3.054,0.15,0.141,0.141,0.141,0.144,0.143,0.143,0.143,0.143,0.143,0.143,0.148,3.035,3.035,3.036,3.036,3.036,3.033,0.165,0.161,0.161,0.155,0.153,0.153,0.153,0.159,0.175,3.526,3.526,3.531,3.531,3.531,3.532,3.534,3.532,3.532,3.533,3.533,3.533,3.533,3.529,3.529,3.535,3.535,3.537,3.537,3.537,3.541,3.544,3.544,3.544,3.544,3.544,3.544,3.553,3.555,3.558,3.559,3.563,3.563,3.559,3.561,3.561,3.561,3.575,3.582,3.586,3.594,3.596,3.596,3.601,3.601,3.602,3.62,3.62,3.621,3.627,3.628,3.634,3.641,3.653,3.66,3.662,3.669,3.677,3.679,3.692,3.692,3.696,3.712,3.72,3.722,3.736,3.747,3.747,3.751,3.758,3.768,3.771,3.787,3.789,3.799,3.812,3.82,3.826,3.843,3.844,3.846,3.88,3.883,3.896,3.912,3.918,3.929,3.93,3.948,3.956,3.976,3.989,3.994,4.009,4.031,4.043,4.068,4.081,4.089,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.007,0,0.007,3.918,3.851,3.832,3.804,3.776,3.728,3.723,3.695,3.658,3.63,3.602,3.589,3.565,3.551,3.523,3.494,3.479,3.448,3.44,3.412,3.389,3.376,3.347,3.329,3.308,3.284,3.275,3.246,3.228,3.217,3.195,3.186,3.17,3.164,3.14,3.121,3.105,3.1,3.088,3.078,3.052,3.049,3.023,3.016,2.998,2.993,2.975,2.961,2.957,2.94,2.918,2.917,2.909,2.891,2.88,2.87,2.852,2.847,2.836,2.832,2.816,2.806,2.802,2.779,2.769,2.76,2.755,2.741,2.73,2.722,2.711,2.702,2.692,2.683,2.675,2.669,2.661,2.649,2.637,2.637,2.634,2.627,2.621,2.617,2.607,2.596,2.589,2.583,2.573,2.562,2.55,2.545,2.544,2.537,2.533,2.528,2.528,2.524,2.521,2.506,2.506,2.504,2.501,2.494,2.494,2.481,2.479,2.473,2.472,2.468,2.454,2.454,2.449,2.444,2.443,2.442,2.44,2.438,2.43,2.43,2.425,2.419,2.418,2.415,2.411,2.411,2.411,2.411,2.408,2.406,2.405,2.4,2.4,2.399,2.394,2.39,2.39,2.39,2.39,2.392,2.393,2.392,2.392,2.389,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.387,2.391,2.394,2.391,2.39,2.391,2.394,2.398,2.399,2.403,2.403,2.403,2.404,2.405,2.405,2.41,2.417,2.419,2.419,2.419,2.419,2.42,2.429,2.429,2.431,2.432,2.436,2.45,2.451,2.454,2.455,2.462,2.463,2.466,2.477,2.48,2.48,2.481,2.487,2.489,2.504,2.504,2.505,2.508,2.52,2.523,2.524,2.531,2.54,2.548,2.549,2.564,2.565,2.569,2.572,2.582,2.59,2.593,2.593,2.608,2.612,2.625,2.626,2.635,2.648,2.667,2.668,2.675,2.682,2.683,2.688,2.698,2.715,2.722,2.736,2.742,2.747,2.757,2.763,2.776,2.776,2.799,2.802,2.825,2.829,2.842,2.858,2.868,2.873,2.91,2.921,2.926,2.926,2.928,2.945,2.954,2.973,2.988,3.002,3.017,3.029,3.037,3.05,3.069,3.076,3.096,3.11,3.12,3.146,3.157,3.168,3.188,3.202,3.222,3.23,3.255,3.274,3.284,3.313,3.328,3.347,3.363,3.387,3.404,3.433,3.459,3.476,3.497,3.517,3.528,3.552,3.589,3.623,3.65,3.668,3.685,3.722,3.736,3.78,3.799,3.819,3.86,3.878,3.916,3.955,3.983,4.066,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.312,3.31,3.294,3.288,3.277,3.269,3.253,3.253,3.251,3.228,3.219,3.218,3.201,3.2,3.193,3.189,3.175,3.171,3.167,3.149,3.146,3.145,3.14,3.128,3.121,3.121,3.107,3.101,3.1,3.099,3.097,3.082,3.079,3.07,3.069,3.066,3.062,3.053,3.048,3.042,3.036,3.029,3.029,3.029,3.024,3.024,3.018,3.018,3.013,3.008,3.008,3.006,3.004,3.004,3.003,2.994,2.994,2.994,2.994,2.993,2.993,2.993,2.993,2.989,2.989,2.989,2.989,2.983,2.978,2.978,2.978,2.977,2.978,2.978,2.978,2.981,2.981,2.98,2.98,2.98,2.98,2.98,2.98,2.982,2.985,2.986,2.987,2.989,2.989,2.997,2.998,2.999,2.999,2.999,3.005,3.006,3.006,3.006,3.01,3.012,3.02,3.026,3.027,3.027,3.035,3.039,3.039,3.039,3.042,3.049,3.056,3.057,3.063,3.064,3.075,3.076,3.079,3.089,3.091,3.095,3.097,3.109,3.113,3.113,3.113,3.118,3.124,3.133,3.142,3.146,3.153,3.164,3.167,3.17,3.176,3.178,3.188,3.189,3.204,3.204,3.205,3.207,3.213,3.216,3.239,3.247,3.251,3.263,3.271,3.282,3.282,3.288,3.29,3.819,3.831,3.832,3.834,3.854,3.876,3.901,3.912,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 102.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 102.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 102.919} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9182} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.3462}
SEN {Time 102.968} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0.188,0.185,0.174,0.185,0.185,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.241,3.382,3.382,3.382,0,0,0,0,0,0,0,0,0,3.118,3.112,3.102,3.093,3.093,3.091,3.09,3.082,3.077,3.075,3.074,3.067,3.064,3.06,3.047,0.15,0.149,0.146,0.146,0.149,0.146,0.146,0.149,0.15,0.149,0.15,0.154,3.031,3.038,3.039,3.039,3.039,3.039,0.16,0.159,0.158,0.158,0.154,0.154,0.158,0.16,0.175,3.52,3.531,3.532,3.531,3.532,3.533,3.534,3.533,3.534,3.534,3.536,3.534,3.534,3.536,3.536,3.54,3.54,3.54,3.539,3.535,3.535,3.539,3.542,3.542,3.545,3.546,3.546,3.548,3.559,3.559,3.552,3.559,3.559,3.562,3.564,3.566,3.573,3.577,3.577,3.579,3.579,3.601,3.601,3.601,3.601,3.607,3.608,3.62,3.621,3.621,3.63,3.645,3.646,3.653,3.661,3.668,3.674,3.681,3.684,3.684,3.693,3.703,3.709,3.722,3.726,3.735,3.737,3.743,3.744,3.759,3.77,3.777,3.779,3.798,3.799,3.803,3.808,3.83,3.832,3.848,3.864,3.866,3.887,3.888,3.901,3.913,3.926,3.941,3.945,3.964,3.979,3.987,3.993,4.022,4.038,4.044,4.053,4.071,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,4.01,3.907,3.887,3.874,3.831,3.792,3.763,3.737,3.706,3.689,3.649,3.641,3.613,3.582,3.553,3.546,3.523,3.499,3.487,3.46,3.429,3.408,3.381,3.372,3.348,3.33,3.303,3.29,3.265,3.26,3.231,3.215,3.199,3.185,3.175,3.154,3.133,3.126,3.114,3.099,3.084,3.066,3.056,3.047,3.019,3.014,2.999,2.993,2.968,2.968,2.956,2.932,2.929,2.912,2.91,2.891,2.877,2.862,2.853,2.85,2.828,2.817,2.811,2.804,2.799,2.769,2.765,2.753,2.745,2.744,2.74,2.73,2.715,2.711,2.695,2.691,2.677,2.675,2.659,2.645,2.633,2.631,2.629,2.625,2.617,2.613,2.601,2.59,2.586,2.582,2.575,2.557,2.556,2.55,2.547,2.542,2.541,2.537,2.529,2.523,2.512,2.51,2.509,2.507,2.502,2.501,2.481,2.475,2.473,2.472,2.466,2.458,2.455,2.453,2.447,2.446,2.447,2.446,2.444,2.438,2.437,2.429,2.427,2.426,2.426,2.418,2.414,2.413,2.41,2.41,2.41,2.408,2.406,2.405,2.4,2.4,2.395,2.395,2.392,2.395,2.395,2.395,2.393,2.393,2.387,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.385,2.387,2.388,2.387,2.387,2.387,2.388,2.388,2.391,2.392,2.395,2.394,2.394,2.396,2.399,2.399,2.401,2.401,2.41,2.413,2.415,2.416,2.417,2.42,2.42,2.42,2.426,2.427,2.427,2.433,2.433,2.439,2.447,2.447,2.448,2.454,2.457,2.457,2.465,2.468,2.479,2.483,2.484,2.485,2.485,2.495,2.499,2.506,2.513,2.521,2.523,2.533,2.537,2.538,2.541,2.547,2.559,2.561,2.566,2.57,2.579,2.588,2.589,2.604,2.609,2.611,2.622,2.631,2.644,2.646,2.659,2.676,2.676,2.686,2.69,2.691,2.708,2.717,2.724,2.729,2.736,2.748,2.755,2.774,2.778,2.779,2.791,2.804,2.829,2.831,2.843,2.853,2.869,2.876,2.888,2.905,2.915,2.932,2.934,2.957,2.957,2.977,2.986,3,3.015,3.027,3.036,3.052,3.073,3.076,3.103,3.114,3.124,3.136,3.159,3.167,3.187,3.198,3.226,3.233,3.253,3.277,3.283,3.31,3.331,3.352,3.358,3.389,3.405,3.44,3.457,3.476,3.492,3.524,3.537,3.561,3.587,3.618,3.633,3.661,3.69,3.717,3.733,3.764,3.794,3.825,3.849,3.889,3.92,3.946,3.977,4.082,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.329,3.308,3.294,3.289,3.285,3.27,3.265,3.261,3.241,3.227,3.224,3.216,3.205,3.201,3.201,3.189,3.182,3.169,3.159,3.153,3.152,3.144,3.128,3.118,3.116,3.112,3.112,3.109,3.103,3.098,3.09,3.083,3.075,3.071,3.067,3.063,3.059,3.055,3.05,3.048,3.048,3.03,3.03,3.027,3.026,3.025,3.021,3.016,3.004,3.004,3.004,3.004,3.001,3.001,2.997,2.996,2.993,2.993,2.996,2.996,2.99,2.99,2.99,2.99,2.99,2.99,2.984,2.982,2.98,2.982,2.984,2.979,2.987,2.987,2.984,2.981,2.981,2.98,2.977,2.977,2.977,2.977,2.979,2.981,2.979,2.979,2.994,2.994,2.994,2.994,2.997,2.997,3.002,3.003,3.004,3.004,3.011,3.013,3.015,3.015,3.017,3.018,3.023,3.024,3.024,3.037,3.037,3.042,3.047,3.051,3.053,3.056,3.061,3.066,3.066,3.073,3.086,3.087,3.094,3.104,3.108,3.112,3.112,3.115,3.12,3.121,3.128,3.133,3.137,3.148,3.148,3.151,3.16,3.165,3.168,3.177,3.181,3.187,3.194,3.196,3.204,3.213,3.216,3.218,3.238,3.241,3.252,3.257,3.266,3.28,3.28,3.283,3.284,3.816,3.827,3.835,3.836,3.868,3.884,3.908,3.917,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 103.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 103.12} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9182} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.207} {Name Sonar15 Range 1.3462}
SEN {Time 103.166} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.183,0.176,0.179,0.183,0.183,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.252,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.113,3.112,3.111,3.095,3.093,3.092,3.09,3.089,3.072,3.071,3.068,3.066,3.055,3.054,3.045,0.147,0.141,0.141,0.144,0.147,0.144,0.153,0.153,0.153,0.153,0.153,0.154,3.031,3.031,3.033,3.033,3.031,3.031,0.168,0.167,0.158,0.155,0.153,0.153,0.155,0.158,0.172,3.452,3.526,3.53,3.53,3.53,3.53,3.53,3.53,3.533,3.539,3.539,3.53,3.534,3.534,3.534,3.538,3.539,3.539,3.538,3.538,3.538,3.538,3.541,3.541,3.543,3.543,3.549,3.549,3.549,3.554,3.555,3.56,3.562,3.567,3.573,3.576,3.576,3.578,3.579,3.579,3.584,3.592,3.599,3.602,3.602,3.602,3.609,3.619,3.621,3.624,3.625,3.637,3.646,3.65,3.668,3.67,3.675,3.677,3.681,3.682,3.682,3.7,3.704,3.706,3.72,3.737,3.739,3.749,3.755,3.764,3.772,3.772,3.778,3.795,3.801,3.814,3.819,3.829,3.836,3.843,3.855,3.879,3.887,3.893,3.894,3.922,3.929,3.933,3.948,3.955,3.977,3.977,3.995,4.017,4.035,4.044,4.045,4.066,4.089,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,3.959,3.891,3.857,3.829,3.796,3.758,3.741,3.706,3.682,3.671,3.642,3.611,3.583,3.57,3.551,3.522,3.493,3.473,3.462,3.433,3.419,3.384,3.366,3.341,3.33,3.31,3.295,3.267,3.24,3.228,3.219,3.204,3.188,3.169,3.15,3.139,3.123,3.111,3.095,3.089,3.077,3.052,3.048,3.029,3.015,2.99,2.987,2.968,2.959,2.955,2.934,2.928,2.913,2.903,2.898,2.885,2.872,2.86,2.842,2.834,2.822,2.811,2.8,2.793,2.776,2.77,2.759,2.746,2.739,2.729,2.717,2.708,2.707,2.701,2.695,2.672,2.663,2.661,2.651,2.64,2.633,2.629,2.62,2.611,2.606,2.603,2.601,2.586,2.576,2.563,2.562,2.555,2.551,2.55,2.542,2.539,2.531,2.53,2.523,2.519,2.511,2.499,2.495,2.488,2.487,2.486,2.485,2.484,2.473,2.471,2.471,2.461,2.459,2.45,2.447,2.443,2.438,2.437,2.434,2.433,2.428,2.427,2.423,2.419,2.414,2.412,2.412,2.411,2.406,2.406,2.404,2.402,2.401,2.399,2.399,2.399,2.392,2.392,2.392,2.393,2.393,2.393,2.384,2.384,2.384,2.384,2.392,2.392,2.392,2.388,2.388,2.386,2.386,2.386,2.386,2.386,2.386,2.386,2.39,2.391,2.39,2.39,2.391,2.391,2.397,2.397,2.398,2.402,2.402,2.406,2.408,2.409,2.423,2.423,2.423,2.425,2.423,2.423,2.426,2.428,2.428,2.429,2.434,2.443,2.449,2.451,2.453,2.455,2.463,2.466,2.471,2.472,2.478,2.479,2.479,2.483,2.491,2.503,2.507,2.514,2.519,2.519,2.52,2.533,2.538,2.539,2.549,2.554,2.567,2.569,2.574,2.583,2.586,2.598,2.6,2.611,2.612,2.623,2.623,2.634,2.642,2.669,2.677,2.68,2.68,2.686,2.695,2.713,2.715,2.719,2.723,2.736,2.742,2.762,2.774,2.778,2.792,2.796,2.804,2.824,2.828,2.838,2.855,2.869,2.874,2.885,2.898,2.923,2.929,2.933,2.959,2.968,2.971,2.991,2.995,3.021,3.035,3.038,3.056,3.058,3.077,3.104,3.117,3.123,3.146,3.162,3.169,3.182,3.2,3.223,3.235,3.253,3.274,3.283,3.314,3.335,3.354,3.372,3.391,3.406,3.44,3.457,3.474,3.487,3.523,3.54,3.576,3.594,3.618,3.634,3.661,3.673,3.714,3.742,3.766,3.8,3.816,3.855,3.889,3.915,3.987,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.314,3.306,3.296,3.283,3.275,3.267,3.266,3.264,3.246,3.229,3.229,3.21,3.205,3.2,3.196,3.183,3.183,3.164,3.159,3.151,3.146,3.142,3.135,3.128,3.124,3.112,3.109,3.104,3.102,3.093,3.091,3.083,3.079,3.068,3.066,3.066,3.057,3.05,3.05,3.048,3.039,3.033,3.033,3.031,3.022,3.021,3.019,3.016,3.003,3.003,3.003,3.003,3.003,3.002,3.002,2.993,2.993,2.993,2.993,2.994,2.994,2.994,2.994,2.991,2.989,2.983,2.983,2.983,2.98,2.98,2.982,2.98,2.98,2.98,2.982,2.98,2.98,2.98,2.978,2.978,2.98,2.98,2.985,2.986,2.985,2.985,2.986,2.989,2.992,2.994,2.994,2.994,3.004,3.004,3.005,3.008,3.009,3.009,3.009,3.012,3.021,3.023,3.027,3.027,3.03,3.034,3.035,3.044,3.045,3.048,3.049,3.051,3.067,3.071,3.075,3.076,3.083,3.087,3.092,3.095,3.099,3.112,3.117,3.117,3.118,3.119,3.126,3.135,3.139,3.144,3.15,3.153,3.161,3.162,3.174,3.176,3.177,3.182,3.197,3.197,3.202,3.206,3.213,3.228,3.236,3.247,3.254,3.26,3.261,3.276,3.276,3.288,3.294,3.816,3.831,3.837,3.852,3.854,3.877,3.899,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 103.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 103.321} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.9182} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.207} {Name Sonar15 Range 5.588}
SEN {Time 103.364} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.182,0.175,0.176,0.182,0.182,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.242,3.242,3.379,3.379,0,0,0,0,0,0,0,0,0,3.116,3.112,3.108,3.099,3.096,3.093,3.088,3.079,3.076,3.071,3.061,3.061,3.061,3.058,3.058,0.146,0.138,0.138,0.143,0.143,0.143,0.147,0.15,0.152,0.15,0.152,0.154,3.03,3.031,3.031,3.031,3.031,3.031,3.026,0.168,0.166,0.156,0.156,0.156,0.159,0.163,0.178,3.451,3.52,3.524,3.526,3.531,3.531,3.532,3.532,3.532,3.532,3.533,3.533,3.533,3.532,3.532,3.532,3.532,3.535,3.535,3.539,3.54,3.541,3.541,3.543,3.543,3.546,3.545,3.545,3.547,3.562,3.562,3.563,3.563,3.566,3.566,3.569,3.573,3.578,3.58,3.581,3.59,3.591,3.596,3.6,3.6,3.602,3.602,3.621,3.624,3.624,3.633,3.635,3.64,3.641,3.664,3.672,3.672,3.672,3.672,3.672,3.695,3.701,3.704,3.715,3.724,3.726,3.729,3.746,3.752,3.766,3.78,3.781,3.782,3.782,3.794,3.812,3.818,3.823,3.837,3.844,3.852,3.879,3.879,3.882,3.895,3.909,3.93,3.943,3.946,3.953,3.972,3.974,3.999,4.013,4.028,4.032,4.056,4.081,4.088,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,3.956,3.906,3.882,3.84,3.822,3.785,3.767,3.741,3.707,3.698,3.652,3.642,3.607,3.592,3.565,3.543,3.524,3.496,3.479,3.459,3.429,3.414,3.39,3.37,3.348,3.329,3.303,3.287,3.269,3.252,3.241,3.23,3.202,3.183,3.171,3.159,3.133,3.124,3.106,3.099,3.092,3.072,3.053,3.041,3.026,3.023,2.992,2.989,2.969,2.963,2.956,2.932,2.926,2.918,2.905,2.889,2.877,2.872,2.856,2.851,2.831,2.82,2.806,2.805,2.791,2.775,2.774,2.76,2.751,2.742,2.726,2.723,2.715,2.714,2.702,2.698,2.668,2.662,2.655,2.654,2.641,2.638,2.637,2.618,2.606,2.605,2.597,2.592,2.591,2.587,2.571,2.57,2.561,2.555,2.549,2.538,2.538,2.535,2.535,2.517,2.515,2.504,2.504,2.502,2.496,2.492,2.482,2.48,2.479,2.475,2.472,2.47,2.467,2.46,2.448,2.444,2.442,2.441,2.434,2.43,2.426,2.425,2.42,2.42,2.42,2.42,2.415,2.415,2.412,2.409,2.406,2.406,2.405,2.401,2.401,2.401,2.399,2.399,2.392,2.391,2.391,2.391,2.391,2.389,2.389,2.386,2.386,2.386,2.386,2.385,2.385,2.388,2.385,2.385,2.385,2.385,2.385,2.385,2.388,2.39,2.39,2.388,2.392,2.392,2.395,2.395,2.396,2.397,2.397,2.399,2.409,2.409,2.413,2.413,2.414,2.415,2.421,2.421,2.424,2.425,2.429,2.43,2.435,2.437,2.445,2.447,2.448,2.45,2.451,2.451,2.464,2.471,2.475,2.48,2.481,2.492,2.495,2.498,2.5,2.503,2.509,2.515,2.516,2.532,2.536,2.542,2.543,2.545,2.557,2.559,2.566,2.567,2.575,2.586,2.589,2.598,2.619,2.623,2.631,2.637,2.639,2.643,2.67,2.674,2.683,2.687,2.688,2.703,2.707,2.717,2.721,2.725,2.738,2.738,2.759,2.768,2.776,2.779,2.8,2.811,2.826,2.837,2.846,2.855,2.863,2.878,2.887,2.899,2.912,2.928,2.934,2.95,2.958,2.967,2.983,3.004,3.015,3.028,3.04,3.049,3.061,3.074,3.095,3.112,3.123,3.145,3.158,3.172,3.191,3.202,3.221,3.228,3.26,3.273,3.285,3.315,3.336,3.351,3.37,3.387,3.405,3.437,3.461,3.487,3.491,3.524,3.536,3.546,3.593,3.612,3.638,3.671,3.688,3.705,3.734,3.777,3.801,3.822,3.847,3.883,3.913,3.959,4.019,4.064,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.319,3.307,3.289,3.285,3.28,3.263,3.26,3.252,3.237,3.228,3.227,3.212,3.2,3.194,3.194,3.182,3.172,3.167,3.165,3.16,3.148,3.136,3.135,3.128,3.115,3.113,3.109,3.106,3.101,3.094,3.08,3.076,3.073,3.071,3.071,3.071,3.071,3.051,3.046,3.044,3.041,3.04,3.026,3.023,3.021,3.021,3.019,3.018,3.012,3.009,3.009,3.005,3.005,2.997,2.995,2.995,2.995,2.995,2.995,2.995,2.994,2.994,2.994,2.991,2.986,2.984,2.984,2.982,2.982,2.974,2.98,2.98,2.98,2.98,2.98,2.98,2.98,2.978,2.978,2.976,2.976,2.976,2.98,2.989,2.989,2.989,2.99,2.989,2.989,2.99,2.994,2.998,2.998,3.001,3.002,3.002,3.006,3.012,3.013,3.019,3.019,3.025,3.026,3.026,3.028,3.037,3.039,3.039,3.043,3.052,3.053,3.06,3.064,3.068,3.069,3.071,3.086,3.086,3.094,3.101,3.102,3.113,3.117,3.117,3.118,3.12,3.125,3.13,3.134,3.136,3.145,3.158,3.159,3.159,3.176,3.177,3.191,3.191,3.196,3.203,3.204,3.207,3.227,3.228,3.242,3.247,3.252,3.261,3.263,3.281,3.281,3.283,3.283,3.82,3.829,3.834,3.839,3.868,3.881,3.897,3.914,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 103.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 103.522} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 1.016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.207} {Name Sonar15 Range 5.588}
SEN {Time 103.564} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.182,0.182,0.183,0.183,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.248,3.248,3.37,3.37,3.37,0,0,0,0,0,0,0,0,0,3.117,3.114,3.113,3.094,3.092,3.088,3.087,3.087,3.071,3.07,3.063,3.062,3.062,3.059,3.059,0.148,0.142,0.142,0.142,0.147,0.145,0.147,0.151,0.155,0.151,0.155,0.155,3.039,3.041,3.041,3.041,3.044,3.044,3.044,0.166,0.162,0.157,0.157,0.157,0.157,0.161,0.174,3.453,3.528,3.529,3.533,3.529,3.529,3.533,3.529,3.529,3.537,3.537,3.535,3.535,3.532,3.532,3.532,3.534,3.536,3.544,3.544,3.546,3.546,3.546,3.546,3.546,3.546,3.546,3.547,3.551,3.553,3.558,3.56,3.56,3.562,3.563,3.569,3.577,3.579,3.58,3.582,3.585,3.589,3.59,3.597,3.598,3.607,3.609,3.613,3.621,3.627,3.628,3.638,3.639,3.646,3.656,3.662,3.676,3.676,3.678,3.682,3.692,3.707,3.713,3.713,3.726,3.731,3.738,3.742,3.748,3.753,3.764,3.777,3.788,3.792,3.801,3.807,3.808,3.821,3.843,3.846,3.865,3.883,3.887,3.889,3.902,3.907,3.918,3.941,3.946,3.95,3.976,3.983,3.994,4.007,4.035,4.048,4.06,4.082,4.087,0.016,0.016,0.016,0,0,0,0,0,0.007,4.021,3.954,3.906,3.875,3.855,3.827,3.788,3.77,3.741,3.709,3.686,3.659,3.631,3.602,3.59,3.568,3.552,3.527,3.504,3.479,3.464,3.443,3.415,3.392,3.366,3.352,3.33,3.308,3.288,3.262,3.254,3.228,3.221,3.208,3.189,3.175,3.151,3.136,3.115,3.105,3.094,3.082,3.068,3.054,3.041,3.032,3.015,2.994,2.993,2.966,2.961,2.958,2.933,2.921,2.918,2.912,2.892,2.881,2.87,2.856,2.841,2.833,2.821,2.81,2.802,2.795,2.775,2.769,2.761,2.759,2.742,2.731,2.717,2.702,2.699,2.693,2.689,2.683,2.672,2.658,2.652,2.636,2.636,2.63,2.625,2.611,2.603,2.595,2.589,2.588,2.574,2.573,2.572,2.561,2.554,2.544,2.544,2.541,2.536,2.531,2.522,2.514,2.506,2.505,2.5,2.497,2.496,2.489,2.483,2.477,2.471,2.468,2.463,2.462,2.458,2.453,2.449,2.442,2.438,2.437,2.433,2.433,2.431,2.425,2.423,2.42,2.42,2.416,2.414,2.409,2.409,2.409,2.409,2.403,2.401,2.398,2.398,2.398,2.398,2.396,2.395,2.395,2.391,2.39,2.389,2.389,2.387,2.387,2.387,2.387,2.387,2.387,2.386,2.387,2.386,2.388,2.388,2.389,2.389,2.392,2.393,2.393,2.394,2.394,2.397,2.399,2.4,2.401,2.401,2.402,2.404,2.404,2.41,2.41,2.415,2.418,2.425,2.425,2.421,2.421,2.426,2.428,2.429,2.435,2.438,2.439,2.448,2.455,2.455,2.46,2.463,2.463,2.471,2.471,2.475,2.483,2.49,2.491,2.499,2.502,2.51,2.512,2.519,2.524,2.529,2.533,2.538,2.541,2.546,2.56,2.562,2.563,2.566,2.581,2.586,2.596,2.601,2.607,2.616,2.626,2.629,2.633,2.644,2.664,2.67,2.682,2.687,2.692,2.692,2.706,2.715,2.719,2.72,2.741,2.742,2.763,2.776,2.777,2.786,2.797,2.808,2.827,2.828,2.846,2.849,2.865,2.872,2.884,2.911,2.921,2.927,2.937,2.948,2.956,2.963,2.99,2.999,3.015,3.028,3.037,3.05,3.063,3.077,3.102,3.116,3.128,3.133,3.155,3.167,3.184,3.207,3.226,3.228,3.256,3.278,3.286,3.31,3.329,3.36,3.364,3.387,3.411,3.435,3.465,3.476,3.505,3.518,3.532,3.563,3.599,3.612,3.644,3.655,3.686,3.708,3.737,3.773,3.801,3.814,3.851,3.886,3.915,3.955,3.98,4.025,4.053,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.314,3.308,3.295,3.287,3.282,3.269,3.26,3.254,3.242,3.239,3.221,3.218,3.199,3.197,3.195,3.181,3.179,3.172,3.165,3.151,3.151,3.138,3.137,3.121,3.116,3.114,3.113,3.107,3.105,3.105,3.091,3.089,3.077,3.073,3.071,3.067,3.057,3.055,3.048,3.042,3.042,3.036,3.026,3.026,3.026,3.024,3.018,3.016,3.007,3,3,3,3.004,3.004,3.004,3.004,2.999,2.999,3.004,2.999,2.999,2.991,2.991,2.987,2.987,2.983,2.982,2.982,2.982,2.982,2.981,2.979,2.979,2.979,2.981,2.984,2.984,2.982,2.984,2.982,2.982,2.981,2.984,2.984,2.984,2.981,2.984,2.989,2.989,2.994,2.994,3.002,3.002,3.004,3.006,3.007,3.008,3.008,3.008,3.014,3.014,3.025,3.026,3.027,3.031,3.033,3.038,3.042,3.045,3.05,3.052,3.055,3.063,3.065,3.065,3.079,3.087,3.088,3.095,3.097,3.107,3.113,3.113,3.113,3.117,3.119,3.127,3.129,3.137,3.145,3.153,3.153,3.154,3.161,3.173,3.177,3.19,3.196,3.201,3.205,3.206,3.212,3.219,3.219,3.238,3.245,3.254,3.256,3.261,3.284,3.284,3.286,3.297,3.823,3.831,3.836,3.856,3.857,3.872,3.899,3.905,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 103.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 103.714} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.9878} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.207} {Name Sonar15 Range 5.588}
SEN {Time 103.764} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.18,0.177,0.178,0.18,0.18,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.245,3.235,3.235,3.367,3.367,0,0,0,0,0,0,0,0,0,3.115,3.108,3.108,3.095,3.092,3.088,3.088,3.082,3.078,3.074,3.068,3.066,3.066,3.058,3.052,0.15,0.141,0.141,0.145,0.145,0.145,0.15,0.154,0.154,0.146,0.154,0.165,3.027,3.036,3.04,3.04,3.04,3.04,0.171,0.166,0.159,0.158,0.157,0.157,0.158,0.158,0.17,3.445,3.524,3.525,3.525,3.525,3.527,3.532,3.532,3.533,3.533,3.533,3.533,3.532,3.532,3.532,3.532,3.532,3.537,3.535,3.534,3.535,3.537,3.539,3.54,3.541,3.541,3.54,3.546,3.546,3.552,3.551,3.552,3.554,3.558,3.572,3.572,3.576,3.579,3.578,3.583,3.588,3.594,3.595,3.596,3.599,3.608,3.608,3.614,3.615,3.625,3.635,3.643,3.648,3.658,3.663,3.667,3.671,3.674,3.675,3.684,3.688,3.703,3.714,3.714,3.723,3.733,3.741,3.744,3.762,3.769,3.772,3.775,3.787,3.789,3.794,3.817,3.826,3.829,3.84,3.845,3.868,3.872,3.877,3.886,3.91,3.918,3.922,3.94,3.946,3.947,3.978,3.987,4.002,4.017,4.025,4.047,4.066,4.076,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,3.946,3.916,3.874,3.849,3.826,3.791,3.76,3.733,3.716,3.688,3.652,3.64,3.604,3.587,3.559,3.543,3.52,3.506,3.483,3.45,3.436,3.407,3.392,3.366,3.349,3.331,3.302,3.291,3.268,3.248,3.225,3.22,3.202,3.186,3.165,3.152,3.13,3.118,3.114,3.095,3.091,3.071,3.055,3.043,3.024,3.012,2.995,2.988,2.966,2.959,2.954,2.931,2.925,2.909,2.908,2.897,2.875,2.865,2.846,2.846,2.834,2.821,2.813,2.81,2.8,2.78,2.768,2.758,2.75,2.737,2.735,2.716,2.707,2.703,2.702,2.693,2.679,2.677,2.665,2.648,2.647,2.637,2.635,2.629,2.621,2.615,2.603,2.591,2.578,2.577,2.562,2.56,2.56,2.558,2.558,2.54,2.535,2.532,2.53,2.522,2.521,2.511,2.506,2.502,2.499,2.488,2.487,2.48,2.479,2.478,2.477,2.464,2.464,2.458,2.458,2.457,2.45,2.442,2.438,2.436,2.433,2.431,2.429,2.419,2.419,2.418,2.413,2.413,2.41,2.407,2.405,2.405,2.401,2.4,2.399,2.395,2.395,2.394,2.394,2.394,2.393,2.393,2.39,2.386,2.385,2.385,2.385,2.385,2.385,2.386,2.384,2.384,2.384,2.385,2.385,2.389,2.392,2.392,2.392,2.388,2.388,2.388,2.389,2.394,2.399,2.399,2.399,2.399,2.399,2.4,2.403,2.403,2.411,2.412,2.415,2.415,2.416,2.421,2.421,2.423,2.427,2.43,2.432,2.434,2.442,2.446,2.449,2.456,2.462,2.463,2.464,2.471,2.475,2.477,2.48,2.484,2.488,2.493,2.504,2.514,2.517,2.517,2.525,2.528,2.534,2.539,2.55,2.55,2.55,2.559,2.568,2.572,2.582,2.586,2.59,2.591,2.608,2.615,2.629,2.63,2.636,2.642,2.67,2.671,2.675,2.679,2.691,2.697,2.704,2.711,2.719,2.72,2.74,2.745,2.759,2.766,2.77,2.79,2.801,2.809,2.828,2.831,2.837,2.854,2.872,2.873,2.873,2.9,2.917,2.932,2.936,2.943,2.951,2.97,2.985,2.994,3.014,3.026,3.036,3.053,3.069,3.083,3.098,3.108,3.121,3.141,3.15,3.172,3.188,3.197,3.224,3.227,3.253,3.277,3.286,3.314,3.333,3.351,3.362,3.387,3.404,3.434,3.454,3.463,3.491,3.529,3.544,3.557,3.582,3.611,3.642,3.66,3.688,3.712,3.738,3.776,3.802,3.833,3.864,3.88,3.915,3.981,4.02,4.055,4.055,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.317,3.311,3.298,3.279,3.278,3.262,3.256,3.249,3.244,3.228,3.221,3.216,3.201,3.198,3.198,3.195,3.179,3.169,3.158,3.155,3.15,3.145,3.13,3.128,3.116,3.113,3.112,3.111,3.097,3.092,3.09,3.082,3.072,3.067,3.066,3.066,3.059,3.055,3.052,3.045,3.041,3.034,3.033,3.03,3.029,3.026,3.019,3.013,3.008,3.006,3.006,2.999,2.997,2.995,2.993,2.993,2.993,2.993,2.993,2.993,2.995,2.995,2.993,2.989,2.986,2.98,2.98,2.98,2.986,2.986,2.986,2.986,2.986,2.989,2.985,2.985,2.985,2.977,2.977,2.977,2.977,2.978,2.982,2.982,2.983,2.984,2.984,2.991,2.988,2.99,2.99,2.993,2.999,3,3.005,3.006,3.005,3.009,3.011,3.02,3.02,3.021,3.024,3.027,3.031,3.034,3.04,3.041,3.047,3.051,3.052,3.056,3.067,3.07,3.072,3.074,3.078,3.089,3.092,3.096,3.107,3.111,3.114,3.114,3.118,3.123,3.128,3.134,3.141,3.144,3.147,3.148,3.161,3.163,3.165,3.166,3.191,3.198,3.198,3.201,3.206,3.206,3.216,3.219,3.232,3.248,3.257,3.258,3.272,3.276,3.276,3.279,3.292,3.831,3.838,3.843,3.847,3.861,3.879,3.902,3.903,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 103.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 103.916} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.0828} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 103.963} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.175,0.175,0.183,0.183,0.21,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.114,3.109,3.109,3.1,3.097,3.091,3.09,3.09,3.075,3.068,3.064,3.063,3.063,3.055,3.055,3.053,0.149,0.146,0.146,0.146,0.144,0.144,0.152,0.153,0.152,0.153,0.153,3.027,3.027,3.036,3.036,3.036,3.036,3.036,0.164,0.159,0.153,0.15,0.15,0.153,0.156,0.177,3.452,3.531,3.534,3.534,3.533,3.531,3.533,3.526,3.533,3.533,3.536,3.536,3.536,3.54,3.54,3.537,3.535,3.537,3.537,3.543,3.544,3.544,3.544,3.544,3.544,3.544,3.543,3.545,3.554,3.559,3.559,3.56,3.56,3.567,3.568,3.568,3.57,3.575,3.576,3.579,3.581,3.598,3.599,3.599,3.601,3.601,3.612,3.617,3.627,3.627,3.632,3.635,3.638,3.651,3.662,3.665,3.667,3.679,3.688,3.69,3.694,3.7,3.704,3.715,3.729,3.744,3.746,3.752,3.759,3.764,3.767,3.768,3.787,3.795,3.803,3.816,3.817,3.825,3.838,3.849,3.853,3.864,3.887,3.894,3.91,3.912,3.918,3.932,3.946,3.958,3.977,3.99,3.993,4.003,4.022,4.033,4.064,4.084,4.085,4.087,0.016,0.016,0,0,0,0,4.059,4.013,3.985,3.955,3.923,3.892,3.863,3.828,3.788,3.763,3.735,3.717,3.688,3.652,3.635,3.609,3.583,3.562,3.544,3.527,3.489,3.479,3.463,3.437,3.41,3.383,3.363,3.349,3.326,3.307,3.287,3.272,3.258,3.231,3.222,3.198,3.186,3.171,3.157,3.136,3.127,3.109,3.091,3.087,3.078,3.055,3.041,3.024,3.02,2.996,2.989,2.966,2.962,2.955,2.935,2.925,2.92,2.897,2.894,2.887,2.864,2.854,2.846,2.836,2.817,2.809,2.805,2.799,2.782,2.775,2.764,2.751,2.742,2.731,2.728,2.716,2.703,2.693,2.691,2.684,2.671,2.657,2.651,2.643,2.641,2.64,2.626,2.617,2.606,2.596,2.595,2.58,2.571,2.563,2.557,2.557,2.556,2.55,2.544,2.535,2.529,2.525,2.525,2.522,2.511,2.503,2.502,2.495,2.492,2.484,2.48,2.472,2.472,2.472,2.467,2.462,2.454,2.453,2.447,2.445,2.442,2.439,2.436,2.426,2.424,2.424,2.421,2.421,2.414,2.414,2.414,2.413,2.413,2.409,2.409,2.407,2.404,2.4,2.399,2.397,2.395,2.395,2.393,2.395,2.395,2.393,2.388,2.388,2.388,2.388,2.388,2.387,2.387,2.387,2.387,2.388,2.389,2.388,2.388,2.389,2.386,2.386,2.391,2.391,2.391,2.391,2.391,2.392,2.394,2.399,2.401,2.402,2.402,2.405,2.407,2.411,2.417,2.417,2.419,2.419,2.419,2.42,2.42,2.429,2.43,2.431,2.432,2.434,2.446,2.455,2.457,2.458,2.46,2.464,2.468,2.472,2.477,2.48,2.485,2.498,2.501,2.503,2.507,2.511,2.514,2.522,2.523,2.525,2.543,2.545,2.553,2.557,2.563,2.564,2.572,2.589,2.591,2.596,2.598,2.605,2.613,2.626,2.633,2.633,2.654,2.663,2.67,2.68,2.68,2.684,2.687,2.705,2.72,2.727,2.728,2.736,2.742,2.749,2.771,2.78,2.782,2.8,2.806,2.826,2.83,2.84,2.852,2.872,2.872,2.888,2.903,2.915,2.928,2.936,2.952,2.958,2.967,2.977,2.995,3.017,3.023,3.043,3.056,3.067,3.084,3.095,3.118,3.128,3.145,3.155,3.172,3.187,3.208,3.225,3.233,3.254,3.27,3.273,3.303,3.33,3.35,3.35,3.38,3.409,3.443,3.462,3.478,3.499,3.522,3.533,3.564,3.596,3.614,3.629,3.665,3.681,3.717,3.754,3.769,3.806,3.813,3.854,3.869,3.922,3.956,3.979,4.015,4.042,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.313,3.303,3.297,3.285,3.278,3.27,3.27,3.262,3.258,3.225,3.224,3.221,3.202,3.197,3.193,3.192,3.179,3.17,3.161,3.153,3.147,3.145,3.137,3.122,3.119,3.107,3.107,3.107,3.103,3.098,3.09,3.079,3.074,3.069,3.065,3.063,3.061,3.053,3.052,3.049,3.041,3.034,3.032,3.029,3.028,3.024,3.021,3.014,3.011,3.004,3.004,3.003,3.002,2.995,2.995,2.995,2.994,3,3,3,2.994,2.994,2.994,2.992,2.992,2.983,2.983,2.981,2.981,2.981,2.981,2.98,2.98,2.979,2.979,2.979,2.98,2.983,2.983,2.983,2.983,2.983,2.984,2.986,2.986,2.986,2.986,2.988,2.995,2.997,2.997,2.997,3,3.003,3.005,3.007,3.007,3.007,3.007,3.015,3.017,3.023,3.026,3.026,3.035,3.038,3.038,3.039,3.048,3.048,3.048,3.052,3.061,3.062,3.068,3.075,3.086,3.09,3.092,3.102,3.102,3.109,3.113,3.113,3.119,3.121,3.122,3.126,3.13,3.148,3.148,3.148,3.158,3.168,3.172,3.175,3.185,3.192,3.196,3.2,3.205,3.206,3.221,3.221,3.237,3.245,3.251,3.257,3.262,3.277,3.277,3.278,3.284,3.825,3.828,3.833,3.848,3.861,3.882,3.898,3.911,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 104.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 104.116} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 104.163} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.176,0.174,0.176,0.176,0.193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.265,3.265,0,3.253,3.253,3.371,3.371,3.371,0,0,0,0,0,0,0,0,0,3.115,3.109,3.109,3.103,3.097,3.093,3.085,3.081,3.076,3.073,3.072,3.064,3.064,3.061,3.056,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.149,0.146,0.149,0.152,3.024,3.024,3.031,3.031,3.024,3.024,0.168,0.163,0.157,0.157,0.153,0.153,0.157,0.161,0.169,3.449,3.523,3.529,3.533,3.534,3.534,3.534,3.533,3.534,3.534,3.534,3.534,3.537,3.537,3.536,3.536,3.532,3.532,3.532,3.532,3.532,3.539,3.541,3.541,3.541,3.541,3.541,3.548,3.551,3.552,3.551,3.561,3.563,3.566,3.568,3.569,3.571,3.579,3.579,3.58,3.582,3.592,3.594,3.595,3.597,3.609,3.619,3.62,3.626,3.625,3.632,3.639,3.646,3.661,3.662,3.662,3.666,3.669,3.672,3.679,3.686,3.703,3.714,3.717,3.731,3.736,3.738,3.756,3.759,3.768,3.77,3.779,3.788,3.801,3.804,3.808,3.811,3.823,3.84,3.846,3.854,3.873,3.876,3.878,3.898,3.902,3.913,3.943,3.956,3.959,3.979,3.991,4.005,4.008,4.032,4.041,4.057,4.067,4.093,0.016,0.016,0.016,0,0,0,0,0,4.004,4.004,3.984,3.95,3.887,3.853,3.828,3.796,3.77,3.734,3.705,3.689,3.661,3.635,3.614,3.578,3.568,3.549,3.531,3.503,3.478,3.442,3.423,3.407,3.391,3.372,3.357,3.329,3.305,3.293,3.27,3.248,3.23,3.219,3.198,3.178,3.173,3.16,3.134,3.126,3.105,3.099,3.084,3.068,3.052,3.042,3.026,3.014,3.001,2.985,2.968,2.957,2.951,2.94,2.927,2.915,2.896,2.892,2.883,2.867,2.855,2.844,2.832,2.814,2.809,2.809,2.803,2.781,2.767,2.756,2.742,2.734,2.725,2.713,2.71,2.707,2.688,2.687,2.674,2.667,2.661,2.652,2.649,2.644,2.638,2.632,2.623,2.615,2.594,2.591,2.584,2.579,2.573,2.56,2.56,2.548,2.545,2.545,2.538,2.536,2.535,2.521,2.518,2.507,2.507,2.501,2.495,2.486,2.483,2.479,2.478,2.47,2.468,2.466,2.464,2.463,2.446,2.445,2.445,2.439,2.437,2.435,2.432,2.431,2.425,2.425,2.418,2.416,2.416,2.411,2.41,2.408,2.408,2.408,2.408,2.404,2.403,2.399,2.397,2.397,2.397,2.396,2.395,2.389,2.389,2.388,2.388,2.388,2.388,2.388,2.388,2.384,2.384,2.388,2.388,2.388,2.388,2.388,2.388,2.388,2.389,2.394,2.394,2.393,2.393,2.393,2.393,2.393,2.397,2.402,2.405,2.408,2.408,2.409,2.409,2.411,2.416,2.416,2.419,2.417,2.417,2.419,2.426,2.431,2.432,2.437,2.448,2.452,2.46,2.46,2.463,2.463,2.468,2.47,2.475,2.477,2.481,2.482,2.493,2.493,2.502,2.512,2.513,2.514,2.525,2.528,2.531,2.54,2.543,2.548,2.56,2.56,2.571,2.572,2.572,2.587,2.588,2.606,2.607,2.608,2.627,2.628,2.632,2.644,2.67,2.67,2.674,2.682,2.692,2.697,2.705,2.716,2.725,2.728,2.741,2.741,2.752,2.769,2.779,2.801,2.802,2.806,2.821,2.827,2.842,2.86,2.867,2.868,2.884,2.905,2.915,2.928,2.934,2.952,2.955,2.976,2.988,3.002,3.021,3.031,3.032,3.047,3.062,3.08,3.107,3.11,3.132,3.143,3.158,3.174,3.19,3.207,3.227,3.236,3.265,3.283,3.285,3.312,3.327,3.35,3.362,3.379,3.404,3.429,3.449,3.469,3.496,3.516,3.543,3.553,3.597,3.619,3.633,3.674,3.691,3.709,3.731,3.762,3.797,3.825,3.862,3.876,3.918,3.948,3.984,4.016,4.057,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.315,3.305,3.292,3.29,3.29,3.267,3.264,3.247,3.238,3.237,3.228,3.228,3.225,3.205,3.205,3.184,3.182,3.175,3.163,3.158,3.147,3.136,3.135,3.128,3.12,3.118,3.115,3.104,3.104,3.093,3.092,3.082,3.074,3.072,3.072,3.068,3.057,3.054,3.05,3.048,3.04,3.036,3.033,3.029,3.028,3.026,3.025,3.02,3.014,3.004,3.003,3.003,3.003,3,2.997,2.994,2.993,2.993,2.993,2.993,2.993,2.993,2.99,2.99,2.989,2.989,2.989,2.983,2.982,2.982,2.981,2.975,2.975,2.981,2.981,2.981,2.981,2.981,2.983,2.983,2.983,2.983,2.986,2.986,2.981,2.986,2.987,2.991,2.991,2.993,3.001,3.001,3.001,3.001,3.001,3.004,3.011,3.011,3.012,3.016,3.021,3.023,3.025,3.028,3.03,3.035,3.038,3.047,3.047,3.054,3.054,3.061,3.067,3.067,3.068,3.074,3.075,3.086,3.091,3.093,3.102,3.115,3.12,3.12,3.121,3.121,3.13,3.131,3.138,3.141,3.149,3.158,3.163,3.166,3.166,3.17,3.192,3.194,3.194,3.197,3.202,3.211,3.217,3.22,3.239,3.251,3.252,3.259,3.262,3.279,3.279,3.279,3.288,3.82,3.825,3.833,3.845,3.863,3.876,3.901,3.903,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 104.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 104.318} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.3274} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.5748}
SEN {Time 104.36} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.172,0.172,0.18,0.18,0.191,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.253,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.113,3.109,3.105,3.093,3.093,3.092,3.092,3.084,3.075,3.073,3.072,3.072,3.062,3.061,3.061,3.061,0.151,0.151,0.151,0.151,0.144,0.143,0.143,0.151,0.146,0.151,0.16,3.023,3.026,3.028,3.028,3.028,3.026,0.167,0.157,0.157,0.153,0.15,0.15,0.153,0.164,0.17,3.446,3.52,3.527,3.528,3.528,3.528,3.529,3.531,3.531,3.532,3.531,3.528,3.528,3.531,3.531,3.531,3.533,3.536,3.536,3.536,3.54,3.541,3.546,3.546,3.546,3.547,3.547,3.552,3.555,3.559,3.559,3.56,3.555,3.56,3.562,3.567,3.571,3.575,3.578,3.579,3.589,3.592,3.592,3.597,3.6,3.603,3.62,3.622,3.627,3.63,3.633,3.635,3.64,3.648,3.652,3.657,3.67,3.674,3.682,3.684,3.696,3.697,3.712,3.716,3.732,3.742,3.742,3.748,3.751,3.76,3.769,3.787,3.787,3.789,3.803,3.804,3.812,3.814,3.841,3.851,3.866,3.874,3.883,3.891,3.903,3.91,3.918,3.94,3.946,3.963,3.974,3.985,3.995,4.02,4.024,4.031,4.051,4.077,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,0,4.028,3.971,3.971,3.955,3.926,3.857,3.833,3.793,3.761,3.732,3.698,3.686,3.653,3.643,3.62,3.583,3.555,3.539,3.516,3.499,3.482,3.46,3.447,3.412,3.393,3.372,3.349,3.329,3.307,3.293,3.265,3.249,3.243,3.222,3.202,3.186,3.175,3.153,3.131,3.117,3.107,3.096,3.084,3.074,3.061,3.041,3.032,3.018,2.994,2.984,2.979,2.958,2.949,2.948,2.929,2.914,2.904,2.901,2.878,2.863,2.856,2.842,2.839,2.819,2.815,2.813,2.799,2.781,2.774,2.756,2.75,2.745,2.732,2.718,2.708,2.704,2.686,2.68,2.669,2.668,2.657,2.652,2.643,2.637,2.635,2.621,2.617,2.617,2.598,2.594,2.58,2.575,2.574,2.569,2.567,2.557,2.55,2.536,2.535,2.531,2.527,2.516,2.515,2.505,2.503,2.499,2.497,2.495,2.486,2.484,2.481,2.475,2.466,2.466,2.462,2.462,2.45,2.447,2.44,2.437,2.434,2.428,2.427,2.424,2.424,2.418,2.417,2.418,2.418,2.41,2.409,2.408,2.406,2.406,2.406,2.403,2.401,2.398,2.398,2.398,2.395,2.395,2.391,2.39,2.387,2.387,2.387,2.384,2.387,2.387,2.384,2.384,2.386,2.386,2.386,2.387,2.387,2.386,2.386,2.386,2.386,2.391,2.394,2.394,2.394,2.394,2.394,2.402,2.402,2.403,2.404,2.405,2.409,2.409,2.409,2.41,2.416,2.421,2.424,2.424,2.425,2.427,2.428,2.429,2.438,2.443,2.446,2.449,2.453,2.454,2.458,2.458,2.463,2.47,2.477,2.48,2.486,2.488,2.489,2.495,2.501,2.505,2.509,2.515,2.521,2.529,2.534,2.54,2.545,2.546,2.55,2.563,2.571,2.577,2.586,2.594,2.595,2.603,2.61,2.615,2.625,2.627,2.634,2.641,2.67,2.674,2.68,2.684,2.685,2.694,2.713,2.723,2.723,2.724,2.728,2.738,2.757,2.775,2.781,2.782,2.804,2.807,2.816,2.832,2.85,2.867,2.868,2.868,2.88,2.904,2.92,2.929,2.94,2.951,2.953,2.971,2.99,3.003,3.021,3.024,3.04,3.056,3.071,3.076,3.102,3.11,3.126,3.133,3.152,3.168,3.196,3.202,3.219,3.224,3.256,3.275,3.287,3.307,3.327,3.343,3.367,3.389,3.415,3.434,3.456,3.477,3.494,3.516,3.546,3.559,3.589,3.614,3.649,3.674,3.684,3.714,3.737,3.774,3.798,3.826,3.861,3.882,3.918,3.949,3.984,4.022,4.062,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.327,3.307,3.303,3.293,3.28,3.263,3.261,3.259,3.242,3.232,3.217,3.212,3.203,3.197,3.192,3.187,3.174,3.168,3.155,3.155,3.152,3.148,3.136,3.123,3.122,3.116,3.105,3.103,3.103,3.089,3.087,3.087,3.076,3.073,3.071,3.067,3.057,3.053,3.051,3.044,3.042,3.039,3.039,3.037,3.031,3.025,3.025,3.015,3.015,3.008,3.004,3.003,3,2.995,2.994,2.994,2.99,2.99,2.994,2.994,2.994,2.994,2.991,2.986,2.985,2.985,2.979,2.977,2.977,2.977,2.977,2.977,2.982,2.982,2.982,2.982,2.982,2.979,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.982,2.983,2.991,2.994,2.994,2.996,2.997,3.004,3.005,3.005,3.007,3.007,3.011,3.015,3.016,3.023,3.025,3.029,3.029,3.032,3.033,3.036,3.042,3.043,3.052,3.052,3.057,3.061,3.063,3.066,3.07,3.083,3.084,3.088,3.094,3.097,3.108,3.117,3.117,3.117,3.121,3.126,3.131,3.135,3.149,3.154,3.155,3.157,3.165,3.172,3.178,3.186,3.19,3.194,3.198,3.203,3.206,3.218,3.228,3.239,3.243,3.252,3.261,3.262,3.28,3.28,3.28,3.295,3.821,3.833,3.843,3.846,3.854,3.879,3.901,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 104.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 104.51} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.3274} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 104.56} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.184,0.181,0.181,0.184,0.184,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.25,3.244,3.237,3.237,3.378,3.378,0,0,0,0,0,0,0,0,0,3.115,3.112,3.111,3.095,3.091,3.088,3.084,3.084,3.081,3.075,3.065,3.064,3.064,3.059,3.059,3.051,0.142,0.142,0.142,0.142,0.144,0.148,0.154,0.154,0.148,0.154,0.156,3.033,3.033,3.037,3.037,3.041,3.041,3.041,0.161,0.161,0.16,0.155,0.155,0.163,0.167,0.168,3.45,3.531,3.532,3.532,3.533,3.534,3.535,3.535,3.538,3.535,3.531,3.531,3.531,3.531,3.534,3.535,3.536,3.536,3.536,3.536,3.536,3.542,3.542,3.544,3.549,3.549,3.549,3.549,3.555,3.558,3.558,3.558,3.56,3.562,3.563,3.574,3.575,3.576,3.576,3.582,3.585,3.588,3.589,3.6,3.601,3.606,3.609,3.618,3.622,3.627,3.634,3.64,3.645,3.655,3.656,3.666,3.67,3.671,3.675,3.682,3.683,3.697,3.709,3.711,3.725,3.734,3.748,3.749,3.754,3.763,3.771,3.776,3.78,3.795,3.803,3.808,3.817,3.828,3.837,3.843,3.865,3.877,3.888,3.898,3.909,3.913,3.914,3.937,3.948,3.952,3.977,3.985,4.009,4.013,4.027,4.042,4.047,4.071,4.083,0.016,0.016,0.016,0.016,0.007,0,0.016,4.065,4.005,3.977,3.952,3.916,3.893,3.855,3.823,3.796,3.761,3.736,3.716,3.691,3.672,3.634,3.614,3.579,3.559,3.544,3.517,3.49,3.477,3.465,3.433,3.415,3.401,3.376,3.343,3.329,3.304,3.278,3.273,3.246,3.228,3.217,3.208,3.182,3.169,3.152,3.133,3.117,3.104,3.094,3.09,3.07,3.058,3.047,3.03,3.02,3.002,2.992,2.971,2.96,2.948,2.932,2.929,2.918,2.9,2.898,2.877,2.87,2.856,2.846,2.835,2.823,2.816,2.801,2.794,2.775,2.771,2.76,2.756,2.744,2.728,2.716,2.713,2.712,2.703,2.696,2.678,2.674,2.661,2.656,2.638,2.638,2.636,2.627,2.616,2.612,2.599,2.59,2.578,2.576,2.572,2.571,2.563,2.553,2.548,2.539,2.535,2.525,2.525,2.525,2.52,2.505,2.505,2.502,2.5,2.5,2.484,2.483,2.48,2.468,2.468,2.467,2.464,2.46,2.458,2.457,2.449,2.446,2.432,2.432,2.428,2.428,2.426,2.423,2.418,2.413,2.412,2.409,2.409,2.409,2.409,2.408,2.403,2.399,2.399,2.398,2.393,2.393,2.393,2.393,2.393,2.393,2.39,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.388,2.386,2.388,2.388,2.387,2.387,2.388,2.388,2.393,2.394,2.394,2.394,2.39,2.39,2.39,2.393,2.396,2.399,2.4,2.406,2.406,2.409,2.409,2.409,2.415,2.415,2.416,2.417,2.417,2.426,2.427,2.427,2.433,2.438,2.439,2.439,2.446,2.458,2.464,2.468,2.471,2.474,2.478,2.478,2.483,2.483,2.489,2.496,2.507,2.515,2.515,2.517,2.52,2.529,2.531,2.533,2.533,2.55,2.562,2.563,2.571,2.574,2.574,2.588,2.598,2.599,2.601,2.61,2.618,2.63,2.633,2.639,2.652,2.678,2.68,2.688,2.689,2.693,2.705,2.715,2.729,2.731,2.742,2.742,2.756,2.769,2.776,2.789,2.801,2.808,2.818,2.835,2.844,2.859,2.872,2.872,2.893,2.902,2.906,2.927,2.932,2.945,2.953,2.971,2.984,2.997,3.02,3.029,3.045,3.048,3.065,3.081,3.1,3.11,3.121,3.137,3.151,3.164,3.187,3.208,3.231,3.236,3.252,3.272,3.294,3.307,3.329,3.355,3.365,3.385,3.408,3.426,3.456,3.475,3.499,3.517,3.526,3.556,3.597,3.613,3.638,3.669,3.689,3.739,3.766,3.799,3.799,3.818,3.853,3.879,3.92,3.951,3.98,4.017,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.316,3.315,3.31,3.289,3.287,3.28,3.264,3.264,3.254,3.245,3.224,3.224,3.215,3.204,3.202,3.201,3.191,3.176,3.167,3.167,3.156,3.15,3.148,3.137,3.128,3.117,3.115,3.104,3.104,3.098,3.094,3.093,3.09,3.076,3.076,3.073,3.061,3.056,3.056,3.054,3.046,3.04,3.036,3.031,3.031,3.03,3.023,3.016,3.013,3.01,3.01,3.005,3.002,3,2.994,2.994,2.994,2.993,2.993,2.995,2.999,2.999,2.999,2.994,2.993,2.991,2.984,2.982,2.982,2.982,2.981,2.981,2.977,2.977,2.977,2.981,2.981,2.981,2.98,2.98,2.978,2.978,2.978,2.981,2.982,2.982,2.982,2.982,2.984,2.989,2.994,2.996,2.996,2.999,2.999,3.001,3.001,3.007,3.012,3.012,3.02,3.02,3.02,3.029,3.029,3.031,3.032,3.036,3.042,3.044,3.05,3.053,3.055,3.063,3.064,3.071,3.08,3.082,3.087,3.087,3.096,3.108,3.112,3.117,3.117,3.117,3.121,3.124,3.128,3.138,3.14,3.149,3.152,3.161,3.165,3.174,3.182,3.193,3.196,3.202,3.202,3.209,3.211,3.212,3.213,3.24,3.252,3.253,3.255,3.26,3.278,3.278,3.278,3.287,3.824,3.827,3.841,3.849,3.855,3.871,3.914,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 104.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 104.711} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.3274} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 104.76} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.18,0.172,0.172,0.179,0.179,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.246,3.373,3.373,3.373,0,0,0,0,0,0,0,0,0,3.114,3.111,3.109,3.092,3.087,3.086,3.084,3.078,3.078,3.078,3.071,3.063,3.063,3.055,3.055,3.055,0.15,0.15,0.15,0.15,0.15,0.151,0.151,0.154,0.153,0.154,0.161,3.032,3.032,3.037,3.037,3.037,3.037,3.037,0.168,0.162,0.161,0.161,0.161,0.162,0.165,0.171,3.439,3.525,3.525,3.525,3.525,3.528,3.529,3.529,3.532,3.533,3.534,3.535,3.535,3.535,3.539,3.532,3.532,3.534,3.534,3.532,3.533,3.533,3.533,3.548,3.549,3.549,3.549,3.549,3.555,3.555,3.555,3.556,3.557,3.558,3.559,3.566,3.571,3.579,3.576,3.579,3.584,3.596,3.597,3.602,3.607,3.609,3.609,3.627,3.627,3.632,3.635,3.635,3.648,3.651,3.664,3.67,3.671,3.671,3.679,3.684,3.692,3.698,3.709,3.717,3.732,3.738,3.748,3.752,3.759,3.762,3.766,3.773,3.781,3.796,3.796,3.816,3.818,3.824,3.842,3.852,3.861,3.872,3.88,3.893,3.9,3.921,3.93,3.944,3.948,3.964,3.971,3.992,4.01,4.011,4.03,4.033,4.058,4.082,4.089,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,4.012,4.012,3.946,3.921,3.864,3.832,3.788,3.754,3.734,3.724,3.696,3.671,3.654,3.61,3.581,3.566,3.542,3.522,3.495,3.462,3.446,3.43,3.421,3.389,3.362,3.352,3.331,3.309,3.284,3.266,3.258,3.23,3.216,3.206,3.183,3.169,3.149,3.133,3.12,3.111,3.102,3.094,3.082,3.057,3.046,3.027,3.019,2.996,2.984,2.967,2.956,2.942,2.933,2.923,2.913,2.9,2.895,2.891,2.873,2.848,2.846,2.836,2.824,2.807,2.8,2.794,2.782,2.773,2.766,2.753,2.739,2.722,2.718,2.708,2.707,2.702,2.697,2.677,2.671,2.657,2.654,2.647,2.638,2.631,2.621,2.615,2.609,2.6,2.594,2.588,2.585,2.561,2.56,2.556,2.553,2.544,2.535,2.533,2.53,2.529,2.524,2.52,2.504,2.503,2.503,2.503,2.499,2.492,2.476,2.475,2.474,2.474,2.472,2.47,2.459,2.448,2.448,2.448,2.445,2.439,2.439,2.431,2.427,2.425,2.423,2.419,2.415,2.414,2.41,2.408,2.408,2.407,2.407,2.401,2.399,2.399,2.397,2.398,2.398,2.396,2.396,2.396,2.395,2.39,2.39,2.39,2.39,2.39,2.39,2.39,2.387,2.387,2.387,2.387,2.386,2.387,2.386,2.387,2.387,2.389,2.394,2.394,2.39,2.393,2.39,2.39,2.393,2.397,2.4,2.403,2.403,2.403,2.41,2.412,2.412,2.413,2.414,2.419,2.421,2.421,2.423,2.424,2.428,2.433,2.438,2.45,2.453,2.457,2.458,2.459,2.459,2.468,2.471,2.473,2.476,2.485,2.488,2.49,2.495,2.508,2.511,2.514,2.516,2.521,2.524,2.528,2.54,2.542,2.552,2.564,2.566,2.569,2.569,2.578,2.592,2.599,2.604,2.609,2.611,2.619,2.624,2.632,2.637,2.663,2.675,2.68,2.688,2.688,2.699,2.712,2.718,2.719,2.719,2.732,2.747,2.761,2.774,2.781,2.787,2.802,2.811,2.812,2.825,2.837,2.865,2.877,2.877,2.899,2.901,2.92,2.928,2.939,2.944,2.955,2.977,2.989,3.003,3.02,3.031,3.037,3.051,3.066,3.082,3.096,3.109,3.123,3.142,3.153,3.17,3.193,3.202,3.218,3.234,3.251,3.275,3.286,3.313,3.327,3.348,3.372,3.384,3.405,3.428,3.454,3.479,3.493,3.526,3.531,3.552,3.586,3.616,3.642,3.667,3.688,3.709,3.745,3.772,3.8,3.825,3.856,3.872,3.919,3.956,3.986,4.016,4.051,4.089,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.321,3.309,3.292,3.283,3.279,3.264,3.258,3.257,3.24,3.237,3.226,3.22,3.202,3.199,3.197,3.182,3.174,3.17,3.156,3.155,3.152,3.147,3.136,3.121,3.12,3.111,3.11,3.106,3.102,3.09,3.089,3.079,3.078,3.075,3.068,3.058,3.055,3.051,3.048,3.046,3.039,3.038,3.037,3.034,3.029,3.023,3.021,3.016,3.008,3.007,2.997,2.997,2.997,2.997,2.993,2.993,2.993,2.993,2.993,2.99,2.99,2.99,2.99,2.987,2.987,2.987,2.987,2.987,2.987,2.981,2.981,2.981,2.981,2.981,2.981,2.981,2.982,2.98,2.98,2.98,2.98,2.98,2.982,2.982,2.983,2.985,2.989,2.992,2.994,2.994,2.994,2.998,3,3.001,3.003,3.005,3.005,3.008,3.012,3.017,3.018,3.021,3.024,3.028,3.04,3.043,3.043,3.046,3.047,3.05,3.05,3.051,3.058,3.075,3.076,3.076,3.076,3.088,3.092,3.093,3.101,3.111,3.111,3.115,3.115,3.116,3.122,3.124,3.134,3.14,3.146,3.149,3.161,3.162,3.171,3.18,3.19,3.196,3.196,3.2,3.201,3.204,3.226,3.229,3.237,3.244,3.263,3.265,3.271,3.277,3.277,3.289,3.293,3.803,3.823,3.831,3.848,3.866,3.884,3.902,3.908,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 104.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 104.912} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.048} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.5748}
SEN {Time 104.96} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.177,0.18,0.18,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.246,3.371,3.371,3.371,0,0,0,0,0,0,0,0,0,3.111,3.11,3.108,3.102,3.1,3.092,3.087,3.087,3.074,3.07,3.067,3.066,3.066,3.061,3.053,0.144,0.142,0.142,0.142,0.143,0.143,0.146,0.154,0.154,0.154,0.154,0.159,3.027,3.033,3.034,3.034,3.033,3.033,0.163,0.159,0.158,0.158,0.153,0.152,0.153,0.153,0.174,3.46,3.526,3.528,3.531,3.531,3.531,3.535,3.535,3.535,3.531,3.529,3.529,3.527,3.527,3.527,3.527,3.537,3.537,3.539,3.539,3.537,3.54,3.54,3.542,3.542,3.544,3.547,3.549,3.555,3.557,3.559,3.562,3.563,3.563,3.563,3.568,3.57,3.571,3.571,3.572,3.583,3.584,3.595,3.598,3.608,3.61,3.61,3.61,3.619,3.619,3.625,3.643,3.65,3.663,3.663,3.664,3.674,3.675,3.677,3.679,3.685,3.695,3.706,3.715,3.723,3.738,3.744,3.747,3.748,3.751,3.776,3.784,3.79,3.81,3.81,3.815,3.823,3.832,3.836,3.84,3.851,3.861,3.88,3.885,3.905,3.918,3.923,3.943,3.95,3.966,3.975,3.978,4.005,4.006,4.031,4.039,4.058,4.074,4.089,4.089,0.016,0.016,0,0,0,0,0,0.007,4.028,3.936,3.921,3.881,3.868,3.831,3.777,3.768,3.734,3.71,3.69,3.662,3.642,3.614,3.598,3.56,3.546,3.528,3.499,3.476,3.445,3.432,3.404,3.391,3.375,3.346,3.329,3.303,3.299,3.276,3.246,3.231,3.227,3.198,3.189,3.164,3.153,3.13,3.121,3.102,3.095,3.081,3.074,3.055,3.042,3.024,3.018,2.997,2.986,2.966,2.957,2.949,2.94,2.928,2.919,2.902,2.894,2.887,2.863,2.855,2.841,2.836,2.828,2.815,2.812,2.807,2.776,2.769,2.763,2.75,2.738,2.727,2.717,2.716,2.706,2.697,2.684,2.676,2.665,2.661,2.657,2.643,2.63,2.623,2.618,2.617,2.607,2.606,2.6,2.585,2.583,2.569,2.564,2.559,2.555,2.546,2.543,2.542,2.533,2.533,2.533,2.525,2.507,2.506,2.504,2.492,2.488,2.485,2.474,2.472,2.471,2.468,2.466,2.465,2.458,2.455,2.445,2.444,2.444,2.442,2.44,2.43,2.428,2.425,2.423,2.421,2.418,2.412,2.409,2.409,2.409,2.408,2.408,2.405,2.403,2.397,2.396,2.394,2.392,2.392,2.394,2.394,2.394,2.394,2.392,2.389,2.389,2.385,2.385,2.385,2.385,2.384,2.384,2.385,2.385,2.385,2.385,2.385,2.385,2.388,2.391,2.391,2.391,2.391,2.391,2.402,2.402,2.405,2.41,2.41,2.41,2.41,2.412,2.412,2.412,2.413,2.418,2.421,2.425,2.426,2.426,2.426,2.427,2.437,2.437,2.441,2.442,2.454,2.456,2.459,2.466,2.471,2.471,2.475,2.487,2.489,2.493,2.497,2.499,2.501,2.506,2.511,2.516,2.521,2.525,2.527,2.537,2.545,2.557,2.568,2.571,2.572,2.573,2.577,2.583,2.591,2.596,2.61,2.617,2.625,2.637,2.645,2.652,2.667,2.67,2.681,2.681,2.683,2.69,2.708,2.717,2.725,2.727,2.74,2.744,2.753,2.769,2.775,2.784,2.793,2.804,2.817,2.83,2.848,2.865,2.873,2.875,2.88,2.904,2.915,2.926,2.935,2.948,2.959,2.968,2.986,2.996,3.021,3.033,3.044,3.047,3.066,3.076,3.095,3.111,3.126,3.137,3.153,3.163,3.195,3.214,3.226,3.234,3.25,3.276,3.286,3.305,3.332,3.351,3.36,3.382,3.407,3.446,3.459,3.473,3.491,3.523,3.54,3.566,3.584,3.609,3.639,3.653,3.691,3.718,3.733,3.77,3.804,3.829,3.858,3.877,3.907,3.988,4.011,4.057,4.057,4.092,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.313,3.313,3.302,3.302,3.271,3.267,3.264,3.258,3.249,3.227,3.217,3.216,3.203,3.202,3.201,3.187,3.175,3.165,3.161,3.152,3.147,3.141,3.133,3.127,3.121,3.119,3.11,3.103,3.097,3.094,3.093,3.089,3.079,3.073,3.069,3.068,3.057,3.051,3.05,3.041,3.04,3.036,3.031,3.027,3.027,3.027,3.021,3.018,3.008,3.005,3.003,2.998,2.997,2.998,2.997,2.995,2.995,2.998,2.998,2.998,2.998,2.994,2.992,2.988,2.983,2.983,2.983,2.98,2.98,2.983,2.983,2.983,2.983,2.98,2.979,2.979,2.979,2.978,2.979,2.979,2.979,2.979,2.979,2.979,2.981,2.988,2.991,2.991,2.991,2.994,2.994,2.996,2.996,2.997,3.002,3.002,3.015,3.015,3.015,3.018,3.015,3.018,3.021,3.024,3.029,3.032,3.035,3.04,3.048,3.056,3.057,3.058,3.06,3.061,3.064,3.076,3.083,3.09,3.092,3.094,3.101,3.117,3.118,3.118,3.118,3.118,3.123,3.126,3.138,3.153,3.155,3.156,3.159,3.16,3.176,3.18,3.182,3.195,3.199,3.202,3.202,3.202,3.215,3.218,3.238,3.249,3.254,3.26,3.264,3.281,3.281,3.285,3.298,3.821,3.829,3.832,3.833,3.859,3.872,3.895,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 105.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 105.112} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8288} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.5748}
SEN {Time 105.159} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.176,0.177,0.177,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,3.379,3.379,3.379,0,0,0,0,0,0,0,0,0,3.111,3.107,3.106,3.099,3.094,3.093,3.09,3.087,3.075,3.064,3.063,3.061,3.061,3.06,3.049,0.144,0.144,0.144,0.145,0.147,0.147,0.148,0.148,0.15,0.15,0.152,0.163,3.03,3.032,3.032,3.032,3.032,3.024,0.165,0.163,0.163,0.158,0.153,0.153,0.16,0.16,0.167,3.443,3.528,3.529,3.536,3.536,3.535,3.536,3.535,3.53,3.53,3.531,3.531,3.533,3.535,3.535,3.538,3.538,3.538,3.538,3.538,3.541,3.543,3.541,3.541,3.543,3.546,3.549,3.552,3.556,3.559,3.559,3.561,3.562,3.568,3.568,3.57,3.572,3.577,3.579,3.582,3.593,3.597,3.598,3.598,3.604,3.609,3.617,3.617,3.623,3.626,3.627,3.628,3.642,3.651,3.656,3.662,3.664,3.664,3.682,3.691,3.693,3.708,3.709,3.709,3.724,3.731,3.742,3.748,3.758,3.764,3.769,3.771,3.788,3.791,3.802,3.813,3.815,3.823,3.829,3.837,3.858,3.874,3.886,3.896,3.915,3.92,3.921,3.939,3.958,3.96,3.977,3.995,3.998,4.004,4.028,4.038,4.061,4.077,4.094,4.095,0.016,0.016,0,0,0,0.007,0,4.092,3.985,3.985,3.985,3.955,3.923,3.826,3.788,3.761,3.728,3.706,3.68,3.657,3.64,3.608,3.596,3.563,3.54,3.524,3.501,3.476,3.451,3.44,3.415,3.385,3.371,3.343,3.326,3.305,3.284,3.271,3.243,3.231,3.222,3.208,3.181,3.169,3.146,3.136,3.128,3.106,3.098,3.09,3.079,3.045,3.044,3.029,3.018,2.997,2.984,2.968,2.951,2.95,2.931,2.927,2.917,2.904,2.887,2.876,2.861,2.855,2.847,2.839,2.818,2.81,2.801,2.796,2.776,2.776,2.762,2.74,2.737,2.727,2.719,2.71,2.703,2.702,2.694,2.668,2.666,2.662,2.656,2.648,2.643,2.641,2.631,2.616,2.606,2.597,2.596,2.588,2.577,2.564,2.563,2.56,2.552,2.547,2.542,2.538,2.535,2.53,2.529,2.52,2.503,2.501,2.5,2.5,2.487,2.483,2.482,2.479,2.471,2.471,2.468,2.465,2.455,2.454,2.452,2.443,2.439,2.438,2.433,2.428,2.427,2.421,2.418,2.418,2.418,2.418,2.413,2.413,2.413,2.412,2.412,2.406,2.401,2.4,2.398,2.397,2.397,2.393,2.393,2.393,2.393,2.393,2.387,2.385,2.385,2.387,2.386,2.386,2.386,2.385,2.385,2.385,2.388,2.388,2.388,2.387,2.387,2.387,2.394,2.396,2.396,2.394,2.392,2.392,2.392,2.403,2.404,2.404,2.406,2.41,2.41,2.417,2.417,2.417,2.421,2.423,2.423,2.426,2.427,2.43,2.433,2.434,2.436,2.446,2.448,2.453,2.453,2.454,2.459,2.462,2.468,2.477,2.477,2.487,2.495,2.497,2.497,2.501,2.509,2.512,2.513,2.521,2.532,2.539,2.54,2.542,2.544,2.551,2.564,2.566,2.567,2.577,2.59,2.594,2.608,2.618,2.62,2.625,2.625,2.637,2.638,2.661,2.662,2.677,2.685,2.691,2.706,2.712,2.721,2.726,2.727,2.734,2.744,2.757,2.763,2.774,2.786,2.796,2.809,2.823,2.833,2.835,2.854,2.862,2.872,2.885,2.9,2.916,2.928,2.94,2.951,2.959,2.974,2.986,2.998,3.02,3.028,3.045,3.052,3.068,3.08,3.097,3.102,3.121,3.148,3.153,3.163,3.18,3.203,3.22,3.237,3.261,3.269,3.281,3.311,3.329,3.355,3.369,3.379,3.397,3.441,3.449,3.47,3.491,3.51,3.53,3.558,3.589,3.614,3.643,3.667,3.686,3.713,3.739,3.76,3.81,3.827,3.847,3.871,3.92,3.985,4.022,4.066,4.066,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.315,3.297,3.296,3.292,3.281,3.27,3.27,3.259,3.242,3.228,3.228,3.228,3.217,3.199,3.199,3.184,3.175,3.167,3.157,3.153,3.149,3.137,3.134,3.123,3.12,3.111,3.111,3.105,3.105,3.09,3.09,3.083,3.072,3.069,3.065,3.064,3.058,3.056,3.051,3.04,3.038,3.037,3.034,3.028,3.028,3.027,3.026,3.019,3.015,3.003,3.003,3.001,3,2.999,2.998,2.996,2.996,2.996,2.996,2.996,2.994,2.994,2.99,2.989,2.986,2.983,2.983,2.983,2.979,2.979,2.98,2.98,2.983,2.983,2.984,2.984,2.984,2.981,2.981,2.977,2.977,2.977,2.979,2.983,2.986,2.983,2.986,2.994,2.994,2.995,3.002,3.002,3.002,3.003,3.002,3.002,3.009,3.009,3.011,3.011,3.021,3.022,3.028,3.033,3.033,3.033,3.037,3.04,3.041,3.051,3.053,3.054,3.064,3.068,3.068,3.078,3.086,3.086,3.095,3.096,3.103,3.107,3.11,3.113,3.114,3.116,3.132,3.132,3.137,3.141,3.142,3.158,3.16,3.165,3.171,3.174,3.188,3.192,3.198,3.201,3.202,3.214,3.219,3.224,3.235,3.247,3.25,3.265,3.266,3.274,3.274,3.275,3.291,3.817,3.826,3.834,3.839,3.861,3.876,3.891,3.903,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.003491}
SEN {Time 105.31} {Type Tachometer} {Name LeftRight} {Vel -0.066040,0.063500}
SEN {Time 105.314} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.5748}
SEN {Time 105.357} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.174,0.174,0.174,0.174,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.25,3.384,3.384,3.384,0,0,0,0,0,0,0,0,0,3.119,3.107,3.107,3.094,3.092,3.088,3.086,3.083,3.081,3.072,3.067,3.061,3.061,3.061,3.061,3.061,0.152,0.149,0.149,0.149,0.143,0.143,0.143,0.143,0.143,0.145,0.146,3.034,3.034,3.046,3.046,3.034,3.029,0.163,0.161,0.153,0.153,0.151,0.151,0.153,0.166,0.172,3.457,3.531,3.531,3.531,3.529,3.528,3.528,3.529,3.53,3.531,3.531,3.531,3.533,3.537,3.537,3.537,3.536,3.536,3.536,3.544,3.544,3.545,3.546,3.545,3.544,3.546,3.546,3.546,3.551,3.556,3.557,3.563,3.564,3.567,3.571,3.571,3.571,3.574,3.579,3.584,3.589,3.594,3.6,3.602,3.603,3.609,3.614,3.615,3.619,3.622,3.63,3.647,3.65,3.65,3.659,3.665,3.671,3.673,3.676,3.682,3.685,3.702,3.707,3.728,3.732,3.734,3.741,3.75,3.752,3.76,3.761,3.774,3.791,3.798,3.812,3.815,3.818,3.826,3.84,3.852,3.855,3.881,3.89,3.892,3.907,3.91,3.925,3.936,3.95,3.951,3.965,3.985,3.996,4.02,4.026,4.033,4.064,4.065,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,3.937,3.917,3.867,3.846,3.807,3.783,3.764,3.73,3.714,3.679,3.658,3.628,3.594,3.588,3.553,3.549,3.515,3.485,3.475,3.455,3.419,3.406,3.384,3.361,3.353,3.327,3.315,3.293,3.264,3.253,3.232,3.215,3.204,3.171,3.17,3.14,3.122,3.121,3.107,3.095,3.079,3.065,3.055,3.047,3.025,3.012,2.995,2.989,2.964,2.955,2.949,2.933,2.923,2.904,2.904,2.9,2.88,2.872,2.854,2.836,2.831,2.824,2.815,2.8,2.796,2.777,2.771,2.766,2.744,2.728,2.727,2.716,2.713,2.705,2.702,2.689,2.679,2.673,2.655,2.652,2.637,2.633,2.632,2.62,2.608,2.608,2.6,2.595,2.584,2.582,2.572,2.567,2.556,2.555,2.545,2.535,2.534,2.532,2.524,2.513,2.509,2.507,2.502,2.5,2.5,2.49,2.484,2.475,2.473,2.473,2.473,2.468,2.465,2.462,2.454,2.453,2.449,2.441,2.433,2.433,2.43,2.429,2.423,2.419,2.419,2.414,2.412,2.411,2.41,2.41,2.409,2.407,2.402,2.401,2.401,2.399,2.397,2.395,2.394,2.395,2.397,2.394,2.39,2.393,2.389,2.388,2.388,2.388,2.387,2.387,2.388,2.388,2.388,2.388,2.389,2.389,2.389,2.389,2.391,2.391,2.391,2.391,2.394,2.394,2.393,2.396,2.396,2.399,2.4,2.406,2.411,2.411,2.413,2.416,2.418,2.424,2.424,2.425,2.425,2.427,2.43,2.435,2.439,2.439,2.441,2.443,2.454,2.458,2.459,2.46,2.464,2.474,2.478,2.482,2.485,2.494,2.498,2.505,2.508,2.511,2.512,2.52,2.524,2.536,2.537,2.548,2.55,2.552,2.56,2.565,2.574,2.577,2.587,2.591,2.594,2.607,2.609,2.62,2.635,2.639,2.649,2.65,2.668,2.677,2.682,2.688,2.69,2.707,2.711,2.726,2.73,2.731,2.744,2.745,2.753,2.773,2.791,2.799,2.81,2.815,2.833,2.838,2.847,2.86,2.872,2.877,2.887,2.912,2.92,2.932,2.94,2.962,2.965,2.988,2.995,3.01,3.027,3.035,3.05,3.065,3.078,3.086,3.113,3.116,3.127,3.141,3.165,3.184,3.191,3.217,3.233,3.25,3.273,3.298,3.301,3.317,3.344,3.357,3.378,3.403,3.416,3.455,3.469,3.501,3.51,3.532,3.561,3.563,3.593,3.623,3.656,3.691,3.715,3.722,3.761,3.793,3.825,3.848,3.865,3.904,3.95,3.975,4.039,4.077,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.313,3.306,3.3,3.288,3.276,3.275,3.253,3.25,3.246,3.232,3.228,3.219,3.208,3.199,3.198,3.196,3.178,3.168,3.161,3.151,3.142,3.141,3.132,3.125,3.122,3.115,3.107,3.104,3.102,3.097,3.083,3.082,3.081,3.067,3.064,3.061,3.061,3.061,3.061,3.055,3.047,3.041,3.034,3.031,3.023,3.022,3.021,3.02,3.015,3.012,3.005,3.005,3.004,3.003,2.994,2.994,2.992,2.992,2.992,2.998,2.998,2.998,2.986,2.986,2.986,2.988,2.988,2.988,2.986,2.986,2.983,2.98,2.98,2.98,2.98,2.981,2.981,2.981,2.984,2.984,2.98,2.98,2.982,2.982,2.982,2.985,2.986,2.986,2.986,2.986,2.99,2.994,2.999,3.002,3.002,3.007,3.013,3.014,3.014,3.014,3.018,3.024,3.029,3.029,3.029,3.032,3.034,3.035,3.041,3.043,3.05,3.065,3.065,3.066,3.072,3.073,3.084,3.092,3.097,3.099,3.102,3.104,3.11,3.11,3.115,3.115,3.13,3.134,3.134,3.138,3.15,3.151,3.155,3.166,3.166,3.175,3.198,3.198,3.201,3.208,3.208,3.21,3.216,3.238,3.245,3.253,3.253,3.254,3.265,3.272,3.289,3.301,3.772,3.822,3.828,3.836,3.84,3.868,3.885,3.889,3.922,3.945,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.090757}
SEN {Time 105.51} {Type Tachometer} {Name LeftRight} {Vel -0.154940,0.152400}
SEN {Time 105.515} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.5052} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.4478} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.5748}
SEN {Time 105.555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.174,0.182,0.182,0.19,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,3.135,3.133,3.121,3.121,3.121,0.009,0.009,0.009,0.009,0.009,3.078,3.077,3.069,3.065,3.062,3.061,3.061,3.061,3.054,3.051,3.051,3.046,3.039,3.038,3.036,3.036,3.032,3.031,3.031,0.147,0.145,0.145,0.145,0.147,0.147,0.149,0.153,0.153,0.153,0.154,0.156,0,0,0,0.007,0,3.517,0.178,0.163,0.159,0.157,0.157,0.157,0.16,0.163,0.169,3.457,3.541,3.541,3.544,3.543,3.544,3.546,3.546,3.553,3.555,3.556,3.556,3.557,3.557,3.557,3.559,3.567,3.575,3.579,3.581,3.582,3.586,3.59,3.592,3.594,3.598,3.608,3.609,3.614,3.618,3.618,3.622,3.628,3.642,3.643,3.646,3.646,3.658,3.663,3.667,3.68,3.69,3.691,3.692,3.692,3.695,3.713,3.715,3.721,3.73,3.735,3.742,3.746,3.759,3.76,3.791,3.793,3.798,3.813,3.817,3.826,3.847,3.85,3.862,3.867,3.884,3.891,3.907,3.908,3.922,3.927,3.94,3.959,3.961,3.963,3.991,4.011,4.013,4.028,4.05,4.065,4.08,4.092,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.046,4.046,0.007,3.944,3.944,3.893,3.857,3.786,3.778,3.778,3.741,3.722,3.667,3.649,3.617,3.594,3.566,3.55,3.513,3.496,3.485,3.442,3.432,3.399,3.387,3.371,3.347,3.329,3.305,3.288,3.263,3.253,3.222,3.216,3.206,3.195,3.164,3.155,3.138,3.117,3.114,3.088,3.076,3.071,3.048,3.035,3.022,3.008,2.992,2.985,2.969,2.957,2.948,2.935,2.925,2.908,2.898,2.885,2.885,2.865,2.856,2.851,2.833,2.821,2.811,2.806,2.787,2.781,2.773,2.762,2.75,2.748,2.733,2.727,2.713,2.708,2.7,2.685,2.672,2.672,2.663,2.659,2.645,2.638,2.631,2.625,2.622,2.603,2.597,2.584,2.584,2.584,2.575,2.57,2.562,2.551,2.549,2.536,2.536,2.534,2.529,2.523,2.512,2.507,2.501,2.499,2.496,2.488,2.485,2.483,2.476,2.474,2.468,2.462,2.461,2.461,2.46,2.45,2.444,2.444,2.441,2.441,2.436,2.43,2.424,2.423,2.42,2.42,2.419,2.414,2.414,2.414,2.413,2.411,2.405,2.401,2.4,2.4,2.393,2.393,2.392,2.392,2.392,2.395,2.392,2.391,2.391,2.391,2.391,2.39,2.388,2.388,2.386,2.386,2.388,2.389,2.389,2.391,2.392,2.393,2.393,2.393,2.397,2.398,2.401,2.401,2.4,2.403,2.403,2.405,2.407,2.407,2.407,2.411,2.416,2.419,2.427,2.429,2.431,2.433,2.434,2.437,2.442,2.443,2.454,2.456,2.459,2.463,2.464,2.466,2.471,2.476,2.479,2.486,2.488,2.493,2.498,2.501,2.506,2.51,2.518,2.519,2.52,2.537,2.537,2.547,2.553,2.562,2.564,2.579,2.581,2.597,2.598,2.603,2.603,2.607,2.611,2.628,2.631,2.636,2.641,2.655,2.66,2.676,2.677,2.69,2.703,2.705,2.715,2.72,2.735,2.737,2.745,2.766,2.769,2.787,2.789,2.802,2.815,2.832,2.842,2.847,2.86,2.867,2.875,2.891,2.905,2.922,2.927,2.943,2.954,2.964,2.986,2.988,2.996,3.016,3.023,3.044,3.058,3.067,3.09,3.102,3.11,3.122,3.152,3.161,3.185,3.187,3.207,3.233,3.25,3.257,3.279,3.304,3.324,3.335,3.362,3.376,3.394,3.435,3.437,3.459,3.481,3.505,3.527,3.568,3.578,3.606,3.623,3.657,3.686,3.713,3.734,3.764,3.796,3.822,3.848,3.883,3.921,3.956,3.989,4.011,4.044,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.317,3.317,3.317,3.302,0.009,0.007,0.009,0.007,3.251,3.228,3.224,3.208,3.2,3.186,3.185,3.181,3.17,3.166,3.161,3.148,3.143,3.143,3.132,3.128,3.12,3.107,3.097,3.089,3.088,3.087,3.087,3.086,3.065,3.062,3.062,3.06,3.05,3.04,3.039,3.03,3.029,3.027,3.027,3.02,3.009,3.008,3.006,3.006,3.003,3.001,2.995,2.993,2.988,2.986,2.986,2.985,2.982,2.985,2.985,2.985,2.979,2.976,2.975,2.973,2.973,2.973,2.973,2.973,2.967,2.967,2.967,2.967,2.967,2.968,2.968,2.969,2.969,2.97,2.97,2.97,2.97,2.97,2.97,2.972,2.974,2.972,2.974,2.976,2.974,2.976,2.985,2.985,2.985,2.987,2.987,2.991,2.996,2.998,2.999,3.003,3.003,3.007,3.011,3.016,3.018,3.018,3.022,3.026,3.027,3.038,3.041,3.043,3.052,3.052,3.054,3.063,3.069,3.074,3.075,3.082,3.089,3.093,3.094,3.094,3.094,3.117,3.117,3.121,3.121,3.124,3.137,3.139,3.139,3.146,3.157,3.173,3.182,3.182,3.186,3.193,3.199,3.204,3.21,3.224,3.231,3.234,3.246,3.253,3.259,3.259,3.275,3.278,3.808,3.817,3.827,3.846,3.847,3.874,3.884,3.896,3.9,3.92,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.315905}
SEN {Time 105.71} {Type Tachometer} {Name LeftRight} {Vel -0.259080,0.259080}
SEN {Time 105.71} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.5052} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 1.4478} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 1.5748}
SEN {Time 105.756} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.187,0.18,0.184,0.184,0.184,0.184,0,0,0,0.009,0.009,0.009,3.071,3.066,3.061,3.06,3.056,3.054,3.051,3.051,3.047,3.047,3.043,3.043,3.042,3.04,3.042,3.042,3.042,3.043,3.568,3.575,3.575,3.584,3.582,3.575,3.582,3.582,3.577,3.575,3.577,3.577,3.577,3.574,3.574,3.574,3.574,3.575,3.575,3.576,3.575,3.574,3.574,3.574,3.566,3.562,3.317,0.151,0.151,0.147,0.147,0.147,0.148,0.147,0.148,0.15,0.153,0.154,0.197,0,0,0,0,0,0.007,0.177,0.177,0.163,0.163,0.163,0.166,0.166,0.186,3.69,3.702,3.706,3.706,3.724,3.73,3.735,3.742,3.747,3.761,3.767,3.781,3.787,3.793,3.804,3.81,3.818,3.821,3.83,3.847,3.848,3.86,3.87,3.893,3.893,3.893,3.893,3.916,3.939,3.945,3.954,3.975,3.986,3.994,4.001,4.02,4.02,4.042,4.051,4.073,4.091,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,4.026,3.978,3.875,3.854,3.828,3.798,3.779,3.746,3.708,3.689,3.671,3.65,3.623,3.591,3.563,3.537,3.526,3.488,3.483,3.448,3.424,3.409,3.376,3.363,3.345,3.318,3.317,3.29,3.267,3.242,3.24,3.198,3.185,3.171,3.146,3.145,3.124,3.103,3.09,3.079,3.053,3.051,3.033,3.027,3.002,3.001,2.982,2.971,2.962,2.955,2.939,2.927,2.915,2.903,2.891,2.876,2.875,2.857,2.844,2.836,2.83,2.812,2.8,2.791,2.784,2.773,2.763,2.754,2.748,2.737,2.724,2.719,2.719,2.705,2.701,2.684,2.683,2.671,2.666,2.659,2.643,2.639,2.639,2.629,2.62,2.615,2.613,2.601,2.593,2.58,2.578,2.572,2.568,2.564,2.556,2.556,2.556,2.546,2.542,2.531,2.53,2.523,2.514,2.511,2.503,2.497,2.497,2.49,2.49,2.483,2.483,2.471,2.471,2.47,2.458,2.457,2.457,2.449,2.446,2.44,2.44,2.437,2.435,2.433,2.432,2.426,2.424,2.423,2.42,2.419,2.416,2.411,2.409,2.409,2.409,2.404,2.404,2.404,2.406,2.401,2.401,2.4,2.4,2.4,2.399,2.399,2.402,2.401,2.401,2.401,2.402,2.402,2.402,2.402,2.402,2.401,2.401,2.407,2.408,2.408,2.408,2.408,2.412,2.412,2.412,2.413,2.419,2.423,2.426,2.426,2.432,2.432,2.434,2.434,2.436,2.439,2.443,2.445,2.445,2.446,2.446,2.451,2.453,2.454,2.465,2.473,2.477,2.478,2.482,2.492,2.493,2.495,2.501,2.504,2.512,2.518,2.522,2.527,2.533,2.535,2.539,2.548,2.548,2.555,2.564,2.569,2.58,2.591,2.598,2.6,2.602,2.607,2.628,2.635,2.639,2.646,2.65,2.656,2.666,2.675,2.684,2.701,2.704,2.714,2.729,2.73,2.744,2.758,2.766,2.774,2.782,2.789,2.793,2.812,2.821,2.824,2.849,2.851,2.868,2.894,2.903,2.918,2.918,2.922,2.93,2.958,2.96,2.979,2.988,3.005,3.012,3.033,3.037,3.056,3.074,3.083,3.099,3.113,3.13,3.148,3.155,3.175,3.202,3.211,3.223,3.239,3.257,3.282,3.292,3.326,3.334,3.361,3.378,3.388,3.415,3.433,3.469,3.487,3.505,3.527,3.545,3.578,3.617,3.642,3.671,3.694,3.712,3.729,3.767,3.794,3.818,3.864,3.883,3.911,3.954,3.981,4.036,4.074,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.282,3.266,3.259,3.256,3.244,3.238,3.222,3.216,3.203,3.199,3.192,3.169,3.167,3.164,3.158,3.146,3.138,3.138,3.132,3.131,3.113,3.097,3.095,3.088,3.08,3.077,3.073,3.063,3.062,3.052,3.051,3.047,3.043,3.037,3.03,3.027,3.023,3.014,3.01,3.001,2.998,2.995,2.989,2.986,2.984,2.981,2.981,2.976,2.973,2.973,2.971,2.964,2.959,2.958,2.956,2.956,2.956,2.956,2.956,2.956,2.946,2.946,2.946,2.948,2.948,2.948,2.942,2.941,2.939,2.934,2.938,2.934,2.937,2.937,2.937,2.937,2.943,2.943,2.943,2.942,2.942,2.942,2.942,2.942,2.942,2.942,2.942,2.943,2.952,2.952,2.953,2.958,2.958,2.96,2.965,2.967,2.968,2.975,2.978,2.979,2.984,2.985,2.988,2.991,2.994,2.999,3.003,3.004,3.01,3.019,3.019,3.021,3.029,3.032,3.035,3.041,3.047,3.059,3.061,3.061,3.061,3.061,3.061,3.069,3.085,3.087,3.095,3.095,3.095,3.102,3.105,3.112,3.12,3.129,3.136,3.146,3.149,3.153,3.164,3.168,3.175,3.183,3.191,3.2,3.201,3.211,3.219,3.221,3.221,3.239,3.242,3.789,3.79,3.795,3.819,3.822,3.839,3.851,3.87,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.624828}
SEN {Time 105.91} {Type Tachometer} {Name LeftRight} {Vel -0.287020,0.287020}
SEN {Time 105.913} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 0.127} {Name Sonar2 Range 3.5052} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 1.4478} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 3.937} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9906}
SEN {Time 105.953} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.18,0.18,0.183,0.183,0.205,0,0,0,0,0,3.638,3.635,3.635,3.638,3.639,3.641,3.649,3.649,3.651,3.659,3.66,3.668,3.669,3.677,3.679,3.691,3.691,3.692,3.699,3.706,3.713,3.716,3.723,3.73,3.739,3.741,3.746,3.755,3.756,3.76,3.777,3.779,3.793,3.797,3.802,3.804,3.821,3.832,3.833,3.849,3.854,3.857,3.857,3.863,3.863,3.819,0.15,0.15,0.149,0.149,0.15,0.159,0.159,0.159,0.158,0.159,0.163,0.252,0,0,0,0,0,0.169,0.164,0.16,0.156,0.156,0.156,0.159,0.162,0.204,0,0,0,0,0,0,0,0,0,3.9,3.872,3.841,3.811,3.786,3.755,3.722,3.709,3.677,3.654,3.627,3.615,3.589,3.551,3.535,3.509,3.477,3.461,3.459,3.409,3.396,3.378,3.37,3.334,3.332,3.297,3.28,3.271,3.243,3.218,3.202,3.187,3.174,3.152,3.142,3.116,3.096,3.092,3.072,3.061,3.053,3.041,3.027,3.01,2.999,2.99,2.981,2.955,2.951,2.944,2.929,2.908,2.904,2.884,2.88,2.873,2.871,2.858,2.851,2.833,2.827,2.809,2.807,2.796,2.785,2.769,2.764,2.753,2.746,2.738,2.725,2.718,2.716,2.706,2.698,2.686,2.675,2.671,2.664,2.65,2.648,2.64,2.634,2.621,2.617,2.609,2.598,2.596,2.586,2.586,2.576,2.573,2.561,2.559,2.557,2.551,2.544,2.537,2.531,2.524,2.519,2.516,2.508,2.504,2.502,2.502,2.493,2.491,2.488,2.485,2.481,2.481,2.479,2.468,2.466,2.464,2.462,2.461,2.457,2.457,2.451,2.451,2.446,2.442,2.442,2.441,2.439,2.439,2.433,2.432,2.433,2.433,2.43,2.43,2.43,2.43,2.429,2.426,2.426,2.427,2.426,2.426,2.425,2.425,2.419,2.425,2.419,2.424,2.419,2.42,2.42,2.421,2.42,2.421,2.424,2.424,2.428,2.432,2.435,2.433,2.433,2.435,2.436,2.438,2.44,2.442,2.446,2.446,2.447,2.448,2.454,2.454,2.455,2.466,2.468,2.474,2.474,2.478,2.479,2.48,2.482,2.486,2.489,2.494,2.503,2.504,2.504,2.514,2.519,2.52,2.523,2.534,2.534,2.545,2.555,2.556,2.559,2.562,2.581,2.581,2.584,2.586,2.595,2.605,2.607,2.616,2.625,2.634,2.641,2.653,2.66,2.668,2.67,2.678,2.683,2.703,2.706,2.714,2.721,2.731,2.745,2.747,2.759,2.773,2.777,2.788,2.79,2.808,2.815,2.829,2.833,2.85,2.865,2.875,2.877,2.896,2.902,2.912,2.931,2.944,2.955,2.978,2.978,2.991,3.004,3.021,3.039,3.056,3.069,3.083,3.098,3.108,3.129,3.142,3.163,3.166,3.191,3.207,3.219,3.232,3.259,3.278,3.278,3.312,3.321,3.345,3.363,3.379,3.407,3.416,3.443,3.459,3.491,3.521,3.544,3.569,3.592,3.617,3.632,3.664,3.691,3.715,3.741,3.785,3.808,3.838,3.871,3.898,3.94,3.963,3.996,4.037,4.075,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.286,3.272,3.264,3.242,3.24,3.23,3.219,3.206,3.204,3.196,3.179,3.168,3.166,3.151,3.14,3.129,3.126,3.118,3.113,3.112,3.109,3.096,3.087,3.072,3.072,3.071,3.061,3.055,3.045,3.037,3.035,3.028,3.025,3.019,3.016,3.007,3.003,2.998,2.993,2.992,2.984,2.983,2.974,2.971,2.97,2.958,2.957,2.956,2.945,2.945,2.945,2.942,2.94,2.938,2.932,2.932,2.928,2.932,2.932,2.932,2.932,2.932,2.919,2.919,2.916,2.916,2.915,2.915,2.912,2.912,2.912,2.912,2.912,2.912,2.909,2.904,2.903,2.903,2.903,2.903,2.903,2.904,2.905,2.906,2.909,2.911,2.911,2.911,2.911,2.918,2.918,2.918,2.921,2.924,2.927,2.928,2.929,2.929,2.935,2.944,2.944,2.947,2.948,2.949,2.949,2.96,2.965,2.966,2.97,2.974,2.976,2.978,2.983,2.991,2.993,2.994,3.003,3.008,3.011,3.016,3.017,3.027,3.027,3.033,3.038,3.038,3.038,3.047,3.05,3.062,3.066,3.067,3.071,3.078,3.084,3.093,3.095,3.107,3.11,3.111,3.119,3.138,3.139,3.139,3.141,3.162,3.164,3.174,3.183,3.186,3.186,3.198,3.208,3.731,3.751,3.759,3.769,3.775,3.79,3.803,3.814,3.827,3.865,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.942478}
SEN {Time 106.11} {Type Tachometer} {Name LeftRight} {Vel -0.195580,0.198120}
SEN {Time 106.107} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 0.127} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.016} {Name Sonar7 Range 1.6256} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 3.937} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9906}
SEN {Time 106.152} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.178,0.178,0.181,0.181,0.198,0,0,0,0,0,0,4.048,4.048,4.048,4.05,4.071,4.088,4.091,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,0,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0.007,3.954,3.954,0,0,0,0,3.753,3.726,3.69,3.682,3.682,3.658,3.617,3.617,3.563,3.521,0.153,0.153,0.145,0.153,0.145,0.154,0.152,0.152,0.145,0.152,0.152,0.153,0,0,0,0.009,0.009,0,0.165,0.162,0.159,0.158,0.154,0.154,0.158,0.158,3.021,3.021,3.021,3.007,3,2.983,2.969,2.958,2.955,2.935,2.934,2.922,2.904,2.897,2.881,2.88,2.877,2.857,2.847,2.846,2.826,2.825,2.81,2.803,2.788,2.78,2.774,2.77,2.763,2.751,2.745,2.733,2.723,2.723,2.708,2.701,2.696,2.685,2.68,2.68,2.662,2.66,2.656,2.648,2.641,2.634,2.627,2.626,2.612,2.6,2.598,2.593,2.587,2.583,2.579,2.578,2.571,2.56,2.559,2.55,2.547,2.547,2.545,2.539,2.534,2.533,2.529,2.523,2.515,2.513,2.512,2.512,2.501,2.496,2.494,2.492,2.489,2.482,2.482,2.478,2.477,2.476,2.473,2.472,2.471,2.462,2.46,2.457,2.457,2.455,2.448,2.448,2.447,2.447,2.446,2.446,2.446,2.444,2.446,2.446,2.441,2.441,2.441,2.441,2.441,2.447,2.447,2.447,2.447,2.445,2.445,2.445,2.45,2.453,2.453,2.455,2.455,2.455,2.456,2.46,2.46,2.46,2.46,2.464,2.468,2.471,2.474,2.478,2.479,2.484,2.484,2.492,2.493,2.494,2.505,2.506,2.511,2.515,2.524,2.524,2.535,2.536,2.536,2.54,2.55,2.551,2.554,2.554,2.567,2.572,2.573,2.576,2.58,2.589,2.592,2.598,2.608,2.609,2.612,2.623,2.63,2.635,2.639,2.648,2.66,2.664,2.674,2.679,2.685,2.695,2.695,2.707,2.721,2.734,2.735,2.74,2.744,2.755,2.764,2.776,2.778,2.786,2.792,2.805,2.817,2.826,2.828,2.852,2.857,2.86,2.87,2.885,2.9,2.91,2.913,2.93,2.942,2.956,2.965,2.982,2.992,3.003,3.019,3.034,3.046,3.053,3.069,3.089,3.092,3.099,3.119,3.137,3.145,3.173,3.178,3.19,3.206,3.229,3.246,3.267,3.278,3.303,3.31,3.342,3.36,3.38,3.395,3.419,3.434,3.462,3.476,3.501,3.522,3.546,3.575,3.588,3.614,3.64,3.666,3.687,3.711,3.743,3.763,3.8,3.817,3.847,3.888,3.917,3.945,3.985,4.036,4.057,4.093,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.277,3.261,3.238,3.235,3.222,3.222,3.209,3.198,3.188,3.181,3.172,3.156,3.144,3.136,3.135,3.126,3.121,3.102,3.1,3.085,3.082,3.081,3.069,3.055,3.051,3.051,3.04,3.036,3.032,3.023,3.022,3.021,3.007,2.999,2.994,2.994,2.984,2.984,2.98,2.979,2.971,2.966,2.957,2.955,2.953,2.949,2.946,2.942,2.94,2.933,2.929,2.929,2.921,2.918,2.913,2.911,2.91,2.905,2.905,2.905,2.915,2.915,2.915,2.903,2.895,2.892,2.892,2.894,2.89,2.89,2.888,2.888,2.888,2.885,2.888,2.885,2.885,2.881,2.881,2.881,2.879,2.879,2.881,2.881,2.883,2.885,2.891,2.891,2.891,2.894,2.894,2.894,2.892,2.896,2.904,2.904,2.9,2.904,2.905,2.905,2.907,2.912,2.916,2.92,2.924,2.924,2.934,2.936,2.939,2.944,2.945,2.945,2.949,2.952,2.954,2.963,2.964,2.972,2.972,2.98,2.98,2.994,2.997,3.001,3.001,3.002,3.002,3.006,3.02,3.026,3.028,3.027,3.028,3.034,3.055,3.061,3.061,3.059,3.061,3.063,3.083,3.083,3.084,3.095,3.098,3.099,3.115,3.134,3.138,3.139,3.154,3.161,3.162,3.162,3.164,3.18,3.71,3.711,3.727,3.739,3.746,3.754,3.768,3.784,3.805,3.813,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.462,3.462,3.462,0.016,0.007,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.106539}
SEN {Time 106.31} {Type Tachometer} {Name LeftRight} {Vel -0.035560,0.038100}
SEN {Time 106.309} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 0.127} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.016} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.413} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 3.7592}
SEN {Time 106.352} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.183,0.183,0.183,0.185,0.185,0.203,0,0,0,0,0,0,0,0,0,0.007,3.976,3.909,3.891,3.872,3.872,3.872,3.827,3.805,3.709,3.709,3.709,3.698,0.009,0.007,3.596,3.55,3.539,3.516,3.49,3.469,3.437,3.418,3.405,3.396,3.355,3.335,3.331,3.318,3.281,3.269,3.263,3.246,3.226,3.208,3.181,3.173,3.147,3.142,3.131,3.128,0.157,0.145,0.145,0.143,0.155,0.146,0.155,0.153,0.153,0.151,0.151,0.151,0.151,2.952,2.952,3,2.952,2.95,0.167,0.165,0.165,0.165,0.165,0.157,0.157,0.157,0.166,2.783,2.783,2.783,2.776,2.773,2.759,2.753,2.745,2.743,2.735,2.724,2.722,2.711,2.7,2.699,2.691,2.688,2.679,2.666,2.661,2.66,2.655,2.647,2.646,2.629,2.621,2.612,2.612,2.612,2.608,2.594,2.592,2.586,2.586,2.573,2.572,2.567,2.564,2.563,2.56,2.553,2.549,2.542,2.539,2.538,2.528,2.524,2.523,2.514,2.513,2.512,2.502,2.501,2.501,2.502,2.501,2.501,2.496,2.493,2.493,2.493,2.487,2.487,2.487,2.487,2.487,2.484,2.484,2.482,2.476,2.476,2.474,2.47,2.468,2.463,2.463,2.463,2.463,2.464,2.464,2.465,2.465,2.465,2.465,2.465,2.465,2.462,2.462,2.463,2.465,2.464,2.464,2.465,2.465,2.465,2.467,2.474,2.476,2.476,2.476,2.477,2.477,2.486,2.487,2.492,2.494,2.498,2.498,2.498,2.501,2.506,2.512,2.515,2.519,2.52,2.524,2.527,2.536,2.54,2.544,2.547,2.55,2.554,2.558,2.567,2.575,2.577,2.584,2.588,2.588,2.593,2.601,2.603,2.615,2.623,2.629,2.631,2.643,2.649,2.652,2.666,2.675,2.676,2.684,2.685,2.7,2.707,2.719,2.722,2.724,2.743,2.746,2.751,2.76,2.763,2.773,2.783,2.789,2.79,2.807,2.821,2.832,2.835,2.841,2.856,2.86,2.877,2.886,2.9,2.91,2.927,2.931,2.942,2.957,2.962,2.976,2.977,2.995,3.011,3.017,3.033,3.033,3.058,3.072,3.073,3.094,3.115,3.133,3.137,3.155,3.174,3.183,3.203,3.209,3.234,3.252,3.273,3.284,3.304,3.318,3.334,3.343,3.373,3.392,3.41,3.431,3.45,3.463,3.488,3.519,3.526,3.546,3.574,3.613,3.629,3.652,3.654,3.688,3.715,3.745,3.774,3.805,3.837,3.855,3.896,3.93,3.963,3.989,4.036,4.072,4.091,0.016,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,3.265,3.257,3.253,3.233,3.23,3.206,3.195,3.184,3.178,3.175,3.167,3.154,3.142,3.133,3.132,3.125,3.106,3.1,3.098,3.084,3.083,3.073,3.07,3.058,3.049,3.047,3.042,3.029,3.029,3.024,3.011,3.01,3.009,3.003,2.992,2.992,2.986,2.982,2.978,2.976,2.964,2.955,2.955,2.951,2.939,2.937,2.935,2.934,2.933,2.927,2.925,2.922,2.914,2.914,2.913,2.91,2.908,2.905,2.902,2.905,2.908,2.904,2.904,2.904,2.894,2.889,2.889,2.887,2.887,2.887,2.889,2.886,2.886,2.885,2.88,2.877,2.877,2.877,2.88,2.88,2.88,2.879,2.879,2.879,2.878,2.881,2.883,2.881,2.881,2.883,2.888,2.888,2.888,2.888,2.888,2.888,2.892,2.893,2.896,2.896,2.903,2.903,2.905,2.911,2.911,2.911,2.916,2.919,2.919,2.919,2.928,2.93,2.933,2.941,2.951,2.951,2.952,2.953,2.964,2.965,2.97,2.971,2.972,2.974,2.987,2.99,2.99,2.999,3,3,3,3.012,3.013,3.015,3.021,3.024,3.046,3.046,3.047,3.047,3.049,3.065,3.074,3.079,3.079,3.082,3.083,3.095,3.106,3.121,3.126,3.131,3.141,3.144,3.144,3.158,3.165,3.173,3.635,3.697,3.709,3.717,3.723,3.734,3.744,3.75,3.774,3.782,3.809,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 106.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 106.506} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.048} {Name Sonar6 Range 1.016} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.413} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 1.3462} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 3.7592}
SEN {Time 106.551} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.185,0.185,0.179,0.176,0.179,0.179,0.206,0,0,0,0,0,0,0,0,0,0.007,3.901,3.845,3.808,3.807,3.768,3.746,3.716,3.685,3.659,3.653,3.623,3.595,3.575,3.546,3.526,3.507,3.499,3.461,3.437,3.428,3.413,3.387,3.362,3.345,3.323,3.303,3.282,3.27,3.245,3.224,3.22,3.208,3.194,3.164,3.151,3.144,3.135,3.131,3.11,3.1,0.148,0.147,0.147,0.147,0.147,0.147,0.149,0.149,0.151,0.151,0.152,0.153,2.944,2.944,2.951,2.944,2.944,0.171,0.164,0.155,0.156,0.156,0.156,0.156,0.156,0.158,2.781,2.781,2.781,2.771,2.769,2.769,2.752,2.743,2.735,2.733,2.722,2.718,2.712,2.695,2.695,2.68,2.673,2.673,2.66,2.66,2.652,2.651,2.639,2.636,2.629,2.618,2.617,2.609,2.608,2.602,2.598,2.589,2.583,2.579,2.575,2.569,2.568,2.561,2.559,2.553,2.552,2.543,2.538,2.534,2.533,2.529,2.529,2.524,2.519,2.517,2.513,2.508,2.504,2.502,2.502,2.502,2.5,2.498,2.488,2.487,2.487,2.487,2.482,2.48,2.482,2.482,2.482,2.479,2.477,2.476,2.474,2.474,2.474,2.471,2.471,2.47,2.461,2.461,2.462,2.462,2.465,2.466,2.465,2.466,2.466,2.466,2.467,2.467,2.466,2.466,2.47,2.47,2.47,2.472,2.472,2.472,2.473,2.479,2.479,2.479,2.48,2.481,2.482,2.487,2.494,2.501,2.504,2.505,2.507,2.508,2.514,2.515,2.518,2.52,2.527,2.528,2.53,2.539,2.54,2.554,2.554,2.554,2.554,2.555,2.57,2.579,2.581,2.582,2.592,2.594,2.6,2.605,2.606,2.616,2.63,2.63,2.634,2.643,2.656,2.659,2.671,2.677,2.677,2.688,2.701,2.702,2.713,2.714,2.725,2.732,2.739,2.747,2.748,2.766,2.769,2.778,2.779,2.792,2.795,2.801,2.817,2.832,2.838,2.849,2.855,2.877,2.879,2.891,2.904,2.909,2.929,2.934,2.938,2.947,2.966,2.969,2.988,2.997,3.005,3.027,3.035,3.04,3.067,3.069,3.081,3.103,3.112,3.124,3.137,3.154,3.171,3.184,3.2,3.219,3.23,3.245,3.262,3.282,3.298,3.319,3.338,3.355,3.363,3.394,3.418,3.431,3.449,3.469,3.486,3.514,3.546,3.546,3.571,3.594,3.633,3.644,3.663,3.698,3.717,3.737,3.777,3.803,3.832,3.856,3.884,3.919,3.957,3.977,4.017,4.051,4.081,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,3.27,3.259,3.246,3.236,3.228,3.217,3.202,3.186,3.182,3.176,3.163,3.159,3.146,3.145,3.13,3.126,3.118,3.105,3.097,3.094,3.08,3.073,3.066,3.064,3.05,3.048,3.046,3.037,3.03,3.029,3.017,3.015,3.012,3.008,2.999,2.988,2.983,2.98,2.979,2.977,2.966,2.962,2.952,2.95,2.948,2.941,2.938,2.934,2.932,2.925,2.922,2.922,2.918,2.912,2.91,2.909,2.906,2.905,2.905,2.898,2.898,2.905,2.905,2.893,2.893,2.893,2.89,2.885,2.884,2.879,2.879,2.879,2.879,2.88,2.882,2.882,2.882,2.88,2.878,2.878,2.878,2.877,2.875,2.875,2.875,2.882,2.884,2.884,2.884,2.883,2.883,2.883,2.883,2.884,2.884,2.887,2.887,2.892,2.894,2.902,2.902,2.903,2.904,2.904,2.908,2.909,2.912,2.912,2.918,2.919,2.923,2.93,2.931,2.94,2.942,2.947,2.952,2.954,2.954,2.954,2.962,2.963,2.969,2.973,2.983,2.992,2.998,2.998,2.998,2.998,2.999,3.007,3.011,3.015,3.021,3.022,3.037,3.038,3.042,3.042,3.047,3.061,3.061,3.07,3.071,3.073,3.078,3.087,3.099,3.106,3.113,3.128,3.13,3.131,3.134,3.141,3.149,3.173,3.183,3.688,3.709,3.714,3.715,3.725,3.739,3.74,3.763,3.779,3.79,3.814,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.457,3.457,3.457,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 106.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 106.702} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.413} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 3.7592}
SEN {Time 106.752} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.183,0.181,0.181,0.183,0.183,0.196,0,0,0,0,0,0,0,0,0,0,0.007,0,3.866,3.787,3.755,3.741,3.719,3.696,3.663,3.65,3.619,3.6,3.572,3.548,3.533,3.5,3.489,3.471,3.444,3.428,3.395,3.379,3.363,3.351,3.319,3.31,3.28,3.269,3.246,3.228,3.22,3.205,3.194,3.168,3.148,3.139,3.121,3.118,3.108,3.105,0.149,0.148,0.148,0.149,0.149,0.149,0.154,0.154,0.154,0.152,0.154,0.157,2.945,2.945,2.95,2.945,2.933,0.164,0.164,0.154,0.164,0.164,0.16,0.157,0.16,0.16,2.789,2.789,2.789,2.773,2.769,2.759,2.743,2.735,2.734,2.731,2.717,2.709,2.704,2.701,2.7,2.682,2.679,2.678,2.663,2.657,2.655,2.644,2.641,2.637,2.632,2.619,2.613,2.61,2.602,2.599,2.595,2.589,2.584,2.583,2.582,2.574,2.569,2.561,2.559,2.555,2.551,2.551,2.538,2.536,2.535,2.529,2.528,2.528,2.525,2.516,2.507,2.506,2.502,2.502,2.501,2.497,2.494,2.493,2.489,2.487,2.487,2.481,2.489,2.482,2.488,2.482,2.482,2.482,2.482,2.477,2.474,2.47,2.473,2.47,2.467,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.464,2.465,2.465,2.465,2.465,2.465,2.465,2.473,2.474,2.474,2.474,2.473,2.473,2.473,2.479,2.48,2.48,2.48,2.48,2.486,2.493,2.5,2.5,2.503,2.506,2.51,2.51,2.51,2.512,2.516,2.522,2.523,2.525,2.528,2.53,2.539,2.547,2.548,2.553,2.559,2.56,2.568,2.581,2.581,2.589,2.594,2.598,2.603,2.611,2.616,2.624,2.625,2.634,2.636,2.64,2.651,2.662,2.672,2.677,2.687,2.687,2.688,2.702,2.703,2.714,2.72,2.731,2.736,2.747,2.748,2.759,2.766,2.773,2.785,2.795,2.799,2.813,2.817,2.823,2.841,2.843,2.861,2.874,2.89,2.89,2.899,2.916,2.923,2.925,2.938,2.955,2.968,2.975,2.983,2.994,2.999,3.029,3.035,3.045,3.056,3.07,3.088,3.103,3.114,3.133,3.148,3.153,3.172,3.183,3.206,3.214,3.227,3.252,3.261,3.281,3.292,3.314,3.337,3.34,3.37,3.389,3.415,3.416,3.458,3.468,3.493,3.512,3.533,3.542,3.577,3.6,3.627,3.649,3.658,3.691,3.713,3.741,3.778,3.795,3.821,3.852,3.877,3.922,3.951,3.981,4.013,4.042,4.084,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0.007,0,3.977,3.905,3.271,3.257,3.251,3.232,3.224,3.208,3.207,3.186,3.18,3.175,3.169,3.153,3.147,3.134,3.134,3.122,3.118,3.101,3.097,3.092,3.079,3.072,3.064,3.063,3.05,3.048,3.041,3.035,3.029,3.023,3.02,3.015,3.011,3.002,2.994,2.992,2.984,2.981,2.977,2.97,2.97,2.956,2.955,2.951,2.948,2.938,2.937,2.936,2.935,2.929,2.922,2.921,2.919,2.916,2.912,2.909,2.907,2.905,2.905,2.903,2.905,2.905,2.905,2.901,2.888,2.886,2.886,2.885,2.882,2.885,2.885,2.885,2.882,2.881,2.881,2.88,2.88,2.88,2.878,2.873,2.873,2.872,2.872,2.874,2.877,2.878,2.881,2.881,2.878,2.878,2.879,2.879,2.884,2.888,2.889,2.892,2.894,2.895,2.896,2.897,2.901,2.901,2.903,2.906,2.91,2.91,2.918,2.92,2.923,2.928,2.931,2.931,2.932,2.932,2.945,2.947,2.948,2.951,2.952,2.957,2.966,2.97,2.972,2.975,2.987,2.992,2.993,2.993,2.995,2.996,2.998,2.998,3.009,3.017,3.019,3.021,3.029,3.036,3.046,3.046,3.048,3.055,3.059,3.07,3.07,3.082,3.088,3.092,3.092,3.109,3.114,3.125,3.126,3.14,3.145,3.148,3.15,3.166,3.194,3.687,3.697,3.712,3.714,3.726,3.739,3.748,3.758,3.795,3.817,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 106.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 106.903} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 0.127} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.7338} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 106.948} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.181,0.179,0.181,0.181,0.201,0,0,0,0,0,0,0,0,0,0,0.007,0,3.879,3.801,3.758,3.744,3.728,3.691,3.665,3.652,3.625,3.598,3.587,3.554,3.518,3.506,3.485,3.463,3.458,3.42,3.405,3.38,3.368,3.348,3.318,3.306,3.283,3.28,3.253,3.236,3.222,3.201,3.192,3.17,3.158,3.144,3.125,3.115,3.114,3.114,3.114,0.148,0.148,0.148,0.148,0.152,0.153,0.153,0.153,0.153,0.153,0.16,2.941,2.951,2.951,2.951,2.941,2.936,0.168,0.166,0.153,0.153,0.15,0.15,0.153,0.155,2.787,2.787,2.787,2.779,2.767,2.761,2.75,2.746,2.732,2.729,2.723,2.711,2.707,2.693,2.693,2.677,2.673,2.665,2.664,2.658,2.652,2.642,2.639,2.633,2.626,2.625,2.615,2.611,2.604,2.601,2.598,2.588,2.585,2.579,2.576,2.571,2.563,2.563,2.556,2.553,2.553,2.544,2.535,2.532,2.525,2.524,2.524,2.521,2.519,2.513,2.512,2.51,2.507,2.504,2.502,2.501,2.497,2.497,2.488,2.487,2.487,2.485,2.485,2.484,2.484,2.487,2.487,2.48,2.479,2.479,2.476,2.474,2.471,2.466,2.466,2.465,2.465,2.465,2.464,2.464,2.46,2.46,2.46,2.46,2.463,2.463,2.463,2.463,2.463,2.465,2.465,2.466,2.47,2.471,2.474,2.474,2.475,2.478,2.481,2.482,2.484,2.488,2.49,2.494,2.495,2.498,2.499,2.502,2.502,2.504,2.506,2.514,2.518,2.521,2.525,2.527,2.532,2.535,2.535,2.551,2.552,2.56,2.564,2.564,2.573,2.579,2.583,2.585,2.588,2.598,2.603,2.603,2.611,2.616,2.627,2.637,2.637,2.646,2.649,2.661,2.67,2.674,2.681,2.685,2.691,2.701,2.709,2.71,2.716,2.73,2.739,2.749,2.752,2.76,2.777,2.778,2.782,2.792,2.803,2.808,2.822,2.826,2.837,2.845,2.855,2.871,2.878,2.891,2.893,2.909,2.926,2.927,2.939,2.953,2.97,2.971,2.992,2.999,3.003,3.029,3.04,3.04,3.055,3.07,3.086,3.097,3.115,3.135,3.142,3.169,3.172,3.179,3.204,3.212,3.236,3.253,3.267,3.278,3.298,3.328,3.331,3.346,3.368,3.394,3.41,3.425,3.445,3.465,3.49,3.506,3.533,3.548,3.574,3.601,3.626,3.645,3.666,3.679,3.723,3.747,3.764,3.795,3.83,3.844,3.885,3.914,3.947,3.986,4.03,4.06,4.08,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,3.948,3.274,3.271,3.253,3.239,3.232,3.215,3.204,3.187,3.18,3.178,3.16,3.157,3.151,3.137,3.131,3.124,3.107,3.102,3.1,3.083,3.08,3.074,3.067,3.064,3.053,3.045,3.044,3.033,3.029,3.028,3.024,3.023,3.017,3.004,2.995,2.987,2.986,2.986,2.98,2.97,2.962,2.958,2.952,2.951,2.94,2.937,2.936,2.935,2.925,2.925,2.925,2.925,2.914,2.912,2.912,2.909,2.907,2.906,2.901,2.901,2.902,2.902,2.902,2.902,2.896,2.891,2.889,2.883,2.883,2.883,2.879,2.879,2.881,2.879,2.879,2.879,2.879,2.878,2.877,2.876,2.876,2.876,2.876,2.876,2.876,2.879,2.879,2.879,2.879,2.879,2.881,2.882,2.885,2.885,2.885,2.885,2.886,2.886,2.89,2.896,2.897,2.897,2.898,2.904,2.904,2.907,2.914,2.916,2.917,2.923,2.929,2.929,2.933,2.933,2.943,2.945,2.949,2.955,2.956,2.961,2.961,2.966,2.972,2.972,2.985,2.994,2.997,2.997,2.997,3.001,3.005,3.015,3.019,3.02,3.02,3.023,3.033,3.039,3.04,3.042,3.043,3.052,3.067,3.067,3.071,3.074,3.078,3.092,3.097,3.106,3.112,3.129,3.13,3.132,3.144,3.145,3.146,3.163,3.189,3.687,3.704,3.714,3.717,3.735,3.739,3.75,3.763,3.768,3.788,3.815,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 107.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 107.104} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 0.127} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 107.148} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.18,0.177,0.18,0.18,0.206,0,0,0,0,0,0,0,0,0.007,0,3.918,3.846,3.823,3.8,3.785,3.751,3.709,3.698,3.662,3.656,3.614,3.593,3.567,3.556,3.524,3.518,3.489,3.461,3.445,3.433,3.407,3.39,3.377,3.337,3.329,3.314,3.295,3.268,3.25,3.237,3.217,3.2,3.187,3.161,3.149,3.144,3.132,3.119,3.112,3.109,0.153,0.143,0.143,0.143,0.153,0.147,0.153,0.153,0.155,0.153,0.155,0.156,2.947,2.947,2.947,2.936,2.935,0.163,0.163,0.15,0.16,0.16,0.157,0.155,0.157,0.157,2.782,2.782,2.782,2.776,2.769,2.756,2.746,2.737,2.736,2.729,2.719,2.711,2.71,2.701,2.695,2.683,2.68,2.677,2.664,2.656,2.655,2.642,2.642,2.636,2.629,2.617,2.609,2.604,2.599,2.596,2.596,2.588,2.584,2.582,2.574,2.57,2.569,2.557,2.552,2.552,2.548,2.546,2.542,2.539,2.533,2.528,2.524,2.524,2.521,2.514,2.509,2.503,2.503,2.498,2.493,2.493,2.493,2.491,2.49,2.486,2.486,2.486,2.486,2.484,2.488,2.486,2.486,2.483,2.483,2.477,2.473,2.473,2.473,2.472,2.47,2.463,2.463,2.463,2.463,2.463,2.462,2.465,2.465,2.465,2.465,2.465,2.465,2.465,2.464,2.465,2.468,2.467,2.473,2.474,2.473,2.473,2.473,2.473,2.473,2.48,2.48,2.487,2.487,2.487,2.491,2.494,2.498,2.499,2.5,2.51,2.513,2.517,2.518,2.525,2.528,2.533,2.536,2.536,2.541,2.547,2.55,2.553,2.554,2.555,2.564,2.574,2.578,2.578,2.592,2.594,2.597,2.602,2.604,2.62,2.628,2.629,2.638,2.645,2.655,2.666,2.667,2.675,2.678,2.68,2.687,2.697,2.705,2.72,2.72,2.73,2.741,2.751,2.752,2.766,2.768,2.776,2.779,2.791,2.808,2.814,2.815,2.835,2.843,2.848,2.857,2.867,2.877,2.888,2.898,2.912,2.916,2.93,2.94,2.947,2.968,2.97,2.985,3.002,3.003,3.017,3.041,3.047,3.059,3.071,3.097,3.1,3.111,3.123,3.145,3.156,3.17,3.175,3.204,3.211,3.233,3.241,3.266,3.276,3.298,3.324,3.338,3.342,3.373,3.389,3.412,3.416,3.436,3.469,3.493,3.521,3.533,3.547,3.572,3.589,3.629,3.648,3.659,3.686,3.716,3.736,3.768,3.794,3.816,3.855,3.891,3.918,3.954,3.98,4.014,4.05,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.272,3.264,3.254,3.225,3.224,3.209,3.205,3.188,3.175,3.168,3.16,3.157,3.151,3.135,3.13,3.12,3.112,3.108,3.096,3.095,3.085,3.067,3.066,3.058,3.057,3.047,3.041,3.032,3.029,3.027,3.024,3.012,3.01,3.004,2.999,2.993,2.987,2.979,2.977,2.975,2.969,2.953,2.95,2.947,2.944,2.942,2.94,2.934,2.931,2.93,2.926,2.92,2.919,2.911,2.911,2.91,2.902,2.901,2.901,2.9,2.9,2.9,2.9,2.9,2.894,2.893,2.889,2.885,2.883,2.885,2.883,2.883,2.879,2.879,2.878,2.874,2.872,2.872,2.874,2.874,2.874,2.874,2.876,2.879,2.881,2.881,2.882,2.881,2.878,2.878,2.881,2.881,2.888,2.888,2.885,2.887,2.887,2.887,2.892,2.895,2.897,2.898,2.898,2.903,2.907,2.911,2.911,2.915,2.92,2.921,2.921,2.929,2.93,2.935,2.935,2.942,2.943,2.95,2.956,2.962,2.963,2.966,2.969,2.98,2.983,2.992,2.998,2.998,2.998,2.998,2.998,3.011,3.011,3.013,3.016,3.025,3.032,3.037,3.043,3.043,3.045,3.054,3.056,3.066,3.072,3.077,3.083,3.092,3.099,3.111,3.111,3.123,3.133,3.134,3.136,3.141,3.145,3.164,3.199,3.689,3.703,3.712,3.714,3.723,3.737,3.745,3.757,3.772,3.794,3.811,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.447,3.447,3.447,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 107.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 107.305} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 107.349} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.179,0.176,0.179,0.179,0.211,0,0,0,0,0,0,0,0,0,0,3.887,3.838,3.838,3.815,3.792,3.744,3.718,3.691,3.675,3.641,3.617,3.601,3.571,3.557,3.527,3.514,3.481,3.466,3.439,3.431,3.394,3.385,3.363,3.341,3.324,3.31,3.288,3.278,3.248,3.228,3.219,3.207,3.195,3.161,3.152,3.134,3.126,3.12,3.11,3.102,0.155,0.145,0.145,0.145,0.152,0.148,0.152,0.157,0.157,0.156,0.157,0.158,2.942,2.942,2.95,2.942,2.932,0.166,0.161,0.149,0.161,0.161,0.156,0.156,0.16,0.16,2.781,2.781,2.781,2.772,2.771,2.76,2.754,2.74,2.73,2.73,2.713,2.711,2.709,2.7,2.689,2.682,2.679,2.675,2.669,2.658,2.657,2.648,2.64,2.635,2.633,2.619,2.611,2.608,2.6,2.595,2.594,2.593,2.588,2.58,2.571,2.568,2.567,2.56,2.559,2.554,2.554,2.547,2.534,2.533,2.532,2.531,2.529,2.529,2.512,2.509,2.507,2.506,2.501,2.499,2.499,2.496,2.496,2.496,2.495,2.487,2.487,2.486,2.485,2.482,2.482,2.482,2.478,2.478,2.476,2.475,2.472,2.47,2.468,2.468,2.465,2.462,2.462,2.462,2.462,2.459,2.459,2.463,2.463,2.465,2.466,2.466,2.467,2.467,2.465,2.465,2.465,2.465,2.468,2.47,2.47,2.472,2.476,2.478,2.478,2.483,2.485,2.488,2.489,2.49,2.495,2.496,2.502,2.502,2.505,2.505,2.509,2.517,2.517,2.521,2.524,2.529,2.529,2.534,2.545,2.548,2.551,2.556,2.559,2.565,2.569,2.582,2.584,2.585,2.59,2.592,2.597,2.608,2.608,2.612,2.623,2.635,2.638,2.644,2.657,2.661,2.665,2.674,2.676,2.681,2.692,2.702,2.702,2.718,2.719,2.733,2.734,2.747,2.75,2.765,2.769,2.777,2.777,2.79,2.794,2.802,2.816,2.827,2.841,2.848,2.851,2.87,2.875,2.893,2.895,2.911,2.918,2.932,2.942,2.955,2.964,2.969,2.99,2.991,2.999,3.028,3.034,3.05,3.061,3.064,3.083,3.104,3.117,3.129,3.144,3.157,3.175,3.185,3.206,3.22,3.229,3.249,3.264,3.278,3.293,3.32,3.33,3.345,3.372,3.394,3.42,3.428,3.451,3.469,3.486,3.511,3.541,3.543,3.572,3.595,3.624,3.646,3.666,3.687,3.706,3.746,3.761,3.801,3.828,3.849,3.885,3.921,3.949,3.983,4.021,4.046,4.089,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.007,0,3.985,3.912,3.272,3.26,3.243,3.241,3.228,3.207,3.201,3.186,3.181,3.175,3.17,3.155,3.154,3.133,3.13,3.126,3.118,3.105,3.101,3.094,3.086,3.076,3.07,3.065,3.055,3.049,3.042,3.029,3.028,3.028,3.017,3.015,3.012,3.002,2.998,2.991,2.988,2.985,2.98,2.978,2.968,2.962,2.955,2.947,2.943,2.939,2.938,2.934,2.928,2.926,2.924,2.92,2.92,2.917,2.916,2.907,2.906,2.906,2.901,2.9,2.9,2.901,2.9,2.9,2.895,2.893,2.888,2.886,2.885,2.885,2.883,2.883,2.881,2.883,2.879,2.877,2.877,2.878,2.877,2.877,2.877,2.875,2.875,2.875,2.876,2.879,2.882,2.882,2.882,2.879,2.882,2.882,2.885,2.885,2.885,2.885,2.885,2.889,2.89,2.891,2.893,2.9,2.903,2.904,2.907,2.912,2.912,2.915,2.921,2.922,2.926,2.93,2.932,2.932,2.94,2.943,2.947,2.95,2.954,2.955,2.963,2.966,2.971,2.974,2.984,2.992,2.996,2.996,2.992,2.992,3.004,3.004,3.01,3.017,3.022,3.025,3.029,3.034,3.042,3.044,3.044,3.048,3.06,3.066,3.069,3.075,3.078,3.09,3.096,3.107,3.11,3.125,3.125,3.136,3.143,3.151,3.151,3.163,3.197,3.691,3.703,3.712,3.719,3.735,3.739,3.752,3.754,3.774,3.793,3.816,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 107.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 107.506} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.0226} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 107.547} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.179,0.178,0.175,0.179,0.179,0.19,0,0,0,0,0,0,0,0,0,0,0,3.884,3.84,3.797,3.764,3.74,3.727,3.697,3.658,3.635,3.63,3.581,3.574,3.55,3.523,3.51,3.488,3.479,3.445,3.421,3.402,3.387,3.368,3.352,3.323,3.308,3.275,3.275,3.246,3.24,3.216,3.198,3.187,3.173,3.154,3.145,3.128,3.118,3.116,3.111,0.152,0.152,0.152,0.152,0.152,0.149,0.152,0.152,0.152,0.15,0.152,0.156,2.952,2.952,2.952,2.952,2.952,2.949,0.169,0.16,0.16,0.16,0.151,0.151,0.16,0.163,2.789,2.789,2.789,2.771,2.768,2.757,2.747,2.74,2.737,2.735,2.721,2.715,2.714,2.698,2.686,2.683,2.677,2.669,2.663,2.662,2.653,2.641,2.64,2.633,2.623,2.616,2.611,2.607,2.605,2.601,2.597,2.589,2.587,2.582,2.574,2.568,2.565,2.56,2.559,2.554,2.553,2.546,2.534,2.531,2.528,2.525,2.525,2.524,2.517,2.516,2.51,2.507,2.504,2.503,2.502,2.499,2.496,2.493,2.49,2.489,2.483,2.482,2.482,2.482,2.483,2.483,2.483,2.483,2.48,2.479,2.478,2.472,2.472,2.468,2.463,2.461,2.46,2.459,2.458,2.458,2.458,2.459,2.459,2.462,2.466,2.466,2.466,2.466,2.466,2.467,2.47,2.468,2.468,2.468,2.474,2.474,2.477,2.477,2.479,2.481,2.483,2.484,2.485,2.488,2.492,2.494,2.496,2.503,2.503,2.51,2.51,2.511,2.512,2.525,2.525,2.527,2.528,2.534,2.537,2.548,2.552,2.554,2.559,2.56,2.562,2.575,2.575,2.583,2.592,2.594,2.603,2.604,2.607,2.615,2.624,2.635,2.636,2.644,2.65,2.658,2.663,2.675,2.678,2.689,2.693,2.701,2.703,2.712,2.717,2.728,2.728,2.745,2.749,2.758,2.77,2.778,2.78,2.798,2.801,2.808,2.821,2.825,2.843,2.846,2.856,2.869,2.879,2.892,2.897,2.913,2.918,2.926,2.934,2.948,2.966,2.967,2.991,2.994,3.004,3.014,3.038,3.04,3.058,3.073,3.089,3.116,3.121,3.128,3.142,3.155,3.175,3.181,3.202,3.211,3.23,3.252,3.267,3.277,3.297,3.325,3.333,3.342,3.367,3.393,3.413,3.425,3.444,3.467,3.502,3.51,3.534,3.546,3.573,3.591,3.625,3.646,3.673,3.683,3.725,3.746,3.768,3.801,3.825,3.846,3.871,3.925,3.949,3.993,4.014,4.044,4.087,0.016,0.016,0,0,0,0,0,0,0,0,0,3.99,3.99,3.971,3.957,3.915,3.271,3.267,3.244,3.236,3.23,3.211,3.202,3.188,3.182,3.174,3.166,3.158,3.148,3.145,3.124,3.123,3.12,3.103,3.1,3.097,3.081,3.073,3.068,3.064,3.058,3.044,3.043,3.038,3.029,3.029,3.024,3.016,3.004,3,2.999,2.992,2.987,2.979,2.973,2.97,2.968,2.961,2.958,2.957,2.949,2.939,2.937,2.934,2.93,2.922,2.921,2.92,2.917,2.917,2.915,2.914,2.91,2.906,2.904,2.902,2.902,2.902,2.897,2.897,2.897,2.888,2.886,2.886,2.881,2.886,2.881,2.881,2.879,2.881,2.881,2.883,2.883,2.883,2.876,2.876,2.876,2.875,2.874,2.875,2.877,2.879,2.879,2.879,2.879,2.879,2.88,2.882,2.882,2.884,2.884,2.884,2.884,2.891,2.892,2.896,2.897,2.897,2.899,2.906,2.907,2.909,2.915,2.917,2.918,2.918,2.931,2.933,2.936,2.936,2.946,2.946,2.947,2.951,2.959,2.963,2.965,2.965,2.978,2.983,2.985,2.993,2.995,2.997,2.997,2.998,2.998,2.998,3.006,3.009,3.022,3.022,3.029,3.037,3.038,3.049,3.049,3.052,3.058,3.07,3.073,3.078,3.082,3.092,3.097,3.098,3.118,3.126,3.132,3.136,3.139,3.149,3.151,3.162,3.188,3.691,3.705,3.709,3.71,3.731,3.746,3.748,3.771,3.774,3.775,3.817,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.453,3.453,3.453,0.016,0.016,0,0.016,0.016,0.007,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 107.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 107.698} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.0226} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 107.748} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.178,0.176,0.174,0.176,0.176,0.196,0,0,0,0,0,0,0,0,0,0,0,3.909,3.876,3.787,3.77,3.741,3.717,3.7,3.666,3.644,3.617,3.586,3.575,3.546,3.531,3.501,3.487,3.466,3.442,3.433,3.406,3.38,3.362,3.343,3.323,3.315,3.283,3.272,3.245,3.228,3.224,3.202,3.195,3.165,3.151,3.147,3.137,3.117,3.116,3.105,0.153,0.151,0.15,0.15,0.15,0.149,0.15,0.153,0.153,0.149,0.153,0.154,2.946,2.946,2.947,2.946,2.936,0.169,0.164,0.161,0.161,0.16,0.155,0.155,0.156,0.156,2.787,2.787,2.787,2.774,2.765,2.76,2.741,2.738,2.735,2.731,2.721,2.711,2.71,2.697,2.689,2.678,2.677,2.672,2.666,2.655,2.655,2.644,2.635,2.631,2.623,2.613,2.613,2.603,2.603,2.593,2.591,2.591,2.586,2.573,2.573,2.573,2.565,2.565,2.565,2.556,2.553,2.55,2.534,2.531,2.531,2.527,2.524,2.517,2.514,2.505,2.504,2.504,2.504,2.504,2.502,2.502,2.495,2.49,2.489,2.483,2.483,2.483,2.483,2.483,2.485,2.481,2.481,2.48,2.48,2.479,2.477,2.477,2.477,2.472,2.47,2.467,2.461,2.461,2.46,2.46,2.461,2.464,2.461,2.464,2.464,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.47,2.47,2.475,2.475,2.475,2.476,2.476,2.484,2.484,2.487,2.487,2.488,2.488,2.491,2.495,2.495,2.5,2.506,2.51,2.516,2.518,2.522,2.523,2.533,2.533,2.542,2.545,2.551,2.553,2.555,2.557,2.56,2.57,2.575,2.576,2.582,2.589,2.59,2.593,2.607,2.607,2.617,2.625,2.626,2.638,2.642,2.661,2.663,2.669,2.678,2.68,2.686,2.696,2.705,2.708,2.712,2.724,2.734,2.738,2.743,2.753,2.762,2.773,2.778,2.782,2.795,2.803,2.804,2.824,2.831,2.834,2.851,2.856,2.863,2.879,2.885,2.898,2.902,2.913,2.927,2.941,2.953,2.962,2.975,2.991,2.999,3,3.026,3.036,3.045,3.063,3.067,3.091,3.11,3.123,3.137,3.146,3.156,3.169,3.19,3.201,3.203,3.223,3.248,3.265,3.276,3.298,3.319,3.338,3.345,3.37,3.39,3.412,3.419,3.45,3.468,3.489,3.516,3.532,3.548,3.562,3.593,3.626,3.643,3.663,3.692,3.723,3.736,3.771,3.802,3.822,3.844,3.883,3.911,3.948,3.994,4.013,4.06,4.081,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,3.269,3.263,3.251,3.23,3.23,3.222,3.203,3.19,3.176,3.174,3.173,3.155,3.151,3.137,3.128,3.127,3.121,3.103,3.1,3.096,3.082,3.08,3.065,3.064,3.053,3.05,3.041,3.036,3.032,3.021,3.02,3.019,3.009,3.007,3.004,2.99,2.983,2.983,2.975,2.968,2.965,2.957,2.948,2.948,2.948,2.944,2.937,2.932,2.932,2.924,2.923,2.918,2.915,2.911,2.911,2.91,2.91,2.904,2.903,2.9,2.9,2.903,2.896,2.896,2.892,2.887,2.882,2.881,2.881,2.882,2.883,2.883,2.883,2.884,2.884,2.881,2.881,2.881,2.881,2.879,2.876,2.876,2.874,2.874,2.877,2.88,2.882,2.882,2.882,2.882,2.879,2.879,2.878,2.883,2.884,2.888,2.889,2.892,2.892,2.895,2.895,2.9,2.9,2.905,2.908,2.909,2.913,2.914,2.914,2.917,2.922,2.926,2.931,2.933,2.936,2.944,2.947,2.948,2.951,2.955,2.96,2.966,2.969,2.977,2.98,2.99,2.994,2.996,2.996,2.996,3.003,3.003,3.009,3.01,3.013,3.021,3.032,3.034,3.044,3.048,3.051,3.053,3.061,3.061,3.069,3.075,3.083,3.089,3.095,3.096,3.115,3.126,3.126,3.134,3.144,3.148,3.151,3.164,3.191,3.688,3.706,3.71,3.724,3.739,3.755,3.755,3.762,3.765,3.789,3.811,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.451,3.451,3.451,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 107.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 107.899} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.0226} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 107.947} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.18,0.181,0.181,0.203,0,0,0,0,0,0,0,0,0,0.007,3.902,3.833,3.833,3.81,3.782,3.747,3.717,3.695,3.656,3.646,3.63,3.589,3.576,3.556,3.519,3.493,3.483,3.465,3.437,3.422,3.405,3.381,3.357,3.341,3.336,3.304,3.284,3.267,3.248,3.231,3.215,3.211,3.191,3.158,3.149,3.142,3.12,3.11,3.11,3.105,3.105,0.145,0.145,0.144,0.145,0.145,0.15,0.15,0.15,0.15,0.15,0.163,2.941,2.941,2.941,2.941,2.934,2.934,0.007,0.163,0.163,0.163,0.16,0.155,0.16,0.16,2.786,2.786,2.786,2.768,2.762,2.752,2.752,2.74,2.734,2.723,2.718,2.717,2.709,2.7,2.698,2.682,2.678,2.672,2.67,2.657,2.651,2.65,2.641,2.64,2.628,2.613,2.61,2.609,2.607,2.599,2.596,2.593,2.586,2.581,2.576,2.569,2.564,2.557,2.555,2.552,2.546,2.541,2.538,2.533,2.531,2.527,2.524,2.522,2.519,2.507,2.507,2.504,2.503,2.503,2.502,2.496,2.495,2.495,2.492,2.487,2.482,2.482,2.481,2.475,2.481,2.481,2.481,2.479,2.479,2.475,2.475,2.47,2.467,2.464,2.464,2.465,2.464,2.465,2.465,2.465,2.462,2.46,2.46,2.467,2.465,2.465,2.465,2.464,2.461,2.461,2.464,2.466,2.468,2.471,2.472,2.473,2.473,2.474,2.474,2.48,2.483,2.483,2.485,2.492,2.497,2.498,2.5,2.503,2.504,2.505,2.506,2.51,2.511,2.52,2.523,2.527,2.53,2.533,2.536,2.545,2.55,2.552,2.561,2.563,2.566,2.567,2.58,2.582,2.592,2.592,2.598,2.602,2.611,2.619,2.629,2.631,2.641,2.642,2.651,2.655,2.664,2.676,2.678,2.687,2.689,2.702,2.708,2.712,2.728,2.734,2.741,2.744,2.752,2.762,2.771,2.782,2.783,2.798,2.805,2.815,2.825,2.83,2.844,2.847,2.854,2.866,2.876,2.886,2.894,2.91,2.923,2.93,2.938,2.948,2.969,2.981,2.993,3.002,3.002,3.019,3.03,3.04,3.057,3.068,3.087,3.1,3.116,3.136,3.136,3.155,3.171,3.182,3.204,3.21,3.236,3.244,3.259,3.282,3.302,3.325,3.334,3.343,3.37,3.393,3.416,3.427,3.446,3.471,3.491,3.508,3.534,3.544,3.575,3.596,3.629,3.66,3.666,3.689,3.716,3.741,3.777,3.791,3.839,3.853,3.886,3.906,3.945,3.982,4.014,4.06,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0,3.272,3.261,3.248,3.23,3.229,3.211,3.204,3.191,3.178,3.175,3.167,3.159,3.145,3.139,3.125,3.121,3.118,3.104,3.101,3.09,3.079,3.075,3.065,3.062,3.053,3.046,3.039,3.035,3.03,3.022,3.022,3.019,3.003,3.002,2.996,2.994,2.99,2.984,2.978,2.977,2.965,2.957,2.955,2.951,2.945,2.941,2.933,2.932,2.929,2.928,2.922,2.919,2.918,2.914,2.913,2.912,2.91,2.905,2.902,2.902,2.902,2.909,2.909,2.909,2.888,2.887,2.887,2.887,2.886,2.884,2.883,2.881,2.881,2.881,2.88,2.879,2.879,2.877,2.876,2.876,2.876,2.874,2.873,2.876,2.878,2.876,2.885,2.885,2.878,2.878,2.883,2.883,2.883,2.884,2.884,2.885,2.888,2.888,2.894,2.896,2.898,2.901,2.901,2.908,2.909,2.914,2.914,2.914,2.922,2.924,2.924,2.931,2.933,2.935,2.937,2.942,2.944,2.95,2.954,2.956,2.966,2.969,2.972,2.974,2.988,2.989,2.996,2.996,2.991,2.996,2.999,3.015,3.015,3.015,3.015,3.024,3.036,3.037,3.038,3.041,3.053,3.056,3.062,3.064,3.075,3.075,3.09,3.092,3.094,3.098,3.109,3.12,3.129,3.13,3.137,3.139,3.148,3.163,3.191,3.679,3.695,3.707,3.712,3.733,3.745,3.747,3.769,3.774,3.777,3.811,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.45,3.45,3.45,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 108.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 108.1} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 108.144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.182,0.18,0.178,0.182,0.182,0.21,0,0,0,0,0,0,0,0,0,0,0,0.007,3.83,3.787,3.763,3.743,3.718,3.688,3.663,3.645,3.626,3.592,3.577,3.546,3.516,3.496,3.493,3.474,3.447,3.425,3.405,3.386,3.365,3.342,3.323,3.302,3.288,3.271,3.243,3.236,3.211,3.208,3.188,3.171,3.153,3.136,3.13,3.115,3.112,3.104,0.153,0.143,0.143,0.147,0.147,0.147,0.153,0.156,0.156,0.147,0.156,0.159,2.94,2.941,2.941,2.94,2.933,0.163,0.163,0.159,0.161,0.161,0.153,0.153,0.16,0.16,2.787,2.787,2.787,2.774,2.768,2.759,2.753,2.74,2.737,2.732,2.728,2.716,2.7,2.696,2.694,2.677,2.674,2.667,2.665,2.663,2.651,2.644,2.641,2.635,2.632,2.617,2.607,2.606,2.602,2.602,2.602,2.593,2.584,2.576,2.576,2.571,2.559,2.559,2.556,2.552,2.552,2.547,2.536,2.533,2.531,2.524,2.521,2.521,2.52,2.515,2.511,2.506,2.504,2.501,2.501,2.5,2.497,2.493,2.489,2.488,2.484,2.481,2.48,2.48,2.48,2.48,2.48,2.475,2.482,2.476,2.476,2.475,2.475,2.471,2.465,2.463,2.457,2.457,2.457,2.457,2.46,2.462,2.462,2.466,2.466,2.466,2.466,2.467,2.464,2.47,2.47,2.47,2.47,2.47,2.47,2.476,2.476,2.476,2.477,2.484,2.485,2.486,2.488,2.488,2.489,2.492,2.495,2.497,2.498,2.502,2.508,2.518,2.523,2.524,2.524,2.528,2.53,2.537,2.543,2.546,2.55,2.554,2.561,2.564,2.566,2.569,2.572,2.576,2.582,2.593,2.599,2.604,2.612,2.613,2.616,2.629,2.636,2.639,2.656,2.659,2.662,2.676,2.679,2.687,2.689,2.699,2.7,2.713,2.718,2.733,2.734,2.748,2.749,2.757,2.769,2.776,2.78,2.799,2.802,2.803,2.825,2.831,2.845,2.856,2.856,2.874,2.878,2.89,2.893,2.912,2.913,2.929,2.941,2.949,2.961,2.974,2.989,2.994,2.999,3.029,3.034,3.045,3.054,3.072,3.083,3.104,3.114,3.131,3.133,3.153,3.172,3.181,3.193,3.215,3.223,3.257,3.264,3.268,3.296,3.314,3.332,3.351,3.361,3.391,3.407,3.425,3.448,3.462,3.488,3.502,3.53,3.541,3.577,3.596,3.628,3.645,3.665,3.683,3.719,3.749,3.763,3.798,3.827,3.849,3.885,3.908,3.955,3.986,4.028,4.047,4.084,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.272,3.27,3.244,3.237,3.232,3.217,3.202,3.192,3.178,3.176,3.165,3.164,3.143,3.137,3.131,3.131,3.121,3.105,3.104,3.092,3.08,3.077,3.066,3.062,3.05,3.049,3.045,3.038,3.035,3.028,3.016,3.016,3.004,3.003,2.998,2.988,2.981,2.98,2.974,2.968,2.966,2.958,2.955,2.948,2.945,2.941,2.934,2.93,2.929,2.919,2.918,2.917,2.914,2.911,2.911,2.908,2.904,2.901,2.901,2.901,2.902,2.903,2.903,2.902,2.89,2.888,2.887,2.884,2.881,2.884,2.884,2.884,2.879,2.878,2.878,2.878,2.878,2.878,2.878,2.877,2.873,2.873,2.873,2.873,2.881,2.882,2.882,2.882,2.882,2.882,2.881,2.881,2.881,2.881,2.878,2.881,2.884,2.894,2.895,2.896,2.896,2.897,2.901,2.908,2.908,2.908,2.911,2.911,2.912,2.914,2.925,2.926,2.93,2.94,2.94,2.948,2.948,2.948,2.954,2.955,2.965,2.967,2.972,2.974,2.982,2.998,2.999,2.999,2.998,2.998,3.001,3.001,3.003,3.01,3.013,3.018,3.023,3.03,3.043,3.044,3.056,3.064,3.064,3.064,3.071,3.078,3.082,3.092,3.098,3.108,3.108,3.125,3.127,3.131,3.141,3.148,3.148,3.173,3.191,3.692,3.704,3.707,3.716,3.725,3.741,3.742,3.757,3.774,3.779,3.81,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.449,3.449,3.449,0.016,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 108.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 108.301} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.191} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 108.348} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.184,0.18,0.18,0.184,0.184,0.204,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.789,3.757,3.743,3.721,3.696,3.664,3.646,3.627,3.604,3.58,3.552,3.522,3.506,3.492,3.472,3.437,3.43,3.406,3.375,3.367,3.34,3.318,3.302,3.279,3.278,3.249,3.227,3.218,3.203,3.196,3.164,3.157,3.143,3.126,3.109,3.107,3.106,0.15,0.145,0.145,0.145,0.147,0.147,0.15,0.153,0.153,0.15,0.153,0.153,2.936,2.936,2.944,2.936,2.933,0.17,0.163,0.157,0.157,0.157,0.157,0.157,0.157,0.16,2.788,2.788,2.788,2.78,2.767,2.753,2.745,2.736,2.734,2.733,2.722,2.71,2.707,2.699,2.696,2.685,2.682,2.681,2.668,2.659,2.655,2.65,2.635,2.633,2.632,2.621,2.613,2.61,2.602,2.599,2.595,2.586,2.584,2.579,2.574,2.571,2.567,2.556,2.553,2.55,2.55,2.55,2.542,2.534,2.528,2.528,2.523,2.522,2.519,2.515,2.514,2.513,2.504,2.499,2.498,2.493,2.492,2.491,2.491,2.488,2.487,2.485,2.485,2.484,2.484,2.484,2.486,2.486,2.486,2.476,2.476,2.466,2.466,2.466,2.466,2.466,2.465,2.464,2.464,2.464,2.464,2.464,2.466,2.466,2.466,2.466,2.467,2.467,2.465,2.468,2.472,2.473,2.473,2.473,2.473,2.473,2.473,2.476,2.477,2.478,2.48,2.483,2.485,2.486,2.496,2.5,2.504,2.504,2.505,2.505,2.512,2.513,2.516,2.523,2.527,2.528,2.532,2.536,2.541,2.547,2.554,2.555,2.562,2.563,2.572,2.576,2.579,2.584,2.594,2.594,2.601,2.603,2.609,2.613,2.624,2.63,2.632,2.649,2.656,2.662,2.669,2.676,2.681,2.681,2.696,2.703,2.707,2.715,2.725,2.725,2.736,2.748,2.752,2.765,2.765,2.776,2.78,2.796,2.8,2.813,2.832,2.836,2.84,2.85,2.858,2.867,2.874,2.887,2.895,2.913,2.915,2.929,2.944,2.957,2.966,2.976,2.988,3.001,3.002,3.025,3.029,3.042,3.061,3.064,3.095,3.102,3.121,3.126,3.139,3.16,3.173,3.187,3.202,3.215,3.233,3.253,3.266,3.277,3.307,3.323,3.339,3.345,3.364,3.393,3.405,3.421,3.451,3.465,3.495,3.507,3.535,3.543,3.576,3.597,3.618,3.656,3.677,3.688,3.711,3.741,3.76,3.798,3.833,3.856,3.874,3.909,3.951,3.981,4.015,4.063,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0.007,0,0.007,0,0,0,0,3.269,3.263,3.247,3.23,3.228,3.216,3.21,3.192,3.179,3.175,3.164,3.153,3.149,3.134,3.128,3.126,3.115,3.107,3.104,3.1,3.078,3.077,3.068,3.064,3.052,3.051,3.043,3.029,3.029,3.027,3.022,3.013,3.004,3.002,3.001,2.992,2.988,2.98,2.976,2.976,2.963,2.96,2.955,2.951,2.943,2.938,2.933,2.931,2.929,2.929,2.924,2.92,2.918,2.916,2.914,2.911,2.91,2.905,2.901,2.9,2.9,2.9,2.9,2.9,2.899,2.889,2.885,2.884,2.884,2.884,2.883,2.881,2.879,2.879,2.879,2.879,2.879,2.879,2.874,2.874,2.874,2.878,2.878,2.878,2.879,2.88,2.882,2.882,2.882,2.882,2.884,2.88,2.885,2.885,2.886,2.891,2.891,2.891,2.891,2.895,2.896,2.903,2.904,2.904,2.908,2.909,2.915,2.916,2.917,2.919,2.931,2.931,2.937,2.938,2.938,2.944,2.944,2.95,2.951,2.954,2.961,2.965,2.978,2.98,2.987,2.993,2.994,2.994,2.993,2.994,3.001,3.002,3.002,3.014,3.017,3.026,3.035,3.039,3.04,3.041,3.044,3.049,3.059,3.068,3.078,3.08,3.081,3.087,3.093,3.109,3.112,3.127,3.127,3.132,3.139,3.147,3.152,3.163,3.194,3.69,3.702,3.715,3.716,3.729,3.741,3.744,3.761,3.767,3.781,3.82,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 108.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 108.502} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.191} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 108.544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.177,0.177,0.178,0.18,0.18,0.209,0,0,0,0,0,0,0,0,0.007,0,3.925,0,3.848,3.826,3.768,3.754,3.722,3.692,3.668,3.649,3.612,3.596,3.578,3.56,3.527,3.508,3.487,3.47,3.453,3.431,3.4,3.379,3.365,3.338,3.321,3.313,3.282,3.271,3.239,3.232,3.22,3.208,3.185,3.16,3.15,3.148,3.128,3.118,3.118,3.097,0.147,0.143,0.143,0.145,0.147,0.153,0.153,0.156,0.156,0.153,0.153,0.156,2.94,2.94,2.947,2.94,2.935,0.167,0.167,0.153,0.167,0.167,0.161,0.157,0.161,0.161,2.792,2.792,2.792,2.776,2.768,2.756,2.751,2.741,2.738,2.737,2.722,2.709,2.702,2.702,2.694,2.683,2.677,2.675,2.665,2.659,2.656,2.643,2.64,2.636,2.63,2.62,2.611,2.605,2.604,2.599,2.595,2.589,2.58,2.578,2.577,2.574,2.565,2.561,2.554,2.552,2.547,2.541,2.54,2.529,2.529,2.529,2.529,2.522,2.518,2.517,2.506,2.504,2.499,2.498,2.498,2.498,2.497,2.492,2.491,2.487,2.485,2.48,2.48,2.48,2.483,2.482,2.482,2.477,2.481,2.477,2.475,2.474,2.474,2.467,2.466,2.466,2.466,2.465,2.465,2.465,2.465,2.465,2.461,2.467,2.465,2.465,2.464,2.464,2.464,2.464,2.464,2.467,2.467,2.467,2.477,2.478,2.479,2.48,2.482,2.482,2.484,2.485,2.488,2.488,2.493,2.497,2.498,2.501,2.504,2.506,2.509,2.513,2.514,2.52,2.528,2.53,2.536,2.543,2.546,2.551,2.556,2.557,2.557,2.563,2.569,2.575,2.577,2.579,2.588,2.588,2.599,2.605,2.608,2.616,2.621,2.629,2.634,2.646,2.653,2.659,2.664,2.68,2.684,2.689,2.702,2.706,2.707,2.718,2.723,2.733,2.737,2.745,2.748,2.755,2.769,2.774,2.782,2.792,2.797,2.808,2.824,2.826,2.841,2.849,2.854,2.869,2.885,2.895,2.896,2.913,2.918,2.934,2.942,2.951,2.963,2.97,2.991,2.995,2.996,3.016,3.037,3.044,3.054,3.074,3.089,3.104,3.117,3.134,3.136,3.156,3.178,3.18,3.2,3.206,3.23,3.247,3.262,3.277,3.303,3.323,3.334,3.346,3.369,3.401,3.413,3.431,3.446,3.461,3.492,3.512,3.53,3.542,3.567,3.599,3.631,3.647,3.66,3.685,3.712,3.737,3.78,3.8,3.82,3.842,3.885,3.91,3.956,3.985,4.017,4.05,4.081,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0.007,0,3.949,3.273,3.256,3.245,3.232,3.228,3.218,3.2,3.189,3.18,3.176,3.174,3.157,3.151,3.134,3.128,3.122,3.112,3.107,3.096,3.089,3.08,3.08,3.068,3.065,3.056,3.051,3.044,3.037,3.03,3.023,3.022,3.021,3.002,3.002,2.994,2.989,2.982,2.977,2.974,2.971,2.969,2.957,2.955,2.951,2.944,2.936,2.934,2.93,2.926,2.923,2.92,2.919,2.919,2.917,2.91,2.91,2.906,2.903,2.903,2.903,2.903,2.903,2.903,2.903,2.894,2.889,2.888,2.888,2.886,2.884,2.883,2.88,2.88,2.88,2.88,2.88,2.876,2.882,2.876,2.875,2.875,2.873,2.873,2.875,2.876,2.876,2.88,2.88,2.88,2.88,2.883,2.887,2.887,2.888,2.888,2.89,2.887,2.89,2.889,2.89,2.893,2.899,2.9,2.903,2.906,2.911,2.912,2.914,2.915,2.922,2.929,2.932,2.937,2.938,2.939,2.942,2.945,2.949,2.95,2.955,2.959,2.963,2.965,2.979,2.98,2.991,2.997,2.997,2.997,3.005,3.005,3.013,3.017,3.017,3.017,3.021,3.032,3.034,3.037,3.041,3.042,3.048,3.058,3.068,3.072,3.076,3.08,3.086,3.092,3.103,3.117,3.119,3.126,3.131,3.136,3.141,3.15,3.172,3.188,3.686,3.708,3.709,3.71,3.738,3.738,3.752,3.769,3.769,3.793,3.821,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 108.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 108.695} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8448} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.191} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 108.744} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.181,0.181,0.181,0.181,0.21,0,0,0,0,0,0,0,0,0.007,3.921,3.88,3.842,3.818,3.796,3.764,3.747,3.727,3.685,3.675,3.651,3.62,3.6,3.572,3.557,3.532,3.505,3.497,3.466,3.449,3.43,3.409,3.374,3.361,3.338,3.323,3.306,3.298,3.274,3.243,3.234,3.22,3.21,3.191,3.162,3.15,3.139,3.127,3.122,3.112,3.109,0.148,0.144,0.144,0.144,0.144,0.142,0.147,0.153,0.153,0.151,0.153,0.153,2.955,2.955,2.955,2.938,2.937,0.169,0.163,0.146,0.151,0.153,0.153,0.153,0.154,0.159,2.779,2.779,2.779,2.778,2.769,2.765,2.747,2.743,2.737,2.734,2.722,2.711,2.703,2.7,2.693,2.676,2.674,2.67,2.662,2.656,2.653,2.645,2.642,2.635,2.626,2.62,2.617,2.606,2.599,2.598,2.591,2.588,2.586,2.58,2.58,2.573,2.571,2.565,2.56,2.552,2.548,2.547,2.541,2.53,2.529,2.527,2.521,2.521,2.519,2.509,2.508,2.505,2.499,2.498,2.498,2.498,2.498,2.497,2.491,2.49,2.488,2.488,2.487,2.486,2.487,2.483,2.483,2.482,2.482,2.475,2.473,2.473,2.472,2.468,2.47,2.468,2.461,2.461,2.461,2.461,2.464,2.464,2.464,2.466,2.468,2.466,2.466,2.465,2.464,2.464,2.465,2.465,2.47,2.47,2.471,2.471,2.473,2.476,2.479,2.485,2.481,2.485,2.485,2.489,2.494,2.501,2.503,2.504,2.505,2.507,2.515,2.516,2.521,2.525,2.527,2.528,2.535,2.535,2.535,2.54,2.549,2.551,2.558,2.562,2.568,2.568,2.584,2.585,2.595,2.597,2.599,2.606,2.61,2.621,2.625,2.635,2.638,2.647,2.653,2.654,2.659,2.67,2.677,2.682,2.696,2.697,2.698,2.718,2.719,2.731,2.745,2.747,2.754,2.761,2.773,2.776,2.78,2.796,2.8,2.81,2.811,2.829,2.835,2.851,2.858,2.878,2.879,2.891,2.894,2.911,2.923,2.929,2.942,2.954,2.97,2.975,2.99,2.995,3.008,3.019,3.036,3.047,3.057,3.073,3.09,3.11,3.116,3.13,3.138,3.158,3.179,3.185,3.205,3.217,3.228,3.247,3.268,3.278,3.297,3.32,3.328,3.348,3.373,3.383,3.416,3.426,3.444,3.478,3.485,3.512,3.532,3.548,3.566,3.599,3.63,3.654,3.672,3.697,3.724,3.747,3.764,3.795,3.82,3.856,3.882,3.921,3.946,3.986,4.008,4.047,4.093,0.016,0.016,0.016,0,0,0,0,0,0,4.045,4.045,0.007,0,0,0,0,3.278,3.266,3.242,3.238,3.232,3.213,3.205,3.191,3.182,3.17,3.17,3.16,3.15,3.138,3.125,3.122,3.113,3.1,3.095,3.095,3.085,3.075,3.066,3.057,3.054,3.052,3.038,3.037,3.03,3.022,3.016,3.011,3.008,3.002,2.996,2.99,2.989,2.981,2.975,2.968,2.963,2.959,2.951,2.951,2.945,2.943,2.941,2.935,2.93,2.929,2.92,2.92,2.917,2.917,2.908,2.908,2.905,2.903,2.9,2.9,2.9,2.9,2.9,2.9,2.894,2.894,2.887,2.887,2.881,2.881,2.88,2.879,2.877,2.877,2.877,2.877,2.877,2.877,2.875,2.874,2.874,2.873,2.873,2.873,2.877,2.883,2.886,2.886,2.888,2.888,2.888,2.886,2.886,2.886,2.885,2.886,2.887,2.89,2.894,2.894,2.894,2.9,2.904,2.906,2.91,2.913,2.914,2.914,2.914,2.917,2.925,2.927,2.933,2.934,2.936,2.946,2.95,2.951,2.959,2.962,2.963,2.971,2.974,2.975,2.979,2.997,3.004,3.004,3.004,3.006,3.008,3.012,3.013,3.016,3.018,3.018,3.03,3.034,3.041,3.047,3.049,3.055,3.056,3.065,3.067,3.074,3.083,3.092,3.105,3.107,3.114,3.121,3.129,3.139,3.141,3.146,3.152,3.171,3.192,3.686,3.704,3.704,3.71,3.733,3.744,3.75,3.763,3.783,3.784,3.826,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.448,3.448,3.448,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 108.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 108.895} {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.191} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 108.944} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.177,0.176,0.177,0.177,0.197,0,0,0,0,0,0,0,0,0,3.91,3.91,3.869,3.846,3.804,3.776,3.738,3.728,3.689,3.661,3.658,3.619,3.602,3.575,3.559,3.529,3.513,3.486,3.47,3.433,3.432,3.398,3.376,3.364,3.348,3.318,3.302,3.286,3.274,3.237,3.231,3.215,3.209,3.192,3.17,3.162,3.134,3.124,3.112,3.112,3.111,0.154,0.153,0.15,0.15,0.15,0.149,0.149,0.156,0.156,0.155,0.156,0.156,2.943,2.943,2.943,2.94,2.939,2.939,0.166,0.152,0.163,0.163,0.158,0.158,0.163,0.163,2.787,2.787,2.787,2.773,2.765,2.765,2.748,2.746,2.736,2.733,2.727,2.71,2.709,2.692,2.688,2.686,2.68,2.677,2.662,2.661,2.66,2.648,2.643,2.635,2.628,2.627,2.616,2.611,2.607,2.601,2.597,2.588,2.586,2.579,2.572,2.571,2.569,2.557,2.552,2.552,2.549,2.545,2.538,2.535,2.535,2.53,2.529,2.527,2.518,2.513,2.509,2.506,2.506,2.503,2.501,2.501,2.495,2.49,2.487,2.487,2.487,2.481,2.479,2.479,2.48,2.48,2.48,2.48,2.48,2.477,2.476,2.476,2.475,2.468,2.468,2.467,2.461,2.461,2.461,2.461,2.461,2.461,2.458,2.461,2.461,2.459,2.466,2.466,2.465,2.465,2.468,2.474,2.474,2.474,2.474,2.474,2.474,2.476,2.476,2.484,2.484,2.489,2.49,2.492,2.493,2.496,2.498,2.499,2.505,2.507,2.509,2.514,2.52,2.521,2.529,2.53,2.532,2.543,2.544,2.55,2.552,2.556,2.557,2.56,2.568,2.573,2.581,2.582,2.583,2.593,2.598,2.603,2.609,2.615,2.626,2.636,2.642,2.645,2.657,2.661,2.665,2.673,2.681,2.694,2.696,2.697,2.71,2.711,2.717,2.735,2.737,2.743,2.748,2.757,2.767,2.775,2.78,2.792,2.803,2.803,2.824,2.825,2.84,2.844,2.865,2.868,2.882,2.889,2.898,2.914,2.922,2.94,2.943,2.951,2.964,2.971,2.988,2.992,3.004,3.025,3.036,3.042,3.05,3.066,3.09,3.106,3.114,3.128,3.148,3.162,3.172,3.186,3.203,3.214,3.228,3.253,3.265,3.275,3.295,3.319,3.34,3.355,3.367,3.392,3.414,3.424,3.452,3.464,3.492,3.516,3.529,3.551,3.584,3.593,3.628,3.64,3.667,3.675,3.713,3.736,3.769,3.795,3.821,3.846,3.878,3.916,3.954,3.992,4.011,4.062,4.093,0.016,0.016,0,0,0,0.007,0,0.007,0,0,0.007,0,0.007,0,0,0,3.27,3.257,3.251,3.237,3.225,3.216,3.202,3.194,3.182,3.18,3.165,3.158,3.153,3.144,3.129,3.122,3.115,3.098,3.095,3.09,3.076,3.075,3.07,3.068,3.05,3.046,3.04,3.034,3.03,3.023,3.02,3.018,3.009,3.005,2.997,2.993,2.984,2.982,2.979,2.974,2.971,2.96,2.955,2.952,2.943,2.941,2.941,2.937,2.928,2.927,2.926,2.923,2.918,2.917,2.911,2.911,2.908,2.901,2.901,2.901,2.902,2.906,2.906,2.906,2.893,2.893,2.892,2.884,2.879,2.879,2.879,2.879,2.877,2.884,2.88,2.875,2.876,2.876,2.876,2.876,2.876,2.875,2.875,2.875,2.875,2.878,2.878,2.882,2.882,2.883,2.884,2.884,2.884,2.884,2.885,2.886,2.886,2.892,2.893,2.894,2.895,2.898,2.9,2.904,2.91,2.911,2.913,2.916,2.916,2.922,2.922,2.932,2.933,2.938,2.944,2.946,2.949,2.951,2.951,2.957,2.962,2.965,2.972,2.979,2.984,2.989,2.996,2.996,2.996,2.996,3.001,3.005,3.008,3.011,3.019,3.021,3.034,3.038,3.041,3.048,3.053,3.057,3.058,3.074,3.076,3.079,3.084,3.084,3.095,3.111,3.114,3.128,3.131,3.134,3.142,3.148,3.15,3.173,3.182,3.687,3.701,3.706,3.716,3.729,3.737,3.752,3.761,3.772,3.788,3.806,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 109.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 109.096} {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.9276} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 109.141} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.179,0.184,0.184,0.213,0,0,0,0,0,0,0,0,0,3.903,3.872,3.846,3.825,3.795,3.771,3.742,3.711,3.691,3.67,3.64,3.623,3.596,3.575,3.543,3.519,3.502,3.483,3.47,3.45,3.43,3.404,3.379,3.366,3.347,3.309,3.307,3.283,3.276,3.24,3.235,3.217,3.202,3.187,3.16,3.158,3.138,3.121,3.112,3.105,3.101,0.147,0.143,0.143,0.143,0.147,0.143,0.152,0.152,0.152,0.148,0.152,0.155,2.94,2.94,2.94,2.938,2.933,0.164,0.163,0.151,0.159,0.159,0.157,0.157,0.159,0.162,2.79,2.79,2.79,2.772,2.771,2.762,2.741,2.738,2.734,2.731,2.716,2.709,2.707,2.698,2.696,2.686,2.681,2.673,2.673,2.658,2.655,2.648,2.644,2.634,2.632,2.618,2.607,2.606,2.605,2.595,2.595,2.586,2.586,2.575,2.573,2.568,2.563,2.563,2.563,2.553,2.552,2.55,2.54,2.539,2.539,2.524,2.524,2.521,2.52,2.511,2.509,2.508,2.499,2.499,2.498,2.499,2.493,2.493,2.492,2.491,2.49,2.487,2.483,2.48,2.483,2.483,2.483,2.478,2.478,2.474,2.473,2.47,2.468,2.468,2.466,2.465,2.463,2.461,2.46,2.46,2.462,2.462,2.462,2.462,2.464,2.461,2.461,2.461,2.466,2.466,2.466,2.467,2.467,2.467,2.467,2.475,2.477,2.478,2.478,2.482,2.484,2.486,2.49,2.493,2.495,2.499,2.499,2.499,2.502,2.505,2.507,2.511,2.512,2.518,2.523,2.528,2.529,2.538,2.545,2.545,2.555,2.557,2.558,2.566,2.566,2.574,2.581,2.584,2.588,2.594,2.596,2.604,2.609,2.612,2.617,2.626,2.638,2.638,2.65,2.664,2.666,2.676,2.68,2.684,2.69,2.702,2.704,2.714,2.716,2.729,2.736,2.743,2.747,2.758,2.77,2.776,2.779,2.795,2.8,2.811,2.823,2.835,2.84,2.853,2.854,2.875,2.876,2.891,2.893,2.911,2.918,2.924,2.944,2.957,2.965,2.98,2.987,2.997,3.005,3.018,3.032,3.035,3.06,3.076,3.086,3.102,3.113,3.122,3.139,3.157,3.168,3.19,3.206,3.217,3.227,3.245,3.266,3.278,3.294,3.32,3.332,3.353,3.365,3.402,3.409,3.427,3.459,3.466,3.483,3.504,3.538,3.549,3.579,3.59,3.624,3.647,3.663,3.69,3.723,3.741,3.762,3.803,3.824,3.855,3.884,3.915,3.945,3.984,4.006,4.058,4.085,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,3.898,3.277,3.263,3.246,3.231,3.23,3.209,3.206,3.19,3.178,3.171,3.166,3.157,3.147,3.141,3.128,3.12,3.118,3.103,3.097,3.096,3.078,3.075,3.072,3.063,3.059,3.054,3.042,3.038,3.033,3.029,3.019,3.016,3.015,3.001,3.001,3,2.991,2.988,2.978,2.973,2.965,2.959,2.957,2.95,2.94,2.938,2.936,2.936,2.936,2.925,2.922,2.919,2.919,2.916,2.916,2.909,2.905,2.901,2.898,2.897,2.897,2.897,2.895,2.895,2.895,2.893,2.893,2.889,2.889,2.886,2.883,2.879,2.876,2.879,2.879,2.879,2.879,2.88,2.879,2.882,2.879,2.879,2.874,2.874,2.874,2.88,2.881,2.881,2.881,2.881,2.881,2.883,2.883,2.882,2.883,2.882,2.882,2.887,2.889,2.891,2.893,2.898,2.899,2.906,2.907,2.908,2.911,2.912,2.918,2.922,2.924,2.932,2.933,2.936,2.938,2.942,2.942,2.944,2.954,2.955,2.962,2.969,2.972,2.98,2.98,2.988,2.996,2.996,2.996,2.998,3.004,3.004,3.005,3.008,3.013,3.024,3.036,3.036,3.039,3.044,3.047,3.052,3.055,3.062,3.064,3.075,3.087,3.092,3.095,3.11,3.111,3.121,3.128,3.13,3.138,3.142,3.149,3.162,3.193,3.685,3.699,3.705,3.709,3.735,3.738,3.749,3.768,3.768,3.782,3.818,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.45,3.45,3.45,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 109.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 109.297} {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.9276} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 109.341} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0.186,0.183,0.174,0.183,0.183,0.209,0,0,0,0,0,0,0,0,0,0,0,3.867,3.849,3.803,3.765,3.739,3.721,3.7,3.663,3.639,3.622,3.598,3.569,3.55,3.526,3.5,3.494,3.478,3.444,3.439,3.404,3.384,3.375,3.35,3.325,3.302,3.288,3.278,3.24,3.231,3.209,3.205,3.188,3.162,3.16,3.144,3.126,3.116,3.116,3.113,0.149,0.144,0.144,0.144,0.144,0.143,0.15,0.15,0.15,0.144,0.15,0.156,2.939,2.952,2.952,2.942,2.939,0.171,0.163,0.151,0.163,0.163,0.152,0.152,0.154,0.154,2.786,2.786,2.786,2.78,2.769,2.764,2.75,2.74,2.739,2.736,2.725,2.714,2.704,2.696,2.694,2.683,2.675,2.67,2.664,2.661,2.655,2.643,2.638,2.636,2.633,2.617,2.615,2.609,2.599,2.598,2.593,2.592,2.585,2.579,2.578,2.578,2.571,2.561,2.555,2.548,2.548,2.542,2.538,2.538,2.533,2.532,2.53,2.529,2.52,2.513,2.511,2.511,2.504,2.504,2.503,2.499,2.499,2.497,2.49,2.487,2.487,2.485,2.484,2.484,2.484,2.484,2.482,2.482,2.482,2.477,2.474,2.473,2.47,2.47,2.467,2.463,2.463,2.463,2.463,2.463,2.464,2.465,2.465,2.466,2.466,2.466,2.466,2.466,2.467,2.468,2.472,2.472,2.472,2.474,2.472,2.474,2.474,2.479,2.479,2.48,2.481,2.482,2.493,2.496,2.497,2.499,2.499,2.503,2.503,2.503,2.511,2.513,2.514,2.521,2.523,2.524,2.533,2.535,2.544,2.545,2.553,2.557,2.557,2.56,2.566,2.578,2.581,2.586,2.592,2.596,2.597,2.6,2.61,2.618,2.619,2.629,2.633,2.641,2.655,2.656,2.666,2.674,2.686,2.687,2.694,2.7,2.705,2.718,2.722,2.729,2.741,2.748,2.754,2.756,2.775,2.78,2.782,2.799,2.8,2.816,2.822,2.831,2.841,2.849,2.859,2.869,2.876,2.893,2.895,2.917,2.924,2.924,2.943,2.95,2.962,2.976,2.993,2.995,3.01,3.024,3.036,3.039,3.062,3.073,3.093,3.098,3.119,3.124,3.138,3.163,3.173,3.185,3.202,3.21,3.228,3.252,3.269,3.281,3.298,3.321,3.33,3.349,3.369,3.388,3.415,3.415,3.451,3.463,3.483,3.502,3.537,3.543,3.567,3.59,3.629,3.655,3.668,3.687,3.708,3.75,3.766,3.801,3.833,3.846,3.88,3.908,3.959,3.986,4.012,4.05,4.089,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0,0.007,0,0.007,0,3.985,3.912,3.272,3.261,3.246,3.236,3.233,3.213,3.212,3.183,3.175,3.175,3.17,3.163,3.144,3.138,3.124,3.123,3.116,3.102,3.101,3.092,3.08,3.077,3.069,3.062,3.051,3.046,3.044,3.03,3.028,3.026,3.02,3.018,3.009,3.003,2.997,2.99,2.983,2.983,2.978,2.967,2.961,2.961,2.954,2.949,2.949,2.944,2.941,2.938,2.934,2.933,2.924,2.923,2.92,2.918,2.914,2.911,2.911,2.91,2.909,2.902,2.902,2.909,2.902,2.902,2.895,2.895,2.893,2.893,2.89,2.887,2.883,2.883,2.883,2.883,2.883,2.878,2.878,2.878,2.877,2.876,2.876,2.874,2.874,2.878,2.878,2.882,2.882,2.883,2.882,2.883,2.883,2.885,2.886,2.891,2.891,2.891,2.892,2.893,2.895,2.898,2.901,2.901,2.903,2.904,2.907,2.908,2.908,2.914,2.924,2.924,2.929,2.935,2.935,2.938,2.938,2.946,2.947,2.951,2.955,2.957,2.964,2.967,2.972,2.982,2.983,2.994,2.996,2.996,2.994,2.994,3.001,3.003,3.006,3.009,3.019,3.024,3.026,3.038,3.043,3.043,3.049,3.06,3.06,3.07,3.076,3.076,3.082,3.094,3.098,3.108,3.116,3.125,3.129,3.132,3.14,3.145,3.15,3.171,3.188,3.691,3.71,3.711,3.714,3.727,3.744,3.746,3.762,3.777,3.784,3.82,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.454,3.454,3.454,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 109.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 109.498} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 1.8542} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.9276} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 109.539} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.183,0.178,0.183,0.183,0.199,0,0,0,0,0,0,0,0,0,3.909,3.886,3.886,3.853,3.823,3.762,3.739,3.726,3.696,3.667,3.652,3.622,3.604,3.578,3.553,3.527,3.513,3.481,3.474,3.454,3.425,3.402,3.373,3.363,3.345,3.322,3.3,3.294,3.276,3.246,3.227,3.225,3.201,3.196,3.166,3.15,3.136,3.123,3.111,3.107,3.102,0.148,0.148,0.148,0.148,0.15,0.15,0.15,0.161,0.161,0.152,0.161,0.164,2.945,2.945,2.945,2.945,2.943,2.932,0.166,0.163,0.163,0.163,0.159,0.159,0.162,0.162,2.794,2.794,2.794,2.775,2.766,2.763,2.751,2.744,2.731,2.729,2.722,2.706,2.704,2.694,2.688,2.68,2.68,2.679,2.667,2.665,2.655,2.652,2.652,2.633,2.63,2.62,2.611,2.607,2.606,2.602,2.6,2.591,2.589,2.573,2.572,2.571,2.57,2.56,2.555,2.55,2.55,2.549,2.535,2.535,2.532,2.53,2.529,2.523,2.52,2.515,2.515,2.508,2.504,2.502,2.499,2.495,2.495,2.493,2.485,2.485,2.485,2.485,2.483,2.483,2.483,2.483,2.483,2.483,2.483,2.477,2.476,2.475,2.472,2.468,2.468,2.465,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.465,2.465,2.465,2.465,2.465,2.47,2.47,2.47,2.47,2.47,2.471,2.47,2.473,2.476,2.477,2.479,2.481,2.481,2.481,2.482,2.493,2.494,2.498,2.499,2.502,2.503,2.507,2.508,2.514,2.518,2.523,2.524,2.531,2.532,2.532,2.537,2.542,2.55,2.553,2.553,2.555,2.562,2.57,2.578,2.581,2.593,2.595,2.598,2.608,2.609,2.611,2.629,2.631,2.639,2.644,2.657,2.659,2.668,2.671,2.679,2.692,2.692,2.702,2.706,2.715,2.717,2.73,2.739,2.744,2.746,2.754,2.767,2.775,2.782,2.792,2.801,2.808,2.812,2.827,2.844,2.848,2.862,2.867,2.876,2.892,2.895,2.915,2.921,2.937,2.943,2.952,2.963,2.971,2.98,2.996,3.01,3.02,3.039,3.04,3.054,3.066,3.091,3.111,3.119,3.131,3.142,3.155,3.177,3.185,3.202,3.208,3.24,3.255,3.265,3.286,3.307,3.319,3.332,3.353,3.368,3.392,3.411,3.435,3.452,3.47,3.492,3.506,3.533,3.546,3.568,3.598,3.627,3.648,3.66,3.685,3.711,3.748,3.761,3.8,3.822,3.855,3.886,3.925,3.962,3.993,4.009,4.057,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.965,3.953,3.272,3.253,3.246,3.24,3.229,3.215,3.209,3.195,3.18,3.169,3.167,3.161,3.149,3.14,3.13,3.123,3.118,3.106,3.093,3.089,3.078,3.078,3.064,3.061,3.056,3.053,3.052,3.04,3.03,3.03,3.018,3.013,3.006,3.005,2.994,2.99,2.987,2.981,2.979,2.976,2.962,2.961,2.957,2.956,2.947,2.943,2.938,2.931,2.927,2.921,2.921,2.92,2.92,2.92,2.912,2.91,2.907,2.906,2.906,2.902,2.902,2.902,2.902,2.9,2.889,2.889,2.885,2.884,2.885,2.885,2.884,2.885,2.885,2.88,2.88,2.88,2.88,2.88,2.88,2.874,2.873,2.873,2.874,2.876,2.879,2.882,2.884,2.884,2.884,2.884,2.884,2.887,2.887,2.887,2.89,2.891,2.89,2.891,2.893,2.894,2.896,2.898,2.9,2.91,2.911,2.915,2.919,2.919,2.921,2.921,2.926,2.926,2.93,2.933,2.937,2.939,2.94,2.948,2.95,2.959,2.967,2.968,2.978,2.979,2.983,2.994,2.996,2.996,2.996,2.996,3,3.001,3.008,3.012,3.02,3.024,3.037,3.039,3.04,3.048,3.051,3.053,3.056,3.068,3.069,3.081,3.082,3.092,3.096,3.108,3.112,3.126,3.133,3.135,3.137,3.143,3.148,3.17,3.193,3.688,3.707,3.712,3.716,3.725,3.736,3.744,3.763,3.767,3.782,3.819,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.448,3.448,3.448,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 109.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 109.69} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.2164} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 109.74} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.179,0.178,0.182,0.182,0.215,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0.007,3.765,3.729,3.69,3.661,3.643,3.617,3.601,3.579,3.551,3.528,3.508,3.499,3.464,3.442,3.435,3.399,3.378,3.36,3.339,3.325,3.313,3.287,3.278,3.247,3.231,3.225,3.197,3.193,3.173,3.151,3.148,3.129,3.116,3.114,3.107,0.151,0.145,0.145,0.145,0.15,0.145,0.15,0.155,0.155,0.148,0.155,0.155,2.946,2.946,2.946,2.933,2.933,0.168,0.162,0.153,0.153,0.153,0.153,0.153,0.153,0.158,2.786,2.786,2.786,2.779,2.772,2.764,2.741,2.74,2.732,2.727,2.721,2.714,2.706,2.702,2.687,2.679,2.677,2.671,2.664,2.662,2.653,2.645,2.634,2.633,2.633,2.616,2.609,2.608,2.608,2.601,2.595,2.586,2.584,2.583,2.578,2.57,2.566,2.565,2.564,2.553,2.552,2.55,2.54,2.529,2.528,2.527,2.525,2.52,2.52,2.511,2.507,2.507,2.502,2.5,2.499,2.498,2.497,2.497,2.495,2.487,2.487,2.483,2.483,2.483,2.482,2.481,2.481,2.48,2.477,2.476,2.471,2.471,2.468,2.466,2.468,2.462,2.462,2.462,2.46,2.46,2.462,2.462,2.462,2.464,2.465,2.465,2.467,2.467,2.464,2.464,2.466,2.466,2.47,2.472,2.472,2.475,2.473,2.475,2.476,2.479,2.485,2.485,2.488,2.489,2.492,2.5,2.503,2.504,2.505,2.506,2.509,2.513,2.522,2.522,2.524,2.524,2.535,2.536,2.541,2.55,2.553,2.554,2.555,2.567,2.571,2.574,2.582,2.583,2.593,2.593,2.599,2.605,2.61,2.621,2.621,2.632,2.637,2.649,2.649,2.661,2.665,2.666,2.677,2.684,2.689,2.7,2.702,2.709,2.718,2.728,2.74,2.753,2.754,2.757,2.772,2.783,2.783,2.795,2.801,2.814,2.828,2.829,2.844,2.848,2.85,2.873,2.881,2.891,2.9,2.914,2.927,2.931,2.942,2.951,2.967,2.975,2.986,3,3.004,3.018,3.035,3.041,3.063,3.067,3.087,3.099,3.111,3.132,3.14,3.16,3.174,3.184,3.203,3.207,3.23,3.251,3.266,3.278,3.3,3.327,3.34,3.344,3.366,3.387,3.416,3.418,3.449,3.464,3.492,3.516,3.536,3.548,3.568,3.596,3.624,3.643,3.665,3.687,3.716,3.75,3.768,3.8,3.829,3.846,3.873,3.918,3.952,3.979,4.014,4.05,4.091,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.007,0,3.972,3.269,3.26,3.251,3.238,3.235,3.209,3.209,3.189,3.179,3.172,3.166,3.159,3.147,3.141,3.129,3.126,3.116,3.102,3.098,3.093,3.075,3.072,3.066,3.064,3.053,3.051,3.042,3.039,3.031,3.027,3.022,3.018,3.011,3.01,3.001,2.994,2.988,2.984,2.979,2.976,2.966,2.963,2.957,2.953,2.948,2.937,2.937,2.935,2.928,2.925,2.92,2.92,2.919,2.918,2.915,2.915,2.91,2.905,2.905,2.901,2.901,2.901,2.901,2.901,2.894,2.885,2.885,2.886,2.885,2.886,2.886,2.883,2.883,2.883,2.881,2.881,2.881,2.881,2.881,2.88,2.877,2.877,2.876,2.877,2.877,2.875,2.879,2.88,2.88,2.88,2.881,2.888,2.888,2.889,2.888,2.888,2.888,2.892,2.892,2.894,2.895,2.897,2.904,2.906,2.908,2.91,2.915,2.918,2.921,2.922,2.928,2.93,2.931,2.934,2.939,2.942,2.943,2.951,2.954,2.957,2.965,2.968,2.972,2.981,2.981,2.992,2.994,2.994,2.994,2.996,3.003,3.003,3.016,3.02,3.02,3.02,3.03,3.034,3.041,3.041,3.052,3.054,3.054,3.068,3.079,3.082,3.083,3.1,3.103,3.103,3.117,3.126,3.127,3.133,3.14,3.143,3.163,3.189,3.693,3.693,3.702,3.711,3.716,3.726,3.73,3.752,3.772,3.778,3.784,3.816,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 109.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 109.891} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.2164} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 109.94} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.181,0.181,0.181,0.184,0.184,0.214,0,0,0,0,0,0,0,0,0,0,3.855,3.841,3.841,3.823,3.804,3.736,3.727,3.697,3.664,3.653,3.614,3.6,3.573,3.553,3.533,3.508,3.483,3.473,3.442,3.43,3.402,3.387,3.362,3.331,3.307,3.304,3.283,3.278,3.238,3.231,3.231,3.199,3.188,3.167,3.157,3.145,3.129,3.114,3.113,3.113,3.113,0.151,0.147,0.147,0.147,0.147,0.149,0.154,0.154,0.15,0.154,0.157,2.948,2.948,2.948,2.941,2.933,0.163,0.161,0.155,0.158,0.158,0.158,0.158,0.158,0.163,2.789,2.789,2.789,2.783,2.771,2.761,2.749,2.742,2.738,2.736,2.73,2.715,2.706,2.704,2.7,2.679,2.679,2.678,2.662,2.66,2.652,2.643,2.64,2.635,2.633,2.62,2.613,2.608,2.606,2.604,2.604,2.591,2.587,2.584,2.577,2.571,2.569,2.565,2.56,2.555,2.552,2.546,2.536,2.529,2.522,2.522,2.521,2.52,2.519,2.514,2.51,2.509,2.509,2.501,2.499,2.499,2.499,2.496,2.496,2.49,2.489,2.489,2.483,2.479,2.483,2.48,2.48,2.477,2.477,2.477,2.476,2.473,2.471,2.464,2.463,2.463,2.461,2.461,2.461,2.466,2.463,2.463,2.463,2.464,2.464,2.466,2.467,2.467,2.466,2.464,2.464,2.464,2.467,2.468,2.472,2.474,2.476,2.476,2.477,2.477,2.48,2.483,2.489,2.495,2.496,2.499,2.5,2.501,2.503,2.505,2.506,2.512,2.515,2.523,2.528,2.528,2.53,2.532,2.536,2.551,2.551,2.557,2.557,2.563,2.571,2.575,2.576,2.586,2.59,2.595,2.597,2.598,2.606,2.61,2.62,2.624,2.64,2.642,2.65,2.659,2.665,2.676,2.677,2.68,2.693,2.695,2.7,2.711,2.719,2.732,2.738,2.744,2.751,2.762,2.766,2.773,2.78,2.796,2.799,2.808,2.818,2.831,2.841,2.85,2.856,2.869,2.887,2.89,2.904,2.911,2.931,2.933,2.944,2.953,2.969,2.969,2.992,2.998,3,3.021,3.036,3.036,3.061,3.073,3.085,3.104,3.117,3.125,3.148,3.155,3.172,3.185,3.207,3.215,3.235,3.248,3.264,3.268,3.302,3.319,3.336,3.344,3.36,3.392,3.411,3.43,3.447,3.475,3.495,3.509,3.537,3.558,3.575,3.601,3.623,3.647,3.656,3.685,3.715,3.737,3.766,3.803,3.824,3.858,3.889,3.92,3.957,3.985,4.014,4.049,4.091,0.016,0.016,0.016,0,0,0,0,0,0,0,4.011,4.011,4.011,4.001,3.983,3.918,3.27,3.263,3.25,3.242,3.226,3.215,3.205,3.183,3.178,3.171,3.171,3.165,3.148,3.138,3.131,3.121,3.118,3.104,3.097,3.097,3.084,3.069,3.067,3.066,3.052,3.045,3.036,3.03,3.03,3.029,3.02,3.015,3.011,3.003,3,2.991,2.988,2.982,2.972,2.969,2.961,2.96,2.958,2.956,2.945,2.943,2.938,2.937,2.927,2.927,2.925,2.92,2.916,2.91,2.91,2.909,2.908,2.908,2.908,2.9,2.908,2.908,2.9,2.899,2.892,2.885,2.883,2.883,2.882,2.882,2.882,2.881,2.879,2.879,2.879,2.879,2.878,2.878,2.878,2.878,2.879,2.879,2.879,2.879,2.879,2.882,2.882,2.882,2.884,2.884,2.887,2.887,2.887,2.885,2.884,2.884,2.885,2.888,2.892,2.896,2.897,2.898,2.902,2.908,2.911,2.911,2.914,2.914,2.915,2.916,2.929,2.935,2.939,2.941,2.946,2.947,2.948,2.95,2.951,2.955,2.964,2.965,2.975,2.981,2.983,2.994,2.998,2.998,2.994,2.994,3.003,3.003,3.011,3.015,3.021,3.022,3.03,3.032,3.039,3.046,3.05,3.054,3.061,3.074,3.076,3.078,3.082,3.092,3.093,3.112,3.115,3.128,3.129,3.129,3.139,3.139,3.148,3.168,3.19,3.684,3.705,3.716,3.718,3.729,3.734,3.748,3.765,3.766,3.788,3.822,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.45,3.45,3.45,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 110.09} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 110.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 110.092} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.2164} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 110.139} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.179,0.176,0.179,0.182,0.182,0.2,0,0,0,0,0,0,0,0,0,0.007,3.899,3.899,0,3.841,3.822,3.748,3.715,3.685,3.658,3.637,3.614,3.584,3.57,3.56,3.525,3.505,3.503,3.465,3.439,3.432,3.391,3.378,3.36,3.347,3.323,3.306,3.288,3.27,3.249,3.228,3.217,3.199,3.192,3.168,3.153,3.143,3.126,3.12,3.112,3.112,3.107,0.148,0.148,0.148,0.148,0.148,0.15,0.15,0.151,0.151,0.153,0.157,2.953,2.953,2.953,2.948,2.936,0.171,0.164,0.151,0.158,0.158,0.157,0.157,0.158,0.166,2.791,2.791,2.791,2.777,2.764,2.762,2.746,2.736,2.735,2.732,2.723,2.714,2.709,2.707,2.689,2.683,2.68,2.674,2.667,2.662,2.661,2.65,2.649,2.632,2.63,2.626,2.608,2.608,2.604,2.601,2.595,2.594,2.587,2.585,2.584,2.566,2.561,2.56,2.56,2.56,2.557,2.55,2.535,2.534,2.533,2.527,2.523,2.522,2.521,2.512,2.511,2.51,2.501,2.498,2.497,2.496,2.493,2.492,2.491,2.49,2.489,2.487,2.487,2.484,2.487,2.485,2.485,2.484,2.482,2.481,2.478,2.476,2.476,2.476,2.467,2.464,2.464,2.461,2.461,2.461,2.464,2.463,2.464,2.465,2.465,2.464,2.464,2.463,2.463,2.463,2.47,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.478,2.48,2.482,2.483,2.486,2.491,2.493,2.494,2.495,2.497,2.502,2.511,2.513,2.516,2.518,2.53,2.532,2.533,2.538,2.538,2.546,2.548,2.551,2.555,2.556,2.56,2.563,2.572,2.58,2.584,2.595,2.596,2.598,2.607,2.608,2.616,2.627,2.63,2.637,2.644,2.651,2.652,2.664,2.665,2.674,2.684,2.691,2.704,2.707,2.716,2.724,2.733,2.744,2.752,2.758,2.765,2.769,2.781,2.782,2.8,2.8,2.817,2.824,2.831,2.84,2.847,2.851,2.87,2.883,2.889,2.897,2.908,2.918,2.931,2.945,2.95,2.97,2.978,2.991,3.003,3.005,3.024,3.035,3.037,3.066,3.072,3.092,3.102,3.118,3.127,3.144,3.153,3.177,3.179,3.204,3.213,3.232,3.248,3.269,3.283,3.304,3.322,3.333,3.345,3.362,3.389,3.404,3.419,3.459,3.472,3.487,3.51,3.531,3.546,3.58,3.595,3.632,3.645,3.66,3.69,3.712,3.747,3.764,3.795,3.839,3.85,3.873,3.924,3.954,3.994,4.016,4.063,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.273,3.261,3.253,3.241,3.232,3.21,3.202,3.191,3.182,3.18,3.167,3.166,3.152,3.146,3.129,3.123,3.119,3.106,3.096,3.094,3.083,3.083,3.068,3.066,3.056,3.05,3.043,3.033,3.032,3.028,3.019,3.015,3.015,3.003,3.002,2.988,2.985,2.979,2.976,2.975,2.965,2.957,2.956,2.953,2.951,2.946,2.938,2.935,2.93,2.93,2.926,2.92,2.915,2.913,2.913,2.913,2.912,2.908,2.908,2.906,2.908,2.908,2.906,2.897,2.891,2.889,2.889,2.889,2.887,2.886,2.886,2.885,2.881,2.881,2.881,2.879,2.879,2.879,2.879,2.878,2.875,2.875,2.875,2.875,2.877,2.882,2.89,2.89,2.882,2.88,2.88,2.88,2.88,2.883,2.886,2.884,2.891,2.892,2.893,2.894,2.9,2.901,2.902,2.904,2.91,2.913,2.914,2.915,2.919,2.92,2.927,2.927,2.931,2.939,2.94,2.944,2.944,2.953,2.955,2.96,2.963,2.969,2.97,2.974,2.98,2.989,2.995,2.995,2.995,2.995,3.003,3.005,3.008,3.015,3.019,3.026,3.032,3.036,3.043,3.047,3.052,3.056,3.07,3.071,3.071,3.072,3.082,3.093,3.093,3.107,3.115,3.128,3.131,3.138,3.141,3.147,3.157,3.163,3.189,3.686,3.706,3.708,3.71,3.735,3.74,3.744,3.761,3.772,3.798,3.821,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.457,3.457,3.457,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 110.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 110.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 110.293} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.699} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 110.335} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.181,0.18,0.181,0.181,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.818,3.768,3.748,3.729,3.687,3.66,3.651,3.623,3.599,3.578,3.551,3.52,3.506,3.489,3.477,3.451,3.432,3.404,3.387,3.371,3.351,3.332,3.309,3.282,3.277,3.251,3.237,3.209,3.202,3.191,3.171,3.155,3.143,3.123,3.116,3.107,3.107,3.107,0.148,0.148,0.148,0.148,0.145,0.153,0.153,0.153,0.153,0.154,0.155,2.945,2.945,2.954,2.945,2.94,0.171,0.167,0.156,0.164,0.164,0.157,0.156,0.157,0.157,2.783,2.783,2.783,2.777,2.761,2.76,2.745,2.744,2.735,2.731,2.731,2.716,2.715,2.7,2.693,2.68,2.674,2.672,2.67,2.658,2.653,2.643,2.643,2.635,2.635,2.621,2.617,2.613,2.609,2.599,2.598,2.59,2.59,2.586,2.581,2.574,2.566,2.563,2.561,2.561,2.554,2.544,2.541,2.532,2.529,2.528,2.524,2.522,2.522,2.512,2.51,2.509,2.509,2.505,2.502,2.499,2.497,2.495,2.493,2.49,2.487,2.482,2.482,2.482,2.487,2.486,2.486,2.486,2.486,2.475,2.474,2.474,2.473,2.47,2.468,2.465,2.465,2.466,2.466,2.465,2.464,2.464,2.464,2.464,2.464,2.464,2.464,2.464,2.463,2.463,2.463,2.463,2.471,2.471,2.475,2.475,2.473,2.475,2.477,2.482,2.485,2.486,2.486,2.49,2.496,2.496,2.496,2.496,2.502,2.512,2.517,2.518,2.52,2.521,2.525,2.532,2.535,2.538,2.544,2.552,2.555,2.556,2.556,2.567,2.571,2.574,2.577,2.581,2.589,2.597,2.6,2.6,2.613,2.615,2.626,2.634,2.642,2.644,2.656,2.658,2.67,2.677,2.678,2.682,2.689,2.697,2.702,2.716,2.717,2.731,2.733,2.75,2.753,2.766,2.766,2.786,2.787,2.798,2.813,2.814,2.823,2.834,2.836,2.855,2.862,2.871,2.884,2.89,2.904,2.918,2.919,2.937,2.941,2.955,2.972,2.977,2.99,2.997,3.001,3.027,3.036,3.042,3.054,3.062,3.093,3.098,3.121,3.128,3.142,3.158,3.177,3.186,3.204,3.216,3.235,3.252,3.263,3.278,3.296,3.321,3.339,3.352,3.371,3.385,3.411,3.432,3.444,3.478,3.487,3.509,3.537,3.554,3.573,3.6,3.627,3.648,3.664,3.683,3.71,3.73,3.772,3.799,3.824,3.854,3.885,3.919,3.95,4.002,4.022,4.057,4.095,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,3.978,3.963,3.916,3.283,3.261,3.252,3.242,3.226,3.217,3.21,3.196,3.182,3.174,3.17,3.16,3.152,3.137,3.127,3.121,3.111,3.111,3.101,3.095,3.087,3.078,3.07,3.069,3.062,3.042,3.039,3.033,3.033,3.032,3.018,3.01,3.008,3.005,3.002,2.987,2.984,2.981,2.981,2.973,2.97,2.966,2.955,2.954,2.945,2.942,2.936,2.934,2.93,2.923,2.919,2.918,2.916,2.913,2.912,2.91,2.909,2.907,2.907,2.907,2.907,2.907,2.907,2.907,2.896,2.896,2.888,2.886,2.884,2.884,2.884,2.884,2.884,2.884,2.883,2.878,2.882,2.881,2.878,2.88,2.88,2.88,2.879,2.88,2.88,2.88,2.883,2.886,2.886,2.885,2.885,2.885,2.882,2.885,2.886,2.887,2.887,2.893,2.895,2.899,2.899,2.899,2.899,2.912,2.913,2.914,2.915,2.917,2.918,2.918,2.932,2.933,2.935,2.939,2.941,2.941,2.945,2.946,2.955,2.964,2.964,2.965,2.975,2.983,2.984,2.993,2.995,2.996,2.996,3.001,3.001,3.003,3.016,3.019,3.02,3.026,3.039,3.04,3.044,3.045,3.048,3.057,3.064,3.075,3.077,3.083,3.085,3.091,3.104,3.11,3.114,3.129,3.131,3.135,3.144,3.145,3.152,3.159,3.192,3.697,3.706,3.71,3.713,3.732,3.735,3.737,3.765,3.768,3.791,3.813,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 110.49} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.122247}
SEN {Time 110.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 110.494} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.8194} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.699} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7846}
SEN {Time 110.535} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.179,0.174,0.179,0.179,0.206,0,0,0,0,0,0,0,0,0,0,0.007,0,3.878,3.8,3.772,3.745,3.719,3.692,3.692,3.657,3.645,3.593,3.577,3.559,3.534,3.506,3.488,3.47,3.442,3.438,3.405,3.387,3.358,3.343,3.317,3.312,3.283,3.279,3.253,3.24,3.215,3.207,3.188,3.171,3.159,3.143,3.122,3.116,3.114,3.114,3.113,0.149,0.149,0.149,0.149,0.146,0.152,0.152,0.152,0.151,0.156,0.163,2.945,2.945,2.945,2.941,2.935,0.168,0.166,0.153,0.166,0.166,0.154,0.154,0.154,0.154,2.791,2.791,2.791,2.778,2.773,2.761,2.75,2.742,2.738,2.728,2.723,2.711,2.703,2.698,2.697,2.682,2.679,2.677,2.667,2.658,2.652,2.645,2.64,2.637,2.63,2.618,2.618,2.615,2.605,2.601,2.599,2.598,2.595,2.579,2.579,2.575,2.57,2.564,2.563,2.552,2.549,2.547,2.534,2.53,2.53,2.529,2.527,2.522,2.521,2.518,2.514,2.509,2.505,2.503,2.502,2.5,2.497,2.497,2.489,2.488,2.487,2.487,2.487,2.482,2.484,2.484,2.484,2.481,2.484,2.481,2.476,2.475,2.474,2.472,2.468,2.466,2.465,2.465,2.465,2.463,2.463,2.463,2.463,2.463,2.475,2.463,2.47,2.47,2.468,2.468,2.468,2.468,2.468,2.474,2.477,2.477,2.479,2.479,2.481,2.482,2.484,2.486,2.488,2.489,2.492,2.494,2.501,2.502,2.504,2.512,2.512,2.514,2.516,2.527,2.531,2.533,2.539,2.539,2.54,2.549,2.551,2.553,2.557,2.572,2.572,2.573,2.578,2.579,2.597,2.6,2.604,2.606,2.61,2.619,2.621,2.638,2.641,2.65,2.659,2.663,2.664,2.671,2.681,2.69,2.7,2.7,2.705,2.713,2.723,2.737,2.741,2.749,2.751,2.76,2.769,2.779,2.783,2.801,2.806,2.816,2.821,2.84,2.847,2.854,2.856,2.872,2.878,2.889,2.902,2.916,2.92,2.935,2.945,2.95,2.967,2.975,2.989,2.993,3.007,3.024,3.04,3.041,3.062,3.068,3.091,3.107,3.112,3.129,3.137,3.156,3.173,3.176,3.206,3.209,3.234,3.249,3.269,3.276,3.301,3.325,3.333,3.351,3.373,3.391,3.413,3.43,3.459,3.476,3.496,3.506,3.532,3.552,3.56,3.59,3.634,3.64,3.66,3.691,3.719,3.732,3.773,3.807,3.831,3.861,3.877,3.925,3.97,3.975,4.02,4.052,4.085,0.016,0.016,0.016,0,0.007,0.009,0,0,0,0,4.06,4.034,0,3.979,3.953,3.916,3.276,3.258,3.247,3.234,3.23,3.215,3.205,3.188,3.182,3.181,3.168,3.162,3.144,3.136,3.13,3.12,3.114,3.108,3.102,3.094,3.079,3.075,3.073,3.067,3.053,3.044,3.044,3.037,3.034,3.031,3.021,3.015,3.006,3.005,3.005,3,2.989,2.984,2.979,2.975,2.97,2.956,2.956,2.955,2.95,2.941,2.941,2.938,2.934,2.93,2.93,2.924,2.92,2.914,2.913,2.906,2.906,2.904,2.904,2.904,2.907,2.907,2.907,2.907,2.897,2.894,2.893,2.89,2.888,2.888,2.887,2.881,2.881,2.881,2.881,2.879,2.879,2.879,2.879,2.879,2.88,2.88,2.878,2.88,2.884,2.884,2.884,2.884,2.879,2.879,2.879,2.888,2.888,2.888,2.891,2.891,2.891,2.894,2.894,2.897,2.899,2.9,2.902,2.902,2.909,2.911,2.912,2.915,2.916,2.924,2.931,2.935,2.935,2.935,2.941,2.945,2.948,2.951,2.958,2.958,2.961,2.972,2.973,2.974,2.991,2.992,2.999,2.999,2.999,2.999,3.007,3.007,3.01,3.017,3.019,3.022,3.032,3.039,3.042,3.042,3.05,3.057,3.06,3.068,3.074,3.075,3.077,3.092,3.098,3.107,3.119,3.124,3.133,3.135,3.141,3.145,3.156,3.167,3.193,3.688,3.709,3.712,3.719,3.728,3.743,3.75,3.757,3.776,3.786,3.818,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 110.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.120501}
SEN {Time 110.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 110.686} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.048} {Name Sonar5 Range 1.6256} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.8194} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.699} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 4.0132}
SEN {Time 110.736} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.183,0.177,0.177,0.183,0.183,0.208,0,0,0,0,0,0,0,0,0,0,0,0.007,3.846,3.802,3.776,3.753,3.721,3.697,3.664,3.66,3.619,3.602,3.58,3.556,3.518,3.51,3.487,3.462,3.435,3.423,3.399,3.388,3.371,3.354,3.319,3.308,3.284,3.278,3.241,3.24,3.219,3.208,3.2,3.169,3.148,3.144,3.124,3.115,3.111,3.111,0.147,0.147,0.147,0.147,0.147,0.148,0.158,0.16,0.16,0.148,0.16,0.163,2.948,2.948,2.948,2.946,2.945,0.166,0.166,0.149,0.153,0.153,0.153,0.153,0.154,0.157,2.786,2.786,2.786,2.783,2.769,2.762,2.747,2.738,2.735,2.733,2.722,2.712,2.708,2.704,2.691,2.681,2.679,2.676,2.672,2.664,2.655,2.649,2.643,2.64,2.629,2.621,2.618,2.615,2.605,2.604,2.596,2.593,2.593,2.582,2.578,2.573,2.568,2.559,2.557,2.556,2.549,2.546,2.54,2.531,2.531,2.53,2.528,2.527,2.525,2.519,2.514,2.509,2.504,2.504,2.5,2.499,2.499,2.491,2.491,2.49,2.489,2.488,2.484,2.481,2.484,2.484,2.484,2.484,2.484,2.481,2.479,2.477,2.476,2.473,2.47,2.47,2.466,2.466,2.466,2.465,2.465,2.463,2.462,2.463,2.464,2.463,2.464,2.468,2.467,2.468,2.468,2.468,2.473,2.477,2.478,2.479,2.48,2.48,2.483,2.486,2.486,2.488,2.491,2.495,2.497,2.498,2.501,2.504,2.512,2.512,2.514,2.517,2.517,2.519,2.523,2.532,2.532,2.534,2.541,2.546,2.549,2.556,2.559,2.561,2.576,2.578,2.58,2.59,2.595,2.6,2.605,2.607,2.613,2.616,2.626,2.637,2.638,2.649,2.652,2.659,2.666,2.67,2.679,2.689,2.696,2.7,2.706,2.716,2.722,2.732,2.74,2.747,2.759,2.762,2.774,2.781,2.789,2.801,2.804,2.817,2.818,2.824,2.845,2.848,2.855,2.872,2.88,2.886,2.898,2.915,2.929,2.931,2.94,2.951,2.973,2.978,2.987,3,3.005,3.024,3.038,3.042,3.061,3.062,3.091,3.103,3.114,3.126,3.143,3.155,3.171,3.189,3.205,3.221,3.23,3.252,3.263,3.273,3.298,3.325,3.342,3.35,3.36,3.392,3.412,3.419,3.453,3.477,3.483,3.507,3.529,3.546,3.574,3.598,3.63,3.658,3.665,3.68,3.72,3.737,3.77,3.8,3.82,3.854,3.895,3.924,3.949,3.988,4.023,4.059,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.253,3.251,3.236,3.232,3.217,3.207,3.196,3.184,3.174,3.17,3.162,3.152,3.14,3.13,3.121,3.115,3.107,3.099,3.095,3.077,3.076,3.065,3.06,3.059,3.046,3.043,3.034,3.033,3.03,3.02,3.019,3.009,3.008,3.002,2.99,2.988,2.987,2.978,2.975,2.967,2.965,2.961,2.957,2.948,2.945,2.941,2.935,2.931,2.927,2.924,2.923,2.919,2.917,2.914,2.912,2.91,2.909,2.907,2.904,2.904,2.904,2.898,2.895,2.895,2.89,2.887,2.886,2.884,2.884,2.883,2.883,2.883,2.883,2.883,2.883,2.883,2.882,2.881,2.877,2.877,2.875,2.875,2.877,2.879,2.88,2.884,2.885,2.884,2.884,2.885,2.886,2.886,2.887,2.886,2.888,2.888,2.898,2.899,2.902,2.902,2.905,2.906,2.907,2.909,2.913,2.914,2.915,2.918,2.922,2.931,2.936,2.938,2.939,2.947,2.947,2.948,2.948,2.956,2.959,2.966,2.968,2.974,2.979,2.981,2.993,3.002,3.002,3.002,3.003,3.006,3.007,3.013,3.018,3.02,3.022,3.033,3.037,3.039,3.047,3.052,3.055,3.06,3.07,3.076,3.077,3.077,3.094,3.102,3.109,3.113,3.121,3.136,3.142,3.144,3.146,3.146,3.166,3.187,3.688,3.701,3.715,3.715,3.724,3.74,3.746,3.765,3.77,3.792,3.82,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.075123}
SEN {Time 112.01} {Type Tachometer} {Name LeftRight} {Vel 0.060960,-0.060960}
SEN {Time 112.008} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.9906} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 0.9652} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 112.031} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.182,0.18,0.178,0.182,0.182,0.209,0,0,0,0,0,0,0,0,0,0,0.007,0,3.996,3.902,3.871,3.857,3.824,3.783,3.765,3.751,3.717,3.696,3.655,3.65,3.616,3.609,3.575,3.555,3.539,3.51,3.495,3.468,3.454,3.423,3.401,3.384,3.37,3.35,3.325,3.307,3.281,3.275,3.257,3.234,3.215,3.21,3.19,3.175,3.175,3.175,3.17,3.17,0.155,0.148,0.148,0.148,0.155,0.156,0.156,0.153,0.16,0.167,2.996,2.996,2.996,2.978,2.976,0.17,0.166,0.154,0.166,0.166,0.156,0.156,0.159,0.159,2.823,2.823,2.823,2.808,2.807,2.793,2.776,2.774,2.764,2.76,2.75,2.748,2.738,2.727,2.726,2.706,2.704,2.703,2.703,2.687,2.681,2.674,2.672,2.663,2.657,2.647,2.64,2.632,2.627,2.626,2.622,2.606,2.606,2.605,2.601,2.595,2.587,2.58,2.575,2.572,2.571,2.562,2.557,2.549,2.544,2.539,2.536,2.534,2.531,2.53,2.524,2.524,2.514,2.508,2.508,2.508,2.508,2.507,2.501,2.498,2.498,2.497,2.496,2.489,2.489,2.489,2.485,2.485,2.485,2.483,2.479,2.474,2.473,2.472,2.471,2.47,2.465,2.458,2.458,2.458,2.458,2.46,2.461,2.461,2.463,2.463,2.461,2.461,2.46,2.46,2.46,2.461,2.461,2.461,2.462,2.464,2.466,2.466,2.466,2.467,2.467,2.47,2.477,2.479,2.48,2.48,2.48,2.482,2.483,2.493,2.495,2.498,2.502,2.504,2.505,2.506,2.512,2.515,2.523,2.527,2.529,2.53,2.53,2.533,2.542,2.546,2.553,2.557,2.563,2.568,2.569,2.569,2.572,2.579,2.585,2.594,2.606,2.617,2.62,2.625,2.628,2.63,2.636,2.649,2.652,2.664,2.667,2.677,2.681,2.687,2.691,2.7,2.707,2.713,2.715,2.73,2.733,2.747,2.747,2.754,2.771,2.777,2.787,2.787,2.8,2.808,2.819,2.824,2.84,2.851,2.857,2.867,2.88,2.888,2.904,2.907,2.918,2.927,2.933,2.951,2.954,2.97,2.982,2.995,3,3.023,3.029,3.045,3.065,3.076,3.083,3.101,3.114,3.123,3.139,3.161,3.162,3.182,3.186,3.211,3.228,3.24,3.265,3.276,3.292,3.312,3.326,3.344,3.365,3.378,3.407,3.421,3.444,3.459,3.48,3.515,3.518,3.551,3.571,3.597,3.625,3.634,3.661,3.688,3.71,3.737,3.775,3.791,3.83,3.841,3.879,3.922,3.938,3.968,4.02,4.063,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,3.929,3.258,3.244,3.237,3.231,3.219,3.215,3.2,3.191,3.177,3.167,3.165,3.145,3.138,3.138,3.136,3.116,3.112,3.104,3.091,3.087,3.08,3.078,3.07,3.067,3.064,3.045,3.044,3.04,3.033,3.026,3.02,3.016,3.011,3.005,2.993,2.987,2.986,2.976,2.972,2.97,2.962,2.955,2.955,2.953,2.949,2.943,2.94,2.938,2.938,2.932,2.931,2.924,2.922,2.919,2.919,2.913,2.912,2.908,2.906,2.902,2.902,2.902,2.902,2.902,2.902,2.892,2.89,2.889,2.889,2.887,2.885,2.884,2.88,2.88,2.881,2.884,2.884,2.884,2.884,2.884,2.884,2.88,2.879,2.878,2.878,2.878,2.878,2.881,2.881,2.881,2.881,2.883,2.885,2.887,2.887,2.889,2.894,2.896,2.9,2.9,2.901,2.906,2.909,2.911,2.911,2.911,2.921,2.921,2.922,2.925,2.926,2.926,2.934,2.938,2.942,2.947,2.949,2.955,2.962,2.963,2.964,2.97,2.97,2.984,2.986,2.991,2.994,2.994,2.998,2.998,3.006,3.006,3.013,3.018,3.018,3.032,3.036,3.044,3.046,3.051,3.051,3.054,3.057,3.064,3.072,3.077,3.084,3.094,3.109,3.115,3.115,3.127,3.135,3.137,3.14,3.148,3.154,3.154,3.162,3.697,3.697,3.711,3.721,3.737,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.000074}
SEN {Time 112.18} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000}
SEN {Time 112.185} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 112.228} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0.188,0.179,0.179,0.186,0.186,0.208,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.857,3.801,3.787,3.75,3.733,3.705,3.684,3.652,3.63,3.606,3.6,3.566,3.542,3.52,3.504,3.478,3.456,3.428,3.412,3.412,3.383,3.362,0.155,0.152,0.152,0.152,0.151,0.152,0.163,0.163,0.154,0.154,0.154,0.154,3.14,3.154,0.007,0,3.14,0.165,0.164,0.164,0.164,0.16,0.16,0.16,0.16,0.165,2.933,2.933,2.933,2.923,2.91,2.903,2.897,2.882,2.877,2.865,2.858,2.854,2.835,2.832,2.814,2.808,2.806,2.798,2.786,2.781,2.766,2.763,2.752,2.752,2.734,2.729,2.72,2.72,2.716,2.703,2.688,2.687,2.68,2.678,2.663,2.659,2.647,2.647,2.642,2.638,2.628,2.626,2.617,2.612,2.603,2.598,2.594,2.591,2.578,2.57,2.57,2.565,2.562,2.557,2.553,2.55,2.548,2.543,2.537,2.535,2.534,2.53,2.524,2.522,2.522,2.522,2.522,2.513,2.501,2.498,2.498,2.498,2.494,2.488,2.484,2.479,2.475,2.471,2.47,2.465,2.465,2.465,2.465,2.466,2.466,2.462,2.456,2.455,2.455,2.455,2.452,2.452,2.452,2.451,2.451,2.451,2.451,2.446,2.446,2.451,2.451,2.451,2.451,2.451,2.453,2.456,2.456,2.456,2.456,2.458,2.458,2.459,2.464,2.465,2.465,2.465,2.468,2.471,2.474,2.475,2.478,2.482,2.483,2.488,2.488,2.494,2.497,2.5,2.502,2.509,2.511,2.515,2.519,2.525,2.529,2.53,2.531,2.536,2.542,2.551,2.552,2.559,2.561,2.57,2.573,2.577,2.58,2.584,2.588,2.6,2.601,2.605,2.608,2.616,2.62,2.621,2.629,2.638,2.644,2.647,2.657,2.667,2.671,2.673,2.682,2.691,2.696,2.705,2.706,2.72,2.731,2.736,2.74,2.754,2.756,2.76,2.776,2.782,2.786,2.799,2.811,2.819,2.829,2.843,2.848,2.859,2.867,2.879,2.893,2.894,2.907,2.923,2.936,2.94,2.954,2.961,2.983,2.987,3.003,3.017,3.026,3.04,3.048,3.064,3.07,3.094,3.107,3.116,3.125,3.149,3.157,3.165,3.19,3.204,3.222,3.231,3.253,3.269,3.278,3.301,3.319,3.353,3.358,3.371,3.399,3.411,3.441,3.456,3.483,3.491,3.527,3.546,3.575,3.59,3.61,3.625,3.658,3.688,3.7,3.731,3.753,3.782,3.802,3.831,3.866,3.893,3.92,3.966,0.009,0.009,0.009,0.009,0.009,0.007,0,0.016,0,0,0,0,0,4.023,4.012,4.012,3.98,3.98,0.007,3.915,3.263,3.257,3.247,3.231,3.216,3.216,3.205,3.2,3.197,3.175,3.173,3.16,3.15,3.14,3.139,3.124,3.117,3.115,3.094,3.093,3.085,3.078,3.067,3.066,3.06,3.053,3.043,3.038,3.036,3.027,3.02,3.015,3.015,3,3,3,2.992,2.989,2.984,2.979,2.977,2.973,2.97,2.969,2.961,2.959,2.945,2.945,2.944,2.943,2.93,2.93,2.926,2.922,2.921,2.912,2.911,2.911,2.91,2.908,2.908,2.914,2.921,2.921,2.921,2.895,2.894,2.894,2.889,2.889,2.888,2.888,2.883,2.882,2.883,2.883,2.883,2.883,2.884,2.884,2.884,2.884,2.884,2.886,2.885,2.885,2.886,2.886,2.885,2.885,2.886,2.888,2.888,2.888,2.897,2.892,2.897,2.893,2.9,2.9,2.901,2.903,2.909,2.91,2.915,2.919,2.919,2.92,2.925,2.932,2.936,2.936,2.941,2.941,2.948,2.951,2.952,2.954,2.959,2.967,2.968,2.97,2.981,2.988,2.991,2.993,2.999,3,3,3.002,3.003,3.01,3.01,3.012,3.024,3.026,3.029,3.041,3.044,3.055,3.061,3.055,3.061,3.065,3.073,3.075,3.085,3.087,3.112,3.114,3.13,3.13,3.133,3.135,3.139,3.147,3.163,3.167,3.167,3.184,3.714,3.714,3.725,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.006,0.009,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.842994}
SEN {Time 112.39} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000}
SEN {Time 112.389} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.7338} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 1.4986} {Name Sonar8 Range 2.8702} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.7686} {Name Sonar11 Range 0.127} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 3.7592}
SEN {Time 112.427} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0,0.189,0.184,0.214,0.214,0.214,0,0,0,0,0,0,0,3.889,3.889,3.889,3.9,3.906,3.909,3.922,3.927,3.937,3.95,3.956,3.98,3.989,3.992,4.007,4.037,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.154,0.149,0.149,0.149,0.149,0.158,0.158,0.153,0.158,0.158,0.202,0,0,0,0,0,0.177,0.169,0.167,0.16,0.154,0.154,0.156,0.16,0.163,3.274,3.274,3.274,3.264,3.235,3.21,3.202,3.183,3.173,3.155,3.14,3.136,3.121,3.097,3.084,3.079,3.058,3.043,3.037,3.023,3.005,3,2.99,2.982,2.97,2.948,2.939,2.938,2.919,2.916,2.904,2.888,2.875,2.871,2.853,2.85,2.838,2.828,2.817,2.81,2.805,2.798,2.781,2.776,2.76,2.754,2.75,2.748,2.727,2.724,2.722,2.707,2.698,2.693,2.687,2.674,2.671,2.669,2.663,2.659,2.647,2.643,2.633,2.624,2.622,2.616,2.613,2.601,2.592,2.591,2.578,2.572,2.569,2.565,2.565,2.555,2.54,2.535,2.534,2.531,2.529,2.527,2.52,2.517,2.516,2.514,2.506,2.496,2.496,2.494,2.483,2.479,2.479,2.479,2.479,2.478,2.475,2.471,2.466,2.456,2.456,2.453,2.451,2.45,2.447,2.447,2.444,2.444,2.444,2.444,2.443,2.44,2.439,2.436,2.436,2.43,2.43,2.435,2.43,2.435,2.435,2.43,2.43,2.433,2.433,2.433,2.434,2.434,2.432,2.432,2.438,2.436,2.438,2.438,2.442,2.442,2.443,2.445,2.448,2.448,2.453,2.453,2.456,2.456,2.457,2.461,2.463,2.464,2.465,2.471,2.471,2.477,2.479,2.484,2.485,2.488,2.488,2.496,2.497,2.499,2.504,2.508,2.51,2.519,2.519,2.521,2.525,2.534,2.54,2.544,2.544,2.546,2.555,2.557,2.557,2.561,2.568,2.576,2.582,2.591,2.597,2.6,2.611,2.615,2.625,2.625,2.634,2.637,2.64,2.65,2.659,2.671,2.674,2.684,2.688,2.697,2.707,2.708,2.729,2.73,2.742,2.745,2.757,2.759,2.769,2.786,2.811,2.813,2.815,2.815,2.837,2.838,2.846,2.869,2.872,2.883,2.897,2.909,2.91,2.932,2.938,2.946,2.96,2.977,2.987,2.994,3.015,3.018,3.033,3.056,3.059,3.082,3.097,3.112,3.121,3.122,3.148,3.166,3.181,3.194,3.216,3.224,3.25,3.265,3.278,3.294,3.303,3.327,3.35,3.371,3.388,3.413,3.429,3.453,3.47,3.493,3.516,3.535,3.566,3.567,3.586,3.625,3.656,3.672,3.691,3.722,3.75,3.775,3.809,3.839,3.864,3.887,3.918,3.955,3.976,4.008,4.063,4.091,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.974,3.942,3.274,3.259,3.25,3.245,3.226,3.221,3.208,3.195,3.193,3.183,3.171,3.171,3.161,3.155,3.143,3.138,3.128,3.125,3.113,3.106,3.095,3.091,3.084,3.075,3.071,3.07,3.058,3.056,3.051,3.034,3.029,3.027,3.026,3.019,3.015,3.004,3.001,2.995,2.993,2.981,2.972,2.972,2.971,2.97,2.967,2.962,2.957,2.954,2.951,2.942,2.942,2.939,2.936,2.932,2.925,2.924,2.924,2.92,2.919,2.916,2.919,2.919,2.92,2.92,2.92,2.912,2.91,2.898,2.898,2.898,2.898,2.896,2.896,2.896,2.896,2.893,2.894,2.894,2.894,2.893,2.894,2.894,2.892,2.894,2.895,2.895,2.895,2.895,2.895,2.895,2.895,2.897,2.898,2.898,2.9,2.903,2.911,2.911,2.911,2.914,2.914,2.914,2.914,2.921,2.921,2.925,2.925,2.932,2.935,2.944,2.946,2.947,2.95,2.954,2.956,2.956,2.961,2.966,2.976,2.977,2.978,2.983,2.994,2.994,2.997,3.011,3.014,3.014,3.018,3.023,3.024,3.02,3.024,3.028,3.046,3.051,3.051,3.063,3.066,3.071,3.071,3.084,3.085,3.085,3.085,3.095,3.104,3.112,3.119,3.121,3.129,3.15,3.151,3.155,3.161,3.173,3.181,3.181,3.187,3.187,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0.009,0,0,0,0.009,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,0.710349}
SEN {Time 112.58} {Type Tachometer} {Name LeftRight} {Vel 0.035560,-0.038100}
SEN {Time 112.583} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.7338} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 2.4892} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 1.4986} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 0.127} {Name Sonar10 Range 2.7686} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.429} {Name Sonar13 Range 2.3114} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.842}
SEN {Time 112.628} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.186,0.186,0.186,0.186,0.216,0,0,0,0,0,0,3.71,3.71,3.71,3.717,3.729,3.733,3.733,3.751,3.752,3.754,3.754,3.772,3.773,3.775,3.786,3.798,3.798,3.802,3.805,3.818,3.82,3.84,3.847,3.848,3.857,3.858,3.875,3.883,3.887,3.903,3.912,3.93,3.938,3.943,3.952,3.962,3.973,4.017,0,0.007,0,0,0,0,0,0.156,0.156,0.148,0.156,0.159,0.161,0.159,0.159,0.159,0.159,0.159,0.229,0,0,0,0,0,0.171,0.165,0.165,0.165,0.163,0.163,0.167,0.167,0.205,0,0,0,3.722,3.708,3.685,3.647,3.636,3.614,3.582,3.567,3.546,3.514,3.497,3.463,3.455,3.429,3.414,3.38,3.379,3.339,3.329,3.309,3.303,3.275,3.26,3.242,3.229,3.202,3.189,3.173,3.153,3.141,3.13,3.111,3.095,3.09,3.068,3.06,3.047,3.033,3.014,3.005,2.976,2.974,2.96,2.95,2.947,2.928,2.92,2.911,2.892,2.892,2.885,2.867,2.865,2.857,2.837,2.835,2.83,2.813,2.805,2.787,2.787,2.782,2.776,2.767,2.766,2.757,2.733,2.73,2.723,2.714,2.702,2.697,2.685,2.679,2.67,2.67,2.66,2.647,2.644,2.637,2.624,2.62,2.613,2.601,2.598,2.591,2.588,2.585,2.566,2.566,2.562,2.561,2.549,2.546,2.542,2.535,2.53,2.529,2.521,2.518,2.517,2.517,2.514,2.508,2.495,2.495,2.494,2.492,2.488,2.485,2.479,2.477,2.475,2.468,2.468,2.467,2.466,2.454,2.452,2.451,2.45,2.448,2.446,2.446,2.445,2.436,2.436,2.436,2.436,2.436,2.436,2.433,2.433,2.436,2.436,2.436,2.436,2.431,2.431,2.428,2.428,2.428,2.428,2.426,2.426,2.429,2.431,2.432,2.432,2.432,2.432,2.432,2.432,2.435,2.438,2.438,2.438,2.441,2.441,2.445,2.448,2.448,2.448,2.448,2.448,2.448,2.455,2.458,2.459,2.463,2.465,2.468,2.475,2.477,2.477,2.478,2.478,2.484,2.485,2.487,2.5,2.502,2.503,2.505,2.514,2.515,2.517,2.523,2.525,2.533,2.535,2.54,2.545,2.556,2.561,2.565,2.567,2.573,2.575,2.577,2.591,2.594,2.602,2.623,2.623,2.623,2.635,2.637,2.643,2.646,2.657,2.66,2.673,2.675,2.678,2.69,2.709,2.715,2.718,2.724,2.734,2.751,2.753,2.755,2.763,2.78,2.787,2.807,2.807,2.828,2.83,2.838,2.843,2.861,2.873,2.885,2.889,2.905,2.919,2.925,2.934,2.95,2.964,2.973,2.989,3.007,3.018,3.029,3.041,3.052,3.066,3.089,3.096,3.117,3.131,3.147,3.157,3.172,3.186,3.207,3.214,3.237,3.249,3.27,3.282,3.304,3.319,3.336,3.354,3.372,3.392,3.413,3.43,3.459,3.466,3.497,3.526,3.547,3.57,3.589,3.621,3.642,3.676,3.697,3.724,3.749,3.779,3.802,3.835,3.895,3.942,3.962,3.962,4.004,4.035,4.064,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.942,3.287,3.273,3.263,3.259,3.246,3.237,3.216,3.211,3.199,3.188,3.178,3.172,3.166,3.157,3.151,3.134,3.125,3.116,3.111,3.105,3.099,3.091,3.086,3.086,3.068,3.066,3.059,3.058,3.057,3.048,3.046,3.034,3.031,3.025,3.015,3.011,3.006,3.003,2.992,2.992,2.989,2.986,2.982,2.976,2.97,2.966,2.962,2.962,2.952,2.951,2.946,2.946,2.946,2.937,2.937,2.937,2.933,2.926,2.926,2.926,2.926,2.926,2.924,2.924,2.921,2.921,2.919,2.918,2.914,2.914,2.909,2.909,2.909,2.909,2.911,2.911,2.911,2.911,2.909,2.909,2.903,2.909,2.909,2.909,2.911,2.911,2.912,2.913,2.912,2.912,2.912,2.911,2.911,2.916,2.917,2.917,2.92,2.927,2.933,2.938,2.939,2.941,2.943,2.945,2.945,2.95,2.953,2.955,2.96,2.96,2.964,2.966,2.972,2.974,2.982,2.987,2.987,2.99,2.999,3.016,3.016,3.017,3.017,3.027,3.029,3.031,3.031,3.032,3.036,3.036,3.038,3.058,3.059,3.061,3.064,3.067,3.073,3.079,3.087,3.091,3.092,3.103,3.106,3.118,3.119,3.119,3.121,3.144,3.148,3.157,3.17,3.172,3.181,3.189,3.19,3.204,3.215,3.697,3.75,3.756,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 112.78} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 112.783} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 3.7338} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 1.4986} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.413} {Name Sonar10 Range 2.7686} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.429} {Name Sonar13 Range 4.9022} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.842}
SEN {Time 112.827} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0.188,0.183,0.18,0.183,0.183,0.205,0,0,0,0,0,0,3.697,3.697,3.697,3.71,3.711,3.722,3.729,3.73,3.73,3.73,3.751,3.752,3.756,3.762,3.763,3.768,3.776,3.784,3.791,3.797,3.807,3.808,3.812,3.833,3.835,3.845,3.853,3.861,3.88,3.88,3.898,3.914,3.918,3.924,3.925,3.944,3.963,3.968,3.973,3.975,3.997,0,0,0,0,0.154,0.152,0.143,0.143,0.151,0.151,0.151,0.151,0.151,0.156,0.163,0.24,0,0,0,0,0,0.174,0.173,0.165,0.164,0.156,0.156,0.163,0.164,0.195,0,0,0,3.753,3.727,3.722,3.689,3.675,3.651,3.618,3.595,3.575,3.55,3.533,3.495,3.479,3.443,3.435,3.41,3.386,3.367,3.357,3.333,3.316,3.285,3.27,3.266,3.247,3.222,3.202,3.198,3.175,3.153,3.148,3.122,3.12,3.093,3.086,3.064,3.056,3.038,3.027,3.017,2.993,2.992,2.982,2.961,2.954,2.945,2.928,2.92,2.903,2.9,2.889,2.883,2.88,2.856,2.848,2.84,2.831,2.823,2.813,2.796,2.793,2.79,2.786,2.772,2.766,2.746,2.746,2.738,2.728,2.721,2.702,2.7,2.69,2.685,2.676,2.67,2.654,2.649,2.646,2.645,2.642,2.627,2.611,2.608,2.606,2.604,2.592,2.586,2.576,2.569,2.563,2.562,2.552,2.544,2.541,2.538,2.531,2.529,2.522,2.521,2.517,2.517,2.51,2.509,2.501,2.494,2.489,2.486,2.484,2.483,2.479,2.472,2.471,2.466,2.466,2.464,2.456,2.456,2.451,2.449,2.449,2.449,2.449,2.445,2.444,2.444,2.441,2.439,2.438,2.438,2.438,2.438,2.438,2.431,2.431,2.431,2.431,2.428,2.431,2.431,2.431,2.427,2.429,2.429,2.429,2.43,2.43,2.43,2.43,2.43,2.428,2.43,2.428,2.431,2.431,2.437,2.437,2.439,2.439,2.439,2.44,2.44,2.447,2.448,2.45,2.452,2.455,2.458,2.459,2.46,2.46,2.463,2.463,2.464,2.464,2.466,2.472,2.48,2.483,2.483,2.492,2.495,2.495,2.5,2.507,2.515,2.516,2.519,2.523,2.524,2.539,2.539,2.541,2.543,2.55,2.562,2.567,2.568,2.572,2.578,2.591,2.602,2.606,2.608,2.615,2.625,2.63,2.637,2.644,2.645,2.654,2.665,2.67,2.67,2.68,2.697,2.703,2.712,2.715,2.72,2.732,2.744,2.75,2.755,2.766,2.782,2.79,2.793,2.811,2.814,2.826,2.837,2.845,2.865,2.868,2.882,2.892,2.913,2.913,2.93,2.938,2.939,2.959,2.973,2.985,3.003,3.011,3.028,3.044,3.059,3.064,3.075,3.101,3.114,3.123,3.143,3.151,3.178,3.182,3.218,3.221,3.237,3.258,3.265,3.286,3.308,3.329,3.336,3.353,3.374,3.394,3.42,3.439,3.463,3.467,3.494,3.505,3.546,3.566,3.6,3.635,3.646,3.685,3.705,3.712,3.744,3.77,3.803,3.84,3.864,3.907,3.935,3.963,4.002,4.033,4.066,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.275,3.261,3.25,3.238,3.227,3.22,3.201,3.196,3.189,3.181,3.17,3.163,3.154,3.153,3.139,3.126,3.122,3.109,3.101,3.098,3.094,3.092,3.084,3.069,3.061,3.061,3.059,3.054,3.044,3.035,3.034,3.032,3.026,3.02,3.02,3.017,3.004,3,2.994,2.991,2.989,2.983,2.98,2.979,2.968,2.965,2.963,2.958,2.957,2.952,2.949,2.942,2.94,2.938,2.937,2.934,2.933,2.925,2.925,2.925,2.925,2.924,2.924,2.919,2.917,2.913,2.912,2.912,2.912,2.913,2.915,2.915,2.917,2.917,2.915,2.911,2.907,2.907,2.907,2.907,2.911,2.911,2.911,2.913,2.911,2.912,2.912,2.917,2.912,2.917,2.918,2.917,2.917,2.917,2.918,2.923,2.927,2.934,2.935,2.939,2.939,2.94,2.941,2.95,2.951,2.957,2.961,2.967,2.97,2.97,2.97,2.974,2.981,2.988,2.99,2.993,3.002,3.006,3.011,3.012,3.013,3.025,3.027,3.037,3.037,3.038,3.037,3.038,3.041,3.042,3.061,3.062,3.068,3.073,3.076,3.076,3.079,3.089,3.103,3.104,3.111,3.113,3.121,3.124,3.142,3.146,3.159,3.159,3.164,3.178,3.179,3.186,3.19,3.191,3.221,3.724,3.751,3.757,3.757,3.762,3.785,3.799,3.803,3.823,3.831,3.841,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.51,3.51,3.51,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 112.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 112.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 112.981} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.413} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.429} {Name Sonar13 Range 4.9022} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 5.842}
SEN {Time 113.028} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.192,0.192,0.192,0.181,0.179,0.181,0.181,0.218,0,0,0,0,0,0,3.699,3.699,3.699,3.713,3.715,3.718,3.719,3.722,3.731,3.737,3.747,3.75,3.754,3.761,3.761,3.766,3.775,3.777,3.791,3.808,3.808,3.819,3.819,3.83,3.843,3.846,3.853,3.869,3.88,3.883,3.893,3.896,3.906,3.92,3.922,3.937,3.952,3.97,3.972,3.986,3.994,3.998,0.007,0,0,0,0.149,0.148,0.148,0.148,0.154,0.155,0.157,0.157,0.158,0.159,0.224,0,0,0,0,0,0.007,0.166,0.163,0.158,0.156,0.156,0.156,0.156,0.196,0,0,0,3.757,3.722,3.714,3.676,3.667,3.647,3.617,3.588,3.56,3.554,3.527,3.503,3.476,3.444,3.427,3.402,3.396,3.357,3.356,3.333,3.323,3.291,3.268,3.26,3.247,3.22,3.202,3.187,3.177,3.152,3.148,3.122,3.121,3.095,3.08,3.069,3.056,3.026,3.025,3.008,2.992,2.987,2.974,2.973,2.955,2.938,2.922,2.918,2.908,2.902,2.884,2.875,2.866,2.861,2.853,2.841,2.832,2.824,2.817,2.795,2.794,2.787,2.781,2.769,2.758,2.758,2.746,2.73,2.726,2.721,2.708,2.694,2.688,2.687,2.675,2.67,2.659,2.651,2.649,2.645,2.626,2.623,2.62,2.604,2.601,2.593,2.583,2.579,2.577,2.567,2.56,2.555,2.552,2.549,2.543,2.54,2.534,2.53,2.527,2.523,2.513,2.508,2.507,2.506,2.497,2.49,2.488,2.483,2.479,2.478,2.474,2.465,2.465,2.467,2.465,2.463,2.46,2.452,2.452,2.448,2.446,2.446,2.445,2.444,2.44,2.44,2.439,2.436,2.436,2.436,2.436,2.436,2.436,2.429,2.429,2.429,2.429,2.429,2.429,2.428,2.426,2.426,2.426,2.426,2.424,2.428,2.431,2.431,2.432,2.432,2.432,2.432,2.432,2.432,2.432,2.433,2.434,2.435,2.436,2.438,2.439,2.446,2.446,2.446,2.446,2.449,2.45,2.453,2.455,2.455,2.457,2.47,2.47,2.47,2.47,2.47,2.477,2.478,2.483,2.483,2.49,2.491,2.499,2.509,2.509,2.509,2.51,2.512,2.523,2.528,2.528,2.539,2.542,2.547,2.551,2.553,2.558,2.571,2.578,2.585,2.586,2.587,2.601,2.602,2.617,2.617,2.626,2.63,2.644,2.645,2.653,2.658,2.659,2.662,2.687,2.691,2.707,2.711,2.713,2.718,2.723,2.741,2.749,2.756,2.773,2.779,2.782,2.79,2.804,2.819,2.831,2.836,2.845,2.854,2.867,2.877,2.884,2.907,2.922,2.926,2.93,2.945,2.964,2.964,2.99,3.004,3.019,3.031,3.035,3.058,3.068,3.088,3.101,3.111,3.124,3.14,3.16,3.174,3.185,3.215,3.226,3.229,3.25,3.271,3.289,3.304,3.318,3.336,3.349,3.377,3.379,3.416,3.441,3.458,3.476,3.504,3.523,3.543,3.574,3.596,3.624,3.638,3.672,3.7,3.717,3.732,3.775,3.801,3.833,3.874,3.9,3.924,3.979,3.994,4.038,4.067,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.294,3.271,3.259,3.248,3.237,3.228,3.217,3.203,3.199,3.182,3.182,3.179,3.165,3.151,3.148,3.137,3.125,3.118,3.111,3.107,3.106,3.098,3.094,3.08,3.068,3.064,3.06,3.056,3.054,3.049,3.042,3.029,3.027,3.026,3.015,3.011,3.009,2.995,2.994,2.994,2.992,2.987,2.974,2.972,2.972,2.964,2.962,2.955,2.955,2.955,2.942,2.942,2.942,2.942,2.94,2.939,2.93,2.93,2.93,2.931,2.932,2.932,2.931,2.919,2.919,2.915,2.915,2.915,2.914,2.911,2.911,2.914,2.91,2.914,2.914,2.911,2.91,2.908,2.907,2.907,2.906,2.907,2.907,2.907,2.907,2.908,2.908,2.909,2.912,2.912,2.914,2.918,2.918,2.918,2.92,2.922,2.922,2.924,2.926,2.933,2.94,2.941,2.942,2.942,2.944,2.95,2.957,2.959,2.962,2.965,2.971,2.972,2.982,2.982,2.983,2.984,2.992,2.997,3.004,3.012,3.012,3.015,3.02,3.028,3.032,3.035,3.041,3.053,0.007,3.05,3.05,3.057,3.057,3.061,3.067,3.077,3.083,3.085,3.087,3.094,3.099,3.104,3.109,3.116,3.13,3.137,3.145,3.16,3.16,3.164,3.173,3.176,3.182,3.188,3.199,3.218,3.734,3.751,3.752,3.752,3.763,3.782,3.784,3.801,3.829,3.839,3.841,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.499,3.499,3.499,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 113.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 113.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 113.179} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.413} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.556} {Name Sonar13 Range 4.9022} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 1.3462}
SEN {Time 113.224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0,0.187,0.182,0.209,0.209,0.209,0,0,0,0,0,0,3.689,3.689,3.689,3.703,3.707,3.716,3.72,3.725,3.728,3.743,3.743,3.748,3.75,3.758,3.761,3.766,3.778,3.787,3.787,3.803,3.813,3.813,3.82,3.833,3.834,3.837,3.849,3.87,3.874,3.893,3.894,3.897,3.903,3.917,3.932,3.949,3.966,3.971,3.971,3.98,3.995,0,0,0,0,0.155,0.155,0.152,0.155,0.151,0.157,0.156,0.156,0.156,0.157,0.159,0.223,0,0,0,0,0,0.17,0.159,0.158,0.157,0.157,0.158,0.162,0.164,0.187,0,0,0,0,3.729,3.709,3.683,3.675,3.631,3.607,3.594,3.568,3.537,3.531,3.493,3.465,3.459,3.436,3.405,3.393,3.37,3.358,3.337,3.33,3.292,3.275,3.251,3.237,3.208,3.199,3.186,3.181,3.152,3.152,3.125,3.111,3.094,3.075,3.064,3.052,3.039,3.031,3.012,2.994,2.987,2.967,2.965,2.962,2.942,2.933,2.929,2.907,2.902,2.884,2.879,2.875,2.858,2.849,2.849,2.827,2.818,2.814,2.786,2.785,2.785,2.769,2.769,2.76,2.748,2.747,2.737,2.733,2.726,2.708,2.693,2.689,2.678,2.671,2.663,2.651,2.65,2.645,2.642,2.634,2.618,2.609,2.609,2.6,2.593,2.59,2.581,2.579,2.573,2.565,2.562,2.557,2.548,2.543,2.535,2.532,2.531,2.524,2.519,2.518,2.507,2.502,2.501,2.5,2.493,2.489,2.488,2.488,2.488,2.477,2.474,2.474,2.464,2.458,2.458,2.458,2.453,2.45,2.45,2.45,2.45,2.45,2.445,2.444,2.437,2.436,2.436,2.435,2.435,2.432,2.436,2.432,2.432,2.432,2.432,2.428,2.428,2.427,2.427,2.427,2.429,2.425,2.425,2.425,2.426,2.426,2.426,2.426,2.427,2.42,2.42,2.42,2.427,2.42,2.421,2.421,2.437,2.44,2.44,2.44,2.44,2.44,2.446,2.446,2.447,2.451,2.457,2.457,2.46,2.462,2.463,2.463,2.463,2.463,2.473,2.478,2.481,2.481,2.485,2.487,2.49,2.494,2.499,2.504,2.511,2.512,2.515,2.519,2.524,2.532,2.535,2.535,2.544,2.548,2.556,2.558,2.567,2.576,2.58,2.584,2.584,2.592,2.61,2.612,2.616,2.63,2.632,2.635,2.641,2.654,2.663,2.666,2.671,2.689,2.693,2.694,2.705,2.725,2.725,2.732,2.737,2.757,2.758,2.769,2.773,2.782,2.791,2.802,2.814,2.833,2.842,2.848,2.856,2.872,2.874,2.897,2.902,2.916,2.928,2.928,2.941,2.957,2.974,2.988,3.004,3.014,3.031,3.045,3.052,3.065,3.083,3.093,3.117,3.131,3.139,3.162,3.178,3.178,3.2,3.225,3.241,3.251,3.274,3.287,3.302,3.327,3.336,3.351,3.376,3.402,3.411,3.432,3.459,3.467,3.501,3.514,3.538,3.573,3.589,3.631,3.658,3.673,3.693,3.71,3.742,3.775,3.797,3.838,3.867,3.908,3.911,3.961,4.003,4.029,4.076,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.274,3.263,3.251,3.237,3.226,3.22,3.203,3.202,3.19,3.181,3.18,3.157,3.146,3.145,3.135,3.122,3.114,3.111,3.107,3.105,3.1,3.095,3.079,3.074,3.07,3.064,3.052,3.051,3.051,3.041,3.033,3.028,3.024,3.013,3.01,3.002,2.991,2.99,2.99,2.989,2.987,2.981,2.977,2.973,2.967,2.962,2.957,2.954,2.951,2.946,2.945,2.942,2.941,2.936,2.934,2.93,2.927,2.927,2.928,2.928,2.928,2.928,2.921,2.919,2.919,2.919,2.916,2.915,2.913,2.911,2.913,2.913,2.912,2.912,2.912,2.909,2.908,2.908,2.907,2.907,2.906,2.903,2.902,2.902,2.903,2.911,2.911,2.912,2.911,2.913,2.915,2.919,2.919,2.927,2.925,2.925,2.928,2.931,2.932,2.941,2.945,2.947,2.947,2.948,2.948,2.953,2.956,2.962,2.969,2.97,2.97,2.974,2.98,2.993,2.994,2.999,2.999,3.002,3.009,3.012,3.014,3.018,3.026,3.033,3.033,3.037,3.037,3.042,3.048,3.061,3.061,3.061,3.064,3.067,3.073,3.077,3.094,3.095,3.102,3.11,3.112,3.114,3.125,3.125,3.136,3.143,3.155,3.155,3.166,3.172,3.185,3.188,3.19,3.202,3.217,3.735,3.751,3.757,3.757,3.77,3.787,3.793,3.793,3.823,3.826,3.837,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.498,3.498,3.498,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 113.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 113.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 113.381} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.556} {Name Sonar13 Range 4.2164} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 1.3462}
SEN {Time 113.423} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0.188,0.186,0.183,0.186,0.186,0.206,0,0,0,0,0,0,3.683,3.683,3.683,3.698,3.708,3.71,3.713,3.726,3.734,3.738,3.744,3.754,3.754,3.759,3.764,3.765,3.776,3.784,3.793,3.797,3.805,3.822,3.826,3.831,3.832,3.846,3.855,3.855,3.87,3.883,3.89,3.91,3.912,3.924,3.925,3.941,3.955,3.96,3.968,3.973,3.99,3.997,0.007,0,3.997,0.157,0.153,0.151,0.147,0.147,0.148,0.148,0.157,0.159,0.161,0.161,0.228,0,0,0,0,0,0.176,0.167,0.166,0.163,0.163,0.163,0.163,0.168,0.194,0,0,0,0,3.737,3.713,3.683,3.666,3.644,3.606,3.581,3.577,3.547,3.514,3.487,3.471,3.461,3.428,3.413,3.398,3.372,3.362,3.332,3.312,3.3,3.276,3.258,3.25,3.219,3.195,3.185,3.175,3.153,3.153,3.124,3.124,3.101,3.084,3.065,3.055,3.04,3.036,3.014,2.998,2.991,2.977,2.966,2.96,2.939,2.935,2.925,2.906,2.898,2.888,2.881,2.876,2.861,2.845,2.844,2.836,2.819,2.818,2.802,2.793,2.781,2.779,2.775,2.764,2.749,2.743,2.728,2.725,2.715,2.702,2.701,2.698,2.689,2.676,2.673,2.657,2.651,2.649,2.646,2.636,2.631,2.623,2.6,2.598,2.593,2.588,2.587,2.576,2.568,2.568,2.56,2.552,2.552,2.547,2.545,2.538,2.535,2.524,2.519,2.517,2.516,2.508,2.502,2.497,2.494,2.488,2.485,2.485,2.482,2.478,2.475,2.471,2.468,2.467,2.462,2.462,2.459,2.455,2.454,2.444,2.443,2.444,2.446,2.444,2.444,2.444,2.435,2.432,2.432,2.432,2.434,2.432,2.431,2.428,2.428,2.426,2.426,2.426,2.426,2.426,2.428,2.428,2.428,2.428,2.428,2.428,2.428,2.433,2.433,2.432,2.434,2.434,2.436,2.436,2.436,2.436,2.436,2.436,2.438,2.44,2.443,2.448,2.448,2.447,2.448,2.448,2.449,2.451,2.458,2.465,2.466,2.466,2.468,2.471,2.475,2.476,2.479,2.486,2.488,2.489,2.493,2.498,2.498,2.509,2.511,2.511,2.514,2.525,2.527,2.529,2.532,2.534,2.549,2.553,2.556,2.556,2.565,2.577,2.578,2.584,2.586,2.597,2.598,2.612,2.619,2.629,2.633,2.638,2.642,2.656,2.664,2.666,2.672,2.681,2.691,2.698,2.714,2.716,2.719,2.734,2.741,2.747,2.765,2.775,2.782,2.785,2.795,2.803,2.82,2.833,2.841,2.843,2.858,2.867,2.878,2.895,2.896,2.915,2.928,2.933,2.952,2.959,2.964,2.981,3.004,3.014,3.025,3.039,3.054,3.059,3.092,3.095,3.109,3.132,3.151,3.154,3.174,3.193,3.206,3.227,3.236,3.248,3.263,3.283,3.305,3.32,3.339,3.343,3.375,3.391,3.418,3.428,3.444,3.476,3.505,3.523,3.554,3.57,3.596,3.62,3.646,3.671,3.706,3.72,3.74,3.776,3.816,3.837,3.866,3.904,3.93,3.963,4,4.032,4.076,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.278,3.278,3.262,3.257,3.241,3.239,3.221,3.208,3.201,3.186,3.178,3.166,3.155,3.154,3.149,3.139,3.123,3.121,3.109,3.108,3.107,3.098,3.097,3.083,3.076,3.071,3.06,3.053,3.049,3.046,3.032,3.032,3.029,3.024,3.017,3.016,3.009,3.002,2.997,2.992,2.99,2.989,2.982,2.978,2.973,2.97,2.969,2.964,2.958,2.955,2.952,2.947,2.943,2.939,2.93,2.93,2.93,2.93,2.927,2.927,2.927,2.927,2.927,2.924,2.917,2.916,2.91,2.916,2.913,2.915,2.913,2.915,2.915,2.915,2.91,2.911,2.908,2.908,2.904,2.908,2.906,2.906,2.906,2.91,2.91,2.911,2.911,2.912,2.914,2.914,2.914,2.916,2.916,2.919,2.921,2.922,2.926,2.927,2.929,2.933,2.939,2.944,2.946,2.946,2.949,2.951,2.955,2.962,2.963,2.967,2.971,2.975,2.976,2.98,2.981,2.991,2.992,2.996,2.998,3.003,3.016,3.02,3.026,3.029,3.036,3.036,3.038,3.036,3.039,3.039,3.041,3.055,3.058,3.064,3.072,3.075,3.077,3.094,3.094,3.1,3.106,3.107,3.11,3.133,0.007,3.148,3.148,3.164,3.164,3.169,3.174,3.175,3.182,3.194,3.195,3.216,3.734,3.745,3.75,3.75,3.771,3.787,3.795,3.805,3.815,3.833,3.84,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.5,3.5,3.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 113.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 113.58} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 113.576} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 4.8514} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.556} {Name Sonar13 Range 4.2164} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 1.3462}
SEN {Time 113.624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0.188,0.187,0.181,0.187,0.187,0.212,0,0,0,0,0,0,3.697,3.697,3.697,3.697,3.704,3.717,3.723,3.731,3.732,3.733,3.748,3.758,3.765,3.772,3.772,3.772,3.776,3.779,3.792,3.804,3.81,3.826,3.828,3.831,3.84,3.842,3.859,3.871,3.872,3.877,3.896,3.898,3.911,3.925,3.938,3.941,3.943,3.959,3.968,3.975,4,4.005,0,0,0,0.158,0.155,0.147,0.155,0.147,0.154,0.154,0.154,0.154,0.155,0.161,0.229,0,0,0,0,0,0.175,0.17,0.166,0.16,0.16,0.16,0.161,0.164,0.19,3.77,3.77,3.77,3.763,3.734,3.7,3.692,3.657,3.643,3.618,3.59,3.565,3.556,3.53,3.498,3.477,3.455,3.434,3.412,3.401,3.375,3.36,3.33,3.322,3.291,3.279,3.261,3.23,3.217,3.212,3.192,3.175,3.156,3.152,3.126,3.118,3.106,3.074,3.066,3.061,3.041,3.033,3.016,3,2.994,2.982,2.969,2.956,2.936,2.929,2.923,2.899,2.898,2.883,2.878,2.877,2.86,2.846,2.841,2.84,2.823,2.821,2.798,2.792,2.785,2.78,2.775,2.762,2.748,2.732,2.724,2.723,2.718,2.7,2.698,2.694,2.689,2.671,2.663,2.658,2.654,2.654,2.64,2.631,2.63,2.618,2.606,2.601,2.592,2.591,2.58,2.575,2.57,2.568,2.559,2.556,2.549,2.547,2.546,2.541,2.535,2.523,2.517,2.514,2.508,2.508,2.504,2.499,2.493,2.489,2.487,2.485,2.48,2.479,2.468,2.467,2.467,2.461,2.461,2.458,2.451,2.45,2.45,2.448,2.446,2.443,2.443,2.442,2.44,2.438,2.438,2.434,2.433,2.433,2.433,2.433,2.433,2.434,2.434,2.432,2.432,2.432,2.428,2.428,2.425,2.425,2.425,2.425,2.429,2.429,2.429,2.429,2.428,2.423,2.428,2.429,2.429,2.429,2.43,2.43,2.435,2.436,2.435,2.445,2.445,2.445,2.449,2.449,2.447,2.449,2.45,2.45,2.453,2.461,2.461,2.466,2.466,2.475,2.478,2.48,2.481,2.481,2.482,2.49,2.493,2.493,2.503,2.507,2.507,2.514,2.514,2.525,2.527,2.533,2.538,2.543,2.543,2.548,2.553,2.558,2.568,2.57,2.575,2.584,2.585,2.592,2.611,2.611,2.622,2.634,2.635,2.637,2.647,2.655,2.655,2.658,2.673,2.678,2.688,2.701,2.711,2.721,2.727,2.731,2.742,2.753,2.762,2.763,2.778,2.788,2.794,2.806,2.81,2.83,2.833,2.844,2.866,2.867,2.882,2.882,2.899,2.917,2.918,2.938,2.958,2.96,2.965,2.983,3,3.016,3.03,3.044,3.054,3.061,3.082,3.092,3.113,3.119,3.145,3.153,3.176,3.183,3.207,3.226,3.245,3.249,3.263,3.284,3.305,3.326,3.337,3.346,3.376,3.391,3.42,3.435,3.447,3.469,3.504,3.527,3.553,3.563,3.599,3.638,3.641,3.677,3.698,3.725,3.746,3.782,3.815,3.832,3.858,3.892,3.933,3.961,4.004,4.018,4.066,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.281,3.269,3.262,3.252,3.239,3.228,3.224,3.21,3.202,3.183,3.175,3.174,3.163,3.155,3.154,3.134,3.123,3.119,3.108,3.107,3.103,3.101,3.095,3.083,3.076,3.07,3.068,3.067,3.048,3.041,3.04,3.034,3.03,3.027,3.015,3.013,3.001,2.996,2.994,2.99,2.985,2.985,2.979,2.979,2.973,2.969,2.963,2.957,2.957,2.951,2.943,2.942,2.939,2.937,2.936,2.935,2.931,2.93,2.929,2.929,2.93,2.929,2.923,2.923,2.915,2.913,2.912,2.911,2.911,2.912,2.912,2.913,2.916,2.916,2.914,2.914,2.911,2.907,2.907,2.911,2.908,2.909,2.909,2.909,2.909,2.912,2.915,2.915,2.92,2.915,2.915,2.924,2.924,2.924,2.925,2.925,2.925,2.926,2.93,2.931,2.932,2.933,2.939,2.945,2.946,2.952,2.956,2.966,2.966,2.968,2.968,2.975,2.976,2.983,2.984,2.988,2.989,2.996,3.003,3.01,3.011,3.018,3.018,3.032,3.033,3.033,3.039,3.04,3.049,3.05,3.054,3.059,3.059,3.065,3.067,3.067,3.071,3.088,3.089,3.095,3.103,3.103,3.107,3.124,3.126,3.139,3.146,3.16,3.16,3.166,3.173,3.175,3.185,3.189,3.199,3.215,3.739,3.754,3.757,3.757,3.779,3.786,3.796,3.806,3.828,3.83,3.835,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.498,3.498,3.498,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 113.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.694641}
SEN {Time 113.78} {Type Tachometer} {Name LeftRight} {Vel 0.017780,-0.017780}
SEN {Time 113.776} {Type Sonar} {Name Sonar0 Range 3.7846} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 4.8514} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.2164} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 1.3462}
SEN {Time 113.824} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.176,0.188,0.188,0.216,0,0,0,0,0,3.692,3.692,3.692,3.696,3.705,3.71,3.714,3.72,3.722,3.728,3.746,3.747,3.752,3.753,3.766,3.766,3.775,3.786,3.792,3.795,3.797,3.802,3.811,3.817,3.831,3.841,3.844,3.857,3.864,3.873,3.879,3.883,3.909,3.909,3.914,3.933,3.944,3.952,3.958,3.974,3.984,3.988,3.988,3.988,3.988,3.988,0.154,0.153,0.151,0.151,0.149,0.153,0.16,0.16,0.157,0.16,0.162,0.215,0,0,0,0,0,0.172,0.169,0.168,0.161,0.159,0.159,0.161,0.161,0.184,3.765,3.765,3.765,3.76,3.738,3.705,3.679,3.654,3.639,3.616,3.579,3.566,3.559,3.516,3.497,3.474,3.442,3.427,3.409,3.393,3.373,3.359,3.345,3.326,3.286,3.279,3.256,3.245,3.22,3.216,3.191,3.175,3.164,3.163,3.12,3.11,3.098,3.088,3.064,3.063,3.039,3.026,3.022,3.002,2.991,2.981,2.966,2.954,2.937,2.932,2.92,2.903,2.898,2.892,2.88,2.871,2.858,2.842,2.839,2.838,2.825,2.819,2.792,2.789,2.787,2.786,2.774,2.769,2.756,2.739,2.733,2.723,2.718,2.713,2.701,2.696,2.677,2.675,2.667,2.661,2.65,2.645,2.636,2.632,2.628,2.617,2.604,2.603,2.595,2.592,2.589,2.576,2.575,2.569,2.553,2.551,2.551,2.549,2.534,2.531,2.523,2.52,2.518,2.518,2.518,2.512,2.505,2.498,2.493,2.493,2.484,2.484,2.484,2.471,2.47,2.47,2.47,2.467,2.465,2.465,2.462,2.454,2.452,2.452,2.45,2.45,2.445,2.436,2.436,2.435,2.433,2.433,2.435,2.435,2.433,2.435,2.433,2.432,2.432,2.427,2.427,2.427,2.425,2.425,2.425,2.425,2.426,2.427,2.429,2.428,2.428,2.428,2.428,2.427,2.427,2.427,2.428,2.428,2.434,2.435,2.435,2.439,2.44,2.442,2.443,2.445,2.447,2.447,2.45,2.453,2.453,2.453,2.454,2.456,2.46,2.461,2.461,2.471,2.472,2.473,2.482,2.482,2.485,2.486,2.493,2.497,2.497,2.502,2.511,2.514,2.515,2.521,2.523,2.524,2.536,2.54,2.545,2.547,2.559,2.56,2.564,2.569,2.574,2.583,2.589,2.593,2.606,2.611,2.622,2.625,2.631,2.636,2.638,2.659,2.664,2.665,2.665,2.679,2.686,2.696,2.71,2.71,2.724,2.73,2.738,2.76,2.762,2.771,2.773,2.796,2.797,2.802,2.818,2.82,2.846,2.848,2.854,2.867,2.875,2.888,2.898,2.922,2.927,2.94,2.955,2.955,2.972,2.99,3,3.014,3.027,3.039,3.049,3.06,3.078,3.081,3.114,3.119,3.144,3.156,3.171,3.188,3.201,3.224,3.237,3.253,3.275,3.286,3.305,3.319,3.333,3.342,3.374,3.393,3.414,3.429,3.442,3.464,3.493,3.517,3.536,3.57,3.599,3.616,3.636,3.675,3.687,3.702,3.746,3.786,3.802,3.831,3.854,3.887,3.913,3.967,3.986,4.022,4.066,4.082,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.299,3.279,3.256,3.252,3.238,3.231,3.222,3.202,3.2,3.191,3.184,3.178,3.159,3.151,3.15,3.134,3.13,3.112,3.112,3.105,3.105,3.099,3.099,3.083,3.071,3.066,3.062,3.06,3.046,3.042,3.037,3.036,3.028,3.021,3.016,3.016,3.015,3.004,2.992,2.989,2.989,2.989,2.981,2.977,2.966,2.964,2.964,2.956,2.955,2.951,2.948,2.948,2.947,2.939,2.937,2.937,2.935,2.932,2.925,2.925,2.925,2.925,2.919,2.919,2.918,2.916,2.916,2.913,2.911,2.911,2.911,2.911,2.911,2.912,2.912,2.912,2.911,2.91,2.909,2.908,2.906,2.906,2.906,2.906,2.908,2.908,2.914,2.909,2.914,2.91,2.914,2.915,2.915,2.915,2.918,2.918,2.923,2.923,2.927,2.935,2.939,2.943,2.945,2.945,2.951,2.951,2.955,2.957,2.966,2.971,2.971,2.972,2.972,2.98,2.984,2.986,2.988,2.997,3.004,3.01,3.012,3.012,3.016,3.027,3.033,3.04,3.04,3.038,3.043,3.043,3.043,3.057,3.061,3.063,3.065,3.069,3.071,3.084,3.093,3.095,3.096,3.106,3.108,3.118,3.126,3.13,3.151,3.165,3.165,3.166,3.174,3.175,3.182,3.185,3.197,3.219,3.73,3.755,3.755,3.755,3.76,3.779,3.79,3.802,3.819,3.824,3.838,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 113.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,0.675442}
SEN {Time 113.98} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260}
SEN {Time 113.979} {Type Sonar} {Name Sonar0 Range 3.7846} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 4.8514} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.9906} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.7752} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 1.3462}
SEN {Time 114.024} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0,0.179,0.179,0.204,0.204,0.204,0,0,0,0,0,3.668,3.668,3.668,3.683,3.686,3.7,3.705,3.711,3.714,3.725,3.729,3.729,3.733,3.739,3.744,3.748,3.757,3.763,3.768,3.773,3.787,3.793,3.804,3.804,3.812,3.818,3.827,3.829,3.844,3.858,3.868,3.871,3.883,3.89,3.893,3.904,3.91,3.921,3.932,3.942,3.953,3.953,3.962,0.007,0,3.962,0.156,0.148,0.143,0.143,0.143,0.143,0.155,0.155,0.155,0.159,0.159,0.215,0,0,0,0,0,0.172,0.166,0.165,0.161,0.157,0.157,0.161,0.163,0.186,0,0,0,3.799,3.797,3.777,3.741,3.727,3.699,3.672,3.651,3.615,3.598,3.578,3.547,3.527,3.504,3.479,3.449,3.437,3.408,3.382,3.38,3.361,3.339,3.321,3.297,3.28,3.256,3.244,3.229,3.213,3.196,3.185,3.158,3.156,3.121,3.115,3.102,3.092,3.066,3.061,3.045,3.029,3.02,3.011,2.999,2.987,2.968,2.957,2.947,2.938,2.937,2.913,2.906,2.896,2.89,2.878,2.858,2.851,2.835,2.833,2.821,2.821,2.808,2.807,2.789,2.778,2.778,2.768,2.751,2.741,2.731,2.727,2.716,2.714,2.706,2.691,2.683,2.677,2.675,2.67,2.661,2.648,2.646,2.628,2.62,2.62,2.609,2.598,2.589,2.588,2.578,2.576,2.576,2.566,2.563,2.556,2.553,2.545,2.54,2.537,2.532,2.53,2.524,2.518,2.516,2.508,2.508,2.501,2.495,2.492,2.49,2.481,2.479,2.476,2.47,2.467,2.465,2.461,2.46,2.46,2.457,2.457,2.454,2.454,2.453,2.448,2.448,2.437,2.437,2.436,2.433,2.433,2.433,2.433,2.43,2.43,2.431,2.431,2.431,2.431,2.428,2.427,2.425,2.424,2.424,2.424,2.423,2.423,2.423,2.423,2.426,2.427,2.427,2.427,2.427,2.427,2.427,2.429,2.433,2.433,2.434,2.436,2.437,2.437,2.437,2.437,2.437,2.44,2.443,2.444,2.445,2.448,2.451,2.457,2.457,2.458,2.463,2.464,2.467,2.467,2.474,2.478,2.479,2.481,2.482,2.486,2.491,2.492,2.493,2.509,2.515,2.518,2.521,2.521,2.524,2.531,2.538,2.545,2.547,2.551,2.552,2.566,2.571,2.573,2.584,2.589,2.595,2.6,2.604,2.611,2.616,2.622,2.636,2.636,2.646,2.654,2.658,2.668,2.675,2.677,2.694,2.708,2.719,2.722,2.736,2.736,2.748,2.753,2.763,2.769,2.773,2.795,2.799,2.802,2.821,2.83,2.835,2.854,2.858,2.878,2.884,2.895,2.908,2.917,2.928,2.944,2.953,2.969,2.978,2.998,3.013,3.018,3.042,3.049,3.063,3.072,3.091,3.102,3.111,3.143,3.147,3.155,3.179,3.19,3.197,3.229,3.24,3.262,3.274,3.278,3.31,3.312,3.339,3.365,3.373,3.393,3.414,3.44,3.458,3.488,3.509,3.539,3.556,3.591,3.601,3.627,3.651,3.685,3.697,3.729,3.747,3.788,3.816,3.847,3.876,3.909,3.93,3.978,3.994,4.07,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.27,3.261,3.245,3.243,3.232,3.213,3.208,3.205,3.189,3.182,3.176,3.155,3.149,3.142,3.137,3.13,3.126,3.123,3.109,3.105,3.096,3.093,3.091,3.077,3.076,3.07,3.061,3.053,3.051,3.038,3.038,3.037,3.017,3.015,3.012,3.012,3.004,2.996,2.992,2.988,2.986,2.983,2.978,2.978,2.967,2.963,2.962,2.957,2.952,2.949,2.947,2.946,2.942,2.942,2.941,2.941,2.935,2.931,2.931,2.931,2.934,2.934,2.934,2.922,2.919,2.918,2.919,2.919,2.919,2.916,2.916,2.916,2.912,2.912,2.915,2.907,2.907,2.909,2.907,2.907,2.909,2.911,2.911,2.913,2.913,2.915,2.915,2.917,2.918,2.919,2.919,2.919,2.922,2.924,2.924,2.928,2.93,2.931,2.937,2.939,2.94,2.94,2.951,2.951,2.953,2.954,2.962,2.967,2.968,2.969,2.974,2.979,2.985,2.988,2.992,2.997,2.997,3,3.004,3.013,3.014,3.016,3.028,3.03,3.03,3.033,3.036,3.045,3.046,3.049,3.054,3.058,3.067,3.069,3.078,3.079,3.08,3.091,3.103,3.104,3.112,3.112,3.12,3.133,3.133,3.135,3.151,3.16,3.169,3.17,3.182,3.185,3.194,3.2,3.208,3.214,3.742,3.763,3.772,3.772,3.78,3.785,3.797,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 114.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.002540,0.607375}
SEN {Time 114.18} {Type Tachometer} {Name LeftRight} {Vel 0.086360,-0.086360}
SEN {Time 114.183} {Type Sonar} {Name Sonar0 Range 3.7846} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.7752} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3114}
SEN {Time 114.221} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0,0.182,0.182,0.203,0.203,0.203,0,0,0,0,0,3.643,3.639,3.639,3.643,3.647,3.652,3.652,3.654,3.663,3.667,3.668,3.677,3.677,3.678,3.679,3.682,3.689,3.692,3.705,3.709,3.713,3.719,3.723,3.728,3.735,3.739,3.746,3.754,3.76,3.762,3.773,3.778,3.788,3.79,3.791,3.814,3.82,3.826,3.83,3.835,3.847,3.847,3.852,3.863,0,0,0,0.152,0.146,0.146,0.151,0.152,0.153,0.153,0.153,0.163,0.163,0.226,0,0,0,0,0,0.174,0.163,0.163,0.16,0.163,0.163,0.164,0.164,0.176,0,0,0,0,0,0,0,0.007,4.037,3.973,3.932,3.908,3.869,3.843,3.824,3.788,3.763,3.739,3.709,3.682,3.658,3.654,3.609,3.595,3.571,3.547,3.524,3.494,3.475,3.472,3.442,3.423,3.4,3.384,3.346,3.344,3.314,3.3,3.285,3.271,3.25,3.234,3.216,3.198,3.177,3.156,3.149,3.12,3.11,3.096,3.092,3.076,3.047,3.041,3.027,3.018,3.006,2.988,2.977,2.969,2.955,2.947,2.924,2.918,2.912,2.905,2.902,2.884,2.867,2.867,2.854,2.84,2.83,2.828,2.817,2.797,2.79,2.78,2.768,2.758,2.75,2.748,2.745,2.734,2.724,2.715,2.698,2.694,2.685,2.674,2.673,2.664,2.655,2.651,2.636,2.636,2.63,2.622,2.612,2.61,2.602,2.598,2.596,2.579,2.577,2.576,2.563,2.553,2.552,2.54,2.538,2.538,2.529,2.522,2.519,2.51,2.505,2.504,2.504,2.503,2.488,2.488,2.488,2.485,2.485,2.483,2.476,2.473,2.472,2.471,2.464,2.461,2.458,2.457,2.453,2.453,2.451,2.441,2.439,2.435,2.434,2.433,2.434,2.434,2.434,2.434,2.434,2.426,2.426,2.426,2.425,2.425,2.425,2.421,2.425,2.419,2.417,2.417,2.417,2.41,2.41,2.416,2.414,2.414,2.416,2.414,2.413,2.413,2.415,2.415,2.416,2.418,2.418,2.424,2.424,2.425,2.425,2.425,2.427,2.427,2.433,2.433,2.433,2.434,2.436,2.441,2.442,2.442,2.444,2.452,2.456,2.456,2.459,2.466,2.468,2.474,2.475,2.475,2.481,2.481,2.483,2.489,2.49,2.496,2.505,2.51,2.516,2.517,2.524,2.536,2.536,2.537,2.544,2.548,2.551,2.561,2.57,2.573,2.575,2.581,2.584,2.59,2.602,2.61,2.625,2.628,2.63,2.643,2.645,2.646,2.653,2.659,2.677,2.683,2.683,2.694,2.705,2.709,2.71,2.725,2.732,2.739,2.749,2.763,2.775,2.788,2.789,2.802,2.811,2.825,2.834,2.846,2.855,2.864,2.869,2.889,2.905,2.916,2.926,2.932,2.947,2.964,2.98,2.986,2.999,3.012,3.024,3.046,3.051,3.066,3.074,3.085,3.105,3.117,3.14,3.153,3.16,3.179,3.202,3.216,3.229,3.245,3.258,3.28,3.306,3.322,3.341,3.343,3.368,3.398,3.411,3.431,3.447,3.483,3.518,3.527,3.549,3.58,3.603,3.62,3.64,3.658,3.692,3.705,3.739,3.761,3.79,3.814,3.853,3.879,3.908,0,0,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.333,3.278,3.267,3.254,3.252,3.238,3.235,3.219,3.203,3.197,3.196,3.192,3.166,3.164,3.162,3.146,3.143,3.13,3.124,3.116,3.115,3.096,3.096,3.09,3.085,3.079,3.078,3.066,3.063,3.047,3.044,3.033,3.031,3.028,3.026,3.025,3.012,3.011,3.004,3.003,2.997,2.994,2.991,2.985,2.98,2.971,2.97,2.969,2.969,2.965,2.955,2.954,2.95,2.949,2.943,2.938,2.938,2.938,2.938,2.938,2.939,2.943,2.928,2.925,2.93,2.92,2.919,2.919,2.921,2.918,2.921,2.921,2.919,2.914,2.919,2.918,2.914,2.917,2.917,2.915,2.914,2.915,2.915,2.915,2.916,2.916,2.917,2.917,2.917,2.917,2.925,2.926,2.926,2.931,2.936,2.936,2.936,2.936,2.937,2.937,2.939,2.939,2.944,2.948,2.959,2.963,2.964,2.969,2.969,2.969,2.972,2.977,2.98,2.981,2.982,2.988,2.993,2.995,2.996,3.005,3.015,3.02,3.023,3.026,3.029,3.035,3.047,3.047,3.047,3.047,3.053,3.053,3.056,3.067,3.07,3.075,3.083,3.085,3.092,3.098,3.101,3.108,3.116,3.122,3.129,3.131,3.139,3.144,3.157,3.175,3.179,3.189,3.189,3.193,3.194,3.202,3.202,3.21,3.231,3.742,3.757,3.774,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.009,0.009,0.006,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 114.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.502655}
SEN {Time 114.38} {Type Tachometer} {Name LeftRight} {Vel 0.101600,-0.101600}
SEN {Time 114.377} {Type Sonar} {Name Sonar0 Range 6.096} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.7752} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3114}
SEN {Time 114.423} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0.186,0.177,0.176,0.177,0.177,0.21,0,0,0,0,0,3.593,3.587,3.587,3.587,3.593,3.596,3.596,3.596,3.597,3.597,3.596,3.597,3.603,3.603,3.603,3.609,3.617,3.617,3.623,3.625,3.626,3.626,3.63,3.634,3.634,3.634,3.638,3.645,3.646,3.656,3.658,3.66,3.672,3.681,3.681,3.681,3.693,3.697,3.701,3.706,3.706,3.707,3.707,3.719,3.719,3.707,3.672,0.149,0.145,0.145,0.149,0.149,0.156,0.156,0.153,0.156,0.156,0.217,0,0,0,0,0,0,0.167,0.165,0.152,0.152,0.152,0.162,0.163,0.198,0,0,0,0,0,4.059,4.059,4.064,4.078,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,4.079,0,3.975,3.933,3.89,3.85,3.808,3.786,3.786,3.754,3.743,3.69,3.669,3.65,3.624,3.594,3.561,3.537,3.515,3.506,3.478,3.454,3.431,3.417,3.394,3.375,3.334,3.323,3.299,3.291,3.271,3.254,3.24,3.227,3.208,3.188,3.175,3.155,3.141,3.128,3.114,3.104,3.085,3.068,3.058,3.044,3.029,3.015,3.003,2.988,2.981,2.959,2.958,2.946,2.931,2.917,2.916,2.899,2.882,2.874,2.873,2.845,2.841,2.829,2.822,2.821,2.794,2.787,2.775,2.774,2.767,2.767,2.763,2.74,2.737,2.724,2.708,2.703,2.695,2.693,2.68,2.673,2.672,2.656,2.645,2.643,2.639,2.632,2.618,2.615,2.612,2.595,2.589,2.588,2.579,2.577,2.563,2.56,2.554,2.552,2.55,2.542,2.536,2.529,2.523,2.518,2.515,2.51,2.506,2.502,2.501,2.499,2.493,2.488,2.486,2.483,2.472,2.466,2.464,2.464,2.462,2.461,2.458,2.458,2.456,2.448,2.447,2.446,2.444,2.444,2.439,2.436,2.434,2.431,2.431,2.431,2.428,2.421,2.421,2.42,2.42,2.42,2.42,2.418,2.417,2.416,2.412,2.41,2.41,2.411,2.41,2.407,2.402,2.402,2.402,2.402,2.407,2.407,2.407,2.406,2.406,2.406,2.403,2.406,2.406,2.41,2.412,2.412,2.416,2.417,2.417,2.418,2.426,2.426,2.426,2.431,2.433,2.436,2.437,2.437,2.438,2.439,2.446,2.447,2.447,2.452,2.455,2.458,2.468,2.468,2.477,2.475,2.478,2.478,2.486,2.489,2.498,2.499,2.501,2.502,2.517,2.519,2.52,2.521,2.527,2.535,2.543,2.552,2.556,2.565,2.566,2.575,2.576,2.586,2.593,2.604,2.605,2.611,2.625,2.627,2.634,2.636,2.647,2.661,2.67,2.67,2.672,2.677,2.693,2.701,2.716,2.717,2.733,2.74,2.753,2.758,2.769,2.777,2.79,2.799,2.812,2.818,2.827,2.844,2.854,2.854,2.871,2.872,2.887,2.911,2.917,2.937,2.942,2.951,2.967,2.974,2.998,3.005,3.024,3.035,3.057,3.058,3.071,3.088,3.107,3.127,3.133,3.158,3.16,3.183,3.199,3.217,3.228,3.233,3.258,3.284,3.284,3.31,3.325,3.341,3.367,3.387,3.4,3.421,3.441,3.469,3.483,3.509,3.538,3.561,3.576,3.603,3.627,3.645,3.667,3.689,3.732,3.761,3.767,3.809,3.831,3.862,3.903,3.989,0.009,0.007,0.009,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.3,3.282,3.281,3.262,3.237,3.232,3.226,3.222,3.205,3.204,3.198,3.181,3.171,3.16,3.152,3.144,3.144,3.139,3.134,3.124,3.121,3.11,3.107,3.091,3.089,3.085,3.084,3.078,3.063,3.061,3.061,3.054,3.045,3.041,3.04,3.021,3.02,3.02,3.014,3.013,3.007,3.003,2.994,2.984,2.977,2.974,2.974,2.969,2.963,2.961,2.959,2.958,2.958,2.958,2.956,2.955,2.945,2.94,2.939,2.939,2.94,2.945,2.945,2.945,2.938,2.936,2.936,2.936,2.936,2.934,2.932,2.932,2.932,2.93,2.932,2.932,2.932,2.933,2.933,2.931,2.931,2.931,2.931,2.932,2.932,2.932,2.932,2.933,2.933,2.933,2.936,2.937,2.939,2.937,2.939,2.939,2.942,2.949,2.954,2.954,2.955,2.955,2.966,2.966,2.967,2.97,2.974,2.986,2.992,2.992,2.991,2.991,2.996,2.996,2.996,3.006,3.008,3.013,3.015,3.024,3.029,3.04,3.044,3.045,3.053,3.053,3.055,3.055,3.059,3.059,3.074,3.076,3.078,3.085,3.091,3.095,3.1,3.105,3.106,3.119,3.122,3.134,3.134,3.134,3.141,3.157,3.162,3.181,3.182,3.185,3.194,3.202,3.205,3.208,3.221,3.24,3.749,3.77,3.786,3.786,3.796,0.009,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 114.58} {Type Odometry} {Name Odometry} {Pose -0.005080,0.997460,0.425860}
SEN {Time 114.58} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260}
SEN {Time 114.58} {Type Sonar} {Name Sonar0 Range 6.096} {Name Sonar1 Range 3.429} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.3114}
SEN {Time 114.621} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0,0.182,0.181,0.181,0.181,0.181,0,0,0,0.007,3.592,3.592,3.592,3.592,3.592,3.591,3.591,3.588,3.586,3.584,3.584,3.584,3.584,3.586,3.587,3.587,3.589,3.591,3.591,3.589,3.59,3.589,3.589,3.59,3.594,3.599,3.599,3.602,3.601,3.601,3.601,3.604,3.609,3.612,3.618,3.625,3.631,3.631,3.632,3.643,3.644,3.648,3.648,3.648,3.648,3.626,3.311,0.157,0.153,0.148,0.148,0.144,0.148,0.152,0.152,0.152,0.161,0.162,0.229,0,0,0,0,0,0.179,0.168,0.165,0.163,0.163,0.164,0.165,0.17,0.195,3.851,3.868,3.884,3.884,3.884,3.888,3.902,3.91,3.923,3.929,3.943,3.957,3.97,3.981,3.986,4.009,4.03,4.038,4.05,4.053,4.071,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0.007,0,4.088,0,3.986,3.952,3.878,3.876,3.876,3.851,3.798,3.755,3.737,3.708,3.665,3.66,3.633,3.588,3.579,3.546,3.541,3.522,3.49,3.451,3.43,3.422,3.398,3.391,3.359,3.352,3.326,3.306,3.29,3.279,3.239,3.232,3.217,3.188,3.18,3.166,3.142,3.129,3.117,3.107,3.092,3.068,3.059,3.055,3.039,3.018,3.011,3,2.98,2.968,2.955,2.943,2.938,2.925,2.907,2.9,2.891,2.882,2.867,2.86,2.858,2.838,2.831,2.828,2.816,2.796,2.795,2.784,2.779,2.759,2.748,2.735,2.731,2.726,2.724,2.703,2.695,2.689,2.689,2.671,2.668,2.661,2.651,2.65,2.64,2.638,2.627,2.621,2.616,2.608,2.604,2.601,2.589,2.588,2.584,2.562,2.557,2.557,2.556,2.555,2.547,2.541,2.532,2.529,2.525,2.522,2.513,2.506,2.504,2.5,2.499,2.499,2.496,2.488,2.485,2.484,2.475,2.47,2.464,2.464,2.462,2.454,2.454,2.452,2.45,2.448,2.442,2.442,2.442,2.439,2.437,2.433,2.432,2.431,2.431,2.428,2.428,2.425,2.423,2.416,2.415,2.412,2.409,2.409,2.412,2.409,2.412,2.412,2.408,2.408,2.408,2.408,2.408,2.406,2.406,2.406,2.406,2.406,2.408,2.411,2.413,2.416,2.416,2.416,2.417,2.417,2.419,2.423,2.427,2.431,2.431,2.431,2.43,2.434,2.435,2.443,2.443,2.446,2.446,2.446,2.446,2.455,2.457,2.459,2.459,2.462,2.464,2.471,2.473,2.476,2.486,2.492,2.493,2.496,2.502,2.511,2.514,2.515,2.515,2.519,2.529,2.53,2.538,2.55,2.55,2.553,2.565,2.566,2.567,2.586,2.594,2.594,2.596,2.603,2.611,2.619,2.628,2.629,2.643,2.644,2.665,2.665,2.669,2.687,2.691,2.694,2.707,2.716,2.729,2.732,2.743,2.756,2.76,2.767,2.78,2.788,2.797,2.802,2.82,2.824,2.839,2.862,2.863,2.878,2.893,2.901,2.921,2.934,2.942,2.944,2.956,2.968,2.989,2.998,3.005,3.026,3.04,3.054,3.071,3.079,3.092,3.11,3.113,3.14,3.154,3.163,3.178,3.186,3.207,3.222,3.243,3.262,3.282,3.3,3.32,3.34,3.357,3.374,3.392,3.42,3.432,3.452,3.465,3.497,3.518,3.543,3.557,3.589,3.616,3.644,3.654,3.681,3.722,3.732,3.766,3.79,3.825,3.846,3.882,3.922,3.969,3.992,3.996,4.052,4.092,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.317,3.299,3.289,3.271,3.265,3.253,3.249,3.232,3.223,3.209,3.208,3.201,3.191,3.181,3.177,3.165,3.156,3.153,3.149,3.141,3.121,3.118,3.118,3.099,3.099,3.097,3.084,3.08,3.075,3.075,3.075,3.061,3.057,3.051,3.038,3.033,3.033,3.026,3.02,3.017,3.011,3.008,3.006,3.002,3,2.999,2.996,2.984,2.981,2.974,2.97,2.97,2.969,2.966,2.962,2.961,2.957,2.959,2.955,2.959,2.959,2.959,2.959,2.959,2.953,2.953,2.946,2.946,2.945,2.941,2.939,2.937,2.937,2.937,2.937,2.938,2.938,2.937,2.938,2.938,2.937,2.938,2.938,2.938,2.934,2.938,2.944,2.944,2.941,2.941,2.941,2.94,2.941,2.941,2.954,2.954,2.954,2.954,2.954,2.963,2.966,2.966,2.966,2.979,2.981,2.983,2.986,2.986,2.99,2.992,2.996,3,3.006,3.008,3.012,3.016,3.02,3.026,3.028,3.031,3.036,3.049,3.051,3.052,3.056,3.056,3.056,3.061,3.061,3.083,3.089,3.091,3.091,3.094,3.103,3.107,3.131,3.131,3.132,3.132,3.132,3.134,3.144,3.15,3.159,3.165,3.169,3.176,3.194,3.201,3.212,3.214,3.222,3.227,3.232,3.258,3.731,3.763,3.788,3.795,3.803,3.818,3.823,3.835,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 114.77} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.403171}
SEN {Time 114.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 114.771} {Type Sonar} {Name Sonar0 Range 6.096} {Name Sonar1 Range 3.429} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.3274} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.3302} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.937} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 0.9906}
SEN {Time 114.82} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0.189,0.178,0.178,0.178,0.178,0.181,3.08,3.08,3.08,3.059,3.057,3.057,3.057,3.061,3.554,3.579,3.583,3.584,3.584,3.583,3.58,3.58,3.58,3.582,3.582,3.582,3.581,3.579,3.578,3.578,3.578,3.578,3.576,3.592,3.58,3.585,3.585,3.591,3.591,3.591,3.593,3.601,3.601,3.601,3.61,3.613,3.618,3.618,3.615,3.623,3.623,3.624,3.624,3.624,3.624,3.61,3.593,0.153,0.153,0.147,0.147,0.145,0.147,0.151,0.151,0.147,0.152,0.158,0.217,0,0,0,0,0,0,0.17,0.165,0.159,0.158,0.158,0.158,0.171,0.202,3.83,3.832,3.846,3.846,3.846,3.855,3.862,3.862,3.896,3.9,3.902,3.915,3.926,3.932,3.941,3.955,3.968,3.974,3.986,4.01,4.017,4.026,4.047,4.076,4.076,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.826,3.8,3.779,3.756,3.708,3.693,3.673,3.634,3.613,3.587,3.565,3.548,3.526,3.497,3.475,3.471,3.433,3.418,3.402,3.388,3.355,3.334,3.314,3.298,3.279,3.259,3.245,3.218,3.201,3.183,3.172,3.151,3.143,3.112,3.106,3.102,3.081,3.061,3.052,3.048,3.025,3.021,2.991,2.983,2.978,2.96,2.952,2.938,2.927,2.918,2.914,2.896,2.888,2.864,2.858,2.857,2.84,2.838,2.821,2.82,2.809,2.788,2.785,2.775,2.763,2.756,2.753,2.74,2.732,2.72,2.708,2.701,2.7,2.695,2.683,2.675,2.662,2.66,2.647,2.642,2.642,2.632,2.629,2.62,2.612,2.593,2.59,2.589,2.586,2.578,2.577,2.562,2.557,2.556,2.547,2.546,2.544,2.54,2.532,2.531,2.52,2.513,2.51,2.507,2.505,2.504,2.5,2.497,2.492,2.487,2.477,2.477,2.472,2.472,2.467,2.466,2.461,2.461,2.449,2.446,2.446,2.445,2.443,2.442,2.438,2.437,2.437,2.434,2.434,2.427,2.426,2.425,2.423,2.419,2.413,2.413,2.41,2.41,2.41,2.409,2.409,2.408,2.407,2.402,2.402,2.404,2.404,2.405,2.406,2.409,2.413,2.409,2.412,2.412,2.412,2.412,2.412,2.414,2.414,2.417,2.42,2.423,2.42,2.424,2.429,2.43,2.429,2.43,2.432,2.435,2.435,2.438,2.446,2.448,2.451,2.459,2.46,2.461,2.46,2.464,2.465,2.464,2.468,2.468,2.485,2.49,2.492,2.495,2.496,2.501,2.507,2.514,2.521,2.525,2.53,2.531,2.535,2.543,2.545,2.553,2.563,2.565,2.571,2.583,2.586,2.591,2.595,2.6,2.607,2.613,2.629,2.63,2.633,2.643,2.645,2.661,2.673,2.674,2.684,2.688,2.704,2.71,2.711,2.718,2.728,2.739,2.762,2.764,2.769,2.775,2.791,2.793,2.809,2.826,2.835,2.841,2.855,2.872,2.875,2.886,2.907,2.909,2.92,2.94,2.948,2.959,2.973,2.988,2.999,3.016,3.035,3.05,3.061,3.068,3.082,3.089,3.117,3.119,3.141,3.149,3.163,3.179,3.195,3.218,3.219,3.241,3.259,3.284,3.297,3.321,3.338,3.354,3.363,3.393,3.407,3.442,3.457,3.467,3.498,3.519,3.547,3.568,3.593,3.614,3.644,3.675,3.689,3.722,3.725,3.768,3.795,3.833,3.867,3.884,3.921,3.962,3.99,4.028,4.058,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.316,3.297,3.283,3.279,3.267,3.254,3.245,3.236,3.23,3.221,3.212,3.203,3.191,3.188,3.183,3.162,3.159,3.152,3.152,3.146,3.133,3.122,3.121,3.108,3.098,3.095,3.088,3.088,3.085,3.077,3.068,3.065,3.061,3.051,3.048,3.035,3.032,3.029,3.026,3.026,3.016,3.014,3.008,2.999,2.997,2.991,2.991,2.987,2.985,2.973,2.973,2.971,2.97,2.968,2.968,2.968,2.961,2.96,2.958,2.958,2.958,2.959,2.959,2.959,2.955,2.95,2.949,2.949,2.945,2.945,2.945,2.945,2.945,2.945,2.945,2.942,2.942,2.942,2.94,2.94,2.942,2.942,2.94,2.942,2.946,2.946,2.946,2.946,2.943,2.943,2.943,2.949,2.953,2.953,2.954,2.954,2.96,2.964,2.964,2.966,2.966,2.966,2.971,2.978,2.982,2.985,2.986,2.99,2.996,2.997,3,3.001,3.003,3.009,3.01,3.017,3.022,3.026,3.033,3.034,3.04,3.049,3.051,3.061,3.061,3.064,3.064,3.065,3.065,3.076,3.084,3.088,3.092,3.1,3.108,3.117,3.121,3.124,3.124,3.144,3.146,3.146,3.146,3.149,3.163,3.172,3.179,3.188,3.192,3.195,3.216,3.218,3.225,3.225,3.229,3.233,3.776,3.777,3.791,3.808,3.812,3.828,3.829,3.854,3.864,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 114.98} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 114.98} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 114.978} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.429} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 0.9906}
SEN {Time 115.019} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.179,0.178,0.179,0.179,0.179,3.081,3.081,3.081,3.061,3.053,3.053,3.053,3.061,3.498,3.582,3.587,3.588,3.588,3.588,3.588,3.579,3.579,3.579,3.579,3.579,3.581,3.581,3.582,3.582,3.582,3.583,3.583,3.583,3.581,3.583,3.583,3.59,3.591,3.591,3.591,3.593,3.603,3.603,3.607,3.612,3.614,3.614,3.614,3.614,3.614,3.622,3.63,3.63,3.63,3.636,3.602,3.304,0.16,0.154,0.154,0.153,0.153,0.153,0.157,0.155,0.157,0.157,0.211,0,0,0,0,0,0.189,0.176,0.163,0.152,0.152,0.152,0.156,0.163,0.19,3.804,3.83,3.84,3.84,3.84,3.858,3.866,3.872,3.881,3.895,3.896,3.911,3.914,3.945,3.945,3.962,3.965,3.979,3.985,4.007,4.012,4.039,4.041,4.047,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.928,3.885,3.83,3.801,3.774,3.774,3.756,3.716,3.661,3.642,3.623,3.611,3.579,3.553,3.532,3.5,3.492,3.474,3.434,3.399,3.398,3.387,3.359,3.334,3.324,3.302,3.279,3.262,3.234,3.225,3.205,3.199,3.172,3.155,3.133,3.124,3.113,3.101,3.092,3.072,3.054,3.046,3.018,3.011,2.991,2.986,2.982,2.958,2.956,2.94,2.93,2.919,2.904,2.893,2.883,2.871,2.856,2.855,2.838,2.838,2.829,2.813,2.799,2.797,2.779,2.778,2.77,2.754,2.751,2.742,2.737,2.718,2.713,2.701,2.7,2.689,2.684,2.67,2.663,2.657,2.65,2.645,2.645,2.639,2.624,2.622,2.613,2.608,2.598,2.589,2.587,2.58,2.571,2.57,2.565,2.563,2.554,2.549,2.542,2.536,2.53,2.522,2.521,2.512,2.512,2.511,2.506,2.499,2.496,2.495,2.49,2.488,2.482,2.477,2.472,2.47,2.467,2.463,2.462,2.451,2.451,2.448,2.448,2.439,2.439,2.439,2.438,2.438,2.433,2.433,2.433,2.423,2.421,2.419,2.419,2.418,2.417,2.417,2.416,2.414,2.416,2.416,2.416,2.414,2.413,2.411,2.408,2.408,2.41,2.41,2.41,2.41,2.41,2.409,2.41,2.409,2.41,2.408,2.413,2.413,2.413,2.413,2.42,2.428,2.428,2.428,2.428,2.429,2.429,2.436,2.438,2.44,2.44,2.444,2.449,2.452,2.452,2.455,2.455,2.466,2.47,2.47,2.475,2.478,2.48,2.485,2.487,2.487,2.487,2.496,2.498,2.502,2.507,2.508,2.523,2.525,2.527,2.531,2.537,2.547,2.553,2.555,2.562,2.565,2.575,2.582,2.587,2.591,2.593,2.6,2.607,2.613,2.622,2.628,2.634,2.638,2.66,2.663,2.676,2.679,2.688,2.689,2.692,2.707,2.711,2.732,2.733,2.742,2.743,2.756,2.768,2.783,2.801,2.804,2.812,2.817,2.832,2.846,2.863,2.874,2.884,2.885,2.906,2.915,2.922,2.941,2.942,2.962,2.981,2.986,3.006,3.014,3.03,3.037,3.056,3.069,3.086,3.092,3.113,3.124,3.127,3.15,3.16,3.181,3.208,3.215,3.219,3.241,3.266,3.282,3.299,3.311,3.326,3.354,3.373,3.385,3.407,3.431,3.449,3.478,3.508,3.512,3.535,3.565,3.595,3.619,3.64,3.675,3.689,3.711,3.739,3.772,3.802,3.828,3.864,3.883,3.919,3.952,3.994,4.018,4.059,4.093,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.302,3.288,3.274,3.273,3.269,3.245,3.233,3.226,3.217,3.208,3.208,3.189,3.188,3.178,3.168,3.164,3.147,3.143,3.14,3.128,3.126,3.121,3.114,3.097,3.092,3.092,3.091,3.082,3.075,3.069,3.06,3.056,3.051,3.046,3.037,3.037,3.029,3.022,3.022,3.022,3.022,3.019,3.003,2.996,2.994,2.994,2.983,2.981,2.975,2.973,2.972,2.972,2.972,2.969,2.968,2.968,2.962,2.962,2.962,2.962,2.962,2.962,2.962,2.954,2.953,2.95,2.95,2.947,2.944,2.944,2.947,2.944,2.947,2.947,2.948,2.945,2.945,2.944,2.945,2.944,2.94,2.94,2.943,2.943,2.943,2.943,2.944,2.942,2.942,2.949,2.953,2.953,2.954,2.955,2.955,2.959,2.964,2.966,2.967,2.971,2.971,2.972,2.975,2.979,2.982,2.983,2.988,2.998,3.002,3.002,3.008,3.009,3.01,3.014,3.02,3.023,3.026,3.029,3.03,3.039,3.043,3.049,3.053,3.064,3.065,3.065,3.068,3.068,3.072,3.088,3.089,3.097,3.1,3.107,3.11,3.116,3.125,3.125,3.139,3.143,3.151,3.144,3.151,3.16,3.167,3.184,3.199,3.2,3.207,3.211,3.221,3.222,3.222,3.226,3.245,3.767,3.769,3.783,3.796,3.819,3.831,3.832,3.856,3.871,3.873,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.18} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 115.18} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 115.177} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 0.9906}
SEN {Time 115.221} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.183,0.181,0.182,0.182,0.186,0,0,0,0,3.062,3.062,3.063,3.487,3.487,3.584,3.587,3.587,3.584,3.584,3.587,3.587,3.587,3.587,3.587,3.575,3.575,3.583,3.575,3.583,3.586,3.586,3.586,3.586,3.586,3.588,3.583,3.587,3.587,3.589,3.591,3.592,3.593,3.593,3.603,3.605,3.611,3.616,3.616,3.621,3.621,3.625,3.625,3.625,3.612,3.589,3.299,0.151,0.151,0.145,0.151,0.145,0.159,0.159,0.159,0.159,0.16,0.161,0.201,0,0,0,0,0,0,0.174,0.162,0.159,0.158,0.157,0.157,0.158,0.202,3.783,3.82,3.83,3.83,3.836,3.848,3.865,3.869,3.89,3.894,3.903,3.919,3.933,3.936,3.944,3.963,3.974,3.984,3.998,3.998,4.017,4.036,4.037,4.057,4.074,4.088,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,3.86,3.826,3.806,3.765,3.751,3.732,3.685,3.671,3.644,3.631,3.605,3.589,3.541,3.527,3.507,3.481,3.455,3.432,3.42,3.405,3.379,3.367,3.349,3.306,3.297,3.271,3.269,3.242,3.228,3.196,3.192,3.177,3.158,3.156,3.134,3.114,3.102,3.091,3.071,3.05,3.035,3.025,3.025,2.988,2.984,2.981,2.958,2.95,2.942,2.932,2.923,2.904,2.898,2.895,2.878,2.861,2.857,2.849,2.831,2.828,2.822,2.802,2.785,2.784,2.777,2.765,2.754,2.751,2.735,2.73,2.723,2.709,2.705,2.701,2.689,2.679,2.672,2.668,2.659,2.648,2.643,2.633,2.631,2.627,2.615,2.609,2.603,2.599,2.59,2.587,2.582,2.579,2.577,2.564,2.557,2.546,2.544,2.54,2.531,2.53,2.525,2.522,2.52,2.515,2.515,2.504,2.503,2.501,2.495,2.492,2.492,2.483,2.474,2.471,2.47,2.47,2.465,2.462,2.46,2.454,2.446,2.446,2.446,2.443,2.443,2.437,2.436,2.432,2.429,2.429,2.421,2.421,2.421,2.421,2.418,2.418,2.414,2.412,2.412,2.413,2.413,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.411,2.41,2.41,2.411,2.412,2.413,2.413,2.413,2.413,2.409,2.409,2.415,2.419,2.42,2.421,2.423,2.425,2.425,2.425,2.425,2.435,2.435,2.436,2.436,2.44,2.442,2.444,2.453,2.453,2.453,2.454,2.462,2.465,2.466,2.467,2.472,2.472,2.477,2.485,2.489,2.495,2.502,2.503,2.508,2.508,2.513,2.517,2.528,2.533,2.536,2.541,2.543,2.55,2.551,2.574,2.576,2.577,2.583,2.587,2.593,2.6,2.604,2.61,2.615,2.637,2.642,2.644,2.649,2.666,2.674,2.677,2.686,2.698,2.699,2.708,2.713,2.722,2.722,2.74,2.742,2.762,2.777,2.78,2.792,2.793,2.817,2.823,2.83,2.846,2.855,2.87,2.884,2.886,2.909,2.911,2.915,2.941,2.944,2.958,2.975,2.975,3.003,3.017,3.036,3.038,3.051,3.063,3.084,3.092,3.106,3.116,3.127,3.151,3.166,3.185,3.189,3.208,3.233,3.246,3.264,3.278,3.3,3.316,3.336,3.354,3.371,3.387,3.403,3.429,3.459,3.472,3.501,3.515,3.54,3.57,3.588,3.611,3.646,3.667,3.689,3.711,3.732,3.768,3.793,3.83,3.87,3.896,3.919,3.959,3.989,4.013,4.056,4.088,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.292,3.288,3.285,3.265,3.264,3.253,3.242,3.227,3.218,3.202,3.197,3.191,3.187,3.184,3.174,3.167,3.148,3.146,3.142,3.129,3.119,3.116,3.111,3.104,3.099,3.094,3.084,3.083,3.075,3.066,3.061,3.049,3.047,3.043,3.038,3.032,3.031,3.029,3.025,3.018,3.016,3.014,3.001,2.995,2.994,2.99,2.988,2.98,2.98,2.975,2.971,2.971,2.966,2.966,2.963,2.962,2.96,2.96,2.96,2.96,2.963,2.963,2.963,2.958,2.953,2.95,2.95,2.947,2.942,2.939,2.939,2.939,2.945,2.945,2.945,2.943,2.943,2.94,2.943,2.943,2.943,2.936,2.943,2.943,2.943,2.943,2.946,2.946,2.946,2.948,2.955,2.955,2.955,2.955,2.956,2.958,2.96,2.963,2.968,2.968,2.968,2.98,2.981,2.983,2.983,2.983,2.988,2.989,2.995,2.997,3.004,3.004,3.007,3.012,3.018,3.027,3.033,3.036,3.039,3.046,3.05,3.056,3.056,3.059,3.064,3.064,3.074,3.074,3.075,3.092,3.092,3.092,3.095,3.103,3.109,3.113,3.119,3.122,3.13,3.131,3.134,3.15,3.154,3.164,3.175,3.189,3.196,3.197,3.198,3.212,3.22,3.227,3.227,3.231,3.232,3.772,3.782,3.784,3.8,3.815,3.818,3.831,3.853,3.855,3.872,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.38} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 115.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 115.379} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.048} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 2.3114}
SEN {Time 115.417} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.191,0.191,0.191,0.181,0.181,0.178,0.178,0.186,0,0,0,0,3.063,3.062,3.062,3.443,3.443,3.581,3.581,3.581,3.582,3.582,3.583,3.583,3.584,3.584,3.586,3.585,3.585,3.585,3.579,3.576,3.576,3.579,3.579,3.585,3.585,3.586,3.588,3.588,3.59,3.597,3.597,3.598,3.602,3.602,3.599,3.608,3.608,3.612,3.612,3.614,3.615,3.615,3.624,3.624,3.625,3.625,3.599,0.152,0.152,0.149,0.146,0.144,0.146,0.146,0.151,0.153,0.153,0.153,0.21,0,0,0,0,0,0.007,0.188,0.188,0.161,0.158,0.161,0.166,0.166,0.187,3.801,3.803,3.824,3.824,3.841,3.86,3.865,3.873,3.883,3.89,3.909,3.91,3.916,3.935,3.949,3.955,3.97,3.983,3.983,3.99,4.009,4.032,4.042,4.055,4.068,4.089,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,4.087,4.059,4.059,0,0,0,0,3.838,3.813,3.758,3.743,3.723,3.687,3.66,3.655,3.626,3.593,3.568,3.539,3.532,3.512,3.484,3.484,3.421,3.411,3.405,3.387,3.366,3.344,3.33,3.303,3.279,3.26,3.244,3.224,3.206,3.186,3.178,3.16,3.138,3.137,3.106,3.099,3.088,3.063,3.054,3.046,3.029,3.016,3.002,2.981,2.98,2.962,2.954,2.948,2.929,2.915,2.911,2.899,2.887,2.874,2.867,2.85,2.848,2.837,2.828,2.819,2.804,2.791,2.782,2.774,2.768,2.75,2.748,2.743,2.733,2.722,2.717,2.709,2.692,2.689,2.679,2.677,2.658,2.655,2.654,2.647,2.634,2.633,2.627,2.621,2.608,2.601,2.599,2.593,2.587,2.583,2.578,2.565,2.56,2.555,2.545,2.54,2.54,2.535,2.535,2.531,2.521,2.511,2.509,2.507,2.505,2.498,2.497,2.497,2.493,2.481,2.474,2.471,2.471,2.47,2.468,2.464,2.459,2.457,2.457,2.453,2.451,2.443,2.44,2.436,2.431,2.431,2.429,2.427,2.425,2.423,2.423,2.423,2.423,2.421,2.421,2.418,2.412,2.412,2.412,2.412,2.41,2.41,2.41,2.41,2.408,2.41,2.408,2.409,2.408,2.409,2.409,2.41,2.41,2.413,2.41,2.413,2.413,2.415,2.421,2.421,2.421,2.425,2.425,2.425,2.428,2.428,2.428,2.434,2.436,2.436,2.438,2.441,2.441,2.441,2.448,2.451,2.455,2.461,2.463,2.464,2.465,2.465,2.471,2.474,2.474,2.488,2.49,2.493,2.498,2.5,2.505,2.508,2.517,2.522,2.522,2.535,2.535,2.547,2.551,2.552,2.557,2.569,2.569,2.574,2.584,2.584,2.593,2.603,2.61,2.61,2.623,2.633,2.637,2.642,2.647,2.667,2.669,2.676,2.68,2.693,2.693,2.702,2.716,2.725,2.734,2.738,2.741,2.761,2.771,2.784,2.788,2.803,2.814,2.823,2.829,2.844,2.86,2.872,2.881,2.889,2.904,2.912,2.919,2.936,2.943,2.953,2.973,2.979,3.002,3.007,3.029,3.038,3.051,3.06,3.082,3.094,3.109,3.119,3.134,3.15,3.161,3.182,3.201,3.216,3.225,3.243,3.27,3.275,3.288,3.316,3.336,3.356,3.372,3.386,3.404,3.429,3.455,3.475,3.497,3.521,3.548,3.575,3.598,3.607,3.634,3.669,3.695,3.712,3.733,3.768,3.796,3.839,3.888,3.922,3.953,3.953,3.981,4.014,4.047,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.322,3.302,3.281,3.272,3.262,3.258,3.25,3.234,3.232,3.223,3.214,3.199,3.191,3.19,3.181,3.175,3.169,3.155,3.149,3.141,3.132,3.121,3.116,3.113,3.097,3.094,3.092,3.086,3.083,3.074,3.069,3.064,3.054,3.045,3.034,3.034,3.031,3.031,3.024,3.018,3.015,3.012,3.01,3.006,3.004,2.994,2.993,2.992,2.983,2.983,2.981,2.972,2.972,2.966,2.968,2.968,2.966,2.963,2.962,2.962,2.963,2.955,2.956,2.956,2.956,2.951,2.949,2.949,2.949,2.94,2.94,2.942,2.942,2.944,2.944,2.944,2.942,2.939,2.939,2.939,2.941,2.939,2.939,2.939,2.941,2.939,2.944,2.944,2.944,2.941,2.944,2.948,2.951,2.951,2.952,2.953,2.955,2.956,2.957,2.957,2.962,2.971,2.973,2.973,2.984,2.987,2.99,2.994,2.994,2.995,2.997,3.005,3.006,3.009,3.018,3.024,3.026,3.031,3.034,3.04,3.042,3.042,3.046,3.059,3.064,3.064,3.064,3.065,3.065,3.078,3.083,3.083,3.092,3.094,3.106,3.108,3.112,3.122,3.126,3.134,3.137,3.142,3.147,3.159,3.163,3.171,3.172,3.189,3.198,3.201,3.214,3.224,3.227,3.23,3.237,3.777,3.782,3.797,3.797,3.801,3.818,3.827,3.835,3.865,3.873,3.878,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.57} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 115.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 115.572} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 2.3114}
SEN {Time 115.619} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0.189,0.18,0.175,0.174,0.174,0.18,3.082,3.082,3.082,3.061,3.056,3.056,3.049,3.056,3.06,3.579,3.588,3.588,3.584,3.584,3.586,3.584,3.583,3.583,3.58,3.573,3.573,3.579,3.578,3.579,3.579,3.581,3.581,3.583,3.583,3.585,3.585,3.587,3.592,3.594,3.594,3.596,3.596,3.602,3.605,3.605,3.605,3.608,3.61,3.614,3.624,3.614,3.614,3.614,3.613,3.603,3.31,0.154,0.154,0.15,0.154,0.153,0.154,0.153,0.153,0.153,0.153,0.153,0.21,0,0,0,0,0,0.187,0.173,0.156,0.155,0.155,0.155,0.159,0.163,0.197,3.794,3.824,3.824,3.824,3.837,3.837,3.861,3.867,3.88,3.889,3.897,3.906,3.926,3.935,3.94,3.959,3.969,3.974,3.984,4.008,4.012,4.031,4.045,4.062,4.064,4.088,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,3.985,3.956,3.928,3.887,3.855,3.826,3.806,3.764,3.741,3.728,3.684,3.664,3.632,3.613,3.606,3.57,3.553,3.531,3.505,3.482,3.459,3.431,3.411,3.397,3.384,3.36,3.345,3.328,3.293,3.278,3.259,3.247,3.223,3.205,3.2,3.172,3.165,3.14,3.13,3.108,3.102,3.084,3.071,3.053,3.043,3.027,3.021,2.995,2.98,2.978,2.962,2.948,2.938,2.934,2.924,2.909,2.901,2.888,2.882,2.872,2.856,2.852,2.839,2.824,2.819,2.805,2.797,2.782,2.777,2.768,2.749,2.748,2.738,2.725,2.724,2.715,2.705,2.696,2.691,2.684,2.669,2.668,2.666,2.647,2.646,2.644,2.639,2.628,2.624,2.608,2.601,2.595,2.588,2.584,2.583,2.581,2.573,2.564,2.56,2.547,2.545,2.545,2.544,2.534,2.525,2.519,2.518,2.518,2.51,2.509,2.504,2.499,2.494,2.485,2.48,2.477,2.47,2.468,2.463,2.461,2.459,2.458,2.458,2.451,2.451,2.451,2.45,2.45,2.44,2.438,2.438,2.437,2.432,2.432,2.426,2.421,2.418,2.416,2.416,2.416,2.416,2.416,2.415,2.411,2.409,2.411,2.409,2.409,2.409,2.409,2.407,2.407,2.407,2.407,2.408,2.409,2.409,2.41,2.411,2.411,2.412,2.413,2.414,2.414,2.415,2.415,2.42,2.42,2.428,2.425,2.428,2.429,2.438,2.438,2.438,2.439,2.44,2.443,2.443,2.451,2.453,2.456,2.456,2.458,2.46,2.464,2.468,2.477,2.478,2.484,2.485,2.488,2.493,2.493,2.495,2.509,2.51,2.516,2.518,2.533,2.537,2.541,2.543,2.546,2.558,2.559,2.562,2.57,2.574,2.582,2.585,2.592,2.596,2.6,2.613,2.622,2.629,2.63,2.634,2.657,2.658,2.663,2.674,2.681,2.683,2.702,2.708,2.714,2.728,2.736,2.742,2.746,2.756,2.775,2.783,2.784,2.798,2.811,2.812,2.836,2.84,2.86,2.873,2.881,2.898,2.899,2.91,2.922,2.936,2.949,2.959,2.966,2.987,2.997,3.002,3.024,3.027,3.043,3.059,3.082,3.083,3.104,3.121,3.131,3.146,3.162,3.168,3.198,3.209,3.236,3.24,3.264,3.28,3.29,3.317,3.33,3.351,3.363,3.386,3.405,3.434,3.45,3.466,3.497,3.519,3.53,3.565,3.595,3.611,3.633,3.678,3.679,3.715,3.735,3.743,3.796,3.824,3.845,3.892,3.912,3.947,3.979,3.998,4.043,4.083,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.301,3.282,3.282,3.27,3.255,3.245,3.229,3.228,3.226,3.204,3.201,3.185,3.185,3.182,3.168,3.16,3.153,3.146,3.14,3.132,3.126,3.116,3.107,3.101,3.095,3.092,3.089,3.081,3.077,3.064,3.061,3.048,3.045,3.044,3.042,3.03,3.029,3.022,3.018,3.017,3.015,3.012,3.008,2.997,2.995,2.994,2.981,2.981,2.978,2.977,2.976,2.973,2.973,2.971,2.964,2.96,2.96,2.959,2.959,2.96,2.959,2.958,2.958,2.958,2.953,2.949,2.946,2.945,2.945,2.944,2.942,2.937,2.942,2.941,2.941,2.941,2.945,2.946,2.946,2.944,2.944,2.943,2.943,2.943,2.94,2.943,2.944,2.943,2.943,2.955,2.955,2.951,2.953,2.953,2.953,2.961,2.964,2.964,2.966,2.967,2.967,2.975,2.978,2.982,2.982,2.987,2.992,2.995,2.997,3.002,3.005,3.007,3.009,3.013,3.021,3.023,3.025,3.033,3.039,3.042,3.049,3.049,3.049,3.055,3.067,3.067,3.067,3.068,3.078,3.082,3.088,3.093,3.094,3.103,3.106,3.109,3.117,3.126,3.133,3.139,3.146,3.146,3.149,3.155,3.165,3.174,3.192,3.201,3.202,3.211,3.216,3.222,3.228,3.236,3.769,3.774,3.792,3.792,3.798,3.804,3.815,3.829,3.849,3.866,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.77} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 115.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 115.774} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.6002} {Name Sonar15 Range 2.3114}
SEN {Time 115.816} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.176,0.176,0.176,0.176,0.183,3.086,3.086,3.086,3.061,3.051,3.051,3.044,3.051,3.062,3.585,3.588,3.588,3.585,3.585,3.585,3.585,3.579,3.581,3.581,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.584,3.584,3.584,3.585,3.588,3.589,3.594,3.599,3.609,3.61,3.61,3.613,3.616,3.619,3.619,3.619,3.619,3.619,3.613,3.606,3.307,0.152,0.149,0.149,0.15,0.148,0.15,0.151,0.152,0.152,0.156,0.158,0.221,0,0,0,0,0,0.182,0.177,0.177,0.164,0.153,0.153,0.169,0.169,0.194,3.812,3.827,3.83,3.83,3.83,3.845,3.853,3.859,3.873,3.887,3.895,3.913,3.927,3.932,3.941,3.949,3.978,3.985,3.988,3.994,4.015,4.025,4.042,4.064,4.065,4.087,4.092,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0.007,0,3.994,3.887,3.857,3.834,3.793,3.781,3.743,3.733,3.689,3.657,3.649,3.624,3.6,3.579,3.553,3.532,3.507,3.472,3.465,3.438,3.406,3.399,3.382,3.369,3.333,3.324,3.302,3.284,3.261,3.253,3.224,3.202,3.191,3.169,3.167,3.141,3.133,3.121,3.097,3.093,3.073,3.055,3.043,3.022,3.015,2.988,2.985,2.977,2.954,2.95,2.933,2.93,2.918,2.913,2.9,2.889,2.872,2.866,2.849,2.846,2.842,2.827,2.816,2.813,2.79,2.785,2.774,2.765,2.759,2.75,2.737,2.726,2.715,2.707,2.7,2.698,2.686,2.685,2.677,2.666,2.663,2.653,2.646,2.644,2.637,2.629,2.616,2.611,2.61,2.594,2.593,2.585,2.579,2.572,2.566,2.562,2.558,2.548,2.545,2.544,2.535,2.53,2.522,2.521,2.519,2.519,2.509,2.501,2.496,2.496,2.494,2.492,2.482,2.48,2.479,2.475,2.468,2.468,2.461,2.457,2.453,2.451,2.445,2.445,2.442,2.439,2.435,2.432,2.432,2.432,2.431,2.431,2.423,2.418,2.417,2.417,2.417,2.417,2.416,2.415,2.415,2.413,2.41,2.41,2.409,2.409,2.41,2.407,2.41,2.41,2.408,2.408,2.411,2.408,2.411,2.411,2.41,2.408,2.408,2.408,2.41,2.411,2.412,2.419,2.421,2.421,2.421,2.428,2.43,2.43,2.431,2.433,2.433,2.438,2.439,2.439,2.441,2.445,2.448,2.454,2.454,2.464,2.464,2.465,2.465,2.475,2.479,2.481,2.481,2.485,2.491,2.494,2.496,2.504,2.516,2.517,2.518,2.519,2.53,2.531,2.532,2.548,2.554,2.556,2.557,2.571,2.578,2.586,2.589,2.593,2.599,2.6,2.618,2.629,2.629,2.632,2.645,2.646,2.66,2.662,2.668,2.69,2.69,2.691,2.712,2.714,2.72,2.727,2.732,2.745,2.749,2.77,2.787,2.797,2.805,2.805,2.824,2.824,2.85,2.851,2.87,2.873,2.888,2.9,2.91,2.923,2.931,2.936,2.958,2.967,2.983,2.995,3.008,3.012,3.038,3.05,3.061,3.086,3.088,3.111,3.121,3.128,3.144,3.16,3.175,3.194,3.21,3.233,3.248,3.257,3.284,3.301,3.313,3.333,3.36,3.374,3.385,3.395,3.419,3.458,3.459,3.5,3.515,3.529,3.551,3.602,3.619,3.64,3.672,3.69,3.709,3.739,3.771,3.789,3.822,3.858,3.884,3.907,3.956,3.988,4.023,4.046,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,3.349,3.304,3.29,3.277,3.275,3.253,3.246,3.234,3.232,3.219,3.204,3.201,3.198,3.192,3.188,3.167,3.167,3.158,3.146,3.143,3.13,3.128,3.12,3.115,3.106,3.104,3.095,3.09,3.089,3.076,3.063,3.06,3.048,3.048,3.038,3.035,3.031,3.028,3.027,3.022,3.018,3.007,3.006,3.004,3.003,2.994,2.99,2.987,2.982,2.98,2.976,2.974,2.971,2.97,2.968,2.965,2.963,2.963,2.957,2.957,2.957,2.963,2.963,2.963,2.958,2.955,2.945,2.945,2.945,2.94,2.94,2.945,2.945,2.948,2.948,2.948,2.944,2.937,2.937,2.937,2.937,2.937,2.937,2.937,2.939,2.941,2.942,2.944,2.943,2.945,2.945,2.953,2.953,2.953,2.953,2.955,2.96,2.963,2.963,2.968,2.968,2.971,2.972,2.975,2.981,2.981,2.982,2.99,2.998,3.001,3.002,3.002,3.005,3.014,3.017,3.025,3.033,3.035,3.035,3.035,3.044,3.044,3.046,3.051,3.06,3.06,3.06,3.07,3.07,3.078,3.079,3.084,3.094,3.099,3.103,3.114,3.114,3.121,3.121,3.134,3.138,3.145,3.148,3.159,3.163,3.164,3.174,3.186,3.189,3.2,3.213,3.22,3.226,3.231,3.232,3.748,3.776,3.782,3.782,3.804,3.815,3.83,3.842,3.844,3.868,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.97} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 115.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 115.967} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.6162} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 2.3114}
SEN {Time 116.016} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0.186,0.181,0.174,0.174,0.174,0.181,3.08,3.08,3.08,3.066,3.055,3.054,3.053,3.053,3.053,3.574,3.58,3.583,3.583,3.583,3.583,3.583,3.576,3.576,3.578,3.578,3.578,3.579,3.578,3.582,3.582,3.582,3.582,3.582,3.581,3.581,3.586,3.586,3.589,3.591,3.591,3.594,3.596,3.601,3.606,3.61,3.614,3.614,3.614,3.62,3.624,3.624,3.624,3.623,3.622,3.607,3.308,0.153,0.152,0.145,0.145,0.144,0.145,0.153,0.153,0.153,0.153,0.153,0.207,0,0,0,0,0,0.188,0.167,0.16,0.153,0.153,0.153,0.155,0.163,0.192,3.82,3.827,3.844,3.844,3.844,3.845,3.856,3.874,3.884,3.884,3.895,3.918,3.92,3.932,3.936,3.954,3.97,3.975,4.003,4.006,4.017,4.028,4.035,4.052,4.073,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.86,3.833,3.805,3.766,3.75,3.725,3.69,3.667,3.643,3.629,3.589,3.575,3.565,3.522,3.51,3.483,3.473,3.443,3.416,3.387,3.381,3.353,3.341,3.326,3.297,3.268,3.26,3.248,3.217,3.205,3.193,3.171,3.168,3.148,3.123,3.111,3.108,3.089,3.07,3.06,3.04,3.023,3.016,2.992,2.988,2.982,2.96,2.949,2.943,2.933,2.925,2.914,2.895,2.887,2.885,2.873,2.853,2.849,2.835,2.822,2.821,2.804,2.797,2.785,2.773,2.767,2.761,2.752,2.731,2.729,2.719,2.709,2.709,2.692,2.688,2.681,2.68,2.664,2.657,2.655,2.648,2.634,2.633,2.627,2.622,2.62,2.604,2.603,2.589,2.576,2.575,2.571,2.567,2.566,2.558,2.552,2.544,2.54,2.539,2.53,2.529,2.522,2.509,2.509,2.506,2.506,2.496,2.496,2.493,2.492,2.48,2.477,2.477,2.476,2.475,2.465,2.458,2.458,2.458,2.455,2.448,2.447,2.443,2.44,2.439,2.439,2.431,2.429,2.428,2.428,2.421,2.421,2.42,2.416,2.416,2.416,2.411,2.411,2.411,2.411,2.411,2.411,2.41,2.41,2.411,2.411,2.411,2.412,2.411,2.412,2.412,2.412,2.414,2.414,2.414,2.415,2.415,2.415,2.415,2.416,2.417,2.418,2.425,2.425,2.425,2.425,2.429,2.43,2.433,2.433,2.438,2.433,2.433,2.444,2.447,2.452,2.453,2.453,2.457,2.458,2.461,2.461,2.467,2.471,2.476,2.478,2.482,2.487,2.496,2.496,2.498,2.5,2.513,2.517,2.524,2.528,2.528,2.531,2.533,2.538,2.554,2.558,2.57,2.573,2.58,2.584,2.591,2.591,2.6,2.603,2.612,2.619,2.624,2.631,2.651,2.654,2.661,2.671,2.679,2.687,2.688,2.69,2.705,2.711,2.713,2.735,2.737,2.755,2.76,2.774,2.778,2.795,2.795,2.82,2.821,2.829,2.848,2.857,2.864,2.872,2.892,2.895,2.908,2.908,2.934,2.945,2.956,2.964,2.985,2.999,3.008,3.028,3.038,3.051,3.062,3.086,3.086,3.108,3.121,3.134,3.148,3.163,3.177,3.197,3.206,3.227,3.234,3.273,3.276,3.3,3.315,3.324,3.355,3.375,3.384,3.398,3.427,3.443,3.468,3.487,3.51,3.545,3.559,3.587,3.62,3.629,3.674,3.695,3.713,3.735,3.756,3.807,3.815,3.853,3.886,3.913,3.949,3.974,4.006,4.05,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.37,3.303,3.291,3.284,3.278,3.264,3.243,3.239,3.233,3.227,3.207,3.2,3.196,3.192,3.18,3.173,3.167,3.154,3.148,3.143,3.133,3.124,3.121,3.117,3.1,3.092,3.09,3.085,3.08,3.078,3.066,3.061,3.055,3.041,3.039,3.038,3.035,3.034,3.023,3.02,3.02,3.016,3.015,3.014,2.999,2.997,2.994,2.987,2.981,2.981,2.979,2.978,2.976,2.969,2.968,2.968,2.966,2.955,2.954,2.954,2.955,2.966,2.966,2.966,2.953,2.952,2.948,2.948,2.947,2.944,2.943,2.944,2.944,2.944,2.944,2.944,2.944,2.94,2.939,2.937,2.937,2.937,2.94,2.945,2.946,2.948,2.946,2.947,2.946,2.947,2.947,2.949,2.95,2.95,2.95,2.955,2.962,2.963,2.963,2.967,2.968,2.976,2.976,2.978,2.978,2.982,2.989,2.994,2.995,2.998,3.002,3.008,3.009,3.01,3.011,3.018,3.025,3.025,3.034,3.036,3.044,3.051,3.052,3.057,3.059,3.059,3.061,3.063,3.063,3.07,3.077,3.086,3.092,3.098,3.103,3.108,3.113,3.118,3.121,3.135,3.147,3.149,3.151,3.166,3.169,3.169,3.17,3.187,3.195,3.209,3.211,3.213,3.225,3.227,3.237,3.334,3.769,3.772,3.787,3.789,3.813,3.824,3.827,3.855,3.87,3.874,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.17} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 116.17} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 116.169} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.6162} {Name Sonar4 Range 5.08} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.8194} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 0.9906}
SEN {Time 116.216} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0,0.186,0.182,0.182,0.182,0.182,3.081,3.081,3.081,3.062,3.047,3.046,3.045,3.045,3.046,3.583,3.587,3.587,3.588,3.585,3.585,3.585,3.585,3.582,3.58,3.579,3.579,3.582,3.579,3.582,3.583,3.584,3.584,3.588,3.584,3.588,3.584,3.588,3.584,3.593,3.593,3.599,3.603,3.604,3.605,3.607,3.607,3.612,3.612,3.614,3.614,3.617,3.623,3.623,3.623,3.614,3.305,0.15,0.15,0.145,0.145,0.154,0.156,0.156,0.156,0.153,0.153,0.153,0.213,0,0,0,0,0,0.19,0.17,0.163,0.156,0.156,0.156,0.156,0.157,0.194,3.79,3.811,3.824,3.824,3.836,3.854,3.863,3.864,3.876,3.893,3.911,3.912,3.912,3.938,3.939,3.94,3.98,3.983,3.988,4.009,4.014,4.029,4.043,4.06,4.065,4.07,4.087,0.016,0.016,0.016,0.007,0,0.007,0,0,0.009,0,0,0,0,0,0.007,0,0,0,3.864,3.828,3.819,3.777,3.747,3.724,3.688,3.662,3.653,3.607,3.603,3.58,3.555,3.537,3.511,3.49,3.468,3.434,3.423,3.39,3.386,3.362,3.342,3.311,3.296,3.289,3.258,3.243,3.212,3.201,3.193,3.176,3.171,3.149,3.129,3.11,3.109,3.088,3.069,3.052,3.044,3.025,3.021,2.994,2.985,2.981,2.961,2.955,2.937,2.929,2.918,2.917,2.898,2.896,2.876,2.868,2.85,2.849,2.839,2.82,2.819,2.803,2.79,2.781,2.781,2.768,2.76,2.745,2.744,2.738,2.717,2.716,2.702,2.697,2.695,2.673,2.671,2.669,2.66,2.657,2.65,2.645,2.642,2.629,2.613,2.613,2.606,2.597,2.596,2.596,2.584,2.582,2.564,2.558,2.556,2.549,2.543,2.536,2.535,2.531,2.531,2.52,2.518,2.515,2.514,2.505,2.501,2.495,2.492,2.483,2.483,2.482,2.478,2.477,2.468,2.466,2.462,2.462,2.462,2.457,2.452,2.448,2.448,2.447,2.444,2.435,2.435,2.433,2.432,2.432,2.427,2.424,2.42,2.419,2.414,2.414,2.409,2.414,2.409,2.414,2.409,2.412,2.412,2.412,2.412,2.412,2.406,2.406,2.406,2.406,2.409,2.41,2.41,2.413,2.414,2.414,2.414,2.416,2.414,2.414,2.416,2.42,2.425,2.425,2.428,2.428,2.433,2.434,2.434,2.434,2.434,2.434,2.436,2.44,2.449,2.45,2.453,2.456,2.459,2.466,2.466,2.47,2.472,2.473,2.479,2.48,2.49,2.49,2.49,2.496,2.496,2.503,2.504,2.511,2.518,2.532,2.532,2.537,2.54,2.549,2.555,2.561,2.566,2.57,2.575,2.578,2.587,2.595,2.596,2.608,2.617,2.626,2.627,2.643,2.645,2.647,2.664,2.665,2.67,2.682,2.688,2.691,2.705,2.709,2.725,2.734,2.736,2.739,2.764,2.777,2.782,2.803,2.804,2.808,2.819,2.827,2.843,2.846,2.868,2.872,2.888,2.903,2.91,2.919,2.941,2.945,2.949,2.971,2.987,2.997,3.015,3.026,3.038,3.048,3.063,3.08,3.092,3.102,3.118,3.143,3.144,3.161,3.176,3.196,3.208,3.217,3.247,3.265,3.274,3.294,3.317,3.329,3.355,3.372,3.389,3.397,3.422,3.444,3.473,3.494,3.508,3.535,3.56,3.59,3.612,3.631,3.669,3.696,3.715,3.739,3.769,3.795,3.821,3.858,3.883,3.911,3.945,3.974,4.021,4.046,4.091,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.297,3.283,3.268,3.262,3.248,3.245,3.243,3.228,3.212,3.201,3.198,3.191,3.18,3.17,3.162,3.151,3.14,3.137,3.128,3.126,3.121,3.12,3.1,3.096,3.094,3.092,3.088,3.076,3.064,3.064,3.052,3.043,3.042,3.042,3.036,3.033,3.022,3.02,3.014,3.012,3.01,3.01,3.008,2.999,2.995,2.982,2.981,2.978,2.977,2.974,2.974,2.974,2.974,2.966,2.96,2.96,2.96,2.96,2.96,2.964,2.964,2.964,2.955,2.951,2.95,2.95,2.95,2.947,2.939,2.946,2.941,2.938,2.938,2.941,2.941,2.94,2.946,2.946,2.944,2.94,2.94,2.94,2.941,2.941,2.944,2.944,2.944,2.951,2.95,2.95,2.955,2.955,2.955,2.955,2.957,2.957,2.959,2.962,2.971,2.972,2.975,2.98,2.985,2.985,2.985,2.986,2.99,3.002,3.003,3.004,3.006,3.008,3.015,3.027,3.029,3.029,3.03,3.035,3.042,3.044,3.051,3.057,3.062,3.068,3.068,3.069,3.071,3.075,3.081,3.085,3.098,3.103,3.103,3.104,3.113,3.115,3.115,3.14,3.141,3.144,3.151,3.154,3.161,3.172,3.177,3.187,3.198,3.202,3.216,3.219,3.223,3.228,3.248,3.329,3.77,3.776,3.789,3.808,3.823,3.827,3.829,3.858,3.871,3.877,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.37} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 116.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 116.371} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.6162} {Name Sonar4 Range 5.08} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.302} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 0.9906}
SEN {Time 116.415} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.19,0.19,0.19,0.182,0.18,0.18,0.18,0.18,3.091,3.091,3.091,3.062,3.052,3.052,3.046,3.052,3.052,3.581,3.586,3.586,3.586,3.586,3.581,3.581,3.58,3.583,3.58,3.58,3.579,3.58,3.576,3.58,3.582,3.583,3.583,3.586,3.586,3.588,3.588,3.588,3.591,3.597,3.598,3.598,3.599,3.599,3.599,3.605,3.605,3.605,3.606,3.609,3.614,3.616,3.619,3.619,3.619,3.613,3.314,0.153,0.153,0.152,0.152,0.15,0.152,0.156,0.156,0.156,0.16,0.16,0.207,0,0,0,0,0,0.184,0.17,0.161,0.152,0.152,0.152,0.156,0.166,0.196,3.786,3.816,3.82,3.82,3.836,3.848,3.859,3.867,3.881,3.886,3.897,3.917,3.931,3.936,3.939,3.958,3.972,3.975,3.991,4.002,4.007,4.034,4.037,4.046,4.06,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,3.871,3.833,3.819,3.761,3.76,3.714,3.691,3.676,3.641,3.612,3.601,3.575,3.552,3.547,3.512,3.485,3.47,3.437,3.422,3.394,3.386,3.356,3.348,3.321,3.3,3.278,3.264,3.248,3.225,3.21,3.205,3.169,3.159,3.148,3.135,3.114,3.113,3.092,3.072,3.059,3.045,3.032,3.023,2.995,2.982,2.98,2.96,2.955,2.939,2.928,2.928,2.923,2.911,2.886,2.869,2.869,2.857,2.848,2.837,2.835,2.813,2.813,2.8,2.783,2.778,2.769,2.76,2.757,2.735,2.731,2.726,2.715,2.705,2.693,2.692,2.679,2.673,2.667,2.655,2.654,2.653,2.649,2.644,2.63,2.623,2.617,2.609,2.601,2.598,2.591,2.579,2.579,2.565,2.562,2.56,2.555,2.545,2.541,2.54,2.538,2.523,2.52,2.513,2.513,2.513,2.51,2.502,2.499,2.495,2.491,2.489,2.489,2.477,2.477,2.47,2.46,2.459,2.458,2.457,2.456,2.456,2.448,2.448,2.448,2.442,2.44,2.438,2.434,2.433,2.431,2.424,2.423,2.421,2.421,2.419,2.419,2.407,2.407,2.407,2.413,2.413,2.413,2.412,2.408,2.408,2.41,2.41,2.41,2.411,2.41,2.408,2.408,2.411,2.411,2.411,2.414,2.414,2.411,2.411,2.414,2.414,2.421,2.421,2.424,2.424,2.429,2.433,2.429,2.433,2.433,2.433,2.436,2.44,2.451,2.451,2.452,2.452,2.458,2.459,2.462,2.464,2.465,2.467,2.475,2.476,2.476,2.486,2.487,2.491,2.495,2.502,2.504,2.508,2.522,2.523,2.529,2.53,2.531,2.536,2.547,2.555,2.557,2.565,2.565,2.582,2.584,2.585,2.59,2.6,2.603,2.616,2.628,2.631,2.633,2.637,2.656,2.659,2.66,2.673,2.693,2.698,2.701,2.712,2.715,2.719,2.73,2.736,2.744,2.757,2.771,2.785,2.793,2.802,2.806,2.82,2.822,2.838,2.854,2.861,2.872,2.879,2.897,2.906,2.916,2.939,2.939,2.946,2.969,2.992,3.001,3.013,3.024,3.039,3.05,3.057,3.075,3.087,3.105,3.113,3.132,3.145,3.167,3.175,3.194,3.212,3.231,3.233,3.257,3.27,3.297,3.319,3.328,3.353,3.367,3.386,3.412,3.427,3.443,3.464,3.489,3.52,3.542,3.562,3.584,3.616,3.636,3.658,3.694,3.702,3.738,3.758,3.795,3.823,3.863,3.882,3.908,3.945,3.968,4.014,4.043,4.087,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.291,3.286,3.282,3.267,3.259,3.247,3.236,3.235,3.223,3.208,3.202,3.194,3.188,3.18,3.164,3.162,3.151,3.15,3.146,3.144,3.127,3.122,3.116,3.104,3.097,3.093,3.087,3.086,3.074,3.061,3.06,3.051,3.046,3.046,3.039,3.031,3.03,3.024,3.023,3.02,3.016,3.011,3.003,3.002,2.993,2.991,2.986,2.978,2.974,2.974,2.971,2.971,2.97,2.97,2.969,2.965,2.964,2.963,2.964,2.964,2.964,2.964,2.964,2.958,2.951,2.95,2.942,2.942,2.939,2.939,2.939,2.939,2.94,2.94,2.94,2.942,2.941,2.938,2.941,2.941,2.94,2.935,2.94,2.94,2.944,2.944,2.944,2.943,2.943,2.943,2.955,2.955,2.955,2.955,2.955,2.955,2.959,2.959,2.968,2.969,2.969,2.97,2.978,2.978,2.983,2.985,2.989,2.992,2.992,3.001,3.007,3.01,3.01,3.014,3.017,3.025,3.026,3.028,3.03,3.038,3.046,3.049,3.064,3.065,3.065,3.064,3.068,3.068,3.069,3.086,3.086,3.091,3.101,3.102,3.11,3.114,3.12,3.122,3.128,3.139,3.146,3.152,3.161,3.164,3.171,3.175,3.189,3.198,3.202,3.211,3.22,3.221,3.225,3.24,3.32,3.77,3.776,3.791,3.802,3.803,3.822,3.831,3.855,3.856,3.872,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.57} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.401426}
SEN {Time 116.57} {Type Tachometer} {Name LeftRight} {Vel 0.007620,-0.007620}
SEN {Time 116.573} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.1082} {Name Sonar4 Range 5.08} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.302} {Name Sonar14 Range 2.3622} {Name Sonar15 Range 0.9906}
SEN {Time 116.613} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.18,0.18,0.18,0.18,0.184,3.081,3.081,3.081,3.052,3.05,3.049,3.047,3.049,3.05,3.582,3.583,3.583,3.582,3.579,3.579,3.577,3.577,3.577,3.574,3.577,3.58,3.582,3.586,3.586,3.588,3.586,3.584,3.584,3.588,3.584,3.586,3.587,3.587,3.587,3.599,3.606,3.606,3.605,3.605,3.614,3.614,3.619,3.619,3.619,3.619,3.619,3.619,3.619,3.618,3.598,3.307,0.153,0.153,0.15,0.153,0.141,0.153,0.157,0.157,0.155,0.157,0.16,0.208,0,0,0,0,0,0.186,0.168,0.165,0.158,0.157,0.157,0.158,0.166,0.196,3.811,3.817,3.84,3.84,3.84,3.847,3.848,3.866,3.885,3.888,3.899,3.912,3.922,3.927,3.939,3.951,3.97,3.98,3.992,3.993,4.011,4.038,4.044,4.057,4.069,4.075,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.887,3.862,3.862,3.835,3.81,3.752,3.731,3.703,3.682,3.652,3.622,3.61,3.582,3.555,3.536,3.51,3.481,3.47,3.43,3.424,3.389,3.381,3.368,3.339,3.321,3.306,3.296,3.266,3.257,3.223,3.201,3.19,3.176,3.155,3.146,3.134,3.107,3.103,3.086,3.078,3.055,3.047,3.026,3.005,2.991,2.984,2.982,2.963,2.962,2.943,2.935,2.922,2.909,2.907,2.887,2.882,2.872,2.854,2.853,2.837,2.826,2.816,2.807,2.804,2.79,2.775,2.765,2.76,2.753,2.736,2.73,2.73,2.705,2.703,2.7,2.698,2.685,2.669,2.664,2.66,2.65,2.648,2.638,2.636,2.627,2.618,2.615,2.613,2.597,2.592,2.592,2.584,2.574,2.568,2.566,2.557,2.556,2.551,2.545,2.539,2.539,2.525,2.523,2.516,2.516,2.513,2.505,2.499,2.499,2.496,2.491,2.491,2.485,2.472,2.47,2.465,2.464,2.464,2.459,2.453,2.451,2.451,2.451,2.447,2.446,2.441,2.434,2.433,2.428,2.427,2.425,2.423,2.423,2.423,2.419,2.419,2.419,2.419,2.416,2.416,2.416,2.408,2.408,2.406,2.406,2.411,2.411,2.41,2.411,2.41,2.41,2.411,2.412,2.412,2.414,2.414,2.414,2.415,2.411,2.411,2.412,2.415,2.416,2.421,2.421,2.425,2.425,2.427,2.43,2.431,2.435,2.439,2.443,2.443,2.444,2.444,2.447,2.45,2.451,2.459,2.462,2.465,2.468,2.472,2.474,2.478,2.481,2.481,2.485,2.489,2.492,2.5,2.502,2.514,2.514,2.518,2.527,2.528,2.543,2.543,2.545,2.559,2.56,2.56,2.56,2.582,2.584,2.591,2.594,2.602,2.606,2.613,2.613,2.633,2.636,2.642,2.656,2.659,2.671,2.671,2.676,2.693,2.694,2.703,2.714,2.724,2.727,2.733,2.751,2.756,2.766,2.768,2.788,2.793,2.803,2.818,2.833,2.843,2.853,2.868,2.879,2.885,2.891,2.911,2.912,2.934,2.942,2.953,2.962,2.976,2.994,3.015,3.025,3.039,3.048,3.06,3.075,3.09,3.102,3.119,3.135,3.152,3.162,3.173,3.194,3.215,3.219,3.245,3.255,3.275,3.278,3.315,3.328,3.355,3.362,3.381,3.403,3.422,3.441,3.466,3.497,3.525,3.532,3.564,3.569,3.613,3.634,3.65,3.69,3.704,3.742,3.759,3.781,3.824,3.854,3.891,3.909,3.943,3.985,3.999,4.039,4.078,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.304,3.293,3.281,3.274,3.259,3.249,3.249,3.238,3.22,3.212,3.198,3.19,3.182,3.181,3.168,3.164,3.156,3.153,3.139,3.134,3.126,3.125,3.119,3.107,3.095,3.092,3.088,3.086,3.08,3.067,3.067,3.052,3.045,3.036,3.035,3.029,3.028,3.026,3.026,3.022,3.022,3.018,3.008,2.999,2.995,2.995,2.988,2.979,2.978,2.978,2.977,2.976,2.976,2.976,2.973,2.968,2.963,2.958,2.958,2.958,2.969,2.969,2.969,2.958,2.955,2.954,2.953,2.945,2.944,2.942,2.942,2.942,2.945,2.945,2.945,2.945,2.942,2.941,2.938,2.938,2.936,2.935,2.935,2.939,2.939,2.942,2.944,2.942,2.944,2.948,2.95,2.955,2.955,2.955,2.955,2.958,2.958,2.963,2.968,2.968,2.968,2.978,2.981,2.983,2.983,2.987,2.987,2.994,2.996,3.003,3.006,3.01,3.011,3.012,3.012,3.021,3.026,3.036,3.036,3.039,3.049,3.053,3.054,3.063,3.063,3.061,3.063,3.072,3.073,3.077,3.083,3.092,3.101,3.102,3.115,3.121,3.123,3.125,3.125,3.137,3.139,3.146,3.154,3.158,3.164,3.175,3.195,3.204,3.218,3.218,3.22,3.228,3.23,3.235,3.266,3.748,3.769,3.778,3.797,3.807,3.82,3.838,3.854,3.857,3.865,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.77} {Type Odometry} {Name Odometry} {Pose -0.007620,0.997460,0.394444}
SEN {Time 116.77} {Type Tachometer} {Name LeftRight} {Vel 0.066040,-0.063500}
SEN {Time 116.767} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.1082} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.302} {Name Sonar14 Range 2.3622} {Name Sonar15 Range 2.3114}
SEN {Time 116.812} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.186,0.186,0,0.186,0.181,0.181,0.181,0.181,3.092,3.092,3.092,3.076,3.054,3.053,3.053,3.052,3.054,3.061,3.582,3.584,3.584,3.583,3.582,3.583,3.583,3.583,3.583,3.583,3.582,3.582,3.576,3.576,3.584,3.584,3.586,3.59,3.59,3.586,3.586,3.586,3.586,3.591,3.591,3.596,3.599,3.605,3.605,3.606,3.606,3.615,3.615,3.615,3.618,3.618,3.618,3.618,3.615,3.605,3.328,0.154,0.149,0.147,0.147,0.147,0.147,0.147,0.148,0.155,0.156,0.158,0.21,0,0,0,0,0,0.181,0.168,0.159,0.156,0.156,0.156,0.156,0.162,0.188,3.789,3.798,3.821,3.821,3.828,3.832,3.849,3.856,3.871,3.874,3.893,3.894,3.909,3.929,3.938,3.942,3.957,3.965,3.972,3.988,4.005,4.015,4.033,4.046,4.047,4.061,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.919,3.919,3.891,3.869,3.812,3.783,3.748,3.708,3.706,3.673,3.653,3.623,3.599,3.577,3.567,3.536,3.509,3.487,3.462,3.444,3.416,3.401,3.381,3.35,3.341,3.311,3.306,3.284,3.26,3.244,3.217,3.212,3.199,3.173,3.162,3.148,3.124,3.115,3.108,3.094,3.075,3.053,3.05,3.039,3.015,2.994,2.989,2.984,2.967,2.958,2.945,2.934,2.917,2.909,2.893,2.891,2.884,2.859,2.856,2.848,2.848,2.825,2.817,2.812,2.802,2.788,2.785,2.768,2.753,2.749,2.742,2.726,2.726,2.714,2.708,2.701,2.693,2.677,2.672,2.669,2.666,2.652,2.65,2.646,2.641,2.623,2.616,2.615,2.603,2.593,2.592,2.591,2.588,2.582,2.563,2.562,2.561,2.551,2.551,2.543,2.542,2.54,2.527,2.524,2.52,2.52,2.517,2.508,2.502,2.501,2.492,2.489,2.48,2.48,2.477,2.472,2.467,2.466,2.458,2.458,2.456,2.454,2.453,2.451,2.444,2.443,2.442,2.441,2.441,2.437,2.432,2.43,2.426,2.426,2.421,2.42,2.419,2.414,2.414,2.419,2.416,2.416,2.416,2.41,2.407,2.407,2.407,2.407,2.407,2.407,2.405,2.407,2.407,2.409,2.41,2.411,2.413,2.413,2.414,2.416,2.416,2.416,2.417,2.417,2.425,2.425,2.424,2.425,2.425,2.432,2.432,2.436,2.436,2.435,2.439,2.441,2.448,2.449,2.457,2.46,2.46,2.463,2.463,2.463,2.463,2.467,2.477,2.477,2.492,2.493,2.493,2.495,2.502,2.504,2.513,2.52,2.521,2.527,2.532,2.534,2.543,2.543,2.547,2.557,2.561,2.569,2.574,2.579,2.582,2.591,2.596,2.601,2.612,2.622,2.624,2.634,2.638,2.649,2.657,2.668,2.679,2.682,2.689,2.693,2.701,2.714,2.715,2.733,2.735,2.754,2.761,2.766,2.783,2.784,2.791,2.805,2.808,2.831,2.84,2.848,2.864,2.866,2.889,2.891,2.903,2.912,2.932,2.944,2.952,2.965,2.98,2.99,3.008,3.02,3.029,3.04,3.061,3.072,3.087,3.102,3.112,3.12,3.142,3.161,3.169,3.179,3.213,3.221,3.236,3.255,3.271,3.291,3.297,3.333,3.339,3.363,3.376,3.389,3.427,3.432,3.467,3.475,3.508,3.534,3.55,3.571,3.593,3.634,3.653,3.669,3.696,3.734,3.751,3.782,3.818,3.842,3.866,3.891,3.912,3.964,3.992,4.017,4.063,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.319,3.289,3.281,3.28,3.273,3.254,3.253,3.235,3.228,3.222,3.208,3.197,3.191,3.18,3.177,3.171,3.161,3.154,3.146,3.135,3.128,3.118,3.116,3.105,3.103,3.101,3.093,3.09,3.078,3.075,3.067,3.058,3.058,3.045,3.042,3.042,3.039,3.029,3.028,3.027,3.022,3.018,3.01,2.997,2.995,2.994,2.994,2.984,2.984,2.984,2.979,2.979,2.976,2.974,2.97,2.966,2.961,2.959,2.958,2.958,2.958,2.958,2.955,2.955,2.953,2.953,2.952,2.951,2.951,2.949,2.947,2.947,2.947,2.947,2.943,2.943,2.942,2.942,2.942,2.949,2.942,2.947,2.947,2.945,2.941,2.941,2.941,2.942,2.942,2.945,2.945,2.948,2.948,2.948,2.954,2.957,2.962,2.962,2.968,2.968,2.969,2.972,2.976,2.977,2.979,2.986,2.989,2.991,2.992,2.994,2.997,3.004,3.011,3.019,3.026,3.027,3.028,3.028,3.029,3.032,3.038,3.056,3.058,3.061,3.062,3.067,3.067,3.074,3.074,3.081,3.083,3.086,3.102,3.104,3.111,3.115,3.116,3.126,3.129,3.142,3.144,3.146,3.162,3.162,3.163,3.175,3.189,3.189,3.195,3.201,3.214,3.215,3.225,3.225,3.232,3.252,3.765,3.792,3.803,3.806,3.812,3.831,3.84,3.856,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.97} {Type Odometry} {Name Odometry} {Pose -0.015240,0.994920,0.342085}
SEN {Time 116.97} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000}
SEN {Time 116.97} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.1082} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 3.8862} {Name Sonar14 Range 2.3622} {Name Sonar15 Range 2.3114}
SEN {Time 117.012} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.185,0.185,0.185,0.178,0.178,0.178,0.178,0.181,3.106,3.106,3.106,3.08,3.063,3.057,3.057,3.056,3.054,3.054,3.052,3.051,3.048,3.042,3.042,3.042,3.042,3.579,3.579,3.579,3.579,3.579,3.578,3.579,3.578,3.576,3.576,3.576,3.576,3.576,3.576,3.575,3.575,3.575,3.577,3.578,3.578,3.578,3.576,3.576,3.576,3.587,3.588,3.588,3.588,3.588,3.589,3.588,3.588,3.589,3.557,3.314,0.154,0.153,0.153,0.147,0.153,0.158,0.158,0.153,0.158,0.158,0.209,0,0,0,0,0,0,0.174,0.165,0.155,0.155,0.155,0.163,0.163,0.187,3.732,3.734,3.749,3.749,3.754,3.762,3.773,3.781,3.792,3.792,3.802,3.817,3.817,3.829,3.83,3.849,3.866,3.875,3.877,3.893,3.9,3.906,3.917,3.932,3.942,3.946,3.948,3.972,3.98,4.006,4.006,4.031,4.035,4.053,4.062,4.077,4.083,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.007,3.958,3.904,3.872,3.833,3.806,3.788,3.759,3.737,3.715,3.664,3.664,3.625,3.607,3.58,3.564,3.521,3.52,3.492,3.471,3.462,3.422,3.401,3.381,3.354,3.352,3.332,3.316,3.282,3.277,3.25,3.225,3.221,3.193,3.179,3.174,3.145,3.127,3.116,3.099,3.092,3.07,3.055,3.046,3.034,3.031,3.012,3.011,2.985,2.975,2.967,2.951,2.948,2.937,2.915,2.911,2.893,2.881,2.876,2.861,2.857,2.851,2.84,2.829,2.807,2.805,2.794,2.779,2.776,2.766,2.758,2.746,2.742,2.735,2.727,2.723,2.704,2.699,2.688,2.688,2.68,2.679,2.662,2.661,2.658,2.654,2.641,2.635,2.628,2.616,2.615,2.598,2.597,2.596,2.592,2.587,2.58,2.575,2.568,2.555,2.552,2.551,2.55,2.54,2.537,2.53,2.527,2.522,2.517,2.516,2.51,2.504,2.502,2.491,2.49,2.488,2.484,2.478,2.474,2.474,2.473,2.464,2.463,2.462,2.45,2.448,2.446,2.446,2.446,2.44,2.44,2.438,2.433,2.433,2.431,2.43,2.426,2.43,2.426,2.425,2.425,2.425,2.418,2.419,2.419,2.418,2.415,2.415,2.414,2.414,2.414,2.417,2.419,2.419,2.419,2.419,2.419,2.419,2.415,2.419,2.419,2.421,2.421,2.423,2.423,2.433,2.436,2.439,2.439,2.438,2.438,2.439,2.439,2.442,2.443,2.447,2.449,2.449,2.454,2.455,2.458,2.459,2.464,2.471,2.473,2.474,2.475,2.484,2.485,2.49,2.491,2.496,2.505,2.508,2.513,2.516,2.525,2.529,2.531,2.534,2.535,2.543,2.548,2.551,2.563,2.565,2.58,2.585,2.586,2.597,2.599,2.601,2.612,2.62,2.623,2.633,2.634,2.646,2.647,2.66,2.664,2.67,2.687,2.689,2.7,2.705,2.716,2.727,2.733,2.744,2.749,2.764,2.767,2.778,2.79,2.795,2.806,2.82,2.828,2.838,2.849,2.864,2.868,2.887,2.897,2.907,2.922,2.932,2.942,2.95,2.959,2.968,2.981,2.996,3.012,3.017,3.04,3.057,3.068,3.077,3.09,3.103,3.121,3.133,3.142,3.168,3.186,3.193,3.214,3.224,3.254,3.267,3.28,3.306,3.316,3.341,3.354,3.365,3.388,3.417,3.434,3.459,3.476,3.496,3.516,3.538,3.572,3.588,3.61,3.639,3.649,3.682,3.711,3.74,3.769,3.798,3.827,3.845,3.872,3.909,3.939,3.992,4.055,4.084,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.315,3.303,3.295,3.288,3.269,3.264,3.253,3.23,3.229,3.222,3.218,3.207,3.194,3.188,3.183,3.176,3.175,3.151,3.147,3.141,3.135,3.128,3.121,3.118,3.109,3.109,3.096,3.089,3.085,3.08,3.07,3.07,3.062,3.052,3.052,3.041,3.039,3.033,3.028,3.027,3.019,3.018,3.018,3.013,3.009,3.002,3,2.994,2.994,2.992,2.989,2.985,2.982,2.98,2.976,2.975,2.975,2.964,2.975,2.977,2.977,2.965,2.965,2.964,2.964,2.956,2.956,2.956,2.956,2.954,2.954,2.954,2.948,2.953,2.952,2.948,2.952,2.952,2.952,2.952,2.954,2.954,2.954,2.954,2.955,2.952,2.955,2.962,2.957,2.966,2.966,2.971,2.971,2.971,2.971,2.971,2.975,2.976,2.976,2.979,2.98,2.983,2.989,2.994,3.002,3.011,3.014,0.007,3.019,3.016,3.016,3.016,3.019,3.024,3.026,3.034,3.04,3.042,3.044,3.049,3.057,3.061,3.068,3.069,3.074,3.077,3.077,3.077,3.093,3.094,3.098,3.101,3.115,3.115,3.124,3.124,3.134,3.134,3.14,3.146,3.15,3.154,3.166,3.168,3.173,3.183,3.195,3.204,3.211,3.219,3.227,3.236,3.236,3.255,3.304,3.769,3.78,3.793,3.802,3.817,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.16} {Type Odometry} {Name Odometry} {Pose -0.022860,0.992380,0.249582}
SEN {Time 117.16} {Type Tachometer} {Name LeftRight} {Vel 0.060960,-0.060960}
SEN {Time 117.165} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.0226} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 3.8862} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 2.3114}
SEN {Time 117.212} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.182,0.176,0.18,0.18,0.182,0,0,0,3.11,3.103,3.094,3.083,3.083,3.077,3.076,3.073,3.06,3.059,3.058,3.057,3.05,3.049,3.047,3.047,3.039,3.037,3.037,3.034,3.032,3.032,3.032,3.032,3.03,3.029,3.027,3.026,3.026,3.026,3.026,3.029,3.551,3.551,3.563,3.563,3.569,3.563,3.559,3.559,3.559,3.559,3.557,3.556,3.554,3.545,3.542,3.318,0.151,0.151,0.149,0.151,0.145,0.152,0.153,0.153,0.153,0.154,0.154,0.21,0,0,0,0,0,0.176,0.169,0.162,0.161,0.161,0.161,0.164,0.169,0.175,3.612,0.007,3.644,3.644,3.648,3.648,3.653,3.659,3.667,3.681,3.681,3.683,3.694,3.697,3.707,3.722,3.722,3.727,3.729,3.744,3.747,3.751,3.755,3.759,3.759,3.771,3.772,3.789,3.803,3.81,3.812,3.817,3.84,3.844,3.85,3.869,3.873,3.881,3.897,3.899,3.908,3.925,3.931,3.934,3.939,3.967,3.973,3.983,3.995,4.025,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,4.012,3.983,3.943,3.924,3.886,3.853,3.82,3.798,3.778,3.757,3.718,3.69,3.667,3.652,3.626,3.606,3.588,3.552,3.534,3.497,3.482,3.469,3.435,3.417,3.395,3.368,3.361,3.338,3.328,3.303,3.284,3.269,3.256,3.229,3.22,3.209,3.192,3.169,3.159,3.135,3.126,3.116,3.095,3.075,3.072,3.056,3.044,3.021,3.018,3.012,3,2.976,2.967,2.954,2.948,2.943,2.925,2.917,2.911,2.901,2.887,2.869,2.867,2.851,2.847,2.831,2.822,2.821,2.815,2.804,2.79,2.781,2.769,2.757,2.756,2.74,2.734,2.734,2.72,2.706,2.706,2.701,2.692,2.691,2.676,2.673,2.667,2.653,2.645,2.636,2.631,2.62,2.619,2.61,2.607,2.599,2.594,2.586,2.58,2.568,2.568,2.561,2.556,2.546,2.543,2.542,2.537,2.535,2.524,2.521,2.518,2.516,2.505,2.504,2.499,2.493,2.491,2.487,2.485,2.48,2.48,2.468,2.467,2.465,2.464,2.458,2.455,2.452,2.452,2.452,2.452,2.445,2.444,2.442,2.44,2.438,2.432,2.432,2.432,2.43,2.43,2.427,2.426,2.426,2.426,2.426,2.426,2.425,2.424,2.424,2.424,2.424,2.42,2.418,2.418,2.418,2.421,2.421,2.423,2.421,2.421,2.424,2.427,2.427,2.428,2.429,2.429,2.429,2.429,2.436,2.436,2.436,2.44,2.444,2.446,2.446,2.446,2.447,2.447,2.458,2.459,2.462,2.465,2.467,2.468,2.468,2.472,2.472,2.481,2.485,2.487,2.489,2.492,2.504,2.506,2.508,2.512,2.519,2.52,2.52,2.524,2.537,2.538,2.542,2.55,2.552,2.562,2.563,2.572,2.58,2.589,2.59,2.594,2.604,2.608,2.616,2.624,2.632,2.637,2.644,2.648,2.659,2.661,2.675,2.676,2.696,2.698,2.709,2.71,2.72,2.733,2.735,2.754,2.758,2.77,2.777,2.783,2.796,2.805,2.806,2.821,2.831,2.838,2.857,2.864,2.868,2.878,2.896,2.904,2.923,2.929,2.937,2.948,2.964,2.971,2.974,2.995,3.014,3.027,3.037,3.055,3.061,3.073,3.093,3.097,3.106,3.126,3.144,3.158,3.176,3.199,3.215,3.229,3.241,3.26,3.275,3.295,3.323,3.333,3.354,3.361,3.378,3.406,3.421,3.452,3.473,3.489,3.507,3.537,3.559,3.583,3.602,3.642,3.648,3.68,3.697,3.73,3.785,3.808,3.845,3.845,0.009,0.009,0.009,0.009,0.009,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.367,3.335,3.318,3.3,3.297,3.295,3.277,3.267,3.258,3.252,3.242,3.23,3.227,3.216,3.201,3.199,3.185,3.176,3.167,3.167,3.161,3.152,3.146,3.138,3.133,3.131,3.123,3.114,3.111,3.11,3.108,3.094,3.092,3.083,3.072,3.068,3.065,3.061,3.056,3.051,3.048,3.046,3.044,3.039,3.034,3.034,3.029,3.029,3.013,3.009,3.008,3.007,3.005,2.999,2.998,2.995,2.989,2.983,2.983,2.986,2.986,2.989,2.989,2.989,2.978,2.978,2.978,2.978,2.978,2.971,2.971,2.971,2.971,2.97,2.97,2.97,2.971,2.974,2.974,2.974,2.973,2.972,2.97,2.972,2.972,2.97,2.973,2.973,2.973,2.973,2.974,2.98,2.981,2.981,2.981,2.981,2.99,2.994,2.994,2.994,2.994,2.994,3,3.009,3.009,3.013,3.013,3.013,3.014,3.017,3.026,3.027,3.029,3.031,3.038,3.04,3.048,3.048,3.051,3.061,3.061,3.07,3.076,3.081,3.085,3.089,3.089,3.093,3.093,3.103,3.107,3.113,3.117,3.123,3.124,3.127,3.132,3.136,3.149,3.152,3.158,3.163,3.173,3.185,3.191,3.192,3.205,3.209,3.209,3.224,3.233,3.234,3.239,3.258,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.36} {Type Odometry} {Name Odometry} {Pose 0.005080,0.994920,0.029671}
SEN {Time 117.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 117.365} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.048} {Name Sonar13 Range 3.8862} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 2.3368}
SEN {Time 117.411} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.177,0.177,0.182,0.188,0.188,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.265,0.007,0,3.373,3.373,3.373,3.353,3.353,3.353,0,0,0,0,0,0,3.111,3.108,3.106,3.102,3.1,3.095,3.086,3.082,3.08,3.079,3.075,3.067,3.059,3.059,3.057,3.051,3.051,3.044,3.051,3.051,0.16,0.149,0.149,0.149,0.149,0.157,0.157,0.157,0.157,0.157,0.165,3.089,0.009,0.009,0.009,0.009,0.167,0.159,0.159,0.16,0.16,0.156,0.16,0.16,0.162,0.209,3.531,3.531,3.531,3.531,3.531,3.531,3.533,3.533,3.533,3.535,3.538,3.538,3.538,3.536,3.536,3.536,3.538,3.541,3.541,3.543,3.546,3.546,3.552,3.552,3.551,3.558,3.554,3.554,3.561,3.564,3.566,3.572,3.576,3.577,3.577,3.582,3.585,3.587,3.588,3.597,3.597,3.606,3.609,3.611,3.611,3.619,3.622,3.634,3.642,3.645,3.656,3.659,3.662,3.665,3.671,3.673,3.68,3.697,3.699,3.704,3.715,3.717,3.722,3.731,3.741,3.758,3.759,3.767,3.773,3.778,3.791,3.792,3.801,3.81,3.828,3.831,3.85,3.854,3.856,3.871,3.885,3.89,3.912,3.913,3.926,3.94,3.95,3.963,3.979,3.984,4.004,4.019,4.029,4.053,4.065,4.073,4.086,0.016,0.016,0.016,0.016,0,0,0,0,4.033,4.033,4.007,3.971,3.893,3.867,3.835,3.813,3.776,3.758,3.716,3.692,3.67,3.65,3.624,3.612,3.567,3.539,3.528,3.512,3.49,3.459,3.458,3.424,3.408,3.368,3.361,3.343,3.322,3.3,3.293,3.262,3.251,3.229,3.203,3.201,3.176,3.164,3.132,3.129,3.119,3.101,3.092,3.078,3.062,3.055,3.036,3.026,3.021,3.005,2.977,2.973,2.953,2.95,2.942,2.923,2.909,2.897,2.891,2.878,2.873,2.845,2.843,2.834,2.826,2.808,2.798,2.786,2.78,2.779,2.77,2.751,2.741,2.735,2.728,2.714,2.705,2.702,2.682,2.682,2.675,2.662,2.654,2.644,2.643,2.632,2.627,2.619,2.613,2.6,2.593,2.593,2.579,2.575,2.564,2.559,2.554,2.545,2.541,2.534,2.534,2.529,2.528,2.518,2.518,2.509,2.501,2.497,2.497,2.496,2.493,2.481,2.472,2.465,2.465,2.461,2.458,2.458,2.452,2.446,2.443,2.44,2.437,2.43,2.428,2.428,2.427,2.421,2.416,2.416,2.411,2.41,2.41,2.41,2.409,2.409,2.409,2.408,2.398,2.398,2.391,2.391,2.391,2.392,2.392,2.392,2.391,2.391,2.385,2.385,2.391,2.385,2.384,2.391,2.39,2.39,2.391,2.391,2.39,2.39,2.39,2.388,2.39,2.39,2.39,2.394,2.395,2.395,2.4,2.4,2.401,2.404,2.404,2.404,2.409,2.41,2.411,2.41,2.411,2.416,2.42,2.42,2.423,2.423,2.43,2.436,2.438,2.44,2.442,2.447,2.448,2.457,2.462,2.462,2.468,2.477,2.478,2.478,2.48,2.483,2.485,2.503,2.503,2.505,2.505,2.519,2.52,2.525,2.538,2.54,2.55,2.552,2.561,2.564,2.571,2.575,2.588,2.593,2.593,2.598,2.613,2.616,2.628,2.633,2.647,2.656,2.666,2.678,2.679,2.684,2.691,2.7,2.716,2.717,2.728,2.728,2.741,2.755,2.767,2.769,2.777,2.789,2.814,2.815,2.822,2.833,2.844,2.864,2.871,2.879,2.897,2.91,2.922,2.925,2.935,2.955,2.973,2.978,2.991,3.003,3.015,3.042,3.048,3.06,3.072,3.08,3.108,3.118,3.125,3.136,3.161,3.175,3.2,3.204,3.238,3.246,3.26,3.282,3.303,3.329,3.341,3.354,3.377,3.396,3.427,3.447,3.467,3.501,3.503,3.533,3.556,3.577,3.605,3.619,3.648,3.675,3.705,3.73,3.765,3.786,3.818,3.844,3.87,3.944,3.975,4.009,4.009,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0.007,3.989,3.336,3.319,3.305,3.301,3.286,3.285,3.285,3.259,3.244,3.244,3.231,3.228,3.207,3.207,3.198,3.195,3.183,3.175,3.164,3.159,3.152,3.148,3.145,3.144,3.12,3.118,3.118,3.107,3.105,3.101,3.094,3.085,3.08,3.08,3.073,3.071,3.068,3.058,3.055,3.054,3.044,3.042,3.037,3.035,3.034,3.031,3.029,3.025,3.024,3.016,3.014,3.013,3.009,3.007,3.004,3.004,3.002,3.002,3.007,3.007,3.002,3.002,2.997,2.996,2.994,2.994,2.993,2.992,2.988,2.988,2.988,2.988,2.987,2.987,2.987,2.987,2.988,2.99,2.99,2.991,2.99,2.99,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.994,3.004,3.006,3.007,3.008,3.009,3.013,3.015,3.017,3.024,3.026,3.027,3.034,3.036,3.037,3.039,3.045,3.045,3.052,3.055,3.058,3.059,3.065,3.069,3.077,3.086,3.087,3.092,3.097,3.107,3.109,3.115,3.12,3.121,3.129,3.134,3.139,3.139,3.14,3.148,3.153,3.154,3.165,3.169,3.176,3.19,3.197,3.202,3.208,3.215,3.217,3.228,3.234,3.246,3.246,3.258,3.265,3.265,3.275,3.285,3.299,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.56} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.041888}
SEN {Time 117.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 117.563} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.4516} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 1.905} {Name Sonar13 Range 3.8862} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 2.3368}
SEN {Time 117.612} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.175,0.176,0.18,0.18,0.193,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.238,3.238,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.099,3.09,3.089,3.083,3.078,3.075,3.074,3.071,3.067,3.061,3.061,3.059,3.054,3.054,3.046,3.046,3.043,3.035,3.033,3.033,3.027,3.023,0.15,0.146,0.141,0.141,0.146,0.143,0.143,0.149,0.149,0.148,0.149,0.157,3.003,3.007,3.023,3.023,0,0,0,0.159,0.154,0.151,0.151,0.151,0.154,0.162,0.203,3.502,3.513,3.524,3.527,3.527,3.53,3.537,3.537,3.541,3.543,3.543,3.543,3.543,3.543,3.546,3.546,3.546,3.549,3.557,3.557,3.563,3.564,3.558,3.564,3.566,3.567,3.57,3.573,3.577,3.582,3.585,3.591,3.594,3.602,3.609,3.614,3.614,3.615,3.618,3.627,3.628,3.63,3.645,3.655,3.658,3.661,3.67,3.67,3.671,3.683,3.684,3.695,3.7,3.707,3.722,3.724,3.731,3.736,3.745,3.751,3.76,3.781,3.783,3.787,3.803,3.81,3.811,3.828,3.832,3.849,3.861,3.869,3.883,3.888,3.898,3.91,3.933,3.935,3.953,3.954,3.962,3.982,3.999,4.004,4.021,4.045,4.047,4.076,4.081,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,3.99,3.951,3.951,3.951,3.92,3.895,3.808,3.783,3.74,3.714,3.687,3.675,3.627,3.614,3.575,3.566,3.52,3.513,3.481,3.476,3.455,3.43,3.403,3.392,3.372,3.344,3.328,3.31,3.289,3.272,3.249,3.245,3.214,3.212,3.178,3.174,3.151,3.137,3.125,3.106,3.09,3.082,3.069,3.048,3.035,3.026,3.004,3.004,2.994,2.982,2.97,2.959,2.943,2.926,2.925,2.904,2.894,2.883,2.865,2.859,2.855,2.839,2.833,2.817,2.806,2.8,2.78,2.777,2.763,2.751,2.74,2.737,2.718,2.716,2.715,2.704,2.691,2.689,2.671,2.666,2.665,2.65,2.639,2.635,2.625,2.623,2.607,2.605,2.591,2.59,2.574,2.573,2.57,2.558,2.554,2.549,2.545,2.538,2.537,2.528,2.523,2.519,2.502,2.5,2.499,2.495,2.491,2.489,2.487,2.483,2.475,2.466,2.465,2.461,2.46,2.458,2.45,2.45,2.449,2.445,2.445,2.442,2.433,2.43,2.428,2.425,2.415,2.415,2.413,2.409,2.408,2.406,2.405,2.402,2.401,2.399,2.399,2.398,2.397,2.397,2.396,2.395,2.394,2.394,2.393,2.393,2.393,2.393,2.393,2.391,2.391,2.391,2.391,2.391,2.391,2.393,2.391,2.391,2.391,2.389,2.389,2.393,2.393,2.393,2.394,2.394,2.394,2.395,2.397,2.406,2.41,2.411,2.412,2.412,2.412,2.412,2.426,2.426,2.429,2.43,2.435,2.436,2.436,2.445,2.447,2.452,2.454,2.454,2.454,2.459,2.465,2.47,2.473,2.473,2.483,2.486,2.489,2.498,2.5,2.5,2.504,2.516,2.521,2.529,2.536,2.536,2.545,2.548,2.554,2.557,2.569,2.572,2.582,2.588,2.589,2.594,2.61,2.611,2.629,2.632,2.634,2.638,2.648,2.662,2.665,2.667,2.685,2.694,2.697,2.712,2.725,2.727,2.748,2.75,2.762,2.762,2.771,2.784,2.797,2.811,2.813,2.828,2.841,2.842,2.856,2.87,2.885,2.887,2.905,2.918,2.933,2.942,2.959,2.967,2.988,2.996,2.998,3.024,3.032,3.054,3.064,3.076,3.082,3.102,3.115,3.135,3.155,3.168,3.173,3.195,3.214,3.222,3.244,3.26,3.277,3.301,3.31,3.335,3.36,3.373,3.402,3.415,3.437,3.458,3.48,3.498,3.532,3.544,3.567,3.596,3.632,3.653,3.679,3.711,3.724,3.759,3.783,3.804,3.844,3.863,3.889,3.931,3.957,4.002,4.034,4.077,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.32,3.295,3.295,3.285,3.254,3.252,3.251,3.237,3.23,3.23,3.228,3.219,3.211,3.188,3.182,3.18,3.172,3.169,3.158,3.146,3.138,3.137,3.13,3.122,3.116,3.111,3.109,3.095,3.095,3.09,3.087,3.079,3.07,3.066,3.063,3.061,3.054,3.052,3.048,3.042,3.041,3.034,3.034,3.032,3.029,3.018,3.018,3.01,3.008,3.003,3.003,3.003,2.998,3.003,2.994,2.994,2.994,3.011,2.99,2.991,2.994,2.991,2.985,2.985,2.985,2.983,2.983,2.979,2.979,2.979,2.981,2.981,2.981,2.981,2.982,2.982,2.982,2.983,2.983,2.983,2.983,2.985,2.985,2.985,2.987,2.987,2.987,2.987,2.99,2.99,2.998,2.998,2.998,2.998,2.998,3.005,3.008,3.01,3.021,3.022,3.023,3.024,3.025,3.031,3.031,3.032,3.038,3.044,3.054,3.056,3.057,3.061,3.07,3.073,3.074,3.082,3.087,3.09,3.09,3.097,3.11,3.114,3.114,3.116,3.116,3.124,3.126,3.134,3.14,3.152,3.153,3.157,3.168,3.172,3.175,3.189,3.19,3.191,3.193,3.196,3.215,3.219,3.223,3.238,3.249,3.259,3.26,3.265,3.278,3.28,3.293,3.698,3.81,3.834,3.839,3.844,3.859,3.879,3.888,3.89,3.918,3.929,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.77} {Type Odometry} {Name Odometry} {Pose 0.005080,0.994920,0.036652}
SEN {Time 117.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 117.77} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.4516} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1524} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 1.905} {Name Sonar13 Range 5.334} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 2.3368}
SEN {Time 117.809} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.175,0.177,0.178,0.178,0.199,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.121,3.111,3.11,3.109,3.103,3.092,3.092,3.082,3.082,3.077,3.076,3.066,3.062,3.061,3.061,3.06,3.052,3.049,3.043,3.035,3.035,3.03,3.03,0.149,0.147,0.147,0.147,0.149,0.141,0.145,0.145,0.153,0.145,0.153,0.153,3.001,3.013,3.026,3.026,3.013,3.013,0.167,0.163,0.162,0.162,0.154,0.154,0.154,0.156,0.19,3.479,3.522,3.532,3.532,3.532,3.532,3.532,3.532,3.528,3.535,3.538,3.535,3.538,3.538,3.542,3.54,3.542,3.544,3.546,3.546,3.546,3.551,3.553,3.553,3.553,3.555,3.555,3.568,3.57,3.577,3.578,3.582,3.588,3.59,3.59,3.593,3.593,3.6,3.607,3.612,3.616,3.62,3.623,3.626,3.64,3.652,3.656,3.657,3.661,3.665,3.669,3.67,3.688,3.692,3.694,3.699,3.709,3.723,3.725,3.735,3.741,3.755,3.756,3.768,3.772,3.794,3.795,3.801,3.802,3.819,3.832,3.835,3.853,3.859,3.862,3.875,3.897,3.902,3.915,3.924,3.926,3.947,3.962,3.964,3.981,3.997,4,4.031,4.04,4.055,4.062,4.085,0.016,0.016,0.016,0.016,0.007,0,0,0,4.037,3.993,3.993,3.949,3.921,3.861,3.829,3.802,3.771,3.751,3.707,3.682,3.66,3.626,3.612,3.594,3.56,3.543,3.522,3.496,3.464,3.448,3.422,3.412,3.379,3.367,3.345,3.328,3.304,3.303,3.274,3.258,3.237,3.218,3.195,3.176,3.175,3.152,3.136,3.125,3.112,3.09,3.075,3.061,3.047,3.034,3.024,3.012,2.999,2.989,2.982,2.962,2.946,2.943,2.92,2.911,2.907,2.89,2.878,2.875,2.852,2.841,2.833,2.82,2.812,2.798,2.797,2.783,2.763,2.757,2.745,2.74,2.731,2.722,2.717,2.702,2.699,2.685,2.676,2.66,2.657,2.648,2.64,2.634,2.627,2.615,2.615,2.604,2.596,2.588,2.586,2.578,2.575,2.568,2.566,2.544,2.541,2.533,2.531,2.531,2.518,2.514,2.513,2.507,2.499,2.494,2.493,2.493,2.485,2.477,2.477,2.476,2.473,2.467,2.454,2.454,2.446,2.446,2.443,2.442,2.437,2.437,2.43,2.43,2.417,2.416,2.415,2.411,2.411,2.405,2.405,2.403,2.403,2.403,2.399,2.397,2.397,2.397,2.397,2.396,2.391,2.39,2.389,2.389,2.385,2.383,2.383,2.38,2.38,2.383,2.383,2.383,2.383,2.38,2.38,2.38,2.38,2.381,2.381,2.381,2.385,2.385,2.385,2.387,2.387,2.389,2.392,2.392,2.396,2.396,2.398,2.4,2.401,2.404,2.405,2.405,2.408,2.408,2.408,2.416,2.423,2.425,2.429,2.432,2.433,2.439,2.435,2.44,2.443,2.449,2.453,2.454,2.46,2.461,2.466,2.47,2.474,2.484,2.49,2.493,2.501,2.502,2.509,2.509,2.52,2.524,2.527,2.531,2.536,2.545,2.553,2.561,2.563,2.565,2.581,2.588,2.589,2.603,2.606,2.607,2.622,2.623,2.625,2.635,2.65,2.665,2.668,2.675,2.684,2.684,2.703,2.719,2.728,2.731,2.736,2.738,2.757,2.77,2.783,2.79,2.791,2.81,2.811,2.822,2.832,2.845,2.864,2.866,2.887,2.89,2.915,2.925,2.931,2.95,2.953,2.969,2.987,2.995,3.012,3.032,3.045,3.052,3.07,3.077,3.088,3.107,3.125,3.132,3.153,3.165,3.178,3.203,3.211,3.225,3.247,3.271,3.287,3.304,3.326,3.347,3.368,3.384,3.404,3.427,3.45,3.465,3.488,3.514,3.53,3.549,3.584,3.614,3.638,3.67,3.683,3.704,3.734,3.772,3.792,3.827,3.858,3.888,3.902,3.952,4.003,4.052,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.341,3.323,3.316,3.297,3.293,3.28,3.264,3.258,3.258,3.244,3.241,3.236,3.217,3.2,3.198,3.197,3.186,3.175,3.169,3.167,3.152,3.151,3.147,3.142,3.128,3.119,3.115,3.114,3.108,3.098,3.089,3.083,3.082,3.08,3.076,3.07,3.067,3.063,3.051,3.049,3.04,3.04,3.04,3.04,3.04,3.031,3.027,3.026,3.018,3.016,3.015,3.011,3.007,3.003,2.994,2.992,2.992,2.992,2.992,2.994,2.999,2.999,2.999,2.985,2.982,2.982,2.982,2.982,2.982,2.984,2.984,2.984,2.984,2.98,2.98,2.98,2.978,2.98,2.983,2.983,2.983,2.983,2.984,2.988,2.989,2.989,2.992,2.994,2.992,2.99,2.992,2.998,2.995,2.998,3,3,3.005,3.009,3.009,3.017,3.019,3.022,3.022,3.024,3.031,3.034,3.034,3.036,3.045,3.047,3.048,3.054,3.058,3.059,3.067,3.076,3.078,3.08,3.085,3.091,3.097,3.101,3.108,3.116,3.116,3.12,3.121,3.125,3.128,3.138,3.147,3.154,3.154,3.161,3.169,3.169,3.169,3.18,3.181,3.186,3.202,3.212,3.225,3.228,3.24,3.245,3.248,3.254,3.265,3.27,3.277,3.279,3.285,3.726,3.818,3.832,3.837,3.845,3.87,3.883,3.883,3.906,3.92,3.94,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.96} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.038397}
SEN {Time 117.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 117.963} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.4516} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.477} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.905} {Name Sonar13 Range 5.334} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 1.5748}
SEN {Time 118.011} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.181,0.177,0.181,0.182,0.182,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.373,3.373,0,0,0,0,0,0,3.125,3.112,3.112,3.096,3.094,3.092,3.091,3.084,3.08,3.078,3.074,3.064,3.062,3.061,3.059,3.057,3.052,3.05,3.045,3.031,3.031,3.028,3.027,0.148,0.145,0.145,0.145,0.148,0.145,0.155,0.152,0.154,0.152,0.154,0.154,3.005,3.008,3.01,3.01,3.024,3.024,3.024,0.163,0.162,0.161,0.159,0.159,0.161,0.163,0.184,3.478,3.525,3.526,3.529,3.529,3.527,3.531,3.533,3.537,3.537,3.537,3.537,3.537,3.537,3.537,3.543,3.551,3.551,3.551,3.551,3.551,3.552,3.552,3.556,3.555,3.566,3.563,3.568,3.576,3.578,3.578,3.584,3.584,3.595,3.597,3.599,3.604,3.606,3.61,3.62,3.625,3.634,3.636,3.646,3.646,3.652,3.663,3.663,3.666,3.668,3.682,3.687,3.69,3.697,3.706,3.709,3.713,3.725,3.733,3.74,3.751,3.756,3.761,3.766,3.786,3.802,3.803,3.814,3.819,3.823,3.835,3.849,3.859,3.866,3.878,3.885,3.892,3.902,3.911,3.933,3.948,3.963,3.972,3.982,4.006,4.007,4.009,4.037,4.047,4.059,4.079,4.088,0.016,0.016,0.016,0,0,0,0.007,0,0,0,3.95,3.915,3.915,3.879,3.853,3.788,3.755,3.734,3.702,3.672,3.664,3.617,3.601,3.562,3.544,3.532,3.517,3.484,3.463,3.442,3.412,3.405,3.379,3.366,3.338,3.332,3.303,3.281,3.267,3.247,3.228,3.216,3.208,3.172,3.167,3.148,3.134,3.114,3.096,3.084,3.07,3.061,3.053,3.029,3.023,3.004,2.996,2.986,2.984,2.963,2.949,2.935,2.933,2.911,2.907,2.886,2.876,2.873,2.858,2.854,2.836,2.813,2.813,2.81,2.789,2.776,2.767,2.756,2.748,2.732,2.727,2.719,2.713,2.701,2.687,2.686,2.68,2.674,2.664,2.652,2.648,2.639,2.633,2.621,2.61,2.608,2.599,2.591,2.584,2.579,2.57,2.569,2.558,2.553,2.552,2.542,2.534,2.523,2.517,2.513,2.511,2.51,2.508,2.498,2.493,2.492,2.486,2.486,2.478,2.474,2.466,2.464,2.462,2.453,2.447,2.444,2.443,2.441,2.439,2.436,2.432,2.432,2.426,2.424,2.423,2.416,2.414,2.409,2.406,2.406,2.403,2.4,2.4,2.398,2.398,2.395,2.395,2.395,2.395,2.393,2.393,2.392,2.388,2.388,2.386,2.386,2.386,2.386,2.386,2.385,2.385,2.383,2.385,2.385,2.387,2.385,2.386,2.387,2.386,2.386,2.389,2.39,2.391,2.399,2.399,2.399,2.399,2.4,2.401,2.402,2.402,2.405,2.406,2.414,2.417,2.418,2.421,2.421,2.424,2.426,2.43,2.437,2.438,2.439,2.44,2.446,2.45,2.452,2.457,2.458,2.465,2.466,2.472,2.475,2.482,2.487,2.488,2.491,2.507,2.511,2.513,2.519,2.522,2.524,2.533,2.535,2.543,2.546,2.556,2.565,2.566,2.572,2.576,2.59,2.598,2.611,2.612,2.612,2.62,2.621,2.637,2.645,2.658,2.672,2.677,2.681,2.685,2.694,2.704,2.721,2.73,2.734,2.744,2.747,2.764,2.769,2.786,2.795,2.796,2.813,2.813,2.829,2.844,2.855,2.868,2.884,2.889,2.901,2.906,2.928,2.948,2.951,2.96,2.97,2.993,3.006,3.01,3.032,3.05,3.057,3.072,3.085,3.103,3.114,3.125,3.145,3.16,3.167,3.192,3.218,3.232,3.234,3.253,3.27,3.3,3.306,3.339,3.35,3.379,3.394,3.413,3.431,3.449,3.486,3.497,3.528,3.542,3.564,3.6,3.63,3.652,3.664,3.707,3.732,3.749,3.784,3.802,3.824,3.864,3.895,3.909,3.96,3.989,4.03,4.075,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.314,3.307,3.291,3.291,3.278,3.271,3.259,3.252,3.242,3.239,3.229,3.218,3.203,3.194,3.191,3.178,3.173,3.169,3.162,3.157,3.157,3.156,3.141,3.133,3.119,3.115,3.112,3.109,3.099,3.096,3.094,3.079,3.076,3.072,3.068,3.061,3.061,3.056,3.055,3.045,3.045,3.038,3.034,3.03,3.029,3.028,3.026,3.022,3.012,3.009,3.008,3.008,3.005,3.004,2.998,2.994,2.994,2.994,2.995,2.995,2.995,2.99,2.99,2.987,2.985,2.984,2.982,2.982,2.982,2.982,2.983,2.983,2.98,2.979,2.979,2.978,2.978,2.979,2.982,2.982,2.985,2.985,2.986,2.986,2.987,2.987,2.987,2.987,2.988,2.992,2.994,3,3,3.001,3.001,3.001,3.005,3.014,3.018,3.018,3.023,3.027,3.029,3.029,3.034,3.038,3.04,3.044,3.046,3.056,3.057,3.061,3.066,3.066,3.067,3.076,3.08,3.089,3.094,3.096,3.102,3.111,3.112,3.113,3.12,3.12,3.125,3.133,3.142,3.146,3.152,3.164,3.164,3.164,3.168,3.177,3.181,3.193,3.202,3.202,3.217,3.219,3.231,3.244,3.245,3.252,3.263,3.267,3.27,3.273,3.284,3.303,3.793,3.826,3.827,3.84,3.855,3.869,3.875,3.889,3.904,3.917,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 118.16} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.038397}
SEN {Time 118.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 118.164} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.477} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4986} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 5.334} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 1.5748}
SEN {Time 118.207} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.174,0.178,0.178,0.194,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.368,3.368,3.329,3.333,3.333,3.333,3.333,0,0,0,0,3.119,3.113,3.107,3.105,3.104,3.098,3.092,3.091,3.088,3.08,3.078,3.062,3.061,3.061,3.056,3.053,3.049,3.039,3.039,3.038,3.038,3.036,3.033,0.145,0.144,0.144,0.144,0.145,0.14,0.15,0.155,0.155,0.145,0.155,0.157,3.008,3.013,3.016,3.016,3.021,3.021,3.021,0.163,0.161,0.155,0.152,0.152,0.154,0.154,0.18,3.471,3.517,3.518,3.524,3.524,3.529,3.53,3.535,3.535,3.539,3.542,3.542,3.541,3.541,3.541,3.541,3.547,3.552,3.552,3.553,3.559,3.559,3.559,3.563,3.562,3.563,3.566,3.577,3.577,3.577,3.583,3.587,3.586,3.588,3.591,3.597,3.602,3.607,3.617,3.618,3.621,3.628,3.638,3.648,3.649,3.652,3.66,3.662,3.67,3.674,3.682,3.689,3.69,3.692,3.706,3.714,3.721,3.723,3.724,3.738,3.745,3.756,3.76,3.775,3.79,3.798,3.806,3.814,3.824,3.827,3.838,3.853,3.853,3.866,3.871,3.904,3.906,3.909,3.912,3.916,3.945,3.955,3.962,3.982,3.989,4.014,4.024,4.043,4.053,4.065,4.089,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,4.033,3.934,3.907,3.88,3.88,3.854,3.811,3.764,3.722,3.716,3.675,3.66,3.624,3.609,3.577,3.553,3.535,3.502,3.482,3.462,3.433,3.416,3.405,3.379,3.364,3.346,3.335,3.301,3.273,3.267,3.248,3.235,3.21,3.2,3.178,3.17,3.148,3.129,3.12,3.097,3.081,3.069,3.061,3.041,3.034,3.017,3.006,2.994,2.992,2.972,2.96,2.955,2.936,2.926,2.909,2.902,2.888,2.87,2.861,2.855,2.844,2.838,2.827,2.813,2.802,2.788,2.779,2.769,2.764,2.743,2.736,2.729,2.722,2.717,2.71,2.697,2.682,2.68,2.666,2.66,2.648,2.641,2.636,2.633,2.621,2.61,2.609,2.596,2.595,2.583,2.581,2.569,2.567,2.561,2.556,2.551,2.54,2.539,2.522,2.521,2.513,2.512,2.508,2.503,2.496,2.49,2.49,2.487,2.485,2.476,2.475,2.471,2.467,2.462,2.46,2.453,2.445,2.445,2.444,2.438,2.435,2.434,2.428,2.426,2.421,2.42,2.416,2.413,2.409,2.408,2.407,2.403,2.399,2.399,2.399,2.398,2.397,2.396,2.394,2.394,2.394,2.394,2.394,2.392,2.391,2.391,2.391,2.391,2.388,2.388,2.384,2.381,2.379,2.379,2.384,2.384,2.385,2.386,2.387,2.391,2.391,2.394,2.394,2.395,2.396,2.396,2.397,2.399,2.399,2.399,2.404,2.407,2.408,2.409,2.411,2.415,2.418,2.418,2.418,2.42,2.424,2.431,2.436,2.437,2.439,2.442,2.444,2.448,2.454,2.455,2.46,2.462,2.476,2.478,2.481,2.486,2.489,2.493,2.494,2.502,2.509,2.513,2.519,2.525,2.532,2.54,2.541,2.549,2.549,2.554,2.563,2.57,2.575,2.576,2.591,2.595,2.607,2.608,2.613,2.63,2.633,2.644,2.644,2.65,2.667,2.67,2.677,2.686,2.695,2.697,2.719,2.729,2.73,2.744,2.75,2.757,2.771,2.78,2.795,2.799,2.812,2.813,2.829,2.847,2.849,2.87,2.886,2.887,2.91,2.911,2.92,2.935,2.951,2.953,2.975,2.994,2.999,3.022,3.028,3.045,3.052,3.072,3.082,3.098,3.114,3.135,3.143,3.166,3.17,3.187,3.213,3.228,3.233,3.256,3.279,3.288,3.319,3.329,3.353,3.366,3.385,3.419,3.43,3.444,3.479,3.497,3.518,3.557,3.567,3.606,3.616,3.651,3.665,3.706,3.717,3.747,3.785,3.812,3.836,3.87,3.9,3.924,3.958,3.997,4.019,4.062,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.313,3.31,3.301,3.291,3.271,3.27,3.259,3.251,3.233,3.231,3.225,3.219,3.203,3.202,3.192,3.175,3.169,3.166,3.165,3.155,3.151,3.145,3.137,3.132,3.12,3.114,3.108,3.107,3.097,3.093,3.093,3.083,3.078,3.078,3.071,3.068,3.071,3.052,3.051,3.043,3.042,3.041,3.036,3.034,3.029,3.029,3.019,3.016,3.012,3.01,3.006,3.005,3.005,3.005,3.003,2.996,2.994,2.994,2.996,2.991,2.991,2.991,2.991,2.987,2.987,2.987,2.987,2.987,2.982,2.987,2.987,2.984,2.981,2.984,2.981,2.981,2.978,2.983,2.983,2.986,2.986,2.987,2.988,2.993,2.99,2.994,2.991,2.992,2.992,2.994,2.996,2.996,2.996,2.998,3,3.004,3.008,3.011,3.016,3.022,3.022,3.027,3.028,3.03,3.031,3.032,3.046,3.047,3.048,3.053,3.056,3.061,3.064,3.068,3.073,3.08,3.08,3.089,3.092,3.098,3.105,3.11,3.12,3.12,3.121,3.121,3.123,3.132,3.14,3.143,3.146,3.159,3.16,3.161,3.165,3.17,3.189,3.198,3.202,3.202,3.211,3.217,3.22,3.246,3.253,3.263,3.263,3.263,3.272,3.284,3.288,3.3,3.791,3.824,3.832,3.849,3.858,3.867,3.873,3.891,3.907,3.93,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 118.37} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.038397}
SEN {Time 118.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 118.366} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.477} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4732} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.5748}
SEN {Time 118.407} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.182,0.179,0.182,0.182,0.182,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,3.262,3.252,3.29,3.29,3.29,3.347,3.347,3.347,3.347,3.347,0,0,0,0,3.121,3.115,3.107,3.106,3.094,3.091,3.09,3.09,3.082,3.082,3.08,3.072,3.062,3.058,3.058,3.053,3.049,3.046,3.045,3.04,3.04,3.033,3.023,0.144,0.144,0.144,0.147,0.148,0.148,0.154,0.153,0.153,0.153,0.153,0.153,3.011,3.011,3.012,3.012,3.021,3.021,3.021,0.164,0.164,0.161,0.158,0.153,0.158,0.158,0.182,3.473,3.528,3.529,3.536,3.536,3.533,3.536,3.536,3.539,3.541,3.541,3.541,3.542,3.542,3.542,3.546,3.546,3.548,3.547,3.552,3.555,3.556,3.559,3.559,3.559,3.561,3.562,3.57,3.576,3.577,3.579,3.584,3.584,3.589,3.603,3.604,3.604,3.606,3.624,3.625,3.626,3.639,3.64,3.642,3.643,3.652,3.653,3.654,3.66,3.676,3.677,3.68,3.683,3.697,3.707,3.715,3.721,3.725,3.734,3.738,3.75,3.759,3.76,3.779,3.791,3.792,3.801,3.809,3.816,3.827,3.836,3.839,3.862,3.87,3.875,3.882,3.898,3.906,3.92,3.934,3.937,3.945,3.968,3.983,4.005,4.019,4.024,4.04,4.053,4.07,4.093,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,0,0.007,3.939,3.881,3.854,3.823,3.793,3.762,3.731,3.703,3.683,3.654,3.63,3.602,3.567,3.536,3.527,3.503,3.477,3.459,3.437,3.42,3.389,3.379,3.361,3.342,3.324,3.299,3.293,3.27,3.254,3.226,3.216,3.199,3.174,3.162,3.145,3.126,3.113,3.098,3.083,3.071,3.059,3.05,3.037,3.019,3.007,2.996,2.985,2.973,2.956,2.956,2.93,2.925,2.909,2.905,2.882,2.876,2.864,2.854,2.839,2.832,2.823,2.817,2.8,2.789,2.775,2.774,2.763,2.747,2.745,2.736,2.731,2.712,2.704,2.689,2.682,2.669,2.666,2.662,2.649,2.647,2.632,2.621,2.618,2.605,2.604,2.598,2.594,2.582,2.578,2.575,2.569,2.559,2.55,2.548,2.543,2.533,2.521,2.518,2.516,2.515,2.504,2.502,2.499,2.498,2.495,2.484,2.483,2.479,2.479,2.47,2.466,2.46,2.459,2.447,2.446,2.446,2.445,2.439,2.437,2.435,2.428,2.426,2.424,2.423,2.418,2.415,2.41,2.408,2.405,2.402,2.401,2.401,2.397,2.397,2.397,2.396,2.396,2.396,2.395,2.392,2.392,2.39,2.39,2.39,2.39,2.39,2.39,2.387,2.387,2.385,2.383,2.383,2.385,2.387,2.387,2.387,2.387,2.387,2.387,2.392,2.395,2.395,2.396,2.395,2.396,2.396,2.399,2.401,2.401,2.401,2.403,2.409,2.414,2.415,2.417,2.424,2.425,2.426,2.427,2.433,2.438,2.441,2.442,2.444,2.445,2.449,2.449,2.454,2.455,2.459,2.468,2.477,2.482,2.491,2.494,2.495,2.495,2.5,2.506,2.513,2.517,2.518,2.527,2.534,2.534,2.55,2.553,2.558,2.566,2.572,2.574,2.574,2.584,2.595,2.602,2.612,2.617,2.626,2.626,2.638,2.647,2.649,2.663,2.673,2.683,2.691,2.694,2.704,2.721,2.729,2.73,2.748,2.751,2.76,2.774,2.788,2.794,2.799,2.809,2.811,2.834,2.842,2.852,2.866,2.873,2.893,2.905,2.913,2.928,2.941,2.956,2.961,2.969,2.993,3.011,3.021,3.029,3.044,3.05,3.065,3.081,3.095,3.114,3.137,3.144,3.158,3.17,3.188,3.21,3.224,3.236,3.253,3.281,3.295,3.31,3.339,3.349,3.378,3.391,3.412,3.432,3.45,3.474,3.484,3.526,3.548,3.576,3.597,3.628,3.652,3.667,3.696,3.71,3.748,3.781,3.808,3.826,3.863,3.889,3.918,3.961,3.988,4.021,4.072,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.327,3.306,3.303,3.282,3.273,3.27,3.26,3.252,3.243,3.236,3.228,3.219,3.198,3.193,3.188,3.183,3.17,3.17,3.157,3.152,3.148,3.147,3.139,3.135,3.118,3.118,3.107,3.106,3.1,3.089,3.085,3.079,3.079,3.078,3.07,3.066,3.059,3.057,3.053,3.048,3.04,3.04,3.036,3.036,3.027,3.026,3.025,3.02,3.012,3.007,3.004,3.004,3.001,3.001,3.001,3.001,2.994,2.994,3.001,2.994,2.993,2.992,2.99,2.985,2.985,2.984,2.984,2.985,2.985,2.987,2.987,2.984,2.984,2.984,2.98,2.979,2.979,2.979,2.979,2.979,2.981,2.982,2.986,2.986,2.986,2.989,2.989,2.993,2.994,2.997,2.997,2.999,3,3.002,3.004,3.006,3.01,3.013,3.018,3.018,3.018,3.027,3.029,3.029,3.031,3.038,3.042,3.044,3.051,3.052,3.054,3.062,3.065,3.077,3.082,3.083,3.083,3.085,3.087,3.102,3.103,3.104,3.111,3.111,3.118,3.119,3.121,3.135,3.138,3.147,3.148,3.165,3.166,3.167,3.172,3.177,3.186,3.187,3.196,3.202,3.206,3.214,3.232,3.233,3.246,3.252,3.263,3.27,3.271,3.278,3.29,3.3,3.79,3.821,3.825,3.843,3.848,3.869,3.871,3.9,3.9,3.93,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 118.56} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.038397}
SEN {Time 118.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 118.559} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.096} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4732} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.3462}
SEN {Time 118.608} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.177,0.177,0.177,0.187,0.187,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,3.251,3.248,3.303,3.303,3.303,3.354,3.354,3.354,3.354,3.354,0,0,0,0,3.118,3.112,3.107,3.106,3.103,3.096,3.083,3.081,3.079,3.078,3.076,3.074,3.063,3.062,3.062,3.053,3.053,3.042,3.04,3.039,3.039,3.038,3.035,0.146,0.139,0.139,0.139,0.146,0.145,0.149,0.149,0.15,0.149,0.15,0.155,3.015,3.015,3.018,3.018,3.023,3.023,3.023,0.166,0.164,0.156,0.156,0.156,0.156,0.157,0.17,3.458,3.521,3.526,3.529,3.53,3.531,3.533,3.536,3.537,3.537,3.538,3.538,3.537,3.535,3.541,3.543,3.543,3.543,3.546,3.547,3.555,3.559,3.559,3.56,3.559,3.564,3.567,3.57,3.57,3.585,3.585,3.586,3.593,3.594,3.594,3.603,3.608,3.61,3.614,3.622,3.628,3.64,3.641,3.643,3.647,3.654,3.663,3.669,3.67,3.67,3.672,3.682,3.69,3.697,3.702,3.708,3.714,3.717,3.73,3.739,3.751,3.757,3.768,3.774,3.786,3.802,3.813,3.814,3.824,3.828,3.833,3.85,3.857,3.873,3.877,3.88,3.893,3.91,3.914,3.929,3.942,3.952,3.967,3.98,3.994,4.014,4.019,4.033,4.052,4.065,4.094,4.095,0.016,0.016,0,0,0,0.007,0,0.007,0,0.007,3.975,3.912,3.885,3.85,3.833,3.786,3.757,3.733,3.701,3.694,3.658,3.628,3.605,3.571,3.552,3.516,3.511,3.48,3.468,3.428,3.409,3.398,3.381,3.364,3.348,3.322,3.307,3.287,3.257,3.257,3.228,3.219,3.203,3.178,3.164,3.145,3.129,3.115,3.106,3.086,3.072,3.051,3.041,3.032,3.026,3.006,3.001,2.993,2.976,2.967,2.947,2.935,2.923,2.909,2.905,2.887,2.873,2.86,2.855,2.851,2.836,2.818,2.812,2.8,2.784,2.779,2.77,2.761,2.752,2.736,2.727,2.727,2.719,2.702,2.691,2.683,2.674,2.668,2.659,2.655,2.649,2.63,2.628,2.621,2.616,2.605,2.599,2.596,2.591,2.579,2.575,2.564,2.558,2.551,2.549,2.538,2.535,2.525,2.518,2.516,2.51,2.507,2.504,2.504,2.488,2.488,2.485,2.481,2.48,2.476,2.475,2.466,2.464,2.455,2.447,2.445,2.445,2.445,2.439,2.436,2.433,2.431,2.429,2.426,2.421,2.411,2.411,2.408,2.406,2.406,2.404,2.401,2.4,2.4,2.395,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.39,2.39,2.389,2.39,2.39,2.389,2.388,2.388,2.388,2.385,2.385,2.388,2.388,2.389,2.389,2.388,2.387,2.387,2.387,2.394,2.394,2.394,2.392,2.392,2.392,2.401,2.401,2.401,2.408,2.408,2.408,2.418,2.418,2.418,2.418,2.419,2.42,2.421,2.427,2.434,2.435,2.438,2.439,2.442,2.447,2.455,2.457,2.464,2.466,2.474,2.475,2.479,2.483,2.485,2.493,2.496,2.502,2.504,2.514,2.521,2.522,2.524,2.537,2.542,2.545,2.551,2.554,2.561,2.565,2.573,2.579,2.59,2.591,2.604,2.607,2.615,2.622,2.637,2.643,2.644,2.648,2.668,2.67,2.685,2.688,2.696,2.703,2.722,2.736,2.736,2.743,2.748,2.761,2.781,2.785,2.797,2.799,2.821,2.823,2.836,2.841,2.851,2.869,2.882,2.889,2.904,2.914,2.926,2.938,2.962,2.965,2.978,2.991,3.009,3.023,3.029,3.044,3.059,3.079,3.079,3.102,3.117,3.14,3.141,3.16,3.174,3.193,3.212,3.227,3.232,3.254,3.282,3.292,3.319,3.332,3.354,3.373,3.397,3.424,3.435,3.451,3.481,3.502,3.518,3.539,3.563,3.6,3.635,3.646,3.665,3.696,3.71,3.747,3.784,3.806,3.837,3.861,3.896,3.926,3.961,4.003,4.061,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.306,3.306,3.303,3.294,3.278,3.266,3.259,3.258,3.244,3.24,3.231,3.219,3.2,3.198,3.194,3.181,3.176,3.175,3.164,3.152,3.145,3.145,3.137,3.126,3.121,3.11,3.11,3.109,3.106,3.091,3.089,3.087,3.08,3.069,3.067,3.065,3.063,3.061,3.053,3.048,3.043,3.039,3.038,3.029,3.026,3.024,3.022,3.019,3.019,3.009,3.007,3.003,3.001,3.001,2.997,2.994,2.991,2.991,2.994,2.992,2.992,2.992,2.992,2.991,2.989,2.985,2.985,2.985,2.985,2.985,2.985,2.983,2.983,2.981,2.98,2.98,2.98,2.98,2.978,2.982,2.985,2.985,2.985,2.985,2.985,2.987,2.989,2.993,2.994,2.994,2.994,2.998,2.996,2.999,3.002,3.003,3.005,3.007,3.018,3.021,3.022,3.027,3.029,3.03,3.034,3.037,3.043,3.044,3.049,3.053,3.06,3.061,3.064,3.071,3.073,3.074,3.088,3.088,3.092,3.095,3.104,3.113,3.114,3.117,3.117,3.121,3.124,3.132,3.141,3.15,3.15,3.159,3.163,3.17,3.171,3.172,3.186,3.187,3.201,3.207,3.211,3.219,3.221,3.233,3.25,3.253,3.26,3.262,3.265,3.275,3.283,3.299,3.789,3.814,3.834,3.84,3.854,3.86,3.879,3.894,3.917,3.924,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 118.77} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.038397}
SEN {Time 118.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 118.769} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.096} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4732} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.3462}
SEN {Time 118.808} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.178,0.18,0.18,0.201,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.294,3.294,3.294,3.339,3.339,3.339,3.339,3.339,0,0,0,0,3.118,3.117,3.106,3.102,3.099,3.098,3.089,3.085,3.082,3.077,3.077,3.065,3.065,3.064,3.063,3.05,3.048,3.046,3.042,3.039,3.039,3.035,3.033,0.151,0.145,0.145,0.145,0.151,0.142,0.153,0.153,0.153,0.151,0.153,0.163,3.014,3.014,3.023,3.023,3.023,3.023,3.023,0.171,0.162,0.153,0.153,0.153,0.155,0.16,0.179,3.471,3.524,3.525,3.527,3.531,3.531,3.533,3.531,3.531,3.542,3.542,3.542,3.542,3.542,3.542,3.544,3.546,3.546,3.549,3.55,3.551,3.551,3.551,3.554,3.56,3.562,3.565,3.573,3.577,3.578,3.581,3.582,3.584,3.593,3.595,3.598,3.605,3.613,3.616,3.617,3.623,3.632,3.633,3.639,3.649,3.65,3.662,3.664,3.668,3.675,3.679,3.679,3.683,3.696,3.696,3.71,3.711,3.724,3.728,3.746,3.755,3.763,3.771,3.782,3.785,3.799,3.808,3.812,3.828,3.828,3.83,3.847,3.867,3.876,3.88,3.89,3.897,3.913,3.918,3.939,3.941,3.958,3.983,3.99,4.004,4.007,4.011,4.036,4.037,4.065,4.091,4.091,0.016,0.016,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.927,3.871,3.863,3.808,3.791,3.754,3.734,3.707,3.683,3.654,3.623,3.599,3.57,3.545,3.53,3.516,3.478,3.463,3.436,3.414,3.399,3.382,3.356,3.346,3.317,3.312,3.29,3.268,3.247,3.233,3.222,3.19,3.178,3.164,3.147,3.133,3.116,3.102,3.092,3.076,3.057,3.047,3.033,3.025,3.002,3,2.983,2.975,2.963,2.949,2.942,2.923,2.91,2.895,2.885,2.873,2.863,2.857,2.844,2.833,2.817,2.813,2.806,2.788,2.785,2.768,2.761,2.757,2.738,2.734,2.729,2.715,2.7,2.694,2.685,2.682,2.663,2.66,2.648,2.64,2.637,2.619,2.618,2.615,2.604,2.602,2.594,2.585,2.581,2.567,2.567,2.564,2.549,2.545,2.535,2.535,2.535,2.519,2.516,2.512,2.502,2.501,2.497,2.496,2.491,2.491,2.49,2.476,2.47,2.464,2.463,2.461,2.449,2.449,2.449,2.449,2.445,2.44,2.436,2.433,2.429,2.427,2.424,2.424,2.414,2.414,2.411,2.409,2.405,2.403,2.403,2.403,2.402,2.402,2.397,2.4,2.397,2.397,2.395,2.394,2.388,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.386,2.386,2.385,2.385,2.387,2.389,2.389,2.389,2.389,2.388,2.388,2.388,2.389,2.388,2.389,2.389,2.4,2.405,2.405,2.405,2.406,2.406,2.408,2.412,2.417,2.418,2.419,2.424,2.424,2.424,2.427,2.432,2.434,2.439,2.442,2.442,2.445,2.447,2.455,2.456,2.458,2.464,2.473,2.474,2.479,2.481,2.488,2.49,2.497,2.503,2.505,2.519,2.523,2.524,2.531,2.538,2.54,2.551,2.554,2.556,2.563,2.572,2.578,2.583,2.592,2.595,2.607,2.609,2.621,2.626,2.629,2.637,2.64,2.65,2.665,2.674,2.68,2.685,2.7,2.7,2.722,2.734,2.738,2.747,2.748,2.757,2.77,2.791,2.792,2.804,2.814,2.814,2.836,2.845,2.849,2.864,2.883,2.884,2.905,2.926,2.935,2.943,2.959,2.966,2.982,3.001,3.006,3.026,3.029,3.051,3.054,3.071,3.088,3.098,3.113,3.128,3.143,3.154,3.174,3.187,3.209,3.222,3.234,3.258,3.278,3.293,3.317,3.338,3.361,3.372,3.39,3.414,3.435,3.456,3.48,3.504,3.516,3.534,3.57,3.609,3.626,3.662,3.682,3.698,3.724,3.745,3.765,3.81,3.826,3.868,3.881,3.926,3.961,4.005,4.027,4.066,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.311,3.304,3.304,3.295,3.284,3.263,3.256,3.254,3.246,3.232,3.228,3.221,3.203,3.203,3.194,3.19,3.175,3.173,3.169,3.156,3.151,3.151,3.138,3.127,3.121,3.114,3.109,3.103,3.102,3.1,3.088,3.087,3.086,3.075,3.071,3.061,3.061,3.056,3.053,3.044,3.043,3.037,3.036,3.033,3.032,3.027,3.019,3.019,3.018,3.012,3.012,3.011,3.01,3.01,3.008,2.991,2.991,2.991,2.992,2.992,2.994,2.994,2.989,2.988,2.987,2.986,2.987,2.987,2.987,2.988,2.988,2.987,2.984,2.987,2.983,2.978,2.978,2.985,2.981,2.985,2.985,2.985,2.99,2.993,2.993,2.994,2.995,2.995,2.994,2.995,2.995,2.994,3.003,3.004,3.004,3.011,3.013,3.016,3.018,3.023,3.023,3.025,3.029,3.029,3.037,3.037,3.037,3.045,3.051,3.056,3.06,3.063,3.067,3.076,3.079,3.087,3.087,3.09,3.093,3.094,3.107,3.11,3.115,3.115,3.116,3.116,3.131,3.133,3.138,3.148,3.156,3.162,3.164,3.164,3.169,3.178,3.187,3.197,3.201,3.209,3.209,3.217,3.226,3.243,3.248,3.25,3.261,3.263,3.273,3.277,3.284,3.294,3.795,3.819,3.832,3.836,3.849,3.871,3.876,3.898,3.905,3.934,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 118.96} {Type Odometry} {Name Odometry} {Pose 0.002540,0.994920,0.036652}
SEN {Time 118.96} {Type Tachometer} {Name LeftRight} {Vel 0.058420,-0.055880}
SEN {Time 118.962} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.096} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.4892} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 1.4732} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.8608} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.3462}
SEN {Time 121.696} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.18,0.18,0.18,0.184,0.184,0.213,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.006,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.152,0.152,0.149,0.152,0.151,0.153,0.153,0.153,0.151,0.146,0.146,0.146,0,0,0,0,0,0.163,0.162,0.162,0.162,0.156,0.156,0.156,0.156,0.16,0,0,0,0,0,0,0,0,1.726,1.726,1.693,1.653,1.653,0.492,0.48,0.48,0.482,0.479,0.482,0.482,0.485,0.485,0.487,1.4,1.4,1.4,1.391,1.391,1.391,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,3.526,3.517,3.517,3.505,3.492,3.492,0.009,3.015,3.083,3.214,3.208,3.208,3.208,3.214,0.007,0,0,0,0,0,0,0,3.148,3.128,3.128,3.111,3.111,0.007,0.009,0.007,3.076,3.076,3.229,3.229,3.281,0,0,0,0,0,0.007,0,0,0,2.967,2.964,2.963,2.957,2.953,2.941,2.941,2.937,2.93,2.93,2.926,2.922,2.921,2.912,2.908,2.907,2.904,2.901,2.899,2.895,2.888,2.886,2.886,2.886,2.88,2.877,2.876,2.874,2.862,2.862,2.861,2.86,2.859,2.859,2.859,2.859,2.857,2.855,2.846,2.846,2.846,2.849,3.404,3.405,3.405,3.405,3.411,3.411,3.409,3.41,3.41,3.409,3.41,3.41,3.412,3.412,3.416,3.412,3.412,3.415,3.41,3.409,3.409,3.415,3.418,3.421,3.422,3.424,3.427,3.429,3.434,3.437,3.44,3.44,3.441,3.444,3.448,3.459,3.462,3.462,3.464,3.472,3.474,3.479,3.484,3.484,3.491,3.491,3.492,3.506,3.512,3.516,3.52,3.522,3.523,3.525,3.546,3.55,3.552,3.562,3.566,3.571,3.58,3.583,3.595,3.606,3.61,3.612,3.626,3.636,3.636,3.652,3.657,3.671,3.675,3.676,3.697,3.702,3.713,3.725,3.726,3.738,3.753,3.761,3.779,3.788,3.801,3.806,3.821,3.834,3.846,3.858,3.862,3.879,3.888,3.905,3.914,3.923,3.947,3.96,3.983,4.003,4.014,4.031,4.043,4.061,4.065,0.016,0.016,0.016,4.074,4.025,3.998,3.962,3.935,3.894,3.865,3.838,3.807,3.788,3.767,3.735,3.715,3.683,3.657,3.632,3.623,3.594,3.571,3.549,3.517,3.507,3.479,3.464,3.446,3.421,3.404,3.393,3.364,3.353,3.329,3.31,3.286,3.277,3.262,3.241,3.238,3.217,3.205,3.188,3.168,3.161,3.144,3.123,3.106,3.095,3.084,3.083,3.06,3.056,3.043,3.028,3.016,3.005,2.994,2.982,2.963,2.96,2.942,2.94,2.923,2.912,2.908,2.897,2.878,2.875,2.867,2.855,2.852,2.844,2.833,2.811,2.803,2.802,2.781,2.779,2.778,2.766,2.758,2.754,2.751,2.733,2.727,2.717,2.716,2.708,2.7,2.69,2.686,2.674,2.67,2.663,2.658,2.656,2.647,2.644,2.641,2.632,2.625,2.623,2.617,2.609,2.602,2.6,2.599,2.593,2.586,2.583,2.576,2.567,2.565,2.557,2.557,2.555,2.552,2.551,2.55,2.54,2.535,2.532,2.529,2.528,2.523,2.521,2.521,2.52,2.52,2.515,2.508,2.504,2.504,2.504,2.502,2.497,2.497,2.495,2.492,2.492,2.489,2.489,2.489,2.491,2.491,2.491,2.491,2.489,2.489,2.486,2.486,2.486,2.486,2.487,2.487,2.486,2.487,2.486,2.486,2.496,2.496,2.496,2.496,2.498,2.498,2.498,2.499,2.5,2.506,2.506,2.506,2.509,2.509,2.512,2.512,2.515,2.521,2.528,2.532,2.535,2.535,2.535,2.538,2.547,2.547,2.554,2.563,2.563,2.563,2.565,2.568,2.577,2.578,2.583,2.586,2.595,2.599,2.599,2.599,2.609,2.615,2.619,2.629,2.64,2.644,2.651,2.661,2.661,2.665,2.673,2.68,2.691,2.692,2.698,2.712,2.714,2.717,2.728,2.73,2.735,2.747,2.76,2.762,2.766,2.77,2.786,2.797,2.802,2.818,2.818,2.835,2.845,2.848,2.854,2.866,2.882,2.896,2.902,2.909,2.919,2.928,2.932,2.949,2.961,2.963,2.986,2.994,3.005,3.008,3.032,3.045,3.049,3.065,3.08,3.091,3.11,3.113,3.133,3.135,3.154,3.166,3.188,3.191,3.207,3.23,3.248,3.27,3.29,3.306,3.32,3.325,3.366,3.38,3.399,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 121.85} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.411971}
SEN {Time 121.85} {Type Tachometer} {Name LeftRight} {Vel 0.127000,-0.127000}
SEN {Time 121.849} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.477} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 3.048} {Name Sonar9 Range 3.2766} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 3.3528} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 1.8288}
SEN {Time 121.894} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.179,0.174,0.179,0.179,0.198,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.009,0.009,0.009,0.009,0.009,0,0.009,0,0,0.154,0.151,0.151,0.151,0.151,0.157,0.157,0.151,0.143,0.143,0.143,0,0,0,0,0,0.172,0.161,0.161,0.156,0.156,0.156,0.163,0.163,0.313,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.698,1.678,1.678,1.678,0,0,0,0,0.463,0.463,0.456,0.463,0.463,0.465,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,3.789,3.77,3.755,3.736,3.736,3.736,0,0,0,0,0,0,0,0,0,0,3.543,3.542,3.529,3.517,3.517,3.513,3.513,0.007,0.006,0.007,3.212,3.158,3.158,3.158,0,0,0,0,0,0,0,0,0,0,0,3.127,3.108,3.099,3.095,3.09,3.07,3.069,3.056,3.056,3.056,3.201,3.262,0,0,0,0,3.153,3.153,3.153,0,0,0,0,2.955,2.954,2.95,2.946,2.937,2.932,2.928,2.925,2.922,2.917,2.917,2.914,2.911,2.908,2.904,2.897,2.897,2.896,2.896,2.896,2.886,2.883,2.879,2.879,2.874,2.871,2.871,2.871,2.869,2.868,2.858,2.858,2.85,2.846,2.846,2.844,2.844,2.847,2.847,2.848,2.851,3.405,3.407,3.407,3.407,3.407,3.407,3.407,3.407,3.409,3.41,3.407,3.41,3.411,3.412,3.411,3.412,3.416,3.416,3.416,3.417,3.424,3.43,3.43,3.431,3.432,3.435,3.437,3.443,3.443,3.444,3.444,3.445,3.445,3.451,3.451,3.454,3.456,3.459,3.462,3.48,3.48,3.483,3.487,3.488,3.494,3.502,3.51,3.517,3.524,3.525,3.529,3.53,3.533,3.547,3.551,3.56,3.565,3.571,3.585,3.586,3.596,3.608,3.614,3.615,3.628,3.635,3.641,3.648,3.658,3.661,3.668,3.682,3.69,3.701,3.702,3.709,3.735,3.736,3.741,3.76,3.771,3.773,3.783,3.801,3.804,3.812,3.826,3.831,3.858,3.873,3.876,3.898,3.912,3.926,3.936,3.96,3.973,3.973,4.002,4.006,4.028,4.053,4.057,4.085,0.016,0.016,0.016,4.09,4.077,4.032,3.992,3.978,3.926,3.905,3.868,3.855,3.815,3.801,3.767,3.749,3.719,3.698,3.674,3.638,3.633,3.602,3.572,3.561,3.53,3.516,3.497,3.475,3.454,3.44,3.409,3.39,3.378,3.359,3.353,3.329,3.31,3.287,3.277,3.263,3.246,3.225,3.224,3.198,3.181,3.164,3.155,3.149,3.135,3.121,3.104,3.09,3.078,3.061,3.049,3.038,3.023,3.016,3.007,2.992,2.989,2.964,2.952,2.949,2.947,2.933,2.93,2.915,2.9,2.896,2.88,2.872,2.855,2.85,2.838,2.836,2.827,2.822,2.812,2.809,2.793,2.791,2.777,2.767,2.765,2.764,2.744,2.742,2.731,2.726,2.715,2.707,2.7,2.695,2.691,2.684,2.676,2.675,2.675,2.655,2.65,2.647,2.644,2.635,2.632,2.625,2.616,2.615,2.612,2.611,2.601,2.591,2.591,2.59,2.59,2.581,2.576,2.572,2.565,2.564,2.561,2.556,2.556,2.554,2.553,2.548,2.543,2.542,2.54,2.535,2.535,2.533,2.532,2.527,2.527,2.525,2.522,2.521,2.519,2.519,2.516,2.515,2.511,2.511,2.511,2.51,2.506,2.51,2.51,2.51,2.51,2.51,2.51,2.508,2.508,2.51,2.511,2.511,2.511,2.511,2.513,2.513,2.515,2.515,2.516,2.516,2.516,2.516,2.519,2.522,2.529,2.529,2.53,2.532,2.533,2.539,2.54,2.541,2.544,2.547,2.549,2.551,2.551,2.555,2.559,2.57,2.571,2.574,2.575,2.583,2.584,2.588,2.594,2.595,2.604,2.605,2.609,2.62,2.621,2.623,2.626,2.632,2.634,2.643,2.653,2.659,2.663,2.673,2.676,2.688,2.696,2.699,2.701,2.702,2.712,2.723,2.726,2.731,2.745,2.751,2.756,2.756,2.77,2.779,2.785,2.789,2.801,2.808,2.811,2.831,2.836,2.849,2.849,2.862,2.873,2.877,2.891,2.902,2.903,2.921,2.924,2.933,2.937,2.955,2.966,2.979,2.987,2.992,3.013,3.019,3.032,3.042,3.05,3.075,3.095,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 122.05} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.563815}
SEN {Time 122.05} {Type Tachometer} {Name LeftRight} {Vel 0.055880,-0.058420}
SEN {Time 122.053} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.477} {Name Sonar2 Range 5.6642} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 3.3528} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 1.8288}
SEN {Time 122.091} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.178,0.172,0.187,0.187,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.143,0.143,0.137,0.143,0.139,0.152,0.152,0.152,0.149,0.152,0.155,0,0,0,0,0,0,0,0.163,0.16,0.156,0.156,0.156,0.161,0.162,0.253,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.706,1.662,1.638,1.638,1.638,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.752,3.752,3.752,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.504,3.471,2.984,2.984,2.984,2.993,2.995,3.176,3.171,3.171,3.176,3.171,3.167,3.156,3.156,3.148,3.137,3.121,3.113,3.113,3.109,3.105,3.095,3.092,3.089,3.07,3.065,3.062,3.062,3.062,3.101,3.208,3.289,3.289,3.289,3.185,3.178,3.139,3.139,3.139,0,0,0,0,2.947,2.939,2.938,2.935,2.93,2.925,2.919,2.915,2.913,2.912,2.909,2.895,2.894,2.894,2.894,2.887,2.885,2.885,2.884,2.881,2.875,2.873,2.87,2.864,2.864,2.864,2.857,2.857,2.855,2.854,2.847,2.845,2.843,2.843,2.841,2.841,2.838,2.838,2.838,2.872,3.399,3.404,3.404,3.404,3.403,3.402,3.402,3.403,3.404,3.404,3.404,3.409,3.412,3.412,3.413,3.413,3.412,3.413,3.413,3.417,3.417,3.418,3.425,3.427,3.432,3.432,3.434,3.434,3.435,3.436,3.437,3.437,3.45,3.451,3.456,3.458,3.46,3.466,3.468,3.478,3.482,3.484,3.49,3.493,3.494,3.507,3.508,3.518,3.522,3.526,3.535,3.538,3.542,3.551,3.552,3.561,3.576,3.579,3.581,3.588,3.592,3.603,3.605,3.618,3.629,3.631,3.648,3.648,3.66,3.663,3.685,3.689,3.691,3.697,3.698,3.718,3.733,3.745,3.759,3.765,3.77,3.778,3.794,3.814,3.818,3.831,3.839,3.864,3.865,3.889,3.891,3.91,3.934,3.942,3.952,3.969,3.98,4.005,4.016,4.034,4.045,4.068,4.076,0.016,0.016,0.007,0,0.016,4.039,4.006,3.975,3.945,3.91,3.891,3.848,3.835,3.818,3.773,3.751,3.715,3.697,3.686,3.65,3.622,3.601,3.594,3.564,3.539,3.521,3.511,3.479,3.467,3.442,3.418,3.405,3.372,3.365,3.351,3.336,3.311,3.295,3.279,3.268,3.251,3.236,3.217,3.203,3.191,3.168,3.165,3.145,3.137,3.121,3.115,3.099,3.088,3.078,3.064,3.053,3.032,3.029,3.015,2.996,2.994,2.982,2.966,2.958,2.95,2.939,2.927,2.916,2.903,2.901,2.892,2.887,2.873,2.859,2.855,2.85,2.832,2.819,2.813,2.799,2.798,2.793,2.784,2.772,2.769,2.755,2.75,2.75,2.741,2.731,2.722,2.716,2.71,2.699,2.697,2.696,2.689,2.68,2.675,2.671,2.666,2.66,2.655,2.654,2.644,2.643,2.628,2.627,2.623,2.621,2.619,2.607,2.607,2.602,2.594,2.591,2.59,2.589,2.577,2.577,2.575,2.575,2.574,2.561,2.559,2.558,2.558,2.557,2.554,2.552,2.551,2.547,2.546,2.545,2.542,2.54,2.54,2.536,2.534,2.531,2.531,2.531,2.531,2.531,2.53,2.53,2.53,2.527,2.525,2.524,2.523,2.52,2.52,2.519,2.52,2.52,2.52,2.52,2.525,2.53,2.53,2.532,2.532,2.535,2.541,2.541,2.542,2.541,2.542,2.547,2.547,2.546,2.551,2.551,2.551,2.553,2.556,2.561,2.569,2.57,2.573,2.577,2.58,2.58,2.59,2.599,2.599,2.599,2.602,2.607,2.611,2.623,2.625,2.627,2.629,2.635,2.641,2.645,2.648,2.658,2.661,2.667,2.675,2.676,2.678,2.682,2.685,2.705,2.711,2.711,2.716,2.718,2.727,2.729,2.739,2.751,2.752,2.764,2.764,2.774,2.788,2.795,2.797,2.803,2.817,2.824,2.839,2.847,2.854,2.855,2.863,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 122.24} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.600467}
SEN {Time 122.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 122.244} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.477} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 2.7178} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 1.8288}
SEN {Time 122.293} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.171,0.182,0.182,0.187,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0.147,0.146,0.146,0.146,0.147,0.154,0.154,0.153,0.154,0.156,0.287,0,0,0,0,0,0.164,0.163,0.157,0.156,0.156,0.153,0.156,0.163,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.697,1.648,1.621,1.621,1.621,0.016,0.016,0,0.007,0,0.452,0.446,0.446,0.446,0.446,0.447,0.448,0.449,1.36,1.36,0.006,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.784,3.752,3.746,3.721,3.721,3.721,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.488,3.48,3.48,0.006,2.982,2.982,3.097,3.097,3.097,3.178,3.185,3.185,3.185,0,0,3.154,3.154,3.115,3.115,3.113,3.113,3.094,3.092,3.082,3.081,3.065,3.061,3.055,3.055,3.055,3.133,3.239,3.309,3.309,3.309,3.189,3.189,3.173,3.189,0.007,0,0,0,2.951,2.944,2.932,2.932,2.928,2.928,2.925,2.922,2.917,2.91,2.904,2.903,2.9,2.896,2.89,2.888,2.887,2.887,2.883,2.88,2.88,2.879,2.878,2.871,2.869,2.869,2.86,2.858,2.855,2.847,2.845,2.844,2.842,2.842,2.841,2.84,2.837,2.837,2.837,2.841,3.352,3.402,3.405,3.407,3.408,3.407,3.407,3.404,3.404,3.404,3.404,3.406,3.406,3.408,3.412,3.416,3.416,3.417,3.417,3.421,3.425,3.425,3.427,3.427,3.432,3.432,3.434,3.437,3.44,3.444,3.444,3.445,3.448,3.453,3.456,3.456,3.464,3.466,3.473,3.481,3.482,3.489,3.494,3.495,3.503,3.512,3.512,3.518,3.52,3.521,3.529,3.538,3.541,3.55,3.565,3.566,3.571,3.579,3.58,3.58,3.596,3.604,3.613,3.617,3.619,3.636,3.638,3.651,3.661,3.666,3.677,3.682,3.693,3.706,3.719,3.733,3.735,3.754,3.757,3.761,3.776,3.791,3.804,3.816,3.826,3.839,3.853,3.865,3.88,3.892,3.909,3.911,3.921,3.947,3.969,3.973,4,4.014,4.034,4.047,4.05,4.071,0.016,0.016,0.016,0.016,0.016,4.062,4.02,3.988,3.963,3.919,3.894,3.875,3.845,3.811,3.787,3.765,3.741,3.708,3.687,3.672,3.641,3.608,3.6,3.565,3.565,3.529,3.51,3.488,3.475,3.446,3.413,3.411,3.384,3.378,3.358,3.339,3.326,3.301,3.288,3.271,3.253,3.241,3.221,3.207,3.2,3.174,3.162,3.147,3.142,3.127,3.113,3.109,3.088,3.072,3.065,3.045,3.036,3.021,3.012,3.003,3.003,2.994,2.979,2.97,2.949,2.942,2.93,2.921,2.911,2.9,2.894,2.893,2.878,2.856,2.856,2.845,2.836,2.823,2.819,2.807,2.798,2.79,2.786,2.782,2.768,2.762,2.757,2.744,2.742,2.735,2.724,2.723,2.705,2.704,2.698,2.693,2.69,2.686,2.681,2.673,2.667,2.662,2.653,2.652,2.648,2.637,2.631,2.624,2.622,2.62,2.611,2.61,2.608,2.607,2.601,2.6,2.588,2.587,2.585,2.585,2.579,2.579,2.57,2.568,2.567,2.564,2.561,2.555,2.552,2.552,2.552,2.551,2.547,2.547,2.542,2.54,2.539,2.536,2.536,2.536,2.535,2.535,2.535,2.534,2.524,2.524,2.524,2.524,2.524,2.523,2.522,2.52,2.52,2.52,2.52,2.523,2.529,2.529,2.53,2.534,2.53,2.534,2.534,2.537,2.537,2.539,2.54,2.54,2.54,2.543,2.548,2.548,2.55,2.55,2.555,2.558,2.56,2.562,2.571,2.573,2.577,2.583,2.588,2.591,2.593,2.593,2.595,2.605,2.606,2.615,2.615,2.623,2.625,2.627,2.627,2.627,2.637,2.643,2.653,2.659,2.665,2.671,2.674,2.678,2.681,2.686,2.695,2.696,2.704,2.707,2.713,2.719,2.731,2.735,2.743,2.756,2.757,2.764,2.773,2.775,2.787,2.792,2.798,2.816,2.82,2.833,2.836,2.847,2.851,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 122.45} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 122.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 122.452} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 6.477} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3622} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.7686} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 122.487} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.179,0.178,0.178,0.179,0.179,0.186,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0.149,0.149,0.143,0.149,0.143,0.149,0.153,0.153,0.153,0.156,0.163,0.275,0,0,0,0,0,0.166,0.162,0.161,0.158,0.158,0.152,0.158,0.164,3.047,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.152,1.152,1.152,1.153,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.683,1.656,1.621,1.621,1.621,1.601,1.563,0,0,0.465,0.451,0.44,0.44,0.44,0.44,0.444,0.444,0.456,1.349,1.353,1.356,1.356,1.359,1.389,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.764,3.762,3.745,3.727,3.712,3.712,3.712,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.492,3.474,3.474,0.006,2.993,2.993,3.104,3.104,3.104,3.176,3.18,3.18,3.18,3.182,0,0,0,0,0,3.124,3.108,3.1,3.097,3.092,3.074,3.071,3.067,3.061,3.067,3.067,3.231,3.293,3.359,3.293,3.293,3.186,3.184,3.068,3.068,3.068,0,0,0,2.947,2.944,2.939,2.935,2.928,2.926,2.919,2.916,2.915,2.915,2.905,2.904,2.904,2.904,2.904,2.893,2.887,2.886,2.881,2.879,2.879,2.877,2.867,2.866,2.866,2.865,2.865,2.86,2.854,2.853,2.846,2.84,2.84,2.84,2.839,2.84,2.84,2.84,2.841,2.843,3.379,3.406,3.406,3.406,3.41,3.41,3.409,3.409,3.409,3.406,3.406,3.405,3.406,3.407,3.408,3.408,3.41,3.412,3.416,3.424,3.425,3.425,3.425,3.425,3.425,3.428,3.429,3.43,3.442,3.445,3.448,3.449,3.45,3.452,3.453,3.457,3.462,3.463,3.477,3.479,3.483,3.485,3.487,3.493,3.5,3.502,3.503,3.515,3.521,3.532,3.536,3.536,3.541,3.555,3.564,3.57,3.571,3.575,3.587,3.589,3.601,3.605,3.613,3.621,3.635,3.635,3.637,3.657,3.661,3.664,3.668,3.681,3.696,3.708,3.716,3.732,3.733,3.748,3.754,3.761,3.785,3.794,3.798,3.819,3.826,3.838,3.855,3.856,3.882,3.893,3.896,3.898,3.938,3.945,3.968,3.981,3.991,4.005,4.021,4.035,4.065,4.066,4.089,0.016,0.016,0.016,4.082,4.065,4.02,3.992,3.971,3.933,3.899,3.879,3.84,3.82,3.791,3.757,3.739,3.709,3.692,3.66,3.654,3.613,3.6,3.566,3.554,3.535,3.512,3.487,3.468,3.445,3.413,3.407,3.383,3.366,3.354,3.336,3.322,3.303,3.282,3.271,3.265,3.242,3.221,3.204,3.195,3.165,3.162,3.159,3.138,3.122,3.113,3.109,3.077,3.074,3.066,3.044,3.038,3.029,3.007,3.003,2.994,2.983,2.973,2.963,2.952,2.931,2.93,2.919,2.906,2.896,2.896,2.889,2.868,2.864,2.854,2.844,2.842,2.83,2.81,2.81,2.792,2.79,2.784,2.784,2.772,2.766,2.756,2.744,2.741,2.735,2.724,2.715,2.714,2.706,2.7,2.699,2.695,2.69,2.687,2.675,2.667,2.66,2.656,2.651,2.645,2.642,2.628,2.627,2.621,2.618,2.613,2.608,2.606,2.601,2.6,2.593,2.593,2.589,2.586,2.58,2.576,2.569,2.569,2.569,2.567,2.567,2.562,2.562,2.555,2.553,2.553,2.553,2.548,2.547,2.541,2.539,2.536,2.531,2.532,2.531,2.524,2.525,2.525,2.525,2.529,2.529,2.529,2.524,2.524,2.524,2.524,2.524,2.522,2.52,2.52,2.52,2.522,2.527,2.529,2.53,2.529,2.531,2.534,2.536,2.536,2.536,2.536,2.536,2.542,2.544,2.547,2.546,2.546,2.547,2.554,2.554,2.563,2.565,2.569,2.57,2.572,2.583,2.584,2.584,2.584,2.587,2.592,2.6,2.605,2.61,2.617,2.625,2.629,2.632,2.635,2.635,2.636,2.647,2.656,2.659,2.666,2.668,2.671,2.676,2.686,2.688,2.695,2.7,2.704,2.705,2.72,2.72,2.721,2.735,2.738,2.746,2.749,2.763,2.774,2.779,2.784,2.795,2.803,2.808,2.821,2.821,2.838,2.838,2.848,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 122.64} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 122.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 122.642} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 122.687} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.173,0.175,0.175,0.191,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.15,0.147,0.142,0.147,0.141,0.147,0.153,0.153,0.152,0.153,0.153,0.282,0,0,0,0,0,0.16,0.159,0.154,0.153,0.153,0.15,0.15,0.153,3.045,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.151,1.151,1.151,1.168,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.686,1.649,1.613,1.613,1.613,1.594,1.563,0,0.475,0.459,0.44,0.44,0.44,0.44,0.44,0.443,0.443,0.454,1.356,1.356,1.358,1.358,1.358,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.781,3.768,3.739,3.727,3.705,3.705,3.705,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.494,3.471,3.471,0.006,2.99,2.99,3.101,3.101,3.101,3.171,3.175,3.175,3.171,3.175,0,0,0,0,0,0.007,3.12,3.103,3.1,3.085,3.076,3.057,3.057,3.057,3.057,3.144,3.233,3.233,3.301,3.301,3.301,3.184,3.172,3.07,3.07,3.07,0,0,0,2.948,2.943,2.943,2.937,2.925,2.924,2.921,2.916,2.916,2.91,2.905,2.905,2.898,2.898,2.896,2.895,2.89,2.889,2.888,2.882,2.873,2.872,2.872,2.872,2.87,2.864,2.863,2.863,2.859,2.843,2.843,2.841,2.841,2.841,2.837,2.837,2.837,2.838,2.84,2.843,3.379,3.399,3.4,3.401,3.402,3.403,3.403,3.405,3.405,3.406,3.406,3.406,3.406,3.409,3.413,3.414,3.417,3.418,3.419,3.426,3.426,3.426,3.424,3.424,3.424,3.426,3.426,3.432,3.437,3.443,3.445,3.446,3.446,3.447,3.456,3.457,3.46,3.461,3.47,3.48,3.481,3.483,3.491,3.493,3.497,3.511,3.518,3.519,3.526,3.529,3.53,3.539,3.546,3.547,3.553,3.571,3.571,3.574,3.575,3.589,3.593,3.605,3.618,3.622,3.623,3.629,3.641,3.657,3.668,3.668,3.675,3.684,3.697,3.706,3.73,3.731,3.733,3.74,3.75,3.754,3.764,3.79,3.803,3.805,3.824,3.836,3.839,3.868,3.882,3.889,3.899,3.919,3.928,3.948,3.962,3.973,3.995,4.002,4.031,4.047,4.055,4.077,0.016,0.016,0.016,0.016,4.076,4.058,4.023,3.986,3.966,3.934,3.901,3.876,3.856,3.814,3.786,3.766,3.739,3.71,3.684,3.653,3.646,3.62,3.597,3.579,3.561,3.531,3.513,3.481,3.469,3.445,3.432,3.409,3.38,3.372,3.354,3.34,3.329,3.305,3.296,3.272,3.262,3.244,3.218,3.21,3.189,3.171,3.16,3.153,3.126,3.125,3.114,3.114,3.09,3.09,3.072,3.062,3.041,3.022,3.011,3.005,2.997,2.985,2.971,2.96,2.952,2.941,2.931,2.921,2.909,2.898,2.892,2.882,2.875,2.855,2.854,2.841,2.839,2.829,2.824,2.804,2.794,2.791,2.789,2.776,2.769,2.755,2.753,2.741,2.741,2.735,2.729,2.717,2.712,2.711,2.703,2.701,2.689,2.682,2.681,2.673,2.672,2.666,2.655,2.643,2.641,2.638,2.634,2.63,2.627,2.624,2.615,2.615,2.612,2.604,2.595,2.593,2.59,2.584,2.577,2.576,2.575,2.575,2.566,2.565,2.565,2.563,2.56,2.556,2.554,2.553,2.553,2.552,2.552,2.545,2.545,2.544,2.536,2.534,2.534,2.532,2.532,2.531,2.529,2.525,2.525,2.529,2.528,2.528,2.529,2.528,2.525,2.52,2.52,2.52,2.52,2.52,2.525,2.528,2.531,2.531,2.529,2.531,2.533,2.536,2.538,2.538,2.538,2.538,2.539,2.54,2.547,2.548,2.551,2.551,2.551,2.559,2.561,2.569,2.569,2.57,2.57,2.578,2.583,2.588,2.59,2.595,2.596,2.596,2.604,2.61,2.617,2.625,2.627,2.627,2.629,2.631,2.641,2.646,2.647,2.655,2.659,2.673,2.679,2.681,2.682,2.684,2.696,2.7,2.704,2.708,2.719,2.72,2.732,2.742,2.746,2.751,2.759,2.763,2.774,2.779,2.782,2.797,2.809,2.813,2.813,2.828,2.836,2.845,2.849,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 122.84} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 122.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 122.844} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6642} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 122.887} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.177,0.177,0.177,0.178,0.178,0.2,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.148,0.148,0.146,0.148,0.146,0.152,0.154,0.154,0.144,0.154,0.154,0.275,0,0,0,0,0,0.162,0.161,0.16,0.158,0.151,0.151,0.151,0.151,3.041,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.148,1.148,1.148,1.18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.689,1.658,1.616,1.616,1.616,1.605,1.562,0,0.472,0.451,0.444,0.439,0.439,0.44,0.44,0.44,0.445,0.456,1.349,1.358,1.358,1.358,1.363,1.385,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.781,3.746,3.743,3.727,3.705,3.705,3.705,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.497,3.478,3.478,0.006,2.988,2.988,3.105,3.105,3.105,3.173,3.175,3.175,3.173,3.149,3.149,3.149,3.143,3.143,0,3.122,3.12,3.12,3.101,3.084,3.069,3.063,3.063,3.055,3.063,3.065,3.231,3.286,3.36,3.286,3.286,3.186,3.175,3.064,3.064,3.064,0,0,0,2.948,2.946,2.943,2.933,2.932,2.925,2.917,2.916,2.916,2.912,2.912,2.908,2.907,2.903,2.899,2.893,2.893,2.893,2.883,2.875,2.872,2.869,2.869,2.865,2.863,2.863,2.863,2.859,2.854,2.852,2.848,2.847,2.846,2.839,2.84,2.839,2.839,2.837,2.837,2.837,3.38,3.402,3.405,3.406,3.406,3.406,3.406,3.408,3.406,3.406,3.407,3.407,3.405,3.407,3.413,3.413,3.416,3.416,3.417,3.418,3.425,3.425,3.425,3.425,3.425,3.425,3.429,3.432,3.434,3.438,3.441,3.449,3.45,3.453,3.455,3.459,3.465,3.466,3.466,3.478,3.479,3.487,3.489,3.49,3.49,3.507,3.519,3.521,3.526,3.528,3.531,3.531,3.553,3.558,3.566,3.566,3.569,3.578,3.581,3.584,3.593,3.596,3.623,3.624,3.635,3.639,3.644,3.661,3.667,3.67,3.674,3.677,3.7,3.701,3.724,3.729,3.732,3.745,3.746,3.767,3.774,3.783,3.787,3.815,3.82,3.841,3.856,3.859,3.883,3.888,3.9,3.917,3.933,3.945,3.964,3.971,3.982,4.011,4.024,4.036,4.057,4.085,4.089,0.016,0.016,0.016,4.088,4.061,4.011,3.991,3.947,3.926,3.909,3.862,3.841,3.819,3.786,3.767,3.74,3.712,3.685,3.666,3.644,3.614,3.6,3.575,3.546,3.53,3.511,3.482,3.459,3.445,3.424,3.407,3.386,3.371,3.354,3.336,3.323,3.305,3.277,3.27,3.251,3.245,3.219,3.211,3.201,3.173,3.162,3.148,3.128,3.125,3.115,3.111,3.085,3.072,3.065,3.047,3.041,3.019,3.019,2.998,2.994,2.986,2.972,2.961,2.954,2.94,2.931,2.914,2.904,2.895,2.894,2.89,2.877,2.858,2.857,2.853,2.837,2.827,2.815,2.812,2.793,2.79,2.788,2.788,2.772,2.772,2.753,2.741,2.741,2.728,2.725,2.718,2.714,2.707,2.703,2.701,2.692,2.683,2.681,2.677,2.673,2.661,2.659,2.645,2.641,2.635,2.635,2.629,2.625,2.624,2.619,2.612,2.606,2.601,2.598,2.592,2.591,2.582,2.58,2.579,2.576,2.568,2.567,2.566,2.565,2.564,2.558,2.556,2.553,2.553,2.553,2.55,2.55,2.545,2.545,2.545,2.542,2.539,2.535,2.531,2.531,2.531,2.535,2.536,2.536,2.529,2.533,2.529,2.524,2.523,2.522,2.521,2.516,2.515,2.516,2.516,2.519,2.523,2.523,2.527,2.527,2.531,2.535,2.535,2.537,2.537,2.539,2.541,2.539,2.544,2.544,2.544,2.545,2.549,2.557,2.557,2.562,2.564,2.569,2.572,2.575,2.579,2.581,2.585,2.594,2.595,2.599,2.6,2.603,2.607,2.613,2.615,2.621,2.623,2.628,2.629,2.638,2.651,2.655,2.656,2.66,2.668,2.669,2.678,2.685,2.691,2.698,2.701,2.702,2.704,2.717,2.726,2.728,2.738,2.743,2.748,2.761,2.765,2.775,2.782,2.793,2.794,2.801,2.812,2.813,2.827,2.836,2.848,2.851,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 123.05} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 123.05} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 123.047} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.0734} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.2258} {Name Sonar8 Range 2.3114} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.8194}
SEN {Time 123.089} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.177,0.177,0.177,0.184,0.184,0.197,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.148,0.146,0.143,0.146,0.144,0.146,0.153,0.153,0.15,0.153,0.153,0.278,0,0,0,0,0,0,0.163,0.163,0.156,0.156,0.153,0.163,0.163,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.15,1.15,1.15,1.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.695,1.65,1.612,1.612,1.612,0,0,0,0.007,0.454,0.439,0.437,0.437,0.437,0.443,0.444,0.445,0.456,1.351,1.356,1.356,1.356,1.356,1.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.767,3.755,3.749,3.716,3.715,3.715,3.716,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.497,3.484,3.484,0.006,2.995,2.995,3.107,3.107,3.107,3.171,3.174,3.174,3.171,3.174,0,3.148,3.142,3.129,3.129,3.113,3.103,3.094,3.093,3.089,3.076,3.064,3.059,3.055,3.055,3.059,3.246,3.312,3.358,3.312,3.312,3.188,3.185,3.069,3.069,3.069,0,0,0,2.945,2.945,2.943,2.931,2.925,2.925,2.923,2.921,2.917,2.917,2.914,2.902,2.899,2.892,2.888,2.886,2.885,2.883,2.88,2.88,2.878,2.874,2.874,2.873,2.868,2.868,2.863,2.863,2.855,2.853,2.847,2.846,2.845,2.839,2.836,2.834,2.834,2.839,2.841,2.848,3.377,3.403,3.404,3.406,3.407,3.407,3.407,3.407,3.404,3.404,3.407,3.404,3.404,3.409,3.409,3.411,3.414,3.416,3.422,3.422,3.425,3.428,3.428,3.43,3.43,3.43,3.433,3.433,3.433,3.434,3.441,3.445,3.45,3.451,3.457,3.461,3.465,3.467,3.47,3.478,3.481,3.482,3.492,3.494,3.502,3.508,3.511,3.516,3.52,3.525,3.526,3.537,3.545,3.558,3.565,3.567,3.572,3.578,3.584,3.591,3.595,3.613,3.613,3.62,3.621,3.633,3.636,3.654,3.659,3.664,3.684,3.684,3.69,3.702,3.726,3.73,3.737,3.752,3.752,3.775,3.78,3.79,3.793,3.819,3.826,3.834,3.852,3.862,3.885,3.886,3.902,3.913,3.928,3.953,3.961,3.975,4,4.017,4.028,4.033,4.052,4.078,0.016,0.016,0.016,0.016,4.088,4.062,4.025,3.996,3.962,3.932,3.905,3.875,3.847,3.817,3.784,3.762,3.746,3.704,3.685,3.666,3.647,3.617,3.596,3.573,3.56,3.53,3.508,3.492,3.47,3.44,3.422,3.409,3.381,3.372,3.348,3.333,3.316,3.303,3.284,3.272,3.259,3.238,3.222,3.213,3.196,3.171,3.17,3.15,3.129,3.128,3.11,3.108,3.084,3.078,3.063,3.052,3.04,3.023,3.019,3.016,2.99,2.976,2.975,2.955,2.951,2.939,2.932,2.916,2.91,2.905,2.898,2.88,2.871,2.859,2.855,2.852,2.833,2.827,2.812,2.805,2.795,2.793,2.791,2.778,2.765,2.756,2.752,2.746,2.738,2.732,2.722,2.721,2.714,2.71,2.706,2.692,2.692,2.68,2.679,2.668,2.665,2.662,2.654,2.652,2.648,2.639,2.636,2.625,2.625,2.618,2.616,2.616,2.608,2.597,2.596,2.594,2.586,2.584,2.578,2.576,2.573,2.573,2.573,2.57,2.565,2.564,2.556,2.555,2.551,2.551,2.551,2.55,2.55,2.548,2.538,2.538,2.535,2.535,2.535,2.535,2.533,2.533,2.532,2.531,2.529,2.529,2.529,2.529,2.529,2.52,2.529,2.528,2.528,2.525,2.525,2.525,2.525,2.525,2.528,2.532,2.532,2.53,2.53,2.534,2.533,2.534,2.54,2.542,2.54,2.542,2.549,2.549,2.549,2.555,2.555,2.559,2.561,2.564,2.565,2.569,2.571,2.575,2.583,2.587,2.587,2.594,2.595,2.595,2.601,2.608,2.615,2.624,2.628,2.63,2.632,2.635,2.642,2.647,2.65,2.655,2.658,2.667,2.673,2.677,2.685,2.688,2.695,2.702,2.704,2.707,2.717,2.718,2.726,2.736,2.742,2.753,2.754,2.773,2.777,2.783,2.785,2.798,2.802,2.811,2.816,2.825,2.833,2.849,2.851,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 123.24} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 123.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 123.241} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.2258} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.8194}
SEN {Time 123.289} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.186,0.186,0.186,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.016,0.009,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.148,0.148,0.139,0.148,0.143,0.153,0.153,0.153,0.152,0.153,0.159,0.278,0,0,0,0,0,0,0.164,0.159,0.154,0.154,0.153,0.154,0.156,3.053,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.15,1.15,1.15,1.165,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.687,1.648,1.614,1.614,1.614,0,0,0,0.007,0.462,0.444,0.437,0.437,0.437,0.437,0.447,0.448,0.45,1.354,1.354,1.356,1.356,1.356,1.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.776,3.753,3.747,3.728,3.716,3.716,3.716,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.495,3.478,3.478,0.006,2.996,2.996,3.099,3.099,3.099,3.168,3.178,3.178,3.168,3.168,0,0,0,0,0,3.116,3.106,3.106,3.095,3.09,3.07,3.063,3.063,3.057,3.057,0.007,3.302,3.302,3.356,3.302,3.302,3.19,3.17,3.071,3.071,3.071,0,0,0,2.948,2.941,2.938,2.932,2.923,2.921,2.919,2.918,2.915,2.911,2.911,2.909,2.898,2.898,2.896,2.895,2.89,2.885,2.877,2.877,2.875,2.877,2.875,2.869,2.867,2.866,2.865,2.859,2.851,2.846,2.846,2.843,2.842,2.839,2.837,2.836,2.836,2.835,2.836,2.84,3.376,3.397,3.401,3.405,3.405,3.405,3.405,3.405,3.405,3.406,3.406,3.406,3.406,3.406,3.406,3.406,3.411,3.419,3.419,3.42,3.423,3.425,3.423,3.425,3.427,3.432,3.432,3.434,3.441,3.441,3.442,3.445,3.449,3.454,3.454,3.454,3.455,3.468,3.47,3.477,3.485,3.488,3.489,3.496,3.496,3.511,3.512,3.516,3.519,3.519,3.52,3.539,3.541,3.562,3.567,3.57,3.582,3.582,3.585,3.587,3.591,3.614,3.617,3.617,3.627,3.634,3.652,3.655,3.663,3.674,3.681,3.684,3.7,3.708,3.719,3.726,3.728,3.734,3.765,3.771,3.774,3.782,3.801,3.819,3.822,3.832,3.857,3.859,3.876,3.893,3.902,3.913,3.932,3.951,3.958,3.972,3.986,4.014,4.02,4.033,4.044,4.08,4.086,0.016,0.016,0.016,4.087,4.061,4.022,3.996,3.965,3.935,3.899,3.886,3.837,3.817,3.79,3.761,3.738,3.704,3.684,3.665,3.637,3.608,3.584,3.562,3.559,3.527,3.507,3.487,3.476,3.446,3.422,3.403,3.392,3.376,3.354,3.335,3.324,3.305,3.299,3.274,3.261,3.245,3.218,3.218,3.198,3.167,3.162,3.157,3.134,3.129,3.114,3.112,3.087,3.079,3.064,3.059,3.035,3.025,3.022,3.013,2.998,2.985,2.972,2.963,2.953,2.939,2.939,2.928,2.918,2.892,2.891,2.881,2.869,2.862,2.855,2.847,2.828,2.823,2.822,2.802,2.801,2.792,2.787,2.783,2.762,2.755,2.754,2.742,2.739,2.73,2.724,2.718,2.713,2.702,2.7,2.691,2.684,2.684,2.683,2.67,2.663,2.66,2.653,2.652,2.65,2.634,2.633,2.628,2.62,2.616,2.613,2.605,2.601,2.601,2.6,2.593,2.584,2.581,2.574,2.573,2.573,2.572,2.569,2.567,2.565,2.559,2.557,2.553,2.552,2.551,2.55,2.55,2.549,2.544,2.542,2.542,2.541,2.534,2.53,2.528,2.528,2.53,2.53,2.528,2.53,2.525,2.524,2.523,2.522,2.522,2.522,2.522,2.519,2.519,2.519,2.519,2.521,2.524,2.532,2.532,2.532,2.532,2.534,2.534,2.534,2.534,2.535,2.537,2.537,2.545,2.546,2.546,2.546,2.549,2.551,2.558,2.56,2.562,2.564,2.565,2.57,2.576,2.583,2.584,2.586,2.594,2.594,2.599,2.601,2.61,2.62,2.622,2.627,2.63,2.63,2.633,2.637,2.648,2.652,2.655,2.661,2.67,2.675,2.679,2.685,2.688,2.695,2.696,2.704,2.714,2.716,2.719,2.727,2.735,2.739,2.751,2.759,2.764,2.769,2.774,2.794,2.797,2.809,2.81,2.814,2.825,2.832,2.848,2.855,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 123.44} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 123.44} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 123.443} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.2258} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.8194}
SEN {Time 123.484} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.168,0.168,0.175,0.175,0.175,0.175,0.175,0.178,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.14,0.14,0.14,0.14,0.149,0.149,0.149,0.149,0.146,0.146,0.164,0.28,0,0,0,0,0,0,0.165,0.159,0.155,0.154,0.153,0.154,0.154,3.047,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.15,1.15,1.15,1.17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.686,1.642,1.614,1.614,1.608,1.608,0.007,0,0.007,0.464,0.446,0.443,0.443,0.446,0.443,0.45,0.453,0.457,1.348,1.356,1.357,1.357,1.358,1.366,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.766,3.765,3.745,3.724,3.712,3.712,3.712,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.489,3.479,3.479,0.006,2.991,2.991,3.111,3.111,3.111,3.174,3.178,3.178,3.174,3.178,0,0,0,0,0,3.12,3.114,3.12,3.093,3.083,3.072,3.067,3.067,3.063,3.067,0.007,3.303,3.303,3.373,3.303,3.303,3.185,3.17,3.073,3.073,3.073,0,0,0,2.955,2.944,2.944,2.937,2.934,2.926,2.924,2.919,2.914,2.912,2.905,2.902,2.898,2.898,2.895,2.888,2.886,2.883,2.883,2.879,2.875,2.875,2.875,2.872,2.868,2.868,2.864,2.858,2.854,2.844,2.843,2.84,2.84,2.84,2.84,2.836,2.836,2.836,2.837,2.844,3.382,3.405,3.407,3.407,3.407,3.405,3.405,3.405,3.405,3.405,3.408,3.409,3.408,3.411,3.411,3.413,3.416,3.419,3.422,3.425,3.425,3.432,3.425,3.425,3.425,3.432,3.432,3.435,3.442,3.442,3.443,3.451,3.454,3.455,3.455,3.459,3.46,3.465,3.467,3.474,3.484,3.492,3.492,3.492,3.5,3.509,3.513,3.514,3.521,3.528,3.53,3.534,3.558,3.56,3.562,3.57,3.58,3.582,3.584,3.592,3.593,3.606,3.614,3.62,3.627,3.628,3.65,3.655,3.669,3.673,3.677,3.685,3.692,3.713,3.724,3.734,3.737,3.755,3.755,3.762,3.776,3.79,3.798,3.812,3.82,3.835,3.847,3.849,3.886,3.888,3.898,3.915,3.935,3.957,3.97,3.989,3.995,4.012,4.032,4.046,4.049,4.065,4.087,0.016,0.016,0.016,0.016,4.066,4.017,3.987,3.968,3.931,3.891,3.884,3.843,3.813,3.791,3.761,3.752,3.708,3.688,3.664,3.639,3.617,3.597,3.566,3.548,3.531,3.509,3.488,3.469,3.447,3.432,3.418,3.381,3.369,3.35,3.338,3.318,3.312,3.294,3.265,3.259,3.244,3.219,3.218,3.196,3.168,3.168,3.156,3.139,3.134,3.114,3.107,3.091,3.073,3.07,3.056,3.036,3.028,3.015,3.005,2.994,2.98,2.973,2.961,2.955,2.934,2.931,2.918,2.91,2.905,2.896,2.877,2.873,2.859,2.856,2.838,2.829,2.826,2.814,2.807,2.793,2.791,2.79,2.777,2.768,2.756,2.75,2.74,2.739,2.73,2.718,2.711,2.706,2.704,2.7,2.7,2.697,2.697,2.684,2.667,2.666,2.661,2.655,2.654,2.638,2.636,2.633,2.626,2.619,2.617,2.616,2.613,2.606,2.604,2.596,2.591,2.585,2.578,2.577,2.577,2.576,2.574,2.572,2.563,2.562,2.558,2.554,2.55,2.55,2.549,2.546,2.546,2.545,2.538,2.536,2.536,2.535,2.534,2.535,2.531,2.531,2.535,2.535,2.532,2.532,2.531,2.523,2.519,2.519,2.519,2.519,2.518,2.518,2.518,2.521,2.521,2.522,2.524,2.525,2.525,2.535,2.535,2.536,2.536,2.537,2.537,2.541,2.541,2.541,2.542,2.544,2.545,2.548,2.549,2.555,2.559,2.559,2.561,2.561,2.572,2.573,2.575,2.578,2.581,2.587,2.594,2.595,2.598,2.601,2.603,2.613,2.618,2.628,2.629,2.63,2.63,2.638,2.65,2.651,2.654,2.657,2.674,2.674,2.679,2.689,2.69,2.691,2.699,2.703,2.71,2.712,2.716,2.719,2.733,2.74,2.75,2.756,2.763,2.773,2.775,2.791,2.799,2.807,2.809,2.819,2.831,2.842,2.848,2.849,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 123.64} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 123.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 123.636} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3622} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.3528} {Name Sonar15 Range 2.8194}
SEN {Time 123.684} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.182,0.178,0.178,0.182,0.182,0.188,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.147,0.147,0.147,0.147,0.15,0.153,0.153,0.153,0.153,0.153,0.153,0.267,0,0,0,0,0,0,0.163,0.162,0.16,0.158,0.154,0.158,0.158,3.044,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.153,1.153,1.153,1.17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.691,1.657,1.614,1.614,1.614,1.602,1.579,0,0.471,0.457,0.445,0.441,0.441,0.444,0.444,0.444,0.444,0.453,1.352,1.352,1.355,1.355,1.359,1.393,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.767,3.751,3.751,3.725,3.717,3.717,3.717,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.496,3.473,3.473,0.006,2.99,2.99,3.105,3.105,3.105,3.173,3.182,3.182,3.173,3.156,3.156,3.156,3.14,3.14,0,3.12,3.113,3.12,3.105,3.096,3.076,3.061,3.061,3.061,3.061,0.007,3.299,3.299,3.364,3.299,3.299,3.181,3.175,3.073,3.073,3.073,0,0,0,2.956,2.948,2.943,2.936,2.924,2.918,2.918,2.915,2.911,2.911,2.908,2.905,2.904,2.901,2.893,2.893,2.893,2.885,2.881,2.879,2.876,2.876,2.865,2.864,2.863,2.863,2.863,2.859,2.857,2.85,2.844,2.843,2.843,2.843,2.84,2.84,2.839,2.839,2.84,2.847,3.376,3.399,3.402,3.409,3.405,3.409,3.409,3.409,3.408,3.409,3.413,3.414,3.414,3.414,3.414,3.414,3.414,3.415,3.415,3.423,3.428,3.428,3.428,3.429,3.432,3.432,3.439,3.44,3.441,3.441,3.442,3.444,3.451,3.451,3.457,3.459,3.461,3.465,3.473,3.475,3.483,3.484,3.487,3.493,3.499,3.513,3.515,3.524,3.526,3.529,3.536,3.541,3.547,3.562,3.568,3.569,3.572,3.578,3.578,3.58,3.595,3.604,3.609,3.615,3.621,3.634,3.644,3.655,3.661,3.664,3.674,3.694,3.697,3.707,3.721,3.722,3.742,3.747,3.755,3.766,3.775,3.797,3.797,3.818,3.826,3.839,3.852,3.852,3.885,3.894,3.898,3.912,3.927,3.959,3.971,3.975,3.999,3.999,4.026,4.036,4.049,4.074,4.091,0.016,0.016,0.016,4.071,4.067,4.03,3.984,3.962,3.931,3.889,3.86,3.834,3.822,3.78,3.751,3.746,3.706,3.683,3.659,3.648,3.626,3.596,3.569,3.556,3.528,3.514,3.49,3.473,3.473,3.443,3.423,3.391,3.373,3.352,3.342,3.321,3.306,3.296,3.275,3.255,3.25,3.219,3.205,3.198,3.179,3.171,3.155,3.14,3.133,3.114,3.113,3.088,3.075,3.073,3.055,3.049,3.026,3.018,3.012,2.994,2.991,2.964,2.955,2.951,2.944,2.939,2.914,2.913,2.897,2.893,2.883,2.87,2.852,2.851,2.848,2.833,2.823,2.82,2.804,2.8,2.791,2.785,2.78,2.77,2.758,2.753,2.739,2.738,2.724,2.721,2.717,2.708,2.703,2.695,2.692,2.686,2.68,2.668,2.667,2.663,2.662,2.661,2.651,2.643,2.64,2.633,2.622,2.618,2.617,2.617,2.611,2.611,2.603,2.602,2.593,2.585,2.584,2.581,2.578,2.577,2.577,2.571,2.567,2.564,2.564,2.564,2.557,2.548,2.548,2.548,2.546,2.546,2.545,2.545,2.541,2.539,2.536,2.533,2.531,2.53,2.529,2.529,2.528,2.528,2.528,2.524,2.522,2.524,2.522,2.522,2.522,2.517,2.517,2.521,2.525,2.525,2.525,2.528,2.532,2.534,2.534,2.537,2.538,2.538,2.537,2.541,2.541,2.54,2.541,2.543,2.549,2.552,2.554,2.555,2.555,2.56,2.561,2.561,2.567,2.571,2.574,2.581,2.587,2.595,2.595,2.595,2.6,2.6,2.601,2.609,2.621,2.622,2.622,2.63,2.633,2.639,2.646,2.65,2.656,2.668,2.671,2.672,2.679,2.682,2.688,2.7,2.704,2.704,2.707,2.715,2.717,2.723,2.731,2.735,2.754,2.76,2.769,2.769,2.777,2.791,2.792,2.803,2.808,2.815,2.829,2.838,2.849,2.853,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 123.84} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 123.84} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 123.838} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 2.286} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.6256} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.3528} {Name Sonar15 Range 2.8194}
SEN {Time 123.884} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.173,0.173,0.174,0.174,0.174,0.177,0.177,0.18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.145,0.145,0.143,0.145,0.147,0.149,0.149,0.149,0.149,0.152,0.155,0.269,0,0,0,0,0,0.169,0.164,0.162,0.158,0.158,0.154,0.158,0.158,3.047,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.153,1.153,1.153,1.17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.675,1.66,1.613,1.613,1.598,1.563,1.563,0,0.463,0.455,0.445,0.442,0.44,0.442,0.442,0.442,0.443,0.448,1.353,1.355,1.359,1.359,1.359,1.37,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.775,3.746,3.735,3.728,3.71,3.71,3.71,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.502,3.47,3.47,0.006,2.989,2.989,3.106,3.106,3.106,3.171,3.181,3.181,3.171,3.144,3.144,3.135,3.132,3.125,3.125,3.117,3.109,3.101,3.083,3.079,3.065,3.061,3.061,3.06,3.06,0.007,3.302,3.302,3.353,3.302,3.302,3.191,3.176,3.072,3.072,3.072,0,0,0,2.95,2.946,2.939,2.928,2.927,2.919,2.918,2.917,2.912,2.911,2.909,2.906,2.898,2.898,2.896,2.893,2.89,2.887,2.883,2.879,2.878,2.877,2.869,2.868,2.865,2.865,2.859,2.859,2.851,2.849,2.841,2.841,2.839,2.838,2.835,2.835,2.835,2.837,2.837,2.838,3.387,3.404,3.404,3.406,3.406,3.405,3.405,3.408,3.408,3.408,3.41,3.41,3.41,3.41,3.412,3.415,3.418,3.421,3.423,3.424,3.424,3.424,3.425,3.427,3.428,3.433,3.434,3.435,3.439,3.439,3.441,3.441,3.448,3.452,3.453,3.46,3.463,3.464,3.47,3.476,3.484,3.487,3.487,3.489,3.498,3.507,3.51,3.514,3.519,3.521,3.521,3.535,3.542,3.552,3.558,3.569,3.576,3.579,3.589,3.591,3.596,3.609,3.613,3.615,3.628,3.634,3.647,3.654,3.654,3.668,3.684,3.685,3.709,3.713,3.721,3.722,3.725,3.744,3.75,3.758,3.78,3.782,3.797,3.81,3.832,3.833,3.85,3.85,3.886,3.897,3.9,3.909,3.927,3.949,3.966,3.979,4.002,4.008,4.024,4.038,4.051,4.07,4.087,0.016,0.016,0.016,0.016,4.06,4.027,3.999,3.956,3.925,3.887,3.876,3.845,3.813,3.776,3.756,3.737,3.714,3.675,3.667,3.64,3.623,3.595,3.568,3.546,3.529,3.516,3.495,3.474,3.45,3.434,3.413,3.386,3.37,3.361,3.332,3.324,3.302,3.289,3.26,3.26,3.248,3.217,3.214,3.203,3.175,3.168,3.157,3.141,3.125,3.109,3.106,3.091,3.078,3.067,3.059,3.042,3.027,3.027,3.017,3,2.984,2.974,2.96,2.958,2.94,2.922,2.918,2.908,2.907,2.894,2.879,2.869,2.856,2.852,2.844,2.827,2.813,2.813,2.812,2.794,2.791,2.787,2.777,2.762,2.76,2.753,2.75,2.737,2.729,2.728,2.715,2.714,2.708,2.699,2.694,2.684,2.68,2.679,2.668,2.665,2.66,2.657,2.648,2.638,2.633,2.633,2.629,2.622,2.621,2.61,2.606,2.604,2.6,2.599,2.596,2.588,2.585,2.581,2.579,2.575,2.568,2.568,2.563,2.561,2.561,2.558,2.551,2.55,2.55,2.55,2.55,2.549,2.546,2.542,2.54,2.539,2.536,2.532,2.529,2.529,2.532,2.532,2.532,2.532,2.527,2.527,2.525,2.525,2.525,2.524,2.524,2.524,2.523,2.524,2.523,2.523,2.522,2.525,2.529,2.529,2.531,2.531,2.531,2.531,2.534,2.538,2.541,2.542,2.543,2.545,2.55,2.551,2.551,2.557,2.557,2.566,2.566,2.573,2.573,2.575,2.576,2.585,2.588,2.589,2.593,2.596,2.599,2.599,2.609,2.617,2.623,2.628,2.628,2.632,2.634,2.646,2.649,2.652,2.654,2.662,2.669,2.67,2.677,2.681,2.685,2.701,2.701,2.701,2.704,2.721,2.721,2.728,2.737,2.745,2.751,2.758,2.76,2.773,2.775,2.783,2.791,2.808,2.809,2.821,2.827,2.835,2.844,2.847,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 124.04} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 124.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 124.041} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.4262} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.4798} {Name Sonar8 Range 2.286} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.6256} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.3528} {Name Sonar15 Range 2.8194}
SEN {Time 124.084} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.181,0.177,0.181,0.182,0.182,0.188,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.142,0.142,0.142,0.143,0.143,0.144,0.153,0.153,0.153,0.153,0.154,0.282,0,0,0,0,0,0,0.163,0.16,0.157,0.154,0.151,0.154,0.154,3.043,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.155,1.155,1.155,1.165,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.686,1.643,1.622,1.622,1.622,1.599,1.566,0,0.47,0.454,0.444,0.444,0.443,0.443,0.443,0.446,0.447,0.447,1.353,1.355,1.356,1.356,1.365,1.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.786,3.759,3.74,3.731,3.714,3.714,3.714,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.487,3.476,3.476,0.006,2.99,2.99,3.102,3.102,3.102,3.167,3.181,3.181,3.167,3.152,3.152,3.152,3.145,3.138,0,3.114,3.114,3.098,3.092,3.092,3.058,3.057,3.057,3.057,3.057,0.007,3.303,3.303,3.351,3.303,3.303,3.179,3.17,3.064,3.064,3.064,0,0,0,2.951,2.948,2.938,2.934,2.928,2.927,2.925,2.922,2.922,2.913,2.903,2.903,2.9,2.896,2.891,2.891,2.89,2.89,2.887,2.884,2.878,2.87,2.87,2.868,2.867,2.867,2.862,2.855,2.855,2.844,2.839,2.839,2.839,2.839,2.836,2.839,2.837,2.839,2.84,2.841,3.376,3.405,3.405,3.408,3.408,3.408,3.405,3.41,3.405,3.405,3.406,3.412,3.407,3.413,3.41,3.413,3.414,3.418,3.42,3.424,3.425,3.425,3.425,3.428,3.428,3.434,3.436,3.44,3.44,3.446,3.448,3.448,3.448,3.452,3.458,3.46,3.464,3.468,3.469,3.477,3.481,3.491,3.492,3.492,3.492,3.504,3.507,3.516,3.521,3.525,3.53,3.533,3.541,3.559,3.56,3.568,3.578,3.579,3.583,3.585,3.589,3.607,3.611,3.62,3.63,3.639,3.647,3.666,3.667,3.67,3.671,3.671,3.703,3.708,3.721,3.729,3.745,3.749,3.763,3.767,3.781,3.782,3.802,3.812,3.815,3.831,3.84,3.845,3.869,3.9,3.901,3.911,3.924,3.953,3.962,3.972,3.994,4.016,4.03,4.036,4.058,4.069,4.087,0.016,0.016,0.016,4.095,4.061,4.015,3.976,3.968,3.922,3.906,3.873,3.845,3.816,3.796,3.761,3.753,3.702,3.688,3.671,3.643,3.618,3.593,3.56,3.554,3.539,3.51,3.496,3.477,3.452,3.421,3.421,3.394,3.372,3.358,3.347,3.323,3.314,3.285,3.272,3.261,3.238,3.22,3.207,3.203,3.181,3.168,3.156,3.134,3.129,3.113,3.113,3.092,3.079,3.066,3.054,3.038,3.021,3.013,3.002,3,2.987,2.97,2.965,2.954,2.938,2.922,2.918,2.911,2.902,2.895,2.879,2.871,2.859,2.856,2.855,2.832,2.821,2.821,2.805,2.798,2.79,2.787,2.775,2.773,2.761,2.749,2.74,2.736,2.732,2.725,2.722,2.717,2.71,2.696,2.695,2.686,2.686,2.683,2.68,2.659,2.655,2.655,2.648,2.633,2.633,2.631,2.625,2.622,2.611,2.609,2.608,2.607,2.603,2.603,2.596,2.588,2.583,2.579,2.574,2.573,2.573,2.572,2.567,2.565,2.563,2.56,2.554,2.554,2.551,2.551,2.547,2.547,2.547,2.547,2.54,2.537,2.536,2.534,2.532,2.531,2.531,2.53,2.53,2.53,2.528,2.525,2.525,2.522,2.52,2.52,2.52,2.52,2.52,2.522,2.522,2.523,2.523,2.525,2.529,2.529,2.532,2.534,2.536,2.536,2.536,2.538,2.54,2.54,2.542,2.549,2.546,2.549,2.552,2.557,2.557,2.557,2.563,2.563,2.567,2.573,2.576,2.584,2.584,2.589,2.596,2.596,2.598,2.602,2.605,2.606,2.622,2.624,2.629,2.63,2.638,2.641,2.65,2.652,2.655,2.664,2.669,2.671,2.672,2.683,2.688,2.69,2.698,2.703,2.705,2.708,2.716,2.717,2.736,2.737,2.746,2.756,2.763,2.773,2.774,2.792,2.793,2.803,2.808,2.816,2.831,2.832,2.842,2.853,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 124.24} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.602212}
SEN {Time 124.24} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 124.243} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.4262} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 3.5052} {Name Sonar8 Range 2.286} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.6256} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.8194}
SEN {Time 124.281} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.178,0.177,0.177,0.178,0.178,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.145,0.144,0.144,0.144,0.146,0.155,0.155,0.153,0.155,0.158,0.273,0,0,0,0,0,0,0.17,0.168,0.157,0.153,0.153,0.153,0.153,3.055,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.156,1.156,1.156,1.168,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.681,1.648,1.615,1.615,1.605,1.561,0.478,0.478,0.468,0.446,0.44,0.438,0.438,0.44,0.44,0.445,0.448,0.448,1.348,1.353,1.353,1.353,1.355,1.378,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.775,3.75,3.744,3.715,3.71,3.71,3.71,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.494,3.474,3.474,0.006,2.992,2.992,3.101,3.101,3.101,3.165,3.17,3.17,3.165,3.165,3.16,3.16,0.007,3.132,3.132,3.115,3.113,3.093,3.091,3.086,3.068,3.062,3.062,3.059,3.059,0.007,3.287,3.287,3.354,3.287,3.287,3.179,3.175,3.074,3.074,3.074,0,0,0,2.946,2.942,2.939,2.933,2.93,2.923,2.919,2.918,2.918,2.917,2.917,2.905,2.896,2.894,2.892,2.891,2.89,2.885,2.877,2.877,2.876,2.873,2.874,2.873,2.871,2.871,2.861,2.86,2.855,2.849,2.842,2.841,2.837,2.837,2.837,2.836,2.836,2.836,2.839,2.846,3.384,3.409,3.409,3.409,3.409,3.411,3.411,3.411,3.411,3.411,3.411,3.408,3.405,3.415,3.415,3.412,3.42,3.421,3.42,3.42,3.421,3.423,3.423,3.431,3.432,3.432,3.432,3.432,3.442,3.442,3.448,3.449,3.451,3.451,3.454,3.455,3.459,3.468,3.477,3.483,3.486,3.486,3.489,3.496,3.496,3.508,3.511,3.517,3.523,3.525,3.53,3.544,3.553,3.554,3.561,3.581,3.584,3.584,3.585,3.59,3.59,3.606,3.611,3.612,3.622,3.633,3.635,3.646,3.663,3.675,3.68,3.689,3.69,3.708,3.716,3.726,3.734,3.746,3.757,3.757,3.782,3.791,3.804,3.818,3.823,3.833,3.851,3.859,3.872,3.892,3.907,3.918,3.939,3.949,3.968,3.972,3.982,4.018,4.024,4.046,4.052,4.07,4.093,0.016,0.016,0.016,4.089,4.062,4.025,3.985,3.961,3.92,3.899,3.865,3.835,3.814,3.785,3.746,3.745,3.709,3.687,3.66,3.636,3.612,3.601,3.571,3.542,3.531,3.51,3.487,3.471,3.446,3.423,3.408,3.389,3.379,3.354,3.341,3.327,3.301,3.292,3.28,3.255,3.253,3.216,3.212,3.196,3.178,3.168,3.16,3.133,3.131,3.107,3.105,3.088,3.081,3.064,3.057,3.04,3.026,3.016,3.01,3.002,2.983,2.974,2.962,2.946,2.944,2.924,2.914,2.91,2.901,2.897,2.884,2.879,2.857,2.856,2.853,2.827,2.824,2.818,2.807,2.797,2.796,2.791,2.786,2.771,2.757,2.757,2.739,2.736,2.731,2.724,2.718,2.711,2.706,2.705,2.695,2.693,2.687,2.686,2.666,2.665,2.661,2.656,2.646,2.64,2.636,2.635,2.626,2.622,2.62,2.616,2.606,2.604,2.598,2.597,2.594,2.593,2.592,2.578,2.575,2.575,2.574,2.57,2.566,2.565,2.566,2.564,2.559,2.557,2.557,2.557,2.55,2.546,2.54,2.54,2.539,2.539,2.537,2.537,2.534,2.534,2.531,2.53,2.53,2.53,2.528,2.528,2.523,2.523,2.523,2.522,2.521,2.521,2.521,2.521,2.521,2.522,2.525,2.528,2.528,2.528,2.53,2.531,2.531,2.537,2.537,2.537,2.54,2.542,2.542,2.543,2.543,2.548,2.549,2.549,2.562,2.563,2.564,2.566,2.57,2.577,2.576,2.577,2.58,2.589,2.592,2.596,2.6,2.604,2.609,2.615,2.617,2.625,2.627,2.628,2.631,2.637,2.639,2.653,2.656,2.663,2.669,2.676,2.677,2.68,2.693,2.696,2.697,2.708,2.708,2.714,2.721,2.727,2.733,2.737,2.75,2.756,2.758,2.773,2.778,2.791,2.797,2.804,2.807,2.811,2.834,2.838,2.838,2.853,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 125.06} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.420698}
SEN {Time 125.06} {Type Tachometer} {Name LeftRight} {Vel -0.147320,0.147320}
SEN {Time 125.065} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 3.048} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 2.794} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 1.8288}
SEN {Time 125.08} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.177,0.177,0.179,0.179,0.197,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.147,0.147,0.143,0.147,0.145,0.148,0.155,0.155,0.15,0.15,0.15,0.15,0,0,0,0,0,0.162,0.162,0.155,0.155,0.153,0.153,0.153,0.153,0.154,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.006,0.006,1.369,0.006,0.007,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,3.514,3.514,3.514,0.006,0.006,0.009,0.009,0.006,3.149,3.149,3.149,3.194,3.197,3.197,0,0.007,0,0,0,0,3.122,3.121,3.11,3.108,3.102,3.102,3.1,3.08,3.06,3.06,3.06,3.142,3.234,3.278,3.278,3.278,3.192,3.18,3.18,3.192,0,0,0,0,2.947,2.945,2.945,2.935,2.933,2.932,2.923,2.921,2.916,2.915,2.914,2.911,2.911,2.911,2.9,2.894,2.894,2.892,2.892,2.892,2.888,2.873,2.872,2.87,2.867,2.865,2.865,2.861,2.858,2.857,2.857,2.849,2.848,2.846,2.844,2.84,2.837,2.837,2.837,3.402,3.413,3.413,3.41,3.41,3.408,3.408,3.408,3.408,3.411,3.411,3.411,3.411,3.411,3.411,3.411,3.411,3.409,3.411,3.411,3.413,3.421,3.427,3.427,3.43,3.432,3.432,3.434,3.436,3.436,3.445,3.446,3.446,3.446,3.456,3.457,3.459,3.461,3.466,3.466,3.47,3.477,3.478,3.496,3.499,3.501,3.505,3.512,3.519,3.527,3.536,3.539,3.545,3.545,3.547,3.559,3.567,3.571,3.579,3.597,3.599,3.606,3.608,3.61,3.63,3.637,3.638,3.648,3.65,3.668,3.679,3.685,3.693,3.705,3.708,3.717,3.729,3.744,3.75,3.758,3.758,3.787,3.795,3.807,3.818,3.835,3.84,3.858,3.869,3.881,3.888,3.919,3.926,3.934,3.96,3.963,3.973,4.004,4.018,4.028,4.048,4.061,4.088,0.016,0.016,0.016,4.077,4.028,3.991,3.962,3.926,3.892,3.868,3.837,3.815,3.778,3.76,3.72,3.709,3.684,3.652,3.633,3.614,3.58,3.578,3.537,3.516,3.505,3.48,3.462,3.442,3.422,3.391,3.38,3.363,3.345,3.332,3.313,3.289,3.274,3.259,3.243,3.234,3.222,3.201,3.186,3.16,3.153,3.143,3.124,3.115,3.095,3.091,3.071,3.06,3.038,3.037,3.022,3.017,2.994,2.988,2.972,2.966,2.948,2.947,2.929,2.914,2.91,2.894,2.885,2.879,2.868,2.863,2.855,2.844,2.834,2.823,2.805,2.803,2.789,2.786,2.775,2.767,2.762,2.754,2.741,2.737,2.734,2.733,2.717,2.712,2.706,2.702,2.688,2.681,2.673,2.667,2.662,2.657,2.65,2.648,2.641,2.64,2.629,2.625,2.621,2.613,2.61,2.603,2.597,2.589,2.588,2.583,2.583,2.575,2.575,2.568,2.559,2.553,2.552,2.55,2.548,2.548,2.54,2.537,2.536,2.531,2.529,2.527,2.527,2.521,2.518,2.513,2.513,2.513,2.511,2.511,2.508,2.507,2.501,2.501,2.497,2.501,2.501,2.501,2.502,2.502,2.503,2.495,2.497,2.497,2.497,2.497,2.497,2.502,2.502,2.502,2.502,2.504,2.504,2.505,2.508,2.516,2.516,2.516,2.516,2.516,2.518,2.516,2.522,2.522,2.522,2.522,2.524,2.533,2.534,2.537,2.542,2.542,2.543,2.543,2.546,2.555,2.556,2.561,2.562,2.568,2.568,2.577,2.58,2.587,2.59,2.6,2.602,2.604,2.608,2.615,2.618,2.626,2.631,2.64,2.641,2.645,2.649,2.656,2.665,2.674,2.68,2.68,2.687,2.691,2.701,2.707,2.715,2.723,2.739,2.745,2.749,2.754,2.759,2.763,2.782,2.789,2.791,2.804,2.806,2.819,2.823,2.838,2.854,2.864,2.868,2.88,2.888,2.901,2.918,2.922,2.929,2.943,2.943,2.961,2.969,2.975,2.989,2.999,3.009,3.027,3.037,3.048,3.06,3.077,3.093,3.098,3.116,3.123,3.142,3.145,3.16,3.179,3.205,3.229,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 125.23} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.281072}
SEN {Time 125.23} {Type Tachometer} {Name LeftRight} {Vel -0.119380,0.119380}
SEN {Time 125.233} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 4.064} {Name Sonar2 Range 6.477} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 4.1148} {Name Sonar6 Range 3.7592} {Name Sonar7 Range 2.794} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.2766} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 1.8288}
SEN {Time 125.279} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.174,0.174,0.172,0.175,0.175,0.203,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.146,0.146,0.147,0.154,0.154,0.15,0.15,0.15,0.15,0,0,0,0,0,0,0.166,0.156,0.152,0.152,0.152,0.149,0.156,0.158,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.493,0.493,0.493,0.527,1.402,1.402,1.402,1.392,1.392,1.392,1.402,1.403,1.404,1.423,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.533,0.009,0.009,0.009,0.009,0.009,0.009,0.006,3.195,3.191,3.191,3.192,3.195,0.007,0,0,0,0,0,0,0,3.132,3.124,3.121,3.108,3.108,3.094,3.094,3.081,3.081,3.22,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,2.97,2.953,2.952,2.948,2.939,2.934,2.933,2.93,2.929,2.923,2.916,2.911,2.91,2.906,2.899,2.896,2.894,2.893,2.886,2.885,2.885,2.878,2.876,2.876,2.872,2.871,2.866,2.863,2.86,2.857,2.855,2.85,2.847,2.842,2.842,2.842,2.847,2.851,3.414,3.414,3.414,3.414,3.414,3.412,3.413,3.413,3.412,3.412,3.412,3.412,3.41,3.412,3.414,3.413,3.414,3.414,3.414,3.416,3.418,3.42,3.421,3.422,3.423,3.424,3.424,3.427,3.435,3.439,3.439,3.44,3.448,3.451,3.454,3.455,3.455,3.455,3.456,3.465,3.467,3.481,3.484,3.488,3.493,3.495,3.5,3.5,3.511,3.518,3.518,3.522,3.535,3.536,3.549,3.553,3.566,3.568,3.571,3.572,3.579,3.595,3.595,3.597,3.614,3.616,3.625,3.641,3.649,3.65,3.662,3.67,3.67,3.689,3.706,3.709,3.713,3.725,3.741,3.748,3.757,3.774,3.775,3.781,3.802,3.823,3.829,3.84,3.856,3.857,3.879,3.897,3.909,3.924,3.937,3.956,3.967,3.969,4,4.009,4.026,4.03,4.062,4.087,4.09,4.09,4.09,4.058,4.012,3.976,3.946,3.924,3.885,3.865,3.828,3.803,3.785,3.747,3.72,3.693,3.665,3.647,3.622,3.609,3.581,3.552,3.534,3.503,3.487,3.466,3.453,3.424,3.405,3.391,3.364,3.354,3.331,3.316,3.3,3.28,3.26,3.244,3.225,3.217,3.2,3.187,3.175,3.154,3.144,3.138,3.108,3.103,3.089,3.077,3.066,3.05,3.032,3.022,3.008,2.994,2.993,2.973,2.964,2.959,2.947,2.927,2.921,2.904,2.904,2.886,2.879,2.871,2.857,2.854,2.837,2.828,2.823,2.815,2.807,2.788,2.779,2.776,2.771,2.769,2.743,2.742,2.733,2.729,2.715,2.708,2.691,2.686,2.682,2.68,2.678,2.674,2.669,2.661,2.648,2.647,2.632,2.624,2.622,2.617,2.615,2.602,2.599,2.598,2.598,2.594,2.582,2.579,2.57,2.57,2.567,2.566,2.558,2.551,2.551,2.551,2.551,2.551,2.546,2.53,2.528,2.522,2.518,2.518,2.518,2.515,2.512,2.512,2.509,2.504,2.499,2.498,2.496,2.495,2.492,2.49,2.488,2.486,2.486,2.483,2.483,2.485,2.485,2.481,2.484,2.484,2.481,2.484,2.484,2.482,2.482,2.482,2.481,2.481,2.481,2.481,2.481,2.483,2.483,2.485,2.485,2.485,2.492,2.493,2.494,2.494,2.495,2.495,2.495,2.505,2.506,2.508,2.508,2.51,2.512,2.516,2.522,2.522,2.523,2.525,2.533,2.534,2.543,2.546,2.55,2.554,2.562,2.563,2.566,2.569,2.574,2.583,2.586,2.587,2.588,2.591,2.599,2.608,2.609,2.616,2.621,2.625,2.632,2.634,2.64,2.645,2.657,2.658,2.667,2.67,2.686,2.687,2.691,2.703,2.71,2.726,2.726,2.734,2.736,2.756,2.76,2.76,2.775,2.788,2.791,2.795,2.815,2.817,2.824,2.839,2.842,2.86,2.869,2.873,2.887,2.899,2.907,2.921,2.932,2.94,2.94,2.958,2.962,2.99,2.997,3.007,3.028,3.029,3.047,3.047,3.067,3.075,3.095,3.108,3.115,3.14,3.155,3.163,3.186,3.196,3.211,3.224,3.239,3.255,3.271,3.291,3.313,3.329,3.348,3.367,3.383,3.404,3.421,3.439,3.459,3.481,3.515,3.519,3.548,3.577,3.593,3.623,3.635,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 125.44} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-1.153663}
SEN {Time 125.44} {Type Tachometer} {Name LeftRight} {Vel -0.020320,0.022860}
SEN {Time 125.436} {Type Sonar} {Name Sonar0 Range 2.7432} {Name Sonar1 Range 4.064} {Name Sonar2 Range 5.6388} {Name Sonar3 Range 0.9906} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 4.1148} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 2.794} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.2766} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 1.8288}
SEN {Time 125.477} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.172,0.172,0.173,0.173,0.209,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.146,0.142,0.142,0.142,0.142,0.148,0.151,0.152,0.152,0.152,0.156,0.163,0.172,0,0,0,0,0,0.169,0.164,0.163,0.159,0.154,0.154,0.157,0.157,0.217,1.426,1.426,1.426,1.412,1.407,1.407,1.407,1.417,1.425,1.429,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.507,3.507,0.006,0.006,0.009,0.009,0.009,3.208,3.208,3.208,0,0,0,0,0,0,0,0,3.148,3.14,3.127,3.123,3.123,3.123,3.112,3.083,3.083,3.083,3.112,3.24,3.297,0,0,0,0,0.007,0,0,0,0,2.981,2.977,2.974,2.974,2.959,2.958,2.952,2.952,2.939,2.937,2.931,2.93,2.928,2.923,2.92,2.919,2.911,2.911,2.904,2.903,2.898,2.898,2.891,2.89,2.884,2.882,2.881,2.88,2.877,2.877,2.871,2.866,2.863,2.853,2.853,2.851,2.851,2.85,2.85,2.85,2.85,2.85,3.403,3.406,3.407,3.41,3.41,3.407,3.41,3.41,3.41,3.412,3.412,3.412,3.412,3.408,3.408,3.415,3.415,3.415,3.415,3.422,3.416,3.418,3.422,3.422,3.422,3.433,3.434,3.441,3.434,3.434,3.441,3.441,3.441,3.442,3.447,3.45,3.459,3.459,3.46,3.469,3.476,3.478,3.478,3.486,3.487,3.489,3.502,3.507,3.509,3.515,3.525,3.527,3.533,3.534,3.547,3.558,3.562,3.571,3.572,3.584,3.587,3.589,3.602,3.606,3.61,3.615,3.616,3.637,3.651,3.652,3.666,3.67,3.681,3.696,3.698,3.71,3.717,3.719,3.744,3.744,3.756,3.761,3.77,3.779,3.79,3.807,3.827,3.834,3.841,3.856,3.864,3.879,3.895,3.917,3.931,3.939,3.96,3.983,3.993,3.995,4.021,4.041,4.055,4.088,4.088,4.088,4.053,4.011,3.985,3.943,3.927,3.906,3.859,3.843,3.829,3.802,3.774,3.745,3.711,3.691,3.658,3.65,3.614,3.593,3.56,3.545,3.527,3.5,3.487,3.46,3.45,3.414,3.411,3.393,3.364,3.347,3.331,3.313,3.302,3.28,3.261,3.245,3.231,3.212,3.192,3.181,3.157,3.157,3.146,3.13,3.111,3.093,3.083,3.071,3.054,3.047,3.039,3.02,3.001,2.992,2.98,2.968,2.956,2.948,2.936,2.918,2.91,2.907,2.894,2.886,2.868,2.861,2.85,2.835,2.833,2.82,2.807,2.804,2.794,2.782,2.78,2.767,2.766,2.754,2.747,2.737,2.735,2.726,2.713,2.706,2.706,2.689,2.68,2.679,2.664,2.664,2.658,2.654,2.639,2.639,2.633,2.624,2.621,2.618,2.609,2.603,2.587,2.585,2.584,2.582,2.573,2.571,2.57,2.564,2.559,2.554,2.548,2.547,2.535,2.532,2.532,2.531,2.517,2.516,2.516,2.516,2.513,2.511,2.513,2.507,2.507,2.5,2.498,2.493,2.491,2.49,2.489,2.489,2.485,2.482,2.482,2.481,2.476,2.476,2.473,2.473,2.476,2.477,2.476,2.476,2.47,2.47,2.467,2.47,2.47,2.465,2.465,2.47,2.465,2.47,2.471,2.47,2.466,2.47,2.468,2.468,2.476,2.476,2.476,2.479,2.479,2.479,2.479,2.479,2.483,2.485,2.49,2.49,2.49,2.495,2.495,2.495,2.514,2.516,2.516,2.516,2.516,2.519,2.522,2.533,2.534,2.537,2.544,2.544,2.547,2.552,2.554,2.562,2.569,2.57,2.572,2.578,2.584,2.585,2.586,2.603,2.613,2.619,2.619,2.626,2.635,2.638,2.642,2.654,2.655,2.659,2.662,2.678,2.684,2.692,2.7,2.701,2.711,2.712,2.731,2.733,2.74,2.749,2.75,2.767,2.771,2.777,2.791,2.796,2.811,2.822,2.83,2.842,2.85,2.858,2.87,2.88,2.888,2.903,2.915,2.923,2.937,2.938,2.956,2.964,2.968,2.982,2.997,3.003,3.022,3.033,3.04,3.057,3.065,3.077,3.096,3.109,3.119,3.14,3.153,3.168,3.184,3.192,3.219,3.23,3.253,3.273,3.274,3.303,3.319,3.333,3.359,3.376,3.393,3.419,3.434,3.461,3.479,3.501,3.524,3.544,3.559,3.579,3.6,3.636,3.655,3.679,3.706,3.716,3.754,3.79,3.8,3.831,3.863,3.894,3.913,3.952,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 125.63} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.144936}
SEN {Time 125.63} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 125.635} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.064} {Name Sonar2 Range 5.6388} {Name Sonar3 Range 0.9906} {Name Sonar4 Range 6.1214} {Name Sonar5 Range 4.1148} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 3.2766} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 2.0828}
SEN {Time 125.679} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.173,0.173,0.173,0.173,0.205,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.21,1.21,1.21,1.217,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.141,0.14,0.14,0.14,0.14,0.143,0.149,0.15,0.15,0.148,0.15,0.15,0,0,0,0,0,0,0.178,0.163,0.155,0.154,0.153,0.153,0.153,0.167,1.406,1.414,1.414,1.413,1.413,1.413,1.413,1.423,1.426,1.446,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.792,3.787,3.767,3.767,3.767,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,3.51,3.51,0.006,3.024,3.024,3.2,3.2,3.2,3.202,3.202,3.202,0,0.007,0,0,0,0,0,3.144,3.143,3.129,3.123,3.117,3.108,3.096,3.086,3.086,3.086,3.118,3.235,3.312,0,0,0,0,0,0,0,0,0,2.987,2.979,2.978,2.975,2.959,2.958,2.955,2.953,2.946,2.935,2.935,2.93,2.928,2.925,2.922,2.919,2.914,2.914,2.91,2.905,2.901,2.898,2.896,2.893,2.893,2.893,2.891,2.877,2.875,2.874,2.867,2.866,2.864,2.863,2.861,2.855,2.854,2.854,2.854,2.849,2.849,2.856,3.4,3.408,3.412,3.412,3.408,3.414,3.413,3.413,3.414,3.414,3.414,3.414,3.414,3.414,3.414,3.414,3.421,3.422,3.422,3.422,3.422,3.422,3.424,3.428,3.428,3.428,3.43,3.43,3.432,3.434,3.437,3.443,3.443,3.447,3.451,3.451,3.459,3.461,3.465,3.471,3.476,3.481,3.481,3.485,3.486,3.487,3.499,3.507,3.507,3.513,3.517,3.533,3.537,3.538,3.539,3.559,3.566,3.567,3.568,3.577,3.579,3.59,3.603,3.606,3.606,3.62,3.623,3.64,3.648,3.654,3.659,3.669,3.679,3.687,3.695,3.697,3.715,3.716,3.74,3.742,3.759,3.769,3.78,3.792,3.796,3.798,3.82,3.836,3.839,3.856,3.864,3.884,3.902,3.915,3.929,3.939,3.958,3.968,3.979,3.999,4.023,4.03,4.048,4.092,4.092,4.092,4.071,4.027,4,3.973,3.937,3.921,3.885,3.851,3.833,3.809,3.786,3.749,3.731,3.715,3.681,3.653,3.624,3.612,3.586,3.558,3.526,3.518,3.492,3.472,3.456,3.43,3.418,3.397,3.364,3.356,3.341,3.317,3.304,3.287,3.261,3.254,3.237,3.221,3.207,3.183,3.173,3.157,3.148,3.127,3.124,3.095,3.092,3.075,3.071,3.059,3.041,3.025,3.015,3.003,2.994,2.976,2.964,2.955,2.947,2.923,2.921,2.912,2.905,2.902,2.875,2.87,2.857,2.848,2.83,2.827,2.825,2.799,2.795,2.788,2.779,2.776,2.775,2.753,2.747,2.735,2.727,2.719,2.718,2.713,2.707,2.695,2.688,2.68,2.679,2.667,2.664,2.657,2.646,2.636,2.636,2.627,2.624,2.624,2.611,2.602,2.596,2.595,2.585,2.584,2.582,2.576,2.566,2.562,2.562,2.557,2.555,2.552,2.54,2.539,2.533,2.531,2.524,2.521,2.519,2.519,2.511,2.511,2.509,2.503,2.502,2.502,2.5,2.496,2.496,2.494,2.494,2.486,2.486,2.486,2.483,2.482,2.483,2.479,2.476,2.478,2.478,2.478,2.475,2.475,2.472,2.471,2.467,2.471,2.471,2.468,2.464,2.468,2.468,2.47,2.47,2.473,2.473,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.478,2.48,2.485,2.487,2.493,2.493,2.493,2.493,2.493,2.498,2.501,2.503,2.503,2.505,2.508,2.511,2.514,2.518,2.525,2.531,2.532,2.539,2.542,2.548,2.548,2.549,2.565,2.566,2.569,2.57,2.571,2.575,2.581,2.583,2.588,2.597,2.606,2.612,2.618,2.625,2.629,2.635,2.639,2.646,2.653,2.654,2.667,2.676,2.679,2.694,2.698,2.705,2.715,2.716,2.722,2.73,2.737,2.743,2.755,2.761,2.771,2.772,2.79,2.794,2.798,2.81,2.819,2.84,2.847,2.852,2.864,2.869,2.893,2.893,2.907,2.922,2.929,2.935,2.945,2.965,2.967,2.988,2.997,3.002,3.014,3.016,3.033,3.052,3.061,3.074,3.093,3.109,3.126,3.129,3.145,3.154,3.176,3.191,3.213,3.224,3.237,3.261,3.269,3.285,3.311,3.325,3.354,3.376,3.391,3.419,3.434,3.442,3.469,3.486,3.515,3.525,3.547,3.579,3.606,3.619,3.65,3.673,3.687,3.715,3.735,3.773,3.789,3.827,3.853,3.881,3.904,3.936,3.961,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 125.83} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.144936}
SEN {Time 125.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 125.834} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.096} {Name Sonar2 Range 5.6388} {Name Sonar3 Range 0.9906} {Name Sonar4 Range 6.1214} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 3.2258} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 2.8194} {Name Sonar15 Range 2.0828}
SEN {Time 125.877} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.174,0.174,0.174,0.179,0.179,0.219,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.199,1.199,1.199,1.225,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.148,0.155,0.153,0.153,0.153,0.153,0.153,0,0,0,0,0,0,0,0.165,0.163,0.159,0.154,0.154,0.159,0.163,1.415,1.42,1.42,1.415,1.412,1.412,1.412,1.415,1.427,1.441,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.791,3.784,3.76,3.76,3.76,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,3.507,3.507,0.006,3.023,3.023,3.196,3.196,3.196,3.208,3.217,0,0,0,0,0,0,0,0,3.143,3.141,3.134,3.124,3.119,3.117,3.098,3.097,3.097,3.098,3.125,3.233,3.308,0,0,0,0,0,0,0,0,0,2.981,2.977,2.975,2.969,2.964,2.961,2.96,2.952,2.947,2.946,2.941,2.934,2.932,2.929,2.92,2.917,2.917,2.915,2.909,2.908,2.907,2.902,2.896,2.894,2.894,2.894,2.882,2.882,2.882,2.877,2.873,2.87,2.864,2.861,2.857,2.855,2.851,2.851,2.849,2.848,2.848,2.852,3.411,3.412,3.412,3.412,3.412,3.411,3.409,3.411,3.412,3.409,3.413,3.413,3.415,3.415,3.415,3.415,3.418,3.418,3.419,3.423,3.423,3.423,3.427,3.428,3.43,3.43,3.432,3.432,3.434,3.436,3.438,3.438,3.446,3.447,3.452,3.454,3.461,3.463,3.467,3.47,3.471,3.479,3.479,3.491,3.495,3.496,3.498,3.506,3.506,3.51,3.523,3.528,3.529,3.535,3.547,3.557,3.56,3.561,3.567,3.574,3.585,3.593,3.596,3.608,3.615,3.619,3.624,3.641,3.645,3.648,3.659,3.67,3.673,3.692,3.697,3.709,3.716,3.726,3.732,3.744,3.757,3.766,3.767,3.785,3.799,3.806,3.807,3.833,3.839,3.85,3.87,3.891,3.906,3.913,3.935,3.939,3.96,3.969,3.992,4.004,4.013,4.038,4.043,4.092,4.092,4.092,4.069,4.041,3.999,3.965,3.937,3.914,3.887,3.859,3.832,3.821,3.776,3.759,3.725,3.707,3.687,3.651,3.62,3.603,3.584,3.556,3.533,3.518,3.51,3.475,3.456,3.439,3.425,3.405,3.377,3.362,3.342,3.323,3.31,3.284,3.267,3.26,3.235,3.221,3.215,3.184,3.173,3.158,3.152,3.141,3.125,3.103,3.093,3.081,3.065,3.059,3.04,3.032,3.014,3,2.992,2.97,2.969,2.951,2.949,2.937,2.917,2.911,2.91,2.891,2.872,2.866,2.859,2.855,2.839,2.831,2.828,2.808,2.806,2.799,2.788,2.774,2.768,2.758,2.752,2.737,2.734,2.732,2.728,2.716,2.705,2.689,2.687,2.684,2.675,2.67,2.661,2.655,2.649,2.643,2.636,2.63,2.621,2.621,2.613,2.609,2.6,2.589,2.587,2.584,2.583,2.581,2.566,2.561,2.556,2.556,2.553,2.548,2.545,2.536,2.533,2.531,2.524,2.518,2.516,2.515,2.513,2.512,2.512,2.506,2.502,2.501,2.501,2.497,2.496,2.495,2.492,2.486,2.484,2.484,2.483,2.483,2.482,2.479,2.479,2.479,2.478,2.478,2.478,2.472,2.472,2.471,2.467,2.467,2.467,2.466,2.465,2.465,2.466,2.467,2.467,2.473,2.473,2.472,2.472,2.473,2.472,2.472,2.473,2.473,2.473,2.477,2.483,2.486,2.49,2.497,2.495,2.497,2.497,2.499,2.499,2.501,2.51,2.51,2.511,2.511,2.514,2.518,2.521,2.523,2.531,2.533,2.541,2.545,2.549,2.55,2.555,2.561,2.566,2.572,2.574,2.58,2.589,2.592,2.592,2.592,2.605,2.613,2.622,2.623,2.623,2.627,2.646,2.652,2.655,2.66,2.67,2.673,2.674,2.688,2.694,2.7,2.713,2.713,2.725,2.726,2.737,2.745,2.76,2.766,2.775,2.782,2.782,2.799,2.8,2.806,2.824,2.842,2.843,2.855,2.865,2.874,2.887,2.891,2.907,2.919,2.932,2.936,2.945,2.961,2.965,2.972,2.996,2.997,3.014,3.029,3.035,3.047,3.067,3.077,3.094,3.106,3.119,3.124,3.147,3.165,3.179,3.193,3.21,3.23,3.24,3.262,3.271,3.296,3.305,3.336,3.349,3.379,3.391,3.41,3.437,3.448,3.481,3.492,3.503,3.524,3.549,3.579,3.605,3.622,3.651,3.663,3.697,3.718,3.738,3.764,3.782,3.82,3.848,3.885,3.912,3.942,3.985,0.007,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 126.04} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.144936}
SEN {Time 126.04} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 126.036} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.096} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 0.9906} {Name Sonar4 Range 6.1214} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 5.7658} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.0828}
SEN {Time 126.075} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.173,0.173,0.174,0.185,0.185,0.211,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.202,1.202,1.202,1.224,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.141,0.141,0.141,0.155,0.15,0.15,0.15,0.15,0.149,0.149,0.154,0,0,0,0,0,0,0.172,0.168,0.158,0.157,0.153,0.153,0.157,0.163,1.407,1.421,1.421,1.414,1.414,1.414,1.414,1.424,1.424,1.427,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.783,3.771,3.76,3.76,3.76,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,3.51,3.51,0.006,3.027,3.027,3.181,3.181,3.181,3.201,3.208,3.208,3.217,0.007,0,0,0,0,0,3.141,3.139,3.135,3.133,3.121,3.106,3.099,3.093,3.093,3.093,3.124,3.241,3.308,0,0,0,0,0,0,0,0,0,2.987,2.981,2.973,2.972,2.967,2.96,2.955,2.954,2.941,2.934,2.931,2.928,2.926,2.924,2.923,2.92,2.916,2.914,2.909,2.907,2.903,2.902,2.897,2.893,2.892,2.889,2.884,2.879,2.878,2.875,2.873,2.865,2.863,2.855,2.854,2.853,2.853,2.851,2.851,2.851,2.853,2.853,3.407,3.414,3.418,3.418,3.414,3.413,3.413,3.413,3.415,3.415,3.415,3.415,3.415,3.415,3.415,3.416,3.42,3.416,3.422,3.422,3.424,3.427,3.428,3.428,3.429,3.429,3.432,3.437,3.438,3.441,3.442,3.445,3.448,3.449,3.454,3.459,3.46,3.461,3.463,3.468,3.474,3.475,3.48,3.49,3.497,3.499,3.5,3.508,3.514,3.515,3.521,3.528,3.532,3.536,3.544,3.557,3.562,3.563,3.568,3.58,3.586,3.602,3.602,3.602,3.606,3.621,3.632,3.646,3.647,3.654,3.665,3.665,3.676,3.692,3.701,3.705,3.714,3.726,3.737,3.744,3.754,3.762,3.762,3.777,3.79,3.819,3.819,3.829,3.838,3.861,3.867,3.884,3.893,3.919,3.921,3.943,3.952,3.97,3.995,3.996,4.017,4.034,4.053,4.094,4.094,4.094,4.071,4.034,3.992,3.961,3.932,3.916,3.878,3.854,3.825,3.81,3.778,3.761,3.733,3.697,3.681,3.651,3.634,3.608,3.586,3.562,3.542,3.515,3.497,3.475,3.464,3.425,3.421,3.399,3.371,3.357,3.337,3.325,3.308,3.29,3.274,3.246,3.242,3.221,3.196,3.186,3.164,3.154,3.15,3.143,3.122,3.103,3.097,3.074,3.07,3.049,3.038,3.022,3.02,2.994,2.992,2.981,2.967,2.955,2.951,2.932,2.922,2.911,2.902,2.893,2.882,2.874,2.858,2.843,2.842,2.826,2.817,2.802,2.802,2.794,2.782,2.773,2.772,2.752,2.74,2.735,2.734,2.732,2.716,2.716,2.703,2.694,2.689,2.681,2.68,2.666,2.657,2.655,2.646,2.645,2.64,2.634,2.627,2.62,2.612,2.604,2.594,2.59,2.589,2.581,2.58,2.578,2.569,2.564,2.562,2.56,2.554,2.548,2.547,2.536,2.535,2.525,2.522,2.518,2.518,2.514,2.514,2.514,2.514,2.514,2.505,2.501,2.501,2.497,2.495,2.494,2.488,2.488,2.488,2.487,2.483,2.479,2.479,2.477,2.479,2.479,2.479,2.476,2.476,2.47,2.47,2.47,2.47,2.472,2.472,2.467,2.466,2.467,2.467,2.467,2.467,2.47,2.467,2.467,2.47,2.471,2.474,2.474,2.474,2.474,2.478,2.48,2.48,2.484,2.486,2.493,2.494,2.494,2.494,2.495,2.495,2.501,2.502,2.507,2.511,2.512,2.518,2.52,2.52,2.527,2.533,2.537,2.543,2.546,2.547,2.554,2.558,2.558,2.561,2.567,2.577,2.591,2.593,2.594,2.598,2.598,2.607,2.615,2.618,2.63,2.634,2.637,2.638,2.65,2.655,2.655,2.667,2.67,2.676,2.683,2.693,2.698,2.707,2.713,2.72,2.733,2.735,2.744,2.751,2.765,2.766,2.777,2.785,2.791,2.812,2.814,2.822,2.831,2.848,2.858,2.863,2.866,2.885,2.894,2.906,2.92,2.924,2.93,2.939,2.957,2.959,2.976,2.997,3,3.01,3.02,3.034,3.049,3.067,3.08,3.094,3.104,3.118,3.129,3.142,3.155,3.176,3.187,3.197,3.221,3.24,3.255,3.277,3.292,3.309,3.33,3.345,3.367,3.39,3.402,3.428,3.445,3.466,3.486,3.516,3.528,3.551,3.583,3.598,3.614,3.654,3.656,3.698,3.712,3.737,3.781,3.791,3.826,3.84,3.864,3.904,3.942,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 126.23} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.144936}
SEN {Time 126.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 126.228} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.096} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.1214} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 5.7658} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.0828}
SEN {Time 126.276} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.173,0.173,0.182,0.187,0.187,0.218,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.207,1.207,1.207,1.225,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.146,0.144,0.144,0.144,0.146,0.147,0.147,0.152,0.152,0.149,0.152,0.156,0,0,0,0,0,0,0.174,0.16,0.157,0.157,0.156,0.156,0.157,0.164,1.405,1.412,1.412,1.406,1.406,1.406,1.406,1.421,1.424,1.447,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.797,3.781,3.763,3.763,3.763,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.521,3.513,3.513,0.006,3.026,3.026,3.206,3.206,3.195,3.206,3.207,0,0,0,0,0,0,0,0,3.134,3.133,3.133,3.131,3.131,3.121,3.112,3.089,3.089,3.089,3.137,3.237,3.309,0,0,0,0,0.007,0,0,0,0,2.981,2.975,2.973,2.97,2.962,2.959,2.954,2.953,2.948,2.939,2.935,2.933,2.933,2.923,2.922,2.921,2.916,2.914,2.911,2.909,2.902,2.895,2.895,2.892,2.892,2.886,2.886,2.885,2.883,2.88,2.873,2.866,2.866,2.866,2.859,2.856,2.851,2.851,2.85,2.85,2.854,3.405,3.413,3.416,3.413,3.413,3.411,3.409,3.409,3.411,3.412,3.412,3.412,3.412,3.412,3.412,3.413,3.414,3.418,3.418,3.421,3.421,3.424,3.424,3.426,3.426,3.428,3.428,3.433,3.435,3.433,3.433,3.438,3.438,3.443,3.445,3.451,3.457,3.458,3.462,3.465,3.467,3.472,3.477,3.483,3.486,3.492,3.495,3.497,3.509,3.509,3.511,3.516,3.518,3.535,3.543,3.545,3.552,3.558,3.562,3.575,3.575,3.585,3.586,3.602,3.613,3.616,3.625,3.625,3.639,3.642,3.653,3.659,3.662,3.681,3.689,3.701,3.718,3.723,3.724,3.73,3.732,3.754,3.766,3.767,3.777,3.793,3.809,3.831,3.839,3.841,3.861,3.878,3.885,3.887,3.917,3.933,3.947,3.967,3.968,3.991,3.992,4.017,4.027,4.05,0.016,0.016,0.016,0.016,4.031,4.005,3.966,3.931,3.905,3.887,3.858,3.844,3.808,3.783,3.762,3.731,3.693,3.682,3.66,3.626,3.607,3.588,3.561,3.536,3.513,3.488,3.476,3.458,3.439,3.428,3.4,3.375,3.356,3.343,3.324,3.307,3.283,3.263,3.253,3.238,3.217,3.193,3.183,3.169,3.165,3.153,3.137,3.116,3.103,3.094,3.071,3.063,3.056,3.044,3.025,3.014,2.995,2.991,2.981,2.969,2.961,2.95,2.927,2.925,2.91,2.909,2.893,2.875,2.86,2.857,2.851,2.838,2.826,2.818,2.804,2.802,2.794,2.788,2.776,2.771,2.761,2.743,2.735,2.729,2.726,2.716,2.712,2.705,2.692,2.688,2.684,2.671,2.671,2.667,2.655,2.645,2.637,2.63,2.63,2.629,2.622,2.613,2.612,2.596,2.586,2.586,2.585,2.578,2.574,2.569,2.564,2.564,2.556,2.551,2.55,2.546,2.545,2.536,2.534,2.527,2.519,2.518,2.518,2.519,2.519,2.518,2.509,2.508,2.504,2.498,2.496,2.494,2.492,2.49,2.487,2.483,2.483,2.483,2.482,2.482,2.481,2.481,2.481,2.475,2.474,2.474,2.471,2.47,2.467,2.467,2.467,2.466,2.465,2.466,2.465,2.466,2.467,2.471,2.467,2.467,2.472,2.471,2.471,2.471,2.473,2.471,2.473,2.473,2.479,2.479,2.484,2.485,2.488,2.488,2.491,2.493,2.498,2.5,2.503,2.503,2.504,2.509,2.511,2.517,2.518,2.527,2.53,2.53,2.538,2.539,2.542,2.544,2.545,2.564,2.565,2.568,2.569,2.576,2.582,2.583,2.587,2.588,2.593,2.606,2.608,2.611,2.626,2.632,2.636,2.639,2.649,2.651,2.656,2.657,2.68,2.684,2.689,2.692,2.702,2.707,2.708,2.712,2.735,2.735,2.751,2.751,2.751,2.773,2.775,2.788,2.796,2.8,2.804,2.822,2.84,2.845,2.854,2.869,2.876,2.89,2.894,2.904,2.918,2.927,2.93,2.947,2.96,2.963,2.979,2.997,2.999,3.018,3.025,3.04,3.04,3.065,3.083,3.092,3.11,3.122,3.124,3.144,3.161,3.186,3.194,3.212,3.225,3.231,3.257,3.258,3.299,3.316,3.326,3.349,3.361,3.381,3.404,3.437,3.456,3.473,3.485,3.512,3.533,3.544,3.579,3.603,3.613,3.657,3.671,3.695,3.739,3.742,3.766,3.789,3.82,3.848,3.889,3.916,3.927,3.975,4,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 126.43} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.144936}
SEN {Time 126.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 126.43} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 5.7658} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.0828}
SEN {Time 126.473} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.177,0.183,0.183,0.202,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.21,1.21,1.21,1.228,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.144,0.145,0.151,0.152,0.155,0.152,0.155,0.156,0,0,0,0,0,0,0,0.163,0.161,0.154,0.154,0.154,0.154,0.157,1.411,1.424,1.424,1.413,1.413,1.409,1.409,1.413,1.425,1.436,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.79,3.785,3.758,3.758,3.758,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.524,3.51,3.51,0.006,3.027,3.027,3.195,3.195,3.195,3.206,3.216,3.216,0,0.007,0,0,0,0,0,3.147,3.14,3.126,3.123,3.123,3.112,3.109,3.085,3.085,3.085,3.122,3.242,3.307,0,0,0,0,0.007,0,0,0,0,2.984,2.979,2.977,2.972,2.963,2.958,2.958,2.954,2.94,2.935,2.931,2.928,2.927,2.926,2.922,2.917,2.917,2.912,2.909,2.907,2.903,2.901,2.9,2.9,2.899,2.893,2.889,2.884,2.883,2.877,2.873,2.872,2.859,2.859,2.859,2.858,2.857,2.854,2.85,2.85,2.854,3.409,3.414,3.416,3.414,3.416,3.416,3.416,3.414,3.416,3.414,3.414,3.413,3.413,3.411,3.411,3.413,3.417,3.422,3.424,3.424,3.424,3.425,3.425,3.425,3.427,3.432,3.432,3.433,3.433,3.441,3.441,3.441,3.441,3.442,3.454,3.455,3.459,3.459,3.46,3.464,3.473,3.474,3.483,3.486,3.494,3.494,3.496,3.496,3.505,3.509,3.516,3.517,3.526,3.528,3.538,3.54,3.553,3.554,3.56,3.569,3.573,3.587,3.592,3.596,3.61,3.614,3.622,3.635,3.638,3.643,3.655,3.663,3.672,3.675,3.691,3.702,3.711,3.718,3.719,3.729,3.735,3.753,3.76,3.774,3.784,3.792,3.802,3.825,3.834,3.842,3.857,3.859,3.883,3.905,3.915,3.933,3.942,3.964,3.981,3.984,4.005,4.025,4.03,4.057,4.094,4.094,4.094,4.063,4.028,4.003,3.957,3.936,3.913,3.885,3.851,3.833,3.799,3.79,3.755,3.732,3.715,3.688,3.65,3.628,3.61,3.583,3.557,3.535,3.517,3.494,3.475,3.459,3.44,3.422,3.396,3.362,3.358,3.337,3.315,3.31,3.285,3.269,3.25,3.245,3.215,3.209,3.185,3.168,3.156,3.154,3.139,3.12,3.099,3.097,3.075,3.063,3.06,3.037,3.03,3.016,3,2.992,2.973,2.963,2.963,2.955,2.928,2.912,2.911,2.901,2.894,2.875,2.872,2.857,2.846,2.843,2.831,2.817,2.812,2.799,2.795,2.783,2.775,2.771,2.759,2.747,2.738,2.731,2.726,2.715,2.715,2.702,2.694,2.685,2.684,2.684,2.669,2.662,2.653,2.651,2.644,2.637,2.633,2.628,2.627,2.613,2.609,2.596,2.594,2.59,2.587,2.575,2.573,2.571,2.564,2.563,2.558,2.553,2.546,2.546,2.538,2.533,2.532,2.525,2.515,2.515,2.515,2.515,2.515,2.512,2.504,2.503,2.502,2.501,2.493,2.491,2.49,2.49,2.485,2.485,2.484,2.481,2.481,2.479,2.478,2.472,2.472,2.472,2.474,2.474,2.474,2.474,2.471,2.471,2.472,2.474,2.472,2.472,2.473,2.468,2.468,2.468,2.468,2.468,2.468,2.468,2.47,2.473,2.473,2.473,2.476,2.477,2.485,2.485,2.485,2.485,2.487,2.487,2.49,2.49,2.491,2.498,2.499,2.506,2.506,2.511,2.516,2.517,2.522,2.525,2.533,2.534,2.534,2.545,2.551,2.552,2.556,2.556,2.563,2.567,2.567,2.572,2.572,2.585,2.586,2.595,2.603,2.607,2.611,2.622,2.627,2.63,2.631,2.644,2.645,2.651,2.658,2.662,2.673,2.674,2.686,2.687,2.699,2.704,2.713,2.723,2.728,2.742,2.75,2.755,2.761,2.772,2.773,2.787,2.797,2.798,2.817,2.826,2.841,2.845,2.846,2.87,2.875,2.883,2.901,2.905,2.926,2.935,2.935,2.941,2.957,2.966,2.977,2.995,2.997,3.016,3.029,3.039,3.051,3.059,3.085,3.091,3.104,3.119,3.135,3.137,3.155,3.178,3.194,3.21,3.23,3.23,3.253,3.262,3.285,3.315,3.336,3.352,3.357,3.389,3.405,3.432,3.446,3.469,3.488,3.506,3.533,3.551,3.577,3.596,3.62,3.652,3.673,3.693,3.719,3.747,3.768,3.791,3.82,3.844,3.877,3.9,3.937,3.948,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 126.63} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.141445}
SEN {Time 126.63} {Type Tachometer} {Name LeftRight} {Vel -0.012700,0.012700}
SEN {Time 126.63} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 5.7912} {Name Sonar7 Range 1.9304} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.0828}
SEN {Time 126.675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.168,0.168,0.172,0.172,0.178,0.181,0.181,0.219,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.211,1.211,1.211,1.23,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.141,0.141,0.141,0.151,0.147,0.147,0.147,0.149,0.148,0.149,0.153,0,0,0,0,0,0,0.182,0.168,0.162,0.156,0.156,0.156,0.159,0.16,1.406,1.419,1.419,1.415,1.419,1.419,1.415,1.419,1.422,1.445,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.787,3.768,3.756,3.756,3.756,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.528,3.498,3.498,3.032,3.022,3.03,3.032,3.032,3.206,3.213,3.218,0.007,0,0,0,0,0,0,0,3.142,3.132,3.125,3.121,3.121,3.116,3.098,3.089,3.089,3.089,3.159,3.252,3.324,0,0,0,0,0.007,0,0,0,0,2.979,2.978,2.975,2.961,2.958,2.958,2.957,2.951,2.946,2.942,2.938,2.932,2.928,2.927,2.925,2.918,2.913,2.909,2.906,2.906,2.901,2.896,2.896,2.89,2.89,2.887,2.887,2.887,2.883,2.876,2.871,2.868,2.868,2.868,2.865,2.858,2.852,2.851,2.85,2.849,2.849,2.849,3.408,3.411,3.416,3.416,3.415,3.415,3.413,3.413,3.415,3.413,3.413,3.419,3.411,3.411,3.42,3.421,3.421,3.421,3.422,3.426,3.426,3.426,3.427,3.427,3.427,3.432,3.432,3.432,3.434,3.435,3.445,3.447,3.449,3.45,3.454,3.461,3.462,3.466,3.469,3.472,3.472,3.476,3.484,3.489,3.492,3.496,3.499,3.51,3.514,3.52,3.521,3.53,3.54,3.545,3.546,3.558,3.563,3.568,3.575,3.579,3.581,3.597,3.6,3.609,3.617,3.625,3.633,3.638,3.652,3.658,3.659,3.676,3.683,3.684,3.706,3.71,3.72,3.723,3.736,3.749,3.76,3.771,3.777,3.787,3.801,3.813,3.831,3.837,3.843,3.864,3.877,3.892,3.9,3.91,3.944,3.953,3.969,3.982,3.986,4.012,4.018,4.044,4.06,4.091,4.091,4.091,4.058,4.012,3.993,3.952,3.925,3.894,3.868,3.849,3.817,3.811,3.771,3.745,3.721,3.697,3.672,3.652,3.622,3.609,3.571,3.563,3.531,3.517,3.496,3.461,3.458,3.432,3.414,3.394,3.362,3.357,3.335,3.313,3.287,3.278,3.263,3.244,3.23,3.202,3.194,3.182,3.153,3.148,3.144,3.126,3.117,3.098,3.086,3.07,3.061,3.05,3.029,3.017,3.014,2.997,2.99,2.972,2.956,2.956,2.937,2.926,2.922,2.915,2.899,2.886,2.877,2.87,2.858,2.845,2.835,2.822,2.812,2.81,2.795,2.793,2.777,2.774,2.763,2.754,2.743,2.741,2.735,2.72,2.718,2.706,2.698,2.689,2.681,2.68,2.672,2.663,2.657,2.652,2.652,2.636,2.632,2.628,2.624,2.62,2.611,2.597,2.59,2.589,2.585,2.578,2.576,2.573,2.573,2.572,2.559,2.554,2.55,2.543,2.543,2.538,2.528,2.525,2.521,2.519,2.519,2.516,2.51,2.51,2.51,2.51,2.509,2.509,2.497,2.493,2.493,2.492,2.49,2.49,2.486,2.486,2.483,2.482,2.482,2.482,2.476,2.476,2.476,2.479,2.476,2.477,2.477,2.475,2.465,2.461,2.461,2.461,2.462,2.465,2.465,2.465,2.465,2.468,2.465,2.468,2.468,2.468,2.47,2.47,2.471,2.474,2.474,2.48,2.487,2.491,2.491,2.49,2.49,2.497,2.496,2.497,2.498,2.498,2.498,2.504,2.514,2.515,2.516,2.52,2.522,2.531,2.533,2.543,2.544,2.546,2.551,2.551,2.559,2.564,2.567,2.57,2.573,2.575,2.584,2.589,2.595,2.597,2.613,2.622,2.623,2.629,2.631,2.642,2.643,2.656,2.656,2.658,2.662,2.681,2.682,2.686,2.69,2.707,2.711,2.723,2.728,2.737,2.742,2.749,2.751,2.764,2.771,2.781,2.793,2.796,2.811,2.819,2.824,2.843,2.849,2.858,2.881,2.881,2.882,2.893,2.91,2.92,2.93,2.941,2.951,2.964,2.966,2.985,3,3.001,3.025,3.036,3.038,3.055,3.065,3.083,3.097,3.111,3.13,3.138,3.15,3.166,3.175,3.201,3.225,3.23,3.24,3.26,3.276,3.297,3.32,3.337,3.349,3.379,3.398,3.416,3.44,3.454,3.479,3.501,3.519,3.548,3.562,3.587,3.608,3.637,3.661,3.682,3.704,3.74,3.758,3.777,3.818,3.826,3.863,3.895,3.951,3.983,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 126.83} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.115265}
SEN {Time 126.83} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 126.834} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 5.7912} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.048} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.4478} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.1082}
SEN {Time 126.872} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.175,0.174,0.174,0.174,0.175,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.149,0.141,0.141,0.141,0.149,0.148,0.15,0.158,0.158,0.15,0.158,0.158,0,0.009,0.009,0.009,0.009,0.348,0.171,0.159,0.159,0.158,0.159,0.162,0.163,0.165,1.429,1.429,1.429,1.428,1.428,1.428,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,3.034,3.034,3.132,3.132,3.207,3.214,3.219,3.219,0,0.007,0,0,0,0,0.009,0.009,0.009,0.009,3.12,3.12,3.104,3.092,3.078,3.078,3.078,3.239,3.295,0,0,0,0,0.007,0,0,0.006,0.009,0.009,0.009,0.009,0.009,2.965,2.958,2.958,2.955,2.948,2.946,2.943,2.943,2.933,2.927,2.926,2.918,2.917,2.916,2.914,2.911,2.907,2.905,2.899,2.895,2.894,2.891,2.89,2.888,2.888,2.886,2.883,2.873,2.871,2.869,2.862,2.861,2.858,2.857,2.855,2.857,2.858,3.346,3.41,3.415,3.422,3.415,3.415,3.415,3.423,3.418,3.418,3.419,3.418,3.417,3.417,3.417,3.417,3.42,3.422,3.422,3.422,3.425,3.422,3.422,3.426,3.429,3.431,3.438,3.439,3.439,3.441,3.446,3.446,3.448,3.448,3.452,3.452,3.462,3.465,3.466,3.467,3.484,3.484,3.491,3.492,3.492,3.498,3.499,3.507,3.514,3.514,3.523,3.528,3.528,3.538,3.546,3.557,3.564,3.573,3.574,3.575,3.588,3.591,3.596,3.596,3.603,3.615,3.629,3.639,3.649,3.659,3.661,3.668,3.669,3.692,3.7,3.707,3.711,3.721,3.738,3.75,3.758,3.762,3.778,3.786,3.804,3.805,3.824,3.834,3.835,3.852,3.865,3.884,3.897,3.919,3.933,3.942,3.967,3.968,4.002,4.005,4.017,4.034,4.058,0.016,0.016,0.016,4.048,4.025,3.988,3.94,3.916,3.898,3.861,3.831,3.794,3.786,3.753,3.745,3.698,3.681,3.668,3.634,3.628,3.589,3.582,3.553,3.525,3.51,3.491,3.455,3.443,3.423,3.402,3.379,3.358,3.353,3.337,3.316,3.296,3.278,3.252,3.244,3.229,3.201,3.187,3.168,3.152,3.14,3.13,3.118,3.102,3.091,3.073,3.064,3.051,3.05,3.033,3.018,3.006,2.988,2.979,2.971,2.955,2.946,2.933,2.921,2.903,2.895,2.888,2.883,2.869,2.853,2.851,2.846,2.832,2.821,2.809,2.798,2.792,2.777,2.77,2.765,2.755,2.75,2.736,2.73,2.718,2.713,2.712,2.707,2.696,2.692,2.687,2.673,2.669,2.657,2.644,2.641,2.64,2.634,2.622,2.612,2.61,2.605,2.6,2.599,2.59,2.585,2.579,2.577,2.566,2.563,2.554,2.554,2.553,2.55,2.538,2.53,2.53,2.528,2.524,2.522,2.521,2.52,2.516,2.515,2.511,2.498,2.497,2.497,2.495,2.492,2.492,2.486,2.486,2.486,2.484,2.477,2.478,2.477,2.476,2.475,2.473,2.47,2.473,2.47,2.464,2.47,2.464,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.463,2.464,2.464,2.464,2.466,2.466,2.467,2.47,2.47,2.47,2.47,2.474,2.468,2.474,2.474,2.484,2.484,2.484,2.484,2.484,2.491,2.495,2.495,2.497,2.498,2.503,2.508,2.51,2.514,2.515,2.516,2.517,2.527,2.528,2.531,2.536,2.546,2.548,2.55,2.551,2.555,2.563,2.568,2.575,2.576,2.58,2.59,2.594,2.6,2.609,2.612,2.622,2.623,2.63,2.631,2.633,2.646,2.658,2.668,2.668,2.669,2.682,2.682,2.692,2.706,2.711,2.713,2.718,2.734,2.749,2.768,2.769,2.777,2.777,2.782,2.79,2.794,2.812,2.815,2.831,2.836,2.846,2.852,2.873,2.876,2.888,2.896,2.911,2.92,2.922,2.939,2.955,2.966,2.978,2.987,2.997,3.008,3.017,3.029,3.057,3.058,3.079,3.092,3.102,3.119,3.127,3.146,3.155,3.159,3.183,3.216,3.232,3.245,3.252,3.264,3.282,3.313,3.327,3.349,3.379,3.384,3.418,3.424,3.45,3.475,3.504,3.518,3.533,3.573,3.585,3.615,3.643,3.663,3.694,3.702,3.741,3.752,3.781,3.815,3.834,3.869,3.901,3.917,3.954,4.044,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 127.03} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-1.015782}
SEN {Time 127.03} {Type Tachometer} {Name LeftRight} {Vel -0.111760,0.111760}
SEN {Time 127.028} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 6.0706} {Name Sonar2 Range 1.5748} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 5.7912} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.1082}
SEN {Time 127.071} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.183,0.179,0.176,0.179,0.179,0.181,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0.161,0.154,0.147,0.147,0.143,0.148,0.148,0.148,0.148,0.152,0.16,1.411,1.412,1.412,1.412,1.412,1.412,1.409,0.166,0.16,0.15,0.15,0.15,0.155,0.16,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,3.564,3.556,3.556,3.556,0.009,0.009,0.009,0.006,3.044,3.044,3.044,3.228,3.232,3.241,3.241,0,0.007,0,0,0,0,0,0.007,3.143,3.143,3.137,3.127,3.121,3.101,3.096,3.096,3.101,3.286,0.007,0,0,0,0,0,0,0,0,0,2.994,2.992,2.987,2.979,2.968,2.967,2.965,2.963,2.957,2.955,2.951,2.948,2.942,2.939,2.939,2.938,2.937,2.927,2.924,2.919,2.916,2.915,2.913,2.911,2.91,2.908,2.903,2.902,2.9,2.899,2.894,2.889,2.883,2.882,2.88,2.879,2.879,2.878,2.87,2.865,2.87,2.87,3.429,3.429,3.432,3.432,3.432,3.428,3.428,3.428,3.423,3.421,3.421,3.421,3.421,3.421,3.425,3.426,3.427,3.427,3.428,3.428,3.427,3.427,3.433,3.434,3.44,3.441,3.445,3.446,3.45,3.45,3.456,3.456,3.459,3.46,3.464,3.475,3.475,3.475,3.481,3.482,3.486,3.493,3.499,3.502,3.503,3.504,3.51,3.52,3.523,3.53,3.535,3.546,3.549,3.551,3.563,3.564,3.572,3.575,3.587,3.587,3.595,3.602,3.614,3.619,3.625,3.628,3.641,3.643,3.666,3.668,3.677,3.688,3.692,3.706,3.708,3.723,3.726,3.737,3.751,3.754,3.774,3.781,3.789,3.807,3.816,3.817,3.83,3.844,3.868,3.881,3.898,3.902,3.911,3.929,3.947,3.956,3.979,3.998,3.999,4.022,4.042,4.063,4.092,4.092,4.092,4.077,4.032,4.013,3.986,3.939,3.905,3.867,3.845,3.816,3.78,3.751,3.734,3.709,3.68,3.646,3.617,3.616,3.568,3.546,3.535,3.506,3.483,3.475,3.456,3.425,3.404,3.388,3.368,3.351,3.332,3.317,3.302,3.289,3.273,3.253,3.236,3.235,3.207,3.187,3.175,3.162,3.14,3.133,3.112,3.092,3.09,3.081,3.062,3.039,3.034,3.017,3.01,2.999,2.982,2.971,2.964,2.95,2.938,2.926,2.925,2.899,2.886,2.883,2.873,2.858,2.858,2.849,2.824,2.823,2.808,2.8,2.797,2.784,2.774,2.769,2.751,2.748,2.741,2.731,2.728,2.716,2.703,2.699,2.693,2.686,2.673,2.668,2.662,2.651,2.648,2.644,2.639,2.633,2.627,2.611,2.61,2.607,2.602,2.601,2.594,2.586,2.581,2.579,2.57,2.569,2.564,2.551,2.55,2.544,2.537,2.536,2.535,2.529,2.527,2.518,2.517,2.508,2.505,2.505,2.501,2.5,2.494,2.487,2.486,2.485,2.483,2.481,2.479,2.479,2.478,2.475,2.473,2.471,2.468,2.467,2.465,2.465,2.461,2.461,2.459,2.457,2.456,2.456,2.457,2.458,2.458,2.46,2.458,2.457,2.457,2.458,2.458,2.458,2.46,2.458,2.46,2.458,2.459,2.459,2.462,2.462,2.464,2.465,2.468,2.468,2.468,2.476,2.476,2.477,2.478,2.478,2.485,2.485,2.485,2.488,2.493,2.495,2.496,2.498,2.502,2.509,2.517,2.52,2.52,2.53,2.534,2.534,2.539,2.543,2.544,2.553,2.556,2.557,2.559,2.566,2.572,2.575,2.579,2.583,2.595,2.595,2.604,2.61,2.619,2.62,2.63,2.634,2.638,2.651,2.656,2.67,2.672,2.677,2.689,2.694,2.696,2.709,2.714,2.72,2.732,2.736,2.75,2.756,2.772,2.777,2.797,2.798,2.8,2.809,2.829,2.831,2.838,2.854,2.864,2.866,2.888,2.898,2.905,2.911,2.922,2.93,2.949,2.95,2.971,2.979,2.995,3.001,3.021,3.028,3.043,3.06,3.065,3.079,3.1,3.11,3.128,3.146,3.155,3.163,3.188,3.198,3.222,3.24,3.253,3.271,3.29,3.298,3.316,3.344,3.352,3.383,3.398,3.415,3.435,3.46,3.496,3.512,3.533,3.564,3.574,3.602,3.618,3.646,3.671,3.713,3.735,3.754,3.777,3.798,3.84,3.862,3.896,3.918,3.964,3.999,4.051,0.007,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 127.23} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.877901}
SEN {Time 127.23} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 127.232} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3114} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 1.8542} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8288} {Name Sonar15 Range 2.1082}
SEN {Time 127.271} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.167,0.167,0.178,0.176,0.177,0.178,0.178,0.186,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0.009,0.009,0.009,0.009,0.528,0.528,0.528,0.006,0.006,0.006,1.452,1.444,1.442,1.442,1.443,1.443,1.456,1.46,1.466,1.466,1.468,1.466,1.445,0.145,0.145,0.14,0.145,0.143,0.153,0.15,0.15,0.15,0.152,0.152,1.581,0.007,0,0,0,0,0,0.165,0.165,0.161,0.152,0.148,0.152,0.152,0.154,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.007,0,3.508,0,3.261,3.261,0.007,0,0,0,0,0,0,0,0,0,0,0,3.155,3.127,3.126,3.122,3.122,3.113,3.113,3.26,0,0,0,0,0,0,0,0,0,0,0,0.007,0,2.996,2.987,2.987,2.98,2.972,2.968,2.962,2.955,2.955,2.953,2.947,2.946,2.944,2.931,2.931,2.931,2.929,2.927,2.924,2.923,2.922,2.918,2.914,2.913,2.909,2.908,2.904,2.904,2.904,2.9,2.891,2.888,2.888,2.882,2.882,2.882,2.882,2.886,3.431,3.434,3.439,3.434,3.439,3.439,3.434,3.434,3.439,3.439,3.439,3.444,3.446,3.446,3.444,3.444,3.439,3.438,3.436,3.436,3.438,3.442,3.444,3.452,3.452,3.453,3.453,3.453,3.453,3.453,3.454,3.458,3.458,3.459,3.461,3.464,3.465,3.466,3.473,3.482,3.487,3.492,3.497,3.498,3.5,3.503,3.512,3.512,3.512,3.526,3.529,3.535,3.538,3.542,3.542,3.557,3.566,3.568,3.579,3.585,3.585,3.585,3.591,3.607,3.616,3.618,3.62,3.63,3.649,3.65,3.666,3.668,3.672,3.68,3.691,3.706,3.712,3.714,3.719,3.731,3.746,3.756,3.764,3.777,3.796,3.797,3.819,3.831,3.837,3.852,3.853,3.873,3.888,3.892,3.906,3.919,3.93,3.956,3.973,3.981,3.998,4.018,4.031,4.049,4.068,4.078,4.078,4.078,4.039,4.004,3.975,3.926,3.899,3.866,3.847,3.814,3.773,3.754,3.736,3.697,3.672,3.646,3.614,3.602,3.594,3.568,3.548,3.518,3.488,3.473,3.451,3.439,3.407,3.405,3.384,3.353,3.341,3.326,3.303,3.283,3.268,3.253,3.234,3.218,3.202,3.18,3.174,3.148,3.127,3.123,3.102,3.088,3.086,3.061,3.059,3.042,3.032,3.02,3.001,2.994,2.984,2.967,2.958,2.955,2.935,2.934,2.918,2.902,2.892,2.882,2.877,2.857,2.855,2.835,2.832,2.821,2.82,2.796,2.793,2.79,2.772,2.765,2.753,2.746,2.732,2.731,2.723,2.716,2.71,2.703,2.686,2.681,2.673,2.663,2.659,2.651,2.649,2.636,2.634,2.627,2.621,2.618,2.609,2.598,2.592,2.59,2.587,2.583,2.565,2.565,2.561,2.554,2.551,2.551,2.545,2.543,2.536,2.529,2.518,2.514,2.51,2.509,2.505,2.501,2.499,2.495,2.494,2.491,2.491,2.491,2.484,2.478,2.475,2.475,2.475,2.474,2.467,2.466,2.463,2.455,2.457,2.453,2.453,2.453,2.452,2.452,2.449,2.448,2.446,2.446,2.444,2.443,2.442,2.443,2.442,2.443,2.442,2.44,2.44,2.443,2.443,2.443,2.443,2.443,2.444,2.444,2.444,2.444,2.444,2.445,2.445,2.445,2.452,2.454,2.456,2.456,2.461,2.461,2.462,2.464,2.472,2.473,2.473,2.477,2.479,2.481,2.483,2.489,2.49,2.493,2.497,2.503,2.506,2.51,2.513,2.517,2.519,2.522,2.532,2.533,2.535,2.542,2.544,2.549,2.55,2.564,2.565,2.574,2.574,2.579,2.581,2.595,2.599,2.609,2.61,2.61,2.621,2.626,2.638,2.643,2.643,2.658,2.664,2.669,2.68,2.686,2.7,2.701,2.708,2.721,2.725,2.739,2.743,2.753,2.758,2.77,2.789,2.79,2.804,2.806,2.821,2.824,2.832,2.847,2.854,2.865,2.877,2.894,2.897,2.906,2.92,2.928,2.94,2.947,2.964,2.981,2.987,3.004,3.013,3.023,3.034,3.045,3.068,3.076,3.092,3.106,3.134,3.151,3.167,3.167,3.177,3.199,3.209,3.239,3.248,3.266,3.275,3.304,3.315,3.349,3.35,3.379,3.407,3.423,3.442,3.457,3.488,3.503,3.536,3.558,3.573,3.603,3.629,3.634,3.677,3.701,3.721,3.75,3.785,3.808,3.821,3.863,3.89,3.921,3.983,4.028,4.093,4.093,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,3.416,3.414,3.414,3.395,3.386,3.357,3.354,3.343,3.339,3.338,3.321,3.319,3.308,3.296,3.293,3.274,3.27,3.265,3.263,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 127.42} {Type Odometry} {Name Odometry} {Pose 0.000000,0.987300,-0.811578}
SEN {Time 127.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 127.424} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 6.477} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.9464} {Name Sonar8 Range 3.7338} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9906} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 2.1082}
SEN {Time 127.472} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.174,0.174,0.173,0.179,0.179,0.194,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0.007,0.009,0.538,0.55,0.55,0.55,1.466,1.466,1.466,1.462,1.459,1.453,1.453,1.453,1.461,1.465,1.477,1.478,1.486,1.486,1.498,1.504,1.512,1.518,1.52,1.52,1.526,1.534,1.541,1.544,1.546,1.546,1.546,0.143,0.143,0.143,0.143,0.142,0.148,0.148,0.148,0.143,0.148,0.158,0.168,0,0,0,0,0,0.165,0.163,0.162,0.154,0.154,0.154,0.156,0.158,0.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.522,3.408,3.254,3.178,3.178,3.219,3.219,3.219,3.24,3.24,3.241,0.007,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.111,3.111,3.111,3.112,3.265,3.324,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,2.977,2.972,2.969,2.969,2.959,2.955,2.955,2.951,2.951,2.944,2.939,2.938,2.936,2.936,2.926,2.924,2.919,2.916,2.916,2.915,2.912,2.909,2.908,2.907,2.898,2.898,2.898,2.898,2.89,2.889,2.888,2.888,2.888,2.888,2.888,2.914,3.434,3.436,3.44,3.44,3.44,3.44,3.439,3.439,3.439,3.44,3.437,3.438,3.436,3.438,3.438,3.438,3.436,3.438,3.438,3.443,3.445,3.446,3.446,3.445,3.448,3.446,3.446,3.452,3.452,3.452,3.455,3.455,3.459,3.46,3.466,3.473,3.475,3.477,3.477,3.481,3.485,3.487,3.498,3.498,3.499,3.505,3.51,3.51,3.518,3.521,3.536,3.542,3.544,3.545,3.559,3.561,3.567,3.571,3.582,3.588,3.592,3.597,3.6,3.613,3.617,3.623,3.627,3.634,3.639,3.647,3.655,3.666,3.67,3.689,3.696,3.701,3.716,3.726,3.729,3.736,3.754,3.766,3.768,3.771,3.785,3.795,3.816,3.82,3.836,3.843,3.871,3.873,3.9,3.902,3.914,3.925,3.948,3.965,3.974,3.976,3.999,4.021,4.027,4.064,0.016,0.016,0.016,4.059,4.025,3.99,3.969,3.927,3.883,3.85,3.828,3.808,3.779,3.75,3.724,3.692,3.675,3.63,3.62,3.596,3.575,3.548,3.523,3.499,3.476,3.459,3.444,3.418,3.403,3.391,3.364,3.346,3.335,3.317,3.292,3.281,3.25,3.24,3.233,3.214,3.2,3.184,3.175,3.158,3.136,3.117,3.096,3.087,3.078,3.061,3.049,3.034,3.021,3.008,2.993,2.981,2.972,2.952,2.949,2.93,2.925,2.914,2.901,2.893,2.88,2.876,2.871,2.852,2.846,2.835,2.825,2.823,2.809,2.796,2.789,2.769,2.764,2.753,2.746,2.738,2.734,2.725,2.72,2.705,2.698,2.693,2.684,2.684,2.674,2.672,2.657,2.645,2.641,2.637,2.634,2.633,2.619,2.604,2.598,2.597,2.595,2.586,2.58,2.564,2.563,2.562,2.561,2.561,2.551,2.538,2.535,2.533,2.532,2.524,2.518,2.513,2.51,2.504,2.504,2.5,2.496,2.488,2.488,2.482,2.482,2.476,2.474,2.472,2.471,2.471,2.465,2.461,2.461,2.461,2.456,2.455,2.455,2.453,2.452,2.45,2.448,2.446,2.442,2.441,2.438,2.437,2.437,2.437,2.436,2.436,2.434,2.434,2.434,2.436,2.436,2.436,2.435,2.435,2.434,2.435,2.435,2.438,2.438,2.438,2.438,2.438,2.441,2.442,2.442,2.442,2.442,2.451,2.451,2.451,2.452,2.452,2.453,2.457,2.459,2.465,2.473,2.474,2.48,2.48,2.481,2.482,2.483,2.495,2.495,2.496,2.5,2.501,2.507,2.508,2.518,2.527,2.532,2.534,2.539,2.539,2.54,2.548,2.555,2.563,2.564,2.566,2.569,2.569,2.583,2.585,2.586,2.6,2.603,2.612,2.615,2.626,2.632,2.649,2.651,2.66,2.662,2.672,2.675,2.678,2.69,2.694,2.706,2.709,2.723,2.729,2.739,2.759,2.762,2.769,2.777,2.787,2.792,2.807,2.81,2.825,2.834,2.85,2.853,2.873,2.877,2.887,2.902,2.903,2.919,2.934,2.937,2.949,2.967,2.984,2.989,3.005,3.007,3.026,3.035,3.054,3.066,3.084,3.108,3.109,3.121,3.136,3.151,3.164,3.186,3.198,3.205,3.238,3.249,3.278,3.289,3.308,3.319,3.343,3.356,3.381,3.397,3.418,3.441,3.451,3.487,3.498,3.534,3.555,3.583,3.605,3.628,3.648,3.679,3.699,3.728,3.749,3.774,3.813,3.826,3.858,3.896,3.922,3.951,3.989,4.019,4.08,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0.016,0.006,3.443,3.441,3.403,3.395,3.382,3.379,3.365,3.354,3.349,3.329,3.324,3.309,3.308,3.302,3.298,3.28,3.277,3.277,3.269,3.261,3.249,3.242,3.231,3.228,3.221,3.213,3.211,3.203,3.203,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 127.62} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.809833}
SEN {Time 127.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 127.623} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.9464} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9906} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 3.048}
SEN {Time 127.672} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.18,0.18,0.18,0.183,0.183,0.189,0,0,0,0,0,0,0,0,0,0,1.793,1.793,1.793,0,0,0,0,0,0.54,0.539,0.536,0.539,0.539,0.539,1.465,1.465,1.465,1.461,1.458,1.457,1.457,1.458,1.467,1.477,1.481,1.481,1.483,1.498,1.502,1.504,1.511,1.513,1.521,1.523,1.535,1.542,1.543,1.543,1.559,1.559,1.559,0.151,0.151,0.139,0.151,0.15,0.153,0.153,0.153,0.15,0.153,0.154,0.19,0,0,0,0,0,0.164,0.163,0.159,0.155,0.155,0.155,0.157,0.161,0.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,3.62,3.587,3.579,3.562,3.546,3.533,3.386,3.386,3.282,3.282,3.215,3.215,3.215,3.237,3.239,0,0,0,0,0,0,0,0,0,0,3.171,3.166,3.15,3.14,3.121,3.121,3.118,3.118,3.121,3.272,3.296,0,0,0,0,0,0,0,0,3.007,3.006,2.998,2.996,2.994,2.994,2.988,2.979,2.977,2.971,2.96,2.958,2.955,2.955,2.953,2.949,2.942,2.94,2.933,2.931,2.926,2.925,2.921,2.921,2.918,2.915,2.911,2.911,2.907,2.907,2.906,2.905,2.897,2.895,2.895,2.894,2.89,2.888,2.886,2.883,2.882,2.882,2.882,3.436,3.436,3.436,3.442,3.437,3.437,3.44,3.44,3.437,3.436,3.436,3.434,3.436,3.44,3.44,3.44,3.44,3.441,3.444,3.442,3.447,3.447,3.447,3.447,3.45,3.45,3.45,3.457,3.46,3.461,3.461,3.462,3.47,3.471,3.473,3.476,3.479,3.483,3.484,3.487,3.492,3.497,3.499,3.503,3.507,3.511,3.516,3.516,3.524,3.536,3.54,3.541,3.548,3.558,3.562,3.565,3.567,3.58,3.58,3.588,3.6,3.602,3.606,3.614,3.624,3.625,3.635,3.648,3.652,3.653,3.658,3.679,3.681,3.697,3.698,3.712,3.712,3.723,3.737,3.751,3.761,3.764,3.781,3.785,3.8,3.815,3.822,3.825,3.841,3.852,3.876,3.883,3.894,3.9,3.92,3.942,3.963,3.969,3.986,4.001,4.022,4.025,4.047,4.061,4.084,4.084,4.084,4.051,4.014,3.973,3.952,3.921,3.875,3.855,3.829,3.802,3.772,3.73,3.711,3.686,3.65,3.63,3.606,3.586,3.563,3.542,3.512,3.491,3.479,3.443,3.428,3.413,3.395,3.381,3.366,3.339,3.322,3.295,3.291,3.269,3.249,3.236,3.228,3.206,3.198,3.174,3.158,3.15,3.125,3.111,3.093,3.081,3.073,3.057,3.038,3.03,3.021,3.002,2.99,2.979,2.965,2.952,2.947,2.931,2.918,2.909,2.902,2.892,2.88,2.868,2.863,2.85,2.845,2.834,2.82,2.819,2.799,2.795,2.786,2.769,2.759,2.755,2.747,2.739,2.738,2.724,2.716,2.703,2.698,2.689,2.679,2.671,2.67,2.663,2.654,2.641,2.641,2.637,2.635,2.627,2.619,2.611,2.601,2.596,2.589,2.587,2.582,2.576,2.558,2.557,2.556,2.548,2.545,2.541,2.539,2.534,2.523,2.518,2.513,2.513,2.505,2.501,2.496,2.495,2.495,2.491,2.491,2.488,2.483,2.476,2.476,2.475,2.472,2.464,2.462,2.462,2.462,2.462,2.462,2.457,2.457,2.455,2.455,2.45,2.446,2.446,2.446,2.444,2.442,2.436,2.436,2.436,2.439,2.439,2.44,2.439,2.439,2.438,2.439,2.438,2.438,2.436,2.438,2.438,2.439,2.44,2.442,2.441,2.441,2.442,2.445,2.449,2.449,2.449,2.449,2.449,2.449,2.452,2.452,2.454,2.457,2.463,2.468,2.468,2.472,2.471,2.471,2.473,2.475,2.48,2.49,2.493,2.496,2.51,2.51,2.511,2.517,2.517,2.517,2.52,2.525,2.534,2.536,2.547,2.548,2.552,2.559,2.565,2.566,2.574,2.58,2.583,2.587,2.592,2.606,2.611,2.615,2.62,2.62,2.624,2.642,2.648,2.654,2.66,2.674,2.675,2.679,2.685,2.691,2.697,2.714,2.72,2.721,2.741,2.743,2.757,2.76,2.772,2.785,2.789,2.803,2.812,2.824,2.826,2.853,2.856,2.867,2.879,2.882,2.892,2.906,2.916,2.929,2.943,2.951,2.959,2.977,2.983,2.994,3.011,3.023,3.04,3.042,3.064,3.079,3.09,3.11,3.118,3.134,3.148,3.159,3.176,3.196,3.203,3.236,3.237,3.263,3.272,3.3,3.315,3.342,3.352,3.374,3.397,3.408,3.436,3.452,3.487,3.501,3.519,3.549,3.563,3.598,3.615,3.643,3.682,3.694,3.731,3.753,3.805,3.831,3.854,3.854,3.881,3.912,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.448,3.439,3.418,3.416,3.402,3.39,3.388,3.364,3.358,3.346,3.339,3.33,3.317,3.307,3.303,3.293,3.288,3.278,3.273,3.27,3.257,3.256,3.247,3.244,3.228,3.224,3.224,3.214,3.212,3.212,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 127.83} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.809833}
SEN {Time 127.83} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 127.83} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 2.9464} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.5146} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9906} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.6162} {Name Sonar15 Range 3.048}
SEN {Time 127.873} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.181,0.183,0.183,0.184,0,0,0,0,0,0,0,0,0,0,1.793,1.793,1.793,0,0,0,0,0,0.536,0.534,0.534,0.534,0.536,0.538,1.463,1.463,1.463,1.456,1.453,1.453,1.455,1.456,1.458,1.473,1.477,1.481,1.488,1.495,1.495,1.5,1.509,1.519,1.526,1.527,1.529,1.544,1.544,1.548,1.557,1.557,1.557,0.149,0.149,0.146,0.146,0.147,0.153,0.153,0.153,0.147,0.153,0.153,0.176,0,0,0,0,0,0,0.157,0.156,0.151,0.151,0.151,0.154,0.157,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.844,0,0.007,0,0,0,0,0,0,0,0,0,0,3.608,3.579,3.578,3.568,3.546,3.545,3.422,3.422,3.372,3.372,3.221,3.221,3.221,3.259,0.007,0,0,0,0,0,0,0,0,0,0,3.169,3.158,3.143,3.133,3.124,3.123,3.123,3.123,3.123,3.26,3.289,0,0,0,0,0,0,0,0,3.006,3,2.995,2.993,2.992,2.987,2.982,2.98,2.973,2.973,2.965,2.963,2.958,2.954,2.951,2.948,2.947,2.933,2.931,2.928,2.928,2.924,2.922,2.919,2.913,2.911,2.909,2.909,2.9,2.9,2.9,2.899,2.898,2.898,2.895,2.893,2.893,2.891,2.886,2.886,2.883,2.883,2.883,3.438,3.438,3.438,3.438,3.441,3.438,3.441,3.441,3.441,3.433,3.443,3.437,3.437,3.437,3.443,3.443,3.444,3.444,3.447,3.447,3.445,3.445,3.447,3.448,3.448,3.449,3.45,3.451,3.456,3.459,3.459,3.46,3.464,3.465,3.469,3.473,3.479,3.482,3.487,3.491,3.498,3.499,3.499,3.508,3.509,3.511,3.512,3.513,3.528,3.532,3.533,3.541,3.547,3.548,3.559,3.563,3.567,3.568,3.582,3.587,3.598,3.598,3.613,3.614,3.621,3.624,3.637,3.642,3.648,3.651,3.666,3.674,3.685,3.687,3.697,3.707,3.713,3.722,3.732,3.748,3.761,3.769,3.773,3.787,3.795,3.807,3.827,3.834,3.846,3.848,3.876,3.883,3.892,3.904,3.92,3.934,3.951,3.969,3.987,3.994,4.012,4.026,4.048,4.06,4.085,4.085,4.085,4.043,4.001,3.975,3.94,3.91,3.886,3.861,3.824,3.803,3.758,3.728,3.71,3.685,3.669,3.619,3.608,3.582,3.556,3.534,3.511,3.492,3.468,3.444,3.434,3.41,3.395,3.371,3.352,3.339,3.323,3.301,3.287,3.261,3.253,3.238,3.219,3.204,3.188,3.172,3.15,3.137,3.129,3.106,3.095,3.087,3.073,3.06,3.033,3.029,3.012,2.998,2.979,2.972,2.96,2.953,2.937,2.929,2.919,2.911,2.908,2.893,2.881,2.877,2.859,2.852,2.839,2.833,2.82,2.81,2.798,2.789,2.789,2.771,2.768,2.756,2.754,2.735,2.735,2.729,2.717,2.706,2.698,2.688,2.677,2.674,2.667,2.664,2.653,2.644,2.644,2.639,2.635,2.625,2.621,2.607,2.601,2.593,2.59,2.585,2.581,2.566,2.56,2.559,2.557,2.548,2.546,2.537,2.536,2.532,2.522,2.52,2.518,2.514,2.511,2.508,2.507,2.501,2.5,2.489,2.487,2.478,2.475,2.474,2.475,2.47,2.467,2.467,2.463,2.463,2.463,2.461,2.461,2.453,2.451,2.449,2.449,2.447,2.447,2.443,2.443,2.441,2.441,2.44,2.44,2.44,2.44,2.44,2.44,2.44,2.44,2.44,2.44,2.437,2.433,2.433,2.433,2.433,2.437,2.437,2.439,2.439,2.439,2.439,2.442,2.444,2.446,2.446,2.448,2.448,2.448,2.454,2.45,2.45,2.459,2.46,2.465,2.47,2.47,2.476,2.479,2.482,2.484,2.484,2.489,2.494,2.496,2.496,2.5,2.509,2.511,2.513,2.52,2.521,2.527,2.53,2.535,2.542,2.545,2.552,2.559,2.562,2.562,2.564,2.575,2.579,2.586,2.591,2.605,2.607,2.608,2.622,2.625,2.627,2.643,2.648,2.653,2.656,2.658,2.67,2.679,2.69,2.697,2.703,2.71,2.717,2.73,2.741,2.745,2.754,2.764,2.773,2.78,2.798,2.805,2.807,2.821,2.839,2.846,2.853,2.862,2.875,2.882,2.901,2.904,2.919,2.933,2.938,2.954,2.959,2.971,2.982,2.994,3.011,3.027,3.029,3.043,3.059,3.074,3.091,3.1,3.111,3.128,3.141,3.167,3.175,3.189,3.203,3.212,3.268,3.284,3.296,3.296,3.303,3.335,3.34,3.374,3.391,3.423,3.433,3.456,3.48,3.509,3.52,3.545,3.569,3.607,3.62,3.649,3.659,3.691,3.726,3.743,3.761,3.809,3.828,3.846,3.894,3.926,3.941,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.463,3.428,3.427,3.413,3.399,3.382,3.38,3.368,3.365,3.356,3.338,3.338,3.315,3.309,3.307,3.285,3.284,3.278,3.275,3.272,3.26,3.252,3.243,3.238,3.226,3.223,3.215,3.213,3.207,3.207,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 128.03} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.809833}
SEN {Time 128.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 128.033} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.064} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.5146} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 128.071} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.168,0.168,0.174,0.174,0.174,0.178,0.178,0.187,0,0,0,0,0,0,0,0,0,0,1.79,1.79,1.79,0,0,0,0,0,0.539,0.537,0.535,0.537,0.537,0.552,1.468,1.468,1.468,1.462,1.46,1.456,1.456,1.462,1.466,1.47,1.475,1.483,1.486,1.495,1.495,1.501,1.503,1.516,1.518,1.525,1.528,1.549,1.552,1.552,1.558,1.558,1.558,0.149,0.149,0.146,0.146,0.143,0.15,0.151,0.153,0.153,0.153,0.155,0.175,0,0,0,0,0,0.172,0.161,0.161,0.159,0.151,0.151,0.158,0.158,0.164,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.852,0,0.007,0,0,0,0,0,0,0,0,0,0,3.613,3.587,3.581,3.561,3.555,3.538,3.434,3.434,3.371,3.371,3.434,0,3.253,0,0.007,0,0,0,0,0,0,0,0,0,0,3.161,3.155,3.148,3.129,3.121,3.119,3.115,3.115,3.115,3.27,3.297,0,0,0,0,0,0,0,0,3.014,2.998,2.996,2.994,2.993,2.989,2.978,2.974,2.974,2.974,2.958,2.957,2.955,2.955,2.951,2.947,2.946,2.94,2.933,2.929,2.929,2.928,2.927,2.922,2.922,2.92,2.914,2.912,2.909,2.908,2.903,2.901,2.901,2.9,2.9,2.896,2.889,2.889,2.889,2.886,2.881,2.881,2.881,3.441,3.441,3.441,3.441,3.441,3.435,3.443,3.443,3.443,3.441,3.442,3.442,3.442,3.442,3.444,3.444,3.441,3.444,3.444,3.441,3.444,3.448,3.453,3.453,3.453,3.453,3.454,3.457,3.455,3.457,3.46,3.461,3.463,3.467,3.476,3.476,3.479,3.482,3.483,3.484,3.484,3.492,3.504,3.506,3.507,3.507,3.511,3.517,3.525,3.531,3.539,3.544,3.545,3.548,3.555,3.562,3.572,3.578,3.582,3.594,3.596,3.6,3.61,3.614,3.62,3.628,3.632,3.645,3.646,3.664,3.671,3.679,3.686,3.702,3.706,3.709,3.711,3.732,3.738,3.749,3.766,3.77,3.776,3.786,3.798,3.804,3.827,3.832,3.842,3.857,3.872,3.884,3.893,3.911,3.918,3.938,3.959,3.969,3.984,3.992,4.011,4.013,4.043,4.066,4.081,4.081,4.081,4.046,4.02,3.966,3.945,3.92,3.882,3.852,3.824,3.796,3.754,3.729,3.701,3.677,3.65,3.625,3.608,3.585,3.568,3.534,3.516,3.494,3.473,3.446,3.43,3.414,3.393,3.381,3.354,3.337,3.326,3.293,3.293,3.263,3.253,3.237,3.221,3.21,3.19,3.171,3.156,3.137,3.124,3.119,3.097,3.092,3.065,3.061,3.038,3.037,3.017,3,2.994,2.979,2.96,2.957,2.942,2.932,2.92,2.91,2.899,2.89,2.882,2.871,2.86,2.849,2.848,2.836,2.82,2.806,2.801,2.798,2.783,2.78,2.762,2.757,2.747,2.746,2.731,2.728,2.716,2.709,2.707,2.686,2.682,2.68,2.669,2.661,2.659,2.649,2.64,2.64,2.64,2.626,2.621,2.604,2.597,2.594,2.594,2.583,2.583,2.571,2.568,2.561,2.561,2.547,2.538,2.538,2.531,2.529,2.527,2.524,2.52,2.515,2.507,2.505,2.501,2.501,2.499,2.49,2.485,2.483,2.477,2.475,2.473,2.47,2.467,2.463,2.461,2.461,2.461,2.461,2.457,2.455,2.454,2.454,2.454,2.45,2.448,2.445,2.443,2.441,2.441,2.441,2.441,2.441,2.439,2.439,2.438,2.436,2.436,2.436,2.436,2.435,2.429,2.429,2.432,2.432,2.435,2.436,2.436,2.436,2.44,2.44,2.44,2.451,2.451,2.45,2.451,2.45,2.45,2.452,2.452,2.454,2.454,2.457,2.46,2.47,2.471,2.478,2.478,2.482,2.483,2.483,2.489,2.489,2.489,2.499,2.504,2.507,2.507,2.51,2.515,2.523,2.527,2.536,2.539,2.541,2.541,2.545,2.553,2.562,2.565,2.572,2.578,2.581,2.585,2.591,2.606,2.608,2.61,2.621,2.622,2.627,2.641,2.644,2.655,2.658,2.663,2.68,2.683,2.693,2.697,2.699,2.72,2.723,2.731,2.737,2.744,2.758,2.758,2.771,2.792,2.794,2.802,2.814,2.825,2.836,2.854,2.857,2.859,2.877,2.877,2.898,2.904,2.916,2.933,2.943,2.948,2.966,2.974,2.981,2.998,3.006,3.023,3.035,3.049,3.07,3.076,3.092,3.104,3.116,3.138,3.14,3.158,3.166,3.198,3.199,3.227,3.244,3.26,3.272,3.29,3.318,3.338,3.354,3.372,3.39,3.424,3.432,3.458,3.473,3.504,3.527,3.553,3.573,3.598,3.62,3.64,3.68,3.69,3.716,3.751,3.769,3.808,3.827,3.861,3.886,3.91,4.011,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,4.052,3.458,3.435,3.432,3.421,3.4,3.393,3.38,3.367,3.363,3.344,3.34,3.326,3.32,3.31,3.3,3.287,3.278,3.278,3.272,3.27,3.257,3.253,3.244,3.244,3.238,3.228,3.218,3.21,3.203,3.203,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 128.23} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.809833}
SEN {Time 128.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 128.225} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.5146} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 128.268} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.174,0.174,0.174,0.176,0.176,0.189,0,0,0,0,0,0,0,0,0,0,1.791,1.791,1.791,0,0,0,0,0,0.543,0.542,0.542,0.542,0.542,0.542,1.47,1.47,1.47,1.455,1.454,1.454,1.455,1.463,1.469,1.475,1.479,1.484,1.491,1.493,1.5,1.501,1.51,1.517,1.521,1.523,1.533,1.548,1.548,1.555,1.555,1.555,1.555,0.151,0.151,0.143,0.143,0.144,0.148,0.148,0.152,0.15,0.152,0.154,0.187,0,0,0,0,0,0.169,0.168,0.16,0.156,0.152,0.152,0.152,0.155,0.159,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.839,0,0.007,0,0,0,0,0,0,0,0,0,0,3.607,3.592,3.576,3.563,3.552,3.53,3.417,3.417,3.349,3.349,3.417,0,3.259,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.159,3.158,3.13,3.121,3.118,3.118,3.118,3.272,3.306,0,0,0,0,0,0,0,0,0,3.005,2.995,2.994,2.993,2.991,2.986,2.983,2.976,2.973,2.969,2.956,2.956,2.955,2.954,2.954,2.947,2.94,2.939,2.936,2.933,2.928,2.925,2.918,2.917,2.914,2.914,2.912,2.909,2.909,2.905,2.904,2.902,2.9,2.9,2.896,2.896,2.89,2.889,2.888,2.887,2.887,2.887,2.888,3.438,3.44,3.44,3.44,3.439,3.437,3.437,3.435,3.433,3.432,3.433,3.433,3.437,3.438,3.443,3.444,3.443,3.444,3.444,3.442,3.442,3.445,3.444,3.447,3.45,3.453,3.454,3.459,3.459,3.46,3.459,3.46,3.466,3.467,3.472,3.478,3.479,3.48,3.487,3.49,3.492,3.499,3.499,3.501,3.504,3.512,3.515,3.523,3.524,3.525,3.534,3.539,3.55,3.552,3.563,3.566,3.569,3.573,3.584,3.589,3.591,3.6,3.608,3.621,3.622,3.63,3.633,3.646,3.652,3.659,3.661,3.684,3.687,3.697,3.707,3.713,3.714,3.73,3.737,3.749,3.754,3.76,3.767,3.779,3.784,3.804,3.822,3.83,3.837,3.851,3.885,3.888,3.896,3.912,3.922,3.934,3.95,3.967,3.982,3.989,4.008,4.01,4.05,4.07,4.073,4.073,4.073,4.057,4.007,3.973,3.941,3.906,3.878,3.853,3.817,3.796,3.751,3.736,3.709,3.677,3.65,3.62,3.607,3.579,3.563,3.531,3.511,3.491,3.47,3.443,3.43,3.414,3.397,3.375,3.363,3.336,3.323,3.3,3.286,3.268,3.254,3.246,3.226,3.214,3.19,3.18,3.162,3.142,3.129,3.11,3.098,3.079,3.067,3.056,3.038,3.026,3.013,2.997,2.995,2.976,2.961,2.954,2.949,2.928,2.918,2.908,2.904,2.883,2.882,2.871,2.861,2.852,2.837,2.83,2.82,2.816,2.796,2.794,2.782,2.778,2.758,2.754,2.747,2.743,2.732,2.724,2.709,2.703,2.693,2.692,2.681,2.678,2.668,2.666,2.651,2.647,2.641,2.641,2.641,2.627,2.624,2.606,2.603,2.598,2.594,2.593,2.572,2.57,2.565,2.558,2.558,2.55,2.548,2.539,2.529,2.527,2.521,2.521,2.517,2.512,2.504,2.504,2.503,2.503,2.503,2.493,2.49,2.484,2.479,2.479,2.476,2.474,2.474,2.466,2.463,2.461,2.462,2.461,2.457,2.457,2.452,2.451,2.45,2.45,2.449,2.444,2.444,2.444,2.442,2.442,2.442,2.436,2.436,2.435,2.438,2.438,2.438,2.438,2.44,2.438,2.431,2.431,2.439,2.439,2.439,2.439,2.439,2.441,2.443,2.445,2.445,2.446,2.446,2.446,2.448,2.448,2.445,2.451,2.451,2.452,2.455,2.466,2.466,2.47,2.47,2.472,2.473,2.477,2.483,2.488,2.496,2.501,2.503,2.505,2.504,2.505,2.507,2.511,2.519,2.523,2.524,2.539,2.541,2.542,2.55,2.556,2.559,2.561,2.565,2.573,2.574,2.581,2.587,2.597,2.603,2.607,2.61,2.611,2.625,2.637,2.648,2.653,2.657,2.66,2.665,2.668,2.685,2.688,2.696,2.699,2.714,2.714,2.73,2.737,2.747,2.756,2.759,2.77,2.794,2.797,2.808,2.808,2.828,2.834,2.842,2.855,2.867,2.876,2.882,2.896,2.902,2.921,2.938,2.944,2.954,2.955,2.973,2.982,2.999,3.004,3.009,3.032,3.048,3.062,3.082,3.088,3.105,3.116,3.128,3.145,3.159,3.175,3.198,3.214,3.223,3.251,3.27,3.283,3.292,3.305,3.34,3.343,3.375,3.394,3.418,3.428,3.453,3.479,3.505,3.522,3.553,3.562,3.606,3.614,3.647,3.667,3.689,3.722,3.742,3.767,3.803,3.829,3.852,3.893,3.913,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,4.053,3.452,3.429,3.428,3.408,3.395,3.384,3.381,3.37,3.357,3.347,3.333,3.328,3.322,3.314,3.307,3.296,3.284,3.283,3.274,3.262,3.255,3.253,3.248,3.247,3.231,3.226,3.214,3.21,3.209,3.209,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 128.43} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.804597}
SEN {Time 128.43} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 128.427} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.127} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 128.468} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.168,0.168,0.177,0.177,0.177,0.181,0.181,0.195,0,0,0,0,0,0,0,0,0,0,1.779,1.779,1.779,0,0,0,0,0,0.542,0.542,0.541,0.542,0.542,0.552,1.464,1.464,1.464,1.462,1.46,1.455,1.455,1.46,1.466,1.475,1.477,1.492,1.493,1.494,1.503,1.505,1.511,1.518,1.527,1.528,1.529,1.545,1.551,1.556,1.561,1.573,1.573,1.573,0.153,0.147,0.147,0.148,0.151,0.151,0.152,0.151,0.152,0.155,0.187,0,0,0,0,0,0,0.168,0.161,0.155,0.155,0.155,0.155,0.156,0.159,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.841,0,0.007,0,0,0,0,0,0,0,0,0,0,3.599,3.579,3.573,3.565,3.548,3.531,3.468,3.468,3.468,3.468,3.468,0,3.247,3.247,0.007,0,0,0,0,0,0,0,0,0,0,0,3.161,3.157,3.142,3.142,3.115,3.115,3.129,3.265,3.265,0,0,0,0,0,0,0,0,0,3.016,2.997,2.997,2.991,2.989,2.983,2.981,2.976,2.972,2.964,2.962,2.96,2.959,2.953,2.952,2.945,2.939,2.939,2.938,2.938,2.929,2.924,2.919,2.919,2.918,2.913,2.912,2.91,2.908,2.902,2.902,2.896,2.896,2.897,2.897,2.897,2.897,2.891,2.886,2.886,2.891,2.902,3.424,3.441,3.441,3.441,3.442,3.442,3.441,3.442,3.441,3.441,3.437,3.434,3.434,3.441,3.441,3.441,3.441,3.442,3.443,3.443,3.445,3.447,3.447,3.45,3.45,3.453,3.454,3.457,3.458,3.458,3.459,3.462,3.463,3.467,3.472,3.481,3.481,3.483,3.483,3.484,3.488,3.49,3.493,3.497,3.498,3.513,3.515,3.519,3.519,3.53,3.536,3.539,3.548,3.548,3.564,3.566,3.575,3.575,3.576,3.581,3.591,3.593,3.602,3.603,3.612,3.626,3.631,3.64,3.64,3.645,3.658,3.665,3.682,3.684,3.697,3.701,3.718,3.718,3.732,3.737,3.756,3.764,3.768,3.77,3.79,3.813,3.822,3.831,3.84,3.845,3.865,3.876,3.901,3.904,3.907,3.921,3.941,3.964,3.974,3.997,3.998,4.019,4.032,4.049,4.074,4.074,4.074,4.057,4.017,3.999,3.962,3.936,3.895,3.878,3.843,3.809,3.785,3.751,3.73,3.695,3.661,3.643,3.614,3.607,3.574,3.555,3.52,3.513,3.479,3.472,3.447,3.426,3.406,3.384,3.369,3.346,3.333,3.312,3.304,3.274,3.262,3.243,3.24,3.218,3.195,3.183,3.167,3.153,3.139,3.115,3.111,3.091,3.089,3.062,3.055,3.031,3.024,3.008,3,2.99,2.978,2.958,2.946,2.934,2.926,2.915,2.902,2.899,2.885,2.88,2.867,2.856,2.848,2.837,2.83,2.814,2.809,2.8,2.786,2.783,2.773,2.765,2.752,2.741,2.739,2.726,2.719,2.71,2.705,2.69,2.689,2.677,2.676,2.664,2.658,2.645,2.641,2.641,2.634,2.631,2.626,2.622,2.602,2.602,2.598,2.591,2.581,2.573,2.57,2.558,2.558,2.553,2.54,2.54,2.534,2.533,2.525,2.521,2.518,2.517,2.515,2.508,2.502,2.502,2.5,2.492,2.488,2.487,2.484,2.482,2.475,2.474,2.474,2.464,2.463,2.462,2.461,2.461,2.453,2.453,2.453,2.453,2.455,2.455,2.449,2.448,2.444,2.442,2.439,2.439,2.436,2.436,2.436,2.437,2.437,2.437,2.437,2.436,2.436,2.436,2.435,2.436,2.436,2.437,2.436,2.437,2.439,2.44,2.44,2.443,2.443,2.443,2.443,2.446,2.447,2.448,2.452,2.452,2.452,2.452,2.452,2.456,2.465,2.47,2.471,2.475,2.477,2.477,2.482,2.483,2.49,2.5,2.5,2.502,2.507,2.507,2.507,2.512,2.52,2.524,2.524,2.524,2.531,2.537,2.546,2.547,2.551,2.56,2.565,2.571,2.574,2.577,2.587,2.591,2.594,2.605,2.608,2.621,2.623,2.628,2.631,2.651,2.651,2.665,2.666,2.666,2.674,2.684,2.696,2.7,2.706,2.72,2.726,2.729,2.743,2.749,2.765,2.769,2.769,2.794,2.797,2.81,2.811,2.829,2.842,2.857,2.86,2.866,2.89,2.891,2.907,2.913,2.928,2.937,2.954,2.955,2.97,2.982,2.991,3.005,3.024,3.032,3.041,3.061,3.074,3.09,3.107,3.132,3.148,3.148,3.156,3.171,3.186,3.198,3.22,3.236,3.254,3.276,3.294,3.308,3.327,3.351,3.364,3.388,3.401,3.425,3.449,3.468,3.492,3.524,3.543,3.562,3.581,3.612,3.644,3.652,3.696,3.71,3.739,3.761,3.784,3.868,3.898,3.939,3.939,3.939,3.959,3.983,4.033,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,4.076,3.445,3.42,3.411,3.398,3.397,3.379,3.377,3.351,3.341,3.338,3.324,3.322,3.311,3.306,3.302,3.294,3.286,3.277,3.276,3.264,3.249,3.244,3.243,3.234,3.229,3.219,3.205,3.205,3.204,3.204,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 128.62} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.774926}
SEN {Time 128.62} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 128.622} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.2766} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.127} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 128.667} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.179,0.178,0.179,0.179,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.546,0.546,0.546,0.552,1.472,1.472,1.472,1.461,1.459,1.459,1.459,1.462,1.471,1.475,1.487,1.492,1.493,1.499,1.504,1.511,1.516,1.519,1.521,1.534,1.534,1.544,1.558,1.56,1.571,1.579,1.59,1.596,0,0,0,0.15,0.15,0.141,0.141,0.145,0.147,0.147,0.147,0.147,0.152,0.162,0.171,0,0,0,0,0,0,0.17,0.156,0.156,0.156,0.156,0.157,0.157,0.162,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.563,3.563,3.563,3.563,0.007,0.006,3.167,0,0,3.261,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,3.137,3.133,3.137,3.265,3.265,3.317,0,0,0,0,0,0,0,0,0.007,0,3.002,3.001,2.997,2.988,2.985,2.971,2.97,2.97,2.962,2.961,2.961,2.953,2.952,2.94,2.937,2.937,2.937,2.935,2.934,2.927,2.924,2.924,2.923,2.921,2.92,2.911,2.911,2.909,2.906,2.903,2.9,2.899,2.897,2.895,2.891,2.891,2.887,2.887,2.898,3.44,3.441,3.444,3.441,3.441,3.444,3.441,3.441,3.441,3.441,3.441,3.441,3.441,3.442,3.445,3.445,3.445,3.448,3.448,3.448,3.451,3.452,3.452,3.452,3.452,3.453,3.454,3.456,3.462,3.463,3.467,3.468,3.469,3.472,3.472,3.472,3.475,3.481,3.482,3.483,3.484,3.489,3.498,3.503,3.505,3.51,3.515,3.519,3.521,3.525,3.53,3.535,3.546,3.546,3.548,3.562,3.564,3.573,3.579,3.592,3.593,3.594,3.601,3.617,3.618,3.631,3.636,3.646,3.648,3.658,3.658,3.679,3.686,3.693,3.694,3.698,3.721,3.722,3.741,3.741,3.757,3.758,3.773,3.791,3.793,3.804,3.82,3.836,3.837,3.843,3.857,3.88,3.894,3.902,3.916,3.936,3.942,3.958,3.984,3.995,4.004,4.02,4.037,4.059,4.095,4.095,4.095,4.063,4.034,3.991,3.955,3.927,3.892,3.864,3.831,3.81,3.769,3.748,3.73,3.688,3.683,3.645,3.616,3.602,3.57,3.549,3.519,3.498,3.472,3.455,3.433,3.405,3.397,3.374,3.362,3.338,3.319,3.311,3.289,3.261,3.255,3.234,3.231,3.212,3.194,3.17,3.154,3.148,3.134,3.12,3.111,3.09,3.078,3.054,3.04,3.026,3.025,3.003,3,2.976,2.961,2.953,2.943,2.931,2.921,2.905,2.893,2.88,2.874,2.862,2.848,2.842,2.834,2.821,2.808,2.803,2.795,2.791,2.773,2.769,2.763,2.758,2.751,2.74,2.729,2.714,2.71,2.698,2.697,2.685,2.676,2.676,2.671,2.657,2.655,2.647,2.63,2.626,2.625,2.621,2.612,2.594,2.593,2.593,2.59,2.589,2.58,2.57,2.568,2.558,2.558,2.552,2.548,2.538,2.534,2.522,2.52,2.518,2.513,2.509,2.501,2.5,2.494,2.492,2.483,2.483,2.483,2.476,2.471,2.468,2.468,2.468,2.468,2.466,2.463,2.459,2.456,2.455,2.455,2.446,2.444,2.444,2.444,2.444,2.44,2.44,2.442,2.439,2.442,2.442,2.442,2.439,2.439,2.439,2.439,2.436,2.436,2.435,2.434,2.434,2.434,2.434,2.434,2.438,2.438,2.438,2.438,2.438,2.438,2.438,2.439,2.44,2.444,2.444,2.444,2.445,2.453,2.453,2.455,2.453,2.453,2.455,2.459,2.459,2.464,2.467,2.467,2.474,2.484,2.491,2.497,2.497,2.498,2.498,2.501,2.504,2.507,2.518,2.527,2.529,2.531,2.532,2.54,2.545,2.549,2.555,2.561,2.57,2.578,2.58,2.581,2.584,2.592,2.599,2.603,2.608,2.612,2.624,2.625,2.638,2.643,2.654,2.656,2.66,2.671,2.686,2.69,2.696,2.715,2.72,2.72,2.729,2.734,2.744,2.762,2.765,2.774,2.787,2.79,2.805,2.805,2.822,2.83,2.839,2.848,2.859,2.88,2.885,2.899,2.909,2.923,2.936,2.943,2.954,2.973,2.978,2.988,2.994,3.019,3.027,3.042,3.051,3.061,3.083,3.097,3.105,3.114,3.139,3.152,3.169,3.189,3.206,3.219,3.235,3.243,3.27,3.28,3.308,3.325,3.346,3.359,3.385,3.409,3.429,3.457,3.48,3.485,3.515,3.534,3.554,3.576,3.607,3.629,3.659,3.691,3.716,3.749,3.76,3.777,3.824,3.848,3.864,3.907,3.935,3.968,4.076,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.007,3.377,3.366,3.35,3.334,3.333,3.322,3.319,3.302,3.301,3.291,3.276,3.274,3.269,3.249,3.248,3.24,3.239,3.232,3.223,3.213,3.212,3.205,3.2,3.189,3.187,3.185,3.183,3.175,3.159,3.157,3.151,3.151,3.151,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 128.82} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.677188}
SEN {Time 128.82} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 128.825} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 3.5052} {Name Sonar5 Range 3.5052} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.429} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 0.127} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 128.871} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.179,0.175,0.179,0.179,0.233,0,0.009,0.009,0.009,0.006,1.481,1.481,1.481,1.481,1.479,1.479,1.479,1.487,1.491,1.496,1.496,1.505,1.508,1.511,1.516,1.527,1.527,1.528,1.535,1.542,1.557,1.57,1.586,1.586,1.59,1.593,1.603,1.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.149,0.143,0.143,0.143,0.146,0.139,0.146,0.152,0.152,0.145,0.152,0.162,0.17,0,0,0,0,0,0.164,0.158,0.158,0.152,0.152,0.152,0.156,0.163,0.188,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,3.63,3.617,3.617,3.617,0.006,0.006,0.006,0.006,3.404,3.282,3.404,0,3.263,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.157,3.157,3.157,0,0,0,0,0,0,0,0,0,0,3.025,3.025,3.02,3.018,3.006,2.997,2.996,2.989,2.988,2.976,2.971,2.97,2.97,2.964,2.963,2.958,2.948,2.947,2.947,2.946,2.943,2.939,2.937,2.931,2.93,2.926,2.924,2.922,2.922,2.919,2.914,2.913,2.911,2.911,2.91,2.903,2.901,2.901,2.894,2.893,2.893,2.894,3.445,3.445,3.445,3.446,3.446,3.446,3.446,3.446,3.444,3.444,3.444,3.445,3.444,3.445,3.445,3.446,3.446,3.446,3.454,3.454,3.455,3.457,3.458,3.46,3.462,3.462,3.464,3.47,3.469,3.472,3.475,3.475,3.477,3.477,3.481,3.482,3.494,3.495,3.503,3.509,3.508,3.513,3.516,3.517,3.518,3.52,3.525,3.543,3.543,3.544,3.548,3.55,3.565,3.567,3.572,3.581,3.59,3.591,3.602,3.605,3.616,3.619,3.621,3.627,3.633,3.637,3.646,3.657,3.663,3.671,3.678,3.684,3.7,3.705,3.72,3.72,3.732,3.734,3.755,3.758,3.77,3.786,3.791,3.794,3.812,3.831,3.839,3.857,3.862,3.864,3.888,3.905,3.917,3.923,3.943,3.963,3.964,3.992,3.998,4.016,4.042,4.048,4.058,4.09,4.09,4.09,4.069,4.029,3.999,3.957,3.929,3.886,3.866,3.833,3.811,3.766,3.749,3.715,3.678,3.663,3.634,3.613,3.592,3.571,3.558,3.521,3.492,3.49,3.46,3.443,3.423,3.399,3.379,3.36,3.336,3.331,3.303,3.297,3.264,3.25,3.232,3.216,3.202,3.184,3.168,3.158,3.129,3.121,3.111,3.097,3.081,3.061,3.051,3.035,3.016,3.013,2.991,2.989,2.97,2.963,2.953,2.942,2.932,2.924,2.912,2.897,2.879,2.877,2.858,2.85,2.835,2.833,2.817,2.81,2.792,2.79,2.777,2.775,2.754,2.75,2.732,2.729,2.723,2.718,2.714,2.696,2.688,2.681,2.677,2.671,2.664,2.656,2.651,2.638,2.637,2.627,2.626,2.612,2.607,2.603,2.593,2.593,2.588,2.582,2.578,2.576,2.562,2.56,2.553,2.552,2.546,2.533,2.525,2.521,2.517,2.516,2.514,2.511,2.507,2.505,2.505,2.501,2.494,2.485,2.485,2.485,2.485,2.482,2.466,2.465,2.46,2.455,2.455,2.455,2.45,2.45,2.45,2.448,2.447,2.447,2.44,2.437,2.435,2.435,2.435,2.435,2.435,2.435,2.433,2.431,2.43,2.429,2.428,2.423,2.423,2.425,2.425,2.426,2.429,2.426,2.426,2.429,2.426,2.426,2.429,2.429,2.431,2.433,2.437,2.438,2.438,2.438,2.44,2.441,2.442,2.444,2.445,2.445,2.458,2.458,2.461,2.461,2.458,2.458,2.461,2.466,2.471,2.472,2.473,2.478,2.481,2.484,2.494,2.495,2.496,2.496,2.497,2.511,2.515,2.52,2.522,2.522,2.535,2.539,2.541,2.545,2.555,2.563,2.573,2.575,2.578,2.581,2.593,2.593,2.595,2.608,2.616,2.625,2.627,2.64,2.641,2.644,2.651,2.666,2.668,2.674,2.687,2.689,2.706,2.712,2.715,2.723,2.734,2.747,2.747,2.763,2.776,2.778,2.789,2.801,2.811,2.819,2.834,2.851,2.853,2.863,2.866,2.884,2.898,2.909,2.915,2.925,2.938,2.954,2.955,2.974,2.987,3.002,3.008,3.019,3.028,3.049,3.069,3.077,3.098,3.107,3.125,3.138,3.151,3.173,3.177,3.207,3.219,3.229,3.256,3.271,3.279,3.291,3.321,3.342,3.342,3.367,3.417,3.445,3.445,3.457,3.488,3.522,3.526,3.557,3.589,3.604,3.632,3.661,3.684,3.704,3.74,3.758,3.801,3.809,3.84,3.875,3.887,3.936,3.973,4.05,0.007,0,0,0,0.007,0,0,0,0.007,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0.007,0,4.069,3.402,3.402,3.402,3.402,3.387,3.348,3.338,3.332,3.32,3.313,3.303,3.293,3.29,3.29,3.279,3.273,3.263,3.25,3.249,3.242,3.239,3.233,3.219,3.21,3.206,3.205,3.193,3.179,3.178,3.176,3.172,3.167,3.16,3.152,3.152,3.142,3.137,3.133,3.132,3.131,3.128,3.128,3.128,3.117,3.114,3.11,3.105,3.098,3.094,3.092,3.089,3.089,3.089,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 129.02} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.582940}
SEN {Time 129.03} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 129.025} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 1.3462} {Name Sonar4 Range 3.5052} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 1.9304} {Name Sonar7 Range 3.048} {Name Sonar8 Range 3.429} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.2794} {Name Sonar14 Range 2.1082} {Name Sonar15 Range 3.048}
SEN {Time 129.068} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.174,0.174,0.174,0.179,0.179,0.219,0,0,0,1.527,1.527,1.527,1.543,1.552,1.552,1.564,1.574,1.58,1.585,1.588,1.599,1.614,1.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.144,0.142,0.142,0.142,0.142,0.145,0.147,0.152,0.152,0.15,0.152,0.152,0.191,0,0,0,0,0,0,0.162,0.162,0.16,0.158,0.158,0.158,0.158,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0.009,3.623,0.009,0.007,3.564,3.52,3.437,3.311,3.311,3.311,3.278,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,3.033,3.029,3.017,3.015,3.014,3.005,3.005,2.997,2.989,2.983,2.983,2.983,2.983,2.983,2.973,2.967,2.962,2.96,2.956,2.955,2.955,2.952,2.952,2.942,2.94,2.933,2.933,2.929,2.929,2.929,2.929,2.925,2.921,2.919,2.915,2.911,2.91,2.91,2.907,2.906,2.906,2.907,3.45,3.45,3.452,3.454,3.452,3.452,3.452,3.449,3.445,3.447,3.445,3.445,3.447,3.448,3.45,3.451,3.451,3.453,3.453,3.455,3.457,3.459,3.459,3.459,3.459,3.457,3.457,3.457,3.472,3.473,3.473,3.479,3.481,3.481,3.484,3.489,3.497,3.499,3.502,3.509,3.51,3.514,3.517,3.521,3.527,3.528,3.53,3.538,3.547,3.55,3.55,3.557,3.57,3.575,3.579,3.582,3.59,3.603,3.61,3.61,3.612,3.62,3.629,3.631,3.641,3.652,3.654,3.665,3.673,3.674,3.686,3.686,3.702,3.703,3.722,3.725,3.736,3.744,3.748,3.757,3.772,3.773,3.786,3.807,3.809,3.82,3.829,3.849,3.849,3.868,3.874,3.875,3.902,3.914,3.928,3.949,3.96,3.974,3.987,4.007,4.025,4.037,4.04,4.085,0.016,0.016,0.016,4.031,4.003,3.973,3.956,3.926,3.88,3.87,3.828,3.809,3.772,3.748,3.717,3.699,3.669,3.641,3.615,3.603,3.571,3.551,3.527,3.501,3.471,3.459,3.431,3.412,3.389,3.362,3.353,3.332,3.314,3.301,3.285,3.253,3.248,3.22,3.201,3.199,3.178,3.175,3.152,3.139,3.117,3.101,3.092,3.079,3.061,3.05,3.037,3.014,3.008,2.985,2.975,2.96,2.959,2.936,2.935,2.922,2.904,2.895,2.885,2.872,2.862,2.855,2.843,2.842,2.832,2.819,2.804,2.785,2.785,2.771,2.768,2.762,2.754,2.745,2.728,2.727,2.711,2.699,2.699,2.686,2.675,2.669,2.664,2.657,2.654,2.637,2.635,2.627,2.622,2.615,2.609,2.602,2.593,2.588,2.588,2.575,2.571,2.564,2.562,2.555,2.554,2.543,2.541,2.534,2.528,2.524,2.519,2.512,2.51,2.508,2.501,2.501,2.5,2.498,2.491,2.491,2.482,2.481,2.476,2.467,2.462,2.461,2.461,2.461,2.453,2.453,2.452,2.45,2.448,2.448,2.446,2.439,2.438,2.437,2.436,2.433,2.432,2.43,2.427,2.427,2.424,2.424,2.424,2.424,2.424,2.42,2.419,2.42,2.42,2.419,2.419,2.426,2.419,2.419,2.424,2.423,2.423,2.424,2.424,2.425,2.426,2.425,2.425,2.427,2.428,2.43,2.433,2.433,2.433,2.436,2.435,2.435,2.436,2.446,2.446,2.447,2.447,2.454,2.458,2.458,2.458,2.466,2.466,2.47,2.471,2.478,2.488,2.488,2.49,2.494,2.497,2.498,2.499,2.509,2.51,2.512,2.525,2.529,2.529,2.536,2.541,2.55,2.557,2.557,2.558,2.569,2.569,2.575,2.587,2.587,2.593,2.6,2.612,2.616,2.617,2.643,2.645,2.652,2.657,2.665,2.674,2.68,2.688,2.694,2.708,2.71,2.719,2.726,2.734,2.738,2.753,2.767,2.772,2.788,2.795,2.797,2.821,2.827,2.833,2.834,2.852,2.855,2.868,2.886,2.896,2.907,2.911,2.931,2.934,2.951,2.973,2.977,2.985,3,3.007,3.028,3.042,3.053,3.055,3.071,3.093,3.115,3.119,3.132,3.147,3.161,3.181,3.196,3.22,3.23,3.251,3.266,3.288,3.312,3.328,3.346,3.367,3.393,3.398,3.428,3.437,3.47,3.487,3.514,3.523,3.565,3.573,3.604,3.622,3.649,3.682,3.697,3.721,3.755,3.79,3.81,3.838,3.865,3.909,3.94,3.963,4.041,0.007,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,3.409,3.399,3.381,3.371,3.355,3.349,3.335,3.327,3.312,3.304,3.301,3.3,3.278,3.275,3.275,3.253,3.246,3.239,3.235,3.233,3.229,3.222,3.199,3.196,3.195,3.188,3.184,3.184,3.179,3.176,3.164,3.152,3.152,3.15,3.145,3.144,3.142,3.141,3.134,3.132,3.122,3.121,3.12,3.108,3.107,3.106,3.095,3.092,3.092,3.086,3.083,3.081,3.081,3.081,3.076,3.081,3.081,3.084,3.084,3.084,3.074,3.068,3.063,3.063,3.063,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 129.22} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.582940}
SEN {Time 129.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 129.225} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.5052} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.429} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.9906} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.2794} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 3.048}
SEN {Time 129.263} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.173,0.173,0.178,0.178,0.181,0.182,0.182,0.237,0,0,0,0,1.54,1.54,1.54,1.547,1.556,1.572,1.575,1.579,1.58,1.6,1.608,1.619,1.633,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.142,0.142,0.142,0.147,0.151,0.153,0.155,0.156,0.155,0.156,0.161,0.19,0,0,0,0,0,0,0.165,0.162,0.157,0.155,0.155,0.157,0.165,0.193,0,0,0,0,0.007,0,0,0,0,0,3.636,3.622,3.603,3.602,3.577,3.574,3.5,3.5,3.491,3.491,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.163,3.156,3.151,3.138,3.138,3.156,3.306,0.007,0,0,0,0,0,0,0,0,3.033,3.033,3.028,3.016,3.011,3.011,3.005,2.997,2.996,2.994,2.989,2.989,2.986,2.98,2.976,2.971,2.965,2.96,2.957,2.955,2.953,2.95,2.946,2.944,2.943,2.937,2.932,2.932,2.93,2.93,2.93,2.928,2.922,2.914,2.912,2.911,2.911,2.91,2.91,2.91,2.91,2.918,3.448,3.455,3.455,3.455,3.452,3.451,3.451,3.451,3.451,3.451,3.451,3.448,3.451,3.453,3.453,3.457,3.457,3.453,3.457,3.456,3.456,3.458,3.459,3.459,3.46,3.46,3.467,3.467,3.468,3.475,3.476,3.478,3.484,3.484,3.484,3.486,3.487,3.494,3.505,3.507,3.51,3.51,3.515,3.531,3.531,3.537,3.542,3.542,3.543,3.549,3.551,3.56,3.568,3.572,3.578,3.586,3.593,3.596,3.6,3.604,3.61,3.614,3.621,3.624,3.629,3.643,3.651,3.66,3.66,3.681,3.683,3.686,3.69,3.703,3.709,3.714,3.732,3.742,3.748,3.758,3.762,3.772,3.788,3.789,3.793,3.815,3.824,3.842,3.849,3.859,3.878,3.896,3.898,3.911,3.92,3.945,3.953,3.966,3.972,3.985,4.018,4.025,4.047,4.051,0.016,0.016,0.016,4.083,4.022,4.006,3.979,3.937,3.913,3.886,3.839,3.831,3.787,3.786,3.737,3.72,3.696,3.666,3.641,3.617,3.586,3.562,3.543,3.52,3.499,3.473,3.446,3.439,3.404,3.379,3.361,3.345,3.336,3.312,3.304,3.271,3.258,3.246,3.226,3.211,3.208,3.179,3.163,3.154,3.134,3.119,3.095,3.091,3.085,3.064,3.049,3.035,3.026,3.004,2.988,2.976,2.965,2.955,2.938,2.921,2.908,2.907,2.898,2.882,2.875,2.859,2.85,2.847,2.832,2.824,2.816,2.796,2.787,2.777,2.771,2.769,2.758,2.742,2.738,2.735,2.721,2.711,2.711,2.694,2.692,2.68,2.666,2.658,2.654,2.65,2.638,2.629,2.621,2.619,2.607,2.601,2.6,2.6,2.585,2.585,2.584,2.577,2.569,2.564,2.563,2.561,2.551,2.548,2.538,2.537,2.527,2.523,2.522,2.52,2.511,2.503,2.499,2.498,2.496,2.495,2.489,2.483,2.48,2.468,2.467,2.464,2.464,2.459,2.458,2.456,2.455,2.452,2.45,2.45,2.443,2.443,2.441,2.441,2.439,2.436,2.43,2.43,2.428,2.428,2.428,2.429,2.427,2.427,2.424,2.424,2.424,2.424,2.424,2.424,2.418,2.418,2.418,2.418,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.424,2.424,2.425,2.428,2.428,2.43,2.433,2.433,2.433,2.437,2.44,2.442,2.441,2.442,2.449,2.451,2.453,2.454,2.455,2.458,2.464,2.465,2.466,2.477,2.48,2.485,2.485,2.491,2.491,2.491,2.496,2.496,2.499,2.507,2.512,2.517,2.529,2.532,2.534,2.542,2.543,2.55,2.553,2.558,2.565,2.569,2.572,2.578,2.584,2.587,2.603,2.61,2.618,2.63,2.636,2.637,2.649,2.651,2.66,2.663,2.672,2.684,2.69,2.698,2.711,2.713,2.728,2.733,2.739,2.742,2.757,2.773,2.785,2.788,2.79,2.809,2.812,2.828,2.833,2.846,2.856,2.858,2.878,2.893,2.906,2.911,2.923,2.937,2.945,2.967,2.973,2.992,2.994,3.01,3.019,3.028,3.047,3.059,3.065,3.093,3.1,3.109,3.123,3.137,3.151,3.178,3.183,3.202,3.221,3.245,3.259,3.268,3.293,3.325,3.329,3.353,3.377,3.395,3.414,3.432,3.454,3.473,3.501,3.517,3.541,3.575,3.579,3.624,3.641,3.67,3.692,3.718,3.75,3.776,3.803,3.827,3.862,3.895,3.921,3.945,4.027,0,0.007,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.42,3.407,3.384,3.382,3.366,3.36,3.356,3.334,3.333,3.327,3.307,3.306,3.294,3.282,3.28,3.272,3.27,3.255,3.252,3.241,3.239,3.229,3.226,3.208,3.206,3.202,3.194,3.192,3.19,3.186,3.174,3.168,3.162,3.152,3.15,3.148,3.148,3.145,3.144,3.138,3.132,3.126,3.118,3.114,3.11,3.108,3.108,3.106,3.096,3.095,3.094,3.091,3.091,3.085,3.083,3.081,3.076,3.076,3.076,3.077,3.077,3.077,3.071,3.068,3.068,3.068,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 129.42} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.582940}
SEN {Time 129.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 129.423} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 1.6002} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.429} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.9906} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.2794} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.1148}
SEN {Time 129.464} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.18,0.18,0.18,0.246,0,0,0,1.533,1.533,1.533,1.545,1.548,1.556,1.566,1.572,1.579,1.583,1.602,1.607,1.624,1.63,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.15,0.14,0.14,0.14,0.146,0.146,0.147,0.148,0.148,0.147,0.148,0.158,0.207,0,0,0,0,0,0,0.166,0.16,0.159,0.158,0.158,0.159,0.164,0.195,0,0,0,0,0.007,0,0,0,0,0,3.639,3.623,3.598,3.598,3.582,3.569,3.512,3.512,3.508,3.508,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.168,3.164,3.156,3.134,3.134,3.156,3.317,0.007,0,0,0,0,0,0,0,0,3.038,3.037,3.025,3.023,3.011,3.011,3.008,2.998,2.994,2.993,2.989,2.988,2.983,2.98,2.973,2.973,2.965,2.963,2.957,2.957,2.95,2.95,2.95,2.95,2.941,2.938,2.937,2.936,2.935,2.935,2.931,2.927,2.927,2.916,2.916,2.911,2.91,2.909,2.899,2.899,2.899,2.905,3.452,3.453,3.453,3.452,3.452,3.45,3.45,3.45,3.45,3.453,3.453,3.45,3.456,3.447,3.447,3.449,3.449,3.449,3.45,3.452,3.458,3.459,3.461,3.461,3.465,3.465,3.465,3.466,3.469,3.47,3.472,3.48,3.481,3.481,3.484,3.486,3.488,3.5,3.501,3.507,3.507,3.515,3.519,3.521,3.524,3.528,3.535,3.538,3.543,3.546,3.55,3.556,3.569,3.573,3.574,3.582,3.587,3.588,3.598,3.604,3.608,3.616,3.622,3.627,3.644,3.644,3.654,3.659,3.669,3.675,3.685,3.685,3.696,3.699,3.713,3.714,3.725,3.74,3.741,3.76,3.761,3.766,3.795,3.796,3.802,3.821,3.831,3.832,3.857,3.858,3.878,3.884,3.897,3.904,3.915,3.938,3.959,3.967,3.984,3.993,4.021,4.03,4.046,4.07,0.016,0.016,0.016,4.081,4.024,4.011,3.983,3.938,3.916,3.888,3.841,3.826,3.793,3.784,3.737,3.714,3.681,3.656,3.638,3.611,3.586,3.577,3.539,3.521,3.497,3.473,3.439,3.435,3.393,3.374,3.367,3.342,3.33,3.322,3.292,3.271,3.267,3.238,3.228,3.212,3.202,3.179,3.172,3.15,3.131,3.116,3.105,3.095,3.071,3.065,3.05,3.03,3.016,3.002,2.988,2.977,2.972,2.954,2.949,2.927,2.92,2.906,2.901,2.887,2.866,2.859,2.856,2.845,2.831,2.824,2.808,2.796,2.79,2.778,2.773,2.772,2.765,2.758,2.74,2.733,2.72,2.706,2.703,2.696,2.688,2.677,2.674,2.666,2.654,2.651,2.647,2.633,2.626,2.612,2.605,2.603,2.602,2.597,2.584,2.583,2.579,2.577,2.569,2.563,2.562,2.553,2.553,2.544,2.535,2.527,2.524,2.517,2.512,2.511,2.505,2.504,2.503,2.5,2.5,2.499,2.487,2.487,2.484,2.467,2.466,2.465,2.465,2.465,2.462,2.459,2.455,2.453,2.448,2.448,2.446,2.445,2.44,2.44,2.44,2.44,2.437,2.43,2.43,2.43,2.429,2.429,2.426,2.426,2.423,2.423,2.423,2.424,2.425,2.425,2.425,2.419,2.419,2.419,2.421,2.421,2.421,2.421,2.421,2.421,2.421,2.426,2.426,2.426,2.429,2.429,2.432,2.432,2.435,2.435,2.435,2.435,2.442,2.446,2.447,2.449,2.449,2.45,2.454,2.456,2.459,2.466,2.466,2.467,2.467,2.471,2.487,2.487,2.492,2.493,2.496,2.499,2.499,2.499,2.508,2.509,2.514,2.517,2.523,2.533,2.539,2.546,2.552,2.556,2.557,2.565,2.571,2.573,2.583,2.59,2.593,2.595,2.609,2.622,2.634,2.636,2.643,2.647,2.654,2.657,2.67,2.675,2.678,2.692,2.693,2.704,2.711,2.722,2.736,2.744,2.748,2.757,2.77,2.776,2.782,2.789,2.803,2.823,2.825,2.83,2.851,2.857,2.858,2.88,2.892,2.897,2.914,2.915,2.94,2.942,2.96,2.963,2.988,2.988,3.004,3.017,3.03,3.048,3.06,3.061,3.09,3.106,3.107,3.124,3.144,3.166,3.166,3.192,3.2,3.226,3.233,3.257,3.28,3.298,3.319,3.329,3.356,3.37,3.385,3.413,3.434,3.465,3.478,3.497,3.517,3.538,3.561,3.582,3.606,3.639,3.652,3.695,3.747,3.776,3.806,3.806,3.83,3.85,3.891,3.91,3.95,3.979,4.055,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.437,3.406,3.394,3.379,3.375,3.36,3.358,3.344,3.34,3.323,3.305,3.304,3.297,3.293,3.277,3.277,3.265,3.257,3.254,3.235,3.234,3.229,3.227,3.209,3.199,3.197,3.19,3.19,3.185,3.183,3.177,3.175,3.158,3.158,3.156,3.149,3.148,3.145,3.143,3.135,3.129,3.126,3.124,3.117,3.11,3.109,3.105,3.098,3.095,3.092,3.092,3.092,3.089,3.089,3.088,3.081,3.081,3.081,3.081,3.081,3.081,3.072,3.072,3.069,3.069,3.074,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 129.62} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.582940}
SEN {Time 129.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 129.616} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.8702} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.9906} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.1148}
SEN {Time 129.663} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.169,0.169,0.18,0.182,0.182,0.238,1.523,1.523,1.523,1.523,1.523,1.53,1.541,1.549,1.55,1.567,1.576,1.581,1.585,1.599,1.601,1.616,1.637,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.14,0.153,0.153,0.153,0.153,0.153,0.16,0.196,0,0,0,0,0,0.171,0.164,0.161,0.155,0.153,0.153,0.155,0.156,0.203,0,0,0,0,0.007,0,0,0,0,0,3.638,3.632,3.61,3.601,3.587,3.574,3.514,3.514,3.514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.161,3.161,3.156,3.156,3.162,3.324,0,0.007,0,0,0,0,0,0,0,0,3.033,3.031,3.029,3.011,3.01,3.005,3.003,3.002,3,2.996,2.996,2.988,2.986,2.978,2.975,2.97,2.965,2.965,2.965,2.954,2.951,2.946,2.949,2.946,2.941,2.94,2.937,2.936,2.936,2.935,2.931,2.929,2.926,2.912,2.912,2.912,2.91,2.907,2.905,2.905,2.905,2.911,3.452,3.452,3.455,3.455,3.456,3.455,3.448,3.448,3.449,3.449,3.449,3.45,3.453,3.453,3.453,3.453,3.452,3.452,3.454,3.454,3.458,3.459,3.461,3.46,3.46,3.46,3.466,3.463,3.466,3.47,3.475,3.476,3.478,3.478,3.482,3.493,3.494,3.499,3.502,3.504,3.51,3.514,3.521,3.523,3.524,3.525,3.532,3.538,3.542,3.544,3.556,3.559,3.57,3.575,3.575,3.585,3.593,3.595,3.597,3.598,3.611,3.616,3.624,3.626,3.628,3.641,3.65,3.66,3.676,3.677,3.682,3.693,3.697,3.702,3.715,3.723,3.725,3.739,3.742,3.752,3.764,3.77,3.795,3.796,3.8,3.821,3.823,3.835,3.848,3.869,3.877,3.888,3.906,3.915,3.931,3.94,3.96,3.964,3.978,3.993,4.01,4.026,4.044,4.068,0.016,0.016,0.016,4.067,4.024,3.99,3.982,3.945,3.912,3.88,3.849,3.82,3.799,3.78,3.747,3.716,3.684,3.662,3.637,3.609,3.589,3.558,3.547,3.516,3.491,3.469,3.442,3.432,3.408,3.381,3.363,3.333,3.327,3.313,3.305,3.276,3.264,3.24,3.225,3.215,3.2,3.175,3.164,3.144,3.132,3.121,3.097,3.088,3.08,3.061,3.051,3.032,3.022,3.004,2.989,2.973,2.972,2.96,2.943,2.921,2.911,2.909,2.904,2.878,2.87,2.859,2.85,2.845,2.828,2.823,2.815,2.803,2.79,2.78,2.775,2.769,2.76,2.749,2.734,2.732,2.717,2.714,2.699,2.698,2.684,2.678,2.677,2.661,2.655,2.646,2.637,2.633,2.625,2.62,2.606,2.604,2.597,2.597,2.587,2.586,2.579,2.571,2.564,2.559,2.557,2.556,2.553,2.542,2.533,2.53,2.523,2.521,2.518,2.511,2.506,2.499,2.498,2.495,2.493,2.493,2.483,2.481,2.479,2.473,2.47,2.464,2.46,2.46,2.459,2.459,2.458,2.454,2.454,2.453,2.442,2.439,2.439,2.439,2.438,2.437,2.436,2.432,2.43,2.43,2.429,2.425,2.423,2.421,2.421,2.421,2.423,2.425,2.425,2.424,2.424,2.424,2.424,2.424,2.424,2.423,2.418,2.418,2.416,2.416,2.416,2.416,2.416,2.423,2.423,2.424,2.426,2.433,2.434,2.439,2.439,2.441,2.443,2.443,2.445,2.445,2.449,2.449,2.45,2.453,2.455,2.455,2.463,2.468,2.472,2.472,2.486,2.486,2.486,2.486,2.499,2.499,2.502,2.505,2.51,2.518,2.519,2.52,2.529,2.537,2.538,2.542,2.545,2.549,2.55,2.567,2.568,2.572,2.579,2.581,2.597,2.6,2.606,2.622,2.622,2.632,2.638,2.646,2.647,2.651,2.672,2.679,2.68,2.699,2.701,2.704,2.712,2.73,2.74,2.748,2.768,2.768,2.775,2.785,2.79,2.792,2.805,2.817,2.821,2.832,2.84,2.859,2.861,2.875,2.888,2.902,2.91,2.919,2.93,2.948,2.957,2.971,2.983,2.995,3.002,3.023,3.024,3.046,3.061,3.064,3.089,3.092,3.111,3.129,3.145,3.159,3.172,3.192,3.209,3.214,3.239,3.259,3.277,3.289,3.316,3.333,3.353,3.375,3.394,3.408,3.438,3.45,3.48,3.488,3.515,3.541,3.57,3.581,3.614,3.642,3.658,3.685,3.704,3.745,3.765,3.811,3.824,3.845,3.891,3.924,3.945,4.014,4.04,4.094,4.094,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,3.418,3.397,3.393,3.383,3.367,3.358,3.353,3.334,3.33,3.325,3.319,3.304,3.301,3.285,3.278,3.268,3.264,3.256,3.243,3.241,3.236,3.232,3.215,3.207,3.204,3.195,3.195,3.188,3.184,3.181,3.176,3.162,3.156,3.155,3.154,3.154,3.153,3.143,3.139,3.132,3.132,3.13,3.119,3.115,3.109,3.109,3.102,3.096,3.096,3.092,3.092,3.09,3.09,3.088,3.083,3.081,3.079,3.079,3.079,3.077,3.077,3.077,3.074,3.063,3.063,3.063,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 129.83} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.582940}
SEN {Time 129.83} {Type Tachometer} {Name LeftRight} {Vel -0.007620,0.007620}
SEN {Time 129.827} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.1148}
SEN {Time 129.865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.175,0.175,0.178,0.186,0.186,0.23,0,0,0,1.533,1.533,1.533,1.546,1.549,1.553,1.564,1.578,1.581,1.586,1.596,1.609,1.616,1.635,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.141,0.139,0.139,0.138,0.141,0.147,0.15,0.152,0.154,0.153,0.154,0.161,0.192,0,0,0,0,0,0.162,0.161,0.159,0.155,0.155,0.155,0.158,0.16,0.198,0,0,0,0,0.007,0,0,0,0,0,3.638,3.619,3.601,3.588,3.578,3.569,3.508,3.508,3.506,3.508,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,3.182,3.171,3.162,3.149,3.138,3.138,3.162,3.311,0.007,0,0,0,0,0,0,0,0,3.033,3.033,3.025,3.018,3.011,3.011,3.007,3.002,2.995,2.988,2.986,2.985,2.979,2.975,2.973,2.972,2.967,2.966,2.962,2.962,2.958,2.948,2.948,2.945,2.944,2.942,2.941,2.935,2.933,2.932,2.932,2.927,2.922,2.911,2.911,2.911,2.91,2.91,2.906,2.906,2.906,2.915,3.449,3.45,3.45,3.455,3.455,3.451,3.451,3.454,3.451,3.454,3.454,3.449,3.449,3.452,3.452,3.452,3.452,3.451,3.451,3.451,3.451,3.456,3.459,3.459,3.459,3.459,3.466,3.47,3.47,3.471,3.473,3.477,3.482,3.485,3.488,3.489,3.489,3.492,3.5,3.507,3.511,3.511,3.513,3.516,3.524,3.536,3.536,3.537,3.544,3.546,3.552,3.562,3.569,3.576,3.579,3.584,3.585,3.592,3.598,3.605,3.609,3.614,3.615,3.632,3.634,3.643,3.656,3.66,3.668,3.67,3.684,3.689,3.702,3.703,3.72,3.721,3.731,3.74,3.742,3.754,3.764,3.768,3.782,3.797,3.809,3.813,3.83,3.832,3.841,3.852,3.876,3.89,3.897,3.911,3.926,3.94,3.964,3.969,3.979,3.996,4.013,4.014,4.042,4.062,0.016,0.016,0.016,4.064,4.03,4.008,3.961,3.941,3.905,3.886,3.854,3.82,3.794,3.775,3.739,3.7,3.682,3.662,3.638,3.607,3.595,3.56,3.535,3.516,3.507,3.469,3.449,3.425,3.4,3.389,3.361,3.34,3.329,3.32,3.299,3.272,3.262,3.262,3.251,3.225,3.202,3.178,3.168,3.155,3.132,3.113,3.096,3.093,3.074,3.064,3.045,3.03,3.018,2.994,2.986,2.978,2.97,2.955,2.949,2.918,2.917,2.906,2.903,2.883,2.88,2.855,2.855,2.849,2.825,2.824,2.808,2.801,2.79,2.781,2.774,2.772,2.762,2.751,2.74,2.738,2.723,2.715,2.703,2.691,2.682,2.677,2.665,2.663,2.657,2.647,2.636,2.635,2.628,2.622,2.611,2.61,2.603,2.59,2.588,2.583,2.578,2.57,2.569,2.565,2.561,2.55,2.55,2.543,2.537,2.531,2.527,2.516,2.514,2.506,2.502,2.5,2.495,2.494,2.493,2.488,2.488,2.484,2.481,2.475,2.471,2.465,2.465,2.465,2.464,2.461,2.46,2.457,2.455,2.454,2.448,2.444,2.439,2.436,2.435,2.435,2.43,2.43,2.43,2.43,2.423,2.425,2.421,2.421,2.424,2.424,2.423,2.424,2.423,2.42,2.423,2.421,2.421,2.424,2.424,2.421,2.42,2.417,2.417,2.417,2.417,2.417,2.424,2.425,2.425,2.426,2.43,2.434,2.434,2.435,2.437,2.437,2.437,2.448,2.451,2.451,2.453,2.454,2.457,2.457,2.459,2.459,2.462,2.471,2.471,2.476,2.483,2.485,2.485,2.488,2.493,2.497,2.499,2.505,2.514,2.514,2.524,2.527,2.529,2.539,2.544,2.544,2.547,2.55,2.551,2.571,2.576,2.576,2.581,2.589,2.59,2.598,2.608,2.61,2.616,2.631,2.635,2.642,2.651,2.661,2.661,2.682,2.688,2.692,2.701,2.702,2.717,2.72,2.729,2.741,2.75,2.752,2.774,2.779,2.791,2.793,2.816,2.821,2.827,2.834,2.848,2.851,2.866,2.876,2.891,2.904,2.91,2.922,2.934,2.939,2.963,2.974,2.983,3.001,3.007,3.026,3.031,3.049,3.055,3.065,3.083,3.09,3.112,3.135,3.144,3.158,3.171,3.184,3.198,3.226,3.238,3.257,3.278,3.296,3.309,3.331,3.365,3.375,3.402,3.41,3.432,3.451,3.474,3.5,3.515,3.542,3.574,3.592,3.622,3.643,3.666,3.695,3.716,3.745,3.768,3.799,3.829,3.851,3.89,3.919,3.94,3.986,4.021,0.016,0.016,0,0,0,0,0,0.007,0,0,0.009,0.009,0,0,0,0,0.007,0,0,0,0,4.031,3.424,3.404,3.396,3.383,3.37,3.369,3.353,3.343,3.332,3.32,3.305,3.299,3.293,3.279,3.277,3.274,3.259,3.254,3.241,3.228,3.228,3.228,3.227,3.217,3.211,3.205,3.195,3.191,3.189,3.186,3.173,3.167,3.157,3.156,3.154,3.15,3.144,3.135,3.135,3.133,3.128,3.123,3.123,3.119,3.115,3.114,3.096,3.094,3.094,3.092,3.089,3.088,3.087,3.085,3.084,3.078,3.082,3.082,3.082,3.082,3.082,3.072,3.07,3.064,3.064,3.064,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 130.02} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.575959}
SEN {Time 130.02} {Type Tachometer} {Name LeftRight} {Vel -0.045720,0.045720}
SEN {Time 130.021} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.1778} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.0132}
SEN {Time 130.067} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.17,0.17,0.172,0.183,0.183,0.236,0,0,0,0,1.543,1.543,1.543,1.553,1.555,1.568,1.576,1.581,1.595,1.601,1.611,1.621,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.144,0.142,0.142,0.142,0.142,0.143,0.149,0.154,0.154,0.145,0.154,0.158,0.196,0,0,0,0,0,0.167,0.163,0.161,0.158,0.154,0.154,0.155,0.155,0.191,0,0,0,0,0.007,0,0,0,0,0,3.636,3.618,3.609,3.597,3.582,3.558,3.513,3.513,3.513,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.188,3.166,3.162,3.145,3.145,3.145,3.156,3.282,0,0,0,0,0,0,0,0,0,3.035,3.033,3.028,3.018,3.017,3.009,3.007,2.999,2.996,2.991,2.989,2.984,2.981,2.979,2.974,2.971,2.968,2.961,2.958,2.954,2.952,2.95,2.944,2.941,2.939,2.935,2.935,2.935,2.935,2.935,2.932,2.929,2.928,2.913,2.912,2.912,2.907,2.906,2.906,2.904,2.904,2.904,3.451,3.451,3.451,3.453,3.449,3.449,3.448,3.453,3.453,3.453,3.453,3.453,3.453,3.455,3.452,3.451,3.455,3.455,3.458,3.458,3.458,3.458,3.461,3.462,3.463,3.465,3.465,3.468,3.47,3.473,3.485,3.485,3.487,3.488,3.488,3.49,3.494,3.5,3.506,3.506,3.519,3.519,3.526,3.526,3.529,3.531,3.531,3.533,3.543,3.551,3.559,3.562,3.562,3.58,3.582,3.589,3.592,3.599,3.607,3.611,3.611,3.619,3.626,3.636,3.642,3.654,3.655,3.657,3.672,3.674,3.692,3.694,3.7,3.711,3.719,3.721,3.742,3.751,3.755,3.758,3.768,3.79,3.801,3.802,3.816,3.817,3.835,3.844,3.868,3.869,3.892,3.898,3.902,3.919,3.942,3.948,3.961,3.981,3.997,4.013,4.028,4.044,4.062,0.016,0.016,0.016,4.067,4.033,4.003,3.972,3.946,3.918,3.885,3.864,3.829,3.797,3.773,3.749,3.722,3.691,3.661,3.638,3.612,3.592,3.581,3.545,3.522,3.498,3.473,3.453,3.432,3.402,3.387,3.365,3.346,3.332,3.313,3.295,3.276,3.258,3.246,3.219,3.206,3.198,3.177,3.164,3.148,3.122,3.119,3.099,3.098,3.07,3.068,3.051,3.033,3.022,3.01,2.987,2.977,2.962,2.952,2.939,2.933,2.906,2.904,2.892,2.888,2.871,2.864,2.852,2.837,2.834,2.817,2.816,2.806,2.793,2.779,2.775,2.761,2.759,2.75,2.739,2.728,2.721,2.711,2.704,2.693,2.691,2.676,2.676,2.666,2.658,2.641,2.641,2.627,2.623,2.619,2.608,2.604,2.599,2.597,2.591,2.584,2.57,2.566,2.562,2.559,2.553,2.547,2.546,2.539,2.534,2.533,2.528,2.519,2.516,2.508,2.508,2.506,2.5,2.496,2.496,2.493,2.49,2.483,2.48,2.475,2.465,2.464,2.463,2.464,2.46,2.453,2.453,2.454,2.449,2.449,2.441,2.441,2.439,2.438,2.438,2.437,2.436,2.434,2.432,2.425,2.424,2.424,2.424,2.423,2.421,2.423,2.42,2.42,2.419,2.418,2.418,2.419,2.418,2.419,2.419,2.419,2.42,2.42,2.42,2.42,2.421,2.421,2.423,2.423,2.426,2.426,2.429,2.432,2.435,2.44,2.44,2.44,2.442,2.443,2.447,2.45,2.453,2.456,2.456,2.457,2.461,2.462,2.462,2.47,2.47,2.48,2.483,2.488,2.493,2.495,2.495,2.497,2.51,2.51,2.513,2.515,2.521,2.522,2.525,2.529,2.539,2.544,2.553,2.557,2.563,2.564,2.57,2.58,2.583,2.586,2.598,2.6,2.618,2.619,2.633,2.635,2.648,2.651,2.654,2.66,2.668,2.686,2.694,2.695,2.702,2.712,2.729,2.732,2.736,2.749,2.754,2.767,2.779,2.787,2.797,2.807,2.81,2.829,2.84,2.841,2.85,2.865,2.869,2.884,2.89,2.915,2.921,2.925,2.94,2.951,2.961,2.985,2.995,2.998,3.011,3.024,3.05,3.055,3.078,3.081,3.095,3.108,3.127,3.137,3.15,3.165,3.186,3.198,3.223,3.24,3.262,3.27,3.288,3.306,3.334,3.35,3.372,3.39,3.421,3.434,3.454,3.465,3.485,3.527,3.531,3.559,3.586,3.611,3.634,3.653,3.686,3.712,3.74,3.769,3.795,3.832,3.875,3.94,3.94,0.007,4.053,4.053,4.092,4.092,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0.007,0,4.068,3.398,3.397,3.377,3.37,3.358,3.34,3.339,3.327,3.324,3.305,3.291,3.289,3.283,3.276,3.272,3.267,3.255,3.247,3.233,3.229,3.228,3.228,3.215,3.209,3.194,3.184,3.182,3.178,3.176,3.176,3.167,3.16,3.156,3.155,3.151,3.151,3.139,3.135,3.129,3.128,3.128,3.127,3.119,3.112,3.1,3.1,3.099,3.09,3.09,3.087,3.085,3.085,3.082,3.081,3.077,3.077,3.081,3.08,3.08,3.08,3.08,3.071,3.066,3.064,3.056,3.056,3.056,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 130.22} {Type Odometry} {Name Odometry} {Pose 0.000000,0.989840,-0.511381}
SEN {Time 130.22} {Type Tachometer} {Name LeftRight} {Vel -0.058420,0.058420}
SEN {Time 130.225} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.3114} {Name Sonar2 Range 2.3114} {Name Sonar3 Range 2.3622} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.302} {Name Sonar8 Range 3.302} {Name Sonar9 Range 2.4892} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.651} {Name Sonar13 Range 0.2032} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.0132}
SEN {Time 130.259} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.18,0.18,0.183,0.183,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.167,0.146,0.146,0.143,0.146,0.147,0.148,0.148,0.153,0.153,0.154,0.155,0.241,0,0,0,0,0,0.164,0.157,0.154,0.15,0.15,0.15,0.152,0.157,0.183,0,0,0.009,0.007,0.006,0.006,0.007,0.006,3.174,3.206,3.206,3.206,3.278,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.007,3.007,3.006,3.005,2.995,2.988,2.988,2.987,2.986,2.979,2.97,2.967,2.965,2.958,2.958,2.958,2.957,2.957,2.955,2.95,2.946,2.94,2.937,2.937,2.937,2.934,2.928,2.923,2.922,2.918,2.918,2.918,2.916,2.916,2.916,2.916,2.916,3.452,3.455,3.455,3.455,3.455,3.455,3.455,3.454,3.454,3.458,3.458,3.458,3.458,3.458,3.456,3.454,3.451,3.451,3.452,3.452,3.455,3.459,3.461,3.461,3.463,3.465,3.469,3.47,3.472,3.48,3.482,3.483,3.483,3.49,3.494,3.497,3.498,3.498,3.501,3.509,3.51,3.511,3.516,3.517,3.521,3.525,3.528,3.538,3.546,3.551,3.551,3.568,3.571,3.579,3.588,3.593,3.605,3.607,3.609,3.61,3.617,3.625,3.635,3.642,3.643,3.662,3.664,3.679,3.682,3.685,3.698,3.701,3.713,3.723,3.725,3.74,3.742,3.753,3.754,3.772,3.778,3.793,3.798,3.818,3.822,3.837,3.845,3.856,3.871,3.888,3.895,3.905,3.909,3.933,3.944,3.959,3.97,3.99,3.999,4.015,4.032,4.042,4.061,0.016,0.016,0.016,4.06,4.033,3.993,3.965,3.932,3.899,3.877,3.833,3.813,3.78,3.751,3.717,3.699,3.671,3.655,3.627,3.607,3.584,3.569,3.533,3.512,3.486,3.476,3.45,3.431,3.405,3.382,3.369,3.352,3.326,3.313,3.282,3.279,3.251,3.231,3.216,3.201,3.184,3.17,3.141,3.14,3.126,3.103,3.095,3.077,3.068,3.061,3.042,3.032,3.008,3.005,2.989,2.97,2.96,2.954,2.932,2.924,2.914,2.905,2.894,2.877,2.871,2.855,2.837,2.829,2.822,2.808,2.805,2.783,2.777,2.773,2.768,2.755,2.741,2.735,2.722,2.71,2.705,2.703,2.695,2.681,2.681,2.67,2.666,2.663,2.657,2.643,2.64,2.625,2.615,2.613,2.605,2.602,2.593,2.59,2.582,2.573,2.564,2.557,2.55,2.549,2.539,2.538,2.534,2.524,2.523,2.522,2.518,2.508,2.506,2.506,2.5,2.495,2.493,2.489,2.485,2.484,2.475,2.47,2.47,2.465,2.459,2.457,2.452,2.448,2.448,2.447,2.446,2.446,2.441,2.438,2.438,2.438,2.431,2.431,2.431,2.427,2.426,2.426,2.426,2.423,2.423,2.423,2.419,2.418,2.418,2.416,2.416,2.414,2.414,2.414,2.413,2.414,2.413,2.416,2.413,2.414,2.414,2.415,2.415,2.418,2.418,2.419,2.423,2.423,2.423,2.427,2.428,2.428,2.427,2.427,2.429,2.429,2.434,2.438,2.439,2.443,2.445,2.447,2.455,2.456,2.457,2.462,2.462,2.463,2.467,2.473,2.481,2.481,2.481,2.486,2.49,2.496,2.5,2.501,2.507,2.508,2.514,2.519,2.525,2.535,2.537,2.539,2.545,2.554,2.558,2.566,2.57,2.571,2.585,2.588,2.593,2.595,2.613,2.616,2.618,2.637,2.637,2.648,2.65,2.659,2.663,2.673,2.675,2.684,2.698,2.703,2.715,2.728,2.738,2.75,2.762,2.762,2.774,2.786,2.788,2.795,2.808,2.82,2.83,2.848,2.856,2.867,2.873,2.883,2.901,2.902,2.924,2.926,2.942,2.955,2.968,2.974,2.991,3.003,3.012,3.027,3.044,3.048,3.071,3.078,3.092,3.107,3.136,3.141,3.15,3.174,3.188,3.213,3.215,3.241,3.249,3.259,3.289,3.305,3.317,3.349,3.371,3.385,3.404,3.432,3.447,3.458,3.489,3.526,3.537,3.566,3.595,3.606,3.64,3.678,3.692,3.724,3.748,3.768,3.797,3.819,3.852,3.877,3.906,3.946,3.972,4.009,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.006,0.009,0.007,3.379,3.346,3.332,3.329,3.32,3.305,3.302,3.29,3.276,3.275,3.264,3.261,3.24,3.235,3.232,3.231,3.223,3.214,3.207,3.205,3.196,3.188,3.181,3.175,3.169,3.169,3.164,3.159,3.159,3.145,3.139,3.139,3.126,3.125,3.12,3.12,3.119,3.117,3.116,3.109,3.098,3.096,3.096,3.093,3.092,3.09,3.087,3.086,3.085,3.081,3.079,3.073,3.073,3.081,3.074,3.074,3.074,3.07,3.067,3.063,3.061,3.061,3.061,3.061,3.061,3.056,3.056,3.059,3.059,3.054,3.054,3.05,3.05,3.05,3.05,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 169.15} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 169.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 169.149} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.334}
SEN {Time 169.216} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.174,0.174,0.181,0.181,0.206,0,0,0,0,0,0,0,0,0,0,3.707,3.671,3.667,3.661,3.65,3.63,3.613,3.587,3.576,3.559,3.559,3.559,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.227,3.22,3.217,3.211,3.205,3.205,3.205,3.339,0,0,0,0,0,0.148,0.14,0.14,0.14,0.146,0.139,0.146,0.15,0.15,0.148,0.15,0.165,3.064,3.064,3.068,3.068,3.073,3.073,3.073,0.167,0.159,0.153,0.153,0.152,0.152,0.162,2.994,2.994,2.994,2.994,2.992,2.982,2.982,2.982,2.982,2.98,2.978,2.978,2.976,2.971,2.968,2.968,2.971,2.976,3.506,3.506,3.509,3.506,3.506,3.502,3.505,3.498,3.505,3.505,3.505,3.507,3.507,3.503,3.503,3.503,3.501,3.498,3.498,3.496,3.496,3.496,3.499,3.508,3.508,3.506,3.508,3.508,3.511,3.514,3.517,3.517,3.517,3.517,3.523,3.527,3.53,3.535,3.535,3.543,3.545,3.547,3.549,3.549,3.559,3.563,3.569,3.569,3.585,3.592,3.592,3.596,3.6,3.602,3.614,3.615,3.628,3.628,3.629,3.632,3.632,3.646,3.651,3.661,3.674,3.675,3.681,3.691,3.697,3.697,3.705,3.716,3.726,3.735,3.739,3.755,3.756,3.76,3.778,3.779,3.786,3.8,3.814,3.815,3.836,3.837,3.847,3.864,3.881,3.89,3.904,3.907,3.931,3.943,3.953,3.973,3.982,4.009,4.01,4.019,4.047,4.062,4.069,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.033,3.976,3.933,3.903,3.873,3.853,3.811,3.794,3.754,3.734,3.708,3.664,3.65,3.623,3.597,3.58,3.543,3.526,3.502,3.49,3.462,3.454,3.437,3.407,3.388,3.366,3.35,3.338,3.306,3.298,3.273,3.248,3.229,3.207,3.195,3.174,3.168,3.154,3.135,3.119,3.098,3.093,3.074,3.051,3.044,3.035,3.02,3.013,2.994,2.979,2.961,2.955,2.936,2.928,2.916,2.903,2.89,2.878,2.866,2.853,2.849,2.841,2.82,2.819,2.811,2.791,2.785,2.776,2.767,2.759,2.744,2.732,2.728,2.713,2.704,2.696,2.696,2.682,2.679,2.673,2.663,2.65,2.645,2.643,2.632,2.629,2.621,2.617,2.603,2.595,2.582,2.578,2.568,2.567,2.566,2.556,2.554,2.547,2.534,2.533,2.53,2.516,2.512,2.509,2.503,2.497,2.492,2.483,2.479,2.472,2.467,2.467,2.467,2.462,2.46,2.46,2.454,2.448,2.445,2.442,2.441,2.439,2.438,2.429,2.424,2.421,2.416,2.415,2.414,2.413,2.413,2.411,2.404,2.402,2.402,2.402,2.4,2.4,2.397,2.395,2.395,2.393,2.393,2.392,2.393,2.392,2.392,2.394,2.394,2.392,2.392,2.39,2.39,2.392,2.394,2.394,2.397,2.4,2.4,2.39,2.394,2.394,2.394,2.394,2.394,2.399,2.399,2.401,2.402,2.405,2.405,2.406,2.407,2.409,2.419,2.419,2.419,2.419,2.425,2.435,2.436,2.437,2.439,2.44,2.44,2.443,2.447,2.45,2.46,2.46,2.464,2.471,2.475,2.476,2.484,2.484,2.486,2.497,2.497,2.502,2.507,2.511,2.512,2.528,2.54,2.541,2.542,2.544,2.544,2.557,2.564,2.573,2.578,2.582,2.59,2.593,2.605,2.612,2.613,2.617,2.631,2.637,2.647,2.654,2.661,2.678,2.683,2.687,2.695,2.701,2.712,2.728,2.729,2.737,2.746,2.758,2.761,2.78,2.791,2.797,2.811,2.813,2.839,2.84,2.856,2.868,2.873,2.896,2.904,2.904,2.927,2.936,2.946,2.961,2.97,2.988,2.996,3.019,3.026,3.033,3.05,3.064,3.083,3.102,3.11,3.129,3.146,3.15,3.166,3.187,3.196,3.213,3.227,3.242,3.265,3.289,3.302,3.332,3.351,3.363,3.392,3.402,3.426,3.441,3.462,3.479,3.505,3.532,3.56,3.593,3.613,3.632,3.662,3.686,3.71,3.74,3.755,3.803,3.825,3.86,3.889,3.924,3.96,3.974,4.065,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.354,3.35,3.33,3.324,3.315,3.308,3.296,3.285,3.283,3.277,3.262,3.257,3.254,3.235,3.231,3.219,3.214,3.203,3.198,3.194,3.183,3.172,3.162,3.159,3.155,3.15,3.148,3.139,3.134,3.118,3.118,3.114,3.112,3.111,3.103,3.092,3.089,3.088,3.084,3.08,3.072,3.071,3.066,3.065,3.063,3.057,3.051,3.046,3.044,3.041,3.038,3.032,3.032,3.032,3.032,3.032,3.031,3.031,3.031,3.039,3.039,3.039,3.023,3.022,3.018,3.016,3.012,3.011,3.011,3.011,3.011,3.014,3.015,3.015,3.01,3.01,3.01,3.01,3.011,3.017,3.017,3.017,3.017,3.018,3.02,3.021,3.021,3.026,3.026,3.032,3.032,3.031,3.031,3.031,3.031,3.041,3.044,3.046,3.049,3.049,3.051,3.051,3.067,3.067,3.073,3.077,3.078,3.078,3.078,3.084,3.088,3.09,3.097,3.105,3.11,3.118,3.121,3.123,3.133,3.137,3.138,3.141,3.144,3.146,3.152,3.152,3.159,3.163,3.169,3.173,3.178,3.187,3.191,3.193,3.207,3.218,3.218,3.22,3.228,3.246,3.253,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 169.37} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 169.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 169.369} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054}
SEN {Time 169.412} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.17,0.17,0.169,0.177,0.177,0.21,0,0,0,0,0,0,0,0,0,0,3.7,3.683,3.672,3.663,3.642,3.633,3.602,3.577,3.577,3.572,3.572,3.352,3.352,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.22,3.219,3.211,3.22,3.344,3.344,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.139,0.146,0.146,0.152,0.146,0.152,0.155,3.067,3.075,3.076,3.076,3.076,3.076,3.076,0.172,0.167,0.153,0.153,0.153,0.158,0.162,2.987,2.992,2.992,2.987,2.985,2.983,2.98,2.98,2.977,2.977,2.977,2.977,2.976,2.973,2.97,2.97,2.973,2.978,3.5,3.5,3.511,3.503,3.507,3.503,3.503,3.5,3.5,3.5,3.5,3.505,3.505,3.505,3.503,3.499,3.499,3.5,3.5,3.498,3.5,3.498,3.498,3.504,3.504,3.505,3.506,3.506,3.508,3.508,3.511,3.512,3.518,3.519,3.527,3.527,3.527,3.527,3.536,3.537,3.537,3.545,3.546,3.555,3.56,3.564,3.575,3.578,3.578,3.581,3.585,3.595,3.596,3.6,3.605,3.623,3.624,3.626,3.626,3.631,3.634,3.647,3.648,3.652,3.667,3.681,3.685,3.685,3.696,3.697,3.702,3.718,3.72,3.727,3.741,3.751,3.754,3.76,3.788,3.788,3.799,3.812,3.815,3.832,3.84,3.84,3.853,3.858,3.877,3.886,3.897,3.912,3.93,3.939,3.94,3.982,3.984,3.992,4.013,4.021,4.036,4.057,4.079,4.092,0.016,0.016,0.016,0.007,0,0.016,4.02,3.971,3.941,3.898,3.869,3.838,3.822,3.787,3.744,3.735,3.707,3.676,3.664,3.622,3.601,3.579,3.54,3.522,3.517,3.492,3.469,3.446,3.432,3.403,3.386,3.36,3.345,3.327,3.298,3.29,3.257,3.247,3.227,3.213,3.198,3.182,3.156,3.15,3.128,3.125,3.1,3.083,3.072,3.056,3.045,3.032,3.019,2.999,2.991,2.977,2.968,2.96,2.933,2.927,2.914,2.908,2.891,2.886,2.872,2.856,2.848,2.833,2.83,2.814,2.804,2.799,2.792,2.772,2.761,2.753,2.752,2.744,2.729,2.714,2.706,2.694,2.693,2.686,2.675,2.673,2.659,2.657,2.653,2.631,2.629,2.626,2.618,2.612,2.599,2.592,2.589,2.583,2.579,2.57,2.559,2.558,2.554,2.541,2.538,2.534,2.519,2.516,2.508,2.503,2.503,2.496,2.493,2.488,2.482,2.478,2.475,2.471,2.465,2.459,2.459,2.458,2.45,2.443,2.443,2.442,2.441,2.437,2.436,2.428,2.427,2.42,2.417,2.414,2.414,2.409,2.409,2.407,2.405,2.405,2.404,2.404,2.4,2.399,2.399,2.398,2.398,2.394,2.391,2.391,2.391,2.388,2.387,2.387,2.388,2.387,2.391,2.391,2.391,2.391,2.393,2.394,2.394,2.394,2.394,2.393,2.393,2.393,2.39,2.394,2.396,2.396,2.398,2.401,2.402,2.406,2.406,2.41,2.411,2.418,2.418,2.418,2.42,2.423,2.424,2.424,2.434,2.434,2.436,2.441,2.441,2.447,2.448,2.45,2.454,2.461,2.462,2.466,2.468,2.47,2.481,2.487,2.489,2.49,2.502,2.503,2.505,2.518,2.519,2.523,2.539,2.54,2.545,2.547,2.547,2.561,2.562,2.576,2.583,2.589,2.59,2.591,2.601,2.61,2.613,2.618,2.62,2.634,2.651,2.655,2.656,2.679,2.682,2.683,2.698,2.708,2.721,2.723,2.732,2.742,2.748,2.752,2.762,2.77,2.796,2.798,2.809,2.825,2.828,2.842,2.858,2.865,2.874,2.889,2.899,2.916,2.924,2.931,2.951,2.956,2.973,2.984,2.989,3.012,3.026,3.029,3.056,3.061,3.077,3.099,3.12,3.132,3.138,3.15,3.175,3.177,3.199,3.217,3.225,3.245,3.265,3.278,3.304,3.334,3.339,3.366,3.384,3.396,3.43,3.45,3.461,3.489,3.506,3.538,3.557,3.587,3.613,3.638,3.65,3.678,3.72,3.732,3.759,3.803,3.823,3.856,3.881,3.916,3.943,4.015,0.007,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.353,3.341,3.327,3.314,3.303,3.296,3.284,3.281,3.271,3.255,3.252,3.245,3.233,3.232,3.227,3.212,3.203,3.2,3.197,3.182,3.175,3.163,3.16,3.156,3.153,3.146,3.134,3.129,3.123,3.117,3.109,3.109,3.105,3.104,3.104,3.098,3.094,3.086,3.081,3.07,3.067,3.066,3.064,3.061,3.061,3.053,3.042,3.042,3.039,3.037,3.035,3.035,3.03,3.029,3.029,3.029,3.029,3.03,3.031,3.031,3.031,3.016,3.016,3.016,3.016,3.015,3.014,3.009,3.009,3.011,3.014,3.015,3.015,3.014,3.014,3.014,3.013,3.014,3.016,3.018,3.016,3.016,3.018,3.015,3.013,3.015,3.022,3.022,3.025,3.027,3.03,3.031,3.032,3.037,3.048,3.048,3.048,3.049,3.049,3.052,3.059,3.06,3.061,3.072,3.075,3.075,3.077,3.081,3.082,3.093,3.094,3.1,3.107,3.11,3.113,3.119,3.125,3.127,3.129,3.13,3.14,3.143,3.145,3.148,3.15,3.16,3.168,3.168,3.17,3.171,3.185,3.185,3.202,3.209,3.223,3.223,3.227,3.228,3.238,3.253,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 169.57} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 169.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 169.571} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054}
SEN {Time 169.613} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.178,0.18,0.18,0.218,0,0,0,0,0,0,0,0,0,0,0,3.682,3.672,3.659,3.652,3.639,3.621,3.583,3.582,3.562,3.562,3.562,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.215,3.215,3.208,3.215,3.216,3.348,0,0,0,0,0,0.153,0.141,0.141,0.141,0.153,0.148,0.152,0.152,0.153,0.152,0.153,0.154,3.072,3.072,3.072,3.072,3.072,3.063,3.059,0.167,0.153,0.153,0.153,0.153,0.155,0.161,2.999,2.999,2.999,2.988,2.987,2.985,2.985,2.985,2.981,2.978,2.975,2.974,2.97,2.97,2.97,2.966,2.966,2.966,3.495,3.505,3.507,3.505,3.507,3.505,3.497,3.497,3.497,3.497,3.501,3.501,3.504,3.504,3.504,3.503,3.504,3.503,3.497,3.497,3.504,3.495,3.501,3.505,3.505,3.501,3.507,3.511,3.512,3.513,3.515,3.516,3.515,3.521,3.521,3.525,3.526,3.533,3.534,3.535,3.541,3.542,3.543,3.548,3.553,3.563,3.574,3.574,3.577,3.586,3.588,3.594,3.605,3.608,3.613,3.622,3.623,3.628,3.637,3.639,3.643,3.643,3.645,3.664,3.667,3.677,3.68,3.685,3.7,3.703,3.717,3.719,3.725,3.741,3.749,3.751,3.758,3.759,3.772,3.792,3.794,3.806,3.812,3.824,3.827,3.846,3.856,3.87,3.872,3.88,3.898,3.905,3.938,3.944,3.944,3.976,3.981,3.996,4.019,4.019,4.048,4.055,4.07,4.088,0.016,0.016,0.016,0.016,0.016,4.043,4.012,3.977,3.936,3.894,3.875,3.842,3.803,3.787,3.751,3.73,3.709,3.676,3.654,3.627,3.604,3.576,3.541,3.536,3.506,3.486,3.465,3.456,3.428,3.41,3.386,3.357,3.353,3.328,3.301,3.296,3.26,3.244,3.229,3.219,3.199,3.179,3.162,3.144,3.134,3.118,3.099,3.082,3.066,3.052,3.043,3.03,3.02,2.998,2.996,2.979,2.959,2.948,2.937,2.924,2.913,2.911,2.895,2.879,2.875,2.858,2.843,2.834,2.828,2.81,2.806,2.799,2.789,2.775,2.758,2.748,2.744,2.733,2.731,2.715,2.705,2.702,2.69,2.68,2.669,2.665,2.654,2.652,2.649,2.631,2.621,2.62,2.613,2.601,2.599,2.595,2.587,2.584,2.579,2.571,2.561,2.561,2.551,2.55,2.529,2.525,2.523,2.517,2.51,2.508,2.499,2.496,2.495,2.488,2.478,2.477,2.477,2.472,2.471,2.465,2.461,2.455,2.449,2.448,2.439,2.439,2.437,2.436,2.43,2.429,2.428,2.423,2.418,2.417,2.415,2.414,2.411,2.405,2.404,2.404,2.402,2.402,2.397,2.396,2.396,2.395,2.395,2.398,2.398,2.392,2.392,2.392,2.392,2.392,2.393,2.393,2.393,2.393,2.393,2.392,2.393,2.393,2.395,2.395,2.395,2.391,2.391,2.391,2.394,2.396,2.397,2.399,2.399,2.399,2.405,2.405,2.406,2.411,2.412,2.412,2.417,2.419,2.425,2.427,2.427,2.427,2.428,2.43,2.439,2.44,2.441,2.447,2.451,2.452,2.452,2.456,2.465,2.466,2.472,2.477,2.479,2.482,2.485,2.494,2.498,2.505,2.513,2.514,2.518,2.522,2.537,2.539,2.543,2.547,2.55,2.559,2.571,2.579,2.581,2.582,2.587,2.592,2.595,2.608,2.609,2.626,2.627,2.637,2.642,2.645,2.664,2.672,2.683,2.683,2.69,2.708,2.715,2.727,2.728,2.742,2.743,2.756,2.77,2.778,2.79,2.798,2.81,2.821,2.827,2.842,2.855,2.862,2.869,2.891,2.893,2.907,2.923,2.939,2.941,2.964,2.974,2.976,2.999,3.016,3.022,3.035,3.049,3.066,3.078,3.097,3.111,3.128,3.136,3.146,3.175,3.185,3.2,3.217,3.23,3.252,3.268,3.286,3.304,3.327,3.339,3.361,3.388,3.394,3.423,3.446,3.461,3.482,3.515,3.528,3.577,3.584,3.616,3.624,3.654,3.69,3.72,3.754,3.763,3.789,3.83,3.854,3.885,3.91,3.946,3.979,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.003,3.362,3.356,3.335,3.331,3.317,3.3,3.3,3.286,3.285,3.272,3.253,3.252,3.251,3.236,3.226,3.219,3.216,3.201,3.199,3.193,3.183,3.18,3.164,3.16,3.155,3.15,3.137,3.136,3.136,3.121,3.117,3.112,3.109,3.107,3.103,3.096,3.092,3.089,3.086,3.075,3.07,3.069,3.061,3.061,3.058,3.058,3.057,3.051,3.048,3.045,3.043,3.032,3.032,3.031,3.029,3.029,3.031,3.031,3.032,3.039,3.039,3.039,3.044,3.026,3.023,3.023,3.015,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.012,3.012,3.012,3.012,3.012,3.013,3.017,3.017,3.017,3.021,3.018,3.018,3.025,3.025,3.026,3.027,3.028,3.031,3.033,3.034,3.035,3.036,3.042,3.042,3.046,3.048,3.057,3.057,3.058,3.069,3.07,3.079,3.079,3.082,3.082,3.089,3.089,3.091,3.101,3.103,3.107,3.121,3.123,3.123,3.128,3.128,3.143,3.144,3.146,3.148,3.153,3.158,3.167,3.168,3.168,3.168,3.176,3.182,3.186,3.195,3.207,3.217,3.217,3.23,3.237,3.242,3.242,3.256,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 169.76} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 169.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 169.764} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1054}
SEN {Time 169.813} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.174,0.174,0.174,0.176,0.176,0.206,0,0,0,0,0,0,0,0,0,0,0,3.676,3.674,3.661,3.655,3.645,3.615,3.587,3.573,3.573,3.573,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.231,3.223,3.218,3.211,3.205,3.205,3.205,3.352,0,0,0,0,0,0,0.149,0.149,0.144,0.149,0.144,0.15,0.15,0.151,0.15,0.151,0.152,3.061,3.061,3.062,3.062,3.062,3.062,3.062,0.164,0.164,0.152,0.151,0.151,0.151,0.157,2.994,2.994,2.994,2.984,2.982,2.978,2.978,2.978,2.978,2.978,2.98,2.98,2.978,2.977,2.977,2.974,2.974,2.974,3.498,3.506,3.506,3.504,3.506,3.504,3.503,3.499,3.499,3.499,3.505,3.505,3.505,3.5,3.5,3.499,3.499,3.499,3.499,3.499,3.504,3.504,3.506,3.506,3.507,3.507,3.506,3.506,3.507,3.51,3.513,3.513,3.516,3.52,3.521,3.521,3.526,3.531,3.533,3.535,3.537,3.539,3.546,3.555,3.557,3.56,3.562,3.567,3.584,3.584,3.593,3.595,3.597,3.601,3.615,3.618,3.619,3.63,3.631,3.636,3.645,3.646,3.656,3.661,3.664,3.671,3.672,3.691,3.694,3.704,3.716,3.722,3.728,3.73,3.733,3.753,3.759,3.767,3.781,3.785,3.797,3.8,3.801,3.821,3.83,3.851,3.857,3.861,3.875,3.895,3.908,3.914,3.926,3.949,3.958,3.97,3.982,3.983,4.012,4.018,4.047,4.062,4.074,4.088,0.016,0.016,0.016,0.016,0.016,4.083,4.029,3.974,3.935,3.901,3.858,3.843,3.822,3.782,3.757,3.722,3.712,3.675,3.652,3.615,3.603,3.573,3.542,3.526,3.5,3.487,3.456,3.448,3.435,3.404,3.388,3.366,3.348,3.329,3.3,3.293,3.264,3.244,3.229,3.217,3.202,3.181,3.159,3.146,3.136,3.117,3.1,3.092,3.063,3.056,3.05,3.032,3.024,3.009,2.995,2.98,2.968,2.957,2.934,2.931,2.914,2.904,2.893,2.88,2.872,2.853,2.85,2.832,2.828,2.816,2.798,2.793,2.785,2.773,2.76,2.755,2.749,2.729,2.725,2.712,2.7,2.692,2.684,2.682,2.673,2.67,2.659,2.653,2.647,2.639,2.634,2.625,2.624,2.61,2.601,2.597,2.589,2.581,2.579,2.571,2.558,2.552,2.547,2.545,2.542,2.53,2.523,2.518,2.51,2.508,2.507,2.503,2.493,2.488,2.481,2.478,2.473,2.472,2.465,2.464,2.458,2.456,2.453,2.45,2.443,2.44,2.439,2.439,2.435,2.428,2.423,2.418,2.416,2.415,2.415,2.413,2.409,2.408,2.407,2.407,2.403,2.402,2.402,2.402,2.4,2.398,2.397,2.396,2.392,2.389,2.392,2.389,2.389,2.389,2.394,2.394,2.394,2.394,2.394,2.393,2.39,2.389,2.389,2.389,2.395,2.395,2.395,2.395,2.393,2.393,2.396,2.396,2.398,2.402,2.403,2.403,2.404,2.41,2.41,2.414,2.419,2.42,2.421,2.424,2.428,2.428,2.43,2.436,2.436,2.437,2.439,2.445,2.447,2.451,2.454,2.459,2.465,2.47,2.47,2.476,2.481,2.484,2.49,2.494,2.496,2.501,2.507,2.508,2.518,2.522,2.54,2.542,2.545,2.547,2.553,2.553,2.559,2.57,2.577,2.577,2.588,2.597,2.606,2.611,2.615,2.621,2.63,2.64,2.647,2.648,2.654,2.673,2.683,2.683,2.697,2.703,2.713,2.723,2.726,2.746,2.752,2.752,2.76,2.779,2.784,2.789,2.802,2.813,2.83,2.836,2.857,2.87,2.875,2.892,2.905,2.912,2.923,2.933,2.95,2.956,2.97,2.982,2.994,3.009,3.022,3.033,3.048,3.069,3.081,3.098,3.112,3.123,3.142,3.146,3.172,3.186,3.202,3.22,3.233,3.244,3.262,3.274,3.303,3.329,3.342,3.355,3.389,3.392,3.429,3.446,3.456,3.495,3.516,3.536,3.557,3.584,3.619,3.631,3.657,3.694,3.703,3.737,3.76,3.796,3.827,3.863,3.886,3.957,3.981,4.013,4.013,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.355,3.331,3.319,3.31,3.303,3.296,3.28,3.276,3.273,3.262,3.257,3.243,3.235,3.233,3.214,3.212,3.202,3.199,3.196,3.183,3.174,3.16,3.16,3.156,3.152,3.145,3.14,3.134,3.121,3.113,3.111,3.109,3.108,3.108,3.1,3.095,3.093,3.09,3.083,3.068,3.061,3.061,3.059,3.059,3.058,3.053,3.052,3.046,3.042,3.04,3.037,3.032,3.031,3.03,3.03,3.03,3.031,3.031,3.033,3.033,3.033,3.02,3.02,3.02,3.018,3.015,3.015,3.012,3.012,3.011,3.012,3.014,3.014,3.016,3.016,3.015,3.012,3.015,3.015,3.016,3.016,3.019,3.021,3.019,3.019,3.022,3.022,3.022,3.023,3.027,3.029,3.029,3.031,3.041,3.042,3.046,3.047,3.048,3.049,3.049,3.054,3.055,3.067,3.071,3.078,3.081,3.081,3.082,3.085,3.089,3.091,3.1,3.106,3.108,3.121,3.121,3.125,3.128,3.129,3.142,3.142,3.142,3.148,3.154,3.159,3.162,3.166,3.166,3.175,3.177,3.187,3.19,3.204,3.204,3.206,3.207,3.214,3.224,3.245,3.253,3.265,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 169.97} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 169.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 169.966} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 170.008} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.176,0.176,0.176,0.18,0.18,0.209,0,0,0,0,0,0,0,0,0,0,3.697,3.685,3.671,3.659,3.652,3.628,3.611,3.583,3.581,3.581,3.581,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.214,3.208,3.203,3.203,3.208,3.346,0,0,0,0,0,0.147,0.144,0.144,0.146,0.147,0.147,0.147,0.147,0.149,0.147,0.149,0.154,3.062,3.067,3.074,3.074,3.074,3.074,3.074,0.165,0.165,0.155,0.155,0.154,0.155,0.155,2.998,2.998,2.998,2.991,2.988,2.984,2.983,2.984,2.977,2.977,2.977,2.975,2.975,2.972,2.971,2.971,2.971,2.974,3.501,3.51,3.513,3.51,3.513,3.51,3.508,3.504,3.508,3.507,3.507,3.499,3.507,3.5,3.5,3.501,3.503,3.501,3.501,3.5,3.5,3.5,3.501,3.501,3.501,3.502,3.504,3.504,3.512,3.516,3.516,3.516,3.517,3.52,3.523,3.527,3.528,3.529,3.534,3.536,3.542,3.546,3.547,3.554,3.562,3.562,3.562,3.565,3.577,3.582,3.589,3.59,3.603,3.605,3.605,3.612,3.618,3.621,3.637,3.637,3.643,3.647,3.655,3.664,3.671,3.674,3.674,3.692,3.693,3.701,3.712,3.717,3.721,3.739,3.744,3.747,3.761,3.761,3.771,3.795,3.801,3.815,3.82,3.82,3.833,3.842,3.854,3.859,3.875,3.897,3.899,3.918,3.928,3.948,3.95,3.971,3.972,3.997,4.015,4.019,4.048,4.061,4.069,0.016,0.016,0.016,0.016,0.016,0.007,4.078,4.015,3.973,3.93,3.909,3.87,3.853,3.821,3.79,3.749,3.739,3.697,3.685,3.65,3.621,3.611,3.575,3.546,3.536,3.502,3.497,3.462,3.446,3.421,3.411,3.388,3.357,3.348,3.321,3.296,3.283,3.262,3.238,3.228,3.222,3.201,3.176,3.159,3.148,3.136,3.112,3.102,3.086,3.068,3.051,3.046,3.035,3.013,3.011,2.998,2.975,2.97,2.946,2.943,2.933,2.917,2.908,2.894,2.887,2.871,2.86,2.85,2.845,2.821,2.807,2.801,2.791,2.785,2.776,2.763,2.759,2.749,2.745,2.723,2.721,2.704,2.697,2.696,2.678,2.67,2.666,2.655,2.652,2.643,2.632,2.627,2.615,2.615,2.613,2.6,2.591,2.59,2.579,2.578,2.571,2.566,2.561,2.551,2.544,2.538,2.525,2.517,2.516,2.511,2.506,2.5,2.497,2.489,2.487,2.484,2.482,2.474,2.467,2.463,2.462,2.461,2.461,2.45,2.446,2.444,2.444,2.436,2.436,2.432,2.43,2.429,2.429,2.418,2.414,2.413,2.413,2.411,2.411,2.405,2.403,2.402,2.402,2.402,2.401,2.397,2.397,2.397,2.396,2.394,2.392,2.391,2.391,2.392,2.392,2.393,2.393,2.393,2.393,2.393,2.393,2.393,2.396,2.393,2.393,2.393,2.393,2.393,2.39,2.395,2.394,2.399,2.399,2.4,2.4,2.402,2.403,2.404,2.407,2.409,2.416,2.416,2.417,2.418,2.427,2.427,2.427,2.427,2.434,2.438,2.441,2.443,2.444,2.445,2.446,2.451,2.461,2.464,2.467,2.473,2.473,2.48,2.481,2.486,2.488,2.493,2.502,2.502,2.513,2.517,2.518,2.538,2.542,2.544,2.548,2.548,2.551,2.564,2.577,2.578,2.58,2.582,2.592,2.602,2.611,2.617,2.625,2.631,2.638,2.646,2.651,2.664,2.672,2.692,2.692,2.695,2.714,2.715,2.724,2.734,2.742,2.747,2.751,2.762,2.775,2.786,2.799,2.805,2.824,2.838,2.841,2.858,2.868,2.874,2.887,2.898,2.912,2.922,2.931,2.946,2.953,2.975,2.978,2.991,3.009,3.022,3.035,3.048,3.064,3.082,3.101,3.116,3.131,3.134,3.15,3.169,3.184,3.201,3.218,3.23,3.254,3.268,3.289,3.305,3.326,3.346,3.361,3.382,3.395,3.415,3.452,3.464,3.484,3.516,3.536,3.557,3.588,3.615,3.627,3.674,3.685,3.714,3.741,3.758,3.802,3.822,3.858,3.886,3.912,3.938,3.968,4.016,4.06,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,3.358,3.354,3.338,3.325,3.317,3.303,3.3,3.287,3.279,3.271,3.26,3.255,3.245,3.236,3.228,3.219,3.218,3.204,3.203,3.195,3.187,3.183,3.176,3.165,3.159,3.148,3.148,3.138,3.133,3.12,3.115,3.114,3.112,3.109,3.103,3.099,3.096,3.092,3.092,3.077,3.074,3.064,3.062,3.062,3.062,3.061,3.056,3.055,3.045,3.038,3.038,3.036,3.03,3.03,3.029,3.029,3.028,3.028,3.028,3.038,3.038,3.038,3.022,3.021,3.021,3.016,3.014,3.014,3.013,3.013,3.013,3.013,3.015,3.015,3.013,3.013,3.013,3.013,3.013,3.013,3.015,3.015,3.016,3.023,3.026,3.023,3.025,3.028,3.025,3.025,3.028,3.031,3.032,3.032,3.032,3.044,3.047,3.048,3.049,3.054,3.056,3.057,3.061,3.065,3.072,3.078,3.078,3.081,3.082,3.086,3.095,3.095,3.099,3.102,3.111,3.111,3.113,3.121,3.132,3.132,3.136,3.136,3.145,3.148,3.151,3.157,3.162,3.163,3.163,3.167,3.18,3.183,3.187,3.199,3.207,3.211,3.211,3.218,3.232,3.237,3.246,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 170.16} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 170.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 170.16} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 170.208} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.174,0.174,0.178,0.18,0.18,0.22,0,0,0,0,0,0.007,0,0,0,0,0,3.688,3.679,3.664,3.648,3.636,3.61,3.583,3.574,3.564,3.564,3.351,3.351,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.235,3.225,3.214,3.212,3.205,3.2,3.2,3.2,3.339,0,0,0,0,0,0.147,0.142,0.142,0.142,0.145,0.145,0.146,0.147,0.149,0.147,0.149,0.158,3.072,3.072,3.072,3.072,3.075,3.069,3.069,0.161,0.16,0.155,0.153,0.153,0.154,0.155,3.001,3.001,3.001,2.984,2.982,2.982,2.984,2.984,2.981,2.981,2.977,2.977,2.969,2.969,2.967,2.967,2.967,2.971,3.502,3.502,3.516,3.502,3.503,3.5,3.5,3.498,3.499,3.499,3.499,3.499,3.503,3.504,3.503,3.503,3.504,3.504,3.502,3.504,3.502,3.501,3.502,3.504,3.51,3.51,3.515,3.511,3.515,3.516,3.516,3.522,3.522,3.522,3.526,3.528,3.53,3.53,3.539,3.54,3.544,3.546,3.548,3.549,3.561,3.566,3.566,3.573,3.584,3.59,3.594,3.601,3.613,3.615,3.618,3.618,3.622,3.623,3.634,3.639,3.639,3.647,3.65,3.658,3.669,3.68,3.681,3.688,3.696,3.702,3.71,3.712,3.729,3.733,3.733,3.751,3.754,3.77,3.776,3.782,3.788,3.804,3.81,3.816,3.833,3.843,3.851,3.866,3.88,3.888,3.903,3.923,3.925,3.948,3.948,3.972,3.984,3.991,4.013,4.02,4.045,4.061,4.061,4.095,0.016,0.016,0.016,0.016,4.075,4.075,4.045,4.012,3.945,3.899,3.866,3.851,3.814,3.786,3.76,3.732,3.703,3.681,3.651,3.627,3.602,3.576,3.552,3.522,3.507,3.491,3.466,3.448,3.434,3.402,3.391,3.365,3.354,3.328,3.298,3.289,3.266,3.247,3.229,3.21,3.205,3.181,3.166,3.144,3.13,3.114,3.109,3.087,3.068,3.052,3.045,3.029,3.023,3.003,2.991,2.982,2.961,2.955,2.942,2.922,2.915,2.913,2.886,2.883,2.87,2.855,2.851,2.843,2.829,2.811,2.811,2.795,2.786,2.776,2.763,2.756,2.745,2.735,2.73,2.712,2.702,2.701,2.686,2.684,2.675,2.667,2.665,2.654,2.651,2.632,2.63,2.626,2.618,2.609,2.599,2.596,2.59,2.582,2.567,2.564,2.557,2.552,2.55,2.549,2.547,2.531,2.528,2.525,2.51,2.504,2.502,2.495,2.491,2.482,2.482,2.479,2.477,2.468,2.463,2.459,2.459,2.459,2.446,2.446,2.445,2.443,2.442,2.436,2.436,2.43,2.428,2.423,2.416,2.416,2.412,2.411,2.409,2.409,2.405,2.402,2.402,2.401,2.401,2.401,2.397,2.395,2.394,2.394,2.393,2.39,2.388,2.388,2.388,2.392,2.394,2.394,2.394,2.394,2.39,2.39,2.393,2.393,2.393,2.393,2.391,2.391,2.391,2.39,2.391,2.395,2.396,2.396,2.398,2.403,2.403,2.405,2.405,2.406,2.409,2.413,2.415,2.417,2.417,2.419,2.426,2.428,2.431,2.432,2.432,2.438,2.442,2.443,2.445,2.445,2.452,2.455,2.466,2.47,2.473,2.475,2.484,2.484,2.486,2.49,2.496,2.498,2.513,2.515,2.517,2.517,2.542,2.545,2.548,2.55,2.552,2.552,2.565,2.569,2.577,2.582,2.583,2.595,2.606,2.615,2.619,2.621,2.633,2.637,2.646,2.653,2.659,2.668,2.676,2.681,2.692,2.7,2.707,2.714,2.725,2.74,2.747,2.762,2.763,2.774,2.79,2.791,2.808,2.819,2.83,2.838,2.855,2.864,2.874,2.887,2.898,2.908,2.919,2.936,2.947,2.951,2.972,2.98,2.996,3.01,3.022,3.034,3.049,3.069,3.077,3.099,3.12,3.131,3.137,3.15,3.173,3.178,3.204,3.217,3.229,3.251,3.266,3.283,3.299,3.32,3.33,3.355,3.382,3.393,3.426,3.439,3.459,3.487,3.506,3.542,3.561,3.588,3.624,3.63,3.657,3.679,3.713,3.742,3.76,3.813,3.842,3.855,3.917,0.007,4.015,4.015,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0.006,0.006,0,3.361,3.354,3.336,3.331,3.315,3.311,3.292,3.285,3.281,3.275,3.263,3.253,3.243,3.234,3.233,3.218,3.214,3.203,3.201,3.194,3.186,3.171,3.17,3.163,3.149,3.149,3.145,3.139,3.133,3.132,3.121,3.115,3.11,3.109,3.103,3.098,3.093,3.088,3.088,3.083,3.07,3.07,3.065,3.064,3.061,3.061,3.061,3.048,3.047,3.041,3.039,3.038,3.032,3.032,3.03,3.03,3.027,3.032,3.034,3.04,3.04,3.04,3.019,3.019,3.018,3.015,3.015,3.016,3.016,3.017,3.017,3.017,3.017,3.013,3.012,3.012,3.014,3.014,3.017,3.018,3.024,3.024,3.017,3.015,3.015,3.015,3.02,3.02,3.026,3.026,3.027,3.027,3.027,3.034,3.036,3.037,3.039,3.045,3.048,3.051,3.051,3.055,3.055,3.061,3.064,3.072,3.074,3.077,3.077,3.089,3.09,3.092,3.098,3.106,3.108,3.118,3.12,3.125,3.132,3.132,3.133,3.138,3.147,3.147,3.147,3.147,3.154,3.165,3.168,3.174,3.182,3.183,3.185,3.202,3.202,3.205,3.206,3.215,3.233,3.25,3.252,3.254,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 170.36} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 170.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 170.362} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 170.41} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.174,0.174,0.175,0.177,0.177,0.206,0,0,0,0,0,0,0,0,0,0,3.69,3.688,3.673,3.657,3.651,3.634,3.614,3.589,3.573,3.561,3.561,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.246,3.222,3.212,3.212,3.212,3.212,3.213,3.35,0,0,0,0,0,0.149,0.139,0.139,0.139,0.139,0.143,0.148,0.151,0.153,0.151,0.153,0.153,3.062,3.062,3.062,3.062,3.062,3.058,3.058,0.168,0.164,0.154,0.153,0.153,0.154,0.159,2.994,2.994,2.994,2.988,2.985,2.984,2.982,2.982,2.979,2.975,2.975,2.975,2.975,2.97,2.969,2.969,2.97,2.973,3.503,0.007,3.503,3.503,3.508,3.5,3.508,3.508,3.504,3.5,3.504,3.504,3.504,3.504,3.504,3.501,3.501,3.5,3.5,3.499,3.5,3.495,3.495,3.503,3.509,3.509,3.51,3.51,3.511,3.514,3.516,3.516,3.523,3.523,3.523,3.527,3.531,3.531,3.532,3.538,3.54,3.543,3.546,3.549,3.56,3.567,3.572,3.576,3.579,3.583,3.584,3.593,3.598,3.604,3.613,3.614,3.621,3.629,3.632,3.633,3.633,3.645,3.647,3.654,3.671,3.682,3.685,3.693,3.697,3.699,3.708,3.72,3.725,3.737,3.737,3.749,3.76,3.767,3.774,3.776,3.794,3.803,3.806,3.833,3.834,3.848,3.85,3.863,3.874,3.888,3.903,3.914,3.924,3.938,3.946,3.973,3.975,4.001,4.013,4.028,4.041,4.066,4.079,4.085,4.092,0.016,0,0,0,4.037,4.037,4.013,3.971,3.895,3.879,3.846,3.812,3.785,3.758,3.724,3.715,3.677,3.662,3.619,3.6,3.581,3.557,3.532,3.506,3.487,3.458,3.451,3.422,3.405,3.377,3.361,3.347,3.326,3.298,3.294,3.257,3.254,3.231,3.211,3.205,3.185,3.161,3.154,3.138,3.122,3.097,3.084,3.069,3.057,3.044,3.027,3.025,3.007,2.994,2.982,2.965,2.959,2.946,2.929,2.92,2.908,2.897,2.888,2.872,2.856,2.848,2.841,2.818,2.813,2.805,2.789,2.787,2.769,2.764,2.761,2.739,2.738,2.727,2.715,2.705,2.696,2.69,2.684,2.675,2.669,2.661,2.65,2.644,2.632,2.626,2.623,2.621,2.619,2.606,2.596,2.581,2.58,2.571,2.569,2.562,2.558,2.547,2.546,2.534,2.529,2.521,2.513,2.511,2.504,2.498,2.497,2.496,2.493,2.481,2.48,2.479,2.47,2.462,2.462,2.461,2.461,2.449,2.448,2.443,2.443,2.441,2.439,2.433,2.43,2.426,2.425,2.424,2.418,2.415,2.413,2.413,2.412,2.411,2.403,2.4,2.4,2.398,2.396,2.396,2.396,2.396,2.395,2.395,2.393,2.392,2.388,2.388,2.388,2.392,2.393,2.393,2.393,2.389,2.389,2.389,2.392,2.392,2.392,2.392,2.389,2.389,2.389,2.391,2.398,2.398,2.398,2.398,2.398,2.401,2.406,2.408,2.41,2.411,2.414,2.415,2.417,2.423,2.424,2.426,2.426,2.435,2.437,2.437,2.438,2.438,2.446,2.447,2.449,2.451,2.461,2.462,2.467,2.472,2.472,2.48,2.48,2.487,2.494,2.499,2.504,2.507,2.514,2.52,2.52,2.537,2.539,2.545,2.551,2.555,2.561,2.561,2.574,2.575,2.586,2.593,2.594,2.596,2.617,2.618,2.621,2.636,2.638,2.651,2.652,2.654,2.672,2.68,2.681,2.697,2.714,2.717,2.718,2.735,2.737,2.752,2.759,2.766,2.777,2.788,2.801,2.802,2.827,2.831,2.843,2.855,2.868,2.869,2.883,2.903,2.908,2.928,2.945,2.948,2.955,2.968,2.987,2.989,3.006,3.028,3.036,3.05,3.067,3.085,3.099,3.117,3.131,3.136,3.144,3.169,3.189,3.192,3.225,3.226,3.256,3.266,3.294,3.31,3.331,3.341,3.361,3.38,3.403,3.422,3.446,3.458,3.487,3.508,3.532,3.559,3.593,3.625,3.64,3.656,3.678,3.717,3.735,3.76,3.8,3.818,3.857,3.881,3.917,4.014,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.01,3.351,3.351,3.348,3.338,3.314,3.294,3.294,3.285,3.284,3.274,3.256,3.253,3.243,3.228,3.228,3.219,3.215,3.199,3.193,3.192,3.185,3.17,3.164,3.157,3.156,3.153,3.143,3.141,3.137,3.123,3.116,3.115,3.11,3.108,3.102,3.098,3.093,3.092,3.089,3.082,3.067,3.067,3.067,3.067,3.063,3.06,3.053,3.048,3.048,3.045,3.039,3.034,3.034,3.034,3.033,3.028,3.028,3.028,3.028,3.034,3.034,3.034,3.017,3.017,3.016,3.016,3.016,3.016,3.013,3.013,3.012,3.018,3.017,3.017,3.017,3.017,3.013,3.013,3.013,3.013,3.014,3.014,3.019,3.022,3.022,3.022,3.024,3.024,3.024,3.024,3.029,3.029,3.029,3.03,3.033,3.039,3.045,3.045,3.046,3.051,3.053,3.054,3.062,3.064,3.072,3.072,3.073,3.073,3.08,3.09,3.093,3.095,3.105,3.108,3.109,3.11,3.115,3.12,3.126,3.13,3.143,3.143,3.143,3.144,3.151,3.151,3.16,3.162,3.168,3.173,3.181,3.185,3.192,3.205,3.205,3.211,3.211,3.227,3.229,3.242,3.258,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 170.56} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 170.56} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 170.564} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 170.609} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.183,0.179,0.181,0.183,0.183,0.214,0,0,0,0,0,0,0,0,0,0,0,3.675,3.669,3.663,3.645,3.636,3.61,3.586,3.575,3.562,3.562,3.366,3.366,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.221,3.217,3.207,3.207,3.207,3.344,0,0,0,0,0,0.144,0.142,0.142,0.142,0.144,0.149,0.153,0.153,0.153,0.153,0.153,0.16,3.05,3.059,3.069,3.069,3.072,3.072,3.072,0.167,0.163,0.154,0.151,0.151,0.154,0.157,2.991,2.991,2.991,2.989,2.989,2.987,2.987,2.983,2.982,2.978,2.982,2.978,2.975,2.975,2.967,2.967,2.967,2.969,3.51,3.511,3.511,3.511,3.513,3.511,3.505,3.505,3.505,3.505,3.509,3.509,3.509,3.507,3.507,3.499,3.507,3.496,3.5,3.5,3.5,3.5,3.504,3.508,3.508,3.508,3.51,3.51,3.512,3.512,3.516,3.517,3.517,3.518,3.518,3.521,3.524,3.531,3.537,3.54,3.542,3.543,3.546,3.555,3.565,3.566,3.576,3.579,3.584,3.587,3.587,3.593,3.596,3.597,3.608,3.619,3.62,3.622,3.632,3.634,3.635,3.651,3.656,3.661,3.67,3.672,3.683,3.689,3.698,3.703,3.714,3.718,3.721,3.737,3.745,3.75,3.761,3.765,3.783,3.789,3.8,3.803,3.81,3.818,3.838,3.842,3.851,3.877,3.877,3.894,3.894,3.898,3.919,3.947,3.95,3.965,3.984,4,4.004,4.017,4.04,4.07,4.075,4.085,0.016,0.016,0.016,0.016,0.007,4.079,4.008,3.972,3.937,3.903,3.879,3.841,3.821,3.788,3.75,3.731,3.712,3.67,3.654,3.618,3.595,3.573,3.548,3.533,3.5,3.493,3.465,3.444,3.429,3.405,3.379,3.363,3.352,3.329,3.294,3.294,3.262,3.253,3.232,3.22,3.196,3.18,3.164,3.148,3.133,3.129,3.101,3.089,3.071,3.044,3.041,3.029,3.017,3.001,2.99,2.974,2.961,2.951,2.932,2.931,2.911,2.906,2.896,2.875,2.873,2.864,2.847,2.836,2.825,2.811,2.808,2.789,2.781,2.78,2.759,2.753,2.741,2.732,2.726,2.713,2.709,2.692,2.689,2.678,2.678,2.667,2.665,2.65,2.639,2.638,2.63,2.627,2.617,2.61,2.602,2.597,2.591,2.586,2.57,2.568,2.566,2.554,2.549,2.542,2.536,2.531,2.524,2.512,2.507,2.507,2.501,2.498,2.492,2.491,2.485,2.479,2.472,2.471,2.47,2.465,2.461,2.454,2.453,2.449,2.446,2.444,2.439,2.438,2.433,2.429,2.424,2.423,2.423,2.417,2.415,2.411,2.409,2.409,2.407,2.405,2.402,2.401,2.401,2.4,2.4,2.396,2.396,2.398,2.398,2.398,2.398,2.393,2.39,2.388,2.387,2.386,2.386,2.386,2.391,2.392,2.393,2.393,2.398,2.398,2.398,2.395,2.395,2.395,2.395,2.396,2.397,2.398,2.399,2.401,2.405,2.405,2.406,2.407,2.408,2.413,2.414,2.418,2.42,2.425,2.427,2.427,2.434,2.435,2.436,2.439,2.441,2.446,2.448,2.45,2.457,2.46,2.468,2.468,2.47,2.472,2.482,2.484,2.489,2.501,2.502,2.504,2.505,2.517,2.519,2.521,2.534,2.541,2.548,2.548,2.554,2.563,2.568,2.576,2.578,2.582,2.584,2.591,2.598,2.605,2.613,2.618,2.629,2.639,2.65,2.658,2.66,2.674,2.679,2.686,2.693,2.709,2.714,2.723,2.732,2.739,2.75,2.759,2.771,2.78,2.793,2.806,2.808,2.822,2.831,2.842,2.859,2.868,2.877,2.892,2.898,2.914,2.922,2.937,2.95,2.957,2.975,2.988,2.991,3.012,3.031,3.036,3.053,3.073,3.075,3.104,3.111,3.128,3.138,3.153,3.176,3.182,3.199,3.223,3.232,3.246,3.267,3.28,3.296,3.323,3.345,3.359,3.38,3.402,3.42,3.442,3.464,3.488,3.504,3.533,3.568,3.585,3.618,3.642,3.663,3.697,3.716,3.738,3.768,3.805,3.837,3.864,3.878,3.911,3.956,3.978,4.014,4.068,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.038,3.354,3.353,3.336,3.329,3.318,3.298,3.292,3.289,3.287,3.277,3.263,3.256,3.242,3.238,3.228,3.218,3.216,3.198,3.196,3.191,3.182,3.175,3.174,3.16,3.159,3.156,3.141,3.141,3.141,3.131,3.123,3.107,3.105,3.104,3.103,3.097,3.095,3.095,3.085,3.082,3.071,3.07,3.062,3.062,3.059,3.058,3.053,3.046,3.043,3.041,3.039,3.036,3.035,3.035,3.032,3.032,3.031,3.031,3.031,3.034,3.034,3.034,3.024,3.02,3.016,3.016,3.016,3.016,3.016,3.013,3.012,3.012,3.013,3.013,3.012,3.012,3.012,3.012,3.018,3.018,3.018,3.018,3.018,3.02,3.02,3.02,3.022,3.028,3.028,3.028,3.029,3.029,3.029,3.032,3.037,3.042,3.044,3.045,3.046,3.046,3.05,3.054,3.056,3.067,3.071,3.071,3.071,3.075,3.076,3.089,3.092,3.092,3.095,3.109,3.112,3.115,3.117,3.121,3.131,3.134,3.141,3.141,3.141,3.145,3.148,3.148,3.16,3.164,3.167,3.169,3.177,3.186,3.187,3.2,3.206,3.223,3.223,3.224,3.229,3.238,3.253,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 170.77} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 170.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 170.767} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 170.805} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.175,0.175,0.177,0.177,0.205,0,0,0,0,0,0,0,0,0,0,3.713,3.675,3.674,3.665,3.644,3.644,3.602,3.58,3.573,3.573,3.573,3.558,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.212,3.211,3.211,3.342,3.342,0,0,0,0,0,0.148,0.144,0.144,0.144,0.148,0.146,0.15,0.152,0.152,0.146,0.152,0.152,3.059,3.063,3.07,3.07,3.063,3.063,0.165,0.162,0.158,0.157,0.155,0.154,0.155,0.155,2.997,2.997,2.997,2.989,2.989,2.986,2.983,2.98,2.979,2.979,2.979,2.98,2.971,2.971,2.971,2.971,2.971,2.976,3.507,3.509,3.514,3.509,3.514,3.509,3.507,3.503,3.5,3.5,3.5,3.5,3.501,3.502,3.502,3.502,3.503,3.502,3.503,3.506,3.506,3.507,3.507,3.507,3.506,3.507,3.509,3.51,3.513,3.513,3.515,3.516,3.515,3.514,3.521,3.521,3.529,3.534,3.535,3.542,3.544,3.544,3.546,3.556,3.559,3.566,3.57,3.571,3.579,3.58,3.59,3.594,3.596,3.601,3.612,3.614,3.616,3.619,3.635,3.637,3.637,3.647,3.65,3.672,3.674,3.677,3.685,3.697,3.701,3.704,3.711,3.714,3.724,3.736,3.737,3.746,3.749,3.769,3.776,3.781,3.796,3.806,3.811,3.817,3.836,3.849,3.853,3.874,3.888,3.893,3.907,3.914,3.923,3.939,3.943,3.96,3.979,3.996,4.005,4.029,4.04,4.051,4.07,4.093,4.093,0.016,0.016,0.016,0.016,4.049,4,3.978,3.934,3.905,3.874,3.846,3.814,3.791,3.75,3.713,3.704,3.668,3.639,3.627,3.594,3.581,3.555,3.524,3.505,3.487,3.471,3.44,3.433,3.411,3.388,3.363,3.348,3.329,3.304,3.289,3.267,3.241,3.228,3.215,3.194,3.186,3.161,3.154,3.128,3.123,3.106,3.077,3.066,3.053,3.042,3.029,3.021,3.003,2.985,2.98,2.961,2.953,2.941,2.924,2.909,2.893,2.887,2.887,2.866,2.857,2.847,2.84,2.819,2.816,2.812,2.793,2.791,2.778,2.755,2.753,2.745,2.73,2.719,2.711,2.699,2.698,2.689,2.681,2.674,2.671,2.663,2.652,2.647,2.634,2.63,2.624,2.62,2.61,2.596,2.595,2.588,2.575,2.573,2.566,2.554,2.552,2.552,2.541,2.54,2.534,2.529,2.511,2.51,2.504,2.495,2.495,2.491,2.479,2.478,2.474,2.472,2.466,2.465,2.461,2.455,2.453,2.452,2.447,2.44,2.44,2.44,2.44,2.433,2.432,2.423,2.415,2.415,2.412,2.412,2.412,2.408,2.408,2.406,2.403,2.403,2.402,2.401,2.4,2.398,2.392,2.392,2.392,2.392,2.392,2.396,2.396,2.396,2.396,2.393,2.392,2.392,2.392,2.39,2.39,2.39,2.39,2.396,2.396,2.397,2.397,2.397,2.397,2.397,2.396,2.398,2.398,2.4,2.4,2.404,2.404,2.405,2.407,2.41,2.412,2.415,2.417,2.419,2.425,2.426,2.427,2.428,2.435,2.435,2.437,2.437,2.446,2.448,2.449,2.45,2.453,2.467,2.467,2.472,2.477,2.48,2.481,2.487,2.495,2.499,2.503,2.504,2.514,2.516,2.52,2.54,2.549,2.55,2.55,2.553,2.554,2.557,2.574,2.58,2.581,2.59,2.593,2.601,2.605,2.621,2.623,2.634,2.635,2.645,2.659,2.663,2.674,2.683,2.684,2.693,2.708,2.709,2.723,2.736,2.739,2.757,2.761,2.767,2.773,2.79,2.795,2.812,2.818,2.829,2.84,2.859,2.873,2.881,2.892,2.903,2.91,2.925,2.935,2.942,2.955,2.964,2.98,2.994,3.002,3.026,3.032,3.047,3.072,3.078,3.097,3.112,3.134,3.138,3.151,3.174,3.182,3.194,3.207,3.229,3.247,3.259,3.281,3.311,3.324,3.344,3.354,3.378,3.398,3.427,3.444,3.464,3.479,3.512,3.527,3.559,3.581,3.615,3.627,3.655,3.675,3.703,3.746,3.76,3.794,3.826,3.85,3.886,3.907,3.944,3.982,4.011,4.048,4.087,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,3.355,3.352,3.337,3.32,3.314,3.305,3.301,3.295,3.281,3.266,3.257,3.255,3.247,3.239,3.227,3.218,3.216,3.198,3.196,3.185,3.182,3.173,3.168,3.166,3.163,3.156,3.141,3.139,3.132,3.123,3.12,3.115,3.11,3.104,3.1,3.093,3.092,3.091,3.091,3.077,3.071,3.066,3.063,3.061,3.058,3.055,3.055,3.053,3.044,3.043,3.042,3.04,3.032,3.03,3.03,3.029,3.029,3.029,3.031,3.039,3.039,3.039,3.02,3.016,3.016,3.016,3.016,3.016,3.016,3.016,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.015,3.015,3.015,3.018,3.015,3.01,3.018,3.02,3.013,3.021,3.021,3.023,3.029,3.029,3.029,3.03,3.033,3.04,3.04,3.041,3.044,3.049,3.051,3.052,3.059,3.061,3.063,3.069,3.074,3.074,3.075,3.081,3.084,3.087,3.094,3.098,3.099,3.109,3.113,3.113,3.122,3.13,3.136,3.141,3.141,3.141,3.144,3.153,3.161,3.163,3.172,3.172,3.172,3.173,3.183,3.186,3.199,3.2,3.2,3.21,3.221,3.231,3.249,3.251,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 170.96} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 170.96} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 170.96} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276}
SEN {Time 171.008} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.174,0.174,0.182,0.182,0.202,0,0,0,0,0,0,0,0,0,0,3.703,3.681,3.669,3.668,3.65,3.634,3.627,3.591,3.581,3.581,3.581,3.567,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.209,3.209,3.208,3.202,3.202,3.338,3.338,0,0,0,0,0,0.152,0.143,0.143,0.143,0.152,0.148,0.153,0.153,0.153,0.148,0.153,0.164,3.064,3.074,3.074,3.074,3.07,3.07,0.162,0.159,0.158,0.154,0.152,0.152,0.153,0.153,2.995,2.995,2.995,2.994,2.992,2.988,2.981,2.979,2.978,2.977,2.977,2.975,2.974,2.97,2.97,2.97,2.97,2.97,3.503,3.504,3.514,3.509,3.514,3.509,3.509,3.498,3.496,3.496,3.496,3.498,3.501,3.501,3.501,3.501,3.501,3.494,3.499,3.499,3.499,3.499,3.501,3.504,3.504,3.504,3.505,3.506,3.508,3.509,3.516,3.516,3.516,3.516,3.52,3.521,3.527,3.535,3.537,3.538,3.541,3.546,3.553,3.555,3.56,3.565,3.567,3.567,3.589,3.589,3.59,3.59,3.59,3.598,3.61,3.613,3.62,3.632,3.632,3.632,3.635,3.649,3.65,3.661,3.671,3.687,3.688,3.692,3.701,3.705,3.717,3.719,3.724,3.737,3.742,3.746,3.76,3.77,3.776,3.786,3.795,3.812,3.814,3.824,3.835,3.847,3.866,3.87,3.877,3.897,3.898,3.91,3.921,3.944,3.947,3.97,3.977,3.995,4.011,4.027,4.047,4.052,4.077,4.08,0.016,0.016,0.016,0.016,0.016,4.074,4.026,3.974,3.941,3.909,3.887,3.855,3.812,3.793,3.754,3.717,3.702,3.671,3.652,3.62,3.604,3.579,3.541,3.526,3.499,3.492,3.466,3.449,3.437,3.404,3.389,3.362,3.345,3.327,3.301,3.292,3.264,3.253,3.228,3.212,3.207,3.176,3.157,3.153,3.133,3.12,3.1,3.089,3.069,3.057,3.049,3.034,3.023,3.005,2.991,2.979,2.961,2.956,2.947,2.925,2.911,2.901,2.898,2.879,2.867,2.862,2.85,2.847,2.824,2.818,2.806,2.796,2.789,2.778,2.763,2.755,2.746,2.736,2.724,2.713,2.702,2.694,2.692,2.684,2.675,2.671,2.664,2.655,2.646,2.635,2.631,2.627,2.622,2.621,2.597,2.588,2.587,2.582,2.571,2.568,2.555,2.552,2.551,2.544,2.536,2.53,2.528,2.517,2.514,2.507,2.505,2.498,2.493,2.484,2.478,2.476,2.468,2.468,2.466,2.46,2.455,2.453,2.45,2.448,2.448,2.442,2.438,2.436,2.436,2.431,2.428,2.421,2.42,2.418,2.414,2.416,2.412,2.411,2.407,2.407,2.406,2.403,2.402,2.401,2.399,2.396,2.396,2.394,2.392,2.389,2.392,2.392,2.395,2.396,2.396,2.396,2.395,2.393,2.393,2.391,2.391,2.39,2.39,2.392,2.393,2.393,2.395,2.395,2.396,2.396,2.397,2.399,2.399,2.401,2.405,2.405,2.408,2.409,2.412,2.412,2.418,2.42,2.427,2.428,2.429,2.429,2.43,2.432,2.436,2.438,2.442,2.443,2.444,2.447,2.447,2.464,2.466,2.467,2.473,2.474,2.478,2.481,2.487,2.489,2.496,2.502,2.51,2.51,2.51,2.52,2.541,2.544,2.548,2.548,2.549,2.557,2.565,2.57,2.581,2.581,2.588,2.595,2.598,2.609,2.617,2.621,2.634,2.636,2.648,2.65,2.655,2.676,2.682,2.686,2.699,2.706,2.707,2.72,2.732,2.742,2.75,2.762,2.771,2.778,2.786,2.789,2.806,2.816,2.841,2.843,2.857,2.862,2.866,2.891,2.895,2.914,2.925,2.932,2.945,2.955,2.979,2.988,2.995,3.009,3.029,3.032,3.048,3.058,3.08,3.107,3.119,3.124,3.135,3.152,3.18,3.18,3.202,3.221,3.239,3.241,3.26,3.279,3.303,3.336,3.342,3.368,3.386,3.396,3.43,3.437,3.459,3.49,3.504,3.532,3.551,3.579,3.613,3.638,3.668,3.699,3.72,3.734,3.757,3.796,3.825,3.853,3.883,3.912,3.953,3.985,4.011,4.065,4.089,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.015,3.354,3.354,3.354,3.34,3.32,3.299,3.293,3.293,3.278,3.276,3.26,3.255,3.253,3.23,3.223,3.221,3.218,3.195,3.194,3.186,3.186,3.177,3.172,3.169,3.16,3.15,3.148,3.141,3.134,3.126,3.118,3.113,3.11,3.1,3.093,3.089,3.089,3.088,3.088,3.088,3.073,3.067,3.063,3.063,3.061,3.057,3.055,3.045,3.044,3.043,3.041,3.039,3.036,3.029,3.029,3.028,3.028,3.028,3.031,3.037,3.037,3.037,3.027,3.023,3.019,3.015,3.01,3.014,3.01,3.01,3.01,3.011,3.011,3.015,3.012,3.012,3.014,3.014,3.012,3.014,3.017,3.017,3.018,3.018,3.018,3.018,3.021,3.023,3.024,3.027,3.029,3.032,3.032,3.034,3.04,3.043,3.044,3.044,3.044,3.048,3.049,3.057,3.059,3.065,3.068,3.074,3.074,3.077,3.077,3.082,3.095,3.095,3.1,3.104,3.11,3.11,3.124,3.125,3.131,3.136,3.141,3.144,3.144,3.147,3.148,3.148,3.162,3.163,3.167,3.171,3.18,3.183,3.189,3.205,3.208,3.211,3.211,3.218,3.23,3.244,3.257,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 171.16} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 171.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 171.163} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276}
SEN {Time 171.204} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.175,0.175,0.175,0.178,0.178,0.215,0,0,0,0,0,0,0,0,0,0,3.699,3.687,3.664,3.664,3.66,3.633,3.619,3.592,3.583,3.567,3.567,3.358,3.358,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.24,3.233,3.216,3.209,3.207,3.204,3.204,3.204,3.343,0,0,0,0,0,0.149,0.144,0.144,0.144,0.144,0.144,0.151,0.158,0.158,0.155,0.158,0.163,3.058,3.058,3.067,3.067,3.067,3.067,3.067,0.161,0.161,0.154,0.153,0.153,0.153,0.153,2.993,2.993,2.993,2.984,2.984,2.984,2.98,2.984,2.98,2.98,2.98,2.977,2.974,2.973,2.97,2.97,2.97,2.97,3.501,3.501,3.507,3.501,3.507,3.5,3.502,3.502,3.502,3.502,3.502,3.502,3.505,3.502,3.504,3.503,3.503,3.501,3.503,3.501,3.501,3.503,3.504,3.508,3.509,3.509,3.512,3.512,3.512,3.512,3.512,3.517,3.519,3.521,3.522,3.526,3.532,3.532,3.538,3.539,3.544,3.544,3.546,3.547,3.556,3.562,3.567,3.569,3.579,3.584,3.591,3.591,3.608,3.611,3.614,3.622,3.627,3.629,3.631,3.634,3.643,3.648,3.651,3.655,3.672,3.673,3.678,3.689,3.69,3.698,3.71,3.715,3.721,3.736,3.74,3.746,3.758,3.774,3.775,3.781,3.788,3.806,3.812,3.832,3.835,3.853,3.856,3.866,3.884,3.893,3.9,3.901,3.922,3.938,3.946,3.966,3.97,3.996,4.013,4.025,4.037,4.069,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.073,3.979,3.937,3.909,3.871,3.842,3.819,3.78,3.759,3.727,3.704,3.669,3.659,3.639,3.598,3.573,3.546,3.535,3.509,3.489,3.471,3.449,3.43,3.407,3.377,3.366,3.354,3.326,3.299,3.28,3.262,3.241,3.223,3.216,3.202,3.187,3.169,3.15,3.134,3.122,3.111,3.091,3.071,3.049,3.041,3.035,3.018,3.006,2.988,2.976,2.967,2.952,2.941,2.92,2.915,2.912,2.886,2.881,2.867,2.857,2.838,2.835,2.822,2.815,2.808,2.792,2.783,2.778,2.761,2.753,2.748,2.734,2.715,2.714,2.709,2.697,2.689,2.68,2.678,2.67,2.66,2.65,2.647,2.638,2.628,2.624,2.623,2.613,2.601,2.591,2.588,2.584,2.573,2.567,2.556,2.552,2.551,2.542,2.539,2.539,2.528,2.511,2.509,2.508,2.502,2.5,2.495,2.486,2.476,2.473,2.472,2.467,2.465,2.465,2.458,2.455,2.445,2.444,2.443,2.438,2.437,2.435,2.431,2.431,2.427,2.42,2.413,2.413,2.412,2.411,2.41,2.41,2.408,2.408,2.408,2.405,2.402,2.395,2.395,2.395,2.395,2.396,2.396,2.396,2.396,2.396,2.394,2.391,2.389,2.389,2.389,2.389,2.389,2.389,2.389,2.39,2.392,2.394,2.394,2.392,2.395,2.395,2.389,2.395,2.398,2.399,2.4,2.404,2.404,2.405,2.408,2.413,2.415,2.416,2.416,2.417,2.419,2.426,2.428,2.429,2.429,2.431,2.432,2.437,2.441,2.443,2.447,2.449,2.449,2.451,2.465,2.467,2.471,2.477,2.482,2.488,2.489,2.494,2.495,2.499,2.504,2.507,2.513,2.514,2.542,2.545,2.547,2.548,2.55,2.562,2.563,2.57,2.573,2.583,2.587,2.593,2.597,2.617,2.619,2.625,2.632,2.636,2.647,2.653,2.661,2.663,2.68,2.688,2.694,2.714,2.716,2.723,2.734,2.739,2.75,2.753,2.765,2.775,2.794,2.798,2.802,2.826,2.826,2.848,2.855,2.872,2.872,2.888,2.896,2.911,2.921,2.94,2.947,2.965,2.975,2.981,3.001,3.008,3.024,3.039,3.05,3.061,3.082,3.098,3.107,3.128,3.143,3.146,3.171,3.187,3.204,3.22,3.228,3.249,3.271,3.29,3.303,3.326,3.348,3.357,3.394,3.394,3.43,3.443,3.468,3.487,3.512,3.53,3.562,3.581,3.613,3.643,3.649,3.684,3.717,3.728,3.768,3.8,3.819,3.866,3.878,3.911,3.941,3.982,4.009,4.05,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.352,3.345,3.343,3.325,3.312,3.308,3.29,3.289,3.284,3.273,3.254,3.251,3.246,3.24,3.232,3.226,3.218,3.202,3.197,3.188,3.183,3.174,3.171,3.165,3.159,3.152,3.142,3.138,3.138,3.125,3.121,3.11,3.107,3.105,3.105,3.093,3.092,3.089,3.082,3.082,3.079,3.064,3.063,3.061,3.061,3.059,3.057,3.053,3.048,3.036,3.035,3.033,3.032,3.032,3.031,3.031,3.03,3.034,3.034,3.036,3.036,3.036,3.024,3.018,3.018,3.018,3.011,3.018,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.014,3.012,3.012,3.012,3.014,3.011,3.018,3.021,3.023,3.023,3.024,3.027,3.027,3.027,3.027,3.027,3.029,3.029,3.032,3.039,3.045,3.045,3.047,3.049,3.055,3.058,3.061,3.062,3.068,3.073,3.075,3.082,3.082,3.089,3.091,3.094,3.097,3.107,3.11,3.112,3.118,3.121,3.131,3.133,3.14,3.146,3.146,3.147,3.148,3.148,3.157,3.162,3.17,3.171,3.178,3.185,3.185,3.205,3.209,3.213,3.213,3.217,3.235,3.238,3.242,3.252,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 171.36} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 171.36} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 171.356} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9276}
SEN {Time 171.404} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.179,0.17,0.179,0.18,0.18,0.221,0,0,0,0,0,0,0,0,0,0,3.705,3.687,3.674,3.659,3.654,3.632,3.627,3.579,3.572,3.561,3.561,3.353,3.353,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.248,3.216,3.212,3.206,3.205,3.205,3.205,3.332,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.148,0.151,0.151,0.151,0.151,0.154,0.158,3.058,3.062,3.07,3.07,3.07,3.07,3.07,0.165,0.161,0.156,0.156,0.156,0.156,0.161,2.99,2.99,2.99,2.987,2.986,2.985,2.983,2.982,2.981,2.977,2.976,2.975,2.975,2.974,2.971,2.966,2.966,2.966,3.508,3.508,3.51,3.508,3.506,3.506,3.499,3.496,3.499,3.499,3.503,3.503,3.504,3.504,3.504,3.502,3.504,3.502,3.497,3.5,3.5,3.497,3.5,3.502,3.511,3.511,3.511,3.513,3.514,3.514,3.514,3.516,3.516,3.518,3.524,3.525,3.525,3.531,3.537,3.538,3.54,3.541,3.549,3.549,3.556,3.557,3.566,3.567,3.582,3.583,3.593,3.601,3.602,3.602,3.616,3.62,3.622,3.63,3.632,3.633,3.643,3.645,3.652,3.657,3.671,3.672,3.674,3.69,3.697,3.698,3.708,3.71,3.718,3.727,3.739,3.744,3.758,3.774,3.782,3.785,3.788,3.802,3.806,3.831,3.838,3.84,3.857,3.866,3.882,3.891,3.894,3.913,3.928,3.95,3.955,3.975,3.976,4.007,4.01,4.019,4.047,4.05,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.03,3.982,3.93,3.894,3.869,3.853,3.82,3.792,3.758,3.728,3.696,3.678,3.654,3.628,3.599,3.577,3.555,3.532,3.501,3.5,3.468,3.445,3.419,3.409,3.374,3.368,3.346,3.324,3.294,3.294,3.266,3.252,3.232,3.216,3.193,3.175,3.171,3.154,3.135,3.121,3.098,3.084,3.077,3.049,3.039,3.031,3.019,3.001,2.995,2.977,2.962,2.955,2.934,2.929,2.908,2.907,2.893,2.878,2.873,2.857,2.849,2.836,2.819,2.81,2.806,2.794,2.789,2.776,2.763,2.752,2.747,2.734,2.72,2.715,2.707,2.694,2.688,2.684,2.674,2.67,2.666,2.656,2.654,2.643,2.626,2.625,2.616,2.613,2.592,2.59,2.585,2.584,2.569,2.568,2.554,2.553,2.552,2.545,2.544,2.529,2.527,2.515,2.509,2.503,2.496,2.496,2.495,2.486,2.485,2.48,2.474,2.47,2.464,2.462,2.46,2.454,2.453,2.449,2.446,2.443,2.436,2.434,2.43,2.427,2.427,2.423,2.417,2.417,2.416,2.415,2.415,2.415,2.406,2.406,2.403,2.399,2.399,2.398,2.398,2.395,2.395,2.395,2.395,2.395,2.392,2.392,2.393,2.396,2.396,2.396,2.396,2.396,2.395,2.394,2.391,2.392,2.392,2.392,2.392,2.392,2.393,2.393,2.396,2.396,2.398,2.401,2.403,2.403,2.404,2.404,2.406,2.411,2.412,2.412,2.412,2.421,2.421,2.426,2.427,2.427,2.43,2.435,2.435,2.435,2.437,2.44,2.44,2.447,2.451,2.46,2.461,2.467,2.475,2.48,2.486,2.486,2.486,2.487,2.502,2.506,2.506,2.507,2.517,2.521,2.533,2.544,2.546,2.554,2.555,2.557,2.558,2.574,2.577,2.58,2.589,2.595,2.6,2.607,2.611,2.633,2.633,2.636,2.647,2.647,2.656,2.67,2.685,2.686,2.694,2.706,2.712,2.721,2.725,2.735,2.751,2.762,2.766,2.785,2.786,2.792,2.799,2.815,2.829,2.841,2.864,2.868,2.878,2.89,2.895,2.91,2.916,2.946,2.95,2.955,2.972,2.992,2.994,3.013,3.026,3.031,3.046,3.062,3.075,3.107,3.116,3.121,3.138,3.142,3.169,3.185,3.197,3.215,3.238,3.245,3.271,3.288,3.308,3.319,3.344,3.352,3.383,3.392,3.414,3.448,3.459,3.495,3.511,3.528,3.556,3.582,3.618,3.631,3.66,3.687,3.697,3.741,3.753,3.796,3.832,3.853,3.89,3.91,3.952,4.053,4.087,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.355,3.336,3.329,3.318,3.311,3.29,3.284,3.27,3.268,3.262,3.25,3.245,3.237,3.228,3.218,3.218,3.204,3.199,3.191,3.187,3.182,3.175,3.157,3.156,3.153,3.139,3.132,3.131,3.127,3.122,3.11,3.11,3.108,3.103,3.094,3.092,3.092,3.092,3.075,3.075,3.065,3.061,3.06,3.057,3.053,3.053,3.05,3.048,3.046,3.038,3.037,3.032,3.032,3.031,3.031,3.031,3.031,3.031,3.034,3.034,3.034,3.02,3.02,3.015,3.015,3.015,3.015,3.015,3.016,3.016,3.016,3.017,3.017,3.018,3.018,3.016,3.016,3.016,3.016,3.018,3.018,3.018,3.018,3.018,3.019,3.021,3.021,3.021,3.023,3.031,3.033,3.033,3.036,3.037,3.037,3.044,3.044,3.046,3.046,3.048,3.048,3.051,3.066,3.076,3.076,3.077,3.079,3.079,3.088,3.091,3.092,3.1,3.103,3.106,3.114,3.118,3.128,3.131,3.134,3.136,3.136,3.141,3.145,3.155,3.164,3.166,3.167,3.167,3.17,3.182,3.183,3.187,3.195,3.198,3.2,3.213,3.226,3.228,3.246,3.252,3.256,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 173.57} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 173.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 173.568} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.0546}
SEN {Time 173.603} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.177,0.185,0.185,0.217,0,0,0,0,0,0,0,0,0,0,3.698,3.688,3.666,3.664,3.655,3.635,3.621,3.579,3.575,3.575,3.575,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.219,3.217,3.211,3.206,3.206,3.206,3.342,0,0,0,0,0,0,0.149,0.147,0.145,0.145,0.145,0.146,0.153,0.153,0.153,0.153,0.158,3.061,3.061,3.068,3.068,3.061,3.061,0.168,0.158,0.158,0.155,0.155,0.155,0.155,0.159,2.994,2.994,2.994,2.989,2.987,2.986,2.981,2.979,2.979,2.977,2.977,2.978,2.975,2.973,2.973,2.97,2.97,2.973,3.503,3.503,3.509,3.506,3.509,3.506,3.506,3.499,3.499,3.499,3.499,3.499,3.501,3.502,3.502,3.502,3.502,3.499,3.499,3.499,3.499,3.499,3.5,3.5,3.501,3.506,3.51,3.51,3.51,3.51,3.512,3.515,3.517,3.521,3.522,3.525,3.526,3.527,3.531,3.538,3.545,3.548,3.55,3.551,3.56,3.572,3.573,3.577,3.578,3.579,3.579,3.598,3.601,3.602,3.611,3.614,3.619,3.629,3.63,3.635,3.635,3.652,3.66,3.661,3.661,3.68,3.687,3.69,3.698,3.7,3.714,3.716,3.721,3.734,3.746,3.751,3.752,3.775,3.776,3.789,3.801,3.804,3.817,3.823,3.831,3.84,3.859,3.863,3.871,3.888,3.902,3.918,3.922,3.942,3.954,3.973,3.984,3.991,4.025,4.028,4.046,4.069,4.076,0.016,0.016,0.016,0.007,0.016,0.016,4.07,4.028,4.028,3.963,3.954,3.875,3.84,3.82,3.794,3.748,3.725,3.702,3.671,3.652,3.625,3.598,3.579,3.546,3.532,3.508,3.482,3.467,3.443,3.425,3.412,3.385,3.363,3.354,3.328,3.299,3.289,3.268,3.238,3.229,3.215,3.192,3.172,3.163,3.152,3.135,3.123,3.099,3.089,3.065,3.052,3.038,3.026,3.025,2.999,2.994,2.979,2.963,2.955,2.945,2.927,2.915,2.915,2.887,2.882,2.874,2.859,2.848,2.829,2.826,2.805,2.805,2.795,2.783,2.776,2.76,2.755,2.753,2.735,2.725,2.721,2.707,2.7,2.694,2.677,2.677,2.666,2.665,2.653,2.645,2.638,2.631,2.62,2.619,2.609,2.602,2.591,2.591,2.589,2.576,2.57,2.566,2.553,2.547,2.543,2.543,2.537,2.52,2.518,2.508,2.505,2.505,2.503,2.494,2.49,2.488,2.475,2.472,2.468,2.468,2.465,2.465,2.455,2.453,2.452,2.449,2.443,2.442,2.44,2.438,2.429,2.428,2.419,2.416,2.412,2.412,2.412,2.41,2.406,2.406,2.406,2.403,2.403,2.399,2.399,2.398,2.397,2.398,2.397,2.393,2.393,2.393,2.391,2.391,2.393,2.39,2.39,2.39,2.392,2.39,2.391,2.392,2.392,2.395,2.395,2.395,2.391,2.391,2.391,2.393,2.397,2.398,2.399,2.399,2.402,2.405,2.405,2.405,2.41,2.41,2.416,2.42,2.42,2.42,2.426,2.427,2.428,2.428,2.432,2.436,2.437,2.443,2.446,2.447,2.449,2.449,2.457,2.466,2.466,2.467,2.476,2.479,2.486,2.488,2.489,2.499,2.5,2.507,2.509,2.512,2.517,2.535,2.541,2.55,2.55,2.553,2.561,2.566,2.571,2.572,2.582,2.585,2.592,2.601,2.607,2.61,2.624,2.632,2.637,2.649,2.653,2.656,2.671,2.68,2.688,2.695,2.706,2.706,2.721,2.732,2.741,2.748,2.754,2.768,2.774,2.79,2.798,2.813,2.818,2.831,2.844,2.859,2.861,2.872,2.885,2.896,2.911,2.922,2.933,2.94,2.959,2.965,2.985,2.996,3.011,3.025,3.042,3.045,3.066,3.075,3.105,3.118,3.131,3.145,3.15,3.162,3.18,3.204,3.22,3.229,3.248,3.262,3.28,3.306,3.317,3.334,3.355,3.377,3.394,3.419,3.459,3.459,3.485,3.516,3.539,3.556,3.581,3.612,3.621,3.661,3.686,3.708,3.741,3.773,3.789,3.836,3.851,3.885,3.922,3.945,3.975,4.006,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.353,3.35,3.338,3.325,3.315,3.305,3.285,3.285,3.278,3.277,3.256,3.25,3.247,3.233,3.227,3.226,3.219,3.203,3.195,3.194,3.185,3.177,3.168,3.16,3.154,3.151,3.144,3.134,3.132,3.123,3.112,3.111,3.11,3.108,3.105,3.105,3.094,3.09,3.09,3.086,3.077,3.066,3.062,3.062,3.062,3.059,3.05,3.05,3.046,3.044,3.043,3.038,3.031,3.031,3.03,3.028,3.028,3.03,3.03,3.044,3.044,3.044,3.019,3.018,3.018,3.016,3.014,3.013,3.013,3.013,3.011,3.013,3.016,3.016,3.016,3.016,3.016,3.014,3.015,3.015,3.016,3.015,3.018,3.019,3.019,3.019,3.024,3.026,3.026,3.026,3.027,3.029,3.033,3.033,3.036,3.04,3.044,3.045,3.046,3.047,3.054,3.056,3.058,3.061,3.068,3.076,3.078,3.081,3.083,3.085,3.092,3.096,3.097,3.101,3.114,3.117,3.119,3.122,3.134,3.134,3.14,3.14,3.141,3.141,3.142,3.142,3.164,3.166,3.166,3.167,3.18,3.19,3.191,3.199,3.22,3.221,3.221,3.223,3.223,3.246,3.255,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 173.76} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 173.76} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 173.761} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546}
SEN {Time 173.793} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.175,0.174,0.175,0.175,0.207,0,0,0,0,0,0,0,0,0,0,3.697,3.68,3.67,3.668,3.653,3.635,3.607,3.584,3.576,3.576,3.576,3.565,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.236,3.22,3.212,3.212,3.204,3.204,3.213,3.349,0,0,0,0,0,0,0.146,0.146,0.142,0.146,0.148,0.148,0.151,0.153,0.151,0.153,0.154,3.064,3.064,3.064,3.064,3.064,3.063,3.063,0.162,0.153,0.153,0.153,0.153,0.153,0.16,2.981,2.981,2.982,2.982,2.982,2.982,2.982,2.983,2.976,2.976,2.978,2.978,2.978,2.978,2.969,2.969,2.971,2.971,3.503,3.51,3.51,3.509,3.509,3.509,3.505,3.503,3.503,3.503,3.502,3.503,3.504,3.504,3.506,3.506,3.506,3.499,3.501,3.501,3.508,3.501,3.508,3.508,3.504,3.504,3.505,3.505,3.507,3.514,3.515,3.516,3.516,3.516,3.52,3.527,3.527,3.536,3.538,3.542,3.542,3.549,3.552,3.562,3.566,3.569,3.569,3.573,3.577,3.592,3.593,3.595,3.598,3.601,3.617,3.619,3.624,3.626,3.633,3.634,3.635,3.649,3.652,3.663,3.67,3.682,3.687,3.693,3.695,3.7,3.716,3.723,3.729,3.731,3.742,3.745,3.755,3.766,3.776,3.779,3.797,3.807,3.81,3.829,3.833,3.851,3.857,3.869,3.872,3.897,3.902,3.91,3.919,3.941,3.947,3.969,3.972,3.999,4.017,4.019,4.044,4.047,4.072,4.093,4.095,0.016,0.016,0.007,0,0,0,0.007,3.976,3.901,3.882,3.844,3.814,3.789,3.753,3.735,3.705,3.674,3.651,3.629,3.603,3.581,3.554,3.535,3.502,3.497,3.462,3.444,3.432,3.412,3.38,3.369,3.343,3.319,3.298,3.285,3.26,3.246,3.224,3.219,3.193,3.176,3.155,3.155,3.131,3.122,3.096,3.076,3.066,3.048,3.039,3.031,3.022,3.009,2.988,2.978,2.964,2.955,2.948,2.925,2.917,2.907,2.896,2.877,2.871,2.857,2.853,2.841,2.826,2.81,2.809,2.794,2.785,2.776,2.759,2.749,2.738,2.73,2.725,2.719,2.702,2.701,2.697,2.678,2.675,2.673,2.664,2.652,2.651,2.634,2.633,2.622,2.615,2.604,2.598,2.592,2.59,2.588,2.571,2.566,2.563,2.55,2.55,2.546,2.541,2.529,2.524,2.515,2.512,2.503,2.502,2.499,2.494,2.486,2.479,2.478,2.474,2.473,2.464,2.464,2.46,2.455,2.448,2.446,2.445,2.443,2.442,2.439,2.435,2.432,2.428,2.424,2.421,2.418,2.415,2.413,2.413,2.412,2.406,2.405,2.403,2.4,2.4,2.4,2.397,2.397,2.397,2.396,2.396,2.395,2.39,2.39,2.39,2.39,2.394,2.395,2.395,2.394,2.393,2.392,2.392,2.393,2.396,2.397,2.397,2.396,2.397,2.393,2.393,2.397,2.397,2.397,2.398,2.398,2.399,2.405,2.405,2.407,2.407,2.41,2.423,2.425,2.426,2.426,2.426,2.426,2.426,2.43,2.438,2.444,2.446,2.448,2.449,2.455,2.456,2.458,2.464,2.47,2.476,2.476,2.48,2.48,2.482,2.493,2.495,2.503,2.505,2.506,2.509,2.517,2.54,2.544,2.544,2.546,2.546,2.549,2.564,2.575,2.582,2.584,2.594,2.596,2.597,2.608,2.616,2.624,2.631,2.634,2.647,2.648,2.661,2.673,2.684,2.686,2.697,2.702,2.717,2.719,2.729,2.742,2.744,2.752,2.769,2.776,2.79,2.805,2.806,2.822,2.83,2.836,2.86,2.873,2.88,2.885,2.899,2.908,2.928,2.938,2.95,2.958,2.974,2.983,2.994,3.017,3.027,3.044,3.051,3.067,3.078,3.104,3.114,3.129,3.142,3.152,3.164,3.186,3.199,3.216,3.231,3.247,3.267,3.281,3.303,3.329,3.35,3.363,3.387,3.396,3.423,3.443,3.472,3.487,3.51,3.541,3.557,3.583,3.607,3.629,3.661,3.688,3.717,3.739,3.769,3.796,3.831,3.874,3.921,3.954,3.954,3.977,4.006,4.053,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.351,3.331,3.326,3.314,3.302,3.294,3.29,3.281,3.277,3.255,3.251,3.243,3.241,3.225,3.222,3.211,3.202,3.195,3.194,3.176,3.174,3.17,3.163,3.159,3.148,3.141,3.138,3.133,3.12,3.116,3.114,3.111,3.107,3.107,3.092,3.09,3.089,3.088,3.079,3.073,3.063,3.062,3.062,3.062,3.061,3.059,3.051,3.042,3.041,3.041,3.038,3.036,3.036,3.033,3.029,3.027,3.027,3.027,3.037,3.037,3.037,3.02,3.018,3.018,3.017,3.018,3.018,3.012,3.012,3.014,3.014,3.015,3.017,3.015,3.015,3.017,3.017,3.014,3.014,3.017,3.014,3.014,3.019,3.02,3.02,3.026,3.026,3.028,3.029,3.028,3.028,3.032,3.033,3.033,3.036,3.042,3.051,3.052,3.052,3.055,3.055,3.056,3.064,3.065,3.071,3.075,3.076,3.079,3.087,3.091,3.092,3.099,3.108,3.114,3.114,3.118,3.12,3.13,3.134,3.143,3.138,3.142,3.144,3.144,3.144,3.155,3.158,3.16,3.172,3.188,3.19,3.203,3.205,3.205,3.209,3.209,3.222,3.232,3.241,3.254,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 173.95} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 173.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 173.946} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08}
SEN {Time 173.995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.177,0.179,0.179,0.203,0,0,0,0,0,0.007,0,0,0,0,3.694,3.68,3.676,3.663,3.647,3.638,3.613,3.583,3.58,3.58,3.58,3.569,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.237,3.237,0,3.228,3.219,3.35,3.35,3.35,0,0,0,0,0,0.149,0.144,0.144,0.144,0.149,0.147,0.149,0.149,0.149,0.149,0.149,0.157,3.058,3.061,3.072,3.072,3.061,3.061,0.163,0.162,0.161,0.154,0.153,0.152,0.152,0.152,2.994,2.994,2.994,2.991,2.987,2.985,2.985,2.983,2.982,2.978,2.978,2.975,2.972,2.972,2.972,2.971,2.971,2.972,3.502,3.507,3.512,3.507,3.512,3.507,3.502,3.499,3.499,3.499,3.499,3.503,3.504,3.504,3.504,3.504,3.505,3.5,3.504,3.504,3.505,3.504,3.505,3.506,3.508,3.508,3.508,3.508,3.508,3.51,3.508,3.516,3.516,3.516,3.516,3.519,3.525,3.531,3.535,3.54,3.54,3.546,3.552,3.554,3.558,3.562,3.562,3.566,3.579,3.585,3.595,3.598,3.599,3.603,3.604,3.618,3.622,3.622,3.63,3.633,3.635,3.652,3.652,3.659,3.672,3.673,3.68,3.684,3.698,3.698,3.701,3.718,3.719,3.736,3.741,3.746,3.756,3.772,3.778,3.791,3.791,3.801,3.811,3.83,3.833,3.848,3.849,3.866,3.876,3.884,3.916,3.918,3.928,3.936,3.948,3.96,3.982,3.995,4.009,4.024,4.038,4.058,4.073,4.084,0.016,0.016,0.016,0,0.016,0,0.007,0,0.007,3.941,3.88,3.856,3.809,3.791,3.763,3.72,3.703,3.671,3.652,3.624,3.603,3.581,3.563,3.531,3.516,3.485,3.466,3.454,3.444,3.413,3.387,3.369,3.35,3.324,3.299,3.296,3.26,3.252,3.234,3.217,3.193,3.181,3.163,3.146,3.134,3.117,3.108,3.091,3.069,3.049,3.037,3.036,3.022,3.003,2.994,2.982,2.962,2.955,2.94,2.929,2.918,2.909,2.886,2.881,2.868,2.858,2.852,2.84,2.817,2.817,2.807,2.791,2.789,2.771,2.768,2.747,2.738,2.734,2.722,2.717,2.704,2.695,2.69,2.686,2.669,2.668,2.661,2.658,2.656,2.639,2.633,2.624,2.622,2.619,2.595,2.59,2.589,2.583,2.581,2.572,2.564,2.555,2.546,2.541,2.537,2.535,2.518,2.517,2.513,2.506,2.506,2.5,2.494,2.484,2.481,2.479,2.476,2.466,2.463,2.463,2.46,2.454,2.452,2.447,2.447,2.446,2.444,2.442,2.44,2.432,2.427,2.418,2.415,2.413,2.413,2.412,2.408,2.408,2.404,2.404,2.403,2.402,2.4,2.396,2.396,2.396,2.398,2.398,2.398,2.397,2.395,2.394,2.394,2.395,2.394,2.393,2.393,2.392,2.392,2.389,2.389,2.39,2.393,2.395,2.395,2.395,2.395,2.395,2.396,2.396,2.398,2.4,2.4,2.4,2.406,2.406,2.408,2.408,2.412,2.412,2.414,2.414,2.415,2.42,2.425,2.425,2.43,2.435,2.437,2.444,2.446,2.446,2.446,2.448,2.454,2.457,2.459,2.464,2.466,2.472,2.475,2.483,2.489,2.498,2.502,2.506,2.514,2.515,2.524,2.525,2.538,2.543,2.547,2.547,2.554,2.558,2.564,2.576,2.579,2.58,2.582,2.596,2.599,2.606,2.611,2.617,2.624,2.635,2.641,2.648,2.662,2.673,2.686,2.687,2.697,2.699,2.716,2.721,2.733,2.737,2.746,2.755,2.77,2.779,2.792,2.797,2.809,2.822,2.834,2.846,2.857,2.866,2.867,2.886,2.892,2.914,2.923,2.932,2.943,2.953,2.977,2.986,2.994,3.01,3.023,3.031,3.053,3.068,3.075,3.099,3.118,3.128,3.14,3.143,3.174,3.181,3.199,3.218,3.234,3.25,3.258,3.282,3.3,3.327,3.338,3.356,3.383,3.394,3.42,3.442,3.464,3.48,3.507,3.527,3.561,3.584,3.626,3.631,3.653,3.688,3.718,3.742,3.766,3.8,3.831,3.853,3.889,3.91,3.951,4.009,4.052,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.358,3.354,3.343,3.323,3.321,3.303,3.291,3.285,3.284,3.272,3.262,3.259,3.25,3.238,3.234,3.219,3.217,3.192,3.191,3.188,3.182,3.171,3.168,3.168,3.153,3.149,3.148,3.135,3.132,3.121,3.12,3.111,3.107,3.104,3.095,3.093,3.092,3.092,3.083,3.075,3.07,3.067,3.065,3.064,3.059,3.056,3.054,3.05,3.045,3.041,3.039,3.038,3.034,3.031,3.028,3.028,3.028,3.028,3.033,3.034,3.033,3.033,3.025,3.021,3.019,3.016,3.016,3.016,3.011,3.011,3.01,3.01,3.011,3.011,3.01,3.009,3.009,3.009,3.016,3.017,3.019,3.019,3.02,3.02,3.02,3.019,3.02,3.021,3.024,3.026,3.028,3.028,3.032,3.037,3.045,3.045,3.048,3.048,3.048,3.048,3.049,3.049,3.061,3.061,3.068,3.078,3.078,3.082,3.086,3.089,3.094,3.096,3.102,3.103,3.117,3.118,3.121,3.121,3.13,3.131,3.134,3.144,3.144,3.144,3.147,3.147,3.16,3.162,3.168,3.174,3.175,3.188,3.189,3.202,3.207,3.216,3.216,3.221,3.235,3.237,3.249,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 174.15} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 174.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 174.148} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08}
SEN {Time 174.192} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.17,0.17,0.171,0.18,0.18,0.194,0,0,0,0,0,0,0,0,0,0,3.694,3.685,3.673,3.662,3.647,3.636,3.626,3.595,3.57,3.57,3.57,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.214,3.207,3.207,3.346,3.346,0,0,0,0,0,0.141,0.141,0.141,0.141,0.141,0.14,0.151,0.151,0.151,0.15,0.151,0.153,3.07,3.07,3.07,3.07,3.07,3.07,3.067,0.165,0.163,0.154,0.152,0.152,0.152,0.154,2.994,2.994,2.994,2.993,2.99,2.986,2.986,2.983,2.982,2.979,2.977,2.977,2.976,2.972,2.968,2.968,2.968,2.974,3.505,3.512,3.512,3.507,3.512,3.507,3.507,3.501,3.503,3.503,3.503,3.503,3.505,3.505,3.505,3.505,3.505,3.503,3.503,3.501,3.501,3.5,3.5,3.508,3.508,3.508,3.508,3.508,3.508,3.513,3.517,3.521,3.521,3.518,3.523,3.523,3.527,3.537,3.537,3.537,3.539,3.545,3.554,3.554,3.555,3.566,3.571,3.571,3.582,3.592,3.592,3.6,3.601,3.611,3.616,3.617,3.622,3.625,3.629,3.635,3.637,3.642,3.648,3.662,3.663,3.676,3.689,3.689,3.69,3.702,3.716,3.717,3.726,3.731,3.749,3.753,3.756,3.771,3.778,3.782,3.789,3.803,3.807,3.826,3.83,3.846,3.846,3.856,3.88,3.885,3.903,3.911,3.929,3.939,3.952,3.975,3.975,3.989,4.005,4.032,4.043,4.07,4.081,0.016,0.016,0.016,0.016,0,0,0.016,4.078,3.969,3.934,3.9,3.883,3.833,3.825,3.793,3.754,3.725,3.698,3.669,3.664,3.621,3.6,3.562,3.547,3.522,3.501,3.498,3.464,3.451,3.424,3.42,3.384,3.372,3.342,3.331,3.298,3.298,3.259,3.245,3.234,3.22,3.199,3.182,3.154,3.15,3.132,3.121,3.103,3.094,3.074,3.052,3.04,3.034,3.016,3.009,2.988,2.973,2.968,2.953,2.946,2.928,2.916,2.91,2.897,2.893,2.868,2.863,2.842,2.836,2.825,2.811,2.804,2.792,2.784,2.775,2.769,2.754,2.746,2.744,2.724,2.709,2.701,2.699,2.697,2.679,2.678,2.669,2.665,2.657,2.651,2.639,2.625,2.624,2.623,2.608,2.603,2.587,2.585,2.583,2.57,2.562,2.558,2.558,2.55,2.545,2.542,2.531,2.522,2.52,2.511,2.509,2.5,2.499,2.494,2.482,2.478,2.474,2.474,2.464,2.461,2.456,2.455,2.449,2.449,2.449,2.448,2.446,2.443,2.44,2.431,2.431,2.428,2.425,2.419,2.413,2.41,2.412,2.408,2.408,2.405,2.405,2.404,2.404,2.404,2.4,2.398,2.398,2.398,2.398,2.398,2.395,2.391,2.391,2.391,2.391,2.396,2.397,2.397,2.397,2.393,2.391,2.391,2.389,2.389,2.391,2.391,2.389,2.392,2.392,2.395,2.396,2.399,2.4,2.401,2.404,2.404,2.405,2.405,2.409,2.409,2.411,2.41,2.415,2.424,2.426,2.427,2.428,2.431,2.432,2.436,2.438,2.438,2.438,2.447,2.449,2.451,2.458,2.468,2.471,2.472,2.473,2.473,2.482,2.489,2.495,2.504,2.506,2.508,2.51,2.513,2.519,2.531,2.539,2.547,2.548,2.554,2.56,2.56,2.567,2.574,2.579,2.589,2.595,2.595,2.605,2.612,2.622,2.632,2.633,2.646,2.654,2.66,2.674,2.677,2.683,2.689,2.703,2.713,2.722,2.732,2.741,2.751,2.759,2.762,2.777,2.789,2.798,2.806,2.819,2.83,2.84,2.852,2.867,2.872,2.888,2.896,2.909,2.924,2.941,2.942,2.958,2.977,2.979,2.998,3.013,3.029,3.034,3.055,3.069,3.08,3.096,3.113,3.121,3.146,3.153,3.168,3.18,3.197,3.216,3.226,3.247,3.264,3.284,3.3,3.326,3.338,3.361,3.382,3.392,3.422,3.438,3.456,3.487,3.505,3.53,3.557,3.596,3.62,3.642,3.674,3.691,3.714,3.74,3.763,3.799,3.834,3.855,3.898,3.916,3.952,3.982,4.064,4.089,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,4.038,3.361,3.351,3.334,3.33,3.307,3.301,3.288,3.286,3.281,3.275,3.26,3.258,3.258,3.241,3.233,3.214,3.213,3.201,3.2,3.198,3.187,3.179,3.175,3.159,3.149,3.146,3.145,3.138,3.13,3.121,3.118,3.111,3.109,3.109,3.107,3.097,3.091,3.09,3.09,3.079,3.075,3.064,3.064,3.061,3.057,3.053,3.053,3.051,3.048,3.045,3.044,3.038,3.036,3.033,3.033,3.031,3.028,3.031,3.031,3.034,3.034,3.034,3.021,3.017,3.017,3.015,3.015,3.015,3.016,3.016,3.016,3.016,3.018,3.016,3.017,3.017,3.017,3.012,3.013,3.013,3.016,3.013,3.016,3.021,3.023,3.023,3.026,3.024,3.027,3.029,3.029,3.029,3.029,3.029,3.034,3.042,3.043,3.044,3.048,3.052,3.058,3.059,3.06,3.064,3.074,3.074,3.076,3.077,3.079,3.082,3.092,3.092,3.095,3.107,3.109,3.109,3.113,3.121,3.131,3.135,3.144,3.144,3.144,3.147,3.151,3.162,3.167,3.169,3.169,3.17,3.182,3.189,3.192,3.202,3.204,3.21,3.213,3.225,3.241,3.247,3.264,3.274,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 174.35} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 174.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 174.35} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08}
SEN {Time 174.392} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.174,0.173,0.174,0.18,0.18,0.204,0,0,0,0,0,0.007,0,0,0,0,3.695,3.685,3.678,3.66,3.646,3.637,3.61,3.592,3.581,3.581,3.581,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.25,3.219,3.214,3.205,3.205,3.205,3.205,3.348,0,0,0,0,0,0,0.142,0.142,0.138,0.142,0.15,0.153,0.158,0.158,0.154,0.158,0.159,3.065,3.065,3.065,3.065,3.065,3.065,3.065,0.168,0.168,0.159,0.15,0.15,0.154,0.154,2.989,2.992,2.992,2.989,2.985,2.984,2.979,2.978,2.977,2.977,2.977,2.976,2.976,2.97,2.969,2.969,2.97,2.972,3.503,3.508,3.514,3.508,3.508,3.507,3.501,3.499,3.499,3.499,3.5,3.5,3.5,3.504,3.504,3.504,3.507,3.507,3.505,3.505,3.507,3.505,3.507,3.508,3.508,3.508,3.508,3.508,3.508,3.509,3.516,3.517,3.519,3.516,3.519,3.519,3.528,3.536,3.54,3.54,3.544,3.545,3.548,3.552,3.559,3.562,3.566,3.571,3.579,3.58,3.589,3.593,3.602,3.605,3.619,3.624,3.625,3.628,3.628,3.635,3.635,3.646,3.653,3.656,3.673,3.679,3.68,3.689,3.7,3.705,3.713,3.723,3.723,3.733,3.751,3.751,3.763,3.765,3.772,3.789,3.796,3.807,3.81,3.826,3.827,3.842,3.861,3.868,3.874,3.884,3.905,3.908,3.924,3.937,3.954,3.972,3.974,3.992,4.008,4.019,4.044,4.068,4.073,4.087,0.016,0.016,0.016,0.016,0.016,4.076,4.004,3.977,3.939,3.905,3.875,3.837,3.81,3.778,3.77,3.723,3.704,3.675,3.651,3.621,3.602,3.572,3.544,3.536,3.499,3.478,3.463,3.451,3.428,3.413,3.385,3.36,3.339,3.323,3.298,3.297,3.257,3.249,3.236,3.211,3.197,3.175,3.162,3.15,3.135,3.108,3.099,3.088,3.065,3.052,3.042,3.033,3.019,3.003,2.995,2.975,2.961,2.955,2.942,2.929,2.911,2.905,2.897,2.881,2.874,2.856,2.846,2.845,2.827,2.817,2.814,2.788,2.786,2.781,2.764,2.76,2.747,2.731,2.719,2.716,2.703,2.691,2.688,2.676,2.674,2.67,2.664,2.656,2.653,2.632,2.628,2.625,2.62,2.611,2.597,2.588,2.587,2.584,2.576,2.574,2.559,2.555,2.554,2.541,2.54,2.529,2.52,2.512,2.504,2.503,2.503,2.497,2.496,2.48,2.48,2.48,2.48,2.48,2.465,2.464,2.455,2.455,2.449,2.449,2.444,2.441,2.439,2.436,2.431,2.431,2.426,2.423,2.42,2.419,2.414,2.412,2.412,2.412,2.409,2.405,2.399,2.399,2.397,2.397,2.397,2.397,2.396,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.389,2.389,2.392,2.393,2.393,2.394,2.394,2.396,2.396,2.396,2.392,2.392,2.392,2.392,2.395,2.396,2.397,2.399,2.399,2.401,2.404,2.405,2.41,2.411,2.414,2.417,2.417,2.423,2.425,2.428,2.429,2.432,2.434,2.437,2.44,2.442,2.444,2.449,2.452,2.455,2.455,2.458,2.464,2.472,2.474,2.479,2.489,2.489,2.49,2.492,2.499,2.509,2.513,2.518,2.522,2.539,2.539,2.548,2.548,2.551,2.558,2.56,2.574,2.581,2.584,2.588,2.597,2.601,2.608,2.61,2.618,2.635,2.637,2.646,2.657,2.664,2.664,2.686,2.691,2.694,2.705,2.712,2.722,2.727,2.731,2.748,2.757,2.761,2.782,2.786,2.796,2.812,2.814,2.834,2.836,2.855,2.86,2.872,2.887,2.901,2.912,2.925,2.941,2.942,2.957,2.973,2.985,2.996,3.008,3.024,3.034,3.049,3.074,3.084,3.105,3.113,3.128,3.141,3.147,3.173,3.183,3.199,3.217,3.24,3.258,3.261,3.279,3.305,3.329,3.349,3.354,3.388,3.397,3.429,3.439,3.46,3.486,3.519,3.532,3.557,3.58,3.61,3.632,3.667,3.677,3.707,3.746,3.755,3.794,3.831,3.849,3.884,3.91,3.945,3.983,4.021,4.055,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.006,0.006,0,3.361,3.355,3.334,3.33,3.317,3.298,3.287,3.282,3.275,3.27,3.257,3.256,3.246,3.237,3.23,3.23,3.219,3.202,3.2,3.196,3.191,3.174,3.168,3.158,3.154,3.151,3.149,3.137,3.131,3.122,3.121,3.113,3.112,3.111,3.105,3.094,3.089,3.086,3.085,3.085,3.083,3.07,3.062,3.061,3.059,3.057,3.057,3.051,3.045,3.043,3.042,3.039,3.033,3.029,3.026,3.026,3.026,3.028,3.029,3.042,3.042,3.042,3.018,3.018,3.018,3.016,3.016,3.014,3.013,3.013,3.013,3.014,3.013,3.014,3.014,3.014,3.016,3.016,3.016,3.015,3.016,3.015,3.015,3.021,3.021,3.024,3.024,3.024,3.024,3.026,3.025,3.029,3.029,3.033,3.04,3.043,3.046,3.046,3.052,3.052,3.053,3.055,3.057,3.069,3.071,3.071,3.071,3.081,3.083,3.089,3.089,3.093,3.094,3.098,3.111,3.115,3.121,3.123,3.131,3.135,3.138,3.138,3.142,3.145,3.148,3.154,3.159,3.167,3.167,3.172,3.183,3.187,3.189,3.202,3.206,3.211,3.217,3.23,3.232,3.245,3.258,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 174.54} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 174.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 174.543} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292}
SEN {Time 174.592} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.179,0.174,0.179,0.186,0.186,0.191,0,0,0,0,0,0,0,0,0,0,3.701,3.679,3.675,3.655,3.652,3.632,3.617,3.592,3.592,3.592,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.219,3.205,3.204,3.202,3.204,3.205,3.348,0,0,0,0,0,0.149,0.147,0.146,0.146,0.146,0.146,0.147,0.151,0.151,0.147,0.151,0.151,3.065,3.067,3.067,3.067,3.065,3.061,0.167,0.165,0.155,0.154,0.154,0.154,0.156,0.158,2.998,2.998,2.998,2.993,2.982,2.981,2.981,2.98,2.976,2.975,2.976,2.975,2.971,2.971,2.97,2.97,2.971,2.972,3.496,3.511,3.513,3.511,3.511,3.505,3.503,3.5,3.5,3.5,3.5,3.507,3.507,3.506,3.504,3.504,3.504,3.503,3.503,3.499,3.502,3.502,3.502,3.511,3.511,3.511,3.506,3.506,3.506,3.509,3.514,3.517,3.517,3.517,3.518,3.524,3.527,3.528,3.528,3.539,3.543,3.548,3.552,3.553,3.566,3.566,3.573,3.579,3.588,3.589,3.595,3.595,3.599,3.603,3.608,3.618,3.618,3.623,3.63,3.631,3.636,3.645,3.654,3.655,3.669,3.671,3.682,3.683,3.704,3.705,3.708,3.718,3.718,3.743,3.743,3.751,3.76,3.769,3.781,3.785,3.787,3.801,3.806,3.821,3.825,3.842,3.851,3.872,3.878,3.891,3.905,3.915,3.923,3.938,3.956,3.973,3.987,3.998,4.001,4.023,4.039,4.065,4.077,4.088,0.016,0.016,0.016,0.016,0.016,4.039,4.007,3.977,3.949,3.899,3.868,3.836,3.821,3.787,3.756,3.726,3.696,3.672,3.649,3.617,3.602,3.576,3.542,3.531,3.504,3.491,3.469,3.455,3.421,3.408,3.381,3.361,3.352,3.329,3.304,3.293,3.264,3.244,3.234,3.218,3.201,3.175,3.157,3.149,3.141,3.12,3.102,3.086,3.074,3.05,3.04,3.033,3.017,3.005,2.994,2.973,2.965,2.959,2.938,2.932,2.917,2.91,2.885,2.878,2.877,2.861,2.853,2.836,2.824,2.81,2.807,2.795,2.78,2.778,2.765,2.755,2.75,2.734,2.726,2.716,2.705,2.696,2.691,2.679,2.675,2.666,2.66,2.655,2.642,2.633,2.629,2.624,2.624,2.608,2.604,2.593,2.587,2.578,2.573,2.572,2.568,2.551,2.545,2.539,2.536,2.532,2.53,2.515,2.512,2.51,2.5,2.498,2.496,2.486,2.483,2.477,2.475,2.473,2.471,2.461,2.461,2.453,2.453,2.448,2.444,2.444,2.444,2.444,2.431,2.431,2.426,2.419,2.416,2.41,2.41,2.408,2.406,2.41,2.406,2.403,2.401,2.401,2.401,2.4,2.398,2.398,2.398,2.395,2.395,2.395,2.394,2.392,2.392,2.392,2.392,2.393,2.393,2.393,2.389,2.389,2.389,2.39,2.395,2.395,2.392,2.391,2.392,2.392,2.394,2.395,2.4,2.4,2.4,2.4,2.4,2.402,2.41,2.41,2.413,2.413,2.415,2.418,2.421,2.425,2.427,2.43,2.431,2.432,2.434,2.438,2.443,2.443,2.449,2.452,2.452,2.456,2.464,2.465,2.465,2.474,2.478,2.478,2.487,2.496,2.506,2.508,2.515,2.516,2.517,2.522,2.537,2.544,2.547,2.548,2.558,2.558,2.561,2.575,2.578,2.581,2.584,2.584,2.602,2.609,2.615,2.624,2.631,2.633,2.652,2.652,2.659,2.669,2.679,2.684,2.69,2.707,2.715,2.716,2.734,2.739,2.757,2.76,2.767,2.773,2.79,2.805,2.808,2.825,2.826,2.84,2.864,2.865,2.874,2.892,2.896,2.915,2.919,2.939,2.952,2.956,2.985,2.99,2.994,3.009,3.02,3.044,3.045,3.067,3.072,3.097,3.115,3.122,3.139,3.148,3.165,3.176,3.202,3.216,3.236,3.25,3.258,3.285,3.303,3.328,3.342,3.363,3.38,3.392,3.427,3.447,3.456,3.487,3.514,3.528,3.556,3.582,3.621,3.647,3.663,3.689,3.712,3.75,3.761,3.786,3.823,3.852,3.886,3.909,3.959,4.021,4.06,4.081,4.081,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,4.02,3.356,3.351,3.339,3.326,3.313,3.303,3.302,3.283,3.279,3.273,3.263,3.255,3.251,3.237,3.226,3.214,3.213,3.202,3.198,3.19,3.181,3.18,3.173,3.171,3.152,3.148,3.145,3.14,3.138,3.127,3.123,3.117,3.111,3.11,3.106,3.094,3.092,3.092,3.088,3.087,3.075,3.067,3.062,3.061,3.061,3.061,3.059,3.05,3.046,3.043,3.042,3.041,3.033,3.033,3.03,3.029,3.03,3.03,3.031,3.039,3.039,3.039,3.014,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.016,3.013,3.014,3.014,3.014,3.012,3.014,3.018,3.012,3.015,3.02,3.015,3.015,3.019,3.02,3.021,3.023,3.027,3.031,3.032,3.033,3.034,3.035,3.043,3.044,3.044,3.051,3.057,3.057,3.059,3.062,3.075,3.076,3.076,3.078,3.078,3.086,3.087,3.095,3.096,3.108,3.109,3.111,3.119,3.127,3.128,3.135,3.136,3.14,3.141,3.141,3.143,3.143,3.159,3.166,3.169,3.174,3.178,3.179,3.191,3.197,3.201,3.202,3.212,3.219,3.225,3.251,3.254,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 174.75} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 174.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 174.746} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292}
SEN {Time 174.792} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.178,0.175,0.178,0.181,0.181,0.215,0,0,0,0,0,0,0,0,0,0,3.707,3.681,3.674,3.672,3.65,3.629,3.614,3.579,3.575,3.569,3.569,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.211,3.208,3.207,3.207,3.207,3.34,0,0,0,0,0,0.154,0.144,0.144,0.144,0.144,0.149,0.149,0.149,0.149,0.149,0.149,0.156,3.058,3.061,3.061,3.061,3.061,3.061,3.061,0.162,0.158,0.158,0.157,0.155,0.157,0.161,2.99,2.99,2.99,2.99,2.99,2.983,2.982,2.981,2.978,2.978,2.978,2.977,2.976,2.976,2.972,2.972,2.972,2.975,3.508,3.513,3.513,3.508,3.513,3.507,3.503,3.5,3.5,3.498,3.498,3.505,3.505,3.499,3.505,3.505,3.505,3.505,3.505,3.502,3.502,3.501,3.501,3.502,3.511,3.512,3.512,3.512,3.512,3.516,3.516,3.516,3.519,3.521,3.521,3.521,3.533,3.533,3.533,3.537,3.539,3.54,3.55,3.55,3.562,3.562,3.566,3.576,3.58,3.59,3.59,3.59,3.598,3.603,3.607,3.62,3.624,3.634,3.634,3.636,3.637,3.641,3.646,3.653,3.669,3.673,3.678,3.688,3.697,3.702,3.715,3.715,3.716,3.736,3.74,3.751,3.758,3.769,3.78,3.781,3.787,3.799,3.811,3.828,3.829,3.84,3.857,3.858,3.882,3.883,3.903,3.904,3.928,3.938,3.953,3.971,3.974,3.993,4.018,4.044,4.046,4.061,4.085,4.086,0.016,0.016,0.016,0.016,0.016,4.035,4.01,3.971,3.953,3.907,3.882,3.846,3.829,3.787,3.753,3.726,3.702,3.676,3.653,3.622,3.595,3.579,3.534,3.531,3.502,3.496,3.47,3.456,3.432,3.415,3.379,3.365,3.343,3.319,3.304,3.278,3.258,3.241,3.221,3.218,3.195,3.176,3.158,3.149,3.14,3.121,3.105,3.086,3.07,3.047,3.047,3.031,3.019,3.012,2.994,2.98,2.963,2.953,2.935,2.929,2.912,2.906,2.892,2.88,2.868,2.858,2.846,2.842,2.826,2.818,2.813,2.793,2.787,2.772,2.763,2.759,2.742,2.74,2.723,2.716,2.706,2.695,2.693,2.677,2.673,2.672,2.667,2.655,2.651,2.632,2.627,2.624,2.622,2.611,2.604,2.592,2.59,2.577,2.576,2.563,2.559,2.555,2.548,2.546,2.54,2.525,2.521,2.514,2.513,2.511,2.498,2.492,2.49,2.482,2.48,2.475,2.471,2.471,2.47,2.463,2.462,2.45,2.45,2.45,2.449,2.449,2.439,2.439,2.437,2.429,2.425,2.419,2.416,2.415,2.412,2.411,2.41,2.407,2.406,2.405,2.403,2.401,2.4,2.398,2.396,2.396,2.394,2.393,2.393,2.393,2.393,2.393,2.393,2.393,2.39,2.39,2.39,2.392,2.39,2.392,2.393,2.396,2.399,2.399,2.399,2.398,2.396,2.395,2.395,2.396,2.399,2.402,2.402,2.402,2.402,2.405,2.405,2.412,2.412,2.413,2.416,2.42,2.421,2.424,2.424,2.426,2.436,2.436,2.436,2.439,2.441,2.446,2.452,2.452,2.452,2.458,2.463,2.467,2.471,2.474,2.476,2.48,2.483,2.491,2.5,2.5,2.513,2.513,2.52,2.527,2.539,2.54,2.543,2.548,2.553,2.56,2.561,2.575,2.582,2.583,2.596,2.596,2.596,2.61,2.617,2.625,2.626,2.632,2.65,2.654,2.661,2.676,2.68,2.681,2.695,2.706,2.713,2.72,2.728,2.739,2.756,2.762,2.775,2.776,2.79,2.794,2.809,2.819,2.825,2.845,2.859,2.866,2.871,2.897,2.906,2.907,2.927,2.929,2.95,2.96,2.979,2.99,2.995,3.013,3.024,3.037,3.056,3.066,3.086,3.094,3.117,3.132,3.143,3.153,3.175,3.184,3.202,3.227,3.228,3.244,3.264,3.285,3.306,3.327,3.341,3.357,3.388,3.398,3.425,3.446,3.464,3.483,3.513,3.531,3.56,3.587,3.616,3.642,3.659,3.691,3.7,3.739,3.755,3.794,3.829,3.859,3.895,3.906,3.951,3.971,4.007,4.086,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.006,0,3.356,3.353,3.35,3.33,3.318,3.303,3.298,3.288,3.28,3.271,3.264,3.251,3.243,3.243,3.243,3.228,3.215,3.201,3.198,3.192,3.181,3.175,3.172,3.171,3.154,3.154,3.139,3.136,3.131,3.122,3.119,3.114,3.11,3.109,3.104,3.096,3.094,3.092,3.083,3.08,3.07,3.066,3.06,3.057,3.057,3.057,3.057,3.045,3.042,3.041,3.04,3.04,3.032,3.032,3.031,3.03,3.03,3.031,3.031,3.038,3.038,3.038,3.027,3.021,3.02,3.02,3.019,3.018,3.017,3.017,3.017,3.015,3.014,3.014,3.014,3.013,3.013,3.013,3.013,3.015,3.017,3.015,3.016,3.019,3.019,3.016,3.025,3.025,3.026,3.027,3.028,3.028,3.032,3.036,3.036,3.038,3.042,3.046,3.047,3.05,3.055,3.055,3.058,3.069,3.069,3.074,3.074,3.077,3.085,3.09,3.09,3.097,3.099,3.107,3.109,3.112,3.118,3.124,3.131,3.136,3.14,3.146,3.146,3.146,3.148,3.16,3.162,3.175,3.175,3.176,3.182,3.186,3.194,3.199,3.212,3.219,3.219,3.221,3.242,3.25,3.258,3.269,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 174.95} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 174.95} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 174.948} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0292}
SEN {Time 174.989} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.175,0.175,0.18,0.18,0.208,0,0,0,0,0,0,0,0,0,0,0,3.689,3.673,3.659,3.642,3.641,3.616,3.585,3.58,3.555,3.555,3.352,3.352,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.239,3.217,3.217,3.206,3.205,3.205,3.205,3.354,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.148,0.148,0.148,0.149,0.149,0.149,0.158,3.055,3.062,3.062,3.062,3.062,3.062,3.058,0.173,0.162,0.157,0.157,0.157,0.159,0.161,2.998,2.998,2.998,2.989,2.988,2.986,2.984,2.984,2.979,2.976,2.979,2.976,2.975,2.975,2.974,2.972,2.972,2.972,3.504,3.504,3.51,3.504,3.504,3.505,3.505,3.494,3.505,3.505,3.506,3.506,3.506,3.505,3.505,3.505,3.503,3.503,3.503,3.503,3.503,3.503,3.506,3.507,3.507,3.507,3.507,3.511,3.511,3.511,3.513,3.518,3.518,3.518,3.525,3.527,3.527,3.533,3.535,3.538,3.54,3.54,3.548,3.548,3.55,3.564,3.57,3.57,3.581,3.584,3.592,3.594,3.597,3.602,3.617,3.618,3.622,3.624,3.631,3.633,3.646,3.648,3.651,3.653,3.667,3.68,3.682,3.695,3.697,3.703,3.709,3.71,3.715,3.74,3.747,3.748,3.751,3.763,3.784,3.788,3.791,3.81,3.81,3.831,3.84,3.846,3.858,3.858,3.884,3.891,3.902,3.914,3.922,3.936,3.938,3.973,3.986,3.995,4.006,4.017,4.051,4.053,4.088,4.089,0.016,0.016,0.016,0.016,0.016,4.076,4.002,3.972,3.934,3.908,3.876,3.852,3.827,3.771,3.754,3.728,3.702,3.67,3.649,3.625,3.606,3.582,3.557,3.537,3.497,3.48,3.476,3.442,3.441,3.408,3.388,3.371,3.346,3.331,3.307,3.292,3.263,3.253,3.229,3.212,3.196,3.175,3.155,3.152,3.129,3.114,3.103,3.089,3.071,3.057,3.042,3.036,3.022,3.005,2.992,2.982,2.962,2.95,2.949,2.927,2.917,2.908,2.889,2.88,2.879,2.854,2.844,2.84,2.818,2.807,2.804,2.794,2.786,2.777,2.76,2.758,2.753,2.73,2.729,2.716,2.706,2.701,2.694,2.681,2.675,2.666,2.665,2.649,2.648,2.635,2.627,2.622,2.618,2.606,2.598,2.595,2.591,2.585,2.577,2.572,2.564,2.556,2.547,2.544,2.537,2.527,2.523,2.516,2.507,2.507,2.497,2.496,2.495,2.485,2.482,2.479,2.478,2.472,2.465,2.461,2.461,2.459,2.448,2.447,2.445,2.441,2.439,2.435,2.434,2.43,2.43,2.427,2.419,2.415,2.415,2.415,2.411,2.411,2.408,2.403,2.403,2.402,2.401,2.401,2.401,2.4,2.397,2.396,2.396,2.395,2.395,2.392,2.392,2.392,2.392,2.392,2.392,2.39,2.39,2.39,2.392,2.392,2.392,2.392,2.392,2.394,2.394,2.394,2.396,2.396,2.396,2.396,2.401,2.401,2.404,2.408,2.408,2.408,2.409,2.412,2.413,2.417,2.418,2.421,2.424,2.429,2.431,2.436,2.437,2.44,2.444,2.445,2.445,2.445,2.452,2.457,2.464,2.464,2.474,2.476,2.48,2.487,2.489,2.492,2.492,2.498,2.503,2.508,2.522,2.523,2.542,2.545,2.546,2.549,2.559,2.561,2.562,2.575,2.578,2.585,2.588,2.593,2.594,2.606,2.617,2.628,2.631,2.634,2.655,2.656,2.661,2.673,2.679,2.685,2.697,2.709,2.71,2.723,2.734,2.74,2.753,2.756,2.764,2.783,2.789,2.794,2.812,2.822,2.838,2.84,2.855,2.862,2.872,2.891,2.907,2.913,2.929,2.935,2.951,2.962,2.97,2.983,2.996,3.014,3.027,3.034,3.051,3.057,3.083,3.102,3.118,3.129,3.138,3.147,3.174,3.184,3.196,3.214,3.231,3.246,3.267,3.288,3.303,3.329,3.342,3.365,3.385,3.4,3.431,3.447,3.458,3.485,3.511,3.54,3.559,3.597,3.615,3.629,3.662,3.69,3.715,3.752,3.754,3.799,3.827,3.854,3.885,3.905,3.948,3.978,4.007,4.059,0.016,0.016,0.016,0.016,0.016,0,0,0,0.009,0.009,0,0,0.007,0,0,0,0,0.007,0,4.034,3.353,3.352,3.34,3.329,3.314,3.3,3.297,3.285,3.282,3.275,3.254,3.253,3.251,3.244,3.228,3.215,3.212,3.199,3.199,3.196,3.181,3.175,3.173,3.169,3.153,3.152,3.147,3.139,3.135,3.122,3.121,3.113,3.113,3.109,3.109,3.092,3.091,3.086,3.082,3.081,3.069,3.069,3.069,3.064,3.062,3.057,3.054,3.053,3.051,3.044,3.038,3.038,3.036,3.033,3.033,3.029,3.029,3.029,3.038,3.04,3.04,3.04,3.026,3.024,3.024,3.023,3.018,3.018,3.016,3.012,3.011,3.011,3.011,3.011,3.013,3.013,3.013,3.014,3.013,3.014,3.018,3.014,3.022,3.023,3.023,3.024,3.025,3.025,3.025,3.028,3.028,3.028,3.029,3.029,3.037,3.043,3.043,3.043,3.048,3.053,3.054,3.054,3.057,3.062,3.069,3.072,3.073,3.076,3.083,3.087,3.092,3.092,3.096,3.097,3.11,3.115,3.123,3.123,3.129,3.129,3.139,3.139,3.142,3.148,3.149,3.149,3.16,3.165,3.165,3.168,3.176,3.192,3.193,3.202,3.205,3.218,3.218,3.219,3.228,3.249,3.252,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 175.14} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 175.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 175.141} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 175.188} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.175,0.175,0.175,0.18,0.18,0.208,0,0,0,0,0,0,0,0,0,0,3.705,3.685,3.672,3.666,3.643,3.636,3.612,3.586,3.573,3.561,3.561,3.353,3.353,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.22,3.213,3.212,3.212,3.213,3.342,0,0,0,0,0,0.147,0.143,0.143,0.143,0.143,0.146,0.153,0.153,0.153,0.15,0.153,0.157,3.068,3.071,3.071,3.071,3.068,3.061,0.163,0.158,0.155,0.155,0.156,0.156,0.163,0.163,2.988,2.988,2.991,2.988,2.987,2.986,2.985,2.984,2.977,2.976,2.976,2.975,2.975,2.975,2.968,2.968,2.975,2.978,3.513,3.513,3.522,3.513,3.513,3.507,3.501,3.501,3.501,3.501,3.501,3.501,3.505,3.501,3.501,3.501,3.503,3.496,3.496,3.496,3.5,3.5,3.508,3.508,3.508,3.508,3.508,3.508,3.511,3.511,3.517,3.52,3.52,3.519,3.52,3.526,3.527,3.531,3.535,3.543,3.544,3.545,3.546,3.549,3.557,3.561,3.569,3.579,3.585,3.589,3.59,3.592,3.609,3.612,3.613,3.613,3.624,3.628,3.633,3.634,3.646,3.65,3.653,3.656,3.671,3.672,3.681,3.696,3.7,3.706,3.711,3.717,3.723,3.741,3.749,3.753,3.761,3.777,3.777,3.779,3.791,3.8,3.807,3.826,3.83,3.849,3.853,3.864,3.87,3.892,3.906,3.916,3.931,3.945,3.953,3.974,3.984,3.994,4.008,4.028,4.048,4.058,4.073,0.016,0.016,0.016,0,0.007,0,0.016,4.012,3.968,3.932,3.897,3.874,3.843,3.819,3.794,3.76,3.738,3.699,3.678,3.651,3.636,3.611,3.57,3.556,3.529,3.501,3.491,3.46,3.44,3.419,3.411,3.381,3.354,3.352,3.323,3.303,3.302,3.261,3.257,3.229,3.215,3.199,3.182,3.163,3.152,3.128,3.108,3.108,3.087,3.068,3.053,3.032,3.031,3.022,3.002,2.999,2.98,2.964,2.959,2.95,2.931,2.916,2.909,2.894,2.882,2.872,2.86,2.849,2.829,2.817,2.816,2.804,2.79,2.785,2.771,2.765,2.758,2.746,2.741,2.729,2.718,2.7,2.697,2.695,2.685,2.67,2.667,2.659,2.647,2.646,2.634,2.623,2.623,2.622,2.616,2.601,2.591,2.59,2.578,2.574,2.57,2.562,2.555,2.55,2.546,2.532,2.527,2.521,2.52,2.511,2.51,2.507,2.498,2.493,2.491,2.481,2.478,2.476,2.473,2.472,2.47,2.459,2.455,2.45,2.445,2.445,2.444,2.444,2.438,2.432,2.43,2.429,2.425,2.421,2.417,2.417,2.417,2.411,2.409,2.403,2.403,2.402,2.401,2.396,2.396,2.396,2.394,2.395,2.392,2.392,2.392,2.39,2.39,2.389,2.392,2.393,2.394,2.394,2.394,2.395,2.388,2.388,2.391,2.395,2.391,2.391,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.4,2.406,2.406,2.406,2.408,2.408,2.416,2.417,2.417,2.418,2.418,2.424,2.425,2.427,2.427,2.429,2.435,2.443,2.445,2.445,2.449,2.449,2.456,2.459,2.462,2.468,2.471,2.471,2.479,2.482,2.488,2.493,2.501,2.504,2.505,2.516,2.523,2.525,2.533,2.541,2.546,2.548,2.554,2.559,2.56,2.58,2.582,2.585,2.587,2.59,2.599,2.604,2.61,2.619,2.63,2.641,2.644,2.659,2.661,2.675,2.681,2.684,2.698,2.706,2.713,2.717,2.734,2.738,2.755,2.762,2.765,2.782,2.789,2.798,2.807,2.822,2.837,2.837,2.858,2.868,2.874,2.892,2.899,2.914,2.928,2.939,2.944,2.957,2.967,2.984,2.999,3.013,3.017,3.037,3.047,3.061,3.082,3.102,3.115,3.122,3.138,3.151,3.175,3.178,3.204,3.218,3.231,3.258,3.263,3.285,3.308,3.329,3.339,3.364,3.386,3.398,3.419,3.453,3.457,3.479,3.512,3.537,3.553,3.601,3.615,3.629,3.661,3.681,3.712,3.734,3.768,3.784,3.835,3.862,3.888,3.919,3.936,4.005,4.045,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.353,3.336,3.319,3.315,3.307,3.295,3.285,3.284,3.271,3.258,3.256,3.239,3.238,3.234,3.22,3.21,3.203,3.201,3.197,3.188,3.177,3.167,3.159,3.152,3.151,3.14,3.137,3.134,3.127,3.12,3.111,3.111,3.108,3.106,3.105,3.089,3.089,3.085,3.083,3.071,3.068,3.065,3.061,3.061,3.058,3.056,3.051,3.04,3.04,3.033,3.033,3.032,3.032,3.029,3.03,3.03,3.03,3.03,3.038,3.038,3.038,3.02,3.02,3.02,3.02,3.015,3.015,3.015,3.015,3.014,3.014,3.016,3.014,3.014,3.014,3.016,3.011,3.016,3.014,3.014,3.014,3.014,3.014,3.014,3.021,3.024,3.026,3.026,3.026,3.026,3.028,3.028,3.03,3.043,3.043,3.046,3.047,3.047,3.047,3.047,3.057,3.062,3.062,3.068,3.076,3.076,3.077,3.077,3.084,3.091,3.092,3.097,3.102,3.113,3.116,3.116,3.124,3.125,3.126,3.133,3.137,3.142,3.148,3.148,3.16,3.161,3.168,3.168,3.168,3.176,3.182,3.184,3.199,3.21,3.218,3.218,3.223,3.233,3.235,3.246,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 175.34} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 175.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 175.344} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 175.388} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.179,0.179,0.179,0.179,0.201,0,0,0,0,0,0.007,0,0,0,0,0,3.679,3.676,3.662,3.646,3.639,3.611,3.578,3.573,3.566,3.566,3.566,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.239,3.236,3.214,3.212,3.211,3.201,3.201,3.201,3.343,0,0,0,0,0,0.149,0.146,0.146,0.146,0.149,0.148,0.149,0.154,0.154,0.152,0.154,0.163,3.057,3.066,3.066,3.066,3.071,3.066,3.064,0.163,0.158,0.155,0.155,0.153,0.155,0.158,2.996,2.996,2.996,2.992,2.985,2.982,2.981,2.985,2.98,2.978,2.978,2.978,2.977,2.97,2.969,2.969,2.969,2.972,3.505,3.506,3.506,3.505,3.506,3.504,3.503,3.498,3.501,3.5,3.5,3.501,3.504,3.504,3.504,3.504,3.504,3.5,3.504,3.499,3.505,3.501,3.505,3.502,3.508,3.508,3.508,3.508,3.51,3.51,3.516,3.516,3.516,3.522,3.524,3.53,3.531,3.532,3.532,3.534,3.538,3.545,3.55,3.555,3.562,3.571,3.572,3.579,3.579,3.586,3.593,3.595,3.597,3.605,3.609,3.616,3.619,3.626,3.637,3.638,3.644,3.65,3.656,3.663,3.672,3.677,3.679,3.694,3.696,3.71,3.715,3.718,3.719,3.733,3.744,3.749,3.756,3.765,3.77,3.783,3.783,3.803,3.812,3.818,3.83,3.84,3.851,3.865,3.875,3.897,3.897,3.909,3.926,3.935,3.952,3.975,3.977,3.995,4.002,4.027,4.043,4.058,4.068,4.089,4.094,0.016,0.016,0.016,4.072,4.043,4.006,3.97,3.936,3.907,3.877,3.848,3.829,3.783,3.747,3.725,3.708,3.674,3.65,3.623,3.596,3.573,3.539,3.534,3.505,3.493,3.469,3.445,3.427,3.416,3.378,3.368,3.35,3.312,3.309,3.298,3.262,3.242,3.225,3.206,3.203,3.191,3.165,3.148,3.135,3.111,3.098,3.085,3.069,3.051,3.041,3.026,3.018,3.002,2.995,2.982,2.961,2.96,2.944,2.93,2.916,2.908,2.895,2.876,2.868,2.855,2.848,2.842,2.822,2.82,2.802,2.797,2.789,2.77,2.769,2.756,2.743,2.743,2.723,2.712,2.707,2.695,2.691,2.678,2.677,2.666,2.66,2.647,2.646,2.638,2.629,2.621,2.616,2.61,2.6,2.591,2.584,2.578,2.574,2.573,2.563,2.554,2.551,2.541,2.534,2.529,2.52,2.517,2.509,2.507,2.499,2.497,2.495,2.483,2.483,2.48,2.472,2.466,2.462,2.46,2.458,2.452,2.451,2.451,2.448,2.448,2.442,2.439,2.439,2.428,2.427,2.421,2.417,2.416,2.416,2.413,2.411,2.411,2.409,2.407,2.406,2.403,2.402,2.4,2.4,2.397,2.397,2.396,2.391,2.391,2.395,2.391,2.392,2.394,2.392,2.392,2.392,2.392,2.391,2.39,2.39,2.39,2.392,2.392,2.393,2.392,2.392,2.394,2.394,2.394,2.395,2.402,2.403,2.403,2.404,2.405,2.407,2.414,2.412,2.414,2.415,2.417,2.42,2.42,2.427,2.429,2.433,2.438,2.439,2.44,2.444,2.447,2.449,2.45,2.453,2.453,2.468,2.468,2.47,2.475,2.48,2.482,2.49,2.495,2.495,2.508,2.514,2.515,2.521,2.522,2.539,2.539,2.548,2.549,2.554,2.556,2.565,2.571,2.575,2.582,2.589,2.594,2.595,2.604,2.609,2.619,2.632,2.634,2.643,2.644,2.668,2.676,2.677,2.687,2.689,2.701,2.716,2.726,2.731,2.741,2.749,2.765,2.769,2.779,2.79,2.801,2.814,2.823,2.834,2.84,2.856,2.86,2.876,2.892,2.894,2.909,2.923,2.932,2.951,2.957,2.971,2.983,3.005,3.01,3.022,3.038,3.057,3.065,3.078,3.102,3.109,3.123,3.137,3.15,3.174,3.189,3.198,3.219,3.235,3.248,3.269,3.297,3.309,3.329,3.335,3.354,3.382,3.397,3.427,3.449,3.467,3.494,3.501,3.529,3.567,3.586,3.625,3.641,3.651,3.697,3.7,3.737,3.757,3.8,3.828,3.859,3.886,3.911,3.953,4.02,4.057,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.353,3.339,3.323,3.318,3.3,3.293,3.287,3.283,3.267,3.26,3.252,3.25,3.237,3.227,3.227,3.215,3.209,3.202,3.188,3.181,3.175,3.169,3.16,3.153,3.147,3.143,3.133,3.131,3.125,3.121,3.114,3.108,3.105,3.1,3.094,3.092,3.09,3.088,3.083,3.069,3.065,3.064,3.062,3.06,3.059,3.058,3.052,3.052,3.042,3.037,3.035,3.035,3.035,3.03,3.03,3.028,3.033,3.033,3.038,3.038,3.038,3.02,3.02,3.02,3.018,3.015,3.015,3.015,3.015,3.015,3.016,3.016,3.016,3.014,3.014,3.014,3.014,3.014,3.016,3.017,3.017,3.017,3.022,3.022,3.022,3.024,3.025,3.025,3.025,3.025,3.027,3.027,3.028,3.043,3.045,3.045,3.047,3.047,3.051,3.054,3.06,3.061,3.061,3.07,3.071,3.076,3.08,3.085,3.086,3.089,3.091,3.093,3.105,3.108,3.12,3.121,3.121,3.126,3.129,3.137,3.137,3.142,3.142,3.149,3.165,3.165,3.167,3.167,3.169,3.174,3.182,3.185,3.194,3.203,3.218,3.218,3.229,3.232,3.253,3.256,3.257,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 175.55} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 175.55} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 175.546} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 175.587} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.175,0.174,0.175,0.175,0.206,0,0,0,0,0,0,0,0,0,0,0,3.677,3.672,3.666,3.649,3.638,3.622,3.584,3.579,3.559,3.559,3.356,3.356,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.249,3.22,3.215,3.211,3.202,3.202,3.202,3.34,0,0,0,0,0,0.149,0.145,0.145,0.145,0.149,0.143,0.15,0.15,0.15,0.148,0.15,0.153,3.064,3.073,3.073,3.073,3.067,3.067,0.163,0.163,0.163,0.156,0.155,0.151,0.151,0.151,2.987,2.988,2.988,2.988,2.987,2.986,2.981,2.986,2.981,2.981,2.981,2.976,2.975,2.975,2.969,2.969,2.969,2.969,3.5,3.505,3.508,3.505,3.508,3.505,3.504,3.499,3.499,3.499,3.499,3.498,3.501,3.501,3.499,3.501,3.501,3.503,3.503,3.503,3.503,3.501,3.501,3.504,3.504,3.504,3.506,3.506,3.51,3.516,3.52,3.521,3.521,3.522,3.522,3.521,3.522,3.527,3.537,3.54,3.54,3.54,3.54,3.556,3.564,3.569,3.575,3.575,3.582,3.586,3.59,3.597,3.599,3.603,3.613,3.618,3.622,3.629,3.629,3.638,3.645,3.649,3.652,3.655,3.667,3.672,3.68,3.695,3.697,3.699,3.709,3.723,3.724,3.735,3.738,3.743,3.762,3.772,3.773,3.787,3.797,3.805,3.807,3.82,3.836,3.839,3.854,3.867,3.882,3.884,3.908,3.908,3.923,3.94,3.95,3.976,3.979,4.003,4.004,4.022,4.045,4.061,4.069,4.09,0.016,0.016,0.016,0.016,4.084,4.055,4.02,3.963,3.94,3.895,3.876,3.846,3.812,3.8,3.751,3.734,3.701,3.678,3.647,3.622,3.594,3.574,3.546,3.526,3.499,3.495,3.464,3.45,3.426,3.408,3.391,3.359,3.349,3.325,3.297,3.297,3.265,3.247,3.231,3.213,3.195,3.178,3.158,3.147,3.133,3.116,3.097,3.081,3.072,3.051,3.045,3.029,3.027,3.002,2.994,2.977,2.961,2.954,2.945,2.928,2.919,2.904,2.895,2.872,2.872,2.858,2.846,2.833,2.818,2.818,2.802,2.787,2.786,2.773,2.758,2.755,2.747,2.743,2.725,2.717,2.702,2.692,2.681,2.68,2.679,2.661,2.661,2.65,2.646,2.636,2.627,2.621,2.617,2.608,2.604,2.597,2.592,2.584,2.577,2.574,2.559,2.559,2.548,2.548,2.537,2.525,2.516,2.515,2.512,2.502,2.501,2.494,2.492,2.491,2.484,2.481,2.478,2.467,2.467,2.462,2.458,2.456,2.448,2.448,2.447,2.445,2.442,2.438,2.43,2.427,2.425,2.42,2.42,2.415,2.415,2.415,2.414,2.413,2.406,2.405,2.403,2.401,2.401,2.401,2.399,2.395,2.394,2.394,2.394,2.394,2.395,2.395,2.395,2.395,2.391,2.39,2.39,2.39,2.39,2.391,2.392,2.391,2.392,2.392,2.395,2.391,2.395,2.391,2.395,2.394,2.396,2.396,2.396,2.398,2.4,2.404,2.404,2.409,2.409,2.416,2.416,2.417,2.417,2.423,2.427,2.427,2.428,2.428,2.433,2.443,2.443,2.445,2.451,2.455,2.458,2.459,2.464,2.466,2.472,2.473,2.473,2.483,2.488,2.49,2.496,2.507,2.508,2.508,2.514,2.518,2.537,2.542,2.544,2.549,2.549,2.559,2.57,2.572,2.578,2.585,2.589,2.59,2.602,2.607,2.617,2.624,2.627,2.64,2.641,2.652,2.664,2.678,2.682,2.684,2.7,2.707,2.712,2.716,2.728,2.74,2.753,2.763,2.764,2.782,2.791,2.804,2.811,2.824,2.837,2.844,2.855,2.86,2.877,2.886,2.9,2.917,2.925,2.935,2.944,2.954,2.973,2.98,2.994,3.011,3.029,3.031,3.044,3.069,3.079,3.102,3.116,3.121,3.143,3.148,3.175,3.18,3.199,3.216,3.229,3.249,3.264,3.279,3.298,3.332,3.338,3.362,3.376,3.382,3.422,3.448,3.459,3.481,3.504,3.528,3.56,3.578,3.622,3.636,3.66,3.691,3.718,3.737,3.769,3.789,3.826,3.86,3.88,3.945,0.007,4.064,4.064,4.088,4.088,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,4.039,3.354,3.353,3.331,3.327,3.309,3.299,3.298,3.286,3.28,3.263,3.257,3.256,3.244,3.244,3.229,3.216,3.215,3.205,3.201,3.191,3.184,3.177,3.174,3.158,3.156,3.153,3.142,3.138,3.137,3.123,3.119,3.114,3.111,3.109,3.096,3.096,3.094,3.089,3.089,3.084,3.075,3.074,3.068,3.068,3.061,3.061,3.056,3.048,3.046,3.043,3.042,3.036,3.035,3.035,3.035,3.029,3.026,3.026,3.026,3.037,3.037,3.037,3.024,3.022,3.016,3.016,3.015,3.015,3.015,3.016,3.015,3.015,3.015,3.012,3.012,3.013,3.015,3.015,3.015,3.015,3.019,3.015,3.018,3.02,3.019,3.019,3.023,3.024,3.026,3.028,3.031,3.034,3.034,3.034,3.034,3.04,3.042,3.043,3.044,3.053,3.054,3.061,3.061,3.064,3.067,3.069,3.074,3.075,3.082,3.088,3.093,3.094,3.102,3.102,3.11,3.113,3.117,3.118,3.132,3.134,3.143,3.143,3.143,3.143,3.152,3.161,3.164,3.169,3.169,3.17,3.175,3.192,3.194,3.201,3.206,3.214,3.214,3.222,3.227,3.244,3.25,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 175.74} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 175.74} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 175.74} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1054}
SEN {Time 175.788} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.181,0.175,0.178,0.181,0.181,0.207,0,0,0,0,0,0,0,0,0,0,3.704,3.675,3.667,3.666,3.64,3.638,3.617,3.578,3.577,3.56,3.56,3.56,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.238,3.216,3.216,3.211,3.21,3.211,3.341,3.341,0,0,0,0,0,0.145,0.139,0.139,0.139,0.145,0.146,0.146,0.146,0.153,0.15,0.153,0.157,3.055,3.065,3.067,3.067,3.067,3.067,3.067,0.158,0.157,0.152,0.152,0.152,0.153,0.157,2.991,2.991,2.994,2.991,2.991,2.989,2.989,2.98,2.978,2.978,2.978,2.978,2.976,2.976,2.971,2.971,2.971,2.972,3.513,3.513,3.515,3.513,3.513,3.509,3.502,3.501,3.501,3.498,3.501,3.501,3.504,3.501,3.501,3.5,3.5,3.499,3.499,3.5,3.507,3.5,3.507,3.507,3.501,3.501,3.504,3.504,3.505,3.505,3.506,3.513,3.513,3.513,3.517,3.524,3.525,3.534,3.535,3.539,3.543,3.546,3.551,3.551,3.556,3.569,3.57,3.57,3.581,3.586,3.588,3.595,3.595,3.599,3.614,3.618,3.619,3.621,3.622,3.636,3.637,3.649,3.656,3.666,3.67,3.676,3.684,3.697,3.701,3.702,3.711,3.714,3.714,3.732,3.742,3.744,3.759,3.761,3.78,3.791,3.797,3.8,3.818,3.823,3.84,3.845,3.868,3.878,3.878,3.891,3.913,3.92,3.926,3.944,3.954,3.973,3.987,3.989,4.003,4.012,4.037,4.055,4.062,4.095,0.016,0.016,0.016,0.016,0.016,4.038,4.012,3.968,3.943,3.909,3.887,3.851,3.83,3.784,3.759,3.729,3.706,3.672,3.65,3.622,3.603,3.572,3.537,3.533,3.501,3.486,3.459,3.441,3.438,3.418,3.385,3.368,3.347,3.327,3.292,3.288,3.264,3.25,3.23,3.215,3.194,3.182,3.163,3.15,3.13,3.117,3.102,3.095,3.07,3.056,3.042,3.039,3.017,3.007,2.993,2.973,2.963,2.949,2.942,2.931,2.913,2.91,2.893,2.884,2.868,2.858,2.84,2.833,2.824,2.811,2.803,2.794,2.78,2.769,2.759,2.759,2.741,2.74,2.726,2.72,2.706,2.695,2.692,2.683,2.673,2.67,2.661,2.645,2.642,2.634,2.628,2.625,2.624,2.609,2.596,2.592,2.589,2.578,2.574,2.574,2.564,2.557,2.556,2.546,2.53,2.53,2.519,2.514,2.509,2.506,2.504,2.495,2.495,2.487,2.483,2.479,2.478,2.468,2.467,2.46,2.459,2.455,2.452,2.447,2.447,2.444,2.439,2.439,2.433,2.432,2.426,2.42,2.418,2.418,2.413,2.413,2.411,2.406,2.406,2.404,2.404,2.404,2.396,2.396,2.394,2.394,2.394,2.395,2.395,2.395,2.393,2.393,2.391,2.393,2.395,2.395,2.391,2.39,2.39,2.39,2.395,2.395,2.395,2.395,2.395,2.393,2.395,2.394,2.394,2.394,2.395,2.395,2.397,2.398,2.399,2.401,2.407,2.415,2.416,2.417,2.419,2.42,2.42,2.424,2.426,2.427,2.431,2.433,2.435,2.435,2.441,2.445,2.451,2.453,2.458,2.463,2.47,2.47,2.471,2.473,2.476,2.486,2.491,2.494,2.494,2.501,2.504,2.507,2.518,2.523,2.547,2.549,2.552,2.553,2.555,2.559,2.559,2.578,2.579,2.581,2.587,2.598,2.598,2.609,2.62,2.62,2.627,2.639,2.648,2.652,2.659,2.677,2.679,2.683,2.697,2.709,2.718,2.727,2.733,2.745,2.753,2.754,2.769,2.774,2.781,2.799,2.802,2.818,2.835,2.837,2.856,2.862,2.868,2.887,2.895,2.918,2.929,2.932,2.949,2.955,2.972,2.989,2.99,3.011,3.029,3.032,3.045,3.064,3.079,3.101,3.118,3.122,3.142,3.148,3.17,3.19,3.202,3.216,3.236,3.246,3.272,3.283,3.305,3.319,3.34,3.359,3.381,3.403,3.414,3.45,3.462,3.491,3.51,3.533,3.559,3.581,3.612,3.632,3.656,3.684,3.717,3.739,3.757,3.798,3.83,3.856,3.882,3.929,3.949,4.003,4.053,4.084,4.084,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,4.013,3.354,3.349,3.34,3.324,3.324,3.304,3.289,3.289,3.28,3.267,3.258,3.251,3.247,3.232,3.228,3.217,3.217,3.202,3.2,3.19,3.181,3.176,3.174,3.167,3.152,3.147,3.145,3.141,3.132,3.129,3.119,3.118,3.115,3.111,3.109,3.095,3.093,3.093,3.084,3.082,3.072,3.065,3.063,3.062,3.062,3.061,3.059,3.046,3.043,3.043,3.038,3.038,3.036,3.033,3.033,3.031,3.03,3.03,3.03,3.038,3.038,3.038,3.022,3.017,3.017,3.017,3.012,3.014,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.014,3.017,3.017,3.017,3.017,3.02,3.016,3.016,3.023,3.023,3.029,3.029,3.029,3.03,3.032,3.038,3.038,3.038,3.043,3.047,3.047,3.049,3.049,3.056,3.058,3.067,3.069,3.075,3.075,3.077,3.086,3.091,3.096,3.098,3.102,3.104,3.108,3.109,3.12,3.12,3.13,3.132,3.133,3.14,3.144,3.144,3.147,3.147,3.157,3.16,3.166,3.173,3.181,3.185,3.186,3.206,3.209,3.217,3.217,3.218,3.225,3.247,3.248,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 176.54} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 176.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 176.536} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.5146} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.937} {Name Sonar15 Range 4.9276}
SEN {Time 176.587} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.177,0.177,0.179,0.181,0.181,0.211,0,0,0,0,0,0,0,0,0,0,0,3.68,3.674,3.652,3.648,3.637,3.614,3.589,3.58,3.58,3.58,3.565,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.243,3.222,3.214,3.21,3.208,3.208,3.21,3.348,0,0,0,0,0,0.144,0.139,0.139,0.139,0.144,0.143,0.149,0.149,0.149,0.149,0.152,0.159,3.063,3.063,3.064,3.064,3.067,3.064,3.064,0.163,0.163,0.16,0.153,0.153,0.153,0.153,2.99,2.991,2.991,2.991,2.99,2.984,2.984,2.979,2.979,2.975,2.975,2.975,2.975,2.975,2.972,2.972,2.972,2.972,3.509,3.509,3.512,3.509,3.507,3.504,3.503,3.501,3.501,3.501,3.501,3.495,3.499,3.495,3.495,3.499,3.5,3.5,3.5,3.5,3.5,3.498,3.498,3.506,3.507,3.507,3.507,3.509,3.512,3.514,3.515,3.518,3.519,3.518,3.519,3.523,3.525,3.528,3.534,3.545,3.545,3.545,3.546,3.552,3.559,3.562,3.563,3.573,3.582,3.585,3.587,3.59,3.595,3.6,3.606,3.614,3.621,3.622,3.622,3.633,3.639,3.648,3.653,3.658,3.675,3.678,3.683,3.692,3.697,3.699,3.706,3.709,3.729,3.736,3.74,3.748,3.751,3.758,3.762,3.784,3.795,3.803,3.811,3.816,3.833,3.846,3.853,3.86,3.876,3.89,3.906,3.916,3.923,3.944,3.944,3.969,3.983,3.991,4.015,4.029,4.04,4.058,4.063,4.094,0.016,0.016,0.016,0.016,0.016,4.041,4.006,3.969,3.926,3.909,3.88,3.853,3.82,3.768,3.751,3.736,3.703,3.667,3.643,3.622,3.594,3.572,3.543,3.529,3.512,3.488,3.467,3.462,3.428,3.418,3.387,3.361,3.344,3.328,3.287,3.285,3.274,3.248,3.228,3.207,3.202,3.186,3.151,3.145,3.132,3.119,3.101,3.09,3.068,3.057,3.043,3.038,3.022,3.005,2.995,2.985,2.964,2.955,2.943,2.925,2.915,2.907,2.898,2.878,2.873,2.857,2.841,2.834,2.819,2.81,2.801,2.796,2.783,2.768,2.766,2.753,2.745,2.736,2.723,2.711,2.704,2.696,2.685,2.681,2.672,2.663,2.658,2.651,2.645,2.632,2.631,2.629,2.619,2.616,2.6,2.595,2.594,2.578,2.578,2.573,2.562,2.561,2.551,2.543,2.537,2.529,2.524,2.517,2.508,2.504,2.502,2.495,2.492,2.492,2.485,2.474,2.474,2.471,2.467,2.462,2.459,2.452,2.451,2.449,2.448,2.447,2.447,2.438,2.437,2.433,2.431,2.421,2.416,2.416,2.411,2.411,2.41,2.408,2.404,2.403,2.403,2.399,2.399,2.395,2.395,2.395,2.395,2.395,2.395,2.392,2.392,2.395,2.392,2.396,2.396,2.392,2.39,2.39,2.389,2.39,2.39,2.393,2.394,2.394,2.393,2.39,2.39,2.39,2.398,2.398,2.398,2.399,2.399,2.399,2.399,2.405,2.406,2.41,2.413,2.414,2.416,2.416,2.417,2.421,2.426,2.426,2.427,2.432,2.433,2.435,2.445,2.445,2.445,2.447,2.455,2.457,2.463,2.468,2.47,2.478,2.48,2.485,2.486,2.489,2.498,2.499,2.513,2.515,2.515,2.521,2.534,2.535,2.545,2.552,2.553,2.556,2.568,2.573,2.58,2.583,2.589,2.592,2.604,2.607,2.617,2.622,2.628,2.632,2.642,2.654,2.661,2.661,2.685,2.686,2.691,2.71,2.714,2.721,2.729,2.736,2.746,2.754,2.769,2.779,2.784,2.802,2.808,2.822,2.834,2.837,2.856,2.861,2.873,2.885,2.899,2.915,2.918,2.934,2.945,2.957,2.978,2.987,2.992,3.014,3.025,3.04,3.054,3.065,3.083,3.109,3.116,3.121,3.134,3.144,3.172,3.182,3.204,3.215,3.228,3.242,3.265,3.278,3.315,3.325,3.35,3.365,3.379,3.401,3.422,3.449,3.455,3.482,3.509,3.535,3.565,3.586,3.618,3.644,3.659,3.69,3.715,3.737,3.756,3.795,3.827,3.859,3.88,3.918,4.009,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.007,3.356,3.354,3.335,3.33,3.316,3.302,3.286,3.285,3.282,3.268,3.262,3.254,3.248,3.237,3.228,3.222,3.221,3.201,3.195,3.195,3.18,3.175,3.171,3.158,3.156,3.154,3.149,3.141,3.139,3.124,3.121,3.112,3.11,3.107,3.101,3.095,3.092,3.088,3.084,3.083,3.07,3.069,3.069,3.069,3.063,3.06,3.055,3.054,3.05,3.043,3.043,3.043,3.038,3.033,3.031,3.031,3.03,3.033,3.037,3.037,3.031,3.031,3.017,3.017,3.017,3.017,3.014,3.014,3.014,3.014,3.014,3.015,3.015,3.015,3.013,3.013,3.013,3.013,3.015,3.017,3.018,3.017,3.018,3.018,3.018,3.02,3.022,3.023,3.022,3.03,3.03,3.03,3.031,3.033,3.036,3.037,3.037,3.045,3.045,3.047,3.053,3.054,3.06,3.066,3.075,3.076,3.076,3.078,3.085,3.092,3.094,3.096,3.099,3.102,3.105,3.114,3.121,3.123,3.128,3.136,3.139,3.139,3.145,3.145,3.146,3.146,3.156,3.16,3.167,3.175,3.186,3.187,3.19,3.194,3.206,3.215,3.215,3.228,3.23,3.243,3.248,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 176.75} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 176.75} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 176.746} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 176.783} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.175,0.175,0.176,0.187,0.187,0.214,0,0,0,0,0,0.007,0,0,0,0,3.694,3.676,3.675,3.661,3.652,3.64,3.606,3.587,3.579,3.579,3.579,3.571,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.254,3.22,3.205,3.205,3.204,3.205,3.205,3.339,0,0,0,0,0,0,0.15,0.15,0.145,0.145,0.146,0.15,0.152,0.152,0.148,0.152,0.152,3.057,3.065,3.065,3.065,3.065,3.065,0.165,0.158,0.158,0.156,0.153,0.153,0.153,0.153,2.998,2.998,2.998,2.994,2.99,2.989,2.985,2.982,2.979,2.978,2.977,2.978,2.975,2.97,2.967,2.967,2.967,2.979,3.5,3.51,3.51,3.503,3.507,3.503,3.498,3.497,3.497,3.497,3.501,3.502,3.504,3.502,3.505,3.505,3.505,3.501,3.501,3.501,3.507,3.507,3.507,3.507,3.507,3.508,3.51,3.51,3.514,3.515,3.518,3.519,3.521,3.521,3.523,3.523,3.523,3.525,3.528,3.534,3.546,3.548,3.549,3.55,3.561,3.57,3.571,3.574,3.589,3.589,3.591,3.592,3.592,3.605,3.608,3.621,3.622,3.623,3.623,3.628,3.629,3.642,3.65,3.652,3.67,3.677,3.682,3.693,3.697,3.702,3.711,3.719,3.723,3.735,3.737,3.754,3.761,3.762,3.775,3.791,3.793,3.811,3.812,3.819,3.831,3.836,3.851,3.863,3.878,3.887,3.9,3.912,3.933,3.938,3.955,3.968,3.984,4.003,4.012,4.019,4.051,4.051,4.073,4.091,0.016,0.016,0.016,0.016,0.016,4.037,4.001,3.965,3.935,3.897,3.868,3.841,3.804,3.774,3.753,3.736,3.704,3.674,3.656,3.63,3.597,3.58,3.545,3.535,3.512,3.491,3.464,3.445,3.423,3.407,3.38,3.357,3.354,3.329,3.307,3.29,3.267,3.25,3.23,3.21,3.204,3.179,3.168,3.152,3.125,3.124,3.1,3.091,3.065,3.056,3.038,3.034,3.018,3.007,2.992,2.973,2.963,2.951,2.938,2.927,2.913,2.902,2.901,2.886,2.874,2.862,2.84,2.838,2.82,2.82,2.806,2.791,2.787,2.77,2.762,2.757,2.743,2.741,2.722,2.721,2.707,2.702,2.69,2.676,2.674,2.669,2.668,2.651,2.65,2.636,2.633,2.621,2.615,2.613,2.596,2.596,2.593,2.58,2.579,2.573,2.557,2.556,2.547,2.545,2.535,2.531,2.525,2.516,2.51,2.503,2.502,2.496,2.492,2.486,2.485,2.478,2.474,2.47,2.466,2.459,2.456,2.456,2.449,2.448,2.444,2.438,2.438,2.435,2.435,2.429,2.421,2.419,2.419,2.415,2.413,2.413,2.413,2.409,2.408,2.404,2.404,2.403,2.401,2.4,2.4,2.4,2.395,2.395,2.393,2.389,2.393,2.393,2.393,2.393,2.393,2.393,2.39,2.39,2.39,2.39,2.392,2.392,2.393,2.392,2.392,2.392,2.392,2.392,2.392,2.395,2.396,2.4,2.4,2.401,2.403,2.403,2.407,2.407,2.416,2.417,2.417,2.419,2.423,2.426,2.429,2.431,2.432,2.437,2.437,2.438,2.442,2.445,2.449,2.452,2.458,2.458,2.464,2.477,2.477,2.48,2.482,2.483,2.484,2.495,2.498,2.498,2.504,2.512,2.514,2.524,2.539,2.545,2.547,2.549,2.549,2.553,2.558,2.572,2.573,2.578,2.587,2.593,2.6,2.606,2.617,2.624,2.633,2.642,2.647,2.652,2.656,2.675,2.679,2.687,2.69,2.699,2.718,2.72,2.734,2.743,2.745,2.759,2.771,2.773,2.792,2.793,2.804,2.821,2.823,2.831,2.861,2.869,2.877,2.878,2.901,2.91,2.928,2.938,2.947,2.958,2.969,2.987,2.99,3.007,3.013,3.035,3.061,3.066,3.078,3.1,3.118,3.129,3.132,3.146,3.171,3.181,3.204,3.22,3.226,3.244,3.266,3.283,3.303,3.326,3.341,3.353,3.385,3.391,3.429,3.449,3.459,3.49,3.501,3.542,3.558,3.582,3.617,3.641,3.666,3.684,3.711,3.74,3.763,3.805,3.826,3.86,3.885,3.92,3.98,4.012,4.063,4.063,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.358,3.352,3.337,3.327,3.311,3.3,3.294,3.289,3.282,3.275,3.255,3.252,3.245,3.24,3.225,3.22,3.214,3.203,3.2,3.2,3.181,3.174,3.172,3.166,3.162,3.154,3.143,3.136,3.13,3.118,3.114,3.112,3.109,3.109,3.107,3.101,3.093,3.092,3.081,3.079,3.079,3.068,3.068,3.068,3.066,3.063,3.056,3.053,3.045,3.037,3.036,3.036,3.029,3.029,3.028,3.028,3.027,3.029,3.029,3.037,3.037,3.037,3.022,3.018,3.017,3.014,3.013,3.01,3.009,3.01,3.01,3.01,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.014,3.015,3.014,3.015,3.021,3.022,3.022,3.025,3.025,3.026,3.027,3.026,3.03,3.031,3.037,3.037,3.039,3.041,3.042,3.043,3.052,3.053,3.054,3.058,3.066,3.073,3.073,3.077,3.077,3.08,3.085,3.091,3.092,3.094,3.096,3.11,3.118,3.121,3.122,3.133,3.134,3.141,3.141,3.143,3.148,3.153,3.159,3.166,3.166,3.166,3.166,3.182,3.185,3.187,3.199,3.21,3.212,3.212,3.216,3.237,3.239,3.249,3.252,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 176.94} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 176.94} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 176.94} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 176.984} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.176,0.182,0.182,0.206,0,0,0,0,0,0,0,0,0,0,3.703,3.683,3.679,3.661,3.649,3.629,3.614,3.579,3.579,3.579,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.247,3.231,3.225,3.211,3.208,3.199,3.199,3.199,3.346,0,0,0,0,0,0.145,0.142,0.142,0.142,0.145,0.144,0.149,0.149,0.15,0.149,0.15,0.153,3.062,3.068,3.068,3.068,3.069,3.069,3.064,0.165,0.163,0.153,0.153,0.153,0.153,0.158,2.994,2.994,2.994,2.993,2.984,2.981,2.981,2.978,2.978,2.978,2.979,2.979,2.979,2.976,2.97,2.97,2.97,2.97,3.504,3.507,3.509,3.507,3.509,3.507,3.501,3.498,3.501,3.501,3.501,3.502,3.503,3.503,3.503,3.503,3.498,3.498,3.501,3.501,3.502,3.502,3.502,3.508,3.508,3.504,3.508,3.513,3.513,3.517,3.517,3.519,3.519,3.519,3.521,3.528,3.529,3.531,3.536,3.54,3.54,3.548,3.548,3.554,3.559,3.567,3.572,3.576,3.583,3.59,3.591,3.595,3.603,3.606,3.609,3.614,3.627,3.627,3.628,3.628,3.633,3.644,3.653,3.659,3.67,3.676,3.678,3.689,3.696,3.703,3.707,3.716,3.732,3.74,3.743,3.754,3.759,3.767,3.772,3.789,3.793,3.807,3.816,3.82,3.825,3.847,3.855,3.869,3.872,3.894,3.91,3.918,3.941,3.942,3.96,3.976,3.979,4.003,4.009,4.021,4.041,4.068,4.073,4.083,0.016,0.016,0.016,0.016,4.07,4.023,3.998,3.992,3.932,3.918,3.881,3.841,3.812,3.797,3.752,3.724,3.696,3.673,3.649,3.629,3.606,3.577,3.547,3.543,3.508,3.495,3.466,3.444,3.427,3.414,3.38,3.368,3.349,3.326,3.296,3.286,3.262,3.246,3.229,3.211,3.192,3.178,3.162,3.146,3.138,3.118,3.102,3.083,3.071,3.059,3.045,3.036,3.013,3.008,2.993,2.983,2.965,2.958,2.944,2.932,2.913,2.911,2.889,2.881,2.867,2.855,2.844,2.838,2.823,2.811,2.803,2.793,2.788,2.778,2.759,2.745,2.738,2.737,2.725,2.722,2.701,2.699,2.691,2.679,2.675,2.665,2.662,2.652,2.651,2.636,2.629,2.623,2.622,2.613,2.596,2.592,2.587,2.583,2.579,2.568,2.558,2.557,2.548,2.543,2.536,2.525,2.518,2.512,2.512,2.51,2.498,2.497,2.494,2.483,2.483,2.483,2.481,2.473,2.471,2.467,2.459,2.459,2.449,2.447,2.446,2.441,2.441,2.435,2.433,2.431,2.429,2.426,2.418,2.417,2.417,2.413,2.411,2.411,2.406,2.406,2.403,2.4,2.4,2.4,2.397,2.395,2.393,2.392,2.392,2.39,2.39,2.39,2.39,2.391,2.391,2.391,2.39,2.39,2.39,2.39,2.392,2.392,2.395,2.397,2.395,2.394,2.397,2.395,2.395,2.397,2.397,2.397,2.4,2.4,2.402,2.406,2.41,2.411,2.411,2.413,2.415,2.416,2.423,2.426,2.429,2.43,2.43,2.43,2.434,2.44,2.445,2.447,2.449,2.454,2.455,2.46,2.462,2.465,2.467,2.468,2.475,2.482,2.485,2.491,2.498,2.507,2.511,2.515,2.517,2.523,2.534,2.542,2.546,2.547,2.551,2.556,2.565,2.57,2.579,2.58,2.584,2.59,2.595,2.609,2.61,2.622,2.63,2.642,2.647,2.657,2.664,2.669,2.682,2.685,2.693,2.709,2.71,2.719,2.734,2.742,2.748,2.763,2.765,2.784,2.791,2.798,2.811,2.82,2.824,2.845,2.846,2.863,2.878,2.882,2.903,2.912,2.923,2.937,2.95,2.958,2.974,2.989,2.994,3.013,3.02,3.035,3.055,3.059,3.071,3.093,3.119,3.122,3.138,3.145,3.169,3.187,3.2,3.219,3.228,3.247,3.272,3.284,3.302,3.326,3.348,3.349,3.377,3.396,3.415,3.44,3.455,3.489,3.512,3.527,3.562,3.59,3.616,3.632,3.654,3.677,3.717,3.738,3.763,3.801,3.828,3.853,3.896,3.926,3.947,3.981,4.053,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.333,3.332,3.324,3.303,3.292,3.286,3.284,3.274,3.263,3.26,3.242,3.233,3.226,3.221,3.216,3.195,3.195,3.194,3.179,3.17,3.169,3.165,3.156,3.153,3.143,3.143,3.141,3.121,3.118,3.11,3.107,3.103,3.1,3.1,3.099,3.094,3.091,3.079,3.077,3.071,3.068,3.065,3.062,3.062,3.053,3.05,3.045,3.042,3.039,3.037,3.035,3.034,3.029,3.029,3.027,3.034,3.036,3.036,3.034,3.034,3.022,3.018,3.017,3.016,3.017,3.016,3.015,3.015,3.015,3.015,3.015,3.015,3.012,3.012,3.012,3.012,3.015,3.017,3.017,3.015,3.015,3.015,3.015,3.022,3.025,3.025,3.025,3.025,3.029,3.03,3.034,3.036,3.038,3.039,3.041,3.046,3.046,3.046,3.049,3.051,3.066,3.071,3.071,3.078,3.08,3.083,3.086,3.089,3.092,3.092,3.093,3.11,3.113,3.118,3.118,3.12,3.129,3.134,3.138,3.139,3.14,3.14,3.146,3.146,3.163,3.164,3.171,3.174,3.175,3.185,3.189,3.202,3.208,3.22,3.22,3.224,3.227,3.246,3.248,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 177.14} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 177.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 177.143} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 177.184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.176,0.174,0.174,0.176,0.176,0.205,0,0,0,0,0,0,0,0,0,0,3.702,3.682,3.671,3.669,3.655,3.634,3.615,3.59,3.575,3.559,3.559,3.351,3.351,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.219,3.208,3.206,3.206,3.208,3.357,0,0,0,0,0,0,0.148,0.148,0.145,0.148,0.148,0.152,0.152,0.152,0.147,0.152,0.157,3.065,3.065,3.066,3.066,3.066,3.066,3.066,0.164,0.164,0.154,0.154,0.154,0.155,0.158,2.991,2.991,2.991,2.989,2.986,2.982,2.981,2.981,2.981,2.977,2.977,2.975,2.973,2.973,2.971,2.971,2.971,2.971,3.506,3.507,3.513,3.507,3.513,3.513,3.505,3.503,3.505,3.501,3.505,3.505,3.506,3.505,3.505,3.503,3.503,3.503,3.503,3.502,3.503,3.502,3.499,3.502,3.503,3.506,3.506,3.51,3.51,3.511,3.516,3.52,3.52,3.525,3.525,3.53,3.53,3.533,3.536,3.536,3.539,3.541,3.546,3.548,3.56,3.568,3.57,3.572,3.579,3.585,3.587,3.6,3.6,3.606,3.613,3.621,3.623,3.624,3.63,3.632,3.635,3.652,3.654,3.657,3.673,3.675,3.679,3.685,3.698,3.698,3.7,3.714,3.725,3.734,3.739,3.758,3.759,3.763,3.781,3.785,3.796,3.799,3.803,3.829,3.834,3.848,3.854,3.864,3.875,3.891,3.902,3.921,3.924,3.946,3.951,3.966,3.97,4.003,4.013,4.015,4.052,4.059,4.084,4.09,0.016,0.016,0,0,0,4.041,4.009,3.977,3.929,3.902,3.877,3.853,3.815,3.786,3.758,3.729,3.706,3.674,3.647,3.627,3.593,3.579,3.544,3.54,3.501,3.496,3.459,3.457,3.43,3.405,3.379,3.366,3.342,3.325,3.3,3.285,3.26,3.246,3.228,3.215,3.196,3.181,3.153,3.15,3.142,3.115,3.104,3.084,3.07,3.053,3.045,3.041,3.016,3.007,2.987,2.981,2.968,2.954,2.947,2.924,2.92,2.905,2.893,2.883,2.877,2.863,2.851,2.836,2.829,2.815,2.809,2.794,2.786,2.777,2.766,2.763,2.737,2.734,2.727,2.718,2.71,2.701,2.692,2.69,2.673,2.672,2.658,2.654,2.651,2.638,2.635,2.621,2.62,2.617,2.603,2.594,2.589,2.578,2.577,2.568,2.562,2.553,2.55,2.549,2.537,2.528,2.521,2.52,2.513,2.511,2.5,2.499,2.49,2.488,2.48,2.476,2.472,2.471,2.465,2.464,2.462,2.46,2.454,2.448,2.443,2.443,2.442,2.437,2.436,2.432,2.428,2.424,2.417,2.417,2.415,2.414,2.412,2.412,2.408,2.402,2.402,2.399,2.399,2.395,2.395,2.395,2.395,2.395,2.391,2.395,2.39,2.39,2.395,2.395,2.399,2.399,2.396,2.395,2.393,2.393,2.393,2.393,2.393,2.393,2.393,2.392,2.392,2.392,2.392,2.396,2.398,2.397,2.398,2.404,2.406,2.406,2.407,2.413,2.413,2.414,2.415,2.416,2.419,2.428,2.429,2.431,2.433,2.435,2.435,2.44,2.443,2.444,2.445,2.447,2.449,2.454,2.463,2.463,2.47,2.472,2.481,2.486,2.487,2.491,2.497,2.508,2.509,2.51,2.517,2.522,2.542,2.542,2.547,2.548,2.55,2.557,2.563,2.574,2.578,2.581,2.585,2.59,2.593,2.604,2.608,2.623,2.631,2.636,2.649,2.658,2.662,2.674,2.68,2.683,2.698,2.711,2.718,2.725,2.734,2.734,2.75,2.759,2.775,2.777,2.795,2.801,2.804,2.815,2.835,2.841,2.859,2.862,2.873,2.89,2.901,2.912,2.929,2.938,2.946,2.955,2.969,2.979,2.997,3.01,3.024,3.044,3.053,3.061,3.081,3.103,3.116,3.122,3.139,3.153,3.178,3.187,3.201,3.219,3.219,3.257,3.261,3.278,3.307,3.323,3.351,3.362,3.379,3.392,3.421,3.437,3.465,3.484,3.516,3.533,3.562,3.594,3.618,3.64,3.669,3.691,3.702,3.737,3.763,3.8,3.839,3.857,3.882,3.928,3.95,4.058,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.035,3.36,3.347,3.329,3.325,3.311,3.298,3.29,3.287,3.287,3.276,3.265,3.263,3.242,3.239,3.226,3.219,3.215,3.197,3.192,3.189,3.181,3.178,3.17,3.163,3.158,3.156,3.149,3.135,3.135,3.125,3.124,3.111,3.108,3.103,3.101,3.096,3.092,3.088,3.087,3.083,3.073,3.065,3.063,3.063,3.058,3.055,3.055,3.053,3.05,3.042,3.038,3.031,3.031,3.031,3.031,3.031,3.029,3.029,3.029,3.044,3.044,3.044,3.025,3.022,3.022,3.02,3.016,3.016,3.013,3.013,3.016,3.018,3.019,3.019,3.019,3.015,3.014,3.014,3.014,3.015,3.015,3.015,3.016,3.02,3.021,3.021,3.025,3.027,3.027,3.028,3.029,3.029,3.033,3.034,3.035,3.041,3.044,3.046,3.047,3.051,3.053,3.054,3.061,3.066,3.072,3.077,3.077,3.08,3.08,3.083,3.084,3.094,3.095,3.102,3.115,3.117,3.121,3.121,3.13,3.134,3.134,3.134,3.135,3.138,3.143,3.143,3.161,3.162,3.167,3.17,3.179,3.185,3.19,3.202,3.204,3.204,3.223,3.224,3.232,3.239,3.253,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 177.34} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 177.34} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 177.345} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.588}
SEN {Time 177.379} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.176,0.179,0.179,0.202,0,0,0,0,0,0,0,0,0,0,3.697,3.681,3.672,3.655,3.644,3.643,3.615,3.581,3.576,3.563,3.563,3.352,3.352,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.217,3.215,3.204,3.204,3.204,3.35,0,0,0,0,0,0.143,0.142,0.142,0.142,0.143,0.146,0.146,0.146,0.148,0.146,0.148,0.151,3.061,3.061,3.068,3.068,3.071,3.071,3.071,0.165,0.16,0.149,0.149,0.149,0.158,0.159,2.991,2.991,2.991,2.991,2.99,2.987,2.984,2.984,2.981,2.981,2.976,2.974,2.97,2.964,2.964,2.964,2.966,2.969,3.498,3.501,3.509,3.502,3.509,3.509,3.506,3.502,3.499,3.499,3.506,3.508,3.508,3.508,3.505,3.505,3.505,3.504,3.504,3.505,3.505,3.504,3.505,3.506,3.511,3.511,3.511,3.511,3.511,3.515,3.517,3.52,3.52,3.521,3.522,3.522,3.526,3.535,3.537,3.539,3.539,3.547,3.549,3.554,3.556,3.562,3.57,3.581,3.59,3.59,3.595,3.595,3.599,3.6,3.622,3.629,3.629,3.63,3.632,3.632,3.636,3.648,3.651,3.659,3.666,3.674,3.681,3.681,3.697,3.707,3.713,3.715,3.721,3.741,3.747,3.751,3.757,3.768,3.78,3.786,3.792,3.81,3.813,3.823,3.824,3.837,3.86,3.866,3.884,3.891,3.899,3.911,3.926,3.936,3.949,3.977,3.992,4.011,4.012,4.019,4.048,4.067,4.068,4.085,0.016,0.016,0.016,0.016,4.078,4.043,4.002,3.965,3.937,3.907,3.866,3.841,3.825,3.791,3.76,3.738,3.696,3.67,3.648,3.626,3.596,3.568,3.54,3.53,3.497,3.492,3.466,3.445,3.432,3.409,3.382,3.363,3.351,3.325,3.303,3.294,3.268,3.243,3.23,3.217,3.199,3.184,3.153,3.151,3.132,3.117,3.103,3.077,3.072,3.047,3.046,3.037,3.015,3.006,2.995,2.973,2.964,2.954,2.934,2.93,2.914,2.911,2.892,2.874,2.866,2.859,2.85,2.847,2.82,2.812,2.81,2.791,2.79,2.777,2.764,2.753,2.741,2.736,2.723,2.713,2.706,2.703,2.692,2.68,2.676,2.668,2.665,2.646,2.646,2.633,2.63,2.622,2.622,2.615,2.597,2.596,2.586,2.58,2.578,2.575,2.558,2.554,2.553,2.549,2.54,2.533,2.523,2.517,2.515,2.509,2.5,2.491,2.487,2.484,2.481,2.477,2.477,2.477,2.468,2.463,2.463,2.462,2.454,2.452,2.45,2.444,2.443,2.438,2.435,2.431,2.427,2.426,2.426,2.419,2.413,2.412,2.411,2.411,2.41,2.408,2.402,2.402,2.399,2.399,2.399,2.398,2.398,2.398,2.398,2.398,2.393,2.393,2.392,2.393,2.393,2.396,2.396,2.396,2.396,2.393,2.393,2.393,2.396,2.394,2.398,2.394,2.396,2.394,2.396,2.396,2.396,2.398,2.399,2.401,2.402,2.405,2.405,2.409,2.409,2.411,2.419,2.423,2.423,2.424,2.43,2.43,2.43,2.43,2.432,2.44,2.44,2.44,2.446,2.45,2.458,2.46,2.464,2.466,2.473,2.481,2.481,2.483,2.495,2.495,2.499,2.505,2.511,2.514,2.518,2.521,2.541,2.542,2.542,2.553,2.554,2.557,2.568,2.569,2.58,2.58,2.594,2.596,2.597,2.613,2.613,2.617,2.633,2.635,2.65,2.653,2.659,2.666,2.683,2.686,2.688,2.708,2.714,2.715,2.733,2.745,2.747,2.762,2.769,2.777,2.787,2.798,2.804,2.821,2.826,2.844,2.859,2.863,2.877,2.883,2.9,2.91,2.924,2.934,2.954,2.955,2.97,2.988,2.991,3.012,3.027,3.038,3.045,3.071,3.073,3.105,3.114,3.127,3.132,3.158,3.173,3.185,3.198,3.215,3.239,3.249,3.264,3.276,3.309,3.323,3.35,3.359,3.38,3.396,3.419,3.452,3.456,3.487,3.502,3.527,3.567,3.579,3.615,3.64,3.66,3.688,3.715,3.741,3.758,3.803,3.823,3.845,3.89,3.916,3.993,4.023,4.05,4.05,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.351,3.34,3.32,3.312,3.305,3.295,3.288,3.275,3.267,3.263,3.258,3.254,3.231,3.228,3.223,3.216,3.198,3.196,3.192,3.182,3.171,3.166,3.164,3.158,3.146,3.143,3.141,3.138,3.122,3.119,3.111,3.108,3.105,3.105,3.095,3.093,3.091,3.089,3.078,3.077,3.072,3.066,3.062,3.059,3.054,3.053,3.05,3.043,3.041,3.041,3.037,3.035,3.032,3.031,3.031,3.031,3.032,3.037,3.037,3.036,3.036,3.024,3.019,3.019,3.019,3.014,3.014,3.016,3.016,3.016,3.017,3.016,3.015,3.012,3.014,3.014,3.014,3.014,3.016,3.016,3.014,3.014,3.02,3.02,3.021,3.023,3.023,3.025,3.028,3.03,3.029,3.03,3.031,3.038,3.04,3.045,3.045,3.045,3.048,3.051,3.055,3.059,3.068,3.074,3.076,3.078,3.078,3.078,3.085,3.097,3.097,3.098,3.098,3.106,3.115,3.123,3.124,3.13,3.137,3.145,3.145,3.145,3.146,3.148,3.148,3.162,3.164,3.173,3.174,3.179,3.186,3.19,3.202,3.208,3.209,3.21,3.228,3.236,3.248,3.254,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 177.54} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 177.54} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 177.538} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.588}
SEN {Time 177.58} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.179,0.179,0.179,0.179,0.203,0,0,0,0,0,0,0,0,0,0,3.719,3.683,3.676,3.669,3.651,3.633,3.617,3.59,3.588,3.561,3.561,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.237,3.219,3.214,3.213,3.201,3.201,3.201,3.344,0,0,0,0,0,0.007,0.145,0.145,0.145,0.145,0.145,0.147,0.147,0.153,0.147,0.153,0.156,3.063,3.063,3.063,3.063,3.072,3.061,3.061,0.166,0.162,0.153,0.153,0.153,0.157,0.157,2.999,2.999,2.999,2.992,2.992,2.983,2.982,2.982,2.982,2.981,2.981,2.977,2.971,2.971,2.967,2.967,2.967,2.971,3.509,3.509,3.512,3.509,3.512,3.507,3.502,3.499,3.497,3.497,3.497,3.496,3.503,3.503,3.503,3.503,3.504,3.503,3.503,3.504,3.508,3.503,3.508,3.508,3.508,3.501,3.508,3.508,3.508,3.514,3.514,3.515,3.515,3.516,3.517,3.523,3.533,3.533,3.538,3.542,3.543,3.543,3.551,3.554,3.556,3.565,3.566,3.585,3.586,3.587,3.588,3.601,3.603,3.604,3.606,3.62,3.624,3.625,3.635,3.636,3.641,3.646,3.649,3.657,3.658,3.674,3.688,3.69,3.692,3.7,3.701,3.712,3.715,3.731,3.743,3.756,3.759,3.779,3.781,3.785,3.788,3.799,3.816,3.821,3.833,3.839,3.857,3.865,3.874,3.887,3.891,3.919,3.934,3.943,3.958,3.972,3.99,3.996,4.008,4.047,4.06,4.076,4.076,4.085,0.016,0.016,0.007,0,0.016,4.039,3.998,3.977,3.941,3.9,3.881,3.837,3.81,3.777,3.763,3.729,3.697,3.671,3.66,3.621,3.595,3.576,3.547,3.537,3.506,3.495,3.474,3.446,3.431,3.408,3.384,3.365,3.348,3.326,3.301,3.292,3.255,3.247,3.22,3.215,3.193,3.177,3.168,3.146,3.138,3.117,3.1,3.088,3.072,3.053,3.049,3.039,3.023,3.002,2.994,2.98,2.964,2.955,2.942,2.923,2.911,2.901,2.892,2.885,2.87,2.854,2.849,2.835,2.826,2.816,2.809,2.796,2.789,2.769,2.761,2.759,2.746,2.737,2.721,2.711,2.702,2.7,2.691,2.681,2.679,2.664,2.662,2.655,2.644,2.638,2.637,2.628,2.62,2.615,2.598,2.596,2.586,2.581,2.578,2.574,2.558,2.553,2.547,2.54,2.535,2.531,2.525,2.519,2.509,2.503,2.496,2.494,2.493,2.492,2.478,2.475,2.474,2.472,2.47,2.46,2.459,2.452,2.452,2.447,2.443,2.442,2.437,2.437,2.434,2.433,2.425,2.421,2.418,2.417,2.416,2.412,2.411,2.409,2.404,2.404,2.404,2.404,2.402,2.402,2.399,2.396,2.396,2.393,2.392,2.39,2.392,2.388,2.39,2.39,2.391,2.391,2.391,2.391,2.393,2.392,2.392,2.392,2.396,2.394,2.396,2.396,2.398,2.396,2.396,2.396,2.396,2.396,2.4,2.401,2.401,2.406,2.406,2.408,2.408,2.415,2.417,2.417,2.417,2.424,2.428,2.429,2.43,2.43,2.431,2.438,2.442,2.446,2.447,2.449,2.454,2.46,2.465,2.47,2.472,2.474,2.481,2.485,2.489,2.491,2.495,2.507,2.509,2.509,2.521,2.523,2.545,2.545,2.55,2.55,2.551,2.554,2.568,2.573,2.577,2.579,2.58,2.597,2.6,2.615,2.615,2.62,2.628,2.635,2.648,2.649,2.662,2.671,2.678,2.69,2.691,2.716,2.716,2.72,2.732,2.735,2.749,2.765,2.767,2.78,2.793,2.797,2.809,2.815,2.835,2.84,2.857,2.867,2.87,2.886,2.891,2.909,2.923,2.928,2.956,2.96,2.975,2.982,2.994,3.017,3.028,3.036,3.053,3.062,3.08,3.103,3.111,3.132,3.14,3.148,3.175,3.178,3.201,3.219,3.226,3.248,3.27,3.283,3.288,3.331,3.338,3.364,3.379,3.397,3.424,3.44,3.461,3.493,3.512,3.531,3.557,3.584,3.624,3.634,3.659,3.684,3.714,3.739,3.762,3.801,3.828,3.862,3.876,3.914,3.954,3.976,4.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.362,3.35,3.347,3.323,3.32,3.299,3.292,3.284,3.278,3.278,3.26,3.249,3.24,3.237,3.228,3.223,3.219,3.199,3.198,3.194,3.179,3.174,3.172,3.159,3.153,3.151,3.141,3.14,3.138,3.126,3.118,3.115,3.111,3.109,3.105,3.096,3.092,3.091,3.086,3.086,3.079,3.069,3.068,3.063,3.062,3.06,3.055,3.05,3.047,3.044,3.044,3.034,3.034,3.03,3.03,3.029,3.029,3.029,3.029,3.039,3.039,3.039,3.023,3.023,3.015,3.015,3.014,3.014,3.011,3.011,3.01,3.01,3.015,3.015,3.015,3.015,3.013,3.013,3.013,3.013,3.019,3.019,3.016,3.019,3.016,3.016,3.02,3.02,3.022,3.024,3.028,3.028,3.029,3.029,3.029,3.042,3.049,3.049,3.05,3.05,3.053,3.054,3.058,3.066,3.071,3.074,3.079,3.081,3.081,3.083,3.086,3.088,3.097,3.102,3.106,3.112,3.113,3.126,3.13,3.132,3.14,3.14,3.141,3.141,3.141,3.141,3.154,3.162,3.166,3.169,3.176,3.187,3.19,3.202,3.202,3.222,3.222,3.236,3.236,3.252,3.254,3.265,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 177.73} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 177.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 177.732} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 2.54} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.588}
SEN {Time 177.78} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.179,0.176,0.179,0.179,0.21,0,0,0,0,0,0,0,0,0,0,3.697,3.687,3.671,3.667,3.652,3.625,3.616,3.578,3.576,3.576,3.576,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.245,3.227,3.227,3.213,3.21,3.213,3.333,3.333,0,0,0,0,0,0.143,0.141,0.141,0.143,0.143,0.143,0.152,0.154,0.154,0.153,0.154,0.157,3.057,3.057,3.062,3.062,3.062,3.062,3.062,0.168,0.168,0.163,0.155,0.155,0.155,0.155,2.994,2.994,2.994,2.991,2.991,2.99,2.989,2.986,2.983,2.978,2.978,2.978,2.975,2.97,2.97,2.97,2.975,2.976,3.506,3.512,3.512,3.511,3.512,3.511,3.502,3.499,3.502,3.502,3.502,3.504,3.507,3.504,3.504,3.504,3.504,3.504,3.504,3.5,3.507,3.5,3.5,3.507,3.507,3.507,3.509,3.51,3.51,3.51,3.513,3.514,3.513,3.513,3.523,3.526,3.527,3.531,3.54,3.542,3.543,3.547,3.555,3.558,3.56,3.566,3.568,3.583,3.583,3.585,3.588,3.589,3.603,3.604,3.614,3.619,3.62,3.627,3.629,3.631,3.642,3.652,3.656,3.663,3.669,3.671,3.689,3.693,3.698,3.701,3.716,3.724,3.725,3.741,3.744,3.749,3.759,3.763,3.777,3.784,3.791,3.804,3.812,3.817,3.831,3.842,3.854,3.859,3.875,3.888,3.906,3.922,3.926,3.942,3.951,3.975,3.978,3.995,4.006,4.032,4.043,4.069,4.084,4.085,0.016,0.016,0.007,0,0.016,4.043,4.015,3.972,3.931,3.911,3.881,3.845,3.814,3.78,3.751,3.731,3.696,3.672,3.652,3.63,3.6,3.579,3.546,3.519,3.51,3.504,3.468,3.456,3.429,3.414,3.392,3.368,3.348,3.327,3.298,3.29,3.267,3.248,3.228,3.216,3.197,3.173,3.163,3.143,3.136,3.122,3.108,3.088,3.07,3.054,3.045,3.04,3.022,3.011,2.987,2.978,2.965,2.952,2.937,2.926,2.915,2.9,2.891,2.886,2.872,2.859,2.848,2.841,2.827,2.814,2.804,2.796,2.783,2.778,2.768,2.76,2.746,2.735,2.734,2.711,2.71,2.7,2.69,2.687,2.671,2.67,2.667,2.656,2.654,2.641,2.635,2.622,2.619,2.609,2.596,2.586,2.585,2.58,2.569,2.569,2.56,2.558,2.549,2.547,2.537,2.534,2.53,2.517,2.509,2.507,2.505,2.496,2.495,2.488,2.481,2.48,2.478,2.47,2.467,2.463,2.463,2.457,2.447,2.446,2.445,2.438,2.437,2.437,2.431,2.426,2.426,2.423,2.42,2.419,2.416,2.416,2.413,2.404,2.404,2.406,2.405,2.405,2.405,2.397,2.397,2.397,2.397,2.397,2.397,2.396,2.395,2.395,2.393,2.395,2.395,2.393,2.392,2.39,2.39,2.389,2.389,2.389,2.389,2.393,2.394,2.394,2.393,2.393,2.393,2.393,2.396,2.399,2.401,2.401,2.401,2.401,2.406,2.406,2.407,2.413,2.416,2.419,2.419,2.42,2.426,2.427,2.432,2.432,2.439,2.441,2.443,2.444,2.449,2.451,2.452,2.455,2.461,2.466,2.475,2.475,2.486,2.488,2.488,2.491,2.495,2.497,2.504,2.514,2.516,2.52,2.536,2.545,2.545,2.547,2.555,2.556,2.56,2.571,2.577,2.579,2.593,2.598,2.602,2.609,2.619,2.628,2.631,2.638,2.644,2.655,2.656,2.679,2.683,2.694,2.698,2.714,2.718,2.724,2.732,2.741,2.752,2.762,2.766,2.773,2.789,2.802,2.807,2.822,2.827,2.844,2.863,2.865,2.875,2.883,2.9,2.911,2.923,2.926,2.944,2.958,2.974,2.99,2.996,3.017,3.03,3.042,3.048,3.058,3.078,3.1,3.119,3.129,3.143,3.147,3.172,3.186,3.196,3.209,3.228,3.25,3.27,3.288,3.299,3.32,3.344,3.355,3.392,3.396,3.426,3.457,3.46,3.495,3.516,3.54,3.562,3.584,3.614,3.641,3.662,3.682,3.719,3.738,3.763,3.807,3.823,3.864,3.885,3.925,3.949,3.98,4.032,4.053,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.36,3.356,3.336,3.326,3.304,3.301,3.299,3.285,3.278,3.269,3.259,3.258,3.25,3.245,3.239,3.219,3.217,3.197,3.197,3.196,3.184,3.179,3.169,3.168,3.156,3.146,3.144,3.137,3.135,3.123,3.12,3.116,3.106,3.106,3.103,3.097,3.092,3.091,3.076,3.075,3.075,3.068,3.065,3.062,3.061,3.058,3.056,3.047,3.044,3.042,3.037,3.035,3.033,3.033,3.032,3.032,3.029,3.034,3.035,3.039,3.039,3.039,3.023,3.021,3.019,3.019,3.017,3.013,3.013,3.013,3.017,3.018,3.018,3.018,3.017,3.017,3.017,3.014,3.015,3.017,3.019,3.015,3.019,3.019,3.019,3.019,3.023,3.023,3.023,3.028,3.031,3.031,3.035,3.035,3.037,3.04,3.044,3.044,3.05,3.05,3.055,3.059,3.059,3.066,3.071,3.073,3.073,3.075,3.085,3.085,3.085,3.092,3.104,3.108,3.112,3.115,3.117,3.13,3.132,3.132,3.138,3.143,3.149,3.149,3.152,3.166,3.167,3.168,3.168,3.17,3.182,3.186,3.19,3.2,3.206,3.209,3.209,3.225,3.234,3.247,3.258,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 177.93} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 177.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 177.934} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 177.979} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.181,0.184,0.184,0.201,0,0,0,0,0,0,0,0,0,0,3.703,3.686,3.672,3.658,3.641,3.629,3.618,3.588,3.576,3.576,3.576,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.212,3.21,3.205,3.205,3.205,3.349,0,0,0,0,0,0.145,0.143,0.143,0.143,0.145,0.149,0.149,0.149,0.153,0.149,0.153,0.155,3.065,3.065,3.065,3.065,3.065,3.061,3.061,0.162,0.159,0.153,0.153,0.153,0.158,0.162,2.991,2.991,2.991,2.991,2.988,2.987,2.983,2.987,2.98,2.98,2.978,2.978,2.974,2.97,2.968,2.968,2.97,2.972,3.504,3.507,3.507,3.504,3.507,3.501,3.501,3.498,3.504,3.501,3.504,3.504,3.506,3.504,3.506,3.506,3.506,3.503,3.5,3.5,3.501,3.5,3.501,3.502,3.502,3.502,3.502,3.502,3.511,3.514,3.514,3.516,3.516,3.517,3.526,3.528,3.528,3.53,3.534,3.534,3.537,3.541,3.546,3.546,3.557,3.561,3.567,3.567,3.583,3.584,3.587,3.588,3.603,3.604,3.605,3.621,3.622,3.623,3.623,3.633,3.645,3.651,3.651,3.662,3.67,3.671,3.685,3.693,3.695,3.697,3.704,3.715,3.724,3.733,3.742,3.75,3.759,3.775,3.777,3.783,3.79,3.808,3.814,3.815,3.829,3.835,3.851,3.863,3.886,3.893,3.895,3.91,3.92,3.952,3.956,3.962,3.974,3.994,4.016,4.02,4.04,4.064,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.032,3.969,3.942,3.899,3.87,3.85,3.81,3.791,3.756,3.726,3.7,3.673,3.646,3.636,3.59,3.578,3.552,3.524,3.509,3.49,3.457,3.444,3.414,3.406,3.394,3.359,3.353,3.327,3.3,3.299,3.253,3.253,3.228,3.213,3.198,3.18,3.158,3.148,3.131,3.12,3.089,3.082,3.066,3.054,3.04,3.033,3.019,2.995,2.992,2.986,2.962,2.96,2.944,2.926,2.923,2.91,2.899,2.878,2.866,2.857,2.842,2.842,2.815,2.815,2.813,2.793,2.778,2.774,2.766,2.755,2.743,2.728,2.725,2.711,2.694,2.694,2.687,2.675,2.671,2.663,2.66,2.657,2.643,2.639,2.637,2.626,2.62,2.606,2.603,2.593,2.591,2.584,2.571,2.569,2.556,2.554,2.55,2.546,2.543,2.531,2.531,2.519,2.507,2.506,2.5,2.49,2.487,2.483,2.483,2.48,2.471,2.468,2.467,2.465,2.463,2.455,2.449,2.448,2.447,2.447,2.439,2.437,2.437,2.432,2.427,2.423,2.42,2.416,2.413,2.413,2.406,2.406,2.406,2.401,2.399,2.397,2.397,2.397,2.397,2.394,2.396,2.396,2.394,2.394,2.393,2.39,2.39,2.39,2.39,2.392,2.395,2.395,2.392,2.392,2.394,2.394,2.394,2.394,2.394,2.391,2.391,2.391,2.395,2.395,2.397,2.397,2.4,2.401,2.406,2.406,2.409,2.41,2.41,2.417,2.417,2.417,2.417,2.417,2.423,2.434,2.434,2.437,2.437,2.439,2.442,2.446,2.446,2.451,2.452,2.454,2.461,2.467,2.474,2.474,2.478,2.483,2.491,2.494,2.495,2.503,2.506,2.508,2.516,2.517,2.538,2.54,2.544,2.551,2.553,2.557,2.564,2.571,2.577,2.583,2.594,2.595,2.602,2.612,2.617,2.619,2.633,2.637,2.648,2.655,2.663,2.679,2.686,2.692,2.694,2.713,2.714,2.722,2.73,2.742,2.755,2.756,2.77,2.778,2.791,2.806,2.807,2.821,2.828,2.842,2.863,2.865,2.868,2.889,2.893,2.911,2.924,2.929,2.95,2.96,2.968,2.99,2.994,3.012,3.024,3.037,3.048,3.067,3.072,3.103,3.12,3.125,3.138,3.149,3.171,3.181,3.201,3.218,3.232,3.249,3.253,3.281,3.307,3.325,3.342,3.364,3.383,3.397,3.424,3.446,3.455,3.49,3.505,3.53,3.552,3.587,3.628,3.644,3.659,3.686,3.714,3.738,3.76,3.793,3.826,3.878,0.007,3.978,3.978,4.016,4.016,4.061,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.027,3.352,3.351,3.334,3.319,3.314,3.311,3.291,3.287,3.28,3.266,3.257,3.256,3.256,3.245,3.224,3.222,3.215,3.202,3.2,3.195,3.181,3.175,3.17,3.168,3.156,3.146,3.143,3.134,3.129,3.124,3.115,3.113,3.11,3.108,3.102,3.098,3.091,3.09,3.087,3.08,3.074,3.065,3.064,3.061,3.058,3.057,3.055,3.052,3.044,3.04,3.039,3.039,3.035,3.035,3.034,3.029,3.029,3.029,3.029,3.036,3.036,3.036,3.022,3.015,3.015,3.014,3.013,3.013,3.012,3.012,3.013,3.013,3.011,3.011,3.011,3.01,3.011,3.012,3.014,3.019,3.019,3.019,3.019,3.02,3.02,3.02,3.027,3.027,3.028,3.029,3.029,3.033,3.035,3.035,3.043,3.043,3.043,3.044,3.049,3.05,3.053,3.062,3.063,3.064,3.07,3.075,3.076,3.077,3.08,3.084,3.09,3.094,3.101,3.103,3.115,3.118,3.119,3.121,3.124,3.135,3.141,3.141,3.145,3.145,3.147,3.147,3.163,3.169,3.169,3.171,3.179,3.179,3.18,3.2,3.203,3.212,3.212,3.213,3.23,3.239,3.24,3.247,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 178.14} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 178.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 178.137} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 178.177} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.181,0.186,0.186,0.209,0,0,0,0,0,0.007,0,0,0,0,3.704,3.69,3.675,3.668,3.652,3.64,3.627,3.596,3.58,3.562,3.562,3.347,3.347,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.22,3.215,3.213,3.213,3.34,3.34,0,0,0,0,0,0.147,0.142,0.142,0.144,0.147,0.147,0.152,0.155,0.155,0.152,0.155,0.158,3.058,3.063,3.072,3.072,3.072,3.072,3.072,0.162,0.161,0.154,0.154,0.154,0.158,0.164,2.995,2.995,2.995,2.993,2.992,2.992,2.983,2.983,2.979,2.978,2.979,2.979,2.975,2.975,2.971,2.971,2.971,2.973,3.505,3.506,3.508,3.506,3.508,3.506,3.5,3.5,3.5,3.5,3.501,3.503,3.503,3.505,3.505,3.505,3.507,3.505,3.505,3.507,3.507,3.505,3.51,3.51,3.51,3.507,3.507,3.507,3.507,3.511,3.515,3.517,3.519,3.52,3.521,3.523,3.523,3.532,3.533,3.543,3.547,3.549,3.55,3.553,3.568,3.568,3.577,3.577,3.583,3.587,3.591,3.6,3.602,3.605,3.606,3.618,3.62,3.62,3.632,3.635,3.641,3.653,3.657,3.662,3.668,3.681,3.684,3.684,3.701,3.702,3.705,3.716,3.73,3.74,3.744,3.747,3.75,3.773,3.786,3.786,3.795,3.809,3.826,3.836,3.852,3.852,3.861,3.863,3.881,3.889,3.91,3.914,3.921,3.947,3.948,3.976,3.977,3.994,4.007,4.024,4.046,4.07,4.07,4.092,0.016,0.016,0.016,0.016,0.016,4.039,4.001,3.962,3.948,3.912,3.871,3.845,3.813,3.796,3.759,3.722,3.707,3.678,3.652,3.634,3.594,3.571,3.539,3.53,3.512,3.488,3.464,3.462,3.428,3.411,3.377,3.369,3.346,3.331,3.304,3.293,3.266,3.248,3.231,3.215,3.197,3.182,3.154,3.145,3.137,3.121,3.097,3.083,3.069,3.052,3.05,3.03,3.02,3.004,2.993,2.982,2.966,2.966,2.936,2.925,2.922,2.909,2.894,2.881,2.868,2.865,2.845,2.835,2.818,2.816,2.803,2.792,2.788,2.773,2.764,2.761,2.744,2.741,2.723,2.713,2.703,2.695,2.694,2.676,2.676,2.667,2.663,2.651,2.645,2.635,2.63,2.624,2.62,2.618,2.606,2.595,2.592,2.587,2.573,2.571,2.561,2.559,2.548,2.544,2.539,2.534,2.524,2.51,2.509,2.509,2.503,2.5,2.496,2.485,2.483,2.482,2.476,2.474,2.463,2.462,2.462,2.458,2.454,2.452,2.445,2.444,2.441,2.437,2.434,2.43,2.429,2.425,2.418,2.417,2.416,2.412,2.407,2.407,2.407,2.405,2.405,2.405,2.401,2.4,2.4,2.4,2.4,2.397,2.397,2.394,2.393,2.39,2.39,2.39,2.391,2.391,2.395,2.395,2.393,2.393,2.393,2.393,2.396,2.396,2.396,2.395,2.395,2.393,2.393,2.394,2.397,2.397,2.4,2.402,2.405,2.408,2.409,2.409,2.412,2.417,2.418,2.418,2.42,2.421,2.421,2.43,2.434,2.436,2.438,2.438,2.438,2.447,2.448,2.449,2.459,2.46,2.468,2.471,2.471,2.473,2.474,2.484,2.487,2.491,2.5,2.501,2.512,2.515,2.516,2.523,2.536,2.547,2.547,2.547,2.56,2.561,2.563,2.573,2.581,2.582,2.592,2.595,2.598,2.609,2.612,2.62,2.632,2.635,2.648,2.651,2.662,2.676,2.676,2.686,2.696,2.707,2.708,2.723,2.734,2.737,2.757,2.757,2.773,2.781,2.793,2.798,2.806,2.828,2.829,2.844,2.853,2.866,2.869,2.901,2.903,2.912,2.926,2.935,2.951,2.955,2.974,2.984,2.994,3.005,3.023,3.038,3.049,3.064,3.084,3.101,3.116,3.13,3.137,3.142,3.173,3.182,3.198,3.221,3.233,3.244,3.266,3.274,3.298,3.324,3.335,3.362,3.381,3.404,3.431,3.439,3.457,3.494,3.512,3.532,3.556,3.582,3.622,3.641,3.662,3.697,3.715,3.739,3.771,3.797,3.824,3.861,3.882,3.922,3.949,3.98,4.016,4.066,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.006,3.356,3.354,3.339,3.319,3.314,3.307,3.297,3.284,3.276,3.272,3.257,3.253,3.25,3.229,3.229,3.219,3.216,3.203,3.197,3.193,3.185,3.181,3.173,3.164,3.157,3.154,3.147,3.142,3.135,3.126,3.121,3.109,3.107,3.106,3.099,3.095,3.092,3.09,3.09,3.082,3.07,3.066,3.066,3.063,3.062,3.055,3.055,3.051,3.047,3.047,3.042,3.039,3.036,3.033,3.033,3.032,3.032,3.032,3.033,3.036,3.036,3.036,3.024,3.02,3.02,3.019,3.015,3.018,3.015,3.015,3.015,3.016,3.012,3.012,3.012,3.012,3.012,3.014,3.015,3.016,3.02,3.016,3.016,3.024,3.016,3.016,3.02,3.024,3.024,3.029,3.03,3.03,3.03,3.032,3.038,3.04,3.047,3.048,3.048,3.048,3.052,3.058,3.061,3.064,3.067,3.075,3.075,3.082,3.086,3.089,3.093,3.093,3.097,3.105,3.107,3.116,3.12,3.121,3.126,3.133,3.143,3.143,3.144,3.149,3.15,3.15,3.161,3.166,3.166,3.171,3.182,3.183,3.183,3.202,3.203,3.212,3.217,3.221,3.233,3.252,3.253,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 178.33} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 178.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 178.33} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 178.376} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.173,0.173,0.18,0.183,0.183,0.215,0,0,0,0,0,0,0,0,0,0,0,3.69,3.678,3.663,3.647,3.644,3.629,3.583,3.578,3.574,3.574,3.574,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.245,3.221,3.206,3.206,3.205,3.205,3.206,3.342,0,0,0,0,0,0.15,0.144,0.144,0.144,0.15,0.145,0.145,0.145,0.152,0.152,0.153,0.153,3.061,3.069,3.07,3.07,3.069,3.069,0.162,0.162,0.16,0.153,0.153,0.153,0.153,0.159,2.993,2.993,2.993,2.989,2.988,2.983,2.982,2.982,2.979,2.979,2.979,2.977,2.976,2.968,2.968,2.968,2.97,2.971,3.5,3.511,3.512,3.511,3.511,3.509,3.504,3.498,3.498,3.498,3.497,3.499,3.509,3.509,3.508,3.508,3.505,3.504,3.504,3.502,3.504,3.502,3.502,3.504,3.504,3.507,3.509,3.508,3.509,3.51,3.511,3.512,3.512,3.514,3.518,3.523,3.526,3.53,3.536,3.542,3.544,3.544,3.545,3.555,3.559,3.565,3.568,3.576,3.579,3.586,3.59,3.592,3.593,3.608,3.613,3.621,3.628,3.629,3.633,3.633,3.642,3.651,3.653,3.657,3.668,3.682,3.685,3.689,3.696,3.701,3.711,3.716,3.721,3.732,3.744,3.746,3.757,3.771,3.778,3.786,3.793,3.807,3.814,3.831,3.834,3.841,3.86,3.861,3.886,3.886,3.908,3.909,3.928,3.945,3.953,3.975,3.982,3.99,4.007,4.021,4.046,4.047,4.07,0.016,0.016,0.016,0.016,0.016,4.08,4.036,4.025,3.972,3.943,3.912,3.88,3.864,3.816,3.787,3.747,3.723,3.697,3.668,3.648,3.624,3.604,3.572,3.552,3.531,3.507,3.491,3.467,3.448,3.432,3.405,3.383,3.358,3.338,3.326,3.301,3.3,3.266,3.247,3.238,3.212,3.197,3.177,3.166,3.153,3.131,3.116,3.099,3.086,3.074,3.052,3.039,3.03,3.022,2.999,2.991,2.98,2.964,2.956,2.942,2.926,2.918,2.911,2.897,2.878,2.873,2.864,2.844,2.841,2.819,2.818,2.804,2.788,2.785,2.773,2.766,2.754,2.745,2.744,2.726,2.712,2.703,2.696,2.688,2.677,2.674,2.662,2.659,2.651,2.65,2.639,2.629,2.622,2.617,2.608,2.605,2.591,2.59,2.583,2.576,2.569,2.563,2.554,2.553,2.553,2.533,2.529,2.523,2.513,2.511,2.505,2.499,2.494,2.492,2.486,2.486,2.479,2.477,2.476,2.467,2.464,2.464,2.462,2.454,2.446,2.442,2.441,2.441,2.437,2.436,2.425,2.425,2.42,2.417,2.416,2.415,2.415,2.412,2.408,2.407,2.402,2.401,2.399,2.399,2.397,2.397,2.398,2.398,2.398,2.398,2.394,2.394,2.393,2.393,2.394,2.395,2.393,2.392,2.392,2.387,2.387,2.391,2.391,2.395,2.395,2.396,2.396,2.396,2.394,2.396,2.394,2.397,2.397,2.401,2.401,2.401,2.402,2.408,2.408,2.409,2.411,2.418,2.419,2.421,2.424,2.43,2.431,2.431,2.432,2.44,2.443,2.444,2.448,2.452,2.453,2.455,2.459,2.464,2.474,2.476,2.476,2.481,2.483,2.49,2.494,2.496,2.506,2.509,2.51,2.515,2.521,2.538,2.54,2.548,2.554,2.554,2.556,2.57,2.571,2.576,2.577,2.584,2.596,2.598,2.607,2.612,2.626,2.633,2.638,2.65,2.655,2.661,2.661,2.687,2.687,2.693,2.704,2.704,2.723,2.737,2.74,2.757,2.758,2.771,2.779,2.788,2.801,2.802,2.818,2.834,2.839,2.855,2.869,2.87,2.893,2.9,2.91,2.922,2.937,2.948,2.952,2.97,2.98,2.994,3.011,3.029,3.039,3.05,3.062,3.079,3.1,3.11,3.126,3.138,3.148,3.172,3.188,3.203,3.221,3.226,3.255,3.261,3.291,3.304,3.332,3.338,3.36,3.39,3.395,3.427,3.44,3.469,3.49,3.504,3.533,3.553,3.589,3.624,3.627,3.661,3.685,3.715,3.73,3.76,3.792,3.833,3.851,3.883,3.913,3.96,3.981,4.008,4.052,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.357,3.342,3.33,3.315,3.307,3.293,3.287,3.286,3.272,3.266,3.262,3.246,3.246,3.228,3.217,3.211,3.204,3.202,3.202,3.182,3.175,3.164,3.162,3.161,3.148,3.145,3.134,3.134,3.128,3.117,3.114,3.111,3.107,3.097,3.095,3.093,3.092,3.088,3.085,3.07,3.065,3.064,3.064,3.064,3.057,3.055,3.047,3.042,3.04,3.039,3.037,3.033,3.031,3.031,3.031,3.028,3.031,3.031,3.044,3.044,3.044,3.022,3.019,3.017,3.017,3.014,3.014,3.012,3.012,3.012,3.013,3.014,3.014,3.013,3.014,3.015,3.015,3.015,3.018,3.019,3.019,3.019,3.024,3.024,3.019,3.024,3.024,3.027,3.028,3.03,3.032,3.032,3.034,3.037,3.046,3.047,3.047,3.048,3.048,3.053,3.057,3.063,3.067,3.072,3.081,3.081,3.081,3.087,3.089,3.092,3.092,3.097,3.105,3.109,3.12,3.121,3.122,3.126,3.13,3.139,3.139,3.141,3.144,3.146,3.153,3.161,3.165,3.172,3.172,3.18,3.19,3.19,3.202,3.203,3.21,3.21,3.227,3.228,3.249,3.256,3.264,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 178.53} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 178.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 178.532} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.3086}
SEN {Time 178.576} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.178,0.178,0.178,0.185,0.185,0.204,0,0,0,0,0,0,0,0,0,0,3.704,3.685,3.676,3.676,3.65,3.629,3.621,3.588,3.573,3.572,3.572,3.347,3.347,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.215,3.215,3.215,3.211,3.211,3.339,3.339,0,0,0,0,0,0,0,0.149,0.147,0.147,0.137,0.149,0.15,0.15,0.15,0.153,0.155,3.057,3.061,3.061,3.061,3.061,3.061,0.165,0.163,0.162,0.152,0.152,0.152,0.153,0.155,2.994,2.994,2.994,2.99,2.989,2.983,2.983,2.983,2.981,2.979,2.976,2.978,2.976,2.975,2.97,2.968,2.968,2.968,3.502,3.514,3.514,3.509,3.511,3.509,3.509,3.501,3.509,3.501,3.503,3.499,3.5,3.5,3.503,3.5,3.508,3.508,3.497,3.497,3.506,3.504,3.506,3.506,3.506,3.506,3.508,3.507,3.508,3.513,3.516,3.52,3.52,3.524,3.526,3.526,3.528,3.534,3.536,3.546,3.546,3.548,3.553,3.553,3.553,3.565,3.57,3.572,3.577,3.577,3.581,3.589,3.594,3.599,3.611,3.616,3.617,3.624,3.636,3.638,3.64,3.651,3.661,3.662,3.67,3.68,3.688,3.693,3.697,3.709,3.714,3.724,3.731,3.742,3.744,3.75,3.751,3.776,3.778,3.779,3.789,3.8,3.818,3.825,3.827,3.844,3.861,3.863,3.883,3.891,3.907,3.924,3.924,3.948,3.957,3.969,3.98,3.992,4.007,4.017,4.042,4.064,4.075,4.086,0.016,0.016,0.016,0.016,0.016,4.074,4.018,3.977,3.94,3.907,3.875,3.842,3.815,3.792,3.754,3.715,3.695,3.675,3.641,3.612,3.601,3.566,3.552,3.533,3.507,3.489,3.474,3.444,3.435,3.415,3.384,3.373,3.35,3.333,3.296,3.287,3.264,3.25,3.239,3.216,3.202,3.184,3.163,3.148,3.139,3.113,3.111,3.09,3.065,3.052,3.045,3.038,3.021,3.003,2.994,2.981,2.961,2.955,2.942,2.924,2.916,2.909,2.897,2.884,2.87,2.864,2.845,2.836,2.82,2.815,2.799,2.79,2.788,2.768,2.763,2.754,2.746,2.737,2.729,2.717,2.706,2.695,2.691,2.684,2.673,2.672,2.659,2.653,2.649,2.633,2.629,2.623,2.618,2.606,2.601,2.593,2.588,2.587,2.572,2.571,2.562,2.551,2.55,2.541,2.538,2.538,2.519,2.515,2.507,2.505,2.501,2.5,2.499,2.486,2.481,2.48,2.48,2.471,2.47,2.461,2.457,2.452,2.448,2.446,2.445,2.445,2.439,2.437,2.435,2.428,2.428,2.426,2.419,2.418,2.416,2.414,2.412,2.409,2.407,2.405,2.405,2.405,2.403,2.402,2.402,2.398,2.395,2.398,2.398,2.396,2.395,2.394,2.394,2.394,2.394,2.394,2.395,2.395,2.39,2.39,2.391,2.39,2.391,2.392,2.395,2.395,2.395,2.395,2.395,2.395,2.396,2.399,2.404,2.406,2.406,2.407,2.407,2.409,2.41,2.41,2.413,2.414,2.418,2.424,2.427,2.429,2.433,2.435,2.435,2.437,2.44,2.449,2.449,2.451,2.453,2.46,2.468,2.468,2.468,2.47,2.482,2.487,2.493,2.499,2.503,2.503,2.508,2.513,2.518,2.523,2.541,2.541,2.547,2.553,2.555,2.557,2.567,2.573,2.575,2.582,2.583,2.591,2.596,2.611,2.612,2.621,2.634,2.64,2.646,2.664,2.664,2.666,2.682,2.686,2.7,2.705,2.716,2.723,2.727,2.746,2.749,2.755,2.767,2.777,2.794,2.799,2.802,2.822,2.825,2.842,2.861,2.862,2.871,2.894,2.899,2.909,2.931,2.934,2.949,2.955,2.967,2.988,2.994,3.014,3.023,3.035,3.048,3.068,3.074,3.098,3.118,3.126,3.143,3.147,3.173,3.185,3.204,3.221,3.231,3.243,3.255,3.28,3.306,3.325,3.348,3.36,3.378,3.399,3.419,3.44,3.466,3.48,3.501,3.523,3.556,3.578,3.615,3.643,3.657,3.697,3.71,3.742,3.761,3.792,3.827,3.86,3.894,3.914,3.96,3.979,4.02,4.083,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.358,3.335,3.325,3.314,3.299,3.297,3.287,3.287,3.274,3.261,3.257,3.242,3.24,3.225,3.225,3.222,3.213,3.202,3.191,3.179,3.174,3.163,3.161,3.157,3.152,3.144,3.141,3.141,3.125,3.121,3.116,3.112,3.105,3.103,3.099,3.092,3.089,3.088,3.082,3.077,3.071,3.064,3.063,3.061,3.059,3.053,3.049,3.045,3.041,3.039,3.036,3.033,3.033,3.032,3.029,3.027,3.029,3.029,3.034,3.034,3.034,3.027,3.027,3.023,3.02,3.017,3.012,3.012,3.016,3.012,3.016,3.018,3.018,3.011,3.011,3.011,3.011,3.014,3.018,3.022,3.022,3.016,3.022,3.022,3.024,3.024,3.024,3.024,3.029,3.029,3.03,3.03,3.033,3.033,3.043,3.044,3.044,3.044,3.044,3.052,3.054,3.061,3.064,3.076,3.082,3.082,3.082,3.085,3.085,3.092,3.095,3.098,3.098,3.107,3.116,3.118,3.122,3.13,3.136,3.138,3.14,3.142,3.148,3.148,3.148,3.154,3.163,3.167,3.171,3.181,3.182,3.194,3.2,3.207,3.213,3.213,3.224,3.23,3.237,3.248,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 178.73} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 178.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 178.735} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.3086}
SEN {Time 178.776} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.173,0.173,0.178,0.178,0.199,0,0,0,0,0,0,0,0,0,0,3.704,3.688,3.671,3.666,3.644,3.634,3.624,3.58,3.572,3.572,3.572,3.562,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.217,3.209,3.205,3.205,3.205,3.346,0,0,0,0,0,0,0,0.148,0.147,0.147,0.148,0.148,0.152,0.153,0.152,0.153,0.157,3.063,3.063,3.07,3.07,3.07,3.07,3.07,0.158,0.158,0.157,0.158,0.157,0.157,0.166,2.992,2.992,2.992,2.992,2.989,2.986,2.986,2.981,2.979,2.978,2.979,2.976,2.975,2.975,2.975,2.968,2.968,2.975,3.504,3.513,3.513,3.511,3.511,3.51,3.509,3.501,3.501,3.501,3.502,3.503,3.504,3.504,3.504,3.501,3.501,3.5,3.501,3.497,3.502,3.498,3.502,3.502,3.504,3.505,3.506,3.506,3.514,3.515,3.515,3.519,3.522,3.522,3.522,3.522,3.522,3.523,3.539,3.54,3.545,3.546,3.554,3.56,3.563,3.563,3.575,3.576,3.584,3.585,3.588,3.588,3.591,3.606,3.609,3.619,3.623,3.623,3.626,3.629,3.632,3.65,3.652,3.656,3.674,3.677,3.688,3.692,3.695,3.697,3.706,3.719,3.721,3.738,3.748,3.749,3.749,3.768,3.779,3.784,3.793,3.802,3.814,3.824,3.829,3.839,3.86,3.868,3.882,3.887,3.912,3.914,3.932,3.939,3.957,3.971,3.982,3.987,4.01,4.021,4.041,4.058,4.074,4.084,0.016,0.016,0.016,0.016,0.016,4.088,4.002,3.971,3.93,3.922,3.87,3.856,3.814,3.79,3.751,3.727,3.694,3.663,3.652,3.622,3.602,3.561,3.546,3.536,3.502,3.494,3.468,3.459,3.437,3.414,3.381,3.375,3.341,3.322,3.302,3.284,3.263,3.24,3.228,3.213,3.197,3.181,3.159,3.148,3.138,3.121,3.101,3.087,3.067,3.057,3.046,3.031,3.019,3.01,2.99,2.97,2.959,2.954,2.94,2.927,2.912,2.905,2.886,2.885,2.874,2.855,2.848,2.839,2.821,2.818,2.806,2.791,2.787,2.78,2.766,2.754,2.745,2.729,2.728,2.719,2.698,2.695,2.691,2.683,2.679,2.671,2.667,2.651,2.647,2.629,2.628,2.624,2.621,2.615,2.6,2.59,2.586,2.583,2.573,2.573,2.561,2.56,2.552,2.548,2.542,2.523,2.521,2.511,2.51,2.509,2.506,2.492,2.491,2.489,2.484,2.478,2.473,2.471,2.467,2.464,2.463,2.455,2.453,2.451,2.447,2.44,2.438,2.435,2.432,2.43,2.424,2.423,2.418,2.416,2.414,2.414,2.414,2.413,2.41,2.405,2.403,2.399,2.397,2.395,2.395,2.392,2.395,2.392,2.393,2.393,2.393,2.392,2.393,2.393,2.391,2.395,2.395,2.394,2.391,2.394,2.394,2.394,2.394,2.394,2.393,2.392,2.393,2.393,2.393,2.393,2.395,2.395,2.397,2.401,2.401,2.402,2.405,2.408,2.412,2.413,2.416,2.418,2.424,2.424,2.426,2.426,2.427,2.435,2.438,2.44,2.443,2.443,2.448,2.449,2.458,2.464,2.466,2.468,2.474,2.476,2.482,2.484,2.488,2.492,2.5,2.504,2.512,2.516,2.518,2.518,2.541,2.545,2.545,2.552,2.552,2.556,2.574,2.575,2.582,2.588,2.591,2.593,2.596,2.604,2.61,2.623,2.629,2.637,2.643,2.656,2.66,2.679,2.688,2.69,2.697,2.706,2.714,2.723,2.733,2.746,2.751,2.753,2.764,2.78,2.791,2.794,2.813,2.823,2.835,2.839,2.865,2.865,2.877,2.883,2.899,2.912,2.921,2.939,2.941,2.962,2.977,2.983,2.994,3.016,3.027,3.035,3.051,3.062,3.08,3.103,3.118,3.127,3.135,3.15,3.172,3.172,3.202,3.206,3.231,3.245,3.269,3.286,3.308,3.328,3.344,3.371,3.379,3.397,3.42,3.445,3.463,3.481,3.508,3.539,3.553,3.577,3.619,3.638,3.663,3.689,3.722,3.742,3.764,3.794,3.833,3.86,3.884,3.945,3.976,4.015,4.015,4.061,4.082,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,4.033,3.354,3.354,3.335,3.326,3.319,3.303,3.296,3.29,3.286,3.27,3.26,3.257,3.247,3.232,3.228,3.219,3.214,3.204,3.195,3.192,3.179,3.178,3.172,3.161,3.159,3.15,3.141,3.14,3.134,3.123,3.12,3.112,3.108,3.105,3.101,3.094,3.094,3.09,3.088,3.076,3.063,3.062,3.062,3.062,3.059,3.054,3.054,3.05,3.045,3.041,3.041,3.037,3.037,3.037,3.035,3.03,3.028,3.028,3.028,3.038,3.038,3.038,3.016,3.016,3.016,3.015,3.011,3.012,3.011,3.011,3.011,3.012,3.015,3.015,3.01,3.011,3.011,3.009,3.011,3.014,3.016,3.016,3.016,3.02,3.02,3.02,3.02,3.024,3.024,3.025,3.029,3.03,3.033,3.034,3.037,3.038,3.042,3.046,3.047,3.05,3.052,3.056,3.064,3.065,3.069,3.074,3.074,3.074,3.086,3.086,3.087,3.093,3.096,3.102,3.111,3.116,3.12,3.121,3.124,3.131,3.137,3.138,3.14,3.148,3.149,3.163,3.163,3.164,3.164,3.168,3.177,3.184,3.191,3.202,3.207,3.216,3.216,3.223,3.235,3.237,3.252,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 178.93} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 178.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 178.927} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3086}
SEN {Time 178.976} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.181,0.181,0.181,0.181,0.181,0.202,0,0,0,0,0,0,0,0,0,0,0,3.677,3.669,3.666,3.65,3.631,3.624,3.581,3.581,3.581,3.581,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.237,3.227,3.213,3.213,3.206,3.206,3.206,3.346,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.147,0.153,0.153,0.155,0.153,0.155,0.159,3.062,3.062,3.066,3.066,3.066,3.066,3.066,0.159,0.155,0.153,0.153,0.153,0.153,0.159,2.993,2.993,2.993,2.993,2.989,2.985,2.981,2.981,2.979,2.976,2.976,2.975,2.973,2.972,2.968,2.968,2.968,2.969,3.507,3.507,3.507,3.504,3.504,3.503,3.503,3.501,3.502,3.502,3.502,3.502,3.504,3.504,3.496,3.496,3.497,3.493,3.497,3.497,3.497,3.496,3.5,3.503,3.506,3.507,3.507,3.508,3.51,3.515,3.516,3.522,3.522,3.522,3.525,3.527,3.528,3.533,3.542,3.543,3.543,3.546,3.547,3.551,3.554,3.565,3.572,3.575,3.581,3.59,3.598,3.602,3.604,3.607,3.614,3.617,3.623,3.625,3.627,3.637,3.637,3.648,3.652,3.658,3.667,3.671,3.685,3.694,3.698,3.704,3.708,3.712,3.717,3.735,3.744,3.746,3.753,3.767,3.782,3.785,3.791,3.801,3.809,3.828,3.831,3.845,3.859,3.863,3.876,3.887,3.899,3.913,3.934,3.937,3.942,3.977,3.979,4.004,4.01,4.022,4.046,4.062,4.073,4.088,0.016,0.016,0.016,0.016,0.016,4.065,4.029,3.972,3.936,3.906,3.869,3.842,3.808,3.79,3.76,3.733,3.697,3.672,3.656,3.63,3.61,3.563,3.548,3.539,3.501,3.495,3.464,3.446,3.432,3.415,3.379,3.368,3.35,3.326,3.305,3.292,3.26,3.244,3.229,3.217,3.201,3.177,3.161,3.153,3.141,3.124,3.1,3.083,3.071,3.064,3.038,3.029,3.012,2.995,2.99,2.986,2.963,2.956,2.945,2.932,2.914,2.909,2.887,2.874,2.867,2.855,2.848,2.843,2.824,2.809,2.807,2.799,2.782,2.775,2.759,2.756,2.742,2.736,2.728,2.711,2.711,2.701,2.691,2.684,2.678,2.667,2.662,2.654,2.648,2.635,2.63,2.626,2.62,2.607,2.606,2.586,2.583,2.576,2.571,2.568,2.553,2.549,2.548,2.543,2.541,2.529,2.522,2.512,2.506,2.501,2.5,2.499,2.492,2.488,2.481,2.481,2.479,2.47,2.466,2.466,2.466,2.459,2.452,2.449,2.445,2.443,2.439,2.435,2.433,2.43,2.429,2.42,2.419,2.417,2.417,2.414,2.414,2.409,2.406,2.403,2.403,2.4,2.399,2.397,2.395,2.395,2.395,2.394,2.394,2.394,2.394,2.393,2.39,2.39,2.395,2.39,2.39,2.387,2.386,2.386,2.387,2.388,2.392,2.394,2.394,2.394,2.397,2.39,2.39,2.398,2.398,2.398,2.399,2.399,2.403,2.403,2.405,2.41,2.412,2.414,2.417,2.418,2.423,2.424,2.424,2.432,2.434,2.437,2.438,2.439,2.44,2.448,2.448,2.449,2.457,2.459,2.464,2.47,2.472,2.475,2.485,2.486,2.488,2.489,2.5,2.5,2.5,2.511,2.514,2.525,2.539,2.54,2.551,2.552,2.554,2.555,2.559,2.576,2.577,2.581,2.591,2.596,2.6,2.604,2.621,2.628,2.633,2.644,2.65,2.65,2.662,2.672,2.681,2.689,2.694,2.707,2.708,2.718,2.735,2.742,2.743,2.761,2.763,2.777,2.786,2.796,2.8,2.82,2.829,2.839,2.856,2.862,2.878,2.89,2.899,2.912,2.923,2.94,2.952,2.955,2.97,2.983,2.991,3.015,3.022,3.037,3.055,3.063,3.089,3.101,3.113,3.13,3.14,3.154,3.169,3.185,3.193,3.218,3.238,3.239,3.273,3.282,3.302,3.326,3.352,3.362,3.382,3.395,3.42,3.453,3.461,3.487,3.507,3.538,3.563,3.589,3.621,3.638,3.652,3.687,3.71,3.734,3.76,3.795,3.834,3.855,3.882,3.928,4.008,4.058,0,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.355,3.349,3.337,3.315,3.314,3.308,3.295,3.293,3.287,3.276,3.265,3.251,3.246,3.243,3.231,3.221,3.217,3.193,3.192,3.189,3.185,3.175,3.174,3.16,3.156,3.153,3.141,3.14,3.134,3.13,3.117,3.113,3.113,3.108,3.1,3.095,3.095,3.095,3.084,3.082,3.07,3.067,3.067,3.067,3.063,3.054,3.053,3.051,3.048,3.043,3.042,3.034,3.033,3.033,3.029,3.029,3.028,3.028,3.031,3.038,3.038,3.038,3.022,3.018,3.018,3.017,3.017,3.017,3.012,3.012,3.016,3.016,3.016,3.016,3.015,3.012,3.012,3.012,3.012,3.016,3.018,3.018,3.019,3.019,3.016,3.016,3.023,3.022,3.025,3.027,3.027,3.028,3.028,3.032,3.032,3.04,3.043,3.043,3.043,3.047,3.055,3.06,3.061,3.064,3.064,3.078,3.078,3.08,3.082,3.084,3.092,3.094,3.095,3.103,3.112,3.114,3.12,3.124,3.124,3.131,3.138,3.138,3.142,3.142,3.148,3.158,3.166,3.167,3.167,3.174,3.175,3.188,3.19,3.206,3.206,3.213,3.213,3.216,3.229,3.247,3.249,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 179.13} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 179.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 179.13} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022}
SEN {Time 179.175} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.175,0.175,0.176,0.181,0.181,0.208,0,0,0,0,0,0,0,0,0,0,0,3.674,3.67,3.65,3.648,3.64,3.616,3.579,3.579,3.579,3.579,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.221,3.219,3.208,3.203,3.203,3.208,3.35,0,0,0,0,0,0,0,0.149,0.146,0.146,0.142,0.149,0.15,0.15,0.147,0.15,0.153,3.067,3.067,3.067,3.067,3.067,3.059,0.163,0.163,0.158,0.154,0.154,0.154,0.154,0.156,2.989,2.989,2.989,2.989,2.987,2.987,2.984,2.984,2.982,2.981,2.979,2.978,2.978,2.978,2.967,2.967,2.967,2.971,3.507,3.508,3.508,3.507,3.508,3.502,3.501,3.499,3.499,3.499,3.501,3.501,3.506,3.506,3.505,3.498,3.505,3.505,3.505,3.502,3.502,3.502,3.502,3.502,3.505,3.505,3.507,3.506,3.507,3.515,3.516,3.52,3.52,3.517,3.52,3.522,3.527,3.531,3.538,3.539,3.541,3.547,3.551,3.554,3.561,3.569,3.571,3.575,3.583,3.584,3.588,3.589,3.596,3.599,3.609,3.614,3.619,3.622,3.626,3.636,3.636,3.652,3.657,3.662,3.665,3.675,3.688,3.69,3.698,3.704,3.717,3.721,3.725,3.735,3.747,3.751,3.755,3.775,3.776,3.783,3.783,3.815,3.815,3.817,3.831,3.844,3.856,3.873,3.885,3.893,3.899,3.916,3.921,3.942,3.951,3.97,3.974,3.992,4.013,4.026,4.038,4.072,4.076,4.087,4.093,0.016,0.016,0.016,4.076,4.039,3.997,3.98,3.929,3.903,3.883,3.843,3.814,3.787,3.751,3.73,3.705,3.673,3.654,3.624,3.602,3.575,3.534,3.522,3.497,3.484,3.469,3.447,3.421,3.414,3.387,3.363,3.35,3.321,3.302,3.294,3.262,3.248,3.229,3.215,3.195,3.181,3.155,3.155,3.132,3.125,3.102,3.084,3.069,3.049,3.043,3.041,3.015,3.005,3,2.988,2.967,2.96,2.935,2.932,2.917,2.911,2.893,2.876,2.868,2.856,2.846,2.837,2.823,2.816,2.805,2.797,2.788,2.775,2.767,2.752,2.746,2.736,2.719,2.713,2.704,2.699,2.698,2.677,2.671,2.668,2.658,2.651,2.65,2.631,2.63,2.628,2.623,2.617,2.6,2.595,2.592,2.581,2.579,2.572,2.562,2.555,2.543,2.538,2.538,2.532,2.517,2.515,2.511,2.504,2.503,2.5,2.495,2.486,2.485,2.481,2.472,2.468,2.462,2.462,2.458,2.455,2.454,2.452,2.452,2.446,2.442,2.439,2.437,2.432,2.431,2.423,2.42,2.417,2.414,2.412,2.409,2.409,2.405,2.404,2.403,2.401,2.399,2.399,2.397,2.392,2.392,2.394,2.396,2.394,2.396,2.395,2.395,2.395,2.395,2.387,2.387,2.388,2.388,2.39,2.393,2.393,2.398,2.393,2.393,2.392,2.393,2.393,2.394,2.396,2.396,2.396,2.397,2.399,2.407,2.408,2.408,2.408,2.409,2.416,2.416,2.417,2.419,2.42,2.429,2.429,2.435,2.435,2.435,2.436,2.439,2.445,2.446,2.456,2.46,2.461,2.462,2.47,2.47,2.47,2.48,2.484,2.485,2.493,2.505,2.507,2.51,2.513,2.516,2.525,2.541,2.543,2.544,2.547,2.55,2.557,2.564,2.57,2.584,2.584,2.584,2.594,2.6,2.612,2.613,2.616,2.629,2.638,2.645,2.658,2.663,2.668,2.682,2.691,2.699,2.71,2.715,2.721,2.728,2.746,2.746,2.76,2.771,2.779,2.786,2.804,2.818,2.823,2.833,2.841,2.857,2.864,2.866,2.885,2.895,2.907,2.926,2.939,2.948,2.963,2.973,2.985,2.992,3.011,3.031,3.038,3.053,3.063,3.076,3.107,3.119,3.128,3.136,3.146,3.174,3.18,3.198,3.22,3.228,3.251,3.264,3.284,3.304,3.33,3.345,3.36,3.379,3.399,3.428,3.446,3.466,3.487,3.506,3.541,3.566,3.576,3.619,3.637,3.663,3.678,3.717,3.735,3.76,3.794,3.836,3.856,3.887,3.933,3.934,4.016,4.062,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,4.014,3.357,3.349,3.342,3.328,3.311,3.301,3.294,3.285,3.281,3.271,3.259,3.253,3.241,3.237,3.233,3.215,3.212,3.199,3.198,3.191,3.185,3.178,3.168,3.165,3.151,3.151,3.139,3.139,3.136,3.133,3.128,3.115,3.113,3.109,3.099,3.098,3.094,3.092,3.09,3.079,3.078,3.068,3.063,3.062,3.061,3.059,3.059,3.055,3.05,3.044,3.041,3.039,3.036,3.029,3.029,3.029,3.028,3.029,3.029,3.036,3.036,3.036,3.019,3.017,3.017,3.017,3.017,3.017,3.017,3.017,3.017,3.018,3.018,3.018,3.016,3.016,3.016,3.012,3.014,3.014,3.016,3.014,3.016,3.021,3.021,3.019,3.023,3.023,3.024,3.028,3.03,3.03,3.031,3.033,3.037,3.042,3.045,3.045,3.049,3.049,3.05,3.052,3.055,3.065,3.067,3.077,3.079,3.081,3.081,3.088,3.09,3.094,3.101,3.103,3.109,3.114,3.118,3.124,3.131,3.131,3.143,3.143,3.143,3.143,3.143,3.143,3.156,3.158,3.166,3.17,3.18,3.18,3.186,3.197,3.203,3.213,3.213,3.228,3.237,3.239,3.251,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 179.33} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 179.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 179.332} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9022}
SEN {Time 179.372} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.176,0.176,0.182,0.182,0.202,0,0,0,0,0,0,0,0,0,0,3.702,3.681,3.674,3.665,3.645,3.643,3.612,3.591,3.591,3.581,3.581,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.216,3.208,3.206,3.206,3.208,3.349,0,0,0,0,0,0.142,0.142,0.142,0.142,0.142,0.142,0.15,0.151,0.152,0.152,0.152,0.153,3.06,3.068,3.072,3.072,3.068,3.068,0.168,0.166,0.16,0.153,0.153,0.153,0.153,0.16,2.991,2.991,2.991,2.991,2.99,2.989,2.982,2.981,2.981,2.981,2.979,2.978,2.977,2.976,2.973,2.97,2.97,2.97,3.513,3.513,3.513,3.508,3.506,3.504,3.5,3.499,3.5,3.5,3.504,3.504,3.505,3.506,3.506,3.506,3.506,3.506,3.506,3.503,3.507,3.503,3.503,3.505,3.505,3.503,3.503,3.503,3.503,3.515,3.516,3.517,3.519,3.519,3.52,3.52,3.524,3.532,3.536,3.541,3.545,3.546,3.55,3.553,3.56,3.567,3.567,3.573,3.573,3.585,3.594,3.596,3.598,3.604,3.608,3.62,3.622,3.623,3.629,3.634,3.636,3.658,3.659,3.671,3.673,3.678,3.68,3.686,3.692,3.694,3.715,3.717,3.73,3.737,3.747,3.748,3.753,3.763,3.779,3.788,3.799,3.808,3.81,3.824,3.838,3.84,3.856,3.874,3.886,3.894,3.914,3.917,3.926,3.954,3.957,3.971,3.976,3.994,4.015,4.017,4.046,4.065,4.07,4.093,4.094,0.016,0.016,0.016,0.016,4.076,4.026,4.026,3.987,3.933,3.872,3.855,3.817,3.788,3.761,3.727,3.692,3.67,3.652,3.628,3.6,3.589,3.546,3.523,3.503,3.482,3.469,3.449,3.429,3.413,3.381,3.369,3.349,3.33,3.31,3.295,3.266,3.25,3.228,3.216,3.195,3.189,3.158,3.144,3.129,3.116,3.094,3.083,3.072,3.051,3.043,3.031,3.026,3.004,2.997,2.982,2.965,2.951,2.95,2.925,2.911,2.911,2.886,2.877,2.871,2.858,2.84,2.837,2.823,2.812,2.799,2.791,2.789,2.773,2.767,2.754,2.74,2.739,2.728,2.711,2.706,2.697,2.685,2.685,2.669,2.665,2.661,2.651,2.641,2.631,2.628,2.621,2.618,2.612,2.6,2.593,2.592,2.587,2.576,2.573,2.572,2.55,2.549,2.549,2.543,2.529,2.525,2.511,2.509,2.509,2.498,2.494,2.493,2.488,2.482,2.476,2.475,2.473,2.463,2.462,2.462,2.454,2.448,2.448,2.446,2.439,2.438,2.437,2.437,2.433,2.424,2.419,2.418,2.417,2.415,2.411,2.411,2.411,2.408,2.407,2.405,2.398,2.397,2.397,2.397,2.397,2.394,2.395,2.395,2.395,2.392,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.393,2.393,2.393,2.391,2.394,2.394,2.396,2.398,2.398,2.398,2.398,2.398,2.398,2.403,2.405,2.412,2.414,2.414,2.414,2.417,2.421,2.425,2.43,2.43,2.432,2.432,2.432,2.432,2.444,2.445,2.449,2.451,2.454,2.463,2.471,2.471,2.473,2.477,2.477,2.481,2.487,2.492,2.499,2.501,2.51,2.51,2.52,2.521,2.536,2.541,2.542,2.549,2.552,2.557,2.563,2.574,2.575,2.58,2.589,2.593,2.606,2.609,2.617,2.624,2.633,2.636,2.647,2.656,2.661,2.676,2.683,2.692,2.696,2.71,2.717,2.717,2.732,2.734,2.745,2.754,2.773,2.775,2.79,2.802,2.812,2.816,2.827,2.846,2.867,2.868,2.876,2.883,2.892,2.913,2.923,2.935,2.941,2.958,2.968,2.988,2.99,3.006,3.029,3.036,3.054,3.064,3.077,3.096,3.112,3.124,3.133,3.142,3.17,3.18,3.199,3.217,3.231,3.253,3.262,3.281,3.311,3.322,3.343,3.361,3.379,3.404,3.427,3.455,3.458,3.487,3.51,3.53,3.558,3.582,3.62,3.632,3.66,3.677,3.718,3.741,3.758,3.802,3.826,3.861,3.892,3.911,3.952,3.982,4.015,4.074,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.349,3.335,3.326,3.31,3.303,3.3,3.283,3.281,3.274,3.256,3.252,3.248,3.236,3.233,3.218,3.212,3.2,3.196,3.187,3.185,3.172,3.168,3.156,3.149,3.148,3.146,3.139,3.133,3.123,3.114,3.114,3.113,3.11,3.103,3.102,3.1,3.09,3.086,3.084,3.073,3.071,3.065,3.064,3.061,3.059,3.059,3.051,3.045,3.045,3.044,3.036,3.035,3.035,3.035,3.03,3.03,3.035,3.04,3.032,3.032,3.032,3.024,3.017,3.017,3.016,3.013,3.016,3.013,3.013,3.013,3.019,3.017,3.017,3.012,3.012,3.012,3.012,3.013,3.015,3.018,3.018,3.02,3.022,3.022,3.02,3.023,3.022,3.022,3.029,3.029,3.028,3.029,3.031,3.031,3.042,3.043,3.044,3.044,3.045,3.047,3.054,3.065,3.068,3.074,3.074,3.075,3.077,3.081,3.089,3.091,3.093,3.099,3.104,3.111,3.112,3.117,3.12,3.13,3.133,3.14,3.14,3.142,3.144,3.151,3.152,3.157,3.163,3.163,3.173,3.18,3.182,3.188,3.202,3.214,3.22,3.22,3.222,3.231,3.236,3.246,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 179.53} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 179.53} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 179.526} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9022}
SEN {Time 179.571} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.176,0.176,0.176,0.183,0.183,0.209,0,0,0,0,0,0,0,0,0,0,0,3.678,3.677,3.665,3.642,3.634,3.611,3.589,3.589,3.577,3.577,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.22,3.216,3.215,3.215,3.215,3.215,3.354,0,0,0,0,0,0.153,0.143,0.143,0.143,0.147,0.143,0.147,0.151,0.151,0.15,0.151,0.157,3.063,3.063,3.066,3.066,3.063,3.052,0.164,0.162,0.156,0.152,0.152,0.152,0.153,0.154,2.995,2.995,2.995,2.986,2.985,2.985,2.985,2.985,2.98,2.98,2.984,2.984,2.979,2.974,2.974,2.972,2.974,2.977,3.501,3.507,3.51,3.507,3.508,3.508,3.506,3.496,3.496,3.496,3.499,3.5,3.5,3.5,3.502,3.502,3.502,3.502,3.501,3.498,3.498,3.5,3.5,3.508,3.508,3.51,3.51,3.51,3.512,3.514,3.514,3.516,3.519,3.521,3.522,3.53,3.534,3.534,3.536,3.54,3.541,3.544,3.551,3.552,3.557,3.56,3.562,3.567,3.582,3.585,3.587,3.593,3.607,3.608,3.609,3.613,3.623,3.625,3.63,3.63,3.636,3.643,3.653,3.658,3.667,3.674,3.68,3.684,3.693,3.695,3.713,3.718,3.721,3.736,3.738,3.746,3.751,3.77,3.783,3.787,3.795,3.809,3.811,3.819,3.83,3.85,3.86,3.871,3.873,3.888,3.906,3.916,3.932,3.933,3.947,3.985,3.986,4.003,4.008,4.023,4.052,4.064,4.067,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.004,3.941,3.908,3.879,3.843,3.813,3.779,3.756,3.729,3.7,3.673,3.654,3.619,3.6,3.579,3.543,3.527,3.514,3.485,3.456,3.441,3.431,3.413,3.381,3.368,3.341,3.318,3.304,3.293,3.258,3.253,3.222,3.215,3.194,3.184,3.164,3.145,3.134,3.111,3.107,3.085,3.07,3.057,3.041,3.033,3.013,2.998,2.994,2.978,2.971,2.954,2.943,2.924,2.922,2.907,2.889,2.883,2.871,2.861,2.841,2.837,2.823,2.811,2.81,2.79,2.787,2.775,2.761,2.754,2.751,2.733,2.73,2.715,2.702,2.699,2.693,2.673,2.67,2.665,2.656,2.645,2.644,2.635,2.629,2.62,2.617,2.61,2.598,2.593,2.585,2.584,2.574,2.563,2.561,2.556,2.554,2.542,2.54,2.523,2.521,2.512,2.512,2.503,2.503,2.495,2.493,2.483,2.479,2.478,2.477,2.471,2.465,2.462,2.46,2.452,2.451,2.45,2.445,2.444,2.438,2.438,2.433,2.432,2.43,2.423,2.416,2.415,2.411,2.411,2.411,2.408,2.408,2.402,2.402,2.402,2.402,2.396,2.394,2.394,2.394,2.392,2.391,2.395,2.391,2.391,2.392,2.394,2.392,2.392,2.394,2.392,2.389,2.389,2.391,2.391,2.391,2.397,2.397,2.397,2.397,2.396,2.396,2.396,2.398,2.398,2.4,2.401,2.401,2.401,2.401,2.409,2.409,2.411,2.416,2.416,2.418,2.423,2.423,2.432,2.432,2.435,2.435,2.435,2.44,2.444,2.447,2.451,2.451,2.451,2.468,2.468,2.471,2.472,2.479,2.482,2.489,2.492,2.493,2.503,2.503,2.507,2.514,2.527,2.539,2.549,2.549,2.549,2.556,2.563,2.572,2.574,2.581,2.584,2.589,2.59,2.597,2.607,2.616,2.62,2.626,2.642,2.643,2.651,2.661,2.673,2.677,2.69,2.693,2.704,2.715,2.722,2.724,2.736,2.749,2.754,2.77,2.777,2.793,2.803,2.803,2.826,2.833,2.839,2.857,2.864,2.87,2.889,2.893,2.9,2.922,2.931,2.952,2.957,2.973,2.981,2.99,3.023,3.031,3.031,3.05,3.068,3.077,3.1,3.111,3.127,3.136,3.148,3.168,3.189,3.2,3.206,3.231,3.243,3.258,3.282,3.304,3.327,3.342,3.355,3.396,3.397,3.422,3.452,3.459,3.484,3.508,3.531,3.55,3.581,3.615,3.633,3.664,3.683,3.711,3.743,3.76,3.793,3.824,3.86,3.885,3.911,3.946,3.98,4.021,4.06,4.09,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.355,3.335,3.324,3.309,3.296,3.288,3.281,3.272,3.251,3.251,3.25,3.239,3.233,3.222,3.217,3.202,3.193,3.19,3.186,3.175,3.172,3.167,3.155,3.153,3.139,3.138,3.137,3.126,3.118,3.111,3.11,3.108,3.106,3.095,3.092,3.089,3.086,3.081,3.07,3.068,3.067,3.064,3.061,3.058,3.057,3.053,3.047,3.043,3.041,3.038,3.033,3.032,3.029,3.029,3.029,3.032,3.037,3.037,3.033,3.033,3.026,3.024,3.02,3.017,3.012,3.012,3.012,3.012,3.012,3.015,3.017,3.017,3.014,3.014,3.014,3.014,3.014,3.012,3.014,3.012,3.012,3.016,3.016,3.018,3.021,3.018,3.018,3.026,3.026,3.026,3.033,3.035,3.035,3.036,3.044,3.046,3.049,3.05,3.053,3.054,3.063,3.065,3.067,3.075,3.076,3.077,3.077,3.089,3.095,3.095,3.096,3.096,3.111,3.116,3.119,3.12,3.129,3.13,3.132,3.136,3.137,3.143,3.146,3.146,3.156,3.158,3.164,3.17,3.175,3.182,3.189,3.207,3.209,3.217,3.217,3.219,3.234,3.241,3.253,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 179.73} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 179.73} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 179.728} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.5372}
SEN {Time 179.773} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.178,0.178,0.181,0.181,0.199,0,0,0,0,0,0,0,0,0,0,3.701,3.684,3.674,3.667,3.647,3.641,3.614,3.581,3.581,3.572,3.572,3.572,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.228,3.219,3.207,3.206,3.206,3.207,3.353,0,0,0,0,0,0,0.146,0.146,0.144,0.144,0.145,0.145,0.145,0.152,0.145,0.152,0.155,3.057,3.065,3.07,3.07,3.072,3.072,3.072,0.166,0.163,0.154,0.154,0.154,0.155,0.157,2.998,2.998,2.998,2.989,2.985,2.983,2.98,2.98,2.979,2.978,2.977,2.977,2.976,2.975,2.961,2.961,2.961,2.972,3.488,3.508,3.508,3.503,3.504,3.503,3.503,3.503,3.504,3.506,3.506,3.5,3.503,3.5,3.5,3.503,3.503,3.501,3.501,3.499,3.499,3.499,3.508,3.509,3.509,3.508,3.509,3.509,3.515,3.515,3.518,3.519,3.519,3.518,3.52,3.524,3.531,3.532,3.534,3.538,3.538,3.546,3.55,3.55,3.563,3.571,3.579,3.579,3.586,3.586,3.588,3.596,3.596,3.603,3.607,3.614,3.616,3.622,3.625,3.633,3.644,3.646,3.658,3.662,3.667,3.677,3.688,3.694,3.697,3.706,3.711,3.713,3.714,3.737,3.739,3.742,3.755,3.762,3.773,3.786,3.797,3.807,3.817,3.83,3.837,3.843,3.845,3.873,3.874,3.891,3.914,3.924,3.928,3.953,3.954,3.972,3.98,3.998,3.999,4.023,4.049,4.056,4.077,4.09,4.091,0.016,0.007,0,0.007,0,0.007,4.019,3.945,3.91,3.871,3.852,3.809,3.785,3.754,3.732,3.706,3.668,3.656,3.62,3.611,3.581,3.547,3.541,3.502,3.497,3.465,3.444,3.423,3.405,3.388,3.357,3.351,3.333,3.297,3.296,3.268,3.248,3.228,3.213,3.203,3.183,3.164,3.153,3.135,3.116,3.104,3.079,3.067,3.05,3.044,3.034,3.014,3.001,2.99,2.977,2.961,2.958,2.941,2.933,2.91,2.907,2.89,2.877,2.874,2.865,2.839,2.837,2.82,2.815,2.798,2.793,2.783,2.777,2.764,2.751,2.75,2.739,2.723,2.707,2.703,2.695,2.695,2.68,2.668,2.663,2.654,2.653,2.641,2.637,2.632,2.625,2.616,2.607,2.602,2.597,2.587,2.585,2.574,2.572,2.568,2.549,2.541,2.54,2.538,2.527,2.525,2.521,2.513,2.512,2.499,2.497,2.489,2.488,2.481,2.481,2.477,2.466,2.464,2.462,2.462,2.46,2.452,2.45,2.446,2.444,2.439,2.438,2.435,2.429,2.429,2.418,2.418,2.415,2.411,2.41,2.41,2.41,2.404,2.404,2.403,2.403,2.401,2.4,2.397,2.394,2.394,2.393,2.393,2.39,2.39,2.39,2.39,2.393,2.396,2.396,2.396,2.396,2.391,2.389,2.391,2.391,2.393,2.396,2.396,2.393,2.392,2.392,2.392,2.393,2.393,2.394,2.398,2.399,2.402,2.403,2.403,2.404,2.409,2.416,2.418,2.419,2.423,2.424,2.424,2.424,2.431,2.434,2.435,2.436,2.442,2.443,2.448,2.45,2.455,2.462,2.463,2.465,2.471,2.474,2.479,2.482,2.486,2.494,2.496,2.503,2.506,2.509,2.514,2.53,2.539,2.543,2.548,2.553,2.556,2.562,2.57,2.578,2.583,2.587,2.592,2.594,2.602,2.609,2.613,2.621,2.637,2.638,2.648,2.648,2.663,2.671,2.685,2.685,2.7,2.713,2.714,2.73,2.732,2.743,2.746,2.753,2.765,2.777,2.796,2.798,2.805,2.808,2.838,2.842,2.86,2.869,2.874,2.889,2.898,2.908,2.923,2.936,2.95,2.959,2.971,2.982,2.994,3.017,3.029,3.036,3.05,3.064,3.087,3.097,3.115,3.13,3.137,3.145,3.168,3.181,3.201,3.211,3.228,3.24,3.259,3.278,3.302,3.321,3.347,3.354,3.393,3.4,3.421,3.443,3.466,3.487,3.507,3.533,3.56,3.585,3.617,3.641,3.652,3.693,3.718,3.737,3.76,3.804,3.83,3.856,3.895,3.921,3.94,3.984,4.008,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.357,3.348,3.334,3.322,3.315,3.309,3.289,3.283,3.278,3.276,3.257,3.253,3.246,3.233,3.228,3.216,3.216,3.201,3.194,3.194,3.183,3.174,3.166,3.165,3.157,3.155,3.139,3.138,3.138,3.132,3.119,3.11,3.108,3.104,3.099,3.093,3.091,3.087,3.084,3.081,3.077,3.072,3.067,3.061,3.06,3.059,3.05,3.05,3.046,3.045,3.035,3.035,3.033,3.033,3.033,3.032,3.029,3.032,3.032,3.033,3.033,3.033,3.028,3.018,3.018,3.016,3.015,3.016,3.015,3.015,3.015,3.015,3.015,3.015,3.009,3.012,3.012,3.012,3.012,3.012,3.017,3.012,3.017,3.017,3.02,3.02,3.02,3.022,3.022,3.029,3.029,3.029,3.029,3.03,3.03,3.042,3.042,3.043,3.046,3.05,3.05,3.056,3.061,3.062,3.064,3.077,3.077,3.078,3.078,3.086,3.092,3.094,3.095,3.097,3.11,3.116,3.124,3.127,3.13,3.131,3.137,3.137,3.141,3.143,3.148,3.153,3.161,3.165,3.165,3.167,3.18,3.186,3.19,3.202,3.203,3.21,3.21,3.218,3.221,3.231,3.264,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 179.93} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 179.93} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 179.93} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.5372}
SEN {Time 179.973} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.174,0.174,0.174,0.185,0.185,0.207,0,0,0,0,0,0,0,0,0,0,0,3.683,3.673,3.66,3.654,3.636,3.617,3.59,3.571,3.571,3.571,3.562,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.221,3.213,3.205,3.202,3.202,3.202,3.335,0,0,0,0,0,0.146,0.144,0.142,0.144,0.144,0.144,0.147,0.15,0.15,0.15,0.151,0.154,3.056,3.065,3.065,3.065,3.065,3.065,3.062,0.164,0.163,0.157,0.155,0.148,0.155,0.155,2.994,2.994,2.994,2.992,2.982,2.982,2.985,2.985,2.984,2.984,2.982,2.977,2.976,2.975,2.975,2.971,2.971,2.971,3.5,3.506,3.506,3.504,3.506,3.504,3.504,3.504,3.507,3.506,3.506,3.497,3.498,3.498,3.498,3.498,3.501,3.501,3.498,3.496,3.498,3.498,3.501,3.501,3.501,3.504,3.506,3.506,3.511,3.511,3.512,3.518,3.518,3.52,3.52,3.524,3.527,3.527,3.53,3.543,3.543,3.544,3.546,3.548,3.559,3.567,3.573,3.573,3.586,3.586,3.591,3.591,3.595,3.604,3.608,3.621,3.628,3.632,3.633,3.634,3.645,3.656,3.656,3.657,3.675,3.676,3.681,3.687,3.697,3.705,3.707,3.713,3.717,3.731,3.739,3.746,3.759,3.771,3.78,3.783,3.796,3.802,3.819,3.824,3.841,3.842,3.846,3.863,3.884,3.886,3.901,3.909,3.924,3.954,3.957,3.968,3.983,3.993,4.02,4.025,4.045,4.071,4.076,4.089,0.016,0.016,0.016,0.016,0.016,4.075,4.075,4.018,3.98,3.904,3.86,3.849,3.804,3.787,3.764,3.725,3.698,3.679,3.659,3.628,3.596,3.585,3.55,3.534,3.5,3.49,3.463,3.445,3.436,3.415,3.382,3.369,3.342,3.327,3.293,3.291,3.27,3.252,3.233,3.214,3.194,3.183,3.159,3.153,3.134,3.121,3.104,3.085,3.067,3.052,3.043,3.028,3.022,3.011,2.986,2.982,2.966,2.955,2.942,2.922,2.922,2.91,2.887,2.885,2.865,2.854,2.852,2.841,2.823,2.813,2.804,2.795,2.788,2.77,2.759,2.755,2.742,2.737,2.726,2.714,2.713,2.698,2.696,2.679,2.677,2.673,2.665,2.659,2.644,2.64,2.632,2.625,2.619,2.604,2.603,2.596,2.586,2.583,2.581,2.572,2.569,2.554,2.548,2.547,2.541,2.535,2.525,2.515,2.509,2.506,2.501,2.499,2.498,2.481,2.481,2.478,2.473,2.472,2.467,2.462,2.46,2.458,2.452,2.451,2.448,2.442,2.438,2.438,2.437,2.433,2.423,2.421,2.42,2.415,2.415,2.413,2.412,2.408,2.408,2.406,2.403,2.403,2.399,2.397,2.397,2.398,2.398,2.398,2.398,2.395,2.394,2.394,2.391,2.391,2.392,2.393,2.393,2.393,2.394,2.394,2.394,2.394,2.397,2.397,2.397,2.391,2.391,2.391,2.391,2.398,2.398,2.398,2.401,2.401,2.405,2.405,2.406,2.407,2.41,2.412,2.414,2.419,2.419,2.419,2.427,2.427,2.43,2.432,2.435,2.438,2.44,2.447,2.448,2.449,2.453,2.458,2.466,2.467,2.467,2.474,2.482,2.484,2.486,2.491,2.5,2.505,2.505,2.516,2.517,2.521,2.538,2.543,2.548,2.55,2.551,2.563,2.564,2.57,2.577,2.583,2.583,2.584,2.6,2.606,2.613,2.624,2.628,2.637,2.643,2.654,2.669,2.67,2.682,2.684,2.696,2.702,2.713,2.725,2.738,2.744,2.75,2.763,2.767,2.784,2.79,2.797,2.805,2.82,2.827,2.842,2.86,2.864,2.873,2.883,2.904,2.908,2.923,2.935,2.938,2.955,2.963,2.978,3.001,3.009,3.024,3.033,3.053,3.069,3.074,3.103,3.118,3.134,3.142,3.154,3.173,3.187,3.206,3.211,3.236,3.253,3.266,3.282,3.302,3.329,3.341,3.365,3.39,3.397,3.421,3.445,3.46,3.484,3.512,3.537,3.572,3.582,3.62,3.644,3.666,3.689,3.706,3.741,3.758,3.789,3.833,3.853,3.887,3.919,3.94,4.014,4.069,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.36,3.357,3.34,3.326,3.314,3.302,3.3,3.288,3.282,3.278,3.256,3.252,3.249,3.246,3.236,3.214,3.209,3.201,3.195,3.192,3.183,3.175,3.165,3.162,3.155,3.152,3.144,3.138,3.136,3.122,3.118,3.109,3.109,3.106,3.103,3.1,3.098,3.085,3.08,3.079,3.073,3.068,3.067,3.063,3.06,3.059,3.055,3.055,3.046,3.043,3.042,3.039,3.031,3.031,3.029,3.029,3.032,3.036,3.043,3.043,3.043,3.033,3.016,3.016,3.015,3.016,3.016,3.014,3.014,3.014,3.012,3.014,3.01,3.01,3.01,3.01,3.01,3.007,3.01,3.015,3.015,3.015,3.019,3.022,3.019,3.023,3.023,3.029,3.029,3.029,3.029,3.029,3.029,3.029,3.037,3.04,3.046,3.049,3.049,3.049,3.051,3.055,3.058,3.059,3.074,3.081,3.081,3.081,3.086,3.087,3.087,3.092,3.094,3.096,3.115,3.116,3.121,3.122,3.122,3.124,3.14,3.14,3.143,3.146,3.15,3.159,3.163,3.169,3.169,3.175,3.177,3.179,3.193,3.196,3.206,3.214,3.216,3.228,3.235,3.249,3.255,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 180.12} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 180.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 180.124} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.5372}
SEN {Time 180.169} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.175,0.177,0.177,0.199,0,0,0,0,0,0,0,0,0,0,0,3.682,3.678,3.669,3.649,3.639,3.616,3.582,3.572,3.572,3.572,3.557,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.225,3.218,3.213,3.213,3.213,3.218,3.35,0,0,0,0,0,0.153,0.148,0.148,0.148,0.153,0.144,0.153,0.153,0.153,0.153,0.153,0.159,3.059,3.066,3.069,3.069,3.066,3.066,0.166,0.166,0.162,0.153,0.153,0.153,0.153,0.158,2.994,2.994,2.994,2.992,2.987,2.986,2.984,2.983,2.98,2.975,2.976,2.974,2.973,2.973,2.973,2.973,2.973,2.975,3.504,3.506,3.506,3.504,3.506,3.505,3.505,3.505,3.507,3.505,3.505,3.5,3.505,3.5,3.498,3.498,3.498,3.494,3.498,3.498,3.505,3.504,3.505,3.505,3.51,3.51,3.512,3.513,3.514,3.515,3.513,3.516,3.516,3.516,3.516,3.525,3.526,3.534,3.535,3.538,3.538,3.538,3.546,3.556,3.563,3.564,3.569,3.57,3.576,3.588,3.589,3.595,3.601,3.606,3.606,3.619,3.621,3.63,3.632,3.637,3.641,3.647,3.653,3.659,3.672,3.681,3.681,3.682,3.69,3.693,3.714,3.714,3.715,3.735,3.739,3.751,3.751,3.771,3.778,3.782,3.791,3.806,3.807,3.824,3.831,3.854,3.859,3.875,3.881,3.883,3.911,3.915,3.931,3.937,3.951,3.978,3.983,3.993,4.016,4.029,4.049,4.052,4.071,4.093,0.016,0.016,0.016,0.016,4.076,4.03,3.998,3.974,3.94,3.9,3.874,3.841,3.817,3.787,3.756,3.743,3.699,3.671,3.648,3.637,3.599,3.58,3.553,3.533,3.51,3.493,3.459,3.447,3.422,3.413,3.383,3.357,3.347,3.326,3.303,3.281,3.269,3.246,3.234,3.219,3.203,3.179,3.154,3.153,3.131,3.125,3.105,3.093,3.068,3.051,3.042,3.027,3.02,3.001,2.994,2.984,2.962,2.956,2.949,2.926,2.916,2.911,2.89,2.884,2.879,2.859,2.842,2.835,2.819,2.807,2.806,2.802,2.787,2.776,2.759,2.753,2.749,2.733,2.727,2.711,2.708,2.693,2.688,2.678,2.671,2.664,2.661,2.655,2.651,2.635,2.625,2.622,2.615,2.609,2.601,2.6,2.592,2.577,2.574,2.568,2.562,2.553,2.549,2.548,2.535,2.525,2.524,2.515,2.506,2.503,2.497,2.497,2.49,2.489,2.486,2.477,2.474,2.472,2.467,2.465,2.465,2.454,2.452,2.45,2.446,2.445,2.441,2.44,2.432,2.43,2.428,2.425,2.415,2.415,2.415,2.415,2.415,2.411,2.41,2.406,2.403,2.403,2.4,2.398,2.398,2.398,2.398,2.398,2.398,2.398,2.398,2.397,2.395,2.394,2.391,2.39,2.391,2.394,2.394,2.395,2.396,2.395,2.398,2.395,2.397,2.395,2.396,2.396,2.397,2.398,2.398,2.399,2.401,2.401,2.401,2.406,2.408,2.409,2.41,2.412,2.417,2.423,2.424,2.424,2.424,2.424,2.426,2.436,2.436,2.438,2.442,2.442,2.454,2.454,2.454,2.455,2.463,2.468,2.474,2.476,2.48,2.485,2.493,2.498,2.501,2.508,2.512,2.517,2.521,2.527,2.541,2.541,2.543,2.554,2.556,2.561,2.566,2.576,2.577,2.583,2.591,2.595,2.598,2.61,2.611,2.627,2.628,2.633,2.643,2.644,2.658,2.674,2.684,2.687,2.7,2.707,2.719,2.721,2.727,2.745,2.746,2.76,2.768,2.782,2.787,2.797,2.809,2.818,2.837,2.843,2.856,2.859,2.87,2.895,2.897,2.917,2.922,2.938,2.945,2.955,2.977,2.99,2.991,3.011,3.025,3.042,3.059,3.061,3.078,3.103,3.105,3.126,3.136,3.151,3.175,3.176,3.2,3.214,3.229,3.25,3.266,3.289,3.304,3.329,3.346,3.357,3.395,3.399,3.428,3.445,3.459,3.49,3.515,3.529,3.557,3.598,3.617,3.642,3.666,3.688,3.724,3.744,3.76,3.798,3.826,3.859,3.883,3.916,3.955,3.982,4.01,4.06,4.084,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.356,3.352,3.352,3.335,3.326,3.305,3.299,3.29,3.283,3.274,3.26,3.251,3.241,3.238,3.231,3.22,3.217,3.2,3.198,3.194,3.182,3.175,3.175,3.16,3.15,3.148,3.144,3.134,3.128,3.128,3.123,3.114,3.112,3.106,3.105,3.095,3.093,3.092,3.087,3.082,3.076,3.068,3.067,3.061,3.059,3.057,3.053,3.045,3.045,3.043,3.043,3.037,3.035,3.033,3.033,3.032,3.031,3.032,3.032,3.035,3.035,3.035,3.023,3.023,3.014,3.014,3.014,3.014,3.014,3.015,3.015,3.017,3.017,3.017,3.014,3.015,3.015,3.014,3.015,3.015,3.015,3.012,3.015,3.019,3.02,3.019,3.02,3.021,3.024,3.024,3.024,3.024,3.031,3.035,3.035,3.039,3.042,3.044,3.054,3.055,3.055,3.055,3.055,3.064,3.072,3.072,3.073,3.073,3.079,3.092,3.092,3.095,3.099,3.105,3.108,3.117,3.118,3.119,3.126,3.131,3.137,3.14,3.142,3.142,3.143,3.143,3.157,3.163,3.165,3.169,3.179,3.182,3.201,3.202,3.204,3.205,3.207,3.22,3.232,3.243,3.248,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 180.33} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 180.33} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 180.326} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 180.368} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.179,0.175,0.176,0.179,0.179,0.205,0,0,0,0,0,0,0,0,0,0,3.691,3.682,3.665,3.656,3.647,3.626,3.616,3.579,3.579,3.573,3.573,3.573,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.206,3.203,3.203,3.203,3.347,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.149,0.146,0.149,0.152,3.054,3.066,3.066,3.066,3.063,3.063,0.171,0.159,0.158,0.155,0.149,0.149,0.154,0.154,3.001,3.001,3.001,2.99,2.982,2.981,2.98,2.979,2.978,2.977,2.978,2.977,2.975,2.975,2.972,2.968,2.968,2.972,3.505,3.509,3.509,3.509,3.509,3.508,3.506,3.506,3.5,3.497,3.5,3.498,3.5,3.505,3.505,3.503,3.503,3.5,3.498,3.496,3.496,3.496,3.498,3.504,3.504,3.504,3.505,3.51,3.511,3.513,3.513,3.516,3.514,3.52,3.523,3.526,3.526,3.526,3.528,3.54,3.541,3.551,3.554,3.558,3.558,3.56,3.56,3.573,3.585,3.589,3.594,3.595,3.595,3.6,3.61,3.621,3.621,3.633,3.634,3.636,3.641,3.649,3.657,3.66,3.668,3.679,3.679,3.691,3.692,3.695,3.707,3.714,3.725,3.742,3.743,3.758,3.759,3.759,3.782,3.787,3.797,3.802,3.804,3.827,3.829,3.848,3.854,3.866,3.871,3.877,3.892,3.903,3.934,3.951,3.952,3.976,3.98,3.994,4.016,4.019,4.041,4.052,4.079,4.086,0.016,0.016,0.016,0.016,0.016,4.034,4.008,3.977,3.931,3.898,3.876,3.838,3.812,3.796,3.76,3.727,3.707,3.671,3.655,3.636,3.593,3.581,3.543,3.537,3.516,3.492,3.474,3.458,3.424,3.408,3.379,3.366,3.34,3.323,3.295,3.293,3.261,3.253,3.228,3.214,3.206,3.178,3.16,3.148,3.13,3.118,3.109,3.092,3.061,3.052,3.039,3.033,3.021,3.003,2.99,2.981,2.961,2.948,2.938,2.927,2.918,2.904,2.888,2.877,2.869,2.862,2.848,2.847,2.821,2.814,2.804,2.794,2.787,2.77,2.766,2.759,2.739,2.73,2.72,2.711,2.697,2.694,2.69,2.68,2.671,2.669,2.661,2.655,2.645,2.64,2.639,2.624,2.612,2.61,2.601,2.597,2.587,2.586,2.572,2.571,2.564,2.557,2.545,2.539,2.534,2.531,2.524,2.518,2.51,2.509,2.498,2.497,2.495,2.487,2.484,2.481,2.478,2.475,2.472,2.466,2.458,2.455,2.455,2.448,2.448,2.448,2.441,2.438,2.435,2.429,2.428,2.426,2.415,2.414,2.413,2.413,2.413,2.412,2.406,2.404,2.402,2.401,2.401,2.4,2.398,2.398,2.396,2.395,2.395,2.396,2.395,2.394,2.394,2.396,2.394,2.394,2.39,2.389,2.388,2.388,2.389,2.392,2.392,2.395,2.393,2.393,2.397,2.393,2.393,2.396,2.398,2.398,2.399,2.401,2.406,2.407,2.41,2.411,2.414,2.415,2.415,2.418,2.424,2.424,2.426,2.429,2.429,2.429,2.441,2.443,2.443,2.446,2.452,2.453,2.453,2.456,2.465,2.47,2.473,2.476,2.487,2.489,2.491,2.495,2.497,2.501,2.504,2.507,2.521,2.527,2.532,2.547,2.548,2.552,2.552,2.556,2.561,2.572,2.575,2.582,2.594,2.598,2.604,2.621,2.622,2.624,2.632,2.633,2.648,2.651,2.658,2.663,2.681,2.69,2.697,2.71,2.716,2.725,2.727,2.739,2.754,2.76,2.769,2.773,2.79,2.796,2.808,2.82,2.831,2.844,2.866,2.866,2.875,2.888,2.9,2.911,2.921,2.936,2.946,2.953,2.966,2.986,2.989,3.005,3.025,3.034,3.052,3.069,3.08,3.1,3.115,3.122,3.142,3.158,3.168,3.173,3.198,3.222,3.223,3.242,3.269,3.278,3.312,3.332,3.339,3.354,3.385,3.394,3.42,3.449,3.453,3.495,3.509,3.532,3.565,3.59,3.614,3.627,3.648,3.697,3.716,3.732,3.765,3.795,3.831,3.855,3.884,3.957,3.979,4.016,4.016,4.086,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.042,3.355,3.355,3.335,3.327,3.316,3.307,3.292,3.284,3.282,3.266,3.266,3.251,3.246,3.238,3.228,3.225,3.219,3.201,3.201,3.19,3.181,3.176,3.172,3.154,3.153,3.148,3.146,3.135,3.135,3.121,3.116,3.116,3.111,3.11,3.102,3.096,3.092,3.092,3.083,3.077,3.074,3.068,3.067,3.066,3.061,3.057,3.056,3.052,3.05,3.043,3.04,3.038,3.036,3.035,3.034,3.031,3.028,3.028,3.031,3.039,3.039,3.039,3.026,3.018,3.018,3.015,3.013,3.011,3.013,3.013,3.01,3.014,3.014,3.011,3.011,3.013,3.013,3.013,3.013,3.013,3.013,3.007,3.013,3.02,3.02,3.024,3.024,3.028,3.029,3.029,3.03,3.034,3.034,3.035,3.036,3.042,3.042,3.043,3.046,3.048,3.05,3.059,3.062,3.062,3.075,3.075,3.075,3.077,3.083,3.087,3.09,3.092,3.099,3.103,3.11,3.114,3.115,3.117,3.128,3.128,3.141,3.143,3.143,3.145,3.152,3.16,3.164,3.167,3.167,3.168,3.177,3.182,3.187,3.206,3.212,3.226,3.226,3.228,3.231,3.247,3.247,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 180.52} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 180.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 180.519} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 180.567} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.17,0.17,0.177,0.177,0.177,0.181,0.181,0.199,0,0,0,0,0,0,0,0,0,0,3.704,3.68,3.674,3.66,3.644,3.641,3.624,3.589,3.571,3.566,3.566,3.364,3.364,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.215,3.208,3.204,3.204,3.204,3.349,0,0,0,0,0,0.007,0.14,0.14,0.14,0.14,0.143,0.153,0.153,0.153,0.153,0.157,0.158,3.058,3.068,3.068,3.068,3.068,3.068,3.062,0.168,0.159,0.155,0.155,0.155,0.155,0.158,2.998,2.998,2.998,2.988,2.988,2.986,2.986,2.985,2.983,2.983,2.977,2.977,2.976,2.971,2.971,2.971,2.971,2.971,3.495,3.502,3.509,3.502,3.509,3.505,3.505,3.501,3.505,3.505,3.506,3.506,3.506,3.501,3.498,3.497,3.498,3.498,3.501,3.501,3.501,3.499,3.499,3.499,3.5,3.5,3.501,3.501,3.508,3.508,3.513,3.515,3.515,3.517,3.524,3.525,3.53,3.534,3.536,3.544,3.546,3.546,3.553,3.555,3.561,3.566,3.566,3.577,3.582,3.584,3.59,3.59,3.596,3.601,3.614,3.619,3.621,3.63,3.632,3.635,3.642,3.655,3.655,3.668,3.67,3.671,3.682,3.687,3.69,3.697,3.711,3.712,3.713,3.732,3.748,3.748,3.765,3.773,3.782,3.787,3.793,3.806,3.812,3.832,3.835,3.844,3.848,3.863,3.888,3.892,3.898,3.903,3.923,3.94,3.952,3.972,3.978,3.999,4.005,4.019,4.05,4.059,4.073,4.091,0.016,0.016,0.016,0.016,0.016,4.083,4.038,3.968,3.954,3.899,3.874,3.85,3.82,3.788,3.754,3.728,3.703,3.668,3.647,3.632,3.605,3.574,3.55,3.528,3.505,3.483,3.475,3.454,3.432,3.404,3.392,3.359,3.35,3.333,3.296,3.293,3.255,3.251,3.227,3.218,3.199,3.186,3.167,3.149,3.137,3.121,3.103,3.081,3.071,3.05,3.042,3.034,3.019,2.995,2.994,2.984,2.969,2.951,2.947,2.925,2.913,2.905,2.896,2.883,2.87,2.855,2.849,2.837,2.824,2.814,2.81,2.793,2.785,2.772,2.764,2.753,2.741,2.731,2.726,2.717,2.706,2.698,2.694,2.683,2.677,2.669,2.667,2.656,2.649,2.637,2.63,2.624,2.622,2.606,2.597,2.593,2.59,2.586,2.574,2.568,2.562,2.555,2.553,2.539,2.538,2.528,2.523,2.513,2.507,2.504,2.497,2.496,2.49,2.487,2.484,2.484,2.475,2.473,2.473,2.468,2.458,2.452,2.451,2.445,2.441,2.439,2.435,2.434,2.432,2.431,2.43,2.423,2.42,2.417,2.414,2.413,2.413,2.409,2.404,2.404,2.401,2.4,2.4,2.4,2.396,2.396,2.396,2.395,2.395,2.393,2.393,2.392,2.389,2.389,2.392,2.394,2.394,2.394,2.393,2.391,2.391,2.391,2.393,2.394,2.394,2.394,2.394,2.394,2.393,2.396,2.397,2.399,2.399,2.401,2.401,2.403,2.405,2.409,2.414,2.415,2.418,2.425,2.425,2.428,2.425,2.428,2.428,2.431,2.436,2.439,2.443,2.447,2.45,2.452,2.457,2.457,2.467,2.468,2.47,2.476,2.481,2.485,2.492,2.493,2.501,2.508,2.509,2.512,2.518,2.52,2.542,2.544,2.548,2.551,2.553,2.558,2.568,2.57,2.574,2.584,2.585,2.599,2.6,2.609,2.613,2.623,2.632,2.632,2.648,2.651,2.662,2.669,2.686,2.689,2.699,2.706,2.708,2.725,2.731,2.745,2.75,2.768,2.769,2.775,2.792,2.799,2.809,2.827,2.833,2.849,2.859,2.865,2.872,2.893,2.895,2.911,2.916,2.939,2.945,2.954,2.974,2.985,2.999,3.01,3.029,3.034,3.046,3.065,3.075,3.1,3.117,3.13,3.138,3.152,3.164,3.181,3.204,3.213,3.238,3.246,3.256,3.278,3.305,3.329,3.339,3.36,3.383,3.392,3.43,3.452,3.465,3.492,3.511,3.536,3.561,3.584,3.621,3.636,3.666,3.693,3.713,3.732,3.793,3.827,3.85,3.85,3.895,3.917,3.95,3.982,4.014,4.058,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0,0,3.366,3.356,3.338,3.322,3.316,3.297,3.297,3.292,3.275,3.269,3.254,3.253,3.246,3.232,3.227,3.216,3.215,3.203,3.195,3.188,3.183,3.175,3.167,3.156,3.156,3.15,3.145,3.141,3.134,3.125,3.121,3.121,3.116,3.11,3.105,3.097,3.096,3.087,3.084,3.078,3.072,3.068,3.067,3.062,3.061,3.058,3.055,3.054,3.047,3.042,3.037,3.036,3.032,3.031,3.031,3.031,3.029,3.031,3.031,3.033,3.033,3.033,3.026,3.017,3.017,3.014,3.013,3.009,3.009,3.009,3.011,3.014,3.015,3.015,3.014,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.014,3.02,3.022,3.025,3.025,3.025,3.027,3.029,3.03,3.031,3.031,3.032,3.04,3.042,3.042,3.046,3.046,3.046,3.054,3.061,3.061,3.064,3.069,3.075,3.075,3.079,3.081,3.081,3.09,3.098,3.098,3.103,3.106,3.112,3.122,3.124,3.125,3.129,3.135,3.137,3.141,3.146,3.148,3.149,3.158,3.166,3.171,3.172,3.177,3.177,3.19,3.197,3.206,3.206,3.212,3.22,3.228,3.242,3.244,3.249,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 180.72} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 180.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 180.722} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 180.768} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.182,0.175,0.177,0.182,0.182,0.213,0,0,0,0,0,0,0,0,0,0,3.695,3.686,3.665,3.658,3.644,3.636,3.622,3.581,3.579,3.565,3.565,3.352,3.352,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.216,3.211,3.206,3.206,3.206,3.354,0,0,0,0,0,0.149,0.144,0.144,0.144,0.144,0.145,0.149,0.147,0.151,0.147,0.151,0.153,3.067,3.068,3.069,3.069,3.07,3.07,3.07,0.161,0.159,0.15,0.15,0.15,0.15,0.156,2.991,2.991,2.991,2.991,2.988,2.988,2.987,2.979,2.979,2.978,2.976,2.976,2.976,2.973,2.967,2.967,2.97,2.97,3.498,3.502,3.502,3.501,3.502,3.502,3.501,3.499,3.506,3.5,3.5,3.503,3.504,3.503,3.504,3.503,3.504,3.499,3.499,3.499,3.501,3.499,3.501,3.503,3.503,3.504,3.504,3.509,3.513,3.513,3.513,3.517,3.521,3.522,3.522,3.522,3.527,3.53,3.532,3.537,3.538,3.538,3.55,3.551,3.559,3.562,3.566,3.567,3.586,3.588,3.589,3.595,3.599,3.613,3.619,3.619,3.62,3.628,3.629,3.632,3.638,3.645,3.658,3.663,3.669,3.672,3.684,3.696,3.697,3.704,3.715,3.719,3.728,3.737,3.738,3.751,3.753,3.762,3.777,3.788,3.789,3.805,3.81,3.823,3.832,3.834,3.856,3.862,3.881,3.898,3.903,3.921,3.926,3.953,3.956,3.978,3.98,3.998,4.002,4.019,4.043,4.06,4.074,4.089,4.094,0.016,0.007,0.016,0.016,4.072,4.039,3.978,3.933,3.911,3.875,3.861,3.822,3.794,3.758,3.733,3.7,3.661,3.649,3.614,3.602,3.571,3.546,3.524,3.505,3.493,3.464,3.445,3.432,3.406,3.378,3.354,3.352,3.321,3.296,3.286,3.265,3.25,3.224,3.216,3.191,3.177,3.159,3.153,3.131,3.109,3.106,3.08,3.07,3.054,3.039,3.029,3.016,3.008,2.995,2.989,2.969,2.954,2.94,2.926,2.922,2.905,2.895,2.883,2.872,2.862,2.843,2.843,2.83,2.816,2.812,2.79,2.78,2.779,2.763,2.752,2.744,2.737,2.723,2.71,2.701,2.696,2.694,2.674,2.67,2.666,2.666,2.655,2.649,2.634,2.628,2.627,2.618,2.609,2.596,2.592,2.589,2.578,2.57,2.57,2.556,2.555,2.547,2.546,2.544,2.528,2.522,2.522,2.512,2.511,2.507,2.5,2.488,2.488,2.487,2.476,2.474,2.474,2.468,2.464,2.46,2.459,2.455,2.446,2.441,2.439,2.439,2.438,2.435,2.433,2.428,2.424,2.417,2.415,2.414,2.413,2.411,2.411,2.409,2.407,2.403,2.399,2.399,2.399,2.399,2.397,2.399,2.397,2.397,2.392,2.392,2.39,2.39,2.394,2.394,2.393,2.393,2.393,2.392,2.388,2.391,2.392,2.392,2.392,2.392,2.396,2.396,2.396,2.395,2.396,2.397,2.397,2.397,2.404,2.406,2.406,2.407,2.409,2.409,2.411,2.419,2.419,2.42,2.42,2.428,2.428,2.432,2.432,2.438,2.44,2.444,2.444,2.45,2.45,2.454,2.46,2.466,2.468,2.471,2.472,2.483,2.484,2.486,2.489,2.497,2.501,2.512,2.513,2.517,2.519,2.544,2.545,2.546,2.546,2.546,2.552,2.569,2.57,2.577,2.581,2.586,2.595,2.606,2.61,2.613,2.623,2.632,2.639,2.643,2.653,2.663,2.671,2.684,2.687,2.69,2.708,2.717,2.72,2.732,2.743,2.752,2.759,2.766,2.775,2.795,2.807,2.81,2.827,2.834,2.843,2.851,2.874,2.874,2.889,2.895,2.906,2.922,2.93,2.946,2.957,2.974,2.975,2.996,3.01,3.022,3.045,3.048,3.061,3.075,3.103,3.113,3.127,3.138,3.145,3.175,3.189,3.203,3.218,3.228,3.253,3.259,3.286,3.303,3.333,3.334,3.366,3.383,3.403,3.416,3.447,3.467,3.489,3.505,3.54,3.552,3.579,3.624,3.641,3.659,3.678,3.708,3.741,3.755,3.791,3.833,3.856,3.887,3.916,3.956,4.016,4.057,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.014,3.357,3.355,3.338,3.331,3.331,3.318,3.297,3.288,3.287,3.262,3.261,3.26,3.243,3.24,3.223,3.22,3.21,3.2,3.195,3.191,3.182,3.181,3.177,3.16,3.156,3.15,3.142,3.134,3.131,3.119,3.119,3.117,3.117,3.106,3.103,3.091,3.091,3.089,3.081,3.079,3.073,3.073,3.068,3.064,3.061,3.058,3.056,3.052,3.042,3.039,3.036,3.036,3.036,3.032,3.032,3.031,3.03,3.031,3.031,3.039,3.039,3.039,3.02,3.015,3.015,3.015,3.014,3.014,3.014,3.014,3.012,3.013,3.017,3.013,3.013,3.014,3.014,3.014,3.014,3.014,3.017,3.018,3.018,3.022,3.022,3.019,3.022,3.023,3.02,3.025,3.029,3.028,3.029,3.032,3.036,3.038,3.049,3.049,3.051,3.054,3.054,3.055,3.061,3.066,3.07,3.082,3.082,3.085,3.085,3.086,3.094,3.096,3.096,3.1,3.108,3.117,3.12,3.121,3.133,3.135,3.137,3.14,3.142,3.143,3.144,3.144,3.156,3.161,3.164,3.17,3.178,3.183,3.188,3.201,3.204,3.217,3.217,3.225,3.232,3.251,3.255,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 180.92} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 180.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 180.924} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9784}
SEN {Time 180.969} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.176,0.174,0.176,0.178,0.178,0.22,0,0,0,0,0,0,0,0,0,0,0,3.68,3.672,3.661,3.644,3.634,3.618,3.579,3.578,3.578,3.578,3.556,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.216,3.209,3.204,3.204,3.204,3.345,0,0,0,0,0,0.146,0.146,0.146,0.146,0.149,0.149,0.15,0.151,0.151,0.148,0.151,0.153,3.061,3.063,3.063,3.063,3.062,3.062,0.167,0.16,0.159,0.154,0.153,0.153,0.154,0.156,2.996,2.996,2.996,2.991,2.991,2.987,2.983,2.983,2.98,2.979,2.98,2.979,2.976,2.975,2.97,2.969,2.969,2.969,3.509,3.509,3.509,3.507,3.507,3.5,3.5,3.498,3.498,3.498,3.498,3.501,3.502,3.502,3.502,3.501,3.505,3.503,3.505,3.503,3.503,3.502,3.502,3.501,3.502,3.507,3.507,3.504,3.51,3.512,3.512,3.516,3.518,3.519,3.52,3.527,3.527,3.535,3.535,3.541,3.546,3.55,3.555,3.556,3.558,3.563,3.565,3.566,3.581,3.585,3.587,3.597,3.6,3.603,3.61,3.617,3.624,3.624,3.627,3.639,3.641,3.648,3.651,3.662,3.67,3.675,3.687,3.688,3.689,3.699,3.708,3.718,3.719,3.73,3.737,3.748,3.752,3.765,3.766,3.788,3.792,3.806,3.812,3.821,3.84,3.845,3.853,3.872,3.88,3.889,3.906,3.915,3.926,3.94,3.94,3.966,3.974,3.998,4.009,4.016,4.04,4.056,4.073,4.09,0.016,0.016,0.016,0.016,4.07,4.04,4.004,3.977,3.94,3.898,3.879,3.861,3.815,3.784,3.752,3.734,3.703,3.677,3.65,3.628,3.595,3.581,3.545,3.525,3.508,3.494,3.47,3.459,3.434,3.411,3.382,3.361,3.346,3.323,3.299,3.285,3.262,3.245,3.224,3.212,3.202,3.18,3.157,3.149,3.137,3.12,3.099,3.088,3.065,3.058,3.04,3.029,3.017,3.004,2.991,2.985,2.958,2.953,2.941,2.918,2.912,2.911,2.89,2.886,2.868,2.852,2.85,2.833,2.819,2.816,2.808,2.791,2.787,2.78,2.759,2.75,2.739,2.738,2.73,2.711,2.709,2.702,2.686,2.675,2.674,2.668,2.651,2.65,2.648,2.633,2.633,2.622,2.618,2.604,2.596,2.591,2.587,2.583,2.57,2.569,2.56,2.552,2.551,2.547,2.536,2.53,2.522,2.518,2.515,2.507,2.498,2.498,2.492,2.49,2.481,2.476,2.471,2.468,2.468,2.466,2.463,2.458,2.452,2.451,2.446,2.441,2.439,2.438,2.438,2.431,2.429,2.426,2.416,2.416,2.415,2.412,2.411,2.411,2.41,2.403,2.402,2.402,2.402,2.4,2.395,2.395,2.394,2.394,2.394,2.394,2.393,2.393,2.393,2.393,2.393,2.394,2.393,2.393,2.388,2.388,2.388,2.389,2.395,2.395,2.395,2.393,2.393,2.393,2.392,2.393,2.395,2.396,2.396,2.398,2.402,2.402,2.408,2.409,2.409,2.412,2.418,2.423,2.423,2.424,2.426,2.427,2.429,2.431,2.435,2.436,2.442,2.449,2.45,2.451,2.454,2.459,2.462,2.464,2.474,2.475,2.476,2.484,2.488,2.49,2.501,2.501,2.502,2.507,2.512,2.521,2.534,2.54,2.545,2.548,2.549,2.553,2.559,2.571,2.573,2.579,2.59,2.595,2.605,2.615,2.618,2.624,2.628,2.638,2.648,2.649,2.658,2.673,2.677,2.688,2.693,2.702,2.706,2.721,2.731,2.735,2.753,2.757,2.76,2.781,2.784,2.801,2.804,2.827,2.83,2.839,2.862,2.87,2.877,2.895,2.9,2.906,2.922,2.943,2.952,2.955,2.973,2.983,2.993,3.011,3.026,3.039,3.049,3.061,3.079,3.104,3.11,3.128,3.137,3.16,3.167,3.184,3.199,3.209,3.233,3.245,3.276,3.28,3.304,3.329,3.344,3.358,3.386,3.397,3.429,3.448,3.466,3.482,3.509,3.532,3.568,3.58,3.623,3.639,3.661,3.683,3.717,3.735,3.759,3.806,3.831,3.849,3.88,3.917,3.967,4.011,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.006,3.357,3.343,3.337,3.326,3.319,3.3,3.296,3.285,3.279,3.275,3.264,3.254,3.249,3.236,3.225,3.221,3.211,3.202,3.202,3.194,3.182,3.175,3.165,3.165,3.157,3.148,3.144,3.142,3.131,3.123,3.121,3.11,3.109,3.109,3.109,3.102,3.094,3.09,3.083,3.078,3.071,3.069,3.062,3.062,3.06,3.057,3.055,3.048,3.044,3.044,3.038,3.038,3.032,3.029,3.03,3.029,3.029,3.029,3.03,3.034,3.034,3.034,3.023,3.022,3.017,3.013,3.013,3.013,3.012,3.013,3.012,3.012,3.015,3.015,3.015,3.016,3.015,3.014,3.014,3.014,3.014,3.014,3.013,3.014,3.013,3.013,3.019,3.022,3.022,3.025,3.029,3.029,3.029,3.029,3.034,3.043,3.045,3.047,3.045,3.045,3.052,3.056,3.057,3.059,3.069,3.076,3.079,3.08,3.086,3.09,3.098,3.103,3.105,3.105,3.109,3.119,3.121,3.121,3.127,3.133,3.135,3.142,3.146,3.15,3.155,3.16,3.162,3.163,3.163,3.172,3.176,3.181,3.193,3.204,3.211,3.213,3.213,3.22,3.221,3.234,3.255,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 181.13} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 181.13} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 181.126} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9784}
SEN {Time 181.165} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.18,0.18,0.215,0,0,0,0,0,0.007,0,0,0,0,3.712,3.69,3.673,3.667,3.641,3.639,3.614,3.589,3.569,3.569,3.569,3.559,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.236,3.212,3.212,3.211,3.208,3.208,3.34,3.34,0,0,0,0,0,0.152,0.143,0.143,0.143,0.151,0.143,0.149,0.149,0.149,0.149,0.149,0.153,3.068,3.068,3.068,3.068,3.068,3.062,3.062,0.172,0.165,0.158,0.157,0.156,0.157,0.157,2.988,2.988,2.988,2.988,2.984,2.983,2.984,2.984,2.981,2.981,2.981,2.975,2.974,2.974,2.969,2.969,2.969,2.971,3.499,3.504,3.504,3.504,3.504,3.504,3.504,3.499,3.499,3.499,3.504,3.504,3.504,3.504,3.503,3.502,3.501,3.501,3.501,3.501,3.502,3.502,3.508,3.506,3.509,3.509,3.509,3.509,3.511,3.513,3.516,3.516,3.516,3.518,3.522,3.523,3.523,3.525,3.538,3.54,3.546,3.546,3.549,3.552,3.559,3.565,3.57,3.578,3.591,3.593,3.594,3.596,3.597,3.607,3.615,3.623,3.626,3.633,3.633,3.641,3.643,3.648,3.649,3.658,3.678,3.679,3.679,3.691,3.695,3.696,3.705,3.717,3.727,3.74,3.743,3.751,3.752,3.774,3.777,3.783,3.801,3.807,3.812,3.823,3.825,3.836,3.853,3.866,3.885,3.895,3.906,3.911,3.934,3.946,3.951,3.979,3.99,3.997,4.018,4.028,4.046,4.06,4.073,0.016,0.016,0.016,0.016,0.016,0.016,4.032,4.008,3.968,3.929,3.894,3.876,3.847,3.816,3.787,3.759,3.729,3.696,3.664,3.659,3.628,3.603,3.574,3.551,3.53,3.496,3.494,3.474,3.451,3.433,3.415,3.386,3.365,3.343,3.323,3.297,3.293,3.267,3.243,3.237,3.21,3.195,3.189,3.163,3.15,3.129,3.117,3.104,3.086,3.063,3.053,3.037,3.032,3.012,3.01,2.989,2.988,2.966,2.955,2.947,2.924,2.919,2.911,2.89,2.887,2.871,2.859,2.845,2.834,2.82,2.811,2.809,2.79,2.783,2.772,2.758,2.757,2.75,2.748,2.729,2.708,2.706,2.694,2.684,2.679,2.678,2.663,2.655,2.646,2.641,2.629,2.628,2.624,2.623,2.611,2.602,2.589,2.589,2.582,2.575,2.57,2.564,2.558,2.556,2.547,2.538,2.527,2.523,2.523,2.511,2.504,2.496,2.494,2.491,2.484,2.482,2.479,2.478,2.475,2.467,2.463,2.457,2.456,2.45,2.446,2.445,2.439,2.435,2.435,2.435,2.431,2.426,2.423,2.419,2.415,2.415,2.415,2.414,2.407,2.406,2.404,2.401,2.399,2.398,2.398,2.398,2.398,2.398,2.397,2.397,2.394,2.394,2.394,2.394,2.393,2.39,2.393,2.39,2.39,2.39,2.388,2.388,2.388,2.399,2.399,2.399,2.395,2.393,2.393,2.393,2.395,2.395,2.395,2.397,2.404,2.404,2.404,2.405,2.407,2.413,2.419,2.421,2.421,2.423,2.424,2.427,2.431,2.435,2.437,2.438,2.439,2.439,2.446,2.452,2.454,2.455,2.455,2.467,2.467,2.472,2.475,2.479,2.487,2.487,2.49,2.492,2.496,2.497,2.508,2.511,2.513,2.539,2.541,2.544,2.546,2.552,2.56,2.56,2.576,2.579,2.584,2.589,2.592,2.593,2.609,2.618,2.626,2.63,2.633,2.644,2.651,2.666,2.672,2.683,2.69,2.691,2.712,2.717,2.723,2.727,2.742,2.751,2.756,2.769,2.77,2.792,2.797,2.807,2.823,2.834,2.846,2.855,2.863,2.87,2.881,2.894,2.909,2.923,2.939,2.948,2.958,2.972,2.986,2.987,3.012,3.026,3.044,3.056,3.069,3.078,3.1,3.117,3.128,3.144,3.149,3.165,3.18,3.201,3.214,3.228,3.249,3.266,3.287,3.302,3.333,3.335,3.355,3.382,3.394,3.427,3.457,3.458,3.488,3.511,3.526,3.556,3.584,3.619,3.625,3.653,3.687,3.702,3.744,3.759,3.802,3.819,3.846,3.892,3.928,3.936,3.985,4.023,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.359,3.337,3.324,3.323,3.302,3.296,3.282,3.278,3.265,3.263,3.255,3.244,3.239,3.233,3.228,3.225,3.203,3.202,3.196,3.188,3.171,3.171,3.162,3.161,3.155,3.143,3.139,3.135,3.124,3.121,3.112,3.108,3.107,3.107,3.092,3.092,3.091,3.086,3.081,3.067,3.063,3.062,3.061,3.061,3.058,3.058,3.057,3.046,3.044,3.041,3.039,3.036,3.031,3.031,3.031,3.031,3.031,3.034,3.034,3.034,3.037,3.034,3.029,3.021,3.016,3.016,3.016,3.016,3.015,3.015,3.015,3.015,3.014,3.014,3.014,3.014,3.012,3.012,3.012,3.019,3.012,3.019,3.019,3.022,3.022,3.022,3.024,3.024,3.027,3.027,3.029,3.034,3.035,3.035,3.036,3.044,3.048,3.049,3.054,3.054,3.059,3.059,3.059,3.071,3.079,3.079,3.082,3.082,3.092,3.098,3.1,3.102,3.108,3.116,3.117,3.121,3.126,3.128,3.13,3.14,3.14,3.141,3.141,3.145,3.145,3.158,3.16,3.166,3.179,3.182,3.19,3.19,3.202,3.207,3.212,3.212,3.22,3.228,3.246,3.256,3.261,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 181.32} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 181.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 181.32} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784}
SEN {Time 181.364} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.177,0.175,0.177,0.177,0.206,0,0,0,0,0,0,0,0,0,0,3.708,3.688,3.674,3.671,3.641,3.616,3.614,3.583,3.583,3.583,3.583,3.568,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.217,3.211,3.21,3.217,3.345,3.345,0,0,0,0,0,0.152,0.144,0.144,0.144,0.149,0.147,0.149,0.149,0.15,0.149,0.15,0.156,3.062,3.062,3.066,3.066,3.066,3.066,3.066,0.167,0.158,0.156,0.152,0.152,0.152,0.162,2.996,2.996,2.996,2.991,2.986,2.985,2.982,2.985,2.977,2.975,2.973,2.975,2.973,2.969,2.973,2.967,2.967,2.973,3.5,3.508,3.508,3.5,3.508,3.501,3.501,3.501,3.504,3.503,3.503,3.503,3.503,3.503,3.503,3.501,3.501,3.498,3.498,3.498,3.5,3.5,3.502,3.502,3.5,3.502,3.503,3.503,3.512,3.512,3.515,3.516,3.515,3.515,3.52,3.531,3.534,3.535,3.54,3.541,3.545,3.545,3.555,3.555,3.557,3.56,3.561,3.57,3.581,3.585,3.589,3.592,3.599,3.605,3.614,3.615,3.622,3.628,3.629,3.64,3.645,3.647,3.648,3.648,3.667,3.674,3.678,3.681,3.695,3.705,3.717,3.718,3.719,3.735,3.746,3.748,3.756,3.775,3.777,3.784,3.789,3.81,3.812,3.814,3.83,3.844,3.853,3.866,3.874,3.884,3.908,3.91,3.919,3.95,3.958,3.981,3.984,3.992,4.014,4.027,4.041,4.066,4.073,4.09,0.016,0.016,0.016,0.016,0.016,4.067,3.998,3.977,3.943,3.903,3.874,3.851,3.819,3.788,3.741,3.736,3.702,3.668,3.662,3.631,3.603,3.573,3.543,3.523,3.509,3.494,3.455,3.45,3.437,3.404,3.379,3.357,3.343,3.326,3.298,3.291,3.27,3.246,3.23,3.215,3.201,3.183,3.157,3.151,3.129,3.118,3.105,3.092,3.062,3.05,3.034,3.032,3.023,3.001,2.997,2.981,2.964,2.953,2.94,2.932,2.919,2.905,2.888,2.883,2.869,2.864,2.851,2.841,2.823,2.808,2.801,2.796,2.786,2.774,2.758,2.755,2.753,2.735,2.729,2.714,2.699,2.698,2.692,2.687,2.674,2.667,2.665,2.646,2.641,2.63,2.628,2.621,2.621,2.61,2.604,2.593,2.591,2.579,2.575,2.573,2.558,2.555,2.553,2.546,2.537,2.529,2.515,2.515,2.509,2.503,2.499,2.496,2.495,2.486,2.486,2.479,2.477,2.462,2.462,2.462,2.461,2.461,2.446,2.445,2.444,2.441,2.439,2.436,2.436,2.43,2.426,2.423,2.42,2.416,2.416,2.415,2.413,2.411,2.409,2.404,2.403,2.398,2.398,2.398,2.398,2.398,2.398,2.398,2.397,2.394,2.397,2.393,2.393,2.392,2.393,2.393,2.393,2.393,2.393,2.393,2.393,2.393,2.394,2.394,2.394,2.394,2.395,2.396,2.397,2.397,2.397,2.397,2.401,2.401,2.401,2.404,2.406,2.408,2.413,2.413,2.414,2.418,2.423,2.425,2.426,2.431,2.431,2.431,2.433,2.44,2.441,2.441,2.449,2.449,2.456,2.462,2.467,2.47,2.472,2.472,2.477,2.486,2.489,2.497,2.502,2.507,2.511,2.513,2.515,2.522,2.539,2.545,2.549,2.55,2.55,2.557,2.56,2.571,2.577,2.579,2.592,2.595,2.604,2.61,2.618,2.619,2.632,2.639,2.65,2.654,2.656,2.668,2.675,2.686,2.702,2.707,2.715,2.725,2.732,2.74,2.754,2.762,2.764,2.778,2.789,2.794,2.811,2.822,2.826,2.842,2.866,2.867,2.877,2.891,2.906,2.91,2.92,2.94,2.947,2.957,2.97,2.988,2.994,3.009,3.017,3.037,3.059,3.065,3.073,3.101,3.111,3.128,3.141,3.154,3.172,3.185,3.195,3.223,3.238,3.247,3.26,3.284,3.311,3.326,3.344,3.363,3.385,3.395,3.426,3.443,3.465,3.487,3.505,3.536,3.565,3.585,3.622,3.63,3.661,3.689,3.711,3.734,3.76,3.794,3.825,3.846,3.888,3.92,3.942,3.973,4.02,4.06,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.022,3.355,3.352,3.341,3.329,3.317,3.294,3.285,3.285,3.285,3.284,3.266,3.258,3.239,3.235,3.227,3.215,3.208,3.202,3.198,3.186,3.177,3.173,3.167,3.16,3.154,3.152,3.147,3.138,3.133,3.126,3.119,3.116,3.113,3.111,3.101,3.095,3.094,3.092,3.083,3.079,3.077,3.07,3.065,3.064,3.061,3.059,3.053,3.051,3.048,3.044,3.037,3.037,3.034,3.031,3.031,3.031,3.029,3.029,3.033,3.032,3.032,3.032,3.021,3.021,3.017,3.014,3.014,3.017,3.017,3.018,3.018,3.018,3.017,3.015,3.014,3.014,3.014,3.014,3.014,3.017,3.018,3.017,3.016,3.017,3.018,3.019,3.02,3.022,3.022,3.024,3.027,3.031,3.032,3.038,3.04,3.041,3.041,3.047,3.048,3.049,3.049,3.052,3.056,3.067,3.074,3.074,3.075,3.079,3.079,3.087,3.092,3.092,3.096,3.1,3.11,3.111,3.119,3.126,3.129,3.136,3.138,3.14,3.14,3.143,3.147,3.147,3.151,3.166,3.168,3.174,3.176,3.19,3.196,3.198,3.203,3.22,3.22,3.226,3.233,3.242,3.249,3.25,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 181.52} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 181.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 181.522} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3594}
SEN {Time 181.564} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.177,0.177,0.2,0,0,0,0,0,0,0,0,0,0,3.707,3.687,3.677,3.657,3.656,3.642,3.61,3.583,3.579,3.579,3.579,3.561,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.248,3.216,3.21,3.21,3.21,3.21,3.21,3.34,0,0,0,0,0,0.153,0.143,0.143,0.143,0.143,0.141,0.151,0.151,0.151,0.149,0.151,0.159,3.079,3.079,3.079,3.079,3.073,3.058,0.169,0.161,0.161,0.153,0.153,0.155,0.156,0.156,2.989,2.989,2.989,2.989,2.982,2.981,2.98,2.98,2.976,2.976,2.976,2.975,2.975,2.975,2.972,2.972,2.976,2.977,3.504,3.505,3.514,3.505,3.504,3.504,3.502,3.494,3.494,3.494,3.497,3.497,3.5,3.5,3.503,3.503,3.503,3.502,3.498,3.498,3.5,3.5,3.503,3.509,3.509,3.509,3.511,3.511,3.511,3.511,3.512,3.521,3.521,3.514,3.521,3.525,3.531,3.532,3.535,3.538,3.546,3.546,3.546,3.55,3.562,3.571,3.571,3.574,3.574,3.579,3.594,3.596,3.599,3.612,3.614,3.624,3.624,3.626,3.628,3.631,3.639,3.65,3.652,3.658,3.668,3.669,3.681,3.69,3.705,3.707,3.715,3.718,3.727,3.736,3.741,3.752,3.762,3.768,3.77,3.786,3.787,3.798,3.811,3.823,3.825,3.852,3.86,3.872,3.873,3.889,3.907,3.91,3.922,3.953,3.953,3.975,3.98,3.995,4.019,4.027,4.049,4.056,4.072,4.088,0.016,0.016,0.016,0.016,4.086,4.033,4.003,3.977,3.934,3.912,3.871,3.835,3.814,3.784,3.758,3.734,3.691,3.674,3.643,3.622,3.602,3.576,3.547,3.536,3.511,3.49,3.453,3.451,3.432,3.418,3.383,3.369,3.348,3.324,3.307,3.289,3.267,3.251,3.224,3.213,3.199,3.183,3.161,3.14,3.131,3.125,3.105,3.081,3.067,3.057,3.045,3.036,3.018,3.005,2.99,2.981,2.966,2.954,2.946,2.931,2.913,2.911,2.891,2.876,2.866,2.864,2.848,2.834,2.825,2.812,2.799,2.788,2.786,2.775,2.763,2.762,2.744,2.742,2.724,2.715,2.707,2.701,2.688,2.683,2.669,2.664,2.66,2.648,2.645,2.631,2.63,2.628,2.618,2.607,2.598,2.596,2.591,2.586,2.578,2.572,2.559,2.553,2.55,2.546,2.544,2.527,2.52,2.511,2.504,2.502,2.501,2.5,2.489,2.485,2.484,2.483,2.479,2.478,2.467,2.467,2.464,2.454,2.45,2.447,2.444,2.44,2.44,2.435,2.433,2.428,2.425,2.423,2.419,2.417,2.413,2.412,2.41,2.41,2.407,2.406,2.401,2.4,2.398,2.398,2.396,2.396,2.398,2.398,2.397,2.397,2.392,2.392,2.392,2.392,2.392,2.393,2.393,2.391,2.389,2.389,2.389,2.39,2.392,2.394,2.392,2.39,2.393,2.391,2.391,2.393,2.397,2.399,2.403,2.399,2.403,2.403,2.405,2.405,2.411,2.417,2.418,2.419,2.42,2.423,2.429,2.431,2.431,2.435,2.436,2.438,2.439,2.443,2.447,2.45,2.455,2.463,2.471,2.471,2.471,2.477,2.479,2.486,2.486,2.491,2.501,2.504,2.513,2.513,2.517,2.518,2.542,2.545,2.546,2.548,2.553,2.556,2.556,2.57,2.576,2.579,2.592,2.593,2.602,2.613,2.621,2.623,2.628,2.64,2.65,2.652,2.655,2.673,2.676,2.689,2.69,2.706,2.717,2.725,2.738,2.74,2.754,2.755,2.771,2.776,2.791,2.798,2.803,2.817,2.834,2.836,2.862,2.869,2.877,2.887,2.898,2.916,2.921,2.937,2.946,2.951,2.974,2.988,2.993,3.006,3.019,3.026,3.052,3.057,3.081,3.102,3.117,3.13,3.139,3.148,3.168,3.183,3.199,3.218,3.228,3.251,3.272,3.278,3.307,3.325,3.34,3.355,3.38,3.4,3.42,3.454,3.455,3.489,3.516,3.535,3.556,3.588,3.612,3.635,3.653,3.684,3.716,3.739,3.767,3.797,3.832,3.857,3.889,3.907,3.963,3.968,4.026,4.06,4.077,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.36,3.347,3.334,3.323,3.309,3.306,3.29,3.289,3.278,3.272,3.26,3.253,3.251,3.242,3.229,3.212,3.209,3.204,3.197,3.195,3.188,3.172,3.172,3.166,3.157,3.145,3.143,3.137,3.136,3.125,3.121,3.114,3.109,3.106,3.098,3.098,3.097,3.096,3.091,3.086,3.073,3.066,3.062,3.061,3.06,3.057,3.052,3.049,3.049,3.039,3.038,3.037,3.032,3.029,3.026,3.026,3.028,3.028,3.029,3.036,3.036,3.036,3.02,3.02,3.019,3.019,3.008,3.012,3.012,3.012,3.012,3.014,3.014,3.014,3.014,3.014,3.014,3.015,3.015,3.015,3.016,3.016,3.015,3.017,3.017,3.015,3.017,3.024,3.024,3.024,3.03,3.034,3.034,3.034,3.035,3.043,3.044,3.049,3.053,3.053,3.055,3.06,3.061,3.062,3.069,3.075,3.078,3.081,3.083,3.087,3.091,3.093,3.1,3.11,3.112,3.118,3.12,3.126,3.127,3.127,3.137,3.137,3.14,3.144,3.157,3.162,3.165,3.169,3.169,3.175,3.176,3.181,3.185,3.202,3.209,3.214,3.214,3.22,3.227,3.242,3.256,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 181.72} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 181.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 181.716} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3594}
SEN {Time 181.763} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.179,0.177,0.177,0.179,0.179,0.201,0,0,0,0,0,0,0,0,0,0,3.701,3.686,3.674,3.661,3.643,3.637,3.618,3.581,3.579,3.555,3.555,3.364,3.364,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.246,3.222,3.222,3.216,3.212,3.212,3.34,3.34,0,0,0,0,0,0.152,0.144,0.144,0.144,0.152,0.143,0.148,0.148,0.149,0.148,0.149,0.156,3.062,3.068,3.068,3.068,3.068,3.068,3.067,0.167,0.164,0.154,0.152,0.152,0.154,0.155,2.997,2.997,2.997,2.991,2.984,2.984,2.98,2.981,2.977,2.977,2.977,2.978,2.977,2.976,2.968,2.967,2.967,2.976,3.506,3.506,3.51,3.506,3.51,3.504,3.507,3.5,3.5,3.5,3.499,3.498,3.499,3.5,3.503,3.503,3.509,3.504,3.503,3.503,3.504,3.503,3.502,3.502,3.506,3.502,3.507,3.508,3.509,3.511,3.515,3.516,3.516,3.516,3.519,3.521,3.524,3.534,3.537,3.537,3.544,3.546,3.55,3.554,3.557,3.561,3.569,3.569,3.579,3.581,3.585,3.597,3.598,3.609,3.613,3.618,3.624,3.625,3.627,3.634,3.644,3.649,3.65,3.667,3.668,3.68,3.683,3.687,3.695,3.71,3.711,3.713,3.72,3.741,3.742,3.747,3.761,3.773,3.78,3.78,3.798,3.8,3.809,3.814,3.824,3.848,3.853,3.863,3.881,3.883,3.904,3.922,3.923,3.949,3.955,3.963,3.973,3.999,4.015,4.02,4.039,4.066,4.078,4.09,0.016,0.016,0.016,0.016,4.07,4.038,4.01,3.964,3.964,3.931,3.901,3.857,3.812,3.787,3.751,3.732,3.706,3.67,3.66,3.629,3.608,3.567,3.543,3.532,3.498,3.493,3.458,3.448,3.437,3.406,3.382,3.368,3.339,3.326,3.303,3.296,3.266,3.254,3.221,3.21,3.198,3.179,3.161,3.153,3.131,3.115,3.102,3.087,3.068,3.049,3.048,3.033,3.021,3.001,2.991,2.982,2.957,2.955,2.94,2.924,2.913,2.906,2.892,2.877,2.869,2.855,2.843,2.839,2.825,2.811,2.808,2.791,2.788,2.781,2.77,2.753,2.737,2.737,2.735,2.719,2.701,2.694,2.69,2.683,2.676,2.674,2.659,2.656,2.642,2.634,2.628,2.626,2.618,2.612,2.601,2.595,2.592,2.576,2.574,2.573,2.563,2.555,2.554,2.548,2.538,2.522,2.522,2.511,2.509,2.503,2.502,2.498,2.491,2.484,2.479,2.476,2.472,2.471,2.468,2.461,2.46,2.452,2.452,2.449,2.445,2.44,2.44,2.439,2.435,2.432,2.43,2.417,2.414,2.414,2.413,2.413,2.41,2.41,2.404,2.405,2.404,2.404,2.402,2.398,2.396,2.396,2.396,2.396,2.392,2.391,2.391,2.391,2.391,2.391,2.392,2.393,2.393,2.393,2.393,2.394,2.394,2.394,2.395,2.396,2.395,2.395,2.393,2.393,2.392,2.393,2.395,2.4,2.4,2.403,2.404,2.405,2.405,2.405,2.41,2.413,2.413,2.413,2.424,2.427,2.427,2.428,2.43,2.435,2.435,2.435,2.441,2.442,2.442,2.449,2.456,2.46,2.47,2.471,2.471,2.476,2.485,2.491,2.492,2.492,2.499,2.499,2.504,2.511,2.513,2.52,2.543,2.544,2.546,2.549,2.551,2.557,2.559,2.572,2.582,2.584,2.593,2.594,2.605,2.611,2.618,2.626,2.633,2.639,2.645,2.658,2.659,2.676,2.677,2.678,2.7,2.711,2.718,2.727,2.733,2.735,2.752,2.757,2.76,2.778,2.787,2.799,2.81,2.815,2.837,2.84,2.857,2.861,2.876,2.882,2.893,2.917,2.92,2.939,2.948,2.957,2.975,2.984,2.999,3.011,3.029,3.029,3.054,3.068,3.08,3.103,3.117,3.127,3.14,3.149,3.175,3.179,3.196,3.215,3.229,3.251,3.254,3.281,3.302,3.329,3.349,3.361,3.386,3.401,3.428,3.438,3.459,3.481,3.523,3.536,3.551,3.58,3.622,3.643,3.665,3.696,3.706,3.739,3.766,3.796,3.832,3.858,3.88,3.925,3.952,3.983,4.008,4.052,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.354,3.33,3.318,3.314,3.302,3.293,3.288,3.278,3.265,3.255,3.252,3.24,3.24,3.228,3.223,3.214,3.208,3.194,3.19,3.184,3.172,3.161,3.157,3.154,3.154,3.145,3.141,3.134,3.122,3.117,3.116,3.11,3.109,3.109,3.1,3.097,3.088,3.087,3.084,3.073,3.07,3.062,3.062,3.061,3.055,3.053,3.047,3.045,3.041,3.04,3.04,3.031,3.031,3.03,3.029,3.029,3.029,3.029,3.039,3.039,3.039,3.024,3.019,3.019,3.019,3.018,3.017,3.011,3.011,3.016,3.016,3.016,3.016,3.016,3.012,3.012,3.017,3.017,3.017,3.019,3.019,3.016,3.019,3.016,3.016,3.023,3.025,3.026,3.03,3.03,3.03,3.03,3.032,3.032,3.038,3.039,3.038,3.041,3.041,3.049,3.057,3.059,3.065,3.067,3.075,3.075,3.079,3.08,3.09,3.092,3.096,3.096,3.098,3.116,3.116,3.117,3.124,3.131,3.131,3.14,3.14,3.143,3.146,3.149,3.157,3.158,3.168,3.168,3.17,3.182,3.183,3.187,3.207,3.217,3.217,3.217,3.225,3.232,3.241,3.253,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 181.92} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 181.92} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 181.919} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.651} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.3594}
SEN {Time 181.963} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.174,0.183,0.183,0.197,0,0,0,0,0,0,0,0,0,0,3.7,3.678,3.676,3.665,3.65,3.632,3.614,3.587,3.571,3.566,3.566,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.217,3.214,3.214,3.349,3.349,0,0,0,0,0,0.007,0.149,0.149,0.149,0.149,0.147,0.151,0.151,0.152,0.151,0.152,0.155,3.064,3.064,3.064,3.064,3.066,3.063,3.063,0.165,0.165,0.16,0.152,0.152,0.156,0.156,2.992,2.993,2.993,2.992,2.991,2.986,2.98,2.985,2.98,2.977,2.977,2.976,2.974,2.974,2.969,2.969,2.969,2.978,3.5,3.507,3.507,3.507,3.511,3.507,3.504,3.49,3.49,3.49,3.496,3.497,3.499,3.499,3.499,3.5,3.502,3.503,3.503,3.503,3.506,3.503,3.506,3.506,3.509,3.509,3.511,3.511,3.511,3.511,3.511,3.517,3.524,3.524,3.526,3.526,3.527,3.527,3.537,3.541,3.541,3.544,3.547,3.554,3.555,3.562,3.566,3.57,3.579,3.58,3.587,3.589,3.594,3.601,3.609,3.614,3.629,3.631,3.633,3.633,3.64,3.648,3.651,3.673,3.673,3.679,3.68,3.685,3.703,3.707,3.708,3.712,3.719,3.734,3.735,3.751,3.76,3.775,3.777,3.779,3.792,3.81,3.812,3.814,3.84,3.85,3.854,3.874,3.884,3.895,3.896,3.908,3.937,3.943,3.952,3.963,3.982,3.995,4.011,4.027,4.039,4.066,4.067,4.09,0.016,0.016,0.016,0.016,4.071,4.049,4.003,3.974,3.933,3.906,3.886,3.841,3.819,3.787,3.76,3.731,3.707,3.673,3.648,3.633,3.604,3.582,3.546,3.541,3.511,3.493,3.465,3.447,3.431,3.405,3.377,3.364,3.341,3.336,3.292,3.287,3.268,3.239,3.237,3.213,3.197,3.186,3.155,3.152,3.125,3.121,3.107,3.089,3.064,3.056,3.041,3.03,3.017,2.994,2.994,2.985,2.964,2.962,2.939,2.927,2.911,2.91,2.897,2.889,2.873,2.863,2.848,2.84,2.825,2.818,2.805,2.799,2.792,2.776,2.764,2.751,2.747,2.744,2.73,2.712,2.711,2.705,2.691,2.684,2.68,2.672,2.665,2.653,2.641,2.634,2.621,2.617,2.617,2.608,2.603,2.592,2.588,2.585,2.571,2.566,2.562,2.556,2.545,2.539,2.537,2.529,2.522,2.521,2.507,2.506,2.504,2.5,2.493,2.49,2.481,2.481,2.476,2.467,2.464,2.464,2.459,2.458,2.453,2.451,2.445,2.445,2.441,2.437,2.432,2.429,2.428,2.421,2.42,2.413,2.413,2.413,2.408,2.403,2.402,2.402,2.402,2.402,2.401,2.399,2.399,2.396,2.396,2.394,2.393,2.393,2.392,2.39,2.39,2.392,2.392,2.39,2.392,2.39,2.39,2.396,2.397,2.398,2.398,2.397,2.397,2.396,2.392,2.392,2.392,2.393,2.394,2.397,2.398,2.404,2.404,2.406,2.408,2.411,2.412,2.413,2.415,2.417,2.426,2.426,2.426,2.426,2.426,2.433,2.437,2.437,2.437,2.437,2.452,2.453,2.456,2.459,2.461,2.462,2.463,2.473,2.473,2.481,2.488,2.493,2.503,2.505,2.507,2.512,2.516,2.521,2.539,2.539,2.542,2.544,2.555,2.558,2.562,2.57,2.581,2.582,2.59,2.594,2.601,2.612,2.613,2.618,2.632,2.636,2.645,2.648,2.653,2.665,2.681,2.686,2.691,2.704,2.715,2.717,2.73,2.748,2.753,2.759,2.768,2.778,2.789,2.805,2.806,2.819,2.829,2.845,2.859,2.862,2.87,2.887,2.9,2.906,2.922,2.94,2.945,2.957,2.977,2.985,2.99,3.012,3.029,3.037,3.057,3.064,3.079,3.109,3.12,3.126,3.135,3.148,3.169,3.182,3.198,3.215,3.237,3.252,3.281,3.285,3.297,3.318,3.336,3.357,3.38,3.392,3.423,3.436,3.465,3.491,3.512,3.541,3.557,3.587,3.607,3.641,3.661,3.685,3.717,3.742,3.755,3.797,3.827,3.86,3.915,3.947,3.982,3.982,4.025,4.06,4.095,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.361,3.352,3.335,3.323,3.313,3.296,3.295,3.288,3.276,3.267,3.255,3.251,3.249,3.237,3.233,3.215,3.213,3.203,3.198,3.198,3.196,3.175,3.172,3.159,3.156,3.151,3.137,3.137,3.134,3.119,3.116,3.107,3.106,3.106,3.105,3.093,3.092,3.091,3.091,3.077,3.076,3.073,3.071,3.06,3.059,3.059,3.057,3.054,3.045,3.039,3.038,3.035,3.029,3.029,3.029,3.029,3.029,3.034,3.034,3.034,3.034,3.034,3.02,3.019,3.019,3.017,3.016,3.012,3.012,3.012,3.012,3.011,3.013,3.009,3.009,3.013,3.013,3.014,3.014,3.014,3.014,3.014,3.014,3.018,3.019,3.019,3.019,3.023,3.025,3.025,3.025,3.025,3.032,3.036,3.036,3.045,3.045,3.048,3.048,3.05,3.05,3.056,3.061,3.062,3.07,3.07,3.07,3.074,3.079,3.085,3.091,3.091,3.102,3.105,3.108,3.115,3.115,3.124,3.125,3.136,3.136,3.142,3.142,3.144,3.149,3.155,3.157,3.163,3.168,3.171,3.176,3.181,3.183,3.204,3.209,3.219,3.219,3.229,3.233,3.24,3.252,3.264,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 182.12} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 182.12} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 182.121} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832}
SEN {Time 182.16} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.175,0.178,0.179,0.179,0.21,0,0,0,0,0,0,0,0,0,0,0,3.681,3.681,3.665,3.634,3.632,3.623,3.595,3.595,3.595,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.212,3.207,3.207,3.342,3.342,0,0,0,0,0,0,0,0.153,0.14,0.14,0.14,0.153,0.157,0.157,0.151,0.157,0.16,3.056,3.065,3.065,3.065,3.065,3.065,3.059,0.163,0.158,0.153,0.152,0.152,0.153,0.153,2.994,2.994,2.994,2.989,2.988,2.987,2.987,2.983,2.978,2.978,2.978,2.977,2.975,2.975,2.966,2.966,2.966,2.974,3.504,3.504,3.508,3.504,3.508,3.504,3.501,3.5,3.499,3.499,3.498,3.498,3.499,3.498,3.5,3.5,3.508,3.504,3.504,3.504,3.507,3.504,3.506,3.507,3.506,3.503,3.504,3.504,3.504,3.504,3.507,3.516,3.519,3.518,3.519,3.519,3.527,3.532,3.537,3.54,3.542,3.548,3.55,3.556,3.558,3.56,3.57,3.57,3.581,3.581,3.591,3.6,3.6,3.602,3.605,3.611,3.62,3.63,3.63,3.638,3.638,3.649,3.656,3.659,3.676,3.681,3.683,3.688,3.695,3.706,3.712,3.723,3.727,3.733,3.74,3.753,3.758,3.763,3.782,3.783,3.798,3.805,3.811,3.822,3.828,3.845,3.858,3.867,3.888,3.89,3.912,3.912,3.927,3.945,3.95,3.971,3.986,4.003,4.015,4.019,4.04,4.06,4.069,4.091,0.016,0.016,0.016,0.016,4.071,4.031,4.011,3.968,3.945,3.898,3.868,3.847,3.823,3.789,3.754,3.719,3.698,3.675,3.643,3.628,3.602,3.58,3.547,3.531,3.493,3.493,3.461,3.45,3.432,3.412,3.379,3.367,3.347,3.329,3.303,3.285,3.264,3.248,3.237,3.223,3.196,3.183,3.164,3.151,3.13,3.113,3.093,3.081,3.068,3.054,3.039,3.029,3.018,3.004,3,2.978,2.968,2.945,2.938,2.938,2.915,2.911,2.896,2.881,2.878,2.861,2.846,2.833,2.819,2.817,2.807,2.792,2.785,2.77,2.761,2.749,2.743,2.742,2.723,2.713,2.705,2.695,2.692,2.687,2.674,2.672,2.666,2.652,2.646,2.63,2.627,2.621,2.619,2.608,2.599,2.596,2.585,2.585,2.579,2.569,2.559,2.55,2.549,2.549,2.542,2.532,2.527,2.513,2.506,2.502,2.5,2.498,2.493,2.488,2.485,2.477,2.477,2.47,2.465,2.464,2.459,2.456,2.448,2.448,2.447,2.442,2.441,2.441,2.434,2.431,2.427,2.424,2.421,2.42,2.416,2.414,2.412,2.412,2.41,2.404,2.403,2.4,2.396,2.396,2.396,2.396,2.396,2.397,2.396,2.395,2.395,2.392,2.392,2.392,2.392,2.392,2.389,2.389,2.389,2.389,2.389,2.389,2.391,2.391,2.391,2.389,2.395,2.395,2.397,2.397,2.398,2.398,2.401,2.401,2.401,2.405,2.409,2.41,2.413,2.415,2.418,2.421,2.423,2.424,2.426,2.428,2.432,2.434,2.435,2.436,2.438,2.44,2.443,2.448,2.456,2.46,2.466,2.472,2.472,2.472,2.482,2.488,2.489,2.493,2.493,2.5,2.502,2.51,2.516,2.521,2.541,2.546,2.552,2.553,2.555,2.56,2.56,2.572,2.583,2.584,2.584,2.593,2.606,2.609,2.61,2.63,2.633,2.639,2.642,2.655,2.662,2.663,2.682,2.684,2.69,2.707,2.715,2.72,2.736,2.742,2.753,2.754,2.77,2.777,2.787,2.798,2.8,2.817,2.829,2.844,2.85,2.87,2.875,2.882,2.901,2.914,2.922,2.934,2.95,2.952,2.972,2.985,2.99,3.01,3.014,3.036,3.06,3.066,3.079,3.097,3.12,3.123,3.141,3.143,3.171,3.181,3.194,3.218,3.24,3.253,3.267,3.285,3.3,3.329,3.336,3.354,3.389,3.4,3.427,3.453,3.457,3.493,3.505,3.527,3.571,3.585,3.627,3.64,3.655,3.679,3.71,3.737,3.757,3.793,3.818,3.853,3.883,3.907,3.955,3.984,4.021,4.081,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.019,3.356,3.354,3.335,3.327,3.316,3.301,3.295,3.293,3.292,3.272,3.267,3.254,3.25,3.234,3.231,3.226,3.223,3.21,3.196,3.192,3.186,3.18,3.17,3.165,3.151,3.145,3.14,3.136,3.133,3.122,3.119,3.114,3.108,3.104,3.098,3.094,3.093,3.09,3.085,3.078,3.074,3.069,3.068,3.062,3.061,3.057,3.054,3.054,3.053,3.037,3.037,3.037,3.033,3.036,3.031,3.03,3.025,3.031,3.031,3.035,3.035,3.035,3.019,3.018,3.016,3.013,3.013,3.012,3.012,3.011,3.011,3.012,3.013,3.011,3.013,3.013,3.013,3.011,3.015,3.015,3.016,3.015,3.015,3.016,3.015,3.015,3.025,3.026,3.026,3.027,3.029,3.029,3.029,3.032,3.032,3.038,3.04,3.043,3.049,3.052,3.054,3.057,3.063,3.064,3.071,3.076,3.076,3.08,3.08,3.08,3.092,3.094,3.1,3.106,3.108,3.112,3.113,3.121,3.124,3.129,3.135,3.144,3.144,3.145,3.146,3.16,3.16,3.167,3.167,3.173,3.175,3.187,3.19,3.204,3.205,3.216,3.216,3.227,3.239,3.24,3.262,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 182.31} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 182.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 182.315} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832}
SEN {Time 182.363} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.176,0.183,0.183,0.203,0,0,0,0,0,0,0,0,0,0,3.702,3.674,3.668,3.662,3.643,3.637,3.611,3.584,3.579,3.579,3.584,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.215,3.213,3.21,3.206,3.206,3.206,3.348,0,0,0,0,0,0.146,0.145,0.145,0.145,0.146,0.141,0.153,0.153,0.153,0.149,0.153,0.153,3.066,3.066,3.066,3.066,3.066,3.061,3.061,0.163,0.162,0.153,0.153,0.153,0.155,0.159,2.994,2.994,2.994,2.99,2.989,2.988,2.988,2.987,2.986,2.983,2.983,2.978,2.975,2.974,2.974,2.969,2.969,2.969,3.5,3.507,3.507,3.507,3.508,3.508,3.508,3.505,3.505,3.504,3.5,3.5,3.503,3.503,3.505,3.505,3.505,3.505,3.504,3.503,3.504,3.503,3.504,3.505,3.508,3.507,3.507,3.508,3.508,3.508,3.512,3.516,3.512,3.512,3.516,3.526,3.531,3.534,3.538,3.538,3.541,3.542,3.547,3.553,3.558,3.566,3.566,3.576,3.579,3.579,3.587,3.588,3.593,3.607,3.614,3.614,3.623,3.63,3.635,3.639,3.642,3.65,3.652,3.662,3.668,3.674,3.675,3.691,3.696,3.697,3.704,3.713,3.724,3.736,3.737,3.748,3.756,3.761,3.768,3.782,3.787,3.81,3.813,3.828,3.832,3.84,3.846,3.874,3.878,3.89,3.9,3.906,3.916,3.942,3.947,3.973,3.991,3.995,4.008,4.015,4.046,4.066,4.071,0.016,0.016,0.016,0.016,0.016,4.084,4.084,4.043,4.014,3.932,3.904,3.864,3.847,3.811,3.788,3.745,3.731,3.699,3.665,3.653,3.628,3.59,3.58,3.555,3.529,3.521,3.487,3.468,3.459,3.432,3.406,3.387,3.362,3.354,3.336,3.299,3.294,3.259,3.251,3.227,3.217,3.194,3.182,3.164,3.154,3.142,3.121,3.103,3.087,3.07,3.055,3.042,3.034,3.022,3.006,2.988,2.98,2.964,2.956,2.942,2.928,2.911,2.908,2.899,2.885,2.874,2.86,2.85,2.841,2.826,2.811,2.804,2.802,2.789,2.777,2.756,2.751,2.741,2.731,2.726,2.714,2.708,2.698,2.688,2.681,2.672,2.669,2.669,2.654,2.649,2.646,2.636,2.626,2.622,2.61,2.598,2.586,2.586,2.585,2.572,2.572,2.561,2.551,2.547,2.547,2.538,2.528,2.522,2.516,2.511,2.501,2.501,2.493,2.491,2.487,2.486,2.474,2.474,2.474,2.472,2.463,2.461,2.452,2.447,2.442,2.442,2.441,2.441,2.437,2.435,2.43,2.427,2.424,2.419,2.418,2.418,2.417,2.412,2.41,2.408,2.404,2.401,2.401,2.401,2.396,2.395,2.395,2.397,2.395,2.395,2.397,2.392,2.391,2.39,2.39,2.39,2.39,2.391,2.391,2.391,2.389,2.391,2.389,2.396,2.387,2.395,2.386,2.395,2.395,2.395,2.397,2.397,2.397,2.397,2.402,2.405,2.406,2.406,2.407,2.411,2.413,2.419,2.421,2.424,2.425,2.429,2.431,2.433,2.435,2.436,2.439,2.444,2.447,2.45,2.454,2.458,2.459,2.463,2.468,2.468,2.476,2.481,2.483,2.486,2.493,2.501,2.507,2.51,2.51,2.514,2.525,2.539,2.543,2.545,2.549,2.552,2.559,2.571,2.571,2.576,2.587,2.589,2.594,2.6,2.607,2.616,2.616,2.633,2.637,2.64,2.656,2.658,2.675,2.684,2.684,2.699,2.704,2.718,2.718,2.733,2.748,2.749,2.753,2.772,2.778,2.786,2.802,2.805,2.831,2.832,2.845,2.859,2.863,2.868,2.885,2.899,2.911,2.923,2.934,2.949,2.957,2.974,2.983,2.995,3.013,3.025,3.035,3.05,3.068,3.087,3.1,3.12,3.128,3.142,3.148,3.17,3.179,3.202,3.22,3.232,3.25,3.255,3.278,3.305,3.326,3.341,3.355,3.383,3.405,3.42,3.449,3.465,3.483,3.516,3.531,3.558,3.598,3.618,3.64,3.664,3.685,3.715,3.743,3.754,3.791,3.832,3.863,3.88,3.918,3.947,3.98,4.019,4.089,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.356,3.354,3.331,3.328,3.32,3.314,3.288,3.287,3.28,3.279,3.264,3.259,3.243,3.237,3.236,3.218,3.217,3.205,3.201,3.194,3.176,3.169,3.165,3.165,3.154,3.141,3.14,3.138,3.132,3.123,3.119,3.11,3.108,3.106,3.095,3.095,3.095,3.087,3.085,3.083,3.075,3.069,3.066,3.065,3.061,3.061,3.06,3.056,3.051,3.037,3.037,3.034,3.032,3.033,3.032,3.029,3.027,3.027,3.027,3.043,3.043,3.043,3.019,3.018,3.016,3.012,3.012,3.012,3.012,3.012,3.011,3.012,3.012,3.014,3.012,3.012,3.014,3.014,3.013,3.019,3.022,3.019,3.022,3.023,3.022,3.02,3.023,3.023,3.023,3.029,3.029,3.029,3.029,3.031,3.038,3.041,3.044,3.048,3.05,3.051,3.052,3.053,3.055,3.06,3.072,3.072,3.076,3.076,3.082,3.082,3.095,3.096,3.1,3.105,3.113,3.113,3.116,3.118,3.133,3.133,3.138,3.14,3.141,3.145,3.149,3.158,3.161,3.164,3.164,3.168,3.183,3.184,3.19,3.2,3.203,3.218,3.218,3.224,3.225,3.246,3.247,3.255,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 182.52} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 182.52} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 182.516} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2832}
SEN {Time 182.559} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.175,0.175,0.176,0.176,0.202,0,0,0,0,0,0,0,0,0,0,0,3.685,3.673,3.673,3.64,3.64,3.611,3.582,3.576,3.57,3.57,3.359,3.359,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.24,3.216,3.213,3.208,3.206,3.206,3.206,3.345,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.143,0.145,0.145,0.153,0.145,0.153,0.154,3.072,3.072,3.073,3.073,3.072,3.071,0.164,0.159,0.158,0.153,0.153,0.153,0.155,0.158,2.99,2.994,2.994,2.99,2.986,2.983,2.978,2.983,2.978,2.977,2.978,2.977,2.977,2.977,2.97,2.97,2.97,2.97,3.506,3.506,3.511,3.511,3.513,3.511,3.511,3.504,3.499,3.499,3.497,3.497,3.499,3.499,3.5,3.5,3.501,3.499,3.499,3.498,3.499,3.498,3.498,3.514,3.514,3.509,3.509,3.509,3.509,3.512,3.515,3.519,3.519,3.52,3.52,3.52,3.524,3.532,3.536,3.536,3.538,3.547,3.55,3.552,3.557,3.563,3.57,3.583,3.583,3.588,3.59,3.596,3.597,3.6,3.609,3.622,3.624,3.624,3.628,3.628,3.631,3.652,3.655,3.658,3.67,3.675,3.681,3.686,3.701,3.706,3.714,3.719,3.722,3.743,3.743,3.751,3.758,3.761,3.772,3.782,3.787,3.805,3.806,3.827,3.829,3.845,3.848,3.872,3.874,3.894,3.904,3.911,3.929,3.932,3.955,3.975,3.979,4.005,4.013,4.031,4.038,4.064,4.072,4.094,0.016,0.016,0.016,0.016,0.016,4.081,4.035,3.97,3.932,3.903,3.873,3.847,3.817,3.793,3.75,3.739,3.701,3.675,3.647,3.631,3.588,3.588,3.549,3.528,3.503,3.488,3.463,3.443,3.432,3.413,3.383,3.375,3.346,3.327,3.316,3.284,3.272,3.244,3.229,3.216,3.198,3.184,3.161,3.141,3.139,3.119,3.105,3.088,3.072,3.049,3.041,3.031,3.018,3.003,2.99,2.981,2.966,2.954,2.943,2.936,2.915,2.904,2.893,2.883,2.871,2.859,2.842,2.837,2.819,2.81,2.797,2.797,2.785,2.774,2.771,2.751,2.75,2.729,2.724,2.712,2.703,2.692,2.688,2.683,2.666,2.665,2.657,2.65,2.646,2.636,2.628,2.623,2.618,2.617,2.602,2.596,2.59,2.584,2.578,2.572,2.567,2.553,2.544,2.543,2.54,2.525,2.524,2.515,2.507,2.503,2.501,2.501,2.501,2.486,2.484,2.478,2.476,2.475,2.473,2.464,2.463,2.451,2.447,2.447,2.446,2.445,2.442,2.439,2.436,2.429,2.428,2.428,2.416,2.416,2.413,2.412,2.411,2.411,2.407,2.402,2.402,2.401,2.401,2.4,2.4,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.394,2.394,2.391,2.394,2.39,2.39,2.39,2.39,2.39,2.39,2.392,2.393,2.395,2.395,2.396,2.396,2.397,2.398,2.398,2.405,2.406,2.406,2.407,2.409,2.409,2.413,2.415,2.416,2.417,2.424,2.426,2.428,2.431,2.437,2.437,2.437,2.439,2.444,2.447,2.453,2.453,2.455,2.461,2.464,2.466,2.472,2.477,2.48,2.488,2.501,2.501,2.502,2.51,2.515,2.521,2.524,2.539,2.539,2.543,2.55,2.552,2.556,2.568,2.575,2.579,2.585,2.592,2.595,2.6,2.612,2.62,2.62,2.633,2.635,2.645,2.65,2.652,2.678,2.682,2.685,2.697,2.705,2.717,2.721,2.729,2.741,2.746,2.758,2.769,2.774,2.786,2.805,2.808,2.816,2.833,2.843,2.855,2.856,2.877,2.885,2.902,2.905,2.928,2.935,2.948,2.955,2.972,2.987,2.992,3.019,3.024,3.032,3.048,3.067,3.079,3.097,3.115,3.127,3.141,3.148,3.173,3.18,3.193,3.215,3.223,3.243,3.271,3.284,3.311,3.326,3.341,3.37,3.391,3.399,3.422,3.447,3.46,3.487,3.514,3.535,3.562,3.577,3.626,3.63,3.678,3.689,3.717,3.744,3.761,3.792,3.823,3.856,3.897,3.906,3.953,4.021,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.362,3.358,3.336,3.329,3.313,3.305,3.301,3.287,3.282,3.278,3.258,3.257,3.254,3.236,3.223,3.219,3.205,3.201,3.197,3.197,3.181,3.175,3.168,3.164,3.159,3.152,3.136,3.136,3.133,3.129,3.121,3.116,3.109,3.108,3.1,3.094,3.094,3.093,3.092,3.082,3.072,3.067,3.066,3.066,3.064,3.057,3.055,3.046,3.045,3.045,3.042,3.039,3.039,3.035,3.03,3.028,3.027,3.028,3.028,3.042,3.042,3.042,3.023,3.019,3.011,3.011,3.011,3.011,3.013,3.015,3.015,3.012,3.016,3.018,3.018,3.018,3.018,3.016,3.016,3.015,3.016,3.013,3.013,3.015,3.018,3.022,3.023,3.025,3.027,3.028,3.029,3.03,3.032,3.032,3.034,3.037,3.046,3.046,3.046,3.047,3.047,3.054,3.061,3.062,3.068,3.073,3.077,3.078,3.078,3.085,3.086,3.092,3.095,3.099,3.104,3.111,3.115,3.122,3.131,3.131,3.142,3.142,3.146,3.148,3.153,3.161,3.167,3.168,3.168,3.175,3.179,3.183,3.189,3.199,3.199,3.203,3.203,3.224,3.228,3.236,3.248,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 182.72} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 182.72} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 182.719} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 182.759} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.173,0.173,0.173,0.173,0.175,0.177,0.177,0.206,0,0,0,0,0,0,0,0,0,0,3.7,3.678,3.672,3.671,3.652,3.629,3.618,3.591,3.574,3.574,3.574,3.564,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.218,3.216,3.201,3.201,3.201,3.346,0,0,0,0,0,0.148,0.141,0.141,0.142,0.147,0.146,0.147,0.156,0.156,0.146,0.156,0.161,3.069,3.069,3.069,3.069,3.067,3.056,0.163,0.163,0.159,0.157,0.155,0.155,0.155,0.159,2.992,2.992,2.995,2.992,2.986,2.981,2.981,2.981,2.973,2.973,2.975,2.975,2.973,2.972,2.971,2.971,2.971,2.976,3.502,3.502,3.507,3.505,3.507,3.505,3.506,3.505,3.505,3.505,3.505,3.503,3.505,3.503,3.503,3.503,3.502,3.502,3.502,3.502,3.503,3.503,3.508,3.508,3.505,3.505,3.506,3.506,3.509,3.514,3.516,3.517,3.517,3.517,3.524,3.525,3.527,3.53,3.538,3.538,3.542,3.543,3.55,3.552,3.563,3.565,3.568,3.572,3.583,3.588,3.589,3.59,3.601,3.606,3.608,3.619,3.623,3.624,3.632,3.634,3.639,3.653,3.655,3.666,3.672,3.68,3.689,3.697,3.697,3.703,3.712,3.722,3.726,3.743,3.744,3.748,3.755,3.764,3.776,3.786,3.801,3.809,3.815,3.822,3.824,3.837,3.852,3.874,3.881,3.893,3.894,3.902,3.933,3.935,3.948,3.977,3.978,4.001,4.008,4.032,4.04,4.06,4.072,4.088,0.016,0.016,0.007,0.016,0.016,4.076,4.046,3.957,3.951,3.904,3.873,3.848,3.808,3.79,3.746,3.723,3.7,3.678,3.65,3.628,3.599,3.576,3.551,3.519,3.497,3.496,3.469,3.454,3.422,3.408,3.382,3.372,3.352,3.324,3.304,3.287,3.257,3.25,3.232,3.205,3.203,3.177,3.161,3.147,3.137,3.12,3.098,3.09,3.061,3.061,3.045,3.033,3.017,3,2.99,2.984,2.961,2.953,2.942,2.928,2.916,2.907,2.891,2.875,2.872,2.853,2.846,2.836,2.824,2.814,2.809,2.799,2.784,2.778,2.764,2.753,2.744,2.734,2.721,2.719,2.707,2.7,2.694,2.679,2.675,2.669,2.664,2.657,2.647,2.646,2.638,2.628,2.623,2.61,2.599,2.588,2.585,2.579,2.575,2.572,2.559,2.552,2.548,2.548,2.546,2.538,2.523,2.517,2.51,2.508,2.507,2.5,2.499,2.483,2.476,2.474,2.473,2.466,2.465,2.461,2.458,2.453,2.453,2.447,2.446,2.441,2.433,2.431,2.429,2.428,2.427,2.421,2.415,2.415,2.412,2.412,2.411,2.411,2.41,2.404,2.403,2.403,2.402,2.397,2.397,2.397,2.397,2.397,2.397,2.392,2.392,2.387,2.387,2.387,2.389,2.394,2.394,2.395,2.39,2.395,2.394,2.395,2.395,2.395,2.399,2.399,2.395,2.395,2.396,2.395,2.396,2.397,2.397,2.397,2.406,2.406,2.408,2.408,2.412,2.414,2.416,2.418,2.419,2.426,2.429,2.429,2.429,2.43,2.436,2.44,2.444,2.445,2.446,2.453,2.453,2.455,2.47,2.471,2.471,2.476,2.483,2.486,2.49,2.493,2.499,2.502,2.508,2.514,2.514,2.518,2.535,2.543,2.546,2.546,2.549,2.56,2.569,2.575,2.576,2.581,2.591,2.593,2.598,2.608,2.611,2.616,2.629,2.637,2.644,2.651,2.662,2.673,2.684,2.687,2.697,2.705,2.715,2.722,2.732,2.74,2.747,2.759,2.76,2.779,2.785,2.798,2.82,2.823,2.832,2.84,2.857,2.866,2.877,2.893,2.899,2.907,2.926,2.94,2.946,2.955,2.972,2.983,2.996,3.009,3.028,3.033,3.051,3.074,3.078,3.102,3.112,3.13,3.138,3.155,3.165,3.181,3.205,3.225,3.229,3.257,3.263,3.276,3.307,3.324,3.342,3.351,3.382,3.396,3.432,3.441,3.457,3.488,3.51,3.538,3.561,3.584,3.615,3.641,3.66,3.686,3.711,3.742,3.762,3.803,3.826,3.859,3.886,3.916,3.958,4.017,4.035,4.09,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.355,3.352,3.342,3.329,3.319,3.303,3.29,3.285,3.282,3.273,3.255,3.254,3.24,3.235,3.232,3.219,3.215,3.203,3.2,3.193,3.178,3.169,3.168,3.16,3.152,3.149,3.143,3.142,3.133,3.123,3.115,3.114,3.113,3.109,3.107,3.094,3.089,3.087,3.086,3.086,3.076,3.075,3.069,3.062,3.059,3.056,3.052,3.051,3.048,3.048,3.044,3.044,3.034,3.033,3.033,3.033,3.033,3.033,3.033,3.033,3.032,3.032,3.019,3.019,3.018,3.015,3.013,3.012,3.012,3.013,3.013,3.013,3.014,3.014,3.014,3.014,3.014,3.016,3.016,3.017,3.019,3.017,3.019,3.019,3.019,3.019,3.025,3.027,3.025,3.027,3.025,3.028,3.027,3.038,3.038,3.044,3.047,3.047,3.047,3.047,3.054,3.056,3.059,3.067,3.069,3.077,3.077,3.078,3.083,3.086,3.091,3.093,3.1,3.103,3.106,3.116,3.118,3.13,3.131,3.132,3.138,3.138,3.143,3.147,3.147,3.147,3.163,3.163,3.164,3.168,3.181,3.19,3.19,3.201,3.208,3.208,3.208,3.225,3.229,3.25,3.268,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 182.91} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 182.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 182.913} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 182.96} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.174,0.174,0.186,0.186,0.201,0,0,0,0,0,0,0,0,0,0,3.702,3.674,3.673,3.668,3.652,3.641,3.612,3.59,3.59,3.577,3.577,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.24,3.223,3.222,3.213,3.204,3.204,3.204,3.353,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.147,0.152,0.151,0.152,0.151,0.152,0.153,3.055,3.059,3.062,3.062,3.059,3.059,0.172,0.169,0.167,0.154,0.154,0.154,0.156,0.156,2.991,2.991,2.991,2.984,2.984,2.984,2.979,2.98,2.98,2.979,2.979,2.976,2.976,2.973,2.971,2.971,2.971,2.971,3.503,3.508,3.509,3.508,3.509,3.509,3.496,3.495,3.496,3.496,3.496,3.497,3.505,3.499,3.506,3.506,3.507,3.504,3.504,3.501,3.502,3.502,3.502,3.504,3.505,3.505,3.51,3.51,3.511,3.513,3.514,3.515,3.516,3.517,3.522,3.523,3.525,3.531,3.534,3.538,3.546,3.546,3.547,3.552,3.556,3.557,3.568,3.578,3.584,3.592,3.594,3.596,3.608,3.611,3.614,3.62,3.621,3.63,3.633,3.64,3.64,3.642,3.651,3.659,3.674,3.678,3.681,3.683,3.7,3.702,3.715,3.718,3.724,3.741,3.744,3.751,3.754,3.772,3.775,3.782,3.793,3.806,3.807,3.816,3.824,3.835,3.853,3.868,3.873,3.874,3.914,3.917,3.931,3.938,3.951,3.97,3.976,3.997,4.012,4.012,4.049,4.07,4.074,0.016,0.016,0.016,0.016,0,0,0,0,0,3.937,3.902,3.875,3.847,3.822,3.795,3.759,3.729,3.703,3.676,3.652,3.62,3.604,3.578,3.546,3.535,3.498,3.497,3.456,3.45,3.426,3.41,3.385,3.35,3.349,3.321,3.303,3.291,3.253,3.248,3.235,3.216,3.193,3.186,3.159,3.149,3.126,3.119,3.097,3.089,3.069,3.052,3.044,3.038,3.028,2.999,2.994,2.978,2.959,2.957,2.938,2.926,2.91,2.906,2.89,2.886,2.871,2.854,2.848,2.839,2.824,2.816,2.808,2.791,2.787,2.773,2.759,2.748,2.746,2.74,2.727,2.714,2.701,2.699,2.689,2.681,2.678,2.676,2.657,2.654,2.647,2.632,2.628,2.627,2.625,2.616,2.597,2.589,2.583,2.582,2.574,2.572,2.559,2.556,2.55,2.541,2.536,2.532,2.531,2.522,2.507,2.507,2.506,2.496,2.496,2.482,2.482,2.472,2.47,2.467,2.462,2.461,2.459,2.451,2.451,2.444,2.442,2.444,2.442,2.441,2.433,2.43,2.427,2.421,2.414,2.413,2.41,2.409,2.408,2.408,2.406,2.403,2.403,2.403,2.403,2.398,2.4,2.397,2.396,2.394,2.393,2.393,2.393,2.393,2.39,2.393,2.393,2.391,2.392,2.392,2.391,2.391,2.391,2.391,2.391,2.391,2.394,2.391,2.394,2.394,2.396,2.396,2.398,2.398,2.398,2.402,2.402,2.406,2.409,2.407,2.409,2.415,2.416,2.419,2.419,2.423,2.428,2.429,2.431,2.431,2.438,2.441,2.442,2.447,2.447,2.449,2.45,2.46,2.465,2.465,2.466,2.466,2.484,2.484,2.49,2.496,2.497,2.504,2.511,2.515,2.516,2.522,2.534,2.539,2.544,2.547,2.558,2.559,2.566,2.572,2.581,2.585,2.587,2.592,2.599,2.609,2.611,2.625,2.639,2.639,2.646,2.651,2.657,2.674,2.685,2.688,2.699,2.7,2.712,2.718,2.725,2.736,2.755,2.76,2.775,2.779,2.792,2.803,2.814,2.831,2.838,2.84,2.854,2.867,2.868,2.885,2.903,2.908,2.927,2.939,2.947,2.961,2.969,2.977,2.994,3.017,3.019,3.032,3.049,3.064,3.082,3.104,3.122,3.136,3.138,3.148,3.171,3.186,3.202,3.221,3.227,3.253,3.267,3.29,3.308,3.316,3.342,3.36,3.385,3.397,3.416,3.443,3.463,3.49,3.506,3.527,3.556,3.582,3.628,3.644,3.66,3.688,3.709,3.745,3.762,3.797,3.815,3.85,3.896,3.919,3.987,4.001,4.062,4.062,4.089,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.01,3.358,3.355,3.333,3.327,3.325,3.303,3.298,3.288,3.281,3.27,3.253,3.251,3.247,3.235,3.228,3.214,3.21,3.202,3.2,3.185,3.185,3.175,3.175,3.161,3.161,3.148,3.141,3.141,3.137,3.125,3.117,3.117,3.109,3.106,3.102,3.093,3.092,3.092,3.086,3.079,3.076,3.065,3.061,3.061,3.061,3.061,3.055,3.047,3.044,3.04,3.039,3.039,3.034,3.031,3.031,3.029,3.029,3.029,3.029,3.038,3.038,3.038,3.019,3.018,3.018,3.016,3.013,3.013,3.014,3.014,3.014,3.014,3.013,3.009,3.009,3.012,3.012,3.012,3.012,3.012,3.015,3.012,3.015,3.017,3.019,3.019,3.021,3.023,3.029,3.029,3.029,3.029,3.029,3.033,3.034,3.038,3.041,3.043,3.048,3.05,3.058,3.06,3.061,3.065,3.071,3.077,3.077,3.079,3.079,3.09,3.094,3.095,3.101,3.104,3.114,3.117,3.119,3.121,3.129,3.132,3.141,3.141,3.145,3.147,3.149,3.158,3.163,3.166,3.166,3.167,3.175,3.187,3.192,3.206,3.208,3.214,3.214,3.221,3.234,3.247,3.253,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 183.11} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 183.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 183.115} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 183.161} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.18,0.174,0.18,0.18,0.206,0,0,0,0,0,0,0,0,0,0,3.7,3.675,3.673,3.663,3.642,3.635,3.615,3.587,3.587,3.587,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.226,3.212,3.208,3.208,3.35,3.35,0,0,0,0,0,0.153,0.148,0.148,0.148,0.153,0.145,0.152,0.152,0.152,0.15,0.152,0.159,3.052,3.068,3.069,3.069,3.069,3.069,3.069,0.165,0.157,0.156,0.155,0.155,0.156,0.157,2.994,2.994,2.994,2.988,2.987,2.985,2.982,2.984,2.98,2.976,2.976,2.972,2.972,2.971,2.968,2.968,2.969,2.969,3.516,3.516,3.517,3.516,3.515,3.508,3.501,3.497,3.497,3.497,3.497,3.507,3.509,3.507,3.504,3.504,3.504,3.5,3.497,3.497,3.499,3.499,3.5,3.503,3.508,3.508,3.509,3.514,3.514,3.514,3.516,3.519,3.519,3.52,3.521,3.522,3.527,3.531,3.54,3.543,3.546,3.544,3.546,3.546,3.549,3.563,3.573,3.574,3.579,3.585,3.588,3.59,3.607,3.612,3.619,3.622,3.625,3.625,3.625,3.634,3.641,3.642,3.652,3.655,3.667,3.673,3.683,3.683,3.693,3.695,3.701,3.71,3.713,3.74,3.749,3.749,3.764,3.766,3.779,3.79,3.793,3.809,3.811,3.821,3.836,3.838,3.862,3.873,3.876,3.888,3.9,3.901,3.921,3.947,3.959,3.974,3.981,3.995,4.012,4.027,4.034,4.065,4.068,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.076,4.034,3.941,3.903,3.881,3.852,3.824,3.792,3.755,3.737,3.703,3.677,3.638,3.63,3.599,3.565,3.558,3.525,3.506,3.489,3.459,3.45,3.424,3.41,3.379,3.356,3.347,3.332,3.304,3.296,3.267,3.243,3.235,3.211,3.188,3.186,3.166,3.145,3.132,3.113,3.1,3.094,3.068,3.054,3.042,3.026,3.024,3.001,2.991,2.981,2.965,2.95,2.941,2.927,2.913,2.906,2.888,2.877,2.875,2.859,2.85,2.841,2.821,2.817,2.804,2.792,2.792,2.767,2.764,2.753,2.748,2.732,2.722,2.712,2.711,2.698,2.686,2.682,2.675,2.665,2.665,2.65,2.642,2.637,2.627,2.625,2.619,2.618,2.604,2.593,2.593,2.579,2.572,2.572,2.558,2.556,2.551,2.546,2.53,2.528,2.522,2.516,2.509,2.507,2.505,2.505,2.497,2.489,2.48,2.479,2.477,2.467,2.466,2.466,2.46,2.455,2.455,2.447,2.444,2.443,2.434,2.434,2.431,2.428,2.427,2.424,2.416,2.414,2.414,2.413,2.413,2.412,2.41,2.405,2.404,2.399,2.399,2.398,2.398,2.397,2.395,2.391,2.393,2.393,2.393,2.393,2.393,2.393,2.394,2.393,2.389,2.394,2.389,2.389,2.39,2.396,2.396,2.396,2.396,2.396,2.394,2.394,2.395,2.395,2.396,2.396,2.397,2.397,2.404,2.406,2.406,2.407,2.407,2.414,2.419,2.419,2.427,2.427,2.427,2.427,2.427,2.427,2.433,2.435,2.438,2.447,2.449,2.45,2.457,2.461,2.466,2.471,2.473,2.475,2.481,2.486,2.487,2.489,2.501,2.502,2.51,2.511,2.514,2.515,2.542,2.543,2.546,2.55,2.554,2.559,2.561,2.577,2.578,2.584,2.586,2.59,2.602,2.61,2.619,2.623,2.63,2.638,2.639,2.655,2.659,2.676,2.681,2.685,2.693,2.707,2.72,2.723,2.734,2.741,2.748,2.757,2.766,2.775,2.789,2.794,2.802,2.818,2.834,2.844,2.861,2.863,2.877,2.888,2.89,2.906,2.928,2.932,2.947,2.955,2.974,2.988,2.992,3.007,3.016,3.037,3.052,3.065,3.084,3.094,3.119,3.124,3.142,3.148,3.173,3.184,3.201,3.223,3.228,3.248,3.272,3.284,3.304,3.318,3.336,3.358,3.376,3.405,3.419,3.446,3.463,3.478,3.508,3.529,3.552,3.583,3.611,3.627,3.655,3.693,3.718,3.747,3.757,3.804,3.823,3.857,3.877,3.913,3.973,4.013,4.049,4.049,4.094,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,4.036,4.018,3.354,3.35,3.342,3.332,3.315,3.305,3.298,3.291,3.285,3.268,3.257,3.254,3.242,3.235,3.231,3.217,3.213,3.209,3.199,3.199,3.182,3.177,3.164,3.161,3.161,3.152,3.149,3.14,3.137,3.121,3.115,3.114,3.113,3.108,3.102,3.098,3.096,3.092,3.086,3.085,3.075,3.07,3.064,3.062,3.062,3.059,3.055,3.047,3.045,3.041,3.038,3.033,3.033,3.032,3.03,3.029,3.028,3.028,3.028,3.035,3.035,3.035,3.021,3.02,3.017,3.01,3.009,3.01,3.009,3.009,3.009,3.013,3.013,3.016,3.016,3.016,3.013,3.013,3.013,3.014,3.016,3.016,3.016,3.016,3.016,3.016,3.018,3.024,3.025,3.027,3.031,3.031,3.031,3.031,3.031,3.037,3.041,3.048,3.048,3.049,3.051,3.056,3.061,3.063,3.073,3.077,3.078,3.078,3.083,3.087,3.089,3.101,3.104,3.106,3.113,3.117,3.12,3.123,3.13,3.134,3.136,3.145,3.145,3.145,3.145,3.145,3.161,3.165,3.167,3.174,3.175,3.186,3.186,3.2,3.211,3.212,3.212,3.212,3.226,3.249,3.25,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 183.32} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 183.32} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 183.317} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832}
SEN {Time 183.357} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.174,0.174,0.177,0.177,0.198,0,0,0,0,0,0,0,0,0,0,3.705,3.678,3.671,3.669,3.652,3.645,3.619,3.576,3.573,3.565,3.565,3.354,3.354,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.232,3.227,3.227,3.223,3.211,3.211,3.342,3.342,0,0,0,0,0,0.147,0.143,0.143,0.143,0.147,0.142,0.152,0.153,0.155,0.153,0.155,0.155,3.07,3.07,3.07,3.07,3.07,3.06,0.162,0.161,0.157,0.152,0.15,0.15,0.152,0.153,2.995,2.995,2.995,2.99,2.988,2.985,2.983,2.988,2.978,2.978,2.978,2.978,2.974,2.972,2.97,2.968,2.968,2.968,3.512,3.512,3.512,3.51,3.51,3.509,3.507,3.505,3.505,3.503,3.502,3.502,3.503,3.503,3.505,3.505,3.503,3.503,3.503,3.503,3.508,3.508,3.508,3.506,3.506,3.506,3.506,3.507,3.509,3.511,3.516,3.52,3.52,3.52,3.521,3.521,3.529,3.535,3.537,3.538,3.545,3.545,3.547,3.554,3.563,3.564,3.564,3.573,3.58,3.593,3.597,3.597,3.6,3.608,3.611,3.621,3.622,3.627,3.633,3.636,3.642,3.644,3.646,3.663,3.676,3.679,3.68,3.693,3.699,3.701,3.706,3.72,3.72,3.73,3.741,3.748,3.759,3.766,3.777,3.79,3.794,3.814,3.816,3.823,3.836,3.839,3.853,3.875,3.878,3.888,3.913,3.916,3.92,3.933,3.952,3.97,3.985,4.003,4.016,4.025,4.043,4.051,4.065,4.088,0.016,0.016,0.016,0.016,4.076,4.036,4.036,4.005,3.969,3.899,3.879,3.845,3.818,3.791,3.751,3.731,3.693,3.674,3.654,3.62,3.61,3.571,3.544,3.524,3.505,3.495,3.465,3.444,3.43,3.412,3.379,3.371,3.349,3.327,3.305,3.292,3.267,3.25,3.23,3.221,3.196,3.179,3.164,3.145,3.13,3.123,3.107,3.091,3.074,3.05,3.038,3.03,3.011,3.008,2.995,2.979,2.967,2.961,2.943,2.927,2.913,2.912,2.898,2.88,2.874,2.852,2.842,2.839,2.822,2.812,2.801,2.798,2.784,2.772,2.756,2.752,2.746,2.734,2.734,2.715,2.701,2.7,2.69,2.678,2.673,2.671,2.662,2.651,2.646,2.636,2.628,2.623,2.617,2.616,2.6,2.598,2.586,2.585,2.582,2.573,2.559,2.55,2.549,2.546,2.536,2.525,2.525,2.518,2.512,2.507,2.502,2.495,2.493,2.491,2.481,2.478,2.472,2.465,2.463,2.462,2.46,2.457,2.452,2.451,2.449,2.446,2.445,2.439,2.435,2.431,2.429,2.425,2.416,2.415,2.411,2.411,2.41,2.408,2.403,2.403,2.402,2.402,2.398,2.398,2.398,2.398,2.398,2.394,2.393,2.393,2.393,2.393,2.393,2.394,2.393,2.392,2.39,2.392,2.392,2.39,2.393,2.393,2.393,2.391,2.391,2.389,2.389,2.389,2.395,2.396,2.397,2.397,2.397,2.399,2.406,2.407,2.408,2.409,2.41,2.41,2.411,2.416,2.419,2.425,2.429,2.431,2.432,2.433,2.435,2.441,2.444,2.444,2.449,2.449,2.455,2.458,2.464,2.467,2.471,2.476,2.478,2.482,2.486,2.495,2.501,2.505,2.507,2.51,2.514,2.519,2.545,2.546,2.547,2.548,2.552,2.552,2.568,2.571,2.58,2.582,2.587,2.598,2.601,2.61,2.617,2.618,2.634,2.636,2.648,2.654,2.66,2.667,2.682,2.683,2.694,2.708,2.713,2.729,2.73,2.744,2.747,2.753,2.764,2.779,2.788,2.794,2.801,2.828,2.83,2.842,2.855,2.864,2.869,2.884,2.899,2.91,2.915,2.93,2.945,2.957,2.979,2.989,2.996,3.006,3.023,3.041,3.047,3.066,3.078,3.096,3.119,3.129,3.136,3.153,3.175,3.176,3.2,3.212,3.236,3.256,3.266,3.279,3.306,3.326,3.338,3.371,3.381,3.405,3.428,3.451,3.47,3.48,3.513,3.531,3.55,3.592,3.614,3.635,3.649,3.68,3.703,3.748,3.757,3.791,3.836,3.855,3.885,3.917,3.944,3.985,4.017,4.089,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.025,3.362,3.357,3.337,3.332,3.311,3.308,3.297,3.287,3.282,3.261,3.259,3.25,3.249,3.238,3.227,3.216,3.215,3.2,3.196,3.188,3.179,3.177,3.174,3.164,3.158,3.147,3.143,3.135,3.134,3.124,3.12,3.117,3.113,3.113,3.103,3.094,3.092,3.089,3.088,3.079,3.073,3.07,3.065,3.062,3.061,3.061,3.053,3.052,3.05,3.045,3.035,3.035,3.034,3.033,3.032,3.032,3.029,3.029,3.029,3.035,3.035,3.035,3.024,3.018,3.017,3.015,3.008,3.006,3.006,3.006,3.011,3.014,3.019,3.014,3.018,3.018,3.016,3.013,3.011,3.011,3.015,3.011,3.014,3.015,3.017,3.017,3.017,3.02,3.031,3.031,3.031,3.031,3.031,3.031,3.031,3.041,3.043,3.048,3.048,3.048,3.052,3.058,3.058,3.063,3.073,3.074,3.079,3.082,3.084,3.09,3.091,3.095,3.098,3.099,3.111,3.116,3.118,3.125,3.126,3.131,3.138,3.14,3.143,3.143,3.151,3.152,3.159,3.162,3.163,3.167,3.176,3.186,3.19,3.207,3.208,3.22,3.22,3.225,3.228,3.235,3.254,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 183.51} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 183.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 183.511} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.2832}
SEN {Time 183.555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.174,0.174,0.175,0.178,0.178,0.211,0,0,0,0,0,0,0,0,0,0,3.699,3.688,3.678,3.659,3.651,3.63,3.614,3.583,3.58,3.58,3.58,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.218,3.217,3.212,3.217,3.339,3.339,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.143,0.151,0.152,0.152,0.149,0.152,0.158,3.066,3.067,3.067,3.067,3.067,3.057,0.165,0.157,0.157,0.155,0.157,0.157,0.157,0.159,2.994,2.994,2.994,2.989,2.987,2.986,2.978,2.983,2.975,2.974,2.975,2.976,2.975,2.974,2.974,2.974,2.974,2.974,3.509,3.509,3.516,3.509,3.508,3.506,3.507,3.497,3.497,3.497,3.499,3.499,3.5,3.5,3.5,3.5,3.504,3.499,3.504,3.498,3.503,3.503,3.51,3.503,3.503,3.51,3.51,3.51,3.512,3.513,3.513,3.514,3.514,3.516,3.517,3.525,3.528,3.531,3.538,3.538,3.542,3.542,3.547,3.555,3.559,3.56,3.573,3.579,3.58,3.581,3.586,3.589,3.593,3.605,3.606,3.619,3.621,3.624,3.636,3.637,3.64,3.652,3.656,3.669,3.672,3.677,3.677,3.68,3.696,3.699,3.71,3.713,3.721,3.727,3.742,3.749,3.755,3.767,3.777,3.784,3.794,3.807,3.817,3.831,3.835,3.843,3.849,3.861,3.87,3.881,3.907,3.911,3.921,3.94,3.944,3.967,3.991,3.992,4,4.025,4.037,4.053,4.071,4.095,4.095,0.016,0.016,0.016,0.016,0.016,4.074,3.964,3.938,3.903,3.867,3.849,3.812,3.792,3.754,3.721,3.704,3.681,3.649,3.624,3.592,3.583,3.544,3.527,3.518,3.49,3.462,3.45,3.427,3.415,3.383,3.355,3.34,3.329,3.308,3.289,3.258,3.252,3.228,3.219,3.199,3.18,3.167,3.154,3.135,3.12,3.103,3.089,3.072,3.046,3.045,3.031,3.019,2.999,2.994,2.981,2.96,2.955,2.947,2.919,2.917,2.908,2.89,2.884,2.868,2.856,2.851,2.836,2.824,2.816,2.807,2.795,2.789,2.777,2.767,2.754,2.739,2.731,2.728,2.716,2.708,2.696,2.693,2.686,2.675,2.67,2.664,2.653,2.652,2.646,2.632,2.623,2.617,2.609,2.601,2.595,2.586,2.581,2.571,2.566,2.554,2.553,2.551,2.544,2.542,2.533,2.517,2.517,2.514,2.509,2.5,2.498,2.492,2.485,2.483,2.474,2.471,2.47,2.47,2.465,2.458,2.456,2.452,2.451,2.443,2.441,2.438,2.435,2.428,2.427,2.427,2.42,2.418,2.415,2.414,2.414,2.414,2.412,2.409,2.408,2.406,2.403,2.401,2.397,2.397,2.395,2.395,2.395,2.392,2.391,2.388,2.388,2.391,2.391,2.392,2.392,2.391,2.392,2.392,2.389,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.398,2.398,2.398,2.398,2.398,2.398,2.403,2.404,2.407,2.409,2.413,2.413,2.414,2.424,2.424,2.429,2.432,2.432,2.433,2.434,2.437,2.443,2.444,2.444,2.446,2.451,2.454,2.455,2.465,2.47,2.475,2.476,2.476,2.482,2.485,2.487,2.493,2.504,2.505,2.51,2.519,2.521,2.543,2.543,2.545,2.549,2.551,2.553,2.563,2.573,2.582,2.583,2.591,2.592,2.601,2.611,2.618,2.625,2.629,2.64,2.652,2.654,2.662,2.666,2.68,2.689,2.699,2.706,2.712,2.719,2.736,2.739,2.753,2.758,2.765,2.773,2.782,2.804,2.805,2.821,2.839,2.841,2.862,2.868,2.883,2.896,2.904,2.909,2.925,2.935,2.949,2.959,2.976,2.993,2.995,3.019,3.023,3.029,3.049,3.066,3.068,3.104,3.115,3.127,3.137,3.157,3.176,3.181,3.2,3.218,3.23,3.248,3.272,3.289,3.301,3.325,3.343,3.354,3.386,3.39,3.43,3.444,3.458,3.487,3.515,3.531,3.553,3.582,3.615,3.637,3.651,3.693,3.712,3.743,3.761,3.799,3.856,3.892,3.911,3.911,3.951,4.013,4.069,4.095,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.356,3.354,3.342,3.323,3.315,3.298,3.297,3.282,3.28,3.277,3.26,3.253,3.237,3.23,3.227,3.226,3.212,3.199,3.198,3.191,3.179,3.172,3.166,3.165,3.16,3.157,3.143,3.14,3.136,3.124,3.121,3.116,3.109,3.109,3.104,3.093,3.092,3.09,3.088,3.084,3.073,3.067,3.066,3.064,3.063,3.06,3.052,3.047,3.047,3.045,3.042,3.036,3.034,3.032,3.031,3.031,3.03,3.031,3.032,3.034,3.034,3.034,3.018,3.018,3.016,3.015,3.015,3.014,3.012,3.012,3.012,3.012,3.018,3.018,3.014,3.016,3.014,3.014,3.014,3.016,3.014,3.016,3.016,3.017,3.016,3.017,3.022,3.022,3.025,3.027,3.027,3.029,3.031,3.032,3.032,3.043,3.044,3.045,3.048,3.048,3.051,3.052,3.062,3.064,3.066,3.068,3.07,3.083,3.083,3.084,3.092,3.093,3.096,3.101,3.114,3.114,3.122,3.123,3.132,3.134,3.141,3.148,3.148,3.148,3.155,3.16,3.161,3.167,3.167,3.178,3.182,3.183,3.185,3.199,3.204,3.208,3.208,3.213,3.235,3.245,3.248,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 183.71} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 183.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 183.713} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2832}
SEN {Time 183.755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.181,0.176,0.174,0.181,0.181,0.203,0,0,0,0,0,0,0,0,0,0,3.691,3.679,3.67,3.666,3.647,3.636,3.602,3.579,3.573,3.573,3.579,3.558,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.228,3.219,3.214,3.209,3.2,3.2,3.2,3.341,0,0,0,0,0,0,0.147,0.147,0.141,0.147,0.14,0.15,0.152,0.152,0.149,0.152,0.156,3.055,3.059,3.066,3.066,3.059,3.059,0.168,0.165,0.165,0.16,0.155,0.155,0.155,0.155,2.994,2.994,2.994,2.987,2.986,2.985,2.982,2.98,2.98,2.979,2.979,2.979,2.978,2.974,2.973,2.966,2.966,2.966,3.498,3.499,3.51,3.506,3.51,3.506,3.509,3.506,3.509,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.508,3.5,3.5,3.5,3.504,3.5,3.504,3.504,3.504,3.505,3.506,3.51,3.513,3.511,3.511,3.515,3.519,3.519,3.522,3.523,3.527,3.531,3.536,3.539,3.54,3.546,3.549,3.552,3.554,3.566,3.57,3.572,3.582,3.587,3.594,3.596,3.599,3.602,3.612,3.619,3.621,3.622,3.626,3.631,3.638,3.643,3.658,3.661,3.672,3.677,3.691,3.694,3.705,3.708,3.716,3.717,3.724,3.736,3.748,3.749,3.751,3.77,3.771,3.792,3.792,3.799,3.801,3.825,3.832,3.846,3.852,3.874,3.883,3.89,3.905,3.915,3.915,3.95,3.951,3.97,3.972,3.997,4.014,4.031,4.032,4.056,4.073,4.08,0.016,0.016,0.016,0,0.016,4.074,4.004,3.98,3.957,3.909,3.879,3.852,3.815,3.781,3.755,3.73,3.708,3.669,3.654,3.629,3.603,3.575,3.547,3.528,3.502,3.487,3.467,3.458,3.43,3.404,3.382,3.363,3.35,3.326,3.3,3.291,3.269,3.242,3.242,3.22,3.199,3.178,3.154,3.148,3.139,3.126,3.096,3.087,3.078,3.048,3.045,3.028,3.026,3.005,2.986,2.981,2.964,2.954,2.937,2.927,2.913,2.91,2.891,2.878,2.867,2.856,2.837,2.829,2.828,2.81,2.806,2.797,2.779,2.776,2.762,2.753,2.743,2.736,2.72,2.713,2.698,2.693,2.692,2.676,2.676,2.665,2.66,2.652,2.641,2.636,2.632,2.625,2.615,2.611,2.603,2.595,2.591,2.578,2.577,2.573,2.556,2.555,2.545,2.543,2.535,2.534,2.521,2.52,2.509,2.508,2.504,2.498,2.493,2.482,2.481,2.477,2.476,2.473,2.47,2.466,2.464,2.46,2.452,2.447,2.443,2.443,2.443,2.439,2.435,2.434,2.428,2.425,2.414,2.414,2.413,2.412,2.41,2.406,2.406,2.406,2.405,2.401,2.401,2.399,2.397,2.396,2.396,2.396,2.396,2.391,2.39,2.39,2.39,2.39,2.391,2.391,2.391,2.392,2.392,2.392,2.393,2.395,2.395,2.394,2.395,2.394,2.393,2.391,2.393,2.393,2.394,2.397,2.398,2.4,2.401,2.406,2.406,2.413,2.414,2.416,2.417,2.42,2.421,2.423,2.423,2.425,2.427,2.433,2.439,2.441,2.442,2.446,2.45,2.451,2.454,2.46,2.463,2.466,2.467,2.471,2.479,2.479,2.486,2.501,2.503,2.509,2.511,2.511,2.522,2.523,2.539,2.54,2.543,2.546,2.556,2.559,2.561,2.571,2.575,2.578,2.592,2.598,2.601,2.611,2.613,2.617,2.629,2.637,2.639,2.653,2.656,2.676,2.681,2.688,2.695,2.709,2.717,2.719,2.736,2.738,2.753,2.756,2.772,2.782,2.795,2.801,2.809,2.827,2.833,2.837,2.861,2.863,2.874,2.891,2.901,2.911,2.925,2.939,2.944,2.956,2.972,2.993,2.997,3.009,3.03,3.04,3.054,3.066,3.074,3.101,3.109,3.129,3.134,3.149,3.179,3.179,3.202,3.205,3.234,3.253,3.266,3.278,3.313,3.33,3.345,3.363,3.385,3.404,3.421,3.449,3.453,3.488,3.513,3.531,3.573,3.579,3.621,3.642,3.654,3.688,3.714,3.743,3.752,3.799,3.83,3.851,3.893,3.915,3.948,3.971,4.026,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.355,3.334,3.317,3.315,3.3,3.291,3.289,3.289,3.271,3.257,3.255,3.25,3.237,3.227,3.217,3.214,3.199,3.195,3.192,3.182,3.174,3.166,3.166,3.154,3.154,3.153,3.146,3.136,3.121,3.117,3.112,3.104,3.101,3.1,3.094,3.093,3.09,3.088,3.087,3.071,3.069,3.065,3.064,3.063,3.061,3.057,3.047,3.045,3.043,3.04,3.038,3.03,3.03,3.03,3.03,3.032,3.034,3.035,3.04,3.04,3.04,3.021,3.018,3.017,3.009,3.009,3.013,3.013,3.013,3.013,3.013,3.015,3.015,3.015,3.015,3.018,3.016,3.016,3.019,3.019,3.016,3.016,3.018,3.016,3.016,3.018,3.026,3.027,3.028,3.028,3.028,3.029,3.03,3.03,3.037,3.042,3.048,3.048,3.048,3.053,3.053,3.06,3.066,3.068,3.073,3.076,3.077,3.077,3.087,3.091,3.092,3.098,3.101,3.111,3.117,3.118,3.121,3.125,3.13,3.135,3.142,3.145,3.146,3.148,3.148,3.155,3.162,3.165,3.172,3.185,3.185,3.19,3.201,3.207,3.217,3.217,3.219,3.228,3.237,3.253,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 183.91} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 183.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 183.915} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 183.955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.18,0.18,0.18,0.174,0.174,0.18,0.18,0.199,0,0,0,0,0,0,0,0,0,0,3.71,3.689,3.668,3.66,3.652,3.643,3.618,3.585,3.575,3.575,3.575,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.212,3.209,3.206,3.206,3.206,3.34,0,0,0,0,0,0.153,0.143,0.143,0.143,0.143,0.143,0.143,0.152,0.153,0.152,0.153,0.155,3.063,3.063,3.063,3.063,3.063,3.06,0.163,0.159,0.155,0.155,0.152,0.152,0.154,0.154,2.987,2.993,2.993,2.987,2.987,2.981,2.98,2.981,2.978,2.978,2.977,2.976,2.973,2.972,2.968,2.968,2.968,2.972,3.503,3.507,3.508,3.507,3.508,3.508,3.506,3.501,3.505,3.505,3.505,3.505,3.505,3.505,3.504,3.502,3.503,3.503,3.5,3.5,3.499,3.499,3.505,3.505,3.505,3.51,3.511,3.511,3.515,3.516,3.516,3.516,3.518,3.518,3.518,3.518,3.528,3.528,3.531,3.536,3.539,3.542,3.546,3.562,3.563,3.564,3.566,3.574,3.579,3.586,3.588,3.597,3.6,3.605,3.607,3.624,3.628,3.628,3.63,3.634,3.643,3.647,3.647,3.654,3.668,3.679,3.68,3.693,3.697,3.708,3.713,3.714,3.72,3.737,3.742,3.751,3.751,3.771,3.779,3.78,3.79,3.807,3.818,3.825,3.825,3.857,3.859,3.867,3.879,3.888,3.907,3.917,3.927,3.943,3.944,3.969,3.983,3.994,4.003,4.025,4.045,4.065,4.068,4.085,0.016,0.016,0.016,0.016,4.083,4.027,4.004,3.979,3.943,3.89,3.873,3.845,3.816,3.794,3.763,3.728,3.692,3.675,3.663,3.629,3.59,3.573,3.546,3.528,3.497,3.488,3.457,3.454,3.422,3.407,3.383,3.367,3.347,3.329,3.294,3.293,3.264,3.257,3.232,3.213,3.2,3.186,3.165,3.148,3.121,3.118,3.098,3.086,3.064,3.053,3.047,3.039,3.017,2.998,2.991,2.984,2.961,2.957,2.943,2.927,2.921,2.914,2.895,2.88,2.876,2.86,2.847,2.842,2.829,2.817,2.806,2.786,2.78,2.778,2.767,2.758,2.743,2.737,2.732,2.721,2.704,2.692,2.687,2.676,2.675,2.671,2.66,2.654,2.648,2.636,2.629,2.621,2.613,2.612,2.605,2.597,2.588,2.58,2.575,2.575,2.569,2.556,2.548,2.547,2.544,2.527,2.525,2.514,2.512,2.504,2.503,2.501,2.496,2.49,2.483,2.481,2.476,2.472,2.471,2.461,2.46,2.457,2.446,2.446,2.443,2.443,2.438,2.435,2.434,2.433,2.43,2.426,2.418,2.415,2.413,2.413,2.412,2.41,2.404,2.401,2.4,2.4,2.398,2.398,2.396,2.396,2.397,2.397,2.394,2.395,2.392,2.391,2.391,2.392,2.391,2.391,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.392,2.392,2.392,2.392,2.392,2.395,2.395,2.395,2.4,2.401,2.406,2.408,2.412,2.409,2.415,2.415,2.415,2.418,2.426,2.427,2.427,2.429,2.432,2.441,2.441,2.447,2.448,2.45,2.451,2.453,2.461,2.465,2.465,2.466,2.475,2.479,2.484,2.485,2.497,2.497,2.499,2.506,2.507,2.52,2.523,2.535,2.544,2.546,2.549,2.557,2.566,2.572,2.574,2.581,2.581,2.584,2.597,2.601,2.606,2.619,2.621,2.632,2.633,2.645,2.655,2.657,2.673,2.678,2.685,2.696,2.703,2.716,2.726,2.735,2.741,2.752,2.757,2.762,2.781,2.795,2.799,2.813,2.82,2.834,2.837,2.855,2.865,2.883,2.885,2.902,2.916,2.917,2.938,2.943,2.957,2.969,2.984,2.993,3.011,3.024,3.035,3.052,3.067,3.081,3.096,3.121,3.126,3.137,3.139,3.174,3.182,3.206,3.218,3.229,3.248,3.262,3.282,3.304,3.327,3.342,3.362,3.387,3.394,3.422,3.444,3.456,3.491,3.501,3.531,3.558,3.582,3.618,3.636,3.67,3.688,3.704,3.731,3.761,3.801,3.822,3.863,3.926,3.944,3.976,3.976,4.016,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.363,3.35,3.327,3.323,3.31,3.304,3.297,3.288,3.285,3.275,3.255,3.254,3.252,3.236,3.228,3.217,3.209,3.202,3.195,3.191,3.185,3.168,3.168,3.161,3.153,3.148,3.148,3.136,3.135,3.12,3.117,3.113,3.108,3.106,3.103,3.099,3.094,3.092,3.085,3.082,3.075,3.073,3.068,3.065,3.056,3.056,3.056,3.054,3.048,3.044,3.043,3.042,3.039,3.039,3.029,3.028,3.029,3.029,3.029,3.032,3.032,3.032,3.025,3.02,3.019,3.017,3.017,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.018,3.018,3.02,3.018,3.018,3.019,3.016,3.016,3.019,3.023,3.024,3.025,3.025,3.031,3.032,3.034,3.038,3.041,3.041,3.047,3.049,3.049,3.053,3.055,3.058,3.065,3.075,3.076,3.077,3.078,3.078,3.087,3.089,3.095,3.096,3.105,3.107,3.115,3.119,3.123,3.123,3.13,3.132,3.136,3.148,3.148,3.148,3.148,3.159,3.165,3.168,3.171,3.18,3.181,3.187,3.201,3.209,3.219,3.219,3.222,3.227,3.239,3.253,3.257,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 184.11} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 184.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 184.108} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 184.155} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.177,0.173,0.177,0.177,0.209,0,0,0,0,0,0,0,0,0,0,3.701,3.682,3.676,3.662,3.644,3.637,3.614,3.585,3.574,3.574,3.574,3.564,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.224,3.215,3.214,3.214,3.344,3.344,0,0,0,0,0,0.007,0.147,0.147,0.147,0.147,0.145,0.153,0.154,0.154,0.151,0.154,0.158,3.055,3.065,3.076,3.076,3.065,3.065,0.163,0.162,0.156,0.156,0.156,0.156,0.156,0.159,2.987,2.987,2.989,2.987,2.987,2.987,2.985,2.985,2.976,2.976,2.974,2.977,2.973,2.971,2.965,2.966,2.966,2.966,3.499,3.512,3.512,3.512,3.512,3.512,3.507,3.501,3.499,3.496,3.496,3.496,3.5,3.5,3.5,3.5,3.501,3.497,3.5,3.5,3.5,3.497,3.499,3.499,3.508,3.508,3.508,3.51,3.513,3.51,3.513,3.513,3.513,3.515,3.516,3.524,3.528,3.528,3.533,3.541,3.543,3.546,3.548,3.549,3.559,3.561,3.568,3.579,3.581,3.585,3.59,3.592,3.606,3.608,3.612,3.617,3.619,3.621,3.627,3.635,3.645,3.65,3.655,3.659,3.671,3.68,3.683,3.686,3.69,3.697,3.716,3.717,3.725,3.731,3.731,3.749,3.758,3.765,3.771,3.786,3.804,3.813,3.819,3.822,3.832,3.848,3.854,3.862,3.877,3.891,3.895,3.91,3.928,3.937,3.943,3.962,3.976,4.001,4.007,4.018,4.049,4.058,4.068,4.094,0.016,0.016,0.016,0.016,0.016,4.068,4.037,3.973,3.937,3.898,3.874,3.846,3.815,3.783,3.752,3.725,3.703,3.669,3.652,3.62,3.599,3.572,3.559,3.537,3.499,3.497,3.469,3.443,3.433,3.414,3.379,3.37,3.353,3.32,3.299,3.287,3.271,3.243,3.227,3.209,3.207,3.178,3.166,3.153,3.138,3.117,3.097,3.087,3.071,3.05,3.041,3.031,3.019,2.998,2.996,2.982,2.969,2.949,2.943,2.933,2.914,2.911,2.894,2.882,2.878,2.855,2.848,2.84,2.82,2.813,2.8,2.789,2.779,2.77,2.759,2.747,2.747,2.732,2.732,2.715,2.708,2.7,2.696,2.682,2.674,2.67,2.662,2.653,2.644,2.635,2.625,2.619,2.616,2.609,2.599,2.592,2.591,2.58,2.579,2.571,2.562,2.557,2.545,2.545,2.535,2.533,2.523,2.517,2.507,2.505,2.5,2.499,2.498,2.487,2.484,2.477,2.474,2.474,2.466,2.465,2.462,2.454,2.444,2.444,2.444,2.438,2.438,2.436,2.432,2.428,2.426,2.426,2.419,2.416,2.412,2.412,2.412,2.411,2.409,2.409,2.408,2.404,2.4,2.398,2.398,2.394,2.394,2.394,2.393,2.39,2.393,2.39,2.39,2.39,2.39,2.39,2.392,2.395,2.395,2.397,2.397,2.395,2.399,2.399,2.393,2.392,2.393,2.393,2.393,2.398,2.398,2.398,2.4,2.4,2.402,2.403,2.408,2.411,2.416,2.415,2.416,2.416,2.416,2.42,2.427,2.43,2.434,2.437,2.438,2.439,2.441,2.445,2.445,2.453,2.457,2.457,2.464,2.466,2.467,2.474,2.478,2.479,2.49,2.494,2.496,2.504,2.512,2.513,2.519,2.519,2.538,2.541,2.541,2.549,2.553,2.559,2.559,2.574,2.576,2.578,2.582,2.587,2.607,2.611,2.615,2.622,2.627,2.641,2.643,2.65,2.662,2.674,2.684,2.685,2.693,2.703,2.711,2.724,2.726,2.744,2.748,2.759,2.769,2.774,2.795,2.8,2.802,2.815,2.829,2.84,2.862,2.864,2.876,2.888,2.901,2.908,2.924,2.938,2.944,2.959,2.971,2.99,2.996,3.013,3.024,3.033,3.055,3.069,3.085,3.1,3.116,3.135,3.139,3.151,3.167,3.18,3.198,3.21,3.237,3.247,3.267,3.286,3.296,3.316,3.335,3.364,3.391,3.401,3.414,3.45,3.452,3.484,3.506,3.531,3.563,3.576,3.622,3.642,3.656,3.69,3.711,3.749,3.759,3.792,3.828,3.861,3.91,3.948,4.019,4.019,0.007,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.998,3.353,3.35,3.344,3.326,3.308,3.3,3.295,3.287,3.285,3.272,3.259,3.258,3.241,3.228,3.228,3.227,3.213,3.207,3.202,3.195,3.174,3.173,3.171,3.159,3.155,3.154,3.146,3.14,3.138,3.122,3.121,3.117,3.112,3.111,3.098,3.097,3.092,3.091,3.091,3.086,3.07,3.069,3.063,3.063,3.061,3.06,3.056,3.052,3.048,3.043,3.043,3.036,3.033,3.031,3.031,3.031,3.029,3.031,3.033,3.033,3.031,3.031,3.016,3.015,3.015,3.015,3.015,3.015,3.015,3.014,3.014,3.012,3.012,3.011,3.012,3.015,3.015,3.02,3.02,3.021,3.021,3.021,3.019,3.022,3.019,3.019,3.02,3.028,3.028,3.028,3.028,3.029,3.029,3.033,3.033,3.037,3.039,3.041,3.048,3.051,3.054,3.056,3.059,3.06,3.065,3.075,3.075,3.083,3.083,3.083,3.092,3.095,3.096,3.098,3.105,3.117,3.12,3.121,3.127,3.131,3.142,3.136,3.143,3.151,3.154,3.154,3.164,3.168,3.168,3.174,3.184,3.19,3.19,3.206,3.206,3.213,3.213,3.219,3.233,3.243,3.249,3.267,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 184.31} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 184.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 184.31} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 184.355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.177,0.183,0.183,0.183,0.207,0,0,0,0,0,0,0,0,0,0,3.702,3.691,3.671,3.667,3.651,3.633,3.61,3.581,3.581,3.581,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.204,3.204,3.202,3.204,3.21,3.345,0,0,0,0,0,0.148,0.146,0.146,0.146,0.146,0.144,0.149,0.151,0.152,0.151,0.152,0.152,3.067,3.067,3.067,3.067,3.07,3.067,3.067,0.169,0.169,0.158,0.155,0.154,0.155,0.155,2.994,2.994,2.994,2.983,2.983,2.983,2.983,2.983,2.983,2.975,2.975,2.974,2.972,2.971,2.971,2.971,2.973,2.974,3.499,3.508,3.516,3.508,3.513,3.513,3.506,3.502,3.502,3.502,3.502,3.502,3.502,3.502,3.499,3.498,3.499,3.499,3.501,3.501,3.503,3.503,3.505,3.501,3.505,3.503,3.505,3.505,3.507,3.511,3.513,3.515,3.516,3.516,3.516,3.516,3.521,3.527,3.528,3.537,3.541,3.543,3.545,3.55,3.552,3.559,3.566,3.585,3.585,3.585,3.586,3.591,3.597,3.602,3.607,3.614,3.622,3.625,3.63,3.632,3.634,3.652,3.66,3.661,3.673,3.678,3.681,3.692,3.697,3.699,3.718,3.721,3.727,3.74,3.743,3.752,3.753,3.761,3.777,3.794,3.8,3.805,3.813,3.817,3.836,3.849,3.855,3.871,3.871,3.885,3.9,3.907,3.93,3.939,3.963,3.967,3.977,4.007,4.02,4.032,4.036,4.052,4.067,4.095,0.016,0.016,0.016,0.016,0.016,4.077,4.077,4.006,3.972,3.899,3.879,3.834,3.81,3.781,3.76,3.727,3.698,3.677,3.645,3.627,3.6,3.579,3.558,3.528,3.502,3.491,3.464,3.445,3.427,3.404,3.379,3.361,3.348,3.324,3.296,3.278,3.262,3.253,3.223,3.221,3.2,3.183,3.156,3.156,3.135,3.116,3.104,3.09,3.069,3.052,3.035,3.033,3.022,3.01,2.994,2.984,2.967,2.954,2.943,2.923,2.911,2.899,2.887,2.887,2.864,2.858,2.849,2.839,2.826,2.811,2.802,2.793,2.785,2.782,2.762,2.757,2.741,2.734,2.72,2.717,2.707,2.698,2.688,2.686,2.673,2.672,2.66,2.66,2.655,2.64,2.627,2.624,2.622,2.611,2.599,2.598,2.582,2.578,2.573,2.565,2.555,2.551,2.548,2.548,2.541,2.534,2.531,2.517,2.513,2.511,2.505,2.502,2.488,2.488,2.481,2.48,2.47,2.465,2.465,2.462,2.457,2.456,2.449,2.449,2.448,2.444,2.441,2.44,2.438,2.428,2.427,2.425,2.415,2.415,2.413,2.413,2.408,2.406,2.405,2.405,2.402,2.401,2.401,2.401,2.397,2.397,2.397,2.395,2.395,2.394,2.394,2.392,2.391,2.391,2.391,2.393,2.393,2.393,2.39,2.389,2.389,2.389,2.394,2.394,2.394,2.394,2.394,2.394,2.396,2.398,2.398,2.4,2.4,2.4,2.405,2.409,2.409,2.41,2.415,2.415,2.415,2.416,2.419,2.421,2.426,2.428,2.43,2.434,2.438,2.439,2.44,2.442,2.444,2.45,2.452,2.46,2.46,2.464,2.468,2.472,2.48,2.485,2.486,2.5,2.502,2.504,2.51,2.515,2.516,2.517,2.536,2.537,2.547,2.552,2.554,2.557,2.568,2.574,2.578,2.58,2.583,2.594,2.602,2.607,2.613,2.62,2.62,2.642,2.644,2.647,2.663,2.672,2.684,2.688,2.69,2.698,2.713,2.715,2.727,2.743,2.759,2.763,2.767,2.783,2.789,2.797,2.799,2.822,2.828,2.838,2.859,2.869,2.874,2.883,2.904,2.911,2.923,2.937,2.94,2.957,2.972,2.98,2.994,3.006,3.02,3.037,3.049,3.063,3.074,3.096,3.112,3.122,3.135,3.148,3.18,3.182,3.204,3.217,3.226,3.25,3.257,3.286,3.297,3.325,3.345,3.355,3.391,3.395,3.424,3.44,3.466,3.477,3.516,3.526,3.56,3.586,3.623,3.639,3.662,3.685,3.717,3.743,3.755,3.787,3.825,3.854,3.888,3.922,3.956,4.009,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.006,0.006,0,3.358,3.354,3.339,3.322,3.313,3.303,3.294,3.286,3.278,3.275,3.265,3.258,3.251,3.244,3.228,3.218,3.217,3.198,3.198,3.196,3.194,3.175,3.174,3.161,3.16,3.149,3.143,3.139,3.135,3.119,3.118,3.115,3.113,3.112,3.104,3.097,3.094,3.092,3.091,3.084,3.074,3.07,3.065,3.063,3.061,3.059,3.056,3.049,3.049,3.039,3.038,3.031,3.031,3.031,3.03,3.03,3.03,3.033,3.033,3.037,3.037,3.037,3.022,3.021,3.019,3.019,3.018,3.018,3.018,3.018,3.018,3.02,3.016,3.016,3.015,3.015,3.015,3.015,3.015,3.016,3.016,3.016,3.016,3.018,3.015,3.015,3.015,3.019,3.026,3.028,3.029,3.029,3.032,3.034,3.035,3.041,3.043,3.044,3.05,3.053,3.054,3.054,3.061,3.068,3.069,3.076,3.078,3.079,3.079,3.086,3.087,3.092,3.104,3.105,3.116,3.119,3.123,3.124,3.132,3.134,3.14,3.14,3.142,3.145,3.145,3.145,3.151,3.167,3.169,3.171,3.18,3.185,3.186,3.194,3.214,3.214,3.214,3.221,3.244,3.246,3.248,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 184.51} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 184.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 184.512} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 184.553} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.18,0.18,0.18,0.183,0.183,0.206,0,0,0,0,0,0,0,0,0,0,3.693,3.679,3.671,3.665,3.643,3.631,3.609,3.594,3.586,3.569,3.569,3.351,3.351,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.211,3.205,3.202,3.202,3.202,3.345,0,0,0,0,0,0.143,0.143,0.143,0.143,0.143,0.147,0.147,0.147,0.147,0.147,0.15,0.155,3.059,3.062,3.073,3.073,3.073,3.062,0.167,0.166,0.164,0.157,0.157,0.156,0.156,0.157,2.995,2.995,2.995,2.987,2.987,2.984,2.983,2.981,2.98,2.976,2.976,2.976,2.976,2.971,2.97,2.967,2.967,2.967,3.499,3.507,3.507,3.503,3.507,3.503,3.498,3.498,3.5,3.5,3.5,3.5,3.5,3.498,3.498,3.5,3.506,3.5,3.5,3.5,3.503,3.502,3.503,3.506,3.506,3.506,3.509,3.509,3.509,3.511,3.512,3.516,3.516,3.516,3.517,3.517,3.529,3.53,3.536,3.544,3.544,3.547,3.552,3.556,3.559,3.562,3.564,3.571,3.58,3.58,3.591,3.595,3.597,3.604,3.609,3.613,3.623,3.628,3.633,3.638,3.639,3.652,3.653,3.657,3.667,3.675,3.675,3.687,3.697,3.699,3.71,3.717,3.718,3.729,3.746,3.747,3.764,3.767,3.777,3.788,3.79,3.805,3.816,3.827,3.831,3.837,3.856,3.868,3.879,3.886,3.9,3.907,3.93,3.941,3.951,3.973,3.976,3.994,4.004,4.023,4.053,4.062,4.075,0.016,0.016,0.016,0,0.007,0.016,4.033,4.013,3.96,3.947,3.891,3.882,3.84,3.806,3.782,3.748,3.738,3.701,3.674,3.647,3.627,3.611,3.57,3.546,3.537,3.507,3.498,3.461,3.441,3.42,3.406,3.371,3.358,3.348,3.329,3.308,3.303,3.255,3.244,3.233,3.206,3.2,3.176,3.157,3.15,3.137,3.125,3.107,3.088,3.073,3.052,3.037,3.033,3.02,3.004,2.994,2.978,2.958,2.957,2.936,2.936,2.913,2.912,2.895,2.879,2.867,2.856,2.844,2.837,2.822,2.807,2.806,2.79,2.78,2.775,2.767,2.749,2.744,2.736,2.724,2.717,2.703,2.701,2.695,2.674,2.671,2.667,2.665,2.65,2.65,2.634,2.63,2.621,2.618,2.608,2.603,2.596,2.589,2.585,2.582,2.574,2.564,2.557,2.547,2.545,2.54,2.527,2.521,2.509,2.508,2.503,2.498,2.497,2.495,2.484,2.482,2.481,2.476,2.467,2.464,2.46,2.458,2.451,2.451,2.445,2.444,2.438,2.436,2.434,2.43,2.428,2.428,2.427,2.417,2.414,2.413,2.413,2.413,2.41,2.404,2.404,2.402,2.402,2.401,2.4,2.4,2.397,2.396,2.395,2.393,2.392,2.392,2.392,2.392,2.392,2.392,2.39,2.39,2.39,2.39,2.391,2.392,2.393,2.396,2.393,2.393,2.393,2.393,2.393,2.394,2.395,2.395,2.395,2.397,2.401,2.404,2.404,2.409,2.411,2.412,2.414,2.415,2.42,2.421,2.425,2.425,2.427,2.432,2.434,2.434,2.435,2.447,2.448,2.449,2.45,2.451,2.456,2.462,2.467,2.468,2.478,2.482,2.486,2.488,2.49,2.494,2.502,2.503,2.512,2.519,2.524,2.539,2.539,2.539,2.546,2.554,2.556,2.569,2.572,2.582,2.583,2.585,2.598,2.599,2.605,2.617,2.627,2.633,2.638,2.646,2.651,2.652,2.675,2.684,2.691,2.704,2.705,2.714,2.723,2.729,2.738,2.743,2.757,2.763,2.779,2.785,2.803,2.804,2.821,2.828,2.839,2.86,2.868,2.874,2.893,2.907,2.908,2.929,2.931,2.949,2.954,2.966,2.992,2.998,3.021,3.028,3.041,3.049,3.061,3.07,3.098,3.114,3.124,3.141,3.145,3.175,3.178,3.196,3.214,3.236,3.245,3.257,3.282,3.307,3.326,3.339,3.356,3.384,3.398,3.42,3.452,3.466,3.484,3.516,3.546,3.556,3.588,3.619,3.639,3.654,3.684,3.714,3.74,3.772,3.793,3.825,3.859,3.877,3.911,3.955,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.363,3.355,3.336,3.322,3.321,3.301,3.298,3.288,3.286,3.274,3.263,3.259,3.252,3.24,3.237,3.215,3.214,3.202,3.198,3.187,3.184,3.175,3.163,3.161,3.151,3.149,3.143,3.138,3.138,3.12,3.117,3.115,3.108,3.105,3.105,3.092,3.085,3.083,3.08,3.079,3.076,3.072,3.064,3.063,3.063,3.057,3.052,3.052,3.051,3.04,3.038,3.038,3.037,3.035,3.028,3.027,3.027,3.027,3.027,3.036,3.036,3.036,3.022,3.022,3.02,3.015,3.015,3.015,3.015,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.014,3.01,3.01,3.01,3.02,3.014,3.015,3.022,3.015,3.015,3.024,3.024,3.024,3.026,3.027,3.027,3.034,3.035,3.038,3.038,3.042,3.046,3.048,3.048,3.051,3.058,3.059,3.061,3.072,3.075,3.076,3.08,3.08,3.084,3.09,3.092,3.098,3.103,3.108,3.112,3.121,3.121,3.128,3.14,3.141,3.141,3.141,3.148,3.148,3.16,3.166,3.173,3.173,3.173,3.178,3.189,3.19,3.202,3.202,3.208,3.219,3.222,3.231,3.236,3.248,3.255,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 184.71} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 184.71} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 184.706} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 184.752} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.175,0.181,0.183,0.183,0.212,0,0,0,0,0,0.007,0,0,0,0,3.707,3.689,3.672,3.668,3.647,3.633,3.619,3.586,3.574,3.566,3.566,3.566,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.219,3.207,3.207,3.207,3.207,3.344,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.143,0.15,0.15,0.15,0.145,0.15,0.153,3.061,3.066,3.067,3.067,3.067,3.067,0.167,0.164,0.157,0.157,0.153,0.153,0.157,0.161,2.994,2.994,2.994,2.988,2.988,2.979,2.979,2.979,2.977,2.975,2.975,2.974,2.972,2.972,2.972,2.972,2.972,2.974,3.507,3.51,3.518,3.51,3.51,3.509,3.498,3.498,3.498,3.498,3.501,3.503,3.505,3.504,3.504,3.504,3.504,3.504,3.503,3.504,3.507,3.506,3.507,3.507,3.507,3.507,3.509,3.509,3.512,3.512,3.515,3.516,3.52,3.52,3.521,3.521,3.525,3.528,3.53,3.535,3.537,3.545,3.546,3.561,3.562,3.564,3.569,3.569,3.593,3.593,3.594,3.595,3.597,3.599,3.609,3.614,3.614,3.619,3.627,3.633,3.638,3.642,3.65,3.66,3.666,3.68,3.683,3.69,3.69,3.702,3.713,3.719,3.724,3.736,3.739,3.749,3.756,3.766,3.778,3.787,3.794,3.802,3.813,3.815,3.829,3.843,3.852,3.868,3.879,3.881,3.899,3.91,3.932,3.951,3.96,3.972,3.976,3.999,4.013,4.017,4.041,4.06,4.065,4.084,0.016,0.016,0.016,0.016,4.087,4.04,4.007,3.971,3.951,3.904,3.873,3.847,3.821,3.792,3.753,3.724,3.705,3.675,3.649,3.626,3.591,3.573,3.546,3.527,3.509,3.493,3.469,3.449,3.433,3.408,3.387,3.356,3.337,3.324,3.303,3.297,3.265,3.241,3.22,3.218,3.2,3.181,3.164,3.151,3.139,3.124,3.105,3.087,3.061,3.055,3.042,3.032,3.022,3.001,2.992,2.984,2.96,2.952,2.94,2.927,2.908,2.908,2.893,2.872,2.872,2.857,2.846,2.845,2.816,2.816,2.801,2.793,2.788,2.773,2.764,2.753,2.744,2.734,2.732,2.714,2.709,2.692,2.689,2.681,2.68,2.676,2.669,2.654,2.648,2.634,2.631,2.623,2.623,2.611,2.6,2.599,2.589,2.58,2.569,2.569,2.559,2.557,2.551,2.546,2.54,2.536,2.523,2.518,2.51,2.509,2.504,2.501,2.496,2.487,2.482,2.478,2.475,2.473,2.464,2.463,2.462,2.458,2.449,2.449,2.444,2.444,2.438,2.437,2.435,2.427,2.424,2.423,2.419,2.417,2.414,2.413,2.41,2.41,2.407,2.407,2.404,2.401,2.401,2.401,2.401,2.401,2.401,2.393,2.393,2.392,2.392,2.392,2.39,2.392,2.396,2.396,2.396,2.396,2.393,2.393,2.393,2.393,2.394,2.394,2.392,2.392,2.392,2.392,2.392,2.397,2.397,2.399,2.402,2.404,2.408,2.408,2.408,2.408,2.408,2.414,2.415,2.421,2.423,2.423,2.425,2.426,2.428,2.435,2.438,2.439,2.445,2.447,2.448,2.448,2.45,2.461,2.465,2.471,2.473,2.474,2.482,2.484,2.484,2.496,2.498,2.499,2.505,2.514,2.514,2.518,2.538,2.546,2.547,2.548,2.557,2.557,2.567,2.568,2.574,2.577,2.582,2.586,2.598,2.605,2.621,2.622,2.634,2.64,2.651,2.661,2.661,2.671,2.685,2.687,2.69,2.71,2.712,2.718,2.73,2.742,2.755,2.756,2.769,2.781,2.796,2.796,2.808,2.827,2.828,2.833,2.858,2.867,2.869,2.89,2.903,2.911,2.928,2.932,2.946,2.951,2.968,2.985,2.996,3.006,3.019,3.033,3.052,3.062,3.086,3.099,3.108,3.122,3.14,3.149,3.167,3.184,3.203,3.214,3.235,3.253,3.26,3.288,3.304,3.33,3.344,3.362,3.379,3.395,3.43,3.449,3.459,3.493,3.504,3.529,3.553,3.59,3.615,3.638,3.662,3.687,3.714,3.742,3.76,3.786,3.834,3.852,3.89,3.92,4.007,4.056,4.085,4.085,4.085,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.344,3.331,3.33,3.315,3.303,3.294,3.286,3.284,3.27,3.257,3.253,3.248,3.229,3.227,3.223,3.216,3.204,3.193,3.187,3.18,3.178,3.17,3.163,3.161,3.151,3.146,3.141,3.131,3.122,3.118,3.112,3.11,3.106,3.1,3.096,3.094,3.09,3.084,3.081,3.077,3.069,3.066,3.066,3.062,3.059,3.057,3.05,3.047,3.045,3.044,3.042,3.032,3.03,3.029,3.029,3.026,3.029,3.031,3.032,3.032,3.032,3.025,3.024,3.019,3.019,3.014,3.019,3.015,3.015,3.015,3.016,3.015,3.013,3.013,3.013,3.013,3.014,3.014,3.013,3.018,3.013,3.013,3.02,3.02,3.017,3.02,3.023,3.023,3.027,3.028,3.029,3.029,3.034,3.038,3.038,3.04,3.042,3.048,3.049,3.051,3.054,3.058,3.065,3.067,3.071,3.071,3.078,3.081,3.081,3.093,3.094,3.095,3.102,3.115,3.117,3.122,3.124,3.128,3.134,3.136,3.14,3.14,3.148,3.152,3.162,3.163,3.165,3.165,3.168,3.177,3.179,3.189,3.195,3.205,3.213,3.218,3.222,3.235,3.241,3.245,3.257,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 184.91} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 184.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 184.908} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 184.953} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.182,0.178,0.175,0.182,0.182,0.209,0,0,0,0,0,0,0,0,0,0,0,3.679,3.67,3.663,3.644,3.637,3.607,3.594,3.585,3.585,3.585,3.566,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.216,3.209,3.204,3.204,3.216,3.349,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.14,0.145,0.146,0.146,0.146,0.15,0.152,3.061,3.064,3.075,3.075,3.064,3.064,0.167,0.162,0.161,0.153,0.153,0.153,0.154,0.154,2.988,2.988,2.988,2.987,2.985,2.984,2.98,2.984,2.98,2.979,2.979,2.977,2.977,2.976,2.967,2.967,2.967,2.973,3.504,3.504,3.51,3.504,3.51,3.5,3.504,3.496,3.504,3.499,3.499,3.495,3.499,3.497,3.497,3.497,3.501,3.501,3.501,3.501,3.501,3.504,3.502,3.504,3.504,3.505,3.506,3.509,3.51,3.513,3.514,3.517,3.514,3.518,3.521,3.525,3.527,3.527,3.534,3.536,3.542,3.546,3.547,3.557,3.561,3.564,3.57,3.57,3.591,3.591,3.591,3.596,3.597,3.603,3.604,3.614,3.615,3.622,3.624,3.633,3.636,3.645,3.652,3.656,3.676,3.682,3.687,3.692,3.694,3.705,3.71,3.723,3.73,3.733,3.739,3.746,3.752,3.763,3.781,3.788,3.789,3.799,3.808,3.825,3.826,3.837,3.856,3.865,3.872,3.893,3.904,3.918,3.922,3.944,3.956,3.972,3.989,4.004,4.009,4.017,4.045,4.064,4.068,4.092,4.095,0.016,0.016,0,0.016,4.088,4.011,3.974,3.932,3.906,3.877,3.836,3.818,3.785,3.75,3.744,3.707,3.679,3.653,3.624,3.608,3.578,3.555,3.539,3.506,3.482,3.46,3.456,3.431,3.413,3.372,3.356,3.341,3.327,3.304,3.288,3.269,3.249,3.229,3.213,3.203,3.188,3.163,3.149,3.128,3.12,3.1,3.082,3.07,3.052,3.049,3.031,3.024,3.001,2.993,2.977,2.969,2.956,2.933,2.927,2.917,2.909,2.888,2.876,2.875,2.859,2.849,2.838,2.822,2.819,2.809,2.798,2.791,2.776,2.76,2.751,2.749,2.738,2.729,2.717,2.709,2.696,2.69,2.689,2.674,2.668,2.663,2.654,2.652,2.629,2.628,2.622,2.619,2.61,2.604,2.596,2.592,2.58,2.577,2.571,2.559,2.555,2.548,2.546,2.542,2.533,2.523,2.514,2.508,2.5,2.499,2.498,2.493,2.489,2.482,2.478,2.474,2.467,2.462,2.462,2.462,2.459,2.45,2.444,2.443,2.442,2.434,2.434,2.432,2.43,2.429,2.426,2.423,2.417,2.415,2.413,2.413,2.41,2.405,2.405,2.404,2.405,2.403,2.403,2.394,2.394,2.392,2.392,2.392,2.393,2.393,2.393,2.393,2.395,2.398,2.398,2.398,2.395,2.392,2.392,2.392,2.392,2.394,2.394,2.394,2.394,2.393,2.393,2.393,2.393,2.393,2.395,2.401,2.404,2.404,2.408,2.408,2.408,2.413,2.415,2.415,2.419,2.423,2.425,2.425,2.43,2.43,2.43,2.431,2.437,2.44,2.443,2.445,2.45,2.458,2.459,2.464,2.466,2.474,2.474,2.487,2.488,2.489,2.49,2.5,2.5,2.509,2.513,2.517,2.525,2.541,2.546,2.547,2.552,2.554,2.559,2.564,2.571,2.574,2.582,2.594,2.595,2.601,2.605,2.622,2.623,2.628,2.635,2.646,2.652,2.661,2.666,2.687,2.687,2.694,2.708,2.715,2.732,2.736,2.745,2.747,2.756,2.772,2.776,2.786,2.79,2.809,2.823,2.829,2.844,2.863,2.868,2.875,2.897,2.897,2.915,2.925,2.93,2.948,2.948,2.973,2.987,2.997,3.009,3.019,3.034,3.044,3.068,3.074,3.101,3.116,3.129,3.138,3.146,3.176,3.179,3.205,3.216,3.229,3.248,3.271,3.289,3.303,3.315,3.345,3.366,3.383,3.402,3.422,3.446,3.459,3.487,3.506,3.531,3.556,3.589,3.615,3.643,3.651,3.677,3.7,3.742,3.765,3.796,3.828,3.867,3.88,3.978,4.011,0,4.09,4.09,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.353,3.336,3.335,3.313,3.303,3.294,3.287,3.286,3.278,3.267,3.254,3.25,3.236,3.232,3.224,3.214,3.199,3.196,3.193,3.193,3.18,3.171,3.16,3.158,3.154,3.146,3.143,3.133,3.123,3.119,3.11,3.109,3.107,3.105,3.104,3.09,3.09,3.088,3.078,3.073,3.065,3.064,3.063,3.06,3.06,3.055,3.051,3.05,3.038,3.038,3.038,3.038,3.034,3.028,3.028,3.029,3.031,3.031,3.031,3.031,3.03,3.024,3.023,3.017,3.014,3.014,3.015,3.01,3.015,3.015,3.016,3.015,3.017,3.017,3.017,3.017,3.017,3.019,3.019,3.021,3.019,3.019,3.021,3.013,3.013,3.018,3.024,3.024,3.027,3.03,3.03,3.03,3.03,3.034,3.034,3.042,3.045,3.047,3.05,3.05,3.053,3.054,3.062,3.064,3.075,3.078,3.081,3.082,3.087,3.093,3.094,3.096,3.1,3.111,3.115,3.121,3.124,3.128,3.13,3.135,3.136,3.144,3.147,3.151,3.157,3.165,3.165,3.165,3.174,3.175,3.181,3.193,3.203,3.207,3.207,3.213,3.228,3.236,3.248,3.251,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 185.11} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 185.11} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 185.109} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 185.153} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.177,0.173,0.177,0.182,0.182,0.203,0,0,0,0,0,0,0,0,0,0,3.709,3.68,3.671,3.664,3.637,3.631,3.614,3.593,3.578,3.562,3.562,3.348,3.348,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.214,3.209,3.214,3.341,3.341,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.144,0.144,0.144,0.146,0.146,0.151,0.163,3.061,3.061,3.07,3.07,3.07,3.07,0.163,0.159,0.154,0.154,0.149,0.149,0.154,0.156,2.992,2.992,2.992,2.992,2.985,2.981,2.981,2.981,2.981,2.973,2.973,2.975,2.973,2.973,2.967,2.967,2.967,2.969,3.504,3.511,3.511,3.509,3.509,3.503,3.5,3.5,3.5,3.5,3.5,3.5,3.508,3.508,3.507,3.501,3.507,3.501,3.501,3.501,3.508,3.503,3.508,3.508,3.508,3.508,3.508,3.509,3.51,3.51,3.51,3.514,3.514,3.514,3.52,3.525,3.525,3.529,3.533,3.542,3.546,3.547,3.548,3.549,3.56,3.569,3.57,3.572,3.582,3.587,3.589,3.591,3.594,3.602,3.609,3.61,3.624,3.625,3.626,3.633,3.639,3.652,3.658,3.662,3.666,3.675,3.679,3.682,3.701,3.71,3.714,3.715,3.727,3.736,3.74,3.75,3.754,3.763,3.78,3.789,3.789,3.801,3.81,3.826,3.828,3.831,3.861,3.864,3.876,3.888,3.895,3.913,3.928,3.947,3.95,3.977,3.979,3.988,4.007,4.021,4.039,4.066,4.068,0.016,0.016,0.016,0.007,0,0.007,4.083,4.014,3.975,3.933,3.908,3.868,3.853,3.823,3.784,3.772,3.736,3.71,3.668,3.647,3.616,3.607,3.576,3.554,3.527,3.507,3.475,3.473,3.449,3.432,3.405,3.372,3.36,3.34,3.321,3.298,3.292,3.26,3.248,3.236,3.218,3.2,3.178,3.166,3.148,3.138,3.12,3.105,3.088,3.069,3.053,3.051,3.042,3.017,3.006,2.998,2.972,2.963,2.962,2.934,2.932,2.912,2.911,2.896,2.876,2.873,2.866,2.844,2.829,2.82,2.818,2.803,2.797,2.787,2.771,2.764,2.754,2.749,2.742,2.721,2.712,2.702,2.692,2.687,2.683,2.671,2.667,2.665,2.647,2.644,2.635,2.627,2.622,2.619,2.618,2.603,2.59,2.588,2.583,2.576,2.573,2.565,2.559,2.551,2.541,2.536,2.535,2.525,2.513,2.507,2.507,2.506,2.497,2.491,2.488,2.48,2.479,2.474,2.467,2.465,2.464,2.458,2.458,2.451,2.448,2.445,2.444,2.443,2.438,2.433,2.433,2.43,2.425,2.414,2.412,2.412,2.412,2.411,2.411,2.408,2.408,2.405,2.405,2.403,2.4,2.4,2.4,2.4,2.393,2.398,2.393,2.395,2.393,2.393,2.393,2.393,2.393,2.393,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.392,2.393,2.396,2.401,2.402,2.403,2.404,2.405,2.406,2.409,2.412,2.411,2.418,2.418,2.42,2.425,2.427,2.429,2.432,2.436,2.441,2.442,2.442,2.443,2.447,2.45,2.453,2.457,2.461,2.467,2.468,2.474,2.477,2.482,2.489,2.49,2.496,2.5,2.502,2.515,2.516,2.52,2.543,2.545,2.546,2.548,2.552,2.553,2.563,2.565,2.576,2.578,2.589,2.59,2.599,2.61,2.611,2.626,2.634,2.641,2.646,2.646,2.663,2.671,2.68,2.685,2.692,2.713,2.716,2.723,2.733,2.738,2.749,2.756,2.763,2.777,2.799,2.799,2.81,2.82,2.835,2.837,2.863,2.87,2.876,2.893,2.896,2.912,2.917,2.942,2.945,2.955,2.977,2.984,2.994,3.015,3.024,3.032,3.05,3.066,3.074,3.107,3.113,3.131,3.137,3.148,3.172,3.186,3.201,3.214,3.23,3.251,3.261,3.279,3.306,3.325,3.335,3.355,3.381,3.4,3.423,3.44,3.461,3.478,3.52,3.531,3.558,3.584,3.614,3.64,3.666,3.693,3.714,3.732,3.758,3.793,3.833,3.858,3.883,3.944,3.983,4.01,4.01,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.354,3.334,3.333,3.314,3.301,3.292,3.291,3.279,3.268,3.264,3.258,3.246,3.244,3.221,3.216,3.215,3.199,3.197,3.191,3.179,3.178,3.166,3.158,3.156,3.155,3.144,3.141,3.136,3.126,3.114,3.108,3.108,3.105,3.101,3.097,3.096,3.09,3.084,3.08,3.076,3.066,3.065,3.064,3.064,3.06,3.06,3.051,3.047,3.043,3.041,3.038,3.036,3.029,3.029,3.029,3.028,3.029,3.031,3.036,3.036,3.036,3.019,3.019,3.016,3.014,3.014,3.014,3.013,3.014,3.014,3.014,3.015,3.015,3.015,3.015,3.019,3.019,3.019,3.019,3.019,3.018,3.017,3.017,3.017,3.025,3.025,3.025,3.026,3.028,3.028,3.028,3.028,3.034,3.035,3.035,3.039,3.051,3.054,3.054,3.055,3.058,3.06,3.062,3.075,3.076,3.077,3.078,3.081,3.092,3.092,3.092,3.092,3.094,3.107,3.113,3.121,3.121,3.133,3.135,3.136,3.136,3.145,3.148,3.148,3.148,3.162,3.163,3.164,3.175,3.184,3.184,3.186,3.2,3.204,3.218,3.218,3.22,3.235,3.238,3.252,3.257,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 185.30} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 185.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 185.303} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 185.351} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.175,0.175,0.175,0.175,0.204,0,0,0,0,0,0,0,0,0,0,3.709,3.695,3.676,3.667,3.657,3.635,3.607,3.585,3.573,3.569,3.569,3.353,3.353,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.211,3.211,3.211,3.208,3.211,3.342,3.342,0,0,0,0,0,0.146,0.142,0.142,0.142,0.146,0.143,0.149,0.149,0.15,0.149,0.15,0.155,3.065,3.065,3.066,3.066,3.065,3.065,0.164,0.164,0.16,0.157,0.157,0.155,0.157,0.157,2.994,2.994,2.994,2.994,2.994,2.987,2.983,2.983,2.982,2.975,2.975,2.975,2.974,2.974,2.967,2.967,2.967,2.974,3.507,3.507,3.507,3.507,3.508,3.505,3.505,3.505,3.502,3.502,3.505,3.505,3.507,3.507,3.507,3.504,3.503,3.503,3.503,3.503,3.505,3.505,3.505,3.507,3.507,3.507,3.507,3.505,3.505,3.51,3.514,3.524,3.524,3.524,3.525,3.525,3.528,3.533,3.534,3.536,3.545,3.545,3.546,3.56,3.564,3.564,3.568,3.571,3.584,3.595,3.595,3.598,3.603,3.611,3.618,3.62,3.629,3.63,3.631,3.634,3.639,3.643,3.653,3.66,3.665,3.676,3.679,3.692,3.697,3.701,3.713,3.715,3.724,3.739,3.749,3.75,3.754,3.767,3.782,3.785,3.792,3.804,3.807,3.816,3.836,3.852,3.86,3.879,3.881,3.883,3.902,3.908,3.928,3.944,3.952,3.974,3.975,3.996,4.008,4.018,4.041,4.068,4.07,4.078,0.016,0.016,0.016,0.016,0.016,4.074,4.005,3.984,3.934,3.892,3.879,3.847,3.818,3.793,3.763,3.724,3.697,3.684,3.636,3.626,3.597,3.569,3.549,3.526,3.498,3.484,3.459,3.45,3.433,3.412,3.393,3.372,3.35,3.332,3.306,3.299,3.264,3.247,3.232,3.213,3.19,3.183,3.163,3.141,3.127,3.119,3.098,3.084,3.068,3.052,3.047,3.032,3.025,3.002,2.992,2.978,2.957,2.955,2.943,2.922,2.912,2.908,2.895,2.879,2.865,2.855,2.847,2.845,2.831,2.811,2.806,2.79,2.79,2.776,2.761,2.755,2.744,2.739,2.723,2.708,2.707,2.699,2.694,2.684,2.679,2.672,2.664,2.656,2.65,2.636,2.632,2.627,2.621,2.608,2.598,2.591,2.589,2.585,2.572,2.572,2.564,2.554,2.553,2.548,2.546,2.529,2.525,2.518,2.508,2.505,2.499,2.493,2.489,2.481,2.481,2.478,2.477,2.475,2.466,2.464,2.463,2.458,2.45,2.447,2.444,2.441,2.439,2.438,2.433,2.43,2.428,2.425,2.418,2.418,2.416,2.416,2.415,2.414,2.407,2.404,2.404,2.397,2.397,2.397,2.397,2.396,2.396,2.396,2.396,2.396,2.396,2.392,2.395,2.395,2.395,2.395,2.395,2.394,2.393,2.393,2.393,2.392,2.393,2.394,2.392,2.392,2.394,2.391,2.391,2.394,2.395,2.395,2.396,2.398,2.402,2.405,2.406,2.407,2.409,2.416,2.417,2.419,2.421,2.421,2.425,2.428,2.436,2.436,2.437,2.439,2.439,2.444,2.445,2.45,2.456,2.456,2.46,2.465,2.471,2.479,2.481,2.482,2.489,2.495,2.495,2.504,2.507,2.508,2.52,2.522,2.536,2.544,2.545,2.55,2.552,2.554,2.566,2.571,2.579,2.584,2.584,2.591,2.601,2.603,2.619,2.623,2.632,2.639,2.65,2.652,2.66,2.67,2.687,2.688,2.692,2.704,2.71,2.72,2.733,2.743,2.756,2.762,2.768,2.779,2.787,2.794,2.804,2.825,2.825,2.838,2.86,2.869,2.873,2.888,2.899,2.907,2.924,2.937,2.949,2.955,2.97,2.985,2.993,3.015,3.027,3.034,3.057,3.063,3.07,3.1,3.117,3.121,3.133,3.151,3.17,3.186,3.201,3.216,3.228,3.249,3.258,3.281,3.307,3.327,3.346,3.356,3.387,3.392,3.42,3.441,3.455,3.487,3.512,3.534,3.557,3.594,3.604,3.643,3.672,3.681,3.717,3.736,3.761,3.795,3.825,3.853,3.882,3.907,3.951,3.981,4.015,4.059,4.093,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0.006,0.006,0.006,3.358,3.351,3.332,3.327,3.319,3.301,3.292,3.289,3.288,3.276,3.261,3.256,3.248,3.234,3.23,3.219,3.215,3.198,3.195,3.191,3.185,3.173,3.165,3.161,3.156,3.155,3.148,3.139,3.138,3.121,3.112,3.11,3.11,3.103,3.098,3.093,3.09,3.09,3.09,3.083,3.071,3.07,3.063,3.061,3.061,3.061,3.056,3.047,3.043,3.04,3.038,3.037,3.036,3.034,3.033,3.029,3.029,3.029,3.029,3.034,3.034,3.034,3.017,3.017,3.016,3.015,3.015,3.015,3.015,3.015,3.015,3.018,3.018,3.014,3.014,3.014,3.014,3.016,3.016,3.015,3.017,3.015,3.015,3.015,3.018,3.018,3.023,3.023,3.023,3.025,3.026,3.026,3.028,3.03,3.033,3.043,3.048,3.048,3.045,3.048,3.051,3.059,3.061,3.066,3.07,3.08,3.08,3.081,3.087,3.089,3.091,3.094,3.099,3.108,3.112,3.113,3.119,3.121,3.135,3.135,3.138,3.138,3.143,3.148,3.15,3.163,3.163,3.165,3.165,3.173,3.182,3.184,3.184,3.204,3.218,3.22,3.22,3.227,3.228,3.248,3.248,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 185.51} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 185.51} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 185.505} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6134}
SEN {Time 185.547} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.182,0.179,0.177,0.182,0.182,0.21,0,0,0,0,0,0,0,0,0,0,3.709,3.681,3.674,3.663,3.648,3.632,3.613,3.592,3.59,3.568,3.568,3.354,3.354,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.214,3.211,3.211,3.211,3.211,3.348,0,0,0,0,0,0.148,0.142,0.142,0.142,0.148,0.151,0.153,0.153,0.153,0.151,0.153,0.157,3.063,3.064,3.066,3.066,3.071,3.071,3.071,0.16,0.158,0.152,0.152,0.152,0.154,0.158,3,3,3,2.991,2.985,2.985,2.981,2.981,2.977,2.977,2.978,2.978,2.978,2.978,2.966,2.966,2.966,2.976,3.505,3.505,3.513,3.512,3.513,3.512,3.512,3.502,3.502,3.5,3.5,3.502,3.505,3.505,3.506,3.505,3.505,3.503,3.505,3.503,3.503,3.501,3.501,3.501,3.501,3.505,3.505,3.509,3.508,3.509,3.514,3.523,3.517,3.521,3.525,3.525,3.53,3.537,3.539,3.541,3.542,3.542,3.545,3.546,3.568,3.57,3.571,3.576,3.589,3.589,3.591,3.596,3.598,3.601,3.607,3.611,3.626,3.63,3.63,3.635,3.637,3.645,3.65,3.662,3.663,3.678,3.681,3.69,3.697,3.7,3.72,3.721,3.725,3.733,3.739,3.748,3.754,3.76,3.776,3.787,3.794,3.8,3.81,3.82,3.83,3.837,3.85,3.859,3.878,3.89,3.896,3.917,3.927,3.941,3.964,3.978,3.986,4.001,4.006,4.036,4.036,4.061,4.064,4.089,0.016,0.016,0.016,0.016,0.016,0.016,4.072,3.975,3.934,3.901,3.868,3.84,3.81,3.787,3.759,3.729,3.691,3.676,3.652,3.623,3.6,3.571,3.542,3.53,3.504,3.493,3.463,3.448,3.437,3.401,3.391,3.371,3.342,3.328,3.305,3.287,3.273,3.245,3.224,3.214,3.195,3.176,3.163,3.15,3.131,3.111,3.104,3.092,3.076,3.055,3.044,3.042,3.016,3.015,2.994,2.991,2.96,2.954,2.948,2.929,2.924,2.903,2.893,2.877,2.87,2.863,2.842,2.838,2.813,2.811,2.806,2.79,2.783,2.771,2.765,2.756,2.745,2.742,2.729,2.715,2.708,2.692,2.69,2.679,2.676,2.665,2.658,2.656,2.654,2.635,2.627,2.621,2.62,2.613,2.604,2.592,2.588,2.585,2.582,2.578,2.56,2.558,2.549,2.544,2.532,2.525,2.521,2.517,2.514,2.506,2.504,2.502,2.489,2.488,2.48,2.478,2.475,2.467,2.465,2.465,2.459,2.452,2.449,2.446,2.446,2.446,2.441,2.439,2.439,2.437,2.426,2.421,2.421,2.416,2.414,2.408,2.408,2.408,2.406,2.406,2.406,2.4,2.4,2.395,2.395,2.396,2.396,2.394,2.395,2.393,2.391,2.391,2.391,2.391,2.391,2.393,2.393,2.396,2.396,2.394,2.396,2.396,2.396,2.397,2.397,2.391,2.399,2.397,2.394,2.395,2.396,2.396,2.396,2.399,2.4,2.407,2.408,2.408,2.41,2.413,2.416,2.42,2.421,2.424,2.425,2.425,2.43,2.435,2.439,2.44,2.443,2.446,2.446,2.452,2.452,2.456,2.464,2.465,2.473,2.479,2.48,2.484,2.485,2.49,2.498,2.502,2.506,2.509,2.51,2.515,2.538,2.54,2.545,2.547,2.549,2.565,2.566,2.572,2.58,2.588,2.59,2.59,2.605,2.609,2.612,2.621,2.633,2.639,2.643,2.658,2.658,2.675,2.683,2.691,2.692,2.7,2.712,2.713,2.736,2.738,2.749,2.75,2.763,2.784,2.79,2.801,2.803,2.821,2.83,2.837,2.862,2.864,2.879,2.885,2.892,2.912,2.923,2.928,2.948,2.955,2.976,2.987,2.988,3.016,3.021,3.037,3.054,3.063,3.073,3.092,3.108,3.124,3.141,3.158,3.174,3.183,3.205,3.214,3.227,3.242,3.257,3.286,3.302,3.329,3.345,3.352,3.378,3.399,3.425,3.445,3.455,3.494,3.506,3.536,3.558,3.585,3.616,3.636,3.655,3.697,3.722,3.746,3.761,3.803,3.828,3.861,3.876,3.914,3.934,3.983,4.012,4.066,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.353,3.34,3.325,3.318,3.299,3.296,3.291,3.276,3.272,3.264,3.256,3.245,3.239,3.226,3.226,3.221,3.201,3.2,3.193,3.183,3.183,3.174,3.165,3.156,3.152,3.141,3.14,3.137,3.129,3.121,3.113,3.111,3.109,3.108,3.095,3.095,3.09,3.087,3.079,3.072,3.066,3.065,3.061,3.06,3.059,3.055,3.05,3.048,3.042,3.04,3.039,3.036,3.031,3.029,3.029,3.029,3.029,3.029,3.032,3.032,3.032,3.021,3.021,3.018,3.014,3.012,3.012,3.012,3.012,3.014,3.017,3.017,3.014,3.011,3.007,3.007,3.005,3.005,3.005,3.017,3.009,3.017,3.019,3.021,3.018,3.021,3.024,3.025,3.028,3.029,3.03,3.033,3.033,3.035,3.042,3.042,3.043,3.047,3.047,3.051,3.056,3.064,3.066,3.067,3.069,3.076,3.076,3.076,3.083,3.093,3.095,3.097,3.106,3.112,3.115,3.12,3.121,3.124,3.131,3.136,3.139,3.139,3.144,3.145,3.159,3.161,3.165,3.165,3.168,3.184,3.185,3.185,3.196,3.201,3.219,3.219,3.22,3.231,3.237,3.244,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 185.70} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 185.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 185.699} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6134}
SEN {Time 185.748} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.183,0.183,0.182,0.178,0.182,0.184,0.184,0.207,0,0,0,0,0,0,0,0,0,0,3.705,3.679,3.679,3.665,3.644,3.643,3.618,3.591,3.577,3.559,3.559,3.359,3.359,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.24,3.239,3.228,3.214,3.213,3.21,3.213,3.213,3.349,0,0,0,0,0,0.146,0.144,0.144,0.144,0.144,0.144,0.156,0.157,0.157,0.153,0.157,0.163,3.062,3.062,3.067,3.067,3.067,3.067,3.067,0.163,0.163,0.161,0.16,0.16,0.161,0.162,2.987,2.987,2.987,2.987,2.987,2.985,2.984,2.984,2.983,2.983,2.98,2.98,2.975,2.975,2.974,2.973,2.973,2.973,3.507,3.507,3.507,3.506,3.506,3.505,3.505,3.501,3.501,3.501,3.499,3.501,3.503,3.501,3.503,3.503,3.502,3.502,3.503,3.503,3.503,3.503,3.503,3.502,3.5,3.5,3.512,3.509,3.512,3.514,3.515,3.518,3.518,3.518,3.52,3.524,3.533,3.539,3.543,3.543,3.546,3.545,3.546,3.552,3.559,3.562,3.566,3.576,3.589,3.589,3.594,3.594,3.602,3.604,3.607,3.609,3.614,3.62,3.627,3.632,3.636,3.649,3.652,3.663,3.672,3.673,3.685,3.69,3.691,3.698,3.72,3.726,3.727,3.734,3.737,3.75,3.753,3.76,3.783,3.789,3.789,3.802,3.808,3.823,3.83,3.844,3.855,3.864,3.889,3.897,3.899,3.918,3.926,3.951,3.957,3.971,3.982,3.988,4.017,4.021,4.048,4.057,4.08,4.083,0.016,0.016,0.016,0,0.016,0.016,4.018,3.984,3.935,3.915,3.867,3.842,3.817,3.786,3.766,3.728,3.707,3.68,3.641,3.629,3.602,3.578,3.56,3.538,3.51,3.495,3.469,3.443,3.425,3.408,3.382,3.359,3.346,3.324,3.297,3.295,3.264,3.253,3.23,3.216,3.196,3.186,3.169,3.151,3.137,3.123,3.096,3.092,3.068,3.047,3.042,3.036,3.015,3.008,2.996,2.975,2.967,2.956,2.945,2.932,2.913,2.908,2.9,2.877,2.87,2.855,2.845,2.837,2.825,2.807,2.807,2.795,2.787,2.775,2.76,2.746,2.742,2.733,2.725,2.713,2.704,2.699,2.686,2.679,2.675,2.673,2.665,2.653,2.647,2.635,2.629,2.625,2.621,2.606,2.604,2.589,2.589,2.581,2.573,2.569,2.558,2.553,2.551,2.545,2.544,2.534,2.525,2.521,2.511,2.51,2.5,2.496,2.494,2.485,2.481,2.479,2.468,2.468,2.467,2.463,2.461,2.459,2.45,2.447,2.444,2.439,2.438,2.432,2.431,2.427,2.42,2.42,2.417,2.416,2.414,2.413,2.412,2.412,2.409,2.407,2.403,2.402,2.4,2.397,2.395,2.395,2.395,2.395,2.395,2.396,2.389,2.389,2.389,2.395,2.395,2.397,2.395,2.395,2.395,2.39,2.39,2.392,2.392,2.394,2.395,2.395,2.394,2.394,2.393,2.393,2.395,2.395,2.399,2.399,2.399,2.399,2.407,2.41,2.415,2.416,2.416,2.416,2.418,2.418,2.425,2.428,2.434,2.435,2.437,2.44,2.446,2.446,2.446,2.45,2.451,2.451,2.46,2.467,2.47,2.473,2.476,2.483,2.485,2.486,2.499,2.503,2.509,2.513,2.515,2.524,2.539,2.542,2.544,2.551,2.553,2.562,2.562,2.568,2.577,2.583,2.588,2.588,2.597,2.605,2.611,2.615,2.632,2.638,2.64,2.652,2.663,2.667,2.684,2.687,2.689,2.71,2.71,2.722,2.727,2.741,2.745,2.764,2.768,2.774,2.797,2.805,2.809,2.82,2.835,2.846,2.859,2.866,2.88,2.884,2.889,2.911,2.922,2.937,2.939,2.956,2.975,2.986,2.999,3.011,3.016,3.032,3.052,3.059,3.073,3.107,3.114,3.126,3.14,3.147,3.178,3.184,3.207,3.217,3.231,3.239,3.268,3.28,3.301,3.336,3.345,3.362,3.387,3.391,3.432,3.447,3.466,3.493,3.516,3.536,3.545,3.586,3.615,3.633,3.673,3.681,3.705,3.764,3.798,3.825,3.825,3.862,3.88,3.921,3.961,3.966,4.011,4.071,4.075,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.021,3.364,3.354,3.325,3.321,3.311,3.304,3.29,3.288,3.285,3.27,3.257,3.255,3.251,3.237,3.228,3.224,3.22,3.198,3.194,3.192,3.177,3.174,3.172,3.166,3.146,3.146,3.144,3.14,3.134,3.117,3.117,3.116,3.11,3.108,3.1,3.095,3.093,3.093,3.084,3.084,3.073,3.064,3.061,3.06,3.058,3.056,3.053,3.049,3.047,3.043,3.039,3.032,3.032,3.03,3.026,3.026,3.03,3.03,3.031,3.036,3.031,3.031,3.019,3.019,3.017,3.015,3.015,3.015,3.013,3.013,3.012,3.012,3.012,3.011,3.011,3.014,3.014,3.014,3.014,3.014,3.014,3.013,3.019,3.013,3.022,3.022,3.025,3.025,3.026,3.027,3.026,3.026,3.03,3.032,3.032,3.038,3.042,3.048,3.048,3.051,3.051,3.056,3.061,3.061,3.071,3.078,3.078,3.079,3.079,3.09,3.09,3.094,3.096,3.105,3.112,3.117,3.119,3.123,3.133,3.136,3.139,3.142,3.146,3.146,3.148,3.148,3.158,3.164,3.165,3.165,3.174,3.186,3.193,3.199,3.212,3.213,3.213,3.231,3.233,3.244,3.251,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 185.90} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 185.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 185.901} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6134}
SEN {Time 185.949} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.176,0.176,0.179,0.179,0.21,0,0,0,0,0,0,0,0,0,0,3.697,3.68,3.672,3.67,3.648,3.633,3.607,3.584,3.574,3.574,3.574,3.565,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.245,3.215,3.214,3.213,3.204,3.204,3.204,3.345,0,0,0,0,0,0.007,0.15,0.143,0.143,0.143,0.143,0.143,0.147,0.154,0.152,0.154,0.154,3.056,3.064,3.064,3.064,3.064,3.064,3.06,0.164,0.156,0.153,0.153,0.151,0.151,0.153,2.992,2.992,2.992,2.991,2.991,2.987,2.981,2.98,2.976,2.976,2.976,2.974,2.973,2.973,2.969,2.966,2.966,2.966,3.507,3.511,3.511,3.507,3.511,3.502,3.502,3.502,3.502,3.5,3.499,3.499,3.5,3.502,3.506,3.506,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.499,3.499,3.504,3.505,3.504,3.505,3.508,3.513,3.516,3.516,3.518,3.518,3.519,3.527,3.531,3.539,3.539,3.54,3.544,3.552,3.552,3.555,3.564,3.566,3.566,3.582,3.583,3.588,3.594,3.594,3.599,3.606,3.612,3.621,3.623,3.633,3.634,3.634,3.643,3.652,3.671,3.675,3.681,3.686,3.688,3.695,3.708,3.723,3.723,3.724,3.743,3.745,3.753,3.758,3.759,3.769,3.777,3.788,3.809,3.811,3.813,3.83,3.85,3.859,3.864,3.872,3.898,3.899,3.903,3.927,3.941,3.952,3.972,3.977,3.997,4.016,4.024,4.05,4.055,4.061,4.087,0.016,0.016,0.016,0.016,4.077,4.037,4.037,4.001,3.969,3.903,3.87,3.851,3.814,3.793,3.753,3.734,3.697,3.668,3.655,3.626,3.602,3.576,3.543,3.532,3.509,3.491,3.459,3.452,3.435,3.401,3.39,3.367,3.355,3.328,3.294,3.291,3.27,3.247,3.234,3.212,3.205,3.18,3.163,3.154,3.136,3.116,3.101,3.085,3.071,3.056,3.038,3.031,3.018,3.003,2.995,2.979,2.979,2.956,2.955,2.926,2.908,2.907,2.887,2.886,2.87,2.853,2.846,2.834,2.816,2.81,2.804,2.792,2.786,2.778,2.76,2.756,2.742,2.735,2.725,2.712,2.71,2.7,2.689,2.688,2.669,2.668,2.666,2.652,2.651,2.634,2.627,2.622,2.62,2.616,2.596,2.589,2.588,2.587,2.572,2.569,2.568,2.554,2.55,2.548,2.538,2.532,2.523,2.512,2.508,2.508,2.501,2.499,2.487,2.486,2.478,2.477,2.475,2.472,2.466,2.464,2.46,2.457,2.457,2.453,2.448,2.441,2.439,2.435,2.434,2.424,2.423,2.421,2.42,2.418,2.417,2.418,2.417,2.412,2.407,2.403,2.402,2.402,2.399,2.399,2.399,2.394,2.394,2.394,2.394,2.393,2.393,2.393,2.392,2.393,2.393,2.392,2.392,2.388,2.388,2.388,2.388,2.394,2.394,2.394,2.394,2.392,2.392,2.391,2.391,2.392,2.397,2.4,2.4,2.401,2.405,2.407,2.407,2.409,2.409,2.414,2.414,2.414,2.419,2.419,2.42,2.425,2.431,2.434,2.434,2.436,2.44,2.445,2.449,2.45,2.453,2.454,2.459,2.459,2.468,2.474,2.478,2.482,2.483,2.492,2.504,2.506,2.509,2.51,2.516,2.519,2.539,2.54,2.544,2.545,2.547,2.558,2.562,2.569,2.579,2.581,2.586,2.588,2.597,2.604,2.618,2.622,2.634,2.637,2.644,2.657,2.667,2.668,2.684,2.687,2.693,2.704,2.706,2.723,2.73,2.737,2.752,2.754,2.764,2.784,2.786,2.796,2.803,2.825,2.833,2.839,2.857,2.866,2.87,2.885,2.903,2.911,2.925,2.943,2.949,2.956,2.973,2.987,2.999,3.017,3.019,3.036,3.048,3.07,3.078,3.097,3.107,3.133,3.145,3.15,3.171,3.185,3.197,3.216,3.23,3.239,3.261,3.279,3.302,3.331,3.337,3.363,3.379,3.397,3.425,3.449,3.462,3.482,3.518,3.529,3.556,3.584,3.607,3.64,3.663,3.677,3.711,3.743,3.77,3.792,3.829,3.854,3.883,3.929,3.942,3.967,4.019,4.059,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.357,3.349,3.337,3.326,3.307,3.302,3.295,3.284,3.27,3.27,3.255,3.248,3.245,3.241,3.226,3.226,3.217,3.201,3.192,3.19,3.184,3.177,3.166,3.164,3.151,3.148,3.137,3.135,3.133,3.122,3.121,3.116,3.111,3.1,3.097,3.093,3.092,3.092,3.086,3.075,3.071,3.068,3.067,3.066,3.064,3.059,3.055,3.053,3.044,3.036,3.036,3.036,3.036,3.035,3.035,3.032,3.031,3.032,3.036,3.037,3.037,3.037,3.021,3.021,3.021,3.017,3.016,3.015,3.015,3.015,3.015,3.016,3.018,3.018,3.016,3.016,3.016,3.011,3.011,3.011,3.017,3.012,3.022,3.022,3.022,3.023,3.023,3.025,3.025,3.027,3.029,3.032,3.032,3.034,3.037,3.046,3.047,3.05,3.05,3.052,3.055,3.06,3.06,3.062,3.067,3.069,3.079,3.082,3.083,3.084,3.085,3.091,3.096,3.097,3.112,3.113,3.117,3.125,3.131,3.141,3.142,3.142,3.143,3.146,3.151,3.165,3.166,3.166,3.166,3.171,3.182,3.185,3.192,3.205,3.207,3.208,3.208,3.221,3.234,3.249,3.256,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 186.10} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 186.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 186.103} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054}
SEN {Time 186.149} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.177,0.176,0.174,0.177,0.177,0.202,0,0,0,0,0,0,0,0,0,0,3.702,3.68,3.675,3.662,3.645,3.639,3.609,3.579,3.572,3.572,3.572,3.365,3.365,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.25,3.218,3.216,3.216,3.205,3.205,3.205,3.338,0,0,0,0,0,0.151,0.141,0.141,0.141,0.151,0.148,0.148,0.148,0.153,0.148,0.153,0.156,3.064,3.064,3.069,3.064,3.064,0.162,0.162,0.161,0.161,0.153,0.15,0.15,0.153,0.156,2.996,2.996,2.996,2.99,2.984,2.983,2.981,2.983,2.976,2.973,2.975,2.975,2.974,2.974,2.974,2.974,2.974,2.975,3.498,3.507,3.508,3.507,3.508,3.507,3.503,3.496,3.496,3.496,3.499,3.501,3.502,3.502,3.506,3.502,3.508,3.501,3.501,3.501,3.505,3.503,3.505,3.505,3.505,3.509,3.51,3.511,3.511,3.511,3.514,3.516,3.518,3.516,3.519,3.524,3.527,3.53,3.54,3.542,3.545,3.547,3.548,3.549,3.564,3.566,3.574,3.576,3.588,3.588,3.59,3.59,3.599,3.603,3.61,3.616,3.619,3.622,3.637,3.64,3.643,3.652,3.654,3.661,3.667,3.674,3.678,3.684,3.695,3.697,3.709,3.71,3.73,3.737,3.741,3.748,3.759,3.759,3.779,3.788,3.793,3.805,3.81,3.829,3.832,3.843,3.851,3.863,3.875,3.891,3.905,3.908,3.929,3.948,3.951,3.968,3.98,3.995,4.009,4.026,4.048,4.053,4.078,4.087,0.016,0.016,0.016,0.016,4.078,4.032,4.02,3.971,3.936,3.898,3.864,3.853,3.807,3.79,3.747,3.733,3.697,3.668,3.651,3.627,3.6,3.573,3.545,3.524,3.496,3.496,3.459,3.448,3.429,3.413,3.378,3.365,3.347,3.335,3.307,3.292,3.271,3.246,3.24,3.219,3.203,3.18,3.162,3.146,3.13,3.118,3.103,3.085,3.074,3.061,3.041,3.036,3.023,3.001,3,2.977,2.961,2.951,2.945,2.934,2.913,2.911,2.894,2.874,2.866,2.863,2.838,2.837,2.823,2.809,2.809,2.792,2.792,2.775,2.759,2.756,2.747,2.737,2.728,2.712,2.705,2.692,2.682,2.678,2.673,2.67,2.666,2.656,2.644,2.641,2.634,2.632,2.623,2.611,2.602,2.592,2.591,2.58,2.573,2.568,2.563,2.558,2.551,2.549,2.539,2.535,2.519,2.515,2.513,2.504,2.503,2.501,2.489,2.485,2.481,2.478,2.475,2.467,2.465,2.462,2.46,2.456,2.456,2.452,2.443,2.439,2.437,2.434,2.434,2.429,2.423,2.423,2.421,2.416,2.415,2.413,2.412,2.412,2.408,2.407,2.405,2.405,2.405,2.403,2.401,2.401,2.397,2.395,2.395,2.391,2.391,2.391,2.391,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.389,2.389,2.395,2.395,2.395,2.398,2.395,2.397,2.396,2.397,2.397,2.397,2.398,2.401,2.403,2.403,2.404,2.406,2.417,2.418,2.421,2.421,2.423,2.43,2.43,2.431,2.435,2.435,2.442,2.444,2.445,2.448,2.456,2.457,2.458,2.459,2.47,2.473,2.474,2.482,2.482,2.487,2.492,2.496,2.498,2.502,2.511,2.517,2.522,2.535,2.542,2.552,2.552,2.553,2.553,2.559,2.566,2.574,2.583,2.59,2.592,2.605,2.606,2.617,2.622,2.632,2.632,2.643,2.655,2.66,2.667,2.687,2.689,2.701,2.712,2.712,2.726,2.734,2.744,2.749,2.757,2.766,2.775,2.787,2.801,2.815,2.816,2.837,2.84,2.855,2.872,2.873,2.878,2.9,2.908,2.917,2.938,2.945,2.962,2.967,2.986,2.997,3.007,3.025,3.034,3.051,3.067,3.084,3.1,3.117,3.132,3.133,3.153,3.174,3.183,3.202,3.218,3.236,3.249,3.266,3.284,3.303,3.322,3.348,3.355,3.376,3.406,3.425,3.446,3.463,3.488,3.508,3.531,3.557,3.585,3.611,3.63,3.66,3.689,3.716,3.738,3.75,3.8,3.825,3.863,3.875,3.913,3.974,4.017,4.061,4.061,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.355,3.353,3.331,3.329,3.32,3.302,3.294,3.285,3.281,3.275,3.258,3.254,3.252,3.234,3.229,3.22,3.219,3.201,3.195,3.194,3.18,3.175,3.175,3.175,3.169,3.148,3.147,3.14,3.136,3.122,3.117,3.117,3.113,3.113,3.104,3.097,3.094,3.092,3.087,3.081,3.069,3.068,3.067,3.067,3.063,3.059,3.05,3.048,3.042,3.039,3.039,3.03,3.029,3.029,3.03,3.031,3.033,3.034,3.034,3.035,3.035,3.034,3.026,3.024,3.021,3.021,3.018,3.017,3.016,3.017,3.017,3.014,3.013,3.013,3.009,3.012,3.012,3.011,3.012,3.013,3.015,3.015,3.015,3.015,3.015,3.024,3.028,3.029,3.028,3.029,3.029,3.029,3.028,3.03,3.03,3.039,3.049,3.049,3.052,3.052,3.057,3.06,3.06,3.061,3.071,3.072,3.076,3.077,3.081,3.088,3.089,3.09,3.091,3.096,3.113,3.114,3.121,3.121,3.128,3.134,3.135,3.136,3.144,3.148,3.149,3.159,3.163,3.17,3.17,3.171,3.173,3.189,3.193,3.197,3.198,3.199,3.217,3.217,3.229,3.247,3.249,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 186.31} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 186.31} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 186.306} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1054}
SEN {Time 186.345} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.179,0.176,0.176,0.179,0.179,0.203,0,0,0,0,0,0,0,0,0,0,3.699,3.678,3.671,3.669,3.649,3.636,3.614,3.59,3.573,3.568,3.568,3.344,3.344,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.218,3.214,3.204,3.204,3.204,3.338,0,0,0,0,0,0.143,0.141,0.141,0.141,0.143,0.142,0.149,0.152,0.152,0.152,0.152,0.153,3.06,3.061,3.072,3.072,3.073,3.073,3.073,0.166,0.164,0.157,0.157,0.156,0.157,0.159,2.995,2.995,2.995,2.986,2.984,2.983,2.982,2.979,2.976,2.973,2.973,2.973,2.973,2.973,2.972,2.972,2.972,2.972,3.507,3.51,3.512,3.51,3.512,3.512,3.498,3.496,3.496,3.496,3.501,3.501,3.501,3.501,3.499,3.499,3.499,3.5,3.5,3.5,3.5,3.501,3.505,3.505,3.505,3.505,3.508,3.508,3.51,3.51,3.511,3.511,3.514,3.516,3.52,3.522,3.526,3.53,3.534,3.543,3.545,3.546,3.549,3.55,3.56,3.569,3.571,3.581,3.582,3.585,3.585,3.592,3.598,3.605,3.615,3.617,3.625,3.627,3.627,3.63,3.637,3.65,3.652,3.667,3.667,3.676,3.689,3.694,3.695,3.7,3.715,3.72,3.723,3.74,3.749,3.749,3.75,3.76,3.771,3.789,3.792,3.803,3.809,3.815,3.829,3.839,3.855,3.859,3.881,3.888,3.91,3.91,3.934,3.939,3.96,3.978,3.983,3.996,4.017,4.027,4.035,4.057,4.07,4.083,0.016,0.016,0.016,0.016,4.08,4.053,4.003,3.977,3.954,3.918,3.873,3.847,3.816,3.804,3.75,3.728,3.701,3.662,3.652,3.628,3.597,3.573,3.55,3.531,3.503,3.478,3.472,3.452,3.434,3.426,3.387,3.368,3.348,3.317,3.298,3.281,3.258,3.246,3.23,3.211,3.195,3.177,3.156,3.153,3.137,3.113,3.105,3.085,3.068,3.058,3.047,3.029,3.02,3.002,2.996,2.979,2.962,2.955,2.938,2.926,2.915,2.904,2.893,2.885,2.869,2.855,2.852,2.843,2.824,2.819,2.814,2.795,2.794,2.786,2.759,2.757,2.748,2.732,2.725,2.709,2.699,2.698,2.696,2.682,2.677,2.666,2.665,2.653,2.645,2.632,2.628,2.621,2.618,2.61,2.601,2.599,2.587,2.582,2.571,2.57,2.559,2.554,2.551,2.544,2.541,2.535,2.524,2.517,2.511,2.511,2.502,2.496,2.495,2.483,2.479,2.471,2.467,2.467,2.463,2.459,2.457,2.457,2.449,2.447,2.447,2.447,2.438,2.436,2.434,2.432,2.42,2.42,2.418,2.42,2.42,2.415,2.411,2.41,2.41,2.41,2.407,2.407,2.4,2.398,2.397,2.396,2.395,2.397,2.394,2.393,2.392,2.392,2.392,2.396,2.398,2.398,2.396,2.39,2.389,2.389,2.389,2.394,2.395,2.395,2.394,2.393,2.393,2.391,2.391,2.398,2.398,2.398,2.399,2.402,2.405,2.406,2.407,2.412,2.415,2.418,2.418,2.418,2.421,2.425,2.425,2.427,2.43,2.431,2.435,2.435,2.437,2.443,2.45,2.453,2.457,2.463,2.47,2.471,2.473,2.473,2.48,2.48,2.485,2.49,2.496,2.507,2.509,2.51,2.521,2.523,2.544,2.545,2.552,2.555,2.556,2.557,2.569,2.574,2.581,2.587,2.588,2.595,2.602,2.609,2.613,2.619,2.627,2.636,2.647,2.653,2.662,2.675,2.684,2.686,2.696,2.707,2.714,2.716,2.733,2.737,2.755,2.759,2.765,2.78,2.784,2.8,2.803,2.829,2.834,2.846,2.858,2.858,2.876,2.896,2.901,2.904,2.924,2.941,2.943,2.954,2.976,2.986,2.995,3.014,3.021,3.028,3.05,3.064,3.079,3.093,3.119,3.129,3.137,3.149,3.171,3.179,3.205,3.22,3.233,3.243,3.267,3.291,3.308,3.324,3.345,3.36,3.376,3.396,3.416,3.45,3.453,3.487,3.51,3.53,3.555,3.594,3.615,3.633,3.655,3.691,3.713,3.741,3.76,3.804,3.836,3.86,3.9,3.912,3.945,3.986,4.009,4.062,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.354,3.353,3.339,3.326,3.322,3.302,3.292,3.283,3.282,3.273,3.253,3.248,3.245,3.229,3.224,3.222,3.215,3.203,3.202,3.199,3.181,3.175,3.172,3.161,3.154,3.148,3.145,3.14,3.136,3.12,3.118,3.117,3.109,3.107,3.102,3.095,3.092,3.081,3.079,3.079,3.079,3.064,3.063,3.062,3.061,3.059,3.058,3.051,3.049,3.042,3.04,3.036,3.034,3.03,3.03,3.03,3.026,3.03,3.036,3.036,3.035,3.035,3.025,3.025,3.022,3.01,3.01,3.013,3.012,3.013,3.013,3.013,3.013,3.013,3.009,3.013,3.016,3.016,3.016,3.018,3.018,3.015,3.015,3.016,3.016,3.022,3.023,3.024,3.024,3.024,3.025,3.029,3.034,3.034,3.036,3.039,3.039,3.041,3.05,3.05,3.055,3.06,3.06,3.064,3.071,3.078,3.078,3.081,3.082,3.088,3.091,3.092,3.093,3.093,3.116,3.118,3.12,3.124,3.124,3.135,3.138,3.141,3.141,3.146,3.151,3.161,3.162,3.165,3.165,3.167,3.182,3.184,3.191,3.2,3.203,3.205,3.213,3.224,3.228,3.235,3.238,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 186.50} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 186.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 186.499} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1054}
SEN {Time 186.544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.172,0.172,0.173,0.174,0.174,0.198,0,0,0,0,0,0,0,0,0,0,3.712,3.678,3.665,3.661,3.649,3.634,3.622,3.581,3.579,3.568,3.568,3.365,3.365,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.214,3.21,3.204,3.199,3.199,3.199,3.337,0,0,0,0,0,0.149,0.148,0.148,0.148,0.148,0.145,0.148,0.15,0.155,0.15,0.155,0.159,3.074,3.074,3.074,3.074,3.074,3.069,3.065,0.168,0.162,0.155,0.154,0.153,0.154,0.154,2.996,2.996,2.996,2.99,2.983,2.982,2.98,2.98,2.98,2.976,2.975,2.975,2.974,2.974,2.974,2.973,2.973,2.973,3.499,3.508,3.51,3.508,3.508,3.508,3.5,3.5,3.503,3.5,3.503,3.503,3.503,3.497,3.505,3.501,3.505,3.501,3.501,3.501,3.501,3.5,3.501,3.506,3.507,3.507,3.507,3.509,3.511,3.511,3.512,3.516,3.516,3.517,3.521,3.524,3.524,3.529,3.534,3.535,3.539,3.546,3.546,3.551,3.56,3.565,3.574,3.576,3.586,3.588,3.592,3.596,3.6,3.601,3.609,3.617,3.623,3.628,3.63,3.633,3.633,3.642,3.649,3.655,3.671,3.679,3.681,3.695,3.702,3.711,3.712,3.721,3.724,3.725,3.742,3.745,3.752,3.752,3.781,3.784,3.789,3.801,3.822,3.822,3.838,3.842,3.856,3.863,3.882,3.886,3.91,3.913,3.929,3.942,3.95,3.959,3.977,4.001,4.009,4.025,4.041,4.056,4.067,4.089,0.016,0.016,0.016,0.016,4.081,4.021,4.001,3.983,3.931,3.903,3.876,3.847,3.819,3.784,3.767,3.729,3.696,3.674,3.654,3.618,3.61,3.58,3.546,3.534,3.491,3.489,3.465,3.445,3.434,3.409,3.388,3.368,3.339,3.328,3.306,3.291,3.264,3.254,3.231,3.223,3.202,3.18,3.16,3.149,3.132,3.121,3.104,3.09,3.073,3.054,3.042,3.031,3.018,3,2.992,2.982,2.962,2.956,2.938,2.933,2.911,2.911,2.904,2.882,2.875,2.863,2.845,2.838,2.824,2.817,2.803,2.801,2.787,2.77,2.768,2.753,2.753,2.736,2.729,2.716,2.704,2.693,2.688,2.683,2.671,2.667,2.655,2.654,2.653,2.634,2.625,2.623,2.622,2.613,2.6,2.596,2.592,2.584,2.577,2.575,2.56,2.557,2.547,2.539,2.534,2.531,2.525,2.523,2.514,2.506,2.503,2.499,2.497,2.487,2.486,2.477,2.474,2.47,2.466,2.464,2.457,2.451,2.451,2.449,2.442,2.442,2.442,2.441,2.44,2.432,2.428,2.426,2.42,2.414,2.414,2.41,2.409,2.409,2.406,2.406,2.405,2.405,2.405,2.405,2.398,2.396,2.396,2.393,2.393,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.393,2.39,2.39,2.39,2.393,2.393,2.393,2.393,2.393,2.391,2.391,2.391,2.396,2.396,2.398,2.398,2.398,2.4,2.404,2.404,2.406,2.408,2.411,2.414,2.415,2.415,2.415,2.42,2.424,2.425,2.429,2.435,2.436,2.437,2.444,2.447,2.452,2.452,2.452,2.455,2.461,2.467,2.467,2.473,2.478,2.481,2.484,2.498,2.502,2.502,2.508,2.51,2.516,2.522,2.543,2.545,2.545,2.55,2.553,2.558,2.559,2.569,2.57,2.575,2.591,2.591,2.593,2.615,2.617,2.625,2.628,2.64,2.645,2.655,2.657,2.672,2.685,2.688,2.692,2.71,2.717,2.72,2.735,2.743,2.757,2.764,2.77,2.783,2.792,2.796,2.808,2.818,2.827,2.838,2.856,2.871,2.872,2.889,2.906,2.908,2.931,2.935,2.943,2.951,2.978,2.989,2.991,3.007,3.019,3.041,3.047,3.07,3.088,3.106,3.115,3.135,3.139,3.147,3.17,3.18,3.203,3.224,3.23,3.244,3.271,3.286,3.3,3.326,3.341,3.355,3.383,3.388,3.429,3.443,3.462,3.487,3.503,3.543,3.556,3.589,3.61,3.637,3.657,3.675,3.71,3.734,3.758,3.793,3.814,3.867,3.875,3.92,3.939,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,3.357,3.336,3.335,3.321,3.31,3.298,3.287,3.284,3.279,3.258,3.253,3.241,3.24,3.232,3.221,3.219,3.199,3.197,3.193,3.18,3.175,3.173,3.156,3.153,3.149,3.139,3.139,3.136,3.12,3.119,3.118,3.106,3.105,3.099,3.096,3.092,3.089,3.084,3.082,3.077,3.067,3.065,3.061,3.061,3.061,3.055,3.049,3.047,3.045,3.034,3.034,3.034,3.032,3.031,3.029,3.028,3.028,3.028,3.033,3.033,3.033,3.026,3.023,3.023,3.023,3.017,3.017,3.017,3.017,3.017,3.017,3.012,3.012,3.013,3.016,3.016,3.016,3.016,3.016,3.018,3.018,3.018,3.018,3.018,3.018,3.019,3.024,3.026,3.027,3.029,3.032,3.033,3.035,3.04,3.042,3.042,3.043,3.043,3.047,3.053,3.057,3.06,3.067,3.067,3.081,3.081,3.083,3.084,3.084,3.091,3.096,3.099,3.103,3.108,3.112,3.124,3.125,3.126,3.126,3.136,3.145,3.145,3.145,3.145,3.145,3.156,3.161,3.171,3.173,3.18,3.183,3.192,3.199,3.221,3.226,3.222,3.226,3.228,3.246,3.249,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 186.70} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 186.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 186.701} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1308}
SEN {Time 186.744} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.173,0.173,0.173,0.173,0.183,0.184,0.184,0.208,0,0,0,0,0,0,0,0,0,0,3.695,3.68,3.674,3.661,3.64,3.637,3.618,3.593,3.568,3.566,3.566,3.365,3.365,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.213,3.208,3.204,3.204,3.204,3.343,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.145,0.15,0.148,0.15,0.148,0.15,0.15,3.061,3.067,3.067,3.067,3.067,3.067,3.065,0.167,0.164,0.151,0.151,0.151,0.151,0.154,2.984,2.987,2.987,2.986,2.986,2.986,2.985,2.986,2.979,2.979,2.977,2.976,2.974,2.973,2.971,2.97,2.97,2.97,3.499,3.512,3.512,3.509,3.509,3.507,3.507,3.501,3.501,3.501,3.502,3.501,3.502,3.502,3.5,3.5,3.5,3.498,3.5,3.5,3.5,3.503,3.504,3.508,3.508,3.509,3.509,3.511,3.519,3.519,3.516,3.52,3.52,3.516,3.525,3.526,3.529,3.529,3.537,3.541,3.542,3.546,3.547,3.549,3.554,3.566,3.568,3.575,3.581,3.592,3.593,3.601,3.602,3.606,3.609,3.617,3.618,3.626,3.627,3.63,3.635,3.652,3.653,3.658,3.66,3.678,3.68,3.688,3.698,3.706,3.708,3.72,3.724,3.741,3.748,3.751,3.762,3.765,3.773,3.777,3.783,3.795,3.806,3.823,3.834,3.844,3.852,3.873,3.876,3.889,3.906,3.909,3.934,3.942,3.942,3.97,3.981,3.986,4.013,4.026,4.043,4.071,4.079,4.091,0.016,0.016,0.016,0.016,4.074,4.036,4.016,3.963,3.949,3.888,3.875,3.853,3.804,3.796,3.758,3.735,3.703,3.675,3.657,3.625,3.6,3.583,3.545,3.522,3.502,3.49,3.469,3.447,3.432,3.405,3.375,3.366,3.34,3.332,3.303,3.291,3.276,3.256,3.232,3.217,3.183,3.179,3.165,3.146,3.134,3.121,3.103,3.081,3.063,3.054,3.038,3.031,3.023,3.001,2.995,2.988,2.955,2.95,2.946,2.925,2.912,2.91,2.891,2.885,2.87,2.855,2.844,2.835,2.824,2.813,2.809,2.788,2.788,2.777,2.759,2.751,2.743,2.736,2.727,2.707,2.706,2.695,2.694,2.684,2.668,2.666,2.658,2.656,2.653,2.636,2.634,2.622,2.622,2.612,2.598,2.594,2.59,2.586,2.576,2.57,2.561,2.549,2.548,2.542,2.536,2.532,2.522,2.519,2.507,2.507,2.504,2.501,2.494,2.488,2.478,2.474,2.473,2.47,2.462,2.461,2.459,2.456,2.45,2.449,2.445,2.442,2.44,2.437,2.436,2.431,2.43,2.419,2.417,2.412,2.409,2.409,2.409,2.409,2.408,2.406,2.403,2.4,2.4,2.398,2.398,2.398,2.398,2.394,2.396,2.394,2.394,2.392,2.392,2.392,2.394,2.394,2.394,2.391,2.391,2.391,2.391,2.391,2.394,2.394,2.391,2.39,2.39,2.39,2.398,2.4,2.4,2.4,2.4,2.401,2.401,2.402,2.406,2.415,2.415,2.415,2.418,2.418,2.42,2.42,2.421,2.427,2.432,2.432,2.437,2.438,2.443,2.447,2.447,2.448,2.458,2.462,2.47,2.47,2.471,2.471,2.472,2.484,2.487,2.489,2.503,2.509,2.509,2.516,2.516,2.518,2.537,2.543,2.546,2.547,2.559,2.559,2.571,2.574,2.581,2.582,2.586,2.592,2.602,2.605,2.617,2.619,2.625,2.63,2.649,2.651,2.663,2.673,2.684,2.69,2.693,2.71,2.71,2.721,2.733,2.744,2.744,2.761,2.77,2.776,2.79,2.791,2.811,2.821,2.834,2.84,2.864,2.869,2.877,2.889,2.894,2.907,2.915,2.939,2.942,2.951,2.98,2.98,2.994,3.014,3.023,3.041,3.053,3.065,3.074,3.097,3.11,3.128,3.133,3.154,3.176,3.179,3.201,3.218,3.23,3.253,3.258,3.281,3.307,3.328,3.336,3.359,3.379,3.397,3.432,3.448,3.467,3.479,3.514,3.535,3.549,3.587,3.625,3.635,3.655,3.682,3.712,3.734,3.759,3.791,3.825,3.861,3.885,3.925,3.943,3.985,4.071,4.088,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.013,3.365,3.352,3.343,3.315,3.306,3.3,3.295,3.285,3.281,3.268,3.265,3.256,3.249,3.232,3.231,3.224,3.213,3.203,3.201,3.193,3.183,3.173,3.172,3.153,3.152,3.15,3.15,3.145,3.138,3.121,3.12,3.113,3.112,3.109,3.106,3.093,3.092,3.091,3.089,3.086,3.068,3.068,3.063,3.061,3.059,3.053,3.051,3.047,3.042,3.041,3.039,3.034,3.031,3.031,3.029,3.029,3.029,3.029,3.029,3.034,3.034,3.034,3.019,3.018,3.015,3.014,3.013,3.012,3.012,3.012,3.012,3.014,3.014,3.014,3.014,3.014,3.014,3.013,3.016,3.016,3.021,3.016,3.021,3.021,3.02,3.02,3.021,3.023,3.026,3.027,3.028,3.029,3.031,3.036,3.038,3.04,3.041,3.047,3.047,3.05,3.053,3.06,3.062,3.064,3.07,3.073,3.076,3.076,3.077,3.087,3.09,3.093,3.095,3.11,3.118,3.119,3.12,3.123,3.126,3.128,3.142,3.142,3.142,3.145,3.148,3.148,3.159,3.161,3.166,3.166,3.18,3.183,3.191,3.203,3.212,3.221,3.221,3.223,3.235,3.238,3.258,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 186.90} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 186.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 186.895} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.1308}
SEN {Time 186.944} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.179,0.177,0.179,0.179,0.21,0,0,0,0,0,0,0,0,0,0,0,3.68,3.676,3.668,3.642,3.637,3.62,3.581,3.579,3.554,3.554,3.359,3.359,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.236,3.23,3.225,3.21,3.208,3.204,3.204,3.204,3.339,0,0,0,0,0,0.148,0.142,0.142,0.142,0.148,0.144,0.148,0.148,0.151,0.148,0.151,0.153,3.067,3.067,3.078,3.078,3.067,3.065,0.164,0.163,0.159,0.158,0.156,0.156,0.158,0.16,2.988,2.989,2.989,2.989,2.988,2.986,2.984,2.984,2.977,2.977,2.975,2.975,2.974,2.972,2.969,2.969,2.969,2.972,3.503,3.503,3.509,3.503,3.509,3.502,3.502,3.497,3.494,3.494,3.497,3.499,3.5,3.5,3.503,3.499,3.503,3.495,3.504,3.495,3.504,3.495,3.504,3.503,3.503,3.503,3.507,3.507,3.512,3.513,3.515,3.517,3.518,3.519,3.52,3.522,3.523,3.526,3.529,3.535,3.539,3.546,3.546,3.548,3.553,3.567,3.57,3.573,3.583,3.591,3.595,3.598,3.598,3.604,3.612,3.62,3.621,3.626,3.629,3.635,3.635,3.652,3.653,3.664,3.667,3.68,3.681,3.688,3.702,3.705,3.713,3.719,3.723,3.739,3.743,3.751,3.759,3.76,3.784,3.785,3.785,3.814,3.816,3.823,3.825,3.844,3.849,3.874,3.874,3.891,3.902,3.924,3.927,3.941,3.955,3.968,3.977,3.995,4.007,4.02,4.042,4.053,4.068,4.095,0.016,0.016,0.016,0.016,0.016,4.022,3.997,3.973,3.938,3.903,3.871,3.859,3.824,3.779,3.752,3.733,3.7,3.683,3.65,3.621,3.598,3.576,3.547,3.531,3.51,3.49,3.46,3.452,3.415,3.409,3.381,3.359,3.344,3.323,3.301,3.288,3.28,3.242,3.216,3.215,3.195,3.192,3.16,3.152,3.126,3.123,3.105,3.082,3.069,3.054,3.049,3.038,3.02,3.005,2.996,2.972,2.962,2.959,2.941,2.926,2.922,2.899,2.891,2.885,2.875,2.86,2.845,2.829,2.817,2.817,2.803,2.792,2.778,2.777,2.763,2.747,2.746,2.737,2.728,2.718,2.702,2.695,2.692,2.681,2.667,2.661,2.65,2.649,2.645,2.631,2.63,2.625,2.612,2.61,2.596,2.593,2.586,2.585,2.578,2.576,2.555,2.552,2.546,2.539,2.535,2.527,2.517,2.514,2.512,2.504,2.503,2.5,2.49,2.483,2.483,2.476,2.472,2.472,2.466,2.465,2.464,2.453,2.451,2.447,2.445,2.439,2.438,2.435,2.433,2.431,2.428,2.425,2.421,2.421,2.41,2.409,2.406,2.403,2.403,2.403,2.403,2.402,2.398,2.398,2.398,2.398,2.396,2.393,2.393,2.393,2.395,2.395,2.395,2.395,2.394,2.388,2.388,2.387,2.387,2.386,2.388,2.388,2.394,2.394,2.394,2.393,2.393,2.393,2.39,2.393,2.396,2.397,2.402,2.403,2.403,2.405,2.405,2.406,2.408,2.408,2.414,2.417,2.421,2.421,2.421,2.427,2.43,2.431,2.431,2.431,2.436,2.446,2.449,2.454,2.454,2.46,2.462,2.465,2.47,2.47,2.477,2.483,2.488,2.491,2.5,2.501,2.507,2.51,2.514,2.519,2.54,2.542,2.544,2.551,2.556,2.56,2.561,2.571,2.579,2.584,2.586,2.592,2.599,2.607,2.613,2.618,2.631,2.633,2.643,2.648,2.663,2.678,2.681,2.684,2.692,2.709,2.71,2.718,2.73,2.744,2.745,2.758,2.769,2.779,2.792,2.795,2.813,2.818,2.827,2.841,2.858,2.859,2.877,2.881,2.896,2.911,2.929,2.931,2.945,2.953,2.974,2.984,2.997,3.012,3.03,3.041,3.048,3.064,3.082,3.1,3.116,3.125,3.137,3.139,3.175,3.179,3.197,3.212,3.225,3.248,3.27,3.281,3.311,3.324,3.341,3.366,3.378,3.396,3.432,3.45,3.46,3.488,3.509,3.536,3.558,3.582,3.618,3.633,3.645,3.693,3.719,3.738,3.759,3.794,3.821,3.882,3.917,3.953,3.953,4.018,4.043,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.009,0.006,0,0,3.354,3.354,3.334,3.323,3.32,3.297,3.293,3.287,3.28,3.267,3.253,3.247,3.244,3.241,3.23,3.225,3.214,3.195,3.195,3.189,3.188,3.178,3.172,3.159,3.159,3.15,3.143,3.14,3.136,3.121,3.121,3.112,3.108,3.107,3.104,3.091,3.09,3.089,3.085,3.081,3.074,3.07,3.068,3.062,3.061,3.06,3.048,3.048,3.048,3.048,3.048,3.041,3.035,3.032,3.03,3.029,3.028,3.028,3.029,3.04,3.04,3.04,3.021,3.021,3.019,3.017,3.015,3.014,3.013,3.014,3.013,3.013,3.013,3.013,3.013,3.013,3.013,3.016,3.016,3.016,3.016,3.014,3.014,3.016,3.019,3.019,3.023,3.023,3.023,3.029,3.03,3.032,3.032,3.034,3.034,3.035,3.041,3.046,3.047,3.047,3.056,3.058,3.059,3.061,3.077,3.077,3.077,3.079,3.081,3.086,3.086,3.089,3.098,3.103,3.109,3.111,3.114,3.12,3.126,3.128,3.138,3.139,3.143,3.145,3.146,3.146,3.157,3.16,3.162,3.168,3.18,3.18,3.193,3.204,3.211,3.22,3.22,3.226,3.23,3.232,3.257,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 187.10} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 187.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 187.097} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.1308}
SEN {Time 187.144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.179,0.176,0.179,0.18,0.18,0.198,0,0,0,0,0,0,0,0,0,0,3.696,3.688,3.671,3.657,3.644,3.633,3.603,3.572,3.571,3.556,3.556,3.354,3.354,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.224,3.224,3.214,3.211,3.211,3.354,3.354,0,0,0,0,0,0.007,0.149,0.147,0.147,0.147,0.143,0.147,0.154,0.154,0.148,0.154,0.154,3.073,3.073,3.073,3.073,3.076,3.066,3.066,0.17,0.164,0.152,0.152,0.152,0.152,0.155,2.99,2.99,2.99,2.989,2.988,2.983,2.983,2.983,2.981,2.979,2.979,2.974,2.974,2.972,2.972,2.965,2.965,2.965,3.505,3.506,3.509,3.506,3.509,3.506,3.505,3.504,3.501,3.497,3.497,3.501,3.501,3.501,3.505,3.505,3.504,3.497,3.499,3.499,3.504,3.499,3.505,3.505,3.506,3.505,3.505,3.506,3.506,3.512,3.515,3.517,3.519,3.52,3.523,3.525,3.525,3.535,3.536,3.537,3.542,3.541,3.542,3.542,3.56,3.564,3.575,3.575,3.576,3.582,3.595,3.596,3.598,3.614,3.616,3.618,3.619,3.621,3.635,3.635,3.64,3.644,3.649,3.652,3.666,3.67,3.683,3.694,3.697,3.704,3.714,3.716,3.722,3.734,3.746,3.748,3.757,3.765,3.782,3.783,3.791,3.809,3.811,3.818,3.832,3.835,3.852,3.867,3.877,3.897,3.899,3.923,3.924,3.94,3.952,3.967,3.979,3.997,4,4.033,4.044,4.055,4.068,4.094,0.016,0.016,0.016,0.016,0.016,4.034,4.007,3.972,3.935,3.886,3.871,3.856,3.816,3.787,3.748,3.734,3.7,3.671,3.652,3.627,3.598,3.57,3.559,3.525,3.509,3.487,3.457,3.445,3.431,3.401,3.383,3.362,3.35,3.336,3.292,3.291,3.262,3.253,3.228,3.211,3.194,3.178,3.17,3.148,3.129,3.119,3.099,3.082,3.072,3.051,3.037,3.036,3.024,3,2.992,2.982,2.958,2.957,2.945,2.921,2.916,2.909,2.896,2.876,2.873,2.861,2.844,2.835,2.835,2.819,2.811,2.793,2.782,2.778,2.758,2.757,2.742,2.735,2.726,2.71,2.702,2.699,2.687,2.683,2.668,2.663,2.66,2.647,2.646,2.633,2.629,2.625,2.618,2.617,2.598,2.596,2.589,2.581,2.581,2.571,2.559,2.556,2.545,2.54,2.54,2.528,2.519,2.519,2.511,2.506,2.502,2.496,2.495,2.488,2.484,2.481,2.477,2.474,2.47,2.468,2.46,2.453,2.448,2.447,2.443,2.441,2.441,2.437,2.437,2.433,2.43,2.421,2.417,2.414,2.409,2.409,2.407,2.407,2.403,2.403,2.403,2.402,2.398,2.396,2.396,2.397,2.396,2.396,2.396,2.393,2.391,2.391,2.391,2.39,2.391,2.391,2.392,2.391,2.391,2.391,2.395,2.394,2.395,2.395,2.394,2.391,2.391,2.39,2.391,2.396,2.397,2.397,2.398,2.398,2.4,2.409,2.409,2.409,2.409,2.413,2.413,2.416,2.421,2.421,2.424,2.424,2.428,2.428,2.436,2.442,2.445,2.447,2.453,2.454,2.455,2.462,2.468,2.468,2.468,2.473,2.477,2.483,2.493,2.497,2.498,2.502,2.504,2.509,2.523,2.524,2.54,2.542,2.544,2.551,2.556,2.561,2.566,2.567,2.582,2.584,2.589,2.592,2.602,2.607,2.609,2.619,2.625,2.634,2.645,2.653,2.656,2.674,2.681,2.683,2.697,2.708,2.717,2.723,2.728,2.739,2.747,2.756,2.769,2.779,2.794,2.795,2.815,2.823,2.829,2.842,2.856,2.868,2.87,2.89,2.897,2.911,2.929,2.93,2.946,2.961,2.967,2.985,2.992,3.009,3.017,3.035,3.051,3.061,3.08,3.095,3.114,3.131,3.136,3.15,3.169,3.178,3.2,3.221,3.228,3.239,3.258,3.285,3.313,3.329,3.333,3.36,3.387,3.391,3.428,3.445,3.459,3.49,3.503,3.537,3.556,3.598,3.621,3.632,3.656,3.691,3.717,3.737,3.762,3.786,3.828,3.85,3.873,3.909,3.953,3.973,4.022,4.06,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0,0,0,4.026,4.013,4.013,3.366,3.357,3.325,3.318,3.303,3.289,3.284,3.281,3.278,3.258,3.255,3.249,3.234,3.224,3.218,3.217,3.201,3.198,3.186,3.185,3.183,3.169,3.161,3.154,3.151,3.144,3.135,3.134,3.125,3.124,3.121,3.112,3.105,3.105,3.095,3.094,3.091,3.084,3.077,3.068,3.068,3.063,3.062,3.061,3.059,3.055,3.05,3.046,3.039,3.039,3.039,3.036,3.031,3.028,3.026,3.028,3.029,3.029,3.034,3.034,3.034,3.019,3.019,3.019,3.018,3.018,3.015,3.007,3.007,3.007,3.01,3.01,3.01,3.01,3.01,3.015,3.012,3.012,3.015,3.02,3.012,3.02,3.02,3.02,3.018,3.02,3.02,3.02,3.021,3.025,3.03,3.025,3.03,3.035,3.041,3.044,3.044,3.047,3.049,3.051,3.055,3.059,3.06,3.068,3.079,3.079,3.079,3.08,3.086,3.089,3.097,3.098,3.098,3.113,3.115,3.12,3.121,3.134,3.134,3.135,3.136,3.145,3.147,3.15,3.155,3.156,3.17,3.17,3.172,3.183,3.184,3.189,3.197,3.204,3.22,3.22,3.227,3.228,3.228,3.253,3.258,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 187.30} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 187.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 187.3} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.588}
SEN {Time 187.344} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.17,0.17,0.18,0.18,0.199,0,0,0,0,0,0,0,0,0,0,3.698,3.675,3.675,3.665,3.649,3.641,3.616,3.588,3.568,3.559,3.559,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.213,3.212,3.212,3.204,3.204,3.212,3.349,0,0,0,0,0,0,0,0.148,0.141,0.141,0.141,0.148,0.152,0.152,0.15,0.152,0.155,3.061,3.068,3.068,3.068,3.068,3.068,3.064,0.164,0.156,0.152,0.152,0.152,0.152,0.153,2.996,2.996,2.996,2.993,2.989,2.986,2.981,2.981,2.981,2.98,2.98,2.973,2.973,2.973,2.969,2.968,2.968,2.968,3.507,3.507,3.507,3.503,3.503,3.503,3.503,3.503,3.502,3.502,3.505,3.504,3.505,3.505,3.504,3.503,3.502,3.499,3.499,3.499,3.499,3.5,3.501,3.501,3.501,3.501,3.505,3.505,3.515,3.515,3.515,3.518,3.517,3.517,3.523,3.523,3.527,3.534,3.534,3.542,3.543,3.545,3.548,3.548,3.548,3.567,3.57,3.572,3.577,3.588,3.588,3.596,3.599,3.601,3.619,3.62,3.621,3.626,3.63,3.637,3.64,3.641,3.645,3.658,3.669,3.679,3.691,3.691,3.697,3.702,3.704,3.715,3.73,3.733,3.747,3.751,3.756,3.778,3.788,3.789,3.796,3.801,3.806,3.821,3.833,3.846,3.848,3.865,3.881,3.892,3.903,3.92,3.927,3.939,3.961,3.97,3.981,3.993,4.017,4.029,4.043,4.07,4.072,4.089,0.016,0.016,0.016,0.016,4.085,4.04,4.009,3.97,3.94,3.898,3.871,3.847,3.809,3.778,3.763,3.723,3.709,3.677,3.647,3.615,3.599,3.584,3.55,3.533,3.499,3.498,3.463,3.45,3.432,3.412,3.381,3.37,3.351,3.328,3.294,3.288,3.27,3.248,3.227,3.218,3.198,3.181,3.161,3.148,3.132,3.119,3.102,3.086,3.063,3.047,3.046,3.034,3.022,3.01,2.989,2.986,2.963,2.951,2.944,2.927,2.918,2.907,2.894,2.877,2.867,2.857,2.85,2.836,2.823,2.819,2.8,2.791,2.79,2.773,2.771,2.751,2.751,2.737,2.728,2.713,2.7,2.689,2.688,2.681,2.674,2.663,2.659,2.652,2.644,2.635,2.632,2.622,2.621,2.618,2.596,2.596,2.586,2.583,2.581,2.576,2.566,2.56,2.545,2.545,2.537,2.527,2.525,2.518,2.51,2.5,2.5,2.498,2.495,2.483,2.481,2.478,2.47,2.468,2.467,2.465,2.463,2.452,2.45,2.447,2.446,2.443,2.442,2.439,2.436,2.433,2.428,2.423,2.418,2.416,2.415,2.412,2.411,2.407,2.403,2.403,2.403,2.403,2.403,2.397,2.397,2.397,2.393,2.391,2.391,2.391,2.391,2.39,2.39,2.391,2.39,2.387,2.387,2.386,2.386,2.389,2.39,2.391,2.393,2.395,2.395,2.395,2.395,2.395,2.395,2.396,2.397,2.397,2.4,2.401,2.402,2.408,2.412,2.412,2.414,2.414,2.414,2.417,2.42,2.424,2.426,2.426,2.431,2.436,2.439,2.439,2.439,2.444,2.448,2.449,2.451,2.457,2.464,2.467,2.473,2.474,2.475,2.482,2.49,2.491,2.496,2.499,2.509,2.51,2.52,2.521,2.542,2.542,2.544,2.544,2.549,2.565,2.567,2.577,2.578,2.59,2.591,2.592,2.6,2.607,2.612,2.628,2.628,2.639,2.642,2.65,2.659,2.668,2.685,2.688,2.699,2.706,2.717,2.724,2.73,2.732,2.744,2.757,2.764,2.779,2.79,2.798,2.806,2.817,2.833,2.836,2.853,2.872,2.874,2.89,2.901,2.911,2.932,2.944,2.948,2.955,2.97,2.986,2.999,3.008,3.028,3.03,3.048,3.062,3.069,3.107,3.107,3.124,3.142,3.149,3.171,3.186,3.197,3.21,3.236,3.245,3.264,3.279,3.301,3.326,3.35,3.36,3.38,3.4,3.426,3.442,3.462,3.489,3.505,3.533,3.555,3.585,3.618,3.629,3.662,3.694,3.715,3.74,3.755,3.793,3.835,3.855,3.88,3.914,3.936,3.966,4.02,4.053,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.354,3.352,3.332,3.328,3.313,3.31,3.296,3.288,3.286,3.275,3.255,3.253,3.248,3.24,3.228,3.217,3.21,3.198,3.196,3.189,3.186,3.173,3.171,3.154,3.154,3.144,3.141,3.139,3.134,3.12,3.119,3.118,3.109,3.108,3.106,3.093,3.092,3.086,3.081,3.081,3.077,3.076,3.064,3.061,3.059,3.058,3.05,3.046,3.045,3.036,3.035,3.036,3.035,3.035,3.031,3.031,3.03,3.031,3.031,3.04,3.04,3.04,3.023,3.012,3.012,3.012,3.012,3.015,3.015,3.015,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.016,3.016,3.016,3.017,3.017,3.014,3.014,3.015,3.015,3.019,3.021,3.025,3.029,3.029,3.029,3.031,3.034,3.038,3.044,3.044,3.044,3.044,3.044,3.055,3.055,3.055,3.061,3.075,3.075,3.075,3.078,3.078,3.087,3.09,3.096,3.096,3.099,3.106,3.116,3.121,3.124,3.129,3.136,3.14,3.141,3.141,3.145,3.145,3.145,3.155,3.155,3.166,3.169,3.178,3.189,3.193,3.199,3.199,3.208,3.208,3.225,3.225,3.226,3.24,3.262,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 187.50} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 187.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 187.502} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.588}
SEN {Time 187.541} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.172,0.172,0.175,0.179,0.179,0.207,0,0,0,0,0,0,0,0,0,0,3.704,3.684,3.679,3.659,3.636,3.633,3.616,3.587,3.578,3.562,3.562,3.357,3.357,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.223,3.212,3.21,3.208,3.208,3.21,3.347,0,0,0,0,0,0.144,0.143,0.143,0.143,0.144,0.142,0.151,0.151,0.151,0.15,0.151,0.153,3.062,3.062,3.062,3.062,3.062,3.061,3.061,0.162,0.161,0.151,0.148,0.148,0.151,0.161,2.995,2.995,2.995,2.991,2.988,2.984,2.982,2.984,2.982,2.978,2.978,2.978,2.975,2.975,2.968,2.966,2.966,2.968,3.505,3.505,3.511,3.506,3.51,3.506,3.506,3.503,3.498,3.498,3.498,3.499,3.499,3.499,3.499,3.505,3.505,3.505,3.505,3.505,3.505,3.505,3.505,3.505,3.505,3.503,3.505,3.505,3.51,3.515,3.517,3.517,3.517,3.517,3.521,3.523,3.527,3.529,3.529,3.533,3.543,3.546,3.551,3.553,3.558,3.564,3.566,3.566,3.586,3.589,3.591,3.594,3.598,3.6,3.606,3.62,3.627,3.628,3.631,3.635,3.637,3.642,3.65,3.659,3.672,3.673,3.683,3.692,3.692,3.704,3.714,3.717,3.727,3.728,3.744,3.752,3.758,3.762,3.774,3.781,3.785,3.803,3.808,3.816,3.823,3.841,3.851,3.862,3.884,3.888,3.91,3.913,3.927,3.948,3.953,3.975,3.977,3.996,4.008,4.032,4.052,4.061,4.075,0.016,0.016,0.016,0.016,0.016,0.016,4.041,4.017,3.967,3.936,3.906,3.867,3.855,3.809,3.795,3.76,3.722,3.702,3.676,3.654,3.636,3.595,3.573,3.55,3.532,3.509,3.493,3.462,3.45,3.43,3.397,3.382,3.365,3.341,3.325,3.298,3.288,3.261,3.247,3.228,3.216,3.195,3.183,3.168,3.149,3.139,3.112,3.107,3.086,3.062,3.053,3.042,3.032,3.02,3.006,2.993,2.97,2.961,2.958,2.948,2.927,2.911,2.909,2.891,2.88,2.864,2.856,2.846,2.841,2.822,2.814,2.806,2.79,2.789,2.772,2.766,2.75,2.741,2.733,2.72,2.713,2.704,2.696,2.693,2.681,2.68,2.678,2.657,2.654,2.644,2.641,2.63,2.622,2.621,2.609,2.602,2.586,2.581,2.577,2.573,2.572,2.563,2.553,2.547,2.541,2.541,2.524,2.522,2.519,2.512,2.51,2.502,2.502,2.499,2.493,2.487,2.48,2.479,2.47,2.467,2.463,2.458,2.455,2.454,2.454,2.446,2.445,2.441,2.439,2.435,2.434,2.423,2.421,2.421,2.409,2.409,2.412,2.409,2.409,2.41,2.407,2.406,2.401,2.401,2.399,2.399,2.399,2.396,2.395,2.395,2.395,2.392,2.391,2.39,2.39,2.39,2.39,2.393,2.393,2.393,2.39,2.393,2.39,2.394,2.394,2.394,2.392,2.393,2.392,2.392,2.392,2.393,2.396,2.397,2.399,2.4,2.405,2.405,2.405,2.408,2.421,2.421,2.421,2.425,2.427,2.427,2.428,2.43,2.432,2.433,2.435,2.437,2.445,2.445,2.452,2.452,2.459,2.467,2.467,2.468,2.476,2.479,2.482,2.482,2.489,2.497,2.498,2.503,2.51,2.514,2.527,2.543,2.543,2.544,2.547,2.552,2.553,2.565,2.571,2.576,2.58,2.589,2.592,2.596,2.613,2.613,2.624,2.637,2.64,2.647,2.649,2.653,2.674,2.676,2.69,2.699,2.709,2.712,2.729,2.73,2.739,2.752,2.759,2.772,2.773,2.783,2.789,2.807,2.819,2.83,2.843,2.856,2.869,2.875,2.888,2.899,2.914,2.917,2.932,2.943,2.954,2.979,2.99,2.991,3.008,3.024,3.04,3.045,3.063,3.086,3.1,3.11,3.125,3.133,3.146,3.175,3.186,3.2,3.209,3.225,3.253,3.267,3.278,3.298,3.326,3.342,3.358,3.378,3.4,3.425,3.451,3.452,3.492,3.503,3.534,3.561,3.588,3.614,3.637,3.664,3.69,3.713,3.736,3.763,3.792,3.828,3.849,3.878,3.917,3.977,4.006,4.058,4.058,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,3.357,3.355,3.332,3.329,3.314,3.296,3.291,3.286,3.278,3.272,3.26,3.255,3.248,3.231,3.231,3.214,3.211,3.202,3.2,3.193,3.19,3.172,3.163,3.16,3.155,3.148,3.142,3.141,3.136,3.128,3.112,3.111,3.109,3.106,3.105,3.096,3.09,3.088,3.088,3.081,3.074,3.065,3.065,3.063,3.054,3.048,3.048,3.048,3.046,3.043,3.039,3.035,3.033,3.031,3.028,3.028,3.028,3.028,3.032,3.04,3.04,3.04,3.018,3.017,3.017,3.017,3.017,3.017,3.019,3.018,3.018,3.018,3.014,3.013,3.013,3.012,3.013,3.014,3.014,3.012,3.014,3.011,3.011,3.013,3.015,3.015,3.019,3.024,3.026,3.027,3.027,3.029,3.029,3.038,3.039,3.042,3.042,3.043,3.044,3.048,3.049,3.056,3.059,3.061,3.068,3.079,3.079,3.079,3.081,3.088,3.092,3.092,3.094,3.106,3.107,3.11,3.124,3.125,3.131,3.132,3.144,3.147,3.147,3.147,3.147,3.149,3.161,3.162,3.166,3.17,3.174,3.184,3.186,3.201,3.209,3.218,3.218,3.22,3.225,3.245,3.246,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 187.70} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 187.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 187.696} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.588}
SEN {Time 187.739} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.181,0.18,0.18,0.181,0.181,0.202,0,0,0,0,0,0,0,0,0,0,3.715,3.685,3.671,3.661,3.645,3.632,3.617,3.597,3.597,3.597,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.241,3.217,3.217,3.214,3.214,3.217,3.349,3.349,0,0,0,0,0,0.148,0.139,0.139,0.143,0.148,0.148,0.148,0.148,0.151,0.151,0.153,0.153,3.062,3.062,3.063,3.063,3.063,3.063,3.063,0.168,0.168,0.158,0.155,0.155,0.156,0.156,2.994,2.994,2.994,2.99,2.985,2.979,2.978,2.979,2.977,2.975,2.975,2.975,2.974,2.971,2.971,2.969,2.969,2.969,3.506,3.506,3.509,3.506,3.509,3.509,3.502,3.501,3.498,3.498,3.498,3.498,3.502,3.502,3.502,3.502,3.502,3.5,3.501,3.5,3.501,3.5,3.501,3.5,3.506,3.501,3.506,3.506,3.507,3.509,3.51,3.513,3.524,3.524,3.524,3.524,3.53,3.533,3.538,3.539,3.543,3.544,3.546,3.549,3.551,3.558,3.561,3.573,3.58,3.582,3.59,3.59,3.596,3.607,3.618,3.619,3.625,3.625,3.633,3.634,3.638,3.65,3.653,3.657,3.666,3.675,3.681,3.69,3.699,3.703,3.71,3.716,3.718,3.732,3.734,3.751,3.753,3.756,3.778,3.78,3.798,3.804,3.818,3.827,3.828,3.853,3.856,3.858,3.883,3.893,3.898,3.915,3.923,3.946,3.952,3.968,3.983,3.999,4.006,4.024,4.046,4.069,4.072,4.085,0.016,0.016,0.016,0.016,0.016,0.007,4.032,3.967,3.938,3.899,3.877,3.852,3.806,3.788,3.759,3.727,3.701,3.677,3.646,3.63,3.6,3.568,3.551,3.525,3.504,3.487,3.46,3.456,3.425,3.409,3.38,3.363,3.348,3.33,3.296,3.292,3.259,3.246,3.219,3.213,3.199,3.182,3.159,3.149,3.135,3.121,3.109,3.085,3.062,3.056,3.038,3.032,3.019,3.008,2.995,2.982,2.962,2.961,2.949,2.922,2.911,2.908,2.891,2.881,2.87,2.855,2.845,2.845,2.823,2.815,2.808,2.79,2.787,2.769,2.759,2.756,2.749,2.744,2.724,2.72,2.702,2.7,2.691,2.678,2.673,2.671,2.665,2.649,2.649,2.633,2.63,2.627,2.615,2.615,2.599,2.593,2.592,2.576,2.574,2.574,2.563,2.555,2.541,2.541,2.537,2.534,2.53,2.517,2.517,2.507,2.501,2.495,2.494,2.49,2.486,2.479,2.473,2.472,2.471,2.462,2.458,2.453,2.452,2.449,2.447,2.443,2.438,2.436,2.436,2.429,2.427,2.423,2.413,2.413,2.413,2.413,2.411,2.407,2.406,2.406,2.405,2.401,2.401,2.399,2.399,2.395,2.395,2.395,2.395,2.393,2.393,2.393,2.393,2.393,2.395,2.395,2.393,2.392,2.39,2.39,2.39,2.391,2.393,2.394,2.394,2.393,2.394,2.393,2.393,2.395,2.397,2.398,2.399,2.402,2.405,2.406,2.407,2.411,2.413,2.415,2.415,2.415,2.423,2.425,2.425,2.427,2.431,2.437,2.437,2.437,2.441,2.444,2.446,2.452,2.456,2.456,2.464,2.467,2.474,2.474,2.482,2.484,2.49,2.495,2.496,2.503,2.508,2.509,2.515,2.516,2.543,2.543,2.546,2.553,2.553,2.556,2.565,2.577,2.579,2.579,2.588,2.597,2.604,2.61,2.619,2.621,2.634,2.64,2.644,2.658,2.659,2.668,2.685,2.69,2.694,2.702,2.716,2.72,2.734,2.74,2.748,2.752,2.767,2.777,2.79,2.795,2.798,2.818,2.83,2.839,2.855,2.868,2.872,2.887,2.901,2.91,2.92,2.931,2.943,2.95,2.968,2.983,2.992,3.013,3.022,3.039,3.058,3.064,3.08,3.102,3.113,3.122,3.134,3.156,3.17,3.176,3.202,3.219,3.228,3.25,3.262,3.279,3.309,3.324,3.342,3.353,3.384,3.398,3.422,3.443,3.452,3.489,3.496,3.526,3.563,3.576,3.621,3.629,3.659,3.683,3.712,3.741,3.754,3.801,3.835,3.851,3.896,3.919,3.987,3.999,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.356,3.354,3.334,3.321,3.313,3.297,3.287,3.284,3.278,3.267,3.262,3.258,3.253,3.253,3.236,3.23,3.22,3.207,3.194,3.192,3.181,3.171,3.171,3.156,3.153,3.15,3.143,3.142,3.136,3.123,3.119,3.117,3.114,3.11,3.094,3.094,3.094,3.094,3.084,3.077,3.073,3.067,3.065,3.065,3.062,3.062,3.05,3.048,3.045,3.045,3.043,3.043,3.041,3.036,3.028,3.028,3.027,3.027,3.032,3.035,3.035,3.035,3.02,3.019,3.019,3.019,3.015,3.01,3.01,3.01,3.01,3.01,3.015,3.015,3.015,3.015,3.015,3.015,3.015,3.013,3.013,3.012,3.013,3.022,3.022,3.022,3.022,3.018,3.018,3.029,3.027,3.033,3.034,3.035,3.036,3.036,3.045,3.048,3.049,3.05,3.057,3.057,3.062,3.064,3.074,3.079,3.079,3.084,3.084,3.087,3.092,3.094,3.096,3.1,3.107,3.119,3.121,3.122,3.127,3.127,3.143,3.143,3.143,3.143,3.143,3.143,3.159,3.166,3.169,3.174,3.177,3.183,3.186,3.205,3.215,3.219,3.219,3.223,3.23,3.248,3.253,3.264,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 187.90} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 187.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 187.898} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 187.939} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.173,0.173,0.178,0.178,0.205,0,0,0,0,0,0,0,0,0,0,3.702,3.689,3.68,3.66,3.644,3.631,3.623,3.589,3.578,3.578,3.578,3.559,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.216,3.21,3.208,3.208,3.208,3.208,3.343,0,0,0,0,0,0.15,0.143,0.143,0.143,0.15,0.146,0.146,0.146,0.151,0.146,0.151,0.158,3.061,3.061,3.062,3.062,3.061,3.059,0.166,0.163,0.163,0.157,0.157,0.157,0.158,0.159,2.998,2.998,2.998,2.986,2.985,2.98,2.98,2.98,2.976,2.976,2.976,2.976,2.976,2.976,2.969,2.969,2.978,2.979,3.51,3.51,3.516,3.51,3.508,3.504,3.503,3.499,3.503,3.503,3.503,3.5,3.504,3.5,3.495,3.495,3.495,3.495,3.498,3.498,3.499,3.499,3.502,3.504,3.504,3.504,3.509,3.51,3.51,3.51,3.514,3.514,3.519,3.519,3.521,3.528,3.528,3.531,3.534,3.54,3.543,3.547,3.55,3.552,3.559,3.569,3.574,3.574,3.59,3.591,3.592,3.594,3.596,3.606,3.613,3.623,3.626,3.63,3.63,3.632,3.638,3.653,3.654,3.659,3.664,3.67,3.687,3.696,3.697,3.697,3.7,3.715,3.723,3.743,3.743,3.754,3.759,3.76,3.779,3.788,3.797,3.805,3.806,3.83,3.838,3.844,3.849,3.851,3.883,3.886,3.911,3.912,3.925,3.944,3.953,3.975,3.981,3.991,4.003,4.019,4.044,4.059,4.065,4.084,0.016,0.016,0.016,0.016,0.016,0.007,4.031,3.974,3.95,3.906,3.866,3.844,3.813,3.795,3.752,3.726,3.697,3.666,3.66,3.628,3.607,3.574,3.557,3.523,3.506,3.494,3.464,3.447,3.428,3.41,3.385,3.37,3.354,3.326,3.301,3.293,3.269,3.251,3.232,3.22,3.195,3.177,3.164,3.141,3.135,3.118,3.106,3.079,3.068,3.056,3.045,3.032,3.017,3.009,2.985,2.977,2.956,2.955,2.945,2.932,2.921,2.907,2.895,2.884,2.864,2.861,2.843,2.84,2.817,2.816,2.797,2.796,2.784,2.77,2.769,2.751,2.746,2.739,2.72,2.719,2.71,2.701,2.693,2.689,2.675,2.672,2.666,2.647,2.646,2.628,2.628,2.62,2.611,2.607,2.606,2.596,2.591,2.582,2.569,2.567,2.562,2.559,2.552,2.544,2.535,2.528,2.524,2.51,2.508,2.504,2.503,2.503,2.494,2.491,2.489,2.479,2.475,2.475,2.474,2.462,2.462,2.456,2.447,2.445,2.442,2.44,2.438,2.437,2.435,2.433,2.426,2.419,2.414,2.414,2.412,2.41,2.408,2.408,2.405,2.405,2.4,2.4,2.4,2.4,2.399,2.399,2.395,2.395,2.395,2.39,2.388,2.388,2.388,2.388,2.389,2.391,2.395,2.395,2.394,2.394,2.392,2.392,2.393,2.393,2.393,2.393,2.393,2.394,2.392,2.394,2.397,2.397,2.399,2.399,2.4,2.406,2.408,2.409,2.409,2.413,2.42,2.421,2.425,2.427,2.428,2.428,2.433,2.437,2.439,2.443,2.443,2.443,2.451,2.457,2.46,2.46,2.464,2.464,2.468,2.47,2.478,2.479,2.49,2.495,2.5,2.501,2.509,2.513,2.514,2.516,2.535,2.545,2.546,2.548,2.557,2.562,2.566,2.571,2.581,2.582,2.588,2.596,2.598,2.608,2.61,2.624,2.63,2.632,2.652,2.652,2.656,2.671,2.684,2.69,2.703,2.711,2.714,2.724,2.725,2.739,2.746,2.758,2.768,2.778,2.793,2.794,2.814,2.82,2.829,2.851,2.855,2.862,2.873,2.885,2.892,2.906,2.923,2.938,2.949,2.953,2.965,2.981,2.998,3.011,3.023,3.033,3.045,3.057,3.073,3.101,3.118,3.127,3.141,3.149,3.177,3.178,3.196,3.209,3.231,3.247,3.262,3.287,3.298,3.338,3.343,3.359,3.383,3.397,3.428,3.445,3.463,3.483,3.509,3.525,3.551,3.594,3.615,3.63,3.661,3.689,3.713,3.734,3.758,3.795,3.83,3.848,3.889,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.355,3.347,3.322,3.307,3.305,3.29,3.287,3.286,3.273,3.257,3.256,3.25,3.241,3.23,3.217,3.215,3.203,3.199,3.189,3.181,3.175,3.167,3.167,3.159,3.144,3.141,3.133,3.133,3.122,3.119,3.115,3.106,3.103,3.103,3.099,3.095,3.092,3.082,3.076,3.071,3.071,3.069,3.069,3.068,3.058,3.057,3.053,3.048,3.038,3.038,3.037,3.033,3.03,3.029,3.029,3.028,3.028,3.028,3.042,3.042,3.042,3.024,3.019,3.016,3.013,3.013,3.011,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.01,3.011,3.011,3.013,3.02,3.013,3.02,3.021,3.022,3.025,3.025,3.025,3.025,3.028,3.029,3.032,3.032,3.032,3.035,3.04,3.044,3.045,3.05,3.053,3.055,3.057,3.061,3.064,3.073,3.076,3.076,3.077,3.079,3.085,3.085,3.097,3.101,3.105,3.111,3.112,3.12,3.126,3.126,3.129,3.139,3.145,3.146,3.147,3.148,3.148,3.157,3.165,3.166,3.167,3.179,3.181,3.188,3.202,3.217,3.221,3.221,3.229,3.231,3.244,3.258,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 188.09} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 188.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 188.091} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 188.14} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.176,0.176,0.181,0.182,0.182,0.214,0,0,0,0,0,0.007,0,0,0,0,3.692,3.676,3.674,3.665,3.646,3.628,3.62,3.59,3.583,3.567,3.567,3.355,3.355,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.246,3.227,3.213,3.208,3.207,3.207,3.207,3.34,0,0,0,0,0,0.145,0.144,0.144,0.144,0.145,0.142,0.145,0.145,0.155,0.145,0.155,0.155,3.061,3.061,3.061,3.061,3.061,3.058,3.058,0.165,0.158,0.154,0.153,0.153,0.154,0.158,2.994,2.994,2.994,2.992,2.991,2.983,2.982,2.983,2.982,2.981,2.973,2.973,2.972,2.97,2.972,2.97,2.972,2.972,3.505,3.511,3.511,3.51,3.511,3.51,3.51,3.506,3.506,3.506,3.506,3.506,3.506,3.506,3.506,3.503,3.503,3.503,3.503,3.503,3.503,3.495,3.506,3.509,3.509,3.506,3.506,3.506,3.506,3.514,3.517,3.517,3.517,3.52,3.52,3.528,3.53,3.537,3.539,3.542,3.544,3.544,3.552,3.554,3.565,3.565,3.57,3.57,3.578,3.583,3.592,3.599,3.604,3.605,3.611,3.615,3.625,3.627,3.628,3.637,3.64,3.649,3.652,3.662,3.676,3.677,3.683,3.688,3.694,3.697,3.707,3.713,3.724,3.738,3.746,3.751,3.753,3.777,3.78,3.782,3.786,3.797,3.809,3.819,3.826,3.839,3.854,3.863,3.875,3.897,3.901,3.912,3.935,3.948,3.963,3.975,3.986,3.987,4.01,4.032,4.049,4.061,4.073,0.016,0.016,0.016,0.016,0.016,4.069,4.038,4.004,3.96,3.936,3.903,3.88,3.852,3.817,3.798,3.76,3.731,3.697,3.674,3.657,3.63,3.603,3.568,3.554,3.525,3.515,3.486,3.462,3.448,3.431,3.415,3.379,3.371,3.347,3.333,3.305,3.286,3.266,3.247,3.232,3.222,3.204,3.187,3.161,3.142,3.138,3.124,3.106,3.087,3.07,3.054,3.048,3.028,3.02,3.007,2.995,2.984,2.962,2.95,2.941,2.926,2.919,2.91,2.891,2.886,2.869,2.851,2.847,2.838,2.817,2.814,2.798,2.794,2.792,2.774,2.77,2.749,2.741,2.739,2.726,2.702,2.702,2.693,2.685,2.68,2.677,2.668,2.664,2.65,2.649,2.636,2.635,2.622,2.621,2.613,2.607,2.594,2.589,2.586,2.576,2.574,2.56,2.555,2.546,2.546,2.541,2.534,2.519,2.515,2.513,2.504,2.501,2.5,2.499,2.494,2.477,2.476,2.473,2.471,2.468,2.461,2.461,2.453,2.449,2.447,2.446,2.444,2.438,2.436,2.433,2.433,2.428,2.425,2.416,2.416,2.415,2.411,2.409,2.408,2.406,2.406,2.406,2.404,2.396,2.396,2.396,2.396,2.396,2.396,2.39,2.389,2.389,2.389,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.386,2.386,2.386,2.395,2.395,2.395,2.391,2.391,2.391,2.396,2.398,2.4,2.403,2.401,2.403,2.404,2.404,2.405,2.408,2.412,2.412,2.412,2.418,2.419,2.425,2.425,2.428,2.428,2.431,2.439,2.441,2.447,2.447,2.45,2.45,2.454,2.457,2.46,2.467,2.47,2.474,2.481,2.482,2.486,2.494,2.5,2.501,2.504,2.512,2.516,2.517,2.534,2.547,2.549,2.55,2.555,2.559,2.566,2.568,2.575,2.576,2.591,2.594,2.598,2.61,2.611,2.629,2.632,2.639,2.648,2.649,2.661,2.673,2.678,2.684,2.694,2.71,2.715,2.724,2.734,2.736,2.758,2.758,2.764,2.776,2.789,2.797,2.808,2.822,2.832,2.839,2.859,2.866,2.879,2.887,2.904,2.914,2.917,2.935,2.95,2.954,2.972,2.98,2.988,3.01,3.028,3.036,3.057,3.061,3.08,3.099,3.116,3.134,3.143,3.15,3.175,3.181,3.203,3.219,3.228,3.245,3.266,3.275,3.303,3.323,3.343,3.353,3.379,3.395,3.425,3.448,3.455,3.487,3.504,3.526,3.56,3.585,3.616,3.639,3.672,3.686,3.722,3.742,3.768,3.786,3.832,3.851,3.878,3.915,3.953,3.985,4.022,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.348,3.342,3.329,3.317,3.298,3.293,3.286,3.28,3.271,3.257,3.253,3.253,3.234,3.231,3.213,3.208,3.203,3.202,3.199,3.181,3.179,3.169,3.161,3.158,3.149,3.137,3.136,3.136,3.124,3.116,3.115,3.109,3.105,3.101,3.095,3.091,3.09,3.085,3.085,3.081,3.069,3.062,3.062,3.062,3.059,3.049,3.049,3.049,3.041,3.039,3.036,3.034,3.029,3.029,3.029,3.026,3.029,3.029,3.038,3.038,3.038,3.02,3.017,3.017,3.017,3.015,3.013,3.012,3.012,3.013,3.014,3.015,3.015,3.014,3.014,3.014,3.014,3.014,3.012,3.014,3.014,3.015,3.015,3.016,3.016,3.02,3.025,3.025,3.029,3.03,3.03,3.03,3.03,3.039,3.04,3.041,3.042,3.049,3.05,3.053,3.055,3.059,3.065,3.067,3.077,3.077,3.08,3.087,3.087,3.089,3.096,3.096,3.103,3.112,3.115,3.115,3.124,3.132,3.134,3.138,3.139,3.14,3.15,3.151,3.152,3.158,3.166,3.168,3.172,3.182,3.186,3.19,3.199,3.21,3.221,3.221,3.226,3.23,3.247,3.256,3.275,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 188.29} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 188.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 188.293} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 188.34} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.177,0.175,0.177,0.181,0.181,0.19,0,0,0,0,0,0,0,0,0,0,3.705,3.684,3.678,3.661,3.65,3.639,3.623,3.592,3.572,3.563,3.563,3.349,3.349,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.225,3.218,3.206,3.206,3.336,3.336,0,0,0,0,0,0.145,0.145,0.145,0.145,0.145,0.144,0.147,0.153,0.153,0.149,0.153,0.153,3.061,3.061,3.067,3.067,3.061,3.06,0.17,0.162,0.162,0.157,0.154,0.152,0.154,0.154,2.991,2.991,2.991,2.989,2.986,2.985,2.982,2.982,2.979,2.979,2.979,2.977,2.976,2.973,2.973,2.97,2.973,2.976,3.5,3.509,3.512,3.509,3.509,3.506,3.503,3.501,3.501,3.502,3.502,3.502,3.502,3.501,3.501,3.499,3.501,3.501,3.498,3.498,3.5,3.5,3.5,3.5,3.5,3.5,3.501,3.501,3.507,3.513,3.515,3.517,3.517,3.518,3.521,3.524,3.524,3.531,3.535,3.543,3.545,3.545,3.551,3.551,3.552,3.564,3.569,3.569,3.582,3.583,3.587,3.588,3.601,3.605,3.614,3.614,3.619,3.631,3.632,3.632,3.637,3.65,3.65,3.65,3.676,3.681,3.681,3.692,3.695,3.7,3.717,3.719,3.721,3.731,3.744,3.746,3.754,3.774,3.777,3.777,3.794,3.808,3.814,3.825,3.831,3.849,3.854,3.866,3.88,3.884,3.897,3.917,3.918,3.945,3.946,3.969,3.98,3.994,4.015,4.025,4.039,4.06,4.073,4.088,0.016,0.016,0.016,0.016,0.016,4.032,4.008,3.973,3.939,3.896,3.869,3.852,3.808,3.783,3.759,3.729,3.709,3.684,3.652,3.63,3.604,3.578,3.559,3.522,3.512,3.496,3.47,3.446,3.43,3.413,3.386,3.362,3.342,3.332,3.3,3.286,3.267,3.242,3.23,3.218,3.197,3.184,3.156,3.144,3.136,3.116,3.098,3.091,3.063,3.05,3.047,3.033,3.033,3.003,2.994,2.983,2.958,2.952,2.936,2.931,2.911,2.909,2.888,2.882,2.874,2.866,2.847,2.832,2.823,2.821,2.808,2.801,2.791,2.775,2.755,2.754,2.737,2.729,2.726,2.711,2.702,2.701,2.686,2.685,2.679,2.671,2.668,2.654,2.649,2.635,2.635,2.629,2.617,2.613,2.599,2.588,2.587,2.576,2.572,2.571,2.562,2.557,2.552,2.551,2.539,2.533,2.529,2.518,2.51,2.508,2.5,2.5,2.496,2.481,2.48,2.477,2.472,2.471,2.468,2.463,2.46,2.46,2.455,2.447,2.446,2.445,2.441,2.436,2.435,2.429,2.425,2.423,2.42,2.418,2.417,2.417,2.414,2.409,2.406,2.405,2.403,2.403,2.399,2.399,2.395,2.395,2.395,2.393,2.39,2.393,2.393,2.392,2.393,2.393,2.393,2.392,2.392,2.392,2.389,2.391,2.391,2.391,2.392,2.392,2.393,2.393,2.392,2.392,2.394,2.394,2.395,2.397,2.399,2.403,2.404,2.407,2.408,2.412,2.412,2.415,2.415,2.418,2.418,2.424,2.424,2.425,2.428,2.437,2.438,2.441,2.443,2.446,2.449,2.449,2.452,2.453,2.461,2.462,2.464,2.476,2.478,2.483,2.485,2.491,2.495,2.497,2.507,2.513,2.513,2.514,2.536,2.542,2.545,2.545,2.557,2.56,2.562,2.57,2.575,2.58,2.585,2.599,2.601,2.607,2.61,2.623,2.625,2.637,2.644,2.657,2.664,2.672,2.682,2.689,2.692,2.703,2.707,2.717,2.727,2.739,2.748,2.759,2.772,2.772,2.788,2.796,2.813,2.821,2.831,2.845,2.861,2.862,2.876,2.894,2.899,2.914,2.923,2.938,2.938,2.962,2.972,2.988,2.997,3.011,3.026,3.036,3.045,3.059,3.077,3.097,3.121,3.126,3.136,3.152,3.17,3.182,3.198,3.216,3.235,3.251,3.258,3.288,3.301,3.329,3.337,3.355,3.389,3.406,3.436,3.444,3.459,3.483,3.512,3.536,3.559,3.584,3.616,3.635,3.675,3.695,3.711,3.736,3.755,3.795,3.837,3.842,3.893,3.95,3.993,4.012,4.012,4.071,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.363,3.355,3.336,3.324,3.314,3.303,3.303,3.287,3.282,3.268,3.26,3.252,3.247,3.236,3.23,3.221,3.21,3.198,3.196,3.195,3.189,3.176,3.172,3.164,3.15,3.15,3.148,3.138,3.13,3.123,3.118,3.114,3.11,3.103,3.102,3.099,3.096,3.093,3.084,3.077,3.076,3.066,3.062,3.061,3.06,3.056,3.054,3.049,3.045,3.041,3.04,3.04,3.033,3.033,3.031,3.03,3.03,3.03,3.03,3.034,3.034,3.034,3.022,3.019,3.019,3.019,3.017,3.018,3.017,3.014,3.014,3.014,3.014,3.015,3.015,3.015,3.015,3.015,3.014,3.02,3.023,3.02,3.022,3.023,3.022,3.022,3.024,3.027,3.027,3.029,3.029,3.029,3.029,3.029,3.029,3.04,3.048,3.048,3.048,3.054,3.054,3.055,3.06,3.064,3.067,3.072,3.074,3.077,3.077,3.08,3.09,3.092,3.103,3.105,3.112,3.113,3.122,3.122,3.125,3.129,3.143,3.143,3.143,3.143,3.143,3.143,3.156,3.157,3.164,3.172,3.18,3.181,3.184,3.193,3.209,3.212,3.212,3.219,3.228,3.243,3.252,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 188.49} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 188.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 188.495} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 188.54} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.177,0.174,0.177,0.177,0.177,0.203,0,0,0,0,0,0,0,0,0,0,3.704,3.681,3.671,3.666,3.646,3.633,3.617,3.593,3.593,3.58,3.58,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.246,3.216,3.21,3.209,3.208,3.208,3.208,3.35,0,0,0,0,0,0.147,0.14,0.14,0.14,0.147,0.143,0.145,0.145,0.152,0.15,0.152,0.153,3.061,3.061,3.061,3.061,3.064,3.056,3.056,0.169,0.165,0.152,0.152,0.152,0.152,0.152,2.991,2.992,2.992,2.991,2.99,2.988,2.986,2.986,2.98,2.979,2.976,2.976,2.975,2.973,2.971,2.971,2.971,2.971,3.508,3.508,3.511,3.511,3.511,3.509,3.509,3.502,3.499,3.499,3.499,3.499,3.502,3.502,3.502,3.502,3.504,3.506,3.506,3.506,3.506,3.505,3.505,3.505,3.505,3.507,3.509,3.509,3.51,3.516,3.509,3.519,3.521,3.521,3.524,3.524,3.524,3.526,3.535,3.54,3.541,3.55,3.556,3.559,3.559,3.566,3.568,3.573,3.585,3.586,3.587,3.587,3.597,3.601,3.616,3.622,3.622,3.624,3.626,3.637,3.639,3.65,3.651,3.654,3.662,3.674,3.678,3.698,3.702,3.704,3.708,3.713,3.721,3.739,3.745,3.748,3.757,3.764,3.775,3.781,3.794,3.805,3.816,3.825,3.831,3.847,3.866,3.877,3.88,3.89,3.911,3.919,3.92,3.941,3.953,3.973,3.976,4,4.011,4.02,4.046,4.056,4.075,4.092,4.093,0.016,0.016,0.016,4.087,4.031,4.003,3.977,3.929,3.908,3.862,3.839,3.81,3.783,3.763,3.728,3.699,3.675,3.652,3.632,3.597,3.572,3.546,3.533,3.496,3.49,3.466,3.444,3.418,3.403,3.383,3.366,3.35,3.336,3.293,3.285,3.27,3.25,3.225,3.221,3.195,3.185,3.164,3.148,3.138,3.121,3.096,3.092,3.067,3.049,3.047,3.028,3.022,3.004,2.997,2.99,2.959,2.957,2.94,2.927,2.917,2.906,2.894,2.88,2.873,2.861,2.845,2.832,2.822,2.806,2.806,2.797,2.785,2.774,2.765,2.752,2.75,2.738,2.726,2.709,2.706,2.692,2.686,2.679,2.678,2.668,2.663,2.65,2.647,2.638,2.629,2.62,2.616,2.606,2.601,2.594,2.591,2.59,2.573,2.57,2.561,2.554,2.546,2.545,2.534,2.527,2.523,2.512,2.511,2.505,2.495,2.493,2.492,2.487,2.482,2.479,2.479,2.468,2.466,2.461,2.459,2.456,2.45,2.448,2.444,2.44,2.435,2.433,2.429,2.426,2.425,2.418,2.416,2.415,2.411,2.408,2.408,2.406,2.404,2.404,2.401,2.397,2.396,2.395,2.392,2.392,2.392,2.394,2.394,2.394,2.393,2.393,2.393,2.396,2.396,2.396,2.394,2.389,2.389,2.389,2.393,2.393,2.393,2.393,2.395,2.395,2.397,2.396,2.397,2.396,2.397,2.397,2.398,2.398,2.4,2.402,2.402,2.407,2.409,2.412,2.412,2.416,2.419,2.423,2.424,2.431,2.433,2.433,2.435,2.439,2.445,2.446,2.447,2.447,2.453,2.455,2.466,2.471,2.474,2.474,2.479,2.488,2.488,2.489,2.493,2.498,2.51,2.512,2.516,2.53,2.54,2.543,2.543,2.549,2.553,2.557,2.567,2.569,2.584,2.585,2.587,2.594,2.6,2.611,2.617,2.621,2.625,2.637,2.649,2.661,2.662,2.671,2.688,2.688,2.697,2.701,2.715,2.717,2.731,2.735,2.755,2.755,2.766,2.784,2.789,2.798,2.805,2.821,2.834,2.842,2.856,2.866,2.872,2.882,2.906,2.907,2.92,2.936,2.951,2.963,2.971,2.988,2.999,3.016,3.029,3.042,3.055,3.07,3.078,3.103,3.119,3.12,3.139,3.141,3.171,3.175,3.201,3.216,3.23,3.246,3.267,3.278,3.304,3.326,3.339,3.368,3.379,3.395,3.422,3.441,3.459,3.487,3.507,3.531,3.553,3.586,3.616,3.634,3.655,3.689,3.719,3.743,3.757,3.8,3.824,3.858,3.878,3.916,3.941,3.985,4.015,4.092,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.354,3.338,3.329,3.321,3.297,3.292,3.282,3.278,3.273,3.251,3.248,3.245,3.234,3.227,3.217,3.209,3.2,3.197,3.196,3.185,3.175,3.165,3.163,3.161,3.146,3.143,3.138,3.133,3.121,3.116,3.115,3.112,3.11,3.11,3.103,3.099,3.096,3.083,3.083,3.078,3.072,3.066,3.063,3.063,3.06,3.055,3.054,3.047,3.045,3.04,3.039,3.032,3.032,3.037,3.037,3.031,3.037,3.037,3.038,3.038,3.038,3.024,3.024,3.016,3.015,3.014,3.014,3.013,3.014,3.013,3.013,3.013,3.013,3.013,3.016,3.017,3.016,3.017,3.02,3.021,3.02,3.02,3.021,3.019,3.019,3.025,3.025,3.028,3.029,3.029,3.03,3.029,3.03,3.031,3.039,3.042,3.045,3.045,3.053,3.053,3.056,3.06,3.064,3.076,3.078,3.081,3.082,3.082,3.087,3.091,3.094,3.101,3.106,3.107,3.113,3.121,3.123,3.127,3.134,3.138,3.138,3.145,3.145,3.145,3.145,3.156,3.16,3.169,3.171,3.178,3.182,3.191,3.198,3.217,3.22,3.22,3.227,3.229,3.235,3.25,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 188.70} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 188.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 188.698} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 188.737} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.168,0.168,0.174,0.174,0.176,0.177,0.177,0.209,0,0,0,0,0,0.007,0,0,0,0,3.705,3.679,3.664,3.663,3.643,3.637,3.619,3.58,3.578,3.578,3.58,3.567,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.22,3.217,3.215,3.215,3.343,3.343,0,0,0,0,0,0.149,0.144,0.144,0.144,0.149,0.147,0.15,0.15,0.15,0.15,0.151,0.153,3.064,3.068,3.068,3.068,3.064,3.061,0.167,0.16,0.158,0.153,0.153,0.153,0.153,0.155,2.998,2.998,2.998,2.99,2.99,2.989,2.984,2.984,2.981,2.976,2.975,2.973,2.973,2.973,2.973,2.972,2.974,2.974,3.506,3.507,3.511,3.508,3.511,3.511,3.511,3.508,3.503,3.503,3.505,3.503,3.503,3.502,3.502,3.501,3.501,3.501,3.501,3.5,3.501,3.5,3.501,3.504,3.505,3.506,3.507,3.512,3.515,3.515,3.519,3.52,3.519,3.519,3.521,3.525,3.526,3.532,3.537,3.539,3.539,3.544,3.547,3.559,3.561,3.568,3.57,3.578,3.585,3.588,3.589,3.589,3.597,3.603,3.609,3.626,3.626,3.627,3.628,3.628,3.637,3.652,3.66,3.662,3.669,3.678,3.684,3.694,3.696,3.703,3.71,3.716,3.721,3.736,3.741,3.755,3.757,3.763,3.773,3.782,3.792,3.806,3.812,3.827,3.828,3.832,3.86,3.861,3.884,3.887,3.898,3.918,3.932,3.936,3.959,3.963,3.979,4.001,4.004,4.024,4.042,4.063,4.074,4.087,0.016,0.016,0.016,0.016,0.007,0,4.077,0,3.974,3.933,3.87,3.845,3.827,3.79,3.751,3.726,3.703,3.682,3.655,3.621,3.594,3.57,3.55,3.523,3.513,3.484,3.477,3.453,3.429,3.406,3.378,3.367,3.341,3.326,3.29,3.288,3.26,3.253,3.224,3.216,3.197,3.176,3.162,3.157,3.135,3.127,3.096,3.091,3.069,3.056,3.044,3.034,3.016,3.004,2.99,2.98,2.963,2.959,2.937,2.927,2.913,2.906,2.891,2.885,2.866,2.852,2.85,2.83,2.823,2.814,2.804,2.802,2.788,2.78,2.759,2.754,2.737,2.733,2.723,2.706,2.704,2.698,2.693,2.68,2.678,2.677,2.666,2.655,2.646,2.637,2.625,2.625,2.62,2.612,2.609,2.595,2.589,2.583,2.575,2.573,2.571,2.55,2.547,2.546,2.541,2.532,2.524,2.513,2.51,2.505,2.503,2.499,2.493,2.487,2.48,2.476,2.472,2.471,2.47,2.461,2.46,2.456,2.45,2.447,2.446,2.444,2.442,2.44,2.436,2.433,2.424,2.421,2.419,2.413,2.412,2.412,2.41,2.41,2.407,2.407,2.401,2.401,2.398,2.401,2.398,2.397,2.397,2.397,2.395,2.395,2.393,2.39,2.39,2.39,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.397,2.397,2.395,2.397,2.397,2.398,2.4,2.401,2.402,2.403,2.406,2.411,2.411,2.415,2.418,2.42,2.421,2.421,2.423,2.428,2.431,2.436,2.436,2.439,2.447,2.45,2.45,2.45,2.452,2.456,2.465,2.468,2.47,2.473,2.477,2.481,2.489,2.492,2.498,2.502,2.505,2.507,2.516,2.522,2.534,2.544,2.549,2.55,2.555,2.558,2.561,2.573,2.578,2.58,2.589,2.591,2.597,2.616,2.617,2.622,2.636,2.639,2.651,2.657,2.658,2.67,2.682,2.686,2.698,2.706,2.712,2.723,2.733,2.746,2.751,2.76,2.769,2.78,2.798,2.799,2.807,2.822,2.835,2.835,2.857,2.866,2.875,2.894,2.894,2.911,2.927,2.939,2.941,2.955,2.976,2.989,3.002,3.017,3.02,3.038,3.048,3.061,3.077,3.097,3.114,3.122,3.141,3.147,3.173,3.182,3.195,3.212,3.233,3.252,3.264,3.283,3.302,3.323,3.339,3.358,3.377,3.404,3.419,3.451,3.459,3.49,3.516,3.53,3.555,3.579,3.615,3.642,3.655,3.697,3.718,3.731,3.768,3.79,3.831,3.861,3.894,3.912,3.954,3.985,4.019,4.048,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.356,3.354,3.344,3.328,3.324,3.303,3.299,3.291,3.283,3.269,3.261,3.254,3.237,3.236,3.225,3.215,3.214,3.205,3.197,3.197,3.182,3.177,3.174,3.164,3.158,3.152,3.146,3.135,3.133,3.122,3.121,3.118,3.109,3.107,3.106,3.091,3.091,3.087,3.082,3.078,3.076,3.066,3.065,3.064,3.061,3.061,3.058,3.048,3.046,3.044,3.04,3.037,3.035,3.031,3.029,3.024,3.024,3.024,3.029,3.034,3.034,3.034,3.025,3.017,3.017,3.017,3.015,3.01,3.01,3.01,3.009,3.01,3.017,3.017,3.012,3.017,3.017,3.014,3.014,3.017,3.02,3.018,3.018,3.02,3.018,3.018,3.022,3.022,3.022,3.029,3.029,3.031,3.031,3.035,3.036,3.038,3.038,3.043,3.051,3.051,3.054,3.055,3.057,3.061,3.068,3.077,3.077,3.077,3.077,3.084,3.092,3.096,3.099,3.109,3.113,3.114,3.119,3.124,3.129,3.134,3.145,3.145,3.146,3.147,3.151,3.155,3.16,3.166,3.17,3.178,3.184,3.188,3.19,3.196,3.213,3.216,3.216,3.219,3.231,3.24,3.249,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 188.89} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 188.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 188.891} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 188.936} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.174,0.174,0.174,0.186,0.186,0.203,0,0,0,0,0,0,0,0,0,0,3.71,3.675,3.674,3.666,3.651,3.63,3.612,3.585,3.578,3.563,3.563,3.354,3.354,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.218,3.211,3.204,3.204,3.204,3.344,0,0,0,0,0,0.144,0.142,0.142,0.142,0.144,0.142,0.153,0.149,0.152,0.149,0.152,0.152,3.062,3.071,3.073,3.073,3.075,3.073,3.073,0.166,0.165,0.153,0.152,0.152,0.152,0.153,2.984,2.988,2.988,2.988,2.984,2.984,2.981,2.98,2.98,2.98,2.98,2.98,2.979,2.978,2.973,2.97,2.97,2.97,3.507,3.508,3.508,3.507,3.508,3.505,3.502,3.5,3.501,3.501,3.501,3.502,3.502,3.502,3.502,3.502,3.503,3.496,3.502,3.503,3.504,3.502,3.504,3.504,3.506,3.507,3.51,3.51,3.511,3.511,3.513,3.52,3.52,3.518,3.52,3.522,3.53,3.53,3.534,3.54,3.543,3.543,3.546,3.554,3.561,3.564,3.565,3.574,3.588,3.588,3.593,3.601,3.603,3.603,3.617,3.622,3.626,3.626,3.626,3.626,3.632,3.649,3.652,3.668,3.675,3.678,3.678,3.687,3.691,3.712,3.714,3.716,3.724,3.736,3.75,3.753,3.759,3.774,3.785,3.79,3.799,3.799,3.81,3.819,3.829,3.852,3.855,3.869,3.883,3.894,3.897,3.919,3.921,3.957,3.963,3.977,3.98,3.997,4.013,4.027,4.038,4.055,4.068,0.016,0.016,0.016,0.016,0.016,0.016,4.072,4.037,3.972,3.943,3.904,3.879,3.845,3.82,3.792,3.755,3.733,3.697,3.681,3.637,3.632,3.605,3.572,3.548,3.536,3.507,3.489,3.471,3.446,3.43,3.405,3.391,3.359,3.346,3.326,3.298,3.294,3.264,3.237,3.229,3.218,3.189,3.18,3.161,3.147,3.141,3.122,3.109,3.085,3.07,3.053,3.039,3.036,3.022,3.008,2.99,2.984,2.964,2.959,2.944,2.927,2.914,2.911,2.886,2.884,2.867,2.853,2.848,2.838,2.829,2.815,2.81,2.793,2.791,2.775,2.758,2.756,2.739,2.736,2.72,2.717,2.704,2.695,2.691,2.676,2.672,2.671,2.658,2.653,2.649,2.638,2.635,2.624,2.617,2.609,2.6,2.593,2.587,2.582,2.58,2.573,2.564,2.559,2.549,2.544,2.54,2.528,2.528,2.518,2.511,2.507,2.499,2.495,2.492,2.489,2.487,2.478,2.472,2.47,2.468,2.462,2.46,2.452,2.45,2.449,2.449,2.442,2.44,2.438,2.436,2.436,2.427,2.424,2.423,2.42,2.42,2.42,2.418,2.41,2.403,2.403,2.402,2.403,2.403,2.399,2.397,2.397,2.397,2.396,2.396,2.396,2.393,2.392,2.39,2.392,2.392,2.392,2.39,2.392,2.39,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.391,2.39,2.397,2.397,2.397,2.397,2.397,2.405,2.407,2.407,2.41,2.41,2.414,2.42,2.42,2.427,2.427,2.433,2.434,2.436,2.438,2.439,2.44,2.444,2.445,2.447,2.452,2.455,2.455,2.465,2.47,2.471,2.478,2.48,2.483,2.483,2.493,2.502,2.506,2.512,2.512,2.527,2.529,2.543,2.548,2.55,2.55,2.554,2.558,2.564,2.577,2.579,2.583,2.586,2.59,2.598,2.609,2.612,2.626,2.627,2.634,2.644,2.657,2.661,2.671,2.684,2.687,2.694,2.716,2.716,2.727,2.729,2.74,2.75,2.762,2.769,2.777,2.792,2.798,2.811,2.824,2.836,2.839,2.858,2.866,2.871,2.886,2.888,2.914,2.923,2.938,2.945,2.955,2.969,2.982,2.997,3.007,3.031,3.031,3.046,3.064,3.081,3.1,3.113,3.125,3.141,3.148,3.171,3.184,3.196,3.215,3.231,3.243,3.27,3.278,3.304,3.316,3.347,3.356,3.39,3.4,3.421,3.45,3.466,3.483,3.512,3.535,3.57,3.588,3.627,3.636,3.657,3.687,3.715,3.746,3.758,3.791,3.821,3.865,3.918,0.007,4.021,4.021,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.354,3.338,3.323,3.319,3.319,3.296,3.289,3.285,3.269,3.259,3.258,3.247,3.237,3.226,3.222,3.213,3.202,3.197,3.192,3.184,3.171,3.168,3.157,3.155,3.15,3.141,3.135,3.132,3.121,3.117,3.114,3.111,3.11,3.101,3.098,3.095,3.093,3.092,3.078,3.07,3.069,3.065,3.064,3.061,3.06,3.059,3.049,3.044,3.042,3.041,3.037,3.037,3.036,3.034,3.032,3.03,3.03,3.03,3.034,3.034,3.034,3.023,3.023,3.02,3.014,3.013,3.014,3.012,3.014,3.008,3.016,3.016,3.016,3.011,3.013,3.013,3.013,3.016,3.017,3.02,3.017,3.02,3.02,3.019,3.019,3.022,3.025,3.025,3.029,3.028,3.037,3.033,3.037,3.037,3.041,3.045,3.045,3.048,3.051,3.055,3.055,3.058,3.059,3.067,3.076,3.078,3.079,3.084,3.085,3.091,3.094,3.099,3.099,3.105,3.113,3.115,3.122,3.131,3.133,3.141,3.144,3.144,3.148,3.15,3.16,3.161,3.164,3.164,3.174,3.178,3.184,3.187,3.199,3.202,3.208,3.208,3.226,3.233,3.246,3.249,3.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 189.09} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 189.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 189.094} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578}
SEN {Time 189.137} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.173,0.173,0.174,0.176,0.176,0.209,0,0,0,0,0,0,0,0,0,0,3.692,3.682,3.675,3.663,3.643,3.633,3.612,3.582,3.581,3.581,3.581,3.56,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.219,3.216,3.202,3.202,3.35,3.35,0,0,0,0,0,0.149,0.143,0.143,0.144,0.149,0.144,0.148,0.148,0.152,0.148,0.152,0.155,3.067,3.067,3.067,3.067,3.067,3.063,3.063,0.166,0.162,0.155,0.154,0.154,0.155,0.155,2.994,2.994,2.994,2.991,2.987,2.985,2.982,2.98,2.98,2.98,2.98,2.98,2.979,2.978,2.976,2.969,2.969,2.969,3.497,3.511,3.511,3.503,3.509,3.503,3.502,3.502,3.502,3.502,3.502,3.505,3.507,3.505,3.498,3.501,3.501,3.5,3.501,3.501,3.503,3.5,3.499,3.499,3.498,3.498,3.507,3.509,3.509,3.511,3.514,3.52,3.52,3.52,3.52,3.521,3.532,3.535,3.539,3.546,3.546,3.546,3.55,3.549,3.551,3.562,3.565,3.566,3.588,3.588,3.59,3.602,3.606,3.607,3.614,3.618,3.622,3.623,3.629,3.632,3.641,3.646,3.647,3.658,3.668,3.673,3.678,3.69,3.696,3.698,3.713,3.715,3.73,3.743,3.746,3.746,3.759,3.772,3.772,3.79,3.798,3.803,3.803,3.83,3.834,3.836,3.851,3.856,3.882,3.883,3.91,3.913,3.937,3.944,3.959,3.966,3.986,3.995,4.011,4.045,4.047,4.064,4.075,4.083,0.016,0.016,0.007,0.016,4.077,4.04,4.004,3.979,3.93,3.912,3.873,3.854,3.824,3.785,3.76,3.733,3.697,3.683,3.663,3.63,3.614,3.572,3.553,3.527,3.509,3.504,3.472,3.444,3.419,3.41,3.378,3.365,3.338,3.332,3.306,3.292,3.266,3.253,3.227,3.221,3.188,3.184,3.159,3.146,3.141,3.126,3.098,3.09,3.07,3.053,3.045,3.037,3.012,3.006,2.993,2.978,2.963,2.958,2.937,2.928,2.918,2.907,2.898,2.877,2.873,2.855,2.847,2.833,2.817,2.815,2.797,2.791,2.783,2.777,2.759,2.745,2.744,2.738,2.72,2.72,2.706,2.701,2.697,2.687,2.679,2.673,2.668,2.654,2.646,2.637,2.631,2.625,2.623,2.607,2.603,2.596,2.592,2.589,2.579,2.574,2.559,2.558,2.547,2.547,2.539,2.533,2.523,2.516,2.514,2.504,2.502,2.498,2.493,2.486,2.485,2.48,2.477,2.468,2.465,2.463,2.455,2.453,2.451,2.446,2.443,2.443,2.437,2.434,2.432,2.43,2.429,2.423,2.419,2.419,2.419,2.412,2.41,2.409,2.406,2.403,2.403,2.401,2.401,2.399,2.399,2.395,2.394,2.392,2.392,2.389,2.389,2.389,2.389,2.391,2.393,2.393,2.393,2.393,2.393,2.393,2.394,2.395,2.394,2.394,2.394,2.393,2.393,2.393,2.395,2.398,2.398,2.398,2.398,2.403,2.406,2.406,2.409,2.409,2.414,2.416,2.415,2.416,2.417,2.421,2.425,2.431,2.432,2.437,2.438,2.443,2.444,2.445,2.445,2.455,2.455,2.457,2.465,2.465,2.466,2.472,2.475,2.482,2.483,2.492,2.499,2.5,2.505,2.514,2.515,2.516,2.542,2.544,2.547,2.551,2.557,2.561,2.568,2.57,2.58,2.581,2.591,2.592,2.597,2.607,2.616,2.618,2.636,2.639,2.645,2.651,2.655,2.671,2.685,2.687,2.697,2.705,2.712,2.719,2.724,2.742,2.752,2.759,2.769,2.78,2.789,2.801,2.803,2.825,2.831,2.84,2.856,2.87,2.872,2.886,2.895,2.906,2.928,2.939,2.943,2.96,2.975,2.983,2.994,3.01,3.028,3.037,3.056,3.065,3.078,3.099,3.117,3.131,3.132,3.15,3.17,3.176,3.203,3.227,3.231,3.253,3.27,3.283,3.302,3.33,3.339,3.359,3.382,3.395,3.419,3.454,3.456,3.488,3.508,3.535,3.555,3.586,3.623,3.638,3.654,3.684,3.715,3.742,3.757,3.794,3.828,3.877,3.915,3.977,3.977,4.011,4.089,4.089,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.354,3.341,3.329,3.316,3.298,3.29,3.28,3.278,3.272,3.258,3.253,3.248,3.235,3.228,3.215,3.214,3.202,3.197,3.192,3.181,3.175,3.17,3.16,3.155,3.148,3.148,3.142,3.133,3.119,3.118,3.118,3.118,3.111,3.1,3.099,3.098,3.088,3.079,3.079,3.069,3.067,3.064,3.063,3.063,3.063,3.058,3.056,3.04,3.037,3.036,3.035,3.035,3.034,3.03,3.03,3.027,3.027,3.027,3.037,3.037,3.037,3.026,3.022,3.02,3.016,3.016,3.019,3.016,3.019,3.019,3.018,3.018,3.018,3.009,3.011,3.011,3.01,3.011,3.014,3.016,3.016,3.016,3.018,3.018,3.018,3.027,3.028,3.029,3.031,3.031,3.031,3.032,3.033,3.04,3.041,3.042,3.047,3.048,3.048,3.055,3.055,3.058,3.066,3.073,3.075,3.076,3.077,3.077,3.086,3.093,3.095,3.101,3.103,3.104,3.114,3.124,3.125,3.127,3.131,3.141,3.141,3.144,3.145,3.148,3.148,3.158,3.16,3.17,3.176,3.185,3.185,3.188,3.201,3.205,3.214,3.221,3.224,3.231,3.246,3.253,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 189.30} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 189.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 189.296} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.2578}
SEN {Time 189.335} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.179,0.179,0.182,0.182,0.2,0,0,0,0,0,0,0,0,0,0,3.699,3.692,3.67,3.668,3.644,3.63,3.62,3.588,3.576,3.576,3.576,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.215,3.214,3.202,3.202,3.202,3.344,0,0,0,0,0,0.15,0.146,0.146,0.146,0.15,0.146,0.152,0.152,0.152,0.151,0.152,0.161,3.063,3.063,3.065,3.065,3.07,3.07,3.07,0.164,0.16,0.156,0.156,0.156,0.158,0.161,2.994,2.994,2.994,2.987,2.987,2.981,2.98,2.983,2.975,2.975,2.976,2.976,2.976,2.976,2.967,2.967,2.967,2.967,3.498,3.506,3.506,3.506,3.509,3.506,3.505,3.505,3.505,3.504,3.505,3.505,3.506,3.505,3.505,3.504,3.502,3.501,3.499,3.497,3.499,3.501,3.505,3.506,3.507,3.508,3.51,3.511,3.512,3.516,3.518,3.518,3.52,3.52,3.52,3.522,3.524,3.536,3.536,3.54,3.541,3.541,3.546,3.556,3.563,3.563,3.564,3.566,3.587,3.588,3.591,3.591,3.6,3.609,3.614,3.62,3.629,3.629,3.634,3.635,3.636,3.648,3.65,3.657,3.673,3.675,3.687,3.691,3.692,3.708,3.716,3.717,3.725,3.742,3.743,3.749,3.763,3.776,3.776,3.777,3.792,3.809,3.813,3.825,3.83,3.849,3.853,3.854,3.879,3.892,3.899,3.913,3.922,3.943,3.949,3.961,3.988,4.001,4.014,4.036,4.036,4.061,4.075,4.094,0.016,0.016,0,0.007,0.016,0.016,4.04,4.001,3.945,3.904,3.874,3.847,3.814,3.796,3.753,3.731,3.698,3.674,3.652,3.629,3.604,3.566,3.544,3.533,3.503,3.499,3.453,3.443,3.429,3.415,3.378,3.364,3.339,3.327,3.301,3.299,3.259,3.247,3.234,3.219,3.201,3.173,3.157,3.154,3.135,3.118,3.11,3.092,3.073,3.053,3.042,3.035,3.023,2.996,2.991,2.981,2.967,2.961,2.942,2.927,2.911,2.905,2.897,2.885,2.879,2.868,2.844,2.841,2.824,2.809,2.805,2.792,2.782,2.781,2.766,2.752,2.748,2.738,2.728,2.706,2.706,2.701,2.698,2.69,2.67,2.669,2.668,2.655,2.649,2.638,2.622,2.62,2.62,2.61,2.6,2.596,2.594,2.578,2.568,2.565,2.56,2.558,2.549,2.549,2.536,2.525,2.525,2.522,2.508,2.507,2.499,2.497,2.496,2.483,2.482,2.476,2.474,2.47,2.467,2.464,2.464,2.456,2.448,2.448,2.442,2.44,2.44,2.439,2.439,2.427,2.425,2.424,2.418,2.418,2.418,2.416,2.407,2.407,2.404,2.404,2.403,2.4,2.4,2.4,2.4,2.397,2.4,2.396,2.396,2.393,2.39,2.39,2.39,2.39,2.392,2.392,2.391,2.391,2.388,2.388,2.388,2.388,2.398,2.398,2.399,2.398,2.393,2.393,2.393,2.393,2.398,2.398,2.4,2.401,2.402,2.402,2.409,2.411,2.412,2.414,2.414,2.418,2.423,2.423,2.427,2.427,2.429,2.435,2.438,2.438,2.444,2.446,2.448,2.455,2.456,2.465,2.475,2.475,2.479,2.481,2.481,2.483,2.485,2.486,2.503,2.504,2.508,2.509,2.517,2.524,2.538,2.54,2.545,2.553,2.554,2.559,2.567,2.569,2.583,2.585,2.59,2.595,2.6,2.608,2.611,2.619,2.633,2.638,2.654,2.654,2.663,2.673,2.684,2.689,2.694,2.707,2.717,2.722,2.729,2.734,2.75,2.759,2.769,2.773,2.787,2.801,2.804,2.826,2.832,2.841,2.864,2.87,2.872,2.884,2.89,2.91,2.928,2.938,2.952,2.958,2.978,2.991,2.997,3.011,3.027,3.038,3.048,3.066,3.08,3.104,3.118,3.127,3.137,3.15,3.173,3.175,3.199,3.218,3.221,3.252,3.26,3.285,3.308,3.322,3.345,3.363,3.382,3.41,3.424,3.445,3.464,3.478,3.504,3.534,3.556,3.584,3.623,3.634,3.673,3.684,3.708,3.737,3.766,3.797,3.831,3.856,3.889,3.917,3.936,3.989,4.02,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.357,3.353,3.339,3.323,3.31,3.309,3.292,3.282,3.282,3.267,3.255,3.254,3.253,3.234,3.224,3.22,3.218,3.2,3.199,3.196,3.184,3.176,3.164,3.158,3.156,3.151,3.143,3.14,3.132,3.127,3.125,3.115,3.107,3.105,3.1,3.095,3.093,3.092,3.087,3.084,3.076,3.069,3.069,3.069,3.062,3.061,3.055,3.054,3.045,3.044,3.044,3.039,3.031,3.031,3.031,3.031,3.026,3.031,3.031,3.042,3.042,3.042,3.021,3.017,3.017,3.017,3.014,3.014,3.012,3.012,3.012,3.016,3.013,3.016,3.013,3.014,3.014,3.021,3.014,3.019,3.021,3.019,3.019,3.02,3.02,3.02,3.026,3.029,3.029,3.029,3.029,3.029,3.032,3.039,3.04,3.04,3.048,3.049,3.049,3.049,3.052,3.056,3.056,3.061,3.073,3.08,3.08,3.08,3.09,3.09,3.096,3.096,3.101,3.103,3.11,3.112,3.12,3.122,3.129,3.13,3.133,3.141,3.146,3.148,3.148,3.148,3.157,3.163,3.165,3.172,3.178,3.184,3.197,3.205,3.212,3.214,3.214,3.224,3.231,3.244,3.262,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 189.49} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 189.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 189.49} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.2578}
SEN {Time 189.533} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.176,0.176,0.181,0.181,0.201,0,0,0,0,0,0,0,0,0,0,3.704,3.688,3.672,3.667,3.643,3.628,3.625,3.58,3.576,3.576,3.576,3.567,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.221,3.214,3.212,3.206,3.206,3.206,3.35,0,0,0,0,0,0.149,0.147,0.147,0.147,0.149,0.144,0.148,0.148,0.157,0.148,0.157,0.159,3.057,3.064,3.068,3.068,3.068,3.068,3.068,0.172,0.172,0.161,0.155,0.155,0.155,0.155,2.999,2.999,2.999,2.986,2.985,2.985,2.982,2.978,2.977,2.977,2.975,2.975,2.973,2.973,2.971,2.971,2.971,2.975,3.494,3.514,3.514,3.511,3.511,3.51,3.504,3.499,3.497,3.497,3.499,3.5,3.505,3.505,3.505,3.505,3.503,3.503,3.503,3.503,3.503,3.503,3.506,3.506,3.506,3.504,3.51,3.505,3.51,3.513,3.514,3.515,3.519,3.519,3.521,3.524,3.525,3.525,3.535,3.543,3.545,3.546,3.547,3.549,3.564,3.565,3.565,3.571,3.583,3.584,3.592,3.596,3.6,3.607,3.608,3.618,3.625,3.628,3.63,3.631,3.631,3.653,3.658,3.662,3.673,3.674,3.677,3.691,3.692,3.695,3.712,3.713,3.725,3.726,3.745,3.752,3.758,3.768,3.784,3.784,3.794,3.8,3.807,3.819,3.831,3.84,3.855,3.859,3.877,3.886,3.899,3.91,3.923,3.943,3.962,3.967,3.975,3.999,4.013,4.026,4.039,4.058,4.071,4.084,0.016,0.016,0.016,0.016,0.016,4.063,4.041,3.991,3.933,3.907,3.883,3.833,3.826,3.794,3.753,3.723,3.705,3.674,3.65,3.617,3.614,3.572,3.551,3.524,3.505,3.477,3.47,3.453,3.43,3.411,3.383,3.36,3.346,3.32,3.311,3.287,3.261,3.255,3.224,3.218,3.204,3.182,3.154,3.149,3.12,3.12,3.105,3.086,3.068,3.051,3.038,3.032,3.019,3.009,2.995,2.984,2.968,2.954,2.939,2.931,2.914,2.902,2.89,2.879,2.865,2.849,2.848,2.842,2.819,2.813,2.802,2.792,2.789,2.774,2.761,2.753,2.74,2.733,2.727,2.72,2.702,2.698,2.697,2.676,2.671,2.665,2.663,2.654,2.646,2.64,2.629,2.624,2.622,2.611,2.602,2.595,2.582,2.576,2.574,2.571,2.562,2.56,2.549,2.548,2.546,2.536,2.522,2.52,2.516,2.506,2.502,2.5,2.498,2.489,2.484,2.477,2.474,2.472,2.471,2.46,2.458,2.455,2.45,2.446,2.444,2.444,2.44,2.438,2.431,2.429,2.428,2.426,2.418,2.414,2.414,2.414,2.41,2.408,2.407,2.406,2.406,2.406,2.406,2.4,2.396,2.394,2.394,2.394,2.396,2.397,2.398,2.397,2.397,2.397,2.397,2.396,2.396,2.393,2.389,2.387,2.389,2.389,2.39,2.391,2.395,2.395,2.397,2.397,2.397,2.397,2.397,2.396,2.396,2.397,2.402,2.405,2.406,2.409,2.413,2.413,2.414,2.414,2.424,2.426,2.426,2.426,2.429,2.432,2.436,2.436,2.44,2.441,2.45,2.452,2.452,2.456,2.463,2.468,2.477,2.477,2.481,2.484,2.485,2.492,2.497,2.499,2.509,2.509,2.517,2.52,2.531,2.549,2.549,2.55,2.553,2.554,2.561,2.577,2.582,2.583,2.589,2.596,2.602,2.613,2.615,2.618,2.631,2.638,2.642,2.657,2.658,2.678,2.68,2.681,2.704,2.708,2.714,2.724,2.737,2.741,2.752,2.764,2.764,2.782,2.784,2.803,2.804,2.819,2.839,2.842,2.862,2.862,2.872,2.88,2.9,2.908,2.923,2.933,2.943,2.955,2.978,2.987,2.997,3.011,3.019,3.034,3.045,3.072,3.085,3.105,3.114,3.122,3.144,3.144,3.175,3.175,3.204,3.218,3.225,3.251,3.265,3.288,3.301,3.334,3.346,3.355,3.38,3.391,3.424,3.438,3.459,3.478,3.511,3.525,3.564,3.582,3.619,3.644,3.658,3.69,3.719,3.733,3.767,3.791,3.832,3.856,3.886,3.907,3.954,3.995,4.016,4.06,4.091,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.349,3.338,3.325,3.323,3.308,3.292,3.289,3.282,3.274,3.263,3.262,3.242,3.233,3.231,3.227,3.223,3.202,3.198,3.198,3.195,3.183,3.177,3.161,3.157,3.148,3.14,3.138,3.135,3.124,3.119,3.111,3.109,3.109,3.103,3.1,3.092,3.087,3.08,3.079,3.073,3.072,3.064,3.061,3.061,3.061,3.056,3.052,3.051,3.045,3.042,3.039,3.035,3.035,3.032,3.031,3.031,3.032,3.032,3.036,3.036,3.036,3.019,3.019,3.019,3.019,3.011,3.019,3.011,3.011,3.011,3.014,3.014,3.014,3.014,3.014,3.014,3.016,3.017,3.017,3.018,3.017,3.017,3.017,3.018,3.022,3.025,3.027,3.027,3.029,3.027,3.027,3.033,3.035,3.037,3.041,3.041,3.045,3.05,3.052,3.053,3.056,3.057,3.063,3.072,3.075,3.075,3.077,3.08,3.084,3.088,3.092,3.094,3.104,3.107,3.114,3.118,3.122,3.13,3.132,3.133,3.135,3.148,3.148,3.149,3.149,3.153,3.163,3.165,3.175,3.177,3.193,3.194,3.204,3.206,3.211,3.211,3.216,3.237,3.249,3.262,3.269,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 189.69} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 189.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 189.692} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784}
SEN {Time 189.731} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.172,0.172,0.175,0.179,0.179,0.194,0,0,0,0,0,0,0,0,0,0,3.7,3.675,3.674,3.655,3.645,3.628,3.62,3.578,3.578,3.578,3.578,3.578,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.218,3.21,3.21,3.209,3.209,3.21,3.339,0,0,0,0,0,0.007,0.148,0.148,0.148,0.148,0.149,0.149,0.15,0.157,0.15,0.157,0.159,3.065,3.065,3.065,3.065,3.061,3.061,0.163,0.163,0.162,0.158,0.157,0.156,0.157,0.157,2.992,2.992,2.992,2.992,2.989,2.983,2.98,2.98,2.981,2.98,2.98,2.981,2.978,2.971,2.97,2.968,2.968,2.97,3.506,3.51,3.511,3.51,3.511,3.511,3.508,3.507,3.507,3.507,3.499,3.499,3.504,3.504,3.501,3.501,3.501,3.499,3.501,3.503,3.506,3.506,3.507,3.507,3.507,3.507,3.501,3.501,3.509,3.509,3.511,3.513,3.515,3.516,3.518,3.518,3.524,3.537,3.542,3.546,3.548,3.548,3.551,3.56,3.561,3.568,3.57,3.57,3.586,3.586,3.587,3.587,3.597,3.602,3.605,3.614,3.626,3.627,3.635,3.64,3.649,3.652,3.653,3.66,3.67,3.673,3.686,3.689,3.697,3.709,3.713,3.721,3.73,3.743,3.744,3.751,3.752,3.768,3.782,3.789,3.794,3.812,3.814,3.816,3.828,3.845,3.854,3.863,3.871,3.891,3.901,3.916,3.921,3.943,3.953,3.969,3.975,3.995,4.006,4.03,4.032,4.066,4.081,4.094,0.016,0.016,0.007,0,0.016,4.035,4.004,3.976,3.944,3.904,3.883,3.834,3.809,3.797,3.763,3.727,3.694,3.678,3.652,3.637,3.607,3.587,3.547,3.532,3.515,3.5,3.47,3.443,3.421,3.408,3.375,3.363,3.334,3.329,3.296,3.295,3.266,3.25,3.219,3.215,3.195,3.181,3.158,3.149,3.133,3.117,3.099,3.083,3.07,3.054,3.038,3.034,3.024,3.003,2.991,2.985,2.965,2.957,2.94,2.931,2.913,2.903,2.898,2.885,2.873,2.856,2.851,2.838,2.828,2.813,2.805,2.8,2.787,2.779,2.761,2.752,2.745,2.736,2.73,2.719,2.701,2.699,2.696,2.678,2.677,2.666,2.662,2.661,2.65,2.638,2.627,2.62,2.62,2.61,2.602,2.594,2.587,2.582,2.575,2.572,2.555,2.554,2.552,2.542,2.537,2.528,2.525,2.516,2.511,2.503,2.497,2.496,2.49,2.485,2.483,2.48,2.475,2.473,2.466,2.464,2.457,2.457,2.451,2.449,2.444,2.441,2.441,2.437,2.437,2.433,2.43,2.421,2.417,2.415,2.412,2.411,2.411,2.406,2.404,2.403,2.403,2.403,2.402,2.396,2.396,2.396,2.396,2.397,2.397,2.397,2.396,2.394,2.394,2.394,2.394,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.399,2.399,2.399,2.4,2.397,2.396,2.397,2.4,2.4,2.401,2.402,2.403,2.403,2.405,2.407,2.407,2.415,2.42,2.421,2.428,2.43,2.43,2.431,2.432,2.436,2.434,2.436,2.437,2.449,2.449,2.45,2.459,2.461,2.464,2.472,2.476,2.483,2.485,2.487,2.488,2.49,2.49,2.503,2.506,2.509,2.515,2.517,2.541,2.543,2.544,2.547,2.548,2.553,2.563,2.568,2.577,2.579,2.587,2.598,2.598,2.612,2.618,2.62,2.634,2.636,2.643,2.655,2.661,2.681,2.687,2.688,2.699,2.711,2.714,2.726,2.736,2.738,2.751,2.761,2.77,2.781,2.787,2.798,2.809,2.824,2.836,2.837,2.864,2.868,2.869,2.89,2.906,2.911,2.921,2.934,2.947,2.952,2.971,2.981,2.998,3.018,3.025,3.037,3.051,3.061,3.079,3.103,3.117,3.13,3.134,3.155,3.181,3.182,3.201,3.216,3.231,3.25,3.258,3.281,3.303,3.323,3.335,3.363,3.384,3.405,3.429,3.446,3.463,3.491,3.512,3.534,3.56,3.595,3.614,3.64,3.662,3.692,3.714,3.742,3.763,3.792,3.824,3.852,3.889,3.911,3.959,3.982,4.012,4.067,4.087,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.355,3.35,3.325,3.322,3.303,3.297,3.278,3.278,3.267,3.267,3.253,3.248,3.234,3.224,3.221,3.221,3.2,3.199,3.194,3.183,3.18,3.168,3.166,3.157,3.152,3.144,3.139,3.131,3.123,3.115,3.113,3.112,3.106,3.105,3.1,3.093,3.088,3.086,3.081,3.069,3.066,3.061,3.06,3.06,3.059,3.059,3.059,3.056,3.046,3.038,3.033,3.033,3.033,3.029,3.029,3.027,3.032,3.032,3.039,3.039,3.039,3.025,3.02,3.02,3.02,3.015,3.015,3.013,3.013,3.015,3.012,3.015,3.015,3.012,3.012,3.018,3.018,3.018,3.018,3.018,3.018,3.018,3.02,3.02,3.022,3.023,3.024,3.024,3.027,3.028,3.029,3.032,3.034,3.035,3.037,3.046,3.05,3.05,3.051,3.053,3.055,3.062,3.069,3.07,3.072,3.072,3.075,3.081,3.088,3.089,3.094,3.097,3.107,3.108,3.118,3.12,3.121,3.126,3.126,3.134,3.136,3.137,3.143,3.143,3.143,3.159,3.167,3.171,3.174,3.178,3.18,3.189,3.207,3.208,3.218,3.218,3.22,3.228,3.249,3.249,3.25,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 189.88} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 189.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 189.885} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.3274} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9784}
SEN {Time 189.933} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.178,0.182,0.182,0.209,0,0,0,0,0,0,0,0,0,0,3.697,3.684,3.67,3.668,3.645,3.641,3.619,3.589,3.582,3.582,3.582,3.57,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.217,3.208,3.207,3.205,3.205,3.205,3.34,0,0,0,0,0,0.154,0.148,0.148,0.148,0.148,0.145,0.151,0.153,0.156,0.153,0.156,0.157,3.069,3.069,3.069,3.069,3.06,3.052,0.166,0.155,0.155,0.155,0.155,0.153,0.157,0.157,2.99,2.99,2.99,2.99,2.987,2.983,2.98,2.983,2.98,2.977,2.977,2.976,2.972,2.972,2.97,2.97,2.972,2.976,3.504,3.51,3.51,3.505,3.51,3.505,3.502,3.501,3.501,3.501,3.501,3.503,3.503,3.503,3.503,3.504,3.504,3.503,3.501,3.505,3.501,3.497,3.501,3.503,3.503,3.505,3.507,3.51,3.511,3.51,3.51,3.512,3.513,3.515,3.523,3.523,3.528,3.531,3.543,3.543,3.544,3.549,3.556,3.558,3.565,3.57,3.574,3.576,3.578,3.584,3.588,3.591,3.592,3.606,3.609,3.617,3.624,3.628,3.63,3.633,3.638,3.649,3.652,3.662,3.665,3.68,3.689,3.692,3.694,3.709,3.713,3.716,3.724,3.728,3.744,3.746,3.755,3.761,3.783,3.785,3.794,3.802,3.814,3.825,3.828,3.833,3.852,3.866,3.876,3.899,3.913,3.913,3.933,3.939,3.964,3.975,3.985,3.993,4.014,4.022,4.046,4.055,4.072,4.086,0.016,0.016,0,0.007,0,0.007,4.034,3.968,3.942,3.903,3.881,3.855,3.813,3.796,3.753,3.735,3.706,3.674,3.647,3.617,3.592,3.575,3.541,3.538,3.508,3.489,3.466,3.44,3.438,3.411,3.384,3.357,3.347,3.325,3.299,3.291,3.265,3.244,3.226,3.219,3.194,3.172,3.161,3.153,3.135,3.126,3.104,3.082,3.072,3.05,3.044,3.031,3.023,3.004,3.002,2.982,2.962,2.961,2.947,2.923,2.914,2.912,2.896,2.882,2.863,2.862,2.846,2.84,2.822,2.809,2.805,2.79,2.782,2.777,2.764,2.753,2.742,2.737,2.723,2.708,2.705,2.703,2.692,2.685,2.673,2.672,2.66,2.653,2.651,2.637,2.631,2.627,2.623,2.611,2.598,2.59,2.585,2.574,2.57,2.567,2.559,2.557,2.555,2.55,2.537,2.525,2.524,2.517,2.509,2.502,2.501,2.494,2.49,2.489,2.476,2.475,2.472,2.472,2.465,2.463,2.463,2.453,2.447,2.442,2.442,2.439,2.439,2.439,2.433,2.431,2.429,2.426,2.414,2.413,2.412,2.412,2.41,2.406,2.406,2.406,2.405,2.402,2.402,2.396,2.396,2.396,2.396,2.396,2.395,2.392,2.389,2.387,2.387,2.389,2.389,2.391,2.393,2.393,2.39,2.39,2.39,2.387,2.387,2.391,2.394,2.391,2.394,2.394,2.396,2.396,2.397,2.398,2.399,2.399,2.403,2.403,2.405,2.407,2.408,2.409,2.417,2.417,2.418,2.426,2.427,2.43,2.433,2.434,2.439,2.439,2.441,2.451,2.452,2.455,2.457,2.458,2.464,2.465,2.472,2.474,2.475,2.485,2.49,2.495,2.496,2.498,2.499,2.514,2.515,2.519,2.542,2.544,2.546,2.547,2.55,2.555,2.563,2.569,2.571,2.582,2.583,2.599,2.602,2.605,2.618,2.62,2.63,2.634,2.643,2.649,2.662,2.673,2.686,2.687,2.69,2.71,2.711,2.724,2.733,2.743,2.745,2.758,2.767,2.778,2.798,2.801,2.805,2.823,2.826,2.852,2.857,2.865,2.87,2.887,2.895,2.904,2.929,2.938,2.95,2.955,2.979,2.986,2.994,3.02,3.029,3.04,3.053,3.068,3.076,3.106,3.11,3.132,3.14,3.149,3.177,3.179,3.196,3.215,3.236,3.249,3.268,3.289,3.305,3.329,3.341,3.363,3.383,3.407,3.432,3.438,3.458,3.486,3.501,3.53,3.557,3.588,3.62,3.638,3.668,3.69,3.709,3.735,3.76,3.802,3.83,3.863,3.886,3.916,3.954,3.988,4.011,4.084,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.367,3.354,3.335,3.33,3.306,3.301,3.29,3.288,3.287,3.274,3.262,3.255,3.245,3.237,3.229,3.218,3.213,3.202,3.197,3.192,3.182,3.177,3.173,3.168,3.155,3.147,3.144,3.136,3.135,3.127,3.126,3.113,3.113,3.11,3.102,3.096,3.093,3.089,3.081,3.079,3.073,3.069,3.065,3.065,3.062,3.054,3.054,3.051,3.046,3.046,3.036,3.035,3.033,3.032,3.031,3.03,3.03,3.03,3.03,3.036,3.036,3.036,3.026,3.016,3.016,3.014,3.013,3.014,3.011,3.011,3.011,3.015,3.015,3.015,3.012,3.015,3.012,3.012,3.014,3.017,3.018,3.018,3.02,3.018,3.018,3.018,3.02,3.02,3.026,3.029,3.03,3.034,3.034,3.034,3.038,3.038,3.042,3.045,3.045,3.05,3.054,3.06,3.062,3.062,3.064,3.073,3.074,3.074,3.077,3.081,3.094,3.103,3.106,3.108,3.115,3.115,3.119,3.121,3.126,3.128,3.14,3.142,3.146,3.147,3.148,3.157,3.16,3.164,3.164,3.17,3.178,3.187,3.189,3.205,3.217,3.219,3.219,3.225,3.229,3.238,3.241,3.25,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 190.09} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 190.09} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 190.087} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 4.9784}
SEN {Time 190.131} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.178,0.175,0.178,0.178,0.211,0,0,0,0,0,0,0,0,0,0,3.702,3.678,3.672,3.67,3.651,3.636,3.614,3.584,3.577,3.577,3.577,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.232,3.217,3.214,3.214,3.207,3.207,3.207,3.338,0,0,0,0,0,0.144,0.144,0.144,0.144,0.144,0.139,0.144,0.144,0.147,0.147,0.147,0.153,3.065,3.065,3.066,3.066,3.07,3.07,3.07,0.163,0.16,0.156,0.155,0.153,0.153,0.153,2.991,2.991,2.991,2.991,2.986,2.982,2.981,2.982,2.979,2.973,2.972,2.972,2.972,2.972,2.972,2.972,2.972,2.976,3.5,3.506,3.508,3.506,3.508,3.506,3.505,3.499,3.499,3.499,3.499,3.499,3.503,3.503,3.498,3.501,3.501,3.498,3.501,3.501,3.501,3.499,3.501,3.499,3.504,3.504,3.504,3.511,3.512,3.514,3.515,3.516,3.517,3.517,3.517,3.524,3.534,3.534,3.538,3.539,3.54,3.541,3.546,3.553,3.559,3.564,3.572,3.578,3.58,3.589,3.59,3.597,3.598,3.599,3.604,3.619,3.622,3.626,3.632,3.633,3.634,3.652,3.654,3.656,3.671,3.674,3.688,3.691,3.7,3.7,3.713,3.713,3.723,3.728,3.746,3.748,3.756,3.761,3.768,3.78,3.795,3.796,3.814,3.821,3.825,3.839,3.84,3.865,3.883,3.896,3.899,3.909,3.927,3.941,3.943,3.98,3.982,4.006,4.009,4.024,4.04,4.063,4.071,4.094,0.016,0.016,0.016,0.016,4.074,4.037,4.006,3.978,3.935,3.907,3.876,3.852,3.814,3.789,3.767,3.731,3.71,3.672,3.657,3.633,3.589,3.572,3.547,3.534,3.503,3.495,3.458,3.448,3.42,3.409,3.384,3.362,3.35,3.324,3.303,3.296,3.258,3.247,3.229,3.215,3.194,3.182,3.155,3.145,3.129,3.116,3.098,3.088,3.079,3.05,3.041,3.028,3.022,3.005,3,2.986,2.969,2.96,2.941,2.927,2.913,2.908,2.89,2.884,2.872,2.864,2.847,2.84,2.815,2.811,2.804,2.789,2.784,2.777,2.772,2.76,2.748,2.739,2.727,2.71,2.706,2.7,2.689,2.678,2.676,2.666,2.662,2.648,2.648,2.631,2.627,2.624,2.62,2.619,2.595,2.594,2.591,2.577,2.576,2.574,2.563,2.553,2.551,2.549,2.538,2.532,2.53,2.517,2.515,2.506,2.502,2.501,2.491,2.491,2.478,2.477,2.47,2.466,2.466,2.463,2.459,2.45,2.45,2.448,2.446,2.443,2.436,2.436,2.435,2.433,2.429,2.424,2.413,2.413,2.412,2.412,2.408,2.408,2.403,2.403,2.403,2.401,2.401,2.4,2.4,2.397,2.396,2.393,2.393,2.392,2.392,2.392,2.395,2.395,2.395,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.394,2.393,2.394,2.394,2.393,2.396,2.4,2.4,2.402,2.403,2.404,2.404,2.405,2.409,2.41,2.41,2.418,2.418,2.423,2.428,2.429,2.429,2.43,2.435,2.438,2.439,2.439,2.444,2.445,2.446,2.449,2.456,2.464,2.468,2.473,2.476,2.476,2.49,2.49,2.496,2.497,2.499,2.506,2.512,2.518,2.522,2.536,2.542,2.545,2.549,2.555,2.561,2.562,2.572,2.575,2.578,2.591,2.593,2.598,2.616,2.621,2.627,2.633,2.636,2.659,2.659,2.661,2.668,2.679,2.683,2.695,2.708,2.713,2.715,2.731,2.748,2.754,2.76,2.764,2.779,2.796,2.798,2.806,2.827,2.835,2.836,2.861,2.871,2.873,2.891,2.894,2.91,2.922,2.93,2.946,2.96,2.961,2.983,2.992,3.018,3.022,3.036,3.052,3.069,3.073,3.104,3.107,3.129,3.138,3.149,3.174,3.189,3.201,3.214,3.234,3.254,3.258,3.283,3.304,3.322,3.337,3.359,3.379,3.395,3.426,3.442,3.457,3.487,3.513,3.537,3.562,3.591,3.614,3.631,3.665,3.687,3.71,3.751,3.757,3.798,3.835,3.864,3.884,3.924,3.948,4.012,0.007,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,4.017,3.362,3.356,3.331,3.324,3.312,3.309,3.301,3.29,3.276,3.276,3.274,3.256,3.253,3.23,3.227,3.221,3.219,3.202,3.2,3.196,3.18,3.175,3.173,3.163,3.153,3.152,3.143,3.139,3.129,3.124,3.115,3.115,3.111,3.11,3.109,3.096,3.094,3.088,3.085,3.085,3.071,3.068,3.063,3.06,3.058,3.058,3.053,3.052,3.045,3.043,3.039,3.038,3.033,3.032,3.032,3.029,3.027,3.027,3.027,3.038,3.038,3.038,3.028,3.021,3.02,3.019,3.013,3.01,3.01,3.01,3.01,3.013,3.014,3.014,3.014,3.014,3.014,3.018,3.018,3.014,3.018,3.012,3.012,3.017,3.017,3.017,3.017,3.024,3.026,3.03,3.03,3.033,3.034,3.034,3.034,3.04,3.043,3.047,3.051,3.052,3.058,3.058,3.06,3.062,3.068,3.073,3.074,3.076,3.081,3.084,3.091,3.092,3.094,3.099,3.111,3.114,3.115,3.121,3.127,3.129,3.138,3.142,3.142,3.148,3.149,3.152,3.159,3.164,3.172,3.174,3.182,3.182,3.188,3.205,3.209,3.216,3.216,3.227,3.228,3.24,3.256,3.266,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 190.29} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 190.29} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 190.29} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 190.333} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.176,0.176,0.175,0.183,0.183,0.213,0,0,0,0,0,0,0,0,0,0,3.691,3.688,3.668,3.661,3.655,3.632,3.62,3.591,3.571,3.565,3.565,3.351,3.351,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.253,3.217,3.21,3.209,3.208,3.208,3.208,3.345,0,0,0,0,0,0.148,0.143,0.143,0.143,0.143,0.139,0.151,0.153,0.153,0.153,0.153,0.158,3.063,3.065,3.066,3.066,3.072,3.066,3.066,0.164,0.161,0.153,0.153,0.153,0.153,0.155,2.993,2.993,2.993,2.993,2.99,2.99,2.983,2.983,2.983,2.983,2.98,2.978,2.976,2.976,2.966,2.966,2.966,2.966,3.505,3.505,3.505,3.505,3.506,3.505,3.505,3.496,3.496,3.496,3.503,3.503,3.506,3.506,3.506,3.498,3.508,3.498,3.501,3.501,3.503,3.502,3.503,3.503,3.505,3.505,3.509,3.51,3.512,3.512,3.512,3.517,3.517,3.517,3.518,3.528,3.529,3.531,3.539,3.539,3.544,3.544,3.547,3.554,3.564,3.567,3.568,3.569,3.585,3.586,3.589,3.592,3.594,3.607,3.61,3.618,3.621,3.625,3.627,3.636,3.639,3.64,3.655,3.668,3.674,3.678,3.691,3.692,3.697,3.703,3.705,3.722,3.733,3.736,3.745,3.746,3.757,3.768,3.773,3.782,3.784,3.801,3.812,3.818,3.823,3.837,3.846,3.869,3.871,3.889,3.898,3.906,3.926,3.944,3.948,3.973,3.982,3.991,4.012,4.031,4.05,4.062,4.077,0.016,0.016,0.016,0.016,0.016,4.07,4.036,4.009,3.959,3.948,3.903,3.867,3.839,3.805,3.787,3.757,3.729,3.705,3.677,3.653,3.628,3.608,3.571,3.558,3.533,3.509,3.483,3.474,3.46,3.424,3.41,3.382,3.37,3.337,3.329,3.292,3.289,3.253,3.243,3.229,3.213,3.197,3.184,3.162,3.147,3.135,3.121,3.1,3.082,3.074,3.051,3.044,3.031,3.019,3.006,2.987,2.984,2.961,2.95,2.949,2.93,2.917,2.91,2.881,2.877,2.871,2.854,2.85,2.844,2.821,2.816,2.812,2.789,2.786,2.776,2.763,2.754,2.743,2.732,2.727,2.711,2.695,2.691,2.686,2.679,2.673,2.669,2.669,2.65,2.649,2.641,2.632,2.629,2.617,2.606,2.6,2.597,2.589,2.579,2.574,2.572,2.566,2.558,2.551,2.542,2.537,2.527,2.519,2.517,2.509,2.508,2.501,2.497,2.496,2.492,2.482,2.482,2.474,2.468,2.464,2.459,2.459,2.459,2.452,2.451,2.444,2.444,2.44,2.437,2.436,2.433,2.427,2.426,2.419,2.419,2.416,2.415,2.409,2.409,2.404,2.404,2.402,2.402,2.399,2.398,2.398,2.397,2.396,2.396,2.394,2.394,2.393,2.39,2.39,2.39,2.391,2.391,2.391,2.391,2.391,2.39,2.391,2.394,2.395,2.395,2.395,2.394,2.394,2.394,2.394,2.395,2.397,2.397,2.397,2.401,2.402,2.404,2.409,2.413,2.416,2.417,2.418,2.418,2.418,2.426,2.427,2.431,2.436,2.436,2.436,2.438,2.438,2.44,2.445,2.453,2.453,2.455,2.463,2.473,2.473,2.474,2.475,2.48,2.487,2.492,2.499,2.503,2.506,2.508,2.513,2.528,2.543,2.545,2.549,2.553,2.554,2.554,2.56,2.569,2.578,2.578,2.585,2.598,2.6,2.619,2.623,2.627,2.638,2.642,2.648,2.653,2.659,2.671,2.676,2.685,2.685,2.704,2.711,2.716,2.734,2.735,2.753,2.76,2.769,2.778,2.792,2.794,2.806,2.826,2.828,2.843,2.859,2.864,2.871,2.889,2.9,2.904,2.922,2.936,2.949,2.955,2.968,2.981,2.998,3.014,3.025,3.04,3.047,3.062,3.077,3.097,3.117,3.121,3.141,3.146,3.178,3.188,3.198,3.229,3.237,3.25,3.266,3.276,3.308,3.327,3.349,3.364,3.381,3.396,3.429,3.446,3.451,3.477,3.507,3.526,3.556,3.584,3.614,3.635,3.664,3.681,3.716,3.734,3.763,3.797,3.82,3.859,3.885,3.918,3.944,3.98,4.013,4.052,4.093,0.016,0.016,0,0.007,0,0,0.009,0.009,0.009,0,0,0.007,0,0,0,0,0,0.007,4.015,3.359,3.352,3.336,3.329,3.32,3.309,3.291,3.283,3.282,3.271,3.255,3.253,3.252,3.227,3.227,3.224,3.219,3.2,3.195,3.194,3.18,3.172,3.164,3.158,3.155,3.148,3.142,3.14,3.135,3.122,3.121,3.107,3.107,3.106,3.102,3.098,3.091,3.086,3.079,3.077,3.069,3.067,3.066,3.066,3.059,3.055,3.055,3.046,3.046,3.046,3.038,3.038,3.033,3.033,3.033,3.033,3.033,3.034,3.034,3.036,3.036,3.036,3.021,3.02,3.013,3.009,3.009,3.009,3.009,3.012,3.012,3.012,3.018,3.018,3.009,3.017,3.017,3.012,3.014,3.016,3.016,3.014,3.016,3.022,3.022,3.022,3.022,3.022,3.022,3.027,3.029,3.031,3.029,3.031,3.033,3.034,3.043,3.043,3.048,3.05,3.052,3.052,3.057,3.06,3.065,3.078,3.078,3.079,3.079,3.088,3.092,3.092,3.095,3.096,3.115,3.115,3.121,3.123,3.13,3.132,3.136,3.139,3.139,3.148,3.148,3.148,3.154,3.161,3.168,3.173,3.18,3.19,3.19,3.2,3.203,3.221,3.221,3.228,3.232,3.243,3.252,3.265,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 190.48} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 190.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 190.484} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 190.531} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.175,0.175,0.175,0.176,0.176,0.217,0,0,0,0,0,0,0,0,0,0,3.698,3.681,3.663,3.661,3.641,3.639,3.613,3.59,3.58,3.58,3.58,3.563,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.221,3.218,3.217,3.205,3.205,3.205,3.342,0,0,0,0,0,0.145,0.143,0.142,0.142,0.143,0.142,0.142,0.151,0.151,0.148,0.151,0.151,3.065,3.065,3.065,3.065,3.065,3.065,3.065,0.165,0.161,0.15,0.15,0.15,0.153,0.156,2.991,2.991,2.991,2.991,2.989,2.986,2.986,2.984,2.983,2.981,2.976,2.974,2.969,2.968,2.965,2.965,2.965,2.968,3.499,3.502,3.504,3.504,3.505,3.504,3.504,3.503,3.501,3.501,3.498,3.498,3.496,3.496,3.498,3.496,3.502,3.502,3.5,3.5,3.501,3.501,3.501,3.501,3.501,3.507,3.508,3.509,3.509,3.513,3.513,3.514,3.514,3.516,3.516,3.521,3.523,3.534,3.537,3.541,3.542,3.545,3.551,3.551,3.558,3.565,3.567,3.576,3.58,3.583,3.584,3.596,3.605,3.608,3.614,3.617,3.626,3.628,3.633,3.634,3.639,3.645,3.652,3.659,3.673,3.674,3.681,3.687,3.688,3.7,3.711,3.72,3.721,3.725,3.743,3.743,3.747,3.762,3.781,3.783,3.797,3.807,3.811,3.822,3.832,3.843,3.846,3.864,3.873,3.886,3.904,3.905,3.929,3.941,3.945,3.968,3.974,3.988,4.002,4.029,4.044,4.061,4.078,4.086,0.016,0.016,0.016,0.016,4.069,4.034,4.005,3.974,3.941,3.91,3.88,3.852,3.817,3.785,3.753,3.736,3.696,3.676,3.649,3.622,3.605,3.569,3.553,3.528,3.511,3.492,3.455,3.449,3.421,3.406,3.381,3.372,3.357,3.322,3.303,3.291,3.268,3.245,3.223,3.216,3.19,3.179,3.163,3.148,3.134,3.119,3.103,3.085,3.071,3.054,3.046,3.038,3.024,3.001,2.996,2.982,2.961,2.959,2.94,2.923,2.919,2.9,2.894,2.886,2.874,2.862,2.849,2.834,2.817,2.81,2.805,2.795,2.788,2.77,2.767,2.748,2.747,2.739,2.72,2.718,2.706,2.697,2.695,2.676,2.676,2.675,2.666,2.653,2.642,2.633,2.625,2.623,2.619,2.611,2.603,2.596,2.591,2.581,2.574,2.572,2.562,2.56,2.552,2.545,2.539,2.535,2.521,2.514,2.512,2.509,2.501,2.498,2.497,2.492,2.486,2.476,2.476,2.475,2.464,2.463,2.462,2.458,2.457,2.446,2.443,2.442,2.441,2.439,2.432,2.427,2.425,2.425,2.418,2.414,2.414,2.412,2.409,2.406,2.405,2.405,2.404,2.404,2.402,2.401,2.401,2.401,2.398,2.396,2.398,2.396,2.394,2.391,2.392,2.392,2.392,2.392,2.392,2.393,2.392,2.391,2.391,2.39,2.39,2.393,2.395,2.395,2.397,2.395,2.397,2.389,2.397,2.397,2.398,2.399,2.4,2.403,2.403,2.407,2.412,2.415,2.416,2.417,2.419,2.423,2.426,2.428,2.432,2.432,2.441,2.442,2.443,2.448,2.449,2.454,2.454,2.455,2.466,2.466,2.475,2.475,2.475,2.476,2.49,2.493,2.493,2.5,2.503,2.516,2.517,2.519,2.536,2.54,2.544,2.55,2.553,2.562,2.566,2.572,2.576,2.582,2.584,2.596,2.601,2.61,2.617,2.62,2.628,2.636,2.643,2.653,2.663,2.672,2.687,2.688,2.689,2.711,2.716,2.725,2.727,2.732,2.745,2.761,2.767,2.776,2.792,2.805,2.813,2.821,2.835,2.84,2.856,2.864,2.874,2.888,2.893,2.917,2.919,2.935,2.949,2.957,2.977,2.982,2.99,3.015,3.024,3.038,3.059,3.065,3.076,3.095,3.115,3.13,3.139,3.148,3.172,3.178,3.203,3.218,3.231,3.251,3.264,3.279,3.311,3.326,3.33,3.365,3.383,3.395,3.425,3.446,3.469,3.488,3.509,3.543,3.568,3.59,3.612,3.636,3.658,3.689,3.716,3.729,3.765,3.782,3.824,3.867,3.879,3.91,3.95,4.008,0.007,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,4.035,3.367,3.352,3.332,3.327,3.322,3.304,3.302,3.285,3.282,3.277,3.258,3.254,3.249,3.235,3.226,3.216,3.215,3.2,3.195,3.191,3.181,3.174,3.172,3.156,3.153,3.145,3.145,3.142,3.136,3.122,3.118,3.11,3.106,3.103,3.099,3.093,3.092,3.089,3.086,3.078,3.069,3.067,3.066,3.063,3.061,3.057,3.056,3.043,3.042,3.039,3.037,3.035,3.035,3.032,3.029,3.029,3.029,3.032,3.033,3.038,3.038,3.038,3.028,3.021,3.017,3.017,3.017,3.017,3.014,3.014,3.014,3.014,3.018,3.018,3.011,3.018,3.018,3.018,3.019,3.019,3.019,3.019,3.019,3.02,3.02,3.021,3.026,3.026,3.026,3.029,3.029,3.03,3.03,3.03,3.033,3.039,3.047,3.047,3.047,3.049,3.055,3.055,3.062,3.064,3.066,3.069,3.078,3.081,3.084,3.086,3.091,3.092,3.096,3.107,3.11,3.112,3.117,3.117,3.133,3.133,3.141,3.141,3.148,3.148,3.149,3.149,3.158,3.162,3.162,3.166,3.185,3.185,3.187,3.196,3.205,3.215,3.215,3.225,3.235,3.243,3.251,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 190.69} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 190.69} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 190.686} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 190.732} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.181,0.174,0.181,0.181,0.215,0,0,0,0,0,0,0,0,0,0,3.709,3.687,3.677,3.66,3.649,3.641,3.622,3.593,3.577,3.577,3.577,3.576,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.236,3.223,3.216,3.211,3.206,3.206,3.211,3.346,0,0,0,0,0,0.147,0.144,0.144,0.144,0.144,0.138,0.143,0.143,0.153,0.143,0.153,0.162,3.065,3.065,3.076,3.076,3.078,3.078,3.078,0.165,0.163,0.157,0.153,0.153,0.153,0.157,2.996,2.996,2.996,2.986,2.985,2.984,2.983,2.981,2.981,2.979,2.976,2.974,2.972,2.972,2.972,2.968,2.968,2.968,3.512,3.512,3.512,3.51,3.508,3.508,3.506,3.504,3.504,3.502,3.502,3.506,3.507,3.507,3.507,3.503,3.503,3.501,3.503,3.502,3.503,3.502,3.503,3.504,3.505,3.505,3.506,3.51,3.51,3.513,3.521,3.521,3.521,3.52,3.521,3.521,3.53,3.531,3.538,3.538,3.546,3.546,3.548,3.552,3.56,3.565,3.567,3.567,3.581,3.59,3.595,3.599,3.606,3.612,3.615,3.613,3.625,3.628,3.629,3.63,3.637,3.647,3.653,3.659,3.675,3.676,3.691,3.696,3.697,3.703,3.715,3.716,3.726,3.733,3.748,3.75,3.751,3.777,3.781,3.795,3.8,3.801,3.804,3.82,3.832,3.837,3.857,3.858,3.882,3.894,3.896,3.92,3.928,3.938,3.956,3.965,3.989,4.004,4.013,4.029,4.044,4.069,4.074,4.089,0.016,0.016,0.016,0.016,4.085,4.023,4.004,3.969,3.943,3.913,3.874,3.848,3.818,3.781,3.769,3.732,3.708,3.665,3.642,3.629,3.604,3.571,3.55,3.529,3.5,3.496,3.468,3.44,3.43,3.41,3.382,3.374,3.345,3.326,3.305,3.287,3.27,3.24,3.231,3.212,3.191,3.177,3.162,3.149,3.135,3.114,3.1,3.083,3.078,3.057,3.042,3.038,3.019,2.999,2.995,2.984,2.967,2.957,2.94,2.936,2.915,2.908,2.892,2.881,2.876,2.858,2.841,2.835,2.823,2.808,2.803,2.79,2.787,2.772,2.763,2.76,2.744,2.738,2.732,2.716,2.705,2.698,2.692,2.676,2.673,2.668,2.66,2.652,2.65,2.632,2.629,2.627,2.616,2.608,2.604,2.596,2.595,2.581,2.58,2.572,2.563,2.558,2.548,2.547,2.545,2.528,2.524,2.519,2.511,2.51,2.506,2.499,2.498,2.486,2.481,2.481,2.474,2.471,2.47,2.464,2.459,2.457,2.457,2.453,2.451,2.442,2.441,2.439,2.436,2.433,2.425,2.424,2.42,2.417,2.415,2.415,2.41,2.409,2.409,2.405,2.405,2.404,2.4,2.399,2.399,2.399,2.399,2.398,2.393,2.393,2.393,2.393,2.389,2.394,2.391,2.394,2.391,2.391,2.391,2.395,2.394,2.394,2.395,2.394,2.392,2.391,2.392,2.392,2.393,2.393,2.396,2.396,2.397,2.403,2.406,2.403,2.406,2.406,2.412,2.413,2.413,2.415,2.42,2.423,2.424,2.425,2.431,2.433,2.435,2.439,2.443,2.449,2.451,2.451,2.452,2.453,2.461,2.463,2.475,2.475,2.477,2.479,2.489,2.492,2.496,2.5,2.511,2.513,2.521,2.524,2.529,2.543,2.547,2.55,2.554,2.558,2.565,2.569,2.58,2.585,2.588,2.591,2.598,2.603,2.616,2.621,2.64,2.644,2.647,2.658,2.659,2.675,2.684,2.686,2.689,2.708,2.708,2.723,2.731,2.752,2.753,2.759,2.766,2.781,2.787,2.8,2.812,2.814,2.831,2.838,2.854,2.872,2.878,2.89,2.9,2.908,2.921,2.933,2.945,2.964,2.977,2.983,2.993,3.012,3.029,3.036,3.049,3.067,3.07,3.099,3.111,3.136,3.141,3.148,3.174,3.176,3.203,3.208,3.229,3.252,3.263,3.285,3.303,3.327,3.342,3.354,3.378,3.401,3.42,3.443,3.461,3.492,3.509,3.535,3.557,3.587,3.622,3.633,3.657,3.689,3.72,3.739,3.761,3.799,3.83,3.853,3.878,3.918,3.981,4.021,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.366,3.357,3.344,3.324,3.318,3.303,3.287,3.287,3.283,3.274,3.257,3.254,3.248,3.241,3.228,3.219,3.219,3.203,3.19,3.188,3.186,3.173,3.173,3.165,3.163,3.15,3.146,3.143,3.133,3.124,3.123,3.115,3.111,3.105,3.104,3.094,3.092,3.091,3.089,3.087,3.081,3.07,3.068,3.067,3.064,3.057,3.055,3.051,3.045,3.04,3.036,3.035,3.032,3.032,3.032,3.031,3.03,3.03,3.03,3.041,3.041,3.041,3.025,3.023,3.02,3.019,3.017,3.015,3.015,3.015,3.015,3.013,3.013,3.012,3.012,3.013,3.016,3.016,3.016,3.019,3.019,3.019,3.019,3.019,3.019,3.017,3.02,3.027,3.018,3.027,3.029,3.029,3.032,3.035,3.038,3.04,3.041,3.044,3.047,3.049,3.05,3.052,3.056,3.07,3.071,3.08,3.08,3.08,3.081,3.081,3.085,3.088,3.095,3.098,3.111,3.118,3.12,3.122,3.13,3.134,3.143,3.143,3.144,3.145,3.153,3.153,3.169,3.169,3.169,3.173,3.175,3.183,3.189,3.205,3.205,3.205,3.206,3.221,3.226,3.243,3.253,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 190.89} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 190.89} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 190.888} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0894} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 190.928} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.178,0.18,0.186,0.186,0.206,0,0,0,0,0,0,0,0,0,0,3.708,3.678,3.656,3.652,3.645,3.635,3.614,3.587,3.582,3.582,3.582,3.562,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.242,3.239,3.221,3.214,3.209,3.206,3.206,3.206,3.343,0,0,0,0,0,0.139,0.139,0.139,0.139,0.145,0.145,0.148,0.149,0.152,0.152,0.153,0.153,3.058,3.058,3.064,3.064,3.064,3.064,3.064,0.161,0.161,0.157,0.157,0.158,0.163,0.163,2.989,2.99,2.99,2.99,2.989,2.987,2.983,2.985,2.983,2.981,2.981,2.978,2.973,2.969,2.967,2.967,2.967,2.968,3.506,3.51,3.51,3.51,3.51,3.502,3.501,3.498,3.5,3.5,3.501,3.5,3.503,3.503,3.501,3.497,3.501,3.499,3.499,3.499,3.5,3.499,3.5,3.5,3.502,3.502,3.505,3.507,3.507,3.508,3.514,3.519,3.519,3.524,3.526,3.528,3.528,3.529,3.537,3.539,3.541,3.545,3.546,3.551,3.556,3.558,3.561,3.569,3.586,3.587,3.588,3.593,3.603,3.607,3.611,3.621,3.622,3.63,3.632,3.633,3.634,3.652,3.654,3.655,3.663,3.678,3.68,3.682,3.697,3.705,3.707,3.713,3.717,3.736,3.742,3.753,3.757,3.76,3.773,3.784,3.787,3.794,3.812,3.831,3.831,3.838,3.855,3.865,3.876,3.886,3.907,3.918,3.919,3.945,3.949,3.969,3.98,3.999,4.018,4.032,4.042,4.056,4.071,4.084,0.016,0.016,0.016,0.016,4.084,4.031,4.008,3.976,3.941,3.908,3.874,3.847,3.812,3.788,3.75,3.719,3.701,3.667,3.653,3.631,3.596,3.579,3.552,3.533,3.505,3.493,3.456,3.452,3.425,3.397,3.379,3.36,3.344,3.332,3.3,3.294,3.267,3.245,3.226,3.209,3.205,3.182,3.167,3.16,3.136,3.116,3.105,3.082,3.07,3.057,3.045,3.028,3.019,2.997,2.994,2.986,2.959,2.953,2.942,2.933,2.922,2.902,2.9,2.878,2.874,2.861,2.851,2.841,2.824,2.816,2.811,2.8,2.788,2.772,2.759,2.755,2.749,2.732,2.724,2.714,2.707,2.697,2.696,2.68,2.677,2.671,2.667,2.655,2.653,2.639,2.623,2.623,2.621,2.616,2.6,2.595,2.584,2.582,2.571,2.569,2.557,2.556,2.547,2.545,2.533,2.531,2.524,2.521,2.513,2.505,2.5,2.499,2.498,2.49,2.477,2.476,2.473,2.473,2.473,2.465,2.462,2.456,2.455,2.45,2.448,2.442,2.44,2.44,2.437,2.43,2.427,2.423,2.417,2.417,2.415,2.415,2.412,2.408,2.406,2.406,2.404,2.404,2.404,2.402,2.399,2.398,2.396,2.396,2.394,2.394,2.394,2.392,2.392,2.392,2.395,2.395,2.395,2.395,2.395,2.391,2.392,2.391,2.392,2.392,2.393,2.393,2.395,2.393,2.393,2.397,2.397,2.397,2.397,2.402,2.409,2.409,2.409,2.409,2.41,2.411,2.411,2.416,2.418,2.424,2.427,2.43,2.431,2.438,2.439,2.44,2.442,2.446,2.447,2.448,2.45,2.455,2.461,2.462,2.464,2.471,2.475,2.484,2.488,2.491,2.502,2.506,2.515,2.515,2.519,2.519,2.533,2.54,2.545,2.549,2.55,2.558,2.573,2.574,2.58,2.586,2.588,2.59,2.602,2.611,2.612,2.623,2.628,2.636,2.646,2.659,2.666,2.67,2.683,2.691,2.698,2.71,2.713,2.718,2.731,2.74,2.753,2.762,2.765,2.782,2.795,2.796,2.808,2.814,2.838,2.843,2.858,2.868,2.871,2.886,2.896,2.902,2.918,2.933,2.952,2.954,2.974,2.983,2.995,3.01,3.029,3.039,3.052,3.069,3.072,3.101,3.118,3.13,3.135,3.145,3.17,3.178,3.198,3.216,3.231,3.247,3.262,3.282,3.311,3.328,3.338,3.355,3.393,3.396,3.431,3.443,3.469,3.491,3.518,3.541,3.564,3.579,3.627,3.631,3.646,3.682,3.714,3.747,3.769,3.802,3.827,3.851,3.884,3.918,3.932,3.981,4.01,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0,0,3.358,3.354,3.338,3.335,3.317,3.308,3.296,3.283,3.281,3.271,3.268,3.263,3.239,3.239,3.228,3.218,3.217,3.202,3.197,3.193,3.185,3.175,3.174,3.165,3.156,3.148,3.144,3.144,3.132,3.123,3.119,3.118,3.111,3.104,3.104,3.094,3.094,3.092,3.092,3.082,3.071,3.067,3.064,3.058,3.057,3.054,3.05,3.05,3.048,3.048,3.039,3.038,3.038,3.035,3.035,3.034,3.029,3.029,3.029,3.03,3.03,3.03,3.023,3.021,3.019,3.019,3.017,3.017,3.011,3.011,3.011,3.017,3.011,3.011,3.009,3.011,3.011,3.011,3.011,3.013,3.016,3.013,3.013,3.021,3.021,3.021,3.021,3.021,3.021,3.027,3.028,3.029,3.033,3.034,3.035,3.04,3.041,3.043,3.043,3.048,3.052,3.054,3.061,3.063,3.071,3.075,3.079,3.08,3.08,3.08,3.091,3.091,3.097,3.101,3.104,3.11,3.116,3.121,3.131,3.133,3.137,3.144,3.144,3.148,3.155,3.16,3.163,3.171,3.171,3.175,3.179,3.179,3.185,3.206,3.211,3.217,3.217,3.228,3.235,3.25,3.251,3.253,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 191.08} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 191.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 191.082} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 191.127} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.178,0.177,0.178,0.178,0.178,0.21,0,0,0,0,0,0,0,0,0,0,3.688,3.682,3.67,3.666,3.651,3.634,3.617,3.581,3.58,3.573,3.573,3.354,3.354,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.22,3.211,3.21,3.207,3.207,3.207,3.346,0,0,0,0,0,0.145,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.15,0.151,3.066,3.066,3.066,3.066,3.067,3.067,3.067,0.173,0.157,0.153,0.153,0.153,0.153,0.16,2.993,2.993,2.993,2.99,2.987,2.986,2.98,2.982,2.975,2.974,2.975,2.975,2.974,2.973,2.972,2.968,2.968,2.968,3.504,3.51,3.51,3.507,3.51,3.507,3.503,3.496,3.492,3.492,3.496,3.499,3.499,3.499,3.499,3.499,3.499,3.502,3.507,3.502,3.502,3.502,3.502,3.502,3.505,3.509,3.509,3.51,3.514,3.509,3.509,3.514,3.516,3.52,3.524,3.531,3.532,3.535,3.535,3.543,3.544,3.546,3.551,3.551,3.554,3.559,3.569,3.577,3.58,3.584,3.588,3.589,3.597,3.602,3.614,3.617,3.624,3.624,3.626,3.632,3.641,3.65,3.655,3.66,3.679,3.685,3.686,3.687,3.698,3.711,3.713,3.718,3.73,3.732,3.74,3.75,3.752,3.771,3.779,3.786,3.787,3.806,3.808,3.823,3.829,3.842,3.848,3.873,3.878,3.882,3.893,3.908,3.937,3.943,3.953,3.971,3.979,4,4.01,4.035,4.052,4.056,4.081,4.084,0.016,0.016,0.016,0.016,4.071,4.027,4.007,3.968,3.936,3.903,3.877,3.846,3.802,3.782,3.764,3.734,3.7,3.681,3.657,3.636,3.61,3.567,3.56,3.536,3.506,3.501,3.459,3.448,3.432,3.405,3.388,3.357,3.349,3.329,3.304,3.283,3.267,3.246,3.235,3.211,3.204,3.173,3.161,3.143,3.131,3.119,3.11,3.089,3.072,3.053,3.032,3.028,3.018,3.006,2.987,2.984,2.969,2.959,2.937,2.93,2.906,2.905,2.903,2.875,2.874,2.858,2.843,2.837,2.825,2.812,2.808,2.791,2.787,2.772,2.761,2.749,2.748,2.734,2.722,2.722,2.708,2.699,2.696,2.683,2.677,2.671,2.666,2.66,2.648,2.637,2.628,2.625,2.621,2.613,2.599,2.587,2.582,2.58,2.573,2.568,2.554,2.552,2.546,2.545,2.543,2.537,2.524,2.511,2.506,2.506,2.506,2.495,2.495,2.484,2.483,2.478,2.478,2.466,2.466,2.465,2.461,2.456,2.452,2.448,2.442,2.442,2.44,2.438,2.436,2.429,2.424,2.423,2.419,2.412,2.41,2.41,2.409,2.409,2.409,2.408,2.406,2.401,2.398,2.398,2.398,2.398,2.394,2.394,2.392,2.392,2.393,2.393,2.389,2.393,2.389,2.389,2.391,2.391,2.39,2.39,2.39,2.39,2.391,2.391,2.393,2.391,2.393,2.393,2.393,2.393,2.395,2.399,2.4,2.401,2.403,2.408,2.409,2.411,2.411,2.416,2.418,2.419,2.423,2.424,2.427,2.427,2.433,2.433,2.434,2.442,2.447,2.45,2.45,2.45,2.457,2.467,2.47,2.472,2.474,2.475,2.482,2.485,2.487,2.496,2.499,2.5,2.507,2.515,2.517,2.527,2.534,2.54,2.543,2.543,2.551,2.56,2.57,2.574,2.579,2.582,2.59,2.59,2.596,2.607,2.611,2.626,2.626,2.632,2.646,2.649,2.666,2.668,2.684,2.687,2.702,2.702,2.706,2.728,2.73,2.736,2.747,2.758,2.767,2.779,2.794,2.8,2.811,2.82,2.829,2.843,2.862,2.869,2.881,2.897,2.9,2.909,2.922,2.928,2.943,2.961,2.967,2.99,2.992,3.017,3.024,3.036,3.05,3.064,3.073,3.1,3.117,3.127,3.138,3.149,3.17,3.177,3.199,3.215,3.228,3.249,3.264,3.285,3.302,3.328,3.352,3.361,3.384,3.398,3.424,3.446,3.465,3.483,3.525,3.53,3.562,3.583,3.621,3.638,3.65,3.676,3.715,3.756,3.764,3.812,3.825,3.847,3.883,3.914,3.942,3.988,4.018,4.059,4.079,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.033,3.361,3.346,3.332,3.33,3.316,3.302,3.297,3.281,3.28,3.279,3.253,3.251,3.249,3.237,3.235,3.217,3.216,3.201,3.201,3.184,3.182,3.176,3.175,3.157,3.149,3.148,3.145,3.144,3.14,3.124,3.118,3.118,3.117,3.107,3.101,3.092,3.09,3.088,3.084,3.076,3.073,3.07,3.07,3.06,3.059,3.057,3.055,3.054,3.046,3.04,3.04,3.04,3.036,3.032,3.032,3.032,3.032,3.032,3.034,3.038,3.038,3.038,3.021,3.019,3.019,3.019,3.013,3.013,3.013,3.013,3.012,3.013,3.013,3.015,3.015,3.015,3.015,3.015,3.015,3.017,3.021,3.017,3.018,3.018,3.018,3.018,3.019,3.025,3.025,3.025,3.025,3.028,3.029,3.03,3.032,3.042,3.042,3.042,3.042,3.048,3.049,3.055,3.061,3.062,3.066,3.067,3.08,3.08,3.08,3.082,3.087,3.09,3.096,3.103,3.108,3.113,3.115,3.119,3.128,3.13,3.136,3.137,3.14,3.141,3.141,3.141,3.161,3.164,3.174,3.175,3.183,3.185,3.192,3.203,3.204,3.204,3.206,3.225,3.226,3.239,3.251,3.254,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 191.28} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 191.28} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 191.284} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 191.329} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.181,0.181,0.181,0.19,0.19,0.2,0,0,0,0,0,0,0,0,0,0,3.691,3.682,3.668,3.661,3.641,3.639,3.617,3.59,3.572,3.571,3.571,3.571,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.222,3.221,3.217,3.205,3.205,3.205,3.335,0,0,0,0,0,0.15,0.141,0.141,0.141,0.15,0.144,0.147,0.147,0.15,0.147,0.15,0.154,3.071,3.071,3.071,3.071,3.071,3.06,0.167,0.166,0.164,0.153,0.153,0.153,0.154,0.154,2.989,2.991,2.991,2.991,2.989,2.983,2.978,2.983,2.978,2.975,2.978,2.975,2.972,2.967,2.967,2.967,2.969,2.976,3.504,3.504,3.511,3.51,3.511,3.51,3.51,3.501,3.499,3.499,3.501,3.501,3.501,3.501,3.501,3.501,3.501,3.501,3.501,3.501,3.503,3.503,3.503,3.503,3.505,3.505,3.505,3.505,3.505,3.505,3.509,3.516,3.519,3.519,3.519,3.522,3.527,3.528,3.532,3.536,3.546,3.547,3.554,3.557,3.562,3.562,3.571,3.58,3.584,3.584,3.586,3.591,3.593,3.605,3.614,3.619,3.621,3.622,3.628,3.636,3.641,3.645,3.653,3.653,3.665,3.671,3.675,3.697,3.699,3.705,3.713,3.718,3.722,3.731,3.743,3.745,3.758,3.764,3.765,3.777,3.798,3.81,3.812,3.812,3.839,3.844,3.852,3.864,3.876,3.9,3.913,3.915,3.929,3.939,3.965,3.974,3.979,3.997,4.007,4.02,4.039,4.053,4.07,0.016,0.016,0.016,0.016,0.016,4.077,4.03,4.011,3.966,3.946,3.9,3.884,3.852,3.815,3.784,3.764,3.727,3.71,3.682,3.652,3.619,3.604,3.574,3.551,3.532,3.503,3.483,3.464,3.453,3.427,3.4,3.379,3.363,3.343,3.326,3.299,3.296,3.263,3.246,3.225,3.219,3.197,3.19,3.154,3.148,3.129,3.119,3.102,3.092,3.067,3.052,3.04,3.034,3.014,3.001,3.001,2.978,2.96,2.952,2.94,2.921,2.918,2.91,2.894,2.875,2.87,2.86,2.846,2.835,2.818,2.814,2.802,2.789,2.788,2.774,2.765,2.759,2.741,2.738,2.729,2.72,2.712,2.697,2.694,2.676,2.674,2.666,2.664,2.652,2.65,2.635,2.63,2.624,2.624,2.612,2.603,2.594,2.594,2.586,2.581,2.572,2.571,2.556,2.543,2.543,2.54,2.53,2.524,2.514,2.507,2.504,2.5,2.5,2.499,2.485,2.48,2.475,2.473,2.471,2.471,2.464,2.461,2.456,2.453,2.449,2.449,2.449,2.443,2.438,2.437,2.434,2.426,2.425,2.418,2.418,2.416,2.413,2.41,2.407,2.406,2.404,2.403,2.404,2.403,2.403,2.398,2.397,2.395,2.395,2.395,2.392,2.392,2.389,2.389,2.389,2.389,2.39,2.392,2.392,2.392,2.397,2.397,2.397,2.397,2.397,2.396,2.396,2.395,2.395,2.395,2.395,2.395,2.397,2.397,2.401,2.403,2.403,2.406,2.406,2.414,2.416,2.418,2.421,2.423,2.424,2.427,2.43,2.43,2.433,2.437,2.441,2.442,2.443,2.446,2.446,2.453,2.458,2.464,2.466,2.467,2.471,2.48,2.487,2.492,2.493,2.495,2.504,2.507,2.517,2.518,2.52,2.538,2.544,2.544,2.544,2.551,2.557,2.567,2.573,2.573,2.579,2.588,2.595,2.598,2.607,2.611,2.621,2.629,2.639,2.643,2.65,2.658,2.676,2.676,2.684,2.695,2.707,2.708,2.718,2.731,2.74,2.75,2.766,2.774,2.782,2.789,2.794,2.813,2.824,2.835,2.837,2.864,2.866,2.875,2.887,2.895,2.911,2.926,2.944,2.945,2.962,2.971,2.981,3,3.009,3.023,3.034,3.053,3.069,3.082,3.101,3.116,3.128,3.138,3.151,3.17,3.183,3.201,3.219,3.229,3.25,3.269,3.28,3.307,3.332,3.334,3.368,3.391,3.4,3.427,3.454,3.46,3.477,3.515,3.522,3.576,3.577,3.628,3.644,3.659,3.689,3.709,3.736,3.768,3.793,3.818,3.85,3.89,3.922,3.95,4.012,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0.007,4.01,3.359,3.354,3.338,3.33,3.321,3.301,3.298,3.282,3.281,3.27,3.261,3.259,3.248,3.242,3.228,3.217,3.216,3.204,3.202,3.19,3.182,3.173,3.171,3.164,3.151,3.149,3.149,3.149,3.143,3.129,3.123,3.115,3.112,3.107,3.104,3.095,3.095,3.084,3.084,3.083,3.078,3.076,3.068,3.067,3.066,3.06,3.05,3.047,3.045,3.038,3.038,3.037,3.036,3.035,3.032,3.03,3.029,3.03,3.03,3.036,3.036,3.036,3.029,3.018,3.018,3.018,3.014,3.013,3.013,3.012,3.013,3.016,3.017,3.016,3.016,3.016,3.016,3.013,3.014,3.014,3.017,3.014,3.014,3.016,3.013,3.013,3.016,3.02,3.024,3.026,3.03,3.032,3.036,3.041,3.042,3.042,3.043,3.044,3.046,3.05,3.055,3.06,3.061,3.063,3.07,3.077,3.077,3.079,3.08,3.085,3.094,3.097,3.1,3.106,3.114,3.116,3.119,3.121,3.132,3.133,3.141,3.141,3.142,3.147,3.147,3.147,3.156,3.159,3.168,3.174,3.18,3.183,3.191,3.203,3.205,3.208,3.213,3.216,3.228,3.241,3.253,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 191.49} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 191.49} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 191.487} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 191.525} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.18,0.178,0.178,0.18,0.18,0.202,0,0,0,0,0,0.007,0,0,0,0,3.704,3.679,3.676,3.655,3.648,3.619,3.609,3.585,3.572,3.571,3.571,3.352,3.352,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.231,3.223,3.215,3.212,3.208,3.208,3.208,3.346,0,0,0,0,0,0.148,0.143,0.143,0.143,0.148,0.143,0.147,0.147,0.147,0.146,0.147,0.154,3.052,3.059,3.064,3.064,3.064,3.064,3.064,0.17,0.17,0.165,0.153,0.153,0.16,0.16,2.992,2.992,2.992,2.988,2.987,2.986,2.985,2.984,2.982,2.982,2.979,2.976,2.972,2.972,2.969,2.968,2.968,2.969,3.504,3.508,3.513,3.508,3.513,3.508,3.5,3.497,3.5,3.5,3.5,3.507,3.507,3.502,3.502,3.502,3.502,3.502,3.502,3.5,3.506,3.5,3.506,3.506,3.506,3.505,3.505,3.505,3.505,3.512,3.513,3.516,3.52,3.52,3.521,3.522,3.522,3.534,3.541,3.541,3.546,3.546,3.546,3.548,3.553,3.565,3.567,3.572,3.578,3.585,3.588,3.589,3.598,3.604,3.613,3.616,3.627,3.627,3.632,3.636,3.637,3.646,3.654,3.657,3.66,3.679,3.684,3.694,3.699,3.701,3.711,3.712,3.721,3.731,3.743,3.751,3.752,3.766,3.771,3.778,3.785,3.802,3.812,3.825,3.827,3.842,3.859,3.869,3.879,3.899,3.9,3.91,3.922,3.93,3.962,3.975,3.982,3.991,4.013,4.022,4.038,4.063,4.076,4.08,0.016,0.016,0.016,0.016,0.016,4.043,4.001,3.985,3.93,3.888,3.859,3.836,3.823,3.79,3.761,3.736,3.699,3.668,3.645,3.632,3.589,3.575,3.545,3.534,3.497,3.493,3.459,3.451,3.424,3.405,3.391,3.362,3.355,3.334,3.304,3.293,3.265,3.247,3.225,3.211,3.194,3.184,3.158,3.146,3.13,3.121,3.105,3.078,3.065,3.048,3.036,3.032,3.015,3.004,2.993,2.984,2.964,2.955,2.947,2.931,2.911,2.907,2.887,2.885,2.875,2.855,2.846,2.837,2.823,2.815,2.808,2.793,2.785,2.773,2.76,2.757,2.746,2.738,2.722,2.719,2.714,2.697,2.692,2.681,2.673,2.666,2.666,2.652,2.642,2.63,2.621,2.621,2.62,2.61,2.604,2.591,2.591,2.59,2.575,2.575,2.568,2.563,2.548,2.539,2.535,2.529,2.521,2.513,2.509,2.508,2.5,2.498,2.493,2.488,2.483,2.478,2.477,2.468,2.468,2.465,2.46,2.46,2.445,2.445,2.441,2.439,2.439,2.439,2.437,2.436,2.431,2.428,2.417,2.416,2.415,2.415,2.405,2.406,2.405,2.403,2.401,2.401,2.399,2.398,2.395,2.395,2.395,2.393,2.393,2.393,2.393,2.391,2.391,2.393,2.393,2.393,2.393,2.391,2.39,2.39,2.39,2.392,2.392,2.392,2.392,2.392,2.392,2.392,2.395,2.399,2.399,2.398,2.398,2.399,2.402,2.402,2.409,2.409,2.412,2.415,2.417,2.417,2.42,2.427,2.428,2.428,2.429,2.431,2.433,2.436,2.442,2.446,2.449,2.453,2.456,2.459,2.462,2.462,2.474,2.476,2.483,2.483,2.487,2.489,2.498,2.503,2.503,2.508,2.512,2.523,2.539,2.544,2.548,2.549,2.552,2.556,2.565,2.574,2.583,2.589,2.591,2.598,2.601,2.608,2.613,2.62,2.635,2.635,2.648,2.65,2.663,2.675,2.681,2.691,2.695,2.706,2.713,2.728,2.731,2.738,2.752,2.759,2.76,2.777,2.793,2.8,2.803,2.815,2.828,2.837,2.855,2.866,2.873,2.879,2.896,2.908,2.922,2.935,2.949,2.958,2.977,2.984,2.99,3.015,3.028,3.039,3.05,3.064,3.074,3.094,3.118,3.127,3.144,3.147,3.174,3.18,3.2,3.215,3.227,3.248,3.262,3.29,3.303,3.324,3.331,3.355,3.391,3.391,3.426,3.449,3.46,3.491,3.503,3.534,3.55,3.589,3.612,3.64,3.655,3.674,3.719,3.744,3.769,3.801,3.83,3.846,3.889,3.908,3.985,4.016,4.059,4.059,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.348,3.341,3.317,3.311,3.305,3.289,3.288,3.275,3.273,3.256,3.249,3.244,3.24,3.226,3.221,3.218,3.202,3.202,3.193,3.179,3.175,3.171,3.162,3.161,3.154,3.138,3.138,3.13,3.123,3.121,3.114,3.111,3.11,3.105,3.098,3.092,3.091,3.086,3.082,3.073,3.065,3.065,3.065,3.059,3.054,3.051,3.05,3.044,3.042,3.04,3.04,3.036,3.035,3.033,3.032,3.029,3.032,3.032,3.033,3.033,3.033,3.017,3.017,3.017,3.017,3.014,3.016,3.016,3.019,3.016,3.016,3.016,3.012,3.012,3.012,3.013,3.013,3.013,3.013,3.016,3.013,3.016,3.02,3.02,3.02,3.022,3.026,3.026,3.027,3.029,3.035,3.035,3.036,3.038,3.038,3.04,3.043,3.046,3.05,3.052,3.055,3.057,3.065,3.067,3.076,3.079,3.079,3.08,3.082,3.092,3.092,3.097,3.108,3.113,3.114,3.121,3.121,3.128,3.13,3.136,3.14,3.142,3.14,3.142,3.142,3.157,3.162,3.168,3.171,3.18,3.191,3.193,3.2,3.202,3.211,3.211,3.227,3.228,3.246,3.253,3.261,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 191.68} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.129154}
SEN {Time 191.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 191.68} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 5.6388}
SEN {Time 191.728} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.176,0.175,0.176,0.176,0.208,0,0,0,0,0,0,0,0,0,0,3.705,3.677,3.671,3.669,3.649,3.637,3.617,3.582,3.582,3.57,3.57,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.218,3.215,3.215,3.206,3.206,3.215,3.347,0,0,0,0,0,0.149,0.143,0.143,0.143,0.147,0.144,0.147,0.144,0.145,0.145,0.148,0.151,3.059,3.059,3.071,3.071,3.059,3.057,0.167,0.163,0.162,0.157,0.151,0.151,0.157,0.159,2.993,2.993,2.993,2.989,2.989,2.987,2.984,2.984,2.979,2.977,2.977,2.977,2.976,2.976,2.972,2.965,2.965,2.965,3.497,3.503,3.511,3.503,3.511,3.503,3.503,3.503,3.503,3.503,3.503,3.503,3.504,3.504,3.504,3.503,3.504,3.503,3.503,3.503,3.503,3.502,3.503,3.503,3.503,3.504,3.507,3.507,3.515,3.515,3.514,3.515,3.514,3.514,3.519,3.525,3.528,3.532,3.538,3.542,3.544,3.544,3.549,3.558,3.564,3.565,3.569,3.569,3.581,3.588,3.589,3.601,3.604,3.61,3.613,3.617,3.625,3.631,3.634,3.635,3.636,3.652,3.652,3.652,3.665,3.679,3.682,3.695,3.695,3.705,3.714,3.716,3.729,3.73,3.742,3.751,3.754,3.76,3.776,3.78,3.792,3.809,3.819,3.824,3.831,3.835,3.851,3.87,3.878,3.893,3.895,3.917,3.936,3.941,3.953,3.961,3.992,3.993,4.01,4.029,4.037,4.061,4.07,4.089,0.016,0.016,0.016,0.016,4.07,4.04,4.009,3.979,3.931,3.92,3.876,3.856,3.824,3.784,3.757,3.74,3.702,3.672,3.644,3.625,3.603,3.571,3.554,3.534,3.501,3.499,3.463,3.457,3.434,3.408,3.381,3.366,3.341,3.326,3.307,3.3,3.272,3.238,3.229,3.217,3.2,3.176,3.155,3.138,3.127,3.125,3.107,3.092,3.068,3.049,3.046,3.036,3.027,3.006,2.992,2.982,2.964,2.954,2.942,2.931,2.915,2.906,2.888,2.883,2.876,2.861,2.843,2.838,2.827,2.814,2.807,2.798,2.783,2.781,2.764,2.755,2.743,2.739,2.723,2.717,2.708,2.692,2.688,2.683,2.665,2.663,2.661,2.652,2.638,2.634,2.63,2.628,2.621,2.612,2.591,2.591,2.581,2.579,2.578,2.569,2.557,2.552,2.55,2.544,2.538,2.533,2.519,2.516,2.51,2.509,2.5,2.496,2.493,2.481,2.48,2.478,2.475,2.47,2.463,2.463,2.462,2.462,2.452,2.449,2.448,2.444,2.444,2.438,2.435,2.431,2.426,2.419,2.417,2.413,2.411,2.411,2.41,2.409,2.405,2.405,2.404,2.403,2.401,2.4,2.4,2.4,2.397,2.395,2.395,2.391,2.39,2.39,2.39,2.391,2.395,2.395,2.395,2.395,2.393,2.389,2.393,2.392,2.393,2.392,2.392,2.392,2.392,2.392,2.393,2.395,2.396,2.397,2.401,2.402,2.407,2.407,2.407,2.407,2.412,2.414,2.415,2.42,2.42,2.42,2.424,2.426,2.43,2.435,2.438,2.439,2.442,2.444,2.445,2.453,2.454,2.457,2.459,2.465,2.468,2.471,2.478,2.478,2.494,2.497,2.499,2.501,2.513,2.513,2.515,2.525,2.532,2.538,2.539,2.55,2.556,2.557,2.569,2.571,2.576,2.577,2.59,2.591,2.599,2.605,2.616,2.617,2.633,2.639,2.646,2.66,2.663,2.676,2.684,2.685,2.693,2.707,2.715,2.727,2.734,2.736,2.751,2.757,2.778,2.781,2.781,2.795,2.801,2.827,2.827,2.841,2.86,2.864,2.88,2.889,2.901,2.915,2.924,2.94,2.95,2.955,2.972,2.992,2.993,3.008,3.025,3.042,3.051,3.066,3.079,3.103,3.112,3.132,3.137,3.151,3.173,3.18,3.189,3.221,3.23,3.25,3.269,3.279,3.303,3.33,3.341,3.359,3.383,3.398,3.411,3.447,3.459,3.491,3.513,3.528,3.557,3.582,3.616,3.624,3.662,3.685,3.738,3.767,3.796,3.796,3.833,3.854,3.887,3.909,3.952,3.985,4.013,4.047,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0,0,0,0,3.36,3.354,3.324,3.313,3.3,3.296,3.293,3.286,3.28,3.272,3.253,3.242,3.234,3.231,3.222,3.204,3.201,3.199,3.186,3.186,3.186,3.173,3.165,3.151,3.148,3.144,3.141,3.135,3.122,3.117,3.112,3.11,3.103,3.1,3.095,3.091,3.089,3.083,3.08,3.078,3.069,3.066,3.061,3.056,3.056,3.052,3.05,3.041,3.039,3.037,3.036,3.035,3.034,3.031,3.027,3.026,3.026,3.026,3.034,3.034,3.034,3.022,3.017,3.017,3.013,3.009,3.013,3.012,3.012,3.012,3.016,3.014,3.014,3.012,3.012,3.012,3.012,3.012,3.015,3.017,3.015,3.016,3.017,3.016,3.016,3.02,3.028,3.028,3.029,3.029,3.035,3.036,3.036,3.036,3.039,3.043,3.049,3.05,3.054,3.056,3.058,3.062,3.063,3.067,3.078,3.078,3.083,3.083,3.086,3.093,3.096,3.104,3.104,3.109,3.114,3.115,3.12,3.129,3.133,3.137,3.142,3.142,3.143,3.15,3.15,3.159,3.164,3.17,3.17,3.18,3.185,3.189,3.198,3.201,3.212,3.214,3.231,3.232,3.251,3.255,3.263,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 191.88} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.130900}
SEN {Time 191.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 191.881} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 191.924} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.178,0.181,0.181,0.213,0,0,0,0,0,0,0,0,0,0,3.703,3.679,3.679,3.659,3.643,3.628,3.613,3.579,3.579,3.579,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.212,3.212,3.211,3.211,3.211,3.349,3.349,0,0,0,0,0,0,0.148,0.148,0.143,0.148,0.148,0.149,0.149,0.149,0.148,0.149,0.151,3.058,3.058,3.069,3.069,3.069,3.069,3.069,0.165,0.163,0.16,0.156,0.155,0.156,0.156,2.996,2.996,2.996,2.993,2.988,2.986,2.982,2.98,2.978,2.978,2.978,2.978,2.977,2.976,2.971,2.971,2.977,2.977,3.505,3.505,3.505,3.505,3.506,3.505,3.505,3.498,3.498,3.498,3.501,3.502,3.502,3.501,3.502,3.498,3.498,3.498,3.504,3.504,3.504,3.504,3.505,3.505,3.505,3.505,3.505,3.505,3.506,3.506,3.515,3.517,3.517,3.519,3.521,3.521,3.524,3.529,3.536,3.541,3.544,3.546,3.549,3.558,3.562,3.562,3.571,3.577,3.579,3.581,3.584,3.593,3.605,3.607,3.607,3.621,3.627,3.627,3.629,3.641,3.643,3.649,3.659,3.667,3.67,3.681,3.686,3.686,3.696,3.708,3.718,3.719,3.721,3.74,3.742,3.747,3.753,3.771,3.78,3.781,3.794,3.797,3.811,3.814,3.822,3.845,3.852,3.866,3.877,3.896,3.898,3.906,3.94,3.943,3.95,3.967,3.977,3.998,4.009,4.028,4.045,4.068,4.069,4.08,0.016,0.016,0.016,0.016,4.079,4.042,4.014,3.965,3.942,3.916,3.881,3.847,3.814,3.782,3.757,3.723,3.708,3.673,3.657,3.621,3.591,3.578,3.551,3.538,3.515,3.489,3.471,3.436,3.434,3.412,3.379,3.358,3.341,3.333,3.298,3.292,3.266,3.242,3.228,3.221,3.202,3.172,3.16,3.141,3.13,3.121,3.105,3.083,3.076,3.052,3.04,3.039,3.022,3.005,2.993,2.976,2.966,2.949,2.941,2.933,2.912,2.911,2.897,2.887,2.869,2.855,2.843,2.838,2.821,2.818,2.804,2.793,2.79,2.777,2.765,2.749,2.746,2.739,2.722,2.72,2.704,2.694,2.693,2.677,2.676,2.673,2.668,2.657,2.643,2.638,2.627,2.622,2.618,2.617,2.609,2.594,2.583,2.577,2.576,2.575,2.564,2.562,2.552,2.544,2.538,2.532,2.522,2.518,2.517,2.504,2.503,2.502,2.495,2.49,2.481,2.477,2.475,2.468,2.467,2.463,2.462,2.457,2.454,2.453,2.451,2.444,2.44,2.435,2.432,2.432,2.427,2.418,2.418,2.411,2.411,2.409,2.409,2.405,2.404,2.404,2.404,2.399,2.397,2.397,2.396,2.395,2.395,2.395,2.395,2.394,2.393,2.393,2.393,2.394,2.393,2.394,2.393,2.393,2.389,2.39,2.39,2.39,2.391,2.391,2.393,2.391,2.393,2.393,2.393,2.393,2.396,2.398,2.399,2.4,2.4,2.402,2.407,2.41,2.41,2.41,2.413,2.418,2.418,2.418,2.421,2.427,2.427,2.432,2.434,2.434,2.436,2.448,2.448,2.449,2.449,2.454,2.457,2.465,2.468,2.471,2.482,2.486,2.487,2.495,2.496,2.505,2.506,2.514,2.518,2.525,2.54,2.541,2.545,2.549,2.556,2.557,2.565,2.573,2.578,2.587,2.589,2.59,2.602,2.608,2.61,2.62,2.63,2.641,2.643,2.653,2.661,2.675,2.681,2.685,2.7,2.71,2.71,2.721,2.728,2.732,2.755,2.759,2.765,2.78,2.788,2.797,2.816,2.826,2.832,2.833,2.854,2.865,2.872,2.884,2.893,2.91,2.924,2.939,2.941,2.962,2.972,2.984,2.997,3.009,3.031,3.039,3.044,3.062,3.077,3.098,3.113,3.13,3.143,3.149,3.174,3.181,3.202,3.216,3.235,3.248,3.265,3.282,3.305,3.317,3.322,3.357,3.39,3.396,3.43,3.442,3.466,3.49,3.518,3.532,3.56,3.579,3.62,3.633,3.653,3.685,3.714,3.746,3.75,3.787,3.828,3.859,3.883,3.908,3.952,3.986,4.003,4.057,4.088,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.036,3.349,3.348,3.331,3.328,3.311,3.294,3.292,3.281,3.28,3.264,3.262,3.259,3.243,3.229,3.228,3.218,3.215,3.198,3.197,3.188,3.178,3.176,3.166,3.159,3.156,3.15,3.147,3.142,3.142,3.133,3.118,3.117,3.107,3.107,3.099,3.098,3.092,3.087,3.085,3.084,3.069,3.064,3.062,3.062,3.061,3.061,3.061,3.054,3.048,3.043,3.039,3.036,3.032,3.032,3.031,3.028,3.028,3.028,3.028,3.038,3.038,3.038,3.015,3.014,3.014,3.012,3.014,3.014,3.013,3.013,3.013,3.013,3.014,3.014,3.009,3.014,3.015,3.019,3.019,3.019,3.019,3.019,3.019,3.025,3.025,3.023,3.026,3.023,3.023,3.026,3.026,3.024,3.03,3.033,3.033,3.038,3.042,3.045,3.045,3.046,3.051,3.059,3.062,3.062,3.066,3.078,3.08,3.083,3.083,3.084,3.095,3.095,3.097,3.102,3.107,3.112,3.116,3.117,3.125,3.131,3.139,3.142,3.145,3.145,3.148,3.148,3.157,3.161,3.172,3.175,3.182,3.186,3.188,3.204,3.204,3.216,3.216,3.222,3.228,3.241,3.25,3.255,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 192.08} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.120428}
SEN {Time 192.08} {Type Tachometer} {Name LeftRight} {Vel -0.058420,0.058420}
SEN {Time 192.076} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 192.123} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0.187,0.179,0.179,0.179,0.179,0.203,0,0,0,0,0,0,0,0,0,0,3.702,3.685,3.671,3.66,3.652,3.631,3.603,3.603,3.603,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.219,3.217,3.215,3.213,3.213,3.213,3.261,3.36,0,0,0,0,0,0.149,0.139,0.139,0.139,0.148,0.148,0.149,0.155,0.155,0.149,0.155,0.157,3.06,3.06,3.07,3.07,3.06,3.057,0.166,0.165,0.159,0.153,0.153,0.153,0.153,0.154,2.989,2.99,2.991,2.991,2.99,2.99,2.985,2.985,2.982,2.977,2.977,2.979,2.977,2.977,2.97,2.97,2.97,2.97,3.501,3.505,3.507,3.505,3.507,3.505,3.507,3.502,3.508,3.498,3.508,3.505,3.505,3.502,3.505,3.502,3.502,3.505,3.505,3.505,3.506,3.506,3.506,3.511,3.511,3.506,3.511,3.511,3.511,3.516,3.517,3.521,3.52,3.521,3.529,3.53,3.532,3.533,3.537,3.542,3.545,3.546,3.552,3.555,3.558,3.568,3.576,3.578,3.582,3.592,3.598,3.604,3.608,3.613,3.618,3.626,3.63,3.63,3.632,3.635,3.639,3.649,3.658,3.668,3.673,3.68,3.688,3.696,3.707,3.71,3.712,3.713,3.735,3.747,3.749,3.756,3.758,3.774,3.777,3.798,3.799,3.809,3.814,3.829,3.839,3.855,3.869,3.872,3.883,3.9,3.923,3.926,3.935,3.959,3.973,3.984,3.987,4,4.014,4.038,4.049,4.077,4.09,0.016,0.016,0.016,0.016,4.092,4.047,4.014,3.995,3.946,3.923,3.877,3.861,3.832,3.793,3.769,3.727,3.706,3.686,3.66,3.634,3.605,3.579,3.553,3.532,3.51,3.49,3.473,3.441,3.434,3.417,3.394,3.364,3.34,3.332,3.312,3.287,3.272,3.248,3.236,3.209,3.2,3.189,3.168,3.145,3.137,3.119,3.106,3.086,3.078,3.059,3.046,3.029,3.021,3.012,2.992,2.979,2.975,2.96,2.945,2.934,2.917,2.907,2.903,2.881,2.877,2.859,2.855,2.842,2.828,2.807,2.801,2.799,2.778,2.774,2.764,2.747,2.747,2.743,2.728,2.721,2.714,2.699,2.688,2.684,2.668,2.663,2.654,2.654,2.641,2.634,2.626,2.618,2.615,2.612,2.608,2.601,2.584,2.581,2.571,2.565,2.562,2.56,2.555,2.546,2.537,2.527,2.527,2.519,2.508,2.506,2.505,2.5,2.498,2.486,2.484,2.482,2.472,2.471,2.464,2.46,2.457,2.454,2.449,2.448,2.447,2.44,2.439,2.435,2.434,2.433,2.429,2.427,2.419,2.416,2.413,2.413,2.412,2.41,2.409,2.408,2.401,2.401,2.401,2.401,2.398,2.395,2.394,2.394,2.393,2.392,2.392,2.389,2.389,2.389,2.395,2.395,2.395,2.395,2.393,2.393,2.395,2.395,2.394,2.395,2.394,2.392,2.391,2.392,2.392,2.395,2.395,2.395,2.397,2.397,2.401,2.405,2.407,2.407,2.41,2.414,2.415,2.419,2.421,2.429,2.432,2.435,2.435,2.434,2.435,2.435,2.445,2.448,2.454,2.458,2.458,2.459,2.459,2.473,2.474,2.475,2.475,2.484,2.489,2.493,2.494,2.505,2.513,2.516,2.522,2.53,2.536,2.547,2.551,2.553,2.555,2.558,2.571,2.578,2.58,2.585,2.592,2.597,2.605,2.609,2.618,2.63,2.635,2.639,2.649,2.65,2.666,2.676,2.691,2.694,2.698,2.7,2.725,2.729,2.741,2.746,2.754,2.771,2.771,2.785,2.785,2.801,2.816,2.825,2.833,2.852,2.855,2.874,2.88,2.903,2.905,2.917,2.932,2.946,2.958,2.969,2.973,2.994,3.008,3.021,3.033,3.047,3.057,3.078,3.087,3.101,3.122,3.14,3.151,3.161,3.179,3.201,3.203,3.236,3.245,3.258,3.286,3.306,3.313,3.333,3.361,3.384,3.394,3.428,3.428,3.477,3.484,3.506,3.526,3.569,3.577,3.613,3.629,3.656,3.682,3.717,3.744,3.764,3.786,3.817,3.849,3.887,3.911,3.975,4.02,4.052,4.052,4.08,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.357,3.336,3.331,3.318,3.302,3.3,3.284,3.279,3.271,3.258,3.255,3.244,3.241,3.226,3.211,3.21,3.202,3.201,3.196,3.183,3.176,3.169,3.165,3.147,3.145,3.14,3.135,3.13,3.125,3.122,3.116,3.112,3.104,3.095,3.094,3.092,3.087,3.086,3.08,3.076,3.066,3.065,3.06,3.06,3.053,3.052,3.052,3.039,3.038,3.031,3.03,3.03,3.029,3.026,3.026,3.026,3.026,3.027,3.027,3.025,3.023,3.021,3.016,3.016,3.017,3.017,3.016,3.016,3.013,3.013,3.009,3.008,3.013,3.008,3.008,3.015,3.015,3.015,3.015,3.016,3.014,3.018,3.017,3.017,3.017,3.021,3.021,3.022,3.025,3.028,3.029,3.029,3.029,3.033,3.038,3.043,3.044,3.048,3.049,3.057,3.057,3.061,3.061,3.069,3.078,3.078,3.078,3.084,3.087,3.089,3.098,3.104,3.108,3.109,3.115,3.122,3.125,3.127,3.139,3.14,3.146,3.146,3.148,3.148,3.152,3.154,3.158,3.168,3.175,3.177,3.186,3.19,3.202,3.202,3.205,3.21,3.229,3.231,3.241,3.248,3.251,3.267,3.268,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 192.28} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.061087}
SEN {Time 192.28} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 192.276} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.127} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 192.325} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.175,0.175,0.176,0.176,0.201,0,0,0,0,0,3.617,3.61,3.61,3.61,3.61,3.596,0,3.363,3.363,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,3.339,3.339,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.091,3.071,0.144,0.144,0.144,0.144,0.145,0.145,0.153,0.154,0.154,0.147,0.154,0.154,3.035,3.035,3.035,3.035,3.032,3.027,0.164,0.162,0.157,0.152,0.15,0.15,0.152,0.152,2.984,2.984,2.984,2.975,2.975,2.974,2.974,2.976,3.516,3.516,3.516,3.516,3.515,3.514,3.508,3.508,3.506,3.506,3.507,3.507,3.507,3.508,3.508,3.508,3.515,3.515,3.515,3.512,3.512,3.512,3.514,3.517,3.517,3.517,3.519,3.519,3.527,3.527,3.527,3.527,3.528,3.532,3.535,3.539,3.544,3.546,3.55,3.551,3.556,3.561,3.558,3.561,3.563,3.573,3.58,3.583,3.594,3.595,3.595,3.612,3.614,3.619,3.631,3.632,3.641,3.642,3.655,3.657,3.663,3.664,3.671,3.673,3.687,3.692,3.697,3.703,3.711,3.714,3.714,3.733,3.742,3.751,3.758,3.766,3.779,3.787,3.795,3.795,3.811,3.817,3.832,3.841,3.851,3.865,3.875,3.884,3.898,3.917,3.922,3.934,3.943,3.952,3.974,3.974,4.005,4.009,4.024,4.037,4.064,4.068,4.08,0.016,0.016,0.016,0.016,4.088,4.088,4.052,3.996,3.951,3.904,3.88,3.856,3.812,3.799,3.781,3.736,3.719,3.697,3.675,3.649,3.623,3.593,3.579,3.538,3.521,3.491,3.476,3.449,3.416,3.402,3.384,3.359,3.352,3.327,3.305,3.288,3.274,3.257,3.239,3.238,3.206,3.183,3.18,3.166,3.144,3.13,3.119,3.095,3.08,3.069,3.054,3.031,3.021,3.012,3.008,2.987,2.978,2.965,2.947,2.944,2.926,2.91,2.901,2.894,2.877,2.869,2.858,2.838,2.836,2.816,2.815,2.797,2.793,2.781,2.766,2.75,2.749,2.739,2.73,2.723,2.71,2.705,2.696,2.682,2.681,2.673,2.664,2.656,2.653,2.641,2.629,2.617,2.61,2.604,2.597,2.592,2.59,2.581,2.575,2.567,2.564,2.553,2.551,2.546,2.54,2.537,2.531,2.527,2.518,2.516,2.509,2.509,2.498,2.491,2.488,2.481,2.478,2.478,2.473,2.462,2.462,2.46,2.453,2.449,2.445,2.445,2.442,2.438,2.435,2.434,2.433,2.426,2.426,2.423,2.417,2.415,2.413,2.411,2.411,2.411,2.402,2.402,2.398,2.396,2.396,2.395,2.394,2.392,2.39,2.39,2.39,2.389,2.393,2.393,2.389,2.389,2.389,2.389,2.389,2.388,2.388,2.385,2.385,2.388,2.392,2.392,2.392,2.392,2.392,2.392,2.397,2.397,2.399,2.401,2.403,2.403,2.403,2.404,2.408,2.41,2.411,2.412,2.416,2.419,2.42,2.427,2.429,2.43,2.431,2.438,2.439,2.443,2.446,2.451,2.456,2.457,2.458,2.458,2.467,2.478,2.484,2.485,2.487,2.487,2.488,2.497,2.498,2.499,2.507,2.517,2.522,2.525,2.532,2.541,2.542,2.562,2.564,2.566,2.572,2.576,2.586,2.6,2.601,2.606,2.617,2.619,2.622,2.638,2.645,2.65,2.655,2.659,2.666,2.679,2.688,2.694,2.707,2.707,2.719,2.738,2.742,2.75,2.768,2.772,2.777,2.79,2.81,2.817,2.821,2.836,2.85,2.855,2.869,2.872,2.884,2.906,2.913,2.914,2.94,2.948,2.956,2.98,2.984,2.993,3.011,3.037,3.039,3.057,3.069,3.073,3.092,3.11,3.13,3.137,3.158,3.175,3.18,3.205,3.217,3.236,3.256,3.278,3.291,3.306,3.327,3.331,3.352,3.383,3.399,3.428,3.448,3.477,3.495,3.517,3.534,3.557,3.582,3.613,3.628,3.657,3.69,3.709,3.729,3.763,3.798,3.821,3.861,3.896,3.902,3.952,3.987,4.026,4.044,4.087,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.332,3.313,3.309,3.309,3.302,3.283,3.273,3.261,3.247,3.245,3.241,3.228,3.221,3.206,3.199,3.196,3.194,3.181,3.175,3.174,3.16,3.157,3.15,3.142,3.141,3.133,3.126,3.121,3.116,3.115,3.104,3.098,3.093,3.091,3.089,3.081,3.079,3.072,3.065,3.061,3.06,3.054,3.047,3.044,3.044,3.043,3.038,3.035,3.034,3.03,3.029,3.025,3.025,3.023,3.021,3.023,3.023,3.025,3.025,3.025,3.013,3.01,3.01,3.009,3.009,3.008,3.006,3.006,3.006,3.006,3.006,3.006,3.006,3.003,3,3.003,3.008,3.007,3.008,3.008,3.01,3.011,3.013,3.015,3.015,3.016,3.018,3.018,3.027,3.018,3.022,3.028,3.031,3.029,3.031,3.033,3.036,3.041,3.048,3.048,3.05,3.052,3.056,3.064,3.072,3.072,3.072,3.072,3.077,3.083,3.09,3.091,3.093,3.106,3.106,3.107,3.107,3.118,3.133,3.133,3.133,3.141,3.145,3.148,3.151,3.155,3.171,3.174,3.175,3.175,3.184,3.189,3.193,3.193,3.202,3.213,3.216,3.216,3.231,3.234,3.236,3.254,3.258,3.27,3.272,3.288,3.293,3.303,3.307,3.311,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 192.48} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 192.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 192.483} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.127} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6134}
SEN {Time 192.521} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.176,0.185,0.185,0.2,0,0,0,0,0,3.64,3.627,3.624,3.624,3.624,3.615,3.615,0,3.356,3.356,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.228,3.213,3.213,3.213,3.295,3.338,0,0,0,0,0,0,0,0,3.092,3.092,3.085,3.084,3.076,3.075,0.153,0.144,0.144,0.144,0.144,0.143,0.153,0.152,0.152,0.146,0.152,0.152,3.038,3.038,3.047,3.047,3.047,3.031,0.165,0.163,0.162,0.153,0.153,0.153,0.153,0.156,2.976,2.981,2.981,2.976,2.974,2.969,2.969,2.974,2.978,3.508,3.516,3.517,3.516,3.51,3.51,3.51,3.51,3.507,3.509,3.511,3.511,3.511,3.512,3.512,3.512,3.509,3.506,3.504,3.506,3.509,3.509,3.516,3.516,3.516,3.516,3.517,3.517,3.517,3.523,3.526,3.527,3.532,3.539,3.538,3.539,3.539,3.54,3.549,3.551,3.554,3.56,3.56,3.566,3.571,3.572,3.579,3.587,3.59,3.591,3.596,3.598,3.606,3.625,3.625,3.634,3.635,3.649,3.652,3.654,3.664,3.666,3.676,3.683,3.689,3.692,3.697,3.701,3.711,3.72,3.728,3.728,3.731,3.744,3.768,3.771,3.782,3.785,3.788,3.806,3.807,3.819,3.832,3.839,3.85,3.876,3.889,3.891,3.897,3.903,3.919,3.932,3.947,3.964,3.964,3.995,3.995,4.021,4.024,4.052,4.061,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.081,3.972,3.938,3.917,3.872,3.841,3.815,3.795,3.773,3.735,3.719,3.687,3.658,3.64,3.617,3.586,3.557,3.538,3.508,3.495,3.472,3.436,3.433,3.407,3.373,3.352,3.346,3.327,3.31,3.287,3.266,3.26,3.237,3.231,3.2,3.186,3.171,3.16,3.14,3.131,3.102,3.091,3.083,3.064,3.047,3.033,3.017,3.01,3.007,2.983,2.969,2.969,2.957,2.942,2.921,2.916,2.908,2.888,2.877,2.856,2.847,2.844,2.831,2.823,2.806,2.798,2.796,2.773,2.773,2.76,2.741,2.738,2.729,2.723,2.719,2.698,2.694,2.684,2.678,2.663,2.661,2.654,2.634,2.632,2.631,2.623,2.61,2.602,2.598,2.594,2.588,2.578,2.577,2.565,2.561,2.554,2.551,2.548,2.537,2.536,2.528,2.525,2.523,2.514,2.513,2.502,2.494,2.491,2.487,2.485,2.483,2.475,2.466,2.465,2.456,2.452,2.447,2.444,2.443,2.443,2.438,2.438,2.437,2.437,2.434,2.431,2.418,2.417,2.416,2.416,2.412,2.411,2.409,2.409,2.402,2.399,2.399,2.398,2.396,2.396,2.396,2.396,2.393,2.393,2.393,2.393,2.396,2.396,2.393,2.393,2.392,2.391,2.391,2.391,2.392,2.391,2.392,2.392,2.393,2.394,2.395,2.395,2.395,2.395,2.396,2.4,2.402,2.402,2.402,2.403,2.403,2.408,2.408,2.41,2.413,2.414,2.418,2.424,2.426,2.426,2.429,2.433,2.434,2.437,2.437,2.44,2.447,2.449,2.455,2.458,2.462,2.467,2.467,2.477,2.488,2.488,2.491,2.491,2.495,2.5,2.509,2.512,2.516,2.517,2.522,2.532,2.539,2.543,2.552,2.553,2.558,2.573,2.575,2.583,2.589,2.598,2.608,2.615,2.619,2.624,2.637,2.64,2.651,2.657,2.665,2.669,2.672,2.678,2.688,2.703,2.711,2.714,2.726,2.74,2.752,2.756,2.77,2.779,2.787,2.804,2.808,2.821,2.825,2.845,2.849,2.866,2.866,2.886,2.897,2.907,2.919,2.935,2.944,2.955,2.971,2.981,2.99,3.005,3.021,3.035,3.05,3.069,3.071,3.087,3.106,3.122,3.13,3.146,3.163,3.18,3.196,3.21,3.229,3.254,3.266,3.283,3.301,3.328,3.345,3.349,3.385,3.403,3.416,3.448,3.459,3.476,3.508,3.525,3.553,3.58,3.602,3.617,3.652,3.676,3.703,3.726,3.763,3.785,3.82,3.84,3.88,3.914,3.93,3.97,4.006,4.041,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.338,3.338,3.33,3.313,3.311,3.288,3.284,3.274,3.265,3.253,3.253,3.241,3.224,3.215,3.205,3.202,3.195,3.192,3.186,3.177,3.169,3.167,3.157,3.155,3.145,3.144,3.131,3.13,3.123,3.116,3.114,3.112,3.106,3.098,3.092,3.086,3.085,3.082,3.073,3.066,3.066,3.066,3.056,3.053,3.049,3.044,3.039,3.035,3.034,3.029,3.029,3.026,3.026,3.026,3.024,3.021,3.018,3.018,3.018,3.018,3.018,3.011,3.011,3.009,3.011,3.004,3.004,3.004,3.005,3.005,3.006,3.006,3.006,3.006,3.006,3.005,3.004,3.003,3.002,3.002,3.003,3.01,3.01,3.015,3.017,3.018,3.018,3.019,3.02,3.02,3.022,3.028,3.028,3.029,3.029,3.031,3.031,3.034,3.038,3.042,3.044,3.045,3.054,3.055,3.061,3.066,3.066,3.067,3.07,3.072,3.079,3.084,3.095,3.096,3.098,3.106,3.11,3.116,3.124,3.124,3.136,3.136,3.138,3.14,3.143,3.155,3.157,3.158,3.165,3.174,3.178,3.179,3.18,3.184,3.189,3.198,3.216,3.217,3.219,3.226,3.238,3.245,3.247,3.255,3.27,3.276,3.281,3.285,3.286,3.298,3.327,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 192.67} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 192.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 192.673} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.81} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.127} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6134}
SEN {Time 192.723} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.183,0.177,0.18,0.183,0.183,0.194,0,0,0,0,0,0,3.624,3.624,3.624,3.624,3.618,3.617,0,3.362,3.362,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.23,3.22,3.23,3.23,3.301,3.349,0,0,0,0,0,0,0,0,3.093,3.093,3.082,3.082,3.079,3.079,0.145,0.138,0.138,0.138,0.145,0.143,0.146,0.146,0.146,0.146,0.147,0.155,3.033,3.033,3.042,3.042,3.042,3.042,3.042,0.171,0.162,0.155,0.153,0.153,0.155,0.16,2.98,2.985,2.985,2.98,2.975,2.975,2.973,2.973,2.973,3.504,3.514,3.517,3.514,3.514,3.51,3.51,3.51,3.512,3.512,3.512,3.512,3.51,3.51,3.51,3.509,3.509,3.516,3.513,3.513,3.515,3.515,3.515,3.517,3.517,3.521,3.521,3.519,3.519,3.526,3.522,3.526,3.532,3.532,3.538,3.539,3.539,3.54,3.542,3.543,3.547,3.555,3.563,3.567,3.567,3.578,3.579,3.583,3.585,3.598,3.605,3.609,3.613,3.615,3.623,3.634,3.634,3.646,3.651,3.653,3.657,3.668,3.682,3.682,3.687,3.694,3.702,3.708,3.711,3.719,3.734,3.735,3.735,3.758,3.759,3.78,3.78,3.788,3.796,3.805,3.807,3.808,3.834,3.844,3.845,3.866,3.878,3.888,3.89,3.904,3.929,3.939,3.948,3.959,3.97,3.987,3.992,4.011,4.027,4.044,4.063,4.09,0.016,0.016,0.016,0.016,0.016,0.016,4.069,4.022,3.972,3.937,3.903,3.889,3.859,3.82,3.792,3.767,3.737,3.714,3.69,3.666,3.635,3.616,3.591,3.56,3.54,3.513,3.499,3.474,3.44,3.431,3.404,3.386,3.368,3.344,3.33,3.3,3.294,3.262,3.26,3.238,3.228,3.204,3.189,3.176,3.154,3.134,3.123,3.098,3.096,3.085,3.064,3.052,3.032,3.029,3.011,3,2.986,2.966,2.956,2.94,2.933,2.916,2.911,2.899,2.883,2.874,2.863,2.858,2.841,2.835,2.821,2.802,2.8,2.788,2.779,2.768,2.753,2.745,2.737,2.724,2.724,2.716,2.705,2.695,2.69,2.67,2.669,2.666,2.65,2.641,2.634,2.628,2.622,2.619,2.601,2.6,2.592,2.592,2.58,2.573,2.569,2.559,2.557,2.556,2.548,2.54,2.528,2.527,2.524,2.515,2.514,2.51,2.505,2.488,2.488,2.475,2.475,2.472,2.466,2.465,2.46,2.46,2.451,2.45,2.45,2.448,2.442,2.437,2.436,2.436,2.434,2.432,2.425,2.423,2.416,2.416,2.416,2.411,2.411,2.41,2.404,2.402,2.401,2.4,2.399,2.4,2.397,2.394,2.394,2.39,2.39,2.39,2.387,2.387,2.388,2.388,2.388,2.389,2.392,2.392,2.392,2.393,2.393,2.391,2.393,2.393,2.392,2.393,2.393,2.393,2.399,2.4,2.4,2.4,2.4,2.4,2.401,2.401,2.409,2.409,2.409,2.412,2.412,2.419,2.423,2.427,2.428,2.428,2.435,2.438,2.439,2.443,2.443,2.447,2.452,2.455,2.459,2.462,2.465,2.466,2.481,2.482,2.487,2.487,2.487,2.497,2.503,2.504,2.504,2.509,2.516,2.518,2.535,2.535,2.542,2.545,2.558,2.563,2.565,2.577,2.582,2.591,2.605,2.606,2.607,2.617,2.622,2.638,2.649,2.651,2.652,2.654,2.663,2.676,2.685,2.688,2.693,2.709,2.709,2.726,2.736,2.75,2.756,2.772,2.772,2.787,2.801,2.805,2.819,2.828,2.836,2.846,2.868,2.87,2.887,2.898,2.912,2.924,2.934,2.947,2.961,2.976,2.983,2.994,3,3.021,3.029,3.054,3.061,3.065,3.092,3.102,3.125,3.134,3.148,3.17,3.184,3.193,3.201,3.226,3.25,3.268,3.292,3.303,3.318,3.345,3.353,3.379,3.402,3.413,3.438,3.452,3.48,3.501,3.531,3.55,3.573,3.605,3.631,3.645,3.676,3.697,3.731,3.764,3.772,3.807,3.857,3.878,3.907,3.927,3.972,4.038,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.351,3.347,3.321,3.32,3.31,3.303,3.293,3.286,3.273,3.26,3.256,3.245,3.238,3.235,3.211,3.208,3.207,3.194,3.186,3.185,3.178,3.173,3.166,3.157,3.152,3.145,3.143,3.127,3.121,3.12,3.119,3.113,3.105,3.104,3.099,3.096,3.086,3.082,3.082,3.071,3.064,3.063,3.062,3.06,3.054,3.054,3.045,3.042,3.038,3.034,3.032,3.028,3.028,3.028,3.028,3.028,3.023,3.022,3.022,3.022,3.022,3.022,3.018,3.016,3.01,3.01,3.009,3.009,3.009,3.009,3.008,3.003,3.002,3.001,3.001,2.999,2.999,3.001,3,3.002,3.003,3.007,3.007,3.007,3.013,3.016,3.018,3.018,3.018,3.021,3.022,3.022,3.023,3.024,3.029,3.029,3.029,3.031,3.038,3.041,3.047,3.048,3.049,3.05,3.055,3.056,3.066,3.068,3.069,3.069,3.071,3.087,3.09,3.091,3.096,3.105,3.106,3.108,3.11,3.118,3.129,3.133,3.135,3.135,3.138,3.143,3.155,3.158,3.16,3.166,3.172,3.179,3.18,3.188,3.194,3.195,3.2,3.213,3.215,3.215,3.226,3.236,3.237,3.242,3.261,3.276,3.276,3.279,3.289,3.289,3.302,3.314,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 192.88} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 192.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 192.876} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.6134}
SEN {Time 192.919} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.178,0.176,0.178,0.18,0.18,0.201,0,0,0,0,0,0,3.625,3.607,3.607,3.607,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.229,3.228,3.228,3.228,3.288,3.358,0,0,0,0,0,0,0,0,3.098,3.088,3.086,3.086,3.086,3.081,0.145,0.14,0.14,0.14,0.145,0.145,0.147,0.148,0.153,0.153,0.153,0.156,3.025,3.028,3.04,3.04,3.028,3.028,0.167,0.162,0.162,0.153,0.152,0.152,0.153,0.157,2.984,2.985,2.985,2.984,2.982,2.976,2.976,2.98,2.98,3.513,3.518,3.518,3.518,3.514,3.514,3.514,3.512,3.505,3.509,3.512,3.512,3.513,3.513,3.513,3.513,3.51,3.51,3.51,3.513,3.513,3.516,3.516,3.521,3.516,3.521,3.521,3.521,3.527,3.528,3.527,3.528,3.53,3.53,3.536,3.536,3.536,3.542,3.544,3.554,3.556,3.562,3.565,3.565,3.567,3.569,3.578,3.59,3.593,3.599,3.599,3.603,3.604,3.624,3.628,3.628,3.642,3.644,3.657,3.659,3.66,3.663,3.664,3.683,3.684,3.685,3.696,3.697,3.709,3.726,3.732,3.733,3.741,3.751,3.759,3.767,3.774,3.791,3.794,3.807,3.808,3.812,3.839,3.84,3.854,3.876,3.877,3.897,3.906,3.915,3.917,3.934,3.958,3.964,3.973,3.98,3.997,4.01,4.026,4.049,4.056,4.085,0.016,0.016,0.016,0.016,0,0,0,0,3.969,3.939,3.916,3.878,3.846,3.821,3.787,3.772,3.743,3.71,3.689,3.668,3.629,3.611,3.582,3.56,3.54,3.522,3.493,3.468,3.453,3.421,3.405,3.377,3.359,3.344,3.326,3.303,3.295,3.269,3.256,3.239,3.229,3.2,3.182,3.169,3.164,3.139,3.126,3.105,3.095,3.089,3.066,3.047,3.031,3.022,3.016,2.997,2.991,2.969,2.963,2.943,2.929,2.915,2.912,2.911,2.889,2.869,2.867,2.856,2.841,2.84,2.816,2.806,2.799,2.793,2.783,2.768,2.754,2.745,2.74,2.73,2.721,2.717,2.699,2.693,2.68,2.675,2.67,2.661,2.657,2.65,2.64,2.625,2.612,2.607,2.603,2.591,2.59,2.59,2.578,2.571,2.569,2.559,2.552,2.551,2.551,2.545,2.531,2.527,2.522,2.52,2.52,2.504,2.499,2.489,2.485,2.48,2.476,2.475,2.472,2.465,2.462,2.453,2.451,2.451,2.45,2.448,2.444,2.439,2.439,2.433,2.432,2.428,2.427,2.426,2.418,2.416,2.415,2.414,2.408,2.408,2.406,2.403,2.403,2.397,2.397,2.397,2.397,2.397,2.396,2.396,2.399,2.393,2.387,2.39,2.39,2.39,2.39,2.391,2.391,2.391,2.387,2.387,2.387,2.387,2.387,2.391,2.392,2.394,2.394,2.396,2.396,2.396,2.397,2.397,2.403,2.404,2.403,2.403,2.407,2.41,2.41,2.411,2.414,2.42,2.421,2.424,2.425,2.427,2.437,2.438,2.442,2.444,2.445,2.445,2.455,2.455,2.456,2.46,2.467,2.47,2.474,2.485,2.485,2.488,2.493,2.498,2.501,2.505,2.509,2.518,2.52,2.523,2.533,2.537,2.545,2.553,2.559,2.564,2.566,2.575,2.575,2.595,2.604,2.607,2.607,2.608,2.624,2.633,2.636,2.651,2.655,2.662,2.669,2.672,2.685,2.689,2.699,2.707,2.714,2.726,2.73,2.74,2.752,2.77,2.775,2.791,2.801,2.805,2.829,2.831,2.839,2.849,2.862,2.865,2.882,2.892,2.905,2.92,2.932,2.946,2.95,2.971,2.978,2.983,2.998,3.021,3.032,3.053,3.06,3.071,3.094,3.113,3.129,3.133,3.138,3.168,3.185,3.188,3.208,3.23,3.25,3.273,3.291,3.296,3.327,3.346,3.358,3.379,3.401,3.428,3.43,3.461,3.477,3.5,3.522,3.55,3.575,3.603,3.632,3.651,3.686,3.708,3.725,3.756,3.773,3.823,3.831,3.876,3.903,3.933,3.974,3.999,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.351,3.334,3.308,3.306,3.305,3.293,3.29,3.27,3.258,3.254,3.25,3.239,3.228,3.21,3.208,3.204,3.195,3.191,3.184,3.176,3.174,3.161,3.156,3.155,3.155,3.148,3.143,3.127,3.122,3.121,3.111,3.111,3.099,3.092,3.091,3.091,3.083,3.079,3.066,3.062,3.061,3.06,3.053,3.053,3.052,3.051,3.048,3.04,3.037,3.029,3.029,3.029,3.029,3.029,3.024,3.023,3.022,3.022,3.022,3.022,3.022,3.009,3.009,3.007,3.007,3.006,3.006,3.006,3.006,3.006,3.006,3.004,3.009,3.004,3.004,2.998,3.004,3.004,3.006,3.006,3.009,3.009,3.009,3.013,3.013,3.013,3.013,3.014,3.014,3.016,3.019,3.023,3.027,3.029,3.029,3.032,3.032,3.034,3.035,3.04,3.042,3.048,3.054,3.057,3.058,3.065,3.068,3.07,3.072,3.074,3.083,3.084,3.094,3.096,3.105,3.105,3.107,3.108,3.121,3.121,3.124,3.139,3.139,3.14,3.14,3.148,3.154,3.166,3.169,3.169,3.177,3.18,3.181,3.193,3.196,3.206,3.214,3.216,3.22,3.228,3.235,3.245,3.25,3.254,3.272,3.28,3.282,3.286,3.286,3.309,3.323,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 193.08} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 193.08} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 193.077} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.0292}
SEN {Time 193.119} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.174,0.174,0.176,0.177,0.177,0.205,0,0,0,0,0,0,3.63,3.628,3.628,3.628,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,3.215,3.212,3.212,3.212,3.287,3.349,0,0,0,0,0,0,0,0,3.091,3.091,3.081,3.081,3.078,3.074,0.146,0.144,0.144,0.144,0.144,0.142,0.149,0.154,0.154,0.147,0.154,0.158,3.033,3.033,3.041,3.041,3.033,3.026,0.163,0.161,0.16,0.15,0.15,0.15,0.154,0.154,2.973,2.988,2.988,2.979,2.977,2.977,2.977,2.979,2.987,3.513,3.516,3.523,3.523,3.523,3.515,3.513,3.513,3.513,3.513,3.513,3.512,3.512,3.512,3.512,3.512,3.511,3.512,3.511,3.511,3.512,3.512,3.518,3.518,3.518,3.518,3.522,3.523,3.523,3.526,3.524,3.524,3.533,3.535,3.536,3.539,3.539,3.543,3.551,3.551,3.553,3.555,3.558,3.561,3.57,3.573,3.575,3.579,3.595,3.599,3.603,3.609,3.609,3.619,3.629,3.634,3.636,3.648,3.648,3.651,3.652,3.673,3.674,3.686,3.689,3.692,3.697,3.709,3.713,3.725,3.727,3.737,3.74,3.751,3.754,3.762,3.772,3.789,3.795,3.804,3.808,3.818,3.831,3.845,3.854,3.875,3.878,3.887,3.899,3.9,3.925,3.929,3.949,3.957,3.972,3.986,3.997,4.013,4.028,4.038,4.059,4.066,0.016,0.016,0.016,0,0.007,0.016,4.038,4.004,3.97,3.941,3.915,3.871,3.845,3.823,3.789,3.774,3.743,3.716,3.69,3.675,3.629,3.614,3.586,3.556,3.541,3.51,3.497,3.46,3.454,3.416,3.397,3.389,3.371,3.34,3.331,3.3,3.287,3.265,3.26,3.237,3.229,3.205,3.185,3.179,3.159,3.139,3.124,3.102,3.093,3.084,3.066,3.052,3.028,3.021,3.009,3.007,2.981,2.966,2.966,2.941,2.933,2.923,2.909,2.906,2.886,2.872,2.863,2.849,2.838,2.826,2.818,2.808,2.801,2.789,2.776,2.768,2.764,2.746,2.739,2.721,2.721,2.707,2.702,2.695,2.69,2.678,2.668,2.658,2.651,2.648,2.627,2.627,2.616,2.61,2.608,2.601,2.599,2.589,2.585,2.576,2.569,2.563,2.559,2.556,2.547,2.541,2.532,2.524,2.523,2.522,2.514,2.511,2.502,2.497,2.496,2.49,2.484,2.479,2.474,2.463,2.462,2.462,2.46,2.453,2.448,2.447,2.444,2.443,2.436,2.435,2.435,2.433,2.432,2.428,2.426,2.42,2.411,2.411,2.411,2.41,2.407,2.404,2.4,2.395,2.395,2.395,2.395,2.395,2.395,2.395,2.391,2.391,2.389,2.389,2.389,2.389,2.389,2.39,2.39,2.385,2.385,2.385,2.385,2.386,2.389,2.39,2.392,2.398,2.398,2.397,2.397,2.402,2.398,2.402,2.402,2.404,2.404,2.405,2.404,2.404,2.407,2.409,2.416,2.418,2.423,2.423,2.43,2.432,2.436,2.439,2.443,2.444,2.445,2.448,2.452,2.453,2.453,2.462,2.463,2.473,2.475,2.484,2.489,2.49,2.49,2.49,2.502,2.505,2.508,2.519,2.522,2.522,2.534,2.535,2.539,2.549,2.55,2.563,2.564,2.577,2.588,2.593,2.604,2.605,2.61,2.621,2.631,2.633,2.647,2.65,2.65,2.661,2.666,2.677,2.681,2.691,2.699,2.714,2.719,2.723,2.736,2.745,2.764,2.768,2.773,2.787,2.8,2.808,2.823,2.826,2.842,2.853,2.858,2.87,2.887,2.896,2.914,2.916,2.938,2.942,2.96,2.968,2.976,2.994,3.006,3.024,3.033,3.045,3.067,3.073,3.083,3.107,3.125,3.136,3.154,3.168,3.177,3.199,3.215,3.225,3.253,3.275,3.29,3.3,3.321,3.336,3.361,3.382,3.408,3.416,3.438,3.459,3.475,3.5,3.528,3.555,3.579,3.596,3.623,3.647,3.683,3.701,3.724,3.755,3.788,3.819,3.87,3.9,3.944,3.944,3.971,4.001,4.037,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.344,3.334,3.326,3.313,3.303,3.292,3.281,3.269,3.267,3.251,3.248,3.238,3.232,3.228,3.21,3.207,3.205,3.188,3.187,3.173,3.171,3.166,3.157,3.15,3.149,3.148,3.132,3.128,3.127,3.112,3.111,3.109,3.099,3.094,3.088,3.087,3.08,3.079,3.064,3.061,3.06,3.06,3.058,3.058,3.053,3.048,3.043,3.038,3.038,3.033,3.029,3.028,3.028,3.027,3.027,3.019,3.019,3.019,3.021,3.021,3.021,3.016,3.011,3.011,3.012,3.011,3.011,3.011,3.007,3.001,3.001,3.001,3.006,3.006,3.006,3.006,3.004,3.003,3.003,3.006,3.007,3.009,3.009,3.01,3.01,3.01,3.017,3.017,3.017,3.022,3.022,3.022,3.022,3.029,3.029,3.029,3.031,3.034,3.039,3.039,3.046,3.05,3.053,3.057,3.063,3.072,3.072,3.075,3.076,3.079,3.084,3.086,3.093,3.105,3.106,3.11,3.112,3.115,3.116,3.133,3.135,3.135,3.138,3.139,3.14,3.146,3.154,3.156,3.168,3.169,3.178,3.182,3.184,3.193,3.196,3.197,3.203,3.211,3.224,3.226,3.237,3.238,3.253,3.254,3.277,3.283,3.283,3.288,3.291,3.307,3.308,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 193.27} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 193.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 193.271} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 5.0292}
SEN {Time 193.32} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.176,0.174,0.174,0.176,0.176,0.194,0,0,0,0,3.632,3.63,3.627,3.619,3.619,3.619,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.238,3.228,3.238,3.287,3.287,3.358,0,0,0,0,0,0,0,0,0,3.101,3.089,3.086,3.089,3.085,3.066,0.152,0.147,0.147,0.147,0.147,0.15,0.152,0.152,0.154,0.154,0.154,0.156,3.029,3.035,3.035,3.035,3.035,3.035,3.034,0.163,0.161,0.156,0.157,0.157,0.161,0.162,2.982,2.982,2.989,2.982,2.977,2.976,2.976,2.976,2.981,3.514,3.518,3.519,3.519,3.518,3.518,3.515,3.515,3.509,3.509,3.509,3.509,3.509,3.509,3.509,3.513,3.509,3.507,3.507,3.509,3.509,3.514,3.521,3.522,3.521,3.522,3.521,3.524,3.526,3.528,3.528,3.529,3.536,3.537,3.537,3.539,3.543,3.543,3.547,3.555,3.557,3.56,3.561,3.562,3.572,3.572,3.577,3.578,3.589,3.598,3.601,3.61,3.614,3.626,3.633,3.634,3.644,3.649,3.649,3.653,3.662,3.668,3.669,3.679,3.689,3.692,3.697,3.7,3.705,3.715,3.727,3.727,3.745,3.762,3.769,3.779,3.782,3.783,3.794,3.809,3.813,3.82,3.834,3.847,3.858,3.859,3.88,3.889,3.896,3.915,3.921,3.923,3.941,3.955,3.979,3.983,3.997,4.02,4.025,4.045,4.055,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.023,4.005,3.977,3.942,3.916,3.876,3.847,3.814,3.8,3.766,3.736,3.708,3.692,3.666,3.632,3.608,3.579,3.56,3.548,3.513,3.505,3.455,3.435,3.423,3.401,3.38,3.358,3.349,3.326,3.295,3.287,3.267,3.262,3.244,3.233,3.192,3.184,3.175,3.167,3.138,3.123,3.112,3.09,3.078,3.067,3.047,3.027,3.023,3.016,3,2.977,2.967,2.958,2.941,2.934,2.922,2.913,2.911,2.885,2.874,2.86,2.855,2.843,2.829,2.82,2.808,2.805,2.786,2.779,2.761,2.758,2.741,2.739,2.716,2.713,2.712,2.701,2.698,2.684,2.679,2.677,2.662,2.655,2.647,2.63,2.625,2.618,2.618,2.599,2.597,2.597,2.597,2.587,2.582,2.571,2.557,2.557,2.55,2.55,2.541,2.536,2.533,2.53,2.518,2.511,2.509,2.508,2.498,2.489,2.484,2.484,2.477,2.468,2.465,2.462,2.462,2.459,2.456,2.446,2.443,2.442,2.441,2.442,2.44,2.43,2.428,2.426,2.425,2.418,2.413,2.413,2.411,2.411,2.409,2.405,2.403,2.402,2.4,2.4,2.4,2.397,2.395,2.395,2.394,2.394,2.394,2.391,2.39,2.389,2.389,2.389,2.39,2.393,2.393,2.39,2.39,2.39,2.39,2.392,2.392,2.392,2.395,2.395,2.395,2.397,2.401,2.4,2.401,2.406,2.407,2.409,2.41,2.41,2.41,2.41,2.413,2.414,2.416,2.416,2.426,2.426,2.427,2.428,2.435,2.441,2.441,2.444,2.449,2.455,2.457,2.459,2.462,2.467,2.467,2.477,2.484,2.486,2.488,2.489,2.493,2.499,2.511,2.511,2.52,2.524,2.525,2.533,2.539,2.548,2.556,2.564,2.565,2.57,2.571,2.581,2.596,2.604,2.608,2.608,2.618,2.623,2.634,2.641,2.648,2.654,2.658,2.668,2.677,2.69,2.691,2.706,2.714,2.717,2.725,2.736,2.743,2.758,2.773,2.775,2.792,2.795,2.812,2.823,2.829,2.847,2.848,2.86,2.868,2.88,2.9,2.909,2.924,2.934,2.955,2.965,2.966,2.981,2.993,3.003,3.024,3.026,3.043,3.065,3.067,3.086,3.102,3.129,3.141,3.141,3.171,3.179,3.203,3.215,3.223,3.243,3.264,3.295,3.305,3.325,3.341,3.354,3.377,3.397,3.421,3.44,3.462,3.485,3.505,3.525,3.561,3.569,3.608,3.625,3.645,3.681,3.699,3.715,3.758,3.789,3.814,3.836,3.888,3.908,3.946,4.008,4.044,4.079,4.079,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.351,3.338,3.337,3.325,3.313,3.301,3.301,3.281,3.267,3.266,3.246,3.244,3.243,3.235,3.217,3.209,3.204,3.204,3.198,3.183,3.176,3.173,3.173,3.165,3.15,3.149,3.142,3.131,3.125,3.119,3.116,3.114,3.108,3.101,3.089,3.088,3.085,3.081,3.078,3.076,3.068,3.066,3.062,3.058,3.058,3.049,3.046,3.042,3.039,3.034,3.029,3.029,3.029,3.029,3.029,3.029,3.022,3.02,3.02,3.02,3.02,3.02,3.019,3.017,3.016,3.012,3.012,3.011,3.009,3.005,3.005,3.005,3.003,3.007,3.008,3.007,3.005,3.007,3.005,3.005,3.005,3.008,3.01,3.01,3.01,3.012,3.014,3.014,3.014,3.021,3.022,3.022,3.024,3.03,3.03,3.03,3.031,3.033,3.033,3.04,3.04,3.04,3.043,3.048,3.055,3.06,3.067,3.069,3.071,3.076,3.078,3.081,3.087,3.088,3.101,3.104,3.11,3.111,3.112,3.124,3.127,3.134,3.137,3.137,3.138,3.142,3.152,3.164,3.165,3.165,3.172,3.175,3.181,3.189,3.191,3.191,3.202,3.204,3.205,3.218,3.228,3.233,3.246,3.248,3.249,3.274,3.275,3.278,3.287,3.292,3.306,3.321,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 193.47} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 193.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 193.474} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.0292}
SEN {Time 193.521} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.178,0.178,0.178,0.176,0.176,0.18,0.18,0.2,0,0,0,0,0,3.642,3.621,3.618,3.618,3.618,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.234,3.217,3.217,3.285,3.285,3.343,0,0,0,0,0,0,0,0,0,3.092,3.085,3.085,3.085,3.084,3.085,3.085,0.145,0.145,0.143,0.143,0.143,0.152,0.153,0.153,0.147,0.153,0.153,3.037,3.037,3.037,3.037,3.037,3.034,3.034,0.168,0.161,0.152,0.152,0.152,0.154,0.156,2.977,2.991,2.991,2.977,2.977,2.977,2.977,2.978,2.98,3.515,3.518,3.52,3.518,3.518,3.509,3.509,3.509,3.513,3.514,3.514,3.514,3.514,3.514,3.514,3.514,3.514,3.51,3.509,3.51,3.51,3.516,3.516,3.517,3.516,3.516,3.519,3.52,3.52,3.527,3.527,3.536,3.537,3.539,3.538,3.54,3.54,3.549,3.552,3.553,3.555,3.557,3.563,3.568,3.57,3.574,3.58,3.581,3.591,3.594,3.604,3.618,3.62,3.622,3.628,3.634,3.649,3.649,3.656,3.657,3.662,3.667,3.667,3.678,3.685,3.687,3.691,3.705,3.714,3.721,3.735,3.736,3.74,3.763,3.765,3.769,3.78,3.789,3.79,3.806,3.824,3.833,3.833,3.836,3.857,3.869,3.882,3.886,3.902,3.913,3.92,3.927,3.945,3.963,3.978,3.988,4.009,4.01,4.027,4.052,4.064,4.085,4.095,0.016,0.016,0.016,0.016,4.085,4.033,3.988,3.965,3.933,3.915,3.871,3.848,3.813,3.791,3.758,3.731,3.717,3.688,3.661,3.635,3.605,3.587,3.56,3.551,3.508,3.487,3.46,3.442,3.423,3.396,3.386,3.355,3.343,3.332,3.299,3.283,3.272,3.253,3.236,3.226,3.206,3.184,3.176,3.161,3.135,3.131,3.105,3.088,3.079,3.065,3.046,3.036,3.024,3.014,3.003,2.986,2.962,2.961,2.95,2.937,2.925,2.915,2.911,2.884,2.88,2.859,2.855,2.847,2.831,2.825,2.801,2.798,2.795,2.774,2.772,2.757,2.751,2.736,2.721,2.718,2.708,2.697,2.695,2.68,2.674,2.664,2.66,2.652,2.643,2.641,2.622,2.619,2.611,2.609,2.599,2.593,2.588,2.587,2.582,2.561,2.559,2.551,2.549,2.549,2.539,2.528,2.528,2.528,2.525,2.509,2.509,2.499,2.494,2.491,2.487,2.481,2.48,2.47,2.465,2.462,2.459,2.458,2.456,2.449,2.446,2.439,2.438,2.436,2.436,2.432,2.432,2.428,2.427,2.423,2.419,2.416,2.412,2.412,2.412,2.405,2.405,2.398,2.396,2.396,2.396,2.395,2.395,2.395,2.395,2.395,2.395,2.391,2.395,2.39,2.39,2.39,2.391,2.39,2.39,2.388,2.388,2.388,2.389,2.391,2.393,2.395,2.397,2.395,2.393,2.393,2.393,2.393,2.397,2.403,2.404,2.406,2.407,2.407,2.41,2.416,2.416,2.416,2.42,2.424,2.428,2.428,2.428,2.43,2.43,2.441,2.441,2.444,2.448,2.449,2.451,2.459,2.464,2.472,2.472,2.475,2.478,2.481,2.483,2.485,2.494,2.5,2.501,2.515,2.518,2.518,2.524,2.532,2.541,2.55,2.551,2.555,2.564,2.568,2.573,2.583,2.587,2.604,2.608,2.611,2.621,2.626,2.63,2.636,2.646,2.65,2.664,2.667,2.679,2.679,2.694,2.705,2.714,2.721,2.732,2.743,2.744,2.761,2.771,2.774,2.78,2.794,2.809,2.823,2.833,2.845,2.845,2.864,2.872,2.883,2.9,2.911,2.914,2.938,2.946,2.953,2.979,2.988,2.989,3,3.023,3.042,3.053,3.068,3.081,3.092,3.115,3.128,3.128,3.148,3.158,3.185,3.196,3.216,3.228,3.254,3.264,3.29,3.305,3.324,3.339,3.354,3.376,3.398,3.411,3.432,3.464,3.482,3.503,3.516,3.552,3.574,3.604,3.614,3.658,3.68,3.702,3.728,3.755,3.786,3.808,3.85,3.883,3.904,3.974,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.358,3.344,3.33,3.321,3.31,3.304,3.297,3.285,3.273,3.265,3.26,3.252,3.24,3.23,3.223,3.216,3.204,3.197,3.189,3.183,3.175,3.174,3.17,3.16,3.152,3.149,3.142,3.142,3.139,3.128,3.125,3.11,3.109,3.109,3.093,3.089,3.084,3.081,3.079,3.075,3.069,3.067,3.063,3.057,3.057,3.052,3.047,3.046,3.037,3.037,3.029,3.029,3.029,3.025,3.025,3.023,3.019,3.019,3.019,3.02,3.02,3.02,3.015,3.015,3.014,3.013,3.012,3.011,3.003,3.006,3.005,3.005,3.005,3.006,3.007,3.007,3.005,3.005,3.005,3.005,3.005,3.01,3.011,3.01,3.012,3.01,3.012,3.012,3.014,3.02,3.02,3.026,3.027,3.029,3.029,3.032,3.032,3.034,3.035,3.042,3.042,3.042,3.05,3.051,3.058,3.059,3.069,3.069,3.071,3.074,3.082,3.086,3.092,3.092,3.102,3.102,3.107,3.111,3.115,3.125,3.126,3.132,3.137,3.14,3.144,3.148,3.152,3.158,3.163,3.167,3.174,3.181,3.187,3.188,3.193,3.194,3.203,3.212,3.218,3.218,3.229,3.234,3.24,3.246,3.261,3.275,3.278,3.285,3.289,3.292,3.304,3.314,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 193.68} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 193.68} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 193.675} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.461}
SEN {Time 193.719} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.178,0.178,0.185,0.185,0.199,0,0,0,0,0,3.643,3.637,3.618,3.618,3.618,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.228,3.211,3.211,3.211,3.287,3.35,0,0,0,0,0,0,0,0,3.091,3.085,3.084,3.085,3.075,3.073,0.148,0.141,0.141,0.141,0.141,0.141,0.146,0.146,0.154,0.146,0.154,0.155,3.038,3.038,3.038,3.038,3.041,3.041,3.041,0.163,0.162,0.154,0.152,0.152,0.152,0.153,2.987,2.987,2.987,2.978,2.978,2.976,2.976,2.978,2.983,3.513,3.514,3.514,3.513,3.513,3.512,3.51,3.512,3.511,3.51,3.51,3.51,3.51,3.51,3.512,3.512,3.512,3.512,3.512,3.514,3.515,3.516,3.517,3.521,3.521,3.523,3.523,3.522,3.522,3.53,3.523,3.532,3.536,3.538,3.538,3.539,3.539,3.539,3.55,3.552,3.555,3.557,3.56,3.564,3.568,3.574,3.581,3.581,3.592,3.594,3.595,3.595,3.614,3.616,3.626,3.638,3.64,3.644,3.648,3.651,3.652,3.66,3.668,3.675,3.679,3.692,3.697,3.709,3.712,3.713,3.726,3.731,3.74,3.75,3.755,3.778,3.781,3.785,3.791,3.8,3.802,3.818,3.833,3.845,3.855,3.866,3.877,3.889,3.892,3.912,3.925,3.942,3.944,3.952,3.977,3.989,3.992,4.017,4.03,4.047,4.07,4.074,0.016,0.016,0.016,0.016,0.016,4.067,4.067,4.037,4.008,3.939,3.908,3.881,3.849,3.822,3.789,3.766,3.728,3.725,3.693,3.653,3.632,3.61,3.591,3.555,3.538,3.519,3.487,3.476,3.443,3.427,3.409,3.382,3.37,3.354,3.329,3.304,3.287,3.269,3.249,3.239,3.23,3.192,3.187,3.167,3.164,3.142,3.128,3.106,3.093,3.082,3.066,3.055,3.033,3.023,3.013,3.009,2.981,2.969,2.958,2.938,2.93,2.92,2.91,2.908,2.888,2.873,2.867,2.852,2.843,2.842,2.823,2.8,2.799,2.792,2.78,2.767,2.765,2.742,2.734,2.723,2.718,2.711,2.705,2.697,2.686,2.678,2.675,2.667,2.657,2.642,2.636,2.625,2.621,2.617,2.601,2.594,2.592,2.59,2.577,2.576,2.564,2.557,2.555,2.549,2.546,2.539,2.53,2.527,2.522,2.519,2.515,2.512,2.506,2.497,2.497,2.487,2.487,2.478,2.468,2.465,2.462,2.458,2.457,2.452,2.448,2.447,2.446,2.442,2.438,2.434,2.432,2.429,2.429,2.423,2.423,2.419,2.419,2.419,2.411,2.411,2.411,2.405,2.405,2.402,2.397,2.396,2.395,2.395,2.393,2.392,2.393,2.393,2.393,2.392,2.392,2.392,2.389,2.392,2.386,2.386,2.386,2.386,2.386,2.39,2.393,2.393,2.395,2.396,2.395,2.395,2.398,2.403,2.403,2.403,2.403,2.403,2.402,2.403,2.403,2.412,2.413,2.415,2.415,2.416,2.423,2.424,2.429,2.432,2.435,2.435,2.438,2.442,2.445,2.449,2.449,2.451,2.458,2.463,2.465,2.472,2.48,2.482,2.482,2.487,2.491,2.498,2.502,2.506,2.517,2.519,2.519,2.524,2.529,2.543,2.543,2.546,2.553,2.559,2.569,2.572,2.581,2.595,2.604,2.605,2.608,2.618,2.631,2.636,2.642,2.646,2.648,2.667,2.669,2.671,2.69,2.697,2.703,2.716,2.719,2.734,2.739,2.748,2.762,2.769,2.774,2.775,2.8,2.81,2.82,2.83,2.842,2.851,2.857,2.877,2.88,2.892,2.908,2.917,2.942,2.948,2.96,2.961,2.989,2.989,3.001,3.019,3.033,3.049,3.061,3.071,3.085,3.106,3.128,3.132,3.155,3.159,3.187,3.197,3.211,3.215,3.247,3.271,3.284,3.297,3.322,3.345,3.36,3.379,3.394,3.424,3.433,3.453,3.487,3.497,3.528,3.549,3.57,3.605,3.615,3.661,3.688,3.7,3.734,3.756,3.782,3.819,3.839,3.887,3.901,3.942,3.967,4.003,4.049,4.07,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.343,3.325,3.325,3.312,3.31,3.285,3.283,3.271,3.26,3.253,3.248,3.241,3.233,3.217,3.209,3.205,3.195,3.187,3.186,3.175,3.17,3.164,3.163,3.154,3.149,3.149,3.134,3.13,3.129,3.121,3.115,3.107,3.101,3.093,3.09,3.086,3.083,3.083,3.078,3.069,3.065,3.057,3.053,3.053,3.05,3.048,3.047,3.044,3.034,3.031,3.034,3.031,3.029,3.029,3.024,3.019,3.019,3.022,3.022,3.022,3.022,3.022,3.019,3.013,3.011,3.007,3.007,3.004,3.007,3.004,3.004,3.006,3.007,3.007,3.007,3.007,3.004,3.004,3.004,3.007,3.008,3.008,3.01,3.012,3.012,3.012,3.014,3.016,3.019,3.02,3.019,3.023,3.026,3.026,3.024,3.026,3.026,3.038,3.038,3.038,3.047,3.052,3.052,3.056,3.059,3.069,3.069,3.07,3.071,3.074,3.079,3.085,3.085,3.098,3.099,3.108,3.115,3.118,3.118,3.131,3.133,3.14,3.141,3.143,3.144,3.157,3.158,3.161,3.166,3.168,3.173,3.175,3.19,3.19,3.192,3.207,3.208,3.214,3.214,3.221,3.229,3.247,3.25,3.263,3.27,3.276,3.279,3.28,3.284,3.302,3.326,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 193.88} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 193.88} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 193.877} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.461}
SEN {Time 193.915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.176,0.182,0.182,0.198,0,0,0,0,0,3.643,3.637,3.622,3.622,3.622,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.223,3.294,3.294,3.294,3.353,0,0,0,0,0,0,0,0,3.092,3.084,3.084,3.086,3.084,3.086,3.086,0.151,0.149,0.149,0.149,0.142,0.147,0.147,0.154,0.153,0.154,0.158,3.035,3.035,3.035,3.035,3.035,3.034,3.032,0.165,0.164,0.16,0.158,0.158,0.158,0.158,2.984,2.984,2.984,2.981,2.979,2.979,2.979,2.979,2.979,3.515,3.515,3.516,3.516,3.516,3.516,3.516,3.514,3.511,3.511,3.511,3.511,3.511,3.512,3.512,3.512,3.511,3.511,3.506,3.506,3.507,3.515,3.515,3.521,3.517,3.521,3.524,3.524,3.524,3.524,3.527,3.529,3.529,3.531,3.532,3.536,3.537,3.541,3.548,3.548,3.558,3.565,3.565,3.571,3.572,3.579,3.586,3.587,3.59,3.592,3.601,3.606,3.612,3.626,3.626,3.639,3.645,3.652,3.653,3.653,3.657,3.669,3.671,3.683,3.686,3.692,3.697,3.704,3.707,3.721,3.722,3.731,3.736,3.761,3.765,3.769,3.779,3.792,3.797,3.803,3.809,3.821,3.834,3.846,3.86,3.871,3.881,3.885,3.902,3.913,3.929,3.93,3.947,3.955,3.968,3.986,4.001,4.017,4.027,4.045,4.069,4.07,0.016,0.016,0.016,0.016,0.016,0.007,4.069,4.002,3.986,3.934,3.903,3.881,3.837,3.813,3.795,3.765,3.732,3.71,3.688,3.657,3.626,3.618,3.584,3.547,3.542,3.516,3.489,3.474,3.442,3.425,3.395,3.384,3.364,3.348,3.323,3.311,3.289,3.265,3.26,3.236,3.224,3.191,3.191,3.172,3.16,3.134,3.121,3.114,3.087,3.082,3.066,3.05,3.033,3.02,3.012,2.992,2.992,2.963,2.958,2.941,2.934,2.924,2.915,2.907,2.887,2.874,2.865,2.846,2.84,2.832,2.814,2.808,2.799,2.783,2.779,2.768,2.755,2.743,2.73,2.727,2.72,2.715,2.701,2.697,2.689,2.675,2.671,2.657,2.649,2.639,2.636,2.624,2.622,2.618,2.605,2.604,2.603,2.6,2.583,2.58,2.567,2.567,2.559,2.556,2.554,2.539,2.53,2.528,2.525,2.52,2.512,2.505,2.504,2.499,2.488,2.488,2.482,2.48,2.47,2.461,2.457,2.457,2.455,2.452,2.448,2.447,2.44,2.438,2.438,2.433,2.432,2.429,2.428,2.426,2.421,2.42,2.42,2.417,2.417,2.41,2.41,2.401,2.399,2.396,2.396,2.397,2.398,2.397,2.397,2.395,2.391,2.391,2.391,2.391,2.388,2.388,2.39,2.394,2.394,2.394,2.39,2.391,2.39,2.39,2.39,2.391,2.393,2.398,2.395,2.395,2.398,2.398,2.402,2.402,2.403,2.405,2.405,2.408,2.408,2.408,2.408,2.413,2.416,2.418,2.418,2.419,2.43,2.432,2.439,2.439,2.44,2.44,2.444,2.446,2.446,2.451,2.464,2.467,2.47,2.477,2.482,2.482,2.485,2.488,2.49,2.49,2.499,2.507,2.514,2.521,2.522,2.523,2.532,2.533,2.543,2.547,2.563,2.574,2.576,2.581,2.583,2.595,2.601,2.601,2.607,2.618,2.618,2.638,2.639,2.651,2.655,2.664,2.668,2.673,2.686,2.692,2.701,2.716,2.718,2.736,2.739,2.746,2.766,2.768,2.775,2.789,2.798,2.808,2.823,2.825,2.845,2.854,2.869,2.878,2.88,2.898,2.91,2.922,2.935,2.95,2.964,2.965,2.977,2.991,3.004,3.012,3.037,3.056,3.058,3.077,3.082,3.099,3.126,3.139,3.148,3.17,3.18,3.199,3.222,3.238,3.251,3.278,3.288,3.314,3.319,3.338,3.356,3.376,3.405,3.423,3.443,3.452,3.487,3.502,3.528,3.551,3.577,3.6,3.63,3.651,3.694,3.698,3.725,3.754,3.79,3.813,3.851,3.889,3.908,3.931,3.986,4.043,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.344,3.332,3.324,3.314,3.307,3.293,3.291,3.279,3.258,3.252,3.25,3.239,3.236,3.211,3.205,3.203,3.196,3.19,3.183,3.174,3.172,3.17,3.164,3.16,3.149,3.144,3.129,3.126,3.122,3.118,3.115,3.111,3.102,3.092,3.09,3.082,3.081,3.076,3.071,3.067,3.064,3.06,3.06,3.059,3.05,3.044,3.041,3.038,3.033,3.033,3.03,3.029,3.029,3.029,3.027,3.025,3.022,3.022,3.022,3.022,3.022,3.016,3.011,3.011,3.01,3.009,3.008,3.008,3.008,3.006,3.004,3.004,3.008,3.007,3.007,3.007,3.006,3.003,3.003,3.003,3.003,3.003,3.01,3.013,3.013,3.018,3.019,3.019,3.019,3.021,3.021,3.024,3.029,3.026,3.029,3.032,3.033,3.037,3.043,3.047,3.047,3.048,3.052,3.052,3.058,3.065,3.068,3.068,3.069,3.079,3.084,3.092,3.095,3.098,3.102,3.105,3.11,3.114,3.121,3.129,3.133,3.139,3.139,3.144,3.145,3.148,3.155,3.159,3.168,3.171,3.181,3.183,3.187,3.194,3.194,3.196,3.208,3.216,3.223,3.227,3.235,3.238,3.243,3.258,3.266,3.279,3.28,3.284,3.285,3.298,3.319,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 194.07} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 194.07} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 194.071} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.461}
SEN {Time 194.115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.176,0.176,0.177,0.18,0.18,0.197,0,0,0,0,0,0,3.628,3.62,3.62,3.62,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.236,3.227,3.212,3.212,3.212,3.289,3.349,0,0,0,0,0,0,0,0,3.095,3.087,3.084,3.084,3.08,3.08,0.149,0.142,0.142,0.142,0.149,0.148,0.148,0.148,0.148,0.147,0.147,0.151,3.025,3.036,3.036,3.036,3.029,3.029,0.166,0.163,0.16,0.151,0.151,0.151,0.155,0.16,2.982,2.982,2.982,2.981,2.979,2.976,2.976,2.98,2.98,3.511,3.516,3.516,3.513,3.513,3.513,3.513,3.513,3.516,3.516,3.516,3.513,3.513,3.513,3.513,3.513,3.51,3.51,3.508,3.508,3.508,3.51,3.516,3.518,3.518,3.521,3.523,3.523,3.524,3.524,3.524,3.528,3.532,3.532,3.536,3.541,3.542,3.544,3.551,3.553,3.557,3.558,3.562,3.566,3.572,3.575,3.575,3.578,3.578,3.595,3.595,3.609,3.609,3.622,3.623,3.634,3.634,3.643,3.646,3.652,3.654,3.673,3.676,3.678,3.683,3.696,3.697,3.704,3.715,3.723,3.73,3.737,3.738,3.748,3.764,3.774,3.777,3.783,3.787,3.806,3.813,3.827,3.841,3.842,3.85,3.87,3.885,3.885,3.901,3.908,3.922,3.924,3.944,3.962,3.971,3.977,4.003,4.012,4.032,4.033,4.067,4.081,4.084,0.016,0.016,0.016,0.016,0,0.016,0,0.007,3.981,3.918,3.868,3.835,3.82,3.795,3.768,3.733,3.716,3.689,3.665,3.642,3.606,3.582,3.558,3.53,3.511,3.502,3.465,3.447,3.419,3.398,3.379,3.372,3.34,3.327,3.303,3.285,3.274,3.264,3.239,3.23,3.199,3.191,3.174,3.151,3.142,3.123,3.092,3.088,3.085,3.059,3.05,3.032,3.025,3.01,2.996,2.98,2.967,2.96,2.941,2.931,2.922,2.915,2.904,2.88,2.873,2.857,2.854,2.846,2.831,2.818,2.808,2.805,2.79,2.78,2.763,2.758,2.745,2.729,2.727,2.725,2.708,2.703,2.693,2.679,2.679,2.668,2.662,2.651,2.642,2.636,2.621,2.615,2.612,2.602,2.596,2.591,2.591,2.578,2.577,2.57,2.559,2.554,2.552,2.549,2.544,2.532,2.529,2.528,2.519,2.512,2.512,2.503,2.496,2.495,2.483,2.479,2.478,2.473,2.458,2.458,2.457,2.455,2.452,2.45,2.447,2.439,2.439,2.438,2.436,2.434,2.431,2.425,2.423,2.423,2.418,2.413,2.411,2.411,2.411,2.408,2.404,2.401,2.401,2.4,2.399,2.401,2.399,2.399,2.395,2.394,2.392,2.392,2.392,2.387,2.387,2.388,2.388,2.388,2.388,2.388,2.389,2.389,2.39,2.392,2.396,2.396,2.396,2.393,2.393,2.393,2.396,2.398,2.4,2.4,2.405,2.405,2.405,2.406,2.412,2.413,2.416,2.419,2.42,2.42,2.421,2.423,2.435,2.436,2.437,2.44,2.446,2.448,2.453,2.454,2.456,2.459,2.466,2.466,2.467,2.468,2.474,2.486,2.487,2.487,2.494,2.5,2.503,2.511,2.514,2.523,2.531,2.533,2.542,2.545,2.546,2.553,2.569,2.574,2.575,2.575,2.594,2.606,2.609,2.616,2.621,2.622,2.637,2.643,2.647,2.647,2.66,2.661,2.681,2.683,2.69,2.703,2.709,2.72,2.727,2.733,2.743,2.766,2.768,2.775,2.779,2.801,2.805,2.819,2.833,2.839,2.849,2.858,2.867,2.891,2.896,2.907,2.922,2.934,2.942,2.957,2.972,2.978,3,3.008,3.02,3.034,3.053,3.064,3.072,3.091,3.101,3.123,3.133,3.148,3.162,3.178,3.2,3.22,3.228,3.251,3.272,3.283,3.293,3.317,3.342,3.362,3.373,3.398,3.416,3.434,3.457,3.48,3.503,3.536,3.546,3.573,3.609,3.624,3.649,3.683,3.699,3.724,3.776,3.781,3.818,3.846,3.877,3.912,3.943,3.973,4.018,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.353,3.35,3.33,3.317,3.301,3.3,3.291,3.288,3.277,3.266,3.246,3.245,3.24,3.23,3.218,3.21,3.202,3.199,3.195,3.195,3.19,3.172,3.164,3.155,3.15,3.148,3.146,3.13,3.129,3.123,3.114,3.113,3.103,3.099,3.096,3.094,3.085,3.085,3.077,3.072,3.065,3.06,3.058,3.058,3.053,3.053,3.047,3.045,3.043,3.037,3.034,3.033,3.031,3.029,3.029,3.029,3.025,3.022,3.022,3.022,3.022,3.022,3.018,3.014,3.014,3.01,3.01,3.01,3.006,3.006,3.006,3.006,3.004,3.004,3.004,3.004,3.004,3.004,3.005,3.005,3.006,3.006,3.01,3.01,3.012,3.013,3.013,3.013,3.013,3.014,3.015,3.016,3.02,3.022,3.028,3.028,3.031,3.032,3.037,3.038,3.039,3.04,3.044,3.051,3.055,3.061,3.068,3.069,3.072,3.076,3.082,3.087,3.092,3.096,3.098,3.101,3.106,3.109,3.111,3.12,3.127,3.133,3.139,3.139,3.148,3.151,3.156,3.159,3.162,3.168,3.171,3.179,3.181,3.189,3.192,3.199,3.206,3.207,3.217,3.219,3.223,3.244,3.252,3.253,3.254,3.273,3.279,3.279,3.289,3.289,3.303,3.33,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 194.27} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 194.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 194.273} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 194.317} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.178,0.177,0.178,0.178,0.196,0,0,0,0,0,3.64,3.634,3.615,3.615,3.615,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.239,3.222,3.296,3.296,3.296,3.352,0,0,0,0,0,0,0,0,3.095,3.088,3.088,3.088,3.083,3.072,0.154,0.152,0.152,0.152,0.152,0.15,0.15,0.15,0.153,0.15,0.153,0.16,3.033,3.033,3.034,3.034,3.048,3.048,3.048,0.167,0.162,0.157,0.157,0.157,0.158,0.163,2.988,2.988,2.988,2.985,2.979,2.975,2.975,2.975,2.982,3.513,3.513,3.513,3.51,3.51,3.509,3.509,3.516,3.516,3.516,3.516,3.516,3.511,3.511,3.51,3.514,3.514,3.515,3.514,3.516,3.516,3.516,3.516,3.52,3.52,3.52,3.52,3.528,3.527,3.528,3.528,3.529,3.531,3.533,3.54,3.54,3.544,3.547,3.556,3.56,3.561,3.565,3.566,3.569,3.571,3.576,3.579,3.586,3.587,3.593,3.597,3.605,3.614,3.622,3.625,3.633,3.641,3.653,3.657,3.663,3.666,3.667,3.671,3.678,3.692,3.692,3.696,3.707,3.714,3.718,3.732,3.733,3.734,3.752,3.766,3.769,3.773,3.786,3.794,3.8,3.811,3.816,3.839,3.841,3.858,3.862,3.873,3.884,3.898,3.909,3.916,3.923,3.946,3.962,3.966,3.982,3.999,4.006,4.036,4.043,4.062,4.082,0.016,0.016,0.016,0.007,0,0,0.007,0.009,0.009,0.009,3.904,3.865,3.853,3.813,3.793,3.764,3.74,3.721,3.691,3.665,3.635,3.617,3.579,3.561,3.534,3.513,3.487,3.468,3.454,3.427,3.407,3.381,3.362,3.347,3.319,3.304,3.279,3.273,3.256,3.24,3.226,3.198,3.19,3.168,3.154,3.129,3.129,3.102,3.085,3.082,3.065,3.048,3.036,3.021,3.016,3.003,2.988,2.967,2.962,2.949,2.928,2.923,2.915,2.905,2.888,2.868,2.867,2.852,2.845,2.833,2.816,2.807,2.799,2.792,2.773,2.759,2.754,2.746,2.734,2.719,2.717,2.716,2.704,2.693,2.679,2.678,2.67,2.668,2.653,2.65,2.637,2.625,2.619,2.617,2.602,2.599,2.597,2.596,2.585,2.576,2.565,2.561,2.559,2.557,2.542,2.54,2.533,2.532,2.523,2.521,2.519,2.509,2.507,2.494,2.491,2.487,2.482,2.472,2.464,2.464,2.461,2.459,2.458,2.457,2.453,2.448,2.444,2.442,2.44,2.434,2.433,2.429,2.426,2.426,2.419,2.418,2.418,2.418,2.416,2.411,2.409,2.407,2.402,2.397,2.396,2.394,2.394,2.393,2.393,2.392,2.392,2.392,2.395,2.393,2.393,2.393,2.393,2.393,2.39,2.39,2.388,2.387,2.387,2.388,2.388,2.391,2.393,2.395,2.394,2.394,2.394,2.395,2.395,2.398,2.4,2.408,2.408,2.409,2.409,2.409,2.409,2.414,2.417,2.418,2.419,2.421,2.429,2.431,2.437,2.441,2.441,2.442,2.444,2.446,2.452,2.455,2.457,2.464,2.472,2.472,2.475,2.475,2.477,2.488,2.492,2.494,2.501,2.508,2.513,2.517,2.52,2.522,2.538,2.538,2.539,2.556,2.557,2.559,2.565,2.572,2.576,2.599,2.606,2.607,2.61,2.612,2.624,2.633,2.645,2.65,2.654,2.655,2.666,2.672,2.686,2.688,2.696,2.715,2.717,2.731,2.74,2.749,2.758,2.772,2.774,2.786,2.8,2.809,2.821,2.826,2.848,2.852,2.865,2.867,2.885,2.895,2.91,2.918,2.93,2.951,2.96,2.969,2.98,2.995,3.004,3.021,3.031,3.05,3.059,3.072,3.092,3.103,3.121,3.143,3.153,3.167,3.175,3.199,3.214,3.224,3.257,3.278,3.291,3.299,3.322,3.337,3.358,3.379,3.397,3.419,3.443,3.46,3.487,3.504,3.531,3.549,3.569,3.599,3.614,3.652,3.686,3.703,3.728,3.761,3.783,3.824,3.85,3.879,3.9,3.943,3.973,3.998,4.035,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.361,3.348,3.326,3.314,3.307,3.302,3.292,3.284,3.27,3.261,3.248,3.243,3.24,3.23,3.225,3.222,3.2,3.198,3.198,3.186,3.178,3.17,3.158,3.158,3.156,3.148,3.145,3.137,3.132,3.119,3.119,3.113,3.107,3.1,3.093,3.091,3.085,3.085,3.08,3.074,3.069,3.069,3.064,3.055,3.055,3.047,3.047,3.047,3.041,3.04,3.038,3.027,3.025,3.025,3.025,3.023,3.022,3.022,3.022,3.025,3.025,3.025,3.018,3.014,3.014,3.011,3.01,3.009,3.008,3.004,3.005,3.004,3.004,3.004,3.005,3.004,3.007,3.007,3.005,3.005,3.008,3.008,3.009,3.009,3.009,3.012,3.016,3.017,3.017,3.017,3.018,3.022,3.023,3.025,3.027,3.027,3.028,3.033,3.035,3.04,3.04,3.047,3.051,3.06,3.061,3.063,3.069,3.069,3.07,3.07,3.079,3.08,3.092,3.097,3.097,3.106,3.109,3.11,3.112,3.12,3.124,3.129,3.137,3.137,3.141,3.141,3.152,3.153,3.164,3.165,3.171,3.179,3.186,3.189,3.192,3.195,3.2,3.204,3.209,3.217,3.22,3.232,3.24,3.244,3.261,3.269,3.278,3.283,3.288,3.298,3.308,3.328,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 194.47} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 194.48} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 194.475} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 194.516} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.182,0.182,0.184,0.184,0.204,0,0,0,0,0,3.64,3.625,3.614,3.614,3.614,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.339,3.339,0,0,0,0,0,0,0,0,0,3.089,3.088,3.079,3.079,3.074,3.079,3.067,0.149,0.149,0.149,0.149,0.147,0.151,0.151,0.152,0.151,0.152,0.153,3.035,3.035,3.04,3.04,3.04,3.04,3.04,0.163,0.159,0.153,0.153,0.153,0.154,0.163,2.979,2.979,2.979,2.979,2.979,2.976,2.976,2.981,2.981,3.511,3.512,3.513,3.513,3.513,3.512,3.513,3.514,3.51,3.514,3.514,3.515,3.515,3.516,3.515,3.515,3.507,3.507,3.507,3.509,3.51,3.511,3.512,3.515,3.512,3.515,3.517,3.519,3.519,3.528,3.519,3.528,3.536,3.543,3.543,3.544,3.544,3.546,3.547,3.554,3.556,3.557,3.563,3.566,3.567,3.57,3.57,3.575,3.587,3.59,3.596,3.607,3.613,3.614,3.62,3.634,3.647,3.655,3.657,3.66,3.66,3.66,3.671,3.672,3.696,3.696,3.697,3.7,3.717,3.717,3.718,3.739,3.745,3.751,3.763,3.765,3.784,3.795,3.799,3.807,3.811,3.818,3.836,3.842,3.856,3.869,3.891,3.892,3.893,3.903,3.928,3.934,3.945,3.954,3.969,3.99,4.006,4.018,4.03,4.039,4.063,4.07,4.09,0.016,0.016,0.016,0.016,0.016,4.066,4.034,3.966,3.938,3.905,3.875,3.833,3.82,3.797,3.776,3.741,3.718,3.682,3.668,3.629,3.608,3.589,3.559,3.534,3.507,3.499,3.471,3.437,3.424,3.402,3.392,3.36,3.346,3.316,3.306,3.288,3.268,3.263,3.233,3.22,3.2,3.179,3.177,3.163,3.131,3.127,3.1,3.09,3.086,3.064,3.047,3.033,3.018,3.017,2.999,2.983,2.963,2.962,2.937,2.929,2.916,2.915,2.912,2.881,2.88,2.863,2.852,2.844,2.822,2.822,2.802,2.8,2.788,2.777,2.764,2.76,2.75,2.725,2.721,2.721,2.712,2.705,2.694,2.687,2.679,2.67,2.665,2.657,2.641,2.631,2.619,2.615,2.615,2.607,2.6,2.6,2.59,2.584,2.578,2.571,2.567,2.556,2.552,2.547,2.538,2.533,2.529,2.525,2.522,2.519,2.519,2.508,2.495,2.494,2.487,2.485,2.476,2.475,2.462,2.459,2.459,2.454,2.454,2.451,2.446,2.443,2.441,2.434,2.432,2.431,2.431,2.425,2.425,2.424,2.424,2.417,2.416,2.413,2.411,2.408,2.407,2.4,2.399,2.397,2.396,2.395,2.394,2.394,2.395,2.395,2.394,2.394,2.394,2.392,2.391,2.389,2.388,2.391,2.388,2.387,2.388,2.386,2.386,2.391,2.395,2.395,2.396,2.398,2.396,2.396,2.398,2.401,2.402,2.402,2.402,2.403,2.404,2.407,2.411,2.412,2.413,2.413,2.416,2.417,2.418,2.428,2.43,2.43,2.432,2.441,2.442,2.444,2.446,2.454,2.454,2.46,2.465,2.468,2.472,2.474,2.482,2.483,2.485,2.488,2.493,2.498,2.503,2.512,2.517,2.519,2.524,2.535,2.538,2.547,2.549,2.554,2.561,2.566,2.576,2.578,2.595,2.601,2.612,2.616,2.617,2.623,2.636,2.641,2.644,2.647,2.655,2.661,2.677,2.68,2.691,2.701,2.706,2.722,2.729,2.741,2.744,2.755,2.768,2.771,2.784,2.796,2.805,2.824,2.824,2.843,2.855,2.859,2.872,2.883,2.893,2.905,2.913,2.931,2.948,2.953,2.971,2.993,2.998,3.006,3.029,3.035,3.046,3.065,3.081,3.083,3.105,3.13,3.14,3.156,3.166,3.179,3.198,3.212,3.216,3.255,3.265,3.287,3.299,3.322,3.341,3.359,3.382,3.405,3.417,3.436,3.459,3.475,3.509,3.543,3.549,3.578,3.613,3.616,3.641,3.674,3.692,3.733,3.76,3.791,3.824,3.838,3.871,3.909,3.942,3.976,4.041,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.337,3.325,3.324,3.304,3.301,3.29,3.278,3.276,3.259,3.253,3.241,3.239,3.237,3.22,3.208,3.208,3.2,3.192,3.181,3.173,3.17,3.168,3.156,3.146,3.145,3.142,3.128,3.127,3.126,3.113,3.106,3.101,3.096,3.094,3.092,3.087,3.081,3.08,3.067,3.067,3.064,3.06,3.058,3.057,3.05,3.046,3.044,3.039,3.039,3.033,3.03,3.03,3.029,3.028,3.028,3.02,3.018,3.018,3.02,3.018,3.018,3.015,3.01,3.007,3.007,3.006,3.007,3.007,3.007,3.007,3.007,3.007,2.999,2.999,2.999,2.999,3.001,3.001,3.002,3.002,3.002,3.005,3.007,3.011,3.016,3.016,3.018,3.02,3.026,3.026,3.027,3.028,3.029,3.029,3.029,3.03,3.035,3.037,3.04,3.043,3.043,3.046,3.05,3.054,3.056,3.069,3.069,3.069,3.079,3.081,3.082,3.082,3.094,3.096,3.102,3.105,3.111,3.117,3.122,3.125,3.133,3.142,3.142,3.143,3.143,3.151,3.155,3.164,3.166,3.174,3.175,3.176,3.188,3.194,3.194,3.198,3.203,3.213,3.215,3.218,3.233,3.236,3.239,3.262,3.265,3.267,3.283,3.29,3.29,3.302,3.308,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 194.67} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 194.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 194.669} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 4.9276}
SEN {Time 194.716} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.182,0.187,0.187,0.203,0,0,0,0,0,0,3.63,3.62,3.62,3.62,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.229,3.229,3.295,3.295,3.351,0,0,0,0,0,0,0,0,0,3.092,3.09,3.087,3.087,3.082,3.073,0.146,0.145,0.145,0.145,0.146,0.142,0.148,0.148,0.151,0.151,0.155,0.16,3.038,3.038,3.042,3.042,3.042,3.042,3.042,0.163,0.16,0.153,0.153,0.153,0.153,0.16,2.976,2.978,2.978,2.976,2.976,2.976,2.976,2.979,2.994,3.514,3.514,3.514,3.513,3.513,3.513,3.512,3.513,3.508,3.515,3.509,3.509,3.509,3.516,3.509,3.509,3.509,3.504,3.504,3.504,3.514,3.516,3.518,3.52,3.518,3.521,3.521,3.526,3.521,3.526,3.526,3.526,3.532,3.534,3.532,3.534,3.535,3.546,3.55,3.554,3.558,3.558,3.559,3.565,3.572,3.572,3.573,3.581,3.586,3.6,3.604,3.61,3.612,3.626,3.631,3.634,3.638,3.653,3.654,3.66,3.662,3.662,3.667,3.679,3.684,3.692,3.695,3.699,3.709,3.724,3.727,3.734,3.74,3.751,3.751,3.762,3.779,3.78,3.786,3.81,3.82,3.829,3.831,3.848,3.856,3.858,3.881,3.884,3.893,3.909,3.928,3.934,3.952,3.967,3.968,3.986,3.991,4.014,4.034,4.059,4.064,4.079,0.016,0.016,0.016,0.016,0.016,4.073,4.036,4.007,4.007,3.977,3.944,3.877,3.851,3.814,3.792,3.756,3.737,3.719,3.684,3.659,3.632,3.609,3.593,3.562,3.544,3.516,3.479,3.472,3.431,3.427,3.4,3.376,3.359,3.346,3.329,3.299,3.285,3.275,3.246,3.238,3.225,3.202,3.193,3.175,3.155,3.14,3.132,3.113,3.085,3.085,3.068,3.051,3.036,3.029,3.012,3,2.983,2.967,2.955,2.945,2.936,2.924,2.916,2.901,2.88,2.878,2.864,2.851,2.85,2.831,2.823,2.808,2.795,2.781,2.773,2.761,2.756,2.744,2.735,2.728,2.722,2.707,2.705,2.692,2.686,2.68,2.672,2.667,2.655,2.639,2.636,2.621,2.618,2.611,2.603,2.597,2.595,2.586,2.586,2.581,2.573,2.57,2.557,2.551,2.55,2.537,2.529,2.527,2.524,2.513,2.513,2.511,2.51,2.493,2.492,2.491,2.488,2.474,2.472,2.466,2.462,2.462,2.458,2.45,2.45,2.443,2.441,2.441,2.434,2.434,2.431,2.428,2.426,2.424,2.419,2.416,2.414,2.416,2.412,2.412,2.41,2.402,2.399,2.398,2.397,2.397,2.398,2.395,2.395,2.395,2.393,2.392,2.392,2.392,2.392,2.392,2.391,2.395,2.391,2.391,2.391,2.391,2.391,2.393,2.394,2.395,2.395,2.396,2.395,2.397,2.397,2.399,2.399,2.401,2.401,2.405,2.405,2.405,2.405,2.411,2.412,2.413,2.417,2.418,2.426,2.43,2.43,2.43,2.43,2.437,2.439,2.442,2.443,2.443,2.447,2.45,2.454,2.461,2.47,2.475,2.477,2.483,2.484,2.488,2.49,2.492,2.499,2.511,2.515,2.517,2.518,2.518,2.53,2.542,2.545,2.549,2.555,2.564,2.57,2.575,2.578,2.592,2.602,2.609,2.611,2.618,2.628,2.629,2.64,2.643,2.647,2.657,2.66,2.672,2.688,2.692,2.704,2.711,2.723,2.733,2.737,2.743,2.755,2.769,2.777,2.779,2.798,2.811,2.82,2.828,2.85,2.853,2.865,2.868,2.886,2.901,2.905,2.922,2.934,2.935,2.956,2.968,2.982,2.996,3.002,3.028,3.029,3.048,3.064,3.079,3.09,3.099,3.12,3.137,3.155,3.168,3.185,3.205,3.21,3.233,3.253,3.268,3.294,3.304,3.316,3.337,3.362,3.376,3.41,3.412,3.438,3.459,3.482,3.503,3.536,3.558,3.581,3.606,3.616,3.656,3.67,3.692,3.727,3.755,3.781,3.828,3.844,3.885,3.909,3.933,3.979,4.04,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.352,3.343,3.33,3.318,3.303,3.302,3.298,3.279,3.272,3.272,3.252,3.242,3.241,3.232,3.217,3.209,3.202,3.201,3.191,3.182,3.181,3.181,3.175,3.171,3.15,3.147,3.144,3.127,3.126,3.125,3.121,3.107,3.104,3.103,3.099,3.094,3.084,3.083,3.082,3.071,3.066,3.062,3.059,3.055,3.053,3.053,3.05,3.042,3.041,3.032,3.031,3.03,3.03,3.029,3.024,3.023,3.02,3.02,3.02,3.02,3.02,3.02,3.02,3.018,3.014,3.011,3.009,3.008,3.007,3.008,3.008,3.005,3.005,3.008,3.005,3.005,3.005,3.005,3.002,3.002,3.004,3.004,3.009,3.009,3.012,3.015,3.015,3.022,3.022,3.02,3.023,3.024,3.02,3.025,3.025,3.03,3.031,3.037,3.038,3.041,3.042,3.049,3.049,3.051,3.052,3.059,3.068,3.068,3.07,3.07,3.073,3.079,3.086,3.096,3.1,3.106,3.107,3.118,3.12,3.126,3.128,3.132,3.138,3.138,3.144,3.146,3.154,3.155,3.159,3.161,3.168,3.173,3.18,3.185,3.186,3.197,3.204,3.209,3.214,3.222,3.228,3.244,3.247,3.249,3.255,3.273,3.277,3.286,3.288,3.29,3.303,3.333,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 194.87} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.064577}
SEN {Time 194.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 194.871} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594}
SEN {Time 194.911} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.174,0.173,0.174,0.174,0.195,0,0,0,0,0,3.64,3.635,3.618,3.618,3.618,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,0,0.007,3.339,3.339,0,0,0,0,0,0,0,0,0,3.093,3.089,3.086,3.086,3.08,3.08,3.075,0.15,0.148,0.148,0.148,0.148,0.148,0.15,0.157,0.153,0.157,0.158,3.03,3.031,3.046,3.046,3.046,3.031,0.164,0.157,0.157,0.157,0.157,0.158,0.159,0.159,2.974,2.977,2.977,2.974,2.974,2.974,2.974,2.975,2.979,3.506,3.514,3.518,3.518,3.518,3.518,3.518,3.519,3.517,3.52,3.52,3.52,3.517,3.518,3.513,3.513,3.513,3.505,3.505,3.506,3.506,3.516,3.517,3.517,3.517,3.518,3.518,3.518,3.525,3.526,3.525,3.526,3.537,3.539,3.54,3.54,3.542,3.543,3.549,3.556,3.559,3.56,3.567,3.568,3.575,3.58,3.581,3.582,3.586,3.593,3.604,3.608,3.613,3.621,3.626,3.634,3.636,3.645,3.652,3.658,3.666,3.67,3.681,3.682,3.684,3.686,3.701,3.704,3.708,3.714,3.729,3.734,3.749,3.755,3.76,3.774,3.781,3.783,3.79,3.803,3.813,3.819,3.834,3.837,3.848,3.883,3.883,3.886,3.901,3.903,3.934,3.935,3.947,3.957,3.975,3.989,4.002,4.023,4.027,4.049,4.059,4.086,4.093,0.016,0.016,0.016,0.016,4.072,4.032,4.004,3.959,3.932,3.912,3.873,3.845,3.823,3.786,3.76,3.745,3.722,3.679,3.658,3.646,3.603,3.593,3.557,3.543,3.521,3.485,3.472,3.439,3.429,3.4,3.388,3.361,3.348,3.324,3.304,3.286,3.276,3.258,3.245,3.229,3.201,3.189,3.172,3.145,3.139,3.125,3.102,3.089,3.083,3.063,3.051,3.027,3.021,3.012,2.994,2.992,2.972,2.961,2.944,2.936,2.921,2.906,2.899,2.882,2.872,2.87,2.849,2.84,2.829,2.816,2.805,2.796,2.783,2.778,2.764,2.756,2.744,2.739,2.723,2.721,2.717,2.702,2.697,2.686,2.676,2.67,2.665,2.651,2.64,2.636,2.627,2.615,2.609,2.601,2.598,2.595,2.589,2.588,2.573,2.569,2.568,2.557,2.555,2.551,2.543,2.528,2.527,2.523,2.522,2.521,2.508,2.501,2.494,2.49,2.486,2.48,2.474,2.472,2.468,2.465,2.458,2.456,2.455,2.445,2.445,2.442,2.44,2.441,2.44,2.433,2.431,2.428,2.421,2.42,2.418,2.417,2.414,2.409,2.411,2.409,2.405,2.405,2.4,2.399,2.398,2.398,2.395,2.392,2.392,2.393,2.391,2.391,2.392,2.39,2.389,2.39,2.39,2.39,2.391,2.391,2.391,2.391,2.391,2.391,2.392,2.395,2.395,2.396,2.396,2.397,2.4,2.4,2.4,2.404,2.405,2.405,2.407,2.41,2.415,2.415,2.415,2.415,2.415,2.416,2.421,2.427,2.431,2.433,2.433,2.436,2.444,2.445,2.447,2.456,2.457,2.459,2.459,2.459,2.467,2.471,2.473,2.479,2.49,2.494,2.498,2.501,2.507,2.513,2.523,2.524,2.527,2.534,2.535,2.545,2.546,2.557,2.559,2.565,2.566,2.588,2.591,2.603,2.606,2.611,2.616,2.629,2.631,2.637,2.648,2.652,2.658,2.67,2.673,2.688,2.689,2.705,2.714,2.72,2.733,2.734,2.743,2.759,2.773,2.779,2.783,2.798,2.809,2.822,2.829,2.842,2.847,2.867,2.875,2.885,2.899,2.913,2.919,2.93,2.946,2.956,2.969,2.985,2.989,3.011,3.029,3.035,3.057,3.064,3.076,3.09,3.107,3.125,3.132,3.15,3.164,3.186,3.197,3.218,3.229,3.245,3.267,3.282,3.296,3.325,3.337,3.357,3.373,3.402,3.408,3.433,3.473,3.473,3.503,3.531,3.558,3.578,3.603,3.611,3.652,3.684,3.7,3.732,3.755,3.788,3.806,3.859,3.879,3.9,3.95,3.98,4.01,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.344,3.329,3.328,3.317,3.31,3.291,3.284,3.27,3.259,3.251,3.247,3.247,3.231,3.22,3.201,3.201,3.2,3.196,3.185,3.175,3.173,3.164,3.159,3.148,3.147,3.141,3.135,3.125,3.121,3.114,3.114,3.106,3.102,3.101,3.094,3.093,3.083,3.081,3.073,3.069,3.063,3.062,3.058,3.056,3.052,3.047,3.047,3.039,3.039,3.036,3.031,3.028,3.028,3.027,3.025,3.025,3.025,3.025,3.029,3.029,3.029,3.018,3.018,3.018,3.018,3.011,3.011,3.006,3.006,3.006,3.008,3.008,3.008,3.006,3.005,3.003,3.003,3.002,3.002,3.002,3.002,3.013,3.016,3.013,3.014,3.014,3.014,3.014,3.02,3.023,3.023,3.024,3.024,3.026,3.026,3.03,3.034,3.041,3.042,3.043,3.046,3.052,3.053,3.057,3.061,3.062,3.067,3.07,3.073,3.075,3.084,3.09,3.098,3.101,3.104,3.106,3.111,3.115,3.122,3.129,3.13,3.141,3.141,3.142,3.142,3.154,3.158,3.162,3.168,3.173,3.174,3.181,3.183,3.187,3.196,3.202,3.217,3.217,3.226,3.226,3.238,3.248,3.251,3.259,3.273,3.275,3.287,3.292,3.295,3.308,3.321,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 195.06} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 195.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 195.064} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.3594}
SEN {Time 195.111} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.171,0.171,0.171,0.17,0.17,0.174,0.174,0.197,0,0,0,0,0,3.648,3.639,3.612,3.612,3.612,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.243,3.243,3.243,3.232,0,0.007,3.352,3.352,0,0,0,0,0,0,0,0,0,3.099,3.091,3.079,3.079,3.078,3.075,0.144,0.143,0.143,0.143,0.144,0.142,0.143,0.143,0.151,0.144,0.151,0.152,3.034,3.036,3.041,3.041,3.042,3.042,3.042,0.168,0.163,0.153,0.153,0.153,0.157,0.158,2.976,2.979,2.979,2.979,2.979,2.979,2.979,2.981,2.989,3.509,3.514,3.514,3.512,3.512,3.512,3.512,3.512,3.51,3.51,3.51,3.51,3.516,3.516,3.505,3.51,3.506,3.506,3.506,3.51,3.515,3.515,3.515,3.516,3.519,3.523,3.524,3.525,3.528,3.528,3.528,3.528,3.528,3.528,3.528,3.536,3.536,3.54,3.546,3.549,3.552,3.554,3.557,3.56,3.568,3.574,3.577,3.585,3.589,3.592,3.602,3.609,3.611,3.617,3.624,3.628,3.639,3.64,3.657,3.657,3.658,3.661,3.675,3.676,3.682,3.687,3.693,3.702,3.714,3.716,3.718,3.738,3.754,3.754,3.76,3.784,3.784,3.791,3.794,3.814,3.816,3.825,3.832,3.842,3.854,3.864,3.872,3.886,3.894,3.912,3.92,3.941,3.952,3.957,3.98,3.984,4.002,4.016,4.027,4.056,4.065,4.08,0.016,0.016,0.016,0.016,0.016,4.074,4.074,4.074,4.035,3.999,3.91,3.86,3.841,3.826,3.792,3.754,3.742,3.712,3.686,3.651,3.646,3.612,3.588,3.559,3.546,3.507,3.487,3.46,3.441,3.419,3.399,3.379,3.356,3.339,3.326,3.309,3.286,3.275,3.256,3.235,3.222,3.202,3.194,3.172,3.159,3.13,3.121,3.111,3.091,3.087,3.062,3.048,3.028,3.024,3.008,2.995,2.988,2.967,2.961,2.946,2.932,2.928,2.91,2.904,2.881,2.874,2.865,2.85,2.846,2.823,2.816,2.809,2.792,2.785,2.784,2.759,2.757,2.745,2.733,2.727,2.72,2.717,2.703,2.689,2.685,2.675,2.66,2.658,2.657,2.638,2.635,2.628,2.618,2.615,2.604,2.6,2.597,2.595,2.58,2.578,2.567,2.567,2.555,2.552,2.548,2.534,2.528,2.523,2.522,2.517,2.511,2.508,2.503,2.494,2.487,2.486,2.482,2.476,2.471,2.463,2.458,2.456,2.456,2.455,2.453,2.447,2.442,2.441,2.441,2.436,2.431,2.43,2.421,2.418,2.418,2.418,2.413,2.412,2.409,2.406,2.406,2.404,2.4,2.4,2.399,2.397,2.397,2.397,2.395,2.393,2.393,2.393,2.391,2.393,2.391,2.391,2.388,2.394,2.392,2.392,2.386,2.39,2.389,2.389,2.39,2.391,2.395,2.395,2.397,2.398,2.398,2.398,2.402,2.403,2.407,2.407,2.406,2.408,2.408,2.408,2.409,2.411,2.413,2.416,2.418,2.423,2.432,2.432,2.434,2.438,2.443,2.443,2.444,2.449,2.452,2.457,2.461,2.462,2.463,2.468,2.472,2.484,2.488,2.489,2.491,2.495,2.498,2.507,2.507,2.511,2.516,2.52,2.535,2.536,2.537,2.556,2.559,2.565,2.571,2.572,2.589,2.595,2.6,2.604,2.611,2.618,2.627,2.638,2.64,2.648,2.656,2.656,2.661,2.675,2.687,2.688,2.701,2.716,2.717,2.727,2.735,2.747,2.762,2.774,2.78,2.781,2.802,2.807,2.821,2.834,2.836,2.85,2.855,2.876,2.879,2.901,2.905,2.916,2.94,2.943,2.961,2.966,2.982,2.992,2.999,3.016,3.038,3.052,3.07,3.079,3.092,3.096,3.121,3.129,3.156,3.164,3.177,3.197,3.217,3.224,3.255,3.263,3.299,3.299,3.312,3.344,3.359,3.376,3.393,3.416,3.445,3.47,3.474,3.507,3.528,3.561,3.578,3.611,3.626,3.656,3.679,3.702,3.723,3.756,3.772,3.806,3.845,3.876,3.916,3.928,3.979,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.347,3.342,3.327,3.322,3.306,3.302,3.293,3.291,3.267,3.261,3.251,3.246,3.24,3.227,3.218,3.205,3.203,3.202,3.202,3.185,3.173,3.171,3.17,3.159,3.148,3.148,3.145,3.131,3.129,3.127,3.117,3.111,3.104,3.1,3.094,3.093,3.086,3.084,3.08,3.068,3.066,3.064,3.059,3.056,3.052,3.049,3.045,3.042,3.038,3.036,3.031,3.028,3.026,3.024,3.021,3.021,3.019,3.019,3.021,3.022,3.022,3.022,3.014,3.012,3.011,3.011,3.009,3.008,3.008,3.002,3.002,3.002,3.003,3.004,3.006,3.005,3.006,3.006,3.006,3.006,3.009,3.01,3.011,3.011,3.014,3.014,3.014,3.014,3.02,3.02,3.025,3.025,3.025,3.025,3.027,3.029,3.03,3.031,3.037,3.04,3.042,3.042,3.047,3.049,3.051,3.061,3.066,3.066,3.068,3.07,3.08,3.08,3.085,3.094,3.095,3.108,3.109,3.111,3.112,3.115,3.126,3.134,3.138,3.139,3.14,3.142,3.158,3.16,3.164,3.165,3.166,3.174,3.183,3.183,3.189,3.192,3.211,3.212,3.217,3.22,3.221,3.237,3.239,3.251,3.259,3.265,3.275,3.287,3.289,3.291,3.302,3.322,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 195.27} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 195.27} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 195.266} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.3594}
SEN {Time 195.312} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.177,0.177,0.177,0.172,0.172,0.177,0.177,0.199,0,0,0,0,3.634,3.63,3.628,3.618,3.61,3.61,3.61,3.61,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.296,3.344,0,0,0,0,0,0,0,0,0,3.092,3.091,3.082,3.082,3.08,3.08,0.143,0.14,0.14,0.142,0.142,0.145,0.148,0.148,0.154,0.148,0.154,0.16,3.036,3.036,3.043,3.043,3.036,3.026,0.166,0.164,0.162,0.156,0.151,0.151,0.156,0.158,2.98,2.98,2.981,2.981,2.98,2.978,2.981,2.984,2.984,3.517,3.517,3.517,3.512,3.512,3.512,3.513,3.513,3.513,3.513,3.513,3.511,3.511,3.511,3.507,3.511,3.507,3.507,3.507,3.512,3.508,3.512,3.512,3.52,3.52,3.525,3.525,3.518,3.518,3.527,3.527,3.53,3.53,3.533,3.534,3.536,3.536,3.54,3.545,3.547,3.553,3.56,3.56,3.562,3.573,3.575,3.582,3.584,3.589,3.597,3.6,3.603,3.607,3.616,3.63,3.634,3.641,3.641,3.652,3.652,3.654,3.663,3.664,3.67,3.683,3.687,3.696,3.703,3.709,3.715,3.725,3.729,3.751,3.754,3.772,3.776,3.785,3.788,3.794,3.806,3.809,3.815,3.816,3.847,3.853,3.864,3.882,3.886,3.895,3.913,3.927,3.934,3.963,3.968,3.972,3.982,3.989,4.023,4.025,4.044,4.062,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.022,3.991,3.938,3.915,3.874,3.839,3.819,3.795,3.762,3.724,3.708,3.694,3.66,3.629,3.618,3.573,3.556,3.535,3.511,3.49,3.47,3.445,3.429,3.406,3.38,3.368,3.341,3.322,3.307,3.28,3.262,3.258,3.24,3.219,3.21,3.189,3.169,3.159,3.135,3.126,3.112,3.09,3.084,3.067,3.058,3.036,3.022,3.008,2.994,2.982,2.965,2.959,2.938,2.933,2.917,2.91,2.906,2.881,2.879,2.861,2.851,2.845,2.834,2.818,2.807,2.8,2.796,2.78,2.764,2.751,2.744,2.735,2.725,2.719,2.712,2.703,2.699,2.683,2.677,2.664,2.662,2.655,2.646,2.633,2.63,2.621,2.609,2.604,2.598,2.593,2.593,2.581,2.577,2.563,2.561,2.56,2.55,2.55,2.543,2.525,2.525,2.521,2.519,2.514,2.508,2.506,2.501,2.493,2.49,2.484,2.477,2.47,2.465,2.463,2.457,2.456,2.453,2.446,2.444,2.442,2.441,2.435,2.434,2.433,2.432,2.428,2.42,2.416,2.415,2.414,2.414,2.411,2.406,2.406,2.405,2.399,2.398,2.398,2.397,2.397,2.393,2.393,2.393,2.396,2.393,2.391,2.39,2.39,2.39,2.39,2.391,2.391,2.389,2.389,2.391,2.391,2.393,2.393,2.393,2.393,2.398,2.398,2.394,2.394,2.402,2.403,2.403,2.403,2.403,2.403,2.403,2.405,2.409,2.413,2.413,2.413,2.415,2.418,2.427,2.43,2.43,2.431,2.437,2.44,2.443,2.446,2.447,2.45,2.452,2.462,2.462,2.463,2.471,2.475,2.481,2.482,2.484,2.489,2.495,2.503,2.508,2.516,2.523,2.524,2.529,2.534,2.541,2.542,2.555,2.555,2.565,2.568,2.573,2.591,2.593,2.604,2.605,2.606,2.618,2.627,2.635,2.652,2.653,2.655,2.662,2.664,2.675,2.685,2.686,2.697,2.714,2.715,2.732,2.74,2.757,2.765,2.772,2.774,2.785,2.795,2.806,2.82,2.834,2.841,2.855,2.871,2.872,2.889,2.895,2.915,2.918,2.927,2.939,2.959,2.972,2.978,2.994,3.006,3.024,3.034,3.043,3.064,3.072,3.089,3.103,3.116,3.131,3.148,3.163,3.173,3.189,3.208,3.228,3.259,3.275,3.281,3.305,3.314,3.342,3.364,3.379,3.4,3.42,3.442,3.454,3.485,3.505,3.531,3.555,3.583,3.605,3.629,3.662,3.678,3.697,3.721,3.749,3.782,3.82,3.845,3.88,3.904,3.946,3.977,4.039,4.075,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.352,3.351,3.332,3.315,3.309,3.304,3.297,3.284,3.277,3.27,3.246,3.245,3.243,3.235,3.235,3.221,3.207,3.2,3.199,3.187,3.174,3.173,3.16,3.155,3.149,3.148,3.144,3.137,3.132,3.121,3.11,3.104,3.104,3.103,3.098,3.092,3.091,3.082,3.082,3.073,3.069,3.067,3.056,3.054,3.052,3.049,3.047,3.043,3.039,3.037,3.03,3.03,3.03,3.029,3.022,3.022,3.018,3.018,3.018,3.024,3.024,3.024,3.01,3.01,3.01,3.011,3.011,3.011,3.01,3.009,3.003,3.003,3.003,3.003,3.003,3.003,3.001,3.002,3.002,3.002,3.005,3.006,3.011,3.011,3.012,3.016,3.016,3.016,3.016,3.016,3.024,3.024,3.021,3.025,3.024,3.024,3.026,3.035,3.035,3.036,3.039,3.041,3.048,3.052,3.052,3.054,3.07,3.07,3.074,3.074,3.076,3.08,3.086,3.097,3.101,3.105,3.105,3.108,3.109,3.121,3.129,3.136,3.136,3.136,3.14,3.14,3.152,3.155,3.166,3.171,3.172,3.175,3.188,3.188,3.192,3.196,3.205,3.213,3.215,3.216,3.217,3.229,3.242,3.254,3.26,3.274,3.278,3.279,3.279,3.287,3.303,3.324,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 195.47} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 195.47} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 195.468} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546}
SEN {Time 195.513} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.174,0.171,0.174,0.174,0.194,0,0,0,0,0,3.639,3.618,3.618,3.618,3.618,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.226,3.217,3.217,3.217,3.301,3.354,0,0,0,0,0,0,0,0,3.099,3.092,3.088,3.084,3.082,3.082,3.078,0.152,0.152,0.152,0.152,0.147,0.147,0.147,0.147,0.147,0.153,0.158,3.033,3.033,3.033,3.033,3.032,3.025,0.163,0.162,0.157,0.149,0.149,0.149,0.155,0.156,2.974,2.979,2.979,2.976,2.974,2.976,2.976,2.976,2.987,3.511,3.514,3.52,3.52,3.52,3.52,3.511,3.51,3.506,3.511,3.507,3.507,3.512,3.515,3.512,3.512,3.509,3.509,3.509,3.51,3.513,3.516,3.516,3.522,3.522,3.521,3.522,3.522,3.524,3.529,3.533,3.533,3.534,3.537,3.54,3.541,3.544,3.544,3.547,3.548,3.556,3.559,3.56,3.565,3.572,3.574,3.584,3.588,3.595,3.598,3.604,3.605,3.607,3.614,3.631,3.635,3.644,3.644,3.644,3.648,3.656,3.667,3.673,3.68,3.68,3.683,3.704,3.707,3.711,3.722,3.732,3.732,3.75,3.752,3.766,3.766,3.775,3.784,3.788,3.805,3.812,3.819,3.836,3.843,3.853,3.854,3.877,3.884,3.897,3.911,3.923,3.939,3.95,3.957,3.971,3.989,3.997,4.016,4.022,4.055,4.06,4.08,4.089,0.016,0.016,0.016,0.016,0.016,0.007,0,4.03,3.943,3.903,3.869,3.842,3.811,3.791,3.769,3.734,3.72,3.691,3.669,3.637,3.604,3.591,3.566,3.538,3.511,3.498,3.471,3.44,3.432,3.407,3.386,3.369,3.345,3.324,3.297,3.294,3.275,3.251,3.235,3.225,3.207,3.191,3.172,3.148,3.134,3.126,3.106,3.095,3.075,3.067,3.05,3.032,3.018,3.008,3.003,2.984,2.964,2.955,2.944,2.935,2.916,2.912,2.9,2.88,2.875,2.862,2.847,2.843,2.825,2.821,2.804,2.801,2.791,2.773,2.768,2.748,2.744,2.734,2.722,2.718,2.714,2.704,2.695,2.685,2.67,2.667,2.654,2.645,2.639,2.632,2.63,2.623,2.618,2.607,2.597,2.597,2.592,2.575,2.574,2.573,2.559,2.553,2.551,2.547,2.533,2.532,2.528,2.523,2.518,2.512,2.503,2.499,2.499,2.49,2.487,2.487,2.479,2.471,2.459,2.458,2.458,2.457,2.455,2.443,2.442,2.441,2.44,2.44,2.438,2.436,2.433,2.427,2.421,2.421,2.416,2.416,2.411,2.41,2.41,2.406,2.402,2.401,2.396,2.396,2.395,2.396,2.395,2.395,2.393,2.392,2.392,2.391,2.392,2.394,2.394,2.393,2.393,2.39,2.389,2.389,2.39,2.389,2.392,2.394,2.394,2.394,2.394,2.394,2.395,2.396,2.396,2.398,2.399,2.401,2.401,2.405,2.406,2.405,2.405,2.408,2.413,2.414,2.418,2.419,2.425,2.427,2.435,2.436,2.436,2.438,2.443,2.447,2.449,2.452,2.453,2.459,2.46,2.468,2.468,2.472,2.475,2.478,2.484,2.486,2.496,2.507,2.508,2.515,2.519,2.524,2.53,2.534,2.534,2.549,2.549,2.556,2.557,2.568,2.572,2.583,2.585,2.603,2.607,2.608,2.61,2.624,2.635,2.637,2.649,2.652,2.664,2.665,2.67,2.693,2.693,2.714,2.716,2.72,2.73,2.743,2.743,2.762,2.762,2.775,2.783,2.797,2.81,2.817,2.831,2.838,2.848,2.863,2.879,2.887,2.891,2.914,2.915,2.932,2.934,2.955,2.976,2.983,2.989,3.01,3.025,3.035,3.053,3.061,3.071,3.09,3.106,3.122,3.132,3.15,3.168,3.183,3.202,3.212,3.221,3.258,3.266,3.278,3.306,3.315,3.341,3.362,3.381,3.4,3.42,3.429,3.468,3.493,3.502,3.53,3.558,3.579,3.605,3.622,3.657,3.68,3.696,3.72,3.753,3.785,3.816,3.858,3.877,3.916,3.938,3.962,4.042,4.073,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.342,3.329,3.315,3.314,3.307,3.296,3.279,3.268,3.258,3.253,3.248,3.243,3.228,3.219,3.217,3.206,3.202,3.197,3.187,3.173,3.172,3.169,3.161,3.148,3.148,3.138,3.133,3.13,3.127,3.12,3.107,3.107,3.105,3.098,3.096,3.088,3.087,3.08,3.065,3.064,3.064,3.061,3.055,3.051,3.051,3.048,3.045,3.042,3.036,3.031,3.03,3.029,3.028,3.027,3.027,3.022,3.022,3.022,3.028,3.028,3.028,3.017,3.013,3.013,3.014,3.008,3.01,3.01,3.008,3.008,3.007,3.005,3.007,3.005,3.002,3.005,3.006,3.005,3.006,3.006,3.006,3.009,3.013,3.013,3.014,3.015,3.015,3.014,3.015,3.021,3.021,3.022,3.025,3.025,3.025,3.027,3.033,3.036,3.041,3.048,3.044,3.048,3.05,3.051,3.059,3.064,3.067,3.074,3.079,3.081,3.086,3.09,3.091,3.098,3.099,3.103,3.103,3.109,3.121,3.131,3.133,3.133,3.133,3.14,3.14,3.153,3.157,3.163,3.168,3.168,3.172,3.176,3.178,3.179,3.193,3.197,3.211,3.215,3.215,3.228,3.233,3.236,3.251,3.261,3.265,3.271,3.286,3.289,3.294,3.298,3.329,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 195.67} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 195.67} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 195.67} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0546}
SEN {Time 195.709} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.179,0.176,0.174,0.176,0.176,0.2,0,0,0,0,0,3.628,3.624,3.613,3.613,3.613,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.228,3.222,3.217,3.217,3.217,3.217,3.303,3.348,0,0,0,0,0,0,0,0,3.092,3.087,3.077,3.077,3.076,3.076,0.149,0.145,0.145,0.145,0.149,0.152,0.152,0.152,0.152,0.152,0.152,0.155,3.041,3.041,3.041,3.041,3.031,3.03,0.164,0.16,0.159,0.152,0.152,0.151,0.152,0.153,2.983,2.983,2.983,2.983,2.978,2.974,2.978,2.985,2.987,3.512,3.516,3.516,3.516,3.516,3.513,3.513,3.516,3.516,3.516,3.516,3.512,3.509,3.509,3.509,3.509,3.508,3.508,3.508,3.51,3.51,3.51,3.511,3.517,3.517,3.519,3.519,3.519,3.519,3.521,3.521,3.523,3.525,3.537,3.539,3.539,3.539,3.545,3.549,3.552,3.558,3.559,3.559,3.566,3.569,3.576,3.581,3.589,3.594,3.596,3.604,3.604,3.606,3.621,3.624,3.632,3.64,3.651,3.652,3.652,3.659,3.671,3.672,3.678,3.691,3.692,3.693,3.705,3.707,3.722,3.726,3.733,3.748,3.757,3.764,3.772,3.779,3.79,3.791,3.811,3.818,3.821,3.834,3.836,3.851,3.861,3.887,3.896,3.9,3.906,3.927,3.939,3.95,3.957,3.973,3.982,4.001,4.016,4.041,4.052,4.07,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,3.962,3.942,3.913,3.864,3.838,3.823,3.788,3.767,3.742,3.703,3.689,3.648,3.641,3.612,3.582,3.564,3.538,3.515,3.504,3.459,3.436,3.417,3.397,3.383,3.359,3.346,3.319,3.3,3.283,3.277,3.258,3.248,3.217,3.209,3.191,3.174,3.163,3.135,3.132,3.097,3.085,3.077,3.061,3.047,3.033,3.018,3.01,2.994,2.99,2.962,2.958,2.94,2.935,2.922,2.905,2.899,2.884,2.868,2.865,2.852,2.848,2.839,2.82,2.815,2.798,2.797,2.78,2.765,2.76,2.739,2.735,2.72,2.714,2.708,2.705,2.69,2.68,2.673,2.668,2.66,2.656,2.645,2.63,2.627,2.62,2.62,2.602,2.6,2.596,2.595,2.586,2.576,2.568,2.563,2.554,2.551,2.54,2.539,2.53,2.522,2.521,2.516,2.515,2.504,2.504,2.501,2.496,2.491,2.482,2.479,2.466,2.465,2.462,2.457,2.457,2.448,2.447,2.445,2.441,2.437,2.436,2.436,2.43,2.43,2.43,2.423,2.421,2.416,2.415,2.415,2.415,2.414,2.409,2.401,2.401,2.4,2.398,2.398,2.398,2.397,2.396,2.396,2.393,2.393,2.393,2.394,2.393,2.394,2.39,2.389,2.389,2.386,2.386,2.387,2.387,2.389,2.391,2.393,2.393,2.394,2.393,2.393,2.395,2.397,2.397,2.402,2.404,2.405,2.404,2.405,2.407,2.409,2.413,2.413,2.414,2.417,2.418,2.421,2.425,2.427,2.435,2.436,2.438,2.44,2.445,2.447,2.454,2.455,2.459,2.461,2.462,2.463,2.473,2.48,2.486,2.49,2.492,2.497,2.502,2.509,2.509,2.511,2.519,2.531,2.537,2.538,2.548,2.553,2.553,2.564,2.575,2.575,2.585,2.59,2.605,2.609,2.612,2.615,2.624,2.637,2.647,2.647,2.649,2.662,2.664,2.674,2.687,2.689,2.704,2.713,2.713,2.729,2.733,2.742,2.767,2.767,2.776,2.784,2.793,2.816,2.82,2.821,2.838,2.854,2.862,2.873,2.886,2.904,2.909,2.919,2.932,2.941,2.958,2.974,2.989,2.99,2.997,3.019,3.039,3.044,3.059,3.077,3.078,3.106,3.122,3.132,3.151,3.164,3.183,3.195,3.223,3.231,3.258,3.267,3.286,3.303,3.312,3.34,3.365,3.381,3.397,3.416,3.432,3.465,3.486,3.496,3.533,3.55,3.574,3.596,3.621,3.654,3.681,3.705,3.74,3.756,3.797,3.813,3.85,3.873,3.913,3.939,3.989,4.047,4.08,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.351,3.351,3.323,3.317,3.305,3.303,3.291,3.29,3.27,3.254,3.252,3.249,3.238,3.234,3.219,3.206,3.205,3.198,3.187,3.177,3.174,3.172,3.163,3.162,3.148,3.148,3.146,3.132,3.129,3.123,3.117,3.115,3.105,3.1,3.1,3.092,3.089,3.088,3.084,3.068,3.065,3.064,3.061,3.058,3.052,3.049,3.048,3.044,3.043,3.034,3.03,3.029,3.029,3.028,3.024,3.024,3.022,3.02,3.02,3.022,3.02,3.02,3.011,3.011,3.011,3.011,3.011,3.006,3.004,3.004,3.004,3.002,3.003,3.007,3.007,3.006,3.006,3.007,3.007,3.006,3.005,3.007,3.008,3.007,3.008,3.009,3.015,3.02,3.02,3.021,3.021,3.024,3.023,3.024,3.026,3.028,3.028,3.029,3.04,3.043,3.043,3.046,3.052,3.052,3.052,3.055,3.067,3.068,3.072,3.072,3.081,3.081,3.085,3.089,3.097,3.104,3.105,3.115,3.115,3.118,3.126,3.13,3.137,3.137,3.143,3.145,3.154,3.158,3.159,3.169,3.172,3.177,3.179,3.179,3.191,3.192,3.202,3.202,3.212,3.217,3.219,3.236,3.237,3.244,3.262,3.271,3.278,3.278,3.292,3.294,3.298,3.324,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 195.86} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 195.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 195.863} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.4892} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.0546}
SEN {Time 195.908} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.175,0.174,0.178,0.178,0.194,0,0,0,0,0,0,3.63,3.62,3.614,3.614,3.614,3.607,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.222,3.222,3.294,3.294,3.357,0,0,0,0,0,0,0,0,0,3.092,3.091,3.08,3.08,3.079,3.078,0.145,0.145,0.145,0.145,0.145,0.146,0.148,0.148,0.149,0.148,0.149,0.159,3.042,3.042,3.042,3.042,3.044,3.044,3.044,0.163,0.163,0.159,0.159,0.159,0.16,0.163,2.985,2.985,2.985,2.982,2.98,2.98,2.98,2.982,2.985,3.516,3.52,3.52,3.52,3.52,3.51,3.51,3.52,3.511,3.515,3.515,3.511,3.511,3.511,3.511,3.511,3.511,3.511,3.511,3.512,3.512,3.514,3.515,3.519,3.519,3.522,3.522,3.527,3.525,3.528,3.525,3.528,3.531,3.532,3.537,3.539,3.539,3.543,3.544,3.544,3.56,3.56,3.56,3.564,3.57,3.57,3.576,3.584,3.585,3.59,3.598,3.603,3.614,3.619,3.634,3.643,3.644,3.644,3.654,3.659,3.661,3.674,3.678,3.679,3.686,3.696,3.696,3.713,3.715,3.716,3.723,3.737,3.742,3.752,3.767,3.768,3.783,3.789,3.791,3.798,3.809,3.815,3.841,3.846,3.858,3.867,3.875,3.885,3.899,3.91,3.919,3.924,3.943,3.952,3.975,3.982,3.993,4.013,4.028,4.049,4.068,4.075,0.016,0.016,0,0,0,0,4.08,4.019,3.966,3.931,3.907,3.873,3.842,3.812,3.786,3.764,3.742,3.714,3.692,3.645,3.627,3.623,3.582,3.563,3.533,3.515,3.489,3.462,3.456,3.431,3.403,3.379,3.36,3.34,3.322,3.301,3.286,3.266,3.258,3.242,3.224,3.198,3.194,3.168,3.158,3.134,3.12,3.116,3.09,3.084,3.065,3.053,3.034,3.015,3.009,2.997,2.982,2.966,2.956,2.944,2.934,2.914,2.91,2.908,2.887,2.871,2.861,2.845,2.84,2.835,2.808,2.807,2.798,2.781,2.777,2.771,2.754,2.747,2.731,2.723,2.718,2.71,2.695,2.694,2.684,2.679,2.671,2.667,2.651,2.643,2.631,2.625,2.617,2.616,2.602,2.599,2.59,2.587,2.579,2.578,2.565,2.564,2.554,2.55,2.54,2.54,2.532,2.53,2.527,2.52,2.514,2.513,2.497,2.491,2.49,2.485,2.481,2.478,2.465,2.463,2.46,2.46,2.458,2.452,2.449,2.446,2.443,2.442,2.441,2.435,2.431,2.431,2.429,2.421,2.415,2.414,2.414,2.414,2.414,2.413,2.409,2.401,2.399,2.399,2.396,2.395,2.395,2.394,2.394,2.395,2.395,2.394,2.393,2.389,2.388,2.388,2.389,2.388,2.391,2.391,2.39,2.39,2.392,2.39,2.392,2.392,2.395,2.397,2.399,2.397,2.399,2.399,2.399,2.4,2.401,2.403,2.407,2.407,2.408,2.408,2.412,2.413,2.413,2.417,2.419,2.423,2.425,2.43,2.433,2.44,2.441,2.443,2.45,2.451,2.451,2.451,2.452,2.458,2.471,2.474,2.477,2.477,2.478,2.487,2.491,2.494,2.499,2.501,2.513,2.514,2.524,2.529,2.533,2.534,2.541,2.554,2.554,2.557,2.568,2.572,2.58,2.592,2.603,2.605,2.612,2.618,2.623,2.635,2.647,2.65,2.653,2.663,2.668,2.675,2.689,2.694,2.699,2.715,2.716,2.728,2.736,2.749,2.761,2.768,2.772,2.785,2.802,2.809,2.82,2.833,2.842,2.851,2.859,2.866,2.886,2.894,2.909,2.92,2.929,2.941,2.953,2.977,2.987,2.993,3.008,3.021,3.032,3.051,3.07,3.073,3.089,3.103,3.122,3.132,3.154,3.168,3.185,3.203,3.215,3.226,3.259,3.269,3.29,3.306,3.324,3.341,3.355,3.385,3.397,3.417,3.442,3.467,3.479,3.504,3.52,3.557,3.587,3.594,3.624,3.657,3.68,3.706,3.722,3.754,3.787,3.823,3.841,3.882,3.904,3.934,3.969,4.002,4.034,4.088,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.344,3.329,3.321,3.312,3.312,3.312,3.284,3.266,3.265,3.253,3.251,3.242,3.225,3.217,3.208,3.205,3.201,3.198,3.179,3.175,3.173,3.169,3.161,3.15,3.15,3.149,3.136,3.126,3.12,3.115,3.109,3.108,3.097,3.096,3.091,3.087,3.082,3.072,3.072,3.062,3.057,3.056,3.054,3.053,3.052,3.049,3.046,3.041,3.035,3.031,3.031,3.027,3.025,3.024,3.022,3.021,3.021,3.021,3.022,3.021,3.021,3.019,3.014,3.01,3.01,3.01,3.009,3.005,3.009,3.005,3.004,3.002,3.004,3.004,3.004,3.002,3.008,3.004,3.004,3.004,3.009,3.011,3.012,3.015,3.015,3.015,3.015,3.017,3.019,3.019,3.019,3.019,3.025,3.028,3.03,3.034,3.034,3.041,3.044,3.044,3.046,3.049,3.054,3.054,3.057,3.062,3.067,3.07,3.07,3.076,3.08,3.088,3.089,3.093,3.106,3.108,3.111,3.112,3.118,3.126,3.127,3.14,3.14,3.141,3.141,3.154,3.154,3.159,3.169,3.18,3.183,3.185,3.187,3.193,3.194,3.208,3.209,3.212,3.225,3.228,3.24,3.248,3.249,3.253,3.277,3.278,3.279,3.284,3.289,3.307,3.321,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 196.06} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 196.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 196.065} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.048} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.207}
SEN {Time 196.107} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.182,0.182,0.182,0.175,0.175,0.175,0.175,0.188,0,0,0,0,0,3.637,3.63,3.614,3.61,3.61,3.614,3.614,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.228,0,0.007,3.349,3.349,0,3.349,0,0.007,0,0,0,0,0,3.092,3.089,3.079,3.079,3.075,3.073,0.153,0.143,0.143,0.143,0.152,0.15,0.15,0.15,0.154,0.15,0.154,0.154,3.036,3.038,3.043,3.043,3.043,3.043,3.043,0.167,0.165,0.155,0.152,0.152,0.153,0.153,2.98,2.98,2.98,2.975,2.974,2.972,2.972,2.972,2.986,3.512,3.514,3.514,3.514,3.514,3.514,3.514,3.512,3.512,3.514,3.514,3.516,3.516,3.516,3.516,3.516,3.516,3.509,3.509,3.513,3.515,3.515,3.516,3.516,3.519,3.521,3.521,3.524,3.524,3.524,3.524,3.526,3.533,3.535,3.535,3.537,3.537,3.54,3.541,3.547,3.556,3.558,3.558,3.563,3.572,3.574,3.58,3.583,3.586,3.598,3.601,3.603,3.61,3.624,3.628,3.638,3.638,3.649,3.652,3.658,3.663,3.667,3.669,3.687,3.689,3.689,3.694,3.698,3.706,3.71,3.732,3.733,3.75,3.76,3.77,3.772,3.785,3.786,3.791,3.803,3.807,3.819,3.836,3.842,3.855,3.861,3.881,3.895,3.909,3.911,3.934,3.936,3.943,3.961,3.985,3.989,4.005,4.023,4.028,4.045,4.063,4.073,4.091,0.016,0.016,0.007,0,0.007,0,0,0.007,3.96,3.9,3.866,3.848,3.807,3.8,3.752,3.728,3.714,3.687,3.666,3.634,3.609,3.59,3.563,3.544,3.524,3.48,3.462,3.443,3.42,3.4,3.381,3.365,3.342,3.327,3.3,3.287,3.269,3.255,3.246,3.227,3.202,3.183,3.181,3.16,3.133,3.121,3.11,3.09,3.083,3.061,3.05,3.031,3.025,3.014,3.002,2.989,2.968,2.959,2.943,2.929,2.926,2.913,2.907,2.88,2.876,2.86,2.846,2.842,2.827,2.812,2.806,2.79,2.786,2.785,2.762,2.759,2.739,2.736,2.722,2.717,2.715,2.699,2.696,2.684,2.679,2.668,2.663,2.659,2.641,2.639,2.624,2.618,2.613,2.604,2.602,2.598,2.589,2.585,2.581,2.563,2.562,2.555,2.552,2.544,2.543,2.532,2.528,2.519,2.519,2.509,2.505,2.503,2.498,2.492,2.491,2.486,2.473,2.471,2.46,2.458,2.458,2.453,2.45,2.448,2.447,2.444,2.439,2.437,2.437,2.433,2.433,2.425,2.42,2.418,2.415,2.415,2.414,2.414,2.414,2.412,2.409,2.402,2.402,2.398,2.398,2.398,2.397,2.397,2.394,2.394,2.391,2.391,2.39,2.389,2.389,2.389,2.389,2.389,2.389,2.389,2.391,2.391,2.392,2.393,2.396,2.396,2.396,2.398,2.396,2.398,2.399,2.401,2.401,2.402,2.405,2.405,2.406,2.406,2.411,2.411,2.412,2.412,2.414,2.42,2.42,2.426,2.427,2.432,2.432,2.436,2.437,2.439,2.447,2.45,2.455,2.458,2.46,2.461,2.474,2.477,2.479,2.487,2.489,2.489,2.493,2.496,2.508,2.512,2.514,2.516,2.53,2.533,2.541,2.545,2.555,2.559,2.565,2.568,2.571,2.583,2.591,2.602,2.603,2.616,2.621,2.626,2.639,2.643,2.65,2.651,2.655,2.668,2.676,2.681,2.694,2.7,2.713,2.715,2.732,2.736,2.745,2.753,2.769,2.779,2.78,2.801,2.816,2.818,2.826,2.841,2.852,2.866,2.873,2.891,2.903,2.914,2.92,2.935,2.942,2.955,2.969,2.984,3.003,3.006,3.017,3.044,3.051,3.062,3.077,3.09,3.094,3.121,3.132,3.154,3.159,3.191,3.197,3.212,3.226,3.258,3.273,3.284,3.299,3.323,3.336,3.354,3.378,3.401,3.415,3.444,3.458,3.483,3.497,3.518,3.55,3.559,3.608,3.616,3.643,3.678,3.695,3.732,3.764,3.774,3.823,3.845,3.887,3.907,3.966,4.004,4.071,4.071,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.348,3.326,3.316,3.304,3.303,3.299,3.287,3.264,3.256,3.253,3.253,3.235,3.234,3.216,3.212,3.202,3.199,3.197,3.196,3.178,3.169,3.163,3.163,3.154,3.148,3.146,3.13,3.127,3.122,3.113,3.11,3.107,3.105,3.107,3.099,3.086,3.081,3.079,3.067,3.066,3.065,3.064,3.061,3.054,3.051,3.05,3.049,3.038,3.033,3.029,3.029,3.025,3.025,3.023,3.021,3.021,3.021,3.021,3.022,3.022,3.022,3.013,3.013,3.011,3.011,3.008,3.006,3.005,3.006,3.006,3.008,3.008,3.008,3.006,3.006,3.003,3.003,3.003,3.003,3.003,3.008,3.01,3.01,3.011,3.012,3.02,3.02,3.021,3.022,3.022,3.022,3.024,3.024,3.027,3.025,3.029,3.03,3.032,3.04,3.049,3.049,3.05,3.054,3.058,3.062,3.068,3.068,3.068,3.071,3.075,3.08,3.089,3.095,3.105,3.105,3.106,3.106,3.11,3.124,3.13,3.136,3.137,3.137,3.137,3.144,3.152,3.155,3.157,3.159,3.172,3.179,3.18,3.187,3.193,3.194,3.204,3.208,3.209,3.218,3.222,3.225,3.246,3.251,3.253,3.273,3.273,3.283,3.283,3.286,3.292,3.321,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 196.26} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 196.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 196.259} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 5.207}
SEN {Time 196.308} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.184,0.184,0.184,0.178,0.177,0.178,0.178,0.199,0,0,0,0,0,3.645,3.628,3.624,3.624,3.628,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.22,3.22,3.3,3.3,3.344,0,0,0,0,0,0,0,0,0,3.099,3.091,3.086,3.086,3.084,3.084,0.148,0.145,0.145,0.145,0.145,0.144,0.148,0.154,0.154,0.148,0.154,0.154,3.031,3.035,3.039,3.039,3.039,3.039,3.039,0.163,0.16,0.151,0.151,0.151,0.154,0.16,2.982,2.982,2.982,2.981,2.976,2.976,2.976,2.976,2.982,3.514,3.515,3.516,3.516,3.516,3.515,3.513,3.513,3.511,3.513,3.511,3.514,3.511,3.514,3.512,3.512,3.511,3.512,3.508,3.508,3.508,3.516,3.519,3.52,3.52,3.523,3.523,3.525,3.525,3.528,3.528,3.532,3.53,3.536,3.536,3.54,3.545,3.546,3.548,3.552,3.555,3.558,3.562,3.568,3.569,3.577,3.582,3.586,3.6,3.601,3.607,3.607,3.61,3.612,3.616,3.629,3.637,3.643,3.648,3.654,3.656,3.663,3.667,3.678,3.685,3.688,3.699,3.712,3.719,3.72,3.732,3.739,3.746,3.752,3.754,3.77,3.77,3.784,3.786,3.807,3.812,3.82,3.829,3.845,3.849,3.859,3.877,3.887,3.894,3.918,3.919,3.926,3.953,3.953,3.97,3.989,4,4.014,4.044,4.051,4.062,4.081,4.09,0.016,0.016,0.016,0.016,0.016,4.065,4.033,3.976,3.933,3.911,3.872,3.844,3.821,3.8,3.756,3.748,3.722,3.686,3.664,3.636,3.607,3.592,3.555,3.543,3.502,3.491,3.456,3.432,3.415,3.397,3.377,3.36,3.345,3.323,3.3,3.287,3.273,3.258,3.239,3.226,3.202,3.188,3.175,3.158,3.136,3.125,3.1,3.087,3.082,3.066,3.045,3.03,3.029,3.014,3.001,2.987,2.97,2.96,2.937,2.936,2.919,2.91,2.909,2.876,2.873,2.87,2.849,2.846,2.826,2.819,2.799,2.799,2.786,2.777,2.759,2.758,2.736,2.735,2.727,2.716,2.711,2.706,2.692,2.683,2.682,2.666,2.666,2.659,2.642,2.625,2.623,2.61,2.609,2.601,2.599,2.595,2.595,2.58,2.571,2.567,2.567,2.552,2.55,2.547,2.537,2.53,2.529,2.522,2.517,2.511,2.508,2.501,2.496,2.49,2.483,2.479,2.478,2.47,2.466,2.459,2.458,2.456,2.456,2.442,2.442,2.438,2.438,2.437,2.437,2.435,2.435,2.429,2.424,2.42,2.42,2.415,2.414,2.413,2.413,2.411,2.402,2.401,2.398,2.396,2.395,2.396,2.396,2.39,2.39,2.393,2.39,2.393,2.393,2.393,2.393,2.393,2.392,2.392,2.39,2.385,2.385,2.385,2.385,2.389,2.39,2.391,2.393,2.395,2.396,2.395,2.396,2.398,2.4,2.402,2.405,2.407,2.409,2.41,2.41,2.411,2.413,2.413,2.415,2.421,2.423,2.425,2.428,2.434,2.438,2.439,2.44,2.447,2.447,2.452,2.452,2.456,2.456,2.461,2.47,2.475,2.481,2.489,2.49,2.49,2.496,2.503,2.505,2.511,2.519,2.521,2.521,2.532,2.539,2.541,2.554,2.566,2.566,2.566,2.576,2.587,2.6,2.604,2.605,2.607,2.618,2.628,2.64,2.645,2.651,2.658,2.66,2.666,2.67,2.682,2.693,2.702,2.713,2.714,2.732,2.735,2.737,2.764,2.766,2.774,2.778,2.794,2.809,2.825,2.831,2.846,2.851,2.864,2.872,2.878,2.892,2.913,2.918,2.937,2.941,2.952,2.964,2.986,2.99,3.003,3.025,3.031,3.05,3.068,3.079,3.095,3.099,3.128,3.132,3.147,3.171,3.18,3.199,3.213,3.229,3.251,3.274,3.287,3.303,3.328,3.34,3.359,3.392,3.405,3.415,3.447,3.459,3.484,3.503,3.533,3.554,3.589,3.608,3.624,3.657,3.689,3.708,3.729,3.755,3.784,3.831,3.854,3.874,3.891,3.937,3.977,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.348,3.346,3.327,3.316,3.307,3.299,3.295,3.294,3.271,3.264,3.25,3.246,3.24,3.232,3.21,3.208,3.206,3.197,3.191,3.187,3.169,3.168,3.166,3.16,3.151,3.145,3.142,3.134,3.129,3.121,3.115,3.113,3.108,3.103,3.093,3.092,3.084,3.083,3.082,3.067,3.066,3.062,3.06,3.058,3.054,3.052,3.048,3.048,3.045,3.03,3.03,3.029,3.027,3.029,3.029,3.025,3.024,3.021,3.021,3.021,3.021,3.021,3.01,3.01,3.009,3.01,3.011,3.011,3.006,3.006,3.006,3.006,3.004,3.004,3.007,3.007,3.007,3.007,3.004,2.999,3.003,3.003,3.004,3.01,3.015,3.015,3.018,3.018,3.018,3.018,3.022,3.022,3.022,3.023,3.023,3.03,3.031,3.036,3.033,3.036,3.04,3.04,3.046,3.052,3.054,3.055,3.069,3.069,3.072,3.072,3.078,3.085,3.088,3.089,3.096,3.102,3.11,3.113,3.119,3.12,3.135,3.136,3.137,3.137,3.137,3.146,3.152,3.158,3.159,3.163,3.169,3.179,3.18,3.184,3.193,3.195,3.201,3.203,3.208,3.219,3.221,3.239,3.249,3.253,3.266,3.27,3.277,3.28,3.281,3.282,3.298,3.315,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 196.46} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 196.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 196.461} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.207}
SEN {Time 196.508} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.181,0.173,0.181,0.182,0.182,0.192,0,0,0,0,0.007,3.624,3.624,3.619,3.619,3.619,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.234,3.222,3.207,3.207,3.207,3.296,3.337,0,0,0,0,0,0,0,0,3.092,3.09,3.079,3.079,3.075,3.071,0.148,0.148,0.143,0.143,0.148,0.149,0.15,0.154,0.154,0.152,0.154,0.159,3.029,3.029,3.04,3.04,3.051,3.051,3.051,0.166,0.158,0.154,0.154,0.154,0.157,0.161,2.979,2.979,2.98,2.98,2.979,2.976,2.98,2.983,2.986,3.518,3.518,3.519,3.518,3.516,3.515,3.515,3.515,3.515,3.511,3.509,3.509,3.509,3.513,3.513,3.513,3.51,3.51,3.508,3.508,3.512,3.516,3.52,3.52,3.52,3.52,3.52,3.526,3.523,3.526,3.526,3.533,3.535,3.535,3.537,3.537,3.537,3.546,3.548,3.548,3.549,3.555,3.559,3.567,3.575,3.579,3.579,3.585,3.588,3.601,3.609,3.612,3.614,3.623,3.626,3.632,3.65,3.652,3.655,3.656,3.656,3.659,3.675,3.681,3.685,3.691,3.694,3.697,3.713,3.717,3.723,3.731,3.751,3.753,3.768,3.776,3.783,3.785,3.789,3.806,3.813,3.824,3.843,3.846,3.855,3.863,3.88,3.889,3.9,3.917,3.925,3.933,3.961,3.963,3.982,3.985,4.007,4.025,4.027,4.059,4.06,4.078,0.016,0.016,0.016,0.016,0.016,0.016,4.081,4.029,3.967,3.947,3.9,3.871,3.834,3.816,3.785,3.774,3.736,3.717,3.686,3.661,3.636,3.622,3.586,3.557,3.538,3.504,3.493,3.464,3.455,3.432,3.407,3.379,3.362,3.349,3.319,3.302,3.292,3.276,3.261,3.238,3.226,3.21,3.192,3.173,3.159,3.132,3.128,3.108,3.087,3.085,3.065,3.055,3.032,3.028,3.006,3.003,2.984,2.967,2.957,2.939,2.937,2.923,2.912,2.892,2.885,2.875,2.866,2.855,2.842,2.829,2.81,2.796,2.794,2.783,2.782,2.767,2.76,2.744,2.735,2.721,2.717,2.708,2.694,2.692,2.686,2.673,2.667,2.656,2.655,2.648,2.634,2.634,2.622,2.618,2.609,2.596,2.593,2.591,2.584,2.581,2.569,2.56,2.556,2.552,2.55,2.54,2.537,2.524,2.523,2.523,2.522,2.512,2.511,2.494,2.492,2.486,2.485,2.477,2.471,2.464,2.464,2.463,2.452,2.452,2.452,2.445,2.445,2.442,2.439,2.434,2.434,2.434,2.43,2.424,2.417,2.416,2.412,2.409,2.409,2.409,2.409,2.409,2.404,2.402,2.402,2.401,2.399,2.396,2.395,2.39,2.39,2.39,2.39,2.391,2.392,2.392,2.392,2.392,2.392,2.392,2.387,2.391,2.391,2.391,2.396,2.396,2.396,2.397,2.391,2.391,2.391,2.397,2.401,2.403,2.403,2.403,2.404,2.406,2.407,2.407,2.407,2.408,2.408,2.416,2.419,2.421,2.424,2.43,2.437,2.438,2.442,2.442,2.445,2.447,2.452,2.453,2.458,2.462,2.467,2.468,2.471,2.483,2.486,2.487,2.495,2.497,2.498,2.509,2.515,2.517,2.519,2.522,2.528,2.536,2.55,2.55,2.552,2.567,2.567,2.573,2.58,2.593,2.603,2.611,2.613,2.617,2.628,2.631,2.639,2.649,2.659,2.666,2.667,2.675,2.687,2.693,2.705,2.711,2.719,2.722,2.737,2.752,2.763,2.772,2.774,2.783,2.796,2.812,2.825,2.827,2.845,2.85,2.863,2.876,2.877,2.899,2.908,2.916,2.93,2.943,2.955,2.965,2.981,2.994,3.008,3.024,3.028,3.046,3.065,3.072,3.087,3.099,3.119,3.135,3.147,3.167,3.184,3.202,3.211,3.229,3.254,3.268,3.287,3.298,3.311,3.343,3.354,3.377,3.388,3.417,3.425,3.462,3.476,3.498,3.537,3.556,3.574,3.599,3.618,3.653,3.688,3.701,3.746,3.758,3.786,3.812,3.853,3.882,3.904,3.938,4.045,4.087,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.347,3.334,3.315,3.305,3.3,3.29,3.29,3.283,3.272,3.255,3.25,3.241,3.228,3.217,3.209,3.205,3.196,3.192,3.182,3.182,3.175,3.169,3.16,3.149,3.144,3.14,3.136,3.125,3.124,3.117,3.105,3.105,3.099,3.093,3.092,3.088,3.085,3.075,3.073,3.065,3.064,3.061,3.061,3.054,3.052,3.048,3.045,3.037,3.035,3.035,3.032,3.032,3.028,3.027,3.023,3.022,3.022,3.022,3.025,3.025,3.025,3.01,3.01,3.006,3.01,3.004,3.004,3.004,3.003,3.002,3.002,3.002,3.002,3.008,3.008,3.005,3.008,3.005,3.005,2.999,3.008,3.008,3.01,3.011,3.011,3.015,3.019,3.019,3.019,3.022,3.022,3.023,3.025,3.025,3.029,3.035,3.035,3.035,3.035,3.041,3.043,3.049,3.051,3.056,3.061,3.065,3.066,3.071,3.072,3.078,3.079,3.093,3.095,3.097,3.105,3.106,3.111,3.117,3.118,3.129,3.134,3.135,3.136,3.137,3.145,3.151,3.156,3.16,3.166,3.167,3.17,3.177,3.179,3.192,3.196,3.202,3.205,3.207,3.212,3.228,3.229,3.244,3.252,3.257,3.264,3.274,3.278,3.286,3.286,3.301,3.317,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 196.66} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 196.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 196.663} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 196.708} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.172,0.172,0.177,0.177,0.179,0.182,0.182,0.212,0,0,0,0,0,0,3.628,3.615,3.615,3.615,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.24,3.24,3.227,3.227,3.222,3.222,3.222,3.299,3.347,0,0,0,0,0,0,0,0,3.099,3.092,3.078,3.078,3.07,3.07,0.148,0.144,0.144,0.144,0.147,0.146,0.147,0.151,0.152,0.151,0.152,0.153,3.04,3.04,3.04,3.04,3.04,3.039,3.039,0.163,0.163,0.16,0.154,0.154,0.155,0.155,2.981,2.981,2.981,2.981,2.975,2.975,2.976,2.982,2.988,3.516,3.523,3.523,3.516,3.511,3.511,3.511,3.511,3.508,3.514,3.514,3.513,3.513,3.513,3.513,3.511,3.511,3.51,3.509,3.509,3.51,3.511,3.516,3.52,3.516,3.521,3.52,3.521,3.522,3.523,3.522,3.523,3.532,3.534,3.537,3.539,3.541,3.542,3.548,3.548,3.552,3.56,3.56,3.569,3.573,3.573,3.577,3.579,3.591,3.597,3.598,3.6,3.605,3.62,3.623,3.626,3.637,3.651,3.652,3.656,3.662,3.67,3.674,3.677,3.693,3.695,3.697,3.709,3.713,3.715,3.729,3.74,3.744,3.751,3.757,3.761,3.781,3.788,3.793,3.805,3.82,3.825,3.836,3.847,3.853,3.859,3.882,3.892,3.904,3.906,3.926,3.938,3.944,3.962,3.962,3.983,4.007,4.02,4.041,4.047,4.07,4.094,0.016,0.016,0.016,0.016,0.016,4.08,4.033,3.997,3.992,3.935,3.907,3.88,3.838,3.815,3.785,3.776,3.736,3.709,3.686,3.663,3.633,3.61,3.591,3.557,3.54,3.519,3.494,3.476,3.444,3.417,3.4,3.383,3.361,3.349,3.328,3.305,3.289,3.274,3.255,3.243,3.227,3.198,3.188,3.173,3.157,3.134,3.127,3.11,3.088,3.086,3.066,3.045,3.036,3.021,3.017,2.997,2.994,2.979,2.96,2.946,2.935,2.926,2.91,2.906,2.88,2.879,2.866,2.85,2.843,2.83,2.815,2.802,2.798,2.783,2.779,2.762,2.758,2.749,2.732,2.726,2.719,2.707,2.7,2.699,2.683,2.679,2.658,2.656,2.655,2.644,2.641,2.625,2.619,2.617,2.605,2.605,2.598,2.591,2.587,2.582,2.569,2.559,2.553,2.552,2.55,2.534,2.527,2.523,2.521,2.515,2.514,2.502,2.502,2.497,2.496,2.482,2.48,2.479,2.466,2.464,2.461,2.461,2.456,2.455,2.451,2.445,2.445,2.444,2.441,2.436,2.433,2.432,2.427,2.423,2.423,2.418,2.416,2.415,2.411,2.41,2.409,2.4,2.399,2.397,2.397,2.397,2.395,2.393,2.394,2.393,2.393,2.393,2.392,2.391,2.39,2.39,2.39,2.391,2.387,2.386,2.386,2.386,2.386,2.391,2.392,2.392,2.393,2.396,2.396,2.394,2.394,2.396,2.398,2.4,2.401,2.405,2.405,2.406,2.412,2.412,2.412,2.415,2.414,2.416,2.416,2.42,2.426,2.433,2.434,2.436,2.439,2.442,2.446,2.447,2.455,2.455,2.46,2.462,2.464,2.471,2.474,2.481,2.481,2.484,2.485,2.488,2.5,2.509,2.512,2.514,2.517,2.525,2.533,2.541,2.546,2.552,2.555,2.567,2.572,2.575,2.578,2.589,2.598,2.608,2.612,2.617,2.626,2.634,2.644,2.648,2.65,2.66,2.663,2.676,2.681,2.696,2.702,2.703,2.711,2.733,2.737,2.745,2.761,2.77,2.778,2.781,2.796,2.81,2.816,2.824,2.837,2.846,2.862,2.872,2.889,2.892,2.913,2.921,2.938,2.948,2.962,2.963,2.974,2.989,3,3.027,3.041,3.047,3.064,3.074,3.092,3.105,3.118,3.131,3.149,3.165,3.188,3.202,3.217,3.228,3.255,3.275,3.288,3.301,3.329,3.342,3.355,3.379,3.398,3.429,3.434,3.458,3.474,3.507,3.537,3.56,3.579,3.606,3.622,3.652,3.678,3.693,3.735,3.756,3.786,3.813,3.847,3.873,3.913,3.949,3.974,4.033,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.359,3.345,3.324,3.318,3.313,3.299,3.292,3.286,3.271,3.257,3.257,3.25,3.245,3.231,3.22,3.205,3.204,3.2,3.196,3.186,3.173,3.169,3.168,3.16,3.151,3.148,3.146,3.133,3.123,3.119,3.115,3.113,3.101,3.101,3.097,3.097,3.091,3.081,3.076,3.066,3.062,3.061,3.056,3.056,3.049,3.049,3.045,3.044,3.038,3.036,3.035,3.031,3.031,3.031,3.031,3.029,3.023,3.019,3.019,3.019,3.018,3.018,3.013,3.012,3.012,3.013,3.012,3.012,3.012,3.005,3.004,3.004,3.003,3.004,3.003,3.005,3.005,3.006,3.006,3.006,3.006,3.009,3.009,3.009,3.013,3.013,3.013,3.016,3.017,3.017,3.019,3.023,3.025,3.025,3.025,3.028,3.029,3.031,3.036,3.04,3.041,3.043,3.045,3.048,3.059,3.061,3.067,3.071,3.073,3.076,3.078,3.089,3.09,3.092,3.098,3.104,3.106,3.111,3.111,3.111,3.129,3.134,3.134,3.134,3.137,3.148,3.151,3.162,3.164,3.164,3.174,3.179,3.182,3.184,3.185,3.192,3.2,3.21,3.214,3.215,3.226,3.236,3.243,3.249,3.253,3.272,3.273,3.278,3.281,3.293,3.3,3.318,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 196.87} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 196.87} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 196.866} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.6388}
SEN {Time 196.905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.177,0.177,0.177,0.183,0.183,0.2,0,0,0,0,0,3.636,3.624,3.615,3.615,3.615,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.236,3.236,3.233,3.218,3.209,3.209,3.209,3.304,3.358,0,0,0,0,0,0,0,0,3.094,3.089,3.082,3.082,3.075,3.082,3.074,0.143,0.143,0.143,0.143,0.139,0.145,0.15,0.153,0.153,0.153,0.157,3.035,3.035,3.035,3.035,3.035,3.031,3.028,0.166,0.163,0.158,0.158,0.157,0.157,0.157,2.978,2.978,2.978,2.977,2.977,2.977,2.977,2.978,2.988,3.507,3.514,3.516,3.514,3.514,3.514,3.514,3.514,3.516,3.516,3.516,3.51,3.51,3.51,3.509,3.509,3.512,3.512,3.508,3.507,3.51,3.51,3.51,3.52,3.522,3.522,3.522,3.524,3.524,3.524,3.524,3.53,3.53,3.533,3.538,3.538,3.538,3.544,3.544,3.549,3.55,3.554,3.564,3.567,3.568,3.577,3.579,3.588,3.591,3.602,3.603,3.612,3.613,3.616,3.616,3.624,3.641,3.648,3.651,3.653,3.659,3.662,3.67,3.672,3.683,3.687,3.7,3.707,3.71,3.717,3.731,3.741,3.744,3.753,3.767,3.775,3.779,3.788,3.797,3.807,3.812,3.829,3.832,3.844,3.854,3.86,3.884,3.892,3.9,3.904,3.919,3.928,3.947,3.949,3.984,3.984,4.001,4.012,4.029,4.052,4.066,4.077,0.016,0.016,0.016,0.016,0.016,0.016,4.027,4.01,3.982,3.943,3.923,3.871,3.843,3.82,3.796,3.77,3.741,3.716,3.698,3.653,3.628,3.609,3.588,3.56,3.54,3.516,3.487,3.464,3.446,3.428,3.395,3.385,3.358,3.329,3.325,3.3,3.295,3.271,3.269,3.248,3.222,3.207,3.189,3.18,3.156,3.131,3.116,3.106,3.088,3.078,3.061,3.055,3.022,3.022,3.001,2.996,2.985,2.972,2.961,2.945,2.933,2.92,2.911,2.905,2.881,2.875,2.864,2.849,2.838,2.824,2.818,2.799,2.792,2.791,2.777,2.766,2.76,2.745,2.744,2.722,2.718,2.714,2.705,2.698,2.68,2.677,2.668,2.664,2.651,2.643,2.63,2.623,2.621,2.607,2.604,2.602,2.597,2.592,2.583,2.577,2.569,2.56,2.556,2.556,2.547,2.538,2.529,2.518,2.516,2.515,2.515,2.502,2.497,2.497,2.489,2.487,2.484,2.475,2.472,2.465,2.461,2.46,2.458,2.457,2.449,2.44,2.44,2.439,2.439,2.434,2.43,2.428,2.428,2.426,2.423,2.418,2.417,2.416,2.413,2.411,2.406,2.405,2.403,2.4,2.399,2.4,2.399,2.397,2.397,2.397,2.392,2.391,2.391,2.391,2.391,2.389,2.387,2.387,2.384,2.385,2.385,2.391,2.392,2.392,2.393,2.393,2.398,2.398,2.398,2.394,2.392,2.392,2.392,2.401,2.404,2.405,2.405,2.405,2.408,2.412,2.414,2.415,2.417,2.421,2.421,2.427,2.428,2.429,2.434,2.435,2.438,2.442,2.442,2.445,2.452,2.457,2.459,2.459,2.47,2.473,2.473,2.476,2.48,2.482,2.489,2.493,2.503,2.512,2.513,2.517,2.528,2.531,2.54,2.541,2.543,2.55,2.563,2.566,2.573,2.578,2.579,2.602,2.602,2.604,2.613,2.62,2.626,2.637,2.64,2.644,2.65,2.652,2.663,2.675,2.677,2.697,2.703,2.717,2.722,2.73,2.742,2.751,2.751,2.769,2.774,2.79,2.799,2.804,2.818,2.833,2.84,2.852,2.866,2.877,2.884,2.893,2.903,2.919,2.927,2.943,2.955,2.977,2.983,2.991,3.011,3.025,3.032,3.061,3.067,3.072,3.087,3.106,3.121,3.136,3.149,3.161,3.181,3.2,3.215,3.234,3.255,3.275,3.285,3.303,3.318,3.349,3.364,3.382,3.391,3.413,3.443,3.456,3.486,3.51,3.524,3.551,3.574,3.602,3.625,3.65,3.675,3.698,3.733,3.749,3.777,3.831,3.857,3.876,3.906,3.944,3.983,4.006,4.024,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.34,3.327,3.324,3.31,3.306,3.295,3.279,3.271,3.261,3.256,3.246,3.231,3.228,3.222,3.209,3.202,3.201,3.198,3.186,3.18,3.176,3.167,3.156,3.152,3.146,3.142,3.136,3.126,3.122,3.113,3.112,3.102,3.102,3.098,3.089,3.089,3.078,3.077,3.068,3.065,3.061,3.06,3.059,3.055,3.053,3.052,3.047,3.04,3.038,3.034,3.033,3.03,3.03,3.023,3.02,3.019,3.018,3.018,3.019,3.019,3.018,3.018,3.014,3.011,3.011,3.011,3.011,3.011,3.005,3.005,3.005,3.005,3.007,3.008,3.007,3.004,3.007,3.004,3.004,3.004,3.006,3.006,3.011,3.014,3.014,3.014,3.011,3.012,3.012,3.02,3.025,3.025,3.026,3.028,3.03,3.03,3.034,3.034,3.04,3.041,3.046,3.046,3.054,3.054,3.056,3.061,3.069,3.07,3.07,3.07,3.082,3.089,3.098,3.101,3.107,3.11,3.114,3.115,3.121,3.125,3.132,3.138,3.138,3.144,3.144,3.146,3.157,3.16,3.16,3.166,3.173,3.174,3.184,3.187,3.193,3.208,3.209,3.212,3.212,3.225,3.237,3.241,3.245,3.262,3.273,3.275,3.289,3.294,3.295,3.309,3.311,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 197.06} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 197.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 197.059} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.826} {Name Sonar15 Range 5.6388}
SEN {Time 197.103} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.182,0.176,0.178,0.182,0.182,0.195,0,0,0,0,0,3.65,3.629,3.614,3.614,3.614,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.232,3.226,3.226,3.215,3.215,3.215,3.302,3.354,0,0,0,0,0,0,0,0,3.089,3.086,3.081,3.081,3.081,3.081,3.081,0.149,0.142,0.143,0.143,0.143,0.15,0.151,0.151,0.15,0.15,0.156,3.029,3.036,3.041,3.041,3.043,3.043,3.043,0.163,0.156,0.148,0.148,0.148,0.159,0.16,2.978,2.979,2.979,2.979,2.978,2.978,2.978,2.984,2.987,3.512,3.512,3.512,3.512,3.51,3.51,3.511,3.515,3.514,3.514,3.514,3.514,3.514,3.513,3.513,3.513,3.511,3.511,3.511,3.511,3.514,3.515,3.518,3.518,3.519,3.521,3.519,3.519,3.521,3.522,3.524,3.529,3.529,3.531,3.537,3.537,3.538,3.543,3.548,3.551,3.555,3.558,3.559,3.565,3.573,3.574,3.577,3.579,3.589,3.59,3.598,3.611,3.613,3.618,3.619,3.635,3.635,3.654,3.654,3.658,3.663,3.668,3.675,3.675,3.686,3.693,3.695,3.7,3.706,3.73,3.73,3.731,3.742,3.755,3.758,3.77,3.772,3.788,3.793,3.802,3.82,3.828,3.842,3.847,3.851,3.871,3.879,3.89,3.898,3.913,3.925,3.928,3.946,3.964,3.972,3.982,4.004,4.013,4.03,4.04,4.059,4.077,0.016,0.016,0.016,0.007,0,0,0,0,3.977,3.936,3.913,3.883,3.846,3.816,3.782,3.746,3.734,3.707,3.682,3.655,3.637,3.602,3.585,3.556,3.537,3.516,3.484,3.471,3.448,3.423,3.409,3.386,3.358,3.341,3.329,3.308,3.289,3.269,3.255,3.243,3.222,3.207,3.182,3.16,3.159,3.138,3.131,3.115,3.087,3.083,3.059,3.051,3.031,3.021,3.01,2.998,2.983,2.962,2.955,2.934,2.924,2.923,2.909,2.907,2.891,2.879,2.864,2.851,2.844,2.829,2.818,2.806,2.794,2.791,2.78,2.767,2.761,2.742,2.732,2.722,2.716,2.714,2.701,2.697,2.679,2.676,2.667,2.658,2.655,2.636,2.635,2.629,2.624,2.618,2.607,2.599,2.597,2.589,2.585,2.583,2.567,2.561,2.556,2.554,2.545,2.537,2.533,2.527,2.527,2.521,2.516,2.513,2.509,2.498,2.497,2.486,2.484,2.472,2.466,2.461,2.461,2.458,2.457,2.455,2.452,2.447,2.439,2.439,2.439,2.437,2.436,2.435,2.43,2.419,2.414,2.414,2.414,2.414,2.414,2.413,2.411,2.403,2.402,2.402,2.397,2.397,2.397,2.397,2.397,2.393,2.392,2.391,2.391,2.388,2.388,2.388,2.388,2.393,2.393,2.393,2.393,2.391,2.391,2.391,2.393,2.394,2.394,2.394,2.395,2.395,2.396,2.397,2.396,2.398,2.403,2.403,2.404,2.405,2.408,2.408,2.409,2.411,2.411,2.418,2.419,2.425,2.428,2.428,2.432,2.438,2.438,2.439,2.443,2.451,2.452,2.454,2.454,2.459,2.471,2.474,2.477,2.477,2.486,2.493,2.494,2.501,2.503,2.516,2.516,2.517,2.523,2.524,2.534,2.538,2.542,2.545,2.561,2.563,2.566,2.579,2.58,2.597,2.601,2.608,2.611,2.612,2.63,2.63,2.645,2.646,2.657,2.661,2.663,2.681,2.687,2.691,2.706,2.714,2.715,2.729,2.737,2.742,2.754,2.772,2.773,2.782,2.802,2.808,2.824,2.825,2.84,2.85,2.862,2.871,2.881,2.901,2.909,2.92,2.936,2.947,2.962,2.968,2.98,2.996,3.011,3.016,3.035,3.044,3.065,3.084,3.087,3.108,3.127,3.136,3.155,3.162,3.185,3.197,3.215,3.231,3.255,3.27,3.284,3.303,3.329,3.348,3.357,3.375,3.402,3.418,3.438,3.454,3.483,3.502,3.53,3.55,3.582,3.605,3.63,3.647,3.675,3.706,3.733,3.749,3.785,3.818,3.839,3.889,3.907,3.943,3.979,3.996,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.353,3.347,3.341,3.318,3.312,3.307,3.287,3.285,3.271,3.271,3.266,3.242,3.239,3.223,3.223,3.206,3.205,3.198,3.195,3.188,3.178,3.172,3.169,3.157,3.157,3.146,3.142,3.131,3.126,3.124,3.109,3.108,3.107,3.101,3.095,3.09,3.086,3.081,3.08,3.068,3.067,3.066,3.06,3.059,3.059,3.052,3.045,3.044,3.043,3.04,3.029,3.029,3.027,3.027,3.024,3.022,3.022,3.022,3.022,3.022,3.018,3.018,3.012,3.011,3.011,3.011,3.011,3.004,3.004,3.003,3.003,3.003,3.002,3.002,3.003,3.003,3.003,3.004,3.004,3.007,3.007,3.014,3.012,3.012,3.012,3.012,3.012,3.016,3.016,3.016,3.021,3.022,3.026,3.03,3.03,3.03,3.033,3.034,3.038,3.04,3.044,3.044,3.048,3.05,3.055,3.058,3.068,3.07,3.072,3.074,3.075,3.075,3.086,3.089,3.095,3.102,3.105,3.106,3.111,3.128,3.133,3.137,3.138,3.138,3.14,3.142,3.157,3.162,3.162,3.171,3.174,3.176,3.18,3.184,3.193,3.194,3.202,3.204,3.206,3.212,3.225,3.234,3.24,3.25,3.26,3.274,3.28,3.283,3.289,3.292,3.301,3.326,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 197.26} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 197.26} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 197.261} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.826} {Name Sonar15 Range 5.6134}
SEN {Time 197.303} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.179,0.18,0.18,0.189,0,0,0,0,0,3.637,3.63,3.617,3.617,3.617,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.223,3.223,3.289,3.289,3.349,0,0,0,0,0,0,0,0,0,3.094,3.089,3.086,3.086,3.084,3.072,0.147,0.146,0.146,0.146,0.147,0.143,0.144,0.144,0.151,0.147,0.151,0.156,3.039,3.039,3.042,3.042,3.039,3.033,0.165,0.163,0.158,0.158,0.153,0.153,0.153,0.161,2.98,2.98,2.98,2.98,2.974,2.974,2.975,2.983,2.983,3.515,3.518,3.518,3.516,3.516,3.513,3.513,3.513,3.514,3.514,3.514,3.514,3.514,3.512,3.512,3.512,3.512,3.512,3.512,3.512,3.515,3.518,3.52,3.52,3.518,3.518,3.525,3.525,3.525,3.531,3.528,3.531,3.531,3.534,3.535,3.535,3.535,3.54,3.544,3.544,3.553,3.558,3.562,3.572,3.575,3.579,3.579,3.579,3.59,3.596,3.604,3.606,3.614,3.616,3.626,3.637,3.646,3.648,3.648,3.652,3.661,3.67,3.67,3.683,3.693,3.696,3.702,3.705,3.707,3.715,3.731,3.732,3.735,3.75,3.761,3.774,3.783,3.787,3.797,3.799,3.813,3.816,3.835,3.848,3.853,3.867,3.882,3.882,3.893,3.905,3.928,3.93,3.947,3.956,3.984,3.986,4.005,4.023,4.029,4.056,4.057,4.085,0.016,0.016,0,0,0,4.071,4.033,3.997,3.987,3.943,3.909,3.868,3.836,3.827,3.793,3.757,3.739,3.712,3.694,3.662,3.63,3.623,3.595,3.556,3.535,3.508,3.483,3.462,3.448,3.419,3.404,3.378,3.37,3.333,3.324,3.303,3.29,3.273,3.259,3.24,3.222,3.203,3.183,3.172,3.158,3.135,3.122,3.103,3.091,3.084,3.068,3.044,3.035,3.018,3.015,3.01,2.985,2.972,2.955,2.943,2.929,2.92,2.915,2.903,2.883,2.876,2.862,2.855,2.849,2.823,2.816,2.799,2.795,2.789,2.779,2.768,2.758,2.744,2.739,2.73,2.718,2.714,2.701,2.696,2.685,2.674,2.673,2.664,2.653,2.644,2.642,2.624,2.623,2.612,2.604,2.603,2.596,2.593,2.583,2.578,2.571,2.56,2.556,2.555,2.545,2.533,2.527,2.524,2.523,2.522,2.517,2.508,2.501,2.499,2.495,2.489,2.482,2.476,2.463,2.462,2.461,2.459,2.459,2.453,2.451,2.448,2.442,2.442,2.442,2.438,2.436,2.436,2.427,2.426,2.421,2.42,2.41,2.409,2.409,2.409,2.408,2.405,2.404,2.399,2.399,2.395,2.395,2.395,2.392,2.392,2.392,2.392,2.392,2.392,2.389,2.389,2.386,2.389,2.393,2.393,2.391,2.391,2.391,2.391,2.391,2.393,2.393,2.394,2.394,2.396,2.396,2.4,2.4,2.4,2.403,2.403,2.404,2.406,2.406,2.406,2.406,2.408,2.417,2.418,2.418,2.421,2.431,2.431,2.432,2.434,2.439,2.444,2.446,2.448,2.45,2.45,2.454,2.458,2.464,2.465,2.476,2.483,2.487,2.49,2.494,2.496,2.505,2.506,2.51,2.512,2.521,2.528,2.536,2.541,2.55,2.553,2.555,2.564,2.566,2.578,2.579,2.595,2.6,2.602,2.615,2.617,2.621,2.639,2.645,2.65,2.65,2.653,2.66,2.666,2.684,2.69,2.704,2.713,2.716,2.731,2.734,2.746,2.754,2.767,2.775,2.787,2.796,2.81,2.822,2.824,2.842,2.853,2.869,2.872,2.883,2.896,2.907,2.926,2.93,2.941,2.952,2.966,2.984,2.996,3.006,3.015,3.043,3.055,3.06,3.072,3.092,3.106,3.121,3.134,3.146,3.17,3.181,3.202,3.212,3.233,3.256,3.275,3.287,3.303,3.32,3.338,3.356,3.386,3.403,3.412,3.44,3.466,3.473,3.508,3.531,3.555,3.561,3.61,3.626,3.639,3.689,3.69,3.726,3.757,3.781,3.815,3.84,3.889,3.904,3.95,4.012,4.043,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.339,3.333,3.317,3.308,3.301,3.292,3.29,3.275,3.257,3.252,3.24,3.23,3.223,3.22,3.208,3.203,3.198,3.195,3.185,3.178,3.168,3.165,3.154,3.146,3.146,3.146,3.13,3.127,3.124,3.111,3.109,3.107,3.104,3.094,3.093,3.091,3.076,3.076,3.076,3.067,3.061,3.059,3.05,3.05,3.05,3.05,3.049,3.041,3.033,3.029,3.028,3.028,3.028,3.028,3.028,3.017,3.017,3.017,3.018,3.022,3.022,3.022,3.013,3.013,3.009,3.009,3.007,3.005,3.005,3.006,3.006,3.001,3.006,3.006,3.006,3.004,3.004,3.004,3.004,3.004,3.007,3.009,3.009,3.011,3.014,3.015,3.015,3.015,3.02,3.021,3.022,3.024,3.028,3.028,3.028,3.032,3.033,3.034,3.036,3.037,3.044,3.046,3.054,3.056,3.057,3.066,3.067,3.069,3.074,3.078,3.079,3.085,3.089,3.1,3.103,3.108,3.109,3.111,3.115,3.119,3.138,3.145,3.145,3.145,3.148,3.154,3.155,3.162,3.169,3.171,3.182,3.182,3.183,3.19,3.199,3.202,3.211,3.213,3.218,3.228,3.236,3.24,3.255,3.259,3.269,3.277,3.282,3.282,3.293,3.305,3.314,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 197.46} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 197.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 197.457} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 4.826} {Name Sonar15 Range 5.6134}
SEN {Time 197.503} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.176,0.176,0.181,0.181,0.181,0.183,0.183,0.192,0,0,0,0,0,3.641,3.637,3.62,3.619,3.619,3.619,3.619,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0,3.226,3.298,3.298,3.298,3.348,0,0,0,0,0,0,0,0,3.092,3.091,3.083,3.083,3.079,3.074,0.147,0.143,0.143,0.143,0.146,0.146,0.147,0.153,0.153,0.147,0.153,0.153,3.029,3.029,3.039,3.039,3.039,3.039,3.039,0.163,0.163,0.152,0.151,0.151,0.152,0.155,2.991,2.991,2.991,2.979,2.973,2.973,2.976,2.976,2.986,3.518,3.52,3.52,3.52,3.52,3.515,3.514,3.515,3.514,3.514,3.513,3.508,3.506,3.506,3.505,3.505,3.508,3.508,3.515,3.516,3.516,3.516,3.516,3.516,3.516,3.521,3.521,3.523,3.523,3.528,3.523,3.528,3.528,3.532,3.541,3.541,3.541,3.544,3.544,3.544,3.555,3.557,3.564,3.566,3.57,3.576,3.577,3.581,3.586,3.587,3.608,3.61,3.614,3.622,3.627,3.628,3.639,3.645,3.654,3.657,3.657,3.661,3.664,3.678,3.686,3.688,3.692,3.702,3.715,3.724,3.729,3.739,3.754,3.757,3.76,3.774,3.782,3.787,3.793,3.81,3.812,3.822,3.832,3.847,3.854,3.869,3.873,3.891,3.897,3.908,3.922,3.934,3.958,3.964,3.97,3.99,3.996,4.017,4.036,4.045,4.066,4.081,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.075,0.007,3.973,3.909,3.874,3.837,3.813,3.782,3.765,3.74,3.713,3.688,3.659,3.645,3.606,3.592,3.56,3.535,3.513,3.487,3.465,3.439,3.417,3.401,3.376,3.363,3.341,3.325,3.304,3.284,3.28,3.255,3.234,3.233,3.198,3.183,3.173,3.158,3.134,3.129,3.106,3.091,3.083,3.061,3.049,3.031,3.019,3.014,3,2.983,2.965,2.955,2.944,2.929,2.927,2.918,2.901,2.888,2.868,2.861,2.85,2.847,2.829,2.82,2.803,2.795,2.786,2.77,2.769,2.756,2.742,2.741,2.724,2.717,2.703,2.698,2.69,2.684,2.681,2.667,2.666,2.652,2.644,2.631,2.621,2.618,2.617,2.604,2.594,2.594,2.587,2.582,2.576,2.568,2.558,2.555,2.554,2.548,2.53,2.53,2.528,2.522,2.52,2.518,2.515,2.503,2.494,2.492,2.484,2.476,2.471,2.471,2.463,2.461,2.457,2.457,2.451,2.444,2.442,2.441,2.438,2.438,2.436,2.435,2.432,2.426,2.424,2.423,2.416,2.41,2.41,2.41,2.41,2.408,2.405,2.403,2.398,2.397,2.395,2.395,2.395,2.389,2.389,2.392,2.391,2.391,2.392,2.391,2.391,2.39,2.393,2.392,2.392,2.389,2.389,2.389,2.389,2.392,2.392,2.392,2.395,2.395,2.394,2.394,2.396,2.401,2.404,2.404,2.404,2.404,2.405,2.405,2.407,2.408,2.412,2.414,2.415,2.42,2.423,2.423,2.428,2.429,2.429,2.441,2.445,2.448,2.453,2.455,2.458,2.463,2.465,2.465,2.465,2.478,2.481,2.481,2.481,2.485,2.49,2.502,2.51,2.516,2.519,2.52,2.531,2.533,2.533,2.543,2.55,2.55,2.561,2.573,2.575,2.577,2.595,2.602,2.608,2.61,2.615,2.629,2.634,2.641,2.648,2.653,2.665,2.667,2.675,2.681,2.695,2.7,2.709,2.712,2.73,2.732,2.743,2.763,2.773,2.775,2.779,2.788,2.819,2.819,2.831,2.852,2.853,2.86,2.866,2.881,2.904,2.908,2.914,2.929,2.943,2.961,2.969,2.983,2.993,3.005,3.014,3.04,3.05,3.061,3.08,3.087,3.106,3.129,3.13,3.154,3.162,3.181,3.199,3.215,3.228,3.25,3.275,3.292,3.298,3.321,3.339,3.354,3.37,3.399,3.422,3.436,3.461,3.491,3.502,3.525,3.553,3.581,3.602,3.641,3.649,3.683,3.704,3.73,3.762,3.787,3.809,3.845,3.883,3.908,3.944,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.349,3.339,3.323,3.321,3.321,3.31,3.306,3.285,3.266,3.26,3.248,3.247,3.243,3.23,3.215,3.208,3.198,3.191,3.187,3.178,3.172,3.171,3.164,3.158,3.156,3.147,3.144,3.131,3.123,3.122,3.118,3.112,3.111,3.097,3.095,3.093,3.089,3.083,3.079,3.068,3.066,3.061,3.06,3.053,3.051,3.05,3.047,3.044,3.039,3.035,3.027,3.027,3.027,3.027,3.027,3.027,3.023,3.022,3.022,3.022,3.022,3.022,3.011,3.011,3.011,3.011,3.01,3.01,3.009,3.01,3.009,3.007,3.007,3.007,3.006,3.004,3.003,3.004,3.004,3.005,3.005,3.007,3.007,3.009,3.011,3.012,3.013,3.012,3.012,3.016,3.025,3.019,3.025,3.025,3.029,3.031,3.034,3.035,3.038,3.039,3.039,3.047,3.05,3.052,3.057,3.061,3.066,3.068,3.072,3.079,3.079,3.079,3.091,3.093,3.104,3.105,3.106,3.106,3.11,3.117,3.124,3.14,3.141,3.141,3.141,3.143,3.148,3.156,3.158,3.165,3.172,3.175,3.181,3.181,3.191,3.195,3.202,3.206,3.214,3.219,3.221,3.244,3.247,3.253,3.259,3.274,3.279,3.28,3.29,3.297,3.303,3.331,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 197.66} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 197.66} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 197.657} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 5.6134}
SEN {Time 197.703} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.174,0.174,0.184,0.174,0.179,0.184,0.184,0.19,0,0,0,0,0,3.644,3.642,3.618,3.612,3.612,3.612,3.612,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.216,3.211,3.211,3.211,3.304,3.342,0,0,0,0,0,0,0,0,3.098,3.096,3.079,3.079,3.079,3.079,0.148,0.145,0.145,0.145,0.148,0.141,0.148,0.149,0.15,0.149,0.15,0.158,3.029,3.031,3.033,3.033,3.033,3.033,0.165,0.165,0.159,0.153,0.153,0.153,0.156,0.156,2.979,2.979,2.979,2.977,2.977,2.975,2.977,2.977,2.986,3.506,3.507,3.516,3.516,3.516,3.517,3.519,3.519,3.518,3.518,3.516,3.515,3.514,3.514,3.509,3.509,3.511,3.511,3.509,3.511,3.514,3.516,3.516,3.521,3.523,3.523,3.526,3.526,3.526,3.526,3.526,3.527,3.536,3.539,3.539,3.542,3.544,3.545,3.546,3.548,3.551,3.552,3.554,3.567,3.568,3.57,3.577,3.582,3.586,3.596,3.597,3.603,3.605,3.623,3.633,3.636,3.638,3.647,3.654,3.655,3.655,3.673,3.676,3.677,3.68,3.681,3.697,3.703,3.705,3.714,3.722,3.726,3.742,3.748,3.766,3.771,3.778,3.792,3.795,3.809,3.816,3.818,3.838,3.855,3.863,3.874,3.878,3.896,3.9,3.915,3.929,3.933,3.941,3.952,3.962,3.98,4.003,4.009,4.018,4.04,4.065,4.084,0.016,0.016,0.016,0,0.007,0.016,0.016,0,4.025,4.002,3.912,3.873,3.845,3.819,3.788,3.752,3.738,3.726,3.692,3.66,3.64,3.609,3.588,3.557,3.541,3.511,3.484,3.463,3.447,3.421,3.409,3.38,3.365,3.342,3.329,3.306,3.287,3.274,3.256,3.24,3.225,3.201,3.183,3.166,3.154,3.13,3.129,3.1,3.086,3.084,3.061,3.054,3.027,3.022,3.009,2.995,2.995,2.966,2.957,2.945,2.935,2.918,2.911,2.909,2.884,2.872,2.858,2.849,2.843,2.831,2.816,2.806,2.794,2.785,2.779,2.763,2.759,2.739,2.737,2.727,2.716,2.716,2.705,2.692,2.683,2.678,2.669,2.665,2.656,2.642,2.629,2.624,2.612,2.607,2.606,2.595,2.594,2.592,2.583,2.576,2.568,2.565,2.565,2.551,2.55,2.537,2.527,2.527,2.524,2.523,2.515,2.507,2.504,2.5,2.492,2.491,2.481,2.47,2.467,2.466,2.462,2.457,2.455,2.455,2.451,2.442,2.441,2.436,2.435,2.432,2.432,2.43,2.43,2.42,2.419,2.418,2.418,2.414,2.409,2.409,2.408,2.404,2.401,2.397,2.397,2.397,2.391,2.391,2.391,2.387,2.387,2.391,2.387,2.389,2.393,2.389,2.388,2.389,2.391,2.388,2.391,2.391,2.388,2.388,2.391,2.391,2.391,2.394,2.394,2.394,2.396,2.397,2.398,2.398,2.406,2.406,2.406,2.406,2.404,2.404,2.411,2.415,2.411,2.415,2.416,2.417,2.42,2.427,2.428,2.429,2.441,2.442,2.442,2.45,2.457,2.461,2.462,2.462,2.466,2.467,2.471,2.481,2.482,2.483,2.488,2.494,2.501,2.509,2.51,2.519,2.528,2.529,2.53,2.539,2.548,2.55,2.552,2.56,2.571,2.572,2.582,2.6,2.602,2.609,2.618,2.62,2.62,2.63,2.64,2.652,2.653,2.663,2.663,2.668,2.683,2.695,2.695,2.718,2.719,2.735,2.736,2.744,2.76,2.772,2.773,2.782,2.79,2.801,2.822,2.834,2.846,2.849,2.868,2.873,2.887,2.895,2.907,2.92,2.934,2.944,2.955,2.969,2.986,2.994,3.004,3.023,3.029,3.05,3.063,3.076,3.09,3.102,3.13,3.133,3.148,3.16,3.185,3.197,3.219,3.227,3.253,3.275,3.28,3.297,3.321,3.336,3.354,3.382,3.398,3.416,3.432,3.458,3.483,3.511,3.531,3.562,3.574,3.61,3.619,3.646,3.681,3.699,3.734,3.761,3.777,3.816,3.851,3.87,3.915,3.989,4.006,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.346,3.331,3.32,3.309,3.301,3.282,3.281,3.269,3.26,3.251,3.251,3.247,3.232,3.225,3.206,3.201,3.199,3.19,3.178,3.172,3.167,3.162,3.153,3.148,3.148,3.146,3.137,3.123,3.122,3.121,3.111,3.11,3.103,3.096,3.094,3.087,3.079,3.078,3.072,3.071,3.061,3.06,3.059,3.05,3.048,3.048,3.045,3.042,3.033,3.033,3.031,3.027,3.03,3.024,3.024,3.024,3.021,3.021,3.025,3.021,3.021,3.013,3.013,3.013,3.013,3.01,3.007,3.007,3.006,3.005,3.005,3.005,3.005,3.005,3.005,3.004,3.007,3.004,3.004,3.004,3.004,3.004,3.007,3.011,3.013,3.021,3.021,3.021,3.022,3.023,3.022,3.023,3.024,3.024,3.024,3.029,3.032,3.032,3.04,3.04,3.042,3.049,3.049,3.049,3.054,3.069,3.07,3.073,3.076,3.077,3.087,3.089,3.097,3.103,3.104,3.108,3.112,3.117,3.12,3.125,3.129,3.135,3.135,3.135,3.142,3.148,3.159,3.162,3.163,3.167,3.174,3.185,3.187,3.188,3.191,3.202,3.202,3.214,3.216,3.221,3.236,3.239,3.247,3.258,3.275,3.276,3.276,3.293,3.297,3.299,3.316,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 197.86} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 197.86} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 197.859} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 5.6388}
SEN {Time 197.904} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.175,0.175,0.175,0.175,0.177,0.182,0.182,0.211,0,0,0,0,0,3.625,3.624,3.612,3.612,3.612,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.25,3.237,3.219,3.216,3.216,3.216,3.299,3.336,0,0,0,0,0,0,0,0,3.087,3.085,3.079,3.079,3.078,3.076,0.156,0.149,0.148,0.148,0.148,0.149,0.148,0.149,0.153,0.153,0.155,0.162,3.039,3.039,3.039,3.039,3.039,3.039,3.039,0.164,0.159,0.157,0.155,0.155,0.157,0.159,2.974,2.982,2.982,2.982,2.981,2.981,2.981,2.981,2.987,3.498,3.515,3.521,3.521,3.521,3.516,3.516,3.516,3.516,3.516,3.512,3.512,3.51,3.508,3.508,3.508,3.503,3.503,3.503,3.508,3.511,3.511,3.516,3.516,3.516,3.516,3.516,3.524,3.524,3.527,3.527,3.527,3.527,3.527,3.528,3.54,3.541,3.543,3.546,3.549,3.553,3.553,3.562,3.565,3.57,3.578,3.581,3.589,3.591,3.597,3.601,3.607,3.612,3.62,3.626,3.633,3.643,3.645,3.653,3.657,3.657,3.659,3.669,3.677,3.677,3.688,3.697,3.704,3.712,3.714,3.731,3.733,3.752,3.753,3.757,3.768,3.782,3.784,3.786,3.811,3.813,3.828,3.834,3.84,3.858,3.87,3.878,3.888,3.891,3.917,3.93,3.93,3.952,3.962,3.988,3.99,3.998,4.025,4.026,4.039,4.069,4.08,0.016,0.016,0,0,0,4.064,4.064,4.064,4.029,4,3.909,3.882,3.854,3.827,3.79,3.751,3.742,3.714,3.679,3.662,3.631,3.61,3.572,3.566,3.537,3.519,3.491,3.463,3.445,3.422,3.408,3.385,3.365,3.344,3.331,3.299,3.286,3.272,3.246,3.234,3.227,3.199,3.193,3.171,3.152,3.135,3.122,3.11,3.09,3.084,3.068,3.046,3.042,3.02,3.011,2.995,2.981,2.966,2.956,2.937,2.929,2.917,2.909,2.903,2.882,2.873,2.864,2.852,2.845,2.836,2.816,2.809,2.803,2.784,2.781,2.759,2.757,2.746,2.736,2.721,2.715,2.714,2.696,2.687,2.686,2.671,2.67,2.659,2.658,2.648,2.641,2.63,2.622,2.613,2.609,2.605,2.595,2.595,2.58,2.574,2.573,2.562,2.56,2.551,2.55,2.544,2.527,2.524,2.524,2.517,2.51,2.504,2.503,2.501,2.496,2.485,2.478,2.475,2.47,2.466,2.461,2.454,2.453,2.453,2.446,2.442,2.442,2.442,2.442,2.441,2.438,2.438,2.428,2.427,2.423,2.417,2.415,2.412,2.412,2.412,2.408,2.404,2.4,2.397,2.396,2.396,2.395,2.393,2.393,2.393,2.393,2.393,2.389,2.394,2.389,2.389,2.389,2.386,2.386,2.386,2.386,2.386,2.39,2.39,2.391,2.392,2.394,2.395,2.395,2.394,2.395,2.395,2.403,2.403,2.406,2.406,2.406,2.406,2.407,2.41,2.411,2.412,2.416,2.419,2.42,2.421,2.427,2.427,2.43,2.437,2.438,2.438,2.438,2.45,2.455,2.455,2.455,2.467,2.467,2.472,2.481,2.481,2.483,2.485,2.489,2.49,2.498,2.511,2.514,2.515,2.515,2.523,2.537,2.538,2.539,2.539,2.553,2.563,2.573,2.573,2.584,2.6,2.606,2.611,2.616,2.621,2.625,2.631,2.64,2.646,2.655,2.667,2.67,2.672,2.686,2.693,2.709,2.71,2.716,2.727,2.736,2.74,2.758,2.769,2.781,2.789,2.799,2.817,2.818,2.828,2.846,2.849,2.862,2.872,2.883,2.89,2.915,2.92,2.937,2.94,2.955,2.975,2.981,2.99,3.012,3.02,3.029,3.052,3.064,3.077,3.088,3.108,3.126,3.135,3.148,3.165,3.178,3.195,3.212,3.226,3.25,3.277,3.289,3.307,3.329,3.334,3.354,3.385,3.397,3.423,3.446,3.469,3.487,3.514,3.53,3.565,3.576,3.614,3.631,3.651,3.678,3.697,3.739,3.759,3.792,3.822,3.847,3.871,3.902,3.981,4.017,4.038,4.038,4.072,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.357,3.342,3.331,3.319,3.317,3.312,3.292,3.29,3.275,3.264,3.244,3.243,3.234,3.233,3.219,3.216,3.201,3.194,3.193,3.184,3.175,3.17,3.158,3.157,3.157,3.146,3.141,3.129,3.125,3.123,3.112,3.106,3.105,3.097,3.092,3.089,3.089,3.085,3.074,3.065,3.065,3.065,3.063,3.065,3.063,3.052,3.047,3.047,3.037,3.036,3.033,3.029,3.028,3.025,3.025,3.021,3.021,3.021,3.024,3.024,3.024,3.024,3.013,3.013,3.013,3.013,3.011,3.011,3.007,3.006,3.006,3.006,3.002,3.009,3.01,3.01,3.004,3.004,3.003,3.003,3.003,3.003,3.008,3.015,3.015,3.015,3.016,3.016,3.016,3.019,3.022,3.024,3.025,3.027,3.027,3.027,3.031,3.033,3.036,3.037,3.039,3.046,3.046,3.049,3.053,3.06,3.063,3.067,3.071,3.073,3.076,3.081,3.09,3.092,3.092,3.106,3.108,3.109,3.112,3.117,3.12,3.134,3.141,3.141,3.142,3.144,3.152,3.156,3.164,3.166,3.175,3.176,3.18,3.18,3.187,3.188,3.201,3.202,3.21,3.221,3.231,3.238,3.242,3.247,3.263,3.268,3.277,3.281,3.285,3.291,3.299,3.324,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 198.06} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 198.06} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 198.061} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 5.6388}
SEN {Time 198.101} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.169,0.169,0.171,0.171,0.172,0.174,0.174,0.199,0,0,0,0,0,3.646,3.635,3.614,3.614,3.614,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.235,3.235,3.229,3.223,3.223,3.303,3.303,3.346,0,0,0,0,0,0,0,0,0,3.095,3.092,3.082,3.079,3.075,3.073,0.147,0.139,0.139,0.139,0.147,0.145,0.148,0.148,0.153,0.148,0.153,0.163,3.036,3.036,3.04,3.04,3.041,3.041,3.041,0.163,0.163,0.157,0.157,0.154,0.159,0.159,2.977,2.977,2.977,2.977,2.973,2.972,2.972,2.978,2.99,3.516,3.516,3.516,3.516,3.516,3.511,3.511,3.511,3.511,3.512,3.512,3.511,3.511,3.51,3.509,3.509,3.508,3.509,3.509,3.509,3.511,3.516,3.517,3.523,3.523,3.524,3.524,3.526,3.526,3.532,3.532,3.534,3.532,3.537,3.536,3.537,3.537,3.538,3.549,3.555,3.559,3.564,3.568,3.569,3.571,3.578,3.579,3.579,3.598,3.6,3.605,3.61,3.618,3.618,3.624,3.64,3.642,3.645,3.654,3.655,3.657,3.662,3.664,3.676,3.685,3.694,3.703,3.704,3.713,3.721,3.73,3.732,3.751,3.76,3.761,3.77,3.79,3.793,3.796,3.802,3.812,3.833,3.836,3.846,3.857,3.86,3.879,3.891,3.897,3.919,3.923,3.929,3.941,3.965,3.983,3.986,4.004,4.017,4.04,4.047,4.048,4.08,0.016,0.016,0.016,0.016,0.016,4.063,4.034,3.991,3.975,3.926,3.914,3.866,3.845,3.808,3.79,3.774,3.734,3.713,3.692,3.667,3.64,3.616,3.58,3.56,3.532,3.507,3.488,3.463,3.441,3.426,3.399,3.384,3.362,3.341,3.33,3.294,3.288,3.269,3.26,3.236,3.227,3.195,3.192,3.174,3.152,3.127,3.12,3.107,3.087,3.077,3.064,3.048,3.034,3.024,3.019,2.999,2.991,2.964,2.96,2.939,2.934,2.921,2.918,2.903,2.878,2.877,2.856,2.847,2.836,2.829,2.816,2.803,2.795,2.791,2.787,2.763,2.761,2.74,2.729,2.726,2.718,2.713,2.705,2.69,2.686,2.672,2.671,2.659,2.654,2.645,2.635,2.627,2.623,2.623,2.605,2.603,2.593,2.59,2.585,2.583,2.572,2.56,2.552,2.549,2.547,2.532,2.53,2.525,2.521,2.521,2.514,2.508,2.502,2.496,2.489,2.487,2.48,2.474,2.464,2.463,2.462,2.457,2.457,2.456,2.446,2.446,2.444,2.444,2.437,2.437,2.432,2.432,2.428,2.419,2.417,2.415,2.415,2.411,2.411,2.411,2.411,2.406,2.406,2.399,2.398,2.398,2.398,2.398,2.398,2.395,2.394,2.394,2.389,2.389,2.394,2.39,2.39,2.394,2.392,2.392,2.392,2.393,2.393,2.393,2.396,2.396,2.392,2.392,2.392,2.392,2.393,2.396,2.404,2.405,2.405,2.406,2.404,2.406,2.406,2.408,2.41,2.415,2.415,2.418,2.419,2.423,2.427,2.431,2.433,2.437,2.442,2.444,2.444,2.449,2.451,2.453,2.454,2.462,2.463,2.472,2.481,2.481,2.487,2.492,2.493,2.5,2.501,2.509,2.51,2.511,2.519,2.527,2.529,2.54,2.547,2.548,2.556,2.566,2.568,2.572,2.582,2.592,2.603,2.603,2.61,2.615,2.63,2.632,2.646,2.647,2.654,2.656,2.668,2.679,2.684,2.692,2.702,2.712,2.714,2.728,2.73,2.752,2.762,2.768,2.778,2.788,2.807,2.809,2.823,2.828,2.844,2.855,2.859,2.87,2.886,2.9,2.905,2.918,2.936,2.941,2.958,2.962,2.984,2.991,3.01,3.025,3.029,3.057,3.064,3.084,3.089,3.105,3.127,3.129,3.153,3.168,3.178,3.195,3.221,3.235,3.253,3.278,3.296,3.305,3.325,3.343,3.362,3.38,3.403,3.418,3.44,3.465,3.484,3.513,3.536,3.56,3.579,3.611,3.63,3.657,3.678,3.71,3.727,3.754,3.783,3.823,3.851,3.889,3.921,3.947,4.042,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.353,3.341,3.32,3.318,3.309,3.306,3.294,3.284,3.268,3.255,3.253,3.247,3.238,3.229,3.226,3.212,3.206,3.197,3.195,3.194,3.175,3.175,3.163,3.154,3.152,3.15,3.142,3.139,3.128,3.12,3.117,3.108,3.102,3.097,3.096,3.089,3.087,3.084,3.082,3.068,3.066,3.058,3.056,3.054,3.054,3.053,3.05,3.047,3.039,3.036,3.035,3.031,3.03,3.029,3.029,3.025,3.02,3.02,3.02,3.025,3.025,3.025,3.015,3.012,3.005,3.005,3.005,3.005,3.005,3.004,3.004,3.004,3.004,3.005,3.005,3.005,3.003,3.005,3.003,3.003,3.004,3.007,3.007,3.011,3.014,3.014,3.018,3.018,3.019,3.02,3.024,3.021,3.027,3.028,3.029,3.03,3.031,3.033,3.038,3.04,3.041,3.046,3.048,3.049,3.049,3.062,3.064,3.064,3.075,3.076,3.076,3.076,3.087,3.092,3.097,3.102,3.103,3.105,3.112,3.12,3.132,3.134,3.134,3.134,3.142,3.143,3.151,3.163,3.164,3.168,3.171,3.179,3.181,3.181,3.191,3.193,3.203,3.204,3.21,3.212,3.23,3.237,3.241,3.253,3.257,3.272,3.28,3.285,3.288,3.298,3.298,3.327,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 198.25} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 198.25} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 198.254} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 1.6256} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6388}
SEN {Time 198.299} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.181,0.181,0.181,0.181,0.179,0.183,0.183,0.189,0,0,0,0,0,3.642,3.63,3.616,3.616,3.616,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.237,3.228,3.222,3.213,3.213,3.213,3.301,3.346,3.346,0,0.007,0,0,0,0,0,3.091,3.086,3.081,3.081,3.081,3.081,0.146,0.142,0.142,0.142,0.142,0.144,0.152,0.152,0.153,0.152,0.153,0.155,3.028,3.036,3.036,3.036,3.038,3.038,3.03,0.163,0.162,0.156,0.155,0.153,0.155,0.155,2.978,2.978,2.984,2.979,2.978,2.976,2.979,2.979,2.989,3.515,3.516,3.516,3.516,3.516,3.516,3.514,3.51,3.506,3.506,3.508,3.508,3.509,3.512,3.509,3.509,3.502,3.502,3.502,3.505,3.506,3.509,3.513,3.516,3.513,3.516,3.521,3.522,3.522,3.529,3.531,3.531,3.535,3.537,3.54,3.54,3.541,3.544,3.546,3.552,3.556,3.556,3.558,3.564,3.571,3.576,3.579,3.582,3.586,3.59,3.602,3.606,3.609,3.615,3.63,3.632,3.643,3.652,3.656,3.656,3.66,3.667,3.67,3.671,3.688,3.694,3.694,3.703,3.71,3.725,3.728,3.731,3.738,3.757,3.77,3.771,3.773,3.787,3.794,3.812,3.812,3.827,3.833,3.837,3.855,3.865,3.871,3.879,3.899,3.907,3.923,3.928,3.949,3.957,3.982,3.988,4.002,4.018,4.025,4.047,4.061,4.083,0.016,0.016,0.016,0.016,0,0.016,4.067,3.99,3.954,3.931,3.904,3.868,3.844,3.829,3.793,3.774,3.748,3.719,3.68,3.664,3.635,3.611,3.589,3.549,3.543,3.512,3.487,3.466,3.434,3.42,3.404,3.375,3.355,3.344,3.321,3.298,3.283,3.269,3.26,3.242,3.218,3.201,3.193,3.179,3.159,3.131,3.127,3.107,3.091,3.085,3.061,3.06,3.037,3.022,3.014,2.996,2.983,2.968,2.957,2.938,2.931,2.917,2.911,2.91,2.88,2.875,2.867,2.839,2.838,2.831,2.825,2.81,2.8,2.794,2.782,2.762,2.76,2.749,2.732,2.723,2.716,2.709,2.697,2.693,2.681,2.681,2.665,2.663,2.655,2.643,2.638,2.632,2.62,2.619,2.601,2.6,2.596,2.596,2.581,2.577,2.565,2.565,2.555,2.552,2.548,2.534,2.534,2.525,2.524,2.519,2.515,2.508,2.507,2.49,2.49,2.486,2.481,2.475,2.471,2.465,2.459,2.459,2.458,2.452,2.447,2.446,2.446,2.439,2.439,2.435,2.428,2.427,2.427,2.418,2.418,2.418,2.418,2.418,2.417,2.405,2.405,2.405,2.405,2.401,2.4,2.4,2.397,2.397,2.394,2.391,2.391,2.391,2.391,2.392,2.394,2.394,2.394,2.394,2.392,2.388,2.391,2.392,2.392,2.391,2.392,2.392,2.39,2.39,2.394,2.395,2.395,2.396,2.4,2.401,2.402,2.402,2.403,2.406,2.406,2.409,2.409,2.41,2.414,2.418,2.419,2.425,2.426,2.433,2.437,2.437,2.441,2.442,2.448,2.453,2.455,2.459,2.46,2.463,2.467,2.477,2.477,2.481,2.485,2.487,2.493,2.499,2.5,2.512,2.514,2.515,2.522,2.524,2.533,2.534,2.541,2.542,2.557,2.558,2.564,2.57,2.587,2.605,2.606,2.607,2.61,2.613,2.628,2.637,2.639,2.65,2.657,2.669,2.672,2.686,2.686,2.696,2.704,2.711,2.718,2.735,2.738,2.741,2.748,2.767,2.767,2.785,2.805,2.807,2.823,2.825,2.846,2.847,2.86,2.871,2.882,2.896,2.908,2.919,2.935,2.943,2.953,2.977,2.979,2.992,3.007,3.019,3.035,3.047,3.063,3.073,3.094,3.104,3.122,3.128,3.142,3.167,3.182,3.199,3.215,3.234,3.253,3.264,3.282,3.293,3.326,3.342,3.356,3.385,3.397,3.413,3.441,3.466,3.485,3.513,3.528,3.563,3.577,3.613,3.615,3.656,3.686,3.697,3.723,3.76,3.791,3.824,3.847,3.887,3.908,3.945,4.003,4.044,4.07,4.07,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.352,3.349,3.329,3.313,3.313,3.299,3.296,3.292,3.268,3.264,3.248,3.245,3.239,3.238,3.238,3.215,3.2,3.199,3.191,3.182,3.171,3.171,3.17,3.161,3.153,3.144,3.139,3.133,3.129,3.126,3.115,3.111,3.11,3.098,3.096,3.095,3.085,3.082,3.079,3.065,3.065,3.064,3.061,3.058,3.052,3.05,3.049,3.042,3.042,3.039,3.034,3.032,3.03,3.029,3.029,3.023,3.021,3.02,3.02,3.02,3.02,3.02,3.012,3.009,3.009,3.009,3.009,3.008,3.006,3.007,3.007,3.005,3.005,3.007,3.005,3.005,3.005,3.005,3.004,3.004,3.006,3.006,3.011,3.011,3.011,3.011,3.012,3.012,3.016,3.016,3.017,3.019,3.024,3.027,3.027,3.027,3.033,3.037,3.04,3.042,3.043,3.048,3.049,3.056,3.059,3.061,3.067,3.071,3.073,3.075,3.076,3.077,3.092,3.095,3.097,3.112,3.113,3.114,3.118,3.123,3.125,3.132,3.14,3.14,3.143,3.143,3.154,3.156,3.16,3.169,3.174,3.174,3.179,3.18,3.186,3.19,3.203,3.205,3.207,3.226,3.228,3.235,3.242,3.245,3.264,3.271,3.274,3.284,3.294,3.296,3.299,3.329,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 198.46} {Type Odometry} {Name Odometry} {Pose 0.002540,0.992380,-0.062832}
SEN {Time 198.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 198.457} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 0.127} {Name Sonar7 Range 3.048} {Name Sonar8 Range 2.5146} {Name Sonar9 Range 0.9906} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 6.477} {Name Sonar15 Range 5.6642}