# UvA Rescue Team Logfile
#
# Created Date: 27-07-2010
# Created Time: 19:40
#
# Machine: U013153
#
# Original Filename: Logs\Hercules.log

NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 0}
SEN {Time 20.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 20.0365} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.937} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
SEN {Time 20.0545} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.185,0.185,0.183,0.183,0.183,0.223,0.223,1.632,0.007,1.632,1.62,1.604,1.601,1.594,1.594,1.593,1.593,1.593,1.589,1.585,1.58,1.58,1.579,1.578,1.568,1.57,1.568,1.567,1.567,1.567,1.565,1.566,1.565,1.564,1.564,1.562,1.56,1.56,1.56,1.557,1.558,1.556,1.558,1.556,1.558,1.557,1.559,1.559,1.559,1.559,1.559,1.554,1.554,1.554,1.55,1.55,1.55,1.55,0.153,0.148,0.145,0.143,0.145,0.145,0.153,0.154,0.154,0.155,0.155,2.998,3.001,3.005,3.005,3.005,3.001,0.173,0.171,0.161,0.167,0.167,0.161,0.167,0.167,3.02,3.02,3.02,3.02,3.02,3.034,3.037,3.038,3.047,3.05,3.057,3.064,3.067,3.076,3.076,3.081,3.082,3.093,3.095,3.104,3.108,3.112,3.118,3.126,3.135,3.139,3.14,3.142,3.161,3.168,3.17,3.174,3.19,3.193,3.206,3.214,3.215,3.223,3.23,3.232,3.25,3.251,3.26,3.272,3.279,3.286,3.295,3.311,3.332,3.334,3.342,3.354,3.368,3.374,3.385,3.401,3.414,3.43,3.442,3.447,3.463,3.474,3.494,3.496,3.522,3.54,3.552,3.57,3.57,3.576,3.613,3.617,3.628,3.649,3.662,3.681,3.705,3.708,3.735,3.748,3.772,3.781,3.799,3.829,3.848,3.867,3.884,3.906,3.928,3.945,3.967,3.999,4.024,4.057,4.057,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.311,3.297,3.284,3.268,3.261,3.233,3.224,3.213,3.194,3.175,3.169,3.153,3.152,3.131,3.124,3.106,3.097,3.082,3.065,3.063,3.052,3.036,3.025,3.013,3.011,3.005,2.989,2.982,2.969,2.965,2.95,2.941,2.935,2.923,2.917,2.911,2.906,2.897,2.893,2.884,2.882,2.872,2.858,2.856,2.847,2.832,2.83,2.827,2.815,2.812,2.803,2.798,2.793,2.786,2.782,2.782,2.786,2.776,2.768,2.756,2.746,2.746,2.745,2.745,2.727,2.725,2.717,2.715,2.71,2.709,2.709,2.702,2.699,2.69,2.688,2.687,2.68,2.674,2.672,2.667,2.662,2.659,2.659,2.658,2.657,2.653,2.651,2.651,2.651,2.643,2.638,2.638,2.639,2.639,2.635,2.635,2.633,2.633,2.632,2.632,2.632,2.632,2.631,2.63,2.63,2.628,2.627,2.627,2.626,2.626,2.626,2.625,2.626,2.627,2.627,2.627,2.627,2.627,2.629,2.633,2.633,2.633,2.636,2.634,2.636,2.637,2.644,2.645,2.645,2.645,2.645,2.645,2.645,2.645,2.646,2.646,2.646,2.654,2.659,2.665,2.672,2.672,2.673,2.673,2.675,2.676,2.682,2.688,2.695,2.701,2.706,2.71,2.713,2.713,2.71,2.71,2.713,2.715,2.72,2.72,2.723,2.723,2.734,2.735,2.735,2.75,2.752,3.257,3.262,3.291,3.291,3.292,3.299,3.319,3.321,3.326,3.327,3.34,3.342,3.357,3.365,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.017,2.987,2.987,2.987,3.722,3.727,3.731,3.731,3.736,3.741,3.749,3.76,3.769,3.771,3.78,3.793,3.805,3.811,3.835,3.848,3.852,3.852,3.87,3.874,3.907,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.089,4.084,4.082,4.074,4.068,4.065,4.061,4.053,4.045,4.042,4.042,4.042,4.038,4.038,4.039,4.038,4.039,0.007,4.017,4.017,4.017,4.017,4.016,4.011,4.011,4.011,4.005,4.009,4.009,4.009,4.009,4.009,4,4.003,3.997,3.997,4.003,4.009,4.009,4.01,4.009,4.009,4.011,4.012,4.014,4.017,4.017,4.02,4.028,4.031,4.036,4.036,4.042,4.044,4.044,4.045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 21.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.0973} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.286}
SEN {Time 21.1505} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.179,0.187,0.191,0.191,0.23,1.615,0.007,1.62,1.615,1.609,1.602,1.6,1.594,1.594,1.592,1.59,1.585,1.584,1.578,1.575,1.575,1.574,1.573,1.573,1.573,1.573,1.573,1.573,1.566,1.566,1.563,1.562,1.561,1.56,1.559,1.557,1.557,1.557,1.557,1.557,1.557,1.558,1.563,1.564,1.564,1.564,1.563,1.56,1.559,1.556,1.555,1.556,1.555,1.555,1.552,1.546,0.156,0.149,0.144,0.148,0.149,0.149,0.154,0.154,0.154,0.154,0.154,2.997,2.998,3.005,3.005,3.005,3.005,0.17,0.163,0.159,0.163,0.165,0.153,0.165,0.165,3.02,3.022,3.024,3.024,3.03,3.03,3.032,3.035,3.042,3.053,3.055,3.059,3.069,3.069,3.07,3.074,3.085,3.092,3.094,3.097,3.111,3.115,3.127,3.131,3.131,3.141,3.142,3.145,3.16,3.169,3.171,3.177,3.184,3.197,3.204,3.214,3.215,3.22,3.237,3.243,3.247,3.254,3.275,3.278,3.29,3.292,3.296,3.315,3.32,3.331,3.343,3.352,3.354,3.378,3.389,3.398,3.409,3.43,3.432,3.447,3.459,3.48,3.503,3.508,3.518,3.531,3.554,3.56,3.58,3.589,3.595,3.621,3.636,3.641,3.661,3.67,3.693,3.714,3.725,3.749,3.752,3.785,3.806,3.82,3.831,3.86,3.873,3.901,3.923,3.95,3.972,4.012,4.024,4.048,4.07,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.322,3.293,3.284,3.26,3.254,3.23,3.224,3.206,3.201,3.177,3.164,3.152,3.15,3.125,3.121,3.101,3.1,3.092,3.082,3.063,3.047,3.038,3.033,3.013,3.013,3.003,2.985,2.982,2.971,2.967,2.954,2.942,2.942,2.927,2.914,2.907,2.906,2.894,2.89,2.889,2.884,2.874,2.859,2.858,2.846,2.832,2.831,2.826,2.816,2.81,2.81,2.802,2.795,2.788,2.786,2.786,2.788,2.781,2.77,2.757,2.746,2.742,2.738,2.736,2.723,2.721,2.721,2.717,2.709,2.708,2.704,2.698,2.695,2.686,2.682,2.68,2.677,2.675,2.67,2.667,2.665,2.663,2.663,2.659,2.65,2.65,2.649,2.648,2.644,2.638,2.637,2.633,2.63,2.63,2.631,2.632,2.632,2.632,2.631,2.63,2.63,2.63,2.633,2.633,2.633,2.628,2.625,2.625,2.625,2.626,2.626,2.63,2.631,2.631,2.624,2.624,2.624,2.624,2.624,2.629,2.63,2.631,2.631,2.634,2.634,2.634,2.634,2.642,2.643,2.643,2.643,2.643,2.64,2.64,2.64,2.64,2.644,2.652,2.654,2.663,2.663,2.667,2.667,2.67,2.676,2.687,2.688,2.689,2.691,2.697,2.699,2.711,2.711,2.711,2.711,2.711,2.712,2.712,2.716,2.719,2.723,2.725,2.73,2.744,2.744,2.749,2.751,3.267,3.275,3.287,3.292,3.299,3.312,3.32,3.322,3.327,3.337,3.339,3.341,3.361,3.365,3.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.114,3.074,3.018,2.985,2.985,2.985,3.724,3.724,3.734,3.734,3.737,3.75,3.75,3.754,3.782,3.783,3.784,3.795,3.802,3.817,3.825,3.838,3.849,3.86,3.867,3.891,3.909,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.076,4.073,4.072,4.073,4.065,4.062,4.062,4.055,4.047,4.046,4.042,4.04,4.038,4.038,4.038,0,0,0,4.015,4.01,4.01,4.01,4.01,4.004,4.012,4.012,4.014,4.014,4.014,4.014,4.01,4.007,4.01,4.004,4.004,4.008,4.008,4.008,4.014,4.014,4.011,4.014,4.011,4.011,4.019,4.019,4.022,4.03,4.031,4.031,4.031,4.038,4.042,4.05,4.051,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type GroundVehicle} {Name USARBot.Nomad} {Dimensions 0.4,0.4,1.5} {COG 0,0,-0.2} {WheelRadius 0.1016} {WheelSeparation 0.31} {WheelBase 0.0}
SEN {Time 21.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 21.3192} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 21.3465} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.185,0.187,0.187,0.228,1.62,1.628,1.628,1.62,1.608,1.605,1.597,1.597,1.597,1.597,1.597,1.596,1.588,1.588,1.584,1.583,1.578,1.574,1.578,1.574,1.572,1.572,1.569,1.569,1.569,1.567,1.564,1.564,1.563,1.563,1.563,1.556,1.556,1.556,1.556,1.558,1.559,1.559,1.558,1.559,1.559,1.557,1.554,1.557,1.554,1.552,1.553,1.552,1.552,1.551,1.547,0.148,0.148,0.146,0.148,0.151,0.153,0.155,0.155,0.155,0.155,0.162,2.996,2.999,3.009,3.009,2.999,2.999,0.17,0.169,0.161,0.161,0.161,0.159,0.161,0.163,3.024,3.024,3.024,3.024,3.024,3.027,3.029,3.035,3.043,3.046,3.048,3.061,3.065,3.067,3.076,3.078,3.086,3.093,3.098,3.104,3.115,3.115,3.121,3.128,3.135,3.14,3.141,3.147,3.158,3.169,3.175,3.18,3.192,3.194,3.205,3.215,3.216,3.221,3.234,3.244,3.245,3.248,3.273,3.274,3.281,3.287,3.294,3.319,3.329,3.33,3.342,3.354,3.359,3.374,3.389,3.397,3.414,3.416,3.438,3.459,3.461,3.473,3.499,3.502,3.514,3.524,3.553,3.563,3.572,3.577,3.603,3.615,3.634,3.65,3.657,3.678,3.703,3.708,3.726,3.744,3.755,3.782,3.813,3.824,3.835,3.865,3.881,3.9,3.938,3.951,3.976,4.005,4.017,4.047,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.306,3.292,3.258,3.254,3.235,3.224,3.215,3.195,3.18,3.162,3.155,3.147,3.141,3.125,3.107,3.093,3.09,3.073,3.064,3.058,3.039,3.023,3.015,3.012,2.996,2.993,2.981,2.98,2.96,2.957,2.947,2.936,2.93,2.92,2.912,2.911,2.896,2.894,2.887,2.886,2.871,2.863,2.852,2.847,2.832,2.831,2.822,2.82,2.808,2.801,2.801,2.791,2.789,2.782,2.782,2.791,2.773,2.768,2.752,2.751,2.741,2.738,2.735,2.726,2.726,2.72,2.717,2.708,2.705,2.703,2.7,2.693,2.692,2.692,2.686,2.682,2.666,2.665,2.665,2.665,2.658,2.654,2.653,2.648,2.649,2.648,2.648,2.643,2.638,2.638,2.638,2.638,2.638,2.634,2.634,2.631,2.633,2.633,2.631,2.629,2.629,2.625,2.625,2.625,2.625,2.622,2.622,2.623,2.626,2.626,2.629,2.629,2.629,2.629,2.628,2.626,2.625,2.625,2.625,2.629,2.629,2.631,2.631,2.634,2.634,2.634,2.646,2.648,2.648,2.648,2.651,2.648,2.646,2.646,2.646,2.646,2.649,2.65,2.662,2.663,2.664,2.667,2.668,2.676,2.686,2.687,2.688,2.691,2.697,2.698,2.706,2.71,2.71,2.71,2.71,2.712,2.714,2.721,2.721,2.724,2.726,2.731,2.736,2.736,2.747,2.754,3.262,3.275,3.286,3.291,3.295,3.312,3.314,3.322,3.328,3.339,3.34,3.35,3.361,3.369,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.023,2.983,2.973,2.973,2.983,3.718,3.729,3.739,3.742,3.744,3.758,3.759,3.766,3.779,3.789,3.792,3.797,3.818,3.825,3.84,3.86,3.86,3.86,3.876,3.89,3.908,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.091,4.09,4.085,4.084,4.081,4.079,4.073,4.068,4.064,4.059,4.057,4.056,4.046,4.042,4.041,4.034,4.034,4.032,4.032,0.007,4.02,4.019,4.019,4.019,4.016,4.008,4.005,4.008,4.005,4.008,4.009,4.011,4.011,4.011,4.011,4.011,4.01,4.01,4.01,4.011,4.011,4.012,4.011,4.012,4.013,4.015,4.015,4.017,4.023,4.028,4.031,4.038,4.038,4.038,4.039,4.041,4.045,4.06,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0}
SEN {Time 22.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.0671} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.3688} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 22.1465} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.192,0.18,0.18,0.18,0.182,0.182,0.22,1.624,1.624,1.624,1.617,1.606,1.603,1.598,1.597,1.595,1.594,1.594,1.587,1.586,1.584,1.584,1.581,1.58,1.569,1.578,1.569,1.569,1.573,1.573,1.566,1.565,1.564,1.564,1.564,1.563,1.561,1.561,1.559,1.558,1.558,1.559,1.56,1.56,1.56,1.559,1.558,1.557,1.557,1.555,1.555,1.551,1.549,1.551,1.547,1.547,1.547,1.547,0.152,0.149,0.149,0.149,0.149,0.152,0.153,0.155,0.155,0.162,0.162,2.991,3.002,3.004,3.004,3.004,3.004,0.17,0.167,0.158,0.159,0.159,0.155,0.159,0.163,3.021,3.021,3.023,3.023,3.028,3.03,3.036,3.042,3.042,3.054,3.054,3.065,3.066,3.068,3.069,3.081,3.087,3.097,3.097,3.101,3.117,3.118,3.123,3.125,3.133,3.138,3.141,3.146,3.154,3.17,3.171,3.174,3.182,3.184,3.206,3.209,3.219,3.22,3.239,3.245,3.252,3.256,3.276,3.277,3.289,3.294,3.296,3.32,3.322,3.333,3.339,3.353,3.362,3.374,3.383,3.396,3.414,3.426,3.439,3.45,3.466,3.482,3.498,3.502,3.528,3.535,3.54,3.558,3.573,3.584,3.602,3.621,3.628,3.649,3.664,3.684,3.689,3.715,3.728,3.748,3.755,3.778,3.811,3.829,3.835,3.876,3.882,3.908,3.932,3.954,3.97,4.002,4.023,4.05,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.31,3.296,3.293,3.259,3.257,3.239,3.229,3.209,3.202,3.185,3.172,3.165,3.146,3.142,3.126,3.107,3.09,3.086,3.075,3.063,3.052,3.04,3.028,3.017,3.013,2.996,2.991,2.977,2.975,2.963,2.954,2.943,2.937,2.937,2.924,2.921,2.916,2.9,2.894,2.891,2.875,2.875,2.864,2.855,2.847,2.841,2.829,2.825,2.811,2.805,2.804,2.799,2.792,2.786,2.778,2.778,2.778,2.772,2.769,2.757,2.746,2.739,2.734,2.733,2.725,2.724,2.723,2.718,2.715,2.715,2.708,2.708,2.697,2.695,2.687,2.682,2.678,2.676,2.663,2.662,2.662,2.659,2.652,2.652,2.646,2.649,2.646,2.646,2.644,2.637,2.633,2.633,2.633,2.633,2.633,2.634,2.633,2.634,2.634,2.631,2.629,2.627,2.627,2.627,2.626,2.625,2.624,2.623,2.623,2.625,2.625,2.625,2.63,2.63,2.626,2.626,2.625,2.625,2.626,2.626,2.626,2.632,2.632,2.632,2.635,2.637,2.641,2.649,2.65,2.65,2.65,2.65,2.646,2.646,2.647,2.647,2.649,2.65,2.65,2.664,2.666,2.666,2.666,2.674,2.675,2.688,2.691,2.697,2.697,2.699,2.71,2.71,2.71,2.707,2.707,2.707,2.71,2.71,2.719,2.721,2.721,2.723,2.723,2.736,2.736,2.743,2.749,3.267,3.272,3.283,3.296,3.3,3.303,3.313,3.314,3.328,3.334,3.339,3.343,3.355,3.364,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.978,2.978,2.978,3.711,3.721,3.735,3.735,3.736,3.741,3.75,3.762,3.771,3.782,3.783,3.802,3.812,3.813,3.832,3.838,3.847,3.852,3.854,3.872,3.898,3.912,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.081,4.078,4.073,4.073,4.066,4.063,4.061,4.055,4.051,4.045,4.043,4.04,4.039,4.039,4.034,4.034,0.007,4.022,4.018,4.018,4.018,4.014,4.008,4.005,4.008,4.008,4.008,4.006,4.009,4.006,4.006,4.006,4.006,4.006,4.006,4.009,4.006,4.009,4.012,4.014,4.014,4.016,4.014,4.014,4.014,4.019,4.032,4.038,4.041,4.038,4.038,4.041,4.041,4.042,4.043,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0.007,0,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type Sonar} {Name Sonar0 Location 0.19,-0,-0.26 Orientation 0,0,-0 Mount HARD} {Name Sonar1 Location 0.175537,-0.0727099,-0.26 Orientation 0,0,-0.392699 Mount HARD} {Name Sonar2 Location 0.13435,-0.13435,-0.26 Orientation 0,0,-0.785398 Mount HARD} {Name Sonar3 Location 0.0727099,-0.175537,-0.26 Orientation 0,0,-1.1781 Mount HARD} {Name Sonar4 Location 1.16338e-17,-0.19,-0.26 Orientation 0,0,-1.5708 Mount HARD} {Name Sonar5 Location -0.0727099,-0.175537,-0.26 Orientation 0,0,-1.9635 Mount HARD} {Name Sonar6 Location -0.13435,-0.13435,-0.26 Orientation 0,0,-2.35619 Mount HARD} {Name Sonar7 Location -0.175537,-0.0727099,-0.26 Orientation 0,0,-2.74889 Mount HARD} {Name Sonar8 Location -0.19,-2.32675e-17,-0.26 Orientation 0,0,-3.14159 Mount HARD} {Name Sonar9 Location -0.175537,0.0727099,-0.26 Orientation 0,0,2.74889 Mount HARD} {Name Sonar10 Location -0.13435,0.13435,-0.26 Orientation 0,0,2.35619 Mount HARD} {Name Sonar11 Location -0.0727099,0.175537,-0.26 Orientation 0,0,1.9635 Mount HARD} {Name Sonar12 Location 1.16338e-17,0.19,-0.26 Orientation 0,0,1.5708 Mount HARD} {Name Sonar13 Location 0.0727099,0.175537,-0.26 Orientation 0,0,1.1781 Mount HARD} {Name Sonar14 Location 0.13435,0.13435,-0.26 Orientation 0,0,0.785398 Mount HARD} {Name Sonar15 Location 0.175537,0.0727099,-0.26 Orientation 0,0,0.392699 Mount HARD}
SEN {Time 22.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 22.308} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 22.3425} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.185,0.184,0.185,0.232,0.232,1.619,1.619,1.619,1.614,1.606,1.602,1.596,1.596,1.596,1.596,1.596,1.593,1.59,1.582,1.581,1.578,1.576,1.576,1.576,1.574,1.574,1.574,1.571,1.573,1.573,1.561,1.558,1.561,1.558,1.558,1.558,1.56,1.558,1.56,1.56,1.56,1.558,1.56,1.558,1.558,1.559,1.559,1.557,1.558,1.554,1.551,1.553,1.551,1.551,1.551,1.544,0.15,0.15,0.148,0.148,0.15,0.15,0.151,0.151,0.151,0.153,0.153,2.997,3.004,3.004,3.004,2.997,2.994,0.169,0.164,0.159,0.164,0.16,0.159,0.16,0.169,3.023,3.023,3.031,3.031,3.038,3.038,3.041,3.041,3.044,3.051,3.053,3.061,3.064,3.07,3.077,3.079,3.083,3.092,3.093,3.1,3.11,3.112,3.122,3.123,3.133,3.143,3.145,3.146,3.165,3.165,3.175,3.18,3.191,3.193,3.206,3.206,3.214,3.225,3.226,3.235,3.246,3.258,3.273,3.278,3.285,3.288,3.297,3.317,3.325,3.329,3.342,3.348,3.358,3.373,3.392,3.397,3.409,3.422,3.435,3.442,3.468,3.469,3.494,3.502,3.519,3.532,3.55,3.562,3.578,3.58,3.605,3.618,3.629,3.654,3.659,3.68,3.698,3.71,3.722,3.739,3.762,3.783,3.798,3.825,3.827,3.863,3.885,3.906,3.929,3.95,3.97,3.995,4.014,4.044,4.065,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.323,3.301,3.294,3.271,3.253,3.236,3.236,3.205,3.201,3.177,3.171,3.147,3.145,3.133,3.126,3.109,3.092,3.092,3.078,3.069,3.05,3.038,3.037,3.017,3.009,2.999,2.991,2.98,2.973,2.963,2.956,2.936,2.935,2.925,2.917,2.909,2.905,2.895,2.893,2.887,2.879,2.875,2.862,2.855,2.854,2.84,2.835,2.826,2.815,2.814,2.805,2.798,2.791,2.787,2.783,2.783,2.783,2.783,2.774,2.752,2.747,2.744,2.744,2.739,2.724,2.72,2.718,2.715,2.708,2.704,2.704,2.702,2.697,2.689,2.689,2.68,2.673,2.67,2.665,2.665,2.662,2.664,2.664,2.655,2.654,2.652,2.649,2.645,2.644,2.639,2.634,2.633,2.632,2.63,2.63,2.627,2.627,2.63,2.627,2.626,2.626,2.633,2.629,2.629,2.629,2.628,2.628,2.627,2.628,2.628,2.63,2.631,2.631,2.631,2.631,2.631,2.631,2.631,2.631,2.631,2.634,2.634,2.634,2.634,2.634,2.637,2.646,2.648,2.648,2.648,2.649,2.649,2.649,2.649,2.649,2.649,2.65,2.651,2.662,2.666,2.667,2.669,2.672,2.677,2.679,2.685,2.687,2.688,2.691,2.7,2.7,2.706,2.707,2.707,2.707,2.707,2.71,2.712,2.715,2.718,2.723,2.727,2.73,2.737,2.737,2.742,2.753,3.268,3.268,3.291,3.291,3.291,3.307,3.31,3.327,3.33,3.34,3.346,3.347,3.356,3.363,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.127,2.991,2.991,2.991,3.714,3.728,3.736,3.736,3.74,3.745,3.749,3.76,3.769,3.778,3.789,3.798,3.805,3.822,3.822,3.822,3.843,3.847,3.854,3.88,3.888,3.894,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.085,4.084,4.072,4.07,4.066,4.064,4.063,4.063,4.053,4.049,4.043,4.039,4.038,4.036,4.036,4.027,4.027,0.007,4.024,4.017,4.017,4.017,4.017,4.014,4.013,4.013,4.012,4.012,4.012,4.008,4.008,4.007,4.003,4.003,4.005,4.005,4.01,4.01,4.01,4.013,4.013,4.015,4.015,4.019,4.016,4.015,4.016,4.022,4.032,4.037,4.037,4.037,4.041,4.047,4.047,4.049,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type Sonar} {Name Sonar0} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar1} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar2} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar3} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar4} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar5} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar6} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar7} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar8} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar9} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar10} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar11} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar12} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar13} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar14} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066} {Name Sonar15} {MaxRange 10.668} {MinRange 0.1524} {BeamAngle 0.349066}
SEN {Time 23.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 23.076} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.9878} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 3.5306} {Name Sonar15 Range 2.286}
SEN {Time 23.1425} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.188,0.185,0.222,0.222,0.222,1.62,0.007,1.622,1.62,1.609,1.607,1.599,1.596,1.594,1.592,1.586,1.587,1.586,1.58,1.578,1.578,1.578,1.576,1.576,1.576,1.572,1.572,1.565,1.565,1.565,1.564,1.563,1.563,1.561,1.561,1.561,1.561,1.561,1.56,1.557,1.557,1.557,1.557,1.557,1.557,1.559,1.559,1.559,1.559,1.557,1.556,1.555,1.555,1.556,1.555,1.555,0.155,0.149,0.145,0.145,0.145,0.145,0.149,0.155,0.155,0.157,0.157,3.003,3.003,3.006,3.006,3.003,3.002,0.171,0.17,0.153,0.167,0.164,0.153,0.164,0.167,3.025,3.025,3.026,3.026,3.026,3.032,3.035,3.038,3.039,3.05,3.056,3.061,3.061,3.071,3.076,3.078,3.086,3.093,3.093,3.099,3.111,3.118,3.124,3.127,3.135,3.139,3.145,3.151,3.159,3.17,3.171,3.18,3.198,3.199,3.205,3.207,3.221,3.225,3.232,3.246,3.247,3.248,3.267,3.272,3.282,3.295,3.302,3.32,3.326,3.332,3.337,3.356,3.357,3.378,3.388,3.408,3.418,3.421,3.445,3.453,3.462,3.476,3.495,3.495,3.519,3.524,3.554,3.566,3.577,3.581,3.606,3.614,3.616,3.652,3.654,3.68,3.697,3.711,3.722,3.747,3.755,3.781,3.809,3.831,3.835,3.87,3.889,3.911,3.923,3.95,3.967,4.004,4.022,4.04,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.298,3.284,3.27,3.248,3.238,3.22,3.209,3.193,3.185,3.17,3.157,3.15,3.123,3.121,3.108,3.096,3.092,3.072,3.061,3.054,3.033,3.03,3.015,3.008,3.001,2.994,2.981,2.977,2.962,2.958,2.951,2.94,2.921,2.912,2.911,2.907,2.906,2.894,2.884,2.88,2.869,2.863,2.853,2.846,2.836,2.823,2.817,2.817,2.815,2.799,2.795,2.788,2.788,2.778,2.778,2.788,2.778,2.775,2.752,2.748,2.744,2.74,2.726,2.725,2.725,2.725,2.715,2.709,2.704,2.698,2.695,2.688,2.685,2.677,2.676,2.671,2.668,2.668,2.665,2.663,2.658,2.652,2.651,2.65,2.65,2.648,2.646,2.644,2.636,2.636,2.636,2.631,2.633,2.633,2.633,2.631,2.631,2.63,2.628,2.628,2.631,2.626,2.63,2.63,2.627,2.625,2.627,2.627,2.63,2.63,2.632,2.633,2.633,2.631,2.634,2.631,2.629,2.631,2.624,2.624,2.634,2.637,2.634,2.637,2.64,2.64,2.651,2.652,2.652,2.652,2.652,2.652,2.647,2.654,2.654,2.654,2.654,2.655,2.666,2.667,2.668,2.668,2.673,2.675,2.688,2.69,2.693,2.693,2.698,2.702,2.702,2.705,2.706,2.705,2.705,2.711,2.712,2.715,2.72,2.731,2.735,2.736,2.738,2.738,2.742,2.745,3.26,3.272,3.285,3.289,3.304,3.306,3.316,3.317,3.329,3.335,3.335,3.347,3.365,3.367,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.984,2.984,2.984,3.72,3.729,3.731,3.731,3.732,3.743,3.751,3.762,3.768,3.768,3.798,3.813,3.814,3.814,3.829,3.841,3.848,3.857,3.876,3.877,3.886,3.886,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.081,4.076,4.071,4.071,4.068,4.065,4.06,4.051,4.05,4.05,4.047,4.036,4.036,4.036,4.031,4.036,0.007,4.017,4.017,4.017,4.017,4.017,4.007,4.003,4.005,4.005,4.007,4.012,4.012,4.016,4.012,4.007,4.007,4.007,4.007,4.008,4.008,4.008,4.012,4.012,4.013,4.013,4.013,4.019,4.019,4.019,4.02,4.037,4.037,4.037,4.037,4.038,4.036,4.038,4.04,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD}
SEN {Time 23.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 23.3169} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.9878} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 23.3385} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.185,0.185,0.185,0.225,0.225,1.627,1.628,1.628,1.627,1.613,1.6,1.599,1.599,1.596,1.595,1.592,1.592,1.588,1.583,1.576,1.576,1.574,1.574,1.575,1.575,1.567,1.575,1.567,1.567,1.567,1.566,1.564,1.562,1.558,1.558,1.557,1.558,1.558,1.558,1.557,1.558,1.557,1.557,1.557,1.56,1.56,1.56,1.56,1.557,1.555,1.552,1.555,1.552,1.552,1.55,1.55,0.15,0.15,0.15,0.146,0.145,0.145,0.145,0.15,0.15,0.152,0.152,2.994,3.004,3.004,3.004,3.004,3.004,0.173,0.173,0.161,0.164,0.161,0.156,0.161,0.164,3.016,3.027,3.027,3.027,3.027,3.035,3.035,3.037,3.037,3.05,3.058,3.065,3.066,3.068,3.076,3.078,3.086,3.094,3.097,3.1,3.113,3.113,3.121,3.128,3.138,3.138,3.138,3.141,3.155,3.162,3.17,3.179,3.189,3.189,3.204,3.21,3.221,3.225,3.239,3.241,3.246,3.252,3.271,3.273,3.286,3.286,3.291,3.32,3.327,3.328,3.336,3.351,3.354,3.383,3.385,3.396,3.42,3.431,3.432,3.46,3.462,3.473,3.486,3.498,3.518,3.535,3.547,3.568,3.575,3.587,3.601,3.619,3.628,3.648,3.654,3.669,3.697,3.71,3.725,3.744,3.756,3.778,3.792,3.818,3.835,3.865,3.883,3.908,3.941,3.946,3.968,4.004,4.031,4.052,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.293,3.284,3.267,3.261,3.226,3.222,3.209,3.205,3.177,3.166,3.154,3.15,3.133,3.123,3.111,3.101,3.083,3.083,3.056,3.055,3.039,3.035,3.01,3.007,3.001,2.994,2.993,2.975,2.965,2.955,2.946,2.936,2.923,2.92,2.911,2.906,2.899,2.888,2.888,2.877,2.869,2.864,2.856,2.842,2.832,2.829,2.825,2.818,2.81,2.803,2.802,2.793,2.783,2.776,2.776,2.776,2.773,2.77,2.755,2.747,2.745,2.736,2.735,2.735,2.729,2.726,2.714,2.71,2.708,2.699,2.698,2.693,2.691,2.687,2.679,2.677,2.673,2.664,2.663,2.661,2.661,2.661,2.655,2.653,2.65,2.648,2.646,2.637,2.636,2.634,2.634,2.629,2.63,2.63,2.631,2.63,2.63,2.63,2.629,2.627,2.627,2.627,2.627,2.631,2.631,2.624,2.624,2.63,2.625,2.625,2.63,2.632,2.625,2.633,2.633,2.633,2.632,2.632,2.632,2.632,2.632,2.632,2.632,2.635,2.635,2.645,2.649,2.649,2.649,2.649,2.65,2.647,2.647,2.647,2.647,2.647,2.648,2.648,2.665,2.665,2.665,2.663,2.663,2.663,2.682,2.683,2.69,2.701,2.701,2.703,2.701,2.707,2.707,2.707,2.707,2.714,2.717,2.718,2.719,2.719,2.724,2.724,2.734,2.734,2.741,2.755,3.267,3.281,3.282,3.289,3.3,3.305,3.32,3.32,3.329,3.332,3.341,3.344,3.357,3.362,3.365,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.124,2.977,2.977,2.977,3.726,3.732,3.732,3.732,3.734,3.739,3.751,3.76,3.766,3.773,3.792,3.797,3.802,3.817,3.817,3.85,3.856,3.856,3.861,3.861,3.895,3.901,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.091,4.09,4.076,4.076,4.075,4.064,4.063,4.061,4.056,4.051,4.047,4.044,4.042,4.032,4.032,4.032,4.032,0.007,4.02,4.013,4.013,4.013,4.011,4.004,4.004,4.01,4.01,4.01,4.01,4.009,4.009,4.005,4.005,4.005,4.01,4.01,4.01,4.006,4.012,4.012,4.011,4.014,4.014,4.014,4.014,4.017,4.017,4.026,4.032,4.033,4.041,4.033,4.033,4.042,4.044,4.048,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 24.1708} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.6482} {Name Sonar10 Range 4.0894} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.191} {Name Sonar15 Range 2.286}
SEN {Time 24.2385} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.187,0.185,0.215,0.215,0.215,1.624,0.007,1.624,1.62,1.604,1.599,1.594,1.594,1.594,1.594,1.59,1.59,1.584,1.581,1.581,1.579,1.576,1.576,1.576,1.572,1.569,1.569,1.568,1.569,1.569,1.563,1.563,1.563,1.562,1.562,1.56,1.557,1.557,1.554,1.554,1.559,1.559,1.56,1.563,1.563,1.558,1.558,1.556,1.555,1.553,1.55,1.55,1.55,1.55,1.546,1.546,0.149,0.149,0.144,0.147,0.147,0.151,0.158,0.158,0.158,0.158,0.158,2.988,2.994,2.995,2.995,2.995,2.995,0.174,0.165,0.165,0.168,0.165,0.163,0.168,0.168,3.011,3.011,3.023,3.023,3.027,3.029,3.029,3.036,3.044,3.047,3.05,3.06,3.067,3.069,3.073,3.081,3.084,3.099,3.1,3.102,3.111,3.118,3.126,3.13,3.136,3.143,3.147,3.148,3.153,3.173,3.177,3.178,3.193,3.2,3.201,3.218,3.22,3.22,3.229,3.239,3.252,3.252,3.264,3.27,3.283,3.293,3.299,3.315,3.324,3.33,3.333,3.353,3.368,3.382,3.396,3.404,3.416,3.43,3.436,3.45,3.469,3.473,3.499,3.5,3.526,3.532,3.553,3.566,3.577,3.579,3.602,3.614,3.633,3.649,3.666,3.683,3.693,3.71,3.735,3.754,3.763,3.789,3.792,3.823,3.847,3.872,3.874,3.91,3.925,3.942,3.968,4.006,4.032,4.051,4.058,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.389,3.328,3.306,3.281,3.261,3.251,3.235,3.22,3.205,3.195,3.179,3.168,3.15,3.132,3.126,3.125,3.113,3.092,3.085,3.074,3.061,3.056,3.037,3.035,3.013,3.012,2.999,2.992,2.986,2.972,2.959,2.95,2.945,2.942,2.931,2.92,2.907,2.904,2.895,2.894,2.893,2.89,2.874,2.866,2.855,2.855,2.836,2.832,2.828,2.818,2.812,2.808,2.798,2.79,2.785,2.784,2.784,2.785,2.774,2.773,2.754,2.75,2.74,2.736,2.735,2.729,2.725,2.721,2.717,2.715,2.712,2.701,2.701,2.692,2.684,2.681,2.681,2.676,2.671,2.667,2.664,2.663,2.656,2.656,2.656,2.651,2.651,2.648,2.643,2.643,2.636,2.636,2.636,2.636,2.633,2.634,2.634,2.633,2.634,2.634,2.625,2.625,2.626,2.626,2.626,2.626,2.625,2.625,2.625,2.625,2.625,2.625,2.625,2.625,2.625,2.624,2.626,2.628,2.63,2.63,2.63,2.63,2.63,2.63,2.63,2.634,2.635,2.635,2.639,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.653,2.654,2.666,2.669,2.669,2.669,2.669,2.672,2.681,2.688,2.689,2.692,2.693,2.7,2.703,2.705,2.708,2.705,2.708,2.71,2.71,2.716,2.721,2.725,2.725,2.736,2.74,2.74,2.745,2.757,3.267,3.272,3.293,3.293,3.301,3.31,3.314,3.324,3.331,3.337,3.344,3.35,3.362,3.373,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.023,2.986,2.986,2.986,3.721,3.73,3.73,3.73,3.742,3.746,3.748,3.764,3.778,3.781,3.786,3.803,3.804,3.812,3.831,3.854,3.859,3.859,3.868,3.889,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.093,4.084,4.074,4.072,4.065,4.063,4.061,4.06,4.056,4.047,4.045,4.044,4.042,4.036,4.042,4.031,4.031,0.007,4.016,4.016,4.016,4.016,4.015,4.015,4.011,4.011,4.008,4.011,4.008,4.008,4.009,4.009,4.008,4.006,4.006,4.006,4.009,4.011,4.013,4.015,4.016,4.018,4.018,4.018,4.022,4.022,4.025,4.027,4.041,4.044,4.041,4.035,4.041,4.04,4.04,4.046,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0}
SEN {Time 24.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 24.4117} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.6482} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.191} {Name Sonar15 Range 2.286}
SEN {Time 24.4345} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.185,0.181,0.185,0.185,0.237,1.609,1.609,1.609,1.607,1.606,1.605,1.596,1.596,1.592,1.591,1.589,1.589,1.588,1.58,1.58,1.579,1.573,1.573,1.573,1.573,1.573,1.574,1.574,1.561,1.564,1.563,1.561,1.563,1.563,1.558,1.558,1.559,1.558,1.558,1.559,1.559,1.556,1.56,1.564,1.564,1.56,1.56,1.555,1.555,1.554,1.549,1.549,1.549,1.553,1.553,1.553,0.157,0.153,0.15,0.149,0.15,0.15,0.149,0.153,0.153,0.153,0.153,2.997,3,3.005,3.005,3.005,3.005,0.169,0.163,0.16,0.163,0.162,0.158,0.162,0.167,3.021,3.021,3.023,3.023,3.027,3.028,3.034,3.041,3.048,3.049,3.051,3.063,3.065,3.074,3.082,3.085,3.088,3.091,3.097,3.107,3.114,3.116,3.127,3.129,3.137,3.139,3.146,3.153,3.162,3.165,3.173,3.182,3.188,3.194,3.205,3.21,3.222,3.224,3.225,3.237,3.249,3.25,3.268,3.269,3.287,3.294,3.304,3.314,3.323,3.33,3.34,3.36,3.361,3.379,3.389,3.395,3.412,3.425,3.441,3.449,3.459,3.475,3.489,3.496,3.524,3.539,3.547,3.56,3.571,3.584,3.598,3.625,3.636,3.654,3.667,3.677,3.7,3.708,3.726,3.748,3.763,3.783,3.791,3.831,3.848,3.865,3.883,3.907,3.938,3.953,3.975,4.003,4.025,4.05,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.315,3.307,3.291,3.265,3.257,3.239,3.224,3.213,3.2,3.182,3.168,3.164,3.148,3.133,3.125,3.108,3.105,3.087,3.072,3.065,3.049,3.037,3.035,3.011,3.01,3.002,2.994,2.985,2.97,2.964,2.946,2.944,2.932,2.927,2.921,2.911,2.903,2.896,2.891,2.889,2.883,2.865,2.862,2.855,2.854,2.84,2.834,2.825,2.812,2.807,2.806,2.802,2.798,2.786,2.786,2.786,2.786,2.781,2.77,2.75,2.749,2.74,2.736,2.734,2.724,2.723,2.718,2.71,2.71,2.71,2.708,2.7,2.698,2.692,2.685,2.683,2.68,2.674,2.672,2.666,2.664,2.664,2.656,2.655,2.655,2.651,2.647,2.644,2.642,2.641,2.638,2.637,2.632,2.631,2.631,2.632,2.631,2.63,2.63,2.63,2.63,2.63,2.63,2.624,2.624,2.624,2.623,2.622,2.622,2.624,2.624,2.624,2.627,2.627,2.627,2.624,2.624,2.624,2.623,2.627,2.627,2.627,2.627,2.63,2.638,2.64,2.641,2.646,2.646,2.648,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.649,2.66,2.668,2.67,2.67,2.672,2.674,2.684,2.685,2.688,2.69,2.694,2.711,2.711,2.718,2.711,2.707,2.707,2.712,2.712,2.716,2.724,2.727,2.728,2.731,2.743,2.743,2.743,2.743,3.27,3.278,3.293,3.294,3.303,3.314,3.323,3.325,3.334,3.335,3.342,3.347,3.36,3.365,3.379,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.024,2.978,2.978,2.978,3.718,3.718,3.723,3.723,3.742,3.742,3.751,3.76,3.78,3.781,3.784,3.794,3.795,3.81,3.822,3.843,3.846,3.857,3.861,3.875,3.899,3.916,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.087,4.074,4.072,4.069,4.068,4.068,4.058,4.057,4.05,4.048,4.048,4.048,4.038,4.038,4.031,4.038,0.007,4.022,4.013,4.013,4.013,4.013,4.01,4.01,4.01,4.01,4.01,4.01,4.01,4.01,4.01,4.01,4.01,4.008,4.008,4.01,4.009,4.01,4.012,4.012,4.016,4.016,4.016,4.016,4.02,4.021,4.037,4.037,4.037,4.037,4.037,4.038,4.038,4.042,4.045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD}
SEN {Time 25.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 25.0677} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.6068} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.5306} {Name Sonar15 Range 2.286}
SEN {Time 25.1345} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.187,0.184,0.187,0.187,0.222,1.614,0.007,1.619,1.614,1.606,1.595,1.595,1.595,1.594,1.591,1.586,1.585,1.585,1.583,1.578,1.579,1.578,1.576,1.575,1.571,1.569,1.571,1.567,1.568,1.567,1.559,1.558,1.558,1.558,1.558,1.558,1.563,1.558,1.558,1.558,1.561,1.558,1.559,1.559,1.56,1.56,1.56,1.56,1.555,1.553,1.553,1.552,1.553,1.553,1.552,1.55,0.154,0.149,0.143,0.143,0.149,0.149,0.151,0.152,0.155,0.156,0.156,2.998,2.999,3.002,3.002,2.999,2.999,0.177,0.161,0.161,0.161,0.16,0.159,0.16,0.17,3.018,3.018,3.019,3.019,3.03,3.034,3.039,3.041,3.043,3.049,3.056,3.063,3.063,3.074,3.078,3.083,3.088,3.094,3.097,3.099,3.106,3.112,3.125,3.129,3.136,3.14,3.148,3.148,3.157,3.167,3.176,3.177,3.195,3.196,3.205,3.209,3.215,3.224,3.235,3.236,3.246,3.248,3.278,3.278,3.292,3.293,3.31,3.319,3.326,3.33,3.341,3.363,3.364,3.378,3.389,3.404,3.419,3.426,3.441,3.457,3.466,3.478,3.496,3.496,3.52,3.533,3.55,3.56,3.571,3.588,3.601,3.616,3.636,3.648,3.661,3.684,3.697,3.712,3.723,3.753,3.756,3.783,3.808,3.829,3.843,3.871,3.882,3.904,3.921,3.95,3.965,4.008,4.025,4.053,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.325,3.303,3.288,3.272,3.249,3.23,3.224,3.205,3.191,3.189,3.168,3.148,3.147,3.128,3.125,3.106,3.089,3.085,3.081,3.06,3.048,3.034,3.032,3.017,3.017,3.001,2.986,2.986,2.973,2.963,2.95,2.946,2.935,2.926,2.924,2.913,2.909,2.899,2.892,2.892,2.876,2.874,2.87,2.855,2.85,2.842,2.828,2.821,2.816,2.806,2.801,2.8,2.789,2.787,2.778,2.778,2.789,2.773,2.767,2.75,2.75,2.741,2.737,2.734,2.725,2.721,2.715,2.712,2.712,2.71,2.704,2.703,2.7,2.688,2.688,2.687,2.677,2.675,2.671,2.663,2.663,2.657,2.66,2.657,2.656,2.651,2.646,2.645,2.645,2.635,2.633,2.633,2.635,2.633,2.633,2.632,2.631,2.631,2.631,2.631,2.632,2.632,2.632,2.632,2.631,2.629,2.629,2.631,2.631,2.632,2.632,2.628,2.627,2.627,2.627,2.627,2.627,2.63,2.631,2.631,2.631,2.635,2.635,2.637,2.638,2.64,2.64,2.647,2.647,2.642,2.642,2.642,2.642,2.643,2.643,2.645,2.645,2.648,2.652,2.659,2.668,2.668,2.668,2.668,2.678,2.681,2.69,2.695,2.695,2.699,2.701,2.705,2.705,2.705,2.705,2.705,2.705,2.709,2.71,2.713,2.727,2.729,2.73,2.736,2.736,2.739,2.748,3.263,3.275,3.279,3.287,3.293,3.312,3.313,3.322,3.332,3.337,3.338,3.348,3.366,3.369,3.373,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.071,2.993,2.993,2.993,3.719,3.728,3.729,3.729,3.73,3.739,3.751,3.768,3.775,3.776,3.778,3.795,3.807,3.808,3.821,3.842,3.843,3.848,3.866,3.876,3.878,3.916,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.087,4.086,4.076,4.074,4.071,4.061,4.061,4.06,4.049,4.048,4.044,4.041,4.037,4.034,4.034,4.034,4.034,0.007,4.025,4.019,4.019,4.019,4.017,4.016,4.012,4.008,4.008,4.012,4.012,4.008,4.014,4.006,4.005,4.004,4.004,4.004,4.004,4.007,4.007,4.007,4.011,4.011,4.011,4.015,4.015,4.015,4.016,4.024,4.032,4.032,4.039,4.039,4.04,4.041,4.045,4.046,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type Camera} {Name Camera} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944}
SEN {Time 25.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 25.3077} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.6068} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.5306} {Name Sonar15 Range 2.3114}
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SEN {Time 30.20} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 30.1978} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.2766} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7846} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 30.2144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.195,0.185,0.226,0.226,0.226,1.624,1.624,1.624,1.617,1.61,1.605,1.601,1.598,1.598,1.597,1.591,1.589,1.587,1.583,1.578,1.576,1.576,1.576,1.572,1.572,1.57,1.571,1.57,1.569,1.567,1.566,1.563,1.563,1.562,1.56,1.558,1.56,1.558,1.557,1.557,1.557,1.557,1.557,1.557,1.557,1.557,1.557,1.557,1.556,1.554,1.552,1.552,1.552,1.552,1.552,1.551,0.156,0.151,0.147,0.147,0.147,0.147,0.153,0.156,0.156,0.162,0.162,2.988,2.994,3.001,3.001,2.994,2.994,0.166,0.165,0.158,0.165,0.163,0.158,0.163,0.167,3.022,3.023,3.025,3.025,3.025,3.032,3.034,3.039,3.042,3.057,3.061,3.062,3.066,3.068,3.071,3.084,3.084,3.095,3.097,3.098,3.11,3.112,3.126,3.128,3.137,3.139,3.144,3.148,3.166,3.175,3.18,3.189,3.189,3.196,3.206,3.214,3.221,3.225,3.238,3.238,3.247,3.253,3.267,3.276,3.286,3.303,3.304,3.316,3.326,3.338,3.338,3.36,3.363,3.37,3.392,3.396,3.415,3.422,3.435,3.457,3.459,3.469,3.504,3.507,3.52,3.526,3.553,3.56,3.575,3.588,3.6,3.614,3.637,3.644,3.656,3.677,3.697,3.71,3.728,3.75,3.763,3.781,3.796,3.832,3.854,3.873,3.891,3.911,3.926,3.95,3.971,4.011,4.023,4.06,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.327,3.303,3.291,3.264,3.242,3.237,3.228,3.209,3.203,3.182,3.166,3.148,3.147,3.132,3.124,3.113,3.096,3.085,3.075,3.061,3.042,3.039,3.028,3.012,3.01,3.008,2.988,2.986,2.975,2.968,2.955,2.945,2.944,2.922,2.921,2.915,2.909,2.894,2.893,2.889,2.883,2.867,2.86,2.855,2.849,2.84,2.83,2.821,2.813,2.81,2.808,2.799,2.794,2.786,2.785,2.785,2.785,2.771,2.764,2.753,2.749,2.74,2.739,2.735,2.732,2.726,2.725,2.715,2.713,2.713,2.701,2.694,2.694,2.689,2.683,2.682,2.681,2.673,2.671,2.668,2.665,2.664,2.661,2.655,2.654,2.651,2.649,2.645,2.643,2.64,2.637,2.637,2.636,2.632,2.632,2.632,2.632,2.632,2.629,2.626,2.624,2.626,2.626,2.626,2.626,2.626,2.626,2.626,2.626,2.626,2.626,2.625,2.625,2.624,2.625,2.625,2.626,2.626,2.626,2.626,2.626,2.63,2.629,2.632,2.636,2.637,2.639,2.642,2.644,2.644,2.648,2.652,2.652,2.65,2.65,2.65,2.65,2.653,2.657,2.664,2.67,2.67,2.67,2.672,2.673,2.678,2.682,2.685,2.694,2.696,2.698,2.707,2.71,2.711,2.711,2.711,2.714,2.714,2.717,2.72,2.724,2.728,2.734,2.742,2.742,2.749,2.756,3.275,3.276,3.284,3.292,3.305,3.31,3.313,3.327,3.33,3.343,3.345,3.347,3.358,3.368,3.369,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.074,3.026,2.985,2.973,2.973,2.985,3.72,3.721,3.725,3.742,3.748,3.754,3.766,3.772,3.782,3.786,3.795,3.803,3.809,3.818,3.841,3.844,3.857,3.865,3.873,3.892,3.893,3.906,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.095,4.095,4.085,4.082,4.077,4.074,4.065,4.064,4.058,4.05,4.048,4.045,4.044,4.044,4.035,4.035,4.03,4.03,0.007,4.021,4.019,4.019,4.019,4.014,4.011,4.002,4.011,3.998,4.009,3.998,4.009,4.007,4.008,4.007,4.008,4.007,4.008,4.01,4.015,4.015,4.015,4.017,4.018,4.017,4.018,4.018,4.019,4.021,4.022,4.027,4.035,4.041,4.04,4.04,4.041,4.042,4.045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 30.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 30.7018} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.064} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.064} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 30.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 30.8868} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.064} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.064} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 30.9115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.186,0.184,0.186,0.186,0.229,1.617,0.007,1.621,1.617,1.601,1.599,1.596,1.594,1.594,1.593,1.592,1.589,1.587,1.58,1.58,1.579,1.578,1.574,1.574,1.572,1.572,1.574,1.571,1.564,1.565,1.564,1.562,1.562,1.559,1.559,1.557,1.558,1.557,1.556,1.556,1.557,1.556,1.557,1.558,1.557,1.558,1.558,1.557,1.557,1.554,1.553,1.554,1.553,1.553,1.553,1.55,0.152,0.15,0.15,0.149,0.15,0.15,0.157,0.157,0.157,0.161,0.161,2.991,3.001,3.005,3.005,3.001,3.005,0.007,0.167,0.16,0.163,0.163,0.155,0.163,0.164,3.018,3.021,3.024,3.024,3.024,3.032,3.036,3.04,3.045,3.054,3.055,3.06,3.061,3.07,3.073,3.074,3.082,3.09,3.095,3.099,3.121,3.121,3.123,3.124,3.131,3.133,3.136,3.148,3.157,3.173,3.18,3.181,3.19,3.192,3.207,3.21,3.218,3.225,3.234,3.243,3.251,3.253,3.269,3.279,3.283,3.293,3.296,3.322,3.325,3.329,3.346,3.358,3.363,3.377,3.389,3.404,3.416,3.419,3.438,3.45,3.461,3.478,3.488,3.498,3.514,3.53,3.558,3.564,3.575,3.582,3.6,3.618,3.632,3.654,3.664,3.677,3.705,3.714,3.726,3.736,3.754,3.78,3.81,3.821,3.837,3.869,3.89,3.906,3.93,3.944,3.974,3.994,4.018,4.055,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.322,3.304,3.287,3.264,3.258,3.237,3.228,3.212,3.204,3.177,3.171,3.159,3.149,3.138,3.119,3.097,3.092,3.089,3.079,3.061,3.047,3.038,3.029,3.02,3.009,2.999,2.991,2.988,2.971,2.968,2.951,2.948,2.933,2.929,2.922,2.915,2.908,2.898,2.893,2.891,2.888,2.867,2.859,2.856,2.844,2.835,2.834,2.825,2.814,2.813,2.8,2.799,2.794,2.785,2.782,2.782,2.785,2.782,2.769,2.758,2.75,2.745,2.743,2.737,2.732,2.721,2.718,2.718,2.708,2.706,2.7,2.7,2.692,2.692,2.687,2.679,2.677,2.671,2.665,2.665,2.665,2.664,2.66,2.659,2.651,2.649,2.649,2.648,2.648,2.639,2.638,2.638,2.637,2.631,2.631,2.631,2.63,2.632,2.632,2.632,2.63,2.631,2.628,2.628,2.628,2.627,2.627,2.627,2.62,2.625,2.625,2.625,2.626,2.626,2.627,2.626,2.624,2.624,2.631,2.63,2.632,2.633,2.633,2.633,2.635,2.637,2.638,2.644,2.647,2.647,2.647,2.649,2.649,2.647,2.648,2.647,2.647,2.648,2.661,2.669,2.672,2.672,2.672,2.675,2.678,2.681,2.683,2.693,2.703,2.705,2.705,2.709,2.713,2.713,2.709,2.709,2.713,2.718,2.722,2.724,2.726,2.728,2.732,2.74,2.74,2.744,2.754,3.266,3.272,3.288,3.289,3.305,3.308,3.321,3.322,3.33,3.335,3.338,3.338,3.357,3.364,3.374,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.988,2.981,2.981,2.988,3.721,3.724,3.733,3.74,3.744,3.76,3.766,3.767,3.773,3.779,3.797,3.803,3.805,3.822,3.832,3.847,3.857,3.869,3.872,3.888,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.088,4.085,4.082,4.066,4.066,4.067,4.066,4.065,4.052,4.048,4.048,4.048,4.043,4.042,4.043,4.031,4.031,0.007,4.025,4.024,4.024,4.024,4.015,4.003,4.003,4.006,4.006,4.01,4.012,4.01,4.01,4.009,4.008,4.007,4.007,4.007,4.007,4.007,4.011,4.012,4.012,4.011,4.011,4.01,4.01,4.017,4.019,4.031,4.035,4.038,4.038,4.038,4.039,4.04,4.041,4.043,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 31.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.1777} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
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SEN {Time 31.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.3807} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
SEN {Time 31.4065} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.184,0.184,0.21,0.21,0.21,1.613,0.007,1.623,1.613,1.605,1.604,1.603,1.6,1.598,1.595,1.593,1.588,1.587,1.583,1.579,1.579,1.575,1.574,1.574,1.574,1.572,1.574,1.572,1.574,1.569,1.569,1.56,1.56,1.56,1.559,1.559,1.562,1.557,1.556,1.557,1.561,1.559,1.559,1.559,1.559,1.559,1.558,1.557,1.557,1.557,1.555,1.552,1.55,1.55,1.55,1.55,0.154,0.153,0.15,0.15,0.153,0.153,0.154,0.156,0.156,0.162,0.166,3,3,3.001,3.001,3,3,0.169,0.167,0.156,0.166,0.166,0.159,0.166,0.167,3.02,3.025,3.029,3.029,3.03,3.034,3.037,3.04,3.048,3.056,3.06,3.061,3.064,3.067,3.073,3.077,3.082,3.095,3.097,3.108,3.111,3.121,3.121,3.131,3.136,3.143,3.144,3.146,3.164,3.166,3.176,3.183,3.193,3.2,3.21,3.211,3.218,3.22,3.228,3.243,3.246,3.254,3.267,3.272,3.283,3.293,3.297,3.309,3.325,3.33,3.339,3.357,3.359,3.378,3.387,3.407,3.418,3.424,3.431,3.451,3.465,3.473,3.493,3.501,3.521,3.534,3.545,3.564,3.57,3.578,3.607,3.621,3.637,3.652,3.666,3.68,3.702,3.708,3.715,3.755,3.76,3.79,3.804,3.825,3.841,3.871,3.886,3.904,3.928,3.942,3.974,4.002,4.016,4.052,4.077,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.384,3.318,3.295,3.288,3.262,3.249,3.237,3.227,3.203,3.201,3.185,3.174,3.165,3.148,3.135,3.126,3.115,3.095,3.088,3.069,3.06,3.05,3.042,3.036,3.021,3.014,3,2.998,2.984,2.978,2.96,2.955,2.948,2.94,2.93,2.927,2.912,2.911,2.895,2.892,2.888,2.877,2.872,2.86,2.858,2.847,2.834,2.834,2.826,2.816,2.813,2.809,2.799,2.798,2.792,2.79,2.79,2.792,2.778,2.774,2.758,2.754,2.748,2.738,2.735,2.728,2.725,2.718,2.717,2.71,2.71,2.703,2.7,2.693,2.69,2.687,2.686,2.678,2.671,2.671,2.667,2.665,2.664,2.659,2.658,2.654,2.653,2.653,2.649,2.649,2.637,2.636,2.636,2.635,2.635,2.635,2.635,2.634,2.634,2.634,2.632,2.631,2.631,2.631,2.624,2.623,2.623,2.622,2.622,2.622,2.623,2.623,2.623,2.626,2.625,2.624,2.624,2.624,2.623,2.623,2.623,2.634,2.635,2.638,2.635,2.638,2.642,2.643,2.643,2.646,2.648,2.649,2.652,2.652,2.649,2.649,2.649,2.649,2.651,2.651,2.662,2.672,2.672,2.669,2.672,2.681,2.681,2.689,2.694,2.696,2.699,2.705,2.707,2.708,2.708,2.708,2.71,2.711,2.711,2.717,2.723,2.724,2.725,2.726,2.74,2.74,2.741,2.741,3.265,3.274,3.283,3.293,3.293,3.308,3.317,3.326,3.327,3.343,3.346,3.348,3.358,3.372,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.028,2.989,2.975,2.975,2.989,3.718,3.725,3.731,3.74,3.748,3.748,3.757,3.763,3.768,3.77,3.796,3.809,3.816,3.821,3.838,3.859,3.862,3.876,3.876,3.9,3.915,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.095,4.084,4.076,4.074,4.066,4.073,4.066,4.058,4.056,4.051,4.05,4.049,4.043,4.034,4.034,4.032,4.034,0.007,4.02,4.02,4.02,4.02,4.018,4.014,4.005,4.01,4.01,4.012,4.01,4.01,4.012,4.008,4.007,4.007,4.006,4.006,4.006,4.006,4.009,4.011,4.016,4.017,4.017,4.018,4.018,4.016,4.016,4.019,4.031,4.032,4.032,4.032,4.042,4.043,4.043,4.045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 31.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.5838} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
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SEN {Time 31.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.7687} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 31.8065} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.19,0.187,0.233,0.233,0.233,1.616,0.007,1.617,1.616,1.613,1.602,1.594,1.597,1.594,1.595,1.592,1.588,1.583,1.582,1.582,1.582,1.581,1.581,1.581,1.576,1.576,1.578,1.576,1.574,1.574,1.564,1.564,1.563,1.561,1.561,1.561,1.561,1.559,1.559,1.561,1.561,1.561,1.561,1.561,1.559,1.556,1.556,1.556,1.556,1.555,1.55,1.55,1.552,1.552,1.552,1.552,0.153,0.153,0.146,0.143,0.146,0.154,0.156,0.156,0.156,0.158,0.158,2.992,2.992,2.996,2.996,2.996,2.985,0.171,0.169,0.169,0.169,0.169,0.162,0.169,0.169,3.023,3.023,3.024,3.024,3.029,3.03,3.031,3.039,3.048,3.054,3.055,3.066,3.072,3.074,3.074,3.077,3.081,3.1,3.101,3.104,3.115,3.118,3.125,3.131,3.141,3.143,3.143,3.146,3.16,3.164,3.172,3.179,3.194,3.197,3.207,3.21,3.213,3.221,3.23,3.241,3.253,3.258,3.271,3.273,3.283,3.294,3.299,3.317,3.327,3.334,3.349,3.353,3.363,3.382,3.397,3.407,3.414,3.432,3.432,3.454,3.468,3.469,3.491,3.498,3.515,3.536,3.555,3.567,3.577,3.587,3.602,3.624,3.633,3.665,3.666,3.676,3.695,3.717,3.727,3.75,3.763,3.78,3.804,3.823,3.836,3.87,3.889,3.906,3.928,3.948,3.976,4,4.023,4.05,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.383,3.321,3.298,3.284,3.268,3.258,3.236,3.23,3.21,3.202,3.178,3.166,3.163,3.142,3.129,3.12,3.105,3.097,3.094,3.069,3.066,3.052,3.039,3.033,3.019,3.012,3.001,2.993,2.986,2.974,2.97,2.959,2.951,2.942,2.929,2.925,2.906,2.905,2.9,2.898,2.894,2.881,2.875,2.859,2.857,2.841,2.838,2.832,2.829,2.816,2.803,2.802,2.8,2.793,2.778,2.776,2.776,2.778,2.776,2.768,2.757,2.749,2.741,2.736,2.733,2.729,2.725,2.724,2.717,2.711,2.708,2.706,2.696,2.696,2.695,2.693,2.683,2.676,2.674,2.673,2.667,2.66,2.66,2.658,2.658,2.65,2.649,2.649,2.648,2.647,2.641,2.641,2.637,2.637,2.636,2.636,2.636,2.634,2.634,2.631,2.63,2.63,2.63,2.629,2.629,2.629,2.621,2.62,2.62,2.62,2.623,2.626,2.626,2.626,2.626,2.626,2.628,2.628,2.627,2.63,2.63,2.634,2.634,2.635,2.635,2.636,2.637,2.638,2.648,2.649,2.649,2.65,2.65,2.647,2.647,2.647,2.647,2.647,2.655,2.659,2.67,2.67,2.67,2.67,2.67,2.671,2.685,2.685,2.688,2.697,2.7,2.702,2.705,2.707,2.707,2.707,2.708,2.708,2.715,2.718,2.723,2.726,2.729,2.729,2.737,2.737,2.74,2.753,3.271,3.275,3.283,3.293,3.301,3.308,3.32,3.321,3.325,3.336,3.345,3.345,3.363,3.363,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.028,2.987,2.987,2.987,3.713,3.731,3.734,3.734,3.735,3.743,3.757,3.767,3.77,3.771,3.782,3.789,3.809,3.819,3.823,3.84,3.846,3.855,3.857,3.882,3.886,3.892,3.924,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.095,4.093,4.078,4.076,4.073,4.069,4.067,4.066,4.062,4.061,4.05,4.045,4.041,4.038,4.035,4.035,4.034,4.034,0.007,4.02,4.014,4.014,4.014,4.014,4.013,4.007,4.01,4.009,4.01,4.01,4.01,4.012,4.012,4.01,4.01,4.01,4.01,4.01,4.011,4.013,4.016,4.017,4.018,4.017,4.018,4.018,4.018,4.023,4.024,4.031,4.032,4.033,4.033,4.041,4.041,4.042,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 31.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.9715} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.2606}
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SEN {Time 32.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.2615} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.5814} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.2606}
SEN {Time 32.3025} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.188,0.186,0.183,0.183,0.183,0.183,0.223,1.62,1.62,1.62,1.62,1.613,1.599,1.598,1.598,1.597,1.594,1.593,1.588,1.584,1.583,1.583,1.578,1.573,1.578,1.576,1.573,1.574,1.576,1.574,1.569,1.569,1.567,1.559,1.563,1.563,1.559,1.559,1.559,1.558,1.558,1.558,1.564,1.564,1.564,1.564,1.564,1.563,1.558,1.558,1.557,1.556,1.555,1.557,1.556,1.556,1.556,1.556,0.15,0.15,0.149,0.148,0.148,0.151,0.163,0.163,0.163,0.163,0.163,2.999,3.004,3.008,3.008,3.008,3.008,0.171,0.167,0.157,0.167,0.163,0.156,0.163,0.17,3.019,3.019,3.031,3.031,3.031,3.031,3.034,3.034,3.039,3.052,3.054,3.065,3.073,3.073,3.073,3.079,3.079,3.098,3.102,3.105,3.11,3.115,3.127,3.13,3.135,3.14,3.14,3.141,3.163,3.171,3.181,3.184,3.194,3.199,3.205,3.212,3.213,3.227,3.23,3.247,3.253,3.253,3.274,3.274,3.287,3.299,3.303,3.314,3.32,3.325,3.339,3.359,3.36,3.376,3.393,3.399,3.419,3.428,3.448,3.453,3.461,3.481,3.499,3.503,3.518,3.535,3.555,3.569,3.574,3.584,3.601,3.62,3.628,3.642,3.671,3.683,3.699,3.711,3.724,3.743,3.757,3.789,3.806,3.833,3.844,3.872,3.889,3.909,3.948,3.952,3.977,3.997,4.023,4.051,4.062,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.322,3.302,3.291,3.271,3.251,3.242,3.226,3.219,3.194,3.183,3.172,3.154,3.141,3.13,3.126,3.105,3.097,3.094,3.077,3.068,3.057,3.035,3.03,3.018,3.017,2.998,2.992,2.98,2.97,2.959,2.95,2.945,2.943,2.923,2.922,2.914,2.909,2.899,2.891,2.885,2.88,2.87,2.863,2.858,2.852,2.839,2.837,2.82,2.813,2.81,2.801,2.799,2.789,2.782,2.779,2.779,2.779,2.773,2.773,2.754,2.744,2.739,2.735,2.73,2.729,2.724,2.72,2.718,2.713,2.712,2.703,2.703,2.697,2.697,2.686,2.681,2.68,2.675,2.671,2.67,2.67,2.664,2.664,2.655,2.655,2.655,2.65,2.649,2.64,2.639,2.639,2.639,2.639,2.639,2.635,2.635,2.627,2.633,2.634,2.633,2.629,2.632,2.632,2.629,2.629,2.625,2.625,2.625,2.625,2.627,2.629,2.629,2.629,2.629,2.629,2.629,2.627,2.629,2.629,2.632,2.636,2.638,2.638,2.639,2.639,2.639,2.639,2.65,2.651,2.651,2.651,2.651,2.651,2.651,2.651,2.651,2.651,2.653,2.653,2.662,2.668,2.668,2.67,2.673,2.677,2.686,2.687,2.687,2.687,2.701,2.704,2.712,2.714,2.714,2.712,2.712,2.708,2.708,2.717,2.718,2.718,2.723,2.735,2.741,2.741,2.743,2.752,3.264,3.276,3.289,3.29,3.303,3.304,3.323,3.323,3.327,3.34,3.341,3.341,3.366,3.379,3.38,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.979,2.977,2.977,2.979,3.718,3.724,3.741,3.743,3.748,3.75,3.758,3.772,3.788,3.799,3.803,3.806,3.819,3.827,3.834,3.846,3.855,3.869,3.871,3.891,3.902,3.903,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.088,4.076,4.071,4.07,4.065,4.064,4.062,4.052,4.05,4.049,4.042,4.041,4.041,4.042,4.034,4.042,0.007,4.025,4.021,4.021,4.021,4.021,4.015,4.006,4.008,4.008,4.014,4.012,4.012,4.014,4.012,4.01,4.008,4.008,4.008,4.008,4.008,4.011,4.011,4.015,4.016,4.017,4.017,4.027,4.027,4.027,4.03,4.034,4.04,4.041,4.041,4.041,4.041,4.044,4.047,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 32.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.4655} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.5814} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.2606}
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SEN {Time 32.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.6686} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.5814} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 32.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.8725} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 33.08} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.0764} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
SEN {Time 33.1025} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.188,0.187,0.229,0.229,0.229,1.621,0.007,1.621,1.616,1.605,1.605,1.595,1.595,1.594,1.592,1.59,1.59,1.589,1.585,1.584,1.58,1.576,1.576,1.578,1.572,1.572,1.578,1.572,1.571,1.571,1.563,1.561,1.563,1.561,1.561,1.556,1.563,1.556,1.563,1.557,1.559,1.557,1.559,1.559,1.559,1.556,1.558,1.556,1.555,1.553,1.552,1.552,1.552,1.554,1.554,1.554,0.152,0.152,0.145,0.145,0.152,0.156,0.158,0.158,0.158,0.158,0.163,2.999,2.999,3.003,3.003,3.003,2.994,0.166,0.165,0.158,0.163,0.158,0.158,0.16,0.163,3.029,3.029,3.029,3.029,3.029,3.032,3.037,3.04,3.044,3.05,3.052,3.065,3.065,3.069,3.079,3.083,3.086,3.091,3.095,3.099,3.114,3.115,3.121,3.124,3.136,3.142,3.144,3.15,3.16,3.166,3.175,3.182,3.194,3.201,3.205,3.217,3.217,3.224,3.229,3.241,3.243,3.246,3.27,3.272,3.285,3.292,3.292,3.305,3.335,3.339,3.34,3.359,3.364,3.376,3.392,3.394,3.414,3.423,3.439,3.457,3.464,3.477,3.496,3.498,3.514,3.53,3.551,3.563,3.574,3.582,3.604,3.624,3.634,3.648,3.664,3.679,3.703,3.717,3.731,3.746,3.755,3.777,3.807,3.828,3.845,3.867,3.882,3.904,3.927,3.955,3.97,3.992,4.017,4.053,4.076,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.325,3.304,3.289,3.262,3.256,3.243,3.221,3.208,3.198,3.177,3.175,3.163,3.151,3.134,3.121,3.11,3.092,3.089,3.085,3.064,3.053,3.039,3.03,3.018,3.011,3.01,2.983,2.981,2.974,2.959,2.951,2.937,2.936,2.925,2.921,2.911,2.906,2.899,2.891,2.89,2.875,2.873,2.861,2.858,2.857,2.839,2.837,2.824,2.815,2.805,2.802,2.8,2.797,2.792,2.786,2.786,2.792,2.786,2.766,2.765,2.745,2.744,2.739,2.736,2.724,2.724,2.714,2.71,2.709,2.705,2.704,2.695,2.693,2.693,2.693,2.682,2.679,2.676,2.669,2.668,2.664,2.663,2.658,2.657,2.657,2.657,2.646,2.644,2.643,2.638,2.638,2.638,2.638,2.633,2.639,2.638,2.632,2.636,2.637,2.636,2.621,2.636,2.624,2.621,2.621,2.621,2.62,2.62,2.621,2.625,2.627,2.631,2.631,2.631,2.631,2.629,2.628,2.628,2.629,2.63,2.631,2.632,2.634,2.634,2.634,2.636,2.643,2.645,2.647,2.647,2.648,2.649,2.648,2.648,2.65,2.649,2.649,2.65,2.65,2.663,2.668,2.672,2.672,2.673,2.675,2.684,2.686,2.688,2.692,2.703,2.705,2.707,2.709,2.709,2.709,2.709,2.711,2.716,2.721,2.721,2.725,2.726,2.729,2.745,2.745,2.745,2.748,3.261,3.274,3.286,3.294,3.303,3.313,3.318,3.319,3.33,3.336,3.34,3.348,3.357,3.368,3.373,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.07,2.983,2.983,2.983,3.717,3.719,3.726,3.726,3.741,3.747,3.756,3.756,3.774,3.774,3.776,3.799,3.807,3.827,3.834,3.834,3.849,3.866,3.874,3.88,3.909,3.913,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.083,4.08,4.078,4.072,4.071,4.067,4.062,4.057,4.056,4.048,4.046,4.044,4.04,4.038,4.038,4.037,4.037,0.007,4.019,4.019,4.019,4.019,4.019,4.018,4.013,4.013,4.009,4.013,4.009,4.009,4.009,4.009,4.005,4.005,4.005,4.005,4.008,4.011,4.013,4.013,4.014,4.017,4.017,4.018,4.017,4.017,4.023,4.041,4.041,4.041,4.038,4.038,4.038,4.043,4.045,4.048,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 33.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.2795} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9116} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
SEN {Time 33.2985} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.196,0.186,0.182,0.182,0.186,0.189,0.222,1.621,0.007,1.621,1.611,1.61,1.606,1.597,1.597,1.596,1.595,1.592,1.592,1.587,1.582,1.581,1.578,1.578,1.578,1.578,1.574,1.566,1.574,1.567,1.567,1.567,1.567,1.563,1.563,1.562,1.561,1.561,1.558,1.557,1.556,1.556,1.557,1.557,1.558,1.562,1.562,1.558,1.558,1.557,1.555,1.552,1.552,1.552,1.55,1.552,1.549,1.548,0.155,0.153,0.152,0.153,0.153,0.153,0.154,0.154,0.154,0.157,0.157,2.996,2.996,3.005,3.005,3.005,3.005,0.174,0.167,0.162,0.162,0.162,0.16,0.162,0.169,3.019,3.028,3.028,3.024,3.024,3.028,3.032,3.036,3.041,3.054,3.056,3.062,3.069,3.074,3.074,3.08,3.08,3.095,3.096,3.098,3.113,3.115,3.121,3.128,3.128,3.139,3.14,3.147,3.16,3.174,3.181,3.183,3.188,3.196,3.21,3.215,3.217,3.224,3.235,3.253,3.253,3.257,3.267,3.272,3.28,3.284,3.291,3.32,3.323,3.33,3.346,3.359,3.366,3.379,3.388,3.396,3.421,3.422,3.441,3.449,3.47,3.479,3.5,3.501,3.525,3.534,3.56,3.568,3.576,3.583,3.614,3.624,3.635,3.649,3.661,3.674,3.697,3.713,3.729,3.749,3.764,3.78,3.806,3.824,3.84,3.869,3.892,3.907,3.922,3.951,3.966,4.011,4.03,4.058,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,3.317,3.302,3.284,3.268,3.255,3.237,3.23,3.206,3.205,3.179,3.173,3.16,3.147,3.136,3.126,3.112,3.097,3.096,3.079,3.064,3.053,3.04,3.032,3.018,3.018,3.01,2.989,2.987,2.97,2.963,2.949,2.942,2.939,2.926,2.925,2.915,2.907,2.902,2.889,2.883,2.878,2.875,2.867,2.866,2.852,2.836,2.832,2.823,2.815,2.812,2.808,2.801,2.796,2.791,2.79,2.79,2.791,2.779,2.769,2.763,2.745,2.739,2.735,2.735,2.732,2.723,2.717,2.715,2.715,2.708,2.707,2.704,2.702,2.695,2.692,2.686,2.675,2.674,2.672,2.668,2.667,2.66,2.658,2.656,2.651,2.651,2.651,2.649,2.649,2.64,2.635,2.635,2.635,2.632,2.632,2.634,2.632,2.634,2.634,2.631,2.631,2.632,2.631,2.629,2.629,2.624,2.624,2.624,2.624,2.628,2.628,2.629,2.629,2.629,2.629,2.629,2.629,2.629,2.631,2.631,2.634,2.635,2.638,2.639,2.64,2.641,2.644,2.646,2.648,2.648,2.651,2.652,2.651,2.649,2.649,2.649,2.649,2.652,2.657,2.67,2.671,2.671,2.671,2.678,2.679,2.685,2.689,2.689,2.692,2.694,2.702,2.705,2.708,2.709,2.708,2.708,2.712,2.713,2.715,2.718,2.728,2.73,2.73,2.741,2.741,2.745,2.75,3.263,3.28,3.295,3.296,3.303,3.31,3.314,3.318,3.329,3.335,3.346,3.348,3.36,3.369,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.072,2.985,2.985,2.985,3.717,3.721,3.734,3.734,3.74,3.75,3.751,3.757,3.769,3.778,3.787,3.797,3.803,3.811,3.828,3.83,3.843,3.856,3.866,3.882,3.898,3.91,3.91,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.088,4.078,4.071,4.071,4.069,4.063,4.061,4.058,4.048,4.047,4.046,4.041,4.039,4.039,4.038,4.039,0.007,4.025,4.022,4.022,4.022,4.016,4.016,4.01,4.011,4.011,4.011,4.01,4.011,4.012,4.009,4.009,4.009,4.009,4.008,4.008,4.008,4.013,4.013,4.013,4.014,4.013,4.02,4.02,4.02,4.025,4.027,4.048,4.048,4.038,4.038,4.039,4.039,4.041,4.044,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 33.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.4645} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
SEN {Time 33.4985} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.185,0.185,0.19,0.19,0.222,1.629,1.629,1.629,1.619,1.61,1.599,1.595,1.595,1.594,1.593,1.593,1.588,1.586,1.586,1.584,1.584,1.58,1.575,1.575,1.573,1.573,1.573,1.573,1.573,1.573,1.568,1.564,1.565,1.565,1.564,1.564,1.564,1.563,1.56,1.56,1.562,1.562,1.56,1.562,1.562,1.562,1.562,1.562,1.559,1.554,1.549,1.549,1.554,1.554,1.554,1.554,0.15,0.147,0.146,0.146,0.146,0.146,0.151,0.153,0.153,0.153,0.158,3,3,3.001,3.001,3,2.997,0.169,0.166,0.163,0.165,0.162,0.159,0.162,0.165,3.027,3.027,3.028,3.028,3.028,3.03,3.032,3.041,3.041,3.048,3.055,3.062,3.071,3.071,3.073,3.081,3.082,3.097,3.101,3.101,3.113,3.118,3.124,3.129,3.135,3.14,3.14,3.144,3.161,3.167,3.173,3.179,3.186,3.195,3.204,3.215,3.222,3.223,3.232,3.242,3.245,3.251,3.272,3.278,3.283,3.292,3.294,3.314,3.33,3.334,3.335,3.355,3.36,3.378,3.397,3.402,3.418,3.428,3.434,3.45,3.457,3.481,3.5,3.501,3.522,3.529,3.551,3.558,3.574,3.592,3.603,3.622,3.629,3.651,3.663,3.678,3.703,3.713,3.726,3.745,3.76,3.785,3.803,3.831,3.836,3.875,3.891,3.907,3.938,3.946,3.974,4.009,4.027,4.048,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.318,3.314,3.289,3.277,3.252,3.237,3.224,3.214,3.196,3.185,3.18,3.153,3.138,3.135,3.123,3.107,3.093,3.092,3.078,3.063,3.05,3.036,3.025,3.02,3.008,3.001,2.992,2.98,2.971,2.964,2.96,2.943,2.936,2.925,2.921,2.914,2.911,2.898,2.896,2.887,2.883,2.866,2.865,2.859,2.846,2.83,2.828,2.823,2.812,2.81,2.802,2.799,2.789,2.786,2.776,2.776,2.776,2.776,2.765,2.756,2.748,2.738,2.735,2.73,2.728,2.725,2.721,2.713,2.709,2.709,2.707,2.707,2.702,2.689,2.689,2.68,2.679,2.671,2.67,2.67,2.659,2.656,2.653,2.652,2.652,2.65,2.647,2.646,2.644,2.64,2.639,2.639,2.634,2.631,2.631,2.631,2.63,2.631,2.631,2.63,2.63,2.63,2.625,2.624,2.624,2.624,2.624,2.624,2.624,2.627,2.627,2.629,2.629,2.629,2.626,2.629,2.627,2.631,2.632,2.633,2.636,2.637,2.638,2.638,2.64,2.641,2.642,2.647,2.649,2.649,2.65,2.652,2.65,2.643,2.648,2.648,2.645,2.648,2.654,2.666,2.667,2.669,2.671,2.674,2.674,2.688,2.692,2.692,2.694,2.7,2.7,2.711,2.711,2.711,2.711,2.711,2.711,2.719,2.72,2.729,2.73,2.731,2.735,2.74,2.74,2.742,2.754,3.259,3.278,3.285,3.294,3.299,3.306,3.321,3.324,3.33,3.336,3.343,3.345,3.364,3.366,3.367,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.027,2.985,2.985,2.985,3.716,3.718,3.721,3.721,3.744,3.745,3.746,3.765,3.776,3.78,3.787,3.792,3.81,3.814,3.835,3.836,3.85,3.851,3.866,3.892,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.089,4.082,4.081,4.079,4.067,4.065,4.06,4.056,4.053,4.051,4.05,4.042,4.041,4.039,4.039,4.036,4.036,0.007,4.029,4.029,4.029,4.029,4.015,4.01,4.009,4.01,4.009,4.01,4.012,4.012,4.012,4.012,4.01,4.01,4.009,4.01,4.01,4.012,4.013,4.015,4.015,4.015,4.015,4.014,4.014,4.014,4.016,4.027,4.028,4.037,4.04,4.04,4.041,4.042,4.044,4.051,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 33.67} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.6673} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9558} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 33.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.8704} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 34.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 34.0733} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 34.0984} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.195,0.186,0.208,0.208,0.208,1.625,0.007,1.626,1.625,1.61,1.604,1.595,1.595,1.595,1.595,1.589,1.583,1.583,1.582,1.583,1.583,1.575,1.574,1.574,1.572,1.571,1.571,1.566,1.566,1.566,1.563,1.562,1.563,1.563,1.562,1.562,1.562,1.558,1.558,1.558,1.563,1.563,1.563,1.564,1.563,1.561,1.561,1.561,1.56,1.556,1.552,1.552,1.551,1.551,1.548,1.548,0.153,0.151,0.149,0.149,0.151,0.153,0.157,0.157,0.157,0.157,0.157,3.001,3.001,3.006,3.006,3.001,2.998,0.167,0.166,0.161,0.158,0.158,0.158,0.161,0.162,3.021,3.024,3.024,3.024,3.024,3.033,3.037,3.038,3.043,3.056,3.056,3.064,3.071,3.072,3.073,3.083,3.092,3.093,3.095,3.097,3.107,3.111,3.119,3.121,3.131,3.133,3.145,3.147,3.17,3.173,3.174,3.175,3.189,3.195,3.207,3.212,3.224,3.226,3.229,3.241,3.245,3.252,3.269,3.27,3.279,3.29,3.292,3.316,3.328,3.329,3.335,3.357,3.361,3.38,3.39,3.403,3.42,3.43,3.435,3.454,3.462,3.472,3.499,3.5,3.518,3.523,3.552,3.562,3.572,3.59,3.61,3.619,3.636,3.656,3.661,3.681,3.696,3.711,3.733,3.752,3.76,3.791,3.793,3.814,3.842,3.875,3.898,3.903,3.929,3.946,3.977,3.999,4.032,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.39,3.323,3.302,3.291,3.264,3.249,3.243,3.233,3.216,3.19,3.188,3.175,3.154,3.14,3.133,3.127,3.112,3.1,3.094,3.08,3.063,3.054,3.036,3.035,3.012,3.012,3.009,2.988,2.98,2.975,2.966,2.957,2.95,2.943,2.922,2.92,2.912,2.911,2.9,2.892,2.891,2.886,2.865,2.855,2.854,2.845,2.836,2.834,2.826,2.824,2.812,2.809,2.805,2.789,2.788,2.786,2.786,2.786,2.775,2.775,2.751,2.748,2.746,2.744,2.734,2.723,2.72,2.718,2.71,2.707,2.705,2.704,2.7,2.7,2.695,2.685,2.682,2.68,2.676,2.669,2.668,2.662,2.662,2.662,2.662,2.655,2.653,2.653,2.651,2.644,2.634,2.634,2.634,2.632,2.64,2.64,2.633,2.632,2.632,2.629,2.627,2.626,2.626,2.626,2.626,2.62,2.62,2.618,2.62,2.62,2.623,2.625,2.628,2.628,2.628,2.624,2.624,2.624,2.624,2.628,2.628,2.628,2.631,2.633,2.629,2.639,2.64,2.641,2.643,2.649,2.649,2.649,2.652,2.65,2.65,2.65,2.648,2.648,2.648,2.657,2.669,2.673,2.673,2.673,2.673,2.679,2.688,2.692,2.695,2.695,2.698,2.698,2.71,2.71,2.71,2.708,2.708,2.708,2.716,2.724,2.724,2.729,2.729,2.732,2.733,2.733,2.741,2.755,3.272,3.275,3.289,3.293,3.301,3.312,3.317,3.327,3.329,3.331,3.342,3.342,3.365,3.368,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.979,2.979,2.979,3.724,3.725,3.726,3.726,3.738,3.748,3.753,3.765,3.769,3.771,3.775,3.793,3.81,3.822,3.843,3.851,3.861,3.861,3.869,3.897,3.907,3.907,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.093,4.092,4.081,4.073,4.073,4.072,4.07,4.058,4.055,4.046,4.045,4.045,4.042,4.038,4.042,4.035,4.035,0.007,4.025,4.014,4.014,4.014,4.009,4.009,4.003,4.011,4.011,4.012,4.011,4.011,4.014,4.01,4.01,4.01,4.011,4.011,4.011,4.005,4.009,4.009,4.009,4.02,4.02,4.02,4.016,4.016,4.016,4.023,4.031,4.031,4.032,4.032,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 34.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 34.2772} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.9812} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
SEN {Time 34.2945} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.192,0.183,0.22,0.22,0.22,1.617,0.007,1.627,1.617,1.609,1.603,1.601,1.6,1.598,1.595,1.593,1.592,1.588,1.588,1.583,1.581,1.579,1.578,1.569,1.568,1.568,1.568,1.566,1.567,1.567,1.567,1.567,1.567,1.562,1.562,1.561,1.561,1.561,1.561,1.561,1.561,1.559,1.559,1.561,1.561,1.561,1.561,1.555,1.555,1.554,1.552,1.554,1.55,1.55,1.55,1.55,0.159,0.152,0.143,0.152,0.154,0.154,0.156,0.156,0.156,0.158,0.159,2.992,3.003,3.01,3.01,3.01,3.01,0.176,0.174,0.16,0.166,0.163,0.157,0.163,0.166,3.018,3.024,3.024,3.024,3.027,3.027,3.039,3.043,3.048,3.054,3.057,3.066,3.073,3.075,3.076,3.079,3.083,3.094,3.096,3.097,3.111,3.116,3.123,3.126,3.136,3.136,3.143,3.148,3.16,3.172,3.177,3.186,3.195,3.198,3.209,3.209,3.226,3.227,3.235,3.248,3.249,3.249,3.271,3.273,3.288,3.292,3.303,3.317,3.326,3.329,3.339,3.357,3.365,3.371,3.392,3.402,3.418,3.426,3.435,3.449,3.464,3.481,3.494,3.497,3.516,3.531,3.544,3.571,3.572,3.587,3.593,3.614,3.622,3.649,3.663,3.683,3.704,3.705,3.73,3.752,3.758,3.783,3.806,3.833,3.834,3.869,3.884,3.907,3.937,3.948,3.973,4,4.023,4.039,4.073,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.383,3.325,3.302,3.294,3.272,3.256,3.235,3.226,3.222,3.195,3.189,3.174,3.165,3.141,3.14,3.133,3.104,3.097,3.095,3.077,3.068,3.053,3.039,3.032,3.015,3.015,3.007,2.988,2.982,2.973,2.969,2.955,2.947,2.943,2.922,2.917,2.915,2.914,2.899,2.897,2.89,2.878,2.867,2.857,2.855,2.852,2.835,2.834,2.827,2.82,2.808,2.807,2.801,2.791,2.79,2.785,2.785,2.785,2.779,2.77,2.756,2.75,2.745,2.743,2.741,2.728,2.728,2.726,2.719,2.716,2.711,2.697,2.695,2.693,2.686,2.682,2.682,2.682,2.681,2.669,2.664,2.66,2.663,2.661,2.66,2.652,2.649,2.648,2.645,2.638,2.634,2.634,2.634,2.633,2.633,2.632,2.632,2.63,2.632,2.632,2.629,2.625,2.629,2.629,2.629,2.629,2.629,2.628,2.628,2.628,2.628,2.632,2.632,2.632,2.632,2.63,2.63,2.63,2.628,2.628,2.628,2.628,2.631,2.634,2.634,2.636,2.637,2.638,2.648,2.648,2.648,2.649,2.649,2.645,2.649,2.649,2.651,2.651,2.655,2.658,2.666,2.666,2.668,2.668,2.668,2.67,2.688,2.689,2.693,2.693,2.7,2.7,2.711,2.711,2.712,2.712,2.712,2.712,2.714,2.721,2.721,2.725,2.728,2.73,2.733,2.733,2.744,2.75,3.259,3.272,3.287,3.293,3.294,3.304,3.325,3.328,3.33,3.34,3.346,3.352,3.358,3.369,3.37,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.016,2.979,2.971,2.971,2.979,3.712,3.726,3.73,3.746,3.748,3.756,3.76,3.765,3.772,3.799,3.805,3.81,3.81,3.816,3.846,3.851,3.869,3.869,3.885,3.905,3.905,3.91,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.094,4.094,4.083,4.078,4.069,4.069,4.068,4.062,4.058,4.057,4.05,4.042,4.042,4.037,4.033,4.033,4.032,4.032,0.007,4.022,4.018,4.018,4.018,4.016,4.011,4.011,4.011,4.011,4.013,4.013,4.012,4.012,4.009,4.009,4.009,4.009,4.008,4.01,4.01,4.01,4.015,4.015,4.017,4.018,4.018,4.018,4.018,4.018,4.018,4.033,4.033,4.045,4.045,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 34.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 34.4622} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.0386} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
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SEN {Time 34.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 34.6642} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
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SEN {Time 34.87} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 34.8682} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 35.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 35.0711} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.5494} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 35.0945} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.197,0.19,0.228,0.228,0.228,1.617,1.621,1.621,1.617,1.605,1.604,1.602,1.599,1.596,1.596,1.592,1.584,1.582,1.581,1.582,1.584,1.575,1.575,1.575,1.572,1.572,1.575,1.568,1.572,1.572,1.567,1.56,1.564,1.564,1.564,1.56,1.56,1.559,1.557,1.556,1.556,1.556,1.556,1.556,1.562,1.557,1.557,1.557,1.558,1.557,1.556,1.555,1.555,1.555,1.555,1.555,0.153,0.152,0.151,0.151,0.151,0.152,0.153,0.155,0.155,0.159,0.159,2.997,3.005,3.005,3.005,3.005,3.005,0.174,0.168,0.162,0.168,0.162,0.159,0.162,0.169,3.019,3.021,3.022,3.022,3.027,3.034,3.044,3.047,3.049,3.049,3.056,3.061,3.071,3.072,3.075,3.079,3.081,3.093,3.097,3.101,3.109,3.115,3.121,3.127,3.132,3.133,3.147,3.153,3.163,3.171,3.172,3.178,3.191,3.197,3.202,3.207,3.22,3.221,3.235,3.239,3.251,3.255,3.268,3.268,3.289,3.296,3.303,3.319,3.328,3.329,3.34,3.363,3.364,3.371,3.392,3.404,3.42,3.426,3.43,3.454,3.461,3.472,3.5,3.5,3.522,3.527,3.55,3.572,3.579,3.581,3.61,3.629,3.63,3.653,3.669,3.682,3.696,3.715,3.733,3.746,3.754,3.78,3.81,3.83,3.843,3.869,3.891,3.906,3.935,3.957,3.98,3.999,4.021,4.044,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.384,3.323,3.302,3.289,3.273,3.256,3.242,3.23,3.213,3.196,3.179,3.162,3.155,3.14,3.13,3.12,3.104,3.096,3.091,3.083,3.067,3.049,3.037,3.031,3.022,3.017,2.998,2.994,2.983,2.977,2.96,2.952,2.941,2.94,2.924,2.924,2.908,2.908,2.896,2.896,2.89,2.88,2.868,2.861,2.858,2.847,2.837,2.836,2.824,2.815,2.813,2.807,2.792,2.791,2.791,2.778,2.778,2.778,2.773,2.768,2.752,2.746,2.745,2.742,2.735,2.734,2.726,2.717,2.712,2.711,2.7,2.699,2.697,2.696,2.691,2.688,2.681,2.676,2.674,2.673,2.664,2.664,2.66,2.657,2.653,2.653,2.651,2.648,2.644,2.635,2.641,2.635,2.635,2.632,2.633,2.633,2.633,2.632,2.632,2.629,2.626,2.626,2.629,2.633,2.633,2.633,2.629,2.628,2.628,2.629,2.629,2.629,2.629,2.626,2.626,2.626,2.627,2.629,2.632,2.632,2.632,2.634,2.634,2.636,2.637,2.638,2.639,2.644,2.65,2.65,2.65,2.653,2.654,2.65,2.653,2.653,2.653,2.648,2.653,2.653,2.668,2.668,2.668,2.668,2.668,2.671,2.684,2.684,2.692,2.695,2.697,2.699,2.707,2.71,2.71,2.71,2.71,2.712,2.713,2.715,2.719,2.724,2.726,2.727,2.739,2.739,2.742,2.76,3.27,3.278,3.286,3.287,3.301,3.306,3.313,3.319,3.335,3.338,3.352,3.354,3.358,3.362,3.373,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.135,3.064,3.032,2.987,2.987,2.987,3.722,3.73,3.741,3.741,3.745,3.751,3.754,3.759,3.774,3.775,3.779,3.805,3.808,3.81,3.819,3.837,3.847,3.857,3.861,3.875,3.89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.094,4.093,4.085,4.077,4.076,4.074,4.068,4.064,4.062,4.055,4.051,4.051,4.047,4.041,4.038,4.038,4.031,4.038,0.007,4.017,4.016,4.016,4.016,4.016,4.016,4.014,4.014,4.014,4.014,4.014,4.014,4.013,4.007,4.007,4.006,4.006,4.006,4.008,4.008,4.013,4.013,4.013,4.013,4.013,4.013,4.016,4.018,4.018,4.036,4.036,4.036,4.036,4.036,4.044,4.046,4.053,0,0,0,0,0,1.958,1.952,1.942,1.942,1.942,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 35.2561} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.5494} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 35.2944} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.185,0.185,0.185,0.189,0.189,0.223,1.622,0.007,1.622,1.62,1.61,1.605,1.605,1.601,1.597,1.596,1.595,1.589,1.586,1.585,1.574,1.574,1.574,1.574,1.574,1.574,1.574,1.574,1.573,1.571,1.573,1.571,1.559,1.561,1.561,1.561,1.561,1.561,1.561,1.556,1.556,1.561,1.556,1.561,1.561,1.56,1.559,1.559,1.558,1.558,1.558,1.554,1.554,1.552,1.552,1.551,1.55,0.154,0.152,0.146,0.151,0.152,0.152,0.157,0.157,0.157,0.16,0.16,2.999,3.001,3.013,3.013,3.013,3.013,0.007,0.17,0.158,0.167,0.163,0.157,0.163,0.167,3.017,3.02,3.02,3.02,3.02,3.03,3.032,3.033,3.051,3.052,3.054,3.067,3.067,3.069,3.076,3.078,3.084,3.095,3.099,3.103,3.116,3.117,3.121,3.122,3.14,3.142,3.148,3.15,3.162,3.168,3.177,3.181,3.195,3.196,3.211,3.215,3.224,3.227,3.232,3.243,3.247,3.26,3.271,3.273,3.286,3.296,3.298,3.316,3.324,3.331,3.346,3.355,3.357,3.382,3.392,3.401,3.411,3.423,3.435,3.445,3.45,3.47,3.495,3.495,3.513,3.54,3.542,3.568,3.576,3.583,3.598,3.621,3.639,3.657,3.661,3.677,3.7,3.711,3.733,3.739,3.766,3.78,3.815,3.829,3.832,3.857,3.899,3.909,3.928,3.951,3.979,3.994,4.026,4.052,4.068,4.088,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,3.399,3.327,3.307,3.28,3.268,3.261,3.245,3.223,3.218,3.198,3.187,3.174,3.157,3.142,3.14,3.129,3.108,3.094,3.093,3.08,3.064,3.054,3.04,3.036,3.022,3.021,3.004,2.99,2.986,2.973,2.969,2.953,2.951,2.943,2.924,2.92,2.911,2.908,2.902,2.894,2.888,2.877,2.87,2.87,2.865,2.846,2.842,2.83,2.827,2.817,2.809,2.807,2.799,2.791,2.787,2.787,2.787,2.787,2.774,2.772,2.75,2.746,2.745,2.741,2.738,2.728,2.724,2.723,2.716,2.713,2.707,2.704,2.699,2.698,2.692,2.685,2.68,2.672,2.668,2.665,2.664,2.664,2.66,2.657,2.653,2.651,2.651,2.647,2.646,2.64,2.639,2.635,2.635,2.635,2.634,2.634,2.634,2.634,2.633,2.633,2.633,2.633,2.633,2.633,2.631,2.63,2.629,2.629,2.629,2.629,2.629,2.629,2.63,2.631,2.631,2.63,2.63,2.63,2.63,2.63,2.63,2.634,2.634,2.63,2.63,2.637,2.639,2.64,2.64,2.644,2.644,2.644,2.644,2.644,2.644,2.649,2.645,2.648,2.649,2.649,2.665,2.665,2.665,2.665,2.67,2.671,2.682,2.688,2.689,2.693,2.699,2.702,2.707,2.708,2.709,2.709,2.71,2.713,2.716,2.72,2.722,2.722,2.726,2.734,2.741,2.741,2.748,2.758,3.266,3.276,3.285,3.289,3.299,3.312,3.318,3.327,3.332,3.339,3.346,3.351,3.367,3.367,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.032,2.98,2.98,2.98,3.72,3.721,3.73,3.73,3.734,3.744,3.753,3.759,3.768,3.78,3.795,3.805,3.812,3.812,3.826,3.834,3.843,3.86,3.863,3.868,3.902,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.084,4.084,4.083,4.081,4.073,4.069,4.067,4.065,4.058,4.052,4.046,4.043,4.041,4.041,4.041,4.038,4.041,0.007,4.022,4.017,4.017,4.017,4.01,4.01,4.012,4.012,4.012,4.012,4.012,4.008,4.016,4.012,4.007,4.007,4.012,4.007,4.007,4.014,4.014,4.014,4.014,4.015,4.02,4.02,4.015,4.02,4.022,4.022,4.038,4.04,4.04,4.04,4.04,4.04,0.016,0,0,0,0,1.818,1.816,1.792,1.789,1.789,1.789,1.793,1.802,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 35.4591} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.5494} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
SEN {Time 35.4905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.194,0.18,0.18,0.18,0.18,0.227,1.625,1.625,1.625,1.613,1.608,1.604,1.604,1.597,1.593,1.592,1.592,1.589,1.588,1.587,1.58,1.58,1.58,1.58,1.58,1.574,1.569,1.574,1.569,1.569,1.569,1.56,1.56,1.56,1.56,1.56,1.559,1.56,1.558,1.558,1.558,1.558,1.554,1.554,1.558,1.558,1.558,1.558,1.558,1.556,1.556,1.554,1.554,1.553,1.553,1.552,1.552,0.15,0.15,0.148,0.146,0.148,0.153,0.153,0.153,0.153,0.157,0.157,2.994,2.998,2.999,2.999,2.998,2.998,0.171,0.17,0.163,0.169,0.163,0.162,0.162,0.169,3.02,3.022,3.022,3.022,3.027,3.032,3.034,3.039,3.048,3.049,3.054,3.068,3.073,3.075,3.082,3.083,3.084,3.096,3.101,3.105,3.112,3.117,3.125,3.128,3.136,3.139,3.143,3.143,3.163,3.165,3.179,3.183,3.196,3.197,3.205,3.205,3.214,3.219,3.231,3.233,3.249,3.251,3.265,3.272,3.295,3.298,3.3,3.313,3.326,3.336,3.339,3.357,3.367,3.377,3.384,3.399,3.413,3.428,3.432,3.454,3.466,3.47,3.487,3.496,3.51,3.531,3.552,3.564,3.57,3.589,3.602,3.626,3.638,3.655,3.662,3.681,3.702,3.714,3.722,3.753,3.757,3.785,3.802,3.827,3.842,3.86,3.882,3.908,3.932,3.946,3.97,3.999,4.028,4.042,4.064,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,3.385,3.323,3.301,3.295,3.267,3.258,3.239,3.224,3.207,3.194,3.185,3.177,3.153,3.148,3.131,3.121,3.106,3.095,3.094,3.077,3.068,3.06,3.049,3.029,3.018,3.009,3.002,2.987,2.978,2.976,2.965,2.958,2.949,2.934,2.92,2.917,2.909,2.905,2.894,2.893,2.886,2.877,2.872,2.865,2.859,2.85,2.836,2.835,2.825,2.813,2.812,2.801,2.8,2.8,2.786,2.782,2.782,2.782,2.778,2.769,2.755,2.749,2.748,2.739,2.733,2.726,2.723,2.721,2.715,2.711,2.71,2.703,2.701,2.701,2.692,2.69,2.687,2.681,2.671,2.671,2.668,2.667,2.667,2.664,2.662,2.656,2.653,2.653,2.646,2.645,2.645,2.638,2.638,2.638,2.638,2.633,2.632,2.628,2.628,2.626,2.626,2.626,2.626,2.626,2.626,2.622,2.622,2.62,2.62,2.624,2.626,2.628,2.628,2.628,2.628,2.628,2.628,2.628,2.629,2.629,2.629,2.63,2.631,2.631,2.632,2.632,2.642,2.642,2.646,2.649,2.649,2.65,2.649,2.649,2.649,2.649,2.649,2.65,2.65,2.651,2.657,2.675,2.675,2.675,2.675,2.682,2.684,2.687,2.695,2.699,2.701,2.702,2.709,2.709,2.712,2.709,2.71,2.71,2.711,2.711,2.719,2.729,2.73,2.734,2.74,2.74,2.746,2.756,3.275,3.276,3.287,3.294,3.303,3.306,3.319,3.325,3.327,3.335,3.346,3.348,3.357,3.371,3.379,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.017,3.017,3.728,3.728,3.728,3.732,3.732,3.739,3.741,3.753,3.76,3.768,3.768,3.799,3.808,3.815,3.815,3.816,3.834,3.844,3.847,3.867,3.884,3.888,3.906,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.091,4.082,4.076,4.071,4.067,4.065,4.065,4.059,4.056,4.056,4.047,4.045,4.044,4.037,4.044,4.034,4.034,0.007,4.028,4.019,4.019,4.019,4.01,4.01,4.009,4.01,4.01,4.012,4.012,4.012,4.012,4.008,4.008,4.009,4.009,4.006,4.009,4.01,4.007,4.01,4.013,4.011,4.016,4.016,4.016,4.013,4.02,4.022,4.033,4.033,4.034,4.034,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 35.662} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.5494} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
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SEN {Time 35.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 35.865} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.4224} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.191} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
SEN {Time 35.8905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.185,0.184,0.184,0.194,0.194,0.226,1.619,0.007,1.623,1.619,1.606,1.601,1.597,1.597,1.597,1.595,1.595,1.593,1.588,1.585,1.581,1.581,1.581,1.581,1.58,1.572,1.572,1.572,1.572,1.572,1.572,1.565,1.563,1.563,1.562,1.56,1.561,1.561,1.56,1.559,1.561,1.562,1.559,1.561,1.561,1.56,1.56,1.56,1.557,1.557,1.551,1.551,1.552,1.551,1.552,1.552,1.551,0.161,0.152,0.147,0.143,0.152,0.152,0.16,0.161,0.161,0.162,0.163,2.996,2.999,3.002,3.002,2.999,2.999,0.17,0.167,0.161,0.163,0.163,0.158,0.163,0.163,3.024,3.024,3.028,3.028,3.03,3.031,3.036,3.037,3.038,3.048,3.056,3.057,3.066,3.067,3.082,3.083,3.087,3.1,3.102,3.102,3.109,3.116,3.122,3.13,3.139,3.14,3.142,3.15,3.156,3.171,3.173,3.179,3.192,3.2,3.202,3.211,3.218,3.222,3.234,3.24,3.254,3.257,3.27,3.273,3.284,3.297,3.303,3.306,3.327,3.333,3.344,3.357,3.361,3.379,3.392,3.399,3.418,3.432,3.444,3.451,3.462,3.471,3.496,3.498,3.516,3.533,3.556,3.569,3.577,3.59,3.603,3.631,3.639,3.654,3.663,3.681,3.701,3.716,3.731,3.75,3.764,3.793,3.809,3.839,3.853,3.863,3.881,3.903,3.935,3.944,3.975,3.995,4.022,4.051,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.319,3.3,3.297,3.261,3.253,3.246,3.228,3.219,3.199,3.187,3.175,3.164,3.146,3.131,3.121,3.116,3.095,3.092,3.084,3.053,3.052,3.046,3.023,3.019,3.015,2.999,2.995,2.992,2.971,2.962,2.961,2.951,2.941,2.925,2.919,2.912,2.905,2.905,2.895,2.89,2.88,2.869,2.865,2.853,2.852,2.84,2.837,2.827,2.82,2.808,2.8,2.797,2.795,2.785,2.781,2.781,2.781,2.774,2.774,2.753,2.748,2.746,2.74,2.74,2.728,2.726,2.724,2.716,2.713,2.71,2.7,2.697,2.695,2.694,2.693,2.681,2.679,2.671,2.669,2.669,2.669,2.662,2.661,2.658,2.656,2.656,2.65,2.646,2.64,2.637,2.633,2.633,2.637,2.637,2.637,2.638,2.638,2.635,2.629,2.629,2.627,2.625,2.625,2.625,2.625,2.627,2.627,2.627,2.627,2.627,2.626,2.626,2.628,2.629,2.632,2.632,2.632,2.632,2.632,2.631,2.632,2.632,2.632,2.635,2.636,2.636,2.646,2.646,2.647,2.647,2.646,2.643,2.642,2.642,2.642,2.642,2.644,2.65,2.654,2.671,2.671,2.671,2.671,2.673,2.68,2.684,2.685,2.69,2.692,2.696,2.704,2.708,2.713,2.713,2.71,2.713,2.718,2.716,2.718,2.72,2.728,2.73,2.73,2.742,2.742,2.746,2.747,3.257,3.277,3.283,3.296,3.308,3.309,3.315,3.323,3.329,3.338,3.339,3.342,3.363,3.363,3.374,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.125,3.023,2.986,2.986,2.986,3.718,3.728,3.739,3.739,3.747,3.751,3.752,3.764,3.769,3.785,3.787,3.801,3.806,3.813,3.821,3.839,3.866,3.867,3.881,3.881,3.89,3.908,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.086,4.08,4.074,4.072,4.065,4.065,4.057,4.053,4.05,4.044,4.043,4.04,4.031,4.031,4.026,4.031,0.007,4.017,4.017,4.017,4.017,4.014,4.017,4.012,4.012,4.012,4.012,4.011,4.011,4.011,4.011,4.008,4.005,4.005,4.005,4.006,4.011,4.011,4.012,4.012,4.012,4.013,4.017,4.017,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.009,0,0,0,0,0,0,0,0,0.009,0.009,0.009,1.452,1.452,1.452,1.47,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 36.068} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.4224} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.191} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 2.286}
SEN {Time 36.0905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.187,0.187,0.188,0.188,0.238,1.616,0.007,1.62,1.616,1.61,1.604,1.597,1.596,1.596,1.596,1.592,1.592,1.591,1.583,1.582,1.575,1.573,1.572,1.57,1.569,1.569,1.572,1.568,1.568,1.567,1.566,1.563,1.566,1.563,1.563,1.559,1.562,1.559,1.56,1.56,1.561,1.561,1.561,1.562,1.564,1.564,1.564,1.564,1.559,1.555,1.553,1.555,1.55,1.555,1.55,1.55,0.15,0.15,0.148,0.146,0.148,0.153,0.155,0.155,0.155,0.161,0.162,3,3,3.003,3.003,3.003,2.999,0.172,0.171,0.163,0.171,0.164,0.163,0.164,0.174,3.025,3.025,3.028,3.028,3.031,3.037,3.039,3.042,3.043,3.047,3.06,3.066,3.067,3.075,3.078,3.086,3.092,3.096,3.099,3.099,3.111,3.112,3.125,3.133,3.134,3.139,3.14,3.15,3.158,3.173,3.174,3.183,3.199,3.199,3.202,3.204,3.215,3.221,3.232,3.245,3.253,3.258,3.271,3.273,3.291,3.293,3.303,3.32,3.326,3.328,3.332,3.361,3.366,3.376,3.391,3.397,3.419,3.42,3.437,3.455,3.463,3.474,3.488,3.502,3.523,3.536,3.548,3.569,3.583,3.583,3.603,3.613,3.635,3.656,3.674,3.674,3.706,3.709,3.739,3.741,3.762,3.779,3.811,3.825,3.848,3.867,3.883,3.918,3.932,3.941,3.981,4.011,4.023,4.046,4.056,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.314,3.297,3.285,3.275,3.273,3.25,3.23,3.218,3.211,3.182,3.175,3.152,3.148,3.133,3.131,3.104,3.098,3.084,3.08,3.064,3.06,3.034,3.032,3.023,3.022,3.006,2.994,2.986,2.975,2.961,2.949,2.949,2.936,2.925,2.922,2.913,2.912,2.893,2.891,2.887,2.879,2.868,2.857,2.852,2.851,2.84,2.833,2.824,2.817,2.81,2.809,2.802,2.799,2.789,2.785,2.785,2.785,2.785,2.778,2.752,2.75,2.744,2.739,2.734,2.727,2.726,2.72,2.715,2.713,2.711,2.705,2.701,2.695,2.691,2.691,2.679,2.679,2.672,2.669,2.666,2.663,2.66,2.657,2.656,2.652,2.65,2.646,2.645,2.641,2.636,2.635,2.634,2.634,2.632,2.629,2.629,2.628,2.629,2.628,2.632,2.631,2.632,2.632,2.632,2.631,2.63,2.628,2.625,2.625,2.625,2.625,2.625,2.629,2.629,2.629,2.626,2.632,2.63,2.632,2.632,2.635,2.636,2.638,2.641,2.641,2.643,2.643,2.648,2.649,2.649,2.65,2.65,2.65,2.648,2.65,2.65,2.649,2.65,2.662,2.667,2.671,2.671,2.671,2.671,2.679,2.682,2.689,2.691,2.692,2.701,2.704,2.709,2.709,2.711,2.709,2.711,2.712,2.714,2.724,2.724,2.726,2.729,2.734,2.742,2.742,2.746,2.751,3.26,3.281,3.284,3.293,3.294,3.308,3.312,3.318,3.329,3.338,3.342,3.35,3.357,3.368,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.028,2.978,2.978,2.978,3.708,3.724,3.725,3.725,3.74,3.753,3.763,3.769,3.775,3.782,3.783,3.803,3.808,3.817,3.821,3.834,3.838,3.869,3.882,3.886,3.902,3.902,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.086,4.081,4.081,4.078,4.075,4.072,4.068,4.059,4.055,4.047,4.047,4.046,4.045,4.04,4.04,4.04,0,0,0,4.024,4.02,4.02,4.018,4.012,4.01,4.01,4.01,4.012,4.01,4.009,4.012,4.006,4.006,4.009,4.014,0,0,0,1.271,1.264,1.264,1.259,1.259,1.259,1.259,1.259,1.27,0,0.007,1.289,1.27,1.2,1.132,1.118,1.111,1.111,1.111,0.009,0.009,0.009,1.105,1.1,1.1,1.101,1.105,1.105,1.116,1.12,1.141,0,0.007,0,0.016,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 36.2529} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.4224} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.191} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 36.2905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.185,0.184,0.185,0.185,0.223,1.638,0.007,1.638,1.629,1.607,1.603,1.6,1.598,1.593,1.592,1.591,1.59,1.587,1.585,1.583,1.583,1.581,1.578,1.575,1.572,1.572,1.572,1.571,1.569,1.569,1.564,1.56,1.564,1.563,1.562,1.562,1.562,1.559,1.557,1.557,1.559,1.557,1.56,1.562,1.562,1.562,1.562,1.56,1.553,1.553,1.553,1.553,1.553,1.556,1.556,1.553,0.153,0.151,0.148,0.151,0.149,0.149,0.151,0.155,0.155,0.155,0.155,3.001,3.004,3.004,3.004,3.004,3.004,0.168,0.163,0.161,0.163,0.164,0.158,0.164,0.173,3.022,3.022,3.025,3.025,3.028,3.035,3.036,3.038,3.04,3.053,3.056,3.061,3.063,3.068,3.071,3.078,3.083,3.098,3.101,3.106,3.108,3.113,3.122,3.127,3.136,3.14,3.146,3.151,3.162,3.163,3.177,3.183,3.199,3.2,3.208,3.219,3.219,3.221,3.229,3.241,3.244,3.254,3.267,3.272,3.274,3.29,3.3,3.319,3.329,3.335,3.346,3.352,3.359,3.375,3.38,3.389,3.414,3.427,3.439,3.455,3.464,3.472,3.504,3.507,3.523,3.531,3.544,3.571,3.577,3.582,3.608,3.614,3.629,3.652,3.665,3.67,3.691,3.712,3.729,3.743,3.764,3.784,3.81,3.828,3.851,3.863,3.879,3.909,3.925,3.938,3.976,3.999,4.029,4.053,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.387,3.323,3.307,3.293,3.268,3.257,3.228,3.227,3.216,3.2,3.181,3.176,3.154,3.139,3.131,3.129,3.113,3.099,3.093,3.081,3.058,3.049,3.033,3.033,3.019,3.016,3.001,2.99,2.985,2.966,2.965,2.955,2.947,2.938,2.928,2.928,2.916,2.914,2.895,2.892,2.883,2.879,2.872,2.859,2.857,2.845,2.838,2.836,2.819,2.816,2.812,2.812,2.803,2.803,2.788,2.788,2.788,2.788,2.771,2.771,2.76,2.756,2.748,2.746,2.743,2.729,2.724,2.723,2.716,2.712,2.706,2.703,2.702,2.699,2.694,2.69,2.68,2.674,2.673,2.666,2.665,2.665,2.665,2.655,2.655,2.652,2.651,2.65,2.649,2.64,2.637,2.635,2.634,2.634,2.633,2.634,2.632,2.63,2.63,2.63,2.628,2.626,2.628,2.628,2.628,2.628,2.629,2.628,2.627,2.626,2.627,2.627,2.629,2.629,2.629,2.628,2.628,2.628,2.628,2.629,2.629,2.633,2.633,2.635,2.635,2.637,2.639,2.639,2.644,2.65,2.65,2.646,2.651,2.646,2.646,2.646,2.649,2.649,2.653,2.654,2.672,2.674,2.675,2.674,2.675,2.675,2.687,2.694,2.694,2.694,2.703,2.703,2.703,2.712,2.712,2.704,2.704,2.712,2.714,2.714,2.721,2.723,2.724,2.732,2.738,2.738,2.748,2.753,3.269,3.275,3.285,3.288,3.295,3.301,3.315,3.323,3.331,3.335,3.346,3.347,3.362,3.375,3.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.019,2.987,2.987,2.987,3.72,3.721,3.732,3.732,3.738,3.74,3.749,3.762,3.776,3.776,3.793,3.797,3.802,3.81,3.829,3.842,3.848,3.855,3.864,3.887,3.902,3.911,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.095,4.081,4.079,4.075,4.075,4.072,4.072,4.058,4.056,4.051,4.047,4.045,4.04,4.035,4.035,4.033,4.035,0.007,4.027,4.019,4.019,4.019,4.014,4.007,4.006,4.004,4.004,4.006,4.011,4.011,4.013,4.013,4.011,0.016,0.007,0.009,0.009,0.009,0.016,0.016,1.211,1.211,0.939,0.939,0.938,0.939,0.944,0.944,0.944,0.944,0.943,0.943,0.939,0.935,0.928,0.935,0.935,0.933,0.934,0.936,0.936,0.948,0.959,0.97,0.972,0.981,0.995,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 36.4559} {Type Sonar} {Name Sonar0 Range 5.461} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.191} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 36.4904} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.199,0.187,0.223,0.223,0.223,1.616,1.62,1.62,1.616,1.612,1.606,1.6,1.597,1.597,1.593,1.593,1.588,1.586,1.586,1.582,1.582,1.579,1.579,1.579,1.579,1.572,1.579,1.572,1.566,1.566,1.563,1.563,1.563,1.563,1.563,1.562,1.563,1.562,1.561,1.562,1.563,1.561,1.561,1.563,1.56,1.559,1.559,1.558,1.558,1.557,1.555,1.555,1.554,1.554,1.554,1.552,0.151,0.149,0.146,0.145,0.145,0.145,0.153,0.153,0.153,0.153,0.158,2.997,2.997,3.001,3.001,2.997,2.997,0.167,0.167,0.16,0.162,0.162,0.155,0.162,0.162,3.019,3.019,3.03,3.03,3.031,3.033,3.033,3.035,3.043,3.055,3.058,3.06,3.065,3.067,3.075,3.081,3.081,3.097,3.1,3.102,3.111,3.121,3.125,3.127,3.135,3.142,3.145,3.152,3.164,3.174,3.175,3.183,3.195,3.198,3.207,3.214,3.223,3.224,3.232,3.237,3.252,3.252,3.268,3.272,3.287,3.292,3.298,3.313,3.327,3.329,3.345,3.357,3.359,3.37,3.388,3.396,3.411,3.433,3.441,3.444,3.466,3.48,3.487,3.498,3.516,3.53,3.554,3.571,3.577,3.593,3.598,3.622,3.624,3.652,3.666,3.684,3.693,3.715,3.724,3.753,3.767,3.781,3.811,3.821,3.843,3.869,3.883,3.907,3.935,3.942,3.982,4.004,4.028,4.042,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,3.391,3.317,3.298,3.291,3.266,3.255,3.232,3.225,3.217,3.197,3.176,3.175,3.159,3.152,3.133,3.12,3.106,3.102,3.091,3.079,3.067,3.053,3.048,3.033,3.013,3.013,2.997,2.997,2.986,2.972,2.957,2.955,2.948,2.942,2.917,2.916,2.912,2.911,2.899,2.897,2.893,2.886,2.87,2.867,2.855,2.852,2.836,2.829,2.819,2.817,2.812,2.806,2.797,2.795,2.788,2.779,2.779,2.788,2.777,2.771,2.754,2.749,2.747,2.742,2.735,2.731,2.729,2.726,2.717,2.713,2.71,2.703,2.697,2.696,2.695,2.69,2.681,2.675,2.672,2.672,2.67,2.663,2.661,2.658,2.656,2.653,2.65,2.65,2.647,2.638,2.637,2.633,2.633,2.633,2.633,2.633,2.633,2.63,2.633,2.633,2.633,2.633,2.634,2.634,2.631,2.631,2.627,2.625,2.625,2.624,2.624,2.624,2.624,2.624,2.632,2.632,2.634,2.632,2.632,2.63,2.629,2.629,2.629,2.634,2.635,2.637,2.638,2.639,2.65,2.65,2.65,2.653,2.649,2.647,2.647,2.647,2.647,2.648,2.654,2.657,2.668,2.668,2.672,2.673,2.677,2.68,2.683,2.689,2.69,2.696,2.702,2.703,2.704,2.712,2.715,2.713,2.715,2.715,2.721,2.722,2.722,2.73,2.732,2.738,2.74,2.74,2.746,2.75,3.258,3.274,3.283,3.293,3.301,3.304,3.319,3.329,3.33,3.334,3.342,3.347,3.364,3.37,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.023,2.983,2.983,2.983,3.717,3.728,3.738,3.738,3.751,3.751,3.758,3.759,3.778,3.781,3.782,3.796,3.802,3.815,3.828,3.837,3.849,3.85,3.881,3.881,3.881,3.909,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.087,4.076,4.075,4.075,4.072,4.067,4.064,4.059,4.059,4.051,4.05,4.049,4.043,4.042,4.042,4.034,4.042,0.007,4.021,4.019,4.019,4.019,4.019,4.003,3.935,1.164,1.143,1.13,1.118,1.111,1.111,1.105,1.111,1.111,1.112,1.112,1.112,1.105,1.107,1.105,1.103,1.082,0.865,0.843,0.838,0.835,0.832,0.832,0.832,0.836,0.836,0.836,0.836,0.842,0.836,0.842,0.846,0.846,0.846,0.854,0.86,0.86,0.865,0.869,0.917,0.948,0.958,0.962,0.968,0.997,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0,0.016,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 36.6589} {Type Sonar} {Name Sonar0 Range 5.461} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 2.286}
SEN {Time 36.6865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.19,0.184,0.18,0.18,0.184,0.185,0.219,1.625,1.625,1.625,1.619,1.606,1.605,1.596,1.596,1.591,1.591,1.591,1.587,1.586,1.585,1.575,1.575,1.575,1.575,1.579,1.579,1.572,1.571,1.571,1.571,1.571,1.563,1.561,1.563,1.559,1.558,1.558,1.558,1.557,1.557,1.557,1.563,1.557,1.565,1.565,1.563,1.557,1.557,1.556,1.554,1.553,1.553,1.553,1.553,1.554,1.554,1.554,0.155,0.153,0.145,0.145,0.153,0.153,0.158,0.158,0.158,0.162,0.162,2.995,2.996,3.004,3.004,3.004,2.996,0.171,0.163,0.162,0.163,0.16,0.158,0.16,0.165,3.024,3.024,3.028,3.028,3.028,3.032,3.037,3.046,3.048,3.052,3.06,3.061,3.069,3.071,3.073,3.088,3.09,3.099,3.104,3.109,3.11,3.116,3.126,3.132,3.134,3.134,3.144,3.149,3.159,3.166,3.176,3.182,3.198,3.2,3.204,3.208,3.215,3.215,3.231,3.234,3.246,3.253,3.268,3.273,3.291,3.295,3.303,3.309,3.324,3.33,3.341,3.362,3.365,3.378,3.392,3.395,3.422,3.433,3.442,3.454,3.459,3.485,3.486,3.503,3.514,3.529,3.547,3.562,3.579,3.586,3.594,3.62,3.627,3.656,3.658,3.675,3.693,3.718,3.723,3.745,3.768,3.781,3.805,3.815,3.855,3.866,3.87,3.905,3.936,3.944,3.975,4.003,4.023,4.057,4.078,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.316,3.307,3.285,3.264,3.264,3.239,3.228,3.205,3.204,3.178,3.176,3.158,3.148,3.131,3.126,3.113,3.095,3.094,3.082,3.062,3.041,3.031,3.029,3.012,3.012,3.002,2.991,2.987,2.966,2.963,2.958,2.946,2.94,2.927,2.926,2.908,2.903,2.896,2.891,2.891,2.882,2.87,2.857,2.854,2.848,2.843,2.833,2.827,2.818,2.81,2.808,2.797,2.794,2.791,2.78,2.78,2.791,2.772,2.771,2.755,2.749,2.738,2.734,2.731,2.724,2.72,2.716,2.712,2.707,2.707,2.702,2.701,2.694,2.692,2.69,2.681,2.678,2.669,2.667,2.665,2.661,2.661,2.658,2.658,2.657,2.647,2.647,2.646,2.645,2.643,2.635,2.634,2.634,2.635,2.635,2.635,2.635,2.633,2.628,2.627,2.627,2.627,2.627,2.622,2.622,2.62,2.62,2.62,2.624,2.628,2.628,2.628,2.628,2.627,2.623,2.625,2.625,2.627,2.625,2.63,2.632,2.632,2.632,2.632,2.633,2.638,2.642,2.648,2.648,2.648,2.652,2.651,2.648,2.648,2.651,2.649,2.649,2.654,2.661,2.667,2.672,2.672,2.672,2.672,2.675,2.683,2.685,2.687,2.692,2.697,2.699,2.702,2.706,2.706,2.706,2.712,2.714,2.715,2.716,2.723,2.727,2.729,2.735,2.742,2.742,2.746,2.747,3.262,3.282,3.288,3.3,3.301,3.306,3.316,3.325,3.335,3.34,3.343,3.344,3.363,3.365,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.014,2.982,2.982,2.982,3.722,3.724,3.731,3.731,3.737,3.738,3.753,3.764,3.769,3.78,3.783,3.798,3.806,3.819,3.82,3.837,3.844,3.848,3.864,3.881,3.886,3.914,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.09,4.082,4.082,4.082,4.043,3.998,0.189,0.189,0.189,0.189,0.191,0.192,0.192,0.199,0.199,0.199,0.199,0.199,0.199,0.204,0.204,0.204,0.203,0.203,0.196,0.196,0.188,0.184,0.184,0.184,0.184,0.184,0.184,0.182,0.18,0.18,0.18,0.18,0.18,0.181,0.181,0.181,0.181,0.182,0.185,0.192,0.192,0.193,0.194,0.195,0.195,0.212,0.232,0.239,0.31,0.604,0.697,0.731,0.736,0.759,0.759,0.765,0.768,0.768,0.777,0.792,0.792,0.792,0.826,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0,0.007,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 36.8629} {Type Sonar} {Name Sonar0 Range 5.1816} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 36.8865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.183,0.183,0.187,0.187,0.229,1.617,0.007,1.623,1.617,1.604,1.604,1.599,1.597,1.593,1.589,1.589,1.589,1.588,1.586,1.581,1.578,1.571,1.572,1.572,1.57,1.569,1.57,1.569,1.569,1.569,1.566,1.561,1.563,1.563,1.561,1.557,1.559,1.557,1.557,1.559,1.559,1.559,1.56,1.56,1.56,1.56,1.56,1.56,1.555,1.553,1.549,1.549,1.553,1.559,1.559,1.559,0.154,0.154,0.152,0.149,0.149,0.149,0.147,0.149,0.147,0.156,0.156,2.996,2.996,3,3,2.996,2.994,0.163,0.156,0.156,0.161,0.159,0.159,0.161,0.166,3.025,3.025,3.025,3.025,3.026,3.031,3.032,3.036,3.041,3.051,3.056,3.064,3.067,3.07,3.08,3.082,3.083,3.089,3.099,3.1,3.114,3.116,3.123,3.127,3.13,3.135,3.145,3.148,3.158,3.17,3.175,3.181,3.198,3.199,3.211,3.211,3.211,3.226,3.227,3.24,3.246,3.25,3.27,3.278,3.285,3.289,3.296,3.317,3.326,3.333,3.341,3.36,3.362,3.383,3.4,3.407,3.418,3.429,3.435,3.458,3.461,3.475,3.494,3.499,3.519,3.534,3.555,3.567,3.586,3.586,3.596,3.614,3.633,3.658,3.665,3.674,3.696,3.718,3.736,3.758,3.763,3.783,3.8,3.83,3.837,3.864,3.885,3.914,3.92,3.952,3.973,3.989,4.021,4.052,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.325,3.305,3.302,3.262,3.259,3.238,3.225,3.212,3.203,3.189,3.169,3.161,3.15,3.133,3.121,3.115,3.098,3.09,3.084,3.061,3.045,3.044,3.027,3.014,3.008,3.005,2.988,2.98,2.967,2.962,2.952,2.945,2.94,2.925,2.921,2.912,2.911,2.898,2.894,2.885,2.877,2.873,2.861,2.851,2.851,2.838,2.832,2.829,2.817,2.811,2.805,2.799,2.798,2.785,2.784,2.784,2.784,2.777,2.775,2.757,2.753,2.742,2.742,2.737,2.729,2.727,2.724,2.717,2.715,2.708,2.7,2.698,2.696,2.695,2.687,2.678,2.67,2.67,2.668,2.665,2.663,2.658,2.658,2.655,2.654,2.65,2.649,2.649,2.646,2.64,2.637,2.634,2.634,2.63,2.63,2.632,2.632,2.629,2.632,2.629,2.629,2.633,2.633,2.63,2.63,2.624,2.623,2.623,2.623,2.624,2.627,2.629,2.629,2.632,2.632,2.632,2.632,2.631,2.631,2.633,2.634,2.639,2.639,2.637,2.639,2.639,2.639,2.647,2.647,2.647,2.647,2.649,2.646,2.646,2.655,2.649,2.648,2.649,2.656,2.672,2.672,2.672,2.67,2.67,2.67,2.694,2.694,2.694,2.698,2.7,2.701,2.704,2.709,2.709,2.704,2.704,2.711,2.716,2.719,2.725,2.73,2.732,2.732,2.739,2.739,2.741,2.757,3.263,3.274,3.281,3.287,3.305,3.311,3.313,3.321,3.327,3.34,3.342,3.347,3.36,3.37,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.066,3.025,2.991,2.991,2.991,3.716,3.719,3.734,3.734,3.744,3.751,3.751,3.757,3.779,3.78,3.782,3.801,3.802,3.804,3.813,3.836,3.84,3.853,3.86,3.886,3.889,3.89,3.9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0.196,0.161,0.161,0.152,0.152,0.153,0.153,0.155,0.155,0.159,0.164,0.164,0.161,0.164,0.164,0.164,0.164,0.164,0.168,0.168,0.164,0.164,0.162,0.161,0.161,0.161,0.161,0.161,0.156,0.156,0.157,0.157,0.158,0.165,0.167,0.168,0.174,0.179,0.179,0.187,0.189,0.199,0.207,0.295,0.526,0.636,0.681,0.684,0.699,0.706,0.719,0.728,0.72,0.72,0.72,0.723,0.723,0.735,0.736,0.751,0.76,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.05} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 37.0478} {Type Sonar} {Name Sonar0 Range 5.1816} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 37.0865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.19,0.18,0.23,0.23,0.23,1.62,1.629,1.629,1.62,1.61,1.609,1.603,1.602,1.596,1.593,1.592,1.589,1.589,1.583,1.583,1.575,1.574,1.575,1.575,1.572,1.572,1.574,1.572,1.574,1.574,1.562,1.562,1.562,1.56,1.56,1.558,1.558,1.556,1.558,1.559,1.559,1.559,1.559,1.559,1.559,1.56,1.56,1.558,1.555,1.555,1.552,1.553,1.552,1.552,1.548,1.547,0.159,0.153,0.15,0.153,0.153,0.153,0.157,0.157,0.157,0.162,0.162,2.999,2.999,3.006,3.006,3.006,3.006,0.172,0.165,0.163,0.163,0.163,0.161,0.163,0.165,3.021,3.021,3.025,3.025,3.029,3.029,3.033,3.038,3.044,3.049,3.053,3.063,3.066,3.068,3.082,3.083,3.085,3.091,3.098,3.099,3.107,3.116,3.123,3.124,3.14,3.142,3.144,3.149,3.163,3.165,3.175,3.181,3.191,3.196,3.2,3.209,3.22,3.221,3.231,3.234,3.25,3.26,3.268,3.269,3.284,3.286,3.301,3.312,3.322,3.328,3.344,3.358,3.365,3.381,3.388,3.404,3.414,3.433,3.435,3.447,3.455,3.467,3.494,3.498,3.516,3.529,3.551,3.56,3.574,3.584,3.599,3.625,3.625,3.647,3.665,3.683,3.698,3.7,3.724,3.749,3.763,3.781,3.813,3.825,3.848,3.868,3.886,3.909,3.936,3.94,3.979,3.998,4.03,4.047,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.325,3.293,3.282,3.268,3.258,3.235,3.222,3.214,3.201,3.179,3.176,3.153,3.14,3.13,3.123,3.106,3.098,3.092,3.073,3.068,3.047,3.043,3.034,3.022,3.021,3.007,2.996,2.981,2.979,2.967,2.946,2.946,2.936,2.927,2.92,2.912,2.909,2.896,2.89,2.887,2.879,2.868,2.868,2.855,2.847,2.838,2.836,2.83,2.817,2.809,2.805,2.8,2.79,2.788,2.787,2.787,2.788,2.776,2.762,2.753,2.75,2.742,2.736,2.729,2.724,2.724,2.72,2.713,2.71,2.707,2.704,2.701,2.694,2.692,2.69,2.681,2.677,2.677,2.673,2.668,2.664,2.659,2.656,2.656,2.653,2.653,2.65,2.645,2.645,2.644,2.637,2.637,2.637,2.636,2.637,2.637,2.637,2.633,2.631,2.626,2.623,2.623,2.623,2.622,2.621,2.623,2.621,2.621,2.622,2.622,2.622,2.627,2.632,2.632,2.627,2.632,2.628,2.628,2.629,2.63,2.63,2.632,2.634,2.634,2.638,2.641,2.641,2.643,2.645,2.645,2.647,2.647,2.647,2.646,2.646,2.646,2.646,2.652,2.656,2.668,2.672,2.672,2.672,2.675,2.683,2.686,2.688,2.689,2.693,2.697,2.702,2.702,2.703,2.705,2.705,2.708,2.719,2.72,2.721,2.725,2.728,2.73,2.731,2.744,2.744,2.746,2.753,3.263,3.276,3.279,3.293,3.303,3.304,3.32,3.325,3.329,3.338,3.344,3.345,3.359,3.366,3.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.028,2.983,2.975,2.975,2.983,3.722,3.726,3.732,3.742,3.742,3.751,3.766,3.775,3.78,3.782,3.786,3.8,3.814,3.826,3.833,3.838,3.852,3.874,3.875,3.895,3.901,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.009,0.009,0.184,0.163,0.155,0.155,0.155,0.158,0.159,0.161,0.164,0.166,0.167,0.167,0.167,0.167,0.167,0.171,0.171,0.171,0.173,0.173,0.166,0.163,0.16,0.159,0.159,0.159,0.159,0.159,0.16,0.162,0.165,0.168,0.174,0.174,0.174,0.178,0.182,0.183,0.192,0.209,0.214,0.217,0.312,0.583,0.639,0.653,0.658,0.662,0.662,0.662,0.666,0.669,0.666,0.669,0.67,0.67,0.01,0.007,0.689,0.689,0.702,0.702,0.702,0.704,0.711,0.711,0.719,0.722,0.723,0.869,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.016,0,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.25} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 37.2509} {Type Sonar} {Name Sonar0 Range 5.1816} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 37.2865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.191,0.186,0.223,0.223,0.223,1.613,0.007,1.62,1.613,1.609,1.603,1.6,1.6,1.598,1.593,1.593,1.589,1.587,1.586,1.575,1.575,1.574,1.574,1.574,1.571,1.571,1.571,1.571,1.571,1.571,1.567,1.563,1.563,1.563,1.563,1.558,1.557,1.556,1.556,1.556,1.561,1.561,1.563,1.563,1.563,1.564,1.564,1.555,1.554,1.554,1.551,1.551,1.551,1.554,1.554,1.554,0.155,0.152,0.149,0.148,0.148,0.148,0.156,0.156,0.156,0.156,0.156,3.001,3.001,3.005,3.005,3.001,2.994,0.169,0.166,0.163,0.163,0.161,0.157,0.161,0.172,3.02,3.026,3.027,3.027,3.029,3.035,3.039,3.042,3.045,3.057,3.06,3.062,3.072,3.073,3.077,3.078,3.087,3.092,3.094,3.106,3.113,3.117,3.121,3.128,3.132,3.142,3.149,3.151,3.162,3.166,3.176,3.182,3.184,3.192,3.21,3.216,3.221,3.225,3.228,3.238,3.249,3.258,3.267,3.27,3.278,3.285,3.3,3.313,3.32,3.336,3.349,3.356,3.358,3.374,3.386,3.394,3.409,3.429,3.436,3.454,3.456,3.469,3.491,3.494,3.517,3.535,3.551,3.564,3.579,3.58,3.592,3.618,3.637,3.655,3.659,3.679,3.696,3.714,3.73,3.757,3.766,3.796,3.812,3.819,3.848,3.866,3.89,3.896,3.935,3.954,3.959,3.989,4.012,4.042,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.326,3.309,3.288,3.266,3.244,3.234,3.214,3.209,3.204,3.184,3.171,3.16,3.141,3.139,3.122,3.107,3.101,3.09,3.089,3.069,3.05,3.044,3.033,3.02,3.014,3.005,2.99,2.981,2.969,2.965,2.947,2.946,2.946,2.93,2.925,2.915,2.905,2.901,2.89,2.886,2.882,2.865,2.863,2.856,2.849,2.834,2.831,2.824,2.813,2.807,2.805,2.8,2.796,2.783,2.779,2.779,2.779,2.779,2.77,2.76,2.755,2.743,2.742,2.738,2.733,2.718,2.716,2.716,2.714,2.707,2.699,2.699,2.698,2.69,2.687,2.678,2.677,2.671,2.67,2.668,2.665,2.665,2.664,2.664,2.653,2.653,2.65,2.645,2.644,2.644,2.64,2.636,2.634,2.633,2.633,2.633,2.632,2.631,2.632,2.631,2.632,2.631,2.631,2.63,2.63,2.627,2.627,2.625,2.624,2.627,2.624,2.624,2.624,2.623,2.623,2.625,2.623,2.625,2.627,2.629,2.629,2.632,2.632,2.638,2.638,2.64,2.64,2.641,2.649,2.649,2.654,2.657,2.657,2.657,2.645,2.645,2.645,2.651,2.655,2.664,2.668,2.671,2.671,2.673,2.675,2.682,2.688,2.695,2.695,2.697,2.698,2.705,2.708,2.708,2.708,2.708,2.708,2.718,2.719,2.724,2.725,2.731,2.733,2.743,2.743,2.745,2.745,3.266,3.27,3.283,3.288,3.295,3.306,3.316,3.325,3.33,3.335,3.337,3.351,3.354,3.367,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.991,2.991,2.991,3.73,3.731,3.733,3.733,3.742,3.748,3.752,3.767,3.77,3.776,3.782,3.798,3.814,3.825,3.84,0.007,3.866,3.866,3.876,3.876,3.896,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.173,0.168,0.155,0.152,0.15,0.152,0.155,0.158,0.161,0.162,0.162,0.164,0.167,0.167,0.164,0.164,0.168,0.168,0.168,0.171,0.171,0.171,0.167,0.164,0.158,0.158,0.162,0.162,0.162,0.163,0.164,0.164,0.164,0.166,0.17,0.174,0.175,0.175,0.183,0.185,0.187,0.203,0.213,0.28,0.559,0.634,0.652,0.662,0.666,0.007,0.666,0.663,0.663,0.66,0.66,0.663,0.666,0.667,0.667,0.667,0.667,0.664,0.664,0.675,0.682,0.684,0.694,0.688,0.694,0.708,0.708,0.708,0.708,0.708,0.712,0.723,0.725,0.73,0.904,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 37.4447} {Type Sonar} {Name Sonar0 Range 5.1816} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 2.1336} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 37.4864} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.201,0.185,0.229,0.229,0.229,1.617,0.007,1.627,1.617,1.608,1.602,1.596,1.596,1.596,1.596,1.596,1.59,1.586,1.586,1.581,1.579,1.575,1.575,1.575,1.57,1.57,1.58,1.564,1.578,1.578,1.564,1.564,1.564,1.564,1.559,1.557,1.559,1.555,1.553,1.555,1.56,1.554,1.56,1.561,1.563,1.561,1.561,1.56,1.555,1.555,1.552,1.555,1.551,1.555,1.551,1.551,0.154,0.153,0.144,0.142,0.142,0.142,0.153,0.154,0.154,0.159,0.159,3.005,3.007,3.007,3.007,3.007,3.006,0.171,0.161,0.161,0.167,0.162,0.162,0.167,0.167,3.02,3.02,3.026,3.025,3.026,3.034,3.035,3.047,3.049,3.053,3.054,3.06,3.068,3.069,3.078,3.083,3.089,3.092,3.095,3.103,3.113,3.116,3.122,3.128,3.139,3.14,3.144,3.149,3.164,3.164,3.182,3.184,3.189,3.198,3.208,3.218,3.218,3.223,3.232,3.236,3.253,3.258,3.267,3.271,3.276,3.291,3.293,3.322,3.323,3.326,3.342,3.355,3.361,3.374,3.383,3.397,3.418,3.426,3.432,3.444,3.463,3.473,3.488,3.507,3.509,3.536,3.546,3.559,3.572,3.586,3.601,3.617,3.629,3.658,3.665,3.681,3.697,3.719,3.732,3.742,3.758,3.779,3.802,3.819,3.84,3.859,3.876,3.913,3.931,3.951,3.974,4.008,4.017,4.055,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.319,3.304,3.284,3.255,3.253,3.244,3.222,3.202,3.197,3.185,3.174,3.158,3.153,3.132,3.119,3.111,3.098,3.09,3.08,3.061,3.047,3.038,3.032,3.029,3.014,3.01,2.988,2.984,2.972,2.958,2.95,2.944,2.938,2.929,2.915,2.911,2.91,2.9,2.888,2.888,2.885,2.873,2.866,2.861,2.85,2.837,2.832,2.827,2.821,2.809,2.804,2.797,2.793,2.782,2.775,2.775,2.782,2.782,2.763,2.754,2.745,2.739,2.734,2.732,2.731,2.73,2.722,2.714,2.711,2.705,2.702,2.696,2.695,2.693,2.685,2.685,2.675,2.669,2.669,2.667,2.659,2.659,2.659,2.658,2.657,2.653,2.65,2.648,2.646,2.637,2.635,2.635,2.635,2.633,2.634,2.634,2.633,2.63,2.63,2.63,2.629,2.629,2.626,2.626,2.625,2.625,2.625,2.626,2.626,2.63,2.631,2.631,2.631,2.631,2.63,2.63,2.63,2.63,2.629,2.629,2.629,2.629,2.631,2.633,2.637,2.64,2.64,2.642,2.643,2.643,2.644,2.651,2.644,2.651,2.651,2.651,2.651,2.654,2.663,2.667,2.67,2.67,2.668,2.67,2.674,2.687,2.691,2.693,2.693,2.697,2.7,2.708,2.712,2.712,2.709,2.709,2.712,2.719,2.72,2.721,2.726,2.726,2.735,2.736,2.736,2.744,2.753,3.27,3.274,3.285,3.289,3.304,3.306,3.322,3.323,3.33,3.34,3.344,3.345,3.365,3.373,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.986,2.986,2.986,3.72,3.722,3.727,3.727,3.738,3.738,3.752,3.758,3.772,3.782,3.79,3.797,3.807,3.815,3.823,3.84,3.846,3.848,3.858,3.882,3.888,3.899,3.906,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0.195,0.176,0.163,0.163,0.163,0.166,0.172,0.175,0.174,0.175,0.175,0.177,0.177,0.177,0.177,0.176,0.176,0.177,0.177,0.177,0.177,0.173,0.173,0.173,0.176,0.178,0.182,0.182,0.182,0.182,0.18,0.178,0.178,0.178,0.178,0.179,0.181,0.183,0.187,0.187,0.189,0.192,0.199,0.449,0.591,0.655,0.655,0.655,0.655,0.659,0.663,0.668,0.671,0.671,0.677,0.677,0.677,0.671,0.671,0.671,0.679,0.691,0.691,0.691,0.692,0.692,0.71,0.71,0.71,0.71,0.716,0.721,0.721,0.724,0.724,0.742,0.751,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 37.6378} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 0.9652} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.064} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.937} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 37.6825} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.191,0.187,0.183,0.183,0.185,0.185,0.215,1.626,1.626,1.626,1.615,1.604,1.6,1.598,1.596,1.595,1.593,1.592,1.586,1.585,1.58,1.585,1.579,1.576,1.579,1.575,1.571,1.573,1.573,1.568,1.568,1.566,1.566,1.564,1.564,1.563,1.562,1.557,1.556,1.556,1.556,1.556,1.559,1.559,1.559,1.559,1.561,1.558,1.558,1.558,1.558,1.555,1.554,1.554,1.553,1.553,1.553,1.553,0.152,0.15,0.147,0.15,0.15,0.151,0.155,0.155,0.155,0.161,0.161,2.994,3.002,3.01,3.01,3.01,3.002,0.173,0.169,0.165,0.165,0.163,0.154,0.163,0.165,3.018,3.02,3.026,3.026,3.026,3.034,3.034,3.038,3.041,3.054,3.057,3.066,3.07,3.071,3.075,3.081,3.083,3.096,3.098,3.101,3.105,3.121,3.124,3.127,3.129,3.131,3.143,3.147,3.162,3.163,3.175,3.179,3.189,3.196,3.209,3.214,3.215,3.228,3.228,3.241,3.248,3.252,3.271,3.275,3.287,3.292,3.302,3.32,3.327,3.343,3.343,3.356,3.363,3.382,3.391,3.408,3.419,3.421,3.429,3.45,3.464,3.474,3.493,3.501,3.523,3.523,3.553,3.564,3.577,3.579,3.604,3.615,3.628,3.662,3.664,3.671,3.699,3.716,3.726,3.74,3.754,3.775,3.805,3.82,3.835,3.861,3.885,3.917,3.932,3.952,3.979,4.009,4.02,4.058,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.315,3.304,3.282,3.266,3.256,3.238,3.222,3.218,3.195,3.185,3.173,3.162,3.148,3.132,3.131,3.112,3.1,3.084,3.079,3.063,3.049,3.041,3.027,3.015,3.013,3.001,2.988,2.988,2.972,2.965,2.951,2.949,2.937,2.925,2.924,2.917,2.905,2.899,2.89,2.888,2.875,2.87,2.855,2.853,2.849,2.84,2.832,2.83,2.817,2.81,2.798,2.797,2.795,2.792,2.786,2.786,2.786,2.786,2.773,2.752,2.749,2.744,2.741,2.738,2.731,2.726,2.722,2.722,2.716,2.71,2.702,2.698,2.69,2.687,2.685,2.678,2.677,2.668,2.665,2.663,2.659,2.654,2.653,2.653,2.653,2.649,2.645,2.642,2.636,2.634,2.634,2.634,2.63,2.631,2.633,2.631,2.631,2.631,2.63,2.629,2.628,2.629,2.624,2.621,2.624,2.622,2.622,2.624,2.625,2.626,2.626,2.628,2.63,2.63,2.628,2.63,2.631,2.634,2.634,2.634,2.632,2.632,2.632,2.635,2.635,2.636,2.648,2.648,2.648,2.648,2.65,2.648,2.64,2.644,2.644,2.644,2.644,2.65,2.657,2.663,2.666,2.666,2.666,2.672,2.678,2.688,2.692,2.695,2.695,2.696,2.711,2.711,2.711,2.711,2.71,2.71,2.711,2.712,2.717,2.723,2.725,2.726,2.732,2.738,2.738,2.744,2.744,3.269,3.275,3.283,3.288,3.294,3.305,3.319,3.322,3.327,3.334,3.335,3.341,3.357,3.364,3.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.989,2.989,2.989,3.718,3.719,3.722,3.722,3.736,3.748,3.759,3.764,3.769,3.776,3.786,3.799,3.81,3.814,3.823,3.842,3.857,3.866,3.869,3.869,3.899,3.901,3.902,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.291,0.281,0.281,0.281,0.287,0.289,0.289,0.29,0.291,0.291,0.293,0.293,0.295,0.295,0.292,0.292,0.291,0.291,0.291,0.291,0.289,0.286,0.286,0.286,0.299,0.299,0.302,0.304,0.309,0.313,0.313,0.313,0.313,3.905,3.998,3.998,3.905,0.705,0.7,0.693,0.688,0.685,0.687,0.687,0.687,0.687,0.687,0.688,0.69,0.69,0.69,0.69,0.691,0.696,0.7,0.702,0.703,0.708,0.708,0.712,0.712,0.712,0.714,0.727,0.733,0.738,0.744,0.744,0.752,0.753,0.753,0.772,0.016,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.84} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 37.8397} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.508} {Name Sonar4 Range 0.9652} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.7752} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 37.8825} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.197,0.178,0.178,0.194,0.194,0.227,1.619,0.007,1.62,1.619,1.603,1.602,1.596,1.595,1.594,1.593,1.589,1.586,1.585,1.583,1.585,1.583,1.581,1.576,1.576,1.576,1.573,1.576,1.573,1.572,1.572,1.568,1.562,1.568,1.566,1.566,1.559,1.559,1.557,1.557,1.557,1.557,1.557,1.558,1.56,1.563,1.56,1.56,1.557,1.557,1.553,1.553,1.553,1.551,1.551,1.551,1.55,0.148,0.147,0.147,0.147,0.147,0.149,0.15,0.153,0.153,0.159,0.159,2.996,2.999,3,3,2.999,2.999,0.172,0.166,0.162,0.166,0.158,0.157,0.158,0.171,3.012,3.019,3.02,3.02,3.029,3.034,3.037,3.04,3.048,3.056,3.057,3.061,3.064,3.072,3.081,3.082,3.082,3.098,3.099,3.099,3.113,3.119,3.127,3.131,3.138,3.141,3.145,3.148,3.162,3.168,3.173,3.18,3.2,3.202,3.206,3.206,3.22,3.221,3.232,3.24,3.253,3.254,3.267,3.274,3.285,3.287,3.293,3.311,3.325,3.331,3.346,3.35,3.357,3.378,3.386,3.396,3.425,3.434,3.439,3.459,3.459,3.467,3.496,3.497,3.517,3.531,3.544,3.567,3.572,3.582,3.592,3.621,3.632,3.645,3.666,3.674,3.686,3.697,3.732,3.741,3.758,3.787,3.805,3.831,3.84,3.865,3.89,3.896,3.942,3.944,3.985,3.998,4.028,4.05,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.33,3.305,3.283,3.265,3.255,3.233,3.221,3.206,3.202,3.18,3.175,3.152,3.144,3.133,3.131,3.108,3.098,3.088,3.079,3.067,3.057,3.044,3.034,3.018,3.018,2.997,2.983,2.98,2.971,2.959,2.955,2.946,2.946,2.928,2.924,2.911,2.911,2.899,2.893,2.887,2.877,2.876,2.867,2.853,2.853,2.84,2.831,2.821,2.806,2.805,2.8,2.797,2.796,2.787,2.777,2.777,2.777,2.777,2.775,2.76,2.756,2.738,2.732,2.732,2.728,2.724,2.721,2.714,2.712,2.707,2.707,2.705,2.703,2.699,2.687,2.686,2.68,2.676,2.67,2.667,2.663,2.66,2.658,2.656,2.655,2.645,2.642,2.642,2.637,2.637,2.637,2.636,2.636,2.635,2.635,2.634,2.634,2.633,2.633,2.631,2.625,2.625,2.625,2.625,2.625,2.622,2.622,2.622,2.623,2.629,2.631,2.631,2.631,2.626,2.626,2.625,2.625,2.625,2.625,2.625,2.625,2.635,2.635,2.637,2.638,2.638,2.642,2.646,2.646,2.646,2.647,2.647,2.645,2.645,2.645,2.645,2.647,2.658,2.658,2.667,2.669,2.669,2.669,2.669,2.674,2.684,2.685,2.689,2.689,2.698,2.7,2.7,2.702,2.711,2.711,2.712,2.712,2.712,2.719,2.719,2.732,2.732,2.732,2.737,2.737,2.741,2.741,3.273,3.276,3.288,3.291,3.301,3.304,3.321,3.324,3.332,3.338,3.343,3.348,3.362,3.368,3.374,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.041,2.988,2.988,2.988,3.712,3.73,3.731,3.731,3.742,3.747,3.757,3.758,3.759,3.77,3.78,3.804,3.804,3.809,3.825,3.844,3.852,3.864,3.867,3.887,3.889,3.892,3.918,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,4.084,4.074,4.073,4.071,4.065,4.05,4.05,4.046,4.043,4.035,4.023,3.975,0.627,0.606,0.606,0.601,0.601,0.6,0.6,0.6,0.6,0.599,0.596,0.596,0.596,0.601,0.601,0.601,0.599,0.599,0.599,0.6,0.607,0.612,0.728,0.728,0.728,0.725,0.725,0.72,0.715,0.715,0.715,0.712,0.715,0.715,0.715,0.715,0.715,0.715,0.714,0.714,0.714,0.714,0.714,0.715,0.718,0.718,0.721,0.721,0.722,0.731,0.731,0.75,0.754,0.756,0.757,0.77,0.775,0.78,0.783,0.794,0.797,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.0337} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.5334} {Name Sonar4 Range 0.9652} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.7752} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 38.0824} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.194,0.184,0.235,0.235,0.235,1.613,0.007,1.614,1.613,1.6,1.593,1.591,1.591,1.591,1.591,1.591,1.585,1.584,1.582,1.579,1.579,1.576,1.576,1.575,1.573,1.571,1.57,1.569,1.569,1.568,1.563,1.563,1.561,1.56,1.559,1.56,1.559,1.559,1.559,1.56,1.56,1.56,1.562,1.563,1.563,1.563,1.563,1.562,1.555,1.553,1.553,1.551,1.551,1.553,1.551,1.547,0.153,0.147,0.146,0.146,0.147,0.147,0.155,0.16,0.16,0.16,0.16,3.008,3.008,3.012,3.012,3.008,3.002,0.179,0.163,0.162,0.162,0.162,0.162,0.163,0.164,3.027,3.027,3.029,3.027,3.029,3.03,3.031,3.038,3.039,3.045,3.054,3.061,3.064,3.072,3.078,3.083,3.088,3.096,3.096,3.101,3.106,3.111,3.115,3.132,3.137,3.139,3.142,3.144,3.164,3.171,3.18,3.187,3.194,3.2,3.203,3.215,3.216,3.22,3.235,3.238,3.249,3.251,3.27,3.273,3.281,3.291,3.296,3.321,3.321,3.334,3.339,3.355,3.364,3.373,3.39,3.39,3.415,3.427,3.436,3.45,3.46,3.473,3.499,3.5,3.515,3.526,3.542,3.557,3.57,3.589,3.601,3.625,3.628,3.646,3.661,3.679,3.697,3.699,3.736,3.748,3.758,3.771,3.793,3.816,3.845,3.852,3.892,3.894,3.922,3.952,3.975,4.007,4.022,4.046,4.073,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.3,3.291,3.262,3.262,3.245,3.227,3.204,3.189,3.182,3.169,3.154,3.147,3.141,3.124,3.109,3.096,3.092,3.068,3.064,3.051,3.039,3.033,3.025,3.012,2.994,2.994,2.982,2.973,2.969,2.949,2.945,2.94,2.923,2.921,2.92,2.906,2.898,2.894,2.884,2.88,2.863,2.86,2.86,2.849,2.835,2.831,2.826,2.821,2.813,2.808,2.799,2.797,2.785,2.78,2.78,2.78,2.78,2.773,2.758,2.748,2.736,2.736,2.733,2.727,2.725,2.719,2.715,2.714,2.711,2.701,2.699,2.699,2.691,2.691,2.678,2.675,2.673,2.666,2.663,2.662,2.659,2.657,2.656,2.652,2.652,2.648,2.646,2.642,2.635,2.635,2.635,2.635,2.635,2.634,2.631,2.628,2.63,2.631,2.63,2.629,2.63,2.631,2.632,2.632,2.632,2.621,2.621,2.619,2.621,2.626,2.626,2.632,2.632,2.627,2.627,2.627,2.627,2.63,2.63,2.63,2.63,2.632,2.632,2.641,2.642,2.645,2.651,2.651,2.651,2.651,2.651,2.643,2.651,2.651,2.648,2.648,2.65,2.65,2.663,2.664,2.668,2.668,2.672,2.674,2.686,2.691,2.696,2.692,2.696,2.696,2.697,2.704,2.707,2.704,2.707,2.708,2.708,2.711,2.721,2.726,2.727,2.733,2.738,2.738,2.747,2.747,3.26,3.275,3.285,3.288,3.307,3.308,3.317,3.324,3.326,3.334,3.34,3.341,3.366,3.368,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.027,2.982,2.982,2.982,3.707,3.721,3.736,3.736,3.742,3.749,3.76,3.771,3.775,3.779,3.782,3.798,3.802,3.818,3.819,3.835,3.849,3.858,3.866,3.873,3.905,3.905,3.906,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.085,4.079,4.074,4.069,4.068,4.068,4.066,4.065,4.052,4.051,4.05,4.044,4.035,4.035,4.036,4.029,4.036,0.007,4.02,4.018,4.018,4.018,4.014,4.013,4.011,4.011,4.011,4.012,4.012,4.012,4.011,4.008,4.005,4.004,4.004,4.003,4.004,4.008,4.008,4.002,0.79,0.788,0.779,0.776,0.776,0.773,0.771,0.771,0.771,0.771,0.772,0.774,0.774,0.772,0.766,0.765,0.765,0.765,0.771,0.774,0.774,0.774,0.774,0.775,0.774,0.776,0.778,0.786,0.787,0.795,0.804,0.812,0.824,0.836,0.837,0.855,0.874,0.879,0.882,0.888,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.2356} {Type Sonar} {Name Sonar0 Range 5.3086} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.5334} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 4.7752} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 38.2825} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.19,0.188,0.234,0.234,0.234,1.626,0.007,1.626,1.616,1.607,1.602,1.6,1.596,1.595,1.595,1.595,1.589,1.585,1.58,1.58,1.582,1.575,1.576,1.576,1.572,1.57,1.572,1.569,1.572,1.567,1.564,1.562,1.562,1.562,1.561,1.559,1.557,1.557,1.557,1.557,1.559,1.559,1.559,1.563,1.563,1.561,1.561,1.557,1.556,1.555,1.551,1.555,1.552,1.552,1.552,1.552,0.155,0.145,0.143,0.143,0.143,0.145,0.153,0.154,0.154,0.16,0.162,2.992,3.002,3.003,3.003,3.018,3.018,3.018,0.167,0.165,0.165,0.163,0.163,0.164,0.165,3.018,3.02,3.022,3.022,3.029,3.029,3.033,3.037,3.041,3.047,3.05,3.06,3.065,3.073,3.073,3.077,3.078,3.096,3.1,3.105,3.107,3.122,3.125,3.132,3.132,3.137,3.142,3.148,3.165,3.168,3.175,3.176,3.192,3.192,3.212,3.213,3.217,3.22,3.235,3.243,3.248,3.252,3.268,3.268,3.286,3.287,3.303,3.313,3.327,3.331,3.342,3.357,3.361,3.373,3.387,3.403,3.415,3.431,3.437,3.457,3.461,3.478,3.491,3.501,3.516,3.52,3.546,3.566,3.578,3.582,3.598,3.621,3.633,3.649,3.66,3.681,3.694,3.705,3.734,3.753,3.755,3.781,3.802,3.839,3.848,3.867,3.886,3.91,3.936,3.954,3.962,4.001,4.025,4.051,4.058,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.324,3.297,3.288,3.273,3.258,3.231,3.222,3.213,3.202,3.185,3.17,3.159,3.143,3.142,3.122,3.105,3.096,3.096,3.085,3.062,3.054,3.046,3.028,3.011,3.008,3.005,2.998,2.982,2.978,2.964,2.949,2.948,2.937,2.92,2.918,2.913,2.903,2.901,2.886,2.882,2.879,2.869,2.864,2.859,2.859,2.846,2.833,2.822,2.817,2.811,2.808,2.802,2.79,2.785,2.782,2.782,2.782,2.782,2.764,2.754,2.751,2.746,2.736,2.726,2.725,2.713,2.713,2.711,2.711,2.706,2.703,2.699,2.698,2.692,2.69,2.686,2.682,2.669,2.668,2.66,2.659,2.659,2.657,2.654,2.653,2.647,2.644,2.64,2.641,2.64,2.634,2.635,2.634,2.632,2.632,2.633,2.628,2.633,2.633,2.631,2.624,2.628,2.628,2.628,2.624,2.624,2.623,2.623,2.623,2.63,2.633,2.633,2.631,2.631,2.628,2.628,2.628,2.628,2.627,2.634,2.625,2.63,2.63,2.634,2.634,2.635,2.644,2.645,2.645,2.644,2.644,2.648,2.647,2.649,2.65,2.652,2.652,2.654,2.656,2.656,2.658,2.667,2.669,2.67,2.673,2.679,2.68,2.689,2.694,2.695,2.697,2.704,2.707,2.71,2.709,2.71,2.712,2.715,2.718,2.72,2.72,2.728,2.729,2.734,2.734,2.744,2.753,3.271,3.272,3.282,3.29,3.303,3.311,3.312,3.319,3.33,3.335,3.34,3.357,3.361,3.364,3.365,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.022,2.99,2.99,2.99,3.717,3.718,3.721,3.721,3.74,3.752,3.755,3.756,3.766,3.784,3.788,3.797,3.801,3.816,3.821,3.835,3.837,3.859,3.88,3.89,3.89,3.89,3.905,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.091,4.087,4.073,4.07,4.07,4.066,4.063,4.061,4.048,4.047,4.047,4.047,4.036,4.035,4.036,4.031,4.031,0.007,4.02,4.012,4.012,4.012,4.012,4.012,4.011,4.012,4.012,4.015,4.015,4.015,4.016,4.002,4.002,4.021,4.021,3.999,0.925,0.925,0.914,0.909,0.909,0.901,0.899,0.895,0.895,0.887,0.882,0.878,0.878,0.878,0.876,0.88,0.88,0.878,0.878,0.89,0.878,0.89,0.891,0.892,0.892,0.897,0.917,0.917,0.919,0.937,0.953,0.958,0.973,0.99,1.171,1.234,1.244,1.253,1.264,1.333,1.34,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.4366} {Type Sonar} {Name Sonar0 Range 5.3086} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 0.5334} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
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SEN {Time 38.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.6386} {Type Sonar} {Name Sonar0 Range 5.3086} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 0.9906} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3622} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
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SEN {Time 38.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.8316} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.6228} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 38.8785} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.199,0.189,0.23,0.23,0.23,1.624,0.007,1.624,1.623,1.609,1.601,1.597,1.595,1.595,1.594,1.591,1.585,1.581,1.58,1.58,1.581,1.58,1.581,1.581,1.574,1.572,1.572,1.569,1.572,1.572,1.562,1.561,1.562,1.562,1.562,1.56,1.56,1.559,1.558,1.558,1.558,1.556,1.561,1.561,1.562,1.559,1.559,1.559,1.559,1.558,1.555,1.555,1.555,1.555,1.555,1.555,0.148,0.148,0.147,0.148,0.154,0.156,0.156,0.156,0.156,0.156,0.156,3.001,3.001,3.008,3.008,3.001,2.998,0.167,0.163,0.161,0.161,0.161,0.157,0.161,0.163,3.021,3.025,3.025,3.025,3.025,3.03,3.033,3.036,3.049,3.052,3.056,3.062,3.071,3.077,3.078,3.079,3.081,3.098,3.101,3.102,3.115,3.115,3.118,3.126,3.132,3.138,3.143,3.149,3.16,3.167,3.177,3.178,3.192,3.192,3.207,3.208,3.214,3.225,3.231,3.239,3.252,3.254,3.269,3.282,3.283,3.292,3.303,3.315,3.329,3.336,3.339,3.354,3.365,3.373,3.391,3.398,3.419,3.435,3.443,3.451,3.464,3.479,3.5,3.501,3.516,3.536,3.552,3.554,3.572,3.579,3.607,3.611,3.636,3.655,3.658,3.668,3.693,3.706,3.736,3.736,3.765,3.776,3.81,3.825,3.838,3.863,3.881,3.914,3.928,3.945,3.983,3.994,4.017,4.053,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.321,3.3,3.287,3.272,3.253,3.231,3.228,3.206,3.19,3.182,3.175,3.157,3.146,3.13,3.126,3.104,3.096,3.09,3.078,3.065,3.061,3.04,3.027,3.019,3.017,3.001,2.992,2.985,2.968,2.963,2.95,2.949,2.942,2.929,2.927,2.907,2.905,2.894,2.89,2.89,2.878,2.866,2.861,2.853,2.852,2.837,2.833,2.824,2.814,2.812,2.809,2.805,2.799,2.789,2.784,2.784,2.789,2.789,2.775,2.75,2.747,2.741,2.74,2.74,2.731,2.723,2.717,2.712,2.709,2.704,2.696,2.695,2.689,2.687,2.687,2.681,2.676,2.672,2.671,2.671,2.669,2.664,2.661,2.655,2.654,2.645,2.645,2.645,2.641,2.635,2.633,2.633,2.629,2.629,2.629,2.629,2.629,2.629,2.63,2.631,2.63,2.633,2.63,2.631,2.627,2.623,2.623,2.624,2.624,2.624,2.624,2.625,2.625,2.626,2.628,2.628,2.628,2.628,2.629,2.629,2.631,2.631,2.631,2.64,2.64,2.64,2.64,2.641,2.648,2.648,2.649,2.652,2.652,2.641,2.645,2.645,2.645,2.656,2.659,2.665,2.668,2.668,2.67,2.674,2.675,2.681,2.684,2.684,2.699,2.7,2.712,2.712,2.713,2.712,2.706,2.706,2.713,2.717,2.717,2.722,2.725,2.728,2.734,2.735,2.735,2.748,2.756,3.265,3.269,3.283,3.284,3.302,3.307,3.315,3.324,3.329,3.333,3.339,3.341,3.354,3.373,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.128,2.985,2.985,2.985,3.721,3.722,3.738,3.738,3.739,3.75,3.751,3.763,3.774,3.778,3.787,3.798,3.801,3.81,3.827,3.837,3.854,3.873,3.874,3.874,3.889,3.891,3.899,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.093,4.083,4.073,4.071,4.071,4.071,4.071,4.06,4.052,4.048,4.047,4.047,4.047,4.042,4.042,4.031,4.031,0.007,4.018,4.018,4.018,4.018,4.015,4.021,4.01,4.011,4.01,4.011,4.01,4.009,4.009,4.009,4.009,4.009,4.01,4.011,4.011,4.01,4.01,4.01,4.009,4.009,4.015,4.017,4.017,4.017,4.017,4.023,4.029,4.03,4.037,4.037,4.048,4.049,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0.009,0.009,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.016,0,0.007,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.0335} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 39.0785} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.189,0.187,0.184,0.184,0.186,0.186,0.225,1.623,0.007,1.624,1.623,1.606,1.6,1.6,1.6,1.598,1.594,1.594,1.589,1.587,1.583,1.583,1.583,1.575,1.575,1.572,1.571,1.568,1.568,1.566,1.566,1.566,1.565,1.565,1.564,1.562,1.562,1.559,1.559,1.557,1.557,1.557,1.562,1.562,1.563,1.562,1.562,1.561,1.561,1.561,1.558,1.558,1.558,1.555,1.553,1.553,1.551,1.546,0.152,0.15,0.148,0.146,0.148,0.15,0.15,0.15,0.153,0.154,0.154,2.987,3.012,3.014,3.014,3.012,3.012,0.169,0.168,0.161,0.168,0.159,0.155,0.159,0.168,3.019,3.021,3.021,3.021,3.021,3.029,3.037,3.042,3.057,3.061,3.061,3.061,3.064,3.066,3.082,3.083,3.083,3.092,3.098,3.103,3.109,3.112,3.121,3.122,3.135,3.143,3.145,3.145,3.168,3.17,3.187,3.187,3.194,3.199,3.208,3.211,3.218,3.219,3.228,3.235,3.245,3.257,3.267,3.284,3.286,3.29,3.297,3.319,3.32,3.321,3.34,3.362,3.365,3.374,3.387,3.403,3.414,3.423,3.427,3.455,3.458,3.476,3.499,3.501,3.515,3.541,3.551,3.559,3.572,3.584,3.608,3.62,3.633,3.647,3.664,3.668,3.699,3.701,3.725,3.732,3.762,3.786,3.809,3.822,3.842,3.86,3.89,3.905,3.929,3.951,3.975,3.995,4.023,4.055,4.059,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.318,3.305,3.287,3.271,3.253,3.232,3.224,3.206,3.197,3.184,3.171,3.158,3.144,3.134,3.122,3.112,3.099,3.098,3.078,3.068,3.054,3.037,3.028,3.018,3.008,3,2.984,2.981,2.972,2.959,2.955,2.946,2.941,2.922,2.92,2.909,2.909,2.901,2.896,2.894,2.883,2.874,2.866,2.864,2.855,2.839,2.836,2.825,2.818,2.806,2.805,2.798,2.791,2.787,2.782,2.782,2.787,2.774,2.774,2.754,2.746,2.745,2.739,2.736,2.731,2.722,2.716,2.71,2.71,2.709,2.706,2.699,2.697,2.696,2.694,2.677,2.671,2.671,2.666,2.665,2.662,2.661,2.65,2.648,2.648,2.648,2.646,2.643,2.641,2.638,2.635,2.635,2.635,2.635,2.635,2.632,2.631,2.631,2.627,2.627,2.627,2.628,2.628,2.632,2.632,2.631,2.627,2.63,2.628,2.63,2.63,2.63,2.628,2.632,2.633,2.627,2.631,2.631,2.631,2.629,2.631,2.631,2.631,2.63,2.631,2.634,2.634,2.644,2.645,2.645,2.645,2.645,2.645,2.649,2.649,2.649,2.65,2.656,2.656,2.663,2.667,2.668,2.668,2.679,2.681,2.683,2.689,2.691,2.695,2.695,2.698,2.706,2.708,2.708,2.708,2.71,2.712,2.712,2.728,2.728,2.728,2.728,2.728,2.743,2.743,2.746,2.748,3.266,3.268,3.286,3.287,3.296,3.313,3.314,3.319,3.329,3.339,3.342,3.348,3.358,3.371,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.071,2.986,2.986,2.986,3.715,3.731,3.738,3.738,3.743,3.746,3.755,3.76,3.777,3.777,3.783,3.796,3.8,3.813,3.816,3.839,3.84,3.863,3.867,3.887,3.89,3.912,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.093,4.084,4.08,4.071,4.067,4.067,4.067,4.058,4.053,4.049,4.048,4.047,4.042,4.036,4.036,4.034,4.034,0.007,4.018,4.017,4.017,4.017,4.014,4.014,4.018,4.018,4.011,4.018,4.012,4.012,4.013,4.013,4.012,4.007,4.006,4.005,4.006,4.007,4.015,4.015,4.017,4.017,4.019,4.019,4.021,4.019,4.022,4.022,4.027,4.035,4.035,4.035,4.041,4.042,4.053,4.053,0,0,0,4.07,4.07,4.07,4.08,4.083,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.563,1.563,1.565,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0,0.007,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.2355} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 39.2785} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0.198,0.184,0.184,0.187,0.187,0.216,1.631,0.007,1.631,1.623,1.609,1.601,1.594,1.594,1.595,1.591,1.591,1.591,1.588,1.585,1.58,1.58,1.576,1.575,1.575,1.574,1.57,1.574,1.57,1.569,1.569,1.568,1.568,1.566,1.566,1.563,1.558,1.561,1.559,1.558,1.556,1.559,1.556,1.556,1.558,1.559,1.56,1.56,1.558,1.56,1.557,1.554,1.554,1.554,1.554,1.553,1.553,0.154,0.148,0.147,0.146,0.146,0.146,0.146,0.146,0.146,0.149,0.149,2.993,3.004,3.004,3.004,3.004,3.004,0.172,0.169,0.159,0.16,0.16,0.154,0.16,0.163,3.021,3.021,3.023,3.023,3.029,3.032,3.033,3.04,3.046,3.048,3.058,3.061,3.063,3.072,3.074,3.079,3.087,3.088,3.103,3.103,3.111,3.114,3.124,3.131,3.135,3.135,3.145,3.154,3.159,3.171,3.175,3.179,3.191,3.197,3.207,3.215,3.219,3.227,3.234,3.234,3.25,3.251,3.271,3.278,3.281,3.29,3.295,3.318,3.329,3.333,3.342,3.355,3.36,3.379,3.394,3.399,3.414,3.427,3.438,3.455,3.462,3.47,3.495,3.501,3.511,3.532,3.552,3.562,3.579,3.58,3.598,3.617,3.633,3.647,3.668,3.678,3.705,3.709,3.731,3.747,3.756,3.775,3.802,3.815,3.845,3.873,3.888,3.906,3.931,3.954,3.97,3.999,4.008,4.052,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.379,3.314,3.303,3.288,3.271,3.249,3.242,3.228,3.212,3.197,3.189,3.162,3.161,3.14,3.13,3.126,3.101,3.09,3.088,3.077,3.062,3.046,3.044,3.034,3.021,3.011,2.997,2.988,2.978,2.972,2.967,2.954,2.951,2.937,2.926,2.92,2.911,2.908,2.898,2.893,2.886,2.88,2.871,2.861,2.859,2.847,2.837,2.836,2.831,2.819,2.808,2.804,2.795,2.79,2.787,2.783,2.783,2.787,2.775,2.775,2.75,2.744,2.741,2.737,2.736,2.73,2.727,2.717,2.714,2.708,2.707,2.705,2.703,2.699,2.696,2.694,2.678,2.676,2.675,2.667,2.666,2.663,2.657,2.657,2.656,2.653,2.648,2.646,2.644,2.637,2.637,2.636,2.636,2.636,2.636,2.635,2.635,2.632,2.631,2.631,2.627,2.627,2.627,2.63,2.63,2.63,2.624,2.624,2.624,2.624,2.624,2.63,2.631,2.63,2.63,2.63,2.63,2.63,2.63,2.629,2.629,2.629,2.629,2.634,2.636,2.637,2.639,2.645,2.645,2.645,2.645,2.648,2.644,2.644,2.644,2.645,2.645,2.65,2.656,2.664,2.67,2.671,2.671,2.671,2.675,2.676,2.68,2.686,2.687,2.691,2.695,2.703,2.703,2.703,2.706,2.706,2.708,2.708,2.71,2.711,2.72,2.72,2.729,2.733,2.74,2.74,2.745,2.748,3.267,3.278,3.282,3.287,3.299,3.3,3.313,3.316,3.325,3.339,3.342,3.348,3.362,3.364,3.373,3.395,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.136,3.013,2.985,2.985,2.985,3.716,3.724,3.728,3.728,3.746,3.746,3.748,3.756,3.771,3.783,3.784,3.803,3.823,3.825,3.825,3.835,3.841,3.863,3.866,3.888,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.086,4.085,4.072,4.067,4.066,4.064,4.057,4.046,4.046,4.046,4.043,4.04,4.043,4.043,4.033,4.043,0.007,4.025,4.015,4.015,4.015,4.013,4.001,4.001,4.003,4.003,4.008,4.008,4.009,4.009,4.009,4.008,4.008,4.008,4.007,4.008,4.008,4.012,4.017,4.017,4.017,4.017,4.02,4.018,4.018,4.018,4.021,4.03,4.031,4.035,4.035,4.037,4.041,4.048,4.048,0,0,0,4.082,4.08,4.08,4.082,4.085,4.09,4.093,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.44} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.4375} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7018} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 39.4785} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.197,0.182,0.178,0.182,0.182,0.212,1.622,0.007,1.622,1.62,1.611,1.602,1.601,1.601,1.596,1.595,1.593,1.586,1.585,1.579,1.58,1.579,1.578,1.579,1.578,1.574,1.573,1.574,1.573,1.573,1.573,1.564,1.561,1.563,1.563,1.564,1.563,1.563,1.559,1.557,1.557,1.557,1.557,1.561,1.564,1.564,1.561,1.561,1.56,1.558,1.556,1.556,1.554,1.554,1.554,1.551,1.55,0.149,0.149,0.148,0.148,0.149,0.15,0.149,0.153,0.153,0.158,0.158,3.001,3.001,3.002,3.002,3.002,3,0.169,0.167,0.164,0.165,0.161,0.161,0.161,0.165,3.027,3.027,3.028,3.027,3.028,3.028,3.034,3.036,3.041,3.054,3.056,3.063,3.064,3.072,3.078,3.083,3.086,3.09,3.095,3.103,3.107,3.118,3.123,3.128,3.133,3.138,3.146,3.149,3.159,3.174,3.182,3.191,3.191,3.196,3.206,3.209,3.222,3.227,3.23,3.245,3.25,3.253,3.265,3.274,3.285,3.289,3.296,3.317,3.33,3.338,3.339,3.359,3.369,3.376,3.394,3.403,3.419,3.429,3.438,3.456,3.461,3.48,3.494,3.506,3.521,3.535,3.551,3.562,3.562,3.577,3.606,3.615,3.63,3.652,3.667,3.675,3.698,3.717,3.73,3.751,3.766,3.785,3.797,3.817,3.843,3.873,3.895,3.898,3.944,3.958,3.984,3.998,4.024,4.059,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.33,3.304,3.288,3.269,3.258,3.235,3.231,3.202,3.201,3.182,3.178,3.155,3.151,3.139,3.124,3.105,3.094,3.092,3.078,3.061,3.046,3.036,3.032,3.018,3.01,2.996,2.994,2.978,2.975,2.96,2.951,2.945,2.93,2.927,2.917,2.911,2.907,2.898,2.89,2.888,2.873,2.871,2.864,2.855,2.854,2.84,2.83,2.825,2.815,2.813,2.801,2.799,2.798,2.792,2.781,2.781,2.792,2.775,2.771,2.759,2.758,2.749,2.745,2.733,2.728,2.728,2.723,2.72,2.709,2.708,2.704,2.697,2.694,2.693,2.69,2.679,2.665,2.665,2.661,2.661,2.661,2.66,2.66,2.655,2.653,2.652,2.648,2.647,2.644,2.637,2.634,2.631,2.631,2.631,2.631,2.633,2.633,2.633,2.633,2.627,2.627,2.631,2.634,2.631,2.631,2.626,2.626,2.626,2.624,2.624,2.626,2.626,2.626,2.626,2.629,2.629,2.627,2.625,2.625,2.625,2.627,2.626,2.629,2.633,2.633,2.633,2.641,2.638,2.642,2.642,2.642,2.642,2.643,2.643,2.645,2.645,2.645,2.648,2.651,2.657,2.671,2.671,2.669,2.669,2.671,2.685,2.693,2.693,2.7,2.701,2.707,2.707,2.708,2.707,2.707,2.708,2.713,2.713,2.721,2.723,2.723,2.726,2.728,2.739,2.739,2.74,2.746,3.271,3.277,3.281,3.289,3.293,3.299,3.312,3.321,3.332,3.334,3.344,3.348,3.364,3.368,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.123,3.019,2.985,2.974,2.974,2.985,3.718,3.729,3.731,3.739,3.755,3.767,3.773,3.775,3.781,3.781,3.804,3.81,3.821,3.821,3.834,3.836,3.844,3.867,3.88,3.899,3.909,3.918,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.086,4.085,4.078,4.071,4.069,4.065,4.058,4.055,4.055,4.05,4.048,4.046,4.04,4.036,4.04,4.031,4.031,0.007,4.023,4.019,4.019,4.019,4.009,4.009,4.006,4.009,4.009,4.009,4.009,4.009,4.013,4.008,4.008,4.008,4.012,4.011,4.012,4.012,4.012,4.012,4.013,4.014,4.017,4.023,4.023,4.023,4.024,4.024,4.034,4.034,4.038,4.038,4.039,4.046,4.047,4.047,0,0,0,4.083,4.077,4.077,4.081,4.083,4.093,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.6304} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7018} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
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SEN {Time 39.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.8325} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7018} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 39.8745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.183,0.183,0.186,0.186,0.222,1.624,1.624,1.624,1.617,1.607,1.606,1.603,1.601,1.597,1.595,1.593,1.589,1.585,1.584,1.58,1.579,1.579,1.579,1.579,1.576,1.57,1.57,1.57,1.57,1.57,1.564,1.561,1.564,1.561,1.56,1.56,1.56,1.56,1.557,1.557,1.56,1.56,1.56,1.561,1.566,1.566,1.566,1.557,1.556,1.554,1.552,1.552,1.554,1.554,1.554,1.554,0.158,0.155,0.15,0.15,0.15,0.152,0.152,0.153,0.153,0.153,0.155,3,3.006,3.014,3.014,3.014,3.014,0.168,0.165,0.163,0.161,0.161,0.157,0.161,0.167,3.025,3.025,3.025,3.025,3.026,3.033,3.036,3.039,3.043,3.052,3.058,3.061,3.065,3.069,3.071,3.076,3.087,3.088,3.1,3.103,3.115,3.116,3.124,3.131,3.14,3.142,3.142,3.148,3.169,3.173,3.174,3.181,3.194,3.194,3.204,3.22,3.222,3.222,3.24,3.242,3.252,3.253,3.268,3.27,3.282,3.293,3.301,3.316,3.329,3.329,3.34,3.354,3.357,3.379,3.393,3.399,3.414,3.43,3.437,3.456,3.464,3.473,3.485,3.507,3.521,3.526,3.544,3.566,3.577,3.583,3.598,3.629,3.632,3.652,3.664,3.677,3.697,3.703,3.733,3.751,3.753,3.789,3.817,3.818,3.84,3.867,3.882,3.907,3.918,3.949,3.975,3.996,4.017,4.039,4.065,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.324,3.303,3.29,3.264,3.251,3.237,3.224,3.22,3.204,3.181,3.176,3.162,3.138,3.134,3.123,3.109,3.103,3.083,3.077,3.065,3.05,3.044,3.034,3.021,3.018,2.997,2.993,2.985,2.969,2.957,2.954,2.949,2.934,2.925,2.924,2.908,2.901,2.893,2.893,2.891,2.886,2.864,2.862,2.855,2.847,2.833,2.832,2.823,2.812,2.811,2.81,2.807,2.796,2.794,2.789,2.789,2.789,2.779,2.777,2.756,2.75,2.745,2.738,2.738,2.73,2.723,2.721,2.718,2.712,2.711,2.705,2.704,2.7,2.693,2.693,2.685,2.682,2.678,2.666,2.666,2.663,2.661,2.66,2.66,2.657,2.657,2.655,2.648,2.642,2.64,2.639,2.635,2.634,2.634,2.635,2.635,2.635,2.635,2.628,2.628,2.627,2.628,2.628,2.626,2.622,2.632,2.622,2.622,2.626,2.631,2.627,2.628,2.628,2.629,2.629,2.629,2.629,2.629,2.629,2.628,2.629,2.632,2.635,2.635,2.639,2.645,2.645,2.646,2.647,2.647,2.649,2.654,2.647,2.653,2.653,2.653,2.653,2.656,2.659,2.66,2.668,2.668,2.669,2.669,2.68,2.682,2.686,2.693,2.699,2.699,2.705,2.705,2.71,2.71,2.707,2.707,2.707,2.707,2.716,2.721,2.726,2.729,2.735,2.737,2.737,2.739,2.752,3.271,3.277,3.282,3.289,3.291,3.313,3.32,3.327,3.335,3.336,3.339,3.348,3.361,3.363,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.019,2.987,2.978,2.978,2.987,3.716,3.719,3.727,3.737,3.747,3.751,3.757,3.772,3.777,3.779,3.804,3.806,3.813,3.817,3.838,3.838,3.854,3.868,3.883,3.892,3.908,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.091,4.089,4.081,4.072,4.072,4.069,4.067,4.064,4.064,4.045,4.045,4.044,4.044,4.042,4.042,4.037,4.037,0.007,4.022,4.022,4.022,4.022,4.022,4.01,4.01,4.01,4.01,4.012,4.012,4.012,4.012,4.007,4.005,4.005,4.011,4.009,4.011,4.013,4.014,4.014,4.015,4.016,4.017,4.017,4.015,4.016,4.016,4.016,4.028,4.03,4.035,4.035,4.036,4.04,4.047,4.053,0,0,0,4.081,4.081,4.081,4.081,4.087,4.088,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0.009,0.007,1.872,1.872,1.876,1.876,1.9,1.958,0.016,0.016,0.007,0,0,0,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.0343} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8608} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.5814} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 40.0745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.189,0.189,0.19,0.232,0.232,1.622,1.622,1.622,1.616,1.609,1.603,1.595,1.595,1.594,1.594,1.594,1.594,1.587,1.587,1.58,1.579,1.576,1.576,1.576,1.573,1.573,1.573,1.566,1.566,1.566,1.567,1.564,1.564,1.564,1.563,1.56,1.56,1.558,1.558,1.557,1.558,1.558,1.559,1.559,1.559,1.56,1.554,1.553,1.554,1.555,1.553,1.555,1.555,1.555,1.555,1.555,0.157,0.154,0.149,0.148,0.153,0.153,0.153,0.156,0.156,0.157,0.169,3.003,3.003,3.009,3.009,3.003,2.989,0.168,0.164,0.164,0.164,0.163,0.162,0.163,0.165,3.024,3.024,3.025,3.025,3.027,3.03,3.036,3.041,3.043,3.051,3.054,3.068,3.068,3.072,3.073,3.088,3.088,3.093,3.098,3.101,3.113,3.115,3.124,3.127,3.137,3.137,3.139,3.146,3.158,3.171,3.175,3.179,3.19,3.198,3.206,3.214,3.224,3.227,3.23,3.234,3.252,3.253,3.268,3.272,3.281,3.293,3.304,3.319,3.332,3.334,3.337,3.357,3.367,3.379,3.392,3.402,3.425,3.425,3.438,3.456,3.465,3.478,3.496,3.5,3.516,3.539,3.557,3.567,3.581,3.583,3.602,3.615,3.629,3.643,3.663,3.677,3.706,3.708,3.736,3.744,3.763,3.788,3.808,3.831,3.833,3.86,3.868,3.907,3.93,3.955,3.97,3.998,4.025,4.06,4.068,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.321,3.3,3.29,3.269,3.252,3.239,3.219,3.206,3.201,3.184,3.176,3.16,3.148,3.134,3.118,3.113,3.103,3.095,3.073,3.062,3.053,3.035,3.033,3.022,3.021,3.002,3,2.983,2.973,2.961,2.958,2.946,2.943,2.924,2.922,2.914,2.909,2.894,2.892,2.891,2.889,2.877,2.866,2.856,2.848,2.839,2.836,2.825,2.812,2.81,2.805,2.8,2.797,2.786,2.779,2.779,2.779,2.779,2.769,2.749,2.747,2.744,2.738,2.734,2.732,2.724,2.718,2.714,2.71,2.702,2.701,2.7,2.697,2.691,2.69,2.684,2.678,2.673,2.671,2.667,2.665,2.661,2.652,2.651,2.649,2.649,2.649,2.645,2.644,2.639,2.637,2.636,2.635,2.635,2.634,2.634,2.634,2.634,2.627,2.624,2.624,2.624,2.624,2.62,2.624,2.624,2.622,2.622,2.624,2.624,2.625,2.626,2.626,2.628,2.628,2.628,2.628,2.628,2.628,2.63,2.636,2.636,2.636,2.636,2.637,2.637,2.65,2.65,2.65,2.65,2.65,2.647,2.646,2.644,2.644,2.644,2.649,2.652,2.654,2.659,2.662,2.671,2.671,2.676,2.676,2.685,2.69,2.693,2.696,2.703,2.71,2.713,2.713,2.713,2.71,2.71,2.71,2.714,2.719,2.727,2.728,2.732,2.733,2.745,2.745,2.745,2.745,3.271,3.272,3.285,3.292,3.302,3.309,3.316,3.321,3.332,3.343,3.345,3.353,3.356,3.369,3.37,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.071,3.03,2.988,2.976,2.976,2.988,3.713,3.719,3.724,3.741,3.744,3.746,3.767,3.767,3.768,3.79,3.796,3.804,3.825,3.826,3.838,3.843,3.856,3.863,3.887,3.9,3.913,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.092,4.089,4.081,4.077,4.076,4.074,4.072,4.067,4.052,4.049,4.047,4.043,4.039,4.039,4.039,4.035,4.035,0.007,4.022,4.022,4.022,4.022,4.015,4.007,4.007,4.01,4.007,4.01,4.011,4.012,4.016,4.016,4.013,4.013,4.008,4.008,4.013,4.012,4.014,4.014,4.014,4.014,4.015,4.014,4.021,4.021,4.023,4.024,4.027,4.03,4.036,4.036,4.038,4.043,4.044,4.045,0,0,0,4.079,4.079,4.077,4.079,4.08,4.094,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.1,2.097,2.077,2.071,2.065,2.052,2.041,2.041,2.041,0.009,0.009,0.009,0,0,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.2272} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 40.2745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.192,0.183,0.183,0.183,0.186,0.189,0.224,1.621,0.007,1.623,1.621,1.617,1.607,1.596,1.596,1.595,1.595,1.594,1.588,1.587,1.582,1.579,1.579,1.574,1.574,1.575,1.575,1.575,1.575,1.575,1.571,1.567,1.567,1.565,1.564,1.563,1.563,1.562,1.56,1.556,1.556,1.56,1.561,1.561,1.561,1.561,1.561,1.558,1.558,1.558,1.559,1.557,1.557,1.559,1.555,1.555,1.555,1.552,0.152,0.151,0.149,0.149,0.149,0.149,0.156,0.157,0.158,0.158,0.158,2.995,3.002,3.006,3.006,3.002,3.008,0.007,0.167,0.164,0.167,0.163,0.16,0.163,0.172,3.024,3.024,3.026,3.026,3.028,3.031,3.032,3.04,3.047,3.052,3.053,3.062,3.063,3.07,3.074,3.076,3.084,3.099,3.101,3.107,3.113,3.118,3.127,3.13,3.133,3.143,3.146,3.147,3.159,3.169,3.179,3.183,3.196,3.2,3.207,3.211,3.213,3.218,3.237,3.239,3.248,3.252,3.267,3.277,3.285,3.286,3.291,3.318,3.319,3.332,3.352,3.352,3.364,3.374,3.388,3.395,3.405,3.422,3.444,3.459,3.464,3.474,3.494,3.499,3.525,3.526,3.556,3.56,3.571,3.579,3.609,3.617,3.631,3.648,3.659,3.676,3.698,3.709,3.739,3.749,3.759,3.795,3.806,3.832,3.848,3.857,3.893,3.9,3.924,3.964,3.976,4.002,4.016,4.052,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.33,3.299,3.296,3.269,3.252,3.243,3.222,3.212,3.199,3.187,3.169,3.154,3.143,3.132,3.124,3.102,3.1,3.095,3.082,3.068,3.049,3.041,3.033,3.024,3.012,2.996,2.99,2.984,2.973,2.962,2.954,2.946,2.945,2.93,2.929,2.911,2.91,2.896,2.894,2.892,2.891,2.872,2.866,2.856,2.847,2.835,2.829,2.824,2.812,2.81,2.796,2.794,2.79,2.788,2.785,2.785,2.788,2.778,2.766,2.756,2.749,2.74,2.736,2.731,2.728,2.727,2.721,2.714,2.709,2.709,2.707,2.699,2.699,2.693,2.693,2.683,2.674,2.672,2.672,2.669,2.664,2.659,2.657,2.655,2.655,2.655,2.647,2.645,2.645,2.645,2.644,2.639,2.633,2.636,2.636,2.636,2.629,2.628,2.625,2.625,2.625,2.629,2.629,2.629,2.626,2.626,2.626,2.628,2.629,2.631,2.631,2.632,2.632,2.632,2.631,2.631,2.631,2.631,2.631,2.631,2.632,2.632,2.638,2.638,2.638,2.639,2.646,2.652,2.652,2.652,2.654,2.655,2.654,2.651,2.651,2.65,2.65,2.651,2.654,2.665,2.666,2.669,2.671,2.673,2.68,2.681,2.686,2.692,2.696,2.698,2.702,2.703,2.707,2.708,2.708,2.708,2.708,2.712,2.716,2.717,2.725,2.726,2.729,2.737,2.737,2.746,2.749,3.267,3.272,3.29,3.294,3.3,3.31,3.314,3.318,3.33,3.33,3.345,3.348,3.365,3.365,3.378,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.076,2.988,2.988,2.988,3.719,3.722,3.728,3.728,3.743,3.754,3.759,3.76,3.773,3.776,3.792,3.806,3.806,3.819,3.828,3.838,3.844,3.863,3.872,3.879,3.891,3.907,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.088,4.086,4.078,4.077,4.076,4.069,4.067,4.067,4.06,4.06,4.05,4.042,4.041,4.036,4.041,4.036,4.036,0.007,4.028,4.024,4.024,4.024,4.02,4.007,4.007,4.007,4.007,4.007,4.007,4.007,4.007,4.007,4.01,4.01,4.01,4.01,4.011,4.016,4.016,4.017,4.017,4.017,4.014,4.017,4.015,4.015,4.02,4.031,4.045,4.045,4.041,4.041,4.041,4.041,4.047,4.051,0,0,0,4.086,4.072,4.072,4.086,4.087,4.089,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,2.102,2.092,2.086,2.086,2.079,2.079,2.087,2.116,2.161,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.4293} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.7526} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
SEN {Time 40.4744} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.193,0.185,0.211,0.211,0.211,1.631,0.007,1.631,1.615,1.608,1.606,1.598,1.598,1.596,1.596,1.588,1.59,1.584,1.58,1.584,1.58,1.58,1.58,1.576,1.576,1.572,1.572,1.569,1.569,1.569,1.562,1.561,1.561,1.56,1.56,1.558,1.558,1.558,1.558,1.558,1.559,1.559,1.562,1.562,1.562,1.562,1.562,1.559,1.558,1.557,1.556,1.555,1.555,1.555,1.55,1.55,0.153,0.153,0.151,0.151,0.151,0.153,0.153,0.154,0.154,0.164,0.167,3.002,3.002,3.006,3.006,3.006,2.988,0.168,0.167,0.16,0.163,0.163,0.16,0.163,0.164,3.021,3.021,3.022,3.022,3.03,3.03,3.033,3.035,3.038,3.061,3.062,3.062,3.066,3.072,3.078,3.079,3.082,3.101,3.101,3.102,3.11,3.118,3.13,3.131,3.142,3.143,3.148,3.148,3.153,3.17,3.177,3.177,3.192,3.202,3.21,3.216,3.22,3.223,3.233,3.241,3.248,3.254,3.272,3.273,3.284,3.292,3.296,3.316,3.326,3.337,3.339,3.355,3.364,3.384,3.393,3.404,3.417,3.428,3.432,3.451,3.467,3.472,3.499,3.501,3.516,3.523,3.551,3.562,3.573,3.579,3.607,3.614,3.632,3.654,3.664,3.669,3.695,3.711,3.723,3.75,3.758,3.783,3.809,3.825,3.845,3.865,3.893,3.906,3.939,3.943,3.966,3.996,4.024,4.057,4.069,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.319,3.3,3.288,3.262,3.253,3.243,3.225,3.22,3.197,3.184,3.176,3.155,3.154,3.13,3.125,3.119,3.097,3.093,3.085,3.061,3.053,3.042,3.031,3.017,3.014,3,2.994,2.982,2.974,2.963,2.955,2.954,2.945,2.925,2.915,2.911,2.909,2.901,2.899,2.889,2.887,2.867,2.863,2.862,2.849,2.837,2.834,2.82,2.815,2.809,2.807,2.801,2.794,2.778,2.778,2.778,2.778,2.778,2.768,2.754,2.749,2.742,2.742,2.734,2.727,2.727,2.722,2.719,2.719,2.71,2.705,2.704,2.702,2.692,2.682,2.681,2.675,2.674,2.672,2.666,2.663,2.661,2.656,2.654,2.653,2.65,2.647,2.647,2.646,2.635,2.635,2.635,2.635,2.631,2.638,2.631,2.627,2.627,2.626,2.626,2.626,2.629,2.627,2.627,2.626,2.624,2.62,2.62,2.624,2.628,2.628,2.629,2.629,2.629,2.627,2.627,2.627,2.629,2.629,2.629,2.63,2.631,2.631,2.631,2.634,2.635,2.643,2.646,2.646,2.646,2.646,2.649,2.646,2.646,2.646,2.646,2.646,2.65,2.652,2.663,2.669,2.669,2.668,2.669,2.669,2.688,2.696,2.696,2.698,2.701,2.71,2.713,2.713,2.713,2.713,2.713,2.713,2.713,2.714,2.719,2.721,2.73,2.732,2.734,2.734,2.738,2.738,3.264,3.273,3.283,3.289,3.303,3.307,3.318,3.322,3.33,3.334,3.337,3.35,3.365,3.369,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,2.979,2.979,2.979,3.716,3.718,3.72,3.72,3.744,3.75,3.752,3.757,3.769,3.77,3.793,3.803,3.806,3.817,3.825,3.839,3.844,3.872,3.872,3.882,3.885,3.91,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,4.086,4.085,4.081,4.072,4.068,4.068,4.056,4.056,4.052,4.042,4.042,4.037,4.037,4.039,4.037,4.039,0.007,4.018,4.014,4.014,4.014,4.014,4.014,4.015,4.015,4.014,4.014,4.014,4.012,4.012,4.012,4.009,4.008,4.008,4.008,4.007,4.009,4.009,4.011,4.011,4.011,4.016,4.016,4.016,4.016,4.018,4.031,4.032,4.034,4.034,4.034,4.038,4.04,4.047,4.05,0,0,0,4.086,4.076,4.076,4.084,4.086,4.086,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.142,2.134,2.127,2.127,2.127,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.63} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.6302} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.7846} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.2606}
SEN {Time 40.6705} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.192,0.181,0.181,0.183,0.183,0.229,1.622,0.007,1.622,1.62,1.609,1.608,1.594,1.594,1.593,1.593,1.59,1.589,1.585,1.584,1.584,1.583,1.582,1.582,1.582,1.574,1.571,1.574,1.571,1.571,1.571,1.566,1.565,1.565,1.564,1.564,1.564,1.563,1.56,1.558,1.558,1.56,1.56,1.564,1.564,1.562,1.565,1.562,1.561,1.558,1.555,1.555,1.554,1.554,1.554,1.554,1.554,0.155,0.152,0.146,0.147,0.147,0.147,0.154,0.154,0.154,0.159,0.159,3,3.006,3.006,3.006,3.003,3.003,0.167,0.164,0.163,0.164,0.163,0.163,0.163,0.168,3.018,3.019,3.025,3.025,3.027,3.037,3.039,3.04,3.048,3.052,3.058,3.061,3.078,3.078,3.08,3.082,3.09,3.097,3.098,3.103,3.112,3.125,3.128,3.129,3.137,3.141,3.144,3.147,3.158,3.167,3.177,3.186,3.191,3.202,3.202,3.211,3.212,3.227,3.239,3.239,3.242,3.246,3.273,3.273,3.277,3.291,3.301,3.32,3.323,3.333,3.342,3.36,3.361,3.371,3.387,3.397,3.422,3.423,3.436,3.453,3.465,3.486,3.493,3.503,3.516,3.532,3.557,3.569,3.57,3.58,3.611,3.617,3.632,3.656,3.662,3.675,3.699,3.705,3.722,3.747,3.759,3.776,3.811,3.821,3.842,3.871,3.884,3.903,3.922,3.948,3.975,4.007,4.011,4.053,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.317,3.298,3.28,3.27,3.254,3.235,3.219,3.203,3.199,3.186,3.17,3.161,3.149,3.135,3.122,3.111,3.093,3.087,3.085,3.061,3.055,3.043,3.026,3.015,3.013,2.998,2.99,2.982,2.972,2.97,2.953,2.943,2.943,2.938,2.933,2.91,2.91,2.9,2.893,2.893,2.878,2.87,2.869,2.855,2.853,2.844,2.842,2.827,2.815,2.806,2.803,2.794,2.789,2.787,2.786,2.786,2.789,2.775,2.761,2.755,2.745,2.742,2.74,2.736,2.719,2.718,2.716,2.712,2.71,2.705,2.699,2.696,2.694,2.692,2.691,2.691,2.678,2.674,2.672,2.663,2.66,2.659,2.656,2.653,2.653,2.653,2.653,2.647,2.641,2.641,2.639,2.633,2.632,2.632,2.633,2.631,2.634,2.634,2.633,2.631,2.631,2.631,2.631,2.631,2.631,2.625,2.622,2.622,2.622,2.622,2.622,2.622,2.629,2.63,2.63,2.633,2.633,2.632,2.634,2.634,2.635,2.635,2.639,2.637,2.639,2.644,2.639,2.648,2.648,2.643,2.643,2.649,2.643,2.653,2.653,2.651,2.651,2.653,2.655,2.665,2.668,2.668,2.668,2.673,2.688,2.688,2.688,2.692,2.697,2.706,2.707,2.708,2.71,2.71,2.708,2.71,2.71,2.71,2.717,2.725,2.731,2.735,2.736,2.751,2.751,2.752,2.754,3.26,3.274,3.281,3.302,3.303,3.303,3.318,3.319,3.328,3.342,3.347,3.353,3.356,3.367,3.377,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.072,2.984,2.974,2.974,2.984,3.713,3.722,3.726,3.731,3.75,3.752,3.766,3.769,3.781,3.787,3.802,3.808,3.816,3.822,3.837,3.841,3.846,3.865,3.868,3.888,3.901,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.095,4.092,4.086,4.079,4.07,4.07,4.069,4.069,4.058,4.058,4.045,4.045,4.045,4.044,4.044,4.044,4.03,4.03,0.007,4.021,4.021,4.021,4.021,4.019,4.015,4.01,4.015,4.011,4.013,4.011,4.011,4.011,4.008,4.008,4.008,4.006,4.006,4.011,4.016,4.013,4.013,4.017,4.016,4.013,4.016,4.016,4.016,4.021,4.029,4.037,4.037,4.037,4.037,4.038,4.042,4.048,4.051,0,0,0,4.072,4.072,4.072,4.082,4.083,4.095,4.095,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.8243} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.2606}
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SEN {Time 41.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.0262} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.2606}
SEN {Time 41.0705} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.183,0.183,0.185,0.227,0.227,1.626,1.626,1.626,1.61,1.608,1.604,1.603,1.598,1.596,1.595,1.593,1.591,1.587,1.584,1.584,1.583,1.576,1.582,1.582,1.574,1.574,1.574,1.574,1.574,1.574,1.562,1.561,1.562,1.561,1.561,1.559,1.557,1.554,1.554,1.554,1.557,1.559,1.559,1.559,1.559,1.561,1.561,1.56,1.56,1.558,1.554,1.558,1.557,1.557,1.557,1.557,0.151,0.151,0.143,0.143,0.147,0.147,0.147,0.151,0.152,0.161,0.161,2.997,2.997,3.007,3.007,2.997,3.007,0.007,0.166,0.159,0.166,0.159,0.158,0.159,0.171,3.027,3.027,3.029,3.029,3.029,3.037,3.038,3.041,3.048,3.054,3.059,3.065,3.066,3.067,3.082,3.086,3.087,3.096,3.098,3.1,3.111,3.116,3.121,3.127,3.141,3.143,3.147,3.147,3.168,3.175,3.177,3.181,3.187,3.197,3.211,3.212,3.218,3.223,3.234,3.241,3.253,3.256,3.27,3.276,3.284,3.29,3.309,3.318,3.324,3.327,3.335,3.347,3.362,3.374,3.393,3.393,3.416,3.434,3.435,3.454,3.459,3.474,3.489,3.504,3.517,3.526,3.554,3.568,3.574,3.584,3.597,3.62,3.623,3.648,3.667,3.674,3.701,3.716,3.725,3.747,3.772,3.788,3.804,3.819,3.842,3.867,3.884,3.896,3.929,3.958,3.964,4.003,4.025,4.048,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.326,3.304,3.295,3.274,3.247,3.242,3.228,3.205,3.192,3.185,3.175,3.149,3.141,3.132,3.129,3.101,3.101,3.092,3.074,3.061,3.05,3.045,3.032,3.014,3.013,3.002,2.994,2.982,2.975,2.967,2.951,2.943,2.939,2.924,2.921,2.91,2.909,2.894,2.891,2.887,2.882,2.866,2.86,2.857,2.844,2.839,2.832,2.828,2.813,2.809,2.803,2.802,2.8,2.783,2.781,2.781,2.783,2.781,2.767,2.756,2.744,2.744,2.738,2.737,2.731,2.731,2.718,2.715,2.714,2.71,2.705,2.703,2.7,2.691,2.691,2.679,2.675,2.672,2.67,2.664,2.66,2.657,2.657,2.656,2.656,2.653,2.653,2.648,2.645,2.638,2.636,2.636,2.636,2.633,2.637,2.637,2.634,2.63,2.63,2.628,2.628,2.628,2.628,2.628,2.628,2.622,2.622,2.622,2.625,2.627,2.627,2.627,2.634,2.631,2.627,2.627,2.631,2.624,2.624,2.628,2.631,2.637,2.637,2.637,2.637,2.637,2.641,2.65,2.65,2.647,2.647,2.65,2.647,2.648,2.65,2.648,2.648,2.65,2.659,2.662,2.668,2.668,2.668,2.671,2.68,2.681,2.683,2.693,2.696,2.705,2.705,2.705,2.705,2.714,2.705,2.71,2.71,2.718,2.723,2.723,2.728,2.729,2.738,2.741,2.741,2.743,2.756,3.262,3.269,3.294,3.295,3.307,3.316,3.32,3.321,3.33,3.339,3.341,3.349,3.35,3.368,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.02,2.986,2.98,2.98,2.986,3.713,3.72,3.732,3.747,3.75,3.751,3.757,3.766,3.774,3.783,3.802,3.808,3.821,3.824,3.839,3.84,3.861,3.863,3.875,3.887,3.917,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.088,4.084,4.081,4.078,4.076,4.074,4.065,4.063,4.056,4.052,4.049,4.041,4.04,4.039,4.039,4.038,4.039,0.007,4.028,4.02,4.02,4.02,4.016,4.016,4.011,4.011,4.011,4.011,4.011,4.011,4.011,4.011,4.009,4.009,4.008,4.008,4.009,4.008,4.014,4.014,4.014,4.012,4.014,4.012,4.018,4.018,4.02,4.021,4.032,4.036,4.037,4.037,4.039,4.041,4.045,4.049,0,0,0,4.08,4.08,4.079,4.08,4.081,4.086,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.2272} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8542} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.413} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.3114}
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SEN {Time 41.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.4292} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8542} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.413} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.3114}
SEN {Time 41.4665} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.184,0.184,0.185,0.185,0.227,1.613,1.614,1.614,1.613,1.602,1.596,1.596,1.596,1.596,1.595,1.593,1.592,1.588,1.587,1.584,1.584,1.575,1.578,1.579,1.578,1.575,1.575,1.574,1.573,1.573,1.565,1.562,1.562,1.562,1.561,1.559,1.559,1.558,1.558,1.558,1.559,1.558,1.561,1.561,1.559,1.559,1.559,1.557,1.556,1.555,1.551,1.555,1.555,1.555,1.555,1.555,0.153,0.153,0.15,0.15,0.153,0.154,0.154,0.156,0.156,0.161,0.161,2.989,2.993,2.995,2.995,2.995,2.995,0.173,0.161,0.161,0.168,0.162,0.162,0.168,0.168,3.02,3.02,3.026,3.026,3.028,3.03,3.038,3.042,3.046,3.054,3.059,3.066,3.069,3.071,3.072,3.082,3.09,3.096,3.097,3.109,3.115,3.119,3.12,3.121,3.14,3.143,3.145,3.146,3.169,3.171,3.176,3.185,3.198,3.202,3.202,3.212,3.213,3.22,3.233,3.239,3.252,3.253,3.261,3.273,3.28,3.287,3.299,3.322,3.327,3.334,3.354,3.354,3.357,3.377,3.392,3.394,3.421,3.433,3.438,3.452,3.453,3.475,3.495,3.496,3.516,3.53,3.553,3.562,3.582,3.59,3.59,3.625,3.626,3.652,3.659,3.676,3.698,3.714,3.729,3.746,3.755,3.788,3.806,3.824,3.828,3.859,3.872,3.91,3.924,3.957,3.977,4.017,4.027,4.061,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.325,3.3,3.292,3.268,3.266,3.235,3.228,3.21,3.194,3.177,3.169,3.149,3.148,3.135,3.118,3.105,3.096,3.092,3.084,3.063,3.054,3.039,3.034,3.022,3.018,2.999,2.994,2.984,2.973,2.972,2.956,2.95,2.944,2.929,2.929,2.907,2.906,2.898,2.892,2.888,2.884,2.866,2.862,2.854,2.841,2.839,2.837,2.832,2.813,2.808,2.807,2.807,2.793,2.786,2.782,2.782,2.782,2.775,2.775,2.752,2.75,2.747,2.743,2.739,2.728,2.724,2.718,2.711,2.71,2.71,2.702,2.697,2.697,2.695,2.69,2.677,2.677,2.673,2.666,2.664,2.658,2.658,2.657,2.656,2.654,2.652,2.647,2.646,2.642,2.638,2.638,2.634,2.633,2.632,2.632,2.632,2.632,2.632,2.631,2.628,2.628,2.628,2.632,2.633,2.633,2.632,2.625,2.625,2.625,2.625,2.626,2.627,2.627,2.627,2.626,2.628,2.628,2.628,2.629,2.632,2.631,2.631,2.631,2.631,2.631,2.635,2.646,2.649,2.649,2.649,2.649,2.649,2.646,2.652,2.652,2.65,2.648,2.65,2.65,2.662,2.665,2.665,2.666,2.666,2.674,2.688,2.688,2.69,2.696,2.696,2.701,2.702,2.702,2.706,2.705,2.706,2.711,2.711,2.718,2.72,2.722,2.727,2.733,2.738,2.738,2.741,2.745,3.271,3.273,3.29,3.291,3.303,3.305,3.315,3.323,3.324,3.329,3.34,3.348,3.354,3.371,3.371,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.029,2.985,2.985,2.985,3.712,3.717,3.736,3.736,3.744,3.749,3.753,3.763,3.774,3.783,3.789,3.797,3.814,3.817,3.818,3.84,3.85,3.859,3.865,3.873,3.888,3.896,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.092,4.09,4.085,4.079,4.077,4.076,4.068,4.067,4.056,4.05,4.049,4.049,4.047,4.045,4.042,4.042,4.037,4.037,0.007,4.023,4.02,4.02,4.02,4.014,4.012,4.012,4.014,4.012,4.014,4.014,4.012,4.012,4.012,4.008,4.011,4.008,4.008,4.011,4.011,4.011,4.015,4.018,4.018,4.018,4.017,4.017,4.017,4.017,4.034,4.035,4.04,4.04,4.04,4.04,4.042,4.046,4.048,0,0,0,4.076,4.075,4.075,4.075,4.092,4.092,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.6222} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8542} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.413} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.3114}
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SEN {Time 41.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.8242} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.937} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 41.8665} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.196,0.179,0.232,0.232,0.232,1.622,1.622,1.622,1.612,1.61,1.604,1.602,1.601,1.598,1.598,1.594,1.591,1.584,1.583,1.583,1.578,1.578,1.578,1.578,1.572,1.572,1.572,1.57,1.565,1.569,1.565,1.564,1.564,1.564,1.564,1.562,1.56,1.558,1.558,1.56,1.56,1.556,1.556,1.556,1.556,1.559,1.559,1.56,1.559,1.558,1.556,1.556,1.556,1.556,1.554,1.553,0.156,0.153,0.151,0.148,0.151,0.151,0.153,0.153,0.153,0.153,0.153,3.005,3.005,3.007,3.007,3.005,3.003,0.174,0.17,0.167,0.17,0.167,0.162,0.167,0.173,3.024,3.024,3.024,3.024,3.024,3.032,3.033,3.035,3.037,3.048,3.056,3.063,3.067,3.069,3.07,3.079,3.08,3.09,3.098,3.103,3.115,3.119,3.128,3.131,3.133,3.137,3.148,3.148,3.17,3.18,3.184,3.184,3.194,3.198,3.204,3.212,3.216,3.221,3.234,3.242,3.253,3.259,3.268,3.269,3.279,3.286,3.297,3.318,3.32,3.33,3.342,3.354,3.369,3.379,3.392,3.393,3.423,3.425,3.436,3.451,3.464,3.483,3.492,3.506,3.52,3.531,3.543,3.558,3.576,3.58,3.597,3.624,3.625,3.652,3.653,3.686,3.697,3.707,3.729,3.758,3.762,3.78,3.799,3.829,3.84,3.873,3.893,3.901,3.938,3.949,3.976,3.998,4.022,4.055,4.061,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.325,3.301,3.29,3.27,3.263,3.242,3.218,3.218,3.204,3.194,3.174,3.152,3.137,3.128,3.125,3.108,3.096,3.092,3.079,3.065,3.054,3.041,3.032,3.017,3.016,2.998,2.992,2.98,2.977,2.961,2.949,2.948,2.942,2.924,2.919,2.909,2.908,2.896,2.892,2.888,2.882,2.865,2.864,2.862,2.85,2.836,2.831,2.822,2.815,2.812,2.808,2.8,2.784,2.784,2.784,2.784,2.784,2.777,2.774,2.756,2.748,2.738,2.738,2.738,2.725,2.719,2.719,2.716,2.716,2.714,2.704,2.702,2.701,2.693,2.684,2.682,2.679,2.674,2.671,2.664,2.662,2.66,2.659,2.657,2.656,2.654,2.652,2.652,2.65,2.637,2.637,2.636,2.636,2.636,2.636,2.634,2.634,2.631,2.634,2.629,2.629,2.629,2.632,2.629,2.629,2.626,2.622,2.622,2.622,2.624,2.624,2.625,2.627,2.631,2.627,2.631,2.631,2.629,2.629,2.629,2.629,2.636,2.636,2.636,2.638,2.64,2.646,2.648,2.648,2.646,2.646,2.652,2.645,2.644,2.65,2.65,2.65,2.652,2.657,2.663,2.673,2.673,2.671,2.673,2.673,2.69,2.695,2.696,2.696,2.705,2.705,2.705,2.705,2.705,2.705,2.705,2.705,2.718,2.722,2.725,2.725,2.727,2.734,2.743,2.743,2.747,2.75,3.264,3.278,3.278,3.289,3.297,3.303,3.317,3.324,3.327,3.341,3.342,3.35,3.363,3.369,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.021,2.98,2.98,2.98,3.714,3.73,3.731,3.731,3.739,3.747,3.75,3.762,3.766,3.769,3.779,3.791,3.794,3.823,3.833,3.844,3.845,3.857,3.872,3.881,3.902,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.094,4.087,4.079,4.079,4.074,4.069,4.063,4.059,4.049,4.049,4.049,4.046,4.046,4.045,4.045,4.032,4.045,0.007,4.025,4.021,4.021,4.021,4.018,4.012,4.01,4.01,4.01,4.012,4.012,4.012,4.012,4.011,4.011,4.011,4.006,4.006,4.01,4.006,4.01,4.013,4.017,4.016,4.017,4.017,4.016,4.016,4.025,4.025,4.032,4.033,4.035,4.035,4.035,4.043,4.044,4.05,0,0,0,4.078,4.078,4.078,4.081,4.083,4.086,4.088,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0.016,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.0261} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 3.9624} {Name Sonar15 Range 2.286}
SEN {Time 42.0675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.192,0.187,0.18,0.187,0.187,0.227,1.617,1.619,1.619,1.617,1.609,1.607,1.596,1.596,1.596,1.596,1.596,1.586,1.585,1.584,1.584,1.579,1.579,1.58,1.58,1.572,1.572,1.572,1.566,1.566,1.566,1.564,1.564,1.564,1.563,1.557,1.556,1.556,1.556,1.556,1.557,1.56,1.56,1.561,1.562,1.562,1.563,1.563,1.561,1.558,1.554,1.552,1.552,1.552,1.553,1.553,1.553,0.15,0.15,0.148,0.148,0.147,0.147,0.147,0.153,0.153,0.157,0.157,2.993,2.994,2.997,2.997,2.997,2.997,0.171,0.169,0.163,0.169,0.164,0.156,0.164,0.174,3.022,3.027,3.027,3.027,3.029,3.031,3.041,3.041,3.043,3.046,3.061,3.069,3.069,3.072,3.073,3.082,3.085,3.095,3.099,3.107,3.107,3.111,3.127,3.129,3.137,3.144,3.145,3.148,3.164,3.168,3.178,3.184,3.197,3.2,3.21,3.211,3.216,3.223,3.235,3.239,3.248,3.258,3.272,3.279,3.285,3.286,3.296,3.314,3.324,3.324,3.349,3.354,3.361,3.374,3.392,3.394,3.412,3.414,3.438,3.463,3.463,3.477,3.492,3.496,3.517,3.532,3.55,3.558,3.573,3.592,3.599,3.612,3.635,3.655,3.667,3.676,3.696,3.719,3.737,3.739,3.765,3.772,3.791,3.829,3.831,3.868,3.877,3.912,3.931,3.946,3.972,3.991,4.023,4.065,4.073,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,3.383,3.318,3.307,3.282,3.262,3.257,3.238,3.234,3.207,3.197,3.185,3.174,3.158,3.148,3.129,3.123,3.112,3.096,3.093,3.086,3.069,3.052,3.04,3.033,3.024,3.017,3.009,3,2.979,2.979,2.963,2.955,2.946,2.94,2.929,2.915,2.913,2.907,2.894,2.892,2.887,2.88,2.869,2.863,2.851,2.85,2.835,2.834,2.828,2.825,2.811,2.802,2.797,2.796,2.785,2.779,2.779,2.785,2.776,2.768,2.757,2.753,2.742,2.738,2.737,2.736,2.725,2.721,2.716,2.711,2.711,2.702,2.698,2.696,2.686,2.685,2.685,2.682,2.674,2.66,2.66,2.66,2.66,2.66,2.657,2.655,2.654,2.654,2.652,2.636,2.635,2.634,2.631,2.631,2.631,2.631,2.631,2.631,2.633,2.633,2.629,2.629,2.633,2.631,2.631,2.631,2.627,2.627,2.622,2.622,2.632,2.632,2.629,2.63,2.63,2.629,2.63,2.63,2.631,2.629,2.629,2.629,2.631,2.629,2.632,2.633,2.633,2.641,2.646,2.649,2.649,2.649,2.649,2.646,2.646,2.649,2.649,2.649,2.65,2.651,2.667,2.667,2.667,2.667,2.668,2.67,2.687,2.688,2.688,2.696,2.698,2.701,2.713,2.713,2.713,2.712,2.712,2.712,2.713,2.714,2.722,2.724,2.724,2.728,2.742,2.742,2.745,2.762,3.266,3.274,3.287,3.291,3.295,3.306,3.313,3.324,3.328,3.34,3.345,3.347,3.357,3.371,3.378,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.984,2.978,2.978,2.984,3.727,3.733,3.736,3.743,3.743,3.753,3.765,3.768,3.768,3.783,3.801,3.802,3.806,3.831,3.837,3.844,3.856,3.868,3.875,3.898,3.914,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.091,4.091,4.086,4.081,4.081,4.077,4.071,4.07,4.059,4.053,4.05,4.049,4.047,4.038,4.038,4.038,4.037,4.042,0.007,4.028,4.024,4.024,4.024,4.02,4.015,4.015,4.015,4.011,4.015,4.011,4.011,4.011,4.01,4.009,4.002,4.002,4.002,4.002,4.009,4.009,4.012,4.012,4.012,4.016,4.016,4.018,4.018,4.02,4.022,4.024,4.026,4.037,4.037,4.037,4.037,4.042,4.045,0,0,0,4.082,4.077,4.077,4.079,4.082,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.24} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.237} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 42.2664} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.183,0.183,0.186,0.186,0.219,1.617,0.007,1.621,1.617,1.606,1.605,1.596,1.596,1.596,1.595,1.595,1.594,1.592,1.586,1.583,1.582,1.579,1.579,1.579,1.568,1.568,1.569,1.566,1.568,1.568,1.568,1.561,1.561,1.56,1.56,1.56,1.559,1.559,1.556,1.556,1.563,1.563,1.562,1.562,1.562,1.559,1.559,1.557,1.556,1.554,1.549,1.554,1.554,1.556,1.556,1.556,0.15,0.15,0.145,0.15,0.154,0.156,0.158,0.158,0.156,0.162,0.162,2.993,3,3.003,3.003,3.01,0.006,0.006,0.006,0.17,0.166,0.161,0.16,0.161,0.166,3.021,3.021,3.024,3.024,3.029,3.029,3.03,3.035,3.041,3.052,3.052,3.06,3.068,3.071,3.077,3.081,3.088,3.098,3.098,3.109,3.116,3.117,3.125,3.13,3.138,3.138,3.145,3.148,3.159,3.168,3.171,3.181,3.186,3.199,3.208,3.211,3.217,3.228,3.234,3.236,3.253,3.255,3.272,3.273,3.284,3.293,3.301,3.311,3.318,3.335,3.337,3.36,3.372,3.373,3.382,3.394,3.412,3.421,3.434,3.443,3.47,3.473,3.491,3.495,3.514,3.536,3.553,3.571,3.579,3.585,3.604,3.622,3.634,3.651,3.664,3.681,3.7,3.713,3.736,3.754,3.761,3.771,3.809,3.813,3.844,3.869,3.872,3.904,3.925,3.933,3.977,4.002,4.019,4.034,4.074,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.325,3.302,3.279,3.26,3.252,3.243,3.222,3.205,3.202,3.182,3.168,3.148,3.142,3.134,3.124,3.108,3.094,3.086,3.082,3.07,3.05,3.041,3.03,3.02,3.017,3.008,2.995,2.986,2.973,2.966,2.956,2.949,2.948,2.924,2.917,2.908,2.908,2.902,2.894,2.887,2.882,2.869,2.86,2.857,2.851,2.837,2.83,2.82,2.812,2.807,2.807,2.8,2.792,2.788,2.779,2.779,2.788,2.776,2.774,2.754,2.751,2.742,2.741,2.737,2.732,2.728,2.723,2.715,2.714,2.706,2.706,2.7,2.697,2.691,2.689,2.676,2.675,2.67,2.67,2.667,2.661,2.66,2.659,2.657,2.652,2.65,2.648,2.645,2.643,2.64,2.64,2.638,2.635,2.635,2.635,2.632,2.63,2.631,2.631,2.63,2.63,2.631,2.628,2.625,2.622,2.625,2.623,2.623,2.623,2.626,2.627,2.631,2.627,2.631,2.627,2.63,2.63,2.63,2.63,2.63,2.631,2.631,2.635,2.636,2.638,2.641,2.641,2.645,2.649,2.649,2.65,2.652,2.652,2.648,2.648,2.648,2.648,2.653,2.654,2.663,2.67,2.67,2.669,2.669,2.676,2.684,2.691,2.692,2.697,2.7,2.704,2.711,2.712,2.712,2.711,2.711,2.712,2.718,2.719,2.729,2.733,2.733,2.733,2.737,2.737,2.743,2.746,3.267,3.27,3.286,3.286,3.294,3.304,3.319,3.329,3.332,3.342,3.346,3.349,3.368,3.374,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.136,2.989,2.969,2.969,2.989,3.716,3.722,3.728,3.745,3.747,3.755,3.756,3.773,3.779,3.784,3.801,3.811,3.814,3.839,3.85,3.865,3.865,3.867,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.089,4.08,4.078,4.077,4.077,4.077,4.068,4.066,4.05,4.046,4.044,4.044,4.04,4.032,4.032,4.029,4.029,0.007,4.023,4.018,4.018,4.018,4.015,4.015,4.01,4.004,4.004,4.011,4.004,4.011,4.011,4.011,4.008,4.008,4.003,4.003,4.008,4.01,4.011,4.012,4.014,4.015,4.015,4.017,4.017,4.021,4.022,4.023,4.036,4.036,4.038,4.036,4.038,4.046,4.047,4.051,0,0,0,4.077,4.077,4.077,4.079,4.08,4.085,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.421} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
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SEN {Time 42.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.614} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4478} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.937} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 2.286}
SEN {Time 42.6625} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.2,0.187,0.187,0.187,0.187,0.187,0.231,1.616,1.622,1.622,1.616,1.608,1.606,1.606,1.6,1.593,1.593,1.593,1.589,1.588,1.584,1.582,1.582,1.582,1.582,1.582,1.571,1.571,1.571,1.571,1.571,1.571,1.564,1.563,1.564,1.564,1.562,1.558,1.56,1.56,1.559,1.559,1.559,1.559,1.559,1.559,1.557,1.562,1.562,1.558,1.557,1.557,1.553,1.555,1.553,1.553,1.551,1.55,0.156,0.152,0.152,0.15,0.152,0.152,0.157,0.157,0.157,0.157,0.157,2.997,2.997,2.998,2.998,2.997,2.989,0.174,0.167,0.162,0.162,0.162,0.159,0.162,0.164,3.018,3.018,3.021,3.021,3.021,3.025,3.036,3.039,3.041,3.043,3.065,3.065,3.067,3.067,3.073,3.081,3.087,3.089,3.093,3.099,3.109,3.109,3.122,3.127,3.134,3.137,3.143,3.151,3.159,3.166,3.18,3.181,3.193,3.199,3.201,3.21,3.218,3.224,3.233,3.236,3.25,3.25,3.278,3.279,3.282,3.291,3.295,3.32,3.323,3.326,3.337,3.358,3.368,3.379,3.392,3.402,3.418,3.421,3.429,3.452,3.47,3.473,3.501,3.501,3.516,3.541,3.544,3.557,3.574,3.585,3.605,3.619,3.64,3.661,3.663,3.682,3.697,3.708,3.734,3.745,3.769,3.798,3.8,3.829,3.846,3.868,3.889,3.904,3.92,3.965,3.973,3.988,4.029,4.051,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.312,3.305,3.293,3.267,3.256,3.241,3.226,3.214,3.207,3.184,3.17,3.156,3.148,3.13,3.128,3.109,3.098,3.093,3.081,3.067,3.054,3.038,3.037,3.019,3.019,3.001,2.99,2.984,2.98,2.966,2.948,2.944,2.936,2.928,2.92,2.906,2.906,2.897,2.894,2.887,2.886,2.871,2.868,2.854,2.853,2.836,2.831,2.828,2.815,2.813,2.806,2.798,2.794,2.791,2.791,2.791,2.791,2.776,2.776,2.756,2.752,2.748,2.744,2.738,2.731,2.727,2.723,2.718,2.704,2.703,2.701,2.699,2.693,2.691,2.689,2.684,2.678,2.669,2.667,2.665,2.662,2.658,2.658,2.658,2.657,2.652,2.648,2.647,2.639,2.637,2.634,2.634,2.634,2.632,2.634,2.634,2.632,2.634,2.634,2.627,2.627,2.632,2.627,2.629,2.629,2.627,2.625,2.625,2.625,2.626,2.626,2.626,2.627,2.627,2.627,2.629,2.627,2.631,2.633,2.631,2.631,2.633,2.633,2.635,2.636,2.636,2.636,2.647,2.651,2.651,2.651,2.659,2.651,2.65,2.65,2.644,2.644,2.65,2.659,2.672,2.672,2.672,2.672,2.674,2.674,2.69,2.699,2.699,2.699,2.702,2.702,2.709,2.715,2.718,2.715,2.718,2.719,2.722,2.723,2.726,2.726,2.734,2.739,2.739,2.739,2.745,2.758,3.261,3.271,3.285,3.299,3.302,3.307,3.311,3.319,3.326,3.335,3.343,3.348,3.354,3.361,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.127,3.015,2.983,2.983,2.983,3.718,3.72,3.732,3.732,3.753,3.755,3.76,3.763,3.771,3.776,3.785,3.804,3.811,3.812,3.824,3.848,3.848,3.863,3.871,3.882,3.893,3.909,3.91,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.087,4.084,4.082,4.075,4.069,4.066,4.062,4.059,4.057,4.052,4.049,4.046,4.041,4.037,4.037,4.031,4.037,0.007,4.029,4.023,4.023,4.023,4.022,4.016,4.016,4.016,4.014,4.015,4.014,4.014,4.014,4.014,4.006,4.006,4.006,4.006,4.006,4.012,4.015,4.015,4.015,4.019,4.019,4.015,4.019,4.023,4.023,4.025,4.031,4.034,4.045,4.045,4.045,4.047,4.047,4.047,0,0,0,4.08,4.075,4.075,4.075,4.082,4.093,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0,0.016,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.815} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
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SEN {Time 43.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.0169} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 43.0625} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.191,0.191,0.187,0.187,0.188,0.216,0.216,1.613,0.007,1.613,1.612,1.611,1.605,1.6,1.599,1.597,1.597,1.597,1.587,1.585,1.585,1.585,1.582,1.581,1.579,1.574,1.574,1.572,1.571,1.57,1.57,1.57,1.565,1.564,1.564,1.564,1.561,1.561,1.561,1.558,1.557,1.558,1.558,1.558,1.562,1.563,1.562,1.562,1.562,1.559,1.559,1.559,1.554,1.553,1.553,1.553,1.553,1.553,0.153,0.152,0.151,0.151,0.151,0.152,0.154,0.154,0.154,0.154,0.16,2.983,3.003,3.004,3.004,3.004,3.003,0.174,0.163,0.163,0.164,0.163,0.158,0.164,0.164,3.026,3.026,3.03,3.03,3.03,3.031,3.039,3.04,3.044,3.055,3.055,3.061,3.067,3.074,3.079,3.084,3.084,3.094,3.102,3.103,3.103,3.121,3.123,3.128,3.131,3.141,3.148,3.149,3.165,3.175,3.178,3.179,3.192,3.205,3.209,3.215,3.223,3.226,3.239,3.24,3.252,3.258,3.266,3.279,3.281,3.296,3.298,3.325,3.327,3.342,3.348,3.354,3.366,3.367,3.383,3.404,3.422,3.432,3.443,3.451,3.466,3.481,3.495,3.5,3.519,3.526,3.552,3.565,3.579,3.583,3.607,3.625,3.626,3.654,3.663,3.679,3.693,3.71,3.719,3.742,3.757,3.783,3.803,3.824,3.836,3.856,3.879,3.907,3.931,3.946,3.972,4.005,4.018,4.049,4.067,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.31,3.302,3.282,3.272,3.26,3.241,3.225,3.205,3.202,3.186,3.166,3.163,3.143,3.133,3.127,3.106,3.102,3.098,3.081,3.062,3.047,3.035,3.03,3.015,3.015,3.005,2.993,2.983,2.969,2.969,2.957,2.951,2.944,2.924,2.918,2.91,2.906,2.898,2.893,2.891,2.884,2.87,2.868,2.854,2.85,2.833,2.833,2.822,2.82,2.813,2.807,2.804,2.787,2.786,2.782,2.782,2.782,2.78,2.763,2.751,2.748,2.746,2.74,2.739,2.729,2.724,2.721,2.72,2.716,2.713,2.705,2.703,2.688,2.687,2.687,2.684,2.68,2.668,2.668,2.662,2.66,2.659,2.659,2.655,2.655,2.655,2.646,2.646,2.646,2.633,2.631,2.631,2.631,2.631,2.631,2.632,2.632,2.631,2.631,2.628,2.628,2.628,2.631,2.631,2.631,2.63,2.626,2.626,2.626,2.631,2.631,2.631,2.631,2.631,2.631,2.632,2.632,2.632,2.633,2.632,2.633,2.637,2.637,2.639,2.642,2.645,2.647,2.647,2.651,2.651,2.651,2.652,2.652,2.646,2.652,2.653,2.654,2.655,2.658,2.667,2.671,2.671,2.671,2.674,2.675,2.68,2.692,2.694,2.698,2.702,2.704,2.71,2.715,2.715,2.712,2.712,2.715,2.715,2.716,2.717,2.722,2.725,2.728,2.744,2.744,2.746,2.752,3.278,3.279,3.283,3.297,3.298,3.306,3.315,3.328,3.331,3.34,3.344,3.354,3.365,3.367,3.382,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.131,3.076,2.986,2.986,2.986,3.714,3.73,3.741,3.741,3.748,3.752,3.756,3.764,3.769,3.781,3.792,3.796,3.808,3.823,3.841,3.848,3.851,3.851,3.881,3.887,3.899,3.899,3.906,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.088,4.086,4.076,4.073,4.073,4.064,4.064,4.064,4.057,4.053,4.053,4.048,4.04,4.035,4.035,4.031,4.035,0.007,4.02,4.02,4.02,4.02,4.015,4.014,4.014,4.02,4.02,4.02,4.02,4.02,4.016,4.014,4.012,4.012,4.007,4.007,4.012,4.012,4.013,4.013,4.013,4.013,4.015,4.017,4.017,4.018,4.019,4.022,4.034,4.04,4.04,4.04,4.04,4.04,4.042,4.044,0,0,0,4.086,4.08,4.08,4.086,4.088,4.089,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.29} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.2889} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4224} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
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SEN {Time 43.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.054105}
SEN {Time 43.5189} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3462} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 43.5585} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.007,0.015,0.185,0.217,0.217,0.217,1.636,0.007,0,1.636,1.622,1.614,1.611,1.609,1.607,1.607,1.601,1.591,1.589,1.589,1.588,1.588,1.588,1.585,1.581,1.581,1.58,1.575,1.575,1.574,1.572,1.57,1.567,1.568,1.563,1.563,1.563,1.562,1.561,1.56,1.56,1.558,1.558,1.558,1.558,1.558,1.555,1.55,1.554,1.554,1.554,1.552,1.552,1.551,1.551,1.545,1.545,0.153,0.144,0.142,0.144,0.15,0.15,0.159,0.159,0.16,0.163,0.163,1.553,1.573,1.574,1.574,1.573,1.573,0.17,0.166,0.166,0.166,0.166,0.161,0.166,0.166,2.987,2.99,2.993,2.993,2.993,2.996,2.998,3.009,3.011,3.016,3.019,3.025,3.027,3.031,3.036,3.037,3.042,3.05,3.061,3.061,3.062,3.062,3.068,3.076,3.08,3.086,3.092,3.096,3.106,3.109,3.115,3.122,3.129,3.13,3.137,3.145,3.158,3.161,3.165,3.173,3.175,3.181,3.199,3.203,3.211,3.216,3.222,3.226,3.245,3.249,3.257,3.266,3.27,3.278,3.301,3.309,3.326,3.333,3.336,3.348,3.369,3.376,3.388,3.395,3.416,3.416,3.436,3.445,3.459,3.466,3.498,3.498,3.512,3.518,3.527,3.543,3.552,3.563,3.589,3.61,3.625,3.635,3.637,3.666,3.693,3.708,3.725,3.736,3.762,3.768,3.794,3.822,3.826,3.854,3.864,3.888,3.908,3.935,3.952,3.974,4.004,4.026,4.047,4.08,0.016,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,3.33,3.303,3.282,3.271,3.264,3.252,3.234,3.22,3.198,3.198,3.183,3.171,3.149,3.141,3.131,3.115,3.103,3.092,3.075,3.071,3.06,3.052,3.044,3.03,3.019,2.997,2.997,2.989,2.979,2.969,2.959,2.957,2.955,2.942,2.934,2.923,2.92,2.904,2.897,2.883,2.882,2.872,2.866,2.858,2.843,2.837,2.831,2.821,2.811,2.809,2.808,2.796,2.791,2.785,2.777,2.772,2.772,2.777,2.772,2.763,2.745,2.74,2.74,2.738,2.732,2.725,2.724,2.715,2.708,2.708,2.698,2.698,2.698,2.689,2.684,2.683,2.68,2.672,2.671,2.669,2.669,2.669,2.655,2.65,2.648,2.648,2.646,2.641,2.641,2.641,2.641,2.641,2.637,2.635,2.633,2.635,2.635,2.63,2.629,2.628,2.628,2.628,2.629,2.628,2.628,2.624,2.623,2.622,2.621,2.621,2.621,2.62,2.621,2.622,2.623,2.625,2.625,2.625,2.628,2.628,2.632,2.632,2.632,2.632,2.632,2.641,2.644,2.644,2.647,2.648,2.648,2.648,2.651,2.651,2.646,2.644,2.651,2.651,2.651,2.66,2.66,2.666,2.668,2.671,2.681,2.682,2.682,2.682,2.686,2.699,2.701,2.703,2.709,2.71,2.719,2.719,2.719,2.719,2.719,2.721,2.721,2.727,2.733,2.735,2.741,2.741,2.746,2.746,3.27,3.275,3.286,3.291,3.295,3.302,3.304,3.309,3.32,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.019,2.995,2.995,2.995,3.697,3.721,3.737,3.737,3.744,3.753,3.758,3.77,3.773,3.785,3.812,0,0.007,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.085,4.077,4.077,4.076,4.077,4.067,4.059,4.059,4.052,4.045,4.041,4.041,4.041,4.041,0.007,4.034,4.027,4.027,4.027,4.023,4.011,4.011,4.016,4.016,4.017,4.017,4.023,4.017,4.017,4.016,4.016,4.016,4.016,4.014,4.019,4.021,4.019,4.022,4.023,4.023,4.028,4.031,4.031,4.031,4.032,4.044,4.044,4.044,4.044,4.05,4.052,4.056,4.062,0,0,0,4.078,4.078,4.078,4.079,4.087,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.111701}
SEN {Time 43.7138} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.8862} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3462} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.5146}
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SEN {Time 43.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.171042}
SEN {Time 43.9168} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 5.715} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 1.4986} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3462} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.3434} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.5146}
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SEN {Time 44.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.230383}
SEN {Time 44.1117} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 5.715} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 1.3462} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.3434} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.5146}
SEN {Time 44.1585} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.192,0.184,0.193,0.193,0.193,1.757,1.757,1.757,1.737,1.731,1.721,1.706,1.699,1.694,1.691,1.687,1.671,1.67,1.667,1.659,1.658,1.653,1.65,1.648,1.645,1.635,1.633,1.628,1.622,1.617,1.617,1.614,1.612,1.611,1.611,1.6,1.593,1.593,1.592,1.589,1.587,1.586,1.581,1.578,1.575,1.574,1.573,1.573,1.565,1.558,1.556,1.556,1.555,1.555,1.555,1.554,0.153,0.151,0.15,0.151,0.151,0.151,0.153,0.153,0.153,0.157,0.165,1.541,1.543,1.544,1.544,1.544,0,0,0,0.167,0.167,0.167,0.169,0.169,0.173,1.527,1.527,1.527,1.527,1.527,1.527,1.527,1.529,1.527,1.527,1.534,1.534,1.533,1.533,1.533,1.53,1.533,1.533,1.537,2.95,2.95,2.95,2.95,2.949,2.949,2.952,2.958,2.96,2.961,2.963,2.964,2.965,2.973,2.973,2.978,2.979,2.986,2.987,2.992,2.992,2.994,3,3.008,3.009,3.011,3.013,3.018,3.022,3.03,3.031,3.035,3.047,3.049,3.051,3.06,3.067,3.071,3.083,3.084,3.086,3.09,3.104,3.108,3.121,3.125,3.13,3.133,3.145,3.157,3.166,3.166,3.174,3.178,3.184,3.189,3.198,3.219,3.223,3.224,3.234,3.243,3.251,3.269,3.285,3.29,3.294,3.303,3.316,3.323,3.33,3.331,3.362,3.363,3.377,3.379,3.397,3.416,3.42,3.441,3.454,3.458,3.473,3.482,3.496,3.517,3.535,3.542,3.558,3.568,3.579,3.605,3.625,3.636,3.654,3.668,3.692,3.697,3.728,3.735,3.759,3.788,3.793,3.817,3.823,3.853,3.879,3.902,3.915,3.935,3.964,3.992,4.008,4.036,4.076,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.327,3.319,3.289,3.279,3.262,3.248,3.233,3.202,3.201,3.181,3.172,3.157,3.145,3.134,3.12,3.115,3.095,3.092,3.072,3.057,3.055,3.031,3.02,3.011,3.009,3,2.994,2.981,2.96,2.953,2.949,2.942,2.927,2.919,2.913,2.901,2.892,2.885,2.882,2.874,2.868,2.853,2.849,2.842,2.837,2.835,2.834,2.818,2.809,2.804,2.802,2.794,2.789,2.775,2.773,2.758,2.758,2.758,2.766,2.766,2.766,2.736,2.736,2.732,2.725,2.718,2.718,2.716,2.703,2.698,2.697,2.691,2.69,2.687,2.687,2.686,2.678,2.671,2.666,2.664,2.654,2.653,2.653,2.652,2.649,2.648,2.649,2.639,2.639,2.637,2.637,2.636,2.634,2.631,2.626,2.626,2.621,2.621,2.621,2.621,2.621,2.621,2.621,2.621,2.623,2.62,2.615,2.615,2.623,2.62,2.62,2.624,2.62,2.62,2.624,2.624,2.626,2.627,2.629,2.629,2.633,2.633,2.633,2.634,2.638,2.646,2.649,2.649,2.649,2.653,2.653,2.649,2.654,2.648,2.648,2.648,2.655,2.655,2.655,2.658,2.658,2.664,2.674,2.676,2.679,2.68,2.695,2.697,2.698,2.699,2.701,2.702,2.715,2.717,2.717,2.724,2.716,2.724,2.724,2.725,2.727,2.729,2.74,2.74,2.747,2.751,2.755,2.763,3.212,3.289,3.294,3.301,3.303,3.307,3.309,3.327,3.329,3.335,3.347,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.997,2.997,2.997,3.729,3.736,3.746,3.753,3.756,3.761,3.773,3.779,3.787,3.798,3.81,3.822,3.834,3.849,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.084,4.084,4.083,4.081,4.081,4.08,4.078,4.068,4.064,4.064,4.062,4.068,0.007,4.052,4.044,4.044,4.044,4.04,4.038,4.04,4.041,4.04,4.04,4.04,4.039,4.039,4.035,4.039,4.039,4.039,4.042,4.042,4.043,4.043,4.043,4.047,4.047,4.047,4.047,4.047,4.049,4.053,4.05,4.061,4.061,4.061,4.061,4.07,4.074,4.083,4.083,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.286234}
SEN {Time 44.3157} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 5.715} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.81} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.3434} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.6924}
SEN {Time 44.3585} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.186,0.186,0.192,0.192,0.202,1.802,1.802,1.802,1.802,1.79,1.787,1.751,1.75,1.733,1.727,1.721,1.714,1.707,1.704,1.694,1.689,1.686,1.685,1.676,1.669,1.667,1.66,1.653,1.652,1.648,1.641,1.639,1.633,1.63,1.628,1.626,1.623,1.616,1.615,1.615,1.612,1.609,1.605,1.594,1.594,1.593,1.591,1.59,1.585,1.576,1.571,1.568,1.568,1.568,1.567,1.564,0.154,0.153,0.15,0.15,0.146,0.146,0.146,0.152,0.162,0.163,0.166,1.541,1.542,1.547,1.542,1.542,1.542,1.498,0.176,0.167,0.167,0.166,0.164,0.166,0.172,1.526,1.526,1.526,1.521,1.521,1.519,1.521,1.521,1.524,1.524,1.525,1.525,1.525,1.525,1.526,1.527,1.529,1.529,1.529,1.525,1.525,1.525,1.531,1.533,1.533,1.533,1.533,1.533,1.543,2.94,2.942,2.944,2.944,2.947,2.947,2.95,2.951,2.955,2.955,2.96,2.961,2.965,2.969,2.972,2.975,2.975,2.975,2.978,2.987,2.988,2.989,2.994,2.995,3,3.009,3.012,3.019,3.021,3.027,3.032,3.04,3.04,3.05,3.055,3.061,3.069,3.07,3.08,3.084,3.088,3.107,3.107,3.107,3.114,3.118,3.125,3.132,3.138,3.15,3.154,3.164,3.167,3.184,3.19,3.192,3.203,3.213,3.214,3.217,3.231,3.24,3.259,3.268,3.28,3.283,3.296,3.3,3.315,3.327,3.33,3.34,3.354,3.371,3.378,3.391,3.398,3.417,3.426,3.44,3.452,3.467,3.485,3.491,3.518,3.53,3.535,3.546,3.572,3.58,3.595,3.613,3.622,3.636,3.643,3.678,3.693,3.707,3.718,3.749,3.753,3.782,3.794,3.825,3.827,3.86,3.886,3.909,3.94,3.97,3.989,4.02,4.032,4.066,4.091,0.009,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,3.313,3.293,3.278,3.26,3.256,3.223,3.215,3.202,3.186,3.162,3.155,3.146,3.123,3.12,3.109,3.105,3.088,3.074,3.066,3.052,3.039,3.023,3.009,3.002,3,2.999,2.986,2.973,2.962,2.957,2.941,2.939,2.921,2.918,2.905,2.905,2.886,2.882,2.877,2.86,2.857,2.857,2.845,2.844,2.827,2.822,2.811,2.809,2.801,2.8,2.793,2.785,2.783,2.773,2.773,2.771,2.76,2.76,2.759,2.754,2.751,2.749,2.735,2.733,2.724,2.723,2.717,2.708,2.7,2.698,2.693,2.691,2.691,2.683,2.681,2.679,2.675,2.674,2.665,2.662,2.662,2.661,2.659,2.659,2.659,2.648,2.647,2.647,2.647,2.645,2.644,2.644,2.632,2.631,2.628,2.627,2.627,2.628,2.628,2.623,2.625,2.625,2.625,2.625,2.625,2.624,2.624,2.624,2.624,2.622,2.624,2.625,2.625,2.628,2.633,2.628,2.629,2.629,2.629,2.629,2.636,2.641,2.641,2.642,2.643,2.647,2.648,2.651,2.651,2.652,2.651,2.647,2.647,2.651,2.651,2.653,2.658,2.658,2.661,2.663,2.675,2.677,2.678,2.681,2.681,2.686,2.688,2.702,2.704,2.705,2.705,2.709,2.709,2.715,2.716,2.724,2.724,2.727,2.73,2.731,2.731,2.731,2.742,2.744,2.746,2.757,2.773,3.235,3.235,3.288,3.289,3.301,3.305,3.321,3.325,3.327,3.329,3.334,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.064,3.064,3.733,3.733,3.745,3.745,3.745,3.76,3.773,3.777,3.78,3.792,3.8,3.802,3.817,3.836,3.846,3.857,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.089,4.086,4.084,4.081,4.081,4.081,4.081,4.075,4.075,0.007,4.061,4.06,4.06,4.057,4.049,4.042,4.042,4.042,4.042,4.043,4.049,4.043,4.049,4.049,4.043,4.043,4.043,4.043,4.048,4.048,4.052,4.052,4.051,4.045,4.051,4.051,4.053,4.056,4.066,4.071,4.071,4.072,4.08,4.08,4.08,4.083,4.089,4.093,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.52} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.345575}
SEN {Time 44.5187} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 2.8194} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.6924}
SEN {Time 44.5584} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.185,0.186,0.192,0.192,0.196,1.865,1.865,0,1.865,1.848,1.821,1.802,1.801,1.789,1.781,1.771,1.764,1.76,1.749,1.743,1.732,1.729,1.725,1.712,1.708,1.704,1.701,1.7,1.693,1.681,1.678,1.673,1.67,1.662,1.658,1.656,1.653,1.644,1.643,1.64,1.633,1.63,1.63,1.622,1.617,1.616,1.616,1.61,1.603,1.6,1.596,1.59,1.584,1.584,1.583,1.575,0.161,0.151,0.149,0.149,0.149,0.149,0.149,0.151,0.163,0.167,0.177,1.562,1.562,1.562,1.562,1.562,1.559,1.559,0.169,0.166,0.161,0.159,0.159,0.161,0.163,1.517,1.522,1.522,1.518,1.518,1.518,1.518,1.52,1.523,1.524,1.524,1.523,1.515,1.515,1.515,1.515,1.519,1.523,1.523,1.522,1.523,1.522,1.522,1.521,1.521,1.517,1.521,1.52,1.519,1.519,1.519,1.518,1.518,1.518,1.521,1.521,1.529,1.529,2.931,2.932,2.936,2.936,2.936,2.939,2.939,2.94,2.942,2.942,2.949,2.951,2.952,2.954,2.958,2.96,2.969,2.975,2.976,2.98,2.981,2.987,2.99,2.994,3.003,3.005,3.009,3.013,3.019,3.024,3.031,3.031,3.036,3.039,3.053,3.053,3.057,3.058,3.061,3.075,3.076,3.082,3.092,3.107,3.113,3.118,3.123,3.126,3.137,3.14,3.145,3.155,3.163,3.175,3.178,3.186,3.194,3.207,3.213,3.219,3.228,3.241,3.25,3.256,3.261,3.27,3.29,3.3,3.315,3.315,3.332,3.332,3.355,3.372,3.377,3.385,3.396,3.409,3.418,3.431,3.447,3.469,3.476,3.49,3.496,3.513,3.527,3.547,3.562,3.564,3.587,3.604,3.614,3.638,3.645,3.664,3.681,3.702,3.723,3.737,3.763,3.787,3.805,3.834,3.841,3.858,3.884,3.901,3.92,3.956,3.966,3.99,4.029,4.049,4.074,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,3.309,3.279,3.265,3.256,3.253,3.225,3.222,3.194,3.194,3.178,3.151,3.143,3.14,3.126,3.113,3.1,3.085,3.077,3.065,3.059,3.044,3.041,3.025,3,2.997,2.984,2.977,2.976,2.962,2.95,2.947,2.933,2.923,2.919,2.907,2.899,2.898,2.889,2.877,2.869,2.864,2.856,2.856,2.849,2.842,2.833,2.83,2.818,2.804,2.803,2.798,2.794,2.789,2.781,2.778,2.757,2.757,2.757,2.756,2.756,2.744,2.733,2.726,2.724,2.715,2.712,2.708,2.708,2.706,2.704,2.704,2.704,2.692,2.688,2.688,2.687,2.67,2.668,2.664,2.663,2.66,2.66,2.66,2.656,2.644,2.649,2.642,2.642,2.642,2.644,2.64,2.64,2.635,2.633,2.632,2.632,2.633,2.628,2.633,2.633,2.633,2.632,2.632,2.63,2.63,2.625,2.625,2.625,2.626,2.626,2.627,2.627,2.627,2.628,2.631,2.632,2.636,2.636,2.636,2.635,2.636,2.636,2.635,2.636,2.642,2.649,2.651,2.653,2.653,2.66,2.66,2.653,2.66,2.653,2.653,2.653,2.66,2.66,2.662,2.663,2.666,2.673,2.678,2.68,2.687,2.693,2.694,2.694,2.699,2.702,2.712,2.715,2.716,2.716,2.72,2.729,2.729,2.729,2.73,2.735,2.738,2.742,2.743,2.751,2.754,2.769,2.78,2.793,3.253,3.296,3.303,3.303,3.311,3.322,3.325,3.329,3.339,3.352,3.358,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.748,3.765,3.765,3.765,3.768,3.77,3.79,3.792,3.814,3.814,3.832,3.832,3.835,3.854,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.093,4.092,4.082,4.076,4.076,4.07,4.07,0.007,4.071,4.066,4.066,4.066,4.066,4.053,4.053,4.053,4.052,4.053,4.052,4.052,4.053,4.056,4.053,4.056,4.055,4.055,4.055,4.055,4.055,4.058,4.059,4.059,4.063,4.064,4.064,4.07,4.07,4.08,4.08,4.081,4.081,4.081,4.088,4.09,4.095,4.095,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.403171}
SEN {Time 44.7137} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 2.8194} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 4.0132} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.8514} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.8354} {Name Sonar15 Range 2.6924}
SEN {Time 44.7555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.185,0.185,0.185,0.193,0.193,0.195,0,0,0,0,0,0,0,1.867,1.851,1.85,1.836,1.824,1.821,1.813,1.803,1.791,1.777,1.777,1.768,1.768,1.76,1.752,1.744,1.743,1.734,1.73,1.716,1.708,1.707,1.705,1.696,1.696,1.685,1.683,1.679,1.671,1.664,1.663,1.658,1.654,1.644,1.642,1.639,1.631,1.626,1.626,1.617,1.617,1.617,1.616,1.616,0.153,0.153,0.144,0.149,0.153,0.156,0.163,0.163,0.163,0.163,0.163,1.578,1.578,1.578,1.578,1.578,1.572,1.57,0.175,0.175,0.17,0.163,0.163,0.168,0.168,1.528,1.528,1.53,1.528,1.526,1.524,1.52,1.52,1.52,1.521,1.523,1.523,1.522,1.522,1.521,1.516,1.514,1.514,1.514,1.514,1.515,1.515,1.516,1.516,1.515,1.507,1.515,1.509,1.509,1.508,1.509,1.508,1.508,1.51,1.512,1.51,1.513,1.51,1.513,1.51,1.513,1.51,1.515,1.51,1.514,1.512,1.514,1.514,2.918,2.921,2.925,2.925,2.925,2.925,2.926,2.928,2.933,2.94,2.943,2.943,2.946,2.948,2.954,2.969,2.97,2.97,2.973,2.983,2.985,2.985,2.986,2.989,2.995,3.002,3.003,3.005,3.006,3.012,3.017,3.022,3.03,3.032,3.039,3.049,3.057,3.06,3.061,3.069,3.072,3.08,3.085,3.101,3.103,3.106,3.116,3.117,3.133,3.135,3.142,3.149,3.154,3.164,3.165,3.175,3.188,3.195,3.206,3.218,3.231,3.236,3.246,3.249,3.264,3.281,3.29,3.303,3.305,3.328,3.33,3.343,3.347,3.353,3.377,3.379,3.399,3.411,3.422,3.428,3.445,3.466,3.469,3.486,3.494,3.517,3.528,3.544,3.565,3.574,3.6,3.613,3.622,3.632,3.657,3.683,3.703,3.717,3.726,3.738,3.761,3.782,3.811,3.825,3.837,3.859,3.885,3.9,3.921,3.955,3.967,3.992,4.02,4.035,0.016,0.016,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,3.29,3.29,3.256,3.248,3.233,3.232,3.207,3.2,3.17,3.167,3.157,3.147,3.129,3.117,3.107,3.092,3.082,3.065,3.053,3.052,3.038,3.029,3.009,2.997,2.996,2.982,2.972,2.97,2.959,2.951,2.938,2.931,2.923,2.917,2.911,2.9,2.896,2.89,2.876,2.865,2.859,2.851,2.848,2.844,2.832,2.83,2.822,2.819,2.804,2.802,2.795,2.782,2.775,2.772,2.764,2.758,2.758,2.764,2.752,2.752,2.747,2.729,2.727,2.721,2.716,2.707,2.707,2.707,2.699,2.698,2.695,2.692,2.687,2.687,2.687,2.68,2.67,2.665,2.665,2.665,2.665,2.658,2.648,2.648,2.648,2.647,2.647,2.644,2.636,2.634,2.634,2.636,2.634,2.632,2.634,2.632,2.632,2.632,2.633,2.632,2.632,2.631,2.629,2.629,2.627,2.625,2.625,2.627,2.627,2.632,2.632,2.632,2.631,2.632,2.631,2.632,2.632,2.632,2.633,2.635,2.635,2.64,2.644,2.645,2.651,2.652,2.653,2.654,2.656,2.664,2.664,2.664,2.664,2.655,2.655,2.659,2.659,2.659,2.662,2.662,2.672,2.678,2.678,2.683,2.683,2.69,2.692,2.701,2.707,2.712,2.714,2.714,2.719,2.724,2.727,2.735,2.736,2.735,2.735,2.74,2.745,2.747,2.752,2.754,2.754,2.768,2.896,3.279,3.279,3.3,3.312,3.312,3.316,3.324,3.332,3.349,3.35,3.352,3.361,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.753,3.753,3.755,3.773,3.773,3.776,3.787,3.796,3.801,3.812,3.819,3.84,3.851,3.863,3.863,3.887,3.906,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0,0.016,0.016,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,4.077,4.069,4.065,4.052,4.052,4.059,4.051,4.059,4.059,4.059,4.061,4.061,4.061,4.06,4.061,4.06,4.062,4.063,4.063,4.063,4.063,4.066,4.066,4.073,4.074,4.074,4.074,4.075,4.075,4.083,4.089,4.089,4.089,4.089,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.462512}
SEN {Time 44.9166} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 2.8194} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 4.0132} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.8514} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.8354} {Name Sonar15 Range 3.4798}
SEN {Time 44.9545} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.178,0.178,0.185,0.185,0.204,0,0,0,0,0,0,0,3.704,3.698,3.68,3.666,3.651,3.629,3.614,3.612,3.591,1.853,1.846,1.829,1.827,1.817,1.817,1.806,1.8,1.782,1.781,1.774,1.768,1.76,1.759,1.746,1.74,1.732,1.729,1.721,1.717,1.707,1.706,1.697,1.694,1.692,1.679,1.678,1.665,1.664,1.66,1.657,1.651,1.651,1.65,1.647,0.153,0.152,0.15,0.15,0.152,0.152,0.158,0.158,0.163,0.164,0.165,1.598,1.609,1.609,1.609,1.609,1.609,1.595,0.174,0.165,0.164,0.164,0.161,0.164,0.168,1.541,1.541,1.541,1.538,1.538,1.538,1.538,1.536,1.536,1.535,1.534,1.534,1.534,1.53,1.526,1.524,1.52,1.52,1.52,1.521,1.521,1.521,1.521,1.516,1.512,1.51,1.51,1.51,1.506,1.505,1.506,1.505,1.505,1.505,1.505,1.5,1.5,1.5,1.5,1.5,1.504,1.504,1.502,1.499,1.499,1.499,1.502,1.499,1.502,1.503,1.502,1.503,1.506,1.508,1.508,1.508,1.508,1.508,2.909,2.909,2.923,2.923,2.924,2.93,2.933,2.933,2.935,2.94,2.94,2.94,2.942,2.942,2.95,2.954,2.956,2.956,2.963,2.966,2.969,2.971,2.972,2.974,2.978,2.993,2.998,2.998,2.998,3.006,3.008,3.015,3.021,3.028,3.032,3.038,3.039,3.044,3.055,3.056,3.062,3.075,3.089,3.09,3.092,3.102,3.107,3.12,3.128,3.13,3.142,3.144,3.155,3.166,3.172,3.182,3.193,3.194,3.204,3.209,3.212,3.231,3.243,3.258,3.265,3.267,3.286,3.296,3.308,3.311,3.331,3.342,3.35,3.359,3.366,3.382,3.393,3.413,3.424,3.43,3.442,3.457,3.478,3.494,3.506,3.518,3.532,3.553,3.56,3.57,3.6,3.607,3.612,3.639,3.645,3.659,3.686,3.696,3.717,3.744,3.761,3.778,3.798,3.815,3.832,3.854,3.884,3.905,3.922,3.946,3.972,3.999,4.051,4.069,0.016,0.016,0.016,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.299,3.286,3.25,3.239,3.238,3.22,3.204,3.188,3.185,3.163,3.155,3.136,3.127,3.109,3.091,3.091,3.075,3.061,3.057,3.045,3.041,3.041,3.031,3.027,2.991,2.98,2.972,2.971,2.954,2.945,2.944,2.929,2.922,2.92,2.917,2.899,2.892,2.878,2.873,2.863,2.861,2.855,2.839,2.835,2.829,2.825,2.816,2.801,2.8,2.796,2.787,2.783,2.779,2.772,2.769,2.761,2.757,2.757,2.756,2.756,2.756,2.734,2.722,2.713,2.71,2.709,2.707,2.707,2.703,2.695,2.688,2.687,2.681,2.68,2.678,2.675,2.668,2.664,2.663,2.662,2.662,2.652,2.649,2.648,2.648,2.648,2.643,2.642,2.642,2.642,2.642,2.641,2.638,2.633,2.633,2.632,2.633,2.633,2.63,2.626,2.63,2.63,2.631,2.631,2.631,2.631,2.627,2.627,2.63,2.63,2.631,2.638,2.639,2.639,2.639,2.64,2.636,2.636,2.636,2.636,2.636,2.637,2.644,2.646,2.647,2.647,2.647,2.648,2.659,2.661,2.661,2.659,2.658,2.658,2.656,2.658,2.664,2.664,2.665,2.667,2.669,2.675,2.679,2.69,2.705,2.705,2.705,2.705,2.706,2.708,2.711,2.721,2.723,2.724,2.726,2.73,2.726,2.73,2.731,2.738,2.742,2.744,2.751,2.752,2.758,2.758,2.766,2.777,3.296,3.303,3.311,3.317,3.319,3.332,3.336,3.341,3.352,3.356,3.369,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.772,3.779,3.787,3.779,3.779,3.785,3.787,3.807,3.807,3.829,3.829,3.838,3.839,3.859,3.872,3.883,3.901,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.089,4.088,4.089,0.007,4.079,4.071,4.071,4.07,4.06,4.06,4.06,4.069,4.069,4.072,4.072,4.072,4.07,4.072,4.07,4.07,4.068,4.068,4.068,4.068,4.072,4.074,4.078,4.078,4.082,4.082,4.083,4.083,4.092,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.11} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.520108}
SEN {Time 45.1115} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.6134} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.8542} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 4.0132} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.0066} {Name Sonar10 Range 4.8514} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 3.8354} {Name Sonar15 Range 3.4798}
SEN {Time 45.1545} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.184,0.187,0.187,0.187,0.203,0,0,0,0,0,0,0,3.896,3.872,3.865,3.843,3.824,3.801,3.792,3.763,3.747,3.722,3.713,3.679,3.674,3.661,3.635,3.629,3.629,3.605,3.599,1.838,1.837,1.826,1.824,1.804,1.8,1.793,1.788,1.774,1.771,1.766,1.758,1.749,1.74,1.735,1.732,1.725,1.712,1.712,1.705,1.704,1.701,1.701,1.701,1.693,0.153,0.149,0.148,0.149,0.15,0.149,0.15,0.152,0.159,0.159,0.171,1.629,1.634,1.634,1.634,1.634,1.634,1.617,0.179,0.168,0.166,0.166,0.161,0.166,0.172,1.562,1.562,1.562,1.556,1.549,1.548,1.545,1.545,1.543,1.543,1.542,1.538,1.536,1.536,1.535,1.53,1.53,1.524,1.524,1.524,1.524,1.524,1.52,1.52,1.52,1.516,1.516,1.51,1.51,1.51,1.513,1.507,1.507,1.506,1.506,1.506,1.506,1.503,1.503,1.501,1.501,1.5,1.495,1.495,1.495,1.495,1.495,1.495,1.495,1.499,1.495,1.495,1.495,1.496,1.496,1.496,1.497,1.497,1.497,1.498,1.497,1.497,1.5,1.5,1.502,1.505,1.507,1.514,2.915,2.915,2.916,2.916,2.92,2.92,2.921,2.921,2.923,2.927,2.927,2.929,2.93,2.933,2.933,2.945,2.947,2.951,2.952,2.957,2.959,2.966,2.972,2.973,2.979,2.981,2.982,2.993,2.993,2.994,2.999,3.008,3.015,3.019,3.022,3.034,3.039,3.041,3.053,3.054,3.061,3.063,3.076,3.092,3.096,3.102,3.105,3.117,3.118,3.125,3.125,3.14,3.149,3.154,3.162,3.171,3.187,3.192,3.206,3.21,3.224,3.228,3.235,3.24,3.255,3.269,3.279,3.279,3.305,3.32,3.328,3.34,3.35,3.359,3.37,3.373,3.389,3.395,3.414,3.431,3.439,3.455,3.469,3.477,3.495,3.506,3.524,3.527,3.543,3.565,3.581,3.598,3.606,3.627,3.637,3.661,3.678,3.702,3.715,3.73,3.748,3.77,3.793,3.808,3.83,3.853,3.874,3.889,3.902,3.93,3.957,3.984,4.008,4.029,4.042,4.095,0.016,0.009,0.009,0.009,0,0.016,0.016,0.007,0,0,0,0,0,0,3.282,3.28,3.266,3.257,3.226,3.219,3.198,3.194,3.176,3.166,3.155,3.139,3.128,3.12,3.113,3.09,3.09,3.066,3.052,3.05,3.034,3.024,3.021,3.013,2.996,2.992,2.979,2.972,2.958,2.952,2.949,2.935,2.92,2.915,2.903,2.9,2.898,2.879,2.873,2.872,2.865,2.859,2.837,2.835,2.835,2.827,2.817,2.809,2.808,2.794,2.79,2.789,2.776,2.776,2.773,2.757,2.757,2.757,2.757,2.751,2.746,2.734,2.726,2.721,2.72,2.717,2.707,2.706,2.7,2.697,2.694,2.691,2.689,2.686,2.686,2.684,2.677,2.674,2.673,2.667,2.662,2.66,2.66,2.654,2.651,2.645,2.645,2.644,2.644,2.644,2.641,2.636,2.636,2.635,2.635,2.633,2.631,2.631,2.631,2.631,2.631,2.633,2.631,2.631,2.634,2.634,2.634,2.634,2.63,2.629,2.629,2.629,2.63,2.637,2.637,2.635,2.637,2.639,2.64,2.642,2.647,2.649,2.649,2.65,2.65,2.656,2.652,2.657,2.662,2.662,2.663,2.663,2.666,2.669,2.673,2.678,2.678,2.678,2.678,2.678,2.683,2.683,2.687,2.691,2.692,2.693,2.701,2.708,2.709,2.718,2.726,2.728,2.728,2.729,2.732,2.732,2.734,2.736,2.739,2.743,2.75,2.753,2.758,2.76,2.77,2.775,2.868,3.289,3.289,3.304,3.309,3.322,3.329,3.335,3.346,3.348,3.356,3.362,3.368,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.751,3.751,3.777,3.777,3.779,3.795,3.799,3.806,3.809,3.81,3.828,3.838,3.843,3.857,3.859,3.864,3.903,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.092,4.087,4.087,4.079,4.081,4.079,4.077,4.077,4.081,4.086,4.086,4.086,4.082,4.075,4.075,4.075,4.075,4.075,4.079,4.079,4.081,4.081,4.081,4.083,4.083,4.083,4.08,4.083,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.31} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.581195}
SEN {Time 45.3146} {Type Sonar} {Name Sonar0 Range 2.3114} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.6134} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.032} {Name Sonar5 Range 1.8542} {Name Sonar6 Range 1.778} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.0066} {Name Sonar10 Range 3.4544} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 3.4798}
SEN {Time 45.3545} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.179,0.187,0.192,0.192,0.192,0,0,0,0,0,0,0,0,0.007,0,0,0,4.004,3.98,3.947,3.926,3.902,3.892,3.851,3.839,3.83,3.8,3.778,3.76,3.748,3.721,3.707,3.68,3.675,3.649,3.633,3.619,3.616,3.616,3.609,3.591,1.824,1.823,1.812,1.804,1.792,1.783,1.778,1.774,1.768,1.76,1.758,1.758,1.758,1.754,1.751,0.153,0.143,0.141,0.143,0.147,0.147,0.15,0.15,0.158,0.162,0.163,1.673,1.673,1.673,1.673,1.673,1.662,1.649,0.17,0.17,0.163,0.163,0.161,0.172,0.172,1.581,1.59,1.59,1.581,1.572,1.571,1.571,1.571,1.568,1.568,1.565,1.562,1.557,1.552,1.549,1.549,1.546,1.541,1.541,1.537,1.536,1.536,1.534,1.531,1.53,1.524,1.523,1.514,1.514,1.514,1.514,1.513,1.513,1.513,1.51,1.501,1.501,1.498,1.501,1.501,1.505,1.499,1.499,1.499,1.499,1.496,1.496,1.491,1.488,1.488,1.486,1.486,1.485,1.486,1.489,1.489,1.49,1.49,1.49,1.49,1.49,1.49,1.491,1.491,1.491,1.494,1.494,1.493,1.494,1.493,1.492,1.493,1.492,1.492,1.496,1.498,1.498,1.501,2.896,2.896,2.899,2.899,2.904,2.905,2.908,2.909,2.913,2.916,2.92,2.92,2.924,2.93,2.93,2.933,2.933,2.933,2.947,2.952,2.952,2.952,2.96,2.966,2.97,2.978,2.981,2.986,2.988,2.991,2.994,2.994,3.011,3.016,3.027,3.029,3.03,3.034,3.046,3.051,3.054,3.063,3.066,3.076,3.078,3.091,3.096,3.121,3.121,3.123,3.131,3.135,3.14,3.152,3.155,3.171,3.181,3.191,3.2,3.205,3.219,3.231,3.238,3.252,3.254,3.272,3.276,3.289,3.302,3.305,3.313,3.333,3.344,3.349,3.352,3.371,3.375,3.398,3.405,3.427,3.429,3.446,3.461,3.475,3.486,3.498,3.513,3.524,3.544,3.55,3.564,3.583,3.608,3.616,3.638,3.652,3.659,3.677,3.696,3.711,3.727,3.76,3.773,3.787,3.803,3.831,3.852,3.874,3.89,3.917,3.948,3.973,3.995,4.016,4.048,4.074,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.312,3.287,3.285,3.253,3.234,3.223,3.219,3.211,3.188,3.166,3.162,3.145,3.137,3.13,3.109,3.096,3.081,3.076,3.058,3.053,3.037,3.029,3.024,3.024,3.013,2.998,2.977,2.968,2.956,2.948,2.948,2.944,2.924,2.924,2.911,2.906,2.892,2.888,2.881,2.874,2.864,2.853,2.846,2.838,2.834,2.833,2.814,2.808,2.806,2.805,2.795,2.793,2.775,2.769,2.765,2.765,2.755,2.755,2.755,2.751,2.75,2.744,2.74,2.727,2.723,2.719,2.719,2.719,2.715,2.713,2.702,2.698,2.696,2.693,2.692,2.689,2.685,2.685,2.671,2.669,2.668,2.662,2.66,2.658,2.658,2.656,2.656,2.653,2.653,2.646,2.646,2.646,2.646,2.645,2.645,2.645,2.639,2.639,2.642,2.642,2.636,2.634,2.634,2.634,2.634,2.634,2.634,2.634,2.639,2.639,2.641,2.641,2.639,2.64,2.637,2.637,2.638,2.64,2.641,2.645,2.65,2.652,2.652,2.653,2.661,2.666,2.667,2.667,2.672,2.675,2.68,2.68,2.68,2.68,2.674,2.67,2.674,2.677,2.677,2.678,2.683,2.684,2.686,2.697,2.708,2.708,2.709,2.709,2.718,2.72,2.721,2.724,2.732,2.736,2.74,2.741,2.743,2.741,2.743,2.746,2.748,2.762,2.765,2.767,2.775,2.779,2.779,2.785,2.785,3.306,3.318,3.332,3.336,3.338,3.347,3.354,3.362,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.77,3.776,3.793,3.793,3.793,3.794,3.801,3.809,3.833,3.839,3.846,3.851,3.873,3.877,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0.009,0,0.007,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.088,4.085,4.085,4.085,4.085,4.085,4.088,4.088,4.087,4.082,4.082,4.081,4.081,4.08,4.08,4.08,4.084,4.086,4.086,4.092,4.092,4.093,4.093,4.093,4.089,4.093,4.093,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.51} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.633555}
SEN {Time 45.5095} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 5.6134} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.54} {Name Sonar5 Range 1.8542} {Name Sonar6 Range 1.778} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 2.0066} {Name Sonar10 Range 3.4544} {Name Sonar11 Range 3.7084} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 3.4544}
SEN {Time 45.5544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.007,0.184,0.184,0.189,0.189,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,4.022,4.015,3.975,3.954,3.94,3.894,3.893,3.86,3.843,3.828,3.81,3.79,3.769,3.76,3.728,3.702,3.688,3.673,3.657,3.629,3.623,3.602,3.602,3.596,3.581,1.824,1.808,1.804,1.803,1.803,1.798,1.798,0.155,0.155,0.144,0.144,0.155,0.16,0.153,0.153,0.16,0.16,0.16,1.702,1.707,1.707,1.707,1.702,1.701,0.168,0.166,0.162,0.164,0.164,0.162,0.164,0.164,1.619,1.619,1.619,1.607,1.601,1.6,1.599,1.591,1.586,1.585,1.579,1.575,1.573,1.573,1.564,1.564,1.561,1.561,1.555,1.554,1.553,1.547,1.547,1.545,1.545,1.538,1.527,1.524,1.524,1.522,1.522,1.518,1.518,1.517,1.513,1.509,1.508,1.504,1.504,1.5,1.504,1.504,1.505,1.503,1.503,1.5,1.496,1.496,1.491,1.496,1.491,1.489,1.489,1.483,1.483,1.483,1.483,1.481,1.482,1.481,1.479,1.479,1.479,1.479,1.482,1.485,1.485,1.484,1.486,1.484,1.484,1.484,1.484,1.479,1.484,1.486,1.481,1.486,1.486,1.486,1.486,1.488,1.486,1.486,1.486,1.488,1.488,2.894,2.894,2.897,2.897,2.897,2.9,2.9,2.903,2.908,2.91,2.911,2.911,2.918,2.921,2.924,2.924,2.928,2.94,2.94,2.941,2.951,2.953,2.955,2.961,2.964,2.965,2.979,2.983,2.985,2.99,2.991,2.998,3,3.016,3.017,3.02,3.023,3.029,3.042,3.043,3.048,3.068,3.07,3.074,3.076,3.09,3.099,3.111,3.117,3.122,3.134,3.137,3.151,3.157,3.161,3.176,3.182,3.182,3.197,3.202,3.216,3.22,3.229,3.233,3.256,3.257,3.268,3.28,3.296,3.298,3.313,3.317,3.338,3.346,3.352,3.362,3.377,3.383,3.399,3.413,3.424,3.434,3.446,3.459,3.478,3.502,3.522,3.528,3.536,3.559,3.566,3.58,3.603,3.607,3.631,3.65,3.664,3.671,3.712,3.72,3.746,3.754,3.754,3.789,3.81,3.825,3.849,3.875,3.893,3.914,3.942,3.949,3.994,4.022,4.052,4.085,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0.007,0,0,0,0,0,3.296,3.28,3.269,3.241,3.237,3.222,3.211,3.189,3.181,3.168,3.161,3.14,3.12,3.111,3.098,3.094,3.08,3.072,3.071,3.049,3.044,3.03,3.014,3.005,3.002,2.99,2.979,2.972,2.962,2.948,2.943,2.932,2.932,2.918,2.915,2.905,2.888,2.882,2.876,2.868,2.862,2.847,2.842,2.84,2.823,2.821,2.815,2.809,2.804,2.795,2.786,2.783,2.781,2.778,2.764,2.753,2.752,2.752,2.752,2.755,2.755,2.755,2.737,2.733,2.722,2.718,2.715,2.713,2.707,2.703,2.702,2.701,2.693,2.69,2.682,2.68,2.678,2.671,2.67,2.666,2.666,2.666,2.661,2.661,2.658,2.655,2.654,2.653,2.652,2.651,2.647,2.647,2.645,2.645,2.644,2.642,2.642,2.641,2.641,2.64,2.641,2.641,2.64,2.636,2.636,2.636,2.636,2.639,2.64,2.64,2.642,2.643,2.64,2.644,2.644,2.657,2.657,2.657,2.654,2.652,2.652,2.654,2.654,2.66,2.66,2.66,2.66,2.664,2.664,2.665,2.672,2.672,2.677,2.678,2.677,2.677,2.677,2.677,2.677,2.677,2.677,2.685,2.691,2.691,2.695,2.708,2.709,2.715,2.715,2.722,2.722,2.723,2.728,2.733,2.747,2.75,2.75,2.749,2.749,2.751,2.751,2.757,2.763,2.766,2.773,2.78,2.784,2.787,3.285,3.314,3.323,3.328,3.332,3.343,3.349,3.361,3.362,3.368,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,3.778,3.793,3.793,3.793,3.803,3.823,3.823,3.823,3.823,3.827,3.848,3.856,3.865,3.888,3.89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,4.089,4.089,4.09,4.089,4.09,4.09,4.094,4.094,4.094,4.088,4.088,4.087,4.088,4.087,4.087,4.087,4.093,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.71} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.694641}
SEN {Time 45.7135} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.778} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.4544} {Name Sonar11 Range 3.7084} {Name Sonar12 Range 3.81} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.3942} {Name Sonar15 Range 3.4544}
SEN {Time 45.7515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.183,0.191,0.194,0.194,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,4.022,3.987,3.971,3.935,3.925,3.905,3.883,3.853,3.842,3.815,3.804,3.78,3.759,3.74,3.71,3.7,3.671,3.663,3.641,3.641,3.624,3.593,0.152,0.152,0.148,0.149,0.147,0.149,0.149,0.149,0.153,0.156,0.156,1.763,1.763,1.763,1.763,1.758,1.752,0.173,0.163,0.163,0.163,0.166,0.163,0.166,0.167,1.667,1.667,1.667,1.653,1.641,1.635,1.634,1.626,1.623,1.616,1.615,1.614,1.612,1.604,1.601,1.593,1.588,1.587,1.586,1.586,1.579,1.574,1.572,1.565,1.563,1.558,1.556,1.552,1.537,1.537,1.54,1.537,1.536,1.536,1.531,1.53,1.524,1.521,1.521,1.517,1.519,1.519,1.512,1.511,1.503,1.503,1.503,1.503,1.503,1.5,1.497,1.495,1.494,1.495,1.494,1.493,1.489,1.489,1.489,1.489,1.489,1.488,1.487,1.484,1.483,1.483,1.484,1.483,1.483,1.475,1.475,1.475,1.475,1.476,1.476,1.476,1.476,1.479,1.479,1.479,1.475,1.475,1.475,1.475,1.475,1.475,1.476,1.475,1.47,1.47,1.481,1.482,1.482,1.482,1.481,1.481,1.481,2.89,2.89,2.89,2.89,2.89,2.897,2.897,2.9,2.901,2.902,2.907,2.911,2.911,2.913,2.922,2.924,2.928,2.932,2.932,2.932,2.938,2.942,2.954,2.96,2.961,2.963,2.966,2.974,2.981,2.988,2.992,2.998,3,3.009,3.011,3.012,3.022,3.028,3.044,3.044,3.059,3.061,3.073,3.078,3.087,3.09,3.094,3.108,3.11,3.118,3.128,3.135,3.14,3.154,3.163,3.164,3.168,3.177,3.191,3.202,3.204,3.209,3.217,3.235,3.243,3.253,3.266,3.273,3.29,3.291,3.309,3.317,3.333,3.348,3.362,3.365,3.376,3.385,3.399,3.416,3.425,3.438,3.458,3.467,3.472,3.487,3.514,3.518,3.541,3.541,3.568,3.578,3.599,3.611,3.627,3.65,3.66,3.678,3.696,3.716,3.729,3.748,3.781,3.804,3.805,3.836,3.858,3.892,3.911,3.913,3.956,3.985,3.987,4.017,4.029,4.072,0.016,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.298,3.279,3.263,3.25,3.225,3.217,3.2,3.189,3.177,3.167,3.151,3.147,3.128,3.121,3.115,3.103,3.083,3.078,3.063,3.054,3.037,3.026,3.023,3.018,2.997,2.988,2.98,2.962,2.954,2.947,2.932,2.932,2.924,2.921,2.909,2.896,2.895,2.884,2.871,2.867,2.862,2.855,2.855,2.839,2.837,2.824,2.822,2.816,2.815,2.806,2.804,2.804,2.793,2.785,2.771,2.77,2.763,2.763,2.763,2.763,2.743,2.741,2.733,2.73,2.725,2.718,2.714,2.713,2.713,2.709,2.705,2.704,2.704,2.695,2.69,2.682,2.682,2.679,2.681,2.681,2.678,2.676,2.672,2.665,2.664,2.664,2.661,2.661,2.651,2.651,2.651,2.652,2.652,2.654,2.654,2.652,2.652,2.647,2.646,2.645,2.641,2.64,2.64,2.64,2.644,2.645,2.648,2.651,2.648,2.648,2.651,2.647,2.647,2.647,2.647,2.647,2.648,2.647,2.648,2.658,2.658,2.658,2.659,2.66,2.666,2.667,2.667,2.667,2.667,2.672,2.68,2.68,2.681,2.684,2.686,2.686,2.686,2.684,2.684,2.684,2.689,2.691,2.691,2.699,2.716,2.716,2.717,2.718,2.721,2.732,2.737,2.743,2.743,2.746,2.747,2.747,2.752,2.757,2.758,2.76,2.76,2.768,2.775,2.783,2.789,2.789,2.803,3.313,3.313,3.314,3.324,3.338,3.348,3.349,3.355,3.361,3.362,3.38,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.786,3.786,3.793,3.798,3.798,3.811,3.82,3.828,3.831,3.839,3.851,3.868,3.879,3.885,3.891,3.898,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.009,0.007,0.009,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.094,4.094,4.094,4.089,4.089,4.089,4.089,4.095,4.095,0.016,4.095,4.095,4.095,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.98} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.769690}
SEN {Time 45.9774} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.0734} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 3.81} {Name Sonar13 Range 1.27} {Name Sonar14 Range 6.0198} {Name Sonar15 Range 3.4544}
SEN {Time 46.0515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.183,0.183,0.183,0.187,0.191,0.216,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.007,0,4.059,3.984,3.941,3.924,3.924,3.924,3.888,3.843,0.151,0.151,0.147,0.147,0.151,0.159,0.161,0.161,0.161,0.161,0.161,0.203,0,0,0,0,0,0.007,0.163,0.163,0.163,0.163,0.159,0.163,0.163,1.742,1.742,1.742,1.719,1.708,1.701,1.7,1.696,1.686,1.683,1.673,1.673,1.671,1.661,1.658,1.649,1.64,1.639,1.632,1.63,1.619,1.612,1.607,1.603,1.603,1.6,1.594,1.592,1.589,1.582,1.581,1.579,1.571,1.569,1.564,1.552,1.552,1.552,1.546,1.543,1.54,1.539,1.534,1.53,1.528,1.528,1.528,1.528,1.521,1.513,1.512,1.511,1.507,1.503,1.503,1.503,1.502,1.499,1.499,1.499,1.498,1.494,1.492,1.491,1.488,1.488,1.488,1.487,1.488,1.486,1.483,1.478,1.478,1.472,1.472,1.472,1.472,1.472,1.472,1.469,1.466,1.466,1.466,1.465,1.465,1.467,1.467,1.465,1.465,1.467,1.468,1.466,1.468,1.468,1.468,1.466,1.468,1.468,1.465,1.467,1.467,1.467,1.463,1.467,1.466,1.466,1.466,1.469,1.469,1.472,1.472,2.871,2.877,2.877,2.877,2.883,2.883,2.887,2.892,2.894,2.899,2.899,2.902,2.905,2.911,2.912,2.917,2.92,2.927,2.929,2.93,2.937,2.942,2.944,2.952,2.955,2.959,2.964,2.969,2.978,2.985,2.993,2.993,2.994,3.001,3.026,3.029,3.029,3.03,3.03,3.053,3.054,3.055,3.059,3.07,3.072,3.078,3.088,3.089,3.102,3.111,3.117,3.131,3.133,3.142,3.146,3.163,3.174,3.174,3.183,3.184,3.202,3.21,3.234,3.235,3.253,3.253,3.255,3.273,3.281,3.285,3.295,3.303,3.314,3.34,3.342,3.363,3.378,3.392,3.405,3.405,3.416,3.439,3.439,3.456,3.483,3.486,3.508,3.511,3.528,3.534,3.568,3.583,3.597,3.615,3.628,3.644,3.653,3.675,3.691,3.717,3.729,3.743,3.764,3.795,3.812,3.828,3.845,3.863,3.901,3.903,3.95,3.961,3.988,4.027,4.038,4.086,4.094,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.294,3.281,3.251,3.25,3.236,3.213,3.208,3.182,3.177,3.162,3.154,3.134,3.126,3.114,3.095,3.088,3.073,3.065,3.057,3.042,3.029,3.024,3.022,3,2.994,2.989,2.983,2.968,2.957,2.943,2.942,2.933,2.93,2.917,2.904,2.902,2.902,2.897,2.887,2.876,2.869,2.856,2.846,2.845,2.839,2.826,2.816,2.813,2.804,2.797,2.793,2.783,2.783,2.772,2.769,2.769,2.759,2.759,2.759,2.759,2.759,2.746,2.746,2.729,2.729,2.727,2.717,2.716,2.715,2.71,2.71,2.709,2.703,2.703,2.691,2.688,2.68,2.68,2.68,2.68,2.68,2.679,2.67,2.668,2.661,2.661,2.661,2.658,2.655,2.655,2.655,2.655,2.655,2.655,2.651,2.651,2.651,2.649,2.647,2.652,2.648,2.646,2.646,2.647,2.644,2.644,2.646,2.646,2.645,2.645,2.645,2.645,2.645,2.648,2.654,2.654,2.654,2.654,2.654,2.654,2.657,2.66,2.664,2.665,2.666,2.673,2.673,2.674,2.676,2.684,2.684,2.68,2.684,2.686,2.686,2.686,2.686,2.687,2.689,2.691,2.699,2.7,2.715,2.716,2.718,2.719,2.728,2.729,2.73,2.734,2.749,2.75,2.752,2.755,2.756,2.758,2.758,2.759,2.761,2.77,2.776,2.779,2.781,2.782,2.797,2.798,2.801,3.281,3.321,3.331,3.339,3.34,3.35,3.354,3.366,3.371,3.374,3.387,3.402,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.058,3.058,3.058,3.792,3.806,3.82,3.82,3.823,3.826,3.829,3.841,3.849,3.859,3.87,3.871,3.903,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.20} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 46.2044} {Type Sonar} {Name Sonar0 Range 4.2418} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 3.8862} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.0734} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 3.683} {Name Sonar13 Range 1.27} {Name Sonar14 Range 6.0198} {Name Sonar15 Range 4.1402}
SEN {Time 46.2555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.183,0.192,0.206,0.206,0.206,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.025,4,3.962,3.944,3.944,3.944,3.919,3.876,0.155,0.155,0.15,0.147,0.155,0.161,0.158,0.158,0.158,0.158,0.158,0.209,0,0,0,0,0,0.169,0.165,0.156,0.156,0.156,0.155,0.156,0.157,1.745,1.745,1.745,1.727,1.724,1.718,1.699,1.695,1.693,1.682,1.676,1.676,1.663,1.661,1.659,1.651,1.649,1.642,1.636,1.631,1.627,1.626,1.616,1.611,1.608,1.602,1.601,1.594,1.589,1.583,1.583,1.574,1.569,1.568,1.567,1.558,1.557,1.556,1.552,1.551,1.546,1.543,1.541,1.54,1.529,1.527,1.527,1.526,1.52,1.519,1.511,1.51,1.51,1.505,1.505,1.504,1.504,1.504,1.496,1.491,1.491,1.491,1.49,1.489,1.489,1.489,1.489,1.489,1.488,1.486,1.485,1.475,1.475,1.475,1.478,1.478,1.478,1.477,1.472,1.472,1.472,1.472,1.472,1.472,1.468,1.465,1.468,1.464,1.462,1.462,1.464,1.462,1.462,1.464,1.464,1.463,1.464,1.465,1.465,1.468,1.468,1.468,1.468,1.473,1.468,1.466,1.472,1.466,1.463,1.466,1.472,1.485,2.877,2.878,2.885,2.88,2.885,2.892,2.892,2.897,2.897,2.897,2.899,2.899,2.911,2.915,2.916,2.919,2.922,2.924,2.928,2.933,2.933,2.937,2.943,2.955,2.96,2.964,2.974,2.981,2.986,2.989,2.997,3.001,3.003,3.003,3.009,3.027,3.027,3.031,3.041,3.048,3.048,3.051,3.07,3.07,3.07,3.088,3.095,3.098,3.11,3.112,3.128,3.133,3.146,3.147,3.158,3.171,3.172,3.19,3.195,3.198,3.201,3.22,3.23,3.239,3.252,3.258,3.26,3.277,3.286,3.302,3.309,3.322,3.335,3.352,3.353,3.377,3.383,3.399,3.406,3.412,3.436,3.441,3.451,3.474,3.481,3.493,3.519,3.532,3.545,3.561,3.571,3.592,3.614,3.637,3.639,3.661,3.687,3.691,3.7,3.717,3.745,3.77,3.788,3.81,3.819,3.824,3.861,3.883,3.908,3.937,3.955,3.989,4.012,4.044,4.078,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.296,3.287,3.27,3.249,3.229,3.225,3.215,3.194,3.183,3.156,3.147,3.137,3.121,3.111,3.101,3.094,3.091,3.068,3.061,3.042,3.041,3.024,3.013,3.008,2.994,2.986,2.979,2.977,2.957,2.947,2.942,2.935,2.928,2.917,2.908,2.906,2.891,2.889,2.875,2.873,2.861,2.86,2.854,2.849,2.842,2.833,2.826,2.818,2.808,2.793,2.79,2.787,2.786,2.776,2.773,2.767,2.763,2.763,2.763,2.76,2.76,2.744,2.743,2.728,2.726,2.726,2.726,2.719,2.713,2.711,2.709,2.705,2.702,2.697,2.693,2.693,2.691,2.691,2.69,2.68,2.675,2.671,2.67,2.669,2.666,2.666,2.666,2.666,2.662,2.666,2.66,2.66,2.66,2.66,2.656,2.656,2.651,2.65,2.65,2.646,2.643,2.643,2.643,2.646,2.646,2.646,2.646,2.646,2.648,2.648,2.65,2.651,2.651,2.651,2.651,2.653,2.654,2.655,2.658,2.66,2.665,2.666,2.666,2.67,2.67,2.67,2.675,2.677,2.677,2.677,2.682,2.682,2.682,2.682,2.682,2.688,2.691,2.69,2.69,2.69,2.69,2.69,2.707,2.712,2.72,2.721,2.725,2.729,2.73,2.741,2.75,2.751,2.751,2.754,2.754,2.755,2.755,2.755,2.755,2.763,2.77,2.774,2.779,2.782,2.796,2.798,2.814,3.305,3.316,3.331,3.342,3.343,3.346,3.355,3.357,3.379,3.38,3.403,3.404,3.41,3.415,3.431,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.759,3.759,3.786,3.796,3.796,3.813,3.817,3.825,3.827,3.845,3.846,3.85,3.866,3.886,3.905,3.919,3.93,3.931,3.931,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.41} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 46.4064} {Type Sonar} {Name Sonar0 Range 4.2418} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7366} {Name Sonar8 Range 3.8862} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.0734} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 3.683} {Name Sonar13 Range 1.27} {Name Sonar14 Range 6.0198} {Name Sonar15 Range 4.1402}
SEN {Time 46.4504} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.197,0.191,0.192,0.192,0.192,0.192,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,3.992,3.992,3.955,3.955,0.007,0,3.89,0.158,0.158,0.151,0.148,0.151,0.158,0.154,0.154,0.158,0.158,0.163,0.203,0,0,0,0,0,0.175,0.168,0.161,0.161,0.161,0.159,0.161,0.168,1.754,1.754,1.754,1.731,1.713,1.71,1.708,1.697,1.689,1.686,1.682,1.678,1.673,1.664,1.658,1.648,1.647,1.641,1.638,1.632,1.63,1.626,1.622,1.612,1.611,1.602,1.599,1.598,1.597,1.593,1.584,1.578,1.578,1.574,1.565,1.561,1.559,1.559,1.553,1.545,1.545,1.544,1.533,1.53,1.527,1.522,1.522,1.522,1.519,1.518,1.515,1.512,1.505,1.505,1.505,1.505,1.5,1.5,1.5,1.497,1.495,1.494,1.495,1.491,1.49,1.49,1.49,1.49,1.489,1.488,1.482,1.481,1.479,1.479,1.479,1.479,1.478,1.468,1.468,1.468,1.468,1.468,1.468,1.469,1.469,1.468,1.466,1.462,1.462,1.462,1.463,1.465,1.465,1.465,1.465,1.463,1.463,1.465,1.468,1.468,1.468,1.465,1.469,1.467,1.467,1.467,1.469,1.467,1.469,1.469,1.47,1.472,2.883,2.884,2.884,2.883,2.884,2.889,2.889,2.889,2.893,2.894,2.894,2.901,2.907,2.909,2.91,2.911,2.911,2.924,2.925,2.93,2.939,2.948,2.952,2.953,2.961,2.965,2.966,2.979,2.982,2.993,2.998,2.998,3.003,3.007,3.012,3.023,3.024,3.035,3.042,3.045,3.053,3.06,3.068,3.068,3.069,3.083,3.09,3.093,3.114,3.127,3.131,3.131,3.136,3.154,3.155,3.165,3.173,3.183,3.184,3.202,3.204,3.224,3.227,3.239,3.249,3.256,3.266,3.28,3.289,3.293,3.313,3.324,3.339,3.351,3.359,3.363,3.387,3.391,3.404,3.408,3.422,3.447,3.449,3.475,3.481,3.501,3.517,3.523,3.542,3.552,3.577,3.594,3.611,3.624,3.633,3.657,3.678,3.681,3.724,3.728,3.743,3.768,3.796,3.805,3.821,3.838,3.863,3.888,3.904,3.939,3.961,3.977,4.016,4.052,4.066,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,4.023,3.298,3.285,3.27,3.239,3.226,3.225,3.208,3.196,3.181,3.16,3.147,3.141,3.123,3.107,3.097,3.085,3.082,3.068,3.057,3.042,3.035,3.028,3.012,3.004,2.993,2.983,2.978,2.973,2.955,2.953,2.941,2.931,2.917,2.915,2.908,2.903,2.894,2.89,2.883,2.88,2.865,2.856,2.849,2.844,2.837,2.833,2.82,2.818,2.805,2.802,2.791,2.788,2.783,2.778,2.769,2.765,2.762,2.762,2.765,2.756,2.756,2.741,2.737,2.737,2.736,2.732,2.727,2.713,2.712,2.709,2.707,2.704,2.698,2.696,2.694,2.694,2.693,2.692,2.692,2.684,2.673,2.672,2.669,2.667,2.666,2.663,2.663,2.663,2.661,2.66,2.66,2.659,2.658,2.657,2.653,2.652,2.647,2.647,2.647,2.646,2.646,2.643,2.642,2.643,2.643,2.647,2.648,2.648,2.647,2.647,2.648,2.65,2.65,2.65,2.65,2.652,2.652,2.654,2.656,2.665,2.665,2.665,2.666,2.667,2.667,2.667,2.671,2.671,2.671,2.681,2.681,2.681,2.68,2.68,2.68,2.686,2.686,2.688,2.686,2.696,2.696,2.7,2.706,2.719,2.723,2.723,2.725,2.733,2.733,2.736,2.744,2.747,2.75,2.758,2.758,2.758,2.758,2.758,2.76,2.76,2.763,2.772,2.78,2.782,2.791,2.804,2.812,3.307,3.321,3.33,3.34,3.346,3.353,3.353,3.361,3.377,3.382,3.393,3.394,3.414,3.417,3.431,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,3.751,3.751,3.789,3.805,3.805,3.814,3.821,3.83,3.838,3.84,3.859,3.859,0,0,0,0,3.935,3.935,3.944,3.981,3.977,3.981,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.61} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 46.6084} {Type Sonar} {Name Sonar0 Range 4.2418} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 3.8862} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 3.683} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 4.1402}
SEN {Time 46.6465} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.182,0.187,0.211,0.211,0.211,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0.007,4.008,4.008,3.961,3.961,0.007,0,3.874,0.156,0.156,0.147,0.147,0.156,0.161,0.157,0.157,0.16,0.16,0.16,0.215,0,0,0,0,0,0.179,0.17,0.161,0.168,0.164,0.161,0.164,0.168,1.75,1.75,1.75,1.725,1.714,1.707,1.704,1.698,1.696,1.686,1.676,1.674,1.673,1.66,1.657,1.654,1.648,1.647,1.637,1.636,1.629,1.623,1.62,1.619,1.614,1.607,1.601,1.595,1.59,1.589,1.58,1.576,1.571,1.57,1.563,1.56,1.557,1.549,1.547,1.546,1.541,1.539,1.535,1.529,1.528,1.528,1.526,1.525,1.519,1.519,1.518,1.515,1.514,1.512,1.51,1.509,1.505,1.505,1.501,1.5,1.496,1.496,1.493,1.494,1.493,1.493,1.493,1.491,1.485,1.479,1.477,1.477,1.477,1.473,1.473,1.473,1.471,1.473,1.471,1.468,1.471,1.472,1.471,1.472,1.473,1.472,1.468,1.469,1.46,1.46,1.46,1.468,1.46,1.468,1.468,1.468,1.469,1.469,1.464,1.464,1.464,1.462,1.464,1.466,1.466,1.466,1.467,1.467,1.468,1.47,1.472,1.474,2.877,2.88,2.889,2.881,2.881,2.891,2.895,2.896,2.896,2.897,2.897,2.901,2.909,2.911,2.922,2.923,2.926,2.929,2.93,2.932,2.934,2.939,2.942,2.955,2.956,2.967,2.967,2.976,2.982,2.994,2.997,3,3.006,3.009,3.015,3.023,3.024,3.041,3.044,3.054,3.055,3.058,3.062,3.067,3.077,3.088,3.097,3.099,3.112,3.115,3.121,3.127,3.141,3.142,3.162,3.169,3.172,3.189,3.19,3.192,3.206,3.223,3.227,3.234,3.251,3.255,3.267,3.286,3.291,3.292,3.304,3.323,3.334,3.347,3.366,3.367,3.378,3.398,3.411,3.412,3.43,3.45,3.46,3.479,3.492,3.497,3.521,3.521,3.551,3.557,3.569,3.587,3.601,3.619,3.637,3.651,3.68,3.682,3.709,3.724,3.745,3.766,3.782,3.801,3.828,3.831,3.872,3.883,3.912,3.935,3.957,3.982,4.025,4.041,4.087,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,4.073,3.302,3.286,3.269,3.251,3.227,3.226,3.213,3.189,3.177,3.165,3.144,3.137,3.124,3.106,3.101,3.094,3.077,3.075,3.054,3.039,3.028,3.023,3.01,3.009,3.003,2.982,2.979,2.978,2.956,2.952,2.942,2.94,2.927,2.919,2.919,2.911,2.899,2.893,2.875,2.867,2.866,2.857,2.851,2.851,2.838,2.827,2.822,2.811,2.806,2.797,2.793,2.793,2.79,2.778,2.776,2.773,2.769,2.769,2.769,2.757,2.757,2.786,2.75,2.75,2.737,2.732,2.722,2.722,2.717,2.71,2.71,2.706,2.702,2.702,2.696,2.693,2.691,2.683,2.679,2.675,2.675,2.672,2.672,2.669,2.663,2.663,2.663,2.663,2.662,2.663,2.663,2.663,2.657,2.657,2.657,2.656,2.657,2.656,2.652,2.646,2.646,2.645,2.645,2.645,2.643,2.645,2.645,2.645,2.644,2.646,2.646,2.648,2.649,2.649,2.65,2.652,2.655,2.656,2.657,2.658,2.658,2.661,2.666,2.667,2.669,2.669,2.669,2.674,2.676,2.678,2.678,2.678,2.678,2.678,2.678,2.678,2.687,2.689,2.694,2.694,2.697,2.699,2.707,2.708,2.72,2.723,2.726,2.729,2.733,2.736,2.748,2.749,2.749,2.749,2.749,2.754,2.754,2.757,2.758,2.768,2.768,2.769,2.773,2.781,2.794,2.8,2.807,3.297,3.307,3.334,3.34,3.351,3.355,3.357,3.362,3.373,3.389,3.402,3.403,3.412,3.415,3.427,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.085,3.085,3.085,3.79,3.798,3.817,3.806,3.806,3.813,3.817,3.821,3.844,3.857,3.871,0,0.009,0.009,0,0,0,0,3.971,3.976,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.80} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 46.8013} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 3.4544} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 4.1402}
SEN {Time 46.8464} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.181,0.181,0.186,0.186,0.201,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,4.085,4.04,4.016,4.002,3.976,3.94,3.94,3.94,3.907,3.872,0.161,0.156,0.153,0.153,0.147,0.147,0.147,0.161,0.161,0.162,0.171,0.206,0,0,0,0,0,0.007,0.17,0.153,0.165,0.164,0.153,0.164,0.165,1.745,1.745,1.745,1.733,1.715,1.711,1.701,1.694,1.692,1.684,1.676,1.675,1.672,1.661,1.657,1.652,1.643,1.641,1.636,1.635,1.631,1.619,1.615,1.613,1.612,1.601,1.596,1.594,1.592,1.59,1.59,1.575,1.575,1.573,1.572,1.561,1.557,1.552,1.55,1.549,1.547,1.546,1.53,1.528,1.528,1.527,1.527,1.526,1.522,1.52,1.518,1.511,1.51,1.51,1.505,1.502,1.499,1.499,1.498,1.498,1.498,1.498,1.491,1.491,1.491,1.491,1.491,1.491,1.486,1.486,1.485,1.485,1.485,1.477,1.477,1.477,1.473,1.472,1.47,1.47,1.47,1.473,1.473,1.473,1.473,1.472,1.472,1.469,1.461,1.461,1.461,1.461,1.461,1.461,1.461,1.461,1.466,1.466,1.463,1.463,1.463,1.461,1.461,1.472,1.471,1.471,1.472,1.472,1.472,1.473,1.474,1.482,2.87,2.88,2.881,2.881,2.882,2.886,2.891,2.891,2.894,2.894,2.894,2.896,2.912,2.913,2.916,2.918,2.922,2.923,2.926,2.926,2.937,2.939,2.954,2.964,2.971,2.971,2.973,2.975,2.98,2.99,2.99,2.991,2.999,3.003,3.011,3.029,3.029,3.031,3.044,3.045,3.05,3.053,3.066,3.074,3.077,3.089,3.095,3.105,3.111,3.12,3.128,3.128,3.144,3.147,3.158,3.168,3.177,3.181,3.182,3.202,3.205,3.222,3.228,3.234,3.26,3.261,3.265,3.288,3.291,3.292,3.305,3.329,3.336,3.351,3.366,3.368,3.389,3.392,3.411,3.416,3.433,3.436,3.453,3.463,3.494,3.495,3.516,3.529,3.538,3.56,3.572,3.59,3.607,3.624,3.631,3.655,3.676,3.684,3.712,3.726,3.736,3.765,3.784,3.794,3.823,3.837,3.875,3.884,3.903,3.93,3.949,3.988,4.02,4.056,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,4.036,3.291,3.291,3.274,3.252,3.23,3.223,3.205,3.195,3.184,3.16,3.152,3.144,3.126,3.108,3.097,3.087,3.077,3.075,3.064,3.044,3.037,3.027,3.017,3.007,2.998,2.988,2.98,2.971,2.958,2.956,2.95,2.937,2.93,2.913,2.913,2.911,2.902,2.891,2.886,2.875,2.862,2.852,2.851,2.85,2.841,2.829,2.823,2.811,2.808,2.807,2.796,2.784,2.777,2.776,2.773,2.77,2.768,2.768,2.77,2.763,2.76,2.741,2.741,2.741,2.735,2.731,2.715,2.715,2.712,2.709,2.708,2.705,2.704,2.698,2.696,2.692,2.691,2.683,2.681,2.679,2.677,2.671,2.671,2.67,2.67,2.669,2.661,2.661,2.661,2.661,2.66,2.66,2.657,2.657,2.654,2.651,2.651,2.651,2.651,2.652,2.652,2.642,2.642,2.645,2.645,2.647,2.647,2.645,2.647,2.645,2.645,2.648,2.648,2.645,2.648,2.648,2.653,2.653,2.654,2.657,2.658,2.658,2.658,2.658,2.668,2.668,2.672,2.674,2.679,2.683,2.683,2.683,2.683,2.682,2.682,2.683,2.689,2.691,2.691,2.692,2.692,2.693,2.701,2.709,2.717,2.726,2.726,2.726,2.729,2.741,2.741,2.742,2.751,2.752,2.752,2.757,2.754,2.757,2.761,2.768,2.773,2.78,2.786,2.787,2.8,2.803,2.81,3.304,3.319,3.329,3.343,3.354,3.362,3.366,3.373,3.378,3.381,3.402,3.403,3.411,3.411,3.414,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.802,3.808,3.818,3.818,3.818,3.818,3.827,3.831,3.831,3.85,3.852,3.877,3.88,3.898,3.907,3.917,3.932,3.933,3.946,3.954,3.978,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.00} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 47.0021} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 3.4544} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8166} {Name Sonar15 Range 4.1402}
SEN {Time 47.0464} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.191,0.182,0.182,0.184,0.185,0.185,0.204,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,4.066,4.023,4.023,3.996,3.973,3.973,0,3.906,3.868,0.153,0.153,0.151,0.148,0.148,0.148,0.148,0.154,0.156,0.161,0.167,0.193,0,0,0,0,0,0.007,0.167,0.163,0.163,0.163,0.153,0.163,0.163,1.741,1.741,1.741,1.721,1.718,1.714,1.708,1.697,1.691,1.683,1.681,1.676,1.675,1.667,1.658,1.653,1.643,1.64,1.639,1.638,1.633,1.622,1.617,1.616,1.614,1.601,1.596,1.592,1.592,1.592,1.58,1.574,1.567,1.566,1.565,1.557,1.554,1.553,1.553,1.55,1.55,1.544,1.537,1.533,1.528,1.526,1.526,1.523,1.521,1.518,1.512,1.512,1.508,1.505,1.505,1.502,1.501,1.5,1.5,1.499,1.498,1.495,1.491,1.491,1.491,1.491,1.491,1.489,1.488,1.484,1.484,1.481,1.478,1.477,1.476,1.473,1.473,1.472,1.47,1.47,1.472,1.472,1.472,1.472,1.472,1.471,1.469,1.467,1.466,1.466,1.466,1.466,1.463,1.466,1.465,1.466,1.468,1.469,1.468,1.472,1.472,1.468,1.467,1.467,1.467,1.467,1.47,1.475,1.475,1.475,1.476,1.476,2.876,2.879,2.88,2.88,2.88,2.882,2.892,2.896,2.898,2.899,2.9,2.904,2.909,2.913,2.916,2.919,2.923,2.924,2.928,2.929,2.938,2.94,2.953,2.955,2.961,2.967,2.973,2.977,2.99,2.994,2.994,2.994,2.994,3.008,3.012,3.017,3.027,3.029,3.041,3.053,3.054,3.055,3.062,3.065,3.085,3.088,3.093,3.094,3.108,3.111,3.121,3.128,3.148,3.156,3.162,3.162,3.167,3.185,3.194,3.196,3.206,3.215,3.23,3.242,3.251,3.256,3.264,3.278,3.289,3.293,3.309,3.318,3.325,3.349,3.35,3.374,3.386,3.395,3.41,3.412,3.429,3.438,3.459,3.469,3.482,3.495,3.516,3.526,3.535,3.546,3.574,3.593,3.606,3.623,3.625,3.654,3.676,3.688,3.709,3.723,3.749,3.77,3.793,3.801,3.824,3.838,3.865,3.892,3.92,3.933,3.959,3.985,4.015,4.036,4.077,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.301,3.279,3.265,3.249,3.23,3.219,3.203,3.201,3.17,3.164,3.157,3.141,3.123,3.111,3.1,3.09,3.076,3.069,3.061,3.038,3.028,3.027,3.015,2.999,2.994,2.986,2.976,2.969,2.961,2.947,2.937,2.927,2.927,2.926,2.913,2.907,2.905,2.888,2.882,2.879,2.871,2.864,2.855,2.844,2.843,2.832,2.82,2.819,2.818,2.804,2.802,2.786,2.78,2.772,2.769,2.764,2.763,2.763,2.763,2.761,2.761,2.75,2.744,2.733,2.732,2.727,2.726,2.723,2.723,2.711,2.709,2.701,2.696,2.692,2.691,2.691,2.687,2.682,2.682,2.679,2.676,2.673,2.671,2.671,2.666,2.664,2.664,2.663,2.663,2.663,2.663,2.663,2.65,2.657,2.649,2.647,2.647,2.647,2.644,2.647,2.643,2.643,2.643,2.643,2.643,2.643,2.643,2.643,2.645,2.645,2.648,2.648,2.648,2.648,2.653,2.657,2.66,2.66,2.66,2.66,2.66,2.662,2.662,2.667,2.671,2.674,2.675,2.679,2.681,2.686,2.686,2.686,2.686,2.682,2.681,2.682,2.686,2.686,2.689,2.692,2.693,2.7,2.706,2.713,2.72,2.72,2.72,2.724,2.733,2.733,2.739,2.75,2.752,2.752,2.752,2.758,2.758,2.759,2.76,2.761,2.77,2.771,2.772,2.782,2.791,2.798,2.807,3.301,3.322,3.329,3.329,3.345,3.351,3.354,3.359,3.379,3.379,3.4,3.403,3.406,3.417,3.435,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.754,3.754,3.79,3.807,3.807,3.813,3.824,3.826,3.839,3.852,3.863,3.874,3.882,3.891,3.911,3.911,3.928,3.933,3.94,3.94,3.971,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.20} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 47.2042} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 3.4544} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 4.1402}
SEN {Time 47.2565} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.186,0.187,0.19,0.19,0.206,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0.016,4.073,3.988,3.97,3.944,3.944,3.944,3.912,3.874,0.15,0.15,0.147,0.145,0.148,0.148,0.148,0.15,0.158,0.164,0.165,0.202,0,0,0,0,0,0.179,0.161,0.16,0.161,0.161,0.16,0.163,0.168,1.736,1.736,1.736,1.731,1.725,1.707,1.707,1.697,1.693,1.692,1.683,1.668,1.665,1.66,1.658,1.651,1.647,1.641,1.639,1.632,1.628,1.623,1.62,1.609,1.608,1.596,1.596,1.595,1.595,1.593,1.579,1.576,1.575,1.574,1.572,1.562,1.553,1.552,1.552,1.551,1.547,1.547,1.538,1.534,1.527,1.523,1.523,1.522,1.518,1.518,1.517,1.516,1.508,1.505,1.505,1.503,1.503,1.5,1.498,1.496,1.493,1.49,1.486,1.486,1.487,1.487,1.487,1.49,1.49,1.486,1.485,1.481,1.479,1.477,1.477,1.477,1.476,1.469,1.469,1.469,1.469,1.475,1.475,1.469,1.475,1.465,1.465,1.464,1.466,1.466,1.468,1.47,1.47,1.47,1.469,1.467,1.467,1.466,1.466,1.466,1.466,1.466,1.466,1.467,1.469,1.469,1.47,1.469,1.469,1.469,1.469,1.469,2.878,2.884,2.885,2.884,2.884,2.885,2.886,2.893,2.896,2.897,2.901,2.907,2.908,2.911,2.913,2.917,2.927,2.927,2.928,2.934,2.939,2.94,2.944,2.952,2.964,2.965,2.966,2.966,2.978,2.986,2.993,2.994,3.001,3.005,3.007,3.025,3.029,3.03,3.047,3.048,3.049,3.055,3.067,3.071,3.079,3.09,3.097,3.11,3.115,3.115,3.117,3.132,3.139,3.14,3.153,3.161,3.176,3.177,3.194,3.202,3.205,3.227,3.227,3.236,3.257,3.261,3.266,3.279,3.283,3.293,3.309,3.32,3.338,3.343,3.362,3.364,3.388,3.396,3.413,3.414,3.429,3.448,3.455,3.472,3.489,3.5,3.512,3.53,3.546,3.55,3.58,3.582,3.601,3.619,3.627,3.659,3.674,3.679,3.711,3.727,3.742,3.767,3.785,3.812,3.829,3.836,3.859,3.885,3.918,3.944,3.963,3.993,4.02,4.047,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.295,3.284,3.263,3.249,3.239,3.225,3.21,3.193,3.174,3.162,3.155,3.148,3.124,3.101,3.094,3.092,3.075,3.074,3.06,3.04,3.034,3.026,3.015,3,2.995,2.985,2.97,2.967,2.955,2.954,2.941,2.941,2.93,2.914,2.905,2.904,2.899,2.891,2.883,2.873,2.859,2.858,2.851,2.845,2.838,2.834,2.833,2.818,2.808,2.805,2.791,2.791,2.781,2.781,2.777,2.769,2.768,2.768,2.768,2.768,2.757,2.742,2.741,2.741,2.731,2.728,2.727,2.719,2.715,2.708,2.704,2.704,2.704,2.701,2.691,2.691,2.691,2.687,2.677,2.674,2.672,2.67,2.67,2.67,2.668,2.668,2.665,2.661,2.66,2.66,2.657,2.657,2.657,2.657,2.653,2.65,2.653,2.649,2.648,2.647,2.647,2.646,2.647,2.647,2.644,2.644,2.652,2.65,2.65,2.65,2.65,2.65,2.653,2.653,2.653,2.655,2.655,2.658,2.662,2.662,2.664,2.667,2.668,2.668,2.67,2.671,2.672,2.676,2.682,2.685,2.685,2.682,2.693,2.683,2.683,2.683,2.691,2.691,2.694,2.694,2.697,2.697,2.703,2.708,2.718,2.719,2.726,2.727,2.734,2.74,2.74,2.741,2.753,2.753,2.753,2.758,2.758,2.758,2.758,2.769,2.772,2.775,2.78,2.792,2.803,2.808,2.816,3.312,3.323,3.327,3.341,3.345,3.351,3.358,3.368,3.386,3.387,3.391,3.401,3.414,3.421,3.425,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.759,3.759,3.795,3.803,3.803,3.811,3.814,3.822,3.84,3.845,3.847,3.863,3.874,3.885,3.889,3.908,3.929,3.936,3.937,3.937,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.41} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 47.4143} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.937} {Name Sonar12 Range 3.4544} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 3.8354}
SEN {Time 47.4464} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.188,0.188,0.19,0.19,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,4.088,4.015,4.015,4.015,3.994,0,0.007,0,3.871,0.155,0.155,0.153,0.149,0.155,0.16,0.16,0.16,0.16,0.16,0.16,0.207,0,0,0,0,0,0.007,0.168,0.154,0.165,0.159,0.154,0.159,0.165,1.739,1.739,1.739,1.732,1.718,1.715,1.705,1.697,1.696,1.692,1.678,1.674,1.673,1.664,1.652,1.652,1.646,1.639,1.636,1.632,1.628,1.623,1.622,1.613,1.61,1.602,1.597,1.595,1.593,1.59,1.59,1.583,1.574,1.573,1.566,1.559,1.556,1.551,1.551,1.55,1.544,1.54,1.536,1.535,1.527,1.523,1.523,1.523,1.517,1.515,1.513,1.51,1.507,1.507,1.501,1.501,1.501,1.501,1.499,1.499,1.498,1.488,1.488,1.488,1.49,1.49,1.49,1.49,1.49,1.479,1.477,1.477,1.477,1.477,1.477,1.477,1.474,1.471,1.471,1.471,1.47,1.47,1.47,1.469,1.467,1.466,1.464,1.465,1.464,1.464,1.465,1.465,1.46,1.468,1.466,1.461,1.466,1.468,1.468,1.469,1.469,1.469,1.472,1.462,1.462,1.463,1.463,1.463,1.463,1.463,1.469,1.477,2.876,2.878,2.882,2.882,2.888,2.889,2.891,2.897,2.899,2.899,2.899,2.901,2.907,2.909,2.912,2.916,2.921,2.925,2.932,2.932,2.938,2.939,2.947,2.951,2.955,2.963,2.967,2.972,2.981,2.984,2.991,2.992,2.995,3.012,3.014,3.014,3.019,3.032,3.043,3.045,3.047,3.063,3.069,3.07,3.071,3.078,3.086,3.093,3.107,3.11,3.132,3.134,3.149,3.153,3.162,3.162,3.168,3.185,3.191,3.192,3.208,3.218,3.224,3.235,3.259,3.26,3.263,3.283,3.297,3.303,3.307,3.315,3.329,3.353,3.353,3.357,3.382,3.399,3.408,3.417,3.438,3.443,3.454,3.478,3.483,3.497,3.514,3.518,3.544,3.561,3.569,3.587,3.603,3.623,3.637,3.661,3.671,3.682,3.71,3.724,3.732,3.762,3.798,3.802,3.824,3.838,3.858,3.881,3.898,3.939,3.942,3.985,4.025,4.037,4.071,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.288,3.281,3.264,3.25,3.228,3.224,3.202,3.193,3.181,3.16,3.147,3.136,3.121,3.113,3.104,3.086,3.077,3.068,3.054,3.035,3.027,3.016,3.009,3.004,2.995,2.989,2.976,2.969,2.953,2.951,2.942,2.929,2.926,2.925,2.917,2.91,2.902,2.883,2.881,2.874,2.868,2.857,2.851,2.845,2.83,2.825,2.822,2.817,2.804,2.796,2.788,2.787,2.781,2.773,2.771,2.769,2.759,2.759,2.759,2.756,2.756,2.744,2.738,2.738,2.73,2.728,2.72,2.718,2.718,2.711,2.708,2.706,2.701,2.701,2.693,2.687,2.687,2.685,2.678,2.677,2.676,2.673,2.669,2.669,2.665,2.664,2.661,2.657,2.657,2.657,2.657,2.659,2.659,2.658,2.658,2.651,2.651,2.651,2.651,2.646,2.643,2.642,2.642,2.642,2.642,2.643,2.643,2.643,2.643,2.643,2.642,2.642,2.642,2.644,2.65,2.656,2.652,2.652,2.656,2.657,2.66,2.661,2.663,2.666,2.666,2.667,2.674,2.675,2.681,2.681,2.681,2.681,2.681,2.68,2.68,2.68,2.682,2.683,2.686,2.687,2.689,2.693,2.697,2.72,2.721,2.721,2.721,2.725,2.735,2.737,2.742,2.743,2.743,2.755,2.755,2.755,2.755,2.755,2.763,2.763,2.769,2.769,2.772,2.773,2.794,2.796,2.813,3.297,3.319,3.329,3.348,3.35,3.355,3.358,3.361,3.372,3.376,3.394,3.404,3.409,3.414,3.432,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.76,3.76,3.783,3.802,3.802,3.812,3.817,3.82,3.831,3.848,3.854,3.86,3.866,3.876,3.896,3.902,3.908,3.921,3.945,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.60} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 47.5982} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8288} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.937} {Name Sonar12 Range 4.1656} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 3.8354}
SEN {Time 47.6464} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.179,0.179,0.179,0.179,0.181,0.187,0.206,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.007,4.086,4.012,3.992,3.953,3.953,3.953,0,0,0,0.155,0.154,0.152,0.152,0.152,0.152,0.163,0.163,0.163,0.163,0.163,0.189,0,0,0,0,0,0.173,0.167,0.161,0.163,0.163,0.161,0.163,0.167,1.744,1.744,1.744,1.729,1.717,1.709,1.704,1.699,1.698,1.686,1.674,1.666,1.664,1.663,1.659,1.651,1.647,1.638,1.637,1.633,1.627,1.615,1.615,1.613,1.606,1.601,1.593,1.593,1.589,1.586,1.581,1.572,1.572,1.57,1.569,1.564,1.561,1.553,1.55,1.548,1.547,1.541,1.536,1.528,1.528,1.527,1.527,1.521,1.519,1.519,1.514,1.513,1.506,1.505,1.504,1.504,1.504,1.504,1.502,1.497,1.497,1.493,1.489,1.488,1.489,1.489,1.489,1.488,1.485,1.483,1.483,1.481,1.481,1.478,1.479,1.477,1.475,1.47,1.469,1.469,1.47,1.47,1.47,1.47,1.468,1.467,1.464,1.467,1.462,1.462,1.462,1.464,1.464,1.465,1.465,1.465,1.466,1.468,1.468,1.462,1.462,1.46,1.46,1.462,1.464,1.465,1.465,1.465,1.467,1.468,1.475,1.476,2.88,2.884,2.884,2.884,2.885,2.887,2.889,2.889,2.891,2.892,2.898,2.905,2.908,2.909,2.91,2.911,2.912,2.924,2.927,2.933,2.937,2.946,2.948,2.955,2.955,2.957,2.962,2.976,2.981,2.984,2.995,2.997,3.004,3.005,3.008,3.015,3.023,3.029,3.034,3.045,3.055,3.063,3.063,3.071,3.077,3.087,3.088,3.102,3.103,3.106,3.126,3.128,3.131,3.151,3.152,3.156,3.171,3.185,3.187,3.192,3.21,3.218,3.222,3.229,3.251,3.255,3.258,3.284,3.29,3.298,3.308,3.319,3.331,3.352,3.356,3.361,3.383,3.404,3.405,3.409,3.431,3.435,3.453,3.473,3.483,3.499,3.514,3.525,3.536,3.554,3.576,3.587,3.609,3.62,3.637,3.655,3.67,3.685,3.713,3.721,3.739,3.754,3.786,3.802,3.825,3.83,3.864,3.886,3.902,3.936,3.956,3.981,4.012,4.042,4.066,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,4.037,4.037,3.301,3.27,3.243,3.228,3.226,3.212,3.191,3.176,3.165,3.145,3.136,3.12,3.113,3.1,3.09,3.075,3.069,3.057,3.041,3.026,3.025,3.016,3.002,2.993,2.978,2.974,2.967,2.963,2.953,2.94,2.933,2.933,2.917,2.908,2.903,2.899,2.892,2.877,2.875,2.866,2.864,2.852,2.849,2.832,2.831,2.819,2.813,2.808,2.805,2.789,2.78,2.774,2.772,2.769,2.768,2.766,2.766,2.766,2.757,2.746,2.744,2.741,2.733,2.73,2.726,2.722,2.719,2.716,2.711,2.709,2.705,2.702,2.697,2.694,2.69,2.686,2.678,2.678,2.675,2.671,2.67,2.669,2.666,2.664,2.659,2.657,2.657,2.657,2.657,2.657,2.657,2.654,2.654,2.652,2.652,2.646,2.646,2.646,2.646,2.639,2.639,2.639,2.639,2.64,2.641,2.641,2.641,2.648,2.648,2.648,2.652,2.648,2.651,2.652,2.651,2.651,2.654,2.654,2.657,2.657,2.66,2.661,2.663,2.667,2.667,2.668,2.668,2.668,2.679,2.679,2.679,2.679,2.679,2.679,2.684,2.685,2.69,2.692,2.693,2.693,2.694,2.709,2.712,2.713,2.713,2.722,2.723,2.729,2.732,2.745,2.747,2.747,2.752,2.756,2.757,2.757,2.758,2.76,2.761,2.771,2.771,2.774,2.781,2.794,2.796,2.804,3.303,3.321,3.324,3.336,3.342,3.35,3.352,3.359,3.375,3.387,3.392,3.398,3.403,3.421,3.425,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.755,3.755,3.787,3.793,3.793,3.801,3.82,3.822,3.838,3.84,3.848,3.858,3.878,3.888,3.895,3.908,3.912,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.80} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 47.8002} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.937} {Name Sonar12 Range 4.1656} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 3.8354}
SEN {Time 47.8425} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.19,0.19,0.188,0.19,0.194,0.202,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,4.08,3.999,3.961,3.937,3.937,3.937,3.908,3.876,0.159,0.153,0.153,0.148,0.147,0.147,0.147,0.149,0.157,0.163,0.163,0.204,0,0,0,0,0,0.174,0.172,0.161,0.161,0.158,0.156,0.158,0.158,1.746,1.746,1.746,1.728,1.715,1.707,1.704,1.691,1.689,1.684,1.68,1.676,1.675,1.66,1.658,1.648,1.646,1.639,1.639,1.629,1.629,1.624,1.623,1.613,1.611,1.598,1.598,1.589,1.587,1.58,1.579,1.578,1.576,1.572,1.569,1.56,1.558,1.558,1.553,1.55,1.542,1.54,1.535,1.535,1.526,1.526,1.526,1.523,1.518,1.515,1.514,1.513,1.51,1.504,1.504,1.504,1.501,1.501,1.497,1.496,1.492,1.491,1.488,1.488,1.488,1.488,1.488,1.488,1.485,1.484,1.478,1.478,1.479,1.475,1.479,1.479,1.468,1.468,1.469,1.469,1.471,1.471,1.474,1.474,1.474,1.47,1.466,1.466,1.464,1.464,1.465,1.47,1.47,1.47,1.47,1.47,1.469,1.465,1.466,1.465,1.465,1.463,1.463,1.463,1.465,1.465,1.467,1.465,1.47,1.469,1.47,1.475,2.871,2.883,2.886,2.886,2.889,2.89,2.891,2.895,2.895,2.9,2.901,2.901,2.91,2.911,2.911,2.912,2.916,2.919,2.925,2.928,2.942,2.943,2.953,2.955,2.956,2.961,2.963,2.975,2.986,2.989,2.993,2.998,3.004,3.008,3.013,3.017,3.021,3.031,3.036,3.038,3.046,3.056,3.061,3.073,3.081,3.086,3.091,3.095,3.113,3.116,3.124,3.127,3.131,3.153,3.154,3.167,3.177,3.183,3.185,3.192,3.21,3.22,3.227,3.236,3.251,3.251,3.262,3.272,3.29,3.293,3.307,3.322,3.324,3.354,3.355,3.374,3.381,3.398,3.407,3.408,3.427,3.445,3.457,3.472,3.481,3.493,3.515,3.52,3.537,3.572,3.573,3.58,3.606,3.607,3.639,3.662,3.668,3.688,3.715,3.724,3.743,3.756,3.778,3.796,3.822,3.834,3.861,3.873,3.904,3.932,3.964,3.986,4.012,4.045,4.074,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.301,3.277,3.259,3.246,3.228,3.221,3.216,3.185,3.179,3.164,3.15,3.142,3.131,3.111,3.096,3.091,3.073,3.064,3.064,3.044,3.036,3.023,3.018,3.003,2.995,2.994,2.972,2.971,2.96,2.955,2.94,2.936,2.92,2.919,2.915,2.908,2.896,2.886,2.879,2.876,2.866,2.854,2.847,2.843,2.834,2.83,2.816,2.812,2.81,2.805,2.795,2.787,2.78,2.778,2.771,2.768,2.759,2.759,2.759,2.759,2.759,2.738,2.733,2.733,2.733,2.726,2.718,2.715,2.713,2.713,2.705,2.704,2.697,2.695,2.695,2.689,2.688,2.686,2.683,2.683,2.673,2.673,2.665,2.67,2.664,2.66,2.66,2.66,2.66,2.66,2.66,2.66,2.66,2.66,2.658,2.656,2.656,2.649,2.643,2.646,2.646,2.643,2.641,2.641,2.641,2.641,2.641,2.647,2.648,2.648,2.646,2.649,2.652,2.646,2.652,2.652,2.652,2.652,2.652,2.652,2.659,2.66,2.661,2.663,2.663,2.673,2.675,2.675,2.675,2.677,2.677,2.679,2.679,2.679,2.679,2.68,2.686,2.686,2.687,2.695,2.698,2.698,2.699,2.712,2.713,2.715,2.722,2.723,2.728,2.738,2.739,2.741,2.75,2.75,2.746,2.75,2.75,2.753,2.757,2.764,2.769,2.776,2.779,2.78,2.791,2.796,2.801,3.305,3.324,3.333,3.344,3.346,3.347,3.353,3.361,3.378,3.384,3.393,3.401,3.408,3.421,3.432,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.806,3.806,3.817,3.812,3.812,3.817,3.817,3.839,3.851,3.857,3.858,3.868,3.894,3.918,3.921,3.921,3.921,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.00} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.0021} {Type Sonar} {Name Sonar0 Range 4.2164} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4732} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 4.1656} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 3.8354}
SEN {Time 48.0425} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.189,0.188,0.185,0.188,0.188,0.188,0.203,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,4.075,4.004,3.996,3.957,3.937,3.937,3.937,3.905,3.877,0.153,0.153,0.148,0.153,0.153,0.157,0.162,0.162,0.162,0.162,0.165,0.213,0,0,0,0,0,0.174,0.166,0.163,0.166,0.163,0.16,0.163,0.17,1.737,1.737,1.737,1.719,1.718,1.717,1.701,1.694,1.694,1.687,1.686,1.673,1.672,1.661,1.656,1.652,1.649,1.635,1.635,1.632,1.629,1.624,1.62,1.615,1.614,1.6,1.599,1.595,1.594,1.587,1.584,1.576,1.575,1.572,1.57,1.561,1.558,1.558,1.548,1.548,1.547,1.544,1.538,1.529,1.528,1.524,1.524,1.523,1.518,1.517,1.517,1.513,1.507,1.506,1.506,1.506,1.503,1.503,1.496,1.495,1.495,1.489,1.489,1.487,1.487,1.487,1.488,1.488,1.488,1.481,1.479,1.476,1.476,1.474,1.476,1.473,1.472,1.472,1.469,1.469,1.469,1.47,1.469,1.469,1.469,1.468,1.464,1.464,1.463,1.464,1.464,1.465,1.465,1.465,1.465,1.465,1.466,1.466,1.466,1.468,1.468,1.468,1.468,1.467,1.467,1.467,1.467,1.467,1.467,1.467,1.474,1.474,2.884,2.884,2.884,2.884,2.88,2.88,2.884,2.892,2.892,2.903,2.901,2.901,2.903,2.91,2.911,2.926,2.928,2.93,2.932,2.937,2.941,2.944,2.947,2.955,2.962,2.97,2.971,2.976,2.982,2.987,2.991,2.993,3.001,3.007,3.008,3.017,3.022,3.026,3.038,3.039,3.044,3.059,3.063,3.068,3.071,3.083,3.087,3.104,3.111,3.118,3.123,3.13,3.132,3.149,3.162,3.166,3.173,3.185,3.188,3.202,3.204,3.221,3.226,3.247,3.251,3.254,3.258,3.275,3.28,3.298,3.303,3.32,3.328,3.343,3.355,3.364,3.378,3.389,3.408,3.414,3.432,3.438,3.451,3.471,3.483,3.509,3.509,3.525,3.536,3.555,3.573,3.579,3.597,3.617,3.641,3.655,3.678,3.684,3.719,3.725,3.737,3.755,3.779,3.795,3.819,3.84,3.861,3.885,3.914,3.937,3.955,3.974,4.007,4.047,4.075,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.292,3.29,3.277,3.245,3.231,3.218,3.208,3.193,3.171,3.166,3.154,3.143,3.127,3.113,3.107,3.087,3.079,3.066,3.061,3.036,3.031,3.029,3.012,3.004,2.99,2.983,2.974,2.974,2.956,2.954,2.937,2.932,2.928,2.913,2.909,2.903,2.894,2.888,2.882,2.88,2.874,2.855,2.847,2.842,2.836,2.835,2.82,2.813,2.802,2.797,2.794,2.788,2.779,2.77,2.77,2.769,2.764,2.764,2.772,2.764,2.764,2.743,2.737,2.737,2.736,2.727,2.72,2.719,2.719,2.711,2.707,2.706,2.704,2.698,2.694,2.694,2.693,2.689,2.685,2.678,2.675,2.673,2.675,2.669,2.661,2.661,2.662,2.661,2.661,2.662,2.659,2.659,2.656,2.656,2.655,2.652,2.655,2.647,2.647,2.647,2.645,2.645,2.645,2.64,2.64,2.645,2.645,2.645,2.645,2.645,2.645,2.649,2.649,2.651,2.652,2.654,2.653,2.654,2.655,2.655,2.657,2.665,2.665,2.666,2.666,2.674,2.675,2.679,2.68,2.681,2.681,2.681,2.682,2.682,2.682,2.683,2.693,2.693,2.693,2.693,2.697,2.697,2.705,2.711,2.721,2.724,2.727,2.73,2.733,2.737,2.74,2.748,2.752,2.752,2.759,2.759,2.759,2.759,2.762,2.766,2.77,2.772,2.778,2.78,2.8,2.803,2.805,3.303,3.32,3.333,3.343,3.345,3.354,3.363,3.364,3.375,3.379,3.398,3.398,3.404,3.417,3.428,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.751,3.751,3.791,3.805,3.805,3.813,3.816,3.836,3.847,3.859,3.859,3.859,3.893,0.007,3.918,3.915,3.918,3.918,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.20} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.1951} {Type Sonar} {Name Sonar0 Range 4.2164} {Name Sonar1 Range 2.2352} {Name Sonar2 Range 5.842} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.3716} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 3.8354}
SEN {Time 48.2425} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.181,0.175,0.181,0.188,0.211,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,4.046,4.024,3.985,3.963,3.923,3.923,3.923,3.907,3.876,0.156,0.156,0.154,0.147,0.147,0.161,0.163,0.163,0.163,0.163,0.163,0.199,0,0,0,0,0,0.007,0.165,0.157,0.165,0.165,0.157,0.165,0.171,1.744,1.744,1.744,1.725,1.708,1.707,1.705,1.695,1.687,1.686,1.674,1.672,1.668,1.668,1.657,1.647,1.643,1.64,1.632,1.63,1.625,1.625,1.619,1.616,1.614,1.597,1.594,1.594,1.592,1.587,1.578,1.576,1.573,1.571,1.571,1.557,1.556,1.55,1.55,1.548,1.545,1.539,1.539,1.535,1.529,1.525,1.525,1.52,1.515,1.512,1.511,1.511,1.504,1.504,1.504,1.503,1.499,1.499,1.493,1.493,1.493,1.493,1.491,1.492,1.491,1.489,1.489,1.486,1.482,1.482,1.477,1.477,1.473,1.473,1.478,1.478,1.473,1.471,1.47,1.47,1.471,1.47,1.469,1.469,1.469,1.468,1.466,1.462,1.462,1.462,1.464,1.464,1.464,1.464,1.464,1.464,1.464,1.466,1.466,1.466,1.467,1.467,1.468,1.468,1.471,1.471,1.468,1.468,1.47,1.47,1.475,1.478,2.875,2.876,2.876,2.876,2.876,2.884,2.898,2.898,2.898,2.898,2.902,2.906,2.906,2.911,2.915,2.919,2.921,2.927,2.927,2.929,2.936,2.941,2.951,2.955,2.958,2.962,2.972,2.972,2.987,2.99,2.993,2.994,2.995,2.995,3.017,3.019,3.023,3.036,3.039,3.045,3.047,3.051,3.065,3.071,3.083,3.087,3.089,3.1,3.107,3.112,3.116,3.126,3.133,3.145,3.147,3.164,3.171,3.179,3.19,3.194,3.202,3.219,3.226,3.234,3.258,3.259,3.261,3.281,3.289,3.29,3.308,3.318,3.337,3.349,3.36,3.363,3.386,3.399,3.408,3.411,3.435,3.442,3.451,3.467,3.481,3.491,3.51,3.526,3.536,3.553,3.57,3.588,3.603,3.613,3.632,3.652,3.683,3.685,3.705,3.723,3.736,3.757,3.781,3.793,3.826,3.832,3.858,3.876,3.904,3.943,3.954,3.989,4.012,4.038,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.295,3.284,3.263,3.255,3.238,3.22,3.201,3.194,3.177,3.169,3.142,3.141,3.118,3.105,3.096,3.092,3.078,3.075,3.061,3.038,3.036,3.023,3.021,3.013,2.988,2.984,2.973,2.968,2.958,2.953,2.932,2.927,2.922,2.916,2.909,2.909,2.901,2.886,2.879,2.875,2.864,2.857,2.847,2.84,2.832,2.83,2.816,2.816,2.798,2.798,2.794,2.781,2.78,2.778,2.773,2.772,2.763,2.763,2.763,2.751,2.751,2.742,2.736,2.736,2.734,2.73,2.721,2.721,2.715,2.71,2.704,2.7,2.699,2.699,2.692,2.692,2.688,2.687,2.677,2.677,2.677,2.676,2.676,2.666,2.665,2.665,2.665,2.665,2.658,2.658,2.658,2.657,2.657,2.657,2.652,2.652,2.649,2.649,2.649,2.649,2.642,2.641,2.641,2.641,2.642,2.647,2.647,2.648,2.648,2.648,2.646,2.646,2.646,2.646,2.648,2.652,2.653,2.654,2.655,2.663,2.664,2.666,2.666,2.666,2.666,2.666,2.671,2.672,2.672,2.677,2.677,2.677,2.68,2.679,2.675,2.679,2.68,2.685,2.69,2.692,2.693,2.697,2.708,2.715,2.718,2.718,2.722,2.726,2.735,2.741,2.743,2.745,2.749,2.753,2.751,2.758,2.751,2.758,2.761,2.767,2.769,2.771,2.773,2.783,2.8,2.8,2.813,3.295,3.316,3.332,3.34,3.343,3.348,3.363,3.364,3.377,3.394,3.399,3.399,3.407,3.424,3.428,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.755,3.755,3.797,3.814,3.806,3.814,3.815,3.826,3.838,3.859,3.868,0.007,3.891,3.891,3.907,3.907,3.915,3.917,3.935,3.952,3.968,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.40} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.3961} {Type Sonar} {Name Sonar0 Range 4.2164} {Name Sonar1 Range 2.2352} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.3716} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 3.8354}
SEN {Time 48.4424} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.182,0.187,0.187,0.194,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.025,4.025,3.987,3.968,3.968,0,3.91,3.878,0.162,0.157,0.154,0.149,0.157,0.157,0.157,0.157,0.157,0.157,0.157,0.205,0,0,0,0,0,0.181,0.169,0.158,0.169,0.161,0.158,0.161,0.17,1.746,1.746,1.746,1.724,1.716,1.708,1.705,1.698,1.688,1.681,1.68,1.678,1.673,1.663,1.66,1.651,1.645,1.642,1.637,1.631,1.626,1.619,1.615,1.614,1.605,1.602,1.595,1.592,1.589,1.582,1.58,1.576,1.575,1.57,1.567,1.561,1.557,1.553,1.552,1.549,1.545,1.544,1.54,1.535,1.529,1.524,1.524,1.521,1.519,1.516,1.514,1.514,1.505,1.505,1.504,1.502,1.499,1.497,1.497,1.496,1.496,1.496,1.487,1.487,1.49,1.49,1.49,1.49,1.487,1.479,1.479,1.479,1.474,1.474,1.474,1.474,1.473,1.471,1.471,1.471,1.473,1.473,1.473,1.47,1.469,1.468,1.468,1.468,1.464,1.464,1.466,1.461,1.461,1.466,1.463,1.463,1.464,1.47,1.464,1.471,1.471,1.467,1.467,1.467,1.467,1.468,1.468,1.468,1.468,1.468,1.475,1.478,2.875,2.882,2.882,2.877,2.877,2.882,2.882,2.882,2.888,2.893,2.897,2.897,2.901,2.911,2.912,2.917,2.927,2.93,2.931,2.932,2.938,2.944,2.947,2.951,2.964,2.965,2.98,2.98,2.981,2.992,2.995,2.999,3.002,3.009,3.015,3.016,3.019,3.032,3.034,3.044,3.047,3.056,3.067,3.07,3.073,3.084,3.096,3.113,3.115,3.115,3.132,3.132,3.142,3.145,3.151,3.164,3.171,3.188,3.195,3.198,3.204,3.222,3.229,3.234,3.249,3.265,3.266,3.274,3.287,3.291,3.309,3.319,3.327,3.349,3.352,3.37,3.379,3.389,3.407,3.408,3.424,3.439,3.452,3.469,3.494,3.497,3.502,3.532,3.538,3.562,3.573,3.586,3.606,3.618,3.634,3.661,3.678,3.696,3.714,3.726,3.747,3.762,3.778,3.8,3.82,3.841,3.866,3.897,3.906,3.939,3.954,3.987,4.01,4.046,4.071,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.304,3.285,3.271,3.256,3.228,3.215,3.202,3.189,3.175,3.162,3.146,3.141,3.131,3.103,3.098,3.081,3.08,3.067,3.064,3.038,3.029,3.015,3.014,3.003,2.999,2.984,2.976,2.97,2.959,2.95,2.944,2.933,2.927,2.915,2.91,2.901,2.895,2.882,2.88,2.878,2.863,2.855,2.848,2.843,2.834,2.83,2.827,2.815,2.799,2.797,2.795,2.785,2.779,2.775,2.772,2.769,2.763,2.763,2.763,2.763,2.763,2.735,2.732,2.73,2.729,2.722,2.722,2.709,2.709,2.708,2.707,2.705,2.7,2.698,2.689,2.688,2.684,2.68,2.675,2.673,2.673,2.671,2.666,2.666,2.659,2.658,2.657,2.657,2.654,2.657,2.658,2.658,2.652,2.652,2.651,2.65,2.649,2.648,2.646,2.646,2.646,2.645,2.644,2.645,2.644,2.645,2.646,2.646,2.639,2.646,2.646,2.644,2.646,2.646,2.648,2.648,2.648,2.649,2.65,2.656,2.657,2.66,2.665,2.666,2.669,2.673,2.673,2.673,2.674,2.685,2.685,2.685,2.688,2.68,2.679,2.68,2.685,2.684,2.685,2.685,2.691,2.695,2.697,2.703,2.716,2.72,2.721,2.727,2.73,2.742,2.745,2.748,2.75,2.75,2.75,2.758,2.758,2.749,2.756,2.76,2.76,2.771,2.775,2.783,2.8,2.801,2.802,3.296,3.319,3.325,3.345,3.346,3.348,3.357,3.36,3.379,3.382,3.395,3.402,3.412,3.414,3.428,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.083,3.083,3.083,3.792,3.804,3.809,3.809,3.809,3.818,3.825,3.833,3.838,3.847,3.864,3.867,3.881,3.897,3.913,3.914,3.946,3.946,3.959,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.60} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.5981} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2352} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 1.3716} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 4.1402}
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SEN {Time 48.79} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.791} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2352} {Name Sonar2 Range 6.0452} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.0668} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 4.0132} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.7912} {Name Sonar15 Range 4.1402}
SEN {Time 48.8385} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.186,0.187,0.209,0.209,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0,0,0,0,0,0.159,0.154,0.153,0.147,0.153,0.153,0.16,0.16,0.16,0.16,0.165,0.197,0,0,0,0,0,0.173,0.161,0.157,0.161,0.161,0.157,0.163,0.167,1.743,1.743,1.743,1.735,1.714,1.71,1.699,1.696,1.693,1.691,1.681,1.672,1.665,1.656,1.654,1.652,1.644,1.64,1.636,1.632,1.62,1.62,1.62,1.616,1.61,1.595,1.593,1.592,1.591,1.583,1.582,1.574,1.574,1.569,1.569,1.563,1.553,1.551,1.549,1.546,1.545,1.535,1.53,1.53,1.528,1.523,1.523,1.52,1.519,1.511,1.511,1.51,1.508,1.506,1.498,1.498,1.498,1.498,1.497,1.497,1.494,1.494,1.494,1.487,1.487,1.487,1.487,1.487,1.487,1.486,1.485,1.483,1.479,1.474,1.479,1.473,1.471,1.47,1.47,1.468,1.468,1.468,1.465,1.468,1.47,1.464,1.468,1.468,1.46,1.46,1.46,1.46,1.459,1.459,1.459,1.463,1.459,1.459,1.463,1.463,1.462,1.462,1.464,1.468,1.468,1.468,1.468,1.466,1.466,1.466,1.467,1.473,2.879,2.88,2.885,2.88,2.88,2.885,2.887,2.9,2.9,2.9,2.9,2.901,2.911,2.913,2.919,2.923,2.926,2.93,2.937,2.94,2.942,2.944,2.946,2.957,2.962,2.963,2.971,2.982,2.984,2.986,2.994,2.996,3.002,3.004,3.005,3.018,3.026,3.03,3.039,3.043,3.05,3.055,3.063,3.075,3.085,3.086,3.087,3.093,3.104,3.105,3.128,3.131,3.133,3.142,3.149,3.166,3.169,3.186,3.189,3.201,3.203,3.219,3.224,3.229,3.245,3.251,3.258,3.279,3.283,3.295,3.3,3.32,3.333,3.352,3.36,3.361,3.367,3.388,3.405,3.414,3.436,3.443,3.447,3.475,3.478,3.504,3.51,3.52,3.537,3.554,3.566,3.593,3.605,3.621,3.636,3.658,3.665,3.691,3.711,3.724,3.741,3.751,3.783,3.811,3.827,3.847,3.86,3.9,3.905,3.932,3.96,3.985,4.017,4.046,4.075,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.289,3.275,3.264,3.248,3.228,3.217,3.21,3.192,3.178,3.166,3.15,3.138,3.123,3.109,3.097,3.081,3.08,3.063,3.051,3.033,3.029,3.022,3.01,3.002,2.991,2.984,2.984,2.966,2.955,2.949,2.935,2.932,2.926,2.919,2.908,2.901,2.896,2.893,2.881,2.873,2.862,2.856,2.845,2.84,2.839,2.831,2.821,2.809,2.807,2.807,2.797,2.785,2.784,2.778,2.772,2.77,2.762,2.762,2.762,2.758,2.756,2.742,2.742,2.734,2.733,2.729,2.721,2.718,2.718,2.709,2.709,2.709,2.703,2.701,2.7,2.701,2.696,2.685,2.685,2.681,2.68,2.67,2.67,2.673,2.667,2.664,2.665,2.662,2.662,2.662,2.661,2.661,2.661,2.661,2.655,2.653,2.653,2.653,2.654,2.654,2.654,2.651,2.648,2.648,2.648,2.648,2.648,2.648,2.653,2.653,2.653,2.654,2.654,2.651,2.654,2.654,2.654,2.657,2.659,2.659,2.661,2.666,2.666,2.666,2.666,2.671,2.676,2.681,2.685,2.685,2.685,2.685,2.685,2.684,2.684,2.69,2.693,2.695,2.695,2.695,2.695,2.696,2.71,2.712,2.72,2.72,2.721,2.724,2.724,2.732,2.739,2.751,2.751,2.751,2.752,2.757,2.757,2.761,2.771,2.78,2.78,2.78,2.78,2.787,2.797,2.797,2.8,3.306,3.321,3.331,3.339,3.343,3.348,3.358,3.359,3.373,3.377,3.395,3.397,3.41,3.411,3.437,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.795,3.805,3.812,3.807,3.807,3.812,3.83,3.84,3.845,3.858,3.877,0,0.007,0,0.007,0,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.99} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 48.992} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 2.2352} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.0668} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.0988} {Name Sonar12 Range 4.0132} {Name Sonar13 Range 1.27} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 4.1402}
SEN {Time 49.0385} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.181,0.181,0.181,0.183,0.183,0.209,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,4.024,4.024,0,0,0,0,0,0.153,0.15,0.149,0.149,0.149,0.149,0.159,0.159,0.159,0.159,0.16,0.206,0,0,0,0,0,0.007,0.171,0.161,0.161,0.161,0.158,0.161,0.162,0,0,0,1.736,1.719,1.706,1.694,1.694,1.691,1.688,1.685,1.679,1.673,1.661,1.66,1.652,1.648,1.641,1.637,1.633,1.628,1.623,1.616,1.612,1.612,1.6,1.597,1.592,1.59,1.582,1.579,1.569,1.567,1.566,1.564,1.555,1.554,1.549,1.549,1.548,1.547,1.539,1.537,1.535,1.528,1.522,1.522,1.521,1.52,1.514,1.514,1.51,1.509,1.508,1.504,1.503,1.497,1.498,1.497,1.497,1.496,1.496,1.492,1.492,1.488,1.487,1.487,1.487,1.487,1.479,1.478,1.477,1.477,1.476,1.476,1.476,1.47,1.469,1.47,1.47,1.471,1.471,1.471,1.469,1.468,1.468,1.468,1.461,1.46,1.46,1.46,1.46,1.462,1.462,1.462,1.462,1.463,1.467,1.467,1.466,1.466,1.466,1.466,1.467,1.468,1.468,1.468,1.468,1.469,1.469,1.469,1.472,2.872,2.872,2.878,2.878,2.883,2.889,2.895,2.895,2.898,2.898,2.899,2.9,2.901,2.914,2.915,2.923,2.927,2.932,2.932,2.937,2.942,2.945,2.947,2.96,2.961,2.97,2.973,2.979,2.988,2.99,2.994,2.994,2.997,3.005,3.007,3.023,3.027,3.035,3.042,3.046,3.05,3.053,3.063,3.078,3.078,3.088,3.091,3.093,3.108,3.109,3.121,3.131,3.134,3.148,3.153,3.168,3.174,3.182,3.184,3.199,3.204,3.216,3.229,3.231,3.246,3.261,3.265,3.277,3.285,3.29,3.306,3.307,3.333,3.349,3.358,3.363,3.379,3.391,3.413,3.42,3.425,3.441,3.458,3.472,3.485,3.489,3.517,3.525,3.542,3.564,3.567,3.576,3.603,3.621,3.641,3.66,3.671,3.676,3.714,3.729,3.743,3.762,3.795,3.818,3.827,3.831,3.872,3.894,3.916,3.942,3.963,3.993,4.009,4.05,4.073,4.089,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.298,3.277,3.268,3.234,3.232,3.22,3.206,3.188,3.181,3.167,3.149,3.137,3.126,3.103,3.102,3.089,3.078,3.065,3.061,3.042,3.037,3.021,3.015,3.013,2.989,2.982,2.972,2.969,2.96,2.957,2.945,2.941,2.922,2.918,2.904,2.9,2.898,2.888,2.884,2.873,2.864,2.864,2.856,2.849,2.841,2.829,2.823,2.819,2.814,2.802,2.795,2.783,2.783,2.775,2.773,2.768,2.767,2.767,2.773,2.767,2.767,2.745,2.739,2.736,2.734,2.729,2.716,2.716,2.714,2.712,2.709,2.705,2.704,2.703,2.702,2.699,2.693,2.692,2.68,2.68,2.68,2.679,2.676,2.673,2.67,2.672,2.666,2.666,2.663,2.663,2.662,2.662,2.661,2.661,2.658,2.654,2.654,2.654,2.654,2.654,2.649,2.649,2.649,2.645,2.654,2.654,2.654,2.653,2.653,2.653,2.653,2.653,2.652,2.651,2.651,2.651,2.651,2.656,2.659,2.659,2.664,2.666,2.666,2.668,2.672,2.669,2.682,2.682,2.682,2.682,2.683,2.683,2.683,2.683,2.683,2.685,2.687,2.694,2.695,2.695,2.696,2.699,2.708,2.713,2.716,2.716,2.718,2.718,2.732,2.741,2.742,2.754,2.756,2.757,2.756,2.761,2.761,2.764,2.764,2.775,2.775,2.776,2.779,2.787,2.794,2.796,2.818,3.294,3.321,3.325,3.343,3.348,3.348,3.357,3.362,3.373,3.382,3.397,3.405,3.409,3.409,3.431,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.796,3.796,3.82,3.82,3.82,3.82,3.823,3.841,3.85,3.861,3.861,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.11} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.783653}
SEN {Time 50.1108} {Type Sonar} {Name Sonar0 Range 4.2418} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.175} {Name Sonar12 Range 3.6576} {Name Sonar13 Range 1.27} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 3.8354}
SEN {Time 50.1384} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.185,0.185,0.191,0.191,0.198,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,4.076,4.076,0.007,4.002,4.002,0,0,0,0,0.149,0.149,0.146,0.146,0.146,0.158,0.158,0.158,0.163,0.165,0.165,0.2,0,0,0,0,0,0.173,0.164,0.159,0.164,0.159,0.159,0.159,0.172,1.739,1.739,1.739,1.736,1.715,1.708,1.701,1.698,1.693,1.682,1.671,1.67,1.668,1.66,1.656,1.651,1.646,1.644,1.634,1.633,1.632,1.622,1.621,1.613,1.61,1.606,1.602,1.595,1.59,1.588,1.58,1.579,1.576,1.573,1.57,1.564,1.556,1.552,1.552,1.552,1.543,1.542,1.54,1.538,1.527,1.526,1.526,1.526,1.521,1.517,1.514,1.51,1.506,1.504,1.502,1.502,1.502,1.5,1.502,1.5,1.498,1.498,1.489,1.489,1.489,1.489,1.491,1.491,1.489,1.483,1.478,1.478,1.477,1.476,1.476,1.476,1.474,1.474,1.474,1.474,1.475,1.475,1.475,1.471,1.471,1.47,1.47,1.467,1.466,1.46,1.46,1.46,1.46,1.463,1.463,1.465,1.465,1.468,1.468,1.47,1.47,1.468,1.468,1.472,1.472,1.472,1.472,1.473,1.476,1.475,1.477,1.478,2.878,2.88,2.887,2.887,2.89,2.89,2.892,2.892,2.892,2.896,2.901,2.904,2.91,2.913,2.915,2.919,2.921,2.931,2.932,2.936,2.94,2.949,2.954,2.957,2.961,2.972,2.976,2.978,2.983,2.983,2.999,3.002,3.006,3.011,3.012,3.021,3.022,3.042,3.045,3.054,3.054,3.058,3.062,3.076,3.078,3.085,3.089,3.098,3.106,3.113,3.116,3.127,3.137,3.152,3.161,3.163,3.167,3.187,3.192,3.2,3.201,3.22,3.227,3.24,3.247,3.256,3.263,3.28,3.287,3.295,3.308,3.318,3.331,3.348,3.357,3.361,3.383,3.398,3.405,3.406,3.441,3.444,3.446,3.474,3.486,3.491,3.518,3.529,3.546,3.562,3.582,3.587,3.606,3.609,3.639,3.654,3.663,3.684,3.711,3.717,3.745,3.769,3.787,3.8,3.821,3.838,3.86,3.885,3.914,3.949,3.957,3.993,4.004,4.035,4.073,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.284,3.284,3.27,3.254,3.23,3.222,3.21,3.19,3.181,3.168,3.149,3.139,3.121,3.111,3.108,3.095,3.076,3.07,3.066,3.045,3.036,3.031,3.018,3.006,3.002,2.981,2.981,2.975,2.955,2.95,2.944,2.935,2.929,2.919,2.918,2.907,2.9,2.89,2.887,2.874,2.872,2.861,2.851,2.85,2.845,2.84,2.822,2.809,2.808,2.806,2.788,2.783,2.779,2.778,2.774,2.771,2.767,2.767,2.767,2.756,2.755,2.746,2.745,2.74,2.736,2.728,2.723,2.723,2.718,2.713,2.711,2.71,2.707,2.696,2.693,2.692,2.692,2.687,2.687,2.685,2.681,2.669,2.669,2.668,2.666,2.666,2.666,2.664,2.664,2.664,2.664,2.664,2.659,2.659,2.658,2.657,2.657,2.657,2.657,2.654,2.65,2.649,2.649,2.649,2.647,2.647,2.652,2.647,2.645,2.645,2.647,2.647,2.655,2.655,2.657,2.657,2.656,2.656,2.664,2.664,2.664,2.667,2.665,2.672,2.669,2.674,2.676,2.679,2.682,2.686,2.686,2.682,2.682,2.683,2.679,2.683,2.696,2.698,2.698,2.698,2.698,2.703,2.713,2.713,2.721,2.727,2.73,2.735,2.736,2.737,2.737,2.746,2.748,2.751,2.754,2.754,2.758,2.759,2.761,2.769,2.772,2.777,2.783,2.784,2.798,2.805,2.813,3.304,3.318,3.34,3.345,3.347,3.357,3.358,3.364,3.38,3.382,3.392,3.401,3.407,3.416,3.43,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.798,3.801,0,3.824,3.824,3.834,3.834,3.834,3.835,3.851,3.879,3.883,0,3.9,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.30} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.747001}
SEN {Time 50.2968} {Type Sonar} {Name Sonar0 Range 4.2418} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.175} {Name Sonar12 Range 3.6576} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.1054} {Name Sonar15 Range 3.8354}
SEN {Time 50.3344} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.183,0.183,0.186,0.189,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.975,3.937,3.906,3.879,3.879,3.879,0,0,0,0.154,0.154,0.147,0.145,0.145,0.155,0.153,0.153,0.161,0.161,0.161,0.194,0,0,0,0,0,0.177,0.156,0.156,0.158,0.158,0.158,0.168,0.168,1.732,1.732,1.732,1.706,1.695,1.695,1.682,1.679,1.675,1.674,1.664,1.652,1.648,1.643,1.641,1.634,1.631,1.63,1.622,1.619,1.612,1.611,1.604,1.602,1.589,1.587,1.58,1.579,1.578,1.578,1.571,1.563,1.561,1.559,1.557,1.547,1.544,1.542,1.537,1.536,1.536,1.533,1.529,1.529,1.522,1.517,1.517,1.513,1.512,1.51,1.505,1.503,1.503,1.501,1.501,1.503,1.501,1.501,1.498,1.493,1.493,1.491,1.49,1.491,1.49,1.487,1.49,1.49,1.486,1.483,1.482,1.477,1.477,1.476,1.475,1.475,1.474,1.473,1.469,1.469,1.469,1.469,1.468,1.469,1.468,1.468,1.468,1.462,1.462,1.465,1.467,1.467,1.467,1.467,1.467,1.467,1.471,1.471,1.471,1.471,1.471,1.472,1.471,1.472,1.472,1.472,1.472,2.883,2.883,2.889,2.889,2.892,2.892,2.894,2.898,2.9,2.901,2.904,2.913,2.915,2.915,2.919,2.923,2.923,2.926,2.934,2.936,2.941,2.949,2.95,2.953,2.955,2.963,2.973,2.979,2.98,2.984,2.993,2.998,3.003,3.007,3.016,3.029,3.03,3.035,3.05,3.054,3.056,3.061,3.072,3.075,3.088,3.093,3.103,3.11,3.113,3.121,3.129,3.132,3.141,3.144,3.158,3.161,3.182,3.182,3.192,3.202,3.209,3.226,3.23,3.241,3.253,3.276,3.28,3.286,3.292,3.295,3.322,3.324,3.342,3.347,3.353,3.384,3.39,3.395,3.411,3.426,3.428,3.451,3.466,3.477,3.483,3.507,3.519,3.519,3.539,3.561,3.585,3.598,3.616,3.626,3.646,3.664,3.68,3.697,3.717,3.738,3.764,3.784,3.79,3.823,3.835,3.858,3.886,3.909,3.935,3.954,3.977,3.999,4.026,4.053,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.231,3.202,3.193,3.175,3.172,3.154,3.148,3.134,3.118,3.108,3.092,3.08,3.078,3.063,3.052,3.036,3.024,3.008,3.007,2.986,2.985,2.977,2.968,2.962,2.95,2.939,2.937,2.928,2.926,2.911,2.909,2.893,2.892,2.884,2.868,2.866,2.864,2.852,2.848,2.842,2.83,2.819,2.813,2.811,2.804,2.798,2.797,2.786,2.777,2.776,2.771,2.769,2.769,2.762,2.758,2.758,2.74,2.734,2.733,2.725,2.725,2.723,2.722,2.712,2.712,2.707,2.703,2.701,2.701,2.7,2.693,2.689,2.688,2.682,2.68,2.677,2.675,2.673,2.673,2.67,2.67,2.66,2.659,2.654,2.653,2.653,2.651,2.65,2.65,2.647,2.647,2.647,2.647,2.654,2.654,2.654,2.644,2.643,2.643,2.643,2.643,2.643,2.643,2.643,2.643,2.644,2.644,2.644,2.648,2.649,2.649,2.653,2.655,2.655,2.66,2.66,2.656,2.656,2.66,2.663,2.674,2.676,2.676,2.68,2.681,2.68,2.681,2.681,2.681,2.681,2.682,2.683,2.691,2.692,2.694,2.698,2.707,2.708,2.715,2.721,2.721,2.721,2.726,2.73,2.735,2.743,2.747,2.75,0.007,2.763,2.758,2.763,2.763,2.767,2.769,2.769,2.773,2.777,2.785,2.785,2.794,2.799,3.319,3.328,3.329,3.345,3.348,3.358,3.368,3.369,3.373,3.383,3.391,3.398,3.401,3.415,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,3.83,3.83,3.83,3.834,3.843,3.857,0.007,3.89,3.887,3.89,3.89,3.913,3.919,3.932,3.934,3.96,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.49} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.694641}
SEN {Time 50.4906} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.2606} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.4478} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.3528} {Name Sonar12 Range 3.6576} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.1054} {Name Sonar15 Range 3.81}
SEN {Time 50.5344} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.187,0.187,0.186,0.187,0.202,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.013,3.952,3.926,3.916,3.873,3.865,3.84,3.818,3.808,3.795,3.764,3.74,3.74,3.721,3.704,3.704,3.659,3.629,0.157,0.157,0.153,0.153,0.157,0.157,0.157,0.157,0.157,0.163,0.163,1.766,1.766,1.766,1.766,1.766,1.752,0.173,0.17,0.158,0.162,0.162,0.162,0.163,0.164,1.684,1.684,1.684,1.66,1.659,1.651,1.643,1.637,1.634,1.629,1.623,1.621,1.619,1.61,1.603,1.599,1.596,1.594,1.594,1.59,1.588,1.588,1.574,1.574,1.572,1.566,1.557,1.55,1.55,1.55,1.549,1.548,1.537,1.537,1.537,1.536,1.535,1.525,1.522,1.522,1.522,1.521,1.514,1.514,1.514,1.512,1.507,1.506,1.502,1.501,1.498,1.497,1.495,1.492,1.492,1.491,1.488,1.49,1.49,1.488,1.488,1.488,1.479,1.479,1.481,1.481,1.482,1.483,1.483,1.482,1.482,1.483,1.479,1.476,1.481,1.481,1.481,1.481,1.481,1.481,1.479,1.479,1.479,1.479,1.479,1.476,1.476,1.476,1.475,1.476,1.477,1.477,1.478,1.479,1.479,1.482,1.482,1.484,2.886,2.892,2.895,2.895,2.895,2.896,2.9,2.9,2.905,2.911,2.912,2.912,2.917,2.919,2.921,2.924,2.928,2.93,2.938,2.941,2.947,2.951,2.959,2.961,2.966,2.967,2.973,2.978,2.988,2.989,2.996,2.997,2.998,3,3.014,3.028,3.029,3.035,3.039,3.046,3.063,3.066,3.078,3.083,3.083,3.092,3.099,3.11,3.112,3.132,3.141,3.143,3.15,3.157,3.163,3.166,3.177,3.189,3.191,3.208,3.211,3.214,3.221,3.238,3.243,3.259,3.278,3.284,3.288,3.306,3.321,3.332,3.343,3.357,3.362,3.369,3.381,3.397,3.406,3.42,3.437,3.446,3.466,3.485,3.492,3.507,3.524,3.534,3.549,3.569,3.583,3.599,3.604,3.629,3.647,3.658,3.67,3.696,3.718,3.738,3.754,3.772,3.797,3.816,3.83,3.863,3.892,3.899,3.926,3.949,3.992,3.998,4.03,4.04,4.08,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,3.273,3.26,3.228,3.206,3.193,3.186,3.174,3.158,3.154,3.131,3.119,3.118,3.104,3.093,3.081,3.064,3.06,3.044,3.034,3.029,3.016,3.006,2.995,2.985,2.969,2.961,2.953,2.947,2.937,2.925,2.919,2.913,2.907,2.895,2.892,2.889,2.871,2.869,2.866,2.858,2.852,2.836,2.829,2.813,2.812,2.812,2.802,2.801,2.8,2.789,2.782,2.778,2.77,2.76,2.76,2.76,2.759,2.759,2.744,2.74,2.727,2.726,2.72,2.719,2.713,2.713,2.705,2.704,2.703,2.697,2.693,2.691,2.688,2.687,2.683,2.681,2.671,2.671,2.67,2.67,2.67,2.662,2.659,2.659,2.656,2.653,2.655,2.655,2.652,2.652,2.646,2.646,2.646,2.646,2.65,2.65,2.644,2.643,2.644,2.644,2.643,2.644,2.647,2.654,2.655,2.655,2.654,2.649,2.649,2.649,2.647,2.65,2.651,2.651,2.651,2.655,2.655,2.662,2.663,2.663,2.665,2.666,2.666,2.666,2.673,2.675,2.676,2.676,2.676,2.678,2.678,2.678,2.679,2.679,2.687,2.689,2.69,2.691,2.695,2.701,2.703,2.718,2.72,2.72,2.72,2.725,2.725,2.731,2.737,2.746,2.748,2.749,2.752,2.757,2.757,2.763,2.763,2.764,2.771,2.774,2.784,2.784,2.797,3.309,3.309,3.314,3.329,3.329,3.332,3.348,3.348,3.355,3.364,3.384,3.388,3.397,3.398,3.414,3.418,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.821,3.821,3.823,3.839,3.839,3.847,3.85,3.867,3.87,3.882,3.913,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,4.089,4.089,4.089,4.085,4.095,4.095,4.09,4.09,4.09,4.083,4.085,4.085,4.085,4.095,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.69} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.633555}
SEN {Time 50.6948} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.8034} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 2.3876} {Name Sonar11 Range 3.3528} {Name Sonar12 Range 3.6068} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.1054} {Name Sonar15 Range 3.81}
SEN {Time 50.7344} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.187,0.192,0.192,0.192,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.016,0.016,0.009,0.009,4.046,4.024,0,3.933,3.926,3.88,3.859,3.832,3.816,3.781,3.774,3.75,3.73,3.709,3.709,3.689,3.664,3.637,3.634,3.619,3.619,3.589,3.585,1.823,1.823,1.823,1.823,1.82,0.143,0.143,0.138,0.143,0.143,0.15,0.15,0.15,0.151,0.16,0.16,1.716,1.72,1.72,1.72,1.716,1.72,0.007,0.165,0.165,0.165,0.163,0.161,0.163,0.163,1.628,1.628,1.628,1.621,1.612,1.611,1.601,1.601,1.597,1.596,1.59,1.589,1.581,1.578,1.576,1.576,1.569,1.564,1.561,1.561,1.561,1.553,1.553,1.552,1.548,1.536,1.53,1.529,1.529,1.529,1.527,1.526,1.524,1.523,1.52,1.511,1.511,1.51,1.51,1.506,1.505,1.501,1.503,1.496,1.503,1.496,1.496,1.493,1.492,1.492,1.49,1.489,1.489,1.489,1.489,1.49,1.49,1.489,1.489,1.484,1.484,1.484,1.484,1.484,1.484,1.484,1.483,1.483,1.487,1.487,1.486,1.486,1.486,1.485,1.483,1.481,1.476,1.476,1.476,1.481,1.481,1.487,1.487,1.487,1.49,1.49,1.492,1.496,2.88,2.895,2.895,2.895,2.895,2.9,2.9,2.901,2.901,2.904,2.909,2.915,2.919,2.922,2.922,2.925,2.932,2.938,2.938,2.939,2.944,2.951,2.959,2.964,2.965,2.975,2.977,2.982,2.985,2.992,2.999,3.002,3.01,3.017,3.019,3.019,3.036,3.048,3.049,3.055,3.059,3.071,3.071,3.075,3.083,3.085,3.104,3.109,3.114,3.126,3.13,3.134,3.152,3.152,3.171,3.175,3.176,3.191,3.195,3.211,3.213,3.229,3.235,3.246,3.248,3.271,3.284,3.295,3.312,3.312,3.316,3.318,3.343,3.348,3.359,3.37,3.382,3.384,3.415,3.425,3.436,3.451,3.459,3.469,3.494,3.508,3.516,3.531,3.548,3.561,3.574,3.584,3.601,3.629,3.635,3.663,3.683,3.694,3.711,3.724,3.738,3.766,3.78,3.805,3.835,3.842,3.869,3.899,3.917,3.945,3.965,4.002,4.032,4.041,4.072,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.222,3.206,3.186,3.178,3.159,3.152,3.139,3.121,3.119,3.103,3.084,3.083,3.074,3.059,3.039,3.035,3.015,3.011,3.002,2.99,2.978,2.974,2.964,2.952,2.949,2.937,2.927,2.924,2.908,2.9,2.896,2.888,2.867,2.864,2.857,2.855,2.845,2.84,2.829,2.828,2.817,2.811,2.808,2.799,2.783,2.781,2.778,2.77,2.77,2.764,2.764,2.764,2.764,2.764,2.764,2.764,2.733,2.727,2.727,2.721,2.72,2.711,2.707,2.707,2.7,2.694,2.689,2.688,2.686,2.678,2.678,2.672,2.67,2.664,2.661,2.661,2.661,2.658,2.655,2.655,2.654,2.654,2.651,2.651,2.65,2.647,2.647,2.642,2.642,2.636,2.636,2.636,2.637,2.637,2.637,2.637,2.636,2.636,2.636,2.636,2.632,2.631,2.632,2.632,2.632,2.638,2.644,2.642,2.645,2.647,2.647,2.647,2.647,2.65,2.65,2.65,2.657,2.657,2.659,2.661,2.661,2.665,2.667,2.665,2.665,2.668,2.672,2.67,2.67,2.672,2.673,2.67,2.673,2.674,2.676,2.695,2.695,2.695,2.695,2.698,2.708,2.714,2.715,2.718,2.724,2.725,2.727,2.742,0.007,2.748,2.745,2.748,2.748,2.748,2.755,2.76,2.765,2.771,2.779,2.779,2.78,3.303,3.313,3.329,3.329,3.33,3.34,3.347,3.355,3.366,3.374,3.38,3.387,3.389,3.403,3.405,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.792,3.79,3.79,3.792,3.795,3.81,3.816,3.831,3.831,3.843,3.85,3.876,3.876,3.88,3.902,3.922,3.944,0,3.956,3.956,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,4.087,4.077,4.077,4.082,4.082,4.082,4.082,4.082,4.082,4.082,4.082,4.082,4.087,4.087,4.088,4.087,4.088,4.088,4.088,4.088,4.092,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.89} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.574213}
SEN {Time 50.8887} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.7112} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 3.3528} {Name Sonar12 Range 3.6068} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 3.81}
SEN {Time 50.9305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.187,0.187,0.188,0.188,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.003,3.956,3.93,3.901,3.878,3.861,3.831,3.821,3.796,3.782,3.766,3.747,3.728,3.718,3.691,3.679,3.662,3.638,3.63,3.624,3.624,3.609,3.589,1.821,1.811,1.807,1.806,1.794,1.788,1.782,1.77,1.762,1.758,1.757,1.757,1.756,1.743,0.153,0.153,0.139,0.151,0.151,0.151,0.151,0.151,0.159,0.159,0.16,1.662,1.666,1.666,1.666,1.666,1.666,1.65,0.17,0.162,0.162,0.16,0.158,0.16,0.166,1.589,1.589,1.589,1.578,1.571,1.569,1.568,1.566,1.566,1.566,1.566,1.564,1.559,1.555,1.549,1.548,1.542,1.541,1.539,1.539,1.537,1.535,1.534,1.531,1.525,1.525,1.525,1.522,1.522,1.521,1.521,1.514,1.512,1.51,1.509,1.507,1.504,1.499,1.499,1.499,1.498,1.499,1.498,1.496,1.496,1.496,1.496,1.494,1.492,1.489,1.489,1.488,1.489,1.488,1.488,1.488,1.491,1.489,1.489,1.486,1.489,1.481,1.481,1.485,1.485,1.485,1.485,1.488,1.489,1.488,1.486,1.488,1.488,1.488,1.489,1.49,1.49,1.493,2.902,2.909,2.909,2.909,2.909,2.913,2.913,2.913,2.913,2.917,2.917,2.921,2.921,2.925,2.928,2.932,2.936,2.938,2.939,2.952,2.955,2.956,2.959,2.961,2.968,2.981,2.982,2.986,2.988,2.991,3,3.006,3.013,3.02,3.022,3.032,3.042,3.047,3.048,3.055,3.068,3.068,3.071,3.076,3.084,3.099,3.1,3.104,3.125,3.127,3.132,3.144,3.151,3.156,3.163,3.185,3.187,3.196,3.208,3.212,3.229,3.238,3.245,3.256,3.265,3.27,3.284,3.3,3.309,3.313,3.332,3.338,3.347,3.353,3.367,3.381,3.387,3.405,3.406,3.438,3.44,3.462,3.464,3.482,3.5,3.505,3.526,3.542,3.554,3.576,3.591,3.611,3.613,3.64,3.657,3.664,3.696,3.697,3.73,3.733,3.755,3.784,3.804,3.82,3.838,3.85,3.876,3.9,3.926,3.948,3.994,3.997,4.03,4.052,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.292,3.27,3.256,3.235,3.205,3.201,3.193,3.18,3.151,3.132,3.128,3.114,3.106,3.095,3.092,3.069,3.067,3.06,3.054,3.031,3.01,3.01,2.995,2.993,2.97,2.967,2.962,2.951,2.936,2.932,2.924,2.914,2.91,2.91,2.888,2.885,2.881,2.865,2.86,2.854,2.848,2.848,2.827,2.825,2.815,2.813,2.805,2.794,2.786,2.785,2.782,2.767,2.765,2.764,2.759,2.759,2.759,2.759,2.747,2.733,2.732,2.727,2.721,2.719,2.712,2.708,2.705,2.703,2.7,2.694,2.69,2.685,2.685,2.682,2.68,2.677,2.672,2.661,2.659,2.656,2.656,2.656,2.651,2.647,2.645,2.645,2.645,2.645,2.645,2.64,2.636,2.636,2.636,2.636,2.636,2.639,2.639,2.639,2.638,2.639,2.638,2.635,2.638,2.63,2.63,2.633,2.634,2.634,2.634,2.634,2.636,2.639,2.641,2.636,2.638,2.641,2.641,2.646,2.646,2.65,2.651,2.653,2.653,2.664,2.669,2.669,2.675,2.675,2.675,2.675,2.676,2.669,2.667,2.667,2.667,2.667,2.667,2.675,2.678,2.685,2.685,2.697,2.699,2.701,2.707,2.712,2.712,2.718,2.721,2.723,2.726,2.731,2.74,2.742,2.74,2.742,2.742,2.743,2.751,2.752,2.764,2.765,2.769,2.781,2.791,3.298,3.306,3.31,3.325,3.327,3.329,3.338,3.342,3.357,3.364,3.379,3.382,3.395,3.399,3.41,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,3.792,3.792,3.792,3.807,3.811,3.832,3.842,3.843,3.843,3.846,3.871,3.898,3.899,3.924,3.924,3.935,3.94,3.959,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.091,4.09,4.09,4.09,4.076,4.075,4.076,4.076,4.076,4.084,4.084,4.084,4.078,4.076,4.076,4.074,4.074,4.073,4.073,4.073,4.077,4.074,4.074,4.079,4.079,4.085,4.086,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 51.08} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.514872}
SEN {Time 51.0836} {Type Sonar} {Name Sonar0 Range 2.6162} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.032} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 1.6764} {Name Sonar9 Range 0.3556} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 3.5814} {Name Sonar12 Range 3.6068} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 3.4544}
SEN {Time 51.1305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.183,0.188,0.188,0.188,0.188,0,0,0,0,0,0,0,0,0,3.869,3.848,3.833,3.805,3.789,3.775,3.746,3.733,3.717,3.681,3.681,3.665,3.635,3.627,3.624,3.612,3.586,1.839,1.837,1.823,1.822,1.809,1.799,1.797,1.783,1.778,1.774,1.765,1.754,1.753,1.737,1.737,1.726,1.722,1.71,1.708,1.704,1.693,1.693,1.693,1.693,1.693,0.15,0.15,0.139,0.142,0.15,0.149,0.149,0.149,0.154,0.154,0.168,1.619,1.624,1.624,1.624,1.624,0,0,0,0.169,0.162,0.154,0.154,0.162,0.165,1.561,1.561,1.561,1.557,1.553,1.55,1.548,1.548,1.55,1.55,1.55,1.55,1.54,1.531,1.531,1.531,1.531,1.529,1.524,1.522,1.522,1.517,1.517,1.516,1.512,1.511,1.512,1.516,1.511,1.511,1.508,1.504,1.504,1.499,1.504,1.498,1.503,1.499,1.499,1.497,1.497,1.493,1.493,1.493,1.492,1.492,1.497,1.491,1.489,1.497,1.489,1.489,1.489,1.489,1.489,1.494,1.494,1.494,1.494,1.49,1.49,1.496,1.497,1.498,1.498,1.499,1.5,2.902,2.911,2.911,2.911,2.911,2.914,2.914,2.914,2.915,2.922,2.921,2.922,2.922,2.932,2.934,2.937,2.938,2.938,2.946,2.948,2.955,2.961,2.966,2.967,2.971,2.973,2.984,2.987,2.994,2.995,2.999,3.007,3.011,3.013,3.027,3.029,3.032,3.04,3.046,3.055,3.057,3.061,3.068,3.076,3.086,3.095,3.104,3.107,3.114,3.128,3.134,3.14,3.149,3.153,3.163,3.163,3.174,3.196,3.213,3.216,3.216,3.228,3.236,3.25,3.259,3.266,3.274,3.285,3.294,3.314,3.323,3.341,3.346,3.371,3.374,3.384,3.396,3.404,3.42,3.424,3.445,3.456,3.475,3.483,3.495,3.504,3.518,3.529,3.56,3.572,3.587,3.598,3.615,3.64,3.645,3.668,3.678,3.703,3.717,3.736,3.756,3.77,3.803,3.812,3.837,3.854,3.883,3.907,3.916,3.959,3.964,3.999,4.02,4.053,4.072,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.308,3.275,3.24,3.233,3.213,3.203,3.181,3.177,3.158,3.149,3.139,3.131,3.118,3.111,3.085,3.078,3.078,3.069,3.065,3.037,3.027,3.011,3.007,2.994,2.984,2.972,2.97,2.958,2.944,2.932,2.924,2.918,2.906,2.903,2.89,2.887,2.882,2.868,2.863,2.847,2.846,2.84,2.828,2.823,2.819,2.819,2.799,2.798,2.796,2.787,2.78,2.769,2.765,2.762,2.755,2.755,2.755,2.751,2.746,2.735,2.73,2.727,2.719,2.711,2.704,2.703,2.701,2.695,2.691,2.69,2.687,2.687,2.687,2.68,2.67,2.666,2.662,2.666,2.662,2.658,2.655,2.655,2.651,2.648,2.647,2.645,2.645,2.639,2.639,2.637,2.629,2.629,2.629,2.631,2.631,2.631,2.631,2.633,2.631,2.631,2.633,2.625,2.625,2.625,2.628,2.628,2.628,2.628,2.625,2.625,2.625,2.63,2.63,2.63,2.63,2.632,2.634,2.634,2.637,2.64,2.643,2.644,2.646,2.646,2.646,2.646,2.649,2.655,2.655,2.657,2.661,2.661,2.664,2.668,2.67,2.668,2.67,2.671,2.671,2.679,2.682,2.684,2.684,2.697,2.698,2.698,2.701,2.703,2.711,2.715,2.721,2.727,2.727,2.727,2.727,2.736,2.739,2.736,2.739,2.742,2.749,2.755,2.774,2.775,0.007,3.304,3.303,3.304,3.304,3.316,3.325,3.329,3.337,3.343,3.349,3.359,3.374,3.374,3.391,3.4,3.403,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0.007,3.823,3.82,3.823,3.823,3.825,3.828,3.839,3.851,3.87,3.871,3.887,3.889,3.893,3.949,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.093,4.093,0,0,0,4.083,4.081,4.08,4.057,4.057,4.057,4.071,4.078,4.085,4.085,4.085,4.067,4.066,4.066,4.066,4.067,4.074,4.074,4.074,4.075,4.075,4.074,4.074,4.075,4.075,4.076,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 51.29} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.455531}
SEN {Time 51.2876} {Type Sonar} {Name Sonar0 Range 2.6162} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 2.6416} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.032} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.032} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 3.5814} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 3.4544}
SEN {Time 51.3344} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.182,0.182,0.184,0.184,0.199,0,0,0,0,0,0,0,3.725,3.724,3.702,3.694,3.661,3.652,3.628,3.628,3.602,3.602,1.856,1.834,1.828,1.824,1.817,1.806,1.803,1.783,1.776,1.776,1.772,1.769,1.753,1.748,1.742,1.74,1.725,1.72,1.716,1.71,1.708,1.694,1.692,1.682,1.677,1.676,1.671,1.67,1.658,1.654,1.651,1.651,1.648,1.642,0.152,0.145,0.143,0.144,0.145,0.145,0.155,0.155,0.157,0.157,0.16,1.604,1.604,1.604,1.604,1.604,1.596,1.593,0.164,0.163,0.163,0.163,0.161,0.163,0.166,1.545,1.545,1.545,1.535,1.535,1.531,1.531,1.535,1.531,1.528,1.528,1.528,1.528,1.528,1.524,1.524,1.519,1.519,1.519,1.519,1.518,1.516,1.513,1.513,1.508,1.507,1.502,1.498,1.498,1.498,1.501,1.501,1.502,1.503,1.501,1.5,1.503,1.499,1.499,1.499,1.502,1.499,1.501,1.498,1.496,1.496,1.501,1.494,1.497,1.501,1.5,1.5,1.504,1.504,1.505,1.505,1.505,1.511,2.9,2.912,2.914,2.916,2.924,2.924,2.925,2.935,2.939,2.939,2.939,2.939,2.939,2.943,2.943,2.951,2.952,2.955,2.956,2.96,2.964,2.97,2.974,2.977,2.987,2.992,2.993,2.996,3,3.004,3.009,3.014,3.018,3.032,3.034,3.044,3.045,3.054,3.057,3.061,3.064,3.075,3.083,3.087,3.092,3.108,3.108,3.113,3.114,3.132,3.134,3.147,3.156,3.166,3.174,3.175,3.196,3.203,3.205,3.221,3.228,3.246,3.252,3.257,3.266,3.269,3.302,3.304,3.304,3.326,3.337,3.342,3.362,3.37,3.372,3.388,3.396,3.418,3.43,3.445,3.461,3.472,3.487,3.498,3.506,3.528,3.531,3.559,3.574,3.589,3.609,3.614,3.624,3.651,3.655,3.676,3.7,3.72,3.73,3.76,3.767,3.785,3.804,3.833,3.846,3.877,3.904,3.911,3.941,3.963,3.977,4.031,4.052,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.201,3.175,3.175,3.15,3.141,3.13,3.113,3.106,3.101,3.076,3.065,3.058,3.045,3.044,3.04,3.027,3.009,3.004,2.983,2.974,2.969,2.965,2.96,2.936,2.928,2.928,2.92,2.912,2.898,2.887,2.886,2.873,2.861,2.861,2.853,2.845,2.839,2.824,2.822,2.81,2.806,2.803,2.797,2.785,2.783,2.776,2.77,2.763,2.761,2.759,2.759,2.759,2.747,2.742,2.736,2.731,2.726,2.717,2.715,2.709,2.699,2.694,2.69,2.689,2.687,2.686,2.68,2.67,2.669,2.669,2.66,2.659,2.655,2.654,2.654,2.654,2.654,2.654,2.654,2.648,2.636,2.636,2.636,2.636,2.636,2.637,2.633,2.633,2.627,2.627,2.627,2.628,2.629,2.629,2.628,2.629,2.623,2.621,2.62,2.623,2.623,2.623,2.623,2.623,2.623,2.624,2.624,2.627,2.628,2.63,2.637,2.632,2.639,2.639,2.64,2.64,2.647,2.647,2.648,2.651,2.653,2.655,2.653,2.651,2.654,2.654,2.654,2.656,2.657,2.657,2.658,2.661,2.673,2.675,2.677,2.678,2.684,2.684,2.699,2.699,2.703,2.714,2.715,2.717,2.717,2.72,2.726,2.727,2.727,2.73,2.73,2.732,2.735,2.744,2.745,2.75,2.752,2.757,2.766,2.782,3.279,3.303,3.303,3.305,3.313,3.334,3.335,3.341,3.344,3.355,3.365,3.374,3.377,3.39,3.394,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,3.781,3.781,3.781,3.803,0.007,3.819,3.819,3.824,3.824,3.839,3.855,3.871,3.888,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0.016,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.094,4.094,4.092,4.092,4.082,4.071,4.071,4.075,4.077,4.075,4.075,4.06,4.06,4.059,4.06,4.064,4.065,4.065,4.065,4.065,4.065,4.07,4.07,4.07,4.07,4.072,4.071,4.071,4.071,4.072,4.074,4.074,4.082,4.084,4.09,4.091,4.09,4.09,4.09,4.093,4.094,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 51.49} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.397935}
SEN {Time 51.4916} {Type Sonar} {Name Sonar0 Range 2.6162} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 5.715} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 2.032} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 0.7366} {Name Sonar7 Range 0.4318} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.032} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 3.5814} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 3.4544}
SEN {Time 51.5304} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.177,0.183,0.192,0.192,0.192,0,0,0,0,0,0,3.609,3.588,1.854,1.849,1.846,1.83,1.822,1.816,1.807,1.797,1.792,1.78,1.775,1.77,1.766,1.758,1.748,1.746,1.73,1.722,1.719,1.713,1.71,1.709,1.697,1.693,1.684,1.684,1.674,1.674,1.664,1.663,1.662,1.653,1.649,1.641,1.64,1.63,1.625,1.623,1.624,1.622,1.622,1.622,1.622,0.146,0.146,0.146,0.146,0.146,0.151,0.151,0.151,0.157,0.157,0.161,1.572,1.572,1.572,1.572,1.572,0,0,0,0.161,0.161,0.156,0.156,0.165,0.167,1.527,1.527,1.527,1.525,1.525,1.524,1.522,1.525,1.525,1.521,1.52,1.522,1.52,1.515,1.515,1.518,1.518,1.518,1.518,1.517,1.517,1.511,1.511,1.511,1.509,1.504,1.507,1.507,1.507,1.509,1.514,1.514,1.514,1.51,1.516,1.51,1.507,1.504,1.504,1.502,1.504,1.506,1.507,1.506,1.507,1.507,1.509,1.517,2.909,2.914,2.914,2.914,2.92,2.924,2.926,2.93,2.93,2.93,2.943,2.94,2.95,2.95,2.952,2.958,2.958,2.959,2.971,2.971,2.975,2.98,2.981,2.989,2.991,2.993,2.998,3,3.002,3.01,3.011,3.013,3.017,3.032,3.037,3.038,3.051,3.053,3.056,3.057,3.065,3.075,3.095,3.1,3.104,3.104,3.115,3.122,3.126,3.126,3.138,3.144,3.152,3.16,3.163,3.174,3.175,3.19,3.208,3.22,3.222,3.235,3.25,3.257,3.265,3.277,3.284,3.304,3.306,3.317,3.33,3.339,3.343,3.356,3.369,3.38,3.399,3.402,3.415,3.431,3.449,3.45,3.469,3.481,3.487,3.516,3.526,3.538,3.56,3.579,3.585,3.609,3.625,3.639,3.662,3.667,3.697,3.71,3.728,3.751,3.764,3.781,3.804,3.821,3.836,3.855,3.883,3.911,3.926,3.951,3.979,3.991,4.021,4.052,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0.009,0.007,3.259,3.213,3.21,3.195,3.18,3.163,3.148,3.139,3.126,3.121,3.121,3.098,3.095,3.075,3.075,3.058,3.049,3.02,3.019,2.997,2.989,2.979,2.977,2.973,2.953,2.943,2.938,2.934,2.929,2.919,2.909,2.9,2.894,2.884,2.874,2.867,2.855,2.842,2.839,2.833,2.829,2.824,2.816,2.815,2.8,2.792,2.784,2.783,2.775,2.764,2.76,2.754,2.754,2.754,2.75,2.746,2.74,2.734,2.722,2.716,2.716,2.712,2.705,2.699,2.698,2.697,2.69,2.685,2.681,2.678,2.678,2.672,2.671,2.658,2.657,2.656,2.656,2.653,2.652,2.644,2.644,2.642,2.642,2.64,2.635,2.63,2.63,2.634,2.63,2.628,2.627,2.627,2.624,2.624,2.624,2.624,2.624,2.621,2.621,2.621,2.623,2.623,2.623,2.623,2.622,2.621,2.621,2.622,2.622,2.627,2.627,2.628,2.628,2.627,2.627,2.631,2.635,2.64,2.645,2.645,2.649,2.651,2.648,2.651,2.651,2.651,2.65,2.657,2.652,2.654,2.654,2.663,2.654,2.659,2.663,2.665,2.669,2.671,2.683,2.683,2.685,2.689,2.692,2.702,2.708,2.709,2.713,2.715,2.725,0.007,2.74,2.738,2.738,2.738,2.735,2.738,2.742,2.747,2.755,2.762,2.762,2.767,2.769,3.287,3.301,3.302,3.305,3.317,3.321,3.338,3.338,3.343,3.351,3.371,3.373,3.387,3.389,3.408,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,3.768,3.768,3.768,3.789,3.794,3.803,3.803,3.825,3.829,3.832,3.842,3.853,3.874,0.007,3.914,3.914,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.093,4.09,4.085,4.082,4.082,4.082,4.082,0.007,4.073,4.06,4.062,4.06,4.062,4.06,4.062,4.052,4.052,4.052,4.056,4.056,4.056,4.059,4.056,4.059,4.055,4.058,4.058,4.058,4.058,4.058,4.058,4.058,4.061,4.065,4.067,4.073,4.076,4.081,4.081,4.085,4.085,4.085,4.087,4.092,4.094,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 51.69} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.340339}
SEN {Time 51.6856} {Type Sonar} {Name Sonar0 Range 2.2352} {Name Sonar1 Range 2.1844} {Name Sonar2 Range 5.715} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 0.7366} {Name Sonar7 Range 1.4732} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.032} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 3.2258} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.2672}
SEN {Time 51.7265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.185,0.185,0.186,0.186,0.19,0,0,0,0,1.842,1.84,1.823,1.807,1.802,1.79,1.786,1.766,1.76,1.757,1.756,1.745,1.739,1.732,1.714,1.714,1.713,1.705,1.703,1.701,1.689,1.681,1.68,1.68,1.669,1.663,1.657,1.652,1.649,1.642,1.64,1.636,1.629,1.629,1.625,1.62,1.614,1.613,1.609,1.597,1.597,1.597,1.597,1.597,1.597,1.59,1.586,0.155,0.155,0.143,0.143,0.143,0.146,0.146,0.146,0.153,0.161,0.17,1.553,1.554,1.556,1.556,1.556,1.556,1.556,0.173,0.164,0.16,0.16,0.157,0.163,0.163,1.52,1.52,1.52,1.52,1.516,1.516,1.518,1.52,1.518,1.52,1.523,1.523,1.516,1.516,1.516,1.515,1.515,1.515,1.515,1.515,1.515,1.513,1.515,1.516,1.516,1.513,1.516,1.512,1.512,1.515,1.515,1.515,1.515,1.515,1.515,1.516,1.518,1.52,1.521,2.92,2.923,2.926,2.926,2.928,2.93,2.93,2.933,2.939,2.939,2.939,2.944,2.944,2.947,2.952,2.955,2.962,2.97,2.972,2.977,2.981,2.987,2.994,2.994,2.999,3.008,3.008,3.015,3.017,3.018,3.019,3.031,3.032,3.045,3.049,3.05,3.052,3.063,3.063,3.076,3.076,3.081,3.092,3.106,3.11,3.111,3.12,3.122,3.131,3.14,3.144,3.15,3.174,3.175,3.188,3.191,3.197,3.202,3.216,3.216,3.237,3.244,3.244,3.26,3.269,3.28,3.286,3.303,3.306,3.326,3.328,3.35,3.357,3.365,3.381,3.392,3.398,3.417,3.431,3.442,3.459,3.462,3.486,3.486,3.507,3.523,3.539,3.561,3.57,3.581,3.599,3.601,3.627,3.64,3.662,3.686,3.695,3.712,3.744,3.758,3.787,3.792,3.811,3.841,3.856,3.879,3.896,3.923,3.949,3.959,4.004,4.013,4.042,4.067,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,3.299,3.249,3.236,3.228,3.21,3.186,3.184,3.16,3.144,3.143,3.129,3.115,3.097,3.092,3.079,3.064,3.056,3.044,3.032,3.024,3.01,2.994,2.984,2.979,2.968,2.966,2.953,2.946,2.94,2.927,2.915,2.911,2.897,2.889,2.881,2.878,2.865,2.864,2.862,2.851,2.841,2.831,2.824,2.823,2.819,2.806,2.795,2.794,2.787,2.778,2.777,2.774,2.758,2.757,2.757,2.757,2.755,2.755,2.72,2.719,2.716,2.714,2.71,2.71,2.702,2.689,2.689,2.689,2.689,2.687,2.686,2.684,2.682,2.677,2.662,2.661,2.661,2.659,2.659,2.654,2.654,2.647,2.645,2.64,2.638,2.632,2.63,2.63,2.626,2.63,2.626,2.633,2.627,2.627,2.626,2.626,2.626,2.623,2.624,2.619,2.621,2.619,2.619,2.619,2.619,2.619,2.623,2.623,2.622,2.623,2.623,2.622,2.626,2.628,2.626,2.631,2.632,2.631,2.632,2.632,2.632,2.636,2.638,2.638,2.645,2.647,2.649,2.647,2.649,2.649,2.651,2.651,2.657,2.66,2.657,2.657,2.66,2.658,2.658,2.674,2.676,2.686,2.687,2.694,2.694,2.697,2.711,2.711,2.714,2.714,2.723,0.007,2.731,2.73,2.73,2.727,2.727,2.73,2.735,2.742,2.753,2.755,2.755,2.762,2.769,3.283,3.286,3.306,3.308,3.32,3.328,3.332,3.341,3.341,3.357,3.36,3.361,3.378,3.381,3.402,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.764,3.764,3.764,3.774,3.784,3.787,3.787,3.803,3.804,3.814,3.829,3.83,3.85,3.852,3.861,3.879,3.884,3.913,3.935,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0.016,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.092,4.091,4.083,4.082,4.076,4.076,4.076,0,0,0,4.061,4.058,4.053,4.05,4.05,4.048,4.048,4.05,4.05,4.048,4.047,4.047,4.047,4.047,4.049,4.049,4.051,4.051,4.051,4.052,4.055,4.055,4.055,4.055,4.057,4.053,4.057,4.07,4.078,4.078,4.083,4.078,4.078,4.082,4.083,4.085,4.092,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 51.88} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.280998}
SEN {Time 51.8816} {Type Sonar} {Name Sonar0 Range 2.2352} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 5.715} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7366} {Name Sonar7 Range 1.4732} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.6736} {Name Sonar11 Range 3.2258} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.27} {Name Sonar14 Range 4.1148} {Name Sonar15 Range 4.2672}
SEN {Time 51.9265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.183,0.192,0.192,0.192,0.192,1.806,1.806,1.806,1.791,1.781,1.777,1.759,1.744,1.739,1.734,1.73,1.712,1.709,1.705,1.705,1.689,1.686,1.677,1.677,1.672,1.667,1.662,1.661,1.653,1.647,1.642,1.636,1.636,1.631,1.627,1.616,1.615,1.615,1.615,1.605,1.599,1.599,1.598,1.596,1.593,1.588,1.587,1.586,1.578,1.578,1.574,1.573,1.568,1.573,1.573,1.565,0.152,0.152,0.151,0.151,0.151,0.154,0.155,0.155,0.155,0.159,0.163,1.538,1.541,1.548,1.548,1.549,1.549,1.549,0.168,0.16,0.16,0.158,0.16,0.166,0.17,1.521,1.521,1.521,1.519,1.519,1.515,1.519,1.52,1.524,1.52,1.524,1.526,1.524,1.522,1.522,1.522,1.522,1.521,1.522,1.525,1.525,1.525,1.526,1.525,1.523,1.521,1.521,1.521,1.539,2.928,2.934,2.941,2.943,2.943,2.943,2.943,2.946,2.952,2.952,2.955,2.955,2.969,2.969,2.97,2.972,2.972,2.977,2.98,2.984,2.992,2.993,2.994,2.994,2.999,3.008,3.012,3.018,3.022,3.024,3.031,3.041,3.046,3.055,3.055,3.055,3.057,3.074,3.076,3.078,3.086,3.103,3.103,3.105,3.116,3.118,3.129,3.134,3.148,3.148,3.155,3.162,3.176,3.181,3.192,3.2,3.206,3.221,3.224,3.237,3.238,3.247,3.267,3.278,3.278,3.29,3.309,3.317,3.32,3.335,3.338,3.351,3.361,3.366,3.38,3.397,3.409,3.418,3.441,3.451,3.453,3.476,3.492,3.496,3.533,3.541,3.549,3.566,3.579,3.594,3.615,3.629,3.642,3.646,3.67,3.693,3.705,3.728,3.741,3.766,3.784,3.801,3.812,3.845,3.869,3.882,3.919,3.937,3.962,3.985,4.022,4.045,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.235,3.227,3.208,3.194,3.168,3.167,3.143,3.135,3.118,3.116,3.095,3.092,3.089,3.068,3.046,3.039,3.029,3.019,3.012,3.003,2.989,2.988,2.97,2.96,2.959,2.952,2.936,2.925,2.916,2.909,2.9,2.89,2.889,2.875,2.862,2.861,2.854,2.853,2.836,2.834,2.829,2.822,2.813,2.805,2.794,2.792,2.79,2.779,2.776,2.768,2.763,2.763,2.763,2.762,2.762,2.75,2.738,2.732,2.729,2.725,2.722,2.715,2.709,2.707,2.699,2.687,2.687,2.683,2.683,2.672,2.665,2.662,2.661,2.661,2.655,2.653,2.648,2.648,2.644,2.644,2.644,2.64,2.639,2.636,2.636,2.634,2.634,2.634,2.628,2.628,2.628,2.623,2.623,2.623,2.616,2.616,2.615,2.621,2.619,2.621,2.622,2.622,2.619,2.62,2.62,2.619,2.62,2.621,2.621,2.621,2.622,2.622,2.622,2.625,2.625,2.63,2.635,2.635,2.635,2.635,2.635,2.642,2.648,2.651,2.651,2.651,2.656,2.654,2.646,2.646,2.651,2.651,2.651,2.66,2.661,2.667,2.676,2.678,2.678,2.686,2.687,2.692,2.692,2.703,2.703,2.705,2.705,2.705,2.705,2.709,2.712,2.718,2.718,2.718,2.73,2.73,2.732,2.74,2.746,2.749,2.769,3.272,3.272,3.278,3.286,3.293,3.307,3.313,3.32,3.33,3.331,3.342,3.346,3.354,3.362,3.381,3.39,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.742,3.742,3.742,3.761,3.764,3.78,3.788,3.788,3.795,3.796,3.815,3.817,3.835,3.85,3.857,3.863,3.864,3.88,3.888,3.9,3.914,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.085,4.083,4.076,4.07,4.07,4.067,4.07,4.064,4.064,0.007,4.05,4.049,4.049,4.049,4.043,4.043,4.042,4.044,4.044,4.046,4.046,4.046,4.04,4.038,4.036,4.036,4.037,4.037,4.041,4.043,4.051,4.051,4.044,4.044,4.044,4.044,4.05,4.051,4.067,4.067,4.072,4.073,4.073,4.073,4.076,4.076,4.087,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.08} {Type Odometry} {Name Odometry} {Pose -0.000700,0.997558,-0.221657}
SEN {Time 52.0846} {Type Sonar} {Name Sonar0 Range 2.2352} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.4732} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.4196} {Name Sonar11 Range 3.2258} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 4.2672}
SEN {Time 52.1265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.185,0.184,0.179,0.184,0.184,0.207,1.757,0,0.007,1.757,1.732,1.715,1.7,1.698,1.697,1.696,1.677,1.676,1.673,1.665,1.653,1.652,1.645,1.644,1.643,1.643,1.629,1.629,1.621,1.62,1.614,1.609,1.603,1.606,1.606,1.602,1.599,1.593,1.592,1.591,1.585,1.585,1.584,1.578,1.576,1.576,1.575,1.575,1.574,1.566,1.563,1.556,1.555,1.555,1.555,1.548,1.548,0.152,0.152,0.148,0.143,0.143,0.153,0.153,0.153,0.158,0.164,0.17,1.541,1.543,1.543,1.543,1.552,1.552,1.539,0.171,0.163,0.162,0.162,0.159,0.162,0.162,1.523,1.523,1.523,1.522,1.522,1.522,1.525,1.529,1.529,1.533,1.534,1.534,1.534,1.534,1.533,1.533,1.533,1.539,1.545,2.935,2.95,2.95,2.95,2.955,2.955,2.954,2.955,2.955,2.959,2.959,2.966,2.969,2.969,2.97,2.972,2.979,2.981,2.991,2.991,2.991,2.994,2.998,2.999,3.007,3.007,3.007,3.019,3.027,3.029,3.037,3.047,3.048,3.053,3.053,3.057,3.072,3.073,3.081,3.082,3.099,3.099,3.1,3.107,3.121,3.125,3.125,3.144,3.146,3.161,3.162,3.162,3.172,3.179,3.192,3.203,3.207,3.218,3.228,3.228,3.24,3.25,3.261,3.267,3.29,3.298,3.313,3.317,3.323,3.334,3.352,3.355,3.357,3.38,3.395,3.399,3.404,3.417,3.434,3.459,3.459,3.479,3.487,3.494,3.508,3.528,3.546,3.559,3.563,3.589,3.6,3.614,3.638,3.649,3.684,3.685,3.714,3.725,3.735,3.769,3.793,3.806,3.818,3.828,3.852,3.878,3.892,3.918,3.945,3.975,3.981,4.021,4.047,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.228,3.226,3.206,3.185,3.182,3.161,3.142,3.13,3.12,3.115,3.097,3.084,3.074,3.069,3.061,3.041,3.029,3.015,3.004,2.998,2.989,2.982,2.971,2.963,2.949,2.939,2.936,2.928,2.913,2.901,2.901,2.889,2.881,2.878,2.869,2.852,2.848,2.844,2.838,2.825,2.822,2.815,2.81,2.803,2.79,2.788,2.785,2.771,2.763,2.756,2.756,2.756,2.752,2.751,2.751,2.739,2.737,2.73,2.719,2.713,2.713,2.71,2.707,2.701,2.698,2.695,2.69,2.689,2.687,2.681,2.674,2.67,2.67,2.666,2.661,2.661,2.65,2.65,2.65,2.646,2.641,2.641,2.635,2.632,2.632,2.627,2.626,2.626,2.626,2.624,2.624,2.624,2.619,2.618,2.619,2.618,2.618,2.618,2.618,2.613,2.613,2.613,2.613,2.616,2.617,2.618,2.618,2.619,2.619,2.619,2.617,2.624,2.624,2.624,2.624,2.627,2.627,2.635,2.636,2.639,2.64,2.65,2.65,2.651,2.651,2.655,2.655,2.647,2.647,2.649,2.649,2.652,2.661,2.661,2.663,2.669,2.675,2.676,2.683,2.683,2.683,2.689,2.691,2.698,2.701,2.705,2.713,2.716,2.724,2.716,2.716,2.724,2.725,2.725,2.735,2.736,2.739,2.744,2.748,2.748,2.759,2.759,3.279,3.285,3.292,3.298,3.308,3.312,3.315,3.316,3.337,3.344,3.354,3.36,3.369,3.372,3.389,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,3.748,3.748,3.748,3.754,3.757,3.766,3.782,3.791,3.801,3.801,3.817,3.823,3.831,3.841,3.843,3.872,3.882,3.896,3.896,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.089,4.079,4.078,4.065,4.065,4.062,4.062,4.06,4.055,4.042,4.042,4.042,4.036,4.037,4.037,4.037,4.037,4.038,4.04,4.043,4.041,4.04,4.04,4.037,4.037,4.031,4.037,4.035,4.03,4.033,4.033,4.031,4.031,4.033,4.036,4.044,4.044,4.044,4.044,4.047,4.052,4.062,4.064,4.069,4.069,4.069,4.071,4.076,4.083,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.28} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.164061}
SEN {Time 52.2805} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 2.6162} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.4196} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.6416}
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SEN {Time 52.48} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.106465}
SEN {Time 52.4834} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 3.302} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.1938} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.4196} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.6416}
SEN {Time 52.5264} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.186,0.186,0.186,0.186,0.212,1.664,1.664,1.664,1.662,1.648,1.634,1.631,1.63,1.629,1.627,1.625,1.615,1.614,1.608,1.606,1.606,1.603,1.601,1.598,1.592,1.59,1.59,1.589,1.583,1.581,1.58,1.579,1.575,1.567,1.565,1.564,1.564,1.561,1.561,1.561,1.56,1.56,1.56,1.555,1.555,1.553,1.55,1.55,1.55,1.55,1.549,1.543,1.541,1.541,1.541,1.539,0.156,0.149,0.148,0.148,0.148,0.148,0.161,0.161,0.162,0.162,0.166,1.536,1.538,1.549,1.549,1.555,1.555,1.555,0.177,0.17,0.161,0.161,0.161,0.161,0.163,2.958,2.963,2.967,2.963,2.963,2.963,2.967,2.967,2.967,2.969,2.973,2.982,2.983,2.988,2.99,2.991,2.993,3,3.001,3.005,3.006,3.01,3.01,3.023,3.025,3.027,3.028,3.032,3.039,3.043,3.059,3.063,3.065,3.065,3.069,3.069,3.087,3.087,3.088,3.093,3.099,3.11,3.122,3.125,3.128,3.14,3.145,3.155,3.162,3.162,3.164,3.181,3.184,3.194,3.2,3.206,3.218,3.23,3.231,3.249,3.254,3.256,3.274,3.283,3.296,3.31,3.323,3.333,3.337,3.343,3.36,3.375,3.382,3.389,3.404,3.405,3.427,3.439,3.442,3.47,3.471,3.489,3.515,3.516,3.534,3.546,3.561,3.565,3.588,3.598,3.614,3.643,3.654,3.663,3.686,3.713,3.715,3.751,3.751,3.773,3.786,3.81,3.826,3.845,3.865,3.884,3.907,3.941,3.953,3.981,4.019,4.042,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.235,3.228,3.211,3.202,3.186,3.172,3.162,3.137,3.136,3.121,3.113,3.094,3.077,3.072,3.067,3.055,3.046,3.039,3.028,3.006,3.005,2.986,2.984,2.967,2.966,2.947,2.946,2.944,2.926,2.916,2.906,2.897,2.891,2.887,2.878,2.872,2.857,2.854,2.845,2.838,2.829,2.828,2.825,2.82,2.802,2.794,2.784,2.778,2.777,2.774,2.767,2.767,2.765,2.759,2.756,2.738,2.734,2.734,2.731,2.718,2.715,2.711,2.706,2.703,2.696,2.696,2.694,2.686,2.686,2.677,2.676,2.675,2.669,2.669,2.663,2.658,2.654,2.653,2.646,2.646,2.646,2.64,2.639,2.638,2.634,2.629,2.629,2.629,2.628,2.625,2.624,2.624,2.624,2.624,2.623,2.624,2.62,2.62,2.62,2.62,2.62,2.619,2.619,2.619,2.62,2.62,2.621,2.626,2.626,2.624,2.624,2.627,2.624,2.624,2.627,2.628,2.631,2.636,2.636,2.635,2.635,2.635,2.635,2.641,2.641,2.641,2.641,2.641,2.643,2.644,2.644,2.644,2.645,2.646,2.654,2.657,2.658,2.673,2.674,2.677,2.69,2.692,2.697,2.698,2.711,2.711,2.712,2.712,2.712,2.712,2.715,2.715,2.722,2.722,2.722,2.725,2.725,2.735,2.746,2.755,2.858,3.263,3.275,3.287,3.287,3.294,3.299,3.31,3.323,3.327,3.329,3.336,3.352,3.354,3.364,3.373,3.379,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.009,0.009,0.009,0.006,0.009,3.768,3.768,3.774,3.779,3.779,3.786,3.787,3.791,3.803,3.822,3.83,3.837,3.854,3.861,3.863,3.876,3.899,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,4.091,4.091,4.09,4.087,4.084,4.084,4.082,4.071,4.064,4.061,4.059,4.055,4.051,4.047,4.047,4.039,4.039,0.007,4.032,4.031,4.031,4.025,4.005,4.005,4.005,4.016,4.016,4.023,4.016,4.016,4.016,4.018,4.018,4.02,4.018,4.019,4.019,4.019,4.019,4.019,4.019,4.019,4.026,4.029,4.031,4.036,4.04,4.04,4.042,4.043,4.043,4.042,4.043,4.053,4.064,4.069,0,0,0,0.016,4.094,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.69} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.043633}
SEN {Time 52.6874} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 3.302} {Name Sonar2 Range 2.9718} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.1938} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.064} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.2672} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.6416}
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SEN {Time 52.95} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.027925}
SEN {Time 52.9513} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.302} {Name Sonar2 Range 2.9718} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8542} {Name Sonar5 Range 1.1938} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.413} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.064} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.2672} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.3114}
SEN {Time 53.0225} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.198,0.187,0.223,0.223,0.223,1.606,0.007,1.614,1.606,1.598,1.598,1.594,1.591,1.593,1.591,1.586,1.583,1.576,1.574,1.576,1.574,1.574,1.575,1.575,1.571,1.571,1.565,1.563,1.563,1.565,1.565,1.561,1.566,1.558,1.558,1.556,1.556,1.556,1.556,1.563,1.563,1.563,1.563,1.561,1.559,1.559,1.561,1.559,1.559,1.558,1.557,1.556,1.555,1.555,1.555,1.555,0.15,0.15,0.146,0.146,0.15,0.15,0.15,0.15,0.157,0.16,0.161,2.999,3.005,3.008,3.008,3.008,3.008,0.168,0.163,0.162,0.162,0.162,0.158,0.162,0.167,3.033,3.034,3.04,3.04,3.042,3.054,3.059,3.065,3.067,3.08,3.082,3.087,3.093,3.099,3.107,3.109,3.119,3.13,3.13,3.135,3.147,3.147,3.167,3.169,3.17,3.173,3.178,3.188,3.206,3.215,3.229,3.233,3.233,3.237,3.25,3.25,3.265,3.267,3.281,3.289,3.3,3.308,3.321,3.33,3.334,3.346,3.352,3.364,3.386,3.393,3.4,3.411,3.416,3.441,3.455,3.468,3.474,3.492,3.508,3.516,3.525,3.546,3.571,3.575,3.592,3.605,3.628,3.649,3.671,3.672,3.684,3.716,3.718,3.74,3.76,3.764,3.791,3.797,3.833,3.846,3.864,3.878,3.917,3.945,3.952,3.988,4.002,4.028,4.051,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0.016,0.016,0,3.338,3.322,3.267,3.249,3.238,3.219,3.216,3.195,3.181,3.16,3.154,3.139,3.126,3.118,3.096,3.092,3.068,3.067,3.064,3.048,3.037,3.029,3.017,3.014,2.999,2.99,2.982,2.966,2.955,2.954,2.943,2.927,2.925,2.919,2.91,2.906,2.885,2.885,2.875,2.874,2.871,2.862,2.855,2.847,2.844,2.825,2.822,2.817,2.814,2.8,2.798,2.791,2.774,2.774,2.774,2.774,2.771,2.761,2.761,2.75,2.747,2.734,2.731,2.727,2.725,2.716,2.715,2.71,2.71,2.706,2.702,2.699,2.693,2.68,2.68,2.678,2.678,2.677,2.677,2.662,2.659,2.659,2.656,2.653,2.646,2.646,2.643,2.641,2.634,2.634,2.628,2.628,2.63,2.63,2.628,2.63,2.628,2.627,2.627,2.628,2.628,2.63,2.63,2.629,2.629,2.625,2.625,2.624,2.624,2.626,2.628,2.629,2.629,2.629,2.629,2.63,2.63,2.636,2.636,2.636,2.636,2.636,2.642,2.643,2.643,2.643,2.643,2.644,2.643,2.644,2.64,2.642,2.642,2.645,2.645,2.653,2.654,2.657,2.662,2.666,2.666,2.666,2.67,2.687,2.692,2.692,2.693,2.694,2.703,2.708,2.711,2.711,2.71,2.71,2.71,2.71,2.713,2.723,2.724,2.724,2.738,2.742,2.76,3.231,3.231,3.258,3.267,3.282,3.284,3.298,3.299,3.31,3.317,3.319,3.326,3.34,3.348,3.362,3.373,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.722,3.722,3.722,3.722,3.724,3.736,3.751,3.756,3.758,3.777,3.778,3.8,3.8,3.811,3.824,3.839,3.852,3.868,3.877,3.877,3.89,3.903,3.911,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.091,4.079,4.07,4.066,4.066,4.066,4.062,4.056,4.044,4.043,4.04,4.039,4.036,4.036,4.027,4.017,4.017,4.018,4.013,4.018,4.018,4.013,3.993,3.993,3.993,3.999,3.999,4.009,3.999,3.999,4.004,4.004,4.003,4.004,4.004,4.003,4.004,4.005,4.004,4.005,4.009,4.01,4.01,4.01,4.012,4.012,4.016,4.016,4.016,4.026,4.029,4.029,4.029,4.034,4.048,4.056,0,0,0,4.066,4.066,4.066,4.067,4.076,4.087,4.088,4.093,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,1.414,1.401,1.398,1.397,1.398,1.398,1.399,1.417,1.417,1.423,1.423,1.426,1.426,1.426,1.426,1.397,1.214,1.208,1.2,1.194,1.194,1.194,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.28} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 54.2752} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 54.3185} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.186,0.184,0.228,0.228,0.228,1.605,0.007,1.621,1.606,1.606,1.595,1.588,1.588,1.583,1.583,1.581,1.581,1.578,1.575,1.571,1.571,1.571,1.571,1.571,1.571,1.571,1.567,1.566,1.563,1.563,1.563,1.558,1.563,1.558,1.559,1.559,1.564,1.559,1.563,1.563,1.561,1.561,1.562,1.561,1.561,1.562,1.562,1.56,1.56,1.562,1.559,1.558,1.559,1.559,1.558,1.558,0.152,0.151,0.146,0.144,0.144,0.151,0.153,0.153,0.153,0.153,0.153,3.002,3.012,3.029,3.029,3.029,3.029,0.173,0.163,0.158,0.163,0.158,0.157,0.157,0.167,3.039,3.053,3.053,3.053,3.054,3.064,3.064,3.067,3.077,3.09,3.09,3.094,3.1,3.104,3.106,3.111,3.123,3.134,3.145,3.148,3.151,3.157,3.159,3.169,3.182,3.185,3.193,3.195,3.202,3.211,3.219,3.235,3.237,3.243,3.257,3.264,3.269,3.278,3.291,3.296,3.313,3.315,3.328,3.336,3.337,3.361,3.363,3.379,3.396,3.398,3.411,3.43,3.435,3.452,3.454,3.468,3.497,3.498,3.51,3.532,3.552,3.555,3.568,3.589,3.614,3.619,3.645,3.652,3.666,3.67,3.705,3.711,3.733,3.754,3.768,3.779,3.806,3.809,3.837,3.864,3.877,3.91,3.935,3.955,3.972,3.995,4.02,4.033,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.321,3.31,3.29,3.267,3.262,3.239,3.236,3.21,3.2,3.181,3.157,3.156,3.146,3.129,3.116,3.104,3.092,3.074,3.074,3.063,3.061,3.052,3.03,3.027,3.017,3.006,2.999,2.976,2.975,2.965,2.963,2.942,2.938,2.929,2.921,2.92,2.909,2.907,2.893,2.882,2.882,2.865,2.863,2.851,2.847,2.845,2.844,2.831,2.826,2.812,2.81,2.8,2.797,2.787,2.779,2.779,2.779,2.778,2.776,2.76,2.756,2.75,2.743,2.736,2.733,2.726,2.726,2.722,2.72,2.708,2.704,2.699,2.695,2.684,2.684,2.682,2.679,2.679,2.674,2.67,2.669,2.668,2.664,2.659,2.658,2.655,2.653,2.651,2.648,2.642,2.636,2.636,2.638,2.638,2.638,2.638,2.635,2.634,2.634,2.626,2.627,2.634,2.633,2.627,2.628,2.628,2.625,2.625,2.627,2.627,2.627,2.627,2.629,2.629,2.629,2.63,2.63,2.635,2.635,2.636,2.63,2.636,2.638,2.638,2.638,2.638,2.638,2.642,2.645,2.645,2.648,2.645,2.649,2.641,2.652,2.651,2.652,2.652,2.655,2.664,2.665,2.666,2.666,2.67,2.672,2.683,2.689,2.692,2.693,2.696,2.7,2.709,2.71,2.71,2.709,2.708,2.708,2.708,2.725,2.727,2.728,2.728,2.735,2.739,2.752,3.262,3.262,3.28,3.286,3.286,3.295,3.296,3.298,3.316,3.318,3.329,3.332,3.349,3.35,3.365,3.368,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.017,3.017,3.017,3.715,3.728,3.73,3.73,3.73,3.731,3.743,3.746,3.761,3.775,3.777,3.785,3.799,3.805,3.816,3.823,3.836,3.837,3.852,3.867,3.888,3.898,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.095,4.086,4.078,4.076,4.073,4.072,4.068,4.062,4.061,4.049,4.049,4.044,4.042,4.042,4.042,4.042,4.032,4.032,0.007,4.02,4.02,4.02,4.015,4.015,4.015,4.015,4.001,4.001,4.012,4.007,4.007,4.007,4.007,4.003,4.003,4.003,4.009,4.011,4.011,4.011,4.008,4.008,4.008,4.008,4.013,4.015,4.016,4.016,4.027,4.027,4.03,4.031,4.031,4.033,4.034,4.037,4.049,0,0,0,4.076,4.076,4.07,4.076,4.077,4.08,4.095,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.016,1.442,1.432,1.43,1.426,1.422,1.422,1.426,1.426,1.427,1.429,1.429,1.429,1.435,1.44,1.44,1.444,1.45,0.015,0.015,0.015,1.181,1.178,1.175,1.175,1.165,1.16,1.16,1.051,1.051,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.48} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 54.4776} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 4.0386} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 54.5184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.183,0.183,0.183,0.179,0.184,0.216,0.216,1.601,0.007,1.603,1.603,1.603,1.597,1.591,1.588,1.586,1.586,1.586,1.586,1.586,1.575,1.575,1.575,1.574,1.573,1.57,1.57,1.57,1.567,1.561,1.562,1.562,1.562,1.558,1.561,1.554,1.561,1.561,1.562,1.562,1.562,1.563,1.564,1.562,1.562,1.562,1.558,1.558,1.558,1.557,1.562,1.563,1.562,1.557,1.557,1.557,1.554,1.552,0.147,0.147,0.147,0.147,0.15,0.152,0.152,0.152,0.152,0.152,0.152,3.016,3.018,3.021,3.021,3.021,3.025,0.007,0.16,0.16,0.165,0.165,0.165,0.17,0.17,3.046,3.046,3.048,3.048,3.051,3.058,3.065,3.069,3.075,3.085,3.087,3.093,3.101,3.104,3.111,3.117,3.12,3.135,3.136,3.136,3.144,3.151,3.165,3.174,3.18,3.182,3.197,3.201,3.21,3.21,3.218,3.226,3.239,3.241,3.251,3.258,3.264,3.279,3.288,3.298,3.312,3.323,3.33,3.339,3.343,3.363,3.369,3.386,3.397,3.402,3.41,3.424,3.444,3.457,3.459,3.487,3.49,3.501,3.516,3.531,3.559,3.56,3.576,3.589,3.611,3.611,3.637,3.659,3.664,3.684,3.703,3.716,3.737,3.758,3.761,3.782,3.804,3.822,3.834,3.861,3.867,3.895,3.919,3.952,3.975,4.001,4.032,4.046,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.328,3.315,3.3,3.271,3.269,3.237,3.235,3.211,3.206,3.181,3.165,3.162,3.129,3.127,3.126,3.109,3.095,3.081,3.077,3.059,3.053,3.044,3.029,3.027,3.019,3.001,2.985,2.98,2.969,2.968,2.96,2.955,2.941,2.935,2.929,2.915,2.911,2.895,2.894,2.884,2.879,2.859,2.857,2.855,2.849,2.847,2.84,2.831,2.82,2.811,2.809,2.797,2.792,2.782,2.782,2.782,2.782,2.776,2.767,2.756,2.752,2.749,2.742,2.726,2.725,2.724,2.723,2.714,2.713,2.708,2.706,2.703,2.692,2.691,2.682,2.679,2.676,2.676,2.675,2.672,2.669,2.667,2.662,2.656,2.652,2.647,2.647,2.647,2.643,2.641,2.635,2.634,2.632,2.631,2.632,2.631,2.631,2.63,2.625,2.625,2.63,2.632,2.632,2.632,2.631,2.628,2.625,2.625,2.623,2.623,2.62,2.625,2.625,2.629,2.63,2.63,2.629,2.629,2.633,2.634,2.634,2.635,2.635,2.636,2.636,2.638,2.641,2.643,2.646,2.646,2.65,2.646,2.646,2.645,2.654,2.653,2.654,2.654,2.656,2.66,2.67,2.675,2.678,2.678,2.679,2.681,2.685,2.691,2.691,2.691,2.699,2.711,0.007,2.711,2.711,2.709,2.709,2.713,2.714,2.714,2.728,2.729,2.728,2.739,2.746,3.258,3.258,3.259,3.274,3.284,3.286,3.3,3.304,3.307,3.316,3.325,3.329,3.34,3.354,3.355,3.369,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.007,3.007,3.007,3.712,3.72,3.729,3.729,3.729,3.74,3.742,3.753,3.763,3.774,3.776,3.778,3.795,3.796,3.808,3.826,3.833,3.836,3.862,3.867,3.876,3.903,3.912,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.091,4.083,4.082,4.075,4.071,4.071,4.071,4.064,4.051,4.049,4.046,4.041,4.041,4.034,4.031,4.031,4.025,4.031,0.007,4.014,4.014,4.014,4.014,4.013,4.004,4.004,4.004,4.004,4.01,4.01,4.005,4.005,4.005,4.005,4.003,4.009,4.005,4.011,4.005,4.011,4.013,4.013,4.013,4.013,4.013,4.013,4.013,4.015,4.023,4.023,4.026,4.026,4.026,4.032,4.042,4.042,4.047,0,0,0,4.075,4.075,4.075,4.075,4.076,4.09,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,1.448,1.445,1.441,1.439,1.433,1.429,1.429,1.429,1.429,1.438,1.44,1.44,1.44,1.446,1.447,1.447,1.451,1.447,1.444,1.206,1.195,1.184,1.184,1.183,1.176,1.176,1.176,1.176,1.165,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.67} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 54.6701} {Type Sonar} {Name Sonar0 Range 6.1468} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.3782} {Name Sonar10 Range 4.0386} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2352}
SEN {Time 54.7152} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.177,0.177,0.186,0.186,0.221,1.611,0.007,0,1.611,1.6,1.592,1.589,1.588,1.587,1.586,1.582,1.582,1.581,1.578,1.569,1.569,1.567,1.567,1.567,1.568,1.567,1.568,1.567,1.568,1.564,1.56,1.56,1.56,1.554,1.554,1.554,1.557,1.56,1.56,1.56,1.56,1.56,1.56,1.56,1.563,1.56,1.56,1.558,1.558,1.558,1.558,1.561,1.561,1.561,1.561,1.55,0.148,0.146,0.14,0.146,0.146,0.15,0.154,0.154,0.154,0.161,0.162,3.003,3.017,3.026,3.026,3.026,3.026,0.17,0.159,0.159,0.17,0.159,0.157,0.171,0.171,3.042,3.049,3.056,3.056,3.057,3.059,3.063,3.064,3.066,3.091,3.092,3.095,3.102,3.104,3.114,3.117,3.12,3.134,3.138,3.142,3.143,3.15,3.173,3.174,3.179,3.193,3.197,3.201,3.205,3.214,3.215,3.224,3.237,3.245,3.247,3.256,3.263,3.276,3.287,3.29,3.311,3.314,3.332,3.343,3.347,3.356,3.365,3.38,3.39,3.401,3.414,3.423,3.432,3.458,3.462,3.479,3.487,3.504,3.513,3.526,3.539,3.555,3.575,3.575,3.606,3.624,3.642,3.655,3.674,3.677,3.707,3.719,3.736,3.755,3.772,3.786,3.812,3.823,3.835,3.862,3.883,3.891,3.936,3.943,3.975,3.999,4.038,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.317,3.317,3.294,3.267,3.256,3.246,3.23,3.201,3.191,3.184,3.166,3.148,3.14,3.129,3.116,3.103,3.093,3.073,3.069,3.068,3.055,3.044,3.03,3.028,3.016,3.004,2.993,2.983,2.983,2.971,2.952,2.949,2.941,2.934,2.921,2.915,2.906,2.899,2.897,2.882,2.879,2.869,2.866,2.853,2.846,2.843,2.842,2.827,2.823,2.817,2.81,2.801,2.8,2.79,2.783,2.783,2.79,2.783,2.774,2.758,2.751,2.746,2.744,2.74,2.734,2.729,2.724,2.719,2.717,2.708,2.707,2.701,2.691,2.689,2.689,2.684,2.68,2.672,2.672,2.669,2.669,2.665,2.655,2.654,2.648,2.646,2.646,2.643,2.642,2.642,2.638,2.635,2.634,2.631,2.631,2.631,2.627,2.625,2.627,2.625,2.625,2.63,2.63,2.63,2.63,2.63,2.628,2.628,2.628,2.628,2.628,2.629,2.629,2.629,2.629,2.631,2.631,2.631,2.634,2.634,2.631,2.634,2.634,2.631,2.631,2.634,2.635,2.643,2.643,2.644,2.644,2.644,2.644,2.644,2.648,2.648,2.653,2.656,2.656,2.656,2.658,2.668,2.668,2.677,2.679,2.689,2.69,2.693,2.694,2.694,2.714,2.714,2.714,2.71,2.71,2.708,2.708,2.713,2.715,2.717,2.726,2.729,2.737,2.747,2.753,3.251,3.251,3.255,3.279,3.284,3.286,3.301,3.307,3.313,3.314,3.325,3.334,3.346,3.349,3.364,3.372,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.716,3.723,3.736,3.729,3.729,3.736,3.74,3.748,3.754,3.764,3.773,3.792,3.792,3.809,3.813,3.82,3.828,3.831,3.851,3.859,3.897,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,4.092,4.091,4.092,4.09,4.084,4.084,4.073,4.069,4.062,4.061,4.058,4.056,4.052,4.035,4.035,4.035,4.035,4.035,4.028,4.028,0.007,4.019,4.019,4.019,4.012,4.003,4.003,4.003,4.001,4.006,4.007,4.008,4.007,4.007,4.003,4.002,3.999,3.999,3.996,3.999,3.999,4.003,3.999,4.011,4.011,4.013,4.013,4.013,4.015,4.015,4.022,4.026,4.027,4.028,4.028,4.033,4.039,4.042,4.051,0,0,0,4.066,4.066,4.066,4.067,4.08,4.082,4.085,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,1.47,1.45,1.44,1.435,1.435,1.431,1.431,1.431,1.441,1.442,1.442,1.445,1.447,1.447,1.447,1.447,1.452,1.446,1.444,1.202,1.193,1.184,1.183,1.179,1.174,1.171,1.171,1.171,1.164,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.87} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 54.8722} {Type Sonar} {Name Sonar0 Range 6.1468} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 4.0386} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2352}
SEN {Time 54.9145} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.183,0.183,0.183,0.221,1.604,0.007,0,1.604,1.601,1.586,1.586,1.586,1.587,1.587,1.587,1.585,1.576,1.573,1.573,1.574,1.574,1.574,1.574,1.569,1.566,1.566,1.561,1.567,1.566,1.566,1.562,1.562,1.562,1.555,1.555,1.559,1.559,1.558,1.559,1.56,1.559,1.56,1.56,1.561,1.563,1.563,1.557,1.563,1.557,1.557,1.558,1.561,1.561,1.561,1.561,0.145,0.145,0.143,0.145,0.153,0.154,0.154,0.155,0.154,0.156,0.165,3.004,3.008,3.014,3.014,3.014,3.014,0.175,0.163,0.16,0.159,0.157,0.157,0.159,0.162,3.041,3.043,3.051,3.051,3.06,3.062,3.064,3.065,3.069,3.085,3.092,3.092,3.095,3.107,3.114,3.118,3.121,3.135,3.137,3.139,3.15,3.168,0.007,3.195,3.195,3.195,3.195,3.206,3.209,3.209,3.226,3.232,3.236,3.258,3.269,3.272,3.272,3.286,3.29,3.295,3.309,3.318,3.332,3.344,3.344,3.367,3.369,3.378,3.394,3.401,3.415,3.437,3.44,3.446,3.462,3.471,3.483,3.501,3.507,3.526,3.541,3.558,3.575,3.584,3.606,3.611,3.643,3.657,3.665,3.679,3.707,3.719,3.723,3.75,3.768,3.78,3.798,3.831,3.838,3.845,3.878,3.903,3.922,3.969,3.978,3.997,4.026,4.041,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.319,3.316,3.29,3.266,3.261,3.237,3.232,3.218,3.205,3.188,3.172,3.167,3.151,3.124,3.124,3.104,3.095,3.075,3.073,3.066,3.057,3.049,3.036,3.029,3.016,3.009,2.991,2.979,2.971,2.968,2.964,2.954,2.94,2.932,2.928,2.911,2.909,2.904,2.894,2.879,2.874,2.872,2.865,2.851,2.842,2.84,2.834,2.825,2.819,2.812,2.811,2.806,2.796,2.79,2.786,2.786,2.786,2.779,2.777,2.758,2.747,2.744,2.739,2.738,2.729,2.726,2.726,2.724,2.716,2.712,2.705,2.703,2.696,2.688,2.681,2.679,2.675,2.674,2.669,2.669,2.667,2.663,2.659,2.654,2.654,2.651,2.648,2.646,2.643,2.639,2.639,2.635,2.635,2.632,2.632,2.624,2.621,2.619,2.619,2.621,2.624,2.627,2.627,2.627,2.631,2.631,2.624,2.628,2.628,2.624,2.624,2.628,2.629,2.628,2.629,2.63,2.63,2.632,2.634,2.634,2.634,2.635,2.637,2.637,2.641,2.641,2.643,2.643,2.643,2.643,2.645,2.643,2.642,2.643,2.648,2.643,2.649,2.649,2.649,2.659,2.66,2.66,2.66,2.668,2.675,2.681,2.682,2.686,2.691,2.693,2.696,2.714,0.007,2.715,2.714,2.713,2.713,2.712,2.713,2.715,2.717,2.725,2.736,2.739,2.748,2.751,3.253,3.263,3.278,3.285,3.285,3.297,3.3,3.312,3.313,3.322,3.328,3.339,3.363,3.366,3.371,3.381,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.717,3.717,3.737,3.735,3.735,3.737,3.74,3.744,3.746,3.765,3.771,3.788,3.79,3.802,3.821,3.824,3.827,3.831,3.849,3.852,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.089,4.089,4.078,4.072,4.069,4.068,4.063,4.058,4.048,4.048,4.047,4.037,4.036,4.036,4.036,4.034,4.034,0.007,4.02,4.02,4.02,4.017,4.003,4.003,4.003,4,4.004,4.005,4.007,4.007,4.007,4.009,4.009,4.009,4.009,4.009,4.009,4.007,4.007,4.008,4.013,4.013,4.013,4.013,4.013,4.013,4.02,4.023,4.027,4.027,4.029,4.029,4.034,4.039,4.044,4.047,0,0,0,4.071,4.071,4.071,4.077,4.079,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,1.467,1.446,1.441,1.437,1.437,1.435,1.434,1.434,1.438,1.442,1.442,1.442,1.443,1.454,1.447,1.447,1.456,1.447,1.445,1.195,1.19,1.186,1.183,1.183,1.181,1.17,1.168,1.168,1.036,1.036,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 55.07} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 55.0741} {Type Sonar} {Name Sonar0 Range 6.1468} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 3.429} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2352}
SEN {Time 55.1145} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.194,0.19,0.227,0.227,0.227,1.597,0.007,0,1.597,1.596,1.594,1.588,1.588,1.588,1.588,1.581,1.586,1.579,1.576,1.576,1.575,1.57,1.57,1.567,1.567,1.567,1.568,1.567,1.56,1.56,1.56,1.56,1.56,1.56,1.556,1.556,1.559,1.559,1.562,1.562,1.562,1.562,1.56,1.56,1.562,1.562,1.562,1.562,1.56,1.559,1.559,1.559,1.563,1.564,1.564,1.564,0.144,0.144,0.144,0.143,0.143,0.153,0.154,0.154,0.154,0.154,0.159,3.007,3.012,3.018,3.018,3.018,3.018,0.171,0.168,0.161,0.161,0.158,0.158,0.158,0.169,3.043,3.045,3.049,3.049,3.054,3.056,3.072,3.073,3.074,3.087,3.093,3.093,3.102,3.111,3.113,3.113,3.129,3.143,3.146,3.146,3.148,3.153,3.165,3.17,3.177,3.179,3.19,3.194,3.207,3.214,3.219,3.228,3.238,3.251,3.253,3.263,3.269,3.278,3.281,3.298,3.318,3.319,3.331,3.336,3.341,3.355,3.358,3.378,3.394,3.404,3.412,3.433,3.434,3.446,3.466,3.48,3.486,3.504,3.51,3.522,3.552,3.556,3.576,3.586,3.602,3.628,3.635,3.652,3.669,3.683,3.701,3.711,3.732,3.758,3.773,3.78,3.809,3.82,3.837,3.856,3.875,3.908,3.912,3.951,3.979,3.991,4.03,4.04,4.083,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.32,3.308,3.293,3.269,3.262,3.235,3.233,3.215,3.203,3.176,3.167,3.158,3.145,3.129,3.123,3.121,3.097,3.078,3.067,3.063,3.063,3.037,3.03,3.029,3.015,3.013,2.994,2.981,2.969,2.962,2.962,2.955,2.939,2.927,2.92,2.917,2.909,2.899,2.895,2.883,2.877,2.864,2.862,2.859,2.851,2.849,2.836,2.835,2.817,2.815,2.814,2.796,2.788,2.786,2.783,2.783,2.783,2.775,2.771,2.758,2.756,2.756,2.734,2.734,2.731,2.722,2.721,2.721,2.721,2.707,2.706,2.703,2.695,2.69,2.678,2.676,2.673,2.672,2.671,2.67,2.663,2.656,2.654,2.651,2.651,2.651,2.644,2.644,2.637,2.637,2.637,2.633,2.633,2.635,2.633,2.632,2.632,2.628,2.624,2.624,2.624,2.624,2.622,2.628,2.628,2.627,2.622,2.627,2.627,2.621,2.621,2.621,2.621,2.621,2.621,2.621,2.627,2.627,2.627,2.628,2.628,2.63,2.63,2.63,2.633,2.633,2.635,2.641,2.641,2.641,2.641,2.638,2.638,2.649,2.649,2.646,2.649,2.649,2.649,2.653,2.663,2.665,2.665,2.666,2.677,2.684,2.686,2.688,2.692,2.699,2.7,2.713,0.007,2.714,2.713,2.712,2.712,2.712,2.716,2.72,2.722,2.723,2.732,2.739,2.753,3.25,3.25,3.272,3.28,3.281,3.286,3.294,3.304,3.311,3.318,3.327,3.336,3.337,3.359,3.362,3.371,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.114,0,0,3.717,3.717,3.731,3.731,3.731,3.733,3.737,3.75,3.76,3.763,3.77,3.781,3.788,3.795,3.817,3.822,3.825,3.844,3.845,3.866,3.881,3.903,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.089,4.088,4.08,4.079,4.072,4.07,4.069,4.065,4.053,4.048,4.047,4.044,4.041,4.035,4.033,4.033,4.028,4.033,0.007,4.015,4.015,4.015,4.009,4.007,4.004,4.004,4.004,4.004,4.004,4.009,4.009,4.009,4.009,4.009,4.005,4.005,4.008,4.005,4.008,4.015,4.015,4.011,4.018,4.018,4.012,4.016,4.018,4.018,4.018,4.022,4.025,4.033,4.033,4.035,4.043,4.046,4.059,0,0,0,4.068,4.068,4.068,4.073,4.082,4.085,4.089,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.016,1.444,1.44,1.44,1.437,1.432,1.432,1.432,1.434,1.436,1.438,1.44,1.44,1.452,1.452,1.452,1.456,1.456,1.444,1.195,1.185,1.185,1.182,1.182,1.18,1.172,1.162,1.162,1.026,1.026,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 55.27} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 55.2671} {Type Sonar} {Name Sonar0 Range 6.2484} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.1082} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 3.429} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 55.3161} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.188,0.184,0.184,0.182,0.184,0.184,0.219,1.61,1.61,1.61,1.61,1.599,1.597,1.591,1.591,1.591,1.591,1.583,1.584,1.581,1.576,1.573,1.573,1.571,1.57,1.57,1.57,1.568,1.566,1.565,1.565,1.565,1.565,1.564,1.564,1.563,1.56,1.56,1.562,1.562,1.562,1.563,1.562,1.563,1.563,1.56,1.56,1.56,1.558,1.56,1.56,1.56,1.558,1.558,1.558,1.558,1.557,1.557,0.154,0.153,0.149,0.145,0.147,0.147,0.147,0.152,0.152,0.153,0.155,3.007,3.015,3.016,3.016,3.016,3.015,0.164,0.163,0.162,0.162,0.161,0.158,0.161,0.163,3.036,3.048,3.049,3.049,3.054,3.064,3.065,3.07,3.074,3.086,3.087,3.091,3.102,3.102,3.105,3.122,3.127,3.129,3.133,3.146,3.149,3.155,3.173,3.181,3.184,3.194,3.194,3.196,3.206,3.21,3.218,3.235,3.237,3.25,3.253,3.259,3.266,3.28,3.282,3.29,3.312,3.324,3.331,3.338,3.349,3.363,3.366,3.382,3.395,3.401,3.417,3.418,3.437,3.451,3.465,3.478,3.495,3.505,3.513,3.525,3.544,3.555,3.573,3.579,3.598,3.614,3.64,3.656,3.661,3.668,3.713,3.716,3.735,3.751,3.776,3.782,3.8,3.821,3.833,3.862,3.869,3.912,3.926,3.961,3.962,4.003,4.033,4.035,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.328,3.31,3.284,3.262,3.257,3.239,3.233,3.211,3.19,3.182,3.16,3.154,3.141,3.13,3.118,3.114,3.098,3.076,3.069,3.066,3.061,3.048,3.029,3.026,3.016,3.004,3.003,2.993,2.979,2.97,2.958,2.949,2.943,2.926,2.923,2.919,2.911,2.899,2.891,2.881,2.879,2.867,2.859,2.852,2.846,2.845,2.838,2.829,2.821,2.813,2.808,2.799,2.797,2.786,2.784,2.784,2.784,2.776,2.776,2.754,2.75,2.75,2.741,2.732,2.73,2.723,2.722,2.717,2.716,2.703,2.702,2.696,2.692,2.69,2.688,2.687,2.678,2.678,2.675,2.67,2.667,2.659,2.655,2.654,2.653,2.648,2.648,2.648,2.645,2.637,2.633,2.633,2.633,2.631,2.631,2.627,2.627,2.627,2.624,2.624,2.624,2.626,2.624,2.626,2.625,2.625,2.625,2.626,2.625,2.625,2.62,2.62,2.619,2.62,2.625,2.625,2.625,2.627,2.628,2.629,2.63,2.63,2.633,2.635,2.635,2.635,2.637,2.641,2.641,2.641,2.643,2.643,2.642,2.644,2.645,2.645,2.645,2.647,2.654,2.66,2.668,2.668,2.668,2.67,2.684,2.684,2.685,2.689,2.693,2.7,2.701,2.706,0.007,2.717,2.706,2.715,2.707,2.707,2.715,2.718,2.718,2.722,2.734,2.735,2.745,3.252,3.252,3.263,3.272,3.284,3.285,3.303,3.306,3.307,3.311,3.323,3.334,3.343,3.347,3.367,3.37,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.71,3.71,3.732,3.73,3.73,3.732,3.741,3.747,3.754,3.77,3.784,3.786,3.787,3.796,3.81,3.824,3.831,3.835,3.858,3.859,3.876,3.894,3.9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.087,4.085,4.084,4.084,4.082,4.073,4.066,4.066,4.058,4.05,4.05,4.043,4.041,4.038,4.036,4.036,4.029,4.029,0.007,4.011,4.011,4.011,4.009,3.997,3.997,3.997,4.005,4.005,4.008,4.005,4.004,4.004,4.004,4.004,4.006,4.007,4.007,4.009,4.009,4.008,4.006,4.008,4.008,4.01,4.012,4.012,4.014,4.014,4.035,4.035,4.035,4.026,4.026,4.026,4.037,4.045,4.051,0,0,0,4.067,4.067,4.067,4.071,4.086,4.088,4.093,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0.016,1.447,1.447,1.439,1.435,1.433,1.431,1.431,1.431,1.436,1.436,1.436,1.437,1.437,1.444,1.449,1.449,1.449,1.413,1.198,1.197,1.189,1.189,1.183,1.18,1.175,1.17,1.17,1.016,1.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 55.54} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.040143}
SEN {Time 55.539} {Type Sonar} {Name Sonar0 Range 6.2484} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3302} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.4704} {Name Sonar10 Range 3.429} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 55.6144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.19,0.187,0.19,0.19,0.23,1.595,1.61,1.61,1.601,1.601,1.593,1.593,1.59,1.589,1.588,1.588,1.586,1.586,1.58,1.579,1.579,1.574,1.574,1.572,1.57,1.563,1.563,1.562,1.568,1.561,1.555,1.555,1.558,1.555,1.555,1.558,1.559,1.555,1.559,1.559,1.564,1.564,1.564,1.564,1.564,1.559,1.558,1.558,1.558,1.558,1.558,1.558,1.558,1.558,1.558,1.558,0.155,0.15,0.147,0.147,0.15,0.15,0.153,0.153,0.153,0.157,0.157,3.005,3.01,3.027,3.027,3.034,3.034,3.034,0.167,0.164,0.162,0.162,0.156,0.162,0.164,3.041,3.045,3.049,3.049,3.057,3.064,3.069,3.069,3.081,3.086,3.088,3.096,3.104,3.113,3.115,3.118,3.125,3.128,3.147,3.148,3.149,3.157,3.173,3.175,3.178,3.185,3.198,3.212,3.212,3.215,3.231,3.241,3.242,3.242,3.257,3.259,3.265,3.276,3.287,3.295,3.311,3.312,3.331,3.336,3.347,3.361,3.366,3.382,3.396,3.4,3.413,3.425,3.432,3.459,3.474,3.48,3.5,3.505,3.521,3.528,3.548,3.559,3.577,3.591,3.608,3.624,3.638,3.661,3.672,3.682,3.701,3.721,3.736,3.746,3.768,3.783,3.803,3.821,3.849,3.859,3.884,3.909,3.934,3.947,3.972,4.002,4.029,4.046,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.325,3.314,3.29,3.267,3.247,3.237,3.228,3.211,3.203,3.181,3.163,3.155,3.148,3.14,3.121,3.11,3.089,3.086,3.07,3.061,3.051,3.048,3.044,3.025,3.014,3.006,2.99,2.983,2.971,2.956,2.953,2.952,2.943,2.928,2.917,2.917,2.917,2.906,2.885,2.879,2.878,2.871,2.862,2.85,2.843,2.841,2.831,2.827,2.819,2.814,2.806,2.801,2.801,2.782,2.781,2.781,2.781,2.781,2.781,2.766,2.751,2.742,2.739,2.733,2.73,2.727,2.718,2.715,2.715,2.713,2.697,2.696,2.694,2.691,2.688,2.684,2.68,2.672,2.672,2.671,2.669,2.665,2.66,2.655,2.655,2.652,2.647,2.647,2.638,2.638,2.638,2.632,2.632,2.631,2.63,2.63,2.63,2.629,2.629,2.624,2.624,2.624,2.624,2.628,2.628,2.624,2.623,2.623,2.623,2.622,2.624,2.625,2.625,2.626,2.628,2.628,2.628,2.629,2.632,2.629,2.633,2.633,2.632,2.632,2.633,2.635,2.644,2.645,2.645,2.645,2.647,2.64,2.64,2.642,2.646,2.643,2.646,2.657,2.659,2.662,2.664,2.669,2.672,2.677,2.68,2.682,2.696,2.696,2.696,2.696,2.699,2.71,2.71,2.708,2.71,2.71,2.71,2.712,2.722,2.725,2.726,2.732,2.742,2.742,2.743,2.749,3.254,3.269,3.276,3.279,3.304,3.312,3.314,3.314,3.324,3.331,3.338,3.346,3.347,3.367,3.369,3.385,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.972,2.972,0.007,3.735,3.723,3.735,3.735,3.739,3.745,3.754,3.762,3.777,3.784,3.796,3.803,3.812,3.83,3.83,3.831,3.833,3.848,3.881,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,4.089,4.089,4.084,4.082,4.077,4.07,4.068,4.067,4.061,4.059,4.055,4.043,4.04,4.037,4.033,4.037,4.037,0,0.006,0.006,0.006,4.021,4.015,4.014,4.014,4.005,4.005,4.005,4.014,4.005,4.011,4.011,4.011,4.005,4.004,4.004,4.004,4.007,4.008,4.008,4.016,4.016,4.019,4.019,4.019,4.018,4.018,4.018,4.018,4.03,4.03,4.034,4.034,4.034,4.045,4.049,4.052,0,0,0,0,4.077,4.077,4.077,4.083,4.085,4.086,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,1.438,1.433,1.43,1.43,1.43,1.433,1.443,1.443,1.443,1.443,1.443,1.441,1.441,1.455,1.441,1.438,1.191,1.19,1.185,1.18,1.178,1.18,1.174,1.166,1.166,0.009,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 55.77} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.102974}
SEN {Time 55.7699} {Type Sonar} {Name Sonar0 Range 6.2484} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8288} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.4704} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.2098}
SEN {Time 55.8105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.184,0.18,0.18,0.181,0.181,0.237,1.583,0.007,1.592,1.583,1.581,1.575,1.575,1.576,1.576,1.576,1.576,1.576,1.574,1.569,1.572,1.572,1.569,1.568,1.567,1.567,1.567,1.567,1.568,1.568,1.566,1.565,1.565,1.565,1.561,1.561,1.561,1.561,1.561,1.565,1.566,1.566,1.572,1.574,1.574,1.572,1.572,1.574,2.977,2.977,2.984,2.984,2.987,2.993,2.995,2.995,2.995,0.152,0.152,0.138,0.148,0.152,0.153,0.156,0.159,0.159,0.16,0.16,3.04,3.046,3.068,3.068,3.068,3.068,0.179,0.171,0.168,0.165,0.163,0.158,0.163,0.165,3.091,3.104,3.11,3.11,3.111,3.122,3.131,3.136,3.152,3.156,3.166,3.166,3.177,3.181,3.189,3.19,3.202,3.214,3.222,3.228,3.236,3.242,3.253,3.255,3.266,3.276,3.276,3.298,3.312,3.316,3.319,3.331,3.347,3.365,3.373,3.373,3.387,3.394,3.41,3.418,3.44,3.44,3.466,3.472,3.472,3.491,3.493,3.522,3.532,3.533,3.56,3.574,3.585,3.605,3.614,3.636,3.655,3.669,3.688,3.688,3.716,3.733,3.752,3.772,3.785,3.824,3.833,3.848,3.87,3.876,3.905,3.936,3.95,3.984,3.999,4.014,4.052,4.06,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.344,3.34,3.299,3.299,3.299,3.288,3.282,3.226,3.223,3.214,3.197,3.18,3.162,3.148,3.137,3.119,3.119,3.103,3.084,3.079,3.063,3.046,3.039,3.029,3.013,3.004,3.001,2.994,2.977,2.977,2.96,2.959,2.943,2.936,2.926,2.92,2.913,2.912,2.89,2.885,2.879,2.876,2.872,2.87,2.866,2.847,2.838,2.836,2.825,2.824,2.811,2.805,2.802,2.799,2.791,2.785,2.785,2.785,2.779,2.779,2.76,2.758,2.756,2.744,2.74,2.739,2.733,2.724,2.722,2.716,2.714,2.706,2.705,2.705,2.704,2.692,2.685,2.679,2.675,2.672,2.672,2.671,2.667,2.66,2.658,2.658,2.654,2.651,2.649,2.646,2.646,2.646,2.644,2.644,2.644,2.64,2.633,2.633,2.627,2.627,2.629,2.629,2.629,2.629,2.627,2.627,2.627,2.624,2.623,2.623,2.619,2.619,2.625,2.626,2.628,2.628,2.628,2.63,2.63,2.632,2.636,2.638,2.638,2.638,2.638,2.639,2.652,2.652,2.652,2.651,2.651,2.648,2.647,2.647,2.651,2.646,2.649,2.651,2.656,2.658,2.66,2.664,2.664,2.669,2.67,2.687,2.693,2.694,2.698,2.698,2.698,2.701,2.701,2.707,2.707,2.71,2.713,2.71,2.713,2.716,2.726,2.732,2.733,2.741,2.745,2.759,3.246,3.259,3.274,3.281,3.302,3.302,3.307,3.308,3.309,3.323,3.334,3.339,3.342,3.347,3.363,3.364,3.379,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.006,0,3.731,3.731,3.751,3.759,3.759,3.762,3.778,3.79,3.799,3.807,3.814,3.82,3.83,3.843,3.853,3.858,3.884,3.903,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,4.086,4.084,4.077,4.073,4.065,4.065,4.064,4.062,4.06,4.045,4.045,4.043,4.032,4.029,4.026,4.026,4.021,4.021,0.007,4.013,4.013,4.013,4.013,4.002,4.005,4.005,4.005,3.998,4.001,3.998,3.998,3.996,3.996,3.996,3.995,3.995,4,4.001,4.001,4.001,4.002,4.002,4.002,4.003,4.003,4.004,4.002,4.004,4.013,4.014,4.015,4.023,4.023,4.026,4.026,4.028,4.033,0,0,0,4.065,4.065,4.065,4.067,4.07,4.071,4.079,4.082,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,1.435,1.435,1.423,1.423,1.423,1.426,1.432,1.432,1.435,1.435,1.444,1.444,1.448,1.448,1.444,1.431,1.185,1.178,1.174,1.173,1.17,1.17,1.164,1.163,1.164,0.994,0.991,0.991,1.026,1.026,1.219,1.227,1.232,1.237,1.239,1.242,1.259,1.26,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 55.96} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.157080}
SEN {Time 55.9649} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 3.0734} {Name Sonar9 Range 4.4704} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.1844}
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SEN {Time 56.17} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.216421}
SEN {Time 56.1688} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.54} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 3.0734} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.429} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.1844}
SEN {Time 56.2105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.174,0.174,0.178,0.178,0.245,1.591,1.591,1.591,1.591,1.584,1.584,1.584,1.585,1.585,1.585,1.585,1.583,1.583,1.582,1.582,1.582,1.582,1.583,1.583,1.581,1.583,1.586,1.586,1.592,2.995,2.995,2.996,2.996,2.996,3.001,3.005,3.005,3.009,3.009,3.012,3.022,3.024,3.025,3.025,3.036,3.041,3.041,3.048,3.048,3.049,3.056,3.059,3.062,3.067,3.067,3.067,3.067,0.158,0.146,0.158,0.154,0.154,0.154,0.154,0.153,0.153,0.153,3.149,3.159,3.166,3.166,3.183,3.183,3.183,0.172,0.161,0.161,0.159,0.157,0.157,0.157,0.157,3.226,3.244,3.251,3.26,3.277,3.279,3.292,3.303,3.31,3.328,3.347,3.348,3.365,3.367,3.373,3.387,3.407,3.41,3.421,3.437,3.444,3.466,3.467,3.487,3.498,3.5,3.516,3.528,3.54,3.558,3.573,3.59,3.598,3.623,3.627,3.645,3.655,3.683,3.692,3.717,3.717,3.751,3.754,3.773,3.803,3.808,3.84,3.863,3.87,3.902,3.912,3.928,3.965,3.995,4.015,4.028,4.059,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.255,3.237,3.234,3.206,3.199,3.196,3.17,3.152,3.149,3.125,3.121,3.106,3.102,3.074,3.072,3.071,3.046,3.042,3.028,3.018,3.007,3.004,2.981,2.981,2.98,2.98,2.964,2.948,2.934,2.933,2.913,2.913,2.903,2.9,2.889,2.882,2.87,2.862,2.861,2.847,2.846,2.827,2.827,2.822,2.817,2.814,2.804,2.804,2.798,2.798,2.804,2.792,2.777,2.773,2.76,2.753,2.751,2.749,2.743,2.741,2.734,2.731,2.728,2.725,2.713,2.713,2.708,2.707,2.702,2.702,2.701,2.692,2.689,2.688,2.688,2.684,2.676,2.674,2.669,2.669,2.669,2.665,2.663,2.662,2.657,2.654,2.647,2.647,2.643,2.643,2.642,2.642,2.642,2.643,2.644,2.644,2.643,2.635,2.635,2.635,2.635,2.636,2.636,2.636,2.636,2.635,2.63,2.63,2.629,2.626,2.629,2.628,2.628,2.638,2.64,2.64,2.64,2.642,2.643,2.643,2.644,2.652,2.652,2.652,2.652,2.647,2.647,2.654,2.654,2.654,2.654,2.654,2.657,2.674,2.677,2.677,2.677,2.678,2.684,2.686,2.686,2.688,2.694,2.696,2.705,2.705,2.705,2.709,2.709,2.709,2.709,2.709,2.712,2.718,2.723,2.725,2.74,2.74,2.741,2.745,3.253,3.277,3.28,3.283,3.29,3.298,3.303,3.316,3.32,3.328,3.333,3.337,3.35,3.359,3.362,3.388,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.009,0.009,0.009,0.006,3.723,3.723,3.723,3.739,3.748,3.75,3.75,3.767,3.779,3.784,3.803,3.804,3.817,3.822,3.825,3.827,3.842,3.874,3.883,3.887,3.887,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0.016,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.082,4.081,4.073,4.071,4.064,4.063,4.052,4.052,4.051,4.041,4.035,4.034,4.025,4.025,4.025,4.022,4.022,4.022,4.026,0,0,0,4.004,4.001,3.999,3.999,3.999,3.999,3.999,3.999,3.999,3.999,3.999,3.989,3.989,3.989,3.986,3.986,3.986,3.989,3.987,3.987,3.989,3.988,3.988,3.994,3.999,3.999,3.999,3.998,3.998,3.998,4.009,4.009,4.014,4.014,4.017,4.017,4.021,4.027,0,0,0,0,4.052,4.052,4.052,4.059,4.06,4.067,4.073,4.082,4.087,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,1.437,0.009,1.412,1.406,1.405,1.402,1.402,1.402,1.412,1.415,1.419,1.421,1.422,1.425,1.425,1.431,1.425,1.425,1.168,1.167,1.162,1.16,1.157,1.157,1.148,1.132,1.132,1.132,1.023,0.99,1.149,1.149,1.149,1.224,1.224,1.226,1.232,1.246,1.247,1.251,1.258,1.263,1.269,1.282,1.285,1.289,1.29,1.295,1.316,1.317,1.326,1.361,0,0.007,0,1.454,1.455,1.455,1.455,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.36} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.275762}
SEN {Time 56.3639} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.54} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 3.0734} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.429} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.2098}
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SEN {Time 56.58} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.338594}
SEN {Time 56.5758} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.5908} {Name Sonar2 Range 2.54} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 3.8354} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.27} {Name Sonar12 Range 3.5814} {Name Sonar13 Range 3.429} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.2098}
SEN {Time 56.6065} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.179,0.179,0.179,0.182,0.182,0.215,1.616,1.619,1.619,1.619,0.007,3.006,3.006,3.011,3.007,3.011,3.011,3.011,3.018,3.023,3.023,3.024,3.024,3.031,3.032,3.037,3.038,3.047,3.049,3.049,3.054,3.059,3.06,3.062,3.066,3.068,3.077,3.079,3.09,3.093,3.108,3.11,3.112,3.115,3.117,3.126,3.127,3.144,3.148,3.151,3.161,3.164,3.166,3.173,3.173,3.173,3.166,0.15,0.15,0.141,0.15,0.15,0.153,0.153,0.153,0.153,0.153,0.153,0.153,3.28,3.305,3.315,3.315,3.315,0.174,0.165,0.16,0.152,0.152,0.16,0.161,0.163,0.173,3.403,3.454,3.461,3.474,3.502,3.512,3.516,3.536,3.552,3.561,3.591,3.595,3.597,3.627,3.634,3.652,3.663,3.682,3.71,3.715,3.724,3.744,3.764,3.788,3.805,3.817,3.845,3.854,3.87,3.899,3.915,3.953,3.972,3.997,4.019,4.039,4.082,0.016,0.016,0.016,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.264,3.254,3.231,3.214,3.202,3.198,3.178,3.172,3.148,3.145,3.126,3.112,3.11,3.09,3.077,3.076,3.051,3.047,3.039,3.029,3.006,3.005,3.002,2.985,2.982,2.965,2.95,2.946,2.933,2.93,2.917,2.913,2.905,2.903,2.89,2.89,2.881,2.874,2.857,2.856,2.848,2.845,2.843,2.833,2.824,2.822,2.809,2.798,2.798,2.798,2.796,2.784,2.778,2.766,2.76,2.759,2.756,2.745,2.744,2.739,2.735,2.734,2.733,2.733,2.725,2.723,2.714,2.714,2.713,2.698,2.694,2.692,2.69,2.689,2.682,2.682,2.681,2.679,2.675,2.67,2.669,2.668,2.664,2.664,2.664,2.657,2.657,2.657,2.657,2.657,2.657,2.654,2.654,2.653,2.653,2.653,2.648,2.643,2.643,2.642,2.642,2.639,2.645,2.637,2.645,2.642,2.647,2.643,2.647,2.643,2.643,2.643,2.646,2.646,2.651,2.651,2.651,2.653,2.652,2.652,2.653,2.653,2.652,2.653,2.653,2.652,2.651,2.648,2.648,2.648,2.661,2.664,2.67,2.676,2.678,2.678,2.685,2.687,2.694,2.695,2.695,2.696,2.703,2.704,2.705,2.709,2.709,2.71,2.715,2.715,2.719,2.72,2.723,2.729,2.73,2.734,2.741,3.26,3.26,3.264,3.271,3.271,3.283,3.295,3.296,3.308,3.322,3.325,3.328,3.328,3.342,3.353,3.362,3.364,3.364,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.006,3.696,3.696,3.696,3.71,3.718,3.733,3.738,3.742,3.743,3.766,3.768,3.777,3.779,3.8,3.806,3.831,3.831,3.832,3.842,3.85,3.858,3.876,3.877,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.082,4.079,4.074,4.069,4.067,4.063,4.055,4.044,4.035,4.031,4.031,4.035,4.024,4.024,4.009,4.008,4.008,4.005,4.005,3.999,4.009,0.007,3.993,3.988,3.988,3.979,3.979,3.979,3.979,3.98,3.98,3.98,3.98,3.98,3.98,3.982,3.98,3.978,3.98,3.981,3.981,3.984,3.984,3.984,3.983,3.983,3.983,3.99,3.99,3.99,3.998,0,0,0,4.006,4.002,4.002,4.004,4.006,4.009,4.016,0,0,0,4.046,4.037,4.037,4.046,4.049,4.053,4.062,4.066,4.073,4.074,4.077,4.083,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,1.412,1.395,1.392,1.387,1.387,1.391,1.392,1.396,1.402,1.402,1.403,1.409,1.41,1.41,1.412,1.41,1.39,1.159,1.156,1.151,1.145,1.141,1.138,1.138,1.135,1.126,1.126,0.966,0.964,0.964,0.987,0.987,1.181,1.2,1.201,1.214,1.219,1.229,1.249,1.257,1.269,1.264,1.269,1.269,1.275,1.275,1.28,1.294,1.299,1.308,1.32,1.342,0,0.007,0,1.416,1.432,1.432,1.432,1.442,1.443,1.527,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.76} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.390954}
SEN {Time 56.7618} {Type Sonar} {Name Sonar0 Range 5.6642} {Name Sonar1 Range 2.5908} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 3.8354} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.27} {Name Sonar12 Range 3.5814} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.2098}
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SEN {Time 57.03} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.469494}
SEN {Time 57.0347} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5908} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.8288} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 2.3876} {Name Sonar8 Range 3.8354} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 1.2954} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 3.5814} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 2.286} {Name Sonar15 Range 6.1214}
SEN {Time 57.1064} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.195,0.179,0.179,0.18,0.18,0.183,3.104,3.104,3.104,3.092,3.086,3.086,3.086,3.098,3.105,3.106,3.107,3.112,3.117,3.13,3.131,3.14,3.141,3.141,3.162,3.162,3.162,3.168,3.176,3.178,3.187,3.198,3.2,3.204,3.214,3.214,3.235,3.24,3.251,3.26,3.264,3.269,3.28,3.283,3.291,3.303,3.324,3.326,3.332,3.344,3.349,3.356,3.37,3.374,3.374,3.374,3.39,3.309,0.15,0.149,0.15,0.15,0.15,0.156,0.156,0.15,0.156,0.16,0.205,0,0,0,0,0,0,0,0.16,0.158,0.158,0.157,0.158,0.162,0.241,3.821,3.857,3.871,3.871,3.871,3.898,3.921,3.944,3.969,3.991,4.013,4.028,4.052,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.323,3.291,3.284,3.265,3.252,3.232,3.219,3.202,3.187,3.18,3.164,3.156,3.131,3.12,3.112,3.1,3.09,3.074,3.063,3.061,3.036,3.036,3.024,3.016,3.013,2.992,2.992,2.976,2.976,2.963,2.955,2.951,2.944,2.926,2.921,2.913,2.909,2.9,2.894,2.879,2.876,2.876,2.876,2.863,2.86,2.837,2.835,2.834,2.822,2.82,2.82,2.822,2.818,2.803,2.788,2.779,2.777,2.771,2.769,2.76,2.759,2.751,2.741,2.741,2.741,2.733,2.73,2.72,2.719,2.719,2.711,2.709,2.703,2.703,2.702,2.701,2.699,2.699,2.686,2.682,2.68,2.675,2.675,2.673,2.673,2.666,2.666,2.663,2.663,2.663,2.659,2.659,2.659,2.659,2.659,2.653,2.653,2.653,2.654,2.654,2.654,2.654,2.655,2.658,2.658,2.663,2.658,2.654,2.652,2.654,2.653,2.653,2.654,2.66,2.66,2.66,2.661,2.669,2.66,2.668,2.668,2.668,2.668,2.668,2.668,2.676,2.668,2.668,2.672,2.672,2.671,2.672,2.672,2.679,2.683,2.687,2.687,2.691,2.693,2.691,2.696,2.703,2.703,2.703,2.704,2.715,2.717,2.717,2.717,2.719,2.719,2.72,2.72,2.721,2.721,2.731,2.744,2.745,2.745,2.752,2.752,3.27,3.274,3.283,3.285,3.301,3.302,3.302,3.323,3.325,3.328,3.329,3.348,3.353,3.355,3.355,3.375,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.007,3.688,3.688,3.706,3.706,3.706,3.707,3.711,3.729,3.733,3.733,3.739,3.766,3.767,3.767,3.784,3.802,3.806,3.807,3.821,3.838,3.853,3.859,3.879,3.879,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.073,4.066,4.055,4.055,4.052,4.045,4.042,4.034,4.031,4.028,4.02,4.019,4.018,4.011,4.01,4.009,4.003,3.997,3.997,3.994,3.994,0.007,3.979,3.979,3.979,3.977,3.977,3.978,3.971,3.967,3.967,3.965,3.965,3.963,3.961,3.962,3.961,3.961,3.961,3.962,3.959,3.967,3.968,3.967,3.967,3.967,3.967,3.967,3.971,3.973,3.973,3.989,3.989,3.993,3.993,3.99,3.99,3.993,3.993,3.997,3.998,0,0,0,4.019,4.019,4.019,4.028,4.03,4.035,4.059,4.059,4.059,4.059,4.061,4.069,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,1.394,1.381,1.373,1.37,1.37,1.37,1.374,1.377,1.387,1.386,1.386,1.387,1.392,1.389,1.392,1.392,1.392,1.389,1.352,1.135,1.132,1.13,1.129,1.127,1.124,1.116,1.115,1.001,1.001,0.956,0.942,0.942,1.013,1.013,1.17,1.185,1.189,1.19,1.202,1.205,1.225,1.226,1.233,1.237,1.248,1.249,1.253,1.261,1.272,1.276,1.279,1.281,1.304,1.32,1.356,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.936,3.923,3.905,3.881,3.868,3.868,3.868,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.26} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.479966}
SEN {Time 57.2627} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.8288} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.7018} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 2.3876} {Name Sonar8 Range 4.6736} {Name Sonar9 Range 3.6068} {Name Sonar10 Range 1.2954} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 2.9972} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 2.286} {Name Sonar15 Range 6.1214}
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SEN {Time 59.92} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.478220}
SEN {Time 59.9163} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.778} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.7018} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 3.0734} {Name Sonar8 Range 4.4196} {Name Sonar9 Range 3.1242} {Name Sonar10 Range 1.27} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 3.7084} {Name Sonar13 Range 4.2164} {Name Sonar14 Range 2.2098} {Name Sonar15 Range 2.6416}
SEN {Time 59.9945} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.191,0.191,0.191,0.191,0.191,3.11,3.11,3.11,3.092,3.088,3.088,3.088,3.105,3.105,3.114,3.125,3.127,3.127,3.129,3.134,3.138,3.146,3.148,3.155,3.157,3.169,3.172,3.184,3.186,3.196,3.198,3.202,3.212,3.221,3.231,3.233,3.235,3.249,3.251,3.259,3.279,3.28,3.291,3.292,3.307,3.328,3.332,3.339,3.349,3.359,3.363,3.379,3.38,3.38,3.38,3.322,0.157,0.152,0.15,0.15,0.15,0.152,0.153,0.153,0.153,0.155,0.163,0.209,0,0,0,0,0,0.173,0.165,0.163,0.163,0.163,0.16,0.163,0.169,0.229,0,0,0,3.899,3.899,3.899,3.924,3.951,3.973,4.003,4.011,4.084,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.377,3.347,3.345,3.326,3.307,3.288,3.278,3.267,3.256,3.23,3.228,3.201,3.187,3.177,3.169,3.153,3.141,3.117,3.109,3.106,3.08,3.067,3.061,3.061,3.043,3.031,3.018,3.017,3.006,2.994,2.984,2.971,2.962,2.959,2.955,2.955,2.945,2.931,2.924,2.912,2.905,2.893,2.893,2.88,2.878,2.872,2.866,2.856,2.843,2.84,2.84,2.834,2.824,2.823,2.823,2.823,2.823,2.862,2.862,2.782,2.781,2.782,2.774,2.772,2.759,2.758,2.754,2.753,2.743,2.742,2.731,2.73,2.73,2.725,2.719,2.719,2.712,2.711,2.701,2.703,2.703,2.695,2.694,2.69,2.686,2.683,2.683,2.675,2.675,2.672,2.672,2.672,2.668,2.668,2.672,2.668,2.667,2.665,2.665,2.665,2.661,2.657,2.658,2.66,2.658,2.658,2.658,2.66,2.658,2.662,2.658,2.662,2.657,2.656,2.656,2.659,2.659,2.664,2.664,2.664,2.666,2.666,2.667,2.671,2.674,2.674,2.674,2.674,2.668,2.668,2.668,2.674,2.674,2.674,2.674,2.674,2.678,2.678,2.678,2.688,2.69,2.693,2.698,2.698,2.698,2.7,2.708,2.708,2.71,2.713,2.713,2.717,2.718,2.718,2.718,2.721,2.726,2.729,2.732,2.733,2.738,2.744,2.744,2.757,2.76,3.268,3.292,3.296,3.299,3.299,3.299,3.314,3.319,3.322,3.322,3.335,3.346,3.35,3.363,3.363,3.373,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.073,3.014,3.014,3.014,3.018,3.677,3.692,3.692,3.693,3.705,3.715,3.715,3.725,3.737,3.737,3.749,3.751,3.769,3.771,3.778,3.797,3.811,3.819,3.821,3.854,0.007,3.864,3.864,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.067,4.055,4.048,4.048,4.043,4.043,4.035,4.032,4.028,4.024,4.019,4.018,4.014,4.008,4.003,3.996,3.992,3.992,3.992,0,0,0,3.989,3.987,3.979,3.987,3.979,3.966,3.966,3.971,3.966,3.965,3.965,3.964,3.964,3.964,3.964,3.969,3.969,3.963,3.963,3.963,3.961,3.961,3.963,3.963,3.963,3.963,3.969,3.975,3.988,0,0,0,3.987,3.987,3.987,3.999,3.999,4,0,0,0,4.03,4.022,4.022,4.029,4.029,4.036,4.043,4.047,4.051,4.058,4.061,4.069,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,1.402,1.384,1.382,1.38,1.38,1.378,1.376,1.37,1.37,1.378,1.382,1.384,1.386,1.396,1.394,1.394,1.397,1.398,1.397,1.397,1.143,1.13,1.122,1.121,1.121,1.121,1.122,1.116,1.113,1.113,0.962,0.949,0.949,0.955,0.955,1.1,1.178,1.181,1.189,1.205,1.209,1.209,1.225,1.229,1.235,1.243,1.25,1.26,1.263,1.269,1.272,1.277,1.28,1.287,1.314,0,0,0,0,0,0,0,1.451,1.451,1.451,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.936,3.928,3.919,3.91,3.896,3.896,3.896,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 60.16} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.422370}
SEN {Time 60.1553} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.778} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.7018} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 3.0734} {Name Sonar8 Range 4.4196} {Name Sonar9 Range 3.1242} {Name Sonar10 Range 1.27} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 4.2164} {Name Sonar14 Range 2.2098} {Name Sonar15 Range 2.6416}
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SEN {Time 60.35} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.368264}
SEN {Time 60.3502} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.778} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.3462} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 3.0734} {Name Sonar8 Range 4.4196} {Name Sonar9 Range 3.7338} {Name Sonar10 Range 1.27} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 2.2098} {Name Sonar15 Range 2.6416}
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SEN {Time 60.55} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.312414}
SEN {Time 60.5452} {Type Sonar} {Name Sonar0 Range 2.8448} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.8796} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.3462} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 2.032} {Name Sonar8 Range 4.4196} {Name Sonar9 Range 3.7338} {Name Sonar10 Range 3.302} {Name Sonar11 Range 1.27} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.6416}
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SEN {Time 60.75} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.251327}
SEN {Time 60.7491} {Type Sonar} {Name Sonar0 Range 5.715} {Name Sonar1 Range 2.5654} {Name Sonar2 Range 2.0066} {Name Sonar3 Range 1.8796} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 1.3462} {Name Sonar6 Range 0.3556} {Name Sonar7 Range 2.032} {Name Sonar8 Range 4.7498} {Name Sonar9 Range 3.7338} {Name Sonar10 Range 3.302} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.1844}
SEN {Time 60.7905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.187,0.187,0.231,0.231,0.231,1.574,1.612,1.612,1.588,1.588,1.588,1.587,1.588,1.587,1.588,1.588,1.588,1.587,1.588,1.588,1.588,1.599,2.994,2.999,3.007,3.007,3.007,3.007,3.012,3.015,3.018,3.024,3.024,3.024,3.021,3.021,3.021,3.032,3.036,3.038,3.044,3.05,3.053,3.058,3.06,3.073,3.073,3.074,3.074,3.077,3.081,3.093,3.095,3.095,3.095,3.095,0.158,0.148,0.145,0.145,0.145,0.148,0.151,0.152,0.152,0.152,0.152,0.152,3.19,3.21,3.226,3.21,3.21,0.167,0.164,0.16,0.16,0.164,0.161,0.161,0.166,0.166,3.261,3.308,3.315,3.325,3.339,3.349,3.359,3.369,3.388,3.391,3.4,3.427,3.433,3.452,3.456,3.467,3.482,3.489,3.507,3.535,3.545,3.554,3.574,3.576,3.585,3.606,3.614,3.639,3.649,3.668,3.676,3.693,3.703,3.73,3.742,3.763,3.778,3.802,3.823,3.832,3.849,3.885,3.887,3.921,3.933,3.951,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.357,3.348,3.346,3.311,3.282,3.278,3.259,3.251,3.23,3.219,3.201,3.195,3.171,3.161,3.153,3.144,3.119,3.099,3.097,3.087,3.066,3.055,3.043,3.04,3.032,3.024,3.011,3.002,2.993,2.986,2.976,2.964,2.948,2.943,2.933,2.929,2.919,2.917,2.907,2.897,2.893,2.882,2.882,2.876,2.864,2.861,2.855,2.846,2.833,2.832,2.825,2.819,2.814,2.814,2.795,2.795,2.795,2.791,2.821,2.821,2.782,2.766,2.763,2.754,2.752,2.75,2.74,2.74,2.739,2.725,2.724,2.724,2.721,2.719,2.706,2.706,2.698,2.701,2.696,2.69,2.69,2.686,2.683,2.682,2.678,2.674,2.673,2.671,2.668,2.668,2.664,2.663,2.659,2.663,2.659,2.656,2.651,2.651,2.649,2.649,2.649,2.649,2.647,2.645,2.645,2.645,2.645,2.645,2.647,2.647,2.64,2.647,2.647,2.642,2.641,2.641,2.641,2.642,2.643,2.643,2.643,2.647,2.644,2.647,2.647,2.648,2.656,2.658,2.658,2.658,2.656,2.656,2.653,2.651,2.651,2.651,2.65,2.656,2.658,2.662,2.678,2.678,2.683,2.673,2.683,2.69,2.693,2.693,2.696,2.705,2.709,2.711,2.713,2.713,2.714,2.714,2.716,2.72,2.72,2.72,2.72,2.72,2.74,2.744,2.744,2.745,2.745,3.269,3.271,3.278,3.288,3.293,3.296,3.299,3.304,3.308,3.323,3.331,3.344,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.71,3.71,3.715,3.715,3.715,3.728,3.735,3.737,3.747,3.756,3.762,3.77,3.779,3.779,3.787,3.812,3.822,3.823,3.826,3.841,3.854,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,4.089,4.082,4.076,4.06,4.057,4.051,4.05,4.05,4.047,4.041,4.041,4.036,4.036,4.029,4.024,4.017,4.011,4.011,4.009,4.009,0.007,4.005,4.002,4.002,4.002,3.997,3.997,3.994,3.989,3.988,3.989,3.989,3.988,3.985,3.988,3.986,3.985,3.985,3.986,3.985,3.985,3.988,3.99,3.99,3.99,3.992,3.992,3.992,3.993,4.002,4.011,4.011,4.014,4.014,4.014,4.014,4.014,4.015,4.022,4.029,0,0,0,4.042,4.042,4.042,4.042,4.056,4.068,4.07,4.071,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0,0.007,0.016,1.428,1.419,1.415,1.415,1.407,1.406,1.404,1.406,1.406,1.406,1.408,1.415,1.421,1.422,1.422,1.428,1.431,0.015,1.431,1.431,1.172,1.163,1.16,1.16,1.16,1.16,1.158,1.146,1.06,1.06,0.978,0.973,0.973,1.096,1.096,1.212,1.214,1.219,1.227,1.23,1.234,1.257,1.258,1.266,1.269,1.272,1.276,1.289,1.293,1.299,1.307,1.327,1.333,1.333,1.365,1.384,1.395,1.395,1.395,1.467,0.009,0.007,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 60.94} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.193732}
SEN {Time 60.9432} {Type Sonar} {Name Sonar0 Range 5.715} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.54} {Name Sonar3 Range 1.8796} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 2.032} {Name Sonar8 Range 4.7498} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 3.302} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.429} {Name Sonar14 Range 2.3114} {Name Sonar15 Range 2.1844}
SEN {Time 60.9905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.195,0.195,0.224,0.224,0.224,1.59,1.605,1.605,1.59,1.585,1.584,1.583,1.583,1.582,1.58,1.582,1.581,1.58,1.58,1.581,1.581,1.58,1.579,1.579,1.575,1.575,1.578,1.578,1.579,1.585,1.585,1.59,2.988,2.99,2.991,2.997,2.998,3.003,3.005,3.005,3.005,3.007,3.018,3.027,3.028,3.028,3.029,3.029,3.033,3.033,3.039,3.042,3.046,3.048,3.048,3.048,0.156,0.153,0.145,0.145,0.145,0.145,0.153,0.153,0.153,0.147,0.147,0.147,3.138,3.146,3.147,3.147,3.147,0.166,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.168,3.202,3.209,3.223,3.235,3.24,3.26,3.266,3.273,3.287,3.294,3.297,3.31,3.326,3.334,3.342,3.357,3.37,3.377,3.384,3.393,3.4,3.415,3.432,3.443,3.453,3.461,3.47,3.486,3.498,3.509,3.534,3.542,3.559,3.567,3.585,3.602,3.605,3.634,3.642,3.664,3.666,3.693,3.699,3.711,3.736,3.756,3.765,3.795,3.801,3.834,3.845,3.856,3.889,3.909,3.939,3.952,3.979,4.007,4.029,4.069,0.009,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.355,3.341,3.315,3.303,3.292,3.276,3.254,3.237,3.223,3.2,3.191,3.18,3.167,3.157,3.148,3.127,3.119,3.105,3.096,3.073,3.064,3.058,3.048,3.047,3.026,3.024,3.018,3.001,2.991,2.988,2.976,2.959,2.952,2.95,2.935,2.934,2.913,2.912,2.903,2.893,2.888,2.877,2.873,2.871,2.857,2.849,2.848,2.842,2.835,2.827,2.819,2.817,2.811,2.797,2.791,2.791,2.797,2.78,2.778,2.774,2.769,2.76,2.754,2.754,2.752,2.739,2.736,2.735,2.73,2.729,2.722,2.722,2.717,2.713,2.711,2.705,2.697,2.696,2.693,2.685,2.682,2.682,2.681,2.681,2.676,2.676,2.672,2.672,2.666,2.663,2.662,2.657,2.657,2.651,2.651,2.646,2.646,2.651,2.641,2.641,2.641,2.636,2.632,2.632,2.632,2.631,2.631,2.637,2.637,2.635,2.637,2.635,2.635,2.635,2.635,2.635,2.633,2.632,2.633,2.634,2.633,2.634,2.635,2.64,2.635,2.64,2.648,2.651,2.652,2.652,2.652,2.652,2.653,2.648,2.654,2.66,2.654,2.659,2.66,2.66,2.663,2.669,2.672,2.672,2.684,2.692,2.693,2.696,2.696,2.696,2.701,2.705,2.706,2.707,2.707,2.709,2.709,2.709,2.709,2.716,2.72,2.724,2.729,2.741,2.752,2.879,2.879,3.263,3.264,3.276,3.284,3.296,3.299,3.308,3.314,3.317,3.324,3.333,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.7,3.7,3.707,3.707,3.708,3.734,3.737,3.747,3.748,3.764,3.767,3.772,3.778,3.784,3.798,3.805,3.835,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,4.086,4.085,4.08,4.073,4.068,4.068,4.063,4.051,4.045,4.043,4.034,4.033,4.033,4.032,4.03,4.03,4.025,4.025,4.015,4.015,0.007,4.015,4.011,4.011,4.003,4,4,3.997,3.997,3.997,3.997,3.997,3.996,3.994,3.994,3.991,3.991,3.991,3.991,3.991,3.992,3.993,3.994,3.994,3.994,3.994,4,4,4.005,4.005,4.012,4.013,4.018,4.018,4.018,4.018,4.021,4.024,4.028,4.044,0,0,0,4.055,4.055,4.055,4.062,4.065,4.067,4.079,4.083,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.016,1.457,1.416,1.413,1.412,1.411,1.411,1.411,1.413,1.414,1.417,1.425,1.429,1.429,1.432,1.432,1.433,1.433,1.438,1.438,1.425,1.173,1.172,1.17,1.169,1.169,1.163,1.16,1.152,1.03,1.03,0.994,0.978,0.978,1.105,1.105,1.211,1.224,1.233,1.234,1.238,1.241,1.247,1.254,1.274,1.275,1.279,1.294,1.299,1.313,1.307,1.313,1.328,1.328,1.351,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 61.15} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.132645}
SEN {Time 61.1471} {Type Sonar} {Name Sonar0 Range 5.715} {Name Sonar1 Range 2.8702} {Name Sonar2 Range 2.54} {Name Sonar3 Range 2.032} {Name Sonar4 Range 1.1684} {Name Sonar5 Range 0.4318} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 4.7498} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 1.3208} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.429} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.1844}
SEN {Time 61.1905} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.189,0.19,0.19,0.222,1.598,0.007,0,1.598,1.589,1.584,1.581,1.581,1.578,1.578,1.575,1.573,1.57,1.568,1.57,1.57,1.57,1.571,1.572,1.572,1.571,1.571,1.571,1.569,1.569,1.567,1.563,1.567,1.569,1.569,1.569,1.57,1.57,1.578,1.579,1.579,2.987,2.988,2.99,2.99,2.991,3.001,3.001,3.001,3.003,3.005,3.01,3.011,3.016,3.016,3.016,0.153,0.151,0.149,0.149,0.149,0.149,0.155,0.156,0.156,0.158,0.162,3.073,3.083,3.086,3.086,3.086,3.083,0.169,0.169,0.164,0.161,0.161,0.161,0.163,0.163,3.135,3.151,3.152,3.152,3.16,3.161,3.176,3.185,3.186,3.194,3.195,3.219,3.222,3.232,3.242,3.245,3.253,3.267,3.274,3.282,3.29,3.303,3.314,3.318,3.327,3.332,3.344,3.353,3.358,3.38,3.391,3.397,3.408,3.421,3.433,3.435,3.46,3.466,3.49,3.495,3.512,3.515,3.545,3.547,3.563,3.579,3.58,3.594,3.629,3.632,3.663,3.668,3.68,3.698,3.723,3.737,3.756,3.772,3.78,3.804,3.816,3.846,3.872,3.897,3.914,3.928,3.953,3.971,4.005,4.012,4.061,4.062,0.016,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.343,3.324,3.304,3.298,3.277,3.264,3.24,3.235,3.218,3.205,3.192,3.178,3.161,3.147,3.125,3.121,3.117,3.103,3.093,3.08,3.07,3.048,3.035,3.031,3.026,3.016,3.001,2.993,2.98,2.966,2.966,2.958,2.946,2.945,2.93,2.918,2.914,2.906,2.9,2.895,2.893,2.877,2.87,2.865,2.864,2.852,2.845,2.845,2.837,2.824,2.821,2.818,2.803,2.795,2.791,2.791,2.791,2.791,2.785,2.785,2.768,2.761,2.76,2.756,2.747,2.742,2.737,2.735,2.728,2.728,2.724,2.723,2.713,2.711,2.709,2.698,2.697,2.689,2.682,2.682,2.677,2.672,2.668,2.668,2.668,2.668,2.655,2.655,2.655,2.654,2.654,2.649,2.646,2.646,2.643,2.64,2.643,2.643,2.635,2.634,2.634,2.631,2.631,2.631,2.634,2.631,2.633,2.633,2.633,2.632,2.633,2.633,2.632,2.632,2.629,2.629,2.628,2.629,2.629,2.633,2.638,2.638,2.645,2.645,2.645,2.65,2.65,2.652,2.65,2.65,2.643,2.661,2.643,2.642,2.642,2.653,2.653,2.658,2.66,2.659,2.66,2.671,2.673,2.675,2.678,2.683,2.683,2.693,2.699,2.693,2.699,2.713,2.719,2.719,2.719,2.714,2.714,2.714,2.717,2.718,2.72,2.724,2.731,2.737,2.744,2.753,2.806,3.253,3.272,3.277,3.288,3.291,3.299,3.3,3.309,3.322,3.324,3.34,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.719,3.719,3.718,3.718,3.719,3.722,3.74,3.755,3.763,3.773,3.774,3.786,3.806,3.819,3.819,3.821,3.85,0.009,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,4.093,4.093,4.091,4.085,4.076,4.065,4.057,4.056,4.047,4.047,4.045,4.044,4.043,4.039,4.034,4.028,4.028,4.024,4.024,0.007,4.013,4.013,4.013,4.013,4.014,4.014,4.001,4.001,4.001,4.001,4.001,4.001,3.999,4.001,4.001,4.001,4.001,4.003,4.003,4.005,4.005,4.005,4.005,4,4,4,4,4.005,4.006,4.012,4.026,4.026,4.027,4.027,4.027,4.027,4.029,4.039,4.039,0,0,0,4.063,4.063,4.063,4.072,4.072,4.077,4.081,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.016,1.47,1.44,1.43,1.425,1.422,1.422,1.422,1.425,1.427,1.431,1.436,1.436,1.436,1.437,1.446,1.446,1.446,1.454,1.454,1.439,1.186,1.177,1.169,1.169,1.167,1.169,1.169,1.156,1.156,0.994,0.985,0.985,0.996,0.996,1.192,1.231,1.234,1.241,1.243,1.244,1.254,1.267,1.269,1.271,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 61.35} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.076794}
SEN {Time 61.3511} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.54} {Name Sonar3 Range 2.032} {Name Sonar4 Range 1.778} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.6764} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 3.7084} {Name Sonar10 Range 1.3208} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.429} {Name Sonar14 Range 2.6416} {Name Sonar15 Range 2.1844}
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SEN {Time 61.61} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.000000}
SEN {Time 61.6151} {Type Sonar} {Name Sonar0 Range 2.6416} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.032} {Name Sonar4 Range 1.778} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 4.2672} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.81} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.1844}
SEN {Time 61.6865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.186,0.185,0.233,0.233,0.233,1.616,1.62,1.62,1.616,1.602,1.599,1.596,1.596,1.593,1.593,1.587,1.586,1.585,1.583,1.583,1.582,1.574,1.574,1.572,1.572,1.57,1.57,1.569,1.569,1.564,1.561,1.558,1.561,1.561,1.561,1.561,1.561,1.553,1.553,1.561,1.558,1.558,1.558,1.558,1.558,1.556,1.556,1.559,1.556,1.55,1.55,1.551,1.549,1.551,1.551,1.546,0.156,0.155,0.155,0.153,0.153,0.153,0.153,0.156,0.156,0.158,0.158,2.989,2.989,2.994,2.994,2.989,3.004,0.007,0.166,0.162,0.166,0.162,0.158,0.162,0.174,3.017,3.02,3.02,3.02,3.02,3.028,3.036,3.042,3.044,3.049,3.051,3.062,3.065,3.07,3.07,3.077,3.078,3.097,3.098,3.099,3.106,3.11,3.112,3.131,3.134,3.136,3.147,3.149,3.155,3.175,3.177,3.187,3.187,3.188,3.201,3.202,3.216,3.218,3.228,3.235,3.245,3.251,3.266,3.272,3.284,3.285,3.301,3.307,3.32,3.323,3.34,3.349,3.363,3.366,3.384,3.398,3.415,3.415,3.435,3.449,3.458,3.477,3.486,3.493,3.509,3.516,3.551,3.561,3.57,3.581,3.591,3.606,3.623,3.646,3.652,3.671,3.683,3.706,3.717,3.738,3.756,3.779,3.788,3.809,3.835,3.856,3.874,3.899,3.917,3.932,3.964,4.002,4.012,4.04,4.052,0.016,0.016,0.016,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,3.33,3.317,3.289,3.271,3.255,3.247,3.23,3.219,3.207,3.182,3.175,3.16,3.144,3.131,3.128,3.119,3.105,3.087,3.084,3.078,3.057,3.042,3.038,3.025,3.021,3.012,3.002,2.988,2.985,2.961,2.959,2.959,2.953,2.935,2.931,2.916,2.915,2.9,2.897,2.885,2.883,2.866,2.859,2.857,2.855,2.841,2.831,2.823,2.816,2.812,2.81,2.795,2.792,2.788,2.786,2.786,2.788,2.774,2.773,2.76,2.755,2.74,2.737,2.732,2.731,2.727,2.72,2.715,2.703,2.702,2.702,2.7,2.699,2.686,2.683,2.682,2.68,2.672,2.666,2.665,2.659,2.652,2.652,2.648,2.648,2.648,2.645,2.644,2.643,2.639,2.638,2.635,2.635,2.631,2.625,2.625,2.634,2.634,2.634,2.634,2.623,2.623,2.623,2.623,2.622,2.622,2.629,2.622,2.622,2.621,2.628,2.628,2.629,2.628,2.628,2.627,2.624,2.623,2.623,2.623,2.623,2.625,2.629,2.629,2.63,2.637,2.637,2.646,2.649,2.649,2.649,2.65,2.648,2.648,2.648,2.648,2.648,2.653,2.656,2.657,2.662,2.664,2.665,2.665,2.674,2.676,2.684,2.688,2.694,2.695,2.695,2.696,2.702,2.702,2.702,2.705,2.705,2.709,2.712,2.716,2.722,2.725,2.73,2.73,2.743,2.769,3.25,3.25,3.278,3.279,3.286,3.293,3.303,3.313,3.317,3.327,3.336,3.337,3.342,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.991,2.991,2.991,3.714,3.729,3.733,3.733,3.742,3.747,3.751,3.762,3.77,3.773,3.789,3.79,3.812,3.812,3.837,3.844,3.849,3.857,3.88,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.089,4.089,4.081,4.081,4.079,4.073,4.067,4.067,4.057,4.053,4.051,4.049,4.043,4.04,4.033,4.033,4.029,4.033,0.007,4.024,4.017,4.017,4.017,4.012,4.012,4.012,4.012,4.012,4.011,4.011,4.011,4.011,4.011,4.003,4.003,4.003,4.005,4.01,4.01,4.01,4.018,4.018,4.018,4.018,4.012,4.012,4.018,4.024,4.047,4.047,4.047,4.04,4.04,4.04,4.041,4.045,4.048,0,0,0,4.087,4.082,4.082,4.087,4.087,4.094,0.016,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,1.454,1.444,1.441,1.439,1.439,1.439,1.441,1.444,1.447,1.447,1.448,1.449,1.46,1.46,1.46,1.456,1.409,1.199,1.19,1.188,1.187,1.187,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 61.84} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.010472}
SEN {Time 61.8441} {Type Sonar} {Name Sonar0 Range 6.1976} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 4.2672} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.81} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.286}
SEN {Time 61.8865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.18,0.183,0.186,0.186,0.227,1.607,1.607,1.638,1.607,1.604,1.603,1.599,1.593,1.593,1.592,1.592,1.592,1.586,1.582,1.58,1.578,1.578,1.575,1.573,1.573,1.573,1.574,1.573,1.573,1.571,1.564,1.564,1.562,1.562,1.558,1.56,1.558,1.557,1.558,1.557,1.557,1.557,1.562,1.557,1.562,1.557,1.556,1.555,1.553,1.553,1.553,1.549,1.549,1.549,1.548,1.548,0.155,0.153,0.144,0.153,0.153,0.153,0.157,0.157,0.157,0.161,0.163,2.982,2.995,2.995,2.995,2.995,2.995,0.17,0.164,0.159,0.159,0.159,0.159,0.163,0.165,3.012,3.012,3.014,3.014,3.028,3.034,3.041,3.041,3.043,3.044,3.051,3.058,3.06,3.061,3.075,3.076,3.076,3.092,3.092,3.101,3.109,3.115,3.116,3.116,3.131,3.144,3.144,3.144,3.159,3.161,3.171,3.178,3.184,3.185,3.201,3.202,3.218,3.22,3.225,3.229,3.245,3.253,3.258,3.262,3.27,3.281,3.284,3.305,3.319,3.329,3.337,3.337,3.352,3.362,3.386,3.388,3.41,3.415,3.425,3.443,3.465,3.465,3.485,3.492,3.499,3.513,3.54,3.549,3.568,3.577,3.593,3.595,3.627,3.638,3.65,3.667,3.668,3.692,3.713,3.739,3.756,3.77,3.793,3.814,3.829,3.853,3.873,3.89,3.911,3.924,3.963,3.98,4.004,4.021,4.042,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.335,3.311,3.298,3.277,3.252,3.25,3.237,3.213,3.202,3.198,3.178,3.164,3.157,3.141,3.129,3.12,3.1,3.098,3.085,3.064,3.053,3.048,3.041,3.026,3.019,3.008,3.006,2.985,2.978,2.967,2.96,2.954,2.946,2.936,2.919,2.915,2.911,2.899,2.897,2.883,2.882,2.875,2.865,2.859,2.85,2.847,2.847,2.834,2.826,2.816,2.805,2.802,2.802,2.787,2.779,2.776,2.779,2.775,2.769,2.769,2.757,2.747,2.745,2.742,2.735,2.724,2.724,2.723,2.713,2.712,2.702,2.702,2.691,2.691,2.687,2.679,2.678,2.672,2.665,2.663,2.659,2.659,2.659,2.649,2.647,2.647,2.647,2.647,2.645,2.642,2.642,2.637,2.631,2.629,2.631,2.632,2.632,2.633,2.633,2.633,2.629,2.626,2.626,2.626,2.626,2.623,2.623,2.623,2.625,2.625,2.625,2.63,2.626,2.626,2.627,2.627,2.627,2.627,2.625,2.625,2.625,2.625,2.627,2.63,2.635,2.637,2.637,2.642,2.643,2.644,2.644,2.649,2.646,2.646,2.648,2.649,2.648,2.649,2.652,2.657,2.667,2.667,2.668,2.668,2.675,2.677,2.678,2.682,2.695,2.698,2.698,2.698,2.7,2.705,2.707,2.708,2.71,2.71,2.71,2.718,2.721,2.725,2.729,2.739,2.742,2.757,3.246,3.246,3.265,3.279,3.282,3.302,3.307,3.318,3.325,3.326,3.326,3.327,3.352,3.363,3.366,3.368,3.376,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.009,2.986,2.986,2.986,3.712,3.724,3.728,3.74,3.742,3.752,3.756,3.761,3.771,3.786,3.799,3.799,3.802,3.816,3.832,3.844,3.85,3.863,3.865,3.884,3.894,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,4.092,4.09,4.073,4.073,4.072,4.072,4.072,4.064,4.064,4.055,4.05,4.05,4.043,4.041,4.041,4.039,4.039,0.007,4.026,4.022,4.022,4.02,4.015,4.015,4.008,4.011,4.015,4.011,4.011,4.012,4.012,4.011,4.011,4.011,4.011,4.011,4.017,4.017,4.017,4.014,4.014,4.014,4.016,4.016,4.019,4.02,4.022,4.033,4.034,4.037,4.037,4.037,4.045,4.051,4.052,4.052,0,0,0,4.081,4.081,4.081,4.086,4.091,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.449,1.449,1.443,1.44,1.439,1.439,1.436,1.436,1.44,1.444,1.444,1.448,1.45,1.454,1.457,1.457,1.457,1.406,1.201,1.193,1.189,1.183,1.183,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 62.04} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.010472}
SEN {Time 62.045} {Type Sonar} {Name Sonar0 Range 6.1976} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 3.6322} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.81} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.286}
SEN {Time 62.0865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.188,0.187,0.188,0.188,0.214,1.615,1.621,1.621,1.615,1.599,1.598,1.598,1.598,1.598,1.596,1.594,1.586,1.585,1.584,1.58,1.579,1.579,1.579,1.579,1.572,1.571,1.571,1.565,1.564,1.571,1.564,1.564,1.564,1.563,1.562,1.557,1.557,1.552,1.552,1.552,1.556,1.556,1.564,1.564,1.558,1.557,1.557,1.557,1.556,1.555,1.55,1.556,1.55,1.55,1.55,1.546,0.155,0.151,0.15,0.148,0.151,0.151,0.152,0.155,0.155,0.156,0.156,2.981,2.997,3,3,3,3,0.168,0.164,0.163,0.159,0.159,0.159,0.159,0.159,3.017,3.017,3.021,3.021,3.021,3.031,3.033,3.036,3.039,3.043,3.046,3.058,3.059,3.068,3.071,3.072,3.076,3.095,3.1,3.109,3.11,3.114,3.119,3.124,3.129,3.137,3.145,3.148,3.153,3.165,3.17,3.178,3.18,3.187,3.2,3.202,3.209,3.218,3.22,3.242,3.244,3.245,3.265,3.27,3.276,3.284,3.297,3.314,3.319,3.319,3.337,3.354,3.356,3.364,3.385,3.389,3.398,3.423,3.426,3.445,3.456,3.465,3.483,3.491,3.504,3.525,3.546,3.549,3.572,3.579,3.589,3.609,3.625,3.634,3.651,3.667,3.686,3.708,3.708,3.741,3.747,3.762,3.786,3.813,3.834,3.848,3.858,3.878,3.926,3.929,3.958,3.99,4,4.025,4.049,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.332,3.316,3.292,3.273,3.25,3.24,3.221,3.22,3.202,3.194,3.181,3.159,3.152,3.147,3.131,3.121,3.099,3.094,3.08,3.069,3.055,3.051,3.039,3.026,3.019,2.999,2.994,2.989,2.978,2.971,2.958,2.951,2.943,2.94,2.923,2.917,2.906,2.903,2.898,2.887,2.885,2.865,2.864,2.856,2.846,2.84,2.833,2.822,2.817,2.815,2.805,2.8,2.797,2.791,2.785,2.777,2.777,2.779,2.775,2.775,2.756,2.736,2.736,2.733,2.73,2.723,2.72,2.717,2.715,2.714,2.703,2.702,2.696,2.693,2.685,2.683,2.683,2.68,2.669,2.669,2.666,2.658,2.659,2.658,2.657,2.655,2.655,2.65,2.644,2.637,2.639,2.637,2.635,2.631,2.631,2.631,2.629,2.634,2.634,2.629,2.626,2.629,2.629,2.629,2.629,2.629,2.629,2.622,2.622,2.625,2.625,2.625,2.625,2.627,2.621,2.621,2.621,2.624,2.624,2.625,2.628,2.628,2.631,2.632,2.632,2.633,2.64,2.64,2.643,2.643,2.643,2.648,2.642,2.642,2.649,2.649,2.647,2.649,2.649,2.656,2.668,2.669,2.669,2.669,2.669,2.678,2.687,2.695,2.698,2.698,2.698,2.701,2.705,2.709,2.709,2.711,2.712,2.713,2.713,2.719,2.719,2.726,2.728,2.731,2.741,2.759,3.264,3.264,3.283,3.289,3.289,3.291,3.3,3.315,3.315,3.324,3.334,3.343,3.35,3.362,3.366,3.368,3.388,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.023,2.987,2.987,2.987,3.689,3.713,3.72,3.743,3.748,3.748,3.755,3.764,3.775,3.787,3.788,3.806,3.811,3.819,3.834,3.841,3.846,3.858,3.861,3.885,3.887,3.897,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.09,4.089,4.085,4.082,4.081,4.081,4.071,4.07,4.066,4.065,4.05,4.05,4.05,4.05,4.044,4.033,4.033,4.031,4.031,4.031,4.031,4.021,4.021,4.02,4.006,4.006,4.006,4.009,4.011,4.011,4.01,4.009,4.01,4.01,4.01,4.009,4.011,4.011,4.009,4.011,4.012,4.016,4.021,4.021,4.016,4.016,4.018,4.018,4.03,4.035,4.037,4.037,4.037,4.037,4.041,4.041,4.05,4.05,0,0,0,4.078,4.078,4.078,4.086,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.455,1.44,1.439,1.433,1.437,1.437,1.437,1.437,1.437,1.445,1.445,1.448,1.448,1.449,1.459,1.459,1.459,1.391,1.2,1.194,1.19,1.183,1.183,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 62.24} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.010472}
SEN {Time 62.2379} {Type Sonar} {Name Sonar0 Range 6.1976} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 3.6322} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 62.2865} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.182,0.178,0.182,0.182,0.237,1.614,0.007,1.619,1.614,1.609,1.602,1.59,1.593,1.59,1.59,1.589,1.59,1.589,1.589,1.582,1.58,1.579,1.578,1.578,1.57,1.57,1.573,1.57,1.57,1.57,1.567,1.564,1.562,1.56,1.56,1.559,1.559,1.556,1.556,1.556,1.557,1.557,1.558,1.557,1.561,1.561,1.561,1.556,1.556,1.553,1.553,1.553,1.553,1.553,1.545,1.545,1.545,0.157,0.153,0.153,0.153,0.153,0.153,0.153,0.155,0.156,0.162,2.98,2.98,2.997,2.997,2.98,2.977,0.175,0.164,0.163,0.163,0.162,0.162,0.162,0.162,3.014,3.025,3.025,3.025,3.026,3.029,3.029,3.038,3.041,3.044,3.048,3.055,3.059,3.069,3.071,3.071,3.078,3.093,3.096,3.096,3.111,3.112,3.12,3.128,3.133,3.138,3.138,3.147,3.155,3.161,3.175,3.175,3.181,3.185,3.201,3.201,3.216,3.219,3.23,3.233,3.246,3.254,3.264,3.269,3.273,3.286,3.299,3.306,3.316,3.32,3.338,3.349,3.357,3.362,3.377,3.391,3.406,3.413,3.43,3.444,3.448,3.461,3.481,3.483,3.495,3.514,3.534,3.55,3.567,3.568,3.592,3.618,3.623,3.636,3.651,3.665,3.689,3.704,3.712,3.737,3.75,3.765,3.781,3.82,3.826,3.852,3.861,3.89,3.917,3.937,3.942,3.979,4.007,4.028,4.053,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0.016,3.34,3.317,3.294,3.283,3.263,3.241,3.233,3.204,3.203,3.191,3.175,3.158,3.155,3.147,3.13,3.121,3.114,3.093,3.082,3.067,3.062,3.047,3.038,3.026,3.016,3.015,2.993,2.99,2.968,2.967,2.959,2.955,2.944,2.938,2.927,2.918,2.916,2.904,2.899,2.888,2.884,2.874,2.866,2.863,2.846,2.843,2.843,2.841,2.829,2.818,2.809,2.806,2.797,2.787,2.784,2.782,2.782,2.774,2.768,2.766,2.752,2.742,2.737,2.73,2.728,2.727,2.716,2.715,2.709,2.705,2.705,2.704,2.692,2.692,2.69,2.689,2.68,2.675,2.671,2.668,2.661,2.659,2.659,2.653,2.652,2.652,2.647,2.647,2.641,2.637,2.637,2.637,2.636,2.629,2.629,2.635,2.635,2.625,2.629,2.625,2.624,2.624,2.629,2.629,2.629,2.629,2.62,2.62,2.62,2.62,2.622,2.622,2.623,2.623,2.624,2.624,2.624,2.626,2.622,2.622,2.626,2.628,2.629,2.63,2.631,2.64,2.641,2.648,2.652,2.652,2.652,2.652,2.645,2.64,2.64,2.642,2.64,2.642,2.648,2.649,2.658,2.671,2.673,2.674,2.676,2.676,2.683,2.684,2.684,2.695,2.695,2.695,2.702,2.714,2.714,2.714,2.713,2.713,2.713,2.714,2.716,2.725,2.732,2.743,2.75,2.753,3.245,3.245,3.28,3.283,3.286,3.293,3.305,3.311,3.312,3.327,3.335,3.346,3.354,3.363,3.363,3.367,3.38,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.977,2.977,2.977,3.698,3.717,3.73,3.733,3.737,3.737,3.751,3.771,3.771,3.776,3.789,3.793,3.812,3.821,3.823,3.841,3.848,3.854,3.875,3.876,3.907,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.093,4.086,4.081,4.078,4.078,4.078,4.076,4.076,4.058,4.058,4.055,4.055,4.05,4.046,4.041,4.04,4.037,4.018,4.018,4.018,4.02,4.02,4.02,4.001,4.001,4.001,4.007,4.007,4.012,4.011,4.012,4.012,4.012,4.011,4.01,4.01,4.009,4.01,4.012,4.013,4.014,4.014,4.018,4.018,4.019,4.019,4.019,4.032,4.035,4.035,4.04,4.04,4.04,4.04,4.044,4.055,4.061,0,0,0,4.094,4.082,4.082,4.089,4.089,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.446,1.442,1.433,1.433,1.433,1.436,1.438,1.44,1.441,1.443,1.451,1.452,1.453,1.457,1.457,1.453,1.453,1.416,1.192,1.192,1.188,1.188,1.188,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 62.44} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.010472}
SEN {Time 62.4399} {Type Sonar} {Name Sonar0 Range 6.1468} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 3.6322} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
SEN {Time 62.4864} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.191,0.191,0.194,0.194,0.231,1.621,1.633,0,1.633,1.633,1.604,1.603,1.598,1.597,1.592,1.589,1.587,1.585,1.582,1.58,1.572,1.572,1.572,1.571,1.571,1.567,1.567,1.565,1.564,1.564,1.564,1.562,1.562,1.561,1.559,1.558,1.556,1.556,1.557,1.557,1.557,1.557,1.562,1.562,1.561,1.561,1.561,1.558,1.554,1.553,1.553,1.551,1.55,1.55,1.547,1.545,0.155,0.153,0.149,0.145,0.145,0.149,0.151,0.151,0.153,0.154,0.157,2.986,2.99,2.997,2.997,2.99,2.99,0.168,0.168,0.163,0.163,0.163,0.161,0.161,0.171,3.017,3.018,3.019,3.019,3.023,3.025,3.032,3.035,3.04,3.045,3.055,3.06,3.062,3.066,3.077,3.079,3.084,3.088,3.094,3.101,3.112,3.113,3.117,3.125,3.127,3.135,3.143,3.154,3.155,3.16,3.175,3.179,3.183,3.184,3.197,3.2,3.219,3.223,3.228,3.231,3.243,3.245,3.263,3.268,3.279,3.281,3.296,3.303,3.325,3.329,3.341,3.354,3.357,3.37,3.379,3.397,3.4,3.417,3.425,3.441,3.453,3.461,3.482,3.485,3.507,3.523,3.535,3.548,3.567,3.573,3.583,3.609,3.615,3.644,3.658,3.663,3.682,3.698,3.706,3.729,3.746,3.766,3.784,3.814,3.817,3.838,3.87,3.887,3.915,3.922,3.957,3.996,4,4.028,4.048,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.332,3.307,3.287,3.277,3.261,3.247,3.22,3.211,3.208,3.193,3.174,3.157,3.155,3.144,3.139,3.117,3.099,3.092,3.086,3.071,3.051,3.047,3.038,3.024,3.02,3.007,2.995,2.992,2.986,2.979,2.966,2.955,2.947,2.927,2.924,2.916,2.906,2.906,2.894,2.889,2.881,2.88,2.875,2.857,2.849,2.848,2.834,2.826,2.821,2.815,2.8,2.799,2.795,2.784,2.78,2.773,2.773,2.772,2.77,2.769,2.756,2.741,2.737,2.736,2.731,2.725,2.723,2.711,2.709,2.706,2.7,2.697,2.689,2.688,2.685,2.681,2.678,2.677,2.67,2.666,2.662,2.66,2.656,2.652,2.643,2.651,2.643,2.643,2.643,2.637,2.635,2.635,2.632,2.627,2.627,2.636,2.624,2.629,2.629,2.624,2.624,2.624,2.624,2.618,2.622,2.622,2.622,2.622,2.623,2.623,2.63,2.623,2.63,2.621,2.621,2.621,2.622,2.622,2.624,2.625,2.628,2.63,2.63,2.632,2.633,2.634,2.637,2.638,2.64,2.64,2.64,2.65,2.639,2.639,2.641,2.648,2.648,2.649,2.653,2.658,2.662,2.662,2.669,2.669,2.671,2.671,2.678,2.685,2.685,2.696,2.696,2.696,2.698,2.707,2.707,2.711,2.714,2.714,2.719,2.719,2.72,2.721,2.729,2.741,2.744,2.756,3.254,3.254,3.275,3.276,3.284,3.287,3.305,3.307,3.313,3.321,3.335,3.355,3.36,3.36,3.36,3.374,3.38,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,3,3.706,3.719,3.719,3.72,3.729,3.742,3.743,3.762,3.768,3.773,3.781,3.792,3.8,3.811,3.816,3.838,3.84,3.853,3.853,3.878,3.88,3.892,3.896,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.091,4.09,4.084,4.073,4.073,4.069,4.068,4.065,4.065,4.06,4.052,4.052,4.044,4.044,4.044,4.037,4.027,4.027,4.027,4.024,4.024,4.024,4.014,4.002,4.002,4.002,4.012,4.014,4.014,4.014,4.018,4.014,4.012,4.008,4.007,4.006,4.006,4.006,4.007,4.011,4.017,4.017,4.022,4.021,4.022,4.021,4.022,4.022,4.033,4.033,4.041,4.041,4.038,4.041,4.041,4.047,4.049,0,0,0,4.09,4.09,4.083,4.09,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.452,1.448,1.441,1.436,1.436,1.434,1.434,1.44,1.443,1.445,1.446,1.451,1.451,1.453,1.454,1.454,1.453,1.403,1.2,1.199,1.192,1.19,1.19,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 62.64} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.010472}
SEN {Time 62.6419} {Type Sonar} {Name Sonar0 Range 6.1468} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 3.8354} {Name Sonar10 Range 4.1402} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.1402} {Name Sonar14 Range 3.937} {Name Sonar15 Range 2.286}
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SEN {Time 64.51} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.012217}
SEN {Time 64.5107} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.3688} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 3.5052} {Name Sonar15 Range 2.286}
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SEN {Time 64.73} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.069813}
SEN {Time 64.7316} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.032} {Name Sonar4 Range 1.8796} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.381} {Name Sonar8 Range 2.3876} {Name Sonar9 Range 4.3688} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.286}
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SEN {Time 64.94} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.127409}
SEN {Time 64.9355} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.032} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.381} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.3688} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 3.3274} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.54}
SEN {Time 64.9745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.007,0.174,0.174,0.184,0.184,0.217,1.666,1.676,1.676,1.666,1.648,1.647,1.636,1.63,1.63,1.623,1.622,1.621,1.611,1.611,1.608,1.608,1.6,1.597,1.595,1.594,1.589,1.594,1.589,1.584,1.582,1.58,1.575,1.574,1.571,1.57,1.568,1.566,1.566,1.567,1.566,1.563,1.563,1.561,1.559,1.559,1.558,1.558,1.552,1.551,1.55,1.547,1.543,1.543,1.543,1.541,1.538,0.15,0.147,0.146,0.146,0.146,0.146,0.148,0.154,0.16,0.165,0.168,1.541,1.541,1.541,1.541,1.543,1.54,1.54,0.174,0.174,0.163,0.162,0.162,0.163,0.164,1.553,2.955,2.955,2.955,2.957,2.957,2.957,2.963,2.963,2.964,2.968,2.97,2.977,2.983,2.983,2.983,2.984,2.994,2.994,2.996,3,3.005,3.006,3.012,3.017,3.018,3.019,3.022,3.029,3.031,3.034,3.04,3.049,3.052,3.064,3.067,3.069,3.073,3.082,3.087,3.091,3.096,3.109,3.115,3.117,3.126,3.126,3.132,3.148,3.153,3.154,3.162,3.172,3.175,3.185,3.191,3.202,3.218,3.223,3.228,3.241,3.243,3.26,3.261,3.273,3.285,3.3,3.306,3.314,3.319,3.333,3.348,3.356,3.368,3.377,3.387,3.405,3.419,3.429,3.431,3.439,3.46,3.475,3.496,3.497,3.516,3.53,3.55,3.555,3.569,3.579,3.599,3.621,3.629,3.635,3.665,3.668,3.688,3.709,3.736,3.738,3.753,3.769,3.803,3.81,3.838,3.853,3.878,3.906,3.92,3.946,3.981,4.001,4.033,4.042,4.071,0.016,0.016,0.009,0.009,0.009,0.009,0,0.016,0.016,0.007,0,0,0,0,0,3.311,3.296,3.296,3.27,3.261,3.25,3.225,3.207,3.199,3.189,3.171,3.151,3.144,3.13,3.122,3.111,3.099,3.09,3.088,3.066,3.063,3.048,3.029,3.027,3.022,3.005,2.992,2.983,2.975,2.968,2.959,2.952,2.944,2.927,2.917,2.917,2.903,2.892,2.887,2.874,2.866,2.86,2.859,2.853,2.84,2.837,2.816,2.81,2.809,2.802,2.788,2.787,2.778,2.776,2.774,2.763,2.763,2.763,2.763,2.761,2.744,2.741,2.733,2.726,2.719,2.716,2.712,2.71,2.703,2.7,2.696,2.69,2.687,2.681,2.679,2.679,2.678,2.671,2.667,2.662,2.66,2.659,2.659,2.654,2.652,2.651,2.644,2.639,2.636,2.636,2.635,2.635,2.633,2.627,2.627,2.626,2.625,2.625,2.624,2.623,2.617,2.617,2.617,2.616,2.617,2.616,2.617,2.616,2.616,2.616,2.617,2.622,2.622,2.622,2.622,2.622,2.622,2.628,2.629,2.629,2.631,2.631,2.631,2.631,2.635,2.636,2.641,2.641,2.643,2.645,2.643,2.641,2.641,2.641,2.641,2.641,2.646,2.647,2.647,2.659,2.66,2.664,2.664,2.666,2.675,2.676,2.684,2.691,2.693,2.695,2.698,2.704,2.705,2.708,2.71,2.716,2.716,2.716,2.713,2.716,2.716,2.728,2.729,2.734,2.75,2.75,2.752,2.764,3.275,3.281,3.299,3.304,3.307,3.315,3.32,3.323,3.327,3.334,3.349,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.738,3.738,3.742,3.741,3.742,3.754,3.755,3.764,3.769,3.772,3.778,3.782,3.804,3.814,3.825,3.837,3.838,3.877,0,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0.009,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.086,4.081,4.079,4.079,4.072,4.066,4.062,4.053,4.049,4.049,4.048,4.048,0.007,4.04,4.034,4.034,4.034,4.034,4.033,4.032,4.032,4.032,4.032,4.031,4.025,4.031,4.031,4.031,4.027,4.027,4.025,4.027,4.025,4.025,4.032,4.035,4.035,4.036,4.036,4.036,4.038,4.042,4.047,4.051,4.057,4.058,4.058,4.061,4.061,4.064,4.065,0,0,0,0.016,0.016,4.095,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.016,1.463,1.463,1.463,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.13} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.185005}
SEN {Time 65.1306} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 3.302} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.032} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.1684} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.381} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.1656} {Name Sonar11 Range 3.3274} {Name Sonar12 Range 1.27} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.54}
SEN {Time 65.1745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.177,0.177,0.182,0.184,0.184,0.198,1.702,1.704,1.704,1.702,1.693,1.682,1.671,1.665,1.66,1.659,1.653,1.635,1.634,1.634,1.629,1.627,1.626,1.624,1.614,1.611,1.61,1.609,1.607,1.603,1.599,1.596,1.59,1.588,1.586,1.581,1.581,1.576,1.576,1.574,1.573,1.573,1.567,1.567,1.561,1.56,1.56,1.56,1.56,1.56,1.556,1.552,1.551,1.547,1.547,1.547,1.547,0.153,0.151,0.151,0.143,0.143,0.143,0.154,0.154,0.163,0.163,0.163,1.536,1.542,1.544,1.544,1.544,1.544,1.544,0.18,0.18,0.163,0.162,0.162,0.165,0.165,1.527,1.527,1.53,1.53,1.53,1.534,1.536,1.539,1.539,1.54,1.54,1.55,2.94,2.946,2.948,2.948,2.95,2.951,2.952,2.963,2.964,2.964,2.969,2.97,2.971,2.971,2.977,2.977,2.985,2.985,2.988,2.989,2.997,2.998,3.001,3.002,3.013,3.018,3.019,3.028,3.03,3.034,3.04,3.04,3.047,3.054,3.057,3.07,3.077,3.078,3.08,3.088,3.093,3.099,3.102,3.11,3.119,3.132,3.137,3.145,3.148,3.153,3.171,3.174,3.184,3.193,3.194,3.22,3.231,3.236,3.236,3.244,3.249,3.259,3.264,3.273,3.294,3.296,3.297,3.314,3.323,3.336,3.351,3.361,3.37,3.379,3.383,3.387,3.426,3.429,3.436,3.455,3.465,3.473,3.485,3.505,3.515,3.53,3.542,3.554,3.575,3.576,3.589,3.609,3.634,3.639,3.662,3.67,3.699,3.702,3.738,3.748,3.77,3.795,3.815,3.828,3.843,3.869,3.896,3.928,3.932,3.95,3.981,3.992,4.028,4.058,4.086,0.016,0.007,0.009,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.314,3.307,3.289,3.271,3.263,3.239,3.235,3.227,3.2,3.191,3.19,3.164,3.158,3.145,3.123,3.105,3.105,3.083,3.078,3.071,3.05,3.048,3.047,3.023,3.018,3.004,2.994,2.982,2.972,2.96,2.956,2.947,2.942,2.931,2.919,2.918,2.892,2.887,2.884,2.876,2.868,2.861,2.848,2.846,2.84,2.835,2.831,2.815,2.806,2.798,2.796,2.793,2.788,2.788,2.769,2.768,2.766,2.766,2.768,2.757,2.756,2.743,2.728,2.723,2.721,2.718,2.715,2.715,2.705,2.705,2.7,2.698,2.692,2.689,2.685,2.678,2.675,2.671,2.668,2.662,2.662,2.658,2.656,2.649,2.645,2.645,2.641,2.639,2.638,2.638,2.638,2.638,2.638,2.63,2.628,2.627,2.621,2.62,2.621,2.621,2.621,2.619,2.622,2.622,2.619,2.619,2.619,2.619,2.619,2.619,2.62,2.621,2.621,2.621,2.621,2.62,2.618,2.619,2.619,2.619,2.62,2.625,2.625,2.626,2.629,2.639,2.639,2.639,2.639,2.641,2.641,2.641,2.647,2.647,2.648,2.651,2.651,2.651,2.651,2.652,2.652,2.665,2.668,2.67,2.678,2.678,2.679,2.687,2.692,2.696,2.705,2.71,2.71,2.71,2.712,2.712,2.713,2.714,2.713,2.713,2.714,2.728,2.729,2.74,2.741,2.746,2.751,2.776,3.265,3.265,3.292,3.303,3.304,3.304,3.31,3.319,3.327,3.332,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.006,3.741,3.747,3.747,3.747,3.747,3.757,3.758,3.771,3.779,3.79,3.803,3.804,3.828,3.843,3.844,3.856,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.091,4.084,4.083,4.08,4.077,4.066,4.064,4.064,4.064,4.06,4.064,0.007,4.044,4.044,4.044,4.044,4.043,4.035,4.035,4.035,4.034,4.035,4.034,4.034,4.031,4.035,4.03,4.032,4.03,4.032,4.03,4.032,4.032,4.039,4.039,4.04,4.04,4.041,4.046,4.05,4.061,4.061,4.061,4.058,4.058,4.058,4.066,4.068,4.071,4.073,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.33} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.244346}
SEN {Time 65.3345} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 3.302} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.1684} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 0.381} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.826} {Name Sonar11 Range 3.3274} {Name Sonar12 Range 1.27} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.54}
SEN {Time 65.3745} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.178,0.178,0.193,0.193,0.216,1.758,1.758,1.758,1.739,1.73,1.729,1.714,1.7,1.699,1.696,1.692,1.678,1.673,1.667,1.663,1.656,1.649,1.647,1.647,1.644,1.641,1.63,1.629,1.627,1.621,1.615,1.614,1.609,1.609,1.601,1.599,1.596,1.59,1.59,1.589,1.588,1.583,1.582,1.581,1.58,1.579,1.572,1.572,1.568,1.566,1.564,1.561,1.55,1.55,1.548,1.548,0.15,0.144,0.144,0.144,0.144,0.149,0.153,0.153,0.156,0.159,0.159,1.535,1.54,1.542,1.542,1.542,1.542,1.542,0.173,0.163,0.162,0.162,0.162,0.164,0.166,1.52,1.523,1.523,1.522,1.522,1.523,1.523,1.525,1.525,1.526,1.528,1.531,1.528,1.529,1.528,1.529,1.529,1.529,1.536,1.537,1.538,2.936,2.939,2.948,2.943,2.943,2.948,2.948,2.948,2.954,2.954,2.963,2.965,2.968,2.973,2.975,2.975,2.979,2.98,2.983,2.983,2.989,2.994,3.004,3.004,3.005,3.009,3.009,3.021,3.022,3.028,3.029,3.039,3.039,3.039,3.048,3.059,3.061,3.064,3.074,3.079,3.085,3.098,3.106,3.111,3.119,3.126,3.132,3.141,3.148,3.157,3.162,3.171,3.171,3.178,3.185,3.201,3.207,3.208,3.219,3.226,3.245,3.248,3.256,3.268,3.274,3.292,3.294,3.303,3.313,3.322,3.338,3.346,3.358,3.36,3.373,3.38,3.395,3.411,3.43,3.434,3.45,3.47,3.479,3.496,3.503,3.517,3.53,3.542,3.544,3.581,3.588,3.61,3.635,3.64,3.649,3.68,3.695,3.699,3.73,3.749,3.761,3.773,3.792,3.816,3.842,3.85,3.884,3.891,3.915,3.94,3.963,3.991,4.026,4.047,4.086,0.016,0.016,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.316,3.287,3.278,3.266,3.253,3.223,3.218,3.191,3.186,3.178,3.159,3.142,3.14,3.118,3.114,3.098,3.08,3.078,3.063,3.058,3.035,3.034,3.022,3.016,2.998,2.994,2.975,2.972,2.964,2.947,2.945,2.93,2.926,2.922,2.909,2.903,2.898,2.883,2.879,2.862,2.855,2.848,2.845,2.839,2.829,2.818,2.818,2.812,2.798,2.797,2.783,2.781,2.781,2.77,2.754,2.753,2.753,2.753,2.753,2.753,2.746,2.732,2.724,2.722,2.722,2.708,2.705,2.704,2.704,2.698,2.698,2.693,2.687,2.686,2.678,2.677,2.665,2.664,2.663,2.663,2.655,2.65,2.646,2.645,2.645,2.642,2.64,2.635,2.634,2.634,2.632,2.627,2.622,2.622,2.622,2.625,2.625,2.625,2.617,2.617,2.617,2.617,2.617,2.617,2.617,2.615,2.615,2.615,2.618,2.618,2.619,2.62,2.62,2.62,2.62,2.621,2.621,2.621,2.621,2.621,2.626,2.626,2.629,2.63,2.634,2.634,2.64,2.644,2.644,2.644,2.644,2.644,2.647,2.647,2.648,2.648,2.651,2.653,2.655,2.655,2.66,2.664,2.669,2.674,2.676,2.688,2.69,2.69,2.696,2.7,2.71,2.712,2.712,2.716,2.719,2.716,2.712,2.716,2.718,2.718,2.724,2.734,2.737,2.738,2.748,2.749,2.777,3.279,3.279,3.283,3.293,3.303,3.308,3.314,3.316,3.316,3.334,3.344,3.346,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,3.735,3.735,3.739,3.739,3.751,3.768,3.77,3.777,3.783,3.789,3.792,3.799,3.815,3.827,3.834,3.838,3.851,3.865,3.866,3.89,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.086,4.077,4.076,4.07,4.066,4.065,4.066,4.066,4.06,4.06,4.052,4.052,4.052,4.052,4.041,4.035,4.035,4.035,4.036,4.036,4.04,4.036,4.036,4.036,4.041,4.036,4.036,4.041,4.042,4.039,4.044,4.048,4.047,4.048,4.048,4.048,4.048,4.048,4.048,4.071,4.071,4.076,4.08,4.08,4.08,4.082,4.086,4.086,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.61} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.322886}
SEN {Time 65.6074} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.1684} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.429} {Name Sonar10 Range 4.826} {Name Sonar11 Range 3.3782} {Name Sonar12 Range 1.27} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.7178}
SEN {Time 65.6744} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.194,0.194,0.194,0.194,0.194,1.844,1.844,1.844,1.844,1.824,1.803,1.796,1.782,1.77,1.766,1.756,1.74,1.739,1.735,1.728,1.716,1.712,1.71,1.707,1.701,1.688,1.686,1.684,1.678,1.67,1.67,1.662,1.661,1.654,1.652,1.639,1.638,1.633,1.633,1.628,1.627,1.623,1.619,1.61,1.61,1.605,1.603,1.596,1.595,1.591,1.589,1.585,1.583,1.583,1.582,1.572,0.151,0.151,0.144,0.144,0.151,0.151,0.155,0.155,0.162,0.162,0.163,1.553,1.553,1.553,1.553,1.553,1.551,1.54,0.174,0.166,0.166,0.16,0.159,0.16,0.169,1.512,1.512,1.523,1.522,1.521,1.521,1.521,1.521,1.521,1.524,1.525,1.525,1.525,1.522,1.519,1.519,1.519,1.519,1.519,1.519,1.519,1.52,1.524,1.52,1.52,1.519,1.519,1.513,1.513,1.516,1.521,1.521,1.527,1.528,1.53,1.553,2.924,2.932,2.932,2.932,2.935,2.936,2.94,2.945,2.945,2.945,2.952,2.953,2.955,2.96,2.96,2.962,2.962,2.962,2.969,2.983,2.983,2.984,2.998,2.999,3,3.008,3.011,3.013,3.014,3.015,3.032,3.035,3.035,3.044,3.044,3.048,3.059,3.069,3.073,3.074,3.084,3.092,3.094,3.102,3.103,3.11,3.121,3.126,3.133,3.139,3.148,3.152,3.166,3.172,3.176,3.187,3.201,3.209,3.214,3.234,3.235,3.238,3.258,3.267,3.278,3.285,3.29,3.302,3.312,3.321,3.334,3.337,3.354,3.372,3.376,3.393,3.405,3.419,3.43,3.444,3.459,3.468,3.491,3.491,3.518,3.522,3.532,3.548,3.569,3.586,3.594,3.599,3.627,3.643,3.65,3.677,3.693,3.706,3.734,3.753,3.761,3.792,3.812,3.831,3.838,3.876,3.892,3.91,3.936,3.955,3.976,4.005,4.038,4.067,4.089,0.016,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.36,3.298,3.284,3.261,3.243,3.239,3.221,3.203,3.202,3.182,3.169,3.154,3.142,3.129,3.121,3.11,3.091,3.077,3.062,3.057,3.048,3.036,3.034,3.018,3.005,2.997,2.985,2.974,2.96,2.959,2.949,2.94,2.926,2.923,2.911,2.908,2.893,2.887,2.881,2.868,2.867,2.858,2.846,2.844,2.837,2.831,2.822,2.822,2.818,2.814,2.799,2.792,2.778,2.772,2.769,2.764,2.761,2.761,2.761,2.749,2.818,2.818,2.736,2.714,2.714,2.711,2.707,2.705,2.704,2.699,2.697,2.693,2.692,2.688,2.676,2.675,2.674,2.666,2.662,2.66,2.658,2.655,2.653,2.652,2.651,2.646,2.644,2.642,2.638,2.637,2.633,2.63,2.63,2.626,2.626,2.622,2.622,2.62,2.62,2.62,2.62,2.62,2.62,2.619,2.62,2.62,2.619,2.619,2.619,2.618,2.619,2.619,2.624,2.624,2.626,2.627,2.627,2.628,2.633,2.633,2.634,2.635,2.634,2.635,2.634,2.64,2.635,2.644,2.644,2.646,2.647,2.647,2.646,2.646,2.649,2.649,2.653,2.656,2.658,2.658,2.658,2.662,2.662,2.672,2.675,2.675,2.685,2.692,2.701,2.702,2.702,2.702,2.708,2.711,2.713,0.007,2.72,2.72,2.724,2.724,2.728,2.738,2.74,2.748,2.751,2.758,2.758,2.759,2.778,3.275,3.29,3.292,3.314,3.317,3.32,3.323,3.332,3.35,3.351,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.743,3.74,3.743,3.743,3.747,3.765,3.776,3.789,3.79,3.791,3.804,3.808,3.823,3.831,3.837,3.853,3.859,3.862,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.091,4.091,4.091,4.086,4.077,4.076,4.076,4.075,4.075,0.007,4.059,4.059,4.059,4.059,4.055,4.049,4.049,4.049,4.049,4.049,4.049,4.049,4.049,4.049,4.049,4.051,4.051,4.052,4.052,4.053,4.053,4.061,4.061,4.053,4.061,4.056,4.056,4.067,4.073,4.073,4.085,4.085,4.085,4.085,4.085,4.085,4.094,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.83} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 65.8264} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.2004} {Name Sonar10 Range 4.445} {Name Sonar11 Range 3.3782} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4544} {Name Sonar15 Range 2.7178}
SEN {Time 65.8705} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.007,0.19,0.181,0.189,0.189,0.189,1.856,1.856,1.856,1.842,1.831,1.816,1.799,1.795,1.773,1.772,1.768,1.756,1.752,1.741,1.736,1.734,1.732,1.716,1.712,1.707,1.704,1.695,1.689,1.684,1.678,1.673,1.673,1.666,1.657,1.654,1.65,1.646,1.644,1.637,1.634,1.628,1.626,1.622,1.622,1.62,1.617,1.612,1.606,1.601,1.599,1.588,1.587,1.585,1.585,1.579,1.573,0.157,0.148,0.146,0.146,0.148,0.148,0.153,0.153,0.163,0.169,0.17,1.546,1.547,1.549,1.549,1.549,1.549,1.549,0.172,0.163,0.162,0.157,0.157,0.162,0.167,1.523,1.523,1.525,1.523,1.523,1.52,1.523,1.523,1.523,1.523,1.523,1.521,1.521,1.521,1.521,1.52,1.52,1.52,1.52,1.52,1.524,1.524,1.524,1.524,1.518,1.515,1.515,1.515,1.517,1.517,1.523,1.523,1.524,1.523,1.524,1.524,1.529,2.931,2.936,2.936,2.936,2.938,2.936,2.942,2.943,2.944,2.947,2.949,2.95,2.951,2.955,2.955,2.958,2.972,2.974,2.975,2.975,2.977,2.985,2.987,2.994,2.996,3.004,3.014,3.015,3.021,3.029,3.029,3.032,3.035,3.039,3.047,3.054,3.061,3.064,3.067,3.073,3.075,3.085,3.092,3.1,3.106,3.116,3.126,3.13,3.142,3.143,3.146,3.148,3.166,3.17,3.188,3.196,3.202,3.218,3.222,3.24,3.24,3.245,3.25,3.264,3.271,3.271,3.29,3.293,3.31,3.322,3.336,3.339,3.354,3.371,3.384,3.395,3.403,3.412,3.429,3.434,3.463,3.464,3.486,3.497,3.513,3.521,3.537,3.553,3.57,3.58,3.594,3.597,3.623,3.637,3.647,3.673,3.691,3.7,3.743,3.754,3.765,3.793,3.805,3.828,3.855,3.87,3.896,3.92,3.931,3.96,3.997,4.007,4.043,4.056,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.317,3.299,3.269,3.257,3.243,3.237,3.208,3.205,3.194,3.175,3.165,3.148,3.139,3.129,3.118,3.095,3.086,3.077,3.07,3.059,3.043,3.032,3.021,3.003,2.995,2.991,2.989,2.974,2.962,2.947,2.947,2.94,2.929,2.916,2.909,2.898,2.895,2.883,2.883,2.881,2.861,2.858,2.847,2.841,2.833,2.817,2.817,2.81,2.81,2.8,2.789,2.784,2.781,2.778,2.771,2.771,2.765,2.765,2.76,2.758,2.753,2.724,2.719,2.719,2.718,2.706,2.705,2.7,2.697,2.691,2.691,2.69,2.69,2.685,2.678,2.678,2.669,2.667,2.667,2.654,2.654,2.653,2.652,2.652,2.649,2.649,2.643,2.635,2.635,2.635,2.63,2.632,2.63,2.627,2.627,2.629,2.627,2.623,2.623,2.623,2.623,2.621,2.622,2.622,2.621,2.62,2.62,2.62,2.62,2.626,2.626,2.625,2.625,2.625,2.625,2.625,2.625,2.625,2.629,2.629,2.63,2.629,2.629,2.633,2.633,2.642,2.648,2.648,2.656,2.657,2.657,2.657,2.654,2.654,2.654,2.655,2.657,2.657,2.661,2.661,2.665,2.665,2.678,2.678,2.678,2.693,2.7,2.7,2.702,2.703,2.703,2.705,2.708,2.72,2.72,2.725,2.725,2.726,2.725,2.726,2.739,2.748,2.749,2.75,2.756,2.756,2.775,2.775,3.276,3.291,3.292,3.303,3.317,3.327,3.336,3.338,3.34,3.349,3.366,3.37,3.384,3.387,3.399,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.733,3.733,3.746,3.746,3.767,3.771,3.771,3.771,3.787,3.788,3.804,3.806,3.812,3.82,3.823,3.867,3.881,3.882,3.882,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.091,4.089,4.086,4.082,4.075,4.075,4.074,4.074,0.007,4.066,4.064,4.064,4.064,4.06,4.058,4.057,4.06,4.058,4.057,4.057,4.048,4.046,4.042,4.042,4.044,4.046,4.048,4.049,4.051,4.051,4.058,4.058,4.058,4.06,4.06,4.065,4.067,4.076,4.077,4.085,4.091,4.091,4.085,4.091,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 66.03} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 66.0275} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.2004} {Name Sonar10 Range 4.445} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 5.6388}
SEN {Time 66.0705} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.181,0.183,0.185,0.185,0.187,1.86,1.86,1.86,1.841,1.826,1.821,1.804,1.795,1.777,1.776,1.772,1.751,1.749,1.741,1.732,1.729,1.725,1.724,1.71,1.706,1.699,1.699,1.693,1.691,1.679,1.678,1.67,1.663,1.662,1.658,1.653,1.652,1.638,1.638,1.631,1.629,1.626,1.622,1.616,1.614,1.606,1.605,1.602,1.599,1.595,1.592,1.591,1.583,1.583,1.581,1.581,0.153,0.153,0.15,0.153,0.155,0.164,0.164,0.164,0.164,0.164,0.165,1.555,1.555,1.555,1.555,1.555,0.008,0.008,0.008,0.169,0.169,0.165,0.16,0.165,0.006,1.528,1.528,1.528,1.523,1.521,1.521,1.521,1.521,1.521,1.521,1.519,1.519,1.518,1.517,1.518,1.518,1.519,1.519,1.519,1.519,1.519,1.519,1.52,1.52,1.514,1.515,1.515,1.515,1.518,1.522,1.527,1.522,1.528,1.522,1.524,1.524,1.534,2.922,2.93,2.93,2.93,2.933,2.933,2.94,2.94,2.94,2.941,2.942,2.95,2.956,2.956,2.958,2.962,2.964,2.97,2.972,2.976,2.977,2.984,2.989,2.99,2.993,3.006,3.009,3.01,3.017,3.029,3.035,3.036,3.039,3.045,3.049,3.059,3.063,3.066,3.075,3.076,3.078,3.099,3.105,3.105,3.105,3.121,3.127,3.127,3.135,3.144,3.149,3.158,3.166,3.169,3.179,3.188,3.195,3.202,3.216,3.225,3.242,3.246,3.249,3.254,3.274,3.275,3.293,3.303,3.313,3.329,3.336,3.337,3.354,3.372,3.381,3.399,3.406,3.413,3.428,3.439,3.45,3.468,3.487,3.512,3.517,3.52,3.538,3.555,3.564,3.579,3.593,3.598,3.616,3.629,3.655,3.678,3.7,3.706,3.725,3.746,3.774,3.79,3.807,3.837,3.847,3.866,3.903,3.921,3.955,3.963,3.997,4.013,4.033,4.065,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.313,3.296,3.271,3.264,3.251,3.232,3.219,3.201,3.185,3.167,3.16,3.147,3.136,3.127,3.111,3.102,3.092,3.074,3.064,3.057,3.055,3.028,3.023,3.008,3.005,2.99,2.983,2.97,2.964,2.963,2.942,2.932,2.924,2.923,2.909,2.902,2.892,2.882,2.876,2.866,2.859,2.856,2.852,2.842,2.837,2.821,2.818,2.814,2.807,2.806,2.783,2.779,2.774,2.773,2.764,2.761,2.761,2.761,2.761,2.756,2.743,2.729,2.725,2.722,2.719,2.707,2.701,2.7,2.693,2.69,2.684,2.68,2.679,2.68,2.679,2.678,2.667,2.661,2.658,2.653,2.651,2.651,2.651,2.647,2.643,2.642,2.634,2.633,2.631,2.631,2.629,2.629,2.629,2.627,2.624,2.618,2.618,2.618,2.618,2.617,2.618,2.62,2.62,2.622,2.622,2.622,2.617,2.617,2.617,2.617,2.617,2.624,2.624,2.627,2.624,2.624,2.624,2.634,2.636,2.636,2.636,2.635,2.635,2.635,2.636,2.642,2.644,2.645,2.645,2.647,2.652,2.652,2.646,2.652,2.648,2.648,2.655,2.656,2.659,2.659,2.663,2.671,2.672,2.682,2.685,2.691,2.701,2.701,2.704,2.705,2.705,2.706,2.709,2.71,2.713,2.722,2.722,2.725,2.725,2.727,2.731,2.738,2.739,2.743,2.756,2.756,2.764,2.769,3.275,3.284,3.289,3.301,3.316,3.328,3.33,3.341,3.341,3.343,3.358,3.367,3.377,3.388,3.393,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.749,3.74,3.749,3.749,3.75,3.772,3.784,3.784,3.788,3.79,3.807,3.815,3.819,3.836,3.837,3.851,3.856,3.878,3.885,3.889,3.91,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.087,4.08,4.078,4.076,4.076,4.068,4.068,0.007,4.069,4.062,4.062,4.062,4.062,4.062,4.058,4.058,4.058,4.049,4.052,4.052,4.056,4.052,4.056,4.056,4.058,4.058,4.058,4.058,4.051,4.051,4.058,4.051,4.059,4.068,4.069,4.069,4.078,4.078,4.082,4.093,4.09,4.09,4.09,4.091,4.091,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 66.23} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 66.2293} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.2004} {Name Sonar10 Range 4.445} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 5.6388}
SEN {Time 66.2715} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.185,0.176,0.185,0.185,0.2,1.86,1.86,1.86,1.86,1.847,1.819,1.807,1.794,1.78,1.775,1.77,1.751,1.747,1.74,1.733,1.73,1.727,1.726,1.713,1.71,1.702,1.697,1.687,1.687,1.684,1.674,1.673,1.667,1.663,1.66,1.646,1.646,1.645,1.642,1.633,1.626,1.625,1.625,1.622,1.617,1.615,1.613,1.605,1.602,1.601,1.597,1.591,1.59,1.59,1.583,1.583,0.154,0.153,0.151,0.149,0.149,0.151,0.158,0.158,0.158,0.158,0.159,1.544,1.551,1.552,1.552,1.552,1.552,1.552,0.164,0.157,0.157,0.157,0.163,0.171,0.173,1.525,1.525,1.525,1.52,1.517,1.517,1.52,1.52,1.52,1.52,1.522,1.522,1.522,1.522,1.522,1.522,1.522,1.519,1.524,1.524,1.52,1.52,1.522,1.52,1.52,1.518,1.516,1.516,1.516,1.517,1.517,1.521,1.527,1.527,1.527,1.527,1.528,2.925,2.927,2.928,2.928,2.932,2.939,2.939,2.939,2.939,2.939,2.95,2.951,2.953,2.954,2.957,2.96,2.965,2.968,2.973,2.973,2.974,2.985,2.987,2.994,2.998,3.006,3.009,3.01,3.018,3.029,3.029,3.03,3.034,3.047,3.057,3.058,3.059,3.062,3.068,3.073,3.083,3.087,3.094,3.101,3.106,3.123,3.124,3.133,3.14,3.146,3.152,3.157,3.159,3.167,3.18,3.188,3.2,3.206,3.214,3.223,3.235,3.24,3.253,3.254,3.279,3.292,3.302,3.302,3.312,3.329,3.331,3.337,3.354,3.371,3.382,3.388,3.41,3.411,3.432,3.44,3.448,3.468,3.487,3.493,3.505,3.519,3.539,3.553,3.572,3.584,3.59,3.604,3.63,3.638,3.661,3.678,3.696,3.706,3.737,3.752,3.775,3.805,3.805,3.84,3.855,3.871,3.899,3.925,3.943,3.97,3.984,4.011,4.04,4.063,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.297,3.277,3.264,3.235,3.222,3.219,3.202,3.193,3.169,3.162,3.148,3.14,3.122,3.111,3.095,3.088,3.082,3.065,3.06,3.04,3.03,3.02,3.008,2.996,2.99,2.978,2.966,2.961,2.955,2.94,2.935,2.924,2.922,2.907,2.891,2.89,2.881,2.88,2.86,2.859,2.85,2.85,2.843,2.84,2.816,2.815,2.812,2.81,2.797,2.79,2.782,2.781,2.768,2.766,2.764,2.764,2.764,2.764,2.756,2.745,2.732,2.721,2.718,2.715,2.709,2.701,2.701,2.697,2.697,2.694,2.694,2.683,2.684,2.682,2.677,2.669,2.666,2.662,2.661,2.656,2.653,2.653,2.643,2.643,2.64,2.638,2.638,2.635,2.634,2.634,2.634,2.625,2.625,2.624,2.624,2.624,2.624,2.624,2.623,2.619,2.618,2.619,2.618,2.618,2.618,2.615,2.615,2.62,2.623,2.62,2.62,2.623,2.623,2.625,2.625,2.627,2.628,2.632,2.632,2.637,2.633,2.637,2.635,2.635,2.635,2.641,2.643,2.652,2.652,2.652,2.652,2.652,2.652,2.651,2.654,2.659,2.659,2.664,2.67,2.671,2.673,2.675,2.682,2.689,2.692,2.7,2.701,2.707,2.707,2.707,2.707,2.713,2.717,2.717,2.719,2.717,2.717,2.719,2.724,2.729,2.741,2.743,2.744,2.755,2.755,2.758,2.761,3.278,3.288,3.292,3.309,3.315,3.321,3.334,3.336,3.345,3.346,3.365,3.378,3.381,3.387,3.394,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.724,3.724,3.742,3.742,3.749,3.761,3.764,3.78,3.788,3.789,3.815,3.816,3.817,3.819,3.842,3.846,3.863,3.871,3.883,3.891,3.914,3.921,3.922,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.089,4.089,4.086,4.081,4.079,4.075,4.075,4.074,4.074,0.007,4.074,4.062,4.062,4.062,4.06,4.055,4.05,4.052,4.05,4.05,4.05,4.048,4.048,4.046,4.046,4.046,4.048,4.048,4.05,4.05,4.048,4.05,4.052,4.052,4.052,4.058,4.059,4.072,4.08,4.08,4.084,4.086,4.085,4.085,4.086,4.093,4.094,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 66.42} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 66.4223} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.7244} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 5.6388}
SEN {Time 66.4705} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.192,0.184,0.191,0.191,0.191,0.191,1.86,1.86,1.86,1.831,1.826,1.821,1.807,1.788,1.781,1.777,1.768,1.756,1.751,1.749,1.742,1.732,1.729,1.722,1.708,1.707,1.697,1.696,1.688,1.685,1.681,1.676,1.672,1.672,1.659,1.654,1.648,1.646,1.643,1.638,1.635,1.628,1.627,1.621,1.621,1.619,1.609,1.606,1.605,1.601,1.596,1.589,1.588,1.587,1.587,1.58,1.575,0.153,0.153,0.147,0.147,0.15,0.152,0.152,0.153,0.153,0.162,0.167,1.539,1.558,1.558,1.558,1.561,1.561,1.556,0.173,0.169,0.16,0.16,0.16,0.166,0.169,1.53,1.53,1.53,1.525,1.525,1.52,1.521,1.525,1.523,1.523,1.527,1.527,1.523,1.523,1.523,1.523,1.522,1.522,1.523,1.523,1.523,1.523,1.523,1.523,1.519,1.516,1.516,1.516,1.52,1.52,1.522,1.522,1.527,1.517,1.521,1.521,1.527,2.93,2.938,2.938,2.938,2.939,2.939,2.94,2.94,2.94,2.941,2.941,2.946,2.948,2.954,2.955,2.956,2.957,2.975,2.977,2.978,2.98,2.983,2.983,2.983,2.99,2.998,3.005,3.011,3.017,3.029,3.03,3.032,3.037,3.039,3.052,3.053,3.055,3.062,3.074,3.076,3.079,3.082,3.1,3.105,3.12,3.12,3.123,3.123,3.135,3.144,3.145,3.165,3.166,3.169,3.173,3.196,3.206,3.209,3.212,3.218,3.236,3.242,3.251,3.26,3.274,3.292,3.295,3.295,3.309,3.328,3.332,3.338,3.344,3.373,3.383,3.39,3.406,3.422,3.433,3.44,3.456,3.469,3.487,3.493,3.514,3.517,3.532,3.554,3.567,3.583,3.587,3.613,3.626,3.647,3.661,3.678,3.691,3.713,3.727,3.746,3.775,3.799,3.805,3.831,3.854,3.876,3.879,3.913,3.94,3.957,3.996,4.004,4.031,4.059,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.313,3.291,3.274,3.259,3.253,3.234,3.209,3.205,3.196,3.179,3.153,3.152,3.138,3.124,3.112,3.09,3.085,3.077,3.059,3.053,3.047,3.041,3.021,3.009,2.995,2.995,2.989,2.981,2.97,2.953,2.948,2.931,2.92,2.917,2.915,2.9,2.889,2.877,2.876,2.868,2.858,2.852,2.852,2.841,2.838,2.826,2.824,2.82,2.812,2.795,2.792,2.778,2.778,2.778,2.767,2.763,2.763,2.763,2.763,2.761,2.761,2.732,2.725,2.717,2.707,2.705,2.704,2.703,2.697,2.696,2.693,2.692,2.685,2.683,2.682,2.676,2.671,2.669,2.667,2.666,2.659,2.659,2.658,2.654,2.646,2.641,2.639,2.637,2.635,2.634,2.634,2.632,2.629,2.629,2.624,2.619,2.619,2.619,2.619,2.616,2.618,2.618,2.618,2.618,2.618,2.622,2.617,2.617,2.618,2.625,2.62,2.624,2.625,2.624,2.624,2.625,2.63,2.63,2.63,2.63,2.632,2.632,2.63,2.63,2.632,2.638,2.647,2.647,2.648,2.648,2.648,2.647,2.651,2.651,2.651,2.654,2.654,2.656,2.657,2.658,2.665,2.677,2.679,2.679,2.682,2.699,2.703,2.703,2.704,2.706,2.707,2.709,2.71,2.718,2.72,2.724,2.72,2.724,2.728,2.728,2.736,2.737,2.744,2.746,2.76,2.76,2.764,2.771,3.273,3.286,3.293,3.307,3.323,3.325,3.326,3.329,3.341,3.347,3.363,3.368,3.377,3.391,3.393,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.724,3.724,3.749,3.749,3.751,3.769,3.777,3.778,3.786,3.787,3.806,3.817,3.827,3.828,3.851,3.86,3.86,3.866,3.897,3.913,3.913,3.913,3.92,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.091,4.078,4.074,4.074,4.068,4.074,0.007,4.078,4.067,4.067,4.067,4.062,4.06,4.06,4.06,4.059,4.055,4.055,4.048,4.055,4.048,4.048,4.058,4.058,4.047,4.06,4.059,4.052,4.059,4.059,4.059,4.06,4.06,4.06,4.071,4.075,4.075,4.075,4.087,4.087,4.087,4.092,4.092,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 66.62} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 66.6242} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.7244} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 4.8768}
SEN {Time 66.6704} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.187,0.183,0.188,0.188,0.198,1.864,1.864,1.864,1.833,1.832,1.815,1.798,1.795,1.788,1.781,1.762,1.759,1.744,1.744,1.733,1.728,1.724,1.721,1.71,1.707,1.699,1.696,1.693,1.687,1.682,1.674,1.673,1.664,1.662,1.653,1.648,1.64,1.637,1.635,1.634,1.632,1.628,1.626,1.615,1.614,1.61,1.606,1.604,1.601,1.594,1.591,1.585,1.585,1.585,1.581,1.581,0.151,0.151,0.146,0.146,0.152,0.154,0.154,0.154,0.154,0.155,0.17,1.551,1.552,1.553,1.553,1.556,0,0,0,0.165,0.165,0.16,0.16,0.166,0.169,1.525,1.525,1.525,1.525,1.525,1.52,1.524,1.526,1.524,1.523,1.524,1.523,1.523,1.52,1.522,1.522,1.522,1.52,1.519,1.519,1.516,1.516,1.519,1.516,1.516,1.515,1.515,1.515,1.518,1.523,1.523,1.523,1.526,1.523,1.52,1.52,1.535,2.92,2.923,2.923,2.923,2.931,2.94,2.942,2.942,2.942,2.942,2.942,2.945,2.95,2.951,2.955,2.956,2.963,2.97,2.975,2.978,2.978,2.981,2.986,2.991,2.999,3.002,3.005,3.011,3.018,3.02,3.034,3.036,3.039,3.049,3.053,3.058,3.058,3.061,3.061,3.077,3.088,3.09,3.096,3.097,3.122,3.124,3.13,3.13,3.133,3.14,3.149,3.163,3.164,3.165,3.175,3.191,3.205,3.21,3.219,3.22,3.236,3.243,3.249,3.26,3.269,3.273,3.293,3.298,3.31,3.323,3.329,3.335,3.353,3.368,3.38,3.384,3.407,3.41,3.432,3.432,3.462,3.466,3.48,3.502,3.512,3.516,3.542,3.547,3.558,3.579,3.59,3.614,3.622,3.652,3.66,3.683,3.696,3.702,3.732,3.751,3.773,3.797,3.815,3.827,3.845,3.886,3.9,3.923,3.934,3.973,3.993,4.009,4.028,4.065,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.317,3.297,3.274,3.263,3.244,3.221,3.219,3.194,3.186,3.173,3.156,3.152,3.134,3.125,3.111,3.098,3.084,3.077,3.066,3.052,3.043,3.031,3.025,3.01,3,2.994,2.994,2.985,2.967,2.948,2.948,2.934,2.922,2.917,2.908,2.901,2.891,2.886,2.877,2.864,2.857,2.851,2.844,2.836,2.836,2.824,2.818,2.809,2.808,2.796,2.793,2.78,2.778,2.769,2.766,2.765,2.765,2.765,2.756,2.754,2.744,2.732,2.723,2.715,2.711,2.706,2.702,2.702,2.697,2.696,2.69,2.685,2.682,2.681,2.675,2.674,2.673,2.665,2.663,2.663,2.655,2.655,2.648,2.647,2.647,2.645,2.637,2.635,2.633,2.633,2.631,2.631,2.623,2.623,2.623,2.622,2.618,2.618,2.618,2.616,2.618,2.625,2.619,2.619,2.619,2.618,2.618,2.617,2.618,2.621,2.624,2.621,2.624,2.624,2.624,2.624,2.624,2.624,2.627,2.628,2.628,2.633,2.637,2.637,2.642,2.643,2.647,2.648,2.648,2.65,2.65,2.65,2.646,2.65,2.65,2.655,2.655,2.657,2.662,2.67,2.676,2.677,2.682,2.682,2.683,2.688,2.695,2.698,2.699,2.701,2.703,2.703,2.709,2.717,2.717,2.717,2.716,2.716,2.716,2.73,2.735,2.735,2.736,2.742,2.755,2.755,2.757,2.77,3.269,3.29,3.298,3.298,3.314,3.331,3.336,3.337,3.34,3.341,3.358,3.366,3.379,3.388,3.398,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.737,3.737,3.747,3.747,3.75,3.768,3.769,3.772,3.781,3.785,3.801,3.808,3.819,3.825,3.835,3.84,3.845,3.858,3.881,3.904,3.907,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.085,4.084,4.084,4.084,4.072,4.072,0.007,4.068,4.062,4.062,4.062,4.06,4.057,4.06,4.06,4.057,4.056,4.056,4.056,4.056,4.048,4.048,4.052,4.055,4.052,4.055,4.055,4.055,4.051,4.056,4.058,4.053,4.06,4.062,4.07,4.075,4.077,4.082,4.082,4.082,4.082,4.084,4.092,4.093,4.094,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 66.83} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 66.8262} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.7244} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 4.8768}
SEN {Time 66.8665} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.186,0.186,0.184,0.186,0.187,0.195,0.195,1.864,1.864,1.864,1.842,1.827,1.818,1.799,1.791,1.773,1.769,1.768,1.762,1.744,1.741,1.737,1.735,1.727,1.716,1.712,1.707,1.701,1.692,1.687,1.684,1.682,1.672,1.669,1.667,1.656,1.649,1.644,1.643,1.638,1.637,1.636,1.63,1.628,1.623,1.62,1.619,1.611,1.607,1.606,1.603,1.598,1.596,1.591,1.582,1.582,1.579,1.578,0.158,0.15,0.145,0.149,0.15,0.15,0.153,0.153,0.156,0.156,0.175,1.55,1.555,1.559,1.559,1.559,1.559,1.559,0.17,0.169,0.16,0.16,0.16,0.164,0.172,1.521,1.521,1.521,1.521,1.521,1.52,1.52,1.522,1.52,1.519,1.519,1.519,1.519,1.519,1.517,1.517,1.517,1.517,1.518,1.519,1.524,1.524,1.524,1.524,1.523,1.519,1.519,1.519,1.52,1.522,1.523,1.523,1.527,1.523,1.523,1.523,1.535,2.926,2.928,2.928,2.928,2.933,2.936,2.939,2.942,2.945,2.945,2.945,2.946,2.954,2.946,2.954,2.955,2.96,2.971,2.975,2.978,2.985,2.987,2.989,2.99,2.994,3.003,3.008,3.013,3.018,3.022,3.036,3.039,3.039,3.039,3.045,3.051,3.061,3.07,3.075,3.075,3.081,3.084,3.095,3.098,3.102,3.116,3.118,3.133,3.135,3.141,3.145,3.156,3.159,3.165,3.184,3.194,3.2,3.202,3.219,3.226,3.234,3.237,3.253,3.259,3.27,3.28,3.289,3.311,3.315,3.325,3.332,3.338,3.352,3.369,3.378,3.393,3.399,3.41,3.428,3.435,3.462,3.465,3.487,3.493,3.51,3.516,3.54,3.555,3.571,3.578,3.598,3.605,3.633,3.64,3.653,3.678,3.7,3.713,3.731,3.742,3.777,3.798,3.812,3.841,3.85,3.877,3.897,3.917,3.928,3.946,4.003,4.008,4.042,4.062,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.308,3.298,3.27,3.262,3.24,3.235,3.226,3.204,3.177,3.168,3.156,3.156,3.14,3.123,3.112,3.098,3.083,3.083,3.07,3.06,3.046,3.039,3.016,3.015,2.999,2.992,2.99,2.97,2.969,2.945,2.942,2.934,2.929,2.919,2.907,2.902,2.891,2.888,2.873,2.871,2.86,2.856,2.853,2.844,2.832,2.827,2.82,2.811,2.805,2.803,2.792,2.784,2.78,2.765,2.765,2.765,2.76,2.76,2.76,2.749,2.748,2.729,2.723,2.722,2.705,2.701,2.701,2.701,2.698,2.691,2.69,2.686,2.686,2.686,2.686,2.674,2.671,2.67,2.664,2.662,2.655,2.649,2.648,2.647,2.645,2.64,2.638,2.638,2.629,2.629,2.629,2.629,2.624,2.622,2.62,2.617,2.617,2.622,2.622,2.622,2.622,2.622,2.625,2.62,2.62,2.621,2.62,2.617,2.62,2.621,2.621,2.621,2.622,2.621,2.621,2.623,2.624,2.625,2.628,2.629,2.629,2.632,2.632,2.632,2.639,2.642,2.644,2.644,2.648,2.648,2.648,2.648,2.645,2.645,2.65,2.65,2.65,2.66,2.661,2.661,2.668,2.674,2.675,2.682,2.682,2.685,2.686,2.7,2.706,2.706,2.706,2.706,2.715,2.715,2.719,2.719,2.712,2.712,2.719,2.72,2.733,2.742,2.744,2.744,2.752,2.752,2.773,2.773,3.274,3.283,3.293,3.3,3.322,3.324,3.332,3.335,3.336,3.353,3.363,3.367,3.379,3.383,3.398,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.092,3.029,3.029,3.029,3.738,3.74,3.765,3.768,3.77,3.77,3.786,3.791,3.804,3.811,3.819,3.835,3.841,3.856,3.864,3.871,3.889,3.891,3.912,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.083,4.081,4.08,4.076,4.076,4.076,0,0,0,4.062,4.061,4.061,4.062,4.061,4.055,4.055,4.055,4.052,4.052,4.051,4.051,4.05,4.049,4.05,4.05,4.05,4.053,4.055,4.053,4.055,4.053,4.055,4.053,4.055,4.055,4.07,4.073,4.073,4.083,4.083,4.083,4.083,4.087,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 67.02} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 67.0192} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.8006} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 4.8768}
SEN {Time 67.0665} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.185,0.178,0.178,0.178,0.178,0.187,1.869,1.869,1.869,1.839,1.826,1.816,1.798,1.794,1.779,1.777,1.767,1.75,1.742,1.74,1.738,1.735,1.72,1.717,1.709,1.704,1.701,1.692,1.687,1.683,1.681,1.672,1.67,1.667,1.662,1.657,1.648,1.643,1.64,1.637,1.633,1.627,1.624,1.624,1.623,1.613,1.61,1.609,1.604,1.6,1.598,1.595,1.584,1.584,1.584,1.584,1.584,0.151,0.151,0.15,0.151,0.153,0.153,0.159,0.159,0.163,0.163,0.167,1.557,1.557,1.557,1.557,1.557,0,0,0,0.166,0.165,0.164,0.162,0.164,0.165,1.517,1.517,1.526,1.522,1.526,1.522,1.523,1.523,1.524,1.523,1.524,1.524,1.524,1.522,1.524,1.523,1.523,1.523,1.523,1.522,1.522,1.522,1.521,1.521,1.522,1.521,1.518,1.522,1.519,1.518,1.519,1.519,1.519,1.519,1.519,1.522,1.538,2.927,2.927,2.931,2.931,2.932,2.933,2.935,2.935,2.935,2.946,2.947,2.952,2.955,2.955,2.955,2.959,2.962,2.967,2.968,2.979,2.983,2.984,2.988,2.997,3,3.001,3.008,3.013,3.015,3.029,3.031,3.032,3.042,3.045,3.055,3.057,3.058,3.06,3.069,3.075,3.076,3.083,3.088,3.096,3.105,3.117,3.122,3.122,3.139,3.143,3.145,3.16,3.164,3.175,3.185,3.192,3.197,3.213,3.222,3.225,3.237,3.237,3.25,3.255,3.272,3.276,3.297,3.299,3.314,3.324,3.333,3.337,3.351,3.362,3.381,3.391,3.406,3.413,3.432,3.444,3.45,3.466,3.488,3.495,3.516,3.528,3.533,3.542,3.554,3.577,3.595,3.606,3.63,3.64,3.661,3.684,3.697,3.714,3.736,3.757,3.761,3.803,3.807,3.829,3.857,3.871,3.896,3.917,3.939,3.957,3.994,4.012,4.033,4.063,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.32,3.291,3.271,3.263,3.237,3.233,3.207,3.202,3.195,3.168,3.156,3.148,3.134,3.126,3.119,3.094,3.083,3.076,3.063,3.061,3.046,3.04,3.022,3.01,3,2.994,2.981,2.974,2.963,2.959,2.949,2.932,2.922,2.921,2.906,2.906,2.892,2.886,2.886,2.875,2.86,2.857,2.849,2.838,2.835,2.834,2.825,2.818,2.813,2.804,2.792,2.789,2.778,2.773,2.768,2.757,2.757,2.757,2.757,2.757,2.75,2.729,2.722,2.72,2.709,2.708,2.706,2.703,2.702,2.694,2.688,2.684,2.682,2.682,2.681,2.666,2.666,2.664,2.663,2.662,2.66,2.658,2.65,2.647,2.646,2.644,2.644,2.638,2.632,2.632,2.631,2.626,2.626,2.622,2.619,2.619,2.622,2.622,2.622,2.622,2.626,2.619,2.618,2.619,2.62,2.62,2.62,2.622,2.622,2.628,2.627,2.628,2.632,2.63,2.628,2.628,2.63,2.63,2.63,2.634,2.634,2.635,2.637,2.64,2.64,2.64,2.644,2.644,2.649,2.649,2.649,2.652,2.649,2.649,2.653,2.655,2.655,2.655,2.656,2.663,2.663,2.67,2.674,2.674,2.685,2.694,2.7,2.7,2.705,2.706,2.707,2.713,2.715,2.721,2.722,2.725,2.723,2.723,2.73,2.732,2.733,2.734,2.741,2.745,2.747,2.747,2.754,2.775,3.27,3.295,3.295,3.301,3.313,3.319,3.329,3.332,3.347,3.347,3.355,3.365,3.376,3.389,3.398,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.121,3.121,0.007,3.744,3.744,3.748,3.748,3.751,3.77,3.78,3.782,3.793,3.793,3.802,3.806,3.814,3.828,3.834,3.851,3.861,3.87,3.884,3.898,3.913,3.922,3.935,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.09,4.088,4.083,4.082,4.08,4.08,4.068,4.068,0.007,4.063,4.063,4.063,4.063,4.06,4.06,4.06,4.06,4.06,4.052,4.052,4.051,4.051,4.047,4.047,4.051,4.047,4.047,4.05,4.055,4.055,4.055,4.055,4.059,4.059,4.059,4.066,4.068,4.072,4.072,4.077,4.077,4.077,4.077,4.087,4.09,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 67.22} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 67.2211} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.8006} {Name Sonar11 Range 1.5494} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.81} {Name Sonar15 Range 4.9022}
SEN {Time 67.2675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0,0.187,0.191,0.191,0.191,0.191,1.858,1.858,1.858,1.85,1.833,1.812,1.796,1.792,1.783,1.777,1.767,1.756,1.746,1.745,1.738,1.732,1.725,1.72,1.717,1.708,1.705,1.697,1.694,1.686,1.676,1.673,1.671,1.665,1.661,1.659,1.646,1.644,1.642,1.641,1.632,1.63,1.626,1.621,1.621,1.616,1.613,1.607,1.606,1.596,1.594,1.585,1.583,1.583,1.585,1.582,1.58,0.153,0.153,0.153,0.153,0.152,0.153,0.153,0.153,0.155,0.158,0.159,1.554,1.557,1.559,1.559,1.559,1.559,1.559,0.171,0.159,0.159,0.159,0.157,0.159,0.16,1.525,1.525,1.525,1.523,1.518,1.517,1.517,1.517,1.519,1.523,1.524,1.524,1.527,1.523,1.525,1.518,1.522,1.519,1.522,1.522,1.522,1.524,1.524,1.522,1.521,1.518,1.517,1.516,1.516,1.517,1.518,1.522,1.523,1.523,1.523,1.525,1.53,2.929,2.929,2.929,2.929,2.929,2.932,2.932,2.945,2.945,2.948,2.948,2.949,2.948,2.949,2.951,2.955,2.96,2.965,2.974,2.976,2.979,2.988,2.991,2.991,2.991,2.999,3.001,3.004,3.018,3.027,3.027,3.028,3.035,3.042,3.048,3.051,3.052,3.062,3.067,3.078,3.08,3.086,3.092,3.105,3.105,3.113,3.12,3.129,3.14,3.146,3.151,3.158,3.168,3.172,3.177,3.194,3.202,3.211,3.214,3.218,3.233,3.246,3.257,3.261,3.263,3.28,3.291,3.298,3.311,3.332,3.333,3.337,3.364,3.365,3.381,3.39,3.407,3.414,3.428,3.448,3.451,3.471,3.485,3.497,3.503,3.512,3.533,3.555,3.57,3.578,3.598,3.61,3.621,3.646,3.659,3.666,3.688,3.703,3.734,3.762,3.768,3.783,3.806,3.845,3.857,3.876,3.895,3.912,3.931,3.97,3.981,4.011,4.033,4.066,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.316,3.291,3.272,3.255,3.243,3.223,3.217,3.202,3.183,3.178,3.16,3.142,3.134,3.13,3.12,3.098,3.085,3.079,3.066,3.056,3.038,3.026,3.023,3.012,2.997,2.991,2.984,2.981,2.955,2.948,2.947,2.945,2.925,2.915,2.902,2.902,2.897,2.878,2.871,2.866,2.861,2.856,2.852,2.846,2.822,2.821,2.82,2.815,2.807,2.803,2.797,2.786,2.782,2.781,2.774,2.762,2.762,2.762,2.761,2.755,2.752,2.731,2.717,2.716,2.715,2.71,2.699,2.697,2.695,2.695,2.691,2.69,2.687,2.686,2.677,2.676,2.675,2.668,2.666,2.664,2.661,2.656,2.647,2.647,2.647,2.639,2.639,2.636,2.636,2.634,2.634,2.634,2.629,2.625,2.625,2.625,2.625,2.625,2.626,2.624,2.623,2.623,2.623,2.623,2.621,2.621,2.621,2.623,2.621,2.623,2.625,2.623,2.625,2.625,2.625,2.625,2.627,2.628,2.629,2.632,2.632,2.632,2.634,2.634,2.637,2.637,2.64,2.646,2.653,2.656,2.656,2.656,2.654,2.654,2.65,2.652,2.652,2.652,2.659,2.659,2.665,2.665,2.678,2.679,2.679,2.684,2.692,2.692,2.697,2.706,2.71,2.711,2.715,2.725,2.725,2.725,2.722,2.722,2.722,2.726,2.734,2.737,2.739,2.745,2.751,2.751,2.762,2.778,3.281,3.3,3.303,3.321,3.327,3.334,3.333,3.334,3.339,3.348,3.365,3.373,3.375,3.387,3.39,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.121,3.121,0.007,3.724,3.724,3.744,3.744,3.754,3.763,3.781,3.781,3.786,3.786,3.809,3.812,3.814,3.826,3.832,3.843,3.874,3.88,3.899,3.907,0.007,3.944,3.944,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.09,4.088,4.088,4.079,4.079,4.079,4.073,4.08,0.007,4.066,4.063,4.063,4.063,4.063,4.063,4.062,4.062,4.059,4.057,4.057,4.057,4.057,4.047,4.047,4.047,4.047,4.053,4.055,4.055,4.059,4.06,4.06,4.06,4.06,4.061,4.064,4.067,4.068,4.082,4.082,4.082,4.079,4.079,4.079,4.084,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.43} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.338594}
SEN {Time 75.43} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.016} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.1496} {Name Sonar10 Range 4.7752} {Name Sonar11 Range 1.5748} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.8354} {Name Sonar15 Range 4.2164}
SEN {Time 75.5384} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.183,0.184,0.191,0.191,0.191,1.86,1.86,1.86,1.845,1.832,1.811,1.805,1.794,1.782,1.772,1.768,1.758,1.752,1.741,1.733,1.728,1.72,1.715,1.715,1.709,1.7,1.697,1.694,1.694,1.674,1.666,1.666,1.666,1.653,1.652,1.645,1.642,1.639,1.634,1.631,1.626,1.624,1.624,1.624,1.617,1.613,1.613,1.606,1.603,1.597,1.59,1.589,1.586,1.586,1.583,1.583,0.151,0.151,0.148,0.146,0.148,0.154,0.154,0.154,0.155,0.162,0.165,1.55,1.55,1.55,1.546,1.546,1.541,1.507,0.17,0.167,0.165,0.161,0.161,0.164,0.165,1.527,1.527,1.527,1.52,1.518,1.518,1.52,1.52,1.52,1.521,1.523,1.523,1.521,1.522,1.521,1.521,1.522,1.522,1.518,1.517,1.517,1.517,1.522,1.522,1.522,1.515,1.515,1.515,1.515,1.515,1.517,1.522,1.525,1.525,1.522,1.522,1.528,2.925,2.932,2.932,2.932,2.936,2.942,2.942,2.942,2.944,2.948,2.948,2.949,2.955,2.949,2.949,2.959,2.96,2.97,2.972,2.982,2.984,2.989,2.989,2.989,2.997,3.003,3.007,3.01,3.021,3.029,3.034,3.035,3.035,3.047,3.051,3.058,3.062,3.075,3.075,3.076,3.083,3.084,3.102,3.105,3.108,3.118,3.132,3.133,3.133,3.144,3.15,3.157,3.164,3.172,3.178,3.192,3.198,3.204,3.215,3.222,3.235,3.241,3.258,3.264,3.267,3.28,3.29,3.302,3.313,3.326,3.333,3.342,3.359,3.375,3.376,3.39,3.414,3.421,3.429,3.446,3.453,3.476,3.489,3.498,3.504,3.515,3.527,3.546,3.577,3.588,3.591,3.624,3.63,3.643,3.665,3.683,3.7,3.713,3.738,3.753,3.783,3.802,3.817,3.845,3.865,3.874,3.893,3.924,3.941,3.975,3.985,4.029,4.036,4.07,4.095,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.306,3.291,3.268,3.262,3.232,3.223,3.208,3.191,3.186,3.169,3.152,3.148,3.131,3.123,3.1,3.085,3.074,3.071,3.062,3.058,3.042,3.031,3.022,3.01,2.997,2.988,2.982,2.959,2.955,2.953,2.944,2.937,2.918,2.917,2.901,2.896,2.885,2.878,2.871,2.866,2.859,2.855,2.855,2.84,2.832,2.819,2.818,2.809,2.804,2.8,2.795,2.774,2.772,2.769,2.765,2.762,2.762,2.762,2.754,2.753,2.737,2.728,2.725,2.719,2.714,2.704,2.702,2.702,2.69,2.69,2.69,2.689,2.689,2.682,2.675,2.672,2.671,2.67,2.662,2.661,2.66,2.651,2.65,2.648,2.645,2.643,2.639,2.639,2.637,2.637,2.629,2.629,2.629,2.629,2.627,2.627,2.627,2.626,2.626,2.621,2.62,2.619,2.619,2.619,2.619,2.619,2.619,2.621,2.624,2.624,2.624,2.627,2.627,2.627,2.63,2.627,2.63,2.632,2.635,2.635,2.635,2.635,2.638,2.642,2.644,2.644,2.647,2.647,2.647,2.649,2.65,2.651,2.651,2.651,2.651,2.653,2.656,2.656,2.657,2.66,2.669,2.671,2.68,2.686,2.686,2.69,2.702,2.704,2.705,2.706,2.706,2.709,2.709,2.714,2.722,2.722,2.722,2.724,2.724,2.73,2.731,2.737,2.737,2.751,2.761,2.784,3.269,3.269,3.285,3.291,3.295,3.305,3.32,3.329,3.341,3.341,3.344,3.359,3.372,3.373,3.379,3.394,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.028,3.028,3.722,3.722,3.745,3.746,3.762,3.767,3.783,3.788,3.789,3.79,3.809,3.822,3.826,3.837,3.848,3.867,3.873,3.886,3.898,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.962,0.955,0.955,0.955,0.948,0.948,0.95,0.95,0.953,0.955,0.959,0.962,0.966,0.968,0.969,0.969,0.977,0.979,0.99,0.99,0.996,0.997,1,1,1.008,0.016,0.016,0.016,0.016,0.016,4.09,4.09,4.089,4.069,0.831,0.826,0.824,0.823,0.824,0.823,0.823,0.825,0.826,0.83,0.833,0.834,0.836,0.834,0.834,0.832,0.832,0.832,0.832,0.835,0.837,0.838,0.84,0.84,0.885,0.891,0.896,0.906,0.915,0.92,4.061,4.066,4.066,4.066,4.066,4.066,4.078,4.078,4.08,4.08,4.08,4.082,4.089,4.093,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.70} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.272271}
SEN {Time 75.6958} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.7752} {Name Sonar11 Range 1.5748} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.8354} {Name Sonar15 Range 5.7912}
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SEN {Time 75.89} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.218166}
SEN {Time 75.8908} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 0.7112} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.3462} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.5466} {Name Sonar11 Range 1.5748} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 5.7912}
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SEN {Time 76.09} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.158825}
SEN {Time 76.0949} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 2.6416} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 0.6858} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.0734} {Name Sonar10 Range 4.5466} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6162}
SEN {Time 76.1305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.195,0.195,0.203,0.203,0.203,1.691,0.007,0,0.007,1.696,1.679,1.666,1.663,1.654,1.653,1.649,1.642,1.632,1.631,1.63,1.623,1.619,1.619,1.619,1.61,1.61,1.61,1.607,1.605,1.589,1.589,1.589,1.588,1.584,1.58,1.578,1.573,1.573,1.573,1.567,1.567,1.567,1.565,1.563,1.563,1.559,1.559,1.555,1.549,1.548,1.548,1.545,1.541,1.541,1.541,1.54,0.153,0.153,0.15,0.15,0.153,0.152,0.154,0.154,0.153,0.153,0.159,1.544,1.544,1.546,1.546,1.546,1.546,1.546,0.174,0.162,0.16,0.16,0.162,0.163,0.172,1.535,1.535,1.535,1.535,1.534,1.534,1.535,1.541,1.542,2.952,2.955,2.959,2.959,2.959,2.964,2.97,2.97,2.964,2.971,2.972,2.977,2.977,2.98,2.98,2.983,2.985,2.988,2.994,2.997,2.998,3.005,3.013,3.019,3.019,3.029,3.03,3.031,3.041,3.043,3.043,3.06,3.061,3.066,3.069,3.071,3.077,3.081,3.088,3.089,3.096,3.105,3.111,3.112,3.123,3.138,3.142,3.155,3.157,3.167,3.168,3.174,3.179,3.191,3.191,3.219,3.223,3.232,3.247,3.251,3.256,3.266,3.271,3.279,3.291,3.297,3.312,3.321,3.327,3.342,3.351,3.362,3.376,3.385,3.4,3.41,3.425,3.43,3.444,3.459,3.481,3.482,3.5,3.518,3.523,3.536,3.547,3.568,3.573,3.6,3.619,3.62,3.636,3.65,3.679,3.701,3.712,3.723,3.745,3.763,3.792,3.801,3.83,3.837,3.89,3.897,3.917,3.946,3.96,3.991,4.018,4.037,4.052,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.26,3.248,3.225,3.221,3.207,3.181,3.175,3.165,3.148,3.144,3.123,3.117,3.095,3.092,3.071,3.068,3.055,3.038,3.026,3.026,3.019,3.013,2.994,2.985,2.972,2.961,2.958,2.94,2.935,2.929,2.917,2.913,2.908,2.901,2.894,2.894,2.881,2.859,2.848,2.847,2.832,2.831,2.821,2.818,2.816,2.802,2.793,2.786,2.777,2.772,2.771,2.766,2.766,2.766,2.755,2.753,2.744,2.734,2.731,2.719,2.717,2.713,2.708,2.706,2.701,2.701,2.699,2.696,2.687,2.687,2.683,2.682,2.682,2.682,2.673,2.666,2.662,2.657,2.656,2.653,2.649,2.648,2.643,2.642,2.639,2.637,2.637,2.635,2.629,2.625,2.625,2.625,2.625,2.625,2.625,2.624,2.622,2.624,2.624,2.624,2.625,2.625,2.622,2.622,2.623,2.623,2.624,2.624,2.624,2.626,2.626,2.624,2.632,2.634,2.634,2.636,2.636,2.636,2.636,2.641,2.641,2.641,2.641,2.647,2.651,2.651,2.651,2.651,2.645,2.645,2.645,2.652,2.649,2.652,2.652,2.654,2.669,2.677,2.677,2.677,2.684,2.692,2.695,2.701,2.702,2.706,2.708,2.708,2.719,0.007,2.723,2.719,2.723,2.723,2.725,2.728,2.733,2.733,2.739,2.751,2.751,2.752,2.761,3.268,3.279,3.283,3.305,3.308,3.314,3.322,3.324,3.329,3.334,3.351,3.364,3.367,3.372,3.388,3.394,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.743,3.743,3.766,3.766,3.774,3.78,3.78,3.791,3.803,3.803,3.815,3.823,3.827,3.856,3.859,3.873,3.885,3.916,3.916,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.93,0.926,0.923,0.923,0.923,0.921,0.921,0.675,0.672,0.668,0.662,0.662,0.662,0.662,0.662,0.662,0.662,0.661,0.662,0.662,0.663,0.665,0.667,0.667,0.671,0.673,0.674,0.674,0.68,0.68,0.68,0.682,0.682,0.682,0.685,0.685,0.685,0.688,0.688,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.094,4.093,4.082,4.078,4.072,4.07,4.07,4.07,4.064,4.055,4.055,4.055,4.045,4.045,4.042,4.03,4.03,4.03,4.021,4.021,4.021,4.026,4.026,4.028,4.028,4.027,4.027,4.027,4.026,4.026,4.026,4.031,4.033,4.033,4.034,4.035,4.034,4.032,4.034,4.037,4.037,4.037,4.044,4.048,4.048,4.051,4.053,4.053,4.058,4.059,4.064,4.07,0,0,0,4.095,4.095,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.29} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.101229}
SEN {Time 76.2888} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 3.3274} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 0.6858} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.381} {Name Sonar9 Range 4.8514} {Name Sonar10 Range 4.5466} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.2954} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6162}
SEN {Time 76.3305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.189,0.189,0.214,1.67,0,0.007,1.67,1.647,1.643,1.636,1.633,1.627,1.62,1.617,1.616,1.612,1.61,1.606,1.603,1.594,1.594,1.594,1.591,1.589,1.586,1.584,1.581,1.579,1.579,1.579,1.572,1.565,1.568,1.568,1.568,1.568,1.568,1.567,1.566,1.561,1.56,1.551,1.551,1.551,1.551,1.551,1.548,1.548,1.546,1.546,1.544,1.544,1.544,1.544,0.154,0.153,0.153,0.153,0.153,0.153,0.157,0.157,0.157,0.159,0.164,1.555,1.555,1.558,1.555,1.555,1.558,1.558,1.506,0.174,0.166,0.161,0.161,0.161,0.161,2.958,2.966,2.966,2.966,2.966,2.967,2.967,2.971,2.971,2.978,2.982,2.984,2.987,2.993,2.989,2.993,2.998,3.006,3.009,3.012,3.017,3.02,3.026,3.026,3.036,3.036,3.041,3.043,3.051,3.052,3.061,3.062,3.066,3.073,3.081,3.083,3.092,3.093,3.097,3.109,3.115,3.121,3.131,3.136,3.142,3.153,3.155,3.155,3.169,3.171,3.179,3.192,3.203,3.204,3.211,3.223,3.239,3.241,3.251,3.264,3.267,3.278,3.284,3.289,3.314,3.32,3.341,3.345,3.348,3.368,3.383,3.387,3.408,3.417,3.422,3.423,3.449,3.456,3.466,3.476,3.491,3.502,3.53,3.538,3.545,3.574,3.575,3.594,3.612,3.617,3.64,3.659,3.686,3.697,3.697,3.732,3.744,3.764,3.778,3.806,3.813,3.833,3.854,3.873,3.894,3.909,3.946,3.96,4.016,4.059,4.085,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.238,3.231,3.214,3.201,3.18,3.169,3.163,3.145,3.139,3.114,3.1,3.093,3.085,3.077,3.053,3.052,3.046,3.033,3.015,3.014,3.001,2.997,2.987,2.972,2.962,2.96,2.937,2.936,2.932,2.913,2.908,2.907,2.897,2.886,2.873,2.87,2.859,2.853,2.852,2.832,2.831,2.827,2.82,2.805,2.804,2.796,2.792,2.776,2.775,2.771,2.771,2.771,2.766,2.766,2.761,2.737,2.733,2.726,2.716,2.715,2.714,2.707,2.703,2.7,2.698,2.691,2.69,2.683,2.682,2.682,2.675,2.674,2.671,2.664,2.66,2.659,2.656,2.654,2.653,2.652,2.644,2.641,2.638,2.638,2.634,2.631,2.63,2.63,2.63,2.63,2.63,2.628,2.625,2.624,2.623,2.62,2.621,2.621,2.621,2.617,2.621,2.617,2.617,2.626,2.626,2.621,2.627,2.627,2.628,2.628,2.63,2.63,2.629,2.629,2.631,2.632,2.633,2.634,2.635,2.641,2.641,2.642,2.642,2.642,2.637,2.637,2.637,2.637,2.639,2.643,2.643,2.647,2.651,2.655,2.661,2.67,2.676,2.673,2.676,2.677,2.679,2.683,2.689,2.701,2.711,2.711,2.71,2.71,2.71,2.71,2.714,2.716,2.716,2.725,2.727,2.729,2.739,2.739,2.744,2.745,2.883,3.257,3.278,3.281,3.291,3.306,3.309,3.313,3.314,3.321,3.327,3.346,3.353,3.359,3.361,3.378,3.382,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.009,0.009,0.009,0.006,3.77,3.757,3.757,3.77,3.771,3.778,3.779,3.793,3.798,3.821,3.824,3.831,3.846,3.85,3.859,3.879,3.879,3.879,0.894,0.894,0.889,0.894,0.896,0.897,0.897,0.898,0.898,0.89,0.886,0.885,0.725,0.689,0.643,0.64,0.64,0.64,0.64,0.64,0.645,0.646,0.646,0.646,0.651,0.646,0.646,0.646,0.646,0.646,0.649,0.649,0.654,0.657,0.662,0.677,0.68,0.682,0.682,0.686,0.689,0.693,0.695,0.711,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.084,4.073,4.073,4.069,4.067,4.056,4.05,4.048,4.044,4.044,4.039,4.044,0.007,4.037,4.035,4.035,4.035,4.028,4.023,4.021,4.017,4.016,4.017,4.016,4.016,4.014,4.016,4.016,4.017,4.02,4.02,4.02,4.02,4.02,4.019,4.019,4.022,4.022,4.022,4.024,4.03,4.034,4.039,4.039,4.052,4.049,4.049,4.05,4.051,4.051,4.069,0,0,0,4.089,4.086,4.086,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.48} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,-0.045379}
SEN {Time 76.4838} {Type Sonar} {Name Sonar0 Range 2.1844} {Name Sonar1 Range 3.3274} {Name Sonar2 Range 0.508} {Name Sonar3 Range 0.6858} {Name Sonar4 Range 2.0574} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.381} {Name Sonar9 Range 4.8514} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.2954} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.2672} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6162}
SEN {Time 76.5305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.187,0.187,0.219,0.219,0.219,1.636,1.637,1.637,1.636,1.616,1.614,1.613,1.613,1.608,1.607,1.599,1.589,1.588,1.587,1.587,1.587,1.585,1.585,1.579,1.578,1.574,1.578,1.574,1.571,1.571,1.569,1.566,1.566,1.563,1.563,1.563,1.563,1.563,1.561,1.558,1.558,1.558,1.553,1.553,1.563,1.552,1.55,1.552,1.556,1.552,1.55,1.549,1.548,1.548,1.542,1.541,0.156,0.151,0.147,0.147,0.147,0.147,0.148,0.155,0.161,0.162,0.177,1.561,1.563,1.572,1.572,0,0.006,0.006,0.006,0.166,0.166,0.165,0.163,0.165,2.993,2.993,2.993,2.993,2.993,3,3.003,3.003,3.007,3.007,3.01,3.022,3.022,3.03,3.033,3.034,3.051,3.058,3.058,3.058,3.064,3.079,3.08,3.086,3.086,3.087,3.089,3.095,3.095,3.109,3.111,3.12,3.125,3.129,3.136,3.146,3.149,3.162,3.162,3.171,3.18,3.18,3.185,3.206,3.212,3.212,3.221,3.226,3.235,3.248,3.25,3.272,3.281,3.29,3.292,3.313,3.315,3.335,3.341,3.356,3.363,3.381,3.391,3.403,3.41,3.427,3.433,3.44,3.459,3.469,3.475,3.502,3.504,3.521,3.546,3.551,3.57,3.571,3.595,3.605,3.622,3.638,3.652,3.684,3.688,3.709,3.734,3.749,3.765,3.779,3.797,3.82,3.841,3.871,3.879,3.911,3.929,3.938,3.972,3.992,4.013,4.04,4.063,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.241,3.234,3.217,3.216,3.194,3.185,3.164,3.161,3.141,3.129,3.114,3.1,3.092,3.084,3.066,3.059,3.051,3.041,3.032,3.022,3,2.993,2.988,2.978,2.961,2.956,2.953,2.946,2.93,2.928,2.915,2.91,2.906,2.9,2.893,2.882,2.872,2.863,2.859,2.839,2.839,2.835,2.827,2.826,2.812,2.803,2.8,2.796,2.789,2.77,2.77,2.77,2.771,2.771,2.771,2.745,2.741,2.739,2.732,2.72,2.72,2.717,2.715,2.712,2.708,2.703,2.703,2.703,2.687,2.683,2.68,2.677,2.67,2.67,2.666,2.663,2.664,2.655,2.654,2.654,2.651,2.644,2.637,2.637,2.638,2.639,2.639,2.639,2.639,2.634,2.634,2.63,2.632,2.63,2.629,2.626,2.622,2.622,2.626,2.624,2.624,2.624,2.624,2.624,2.628,2.628,2.628,2.626,2.626,2.625,2.626,2.627,2.628,2.63,2.63,2.628,2.631,2.627,2.627,2.634,2.642,2.642,2.645,2.644,2.644,2.644,2.645,2.645,2.651,2.651,2.656,2.651,2.656,2.656,2.657,2.659,2.668,2.675,2.676,2.684,2.687,2.69,2.692,2.694,2.704,2.704,2.704,2.711,2.712,2.713,2.714,2.714,2.717,2.718,2.726,2.73,2.734,2.739,2.745,2.746,2.753,3.282,3.29,3.292,3.292,3.294,3.299,3.316,3.321,3.324,3.329,3.337,3.349,3.353,3.363,3.372,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.738,3.738,3.738,3.761,3.773,3.774,3.773,3.773,0.822,0.813,0.813,0.813,0.812,0.812,0.815,0.817,0.817,0.817,0.756,0.658,0.654,0.643,0.634,0.623,0.6,0.596,0.593,0.592,0.592,0.592,0.592,0.596,0.6,0.604,0.605,0.605,0.606,0.618,0.618,0.618,0.613,0.613,0.613,0.614,0.616,0.621,0.622,0.624,0.624,0.627,0.643,0.644,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,4.089,4.089,4.087,4.083,4.083,4.083,4.079,4.079,4.07,4.055,4.055,4.051,4.05,4.05,4.048,4.05,4.05,4.05,0.007,4.03,4.028,4.028,4.028,4.021,4.007,4.007,4.013,4.013,4.013,4.014,4.013,4.012,4.012,4.014,4.014,4.016,4.016,4.014,4.016,4.016,4.016,4.018,4.019,4.021,4.025,4.025,4.026,4.033,4.037,4.041,4.041,4.041,4.041,4.044,4.044,4.045,4.065,0,0,0,4.079,4.078,4.078,4.079,4.089,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.76} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,0.031416}
SEN {Time 76.7567} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.3274} {Name Sonar2 Range 0.508} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 1.8288} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.8514} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 4.2672} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.3114}
SEN {Time 76.8305} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.181,0.181,0.19,0.19,0.226,1.606,0.007,1.612,1.606,1.595,1.595,1.59,1.593,1.588,1.585,1.584,1.584,1.583,1.583,1.578,1.578,1.574,1.576,1.574,1.574,1.572,1.568,1.565,1.565,1.565,1.559,1.559,1.564,1.559,1.559,1.564,1.56,1.56,1.56,1.56,1.56,1.56,1.56,1.56,1.561,1.56,1.557,1.557,1.567,1.561,1.561,1.562,1.561,1.561,1.558,1.558,0.153,0.144,0.144,0.144,0.144,0.144,0.146,0.153,0.153,0.159,0.159,3.005,3.006,3.009,3.009,3.009,3.024,0.007,0.17,0.158,0.163,0.158,0.155,0.158,0.163,3.042,3.047,3.052,3.052,3.056,3.061,3.065,3.067,3.069,3.087,3.091,3.101,3.11,3.12,3.123,3.123,3.124,3.134,3.142,3.15,3.153,3.159,0.007,3.189,3.189,3.195,3.195,3.197,3.206,3.218,3.229,3.229,3.237,3.243,3.258,3.263,3.275,3.275,3.289,3.301,3.319,3.322,3.325,3.333,3.349,3.364,3.371,3.387,3.388,3.404,3.408,3.425,3.439,3.452,3.469,3.476,3.496,3.508,3.509,3.532,3.544,3.558,3.577,3.593,3.602,3.629,3.651,3.661,3.668,3.69,3.703,3.717,3.749,3.752,3.769,3.777,3.817,3.831,3.835,3.866,3.877,3.901,3.939,3.956,3.975,4.007,4.033,4.041,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.277,3.253,3.243,3.217,3.212,3.202,3.182,3.159,3.147,3.139,3.132,3.112,3.109,3.097,3.074,3.067,3.061,3.047,3.043,3.042,3.025,3.01,3.002,2.987,2.973,2.97,2.964,2.955,2.955,2.937,2.932,2.92,2.914,2.911,2.897,2.889,2.884,2.876,2.862,2.857,2.855,2.85,2.842,2.837,2.821,2.82,2.818,2.814,2.814,2.791,2.79,2.788,2.788,2.779,2.775,2.775,2.753,2.751,2.745,2.738,2.737,2.729,2.727,2.724,2.719,2.717,2.714,2.705,2.704,2.701,2.69,2.69,2.686,2.676,2.676,2.669,2.664,2.657,2.657,2.657,2.651,2.65,2.65,2.645,2.642,2.642,2.642,2.642,2.63,2.628,2.628,2.628,2.626,2.624,2.624,2.624,2.624,2.625,2.626,2.625,2.627,2.627,2.627,2.623,2.634,2.634,2.634,2.623,2.634,2.621,2.621,2.623,2.623,2.623,2.627,2.628,2.63,2.632,2.632,2.632,2.632,2.633,2.641,2.642,2.642,2.642,2.646,2.646,2.645,2.645,2.645,2.643,2.643,2.643,2.657,2.657,2.672,2.672,2.667,2.667,2.677,2.677,2.687,2.692,2.692,2.696,2.696,2.704,2.709,2.709,2.706,2.706,2.706,2.706,2.718,2.719,2.722,2.724,2.724,2.744,2.744,2.745,2.753,3.267,3.273,3.274,3.281,3.311,3.311,3.313,3.313,3.316,3.332,3.339,3.345,3.354,3.37,3.388,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.605,0.602,0.601,0.601,0.601,0.603,0.604,0.606,0.615,0.638,0.712,3.083,0.007,3.083,2.994,2.994,2.994,3.714,3.72,3.72,3.72,3.721,3.743,3.751,3.752,3.756,3.761,3.773,3.786,3.793,3.814,3.815,3.815,3.815,0.588,0.58,0.575,0.564,0.516,0.513,0.508,0.507,0.507,0.507,0.507,0.51,0.514,0.513,0.513,0.522,0.522,0.522,0.527,0.527,0.527,0.534,0.541,0.543,0.543,0.548,0.558,0.558,0.561,0.561,0.558,0.558,0.558,0.558,0.563,0.573,0.588,0.63,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,4.088,4.075,4.072,4.071,4.068,4.066,4.062,4.06,4.05,4.049,4.045,4.038,4.032,4.031,4.032,4.031,4.031,0.007,4.023,4.019,4.019,4.012,4.006,4.006,4.002,4.002,4.003,4.005,4.005,4.005,4.011,4.011,4.001,4.001,4.005,4,4.005,4.005,4.005,4.005,4.009,4.01,4.012,4.012,4.009,4.012,4.013,4.02,4.032,4.032,4.032,4.032,4.032,4.037,4.04,4.043,0,0,0,4.074,4.067,4.067,4.074,4.078,4.084,4.084,4.09,4.095,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,1.553,1.553,1.55,1.545,0.99,0.99,0.99,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.98} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 76.9846} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 0.6858} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.445} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.81} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.3114}
SEN {Time 77.0304} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.183,0.181,0.181,0.183,0.192,0.226,1.599,0.007,1.607,1.602,1.602,1.593,1.589,1.589,1.589,1.586,1.586,1.582,1.582,1.574,1.582,1.58,1.58,1.579,1.579,1.567,1.565,1.567,1.563,1.562,1.562,1.562,1.562,1.562,1.558,1.558,1.562,1.562,1.562,1.562,1.562,1.559,1.559,1.562,1.559,1.565,1.566,1.565,1.566,1.566,1.566,1.564,1.564,1.56,1.56,1.558,1.558,0.152,0.143,0.142,0.142,0.142,0.142,0.148,0.156,0.156,0.158,0.158,3.016,3.021,3.031,3.031,3.021,3.021,0.17,0.161,0.161,0.161,0.161,0.154,0.161,0.162,3.043,3.045,3.049,3.049,3.063,3.069,3.07,3.07,3.077,3.084,3.092,3.094,3.116,3.119,3.12,3.122,3.132,3.143,3.144,3.145,3.155,3.16,3.172,3.175,3.186,3.189,3.198,3.203,3.216,3.221,3.221,3.234,3.247,3.255,3.267,3.268,3.275,3.276,3.308,3.309,3.313,3.322,3.342,3.348,3.359,3.365,3.369,3.394,3.401,3.401,3.415,3.434,3.444,3.447,3.475,3.48,3.502,3.513,3.516,3.542,3.554,3.563,3.581,3.608,3.614,3.639,3.644,3.665,3.679,3.698,3.717,3.727,3.749,3.767,3.779,3.797,3.82,3.841,3.856,3.873,3.896,3.924,3.956,3.972,3.983,4.015,4.05,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.338,3.305,3.304,3.276,3.264,3.24,3.234,3.22,3.199,3.198,3.171,3.158,3.148,3.134,3.131,3.109,3.108,3.092,3.068,3.066,3.064,3.05,3.047,3.021,3.019,3.013,2.998,2.978,2.978,2.964,2.957,2.95,2.94,2.935,2.922,2.92,2.913,2.898,2.893,2.887,2.881,2.874,2.864,2.855,2.851,2.846,2.832,2.831,2.822,2.813,2.81,2.808,2.795,2.792,2.786,2.786,2.786,2.81,2.81,2.81,2.758,2.757,2.751,2.746,2.739,2.729,2.718,2.715,2.707,2.707,2.706,2.706,2.697,2.688,2.686,2.684,2.68,2.668,2.668,2.668,2.662,2.661,2.66,2.653,2.65,2.647,2.649,2.647,2.643,2.639,2.636,2.636,2.633,2.633,2.634,2.632,2.632,2.629,2.629,2.625,2.625,2.625,2.625,2.625,2.626,2.626,2.628,2.628,2.628,2.628,2.625,2.618,2.62,2.625,2.625,2.63,2.63,2.631,2.63,2.631,2.631,2.631,2.637,2.637,2.637,2.637,2.638,2.641,2.641,2.641,2.641,2.643,2.64,2.643,2.643,2.643,2.643,2.647,2.647,2.664,2.666,2.666,2.666,2.666,2.666,2.683,2.692,2.695,2.695,2.695,2.698,2.699,2.699,2.711,2.711,2.711,2.71,2.71,2.71,2.713,2.716,2.73,2.73,2.741,2.741,2.743,2.744,3.258,3.273,3.274,3.281,3.299,3.3,3.3,3.299,0.56,0.529,0.526,0.522,0.522,0.521,0.52,0.52,0.518,0.518,0.515,0.514,0.514,0.514,0.51,0.51,0.508,0.508,0.508,0.508,0.508,0.512,0.508,0.508,0.512,0.512,0.515,0.518,0.523,0.523,0.518,0.513,0.513,0.513,0.517,0.517,0.517,0.517,0.527,0.53,0.533,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.727,3.716,3.726,3.726,3.726,3.726,3.739,3.744,3.753,3.758,3.769,3.769,3.769,0.557,0.548,0.537,0.536,0.528,0.524,0.487,0.484,0.483,0.483,0.48,0.478,0.476,0.476,0.476,0.477,0.479,0.483,0.483,0.49,0.492,0.494,0.495,0.504,0.513,0.513,0.526,0.527,0.527,0.528,0.529,0.529,0.529,0.529,0.53,0.537,0.541,0.542,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.088,4.081,4.076,4.076,4.072,4.072,4.063,4.053,4.053,4.052,4.045,4.042,4.038,4.035,4.035,4.029,4.035,0.007,4.027,4.026,4.026,4.026,4.026,4.024,4.024,4.014,4.013,4.011,4.011,4.01,4.006,4.006,4.006,4.006,4.006,4.006,4.006,4.007,4.007,4.007,4.006,4.01,4.01,4.013,4.021,4.021,4.021,4.029,4.034,4.034,4.034,4.031,4.031,4.031,4.039,4.041,4.062,0,0,0,4.072,4.072,4.072,4.082,4.082,4.087,4.088,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,1.585,1.554,1.542,1.542,1.542,0.016,0.016,0,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.19} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 77.1867} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 0.6858} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.445} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.81} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 2.3114}
SEN {Time 77.2265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.191,0.191,0.224,0.224,0.224,1.598,0.007,1.602,1.598,1.592,1.592,1.591,1.589,1.589,1.587,1.585,1.581,1.58,1.579,1.579,1.578,1.574,1.574,1.574,1.568,1.567,1.567,1.565,1.565,1.565,1.565,1.563,1.563,1.563,1.562,1.563,1.563,1.554,1.554,1.562,1.562,1.562,1.562,1.558,1.558,1.558,1.559,1.562,1.562,1.561,1.561,1.561,1.561,1.561,1.561,1.56,0.154,0.153,0.149,0.143,0.143,0.149,0.153,0.154,0.154,0.154,0.156,3.002,3.017,3.028,3.028,3.017,3.028,0.007,0.167,0.156,0.159,0.159,0.153,0.159,0.165,3.045,3.049,3.054,3.054,3.072,3.074,3.077,3.077,3.084,3.091,3.091,3.097,3.108,3.113,3.116,3.118,3.132,3.137,3.139,3.146,3.159,3.162,3.172,3.175,3.18,3.188,3.199,3.205,3.216,3.218,3.236,3.243,3.248,3.251,3.26,3.265,3.276,3.287,3.296,3.307,3.313,3.324,3.339,3.344,3.346,3.368,3.381,3.385,3.403,3.405,3.415,3.432,3.441,3.454,3.478,3.486,3.507,3.515,3.522,3.538,3.554,3.57,3.588,3.589,3.618,3.631,3.656,3.673,3.676,3.693,3.723,3.726,3.749,3.761,3.771,3.798,3.811,3.834,3.869,3.885,3.902,3.923,3.95,3.969,3.986,4.011,4.032,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.329,3.32,3.298,3.273,3.265,3.253,3.235,3.23,3.205,3.197,3.172,3.161,3.154,3.133,3.121,3.101,3.099,3.089,3.069,3.061,3.055,3.048,3.036,3.025,3.024,3.01,2.998,2.991,2.975,2.974,2.965,2.955,2.936,2.932,2.928,2.921,2.908,2.9,2.891,2.89,2.877,2.877,2.859,2.858,2.856,2.847,2.847,2.847,2.83,2.825,2.811,2.804,2.801,2.795,2.794,2.794,2.795,2.78,2.78,2.767,2.755,2.745,2.744,2.731,2.729,2.725,2.719,2.718,2.71,2.709,2.704,2.7,2.698,2.693,2.686,2.683,2.674,2.671,2.67,2.666,2.665,2.662,2.661,2.66,2.656,2.648,2.645,2.644,2.642,2.642,2.642,2.642,2.636,2.635,2.63,2.63,2.63,2.627,2.626,2.622,2.622,2.627,2.631,2.631,2.631,2.631,2.629,2.628,2.628,2.63,2.624,2.624,2.623,2.623,2.623,2.626,2.631,2.631,2.632,2.633,2.634,2.634,2.637,2.637,2.637,2.639,2.641,2.642,2.642,2.642,2.647,2.651,2.651,2.646,2.65,2.648,2.648,2.65,2.661,2.661,2.664,2.669,2.672,2.672,2.677,2.682,2.693,2.696,2.7,2.7,2.701,2.712,2.716,2.721,2.721,2.716,2.716,0.501,0.501,0.485,0.489,0.485,0.484,0.485,0.484,0.473,0.48,0.473,0.473,0.477,0.48,0.48,0.483,0.485,0.485,0.485,0.487,0.487,0.491,0.494,0.495,0.495,0.498,0.498,0.5,0.498,0.5,0.501,0.5,0.501,0.501,0.5,0.5,0.5,0.5,0.507,0.508,0.512,0.514,0.516,0.52,0.522,0.525,0.525,0.524,0.524,0.528,0.528,0.561,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.075,2.989,2.989,2.989,3.715,3.716,3.716,3.715,0.583,0.544,0.533,0.531,0.531,0.53,0.528,0.514,0.512,0.48,0.471,0.465,0.465,0.471,0.465,0.47,0.471,0.475,0.476,0.479,0.481,0.487,0.489,0.496,0.496,0.502,0.512,0.515,0.519,0.519,0.52,0.522,0.522,0.524,0.529,0.53,0.531,0.535,0.538,0.54,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.094,4.091,4.09,4.082,4.076,4.069,4.065,4.062,4.061,4.059,4.042,4.042,4.039,4.036,4.032,4.039,4.03,4.03,0.007,4.027,4.025,4.027,4.027,4.028,4.028,4.028,4.007,4.004,4.004,4.004,4.008,4.008,4.008,4.007,4.007,4.007,4.007,4.007,4.007,4.007,4.007,4.006,4.009,4.009,4.015,4.017,4.017,4.017,4.018,4.021,4.025,4.028,4.028,4.028,4.036,4.039,4.045,4.056,0,0,0,4.081,4.081,4.081,4.084,4.088,4.092,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.58,1.562,1.55,1.55,1.545,1.55,1.534,0.016,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.38} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 77.3796} {Type Sonar} {Name Sonar0 Range 0.4318} {Name Sonar1 Range 0.4826} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.445} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.81} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 2.2098}
SEN {Time 77.4265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.187,0.187,0.188,0.188,0.222,1.595,0.007,0,0.007,1.603,1.598,1.591,1.591,1.591,1.591,1.591,1.58,1.58,1.579,1.579,1.572,1.568,1.568,1.568,1.568,1.567,1.568,1.567,1.565,1.565,1.567,1.563,1.563,1.566,1.562,1.562,1.562,1.562,1.557,1.562,1.562,1.564,1.564,1.564,1.564,1.564,1.563,1.563,1.563,1.563,1.563,1.561,1.559,1.559,1.559,1.557,0.158,0.153,0.151,0.151,0.151,0.152,0.152,0.152,0.153,0.156,0.156,3.01,3.023,3.026,3.026,3.023,3.023,0.174,0.167,0.162,0.162,0.162,0.162,0.162,0.163,3.045,3.045,3.046,3.046,3.055,3.066,3.071,3.076,3.084,3.084,3.092,3.104,3.106,3.117,3.117,3.12,3.127,3.139,3.14,3.146,3.155,3.161,3.175,3.178,3.181,3.187,3.197,3.201,3.209,3.216,3.227,3.236,3.248,3.253,3.27,3.271,3.283,3.285,3.299,3.306,3.318,3.322,3.342,3.346,3.352,3.363,3.371,3.391,3.4,3.419,3.427,3.434,3.454,3.46,3.47,3.481,3.506,3.511,3.525,3.541,3.554,3.568,3.595,3.595,3.615,3.638,3.652,3.673,3.676,3.687,3.721,3.732,3.74,3.767,3.777,3.795,3.831,3.836,3.848,3.885,3.889,3.922,3.937,3.973,3.994,4.025,4.048,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.325,3.31,3.29,3.286,3.263,3.249,3.234,3.228,3.196,3.189,3.165,3.159,3.156,3.136,3.13,3.109,3.099,3.095,3.069,3.065,3.056,3.054,3.036,3.027,3.023,3.01,2.994,2.983,2.982,2.976,2.957,2.955,2.938,2.932,2.921,2.914,2.913,2.893,2.89,2.89,2.883,2.864,2.86,2.854,2.853,2.847,2.836,2.836,2.825,2.821,2.816,2.816,2.797,2.786,2.785,2.786,2.786,2.775,2.77,2.768,2.756,2.749,2.749,2.733,2.729,2.722,2.716,2.715,2.713,2.712,2.706,2.702,2.695,2.695,2.683,2.683,2.677,2.675,2.675,2.674,2.671,2.669,2.659,2.653,2.65,2.646,2.646,2.645,2.64,2.64,2.639,2.639,2.639,2.639,2.631,2.631,2.63,2.63,2.63,2.625,2.625,2.632,2.641,2.637,2.637,2.637,2.629,2.629,2.629,2.627,2.627,2.627,2.627,2.627,2.627,2.627,2.638,2.638,2.629,2.638,2.637,2.637,2.637,2.637,2.637,2.639,2.64,2.641,2.641,2.645,2.648,2.648,2.639,0.438,0.433,0.428,0.427,0.427,0.425,0.422,0.425,0.424,0.421,0.424,0.426,0.426,0.44,0.446,0.446,0.446,0.446,0.446,0.444,0.446,0.444,0.443,0.443,0.443,0.443,0.443,0.443,0.44,0.44,0.444,0.449,0.449,0.449,0.455,0.456,0.456,0.456,0.458,0.458,0.458,0.464,0.465,0.468,0.472,0.473,0.473,0.474,0.474,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.424,0.418,0.413,0.41,0.41,0.408,0.408,0.408,0.408,0.408,0.412,0.415,0.415,0.417,0.417,0.42,0.422,0.43,0.441,0.448,0.466,0.466,0.468,0.468,0.468,0.468,0.468,0.472,0.472,0.472,0.475,0.478,0.479,0.479,0.482,0.492,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.095,4.092,4.08,4.076,4.069,4.076,4.061,4.06,4.06,4.055,4.047,4.039,4.037,4.037,4.035,4.037,4.037,4.037,0.007,4.028,4.018,4.025,4.025,4.028,4.025,4.025,4.007,4.007,4.007,4.007,4.008,4.008,4.008,4.006,4.006,4.005,4.005,4.005,4.009,4.003,4.006,4.006,4.006,4.006,4.008,4.013,4.015,4.02,4.023,4.025,4.034,4.034,4.034,4.034,4.034,4.036,4.05,4.056,0,0,0,4.072,4.072,4.072,4.076,4.085,4.089,4.095,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,1.591,1.584,1.565,1.56,1.56,1.56,0.016,0.016,0,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.58} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 77.5816} {Type Sonar} {Name Sonar0 Range 0.4318} {Name Sonar1 Range 0.4826} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.2672} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 2.2098}
SEN {Time 77.6265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.185,0.184,0.184,0.195,0.195,0.222,1.593,1.607,1.607,1.599,1.599,1.597,1.594,1.594,1.59,1.587,1.587,1.587,1.582,1.576,1.574,1.574,1.573,1.573,1.568,1.561,1.561,1.561,1.561,1.561,1.561,1.561,1.558,1.561,1.558,1.558,1.558,1.558,1.558,1.557,1.557,1.558,1.56,1.561,1.561,1.561,1.561,1.561,1.56,1.561,1.563,1.561,1.561,1.561,1.561,1.561,1.557,0.153,0.153,0.148,0.149,0.149,0.153,0.155,0.155,0.155,0.159,0.159,3.022,3.022,3.025,3.025,3.022,3.017,0.175,0.163,0.163,0.163,0.163,0.16,0.169,0.172,3.045,3.046,3.051,3.051,3.051,3.06,3.068,3.071,3.082,3.088,3.092,3.102,3.105,3.12,3.121,3.123,3.124,3.135,3.136,3.143,3.16,3.172,3.176,3.176,3.185,3.186,3.192,3.2,3.209,3.217,3.232,3.238,3.242,3.253,3.265,3.265,3.269,3.293,3.297,3.304,3.314,3.32,3.337,3.341,3.348,3.368,3.37,3.388,3.399,3.403,3.427,3.428,3.456,3.457,3.464,3.488,3.498,3.511,3.52,3.536,3.564,3.564,3.593,3.595,3.613,3.638,3.638,3.678,3.69,3.697,3.714,3.731,3.742,3.754,3.793,3.796,3.809,3.847,3.847,3.878,3.894,3.922,3.942,3.981,3.993,4.013,4.039,4.05,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.333,3.313,3.286,3.275,3.264,3.241,3.232,3.215,3.209,3.193,3.167,3.165,3.154,3.134,3.128,3.109,3.093,3.087,3.069,3.067,3.058,3.056,3.039,3.027,3.013,3.01,3.003,2.993,2.975,2.969,2.965,2.955,2.952,2.935,2.922,2.918,2.908,2.894,2.884,2.883,2.882,2.874,2.868,2.85,2.85,2.846,2.839,2.836,2.827,2.82,2.816,2.807,2.795,2.79,2.789,2.789,2.789,2.775,2.771,2.762,2.753,2.749,2.734,2.733,2.733,2.732,2.72,2.718,2.716,2.707,2.707,2.706,2.702,2.694,2.689,2.686,2.684,2.68,2.669,2.668,2.668,2.667,2.666,2.656,2.655,2.646,2.646,2.646,2.646,2.643,2.641,2.638,2.638,2.636,2.635,2.635,2.629,2.628,2.628,2.627,2.626,2.625,2.625,2.626,2.631,2.631,2.631,2.624,2.624,2.624,2.624,2.628,2.63,2.63,2.63,2.628,0.416,0.416,0.413,0.415,0.415,0.421,0.421,0.424,0.424,0.424,0.432,0.432,0.433,0.433,0.433,0.437,0.441,0.441,0.437,0.439,0.439,0.438,0.438,0.438,0.435,0.435,0.433,0.433,0.437,0.443,0.449,0.449,0.449,0.451,0.449,0.452,0.446,0.452,0.453,0.46,0.466,0.466,0.468,0.469,0.472,0.472,0.474,2.746,2.746,2.749,2.749,3.261,3.277,3.279,3.284,3.287,3.289,3.31,3.313,3.327,3.33,3.334,3.354,3.359,3.37,3.376,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.373,0.369,0.363,0.363,0.361,0.357,0.35,0.35,0.344,0.342,0.342,0.34,0.337,0.33,0.325,0.325,0.325,0.327,0.327,0.329,0.329,0.329,0.326,0.323,0.323,0.321,0.323,0.323,0.323,0.318,0.316,0.316,0.316,0.316,0.317,0.322,0.325,0.327,0.327,0.327,0.328,0.329,0.337,0.337,0.337,0.337,0.337,0.341,0.347,0.35,0.379,0.385,0.393,0.397,0.406,0.412,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,4.095,4.094,4.087,4.087,4.079,4.078,4.076,4.063,4.061,4.059,4.052,4.05,4.041,4.039,4.037,4.037,4.037,4.037,4.037,0.007,4.033,4.018,4.024,4.024,4.024,4.024,4.024,4.019,4.012,4.009,4.01,4.01,4.01,4.009,4.008,4.008,4.008,4.005,4.005,4.005,4.005,4.007,4.011,4.015,4.015,4.016,4.016,4.021,4.024,4.031,4.024,4.033,4.033,4.033,4.033,4.035,4.038,4.041,4.042,0,0,0,4.078,4.078,4.078,4.08,4.084,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0.007,0,0,0,1.606,1.583,1.566,1.552,1.552,1.552,0.016,0.016,0,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.78} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 77.7845} {Type Sonar} {Name Sonar0 Range 0.4318} {Name Sonar1 Range 0.4826} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.2672} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.2098}
SEN {Time 77.8265} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.183,0.18,0.18,0.186,0.186,0.231,1.598,1.599,1.599,1.598,1.595,1.592,1.588,1.588,1.588,1.588,1.587,1.58,1.58,1.578,1.578,1.576,1.575,1.573,1.572,1.57,1.567,1.567,1.567,1.567,1.564,1.564,1.564,1.563,1.56,1.557,1.557,1.557,1.557,1.558,1.56,1.565,1.56,1.56,1.563,1.561,1.559,1.559,1.559,1.559,1.559,1.56,1.562,1.562,1.563,1.56,1.557,0.153,0.146,0.146,0.146,0.146,0.15,0.157,0.159,0.159,0.159,0.159,3.016,3.025,3.025,3.025,3.022,3.022,0.174,0.16,0.158,0.158,0.158,0.158,0.162,0.164,3.045,3.045,3.048,3.048,3.054,3.063,3.065,3.075,3.078,3.088,3.094,3.098,3.101,3.11,3.114,3.125,3.128,3.14,3.146,3.146,3.154,3.157,3.171,3.18,3.184,3.188,3.19,3.202,3.215,3.216,3.232,3.232,3.244,3.253,3.254,3.263,3.276,3.289,3.306,3.314,3.317,3.324,3.348,3.35,3.352,3.356,3.378,3.396,3.397,3.409,3.422,3.436,3.451,3.457,3.483,3.487,3.499,3.511,3.527,3.546,3.561,3.566,3.593,3.594,3.614,3.628,3.654,3.668,3.684,3.693,3.72,3.726,3.749,3.761,3.777,3.802,3.823,3.838,3.849,3.879,3.885,3.918,3.948,3.974,3.993,4.018,4.056,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,3.324,3.308,3.305,3.274,3.263,3.249,3.231,3.222,3.199,3.187,3.178,3.156,3.149,3.132,3.119,3.11,3.094,3.093,3.071,3.067,3.047,3.045,3.035,3.025,3.02,3.009,2.988,2.986,2.978,2.974,2.967,2.952,2.945,2.934,2.925,2.92,2.906,2.896,2.891,2.886,2.87,2.866,2.86,2.851,2.847,2.839,2.839,2.836,2.821,2.814,2.808,2.8,2.796,2.788,2.779,2.779,2.779,2.777,2.777,2.773,2.75,2.748,2.747,2.744,2.726,2.725,2.722,2.715,2.71,2.709,2.707,2.706,2.695,2.695,2.69,2.681,2.678,2.677,2.67,2.665,2.665,2.663,2.662,2.657,2.657,2.648,2.648,2.648,2.645,2.641,2.641,2.64,2.638,2.638,2.628,2.632,2.632,2.628,2.632,2.632,2.632,2.632,2.633,2.632,2.632,2.633,2.633,2.628,2.628,0.413,0.407,0.405,0.403,0.396,0.396,0.396,0.403,0.408,0.41,0.417,0.417,0.418,0.423,0.423,0.423,0.423,0.422,0.422,0.422,0.424,0.424,0.429,0.424,0.424,0.424,0.422,0.422,0.425,0.425,0.432,0.433,0.435,0.437,0.44,0.445,0.445,0.445,0.445,0.451,0.451,0.452,0.461,0.462,0.462,0.465,0.472,2.707,2.718,2.719,2.719,2.719,2.722,2.73,2.74,2.74,2.745,2.745,3.261,3.261,3.261,0.416,0.416,0.414,0.414,0.393,0.392,0.389,0.389,0.389,0.389,0.388,0.387,0.373,0.364,0.364,0.363,0.361,0.361,0.361,0.358,0.356,0.356,0.358,0.356,0.351,0.349,0.346,0.346,0.346,0.346,0.348,0.348,0.348,0.348,0.347,0.343,0.341,0.341,0.338,0.335,0.335,0.33,0.329,0.329,0.329,0.329,0.329,0.332,0.333,0.333,0.334,0.334,0.337,0.341,0.341,0.344,0.364,0.381,0.434,0.443,0.453,0.455,2.975,2.975,3.723,3.723,3.723,3.728,3.728,3.735,3.738,3.752,3.754,3.757,3.768,3.769,3.787,3.795,3.813,3.816,3.832,3.832,3.848,3.853,3.888,3.892,3.896,3.915,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,4.094,4.083,4.081,4.075,4.075,4.074,4.069,4.067,4.06,4.044,4.044,4.042,4.039,4.034,4.034,4.032,4.032,0.007,4.034,4.02,4.023,4.023,4.023,4.023,4.023,4.017,4.01,4.008,4.008,4.006,4.004,4.004,4,4,4,4,4.002,4.005,4.005,4.005,4.005,4.01,4.013,4.013,4.011,4.013,4.015,4.019,4.038,4.039,4.039,4.038,4.036,4.036,4.036,4.044,4.046,0,0,0,4.073,4.073,4.072,4.073,4.076,4.091,4.091,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,1.62,1.583,1.558,1.555,1.555,1.543,1.543,1.538,0.016,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.98} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 77.9779} {Type Sonar} {Name Sonar0 Range 0.4064} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.2672} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.2098}
SEN {Time 78.0226} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.179,0.179,0.18,0.18,0.18,0.184,0.184,0.233,1.597,1.613,1.613,1.597,1.596,1.59,1.589,1.588,1.588,1.587,1.588,1.585,1.578,1.578,1.578,1.578,1.57,1.57,1.57,1.565,1.565,1.569,1.565,1.569,1.569,1.567,1.562,1.562,1.562,1.561,1.562,1.561,1.561,1.561,1.566,1.56,1.56,1.557,1.56,1.56,1.564,1.564,1.565,1.565,1.562,1.562,1.562,1.561,1.561,1.559,1.558,0.154,0.153,0.148,0.148,0.148,0.153,0.153,0.153,0.155,0.158,0.158,3.015,3.019,3.019,3.019,3.019,3.025,0.007,0.17,0.162,0.163,0.162,0.159,0.162,0.163,3.043,3.043,3.045,3.045,3.06,3.063,3.069,3.071,3.074,3.087,3.095,3.1,3.113,3.113,3.118,3.124,3.127,3.139,3.143,3.148,3.163,3.165,3.175,3.178,3.185,3.189,3.195,3.199,3.211,3.216,3.233,3.236,3.249,3.252,3.265,3.267,3.275,3.285,3.301,3.305,3.318,3.318,3.337,3.348,3.349,3.354,3.381,3.391,3.401,3.413,3.424,3.434,3.438,3.459,3.475,3.483,3.499,3.526,3.531,3.544,3.562,3.575,3.579,3.603,3.622,3.627,3.65,3.667,3.68,3.701,3.716,3.724,3.748,3.757,3.774,3.804,3.812,3.85,3.856,3.876,3.899,3.918,3.933,3.982,3.996,4.03,4.046,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.345,3.315,3.298,3.278,3.266,3.234,3.228,3.22,3.202,3.196,3.18,3.163,3.157,3.129,3.112,3.108,3.106,3.092,3.067,3.06,3.051,3.046,3.044,3.023,3.023,3.015,2.996,2.986,2.978,2.964,2.962,2.95,2.945,2.928,2.923,2.915,2.909,2.898,2.888,2.88,2.879,2.871,2.864,2.858,2.844,2.84,2.839,2.837,2.827,2.815,2.813,2.811,2.792,2.789,2.778,2.778,2.778,2.777,2.771,2.769,2.754,2.753,2.749,2.741,2.733,2.732,2.72,2.714,2.71,2.703,2.703,2.697,2.694,2.69,2.69,2.689,2.685,2.682,2.678,2.671,2.666,2.664,2.661,2.661,2.651,2.65,2.647,2.646,2.646,2.646,2.642,2.634,2.63,2.63,2.63,2.63,2.63,2.628,2.627,2.628,2.624,2.624,2.629,2.634,2.634,2.634,0.407,0.396,0.393,0.393,0.393,0.393,0.392,0.392,0.392,0.393,0.397,0.404,0.408,0.412,0.412,0.412,0.413,0.416,0.42,0.423,0.423,0.42,0.423,0.416,0.416,0.416,0.418,0.418,0.42,0.427,0.427,0.434,0.435,0.438,0.438,0.438,0.438,0.438,0.438,0.442,0.453,0.457,0.458,0.463,0.468,0.471,2.714,2.718,2.718,2.714,2.714,2.714,2.714,2.719,2.723,2.723,2.732,2.745,2.745,2.746,2.746,0.458,0.458,0.461,0.458,0.461,0.461,0.458,0.443,0.435,0.433,0.427,0.417,0.417,0.409,0.408,0.403,0.403,0.403,0.407,0.407,0.407,0.407,0.407,0.406,0.404,0.406,0.404,0.403,0.4,0.399,0.391,0.389,0.381,0.378,0.376,0.368,0.365,0.365,0.368,0.363,0.368,0.369,0.369,0.369,0.371,0.38,0.383,0.417,0.458,0.459,0.464,0.464,0.48,0,0,0,0,0,0,0,0,0,0,0,0.007,3.032,3.032,3.713,3.713,3.717,3.737,3.737,3.738,3.741,3.748,3.756,3.76,3.766,3.783,3.789,3.805,3.808,3.809,3.833,3.838,3.845,3.861,3.867,3.911,3.912,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.094,4.094,4.083,4.078,4.071,4.065,4.065,4.062,4.06,4.053,4.051,4.042,4.042,4.04,4.039,4.042,4.035,4.035,0.007,4.026,4.015,4.02,4.02,4.02,4.02,4.02,4.011,4.01,4.01,4.01,4.011,4.01,4.01,4.01,4.006,4,4,4,4.006,4.005,4.009,4.009,4.01,4.01,4.014,4.014,4.014,4.015,4.029,4.036,4.036,4.036,4.036,4.036,4.037,4.046,4.053,4.056,0,0,0,4.07,4.07,4.07,4.074,4.081,4.091,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,1.588,1.556,1.553,1.553,1.548,1.548,1.535,0.016,0.007,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 78.18} {Type Odometry} {Name Odometry} {Pose 0.001741,0.996858,0.043633}
SEN {Time 78.1785} {Type Sonar} {Name Sonar0 Range 0.4064} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.445} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2672} {Name Sonar15 Range 2.2098}
SEN {Time 78.2225} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.194,0.188,0.232,0.232,0.232,1.6,0.007,1.6,1.6,1.593,1.591,1.591,1.591,1.587,1.587,1.587,1.587,1.579,1.576,1.576,1.572,1.572,1.571,1.57,1.569,1.562,1.569,1.563,1.563,1.563,1.567,1.565,1.565,1.565,1.56,1.56,1.56,1.558,1.56,1.563,1.563,1.56,1.56,1.555,1.555,1.555,1.559,1.56,1.56,1.56,1.56,1.563,1.564,1.568,1.564,1.564,0.155,0.149,0.149,0.146,0.146,0.146,0.153,0.153,0.156,0.16,0.162,3.005,3.023,3.023,3.023,3.023,3.023,0.17,0.164,0.164,0.164,0.162,0.16,0.162,0.162,3.042,3.044,3.049,3.049,3.055,3.061,3.076,3.077,3.084,3.091,3.098,3.103,3.11,3.12,3.12,3.122,3.122,3.142,3.144,3.144,3.155,3.161,3.174,3.175,3.18,3.184,3.193,3.194,3.21,3.22,3.222,3.242,3.245,3.257,3.266,3.27,3.274,3.283,3.295,3.299,3.319,3.323,3.334,3.341,3.352,3.368,3.369,3.392,3.397,3.405,3.418,3.429,3.444,3.454,3.475,3.477,3.501,3.518,3.529,3.534,3.55,3.574,3.589,3.591,3.616,3.633,3.658,3.673,3.679,3.697,3.717,3.717,3.742,3.768,3.784,3.791,3.814,3.834,3.86,3.88,3.903,3.912,3.941,3.972,3.984,4.02,4.037,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.334,3.31,3.298,3.274,3.269,3.237,3.235,3.215,3.204,3.185,3.181,3.159,3.145,3.138,3.131,3.103,3.101,3.092,3.066,3.061,3.054,3.047,3.034,3.025,3.012,3.005,2.992,2.989,2.977,2.966,2.958,2.953,2.943,2.929,2.922,2.922,2.909,2.898,2.886,2.881,2.878,2.869,2.861,2.855,2.85,2.846,2.843,2.826,2.824,2.816,2.811,2.804,2.794,2.783,2.782,2.782,2.782,2.77,2.769,2.768,2.758,2.755,2.754,2.74,2.738,2.725,2.721,2.711,2.709,2.707,2.705,2.705,2.695,2.693,2.686,2.679,2.677,2.676,2.672,2.67,2.669,2.659,2.659,2.649,2.649,2.643,2.643,2.643,2.643,2.643,2.639,2.637,2.636,2.635,2.633,2.632,2.63,2.627,2.624,2.624,2.621,2.621,2.621,2.621,2.621,0.403,0.4,0.398,0.398,0.398,0.399,0.4,0.4,0.401,0.402,0.402,0.407,0.408,0.416,0.418,0.42,0.421,0.421,0.422,0.428,0.422,0.427,0.426,0.427,0.426,0.426,0.426,0.432,0.426,0.432,0.433,0.436,0.436,0.437,0.437,0.441,0.442,0.443,0.444,0.446,0.446,0.457,0.459,0.463,0.464,0.464,0.464,2.715,0.007,2.715,2.711,2.711,2.711,2.716,2.72,2.72,2.736,2.737,2.742,2.742,2.742,0.485,0.482,0.478,0.478,0.473,0.47,0.459,0.443,0.436,0.434,0.43,0.428,0.42,0.417,0.417,0.418,0.417,0.417,0.417,0.415,0.415,0.415,0.417,0.415,0.413,0.41,0.407,0.403,0.399,0.391,0.39,0.381,0.381,0.379,0.374,0.379,0.376,0.376,0.379,0.383,0.383,0.384,0.389,0.413,0.475,0.477,0.477,0.48,0.486,0.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.038,3.038,3.724,3.721,3.724,3.724,3.724,3.733,3.734,3.748,3.748,3.771,3.773,3.782,3.786,3.797,3.818,3.821,3.837,3.841,3.858,3.86,3.86,3.884,3.89,3.904,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,4.087,4.081,4.079,4.079,4.073,4.069,4.062,4.061,4.051,4.047,4.044,4.043,4.041,4.035,4.041,4.035,4.035,0.007,4.024,4.022,4.022,4.022,4.022,4.018,4.018,4.011,4.005,4.005,4.005,4.005,4.003,4.003,3.999,3.999,3.999,3.999,4.01,4.011,4.011,4.007,4.01,4.008,4.008,4.01,4.017,4.018,4.02,4.03,4.034,4.034,4.034,4.034,4.034,4.032,4.037,4.046,4.061,0,0,0,4.066,4.066,4.066,4.085,4.086,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0,0.016,0.016,0.007,0,0,0,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,1.579,1.56,1.557,1.557,1.54,1.517,1,1,1,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.20} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,0.040143}
SEN {Time 81.2022} {Type Sonar} {Name Sonar0 Range 0.4064} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7112} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.6736} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.3208} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 81.2105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.187,0.187,0.189,0.189,0.234,1.616,0.007,1.616,1.614,1.596,1.593,1.586,1.586,1.587,1.587,1.587,1.587,1.582,1.58,1.58,1.58,1.573,1.573,1.573,1.57,1.567,1.567,1.567,1.567,1.566,1.566,1.558,1.558,1.558,1.558,1.561,1.562,1.562,1.561,1.558,1.558,1.558,1.558,1.558,1.565,1.562,1.562,1.563,1.563,1.563,1.563,1.563,1.563,1.563,1.563,1.563,0.161,0.153,0.147,0.15,0.15,0.15,0.158,0.158,0.158,0.161,0.161,3.021,3.021,3.022,3.022,3.022,3.041,0.007,0.171,0.163,0.157,0.157,0.156,0.156,0.158,3.05,3.05,3.05,3.05,3.056,3.062,3.063,3.071,3.084,3.088,3.09,3.1,3.11,3.115,3.117,3.121,3.131,3.141,3.142,3.149,3.159,3.162,3.173,3.176,3.191,3.202,3.204,3.208,3.215,3.226,3.228,3.237,3.243,3.257,3.264,3.267,3.267,3.28,3.294,3.306,3.319,3.323,3.338,3.347,3.364,3.365,3.372,3.389,3.406,3.408,3.42,3.438,3.446,3.457,3.475,3.482,3.489,3.511,3.515,3.545,3.558,3.563,3.589,3.595,3.606,3.627,3.647,3.663,3.667,3.681,3.725,3.726,3.733,3.762,3.783,3.8,3.806,3.831,3.859,3.874,3.889,3.926,3.939,3.954,3.98,4.014,4.029,4.053,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.345,3.318,3.297,3.283,3.264,3.254,3.241,3.223,3.216,3.197,3.17,3.168,3.154,3.14,3.134,3.12,3.101,3.09,3.068,3.065,3.063,3.053,3.035,3.035,3.022,3.005,3.004,2.982,2.982,2.971,2.961,2.959,2.938,2.932,2.931,2.921,2.915,2.902,2.892,2.889,2.877,2.869,2.866,2.853,2.851,2.847,2.846,2.83,2.824,2.822,2.803,2.798,2.794,2.788,2.784,2.777,2.777,2.777,2.777,2.777,2.753,2.746,2.745,2.739,2.734,2.727,2.722,2.717,2.714,2.713,2.707,2.706,2.689,2.688,2.687,2.683,2.681,2.677,2.674,2.669,2.667,2.661,2.658,2.656,2.655,2.649,2.647,2.647,2.646,2.641,2.641,2.639,2.633,2.633,2.633,2.632,2.627,2.624,2.622,2.622,2.622,2.625,2.626,2.626,2.626,2.627,2.627,2.63,2.63,2.63,2.619,0.393,0.393,0.392,0.392,0.393,0.393,0.393,0.394,0.395,0.399,0.399,0.403,0.403,0.403,0.405,0.414,0.415,0.416,0.416,0.416,0.417,0.416,0.416,0.416,0.416,0.416,0.416,0.416,0.415,0.415,0.42,0.421,0.422,0.425,0.431,0.433,0.433,0.433,0.433,0.433,0.437,0.437,0.442,0.449,0.449,0.454,0.455,0.462,2.721,2.722,2.748,2.745,2.735,2.735,2.745,2.745,3.26,3.27,3.274,3.293,3.294,3.294,3.294,0.473,0.47,0.466,0.464,0.46,0.45,0.45,0.44,0.425,0.422,0.416,0.415,0.414,0.413,0.413,0.413,0.413,0.417,0.417,0.415,0.415,0.415,0.41,0.41,0.407,0.41,0.407,0.404,0.394,0.386,0.38,0.377,0.377,0.38,0.379,0.379,0.38,0.379,0.379,0.38,0.385,0.388,0.409,0.455,0.468,0.47,0.483,0.485,0.496,0,0,0,0,0,0,0,0,0,0,2.975,2.975,3.708,3.714,3.714,3.716,3.727,3.731,3.744,3.75,3.762,3.768,3.78,3.786,3.797,3.8,3.814,3.823,3.833,3.84,3.858,3.874,3.878,3.892,3.897,3.921,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,4.095,4.091,4.087,4.081,4.07,4.069,4.068,4.067,4.064,4.052,4.052,4.051,4.043,4.039,4.035,4.039,4.039,0,0,0,4.034,4.021,4.018,4.018,4.007,4.008,4.008,4.008,4.006,4.008,4.013,4.013,4.013,4.013,4.011,4.011,4.011,4.009,4.011,4.009,4.009,4.008,4.012,4.012,4.012,4.012,4.015,4.016,4.018,4.027,4.027,4.031,4.031,4.031,4.037,4.039,4.045,4.06,0,0,0,4.078,4.078,4.078,4.078,4.08,4.084,4.091,4.094,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,0.016,0.016,0.016,0,0,0,0,0,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,1.583,1.568,1.557,1.557,1.552,1.557,0.016,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.37} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,0.006981}
SEN {Time 81.371} {Type Sonar} {Name Sonar0 Range 0.4064} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 1.3462} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 4.6736} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 81.4105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.18,0.18,0.191,0.191,0.229,1.607,1.621,1.621,1.607,1.597,1.593,1.591,1.593,1.591,1.591,1.582,1.584,1.582,1.582,1.58,1.579,1.571,1.571,1.571,1.571,1.571,1.571,1.568,1.565,1.564,1.564,1.561,1.56,1.559,1.558,1.558,1.559,1.559,1.559,1.559,1.559,1.559,1.559,1.563,1.559,1.559,1.559,1.558,1.555,1.553,1.553,1.553,1.553,1.554,1.554,1.553,0.151,0.15,0.147,0.145,0.145,0.147,0.154,0.161,0.161,0.164,0.007,3.003,2.999,3.003,3.003,2.999,2.994,0.17,0.167,0.167,0.167,0.163,0.157,0.163,0.163,3.029,3.031,3.033,3.033,3.035,3.041,3.052,3.052,3.052,3.057,3.063,3.069,3.076,3.086,3.092,3.092,3.109,3.11,3.111,3.114,3.122,3.132,3.142,3.142,3.149,3.152,3.159,3.163,3.173,3.178,3.192,3.194,3.203,3.217,3.231,3.232,3.233,3.246,3.259,3.261,3.268,3.269,3.295,3.296,3.308,3.315,3.329,3.334,3.348,3.363,3.364,3.373,3.389,3.389,3.41,3.423,3.445,3.46,3.461,3.48,3.487,3.498,3.516,3.521,3.546,3.566,3.575,3.585,3.605,3.616,3.633,3.649,3.659,3.676,3.702,3.703,3.728,3.746,3.765,3.78,3.786,3.813,3.846,3.854,3.867,3.894,3.928,3.95,3.964,3.99,4.022,4.053,4.062,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,3.329,3.311,3.296,3.276,3.263,3.242,3.234,3.209,3.205,3.183,3.164,3.158,3.155,3.135,3.131,3.11,3.1,3.089,3.08,3.076,3.055,3.045,3.037,3.024,3.022,3.014,3.005,2.987,2.976,2.969,2.964,2.957,2.947,2.943,2.927,2.916,2.914,2.906,2.9,2.884,2.882,2.876,2.87,2.864,2.855,2.837,2.837,2.827,2.825,2.815,2.812,2.806,2.782,2.781,2.777,2.777,2.777,2.777,2.776,2.776,2.757,2.738,2.738,2.737,2.737,2.734,2.725,2.719,2.713,2.71,2.705,2.699,2.697,2.695,2.677,2.677,2.671,2.67,2.669,2.669,2.665,2.665,2.665,2.652,2.652,2.652,2.645,2.642,2.64,2.638,2.638,2.635,2.628,2.627,2.627,2.628,2.631,2.632,2.632,2.632,2.632,2.631,2.626,2.631,2.631,2.631,2.626,2.626,2.626,2.626,2.63,2.63,2.63,0.397,0.389,0.389,0.389,0.389,0.389,0.389,0.392,0.395,0.395,0.396,0.398,0.409,0.411,0.411,0.413,0.413,0.413,0.412,0.412,0.412,0.413,0.416,0.417,0.417,0.416,0.411,0.411,0.411,0.418,0.42,0.423,0.423,0.423,0.432,0.433,0.433,0.433,0.433,0.433,0.436,0.441,0.447,0.447,0.447,0.451,0.457,0.457,0.46,2.732,2.742,2.742,2.742,2.757,3.285,0.006,0.007,3.303,3.303,3.307,3.303,3.303,0.486,0.478,0.471,0.47,0.47,0.454,0.45,0.444,0.438,0.434,0.429,0.423,0.418,0.415,0.415,0.415,0.415,0.415,0.415,0.413,0.413,0.412,0.411,0.41,0.41,0.409,0.409,0.409,0.405,0.397,0.393,0.38,0.38,0.38,0.378,0.373,0.371,0.371,0.369,0.369,0.371,0.377,0.377,0.398,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0.007,3.696,3.696,3.717,3.717,3.725,3.728,3.728,3.753,3.756,3.765,3.784,3.784,3.787,3.8,3.81,3.814,3.828,3.838,3.848,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0.016,0.016,0.016,4.092,4.092,4.086,4.081,4.073,4.073,4.071,4.07,4.07,4.057,4.053,4.051,4.047,4.044,4.044,4.044,4.035,4.035,0.007,4.02,4.02,4.02,4.019,4.008,4.008,4.008,4.017,4.017,4.019,4.017,4.013,4.013,4.014,4.013,4.013,4.013,4.008,4.008,4.013,4.014,4.015,4.02,4.015,4.02,4.02,4.021,4.021,4.024,4.025,4.042,4.044,0,4.052,4.052,4.052,4.052,4.052,0,0,0,4.095,4.09,4.09,4.091,4.093,4.093,0.016,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.56} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.047124}
SEN {Time 81.565} {Type Sonar} {Name Sonar0 Range 0.4064} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 5.1816} {Name Sonar10 Range 1.5748} {Name Sonar11 Range 1.27} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 4.2926} {Name Sonar15 Range 2.2098}
SEN {Time 81.6105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.192,0.188,0.188,0.194,0.194,0.226,1.631,1.631,1.631,1.621,1.619,1.619,1.606,1.606,1.606,1.6,1.593,1.593,1.588,1.588,1.587,1.587,1.587,1.581,1.581,1.575,1.575,1.575,1.575,1.571,1.575,1.571,1.569,1.569,1.569,1.561,1.557,1.561,1.557,1.555,1.555,1.557,1.555,1.557,1.557,1.557,1.554,1.554,1.546,1.552,1.55,1.547,1.548,1.548,1.548,1.547,1.546,0.153,0.15,0.149,0.149,0.149,0.15,0.15,0.157,0.159,0.167,0.167,1.553,0,0.007,0,0.007,2.988,0.175,0.163,0.161,0.16,0.16,0.156,0.16,0.164,2.994,2.999,2.999,2.997,2.999,3,3,3.008,3.009,3.015,3.025,3.026,3.032,3.035,3.04,3.041,3.043,3.056,3.062,3.064,3.071,3.075,3.083,3.084,3.092,3.093,3.099,3.103,3.115,3.116,3.122,3.134,3.136,3.138,3.156,3.158,3.161,3.177,3.177,3.179,3.189,3.193,3.201,3.202,3.224,3.23,3.235,3.25,3.255,3.265,3.273,3.278,3.283,3.295,3.312,3.319,3.33,3.347,3.359,3.36,3.376,3.385,3.4,3.402,3.434,3.434,3.45,3.466,3.478,3.48,3.511,3.511,3.535,3.538,3.553,3.568,3.584,3.586,3.595,3.621,3.639,3.646,3.671,3.695,3.707,3.737,3.75,3.752,3.784,3.792,3.818,3.839,3.849,3.884,3.9,3.917,3.936,3.963,3.988,4.021,4.022,4.056,4.087,0.016,0.016,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.317,3.297,3.282,3.265,3.258,3.241,3.225,3.224,3.211,3.195,3.174,3.165,3.153,3.134,3.124,3.107,3.104,3.098,3.098,3.07,3.069,3.057,3.031,3.028,3.01,3.005,2.985,2.98,2.976,2.975,2.967,2.966,2.944,2.942,2.927,2.915,2.912,2.902,2.895,2.887,2.883,2.865,2.864,2.854,2.848,2.836,2.833,2.83,2.83,2.813,2.805,2.801,2.788,2.785,2.776,2.772,2.772,2.772,2.772,2.772,2.74,2.74,2.739,2.732,2.728,2.724,2.724,2.715,2.708,2.708,2.703,2.703,2.7,2.691,2.688,2.683,2.672,2.669,2.666,2.666,2.663,2.658,2.651,2.651,2.65,2.65,2.644,2.644,2.642,2.641,2.641,2.641,2.64,2.638,2.636,2.632,2.635,2.632,2.631,2.628,2.627,2.627,2.627,2.622,2.624,2.624,2.624,2.625,2.628,2.628,2.628,2.63,2.632,2.632,2.632,0.39,0.388,0.388,0.388,0.392,0.394,0.396,0.396,0.399,0.399,0.399,0.402,0.405,0.41,0.41,0.414,0.414,0.414,0.416,0.416,0.415,0.415,0.415,0.415,0.415,0.42,0.42,0.42,0.418,0.418,0.418,0.418,0.418,0.422,0.427,0.43,0.432,0.437,0.437,0.438,0.439,0.443,0.443,0.443,0.446,0.446,0.446,0.448,0.461,2.749,2.749,2.761,2.761,3.269,3.274,3.281,3.289,3.3,3.309,3.315,3.315,3.315,0.474,0.473,0.473,0.472,0.47,0.455,0.455,0.454,0.452,0.442,0.431,0.429,0.421,0.42,0.421,0.413,0.413,0.421,0.421,0.421,0.421,0.421,0.421,0.421,0.418,0.417,0.413,0.41,0.406,0.405,0.397,0.397,0.388,0.372,0.37,0.37,0.372,0.374,0.377,0.377,0.377,0.377,0.383,0.406,0.009,0.009,0.009,0.007,0.009,0,0,0,0,0,0,0,0,2.989,2.989,2.989,3.716,3.719,3.731,3.731,3.741,3.752,3.761,3.77,3.776,3.786,3.795,3.802,3.812,3.823,3.83,3.847,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,4.095,4.094,4.093,4.086,4.093,4.093,4.069,4.066,4.064,4.063,4.063,4.058,4.05,4.049,4.049,4.049,4.049,0.007,4.034,4.029,4.029,4.029,4.025,4.021,4.021,4.021,4.021,4.021,4.019,4.019,4.021,4.019,4.019,4.017,4.017,4.017,4.021,4.021,4.025,4.025,4.028,4.028,4.028,4.028,4.028,4.029,4.029,4.043,4.043,4.043,4.043,4.043,4.048,4.05,4.051,4.052,0,0,0,4.089,4.089,4.089,4.09,4.09,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.77} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.108210}
SEN {Time 81.7699} {Type Sonar} {Name Sonar0 Range 0.381} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 1.8034} {Name Sonar5 Range 0.7366} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 5.1816} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6416}
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SEN {Time 81.96} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.165806}
SEN {Time 81.9639} {Type Sonar} {Name Sonar0 Range 0.381} {Name Sonar1 Range 0.381} {Name Sonar2 Range 2.5654} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4572} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 5.1816} {Name Sonar10 Range 4.191} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.27} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6416}
SEN {Time 82.0105} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.184,0.183,0.18,0.183,0.183,0.207,1.693,1.696,1.696,1.693,1.684,1.66,1.66,1.651,1.648,1.646,1.645,1.636,1.633,1.626,1.625,1.62,1.615,1.611,1.61,1.603,1.602,1.598,1.593,1.592,1.592,1.591,1.589,1.583,1.58,1.576,1.578,1.575,1.573,1.575,1.573,1.573,1.565,1.567,1.565,1.565,1.565,1.563,1.558,1.555,1.552,1.551,1.551,1.551,1.551,1.544,1.544,0.158,0.155,0.148,0.148,0.148,0.148,0.156,0.156,0.156,0.157,0.162,1.543,1.551,1.552,1.552,1.552,1.552,1.552,0.167,0.167,0.163,0.162,0.16,0.162,0.162,1.536,1.536,1.536,1.536,1.531,1.531,1.54,1.54,2.944,2.946,2.96,2.957,2.957,2.963,2.963,2.964,2.966,2.972,2.973,2.974,2.975,2.978,2.983,2.988,2.99,2.99,2.991,2.991,3.002,3.009,3.009,3.01,3.016,3.02,3.026,3.029,3.029,3.038,3.039,3.04,3.05,3.051,3.061,3.061,3.068,3.08,3.083,3.087,3.093,3.094,3.099,3.117,3.124,3.124,3.132,3.137,3.138,3.16,3.169,3.172,3.172,3.175,3.193,3.2,3.205,3.224,3.23,3.241,3.255,3.256,3.271,3.272,3.272,3.295,3.3,3.306,3.322,3.323,3.337,3.351,3.359,3.37,3.379,3.403,3.409,3.421,3.431,3.432,3.46,3.47,3.473,3.504,3.512,3.532,3.542,3.564,3.567,3.581,3.588,3.619,3.621,3.65,3.663,3.671,3.685,3.698,3.722,3.747,3.755,3.779,3.808,3.818,3.838,3.878,3.896,3.921,3.93,3.963,3.976,4.008,4.034,4.046,4.067,4.094,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.31,3.291,3.285,3.263,3.251,3.24,3.215,3.206,3.198,3.176,3.17,3.153,3.147,3.144,3.113,3.106,3.097,3.096,3.066,3.062,3.053,3.035,3.019,3.008,3.004,2.994,2.991,2.974,2.968,2.96,2.949,2.939,2.932,2.929,2.914,2.909,2.902,2.898,2.888,2.868,2.866,2.863,2.849,2.845,2.842,2.833,2.829,2.809,2.808,2.798,2.796,2.795,2.779,2.772,2.771,2.766,2.766,2.766,2.762,2.751,2.751,2.733,2.73,2.726,2.725,2.718,2.718,2.709,2.701,2.701,2.7,2.691,2.688,2.688,2.684,2.683,2.682,2.681,2.667,2.666,2.664,2.661,2.657,2.656,2.654,2.653,2.653,2.646,2.635,2.635,2.633,2.633,2.63,2.633,2.63,2.63,2.62,2.63,2.624,2.623,2.623,2.624,2.624,2.623,2.618,2.621,2.618,2.618,2.618,2.621,2.623,2.626,2.627,2.627,2.627,2.63,2.633,2.633,2.618,0.393,0.391,0.391,0.391,0.391,0.388,0.384,0.388,0.385,0.388,0.395,0.4,0.4,0.4,0.404,0.404,0.404,0.404,0.41,0.413,0.415,0.415,0.415,0.415,0.415,0.415,0.415,0.418,0.418,0.42,0.418,0.42,0.42,0.424,0.426,0.427,0.427,0.43,0.433,0.436,0.436,0.443,0.445,0.445,0.448,0.449,0.451,0.452,0.455,3.278,3.284,3.288,3.299,3.303,3.312,3.324,3.324,3.33,3.33,3.347,3.347,3.347,0.485,0.475,0.475,0.474,0.472,0.455,0.454,0.445,0.443,0.443,0.439,0.429,0.423,0.422,0.422,0.422,0.422,0.422,0.428,0.429,0.429,0.428,0.424,0.421,0.421,0.42,0.42,0.416,0.415,0.407,0.401,0.4,0.387,0.387,0.387,0.384,0.387,0.386,0.386,0.391,0.392,0.392,0.489,0.491,0.499,0.499,0.499,0.505,0,0,0,0,0,3.001,3.001,3.001,3.72,3.741,3.751,3.753,3.755,3.767,3.777,3.783,3.787,3.797,3.812,3.823,3.826,3.844,3.849,3.857,3.861,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.009,0.007,0.009,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.092,4.084,4.077,4.076,4.074,4.064,4.068,4.062,4.06,4.06,4.058,4.058,0.007,4.048,4.044,4.044,4.043,4.029,4.029,4.027,4.027,4.027,4.028,4.028,4.033,4.033,4.033,4.033,4.031,4.03,4.031,4.032,4.032,4.032,4.035,4.034,4.034,4.034,4.042,4.04,4.042,4.043,4.049,4.055,4.06,4.067,4.067,4.06,4.067,4.07,4.08,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 82.17} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.225147}
SEN {Time 82.1679} {Type Sonar} {Name Sonar0 Range 0.381} {Name Sonar1 Range 0.381} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 0.3556} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 5.8674} {Name Sonar11 Range 1.3208} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.572} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 2.6416}
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SEN {Time 82.36} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.282743}
SEN {Time 82.3618} {Type Sonar} {Name Sonar0 Range 0.381} {Name Sonar1 Range 0.381} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 1.778} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.032} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 5.8674} {Name Sonar11 Range 3.7592} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.572} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 5.7912}
SEN {Time 82.4065} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.189,0.189,0.179,0.181,0.189,0.192,0.199,1.778,1.778,1.778,1.778,1.776,1.772,1.742,1.735,1.727,1.726,1.713,1.712,1.711,1.698,1.688,1.686,1.683,1.678,1.669,1.665,1.663,1.658,1.652,1.65,1.641,1.64,1.636,1.634,1.629,1.624,1.615,1.614,1.611,1.604,1.604,1.604,1.601,1.599,1.598,1.587,1.586,1.586,1.585,1.573,1.571,1.569,1.568,1.569,1.569,1.569,1.568,0.153,0.149,0.149,0.149,0.149,0.149,0.154,0.154,0.163,0.163,0.163,1.549,1.549,1.551,1.549,1.551,1.539,1.5,0.169,0.168,0.16,0.16,0.16,0.164,0.167,1.52,1.523,1.523,1.523,1.523,1.524,1.524,1.524,1.526,1.526,1.523,1.523,1.523,1.522,1.52,1.52,1.519,1.522,1.525,1.525,1.525,1.525,1.535,1.525,1.527,1.527,1.535,1.535,2.929,2.937,2.941,2.941,2.943,2.943,2.947,2.947,2.95,2.95,2.957,2.957,2.962,2.962,2.969,2.969,2.971,2.973,2.975,2.983,2.985,2.991,2.991,2.996,3.001,3.006,3.009,3.013,3.026,3.029,3.035,3.036,3.044,3.044,3.045,3.063,3.065,3.067,3.076,3.087,3.088,3.092,3.104,3.106,3.113,3.12,3.123,3.126,3.139,3.146,3.149,3.157,3.164,3.177,3.184,3.196,3.201,3.218,3.219,3.225,3.232,3.242,3.252,3.267,3.274,3.276,3.278,3.304,3.307,3.326,3.329,3.347,3.354,3.367,3.373,3.379,3.393,3.409,3.414,3.438,3.456,3.459,3.474,3.492,3.498,3.527,3.536,3.554,3.557,3.578,3.597,3.615,3.628,3.647,3.664,3.669,3.69,3.721,3.738,3.748,3.774,3.775,3.802,3.823,3.848,3.858,3.886,3.911,3.946,3.961,3.993,4.008,4.042,4.095,0.016,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.314,3.293,3.276,3.253,3.242,3.233,3.206,3.198,3.183,3.174,3.147,3.132,3.126,3.114,3.103,3.094,3.091,3.069,3.068,3.045,3.029,3.026,3.015,3.012,2.993,2.988,2.974,2.966,2.965,2.946,2.937,2.931,2.926,2.91,2.905,2.898,2.89,2.885,2.867,2.86,2.86,2.858,2.853,2.837,2.827,2.814,2.812,2.804,2.803,2.795,2.794,2.789,2.776,2.773,2.77,2.762,2.762,2.762,2.762,2.749,2.741,2.739,2.726,2.726,2.725,2.72,2.707,2.706,2.704,2.704,2.694,2.689,2.687,2.684,2.678,2.677,2.672,2.672,2.67,2.657,2.654,2.652,2.65,2.65,2.65,2.646,2.642,2.638,2.638,2.639,2.639,2.638,2.635,2.627,2.627,2.62,2.62,2.617,2.617,2.616,2.617,2.612,2.62,2.62,2.62,2.62,2.62,2.62,2.624,2.621,2.626,2.629,2.629,2.63,2.63,2.626,2.626,2.629,2.629,2.632,2.639,2.639,2.639,0.401,0.395,0.394,0.392,0.391,0.39,0.387,0.387,0.387,0.391,0.392,0.398,0.402,0.405,0.412,0.412,0.412,0.415,0.415,0.415,0.416,0.416,0.416,0.416,0.416,0.42,0.42,0.42,0.42,0.421,0.427,0.427,0.428,0.428,0.43,0.433,0.434,0.438,0.438,0.442,0.442,0.446,0.448,0.459,0.459,0.459,0.46,0.46,3.297,3.315,3.316,3.325,3.329,3.33,3.347,3.347,3.355,3.375,3.391,3.391,3.391,0.492,0.48,0.48,0.475,0.475,0.471,0.464,0.455,0.448,0.446,0.44,0.438,0.434,0.432,0.432,0.432,0.432,0.432,0.433,0.433,0.433,0.433,0.433,0.432,0.429,0.426,0.424,0.423,0.416,0.415,0.413,0.408,0.399,0.399,0.396,0.394,0.393,0.393,0.393,0.393,0.399,0.405,0.427,0.477,0.497,0.503,0.508,2.998,3.009,0,0,3.745,3.746,3.751,3.751,3.751,3.76,3.768,3.785,3.787,3.796,3.804,3.808,3.818,3.834,3.835,3.844,3.889,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.092,4.086,4.085,4.083,4.078,4.077,4.074,4.074,4.074,0,0,0,4.058,4.058,4.05,4.038,4.035,4.035,4.035,4.035,4.035,4.039,4.039,4.039,4.04,4.041,4.044,4.042,4.042,4.044,4.044,4.046,4.047,4.048,4.048,4.055,4.057,4.058,4.061,4.061,4.064,4.079,4.079,4.079,4.079,4.08,4.081,4.086,4.089,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 82.57} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.345575}
SEN {Time 82.5658} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.4318} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 5.8674} {Name Sonar11 Range 3.7592} {Name Sonar12 Range 1.27} {Name Sonar13 Range 4.572} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 5.7912}
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SEN {Time 82.76} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.397935}
SEN {Time 82.7608} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 0.4318} {Name Sonar3 Range 2.54} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.8006} {Name Sonar11 Range 3.7592} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.3208} {Name Sonar14 Range 3.4798} {Name Sonar15 Range 5.7912}
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SEN {Time 82.96} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.460767}
SEN {Time 82.9637} {Type Sonar} {Name Sonar0 Range 2.2098} {Name Sonar1 Range 0.4064} {Name Sonar2 Range 0.4318} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 1.8034} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 0.4572} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 3.175} {Name Sonar10 Range 4.8006} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 1.27} {Name Sonar13 Range 1.3208} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 3.4798}
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SEN {Time 83.17} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.518363}
SEN {Time 83.1678} {Type Sonar} {Name Sonar0 Range 2.5146} {Name Sonar1 Range 0.381} {Name Sonar2 Range 0.4318} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 0.7112} {Name Sonar7 Range 0.4572} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.0066} {Name Sonar10 Range 4.8006} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.3208} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 3.4798}
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SEN {Time 83.36} {Type Odometry} {Name Odometry} {Pose 0.004183,0.996158,-0.577704}
SEN {Time 83.3627} {Type Sonar} {Name Sonar0 Range 2.5146} {Name Sonar1 Range 0.381} {Name Sonar2 Range 0.381} {Name Sonar3 Range 2.5654} {Name Sonar4 Range 2.032} {Name Sonar5 Range 2.3368} {Name Sonar6 Range 1.7526} {Name Sonar7 Range 0.4572} {Name Sonar8 Range 0.3556} {Name Sonar9 Range 2.0066} {Name Sonar10 Range 3.429} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 1.2954} {Name Sonar13 Range 1.27} {Name Sonar14 Range 5.4102} {Name Sonar15 Range 3.4798}