# UvA Rescue Team Logfile
#
# Created Date: 29-07-2010
# Created Time: 16:54
#
# Machine: U013153
#
# Original Filename: Logs\Hercules.log

NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 0}
SEN {Time 12.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 12.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 12.1629} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.8448} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 1.016}
SEN {Time 12.2184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.199,0.199,0.199,0,0,0,0,0,0,0,3.693,3.674,3.669,3.663,3.652,3.642,3.624,3.624,3.624,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.26,3.239,3.239,3.236,3.214,3.214,0,0,0,0,0,0,0,0,0,0,0,0.152,0.15,0.148,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.152,0.153,0.161,0,0,0,0,0,0,0,0.162,0.161,0.161,0.161,0.159,0.156,0.148,0.148,0.145,0.123,0.108,0.095,0.084,0.066,0.058,0.058,0.058,0.058,0.06,0.061,0.061,0.061,0.061,0.056,0.056,0.056,0.06,0.1,0.153,3.352,3.358,3.364,3.358,3.364,3.368,3.369,3.371,3.4,0.007,0,3.477,0,3.478,3.478,3.489,3.493,3.493,3.501,3.504,3.512,3.517,3.52,3.526,3.542,3.542,3.549,3.549,3.55,3.557,3.569,3.571,3.574,3.581,3.581,3.583,3.592,3.592,3.6,3.61,3.611,3.624,3.628,3.632,3.633,3.652,3.654,3.655,3.656,3.669,3.673,3.674,3.678,3.693,3.705,3.709,3.709,3.716,3.731,3.733,3.738,3.749,3.757,3.764,3.769,3.779,3.791,3.802,3.812,3.816,3.828,3.831,3.848,3.854,3.858,3.877,3.889,3.896,3.907,3.919,3.943,3.944,3.957,3.969,3.984,4.003,4.003,4.019,4.025,4.06,4.083,4.085,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,4.042,3.992,3.965,3.934,3.906,3.872,3.842,3.808,3.789,3.772,3.723,3.712,3.681,3.652,3.631,3.601,3.581,3.544,3.533,3.502,3.48,3.458,3.445,3.421,3.404,3.383,3.362,3.34,3.34,3.316,3.293,3.269,3.255,3.24,3.227,3.203,3.198,3.167,3.155,3.143,3.122,3.103,3.103,3.09,3.079,3.055,3.045,3.018,3.016,3.004,2.988,2.978,2.969,2.958,2.937,2.932,2.918,2.906,2.898,2.877,2.876,2.853,2.852,2.836,2.828,2.821,2.806,2.797,2.792,2.778,2.769,2.761,2.749,2.737,2.731,2.724,2.721,2.701,2.694,2.69,2.685,2.685,2.675,2.67,1.098,1.096,1.09,1.085,1.085,1.084,1.083,1.081,1.075,1.066,1.065,1.065,1.063,1.056,1.056,1.054,1.052,1.052,1.052,1.051,1.051,1.051,1.049,1.045,1.045,1.045,1.045,1.045,1.043,1.038,1.036,1.036,1.036,1.035,1.035,1.035,1.035,1.032,1.032,1.032,1.03,1.03,1.03,1.025,1.025,1.027,1.027,1.025,1.025,1.025,1.025,1.027,1.028,1.035,1.035,1.035,1.031,1.035,1.035,1.035,1.035,1.035,1.035,1.029,1.029,1.028,1.027,1.025,1.022,1.025,1.025,1.03,1.03,1.032,1.03,1.03,1.031,1.031,1.031,1.031,1.031,1.03,1.03,1.03,1.03,1.031,1.031,1.033,1.033,1.033,1.032,1.033,1.033,1.033,1.033,1.034,1.034,1.038,1.046,1.047,1.047,1.047,1.052,1.049,1.055,1.058,1.058,1.058,1.059,1.064,1.064,1.065,1.07,1.073,1.073,1.071,1.074,1.075,1.075,1.082,1.083,1.084,1.088,2.574,2.582,2.585,2.585,2.601,2.603,2.611,2.615,2.623,2.627,2.64,2.645,2.657,2.66,2.66,2.676,2.682,2.685,2.693,2.701,2.717,2.72,2.721,2.734,2.746,2.752,2.766,2.769,2.775,2.794,2.809,2.816,2.825,2.851,2.852,2.854,2.86,2.879,2.888,2.899,2.917,2.92,2.936,2.953,2.966,2.977,2.982,2.995,3.004,3.029,3.035,3.052,3.058,3.07,3.092,3.106,3.113,3.133,3.155,3.161,3.178,3.193,3.213,3.245,3.281,3.281,3.281,3.303,3.318,3.35,3.357,3.38,3.394,3.402,3.437,3.455,3.47,3.496,3.522,3.546,3.57,3.583,3.608,3.639,3.664,3.689,3.719,3.742,3.779,3.794,3.838,3.849,3.889,3.931,3.944,4.014,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.354,3.34,3.322,3.318,3.308,3.291,3.285,3.277,3.263,3.262,3.25,3.247,3.229,3.221,3.21,3.205,3.202,3.199,3.184,3.182,3.169,3.168,3.158,3.146,3.142,3.132,3.132,3.129,3.122,3.113,3.109,3.1,3.095,3.092,3.087,3.084,3.081,3.07,3.063,3.062,3.058,3.052,3.051,3.049,3.049,3.046,3.04,3.034,3.034,3.029,3.027,3.024,3.023,3.018,3.015,3.012,3.01,3.01,3.012,3.012,3.011,3.011,3.008,3.008,3.003,3.002,2.998,2.997,2.997,2.997,2.996,2.998,2.998,2.994,2.994,2.994,2.994,2.996,2.996,2.998,2.998,2.998,2.999,2.999,2.999,3,3,3,3.003,3.003,3.009,3.01,3.012,3.012,3.015,3.017,3.017,3.024,3.025,3.025,3.029,3.029,3.031,3.038,3.043,3.045,3.051,3.059,3.059,3.059,3.061,3.071,3.072,3.079,3.079,3.087,3.087,3.094,3.097,3.101,3.112,3.116,3.118,3.118,3.119,3.121,3.13,3.13,3.137,3.142,3.145,3.152,3.165,3.169,3.173,3.191,3.194,3.198,3.199,3.214,3.216,3.228,3.228,3.233,3.238,3.239,3.244,3.264,3.276,3.293,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 13.14} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 13.14} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 13.1437} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.016}
SEN {Time 13.2144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.18,0.189,0.189,0.189,0.196,0,0,0,0,0,0,0,3.701,3.681,3.671,3.666,3.657,3.64,3.629,3.629,3.629,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.24,3.239,3.239,3.228,3.217,3.217,3.411,3.411,0,0,0,0.007,0,0,0,0,0,0.151,0.149,0.148,0.148,0.148,0.146,0.146,0.146,0.144,0.144,0.153,0.158,0.162,0,0,0,0,0,0,0,0.167,0.164,0.155,0.155,0.163,0.153,0.153,0.153,0.151,0.123,0.107,0.084,0.06,0.06,0.057,0.057,0.057,0.06,0.06,0.06,0.062,0.06,0.06,0.059,0.059,0.059,0.064,0.088,0.169,3.345,3.36,3.361,3.361,3.37,3.379,3.398,3.414,3.414,3.414,3.461,3.461,3.462,3.462,3.462,3.489,3.491,3.505,3.51,3.514,3.514,3.524,3.535,3.538,3.543,3.543,3.546,3.546,3.554,3.554,3.56,3.564,3.568,3.578,3.586,3.589,3.593,3.593,3.597,3.608,3.609,3.612,3.63,3.634,3.641,3.643,3.652,3.662,3.664,3.668,3.672,3.677,3.692,3.694,3.697,3.703,3.709,3.718,3.718,3.727,3.744,3.746,3.758,3.766,3.772,3.779,3.785,3.797,3.808,3.82,3.833,3.844,3.846,3.853,3.868,3.882,3.887,3.894,3.914,3.922,3.938,3.939,3.954,3.96,3.986,3.994,4.002,4.015,4.042,4.048,4.076,4.093,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.007,3.996,3.927,3.898,3.865,3.836,3.816,3.794,3.749,3.738,3.721,3.68,3.648,3.64,3.601,3.577,3.553,3.52,3.517,3.487,3.468,3.446,3.414,3.403,3.38,3.367,3.343,3.335,3.312,3.301,3.275,3.265,3.246,3.228,3.194,3.188,3.18,3.158,3.147,3.13,3.107,3.103,3.081,3.078,3.058,3.032,3.021,3.018,3.011,2.983,2.98,2.962,2.957,2.944,2.93,2.922,2.898,2.897,2.874,2.871,2.853,2.853,2.834,2.829,2.817,2.808,2.8,2.785,2.778,2.764,2.753,2.753,2.743,2.738,2.732,2.709,2.708,2.703,2.698,2.685,2.685,2.67,2.662,1.101,1.101,1.088,1.086,1.086,1.084,1.082,1.076,1.074,1.074,1.072,1.068,1.062,1.062,1.058,1.058,1.053,1.053,1.049,1.049,1.046,1.046,1.045,1.045,1.043,1.043,1.042,1.042,1.042,1.042,1.037,1.037,1.034,1.034,1.034,1.035,1.034,1.033,1.033,1.033,1.032,1.026,1.026,1.032,1.024,1.021,1.024,1.021,1.021,1.025,1.032,1.032,1.032,1.032,1.032,1.028,1.028,1.032,1.033,1.035,1.036,1.036,1.036,1.034,1.033,1.031,1.026,1.025,1.025,1.025,1.028,1.033,1.033,1.035,1.033,1.027,1.027,1.028,1.028,1.03,1.03,1.028,1.03,1.03,1.029,1.029,1.03,1.032,1.032,1.033,1.033,1.033,1.038,1.038,1.038,1.04,1.042,1.042,1.046,1.047,1.047,1.047,1.047,1.047,1.052,1.053,1.053,1.054,1.054,1.054,1.059,1.061,1.068,1.073,1.073,1.073,1.073,1.075,1.073,1.076,1.082,1.085,1.088,2.577,2.579,2.582,2.582,2.607,2.608,2.612,2.612,2.613,2.632,2.636,2.647,2.647,2.661,2.671,2.675,2.689,2.689,2.692,2.696,2.711,2.722,2.728,2.738,2.743,2.759,2.769,2.769,2.778,2.79,2.807,2.819,2.822,2.851,2.857,2.858,2.873,2.877,2.887,2.901,2.908,2.917,2.941,2.945,2.974,2.978,2.98,3.007,3.01,3.019,3.043,3.049,3.063,3.08,3.092,3.106,3.119,3.136,3.161,3.166,3.183,3.194,3.21,3.226,3.256,3.276,3.283,3.299,3.308,3.336,3.356,3.372,3.404,3.418,3.434,3.455,3.47,3.5,3.52,3.536,3.564,3.595,3.618,3.641,3.659,3.685,3.717,3.742,3.783,3.795,3.828,3.865,3.888,3.918,3.947,3.983,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.347,3.337,3.323,3.319,3.307,3.288,3.279,3.275,3.267,3.266,3.249,3.237,3.236,3.217,3.214,3.205,3.202,3.2,3.185,3.184,3.163,3.162,3.158,3.154,3.145,3.133,3.127,3.125,3.125,3.124,3.111,3.099,3.098,3.093,3.089,3.085,3.083,3.081,3.072,3.062,3.058,3.055,3.046,3.044,3.043,3.042,3.036,3.029,3.026,3.026,3.025,3.023,3.023,3.023,3.019,3.015,3.012,3.012,3.015,3.012,3.012,3.018,3.012,3.006,3.005,3,3,3,2.995,2.994,2.994,2.994,2.994,2.994,2.991,2.994,2.994,2.994,2.994,2.996,2.995,2.995,2.995,2.996,2.996,2.998,2.999,3.001,3.001,3.001,3.006,3.008,3.008,3.008,3.009,3.015,3.017,3.022,3.022,3.026,3.031,3.033,3.037,3.041,3.041,3.042,3.051,3.053,3.054,3.056,3.064,3.073,3.073,3.079,3.08,3.086,3.09,3.09,3.098,3.098,3.117,3.117,3.118,3.118,3.12,3.122,3.127,3.128,3.131,3.137,3.145,3.147,3.155,3.157,3.166,3.188,3.191,3.195,3.198,3.218,3.22,3.222,3.23,3.231,3.235,3.246,3.265,3.268,3.275,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0}
SEN {Time 13.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 13.37} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 13.3717} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.794} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.016}
SEN {Time 13.4104} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.187,0.187,0.189,0,0,0,0,0,0,0,3.686,3.68,3.675,3.661,3.65,3.646,3.623,3.623,3.623,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.252,3.252,0.007,3.217,3.217,3.414,3.414,0,0,0,0.007,0,0,0,0,0,0.147,0.147,0.146,0.144,0.144,0.147,0.146,0.146,0.147,0.147,0.148,0.151,0.153,0.158,0,0,0,0,0,0,0,0.174,0.161,0.158,0.152,0.151,0.151,0.15,0.147,0.128,0.108,0.087,0.069,0.056,0.055,0.055,0.056,0.06,0.062,0.062,0.062,0.062,0.06,0.059,0.06,0.06,0.07,0.091,0.161,3.34,3.354,3.36,3.36,3.36,3.369,3.371,3.371,3.392,3.396,3.415,3.453,3.466,3.48,3.48,3.486,3.487,3.494,3.502,3.514,3.52,3.527,3.527,3.53,3.541,3.546,3.554,3.558,3.559,3.559,3.566,3.57,3.578,3.58,3.581,3.586,3.591,3.591,3.602,3.605,3.605,3.616,3.623,3.624,3.629,3.64,3.64,3.653,3.66,3.663,3.678,3.678,3.679,3.682,3.69,3.696,3.699,3.72,3.724,3.724,3.735,3.746,3.747,3.759,3.779,3.779,3.78,3.782,3.798,3.805,3.831,3.839,3.84,3.857,3.869,3.869,3.886,3.901,3.903,3.912,3.938,3.945,3.947,3.977,3.978,4.003,4.016,4.027,4.03,4.057,4.066,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.092,4.092,4.049,4.007,3.924,3.899,3.888,3.84,3.808,3.78,3.751,3.733,3.717,3.684,3.652,3.62,3.607,3.579,3.549,3.526,3.518,3.489,3.463,3.455,3.422,3.399,3.381,3.37,3.341,3.332,3.312,3.297,3.281,3.261,3.244,3.216,3.202,3.191,3.172,3.155,3.148,3.134,3.102,3.102,3.083,3.071,3.061,3.043,3.018,3.017,3.006,2.992,2.968,2.967,2.953,2.948,2.928,2.921,2.894,2.894,2.883,2.875,2.854,2.851,2.838,2.836,2.815,2.798,2.797,2.792,2.774,2.769,2.758,2.753,2.734,2.732,2.725,2.721,2.706,2.693,2.689,2.675,2.675,2.674,2.664,1.1,1.089,1.087,1.082,1.082,1.082,1.08,1.078,1.077,1.077,1.068,1.065,1.065,1.061,1.061,1.059,1.059,1.057,1.056,1.056,1.056,1.056,1.053,1.045,1.044,1.044,1.044,1.042,1.042,1.041,1.036,1.036,1.033,1.029,1.029,1.033,1.033,1.034,1.034,1.034,1.03,1.028,1.028,1.029,1.029,1.029,1.029,1.027,1.027,1.031,1.026,1.029,1.029,1.026,1.026,1.026,1.026,1.031,1.031,1.031,1.031,1.033,1.03,1.033,1.03,1.033,1.031,1.031,1.03,1.031,1.029,1.029,1.029,1.031,1.029,1.025,1.025,1.028,1.028,1.028,1.028,1.029,1.027,1.027,1.029,1.029,1.032,1.032,1.031,1.031,1.032,1.033,1.034,1.034,1.034,1.035,1.036,1.035,1.044,1.047,1.048,1.053,1.055,1.055,1.055,1.055,1.055,1.055,1.055,1.057,1.06,1.062,1.064,1.065,1.066,1.07,1.071,1.077,1.08,1.083,1.087,1.087,1.093,2.577,2.584,2.59,2.59,2.604,2.607,2.611,2.611,2.618,2.633,2.641,2.644,2.648,2.66,2.666,2.668,2.669,2.684,2.698,2.702,2.709,2.711,2.73,2.739,2.742,2.755,2.774,2.776,2.787,2.791,2.809,2.819,2.834,2.836,2.858,2.862,2.862,2.879,2.895,2.908,2.909,2.933,2.935,2.937,2.964,2.976,2.98,2.995,3.005,3.026,3.041,3.055,3.062,3.081,3.093,3.108,3.123,3.137,3.15,3.158,3.175,3.194,3.209,3.242,3.248,3.268,3.285,3.303,3.315,3.326,3.353,3.38,3.405,3.41,3.432,3.454,3.485,3.496,3.522,3.547,3.569,3.587,3.616,3.622,3.653,3.685,3.729,3.746,3.772,3.813,3.831,3.878,3.921,3.956,3.956,3.985,4.086,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.355,3.341,3.331,3.321,3.313,3.297,3.284,3.274,3.271,3.252,3.251,3.243,3.239,3.223,3.21,3.203,3.202,3.201,3.184,3.18,3.176,3.16,3.156,3.153,3.139,3.132,3.132,3.123,3.121,3.12,3.117,3.101,3.096,3.096,3.086,3.08,3.076,3.068,3.067,3.063,3.06,3.06,3.056,3.055,3.048,3.043,3.04,3.032,3.031,3.031,3.026,3.025,3.023,3.019,3.017,3.017,3.011,3.011,3.017,3.017,3.015,3.015,3.009,3,3,2.999,2.996,2.996,2.998,2.998,2.998,2.998,2.996,2.996,2.993,2.99,2.99,2.99,2.993,2.994,2.997,2.994,2.997,2.997,2.999,2.999,3.004,3.006,3.009,3.009,3.01,3.011,3.01,3.012,3.013,3.014,3.017,3.024,3.025,3.026,3.029,3.03,3.038,3.04,3.049,3.049,3.053,3.055,3.057,3.061,3.062,3.068,3.075,3.075,3.077,3.078,3.078,3.083,3.097,3.103,3.109,3.111,3.114,3.114,3.114,3.114,3.124,3.128,3.135,3.139,3.148,3.153,3.156,3.164,3.164,3.192,3.194,3.202,3.208,3.208,3.22,3.222,3.229,3.236,3.237,3.243,3.256,3.261,3.278,3.286,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 14.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 14.23} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 14.2255} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 1.016}
SEN {Time 14.3114} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.182,0.182,0.186,0,0,0,0,0,0,0,3.695,3.674,3.666,3.663,3.654,3.643,3.63,3.63,3.63,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.253,3.253,3.253,3.253,3.228,0,0,0,0,0,0,0.007,0,0,0,0,0,0.158,0.148,0.147,0.146,0.146,0.146,0.146,0.146,0.146,0.146,0.149,0.151,0.152,0,0,0,0,0,0,0,0,0.163,0.157,0.155,0.151,0.149,0.143,0.143,0.142,0.129,0.107,0.09,0.084,0.058,0.053,0.053,0.053,0.053,0.058,0.064,0.058,0.06,0.06,0.055,0.055,0.06,0.063,0.076,0.165,3.355,3.36,3.375,3.36,3.36,3.368,3.375,3.415,0,0.007,0,3.487,3.487,3.487,3.487,3.491,3.495,3.5,3.502,3.515,3.516,3.522,3.531,3.532,3.537,3.544,3.55,3.554,3.557,3.564,3.564,3.566,3.569,3.573,3.585,3.59,3.593,3.597,3.6,3.602,3.603,3.623,3.625,3.626,3.639,3.649,3.653,3.659,3.662,3.662,3.669,3.673,3.676,3.681,3.695,3.7,3.704,3.713,3.718,3.725,3.725,3.744,3.761,3.763,3.771,3.777,3.789,3.801,3.805,3.811,3.836,3.838,3.846,3.847,3.881,3.891,3.897,3.897,3.904,3.912,3.932,3.942,3.953,3.972,3.98,3.996,4.007,4.029,4.041,4.063,4.089,4.095,0.016,0.016,0.016,0.016,0.007,0,0.016,4.064,4.029,4.029,3.999,3.968,3.909,3.88,3.844,3.819,3.791,3.777,3.723,3.721,3.68,3.647,3.633,3.603,3.563,3.551,3.539,3.499,3.49,3.472,3.441,3.417,3.415,3.377,3.364,3.339,3.329,3.31,3.307,3.263,3.258,3.248,3.223,3.21,3.188,3.169,3.157,3.147,3.127,3.113,3.099,3.084,3.071,3.054,3.035,3.021,3.017,3.002,2.985,2.975,2.968,2.958,2.947,2.925,2.911,2.904,2.896,2.891,2.87,2.866,2.848,2.848,2.826,2.821,2.821,2.802,2.788,2.783,2.763,2.755,2.747,2.739,2.734,2.718,2.715,2.711,2.7,2.684,2.681,2.681,2.677,2.657,1.092,1.09,1.09,1.085,1.085,1.083,1.08,1.079,1.074,1.074,1.071,1.067,1.062,1.066,1.066,1.064,1.064,1.064,1.06,1.06,1.06,1.057,1.057,1.055,1.052,1.051,1.051,1.046,1.044,1.038,1.038,1.037,1.036,1.036,1.036,1.034,1.033,1.032,1.029,1.027,1.027,1.027,1.029,1.031,1.031,1.031,1.031,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.031,1.033,1.035,1.035,1.034,1.034,1.034,1.03,1.03,1.029,1.027,1.027,1.029,1.029,1.028,1.031,1.031,1.03,1.03,1.03,1.03,1.028,1.028,1.031,1.031,1.025,1.031,1.03,1.03,1.031,1.031,1.03,1.031,1.031,1.034,1.034,1.038,1.038,1.039,1.043,1.044,1.044,1.046,1.046,1.043,1.043,1.049,1.051,1.053,1.055,1.055,1.058,1.059,1.061,1.061,1.069,1.071,1.071,1.071,1.071,1.073,1.074,1.077,1.078,1.078,1.09,2.573,2.578,2.582,2.582,2.602,2.612,2.616,2.617,2.626,2.633,2.637,2.65,2.654,2.656,2.658,2.662,2.673,2.686,2.695,2.701,2.712,2.717,2.73,2.731,2.744,2.764,2.765,2.774,2.783,2.8,2.805,2.825,2.826,2.845,2.847,2.858,2.869,2.871,2.886,2.9,2.912,2.92,2.939,2.952,2.965,2.97,2.986,2.994,3.007,3.021,3.046,3.058,3.064,3.078,3.095,3.112,3.121,3.144,3.156,3.165,3.175,3.189,3.217,3.235,3.25,3.268,3.277,3.307,3.322,3.336,3.36,3.378,3.387,3.419,3.437,3.462,3.467,3.505,3.511,3.541,3.573,3.586,3.611,3.647,3.658,3.693,3.712,3.737,3.772,3.806,3.841,3.858,3.892,3.917,3.953,4.011,0.007,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.348,3.337,3.332,3.329,3.306,3.299,3.287,3.275,3.269,3.265,3.253,3.249,3.233,3.225,3.208,3.207,3.204,3.198,3.189,3.175,3.165,3.162,3.161,3.151,3.147,3.137,3.134,3.128,3.123,3.115,3.11,3.107,3.092,3.092,3.088,3.085,3.082,3.074,3.067,3.061,3.057,3.055,3.055,3.052,3.047,3.042,3.037,3.034,3.032,3.032,3.027,3.026,3.026,3.018,3.016,3.016,3.009,3.009,3.019,3.021,3.021,3.021,3.011,3.006,3.006,3.006,3.001,2.997,2.996,2.996,2.995,2.997,2.995,2.993,2.992,2.992,2.992,2.992,2.992,2.996,2.994,2.994,2.995,3.001,3.001,3.002,3.002,3.004,3.005,3.005,3.005,3.014,3.008,3.015,3.017,3.022,3.024,3.024,3.024,3.024,3.024,3.025,3.032,3.041,3.041,3.047,3.047,3.047,3.059,3.059,3.067,3.068,3.077,3.082,3.084,3.086,3.087,3.092,3.097,3.106,3.108,3.113,3.117,3.117,3.117,3.117,3.122,3.127,3.137,3.143,3.146,3.153,3.16,3.161,3.172,3.181,3.195,3.2,3.21,3.225,3.225,3.236,3.236,3.246,3.25,3.25,3.257,3.264,3.28,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 14.46} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 14.46} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 14.4625} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.016}
SEN {Time 14.5064} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.198,0.198,0.198,0,0,0,0,0,0,0,3.682,3.68,3.668,3.666,3.656,3.644,3.62,3.61,3.61,3.61,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.25,3.231,3.22,3.211,3.211,3.211,0,0,0,0,0.007,0,0,0,0,0,0.15,0.146,0.146,0.146,0.146,0.143,0.147,0.143,0.141,0.141,0.153,0.146,0.161,0,0,0,0,0,0,0,0,0.168,0.162,0.153,0.152,0.149,0.148,0.148,0.146,0.137,0.105,0.086,0.08,0.068,0.055,0.055,0.055,0.056,0.065,0.065,0.061,0.061,0.057,0.057,0.057,0.059,0.062,0.079,0.169,3.323,3.361,3.364,3.361,3.364,3.373,0,0,0,0,0.007,3.475,3.468,3.475,3.475,3.484,3.496,3.515,3.515,3.515,3.527,3.527,3.527,3.534,3.546,3.546,3.549,3.556,3.56,3.562,3.566,3.566,3.579,3.579,3.584,3.589,3.591,3.593,3.6,3.603,3.608,3.614,3.618,3.626,3.633,3.649,3.65,3.651,3.66,3.664,3.672,3.682,3.684,3.689,3.693,3.699,3.7,3.708,3.714,3.728,3.735,3.755,3.756,3.761,3.77,3.777,3.782,3.793,3.814,3.822,3.828,3.835,3.836,3.86,3.875,3.885,3.887,3.896,3.91,3.926,3.931,3.94,3.956,3.978,3.983,4.005,4.01,4.038,4.053,4.059,4.086,4.086,0.016,0.016,0.016,0,0,0,0,4.086,4.064,3.993,3.96,3.926,3.904,3.86,3.838,3.811,3.773,3.765,3.736,3.699,3.682,3.64,3.631,3.596,3.579,3.549,3.53,3.51,3.478,3.475,3.44,3.428,3.4,3.381,3.364,3.354,3.327,3.325,3.303,3.278,3.268,3.236,3.213,3.208,3.191,3.171,3.15,3.141,3.118,3.118,3.106,3.081,3.077,3.058,3.045,3.021,3.019,2.999,2.987,2.974,2.961,2.95,2.944,2.929,2.917,2.895,2.891,2.885,2.869,2.86,2.852,2.841,2.838,2.813,2.812,2.803,2.779,2.772,2.764,2.759,2.753,2.74,2.726,2.725,2.719,2.714,2.69,2.689,2.677,2.677,2.673,2.663,1.1,1.09,1.087,1.087,1.084,1.082,1.079,1.075,1.073,1.073,1.073,1.066,1.066,1.065,1.064,1.064,1.061,1.051,1.051,1.051,1.051,1.051,1.049,1.043,1.041,1.041,1.041,1.041,1.041,1.041,1.04,1.034,1.03,1.03,1.03,1.033,1.033,1.033,1.028,1.028,1.026,1.026,1.026,1.028,1.028,1.028,1.03,1.028,1.032,1.028,1.031,1.031,1.031,1.026,1.028,1.027,1.027,1.027,1.028,1.032,1.034,1.032,1.032,1.032,1.032,1.031,1.032,1.031,1.027,1.027,1.032,1.024,1.024,1.032,1.027,1.024,1.027,1.032,1.027,1.031,1.032,1.031,1.025,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.033,1.035,1.035,1.04,1.035,1.035,1.04,1.04,1.041,1.049,1.049,1.049,1.053,1.054,1.053,1.056,1.056,1.057,1.056,1.056,1.06,1.061,1.061,1.071,1.071,1.072,1.073,1.074,1.074,1.081,1.082,1.083,1.086,2.577,2.578,2.582,2.582,2.6,2.611,2.617,2.617,2.617,2.626,2.634,2.648,2.649,2.652,2.663,2.663,2.667,2.684,2.7,2.702,2.709,2.718,2.728,2.742,2.751,2.752,2.757,2.775,2.783,2.8,2.806,2.815,2.821,2.838,2.847,2.862,2.87,2.879,2.898,2.906,2.909,2.936,2.945,2.968,2.968,2.975,2.978,2.995,3,3.028,3.045,3.047,3.064,3.073,3.096,3.104,3.12,3.147,3.148,3.162,3.178,3.188,3.213,3.233,3.243,3.268,3.282,3.316,3.328,3.338,3.349,3.367,3.395,3.404,3.437,3.454,3.478,3.495,3.518,3.552,3.562,3.583,3.624,3.641,3.665,3.684,3.719,3.746,3.774,3.799,3.827,3.876,3.913,3.954,3.954,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.345,3.343,3.329,3.329,3.301,3.296,3.277,3.272,3.268,3.255,3.248,3.248,3.228,3.215,3.215,3.204,3.201,3.196,3.182,3.174,3.174,3.163,3.156,3.148,3.142,3.142,3.135,3.134,3.126,3.117,3.115,3.099,3.095,3.093,3.092,3.091,3.084,3.07,3.068,3.058,3.058,3.055,3.051,3.047,3.045,3.044,3.033,3.032,3.031,3.029,3.025,3.023,3.023,3.023,3.023,3.018,3.017,3.017,3.018,3.021,3.021,3.021,3.007,3.001,3.001,3,2.999,3,2.997,2.997,2.997,2.998,2.998,2.999,2.999,2.999,2.998,2.998,2.997,2.998,2.997,2.997,2.997,2.997,2.997,2.997,3.005,3.006,3.006,3.006,3.006,3.009,3.007,3.011,3.016,3.019,3.019,3.022,3.024,3.03,3.033,3.033,3.033,3.035,3.049,3.05,3.05,3.052,3.053,3.054,3.06,3.072,3.075,3.078,3.081,3.081,3.087,3.087,3.091,3.093,3.109,3.116,3.118,3.118,3.118,3.118,3.12,3.128,3.136,3.14,3.141,3.158,3.158,3.16,3.173,3.182,3.198,3.203,3.205,3.208,3.224,3.226,3.233,3.236,3.24,3.242,3.257,3.258,3.297,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 16.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 16.91} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 16.9101} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 1.016}
SEN {Time 16.9984} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.198,0.182,0.182,0.198,0,0,0,0,0,0,0,3.68,3.68,3.671,3.658,3.647,3.64,3.624,3.624,3.624,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.244,3.241,3.241,3.235,3.224,3.224,3.414,3.414,0,0,0,0.007,0,0,0,0,0,0.007,0.149,0.149,0.147,0.147,0.146,0.146,0.148,0.15,0.15,0.153,0.153,0.16,0.175,0,0,0,0,0,0,0.161,0.161,0.153,0.151,0.151,0.151,0.151,0.151,0.141,0.131,0.111,0.09,0.068,0.057,0.056,0.056,0.056,0.063,0.064,0.064,0.064,0.064,0.06,0.059,0.059,0.06,0.062,0.085,0.167,3.337,3.35,3.359,3.354,3.359,3.366,3.366,3.407,3.408,3.422,3.422,3.439,3.465,3.47,3.47,3.494,3.512,3.515,3.512,3.515,3.518,3.531,3.538,3.539,3.544,3.549,3.555,3.557,3.558,3.564,3.565,3.565,3.571,3.572,3.58,3.583,3.586,3.591,3.597,3.598,3.604,3.61,3.628,3.635,3.639,3.642,3.652,3.654,3.66,3.665,3.667,3.669,3.682,3.69,3.702,3.702,3.715,3.718,3.728,3.731,3.74,3.747,3.757,3.76,3.778,3.784,3.789,3.79,3.805,3.828,3.829,3.834,3.855,3.857,3.867,3.873,3.88,3.903,3.905,3.917,3.931,3.941,3.946,3.969,3.984,4.005,4.008,4.01,4.043,4.058,4.077,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.064,4.035,3.991,3.973,3.914,3.911,3.882,3.845,3.826,3.779,3.751,3.734,3.697,3.666,3.657,3.632,3.598,3.581,3.544,3.533,3.509,3.484,3.471,3.434,3.421,3.402,3.374,3.357,3.354,3.342,3.315,3.308,3.285,3.267,3.243,3.228,3.207,3.199,3.175,3.158,3.142,3.126,3.122,3.107,3.082,3.076,3.05,3.049,3.027,3.015,3.001,2.994,2.98,2.966,2.957,2.944,2.923,2.922,2.909,2.894,2.884,2.864,2.86,2.848,2.829,2.826,2.819,2.809,2.79,2.784,2.772,2.77,2.765,2.746,2.745,2.735,2.726,2.716,2.71,2.701,2.684,2.683,2.683,2.668,2.657,1.097,1.093,1.092,1.09,1.085,1.081,1.081,1.081,1.073,1.073,1.073,1.071,1.064,1.059,1.059,1.054,1.059,1.059,1.056,1.054,1.054,1.054,1.045,1.044,1.044,1.043,1.043,1.043,1.043,1.04,1.04,1.038,1.037,1.037,1.037,1.037,1.036,1.035,1.034,1.033,1.032,1.031,1.032,1.027,1.027,1.027,1.028,1.026,1.028,1.027,1.028,1.027,1.032,1.028,1.028,1.028,1.032,1.032,1.033,1.034,1.033,1.033,1.033,1.032,1.032,1.032,1.032,1.032,1.03,1.032,1.032,1.029,1.029,1.029,1.029,1.027,1.027,1.03,1.032,1.032,1.032,1.032,1.031,1.031,1.032,1.032,1.032,1.033,1.033,1.033,1.034,1.034,1.034,1.035,1.036,1.036,1.042,1.042,1.045,1.051,1.051,1.055,1.055,1.056,1.056,1.056,1.056,1.058,1.061,1.061,1.062,1.062,1.062,1.068,1.071,1.071,1.073,1.074,1.077,1.079,1.083,1.085,1.094,2.577,2.577,2.58,2.58,2.6,2.615,2.616,2.621,2.621,2.631,2.634,2.642,2.643,2.656,2.659,2.666,2.669,2.682,2.696,2.705,2.706,2.717,2.726,2.732,2.748,2.756,2.767,2.769,2.78,2.785,2.798,2.816,2.822,2.845,2.855,2.862,2.873,2.875,2.892,2.897,2.909,2.921,2.933,2.955,2.956,2.977,2.977,2.992,2.995,3.029,3.047,3.051,3.062,3.086,3.092,3.103,3.119,3.145,3.152,3.163,3.176,3.199,3.214,3.238,3.252,3.278,3.283,3.303,3.328,3.331,3.368,3.374,3.397,3.411,3.432,3.451,3.475,3.491,3.523,3.541,3.568,3.585,3.622,3.647,3.653,3.697,3.711,3.756,3.777,3.794,3.835,3.852,3.895,3.926,3.964,3.994,4.066,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.342,3.332,3.33,3.328,3.301,3.289,3.286,3.271,3.27,3.253,3.251,3.249,3.225,3.223,3.222,3.204,3.203,3.191,3.184,3.184,3.176,3.166,3.16,3.154,3.144,3.143,3.134,3.133,3.131,3.122,3.115,3.104,3.101,3.093,3.091,3.085,3.079,3.076,3.069,3.067,3.065,3.056,3.055,3.054,3.038,3.036,3.036,3.029,3.027,3.025,3.024,3.024,3.024,3.024,3.024,3.014,3.009,3.009,3.014,3.01,3.01,3.01,3.008,3.008,3.005,3.005,2.998,2.998,2.997,2.994,2.993,2.993,2.993,2.994,2.994,2.994,2.994,2.994,2.994,2.994,2.996,2.996,2.998,2.998,3.004,3.006,3.006,3.005,3.006,3.005,3.005,3.012,3.015,3.015,3.017,3.019,3.023,3.025,3.025,3.025,3.03,3.034,3.039,3.042,3.044,3.046,3.054,3.054,3.055,3.057,3.07,3.076,3.078,3.078,3.08,3.089,3.091,3.093,3.097,3.101,3.111,3.112,3.114,3.117,3.123,3.124,3.132,3.134,3.136,3.137,3.14,3.145,3.149,3.162,3.164,3.19,3.2,3.211,3.219,3.223,3.223,3.23,3.239,3.231,3.241,3.251,3.257,3.272,3.277,3.292,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD}
SEN {Time 17.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.001745}
SEN {Time 17.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 17.219} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 1.016}
SEN {Time 17.2944} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.187,0.187,0.187,0,0,0,0,0,0,0,3.678,3.666,3.66,3.658,3.65,3.644,3.623,3.623,3.623,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.242,3.236,3.236,3.227,3.226,3.226,3.415,3.415,0,0,0,0.007,0,0,0,0,0,0.152,0.151,0.15,0.149,0.149,0.149,0.143,0.143,0.143,0.143,0.143,0.155,0.167,0,0,0,0,0,0,0,0,0.159,0.154,0.154,0.154,0.149,0.144,0.144,0.142,0.122,0.112,0.091,0.064,0.06,0.06,0.06,0.06,0.062,0.064,0.064,0.064,0.064,0.06,0.06,0.06,0.06,0.064,0.08,0.155,3.346,3.347,3.369,3.349,3.369,3.371,3.379,0.007,3.41,3.41,3.464,3.464,3.474,3.476,3.476,3.489,3.494,3.494,3.504,3.511,3.512,3.519,3.527,3.529,3.53,3.539,3.55,3.553,3.558,3.559,3.564,3.568,3.57,3.576,3.583,3.59,3.592,3.594,3.602,3.614,3.614,3.622,3.625,3.626,3.637,3.649,3.65,3.655,3.665,3.667,3.674,3.679,3.682,3.689,3.697,3.698,3.703,3.708,3.73,3.735,3.736,3.745,3.752,3.76,3.773,3.775,3.782,3.79,3.798,3.81,3.825,3.84,3.848,3.853,3.863,3.865,3.883,3.89,3.912,3.916,3.927,3.939,3.953,3.961,3.984,3.985,4.007,4.008,4.046,4.056,4.078,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.066,4.022,3.967,3.959,3.923,3.914,3.87,3.847,3.808,3.782,3.779,3.727,3.69,3.687,3.687,3.661,3.63,3.586,3.538,3.523,3.505,3.492,3.465,3.455,3.424,3.393,3.388,3.361,3.356,3.333,3.312,3.3,3.291,3.263,3.234,3.229,3.207,3.181,3.181,3.172,3.152,3.13,3.115,3.105,3.085,3.08,3.061,3.046,3.019,3.015,3.004,2.987,2.972,2.967,2.957,2.947,2.932,2.913,2.898,2.898,2.894,2.868,2.862,2.851,2.841,2.824,2.818,2.806,2.797,2.777,2.767,2.766,2.761,2.748,2.741,2.733,2.72,2.709,2.704,2.697,2.679,2.678,2.678,2.671,2.663,1.1,1.091,1.087,1.085,1.085,1.08,1.076,1.075,1.071,1.071,1.069,1.064,1.064,1.064,1.066,1.06,1.065,1.06,1.06,1.059,1.058,1.057,1.057,1.051,1.047,1.046,1.044,1.042,1.039,1.039,1.035,1.035,1.033,1.027,1.033,1.033,1.033,1.035,1.035,1.03,1.03,1.03,1.03,1.031,1.031,1.032,1.032,1.026,1.026,1.026,1.026,1.031,1.031,1.027,1.03,1.03,1.03,1.03,1.032,1.037,1.032,1.03,1.037,1.036,1.03,1.031,1.031,1.03,1.029,1.029,1.029,1.03,1.031,1.033,1.033,1.031,1.027,1.027,1.026,1.026,1.029,1.029,1.026,1.029,1.03,1.03,1.034,1.034,1.03,1.034,1.037,1.037,1.037,1.038,1.038,1.041,1.041,1.041,1.043,1.041,1.045,1.052,1.054,1.056,1.058,1.058,1.058,1.058,1.058,1.06,1.062,1.064,1.065,1.07,1.071,1.071,1.071,1.071,1.078,1.08,1.087,1.088,1.088,2.576,2.578,2.587,2.587,2.601,2.602,2.602,2.616,2.619,2.625,2.626,2.648,2.65,2.659,2.659,2.659,2.673,2.682,2.694,2.697,2.714,2.718,2.727,2.742,2.742,2.748,2.764,2.771,2.781,2.797,2.804,2.82,2.83,2.83,2.849,2.857,2.871,2.872,2.878,2.905,2.92,2.927,2.946,2.95,2.96,2.979,2.988,2.994,3.002,3.023,3.04,3.059,3.061,3.07,3.091,3.111,3.115,3.137,3.153,3.163,3.181,3.201,3.213,3.234,3.25,3.263,3.271,3.317,3.319,3.329,3.358,3.366,3.397,3.408,3.433,3.451,3.475,3.508,3.529,3.531,3.564,3.586,3.614,3.65,3.652,3.687,3.716,3.736,3.769,3.786,3.846,3.846,3.897,3.913,3.967,3.978,4.006,4.064,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.329,3.327,3.317,3.312,3.299,3.283,3.277,3.268,3.262,3.254,3.251,3.233,3.224,3.219,3.21,3.208,3.198,3.186,3.181,3.181,3.167,3.161,3.155,3.145,3.133,3.131,3.13,3.125,3.12,3.098,3.097,3.097,3.092,3.087,3.081,3.075,3.069,3.066,3.06,3.059,3.057,3.057,3.054,3.05,3.04,3.036,3.034,3.032,3.022,3.022,3.021,3.02,3.018,3.017,3.017,3.016,3.016,3.019,3.019,3.011,3.011,2.999,2.999,2.999,2.999,2.999,3.001,2.999,2.999,2.997,2.997,2.995,2.994,2.994,2.993,2.993,2.993,2.993,2.998,2.998,2.995,2.994,2.994,2.994,2.995,3,3.003,3.006,3.006,3.009,3.012,3.012,3.012,3.015,3.018,3.023,3.026,3.028,3.028,3.029,3.033,3.038,3.047,3.054,3.054,3.051,3.055,3.058,3.058,3.066,3.069,3.079,3.08,3.08,3.08,3.083,3.097,3.101,3.103,3.109,3.11,3.116,3.116,3.126,3.126,3.131,3.132,3.132,3.135,3.144,3.151,3.151,3.152,3.178,3.179,3.198,3.204,3.222,3.222,3.222,3.228,3.231,3.235,3.236,3.248,3.248,3.255,3.289,3.29,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0}
SEN {Time 17.92} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.054105}
SEN {Time 17.92} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 17.9158} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0574} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 6.096} {Name Sonar15 Range 1.016}
SEN {Time 17.9944} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.198,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.227,3.227,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.147,0.147,0.147,0.148,0.148,0.148,0.153,0.151,0.151,0.151,0.153,0.155,0,0,0,0,0,0,0,0.164,0.163,0.161,0.161,0.154,0.153,0.153,0.153,0.149,0.153,0.122,0.092,0.07,0.069,0.056,0.056,0.056,0.06,0.06,0.06,0.06,0.06,0.059,0.057,0.057,0.059,0.062,0.096,0.172,3.343,0.007,0,0.007,0,0.007,3.401,3.401,3.431,3.431,3.459,3.459,3.459,3.488,3.496,3.499,3.518,3.522,3.532,3.534,3.546,3.555,3.556,3.557,3.571,3.583,3.583,3.587,3.594,3.602,3.61,3.611,3.613,3.614,3.619,3.635,3.636,3.641,3.651,3.653,3.662,3.675,3.677,3.695,3.701,3.706,3.708,3.715,3.727,3.729,3.735,3.737,3.745,3.757,3.758,3.768,3.778,3.779,3.8,3.806,3.812,3.829,3.84,3.842,3.852,3.863,3.871,3.887,3.889,3.905,3.919,3.935,3.945,3.958,3.976,3.978,4,4.001,4.033,4.047,4.052,4.067,4.081,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,3.873,3.861,3.824,3.797,3.771,3.735,3.705,3.697,3.676,3.642,3.624,3.596,3.575,3.559,3.54,3.51,3.468,3.456,3.44,3.44,3.419,3.396,3.377,3.341,3.324,3.291,3.285,3.26,3.251,3.23,3.21,3.191,3.18,3.161,3.159,3.143,3.137,3.111,3.089,3.078,3.064,3.046,3.039,3.017,3.014,3.004,2.994,2.978,2.963,2.95,2.94,2.924,2.915,2.896,2.895,2.878,2.86,2.855,2.851,2.842,2.818,2.816,2.809,2.782,2.777,2.772,2.771,2.757,2.747,2.728,2.726,2.717,2.701,2.692,2.686,2.685,2.685,2.679,2.668,1.093,1.09,1.09,1.09,1.086,1.086,1.086,1.079,1.079,1.072,1.072,1.072,1.072,1.066,1.063,1.057,1.057,1.056,1.055,1.052,1.052,1.052,1.052,1.052,1.054,1.052,1.046,1.046,1.038,1.038,1.038,1.038,1.038,1.035,1.035,1.033,1.033,1.033,1.032,1.032,1.032,1.032,1.032,1.032,1.032,1.034,1.035,1.035,1.035,1.034,1.032,1.026,1.026,1.025,1.03,1.029,1.03,1.029,1.029,1.029,1.03,1.032,1.032,1.032,1.029,1.029,1.029,1.029,1.03,1.03,1.03,1.03,1.03,1.03,1.03,1.025,1.025,1.025,1.028,1.029,1.032,1.029,1.031,1.032,1.031,1.031,1.038,1.038,1.035,1.035,1.033,1.033,1.033,1.034,1.037,1.037,1.039,1.039,1.039,1.043,1.044,1.044,1.045,1.045,1.05,1.053,1.053,1.057,1.058,1.061,1.064,1.067,1.067,1.069,1.069,1.071,1.075,1.076,1.076,1.079,1.086,1.091,2.56,2.57,2.575,2.575,2.58,2.594,2.598,2.599,2.618,2.618,2.621,2.627,2.629,2.65,2.667,2.668,2.673,2.682,2.688,2.691,2.7,2.713,2.718,2.723,2.737,2.741,2.743,2.76,2.78,2.781,2.793,2.804,2.813,2.82,2.838,2.847,2.848,2.861,2.877,2.894,2.902,2.916,2.92,2.936,2.945,2.961,2.966,2.978,3.004,3.012,3.015,3.038,3.046,3.066,3.087,3.089,3.096,3.12,3.132,3.15,3.171,3.18,3.201,3.208,3.234,3.238,3.261,3.278,3.292,3.324,3.337,3.353,3.369,3.402,3.421,3.438,3.442,3.487,3.493,3.515,3.543,3.576,3.583,3.609,3.625,3.654,3.697,3.714,3.748,3.775,3.811,3.82,3.857,3.873,3.904,3.945,3.972,4.006,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.338,3.328,3.301,3.298,3.294,3.277,3.272,3.267,3.249,3.248,3.247,3.246,3.221,3.21,3.201,3.187,3.183,3.177,3.174,3.171,3.161,3.145,3.144,3.139,3.139,3.127,3.121,3.12,3.106,3.1,3.1,3.092,3.092,3.088,3.075,3.068,3.065,3.062,3.06,3.056,3.052,3.051,3.039,3.039,3.037,3.03,3.029,3.025,3.025,3.014,3.014,3.011,3.01,3.01,3.007,2.996,2.996,3.007,3.01,3.01,3.01,3.006,2.988,2.988,2.988,2.988,2.988,2.992,2.988,2.988,2.988,2.992,2.992,2.992,2.991,2.991,2.991,2.991,2.991,2.991,2.992,2.992,2.992,2.992,2.992,2.992,2.992,2.997,2.997,2.997,2.999,3.001,3.001,3.006,3.008,3.013,3.016,3.019,3.021,3.022,3.027,3.028,3.033,3.036,3.039,3.049,3.053,3.049,3.053,3.054,3.058,3.063,3.075,3.075,3.087,3.088,3.088,3.089,3.107,3.109,3.111,3.113,3.113,3.113,3.113,3.122,3.128,3.131,3.133,3.148,3.149,3.153,3.169,3.173,3.176,3.196,3.202,3.205,3.206,3.21,3.21,3.216,3.229,3.23,3.234,3.256,3.256,3.256,3.261,3.283,3.293,3.755,3.82,3.825,3.832,3.843,3.846,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD}
SEN {Time 18.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.082030}
SEN {Time 18.15} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 18.1548} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9906} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 5.1054} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.9652} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.0066} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 6.096} {Name Sonar15 Range 1.016}
SEN {Time 18.191} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.208,0.208,0.208,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.258,3.258,3.417,3.417,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.146,0.149,0.149,0.148,0.148,0.152,0.152,0.155,0.155,0.155,0.16,0,0,0,0,0,0,0.007,0.158,0.155,0.154,0.154,0.154,0.147,0.147,0.147,0.146,0.125,0.12,0.086,0.069,0.055,0.055,0.053,0.055,0.058,0.061,0.063,0.063,0.063,0.063,0.062,0.062,0.063,0.095,0.176,0,0.006,0.006,0,3.379,3.379,3.379,3.382,0.007,3.479,3.464,3.479,3.479,3.491,3.516,3.519,3.527,3.537,3.543,3.545,3.55,3.575,3.582,3.585,3.587,3.588,3.607,3.608,3.62,3.623,3.626,3.629,3.636,3.644,3.645,3.665,3.668,3.674,3.675,3.681,3.682,3.694,3.706,3.706,3.711,3.737,3.741,3.744,3.755,3.759,3.76,3.78,3.78,3.781,3.796,3.812,3.821,3.83,3.839,3.84,3.848,3.859,3.878,3.887,3.895,3.911,3.918,3.935,3.951,3.952,3.972,3.984,3.991,4.004,4.022,4.028,4.057,4.068,4.082,4.093,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,4.045,3.966,3.935,3.898,3.859,3.849,3.802,3.778,3.749,3.737,3.714,3.685,3.651,3.631,3.61,3.59,3.562,3.546,3.518,3.493,3.47,3.445,3.43,3.416,3.387,3.366,3.346,3.322,3.311,3.293,3.268,3.263,3.239,3.219,3.197,3.184,3.171,3.159,3.15,3.134,3.116,3.111,3.092,3.082,3.06,3.047,3.023,3.021,3.004,2.995,2.984,2.966,2.965,2.944,2.927,2.926,2.917,2.906,2.884,2.882,2.857,2.855,2.839,2.836,2.819,2.809,2.803,2.788,2.777,2.769,2.766,2.749,2.746,2.73,2.726,2.713,2.71,2.705,2.692,2.692,2.675,2.667,1.1,1.095,1.089,1.087,1.088,1.085,1.084,1.083,1.083,1.075,1.073,1.072,1.069,1.066,1.063,1.063,1.063,1.055,1.061,1.056,1.057,1.056,1.056,1.052,1.052,1.043,1.043,1.041,1.041,1.041,1.04,1.04,1.038,1.035,1.035,1.035,1.037,1.037,1.037,1.029,1.029,1.025,1.025,1.026,1.026,1.026,1.026,1.031,1.029,1.029,1.029,1.029,1.029,1.029,1.029,1.028,1.028,1.029,1.03,1.034,1.034,1.036,1.036,1.034,1.033,1.033,1.031,1.031,1.028,1.031,1.031,1.031,1.023,1.023,1.023,1.023,1.027,1.027,1.029,1.031,1.031,1.031,1.031,1.031,1.032,1.032,1.035,1.032,1.032,1.033,1.033,1.033,1.036,1.04,1.041,1.041,1.041,1.041,1.041,1.041,1.042,1.045,1.049,1.045,1.049,1.051,1.051,1.051,1.054,1.057,1.054,1.057,1.065,1.067,1.068,1.068,1.068,1.079,1.077,1.079,1.08,1.083,1.096,2.565,2.569,2.572,2.584,2.584,2.593,2.598,2.601,2.605,2.615,2.623,2.631,2.632,2.65,2.652,2.653,2.674,2.68,2.697,2.701,2.702,2.711,2.727,2.731,2.742,2.742,2.752,2.757,2.766,2.79,2.796,2.796,2.809,2.83,2.838,2.849,2.86,2.87,2.883,2.888,2.907,2.911,2.93,2.94,2.964,2.975,2.986,2.986,3,3.021,3.034,3.044,3.061,3.071,3.075,3.093,3.109,3.128,3.129,3.149,3.163,3.174,3.2,3.227,3.232,3.26,3.26,3.284,3.307,3.318,3.351,3.358,3.375,3.408,3.424,3.437,3.476,3.484,3.513,3.528,3.564,3.572,3.583,3.628,3.643,3.663,3.697,3.72,3.748,3.764,3.813,3.84,3.849,3.889,3.931,3.962,3.994,4.069,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.316,3.305,3.292,3.29,3.27,3.269,3.267,3.244,3.235,3.233,3.224,3.215,3.204,3.202,3.196,3.183,3.176,3.169,3.163,3.162,3.148,3.148,3.123,3.122,3.115,3.114,3.111,3.107,3.096,3.094,3.089,3.079,3.079,3.078,3.075,3.066,3.061,3.061,3.057,3.052,3.041,3.04,3.038,3.037,3.028,3.027,3.022,3.022,3.022,3.017,3.017,3.007,3.006,3.006,3,3,3.01,3.01,2.999,2.994,2.994,2.99,2.99,2.99,2.99,2.989,2.988,2.987,2.987,2.987,2.983,2.983,2.983,2.983,2.991,2.991,2.981,2.99,2.987,2.986,2.987,2.987,2.987,2.988,2.992,2.994,2.994,2.994,2.999,2.999,3.008,3.008,3.009,3.009,3.011,3.011,3.016,3.017,3.018,3.026,3.03,3.03,3.03,3.035,3.043,3.054,3.056,3.056,3.057,3.057,3.061,3.062,3.069,3.073,3.084,3.086,3.092,3.098,3.104,3.104,3.107,3.108,3.115,3.116,3.12,3.13,3.136,3.137,3.14,3.154,3.156,3.163,3.176,3.178,3.186,3.199,3.207,3.212,3.212,3.223,3.228,3.229,3.236,3.24,3.246,3.25,3.267,3.272,3.28,3.327,3.808,3.815,3.822,3.854,3.863,3.872,3.894,3.898,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type Camera} {Name DragonFly2} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944}
SEN {Time 18.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.181514}
SEN {Time 18.97} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 18.9747} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 5.715} {Name Sonar2 Range 3.4544} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 3.2766} {Name Sonar7 Range 2.54} {Name Sonar8 Range 1.9812} {Name Sonar9 Range 1.4224} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8288} {Name Sonar12 Range 2.1844} {Name Sonar13 Range 4.3434} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 0.9398}
SEN {Time 18.9931} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.189,0.189,0.189,0,0,0,0,0,0,0,0,0.007,0,3.26,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.159,0.151,0.15,0.144,0.144,0.144,0.144,0.142,0.144,0.144,0.144,0.155,0.007,3.547,3.538,3.538,3.536,3.538,3.538,0,0,0,0.161,0.16,0.153,0.153,0.152,0.152,0.152,0.133,0.123,0.12,0.071,0.062,0.06,0.06,0.056,0.056,0.064,0.064,0.064,0.064,0.055,0.054,0.054,0.055,0.059,0.094,0.172,3.375,0.007,3.423,3.423,0,0,0,0,0,0,0,0,0,0,0,3.618,3.618,3.618,3.634,3.638,3.657,3.664,3.669,3.677,3.686,3.7,3.707,3.72,3.729,3.734,3.739,3.747,3.748,3.77,3.779,3.783,3.802,3.807,3.813,3.822,3.824,3.829,3.848,3.862,3.871,3.894,3.899,3.911,3.923,3.928,3.939,3.95,3.964,3.969,3.985,4.005,4.015,4.027,4.036,4.058,4.073,4.088,4.09,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.009,0.009,0.009,3.966,3.955,3.903,3.894,3.851,3.814,3.809,3.766,3.725,3.719,3.685,3.669,3.646,3.605,3.579,3.555,3.545,3.511,3.498,3.464,3.456,3.431,3.4,3.376,3.369,3.347,3.326,3.306,3.291,3.278,3.251,3.25,3.225,3.212,3.191,3.175,3.16,3.148,3.125,3.12,3.098,3.082,3.073,3.059,3.046,3.03,3.01,3.007,2.991,2.988,2.964,2.956,2.946,2.937,2.92,2.91,2.908,2.894,2.871,2.868,2.859,2.849,2.845,2.82,2.81,2.801,2.795,2.789,2.782,2.761,2.757,2.752,2.744,2.723,2.718,2.713,2.713,2.706,2.689,1.105,1.104,1.096,1.095,1.092,1.089,1.087,1.08,1.079,1.079,1.077,1.077,1.077,1.072,1.061,1.061,1.061,1.061,1.065,1.065,1.065,1.055,1.055,1.053,1.053,1.052,1.047,1.047,1.047,1.047,1.045,1.039,1.039,1.038,1.039,1.038,1.038,1.035,1.035,1.035,1.034,1.034,1.032,1.032,1.029,1.024,1.026,1.026,1.026,1.027,1.03,1.03,1.032,1.032,1.031,1.029,1.029,1.028,1.029,1.028,1.028,1.031,1.031,1.031,1.036,1.038,1.037,1.037,1.037,1.037,1.037,1.032,1.03,1.03,1.028,1.03,1.028,1.034,1.029,1.029,1.026,1.029,1.029,1.03,1.03,1.03,1.03,1.024,1.024,1.03,1.032,1.03,1.032,1.037,1.039,1.039,1.039,1.039,1.04,1.042,1.042,1.044,1.049,1.044,1.049,1.053,1.053,1.053,1.053,1.053,1.063,1.064,1.064,1.064,1.07,1.07,1.07,1.07,1.071,1.077,1.078,1.082,2.554,2.556,2.56,2.56,2.565,2.571,2.577,2.587,2.587,2.594,2.598,2.616,2.617,2.62,2.632,2.633,2.648,2.649,2.661,2.669,2.676,2.681,2.71,2.71,2.711,2.716,2.725,2.735,2.741,2.754,2.765,2.768,2.783,2.792,2.8,2.807,2.833,2.842,2.848,2.857,2.876,2.876,2.889,2.904,2.911,2.924,2.946,2.949,2.961,2.982,2.982,2.996,3.008,3.034,3.041,3.058,3.074,3.084,3.098,3.107,3.119,3.135,3.154,3.174,3.185,3.206,3.224,3.243,3.251,3.265,3.288,3.306,3.321,3.343,3.358,3.381,3.403,3.418,3.432,3.453,3.477,3.501,3.531,3.543,3.572,3.599,3.611,3.654,3.673,3.698,3.726,3.755,3.773,3.801,3.82,3.863,3.899,3.93,3.962,3.985,4.031,4.051,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.303,3.294,3.288,3.267,3.267,3.248,3.247,3.235,3.228,3.224,3.213,3.198,3.197,3.197,3.187,3.175,3.164,3.161,3.158,3.15,3.133,3.132,3.131,3.119,3.113,3.112,3.099,3.095,3.091,3.087,3.078,3.075,3.075,3.071,3.07,3.056,3.048,3.046,3.038,3.036,3.036,3.027,3.024,3.02,3.019,3.017,3.015,3.004,3.004,2.997,2.996,2.994,2.993,2.988,2.988,2.988,2.988,2.985,2.983,2.985,2.983,2.98,2.972,2.979,2.978,2.977,2.977,2.977,2.975,2.975,2.972,2.972,2.968,2.965,2.965,2.973,2.973,2.977,2.977,2.973,2.973,2.973,2.971,2.971,2.971,2.979,2.979,2.984,2.986,2.994,2.996,2.996,2.996,2.996,2.996,3,3,3.001,3.008,3.011,3.012,3.021,3.023,3.026,3.029,3.035,3.041,3.042,3.048,3.05,3.05,3.051,3.063,3.064,3.065,3.068,3.075,3.078,3.094,3.094,3.094,3.094,3.094,3.094,3.11,3.121,3.122,3.123,3.127,3.138,3.14,3.143,3.155,3.169,3.17,3.172,3.173,3.188,3.193,3.206,3.211,3.219,3.225,3.23,3.239,3.243,3.249,3.255,3.278,3.285,3.708,3.814,3.819,3.824,3.843,3.853,3.853,3.888,3.889,3.901,3.927,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.28} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.570723}
SEN {Time 22.28} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.027940}
SEN {Time 22.2813} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.429} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 3.2512} {Name Sonar6 Range 2.54} {Name Sonar7 Range 1.9812} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 3.4544} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.0894} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 0.9144}
SEN {Time 22.3783} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.195,0,0,0,0,0,3.587,3.587,3.587,3.587,3.595,3.595,3.595,3.595,3.595,3.595,3.595,3.603,3.603,3.6,3.6,3.6,3.6,3.601,3.606,3.606,3.608,3.609,3.613,3.613,3.615,3.616,3.617,3.622,3.627,3.628,3.628,3.636,3.637,3.64,3.649,3.658,3.66,3.673,3.675,3.675,3.675,3.673,3.676,3.666,3.648,3.648,0.157,0.15,0.148,0.15,0.148,0.146,0.143,0.143,0.143,0.143,0.151,0.161,0.215,0,0,0,0,0,0,0,0.161,0.16,0.158,0.157,0.152,0.15,0.147,0.146,0.139,0.135,0.12,0.073,0.067,0.058,0.058,0.058,0.058,0.06,0.06,0.06,0.06,0.059,0.058,0.058,0.061,0.064,0.101,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.62,3.609,3.587,3.573,3.564,3.526,3.511,3.503,3.475,3.45,3.44,3.405,3.403,3.373,3.349,3.338,3.315,3.293,3.278,3.264,3.24,3.228,3.206,3.196,3.183,3.169,3.157,3.137,3.119,3.111,3.089,3.073,3.065,3.062,3.043,3.023,3.019,3.008,2.982,2.977,2.968,2.96,2.94,2.926,2.916,2.906,2.883,2.882,2.862,2.86,2.85,2.839,2.835,2.812,2.808,2.796,2.791,2.777,2.766,2.765,2.765,2.756,2.747,1.132,1.128,1.121,1.121,1.118,1.116,1.111,1.108,1.107,1.102,1.1,1.095,1.094,1.095,1.091,1.091,1.082,1.082,1.082,1.082,1.08,1.08,1.078,1.078,1.073,1.073,1.07,1.069,1.065,1.065,1.065,1.063,1.063,1.062,1.056,1.056,1.058,1.056,1.056,1.053,1.05,1.05,1.05,1.05,1.05,1.051,1.051,1.05,1.05,1.049,1.049,1.047,1.043,1.041,1.041,1.044,1.044,1.044,1.044,1.044,1.045,1.045,1.045,1.048,1.048,1.048,1.048,1.048,1.051,1.047,1.051,1.054,1.054,1.049,1.049,1.044,1.044,1.042,1.04,1.038,1.035,1.035,1.035,1.035,1.035,1.037,1.037,1.037,1.035,1.035,1.035,1.035,1.037,1.047,1.047,1.047,1.048,1.048,1.05,1.051,1.051,1.052,1.052,1.052,1.052,1.052,1.057,1.055,1.057,1.057,1.059,1.064,1.064,1.064,1.067,1.067,1.074,1.074,1.075,1.078,1.087,2.532,2.535,2.538,2.538,2.546,2.549,2.56,2.564,2.567,2.572,2.58,2.586,2.588,2.598,2.603,2.608,2.612,2.618,2.627,2.634,2.641,2.651,2.651,2.664,2.668,2.68,2.694,2.695,2.703,2.714,2.729,2.736,2.748,2.754,2.762,2.769,2.776,2.793,2.801,2.81,2.817,2.82,2.847,2.855,2.861,2.863,2.882,2.889,2.899,2.916,2.932,2.944,2.96,2.962,2.984,2.994,3.001,3.014,3.029,3.055,3.061,3.077,3.091,3.105,3.108,3.142,3.147,3.165,3.175,3.2,3.21,3.229,3.247,3.264,3.272,3.302,3.32,3.322,3.35,3.361,3.376,3.399,3.424,3.444,3.456,3.489,3.511,3.53,3.542,3.566,3.602,3.623,3.641,3.686,3.689,3.725,3.753,3.764,3.802,3.828,3.864,3.882,3.921,3.958,3.985,4.028,4.053,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0.009,0.009,0.009,3.276,3.264,3.249,3.238,3.233,3.228,3.213,3.202,3.201,3.191,3.184,3.171,3.163,3.155,3.151,3.141,3.129,3.124,3.121,3.116,3.114,3.097,3.092,3.088,3.08,3.071,3.063,3.062,3.052,3.049,3.049,3.041,3.039,3.031,3.028,3.019,3.008,3.006,3.005,3.004,2.994,2.994,2.988,2.985,2.985,2.981,2.981,2.971,2.97,2.968,2.961,2.957,2.956,2.954,2.951,2.951,2.954,2.951,2.95,2.95,2.934,2.934,2.93,2.93,2.93,2.935,2.932,2.932,2.932,2.932,2.932,2.936,2.936,2.937,2.937,2.937,2.937,2.937,2.929,2.929,2.929,2.929,2.931,2.932,2.935,2.935,2.938,2.938,2.939,2.939,2.943,2.943,2.943,2.945,2.949,2.949,2.955,2.955,2.956,2.96,2.962,2.962,2.972,2.973,2.973,2.978,2.983,2.992,2.993,2.996,2.996,2.996,3.012,3.012,3.013,3.025,3.03,3.036,3.037,3.038,3.049,3.049,3.051,3.051,3.051,3.053,3.069,3.071,3.074,3.089,3.089,3.091,3.097,3.115,3.115,3.117,3.117,3.124,3.126,3.134,3.139,3.149,3.158,3.167,3.178,3.198,3.199,3.202,3.212,3.215,3.228,3.245,3.627,3.751,3.764,3.767,3.788,3.794,3.816,3.826,3.828,3.838,3.861,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.624828}
SEN {Time 22.58} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.027940}
SEN {Time 22.5813} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.54} {Name Sonar7 Range 1.9812} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 0.1778} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.826} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 0.9144}
SEN {Time 22.6744} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.176,0.186,0.186,0.186,0.205,0,0,0,0,3.601,3.591,3.591,3.593,3.595,3.595,3.605,3.611,3.613,3.615,3.613,3.613,3.613,3.615,3.62,3.623,3.623,3.624,3.625,3.625,3.635,3.639,3.64,3.643,3.648,3.648,3.652,3.652,3.652,3.671,3.672,3.672,3.691,3.693,3.698,3.699,3.705,3.705,3.725,3.734,3.743,3.743,3.734,3.743,3.733,3.733,0.007,0.153,0.153,0.15,0.149,0.149,0.15,0.149,0.148,0.148,0.155,0.16,0.164,0.244,0,0,0,0,0,0,0.161,0.161,0.16,0.148,0.148,0.148,0.148,0.148,0.143,0.141,0.131,0.122,0.072,0.063,0.061,0.061,0.061,0.062,0.062,0.062,0.06,0.059,0.059,0.058,0.06,0.064,0.068,0.092,0.15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.477,3.447,3.44,3.403,3.398,3.38,3.357,3.344,3.342,3.309,3.286,3.269,3.258,3.242,3.22,3.196,3.188,3.171,3.152,3.138,3.131,3.119,3.106,3.08,3.072,3.052,3.048,3.037,3.027,3.006,3.003,2.984,2.973,2.964,2.943,2.938,2.92,2.919,2.903,2.897,2.879,2.873,2.858,2.854,2.839,2.831,2.825,2.8,2.8,2.785,2.776,2.772,2.772,2.769,2.753,1.132,1.13,1.121,1.115,1.112,1.111,1.106,1.106,1.101,1.101,1.106,1.106,1.098,1.098,1.096,1.095,1.091,1.088,1.088,1.088,1.088,1.087,1.08,1.078,1.073,1.073,1.072,1.072,1.067,1.067,1.063,1.067,1.067,1.063,1.063,1.06,1.06,1.059,1.054,1.054,1.053,1.054,1.054,1.051,1.051,1.052,1.052,1.054,1.054,1.052,1.048,1.046,1.046,1.047,1.048,1.047,1.05,1.05,1.05,1.049,1.049,1.049,1.05,1.052,1.053,1.053,1.054,1.052,1.055,1.055,1.055,1.05,1.054,1.05,1.046,1.05,1.05,1.05,1.047,1.047,1.045,1.043,1.043,1.044,1.043,1.043,1.044,1.043,1.042,1.043,1.044,1.047,1.048,1.048,1.047,1.047,1.045,1.042,1.042,1.053,1.053,1.053,1.053,1.053,1.053,1.053,1.054,1.057,1.057,1.062,1.065,1.067,1.07,1.071,1.072,1.072,1.079,1.08,1.082,1.088,2.527,2.539,2.54,2.54,2.542,2.554,2.56,2.563,2.563,2.567,2.576,2.585,2.586,2.592,2.593,2.604,2.609,2.612,2.619,2.628,2.633,2.64,2.651,2.658,2.66,2.672,2.675,2.687,2.703,2.706,2.712,2.715,2.729,2.733,2.747,2.768,2.769,2.775,2.784,2.796,2.805,2.805,2.827,2.842,2.843,2.861,2.867,2.89,2.902,2.905,2.916,2.933,2.936,2.955,2.96,2.979,2.984,2.999,3.007,3.033,3.039,3.048,3.061,3.074,3.094,3.11,3.126,3.136,3.154,3.173,3.193,3.21,3.221,3.232,3.252,3.271,3.298,3.312,3.326,3.34,3.356,3.381,3.403,3.423,3.426,3.462,3.473,3.491,3.523,3.546,3.563,3.588,3.613,3.632,3.663,3.683,3.712,3.747,3.755,3.776,3.823,3.838,3.882,3.917,3.936,3.973,4.002,4.043,4.09,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.276,3.273,3.269,3.266,3.245,3.236,3.223,3.211,3.204,3.193,3.185,3.185,3.171,3.158,3.152,3.152,3.143,3.14,3.13,3.114,3.113,3.1,3.09,3.085,3.084,3.083,3.07,3.064,3.058,3.05,3.049,3.045,3.039,3.038,3.022,3.019,3.019,3.01,3.006,3.006,2.99,2.99,2.987,2.985,2.981,2.979,2.975,2.969,2.968,2.968,2.96,2.955,2.955,2.951,2.95,2.947,2.94,2.94,2.95,2.934,2.941,2.941,2.938,2.929,2.929,2.929,2.929,2.927,2.926,2.919,2.918,2.918,2.918,2.921,2.921,2.921,2.92,2.92,2.92,2.92,2.92,2.923,2.92,2.92,2.925,2.933,2.933,2.933,2.933,2.934,2.934,2.934,2.936,2.941,2.942,2.943,2.945,2.947,2.95,2.95,2.96,2.961,2.962,2.962,2.962,2.968,2.976,2.976,2.976,2.979,2.987,2.994,2.994,3.009,3.011,3.012,3.015,3.016,3.024,3.029,3.03,3.035,3.046,3.046,3.046,3.046,3.046,3.047,3.051,3.061,3.071,3.078,3.085,3.088,3.09,3.099,3.104,3.113,3.117,3.122,3.125,3.129,3.136,3.144,3.148,3.165,3.178,3.181,3.185,3.199,3.204,3.205,3.229,3.243,3.701,3.757,3.767,3.768,3.782,3.785,3.811,3.811,3.825,3.835,3.864,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 22.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.668461}
SEN {Time 22.83} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.027940}
SEN {Time 22.8292} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.254} {Name Sonar9 Range 0.1778} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.826} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 0.9144}
SEN {Time 22.8743} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.182,0.182,0.182,0.182,0.211,0,0,0,0,3.604,3.604,3.604,3.609,3.613,3.618,3.618,3.618,3.618,3.618,3.629,3.629,3.633,3.635,3.646,3.646,3.648,3.648,3.652,3.652,3.652,3.668,3.67,3.671,3.677,3.679,3.682,3.695,3.7,3.703,3.707,3.713,3.714,3.729,3.737,3.739,3.743,3.756,3.764,3.769,3.77,3.773,3.773,3.776,3.776,3.752,0.16,0.158,0.147,0.145,0.145,0.145,0.143,0.143,0.145,0.145,0.152,0.157,0.169,0.243,0,0,0,0,0,0,0,0,0.16,0.153,0.151,0.151,0.151,0.151,0.149,0.139,0.127,0.107,0.068,0.064,0.06,0.06,0.06,0.06,0.06,0.061,0.059,0.061,0.058,0.057,0.055,0.057,0.057,0.097,0.151,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0.007,3.422,3.418,3.392,3.386,3.381,3.355,3.344,3.32,3.309,3.278,3.271,3.262,3.234,3.201,3.189,3.178,3.152,3.151,3.132,3.118,3.117,3.095,3.072,3.061,3.048,3.042,3.034,3.021,3.005,2.998,2.988,2.974,2.959,2.938,2.93,2.92,2.92,2.906,2.894,2.871,2.867,2.861,2.846,2.838,2.828,2.813,2.81,2.803,2.789,2.784,2.784,2.778,2.758,1.132,1.129,1.128,1.122,1.126,1.12,1.117,1.117,1.117,1.115,1.114,1.108,1.103,1.103,1.103,1.099,1.099,1.095,1.091,1.086,1.082,1.082,1.082,1.082,1.082,1.076,1.073,1.072,1.072,1.065,1.065,1.062,1.061,1.058,1.058,1.058,1.059,1.059,1.059,1.055,1.054,1.052,1.054,1.054,1.054,1.054,1.054,1.054,1.054,1.051,1.051,1.054,1.052,1.052,1.052,1.052,1.051,1.049,1.051,1.051,1.051,1.059,1.059,1.055,1.055,1.054,1.054,1.052,1.052,1.049,1.051,1.051,1.051,1.051,1.052,1.056,1.052,1.049,1.051,1.049,1.048,1.048,1.051,1.051,1.051,1.051,1.051,1.045,1.045,1.046,1.046,1.045,1.043,1.042,1.042,1.042,1.049,1.054,1.054,1.05,1.054,1.05,1.05,1.05,1.055,1.055,1.055,1.059,1.059,1.062,1.067,1.069,1.069,1.069,1.069,1.07,1.073,1.076,1.08,1.086,2.531,2.538,2.538,2.538,2.543,2.546,2.554,2.56,2.562,2.568,2.571,2.577,2.587,2.598,2.598,2.598,2.608,2.617,2.618,2.626,2.637,2.642,2.651,2.653,2.663,2.671,2.676,2.684,2.692,2.701,2.716,2.717,2.736,2.739,2.744,2.756,2.766,2.772,2.781,2.794,2.801,2.811,2.823,2.831,2.846,2.851,2.863,2.87,2.889,2.9,2.908,2.92,2.934,2.948,2.962,2.982,2.987,2.994,3.013,3.036,3.038,3.052,3.059,3.076,3.086,3.098,3.112,3.125,3.137,3.171,3.176,3.185,3.216,3.228,3.246,3.269,3.276,3.317,3.32,3.324,3.348,3.364,3.386,3.414,3.426,3.462,3.467,3.494,3.522,3.528,3.564,3.582,3.615,3.634,3.645,3.673,3.705,3.725,3.745,3.773,3.81,3.827,3.857,3.896,3.94,3.965,3.994,4.024,4.056,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.281,3.279,3.268,3.254,3.244,3.24,3.226,3.217,3.212,3.202,3.185,3.184,3.162,3.162,3.162,3.149,3.139,3.133,3.128,3.124,3.113,3.11,3.102,3.093,3.091,3.076,3.067,3.057,3.056,3.053,3.045,3.042,3.036,3.036,3.029,3.022,3.015,3.015,3.008,3.002,2.999,2.994,2.994,2.987,2.979,2.972,2.968,2.966,2.965,2.964,2.959,2.958,2.952,2.949,2.945,2.942,2.939,2.939,2.942,2.942,2.942,2.942,2.932,2.929,2.925,2.923,2.923,2.925,2.925,2.922,2.92,2.92,2.92,2.918,2.918,2.914,2.914,2.918,2.918,2.923,2.923,2.921,2.919,2.921,2.921,2.922,2.922,2.927,2.93,2.93,2.932,2.934,2.932,2.934,2.935,2.936,2.938,2.946,2.947,2.953,2.955,2.955,2.955,2.963,2.967,2.967,2.968,2.974,2.976,2.977,2.982,2.988,2.989,3,3,3.002,3.002,3.013,3.023,3.023,3.023,3.03,3.032,3.033,3.036,3.036,3.036,3.036,3.047,3.059,3.069,3.076,3.076,3.078,3.086,3.093,3.097,3.108,3.109,3.113,3.121,3.127,3.138,3.144,3.144,3.162,3.171,3.176,3.181,3.182,3.202,3.204,3.204,3.208,3.213,3.748,3.749,3.755,3.757,3.777,3.802,3.804,3.818,3.834,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.03} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.705113}
SEN {Time 23.03} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.027940}
SEN {Time 23.0321} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9652} {Name Sonar8 Range 0.254} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.81} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 0.9144}
SEN {Time 23.0704} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.181,0.19,0.186,0.186,0.19,0,0,0,0,0,3.625,3.623,3.623,3.625,3.639,3.64,3.644,3.644,3.645,3.645,3.645,3.655,3.657,3.665,3.667,3.669,3.671,3.673,3.686,3.69,3.691,3.703,3.712,3.712,3.722,3.728,3.736,3.738,3.74,3.744,3.753,3.758,3.767,3.781,3.781,3.786,3.797,3.805,3.813,3.827,3.827,3.831,3.831,3.827,3.826,0.166,0.153,0.15,0.144,0.144,0.144,0.145,0.145,0.145,0.145,0.151,0.163,0.238,0,0,0,0,0,0,0,0,0.163,0.157,0.157,0.157,0.157,0.153,0.153,0.144,0.144,0.128,0.126,0.059,0.059,0.058,0.058,0.059,0.059,0.06,0.063,0.06,0.06,0.059,0.057,0.057,0.059,0.067,0.091,0.161,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.342,3.329,3.318,3.299,3.295,3.283,3.279,3.24,3.232,3.217,3.197,3.183,3.162,3.149,3.143,3.121,3.111,3.1,3.075,3.073,3.065,3.042,3.041,3.016,2.995,2.991,2.98,2.974,2.961,2.94,2.931,2.92,2.918,2.912,2.898,2.887,2.877,2.864,2.852,2.843,2.839,2.815,2.808,2.798,2.795,2.791,2.769,2.764,1.145,1.14,1.137,1.137,1.132,1.129,1.122,1.121,1.117,1.117,1.117,1.115,1.108,1.108,1.107,1.107,1.102,1.099,1.098,1.097,1.095,1.088,1.088,1.088,1.087,1.083,1.078,1.078,1.074,1.074,1.073,1.07,1.068,1.067,1.065,1.065,1.062,1.059,1.059,1.057,1.056,1.056,1.056,1.056,1.056,1.055,1.052,1.052,1.051,1.051,1.052,1.052,1.049,1.052,1.053,1.052,1.049,1.056,1.056,1.054,1.054,1.056,1.054,1.054,1.058,1.062,1.062,1.062,1.06,1.06,1.06,1.06,1.059,1.062,1.059,1.058,1.059,1.059,1.054,1.053,1.053,1.051,1.05,1.051,1.052,1.052,1.053,1.053,1.054,1.054,1.051,1.051,1.051,1.047,1.051,1.053,1.053,1.053,1.053,1.053,1.053,1.054,1.054,1.058,1.059,1.062,1.063,1.063,1.067,1.068,1.068,1.068,1.07,1.074,1.075,1.079,1.084,1.084,1.086,1.086,2.523,2.525,2.534,2.534,2.539,2.541,2.546,2.554,2.556,2.56,2.571,2.576,2.586,2.588,2.591,2.6,2.607,2.611,2.616,2.625,2.638,2.646,2.646,2.648,2.664,2.667,2.67,2.676,2.677,2.698,2.711,2.714,2.725,2.727,2.742,2.746,2.76,2.769,2.772,2.789,2.791,2.803,2.818,2.821,2.838,2.845,2.847,2.876,2.878,2.885,2.898,2.922,2.927,2.937,2.941,2.973,2.978,2.992,3.001,3.018,3.028,3.044,3.053,3.077,3.084,3.093,3.116,3.122,3.146,3.148,3.178,3.183,3.205,3.217,3.235,3.253,3.266,3.28,3.309,3.322,3.332,3.354,3.375,3.393,3.424,3.437,3.452,3.472,3.498,3.516,3.532,3.565,3.588,3.614,3.636,3.668,3.7,3.71,3.756,3.775,3.791,3.821,3.841,3.871,3.896,3.936,3.976,4.009,4.043,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,3.334,3.29,3.254,3.244,3.232,3.225,3.219,3.216,3.202,3.198,3.184,3.181,3.159,3.157,3.156,3.147,3.14,3.124,3.119,3.117,3.111,3.107,3.097,3.094,3.075,3.069,3.064,3.061,3.058,3.052,3.046,3.044,3.034,3.023,3.01,3.007,3.003,3,2.994,2.989,2.989,2.984,2.982,2.981,2.973,2.968,2.968,2.967,2.964,2.956,2.951,2.949,2.946,2.945,2.938,2.934,2.938,2.938,2.938,2.938,2.938,2.936,2.931,2.921,2.917,2.917,2.917,2.912,2.917,2.922,2.922,2.919,2.922,2.919,2.918,2.916,2.915,2.908,2.908,2.908,2.908,2.91,2.911,2.912,2.912,2.913,2.919,2.921,2.923,2.923,2.923,2.929,2.932,2.941,2.94,2.94,2.941,2.941,2.945,2.948,2.948,2.949,2.955,2.958,2.96,2.962,2.969,2.969,2.977,2.977,2.978,2.98,2.987,2.993,2.994,2.996,2.999,3.005,3.014,3.02,3.021,3.022,3.029,3.036,3.036,3.037,3.044,3.044,3.05,3.053,3.053,3.067,3.07,3.082,3.086,3.09,3.092,3.106,3.104,3.106,3.107,3.124,3.127,3.136,3.148,3.152,3.16,3.172,3.181,3.191,3.193,3.204,3.228,3.658,3.735,3.735,3.754,3.764,3.765,3.777,3.796,3.804,3.815,3.829,3.845,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.23} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.738274}
SEN {Time 23.23} {Type Tachometer} {Name LeftRight} {Vel -0.027940,0.027940}
SEN {Time 23.2262} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.81} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9144}
SEN {Time 23.2704} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.195,0.195,0.195,0.195,0,0,0,0,3.642,3.641,3.641,3.642,3.649,3.65,3.655,3.659,3.665,3.671,3.671,3.679,3.686,3.69,3.698,3.7,3.706,3.713,3.728,3.729,3.733,3.735,3.743,3.747,3.747,3.764,3.767,3.768,3.768,3.77,3.793,3.796,3.796,3.814,3.817,3.82,3.822,3.836,3.862,3.865,3.869,3.874,3.879,3.881,0,0,0,0.149,0.149,0.148,0.149,0.149,0.149,0.148,0.148,0.148,0.15,0.153,0.247,0,0,0,0,0,0,0,0,0.165,0.156,0.156,0.146,0.146,0.146,0.146,0.146,0.15,0.133,0.131,0.068,0.065,0.064,0.062,0.059,0.059,0.062,0.062,0.063,0.063,0.059,0.059,0.064,0.064,0.065,0.1,0.153,0,0.006,0.006,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.281,3.257,3.254,3.253,3.253,3.251,3.223,3.221,3.195,3.174,3.157,3.138,3.137,3.117,3.09,3.082,3.079,3.063,3.05,3.032,3.021,2.998,2.994,2.987,2.975,2.962,2.953,2.935,2.928,2.917,2.908,2.904,2.876,2.873,2.872,2.863,2.861,2.846,2.826,2.819,2.809,2.803,2.793,2.778,2.764,1.148,1.145,1.134,1.134,1.132,1.131,1.124,1.129,1.124,1.123,1.121,1.114,1.112,1.11,1.106,1.101,1.101,1.101,1.099,1.097,1.095,1.095,1.09,1.09,1.084,1.079,1.078,1.076,1.075,1.075,1.075,1.075,1.068,1.068,1.064,1.064,1.064,1.064,1.06,1.06,1.06,1.059,1.06,1.059,1.059,1.056,1.056,1.052,1.052,1.047,1.055,1.055,1.055,1.053,1.054,1.053,1.049,1.049,1.054,1.053,1.056,1.056,1.056,1.057,1.057,1.058,1.057,1.057,1.058,1.065,1.064,1.067,1.067,1.064,1.061,1.061,1.058,1.058,1.058,1.06,1.058,1.049,1.049,1.047,1.047,1.055,1.055,1.055,1.055,1.058,1.058,1.058,1.057,1.057,1.054,1.056,1.056,1.059,1.059,1.059,1.06,1.06,1.06,1.058,1.058,1.058,1.058,1.058,1.061,1.064,1.065,1.065,1.065,1.069,1.07,1.07,1.071,1.078,1.081,1.086,2.52,2.532,2.539,2.539,2.542,2.548,2.552,2.555,2.561,2.568,2.57,2.584,2.586,2.588,2.591,2.598,2.61,2.616,2.625,2.628,2.631,2.634,2.652,2.653,2.656,2.661,2.667,2.681,2.696,2.703,2.709,2.72,2.729,2.731,2.735,2.742,2.755,2.772,2.773,2.783,2.789,2.805,2.81,2.82,2.835,2.843,2.852,2.867,2.878,2.895,2.902,2.918,2.921,2.937,2.948,2.952,2.983,2.99,2.994,3.006,3.028,3.038,3.057,3.074,3.087,3.105,3.112,3.127,3.142,3.158,3.182,3.191,3.202,3.217,3.231,3.245,3.267,3.278,3.298,3.315,3.336,3.351,3.359,3.388,3.418,3.423,3.458,3.475,3.503,3.52,3.533,3.562,3.578,3.605,3.632,3.652,3.689,3.706,3.744,3.771,3.806,3.832,3.853,3.879,3.905,3.952,3.957,4.041,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0.006,0,0,3.286,3.273,3.271,3.266,3.247,3.237,3.216,3.213,3.209,3.187,3.186,3.174,3.171,3.166,3.161,3.155,3.147,3.141,3.124,3.124,3.119,3.111,3.101,3.096,3.086,3.086,3.075,3.074,3.052,3.049,3.047,3.042,3.041,3.027,3.026,3.019,3.012,3.011,3.008,3,2.999,2.992,2.984,2.981,2.974,2.971,2.97,2.969,2.965,2.962,2.952,2.952,2.944,2.943,2.938,2.937,2.931,2.931,2.931,2.934,2.934,2.934,2.933,2.927,2.921,2.921,2.916,2.916,2.916,2.916,2.916,2.914,2.914,2.912,2.911,2.912,2.912,2.912,2.913,2.913,2.912,2.912,2.911,2.908,2.908,2.911,2.913,2.913,2.913,2.913,2.915,2.916,2.919,2.926,2.927,2.928,2.935,2.935,2.935,2.935,2.935,2.935,2.936,2.945,2.954,2.958,2.959,2.96,2.966,2.968,2.97,2.972,2.98,2.983,2.992,2.994,2.997,2.997,3.009,3.011,3.013,3.02,3.024,3.024,3.039,3.039,3.039,3.038,3.038,3.038,3.053,3.06,3.062,3.065,3.07,3.076,3.088,3.089,3.097,3.107,3.107,3.11,3.117,3.117,3.129,3.151,3.152,3.159,3.167,3.178,3.18,3.182,3.189,3.189,3.217,3.728,3.728,3.751,3.756,3.762,3.77,3.787,3.799,3.809,3.82,3.837,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.43} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 23.43} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 23.426} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.81} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 23.4704} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.203,0.203,0.203,0,0,0,0,3.658,3.657,3.657,3.658,3.669,3.681,3.685,3.685,3.687,3.688,3.691,3.703,3.705,3.719,3.722,3.722,3.726,3.732,3.733,3.741,3.752,3.753,3.765,3.776,3.783,3.786,3.789,3.805,3.81,3.815,3.822,3.827,3.832,3.853,3.856,3.869,3.871,3.887,3.903,3.903,3.904,3.917,3.925,3.925,3.925,0,0.007,0.155,0.15,0.143,0.143,0.149,0.149,0.147,0.147,0.147,0.147,0.158,0.163,0.248,0,0,0,0,0,0,0,0,0.161,0.16,0.155,0.153,0.153,0.153,0.14,0.138,0.131,0.11,0.072,0.06,0.06,0.06,0.064,0.064,0.064,0.064,0.062,0.06,0.06,0.06,0.06,0.06,0.07,0.083,0.128,3.282,3.282,3.282,3.282,3.25,3.247,3.243,3.242,3.241,3.241,3.228,3.227,3.223,3.204,3.193,3.175,3.165,3.148,3.139,3.121,3.109,3.107,3.087,3.072,3.05,3.03,3.03,3.017,2.999,2.99,2.986,2.964,2.964,2.955,2.944,2.924,2.922,2.893,2.89,2.889,2.869,2.863,2.85,2.843,2.83,2.828,2.818,2.815,2.795,2.795,2.79,2.786,1.148,1.144,1.141,1.138,1.136,1.136,1.128,1.127,1.127,1.122,1.118,1.112,1.111,1.11,1.108,1.102,1.102,1.102,1.102,1.096,1.094,1.092,1.092,1.092,1.09,1.085,1.085,1.081,1.079,1.079,1.079,1.078,1.074,1.071,1.071,1.069,1.067,1.059,1.059,1.058,1.059,1.059,1.059,1.057,1.059,1.059,1.059,1.056,1.056,1.055,1.055,1.052,1.052,1.054,1.054,1.052,1.051,1.051,1.051,1.051,1.054,1.056,1.056,1.058,1.058,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.061,1.061,1.061,1.061,1.061,1.06,1.06,1.058,1.058,1.058,1.053,1.053,1.058,1.053,1.053,1.057,1.053,1.051,1.051,1.051,1.051,1.051,1.051,1.06,1.06,1.06,1.063,1.066,1.066,1.066,1.066,1.067,1.067,1.067,1.071,1.071,1.071,1.073,1.074,1.074,1.076,1.079,1.081,1.081,1.081,2.528,2.528,2.535,2.535,2.54,2.541,2.543,2.557,2.56,2.56,2.564,2.573,2.582,2.582,2.584,2.6,2.609,2.61,2.627,2.627,2.627,2.629,2.645,2.656,2.656,2.657,2.665,2.674,2.686,2.696,2.703,2.711,2.722,2.73,2.735,2.738,2.755,2.769,2.785,2.786,2.786,2.8,2.814,2.814,2.821,2.848,2.853,2.854,2.872,2.876,2.896,2.906,2.922,2.925,2.946,2.946,2.965,2.973,2.998,3.004,3.013,3.042,3.045,3.059,3.078,3.092,3.099,3.12,3.124,3.134,3.157,3.184,3.186,3.206,3.218,3.233,3.255,3.273,3.295,3.303,3.314,3.328,3.354,3.37,3.381,3.411,3.433,3.45,3.463,3.491,3.509,3.546,3.572,3.588,3.621,3.641,3.667,3.684,3.713,3.743,3.765,3.795,3.836,3.853,3.881,3.925,3.951,3.971,4.038,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,4.008,4.008,0.007,3.949,3.289,3.28,3.271,3.255,3.249,3.238,3.227,3.22,3.212,3.199,3.192,3.179,3.173,3.155,3.15,3.145,3.145,3.133,3.124,3.117,3.111,3.106,3.101,3.092,3.092,3.081,3.074,3.068,3.068,3.056,3.046,3.039,3.035,3.031,3.026,3.012,3.012,3.011,3.002,3.002,2.996,2.984,2.983,2.981,2.978,2.971,2.967,2.96,2.957,2.956,2.955,2.953,2.951,2.94,2.937,2.937,2.937,2.936,2.936,2.939,2.942,2.977,2.977,2.942,2.92,2.92,2.919,2.919,2.917,2.917,2.917,2.917,2.917,2.911,2.911,2.911,2.911,2.913,2.913,2.913,2.913,2.905,2.905,2.904,2.907,2.907,2.907,2.911,2.913,2.911,2.91,2.916,2.916,2.91,2.921,2.925,2.931,2.932,2.932,2.939,2.941,2.941,2.945,2.945,2.953,2.958,2.959,2.962,2.968,2.968,2.97,2.973,2.979,2.979,2.982,2.987,2.991,2.999,3.008,3.01,3.01,3.019,3.023,3.024,3.024,3.024,3.025,3.037,3.037,3.04,3.042,3.047,3.052,3.062,3.066,3.079,3.086,3.088,3.088,3.093,3.096,3.109,3.111,3.116,3.127,0.007,3.167,3.167,3.168,3.168,3.176,3.177,3.185,3.191,3.21,3.224,3.707,3.736,3.755,3.762,3.77,3.786,3.789,3.81,3.812,3.821,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 23.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 23.6241} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 23.6704} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.196,0.196,0.196,0,0,0,0,0,3.667,3.666,3.666,3.667,3.676,3.686,3.686,3.687,3.694,3.697,3.7,3.701,3.713,3.717,3.725,3.736,3.739,3.739,3.744,3.751,3.756,3.761,3.768,3.771,3.792,3.793,3.795,3.802,3.815,3.823,3.826,3.839,3.844,3.849,3.873,3.873,3.88,3.89,3.894,3.907,3.923,3.929,0,0,0,0.163,0.154,0.149,0.142,0.142,0.142,0.142,0.142,0.14,0.14,0.152,0.159,0.244,0,0,0,0,0,0,0,0,0.163,0.161,0.161,0.16,0.15,0.146,0.146,0.143,0.14,0.134,0.099,0.076,0.058,0.056,0.056,0.054,0.054,0.06,0.064,0.06,0.06,0.06,0.056,0.056,0.056,0.056,0.075,0.137,0.196,3.285,3.285,3.285,3.265,3.252,3.243,3.24,3.238,3.236,3.225,3.224,3.211,3.202,3.189,3.183,3.16,3.14,3.128,3.128,3.098,3.083,3.079,3.061,3.05,3.039,3.026,3.022,2.997,2.994,2.985,2.985,2.966,2.947,2.936,2.93,2.908,2.906,2.893,2.883,2.868,2.857,2.841,2.839,2.827,2.826,2.823,2.815,2.793,2.792,2.784,1.152,1.15,1.142,1.142,1.134,1.134,1.132,1.123,1.123,1.123,1.12,1.117,1.113,1.111,1.11,1.107,1.105,1.103,1.103,1.097,1.093,1.093,1.092,1.09,1.09,1.086,1.081,1.081,1.076,1.076,1.076,1.076,1.075,1.075,1.075,1.073,1.073,1.07,1.063,1.063,1.063,1.063,1.063,1.062,1.054,1.054,1.054,1.053,1.053,1.054,1.054,1.053,1.054,1.055,1.055,1.053,1.055,1.053,1.052,1.052,1.052,1.052,1.058,1.06,1.061,1.061,1.062,1.062,1.069,1.069,1.067,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.06,1.059,1.053,1.053,1.053,1.053,1.053,1.056,1.055,1.05,1.055,1.056,1.059,1.059,1.059,1.059,1.056,1.056,1.054,1.054,1.054,1.059,1.059,1.059,1.06,1.06,1.064,1.064,1.064,1.069,1.07,1.069,1.07,1.07,1.071,1.071,1.073,1.073,1.074,1.082,1.092,2.525,2.528,2.535,2.535,2.539,2.541,2.551,2.554,2.558,2.565,2.566,2.568,2.584,2.584,2.597,2.601,2.608,2.609,2.619,2.62,2.621,2.638,2.643,2.654,2.659,2.665,2.67,2.671,2.687,2.693,2.699,2.714,2.724,2.724,2.737,2.748,2.75,2.764,2.772,2.783,2.793,2.806,2.811,2.819,2.822,2.847,2.855,2.872,2.886,2.896,2.896,2.904,2.912,2.923,2.943,2.955,2.958,2.979,2.983,2.999,3.02,3.029,3.047,3.049,3.085,3.113,3.122,3.122,3.129,3.137,3.173,3.181,3.188,3.198,3.228,3.233,3.246,3.274,3.286,3.303,3.308,3.327,3.346,3.374,3.383,3.419,3.432,3.44,3.472,3.494,3.523,3.545,3.56,3.586,3.615,3.633,3.656,3.677,3.715,3.738,3.75,3.796,3.824,3.845,3.893,3.925,3.946,3.978,4.007,4.042,4.087,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.286,3.284,3.276,3.253,3.248,3.244,3.219,3.214,3.21,3.194,3.193,3.191,3.172,3.162,3.154,3.149,3.145,3.138,3.133,3.119,3.114,3.109,3.088,3.087,3.086,3.068,3.066,3.061,3.061,3.049,3.044,3.038,3.038,3.033,3.026,3.026,3.014,3.011,3.009,2.998,2.996,2.994,2.984,2.981,2.971,2.969,2.968,2.956,2.955,2.955,2.952,2.949,2.949,2.949,2.947,2.947,2.938,2.938,2.938,2.938,2.938,2.931,2.931,2.92,2.92,2.918,2.919,2.917,2.913,2.913,2.914,2.914,2.914,2.914,2.912,2.911,2.907,2.904,2.906,2.906,2.906,2.906,2.906,2.907,2.907,2.907,2.903,2.903,2.903,2.906,2.907,2.917,2.917,2.925,2.925,2.926,2.928,2.935,2.935,2.938,2.938,2.938,2.94,2.945,2.953,2.953,2.956,2.963,2.963,2.963,2.972,2.972,2.973,2.973,2.974,2.988,2.994,2.994,2.996,3.003,3.013,3.023,3.025,3.026,3.032,3.032,3.032,3.032,3.032,3.033,3.048,3.048,3.053,3.055,3.067,3.08,3.082,3.091,3.095,3.099,3.1,3.101,3.103,3.117,3.128,3.146,3.154,3.154,3.154,3.168,3.171,3.174,3.184,3.19,3.212,3.229,3.698,3.739,3.749,3.761,3.769,3.779,3.788,3.805,3.816,3.817,3.837,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 23.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 23.823} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 23.8703} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.205,0.205,0.205,0,0,0,0,0,3.67,3.668,3.668,3.67,3.678,3.678,3.68,3.692,3.694,3.697,3.702,3.705,3.712,3.715,3.723,3.729,3.731,3.743,3.745,3.76,3.762,3.765,3.766,3.788,3.791,3.793,3.802,3.809,3.816,3.821,3.831,3.832,3.845,3.853,3.864,3.884,3.889,3.891,3.904,3.907,3.907,3.917,3.926,3.926,0,0.007,0.162,0.153,0.148,0.148,0.147,0.147,0.147,0.152,0.152,0.153,0.162,0.235,0,0,0,0,0,0,0,0,0.166,0.166,0.166,0.166,0.153,0.152,0.152,0.143,0.139,0.128,0.099,0.079,0.06,0.058,0.058,0.058,0.062,0.064,0.064,0.068,0.068,0.059,0.059,0.059,0.059,0.066,0.085,0.147,0.201,3.27,3.272,3.272,3.27,3.246,3.244,3.244,3.241,3.24,3.24,3.23,3.208,3.207,3.192,3.189,3.168,3.161,3.141,3.133,3.092,3.09,3.088,3.069,3.046,3.034,3.027,3.018,3,2.991,2.987,2.96,2.958,2.944,2.944,2.941,2.911,2.904,2.895,2.879,2.87,2.867,2.845,2.845,2.836,2.832,2.814,2.809,2.799,2.799,2.798,2.78,1.148,1.143,1.142,1.139,1.138,1.136,1.129,1.127,1.123,1.121,1.121,1.12,1.116,1.106,1.104,1.099,1.099,1.099,1.099,1.099,1.097,1.095,1.091,1.089,1.085,1.084,1.083,1.078,1.077,1.077,1.077,1.074,1.074,1.074,1.067,1.062,1.062,1.063,1.063,1.063,1.063,1.06,1.058,1.058,1.058,1.059,1.059,1.059,1.058,1.052,1.052,1.057,1.049,1.055,1.057,1.057,1.055,1.056,1.056,1.055,1.055,1.056,1.057,1.058,1.061,1.061,1.064,1.064,1.064,1.066,1.064,1.063,1.063,1.068,1.069,1.069,1.07,1.069,1.068,1.055,1.055,1.055,1.055,1.057,1.057,1.055,1.057,1.057,1.057,1.057,1.058,1.058,1.058,1.057,1.058,1.058,1.059,1.06,1.06,1.059,1.059,1.059,1.059,1.066,1.067,1.067,1.067,1.067,1.067,1.069,1.073,1.074,1.075,1.076,1.076,1.078,1.078,1.085,1.086,2.517,2.525,2.532,2.532,2.547,2.552,2.552,2.561,2.561,2.568,2.568,2.572,2.586,2.59,2.592,2.595,2.603,2.607,2.621,2.626,2.632,2.645,2.65,2.656,2.659,2.669,2.672,2.68,2.684,2.686,2.708,2.709,2.715,2.735,2.738,2.74,2.748,2.759,2.775,2.781,2.782,2.811,2.812,2.815,2.823,2.848,2.854,2.856,2.856,2.885,2.892,2.908,2.918,2.932,2.938,2.945,2.964,2.972,2.998,3.006,3.015,3.034,3.039,3.053,3.068,3.083,3.098,3.112,3.128,3.151,3.165,3.18,3.184,3.216,3.219,3.241,3.258,3.274,3.296,3.304,3.309,3.334,3.354,3.366,3.388,3.415,3.432,3.442,3.476,3.494,3.516,3.539,3.565,3.589,3.613,3.636,3.669,3.676,3.714,3.739,3.765,3.785,3.824,3.855,3.889,3.921,3.941,3.977,4.006,4.046,4.078,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,3.291,3.279,3.276,3.254,3.245,3.244,3.219,3.212,3.211,3.192,3.187,3.18,3.179,3.155,3.152,3.145,3.139,3.132,3.126,3.122,3.106,3.105,3.09,3.087,3.081,3.078,3.077,3.075,3.06,3.052,3.05,3.044,3.04,3.031,3.019,3.016,3.015,3.013,3.009,3.001,2.991,2.987,2.986,2.98,2.973,2.97,2.968,2.958,2.956,2.956,2.956,2.955,2.954,2.95,2.942,2.942,2.942,2.934,2.942,2.944,2.942,2.938,2.938,2.919,2.918,2.918,2.918,2.918,2.918,2.915,2.913,2.911,2.912,2.911,2.908,2.908,2.908,2.908,2.908,2.91,2.91,2.911,2.91,2.916,2.91,2.916,2.91,2.915,2.915,2.915,2.915,2.915,2.917,2.919,2.921,2.921,2.929,2.931,2.936,2.936,2.939,2.94,2.945,2.948,2.954,2.955,2.961,2.964,2.965,2.967,2.969,2.972,2.972,2.981,2.982,2.995,2.995,2.998,3.008,3.027,3.027,3.027,3.027,3.027,3.029,3.029,3.039,3.037,3.037,3.041,3.042,3.052,3.054,3.061,3.069,3.08,3.088,3.088,3.088,3.089,3.093,3.103,3.116,3.122,3.13,3.152,3.156,3.156,3.162,3.165,3.167,3.175,3.185,3.196,3.209,3.231,3.695,3.745,3.751,3.757,3.764,3.778,3.788,3.795,3.824,3.829,3.837,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 24.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 24.0239} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 24.0664} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.208,0.208,0.208,0,0,0,0,0,3.664,3.664,3.664,3.671,3.676,3.678,3.678,3.692,3.695,3.699,3.702,3.706,3.707,3.711,3.722,3.726,3.73,3.745,3.751,3.752,3.759,3.762,3.774,3.782,3.788,3.788,3.799,3.805,3.814,3.82,3.836,3.837,3.85,3.85,3.869,3.875,3.881,3.894,3.905,3.906,3.907,3.935,0,0,0,0,0,0.152,0.151,0.151,0.152,0.152,0.153,0.153,0.153,0.153,0.158,0.162,0.234,0,0,0,0,0,0,0.159,0.157,0.155,0.152,0.152,0.151,0.151,0.151,0.148,0.139,0.128,0.116,0.084,0.063,0.06,0.058,0.06,0.06,0.06,0.063,0.063,0.061,0.06,0.06,0.058,0.058,0.058,0.081,0.139,3.278,3.28,3.28,3.278,3.258,3.25,3.248,3.239,3.238,3.234,3.228,3.228,3.209,3.202,3.182,3.174,3.166,3.138,3.128,3.123,3.102,3.101,3.086,3.063,3.059,3.031,3.026,3.019,2.997,2.985,2.982,2.953,2.951,2.945,2.932,2.928,2.911,2.899,2.894,2.885,2.866,2.858,2.849,2.838,2.838,2.829,2.816,2.813,2.793,2.79,2.774,1.153,1.142,1.137,1.137,1.135,1.132,1.131,1.131,1.127,1.123,1.123,1.121,1.121,1.115,1.113,1.107,1.1,1.1,1.099,1.098,1.09,1.091,1.084,1.084,1.084,1.088,1.082,1.082,1.082,1.082,1.078,1.073,1.073,1.073,1.073,1.073,1.067,1.063,1.06,1.06,1.06,1.058,1.058,1.056,1.055,1.055,1.054,1.054,1.049,1.053,1.049,1.05,1.05,1.053,1.054,1.058,1.058,1.058,1.052,1.052,1.052,1.053,1.056,1.059,1.059,1.061,1.061,1.061,1.061,1.061,1.061,1.061,1.061,1.063,1.064,1.066,1.066,1.066,1.066,1.063,1.063,1.062,1.061,1.058,1.058,1.057,1.057,1.057,1.057,1.057,1.058,1.06,1.06,1.055,1.055,1.055,1.055,1.055,1.055,1.058,1.058,1.062,1.067,1.067,1.067,1.068,1.068,1.068,1.067,1.071,1.069,1.071,1.069,1.071,1.073,1.079,1.077,1.081,1.082,1.089,2.527,2.528,2.528,2.528,2.54,2.543,2.551,2.553,2.556,2.56,2.563,2.574,2.576,2.58,2.59,2.6,2.606,2.615,2.619,2.619,2.625,2.631,2.643,2.652,2.655,2.666,2.668,2.669,2.693,2.697,2.702,2.717,2.723,2.725,2.725,2.745,2.747,2.758,2.768,2.778,2.786,2.811,2.815,2.82,2.838,2.846,2.858,2.866,2.866,2.877,2.888,2.906,2.913,2.924,2.945,2.963,2.979,2.993,2.993,3.013,3.024,3.031,3.045,3.054,3.072,3.086,3.093,3.115,3.125,3.142,3.155,3.173,3.186,3.206,3.227,3.229,3.253,3.262,3.282,3.306,3.313,3.333,3.347,3.366,3.395,3.411,3.441,3.444,3.461,3.484,3.513,3.541,3.57,3.602,3.611,3.631,3.661,3.685,3.713,3.744,3.757,3.782,3.82,3.857,3.881,3.929,3.945,3.967,4.017,4.044,4.083,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,3.293,3.271,3.264,3.258,3.252,3.246,3.218,3.211,3.205,3.195,3.189,3.183,3.18,3.158,3.154,3.141,3.141,3.133,3.126,3.115,3.111,3.107,3.093,3.092,3.088,3.077,3.068,3.066,3.055,3.052,3.045,3.039,3.032,3.03,3.028,3.02,3.011,3.011,3.011,2.995,2.994,2.984,2.983,2.981,2.978,2.974,2.973,2.969,2.967,2.969,2.956,2.952,2.946,2.945,2.941,2.937,2.935,2.93,2.935,2.937,2.935,2.935,2.935,2.916,2.916,2.916,2.916,2.916,2.918,2.911,2.911,2.916,2.916,2.911,2.912,2.912,2.912,2.912,2.916,2.916,2.907,2.907,2.912,2.911,2.911,2.911,2.911,2.911,2.911,2.911,2.918,2.918,2.918,2.918,2.921,2.922,2.927,2.933,2.933,2.936,2.937,2.937,2.937,2.94,2.949,2.955,2.956,2.961,2.968,2.968,2.971,2.974,2.975,2.981,2.981,2.994,2.998,2.999,2.999,3.003,3.008,3.009,3.019,3.022,3.029,3.029,3.03,3.039,3.038,3.039,3.039,3.045,3.045,3.061,3.062,3.077,3.082,3.092,3.092,3.105,3.105,3.106,3.11,3.113,3.132,3.148,3.158,3.158,3.165,3.172,3.173,3.178,3.183,3.188,3.208,3.23,3.702,3.744,3.754,3.757,3.759,3.775,3.778,3.792,3.816,3.827,3.855,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 24.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 24.2179} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 24.2664} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.185,0.185,0.187,0,0,0,0,0,3.667,3.657,3.657,3.667,3.68,3.687,3.689,3.689,3.69,3.699,3.703,3.707,3.709,3.718,3.725,3.729,3.736,3.745,3.751,3.76,3.761,3.761,3.773,3.777,3.784,3.803,3.806,3.807,3.823,3.826,3.827,3.844,3.85,3.859,3.882,3.885,3.891,3.895,3.901,3.916,3.924,3.932,3.932,3.932,3.932,0.163,0.146,0.146,0.146,0.146,0.146,0.151,0.151,0.152,0.152,0.153,0.157,0.162,0.236,0,0,0,0,0,0,0,0.156,0.154,0.154,0.153,0.153,0.149,0.149,0.144,0.136,0.129,0.113,0.066,0.059,0.059,0.059,0.054,0.054,0.063,0.063,0.063,0.063,0.061,0.06,0.056,0.056,0.06,0.088,0.148,3.278,3.282,3.282,3.278,3.263,3.254,3.245,3.244,3.244,3.237,3.235,3.209,3.204,3.201,3.183,3.175,3.157,3.149,3.135,3.134,3.104,3.103,3.077,3.065,3.047,3.029,3.018,3.017,2.992,2.991,2.985,2.96,2.955,2.936,2.935,2.927,2.917,2.902,2.884,2.883,2.868,2.868,2.857,2.844,2.834,2.833,2.825,2.804,2.793,2.79,2.779,1.148,1.143,1.137,1.137,1.136,1.134,1.131,1.128,1.127,1.127,1.125,1.118,1.116,1.113,1.112,1.101,1.1,1.1,1.099,1.097,1.097,1.096,1.094,1.088,1.084,1.088,1.084,1.082,1.081,1.078,1.076,1.07,1.07,1.07,1.067,1.065,1.065,1.064,1.065,1.065,1.064,1.064,1.06,1.058,1.056,1.058,1.056,1.056,1.055,1.055,1.055,1.055,1.055,1.055,1.057,1.052,1.057,1.052,1.057,1.052,1.052,1.052,1.055,1.055,1.058,1.058,1.058,1.058,1.059,1.061,1.061,1.061,1.062,1.062,1.061,1.062,1.062,1.066,1.062,1.062,1.062,1.063,1.061,1.061,1.058,1.055,1.055,1.053,1.053,1.054,1.054,1.054,1.055,1.057,1.055,1.057,1.057,1.057,1.057,1.057,1.057,1.057,1.061,1.061,1.061,1.061,1.063,1.068,1.068,1.068,1.068,1.072,1.073,1.074,1.075,1.076,1.076,1.076,1.083,1.085,2.517,2.528,2.537,2.537,2.539,2.547,2.552,2.558,2.56,2.562,2.564,2.573,2.585,2.596,2.597,2.603,2.606,2.611,2.62,2.625,2.63,2.634,2.642,2.648,2.656,2.66,2.66,2.679,2.689,2.699,2.706,2.716,2.726,2.726,2.743,2.745,2.747,2.752,2.771,2.772,2.789,2.798,2.813,2.82,2.828,2.846,2.853,2.86,2.871,2.878,2.893,2.911,2.918,2.924,2.942,2.948,2.958,2.98,2.989,3.016,3.022,3.029,3.05,3.061,3.066,3.091,3.102,3.123,3.147,3.16,3.179,3.179,3.183,3.204,3.226,3.236,3.256,3.271,3.283,3.307,3.314,3.329,3.343,3.368,3.394,3.412,3.429,3.45,3.478,3.498,3.517,3.535,3.577,3.6,3.608,3.644,3.667,3.688,3.716,3.741,3.768,3.799,3.823,3.861,3.88,3.921,3.946,3.977,4.005,4.049,4.084,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,3.961,3.289,3.275,3.271,3.256,3.255,3.24,3.225,3.216,3.199,3.196,3.191,3.186,3.173,3.163,3.147,3.145,3.141,3.135,3.131,3.126,3.121,3.098,3.09,3.09,3.087,3.079,3.067,3.061,3.061,3.057,3.04,3.039,3.034,3.029,3.026,3.015,3.014,3.005,3.001,2.998,2.997,2.993,2.984,2.98,2.977,2.972,2.969,2.96,2.955,2.957,2.956,2.955,2.948,2.94,2.938,2.937,2.933,2.933,2.933,2.933,2.939,2.939,2.939,2.926,2.921,2.911,2.919,2.919,2.917,2.919,2.919,2.917,2.916,2.911,2.91,2.91,2.91,2.908,2.91,2.908,2.908,2.906,2.911,2.906,2.906,2.906,2.911,2.911,2.911,2.911,2.913,2.913,2.919,2.92,2.921,2.927,2.931,2.931,2.933,2.934,2.937,2.944,2.945,2.945,2.948,2.948,2.958,2.962,2.967,2.97,2.971,2.972,2.972,2.98,2.984,2.993,2.994,2.996,2.996,3,3.006,3.012,3.017,3.029,3.029,3.029,3.029,3.03,3.03,3.036,3.041,3.054,3.058,3.064,3.064,3.072,3.078,3.087,3.089,3.091,3.092,3.1,3.11,3.111,3.136,0.007,3.16,3.16,3.168,3.168,3.172,3.177,3.186,3.192,3.214,3.235,3.705,3.736,3.754,3.758,3.772,3.784,3.787,3.801,3.811,3.822,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 24.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 24.4199} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 24.4664} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.186,0.186,0.195,0,0,0,0,0,3.681,3.668,3.668,3.678,3.681,3.686,3.691,3.691,3.692,3.702,3.707,3.712,3.714,3.73,3.733,3.739,3.742,3.748,3.759,3.765,3.766,3.766,3.774,3.777,3.787,3.788,3.811,3.815,3.823,3.832,3.833,3.834,3.849,3.867,3.872,3.881,3.885,3.895,3.91,3.912,3.915,3.916,3.922,3.922,3.922,0.153,0.149,0.149,0.148,0.148,0.148,0.153,0.156,0.156,0.156,0.156,0.157,0.239,0,0,0,0,0,0,0,0.166,0.166,0.159,0.166,0.159,0.155,0.155,0.155,0.151,0.137,0.135,0.113,0.074,0.061,0.059,0.057,0.056,0.056,0.056,0.056,0.059,0.06,0.06,0.06,0.06,0.063,0.066,0.081,0.143,0.203,3.274,3.291,3.291,3.274,3.246,3.246,3.246,3.246,3.247,0.007,3.22,3.219,3.219,3.186,3.174,3.173,3.151,3.127,3.123,3.109,3.096,3.08,3.064,3.062,3.033,3.027,3.012,2.995,2.981,2.976,2.953,2.953,2.947,2.939,2.924,2.915,2.898,2.895,2.883,2.875,2.864,2.849,2.841,2.831,2.831,2.816,2.814,2.8,2.8,2.79,2.779,1.144,1.142,1.14,1.134,1.134,1.127,1.119,1.119,1.117,1.116,1.116,1.114,1.112,1.105,1.1,1.096,1.096,1.094,1.094,1.092,1.091,1.091,1.091,1.088,1.091,1.091,1.088,1.078,1.074,1.074,1.074,1.071,1.071,1.071,1.068,1.065,1.065,1.064,1.059,1.056,1.056,1.055,1.056,1.057,1.057,1.054,1.057,1.054,1.052,1.051,1.051,1.047,1.051,1.054,1.054,1.049,1.054,1.049,1.049,1.048,1.052,1.052,1.056,1.057,1.058,1.058,1.06,1.062,1.063,1.065,1.065,1.066,1.065,1.065,1.058,1.058,1.058,1.058,1.058,1.061,1.061,1.056,1.053,1.051,1.05,1.05,1.05,1.047,1.047,1.048,1.048,1.058,1.058,1.057,1.057,1.057,1.057,1.057,1.057,1.057,1.062,1.062,1.062,1.062,1.062,1.062,1.062,1.063,1.065,1.065,1.07,1.072,1.075,1.075,1.076,1.075,1.075,1.077,1.08,2.519,2.535,2.538,2.538,2.549,2.551,2.552,2.558,2.564,2.569,2.574,2.578,2.588,2.591,2.595,2.599,2.606,2.615,2.617,2.623,2.63,2.635,2.651,2.655,2.656,2.671,2.673,2.677,2.689,2.693,2.706,2.717,2.732,2.735,2.738,2.754,2.755,2.757,2.781,2.785,2.795,2.809,2.81,2.824,2.831,2.836,2.849,2.854,2.868,2.884,2.896,2.903,2.92,2.923,2.942,2.952,2.959,2.976,2.994,3.003,3.019,3.029,3.04,3.05,3.069,3.088,3.09,3.121,3.122,3.143,3.164,3.171,3.181,3.215,3.224,3.224,3.246,3.269,3.29,3.3,3.309,3.327,3.342,3.374,3.396,3.41,3.432,3.446,3.473,3.489,3.529,3.547,3.573,3.588,3.626,3.629,3.66,3.685,3.717,3.719,3.769,3.802,3.829,3.86,3.875,3.92,3.946,3.967,4.009,4.042,4.082,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,3.289,3.278,3.273,3.25,3.247,3.24,3.22,3.217,3.211,3.201,3.186,3.18,3.173,3.151,3.142,3.14,3.133,3.131,3.127,3.114,3.113,3.097,3.089,3.087,3.081,3.077,3.068,3.063,3.055,3.052,3.045,3.038,3.036,3.023,3.018,3.017,3.017,3.014,3.002,2.994,2.992,2.991,2.988,2.975,2.974,2.971,2.966,2.962,2.96,2.96,2.955,2.953,2.955,2.955,2.947,2.944,2.938,2.934,2.934,2.944,2.934,2.934,2.934,2.929,2.924,2.922,2.924,2.922,2.92,2.92,2.92,2.918,2.918,2.913,2.913,2.912,2.911,2.908,2.905,2.905,2.907,2.905,2.907,2.911,2.91,2.911,2.911,2.91,2.91,2.91,2.91,2.911,2.914,2.919,2.922,2.924,2.93,2.936,2.936,2.941,2.94,2.94,2.94,2.941,2.95,2.954,2.956,2.965,2.969,2.971,2.971,2.971,2.971,2.982,2.985,2.985,2.994,2.995,3.001,3.001,3.019,3.019,3.024,3.026,3.028,3.028,3.029,3.029,3.034,3.034,3.04,3.05,3.06,3.06,3.068,3.076,3.086,3.089,3.094,3.094,3.105,3.109,3.11,3.111,3.123,3.144,3.155,3.155,3.157,3.168,3.174,3.179,3.182,3.185,3.204,3.227,3.697,3.737,3.755,3.758,3.781,3.783,3.793,3.802,3.807,3.827,3.839,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 24.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 24.6208} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 3.0226} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 24.6664} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.191,0,0,0,0,0,0,3.679,3.672,3.672,3.679,3.68,3.687,3.687,3.689,3.689,3.709,3.713,3.722,3.724,3.727,3.735,3.737,3.742,3.758,3.76,3.773,3.773,3.774,3.779,3.797,3.798,3.805,3.808,3.822,3.824,3.825,3.836,3.84,3.854,3.869,3.876,3.885,3.897,3.901,3.917,3.917,3.919,3.927,3.917,3.917,0.146,0.146,0.146,0.147,0.149,0.152,0.153,0.152,0.152,0.152,0.149,0.149,0.241,0,0,0,0,0,0,0,0.168,0.168,0.163,0.163,0.153,0.158,0.15,0.15,0.149,0.149,0.139,0.132,0.079,0.076,0.056,0.056,0.056,0.056,0.057,0.06,0.057,0.057,0.06,0.057,0.056,0.056,0.06,0.083,0.136,0.199,3.274,3.274,3.274,3.273,3.253,3.246,3.246,3.234,3.234,0.007,3.221,3.207,3.202,3.188,3.188,3.167,3.155,3.142,3.13,3.098,3.092,3.09,3.07,3.057,3.029,3.027,3.008,2.994,2.989,2.979,2.955,2.952,2.948,2.931,2.928,2.915,2.9,2.892,2.87,2.868,2.857,2.849,2.836,2.831,2.829,2.824,2.812,2.793,2.789,2.784,1.145,1.141,1.14,1.14,1.137,1.13,1.128,1.124,1.123,1.121,1.119,1.119,1.119,1.105,1.104,1.103,1.097,1.097,1.095,1.094,1.089,1.086,1.084,1.083,1.084,1.084,1.083,1.081,1.076,1.072,1.072,1.069,1.069,1.069,1.067,1.063,1.063,1.061,1.061,1.06,1.06,1.059,1.058,1.059,1.058,1.051,1.051,1.049,1.048,1.045,1.045,1.045,1.045,1.047,1.052,1.052,1.047,1.047,1.047,1.047,1.047,1.047,1.054,1.056,1.057,1.058,1.058,1.06,1.063,1.063,1.06,1.06,1.059,1.059,1.056,1.056,1.063,1.063,1.061,1.061,1.056,1.051,1.049,1.049,1.049,1.049,1.049,1.052,1.053,1.055,1.056,1.06,1.06,1.056,1.055,1.055,1.055,1.055,1.055,1.056,1.058,1.06,1.06,1.064,1.064,1.062,1.062,1.066,1.066,1.07,1.07,1.075,1.075,1.075,1.075,1.075,1.075,1.075,1.078,1.081,2.525,2.537,2.542,2.542,2.546,2.547,2.548,2.556,2.562,2.564,2.567,2.576,2.586,2.589,2.601,2.606,2.607,2.608,2.622,2.622,2.624,2.636,2.655,2.657,2.658,2.667,2.668,2.677,2.682,2.698,2.712,2.716,2.718,2.731,2.734,2.747,2.754,2.774,2.775,2.78,2.794,2.799,2.813,2.827,2.831,2.844,2.855,2.867,2.88,2.887,2.903,2.911,2.917,2.924,2.931,2.955,2.96,2.978,2.992,3.003,3.017,3.029,3.037,3.049,3.067,3.086,3.101,3.111,3.126,3.142,3.163,3.171,3.188,3.204,3.223,3.231,3.255,3.266,3.289,3.301,3.303,3.328,3.351,3.372,3.399,3.406,3.423,3.445,3.478,3.5,3.513,3.542,3.558,3.599,3.614,3.636,3.655,3.677,3.707,3.735,3.749,3.793,3.811,3.85,3.876,3.927,3.944,3.974,4.014,4.042,4.085,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.287,3.282,3.27,3.243,3.242,3.24,3.218,3.215,3.203,3.199,3.184,3.18,3.174,3.153,3.143,3.138,3.136,3.135,3.123,3.114,3.106,3.101,3.086,3.084,3.082,3.071,3.066,3.063,3.054,3.047,3.044,3.043,3.036,3.031,3.019,3.018,3.013,3.008,3,2.994,2.988,2.988,2.983,2.983,2.974,2.973,2.971,2.965,2.961,2.955,2.955,2.949,2.947,2.946,2.945,2.937,2.935,2.929,2.929,2.935,2.937,2.937,2.937,2.932,2.926,2.917,2.917,2.917,2.917,2.919,2.919,2.919,2.919,2.914,2.914,2.914,2.911,2.907,2.907,2.907,2.904,2.904,2.915,2.915,2.915,2.916,2.916,2.916,2.913,2.916,2.913,2.913,2.913,2.914,2.914,2.924,2.925,2.936,2.939,2.94,2.94,2.942,2.943,2.947,2.95,2.955,2.956,2.957,2.961,2.965,2.973,2.976,2.978,2.986,2.987,2.988,2.997,2.999,3,3.006,3.011,3.021,3.022,3.027,3.034,3.034,3.034,3.039,3.037,3.037,3.047,3.048,3.048,3.061,3.066,3.07,3.077,3.079,3.082,3.093,3.104,3.112,3.114,3.116,3.128,3.136,3.145,3.161,3.162,3.173,3.173,3.175,3.183,3.195,3.204,3.222,3.703,3.736,3.749,3.751,3.767,3.783,3.784,3.799,3.812,3.839,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 24.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 24.8229} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8702} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 24.8663} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.186,0.186,0.186,0.206,0,0,0,0,0,0,3.677,3.669,3.669,3.677,3.681,3.681,3.684,3.688,3.702,3.708,3.71,3.723,3.726,3.727,3.731,3.731,3.744,3.747,3.758,3.759,3.762,3.763,3.766,3.791,3.795,3.802,3.809,3.81,3.823,3.831,3.842,3.846,3.856,3.857,3.871,3.895,3.896,3.907,3.912,3.915,3.916,3.931,3.931,3.916,0.159,0.149,0.143,0.143,0.143,0.143,0.143,0.148,0.148,0.148,0.153,0.159,0.241,0,0,0,0,0,0,0,0.165,0.163,0.16,0.16,0.153,0.15,0.148,0.146,0.145,0.145,0.139,0.123,0.076,0.058,0.057,0.056,0.054,0.054,0.054,0.061,0.061,0.061,0.061,0.058,0.058,0.058,0.062,0.081,0.15,0.205,3.29,3.29,3.29,3.266,3.257,3.247,3.243,3.238,3.238,3.238,3.226,3.222,3.204,3.185,3.179,3.163,3.149,3.132,3.125,3.113,3.094,3.076,3.075,3.051,3.029,3.021,3.011,2.992,2.981,2.981,2.955,2.952,2.943,2.938,2.917,2.909,2.897,2.888,2.883,2.866,2.866,2.849,2.837,2.835,2.827,2.82,2.811,2.8,2.793,2.776,1.155,1.143,1.143,1.143,1.132,1.13,1.124,1.122,1.121,1.121,1.118,1.118,1.111,1.111,1.109,1.109,1.103,1.103,1.099,1.094,1.089,1.089,1.089,1.085,1.085,1.083,1.079,1.077,1.076,1.076,1.076,1.072,1.067,1.07,1.068,1.068,1.069,1.07,1.069,1.07,1.069,1.059,1.057,1.056,1.055,1.055,1.055,1.055,1.053,1.052,1.048,1.048,1.048,1.051,1.051,1.051,1.051,1.05,1.05,1.05,1.051,1.05,1.052,1.054,1.054,1.055,1.056,1.056,1.058,1.063,1.063,1.061,1.061,1.061,1.058,1.058,1.062,1.065,1.062,1.062,1.059,1.059,1.057,1.056,1.056,1.053,1.052,1.052,1.052,1.053,1.053,1.053,1.052,1.052,1.052,1.053,1.057,1.057,1.057,1.057,1.057,1.057,1.061,1.061,1.061,1.061,1.065,1.065,1.068,1.068,1.068,1.068,1.068,1.068,1.069,1.071,1.073,1.078,1.078,1.08,2.516,2.531,2.547,2.542,2.547,2.548,2.552,2.555,2.556,2.571,2.572,2.573,2.586,2.587,2.592,2.597,2.613,2.613,2.619,2.633,2.64,2.643,2.655,2.656,2.658,2.671,2.672,2.677,2.692,2.701,2.707,2.71,2.717,2.729,2.734,2.755,2.758,2.766,2.783,2.785,2.786,2.808,2.811,2.824,2.834,2.847,2.85,2.855,2.87,2.889,2.903,2.91,2.923,2.93,2.938,2.967,2.983,2.996,2.996,3.012,3.021,3.031,3.039,3.058,3.069,3.084,3.095,3.121,3.121,3.142,3.16,3.174,3.184,3.209,3.223,3.233,3.247,3.265,3.287,3.303,3.308,3.329,3.35,3.375,3.39,3.412,3.428,3.448,3.479,3.498,3.523,3.541,3.568,3.593,3.62,3.646,3.661,3.672,3.718,3.743,3.756,3.785,3.818,3.844,3.879,3.905,3.954,3.982,4.012,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.287,3.269,3.259,3.24,3.237,3.229,3.217,3.206,3.19,3.189,3.181,3.169,3.158,3.15,3.137,3.136,3.133,3.131,3.115,3.11,3.103,3.092,3.092,3.085,3.083,3.07,3.061,3.053,3.05,3.036,3.036,3.036,3.034,3.029,3.021,3.014,3.006,3.005,2.997,2.989,2.987,2.987,2.981,2.97,2.968,2.967,2.962,2.959,2.955,2.955,2.953,2.953,2.952,2.938,2.938,2.938,2.936,2.936,2.94,2.939,2.939,2.939,2.925,2.925,2.923,2.923,2.917,2.921,2.921,2.917,2.919,2.919,2.919,2.916,2.914,2.911,2.911,2.911,2.911,2.911,2.911,2.917,2.911,2.915,2.913,2.915,2.913,2.913,2.913,2.913,2.913,2.915,2.923,2.923,2.923,2.931,2.931,2.939,2.939,2.939,2.942,2.942,2.944,2.95,2.958,2.959,2.959,2.963,2.966,2.969,2.976,2.984,2.985,2.989,2.992,2.997,2.997,3,3.006,3.012,3.019,3.019,3.024,3.031,3.031,3.032,3.032,3.032,3.047,3.05,3.05,3.053,3.06,3.07,3.073,3.079,3.087,3.089,3.089,3.091,3.103,3.104,3.116,3.125,3.147,3.153,3.153,3.154,3.166,3.174,3.183,3.184,3.191,3.202,3.244,3.697,3.74,3.762,3.764,3.79,3.79,3.791,3.799,3.816,3.828,3.843,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 25.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 25.0238} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 25.0624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0.187,0.186,0.186,0.186,0.193,0,0,0,0,0,3.67,3.664,3.664,3.669,3.67,3.683,3.689,3.69,3.697,3.701,3.702,3.712,3.718,3.721,3.727,3.73,3.735,3.742,3.752,3.754,3.762,3.766,3.77,3.774,3.793,3.794,3.806,3.806,3.808,3.82,3.821,3.836,3.839,3.865,3.871,3.881,3.888,3.895,3.901,3.914,3.919,3.926,3.933,3.933,3.926,0.167,0.153,0.148,0.147,0.147,0.147,0.147,0.147,0.147,0.147,0.151,0.155,0.246,0,0,0,0,0,0,0,0.165,0.159,0.154,0.154,0.153,0.152,0.151,0.151,0.148,0.148,0.143,0.13,0.068,0.064,0.06,0.06,0.057,0.057,0.056,0.061,0.057,0.058,0.057,0.058,0.058,0.059,0.068,0.091,0.139,0,0,0,0.007,3.289,3.26,3.249,3.243,3.238,3.237,3.225,3.216,3.209,3.204,3.192,3.179,3.161,3.148,3.133,3.132,3.11,3.104,3.08,3.073,3.058,3.025,3.022,3.019,2.991,2.991,2.989,2.962,2.962,2.947,2.936,2.923,2.914,2.903,2.896,2.889,2.866,2.865,2.846,2.846,2.832,2.824,2.823,2.813,2.796,2.79,2.788,1.145,1.14,1.14,1.14,1.14,1.132,1.129,1.124,1.124,1.123,1.119,1.117,1.116,1.112,1.107,1.105,1.103,1.1,1.099,1.092,1.092,1.093,1.092,1.092,1.085,1.085,1.083,1.083,1.083,1.083,1.078,1.072,1.072,1.07,1.067,1.066,1.064,1.064,1.061,1.061,1.061,1.061,1.06,1.057,1.055,1.055,1.055,1.052,1.051,1.051,1.051,1.051,1.046,1.053,1.053,1.054,1.053,1.053,1.051,1.053,1.051,1.051,1.054,1.058,1.054,1.058,1.058,1.061,1.065,1.066,1.065,1.065,1.059,1.059,1.059,1.059,1.064,1.064,1.061,1.061,1.061,1.059,1.059,1.059,1.056,1.052,1.052,1.052,1.053,1.055,1.055,1.055,1.056,1.057,1.056,1.056,1.054,1.054,1.054,1.056,1.06,1.06,1.06,1.06,1.063,1.063,1.063,1.063,1.068,1.068,1.069,1.069,1.069,1.069,1.071,1.076,1.077,1.077,1.078,1.078,2.522,2.542,2.544,2.544,2.544,2.551,2.552,2.557,2.565,2.567,2.577,2.58,2.584,2.592,2.595,2.599,2.611,2.616,2.617,2.624,2.635,2.644,2.648,2.657,2.666,2.668,2.669,2.682,2.687,2.708,2.717,2.718,2.719,2.735,2.741,2.743,2.761,2.766,2.782,2.783,2.796,2.812,2.819,2.825,2.827,2.843,2.85,2.86,2.886,2.899,2.899,2.911,2.919,2.931,2.938,2.955,2.959,2.983,2.994,2.996,3.015,3.037,3.039,3.055,3.076,3.087,3.096,3.118,3.125,3.137,3.175,3.18,3.187,3.212,3.222,3.227,3.259,3.265,3.291,3.303,3.312,3.331,3.361,3.372,3.387,3.417,3.434,3.444,3.483,3.492,3.521,3.545,3.564,3.592,3.62,3.635,3.655,3.687,3.713,3.734,3.765,3.783,3.828,3.884,3.923,3.949,3.949,3.984,4,4.07,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.288,3.274,3.272,3.252,3.241,3.234,3.22,3.22,3.207,3.191,3.189,3.173,3.169,3.15,3.138,3.137,3.134,3.132,3.126,3.122,3.11,3.102,3.092,3.086,3.082,3.072,3.068,3.061,3.055,3.049,3.043,3.043,3.042,3.029,3.022,3.022,3.014,3.007,3,2.995,2.995,2.988,2.987,2.977,2.97,2.97,2.964,2.963,2.957,2.957,2.954,2.953,2.95,2.943,2.942,2.942,2.939,2.936,2.936,2.939,2.937,2.937,2.937,2.926,2.925,2.921,2.919,2.921,2.925,2.923,2.923,2.923,2.923,2.92,2.915,2.912,2.914,2.911,2.907,2.904,2.907,2.906,2.907,2.91,2.911,2.911,2.911,2.913,2.913,2.914,2.918,2.923,2.923,2.923,2.923,2.927,2.932,2.936,2.936,2.938,2.938,2.939,2.941,2.944,2.952,2.953,2.96,2.962,2.965,2.966,2.968,2.973,2.975,2.978,2.986,2.989,2.992,2.993,2.997,3.004,3.006,3.023,3.026,3.028,3.029,3.029,3.029,3.032,3.032,3.042,3.042,3.048,3.057,3.058,3.072,3.074,3.083,3.083,3.089,3.089,3.101,3.102,3.105,3.116,3.123,3.137,3.156,3.156,3.161,3.168,3.175,3.185,3.191,3.193,3.202,3.231,3.699,3.746,3.748,3.769,3.769,3.774,3.792,3.815,3.817,3.828,3.849,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 25.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 25.2178} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 25.2624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.191,0.191,0.191,0.201,0,0,0,0,0,3.667,3.665,3.665,3.667,3.679,3.682,3.69,3.691,3.694,3.694,3.706,3.714,3.723,3.731,3.737,3.74,3.742,3.748,3.754,3.764,3.764,3.765,3.771,3.787,3.793,3.794,3.801,3.803,3.809,3.82,3.838,3.846,3.859,3.866,3.876,3.882,3.888,3.901,3.907,3.908,3.912,3.926,3.935,3.935,0,0.007,0.163,0.152,0.144,0.144,0.143,0.144,0.153,0.153,0.153,0.153,0.153,0.238,0,0,0,0,0,0,0,0.164,0.158,0.156,0.153,0.153,0.153,0.148,0.148,0.148,0.136,0.13,0.118,0.069,0.067,0.057,0.057,0.053,0.053,0.058,0.061,0.061,0.061,0.06,0.058,0.058,0.058,0.067,0.085,0.147,3.283,3.283,3.283,3.278,3.274,3.255,3.252,3.243,3.242,3.234,3.229,3.224,3.208,3.206,3.19,3.186,3.162,3.157,3.14,3.13,3.1,3.097,3.092,3.074,3.046,3.033,3.024,3.016,2.997,2.982,2.982,2.956,2.948,2.944,2.933,2.924,2.913,2.898,2.89,2.886,2.871,2.855,2.851,2.834,2.831,2.83,2.828,2.814,2.793,2.788,2.781,1.148,1.143,1.135,1.138,1.135,1.135,1.134,1.131,1.126,1.123,1.121,1.12,1.116,1.116,1.114,1.107,1.104,1.101,1.097,1.096,1.096,1.096,1.09,1.086,1.085,1.085,1.084,1.082,1.075,1.075,1.071,1.071,1.069,1.069,1.069,1.069,1.069,1.063,1.059,1.063,1.058,1.06,1.058,1.06,1.059,1.06,1.059,1.06,1.059,1.059,1.053,1.05,1.049,1.047,1.049,1.05,1.053,1.053,1.053,1.054,1.054,1.054,1.054,1.055,1.057,1.059,1.057,1.059,1.06,1.06,1.06,1.065,1.061,1.065,1.061,1.065,1.065,1.067,1.067,1.067,1.065,1.058,1.056,1.055,1.055,1.054,1.054,1.055,1.055,1.052,1.055,1.055,1.055,1.057,1.057,1.055,1.057,1.055,1.051,1.055,1.055,1.055,1.056,1.058,1.056,1.063,1.066,1.067,1.063,1.067,1.067,1.073,1.074,1.074,1.075,1.075,1.075,1.076,1.077,1.089,2.524,2.528,2.537,2.537,2.539,2.551,2.552,2.555,2.565,2.566,2.57,2.58,2.58,2.591,2.594,2.596,2.608,2.608,2.616,2.627,2.635,2.636,2.649,2.657,2.662,2.67,2.67,2.692,2.693,2.698,2.703,2.724,2.726,2.73,2.74,2.743,2.752,2.771,2.774,2.784,2.793,2.793,2.819,2.829,2.829,2.84,2.846,2.864,2.874,2.881,2.896,2.915,2.923,2.933,2.935,2.957,2.959,2.979,2.993,3.007,3.018,3.026,3.035,3.061,3.064,3.09,3.105,3.123,3.127,3.135,3.161,3.169,3.185,3.202,3.225,3.231,3.249,3.272,3.292,3.311,3.316,3.332,3.356,3.375,3.398,3.416,3.432,3.45,3.471,3.499,3.527,3.551,3.581,3.589,3.608,3.633,3.666,3.671,3.723,3.732,3.763,3.791,3.828,3.853,3.882,3.909,3.949,3.973,4.003,4.043,4.08,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0.009,0,0,0,3.278,3.273,3.264,3.254,3.254,3.246,3.217,3.217,3.203,3.203,3.189,3.178,3.175,3.154,3.141,3.139,3.134,3.131,3.124,3.12,3.114,3.097,3.091,3.089,3.086,3.085,3.061,3.055,3.055,3.049,3.045,3.043,3.031,3.029,3.02,3.018,3.015,3.01,3.004,2.997,2.993,2.989,2.987,2.987,2.979,2.976,2.969,2.957,2.957,2.957,2.954,2.954,2.954,2.946,2.941,2.941,2.935,2.931,2.931,2.935,2.936,2.936,2.936,2.921,2.918,2.918,2.917,2.916,2.914,2.914,2.914,2.918,2.92,2.92,2.918,2.913,2.913,2.913,2.912,2.912,2.912,2.909,2.909,2.908,2.909,2.91,2.91,2.911,2.913,2.913,2.913,2.914,2.914,2.92,2.921,2.922,2.93,2.932,2.936,2.939,2.945,2.947,2.947,2.948,2.948,2.955,2.956,2.963,2.963,2.972,2.972,2.972,2.976,2.977,2.987,2.99,2.999,2.999,3.003,3.003,3.003,3.02,3.03,3.037,3.037,3.03,3.037,3.032,3.032,3.037,3.039,3.047,3.057,3.058,3.064,3.08,3.081,3.084,3.091,3.093,3.1,3.103,3.114,3.114,3.137,3.145,3.15,3.15,3.159,3.166,3.172,3.178,3.186,3.192,3.201,3.231,3.707,3.727,3.76,3.764,3.766,3.784,3.789,3.809,3.81,3.833,3.853,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.42} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 25.42} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 25.4187} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 25.4624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.18,0.18,0.18,0.207,0,0,0,0,0,3.674,3.672,3.672,3.674,3.681,3.681,3.682,3.684,3.699,3.701,3.702,3.704,3.711,3.718,3.731,3.734,3.736,3.74,3.742,3.764,3.765,3.769,3.776,3.79,3.793,3.795,3.808,3.813,3.815,3.82,3.831,3.833,3.851,3.855,3.868,3.873,3.884,3.889,3.891,3.902,3.907,3.926,0,0,0,0.158,0.153,0.152,0.143,0.152,0.143,0.152,0.151,0.151,0.151,0.152,0.154,0.241,0,0,0,0,0,0,0,0,0.159,0.159,0.157,0.157,0.157,0.157,0.157,0.154,0.136,0.124,0.119,0.071,0.062,0.059,0.059,0.059,0.059,0.061,0.062,0.061,0.058,0.058,0.058,0.058,0.059,0.067,0.09,0.142,0.209,3.287,0.007,0,0,0,0.007,3.248,3.247,3.247,3.237,3.229,3.21,3.208,3.2,3.191,3.163,3.157,3.132,3.128,3.104,3.102,3.082,3.057,3.054,3.041,3.015,3.012,2.99,2.981,2.98,2.958,2.946,2.94,2.936,2.929,2.907,2.896,2.891,2.878,2.868,2.861,2.851,2.848,2.833,2.827,2.821,2.804,2.8,2.8,2.796,2.781,1.147,1.144,1.14,1.138,1.134,1.132,1.126,1.126,1.119,1.119,1.119,1.115,1.111,1.107,1.105,1.1,1.096,1.094,1.094,1.092,1.092,1.091,1.089,1.088,1.085,1.083,1.083,1.081,1.076,1.07,1.07,1.07,1.07,1.07,1.067,1.067,1.067,1.067,1.064,1.064,1.064,1.061,1.061,1.058,1.058,1.053,1.053,1.053,1.053,1.051,1.051,1.051,1.051,1.051,1.055,1.055,1.055,1.052,1.05,1.05,1.05,1.055,1.055,1.056,1.057,1.059,1.061,1.061,1.063,1.059,1.058,1.058,1.058,1.058,1.063,1.064,1.063,1.063,1.059,1.057,1.057,1.055,1.053,1.053,1.053,1.053,1.054,1.054,1.051,1.051,1.05,1.048,1.05,1.05,1.053,1.056,1.057,1.058,1.058,1.059,1.059,1.059,1.059,1.061,1.061,1.061,1.061,1.064,1.064,1.07,1.07,1.07,1.07,1.07,1.079,1.079,1.081,1.084,1.084,2.531,2.535,2.542,2.542,2.544,2.55,2.556,2.563,2.564,2.57,2.572,2.572,2.584,2.588,2.597,2.598,2.608,2.612,2.616,2.62,2.635,2.64,2.654,2.656,2.657,2.662,2.677,2.678,2.687,2.702,2.705,2.718,2.72,2.739,2.739,2.744,2.756,2.771,2.78,2.789,2.793,2.801,2.814,2.821,2.836,2.841,2.852,2.862,2.873,2.878,2.901,2.911,2.922,2.928,2.943,2.945,2.964,2.981,2.983,3,3.021,3.027,3.04,3.052,3.064,3.087,3.097,3.117,3.136,3.143,3.157,3.174,3.19,3.201,3.223,3.228,3.255,3.263,3.289,3.312,3.313,3.328,3.346,3.379,3.392,3.422,3.432,3.456,3.471,3.498,3.518,3.541,3.57,3.597,3.618,3.629,3.657,3.675,3.725,3.748,3.754,3.784,3.823,3.855,3.891,3.922,3.95,4.017,4.048,4.077,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.276,3.267,3.252,3.243,3.236,3.218,3.212,3.207,3.201,3.18,3.179,3.175,3.151,3.148,3.137,3.134,3.124,3.121,3.117,3.108,3.098,3.096,3.087,3.08,3.078,3.073,3.068,3.052,3.05,3.048,3.032,3.032,3.031,3.019,3.013,3.01,3.006,3.005,2.996,2.995,2.993,2.985,2.979,2.978,2.972,2.962,2.96,2.958,2.958,2.955,2.953,2.947,2.941,2.941,2.938,2.936,2.934,2.936,2.936,2.937,2.937,2.937,2.931,2.923,2.92,2.915,2.913,2.913,2.913,2.915,2.918,2.918,2.917,2.915,2.917,2.915,2.909,2.907,2.909,2.907,2.906,2.906,2.908,2.908,2.908,2.913,2.915,2.915,2.915,2.915,2.915,2.917,2.918,2.923,2.933,2.933,2.934,2.94,2.94,2.938,2.94,2.947,2.948,2.95,2.955,2.957,2.964,2.966,2.969,2.973,2.973,2.975,2.977,2.984,2.986,2.989,2.997,2.999,3.007,3.015,3.021,3.022,3.023,3.028,3.029,3.032,3.038,3.038,3.038,3.041,3.044,3.051,3.061,3.068,3.076,3.077,3.083,3.085,3.109,3.109,3.109,3.109,3.109,3.138,3.148,3.157,3.157,3.157,3.164,3.173,3.176,3.19,3.192,3.197,3.229,3.69,3.746,3.746,3.757,3.771,3.781,3.797,3.799,3.814,3.831,3.845,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.62} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 25.62} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 25.6208} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2258} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 25.6624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.189,0.189,0.203,0,0,0,0,0,3.659,3.659,3.659,3.669,3.674,3.681,3.684,3.693,3.694,3.696,3.697,3.699,3.716,3.725,3.728,3.732,3.747,3.751,3.761,3.767,3.769,3.769,3.769,3.787,3.796,3.802,3.805,3.806,3.82,3.823,3.833,3.845,3.861,3.863,3.863,3.864,3.882,3.891,3.905,3.916,3.917,3.918,0,0,0,0.158,0.152,0.149,0.147,0.147,0.143,0.143,0.146,0.146,0.146,0.152,0.158,0.163,0.227,0,0,0,0,0,0,0.007,0.167,0.164,0.159,0.153,0.153,0.148,0.148,0.147,0.138,0.129,0.113,0.075,0.059,0.058,0.058,0.059,0.059,0.06,0.06,0.06,0.06,0.06,0.06,0.06,0.06,0.067,0.086,0.14,3.294,3.294,0.006,3.294,3.265,3.265,3.256,3.252,3.237,3.233,3.23,3.222,3.219,3.202,3.194,3.186,3.163,3.157,3.144,3.125,3.104,3.092,3.078,3.066,3.049,3.03,3.021,3.009,2.994,2.992,2.988,2.957,2.949,2.946,2.931,2.923,2.913,2.895,2.895,2.887,2.872,2.86,2.844,2.844,2.841,2.833,2.822,2.804,2.8,2.791,2.789,1.148,1.14,1.135,1.135,1.131,1.131,1.129,1.126,1.122,1.122,1.118,1.113,1.111,1.11,1.11,1.101,1.1,1.1,1.1,1.091,1.091,1.091,1.091,1.091,1.088,1.086,1.083,1.077,1.075,1.071,1.07,1.07,1.069,1.069,1.067,1.067,1.067,1.064,1.06,1.06,1.058,1.058,1.057,1.058,1.057,1.058,1.054,1.055,1.054,1.054,1.049,1.049,1.049,1.049,1.047,1.049,1.046,1.046,1.051,1.051,1.051,1.051,1.057,1.059,1.059,1.059,1.059,1.059,1.059,1.06,1.06,1.065,1.06,1.064,1.055,1.064,1.062,1.062,1.062,1.062,1.062,1.062,1.062,1.062,1.051,1.049,1.049,1.05,1.05,1.051,1.054,1.057,1.057,1.057,1.057,1.055,1.055,1.055,1.054,1.055,1.058,1.063,1.063,1.065,1.063,1.063,1.062,1.063,1.063,1.068,1.068,1.071,1.071,1.071,1.072,1.072,1.075,1.076,1.084,1.087,2.528,2.529,2.541,2.541,2.541,2.548,2.554,2.561,2.561,2.567,2.569,2.579,2.583,2.591,2.602,2.602,2.606,2.615,2.622,2.633,2.637,2.642,2.642,2.656,2.657,2.67,2.672,2.679,2.681,2.702,2.714,2.718,2.725,2.734,2.744,2.747,2.748,2.769,2.77,2.783,2.802,2.805,2.819,2.821,2.826,2.855,2.865,2.868,2.878,2.89,2.899,2.911,2.914,2.933,2.933,2.95,2.959,2.973,2.998,3.001,3.014,3.027,3.038,3.064,3.071,3.089,3.101,3.121,3.128,3.144,3.161,3.17,3.181,3.207,3.216,3.235,3.251,3.263,3.292,3.294,3.304,3.327,3.347,3.368,3.386,3.412,3.433,3.452,3.478,3.487,3.516,3.539,3.576,3.589,3.609,3.639,3.657,3.668,3.725,3.738,3.766,3.802,3.828,3.861,3.876,3.917,3.953,3.979,4.053,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.268,3.261,3.256,3.25,3.237,3.224,3.209,3.202,3.197,3.186,3.179,3.177,3.149,3.149,3.147,3.131,3.129,3.126,3.126,3.104,3.102,3.09,3.082,3.078,3.075,3.071,3.058,3.055,3.052,3.043,3.04,3.038,3.029,3.026,3.016,3.011,3.008,3.006,2.999,2.994,2.991,2.99,2.98,2.972,2.968,2.965,2.961,2.96,2.959,2.955,2.955,2.955,2.95,2.945,2.942,2.939,2.933,2.933,2.939,2.936,2.936,2.936,2.928,2.921,2.92,2.92,2.92,2.919,2.918,2.917,2.917,2.917,2.915,2.913,2.915,2.915,2.911,2.908,2.911,2.911,2.91,2.91,2.911,2.911,2.913,2.913,2.913,2.912,2.912,2.912,2.913,2.916,2.922,2.926,2.926,2.928,2.937,2.937,2.942,2.945,2.947,2.95,2.952,2.952,2.952,2.955,2.96,2.964,2.968,2.972,2.975,2.978,2.979,2.988,2.989,2.997,2.997,2.998,3.01,3.01,3.02,3.023,3.028,3.028,3.028,3.031,3.031,3.031,3.036,3.044,3.044,3.059,3.061,3.061,3.076,3.078,3.088,3.092,3.095,3.097,3.104,3.11,3.115,3.133,3.14,3.15,3.15,3.158,3.168,3.173,3.177,3.182,3.192,3.21,3.228,3.702,3.736,3.75,3.751,3.764,3.781,3.793,3.81,3.82,3.829,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 25.81} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 25.8136} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 25.8624} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0.009,0.009,0,0.202,0.202,0.202,0,0,0,0,0,3.672,3.664,3.664,3.672,3.682,3.683,3.689,3.69,3.695,3.696,3.703,3.71,3.713,3.714,3.721,3.738,3.744,3.751,3.764,3.764,3.769,3.769,3.774,3.776,3.782,3.794,3.795,3.812,3.818,3.83,3.831,3.842,3.858,3.86,3.868,3.87,3.892,3.893,3.903,3.916,3.922,0,0,0,0,0.152,0.152,0.149,0.148,0.149,0.148,0.148,0.148,0.148,0.148,0.148,0.154,0.163,0.233,0,0,0,0,0,0,0,0.166,0.163,0.159,0.153,0.153,0.152,0.152,0.148,0.152,0.143,0.131,0.065,0.064,0.064,0.063,0.063,0.063,0.063,0.063,0.061,0.059,0.058,0.058,0.058,0.058,0.065,0.093,0.15,0.203,3.279,3.279,3.283,3.279,3.269,3.257,3.257,3.249,3.242,3.24,3.214,3.214,3.213,3.197,3.177,3.161,3.157,3.146,3.127,3.108,3.099,3.09,3.062,3.053,3.029,3.018,3.017,2.998,2.986,2.984,2.959,2.954,2.947,2.94,2.921,2.915,2.898,2.888,2.878,2.867,2.864,2.845,2.835,2.829,2.828,2.828,2.812,2.802,2.791,2.784,1.145,1.145,1.138,1.138,1.138,1.13,1.129,1.124,1.124,1.116,1.116,1.116,1.116,1.116,1.112,1.102,1.1,1.1,1.098,1.096,1.089,1.088,1.087,1.084,1.084,1.086,1.083,1.08,1.08,1.077,1.077,1.079,1.076,1.076,1.076,1.064,1.062,1.062,1.058,1.061,1.057,1.057,1.057,1.056,1.055,1.055,1.055,1.056,1.056,1.056,1.055,1.053,1.048,1.053,1.054,1.054,1.055,1.055,1.055,1.055,1.055,1.055,1.057,1.059,1.062,1.062,1.062,1.061,1.061,1.061,1.059,1.059,1.059,1.059,1.058,1.057,1.059,1.062,1.058,1.058,1.058,1.058,1.058,1.057,1.057,1.055,1.053,1.053,1.053,1.055,1.054,1.058,1.058,1.056,1.056,1.058,1.06,1.06,1.06,1.06,1.062,1.063,1.064,1.063,1.064,1.066,1.068,1.068,1.068,1.068,1.068,1.068,1.065,1.068,1.068,1.07,1.072,1.074,1.075,1.084,2.525,2.532,2.539,2.539,2.541,2.549,2.551,2.56,2.566,2.57,2.582,2.585,2.588,2.589,2.597,2.601,2.607,2.615,2.624,2.629,2.637,2.641,2.645,2.659,2.66,2.671,2.674,2.681,2.687,2.693,2.706,2.715,2.715,2.737,2.748,2.749,2.761,2.769,2.78,2.783,2.788,2.803,2.813,2.824,2.832,2.842,2.845,2.853,2.874,2.882,2.902,2.902,2.922,2.931,2.942,2.946,2.968,2.986,2.99,2.995,3.017,3.032,3.046,3.059,3.065,3.09,3.101,3.119,3.125,3.139,3.155,3.175,3.183,3.213,3.227,3.229,3.255,3.273,3.297,3.301,3.32,3.342,3.349,3.378,3.404,3.415,3.441,3.448,3.47,3.494,3.518,3.543,3.569,3.593,3.619,3.643,3.655,3.686,3.729,3.736,3.771,3.784,3.838,3.844,3.895,3.926,3.99,4.013,4.088,4.088,0.007,0.016,0.016,0.016,0.016,0,0,0,0.009,0,0,0.007,0,0,0,0.007,0,0,0,3.295,3.281,3.272,3.247,3.245,3.239,3.216,3.216,3.211,3.196,3.181,3.18,3.176,3.155,3.152,3.138,3.134,3.134,3.123,3.12,3.109,3.102,3.092,3.091,3.087,3.071,3.068,3.064,3.049,3.046,3.043,3.038,3.031,3.031,3.03,3.029,3.008,3.008,3.004,3.001,2.995,2.993,2.988,2.985,2.984,2.975,2.971,2.966,2.965,2.965,2.956,2.955,2.955,2.945,2.94,2.939,2.935,2.933,2.935,2.935,2.943,2.943,2.943,2.926,2.922,2.921,2.921,2.92,2.916,2.916,2.916,2.916,2.917,2.917,2.911,2.911,2.912,2.912,2.912,2.912,2.908,2.908,2.908,2.909,2.914,2.914,2.913,2.914,2.914,2.914,2.918,2.918,2.919,2.921,2.927,2.933,2.935,2.936,2.937,2.938,2.938,2.94,2.942,2.946,2.954,2.954,2.958,2.958,2.959,2.963,2.966,2.972,2.977,2.984,2.986,2.989,2.993,3,3.003,3.005,3.013,3.015,3.021,3.03,3.03,3.031,3.031,3.032,3.035,3.038,3.044,3.045,3.051,3.06,3.071,3.078,3.081,3.085,3.085,3.088,3.102,3.105,3.111,3.111,3.13,3.139,3.158,3.158,3.158,3.174,3.176,3.183,3.187,3.195,3.205,3.232,3.687,3.751,3.752,3.753,3.774,3.789,3.79,3.803,3.815,3.823,3.858,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 26.02} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.0158} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.048} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 26.0584} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.203,0.203,0.203,0,0,0,0,0,3.674,3.658,3.658,3.674,3.678,3.688,3.688,3.691,3.701,3.703,3.706,3.708,3.717,3.717,3.718,3.73,3.739,3.744,3.747,3.756,3.768,3.773,3.776,3.776,3.792,3.792,3.8,3.802,3.808,3.82,3.826,3.846,3.851,3.858,3.861,3.877,3.884,3.897,3.906,3.907,3.917,0.007,0,0,0,0.153,0.15,0.15,0.149,0.15,0.143,0.145,0.145,0.145,0.145,0.149,0.155,0.246,0,0,0,0,0,0,0,0.162,0.161,0.159,0.153,0.152,0.152,0.15,0.15,0.147,0.147,0.135,0.134,0.076,0.059,0.056,0.056,0.056,0.057,0.059,0.06,0.062,0.062,0.062,0.06,0.06,0.06,0.063,0.086,0.144,3.286,3.287,3.287,3.286,3.259,3.25,3.246,3.245,3.238,3.238,3.234,3.214,3.213,3.208,3.199,3.18,3.163,3.159,3.133,3.133,3.107,3.107,3.073,3.07,3.048,3.027,3.023,3.019,2.995,2.995,2.983,2.961,2.953,2.941,2.931,2.929,2.917,2.896,2.884,2.881,2.868,2.863,2.846,2.843,2.841,2.83,2.819,2.811,2.798,2.798,2.792,2.776,1.149,1.144,1.132,1.132,1.132,1.132,1.129,1.129,1.124,1.122,1.121,1.117,1.115,1.114,1.109,1.103,1.101,1.1,1.097,1.097,1.092,1.087,1.087,1.087,1.087,1.087,1.081,1.08,1.076,1.074,1.074,1.069,1.068,1.068,1.064,1.064,1.068,1.064,1.058,1.057,1.057,1.057,1.058,1.057,1.056,1.058,1.056,1.056,1.056,1.057,1.057,1.057,1.053,1.053,1.053,1.053,1.053,1.054,1.059,1.059,1.06,1.061,1.06,1.061,1.061,1.061,1.06,1.062,1.061,1.061,1.062,1.063,1.065,1.065,1.065,1.063,1.058,1.058,1.058,1.058,1.058,1.058,1.058,1.058,1.055,1.055,1.054,1.053,1.054,1.054,1.054,1.058,1.058,1.058,1.058,1.058,1.06,1.06,1.06,1.06,1.062,1.062,1.062,1.061,1.061,1.061,1.069,1.069,1.069,1.069,1.069,1.07,1.072,1.073,1.076,1.077,1.078,1.08,1.093,2.527,2.532,2.538,2.538,2.538,2.543,2.55,2.557,2.563,2.564,2.569,2.576,2.585,2.586,2.601,2.601,2.606,2.61,2.621,2.632,2.633,2.639,2.645,2.651,2.656,2.658,2.674,2.679,2.696,2.704,2.715,2.718,2.719,2.735,2.739,2.742,2.752,2.758,2.77,2.788,2.794,2.8,2.813,2.831,2.832,2.84,2.857,2.858,2.868,2.888,2.894,2.909,2.916,2.932,2.949,2.954,2.966,2.979,2.99,2.996,3.014,3.029,3.04,3.055,3.065,3.088,3.099,3.113,3.122,3.143,3.161,3.175,3.182,3.208,3.218,3.245,3.249,3.266,3.283,3.308,3.309,3.337,3.348,3.367,3.39,3.419,3.43,3.456,3.474,3.496,3.524,3.537,3.576,3.601,3.619,3.632,3.66,3.684,3.719,3.729,3.767,3.798,3.827,3.851,3.888,3.91,3.946,3.982,4.008,4.052,4.067,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,3.299,3.28,3.279,3.259,3.249,3.234,3.218,3.216,3.205,3.195,3.185,3.183,3.178,3.15,3.147,3.138,3.135,3.134,3.13,3.114,3.109,3.103,3.096,3.094,3.081,3.073,3.067,3.066,3.055,3.051,3.043,3.039,3.036,3.027,3.018,3.018,3.01,3.007,3.006,2.999,2.992,2.991,2.988,2.984,2.978,2.976,2.968,2.966,2.965,2.96,2.954,2.953,2.95,2.948,2.944,2.937,2.936,2.936,2.936,2.936,2.938,2.938,2.938,2.923,2.923,2.918,2.912,2.912,2.917,2.912,2.915,2.915,2.915,2.912,2.912,2.912,2.912,2.907,2.908,2.908,2.907,2.907,2.908,2.912,2.917,2.917,2.917,2.917,2.917,2.923,2.923,2.927,2.923,2.922,2.922,2.927,2.93,2.931,2.935,2.936,2.936,2.936,2.938,2.951,2.952,2.954,2.96,2.962,2.962,2.964,2.965,2.97,2.983,2.985,2.989,2.993,2.997,2.997,3.001,3.006,3.018,3.021,3.024,3.024,3.025,3.031,3.033,3.036,3.038,3.041,3.045,3.049,3.054,3.072,3.073,3.082,3.081,3.082,3.089,3.09,3.102,3.11,3.113,3.115,3.123,3.145,3.154,3.154,3.155,3.168,3.173,3.175,3.184,3.193,3.211,3.228,3.697,3.743,3.756,3.761,3.764,3.791,3.793,3.8,3.818,3.827,3.852,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 26.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.2166} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.048} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 26.2584} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.202,0.202,0.202,0,0,0,0,0,0,3.677,3.674,3.674,3.677,3.693,3.693,3.693,3.697,3.706,3.71,3.712,3.714,3.72,3.723,3.728,3.729,3.746,3.748,3.748,3.755,3.761,3.774,3.78,3.786,3.786,3.808,3.81,3.815,3.82,3.83,3.832,3.835,3.858,3.867,3.877,3.888,3.89,3.912,3.914,3.926,3.93,0,0,0,0.16,0.155,0.148,0.147,0.147,0.147,0.148,0.145,0.148,0.148,0.153,0.158,0.243,0,0,0,0,0,0,0,0,0.162,0.161,0.155,0.155,0.153,0.153,0.153,0.152,0.134,0.131,0.111,0.083,0.06,0.058,0.058,0.058,0.058,0.06,0.064,0.06,0.057,0.058,0.055,0.055,0.058,0.064,0.083,0.141,3.287,3.292,3.292,3.287,3.273,3.246,3.246,3.243,3.243,3.233,3.231,3.225,3.214,3.208,3.186,3.173,3.169,3.151,3.138,3.136,3.108,3.105,3.086,3.06,3.054,3.03,3.022,3.012,2.996,2.992,2.988,2.952,2.952,2.943,2.94,2.92,2.918,2.902,2.892,2.884,2.872,2.863,2.851,2.843,2.841,2.826,2.823,2.815,2.795,2.789,2.786,1.145,1.142,1.14,1.14,1.134,1.134,1.131,1.124,1.124,1.121,1.121,1.116,1.116,1.114,1.114,1.114,1.108,1.107,1.107,1.094,1.092,1.091,1.09,1.09,1.083,1.081,1.081,1.078,1.075,1.077,1.075,1.073,1.071,1.071,1.071,1.07,1.064,1.059,1.059,1.059,1.059,1.058,1.058,1.058,1.054,1.054,1.054,1.058,1.058,1.058,1.058,1.058,1.048,1.058,1.058,1.05,1.05,1.05,1.05,1.05,1.052,1.056,1.061,1.061,1.061,1.061,1.061,1.061,1.061,1.061,1.06,1.062,1.059,1.059,1.063,1.063,1.063,1.063,1.063,1.062,1.058,1.058,1.056,1.054,1.052,1.052,1.052,1.052,1.056,1.056,1.056,1.052,1.054,1.05,1.05,1.054,1.054,1.054,1.056,1.056,1.059,1.059,1.058,1.058,1.058,1.058,1.066,1.067,1.069,1.072,1.072,1.072,1.072,1.072,1.072,1.076,1.079,1.08,1.088,1.091,2.523,2.531,2.537,2.537,2.547,2.547,2.549,2.56,2.565,2.568,2.575,2.58,2.58,2.589,2.59,2.604,2.611,2.613,2.623,2.624,2.629,2.637,2.646,2.653,2.653,2.657,2.662,2.68,2.687,2.694,2.708,2.711,2.722,2.736,2.742,2.751,2.758,2.761,2.772,2.78,2.792,2.801,2.825,2.826,2.835,2.846,2.848,2.878,2.882,2.897,2.897,2.911,2.926,2.928,2.937,2.954,2.965,2.976,2.988,3.007,3.021,3.032,3.046,3.055,3.079,3.087,3.099,3.121,3.128,3.138,3.164,3.183,3.185,3.209,3.227,3.24,3.257,3.269,3.293,3.308,3.311,3.331,3.355,3.374,3.39,3.411,3.437,3.446,3.465,3.497,3.511,3.554,3.567,3.599,3.619,3.631,3.66,3.685,3.714,3.734,3.773,3.789,3.831,3.852,3.89,3.915,3.951,3.959,4.021,4.087,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.288,3.274,3.272,3.263,3.246,3.245,3.225,3.215,3.205,3.199,3.19,3.186,3.182,3.153,3.148,3.146,3.133,3.133,3.127,3.123,3.113,3.095,3.094,3.086,3.082,3.076,3.065,3.064,3.057,3.056,3.042,3.038,3.037,3.036,3.026,3.015,3.011,3.01,3.006,3.001,3,2.994,2.987,2.981,2.973,2.97,2.964,2.956,2.955,2.955,2.951,2.951,2.947,2.947,2.938,2.937,2.936,2.935,2.935,2.935,2.939,2.939,2.939,2.927,2.917,2.915,2.915,2.912,2.912,2.912,2.916,2.917,2.92,2.917,2.916,2.917,2.913,2.913,2.912,2.912,2.912,2.909,2.909,2.912,2.909,2.912,2.912,2.912,2.913,2.913,2.912,2.915,2.915,2.915,2.915,2.917,2.927,2.93,2.932,2.937,2.94,2.94,2.94,2.952,2.953,2.955,2.957,2.963,2.972,2.972,2.972,2.975,2.976,2.98,2.981,2.987,2.99,2.997,3.002,3.003,3.016,3.02,3.021,3.023,3.029,3.029,3.029,3.038,3.038,3.042,3.046,3.05,3.052,3.056,3.076,3.077,3.08,3.082,3.087,3.094,3.103,3.105,3.111,3.117,3.13,3.144,3.162,3.162,3.168,3.177,3.181,3.187,3.187,3.193,3.201,3.222,3.699,3.745,3.747,3.757,3.774,3.782,3.79,3.802,3.822,3.832,3.85,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 26.41} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.4096} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8702} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 26.4584} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.179,0.189,0.189,0.189,0.203,0,0,0,0,3.654,3.654,3.654,3.666,3.672,3.676,3.681,3.685,3.687,3.693,3.697,3.707,3.716,3.716,3.718,3.731,3.731,3.736,3.737,3.743,3.761,3.767,3.77,3.774,3.775,3.781,3.788,3.796,3.805,3.812,3.816,3.831,3.837,3.837,3.865,3.869,3.877,3.887,3.899,3.906,3.918,3.922,3.922,3.934,3.934,3.922,0.159,0.154,0.152,0.148,0.148,0.146,0.148,0.144,0.143,0.143,0.151,0.155,0.168,0.241,0,0,0,0,0,0,0,0.159,0.158,0.156,0.156,0.156,0.156,0.156,0.153,0.132,0.119,0.112,0.09,0.065,0.057,0.057,0.057,0.059,0.06,0.063,0.06,0.06,0.06,0.06,0.056,0.056,0.061,0.078,0.141,3.284,0.007,3.29,3.284,3.265,3.247,3.239,3.239,3.239,3.235,3.232,3.228,3.208,3.206,3.18,3.179,3.162,3.148,3.147,3.119,3.103,3.098,3.087,3.073,3.057,3.033,3.027,3.008,3.002,2.989,2.987,2.96,2.956,2.946,2.933,2.919,2.917,2.897,2.884,2.884,2.865,2.862,2.843,2.841,2.834,2.828,2.815,2.809,2.794,2.793,2.785,1.15,1.149,1.142,1.142,1.139,1.138,1.13,1.13,1.128,1.125,1.122,1.11,1.114,1.11,1.108,1.105,1.099,1.099,1.099,1.099,1.099,1.099,1.086,1.086,1.086,1.088,1.088,1.088,1.079,1.078,1.073,1.073,1.069,1.069,1.069,1.07,1.069,1.069,1.069,1.069,1.064,1.062,1.061,1.056,1.055,1.055,1.056,1.053,1.053,1.053,1.053,1.053,1.053,1.055,1.055,1.051,1.051,1.051,1.051,1.052,1.052,1.053,1.054,1.056,1.058,1.062,1.062,1.064,1.064,1.065,1.065,1.064,1.065,1.065,1.064,1.064,1.064,1.063,1.061,1.059,1.059,1.059,1.059,1.063,1.063,1.059,1.054,1.056,1.056,1.056,1.056,1.056,1.056,1.056,1.056,1.056,1.06,1.056,1.056,1.059,1.06,1.059,1.069,1.069,1.06,1.06,1.072,1.066,1.072,1.073,1.072,1.072,1.072,1.072,1.072,1.079,1.079,1.079,1.086,1.088,2.528,2.536,2.54,2.54,2.541,2.544,2.545,2.556,2.557,2.562,2.568,2.579,2.586,2.592,2.594,2.603,2.609,2.617,2.623,2.624,2.636,2.643,2.65,2.651,2.662,2.666,2.667,2.674,2.691,2.693,2.716,2.722,2.724,2.733,2.734,2.752,2.758,2.759,2.769,2.787,2.791,2.806,2.816,2.825,2.83,2.849,2.859,2.867,2.872,2.884,2.897,2.904,2.923,2.929,2.938,2.955,2.963,2.977,2.989,3.003,3.019,3.032,3.038,3.064,3.067,3.088,3.105,3.122,3.124,3.143,3.163,3.172,3.184,3.2,3.221,3.227,3.253,3.27,3.292,3.306,3.31,3.34,3.347,3.369,3.394,3.416,3.433,3.446,3.483,3.487,3.522,3.546,3.569,3.587,3.614,3.631,3.666,3.679,3.706,3.737,3.758,3.798,3.829,3.862,3.902,3.921,3.952,3.976,4.018,4.038,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.274,3.269,3.252,3.247,3.237,3.218,3.215,3.202,3.196,3.188,3.173,3.173,3.152,3.15,3.149,3.133,3.132,3.128,3.118,3.115,3.1,3.095,3.091,3.086,3.073,3.07,3.061,3.054,3.052,3.044,3.041,3.034,3.026,3.022,3.019,3.014,3.01,3.003,2.999,2.994,2.992,2.99,2.979,2.973,2.973,2.966,2.965,2.958,2.958,2.958,2.955,2.949,2.947,2.946,2.945,2.94,2.938,2.938,2.938,2.943,2.943,2.943,2.924,2.923,2.913,2.912,2.913,2.913,2.916,2.916,2.916,2.916,2.916,2.913,2.913,2.913,2.913,2.911,2.905,2.905,2.905,2.905,2.905,2.905,2.911,2.911,2.911,2.911,2.911,2.911,2.92,2.918,2.92,2.92,2.926,2.927,2.928,2.933,2.941,2.933,2.941,2.941,2.941,2.95,2.953,2.957,2.959,2.962,2.968,2.968,2.973,2.98,2.983,2.988,2.989,2.997,2.998,3,3.003,3.014,3.014,3.02,3.029,3.03,3.034,3.034,3.035,3.035,3.036,3.039,3.043,3.053,3.057,3.068,3.073,3.081,3.083,3.085,3.092,3.099,3.103,3.104,3.106,3.133,0.007,3.164,3.162,3.164,3.164,3.178,3.182,3.187,3.19,3.195,3.228,3.708,3.733,3.75,3.762,3.768,3.783,3.803,3.807,3.809,3.831,3.853,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 26.61} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.6115} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8702} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.921} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 26.6584} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.187,0.19,0.19,0.19,0.206,0,0,0,0,3.661,3.661,3.661,3.672,3.673,3.674,3.685,3.685,3.693,3.697,3.698,3.697,3.701,3.717,3.717,3.717,3.725,3.735,3.737,3.737,3.751,3.757,3.767,3.78,3.772,3.787,3.79,3.793,3.802,3.816,3.826,3.842,3.848,3.849,3.867,3.871,3.876,3.886,3.889,3.903,3.917,3.92,3.92,3.923,3.92,3.883,0.156,0.152,0.152,0.149,0.149,0.147,0.148,0.148,0.148,0.148,0.157,0.165,0.249,0,0,0,0,0,0,0,0,0,0.161,0.157,0.157,0.153,0.151,0.151,0.151,0.139,0.127,0.102,0.086,0.064,0.06,0.06,0.06,0.06,0.063,0.063,0.06,0.056,0.056,0.055,0.055,0.06,0.068,0.095,0.134,3.293,0.007,0,3.293,3.277,3.248,3.248,3.243,3.24,3.229,3.229,3.226,3.225,3.224,3.193,3.182,3.17,3.149,3.127,3.126,3.095,3.093,3.08,3.069,3.048,3.03,3.027,3.011,2.995,2.992,2.987,2.955,2.955,2.939,2.935,2.924,2.911,2.895,2.889,2.888,2.873,2.869,2.844,2.841,2.841,2.84,2.824,2.813,2.809,2.791,2.784,1.153,1.149,1.143,1.143,1.137,1.131,1.127,1.124,1.124,1.125,1.124,1.12,1.118,1.112,1.107,1.107,1.104,1.104,1.099,1.097,1.093,1.093,1.092,1.089,1.086,1.086,1.085,1.084,1.082,1.077,1.077,1.077,1.075,1.076,1.075,1.073,1.065,1.063,1.061,1.061,1.061,1.061,1.057,1.057,1.057,1.057,1.057,1.057,1.056,1.055,1.052,1.052,1.052,1.052,1.053,1.056,1.053,1.05,1.051,1.051,1.051,1.051,1.051,1.053,1.055,1.06,1.06,1.063,1.063,1.065,1.063,1.064,1.065,1.065,1.066,1.066,1.066,1.062,1.062,1.061,1.062,1.062,1.061,1.058,1.058,1.052,1.051,1.052,1.051,1.051,1.051,1.053,1.053,1.057,1.058,1.058,1.058,1.058,1.055,1.055,1.058,1.058,1.059,1.059,1.059,1.059,1.063,1.063,1.07,1.07,1.069,1.07,1.07,1.072,1.073,1.076,1.083,1.083,1.085,1.087,2.529,2.532,2.54,2.54,2.547,2.547,2.548,2.562,2.563,2.568,2.568,2.574,2.592,2.594,2.596,2.598,2.604,2.615,2.616,2.619,2.631,2.636,2.646,2.654,2.66,2.667,2.671,2.68,2.688,2.694,2.708,2.717,2.718,2.737,2.738,2.746,2.759,2.763,2.769,2.786,2.8,2.808,2.808,2.825,2.831,2.843,2.853,2.859,2.873,2.884,2.898,2.909,2.917,2.932,2.949,2.954,2.96,2.982,2.986,3.01,3.018,3.033,3.04,3.061,3.073,3.091,3.109,3.111,3.13,3.146,3.155,3.18,3.185,3.207,3.224,3.237,3.247,3.268,3.294,3.303,3.306,3.331,3.346,3.37,3.404,3.415,3.434,3.45,3.473,3.503,3.518,3.543,3.553,3.605,3.612,3.636,3.666,3.677,3.716,3.737,3.752,3.799,3.823,3.854,3.89,3.925,3.952,3.978,4.009,4.049,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,4.053,4.053,4.053,0,0,0,0,3.288,3.275,3.274,3.254,3.246,3.236,3.221,3.208,3.202,3.198,3.183,3.18,3.175,3.156,3.146,3.141,3.136,3.129,3.125,3.117,3.108,3.104,3.102,3.092,3.084,3.075,3.067,3.065,3.056,3.045,3.045,3.037,3.029,3.021,3.02,3.018,3.019,3.007,3.005,3.002,2.994,2.991,2.987,2.984,2.978,2.974,2.97,2.959,2.959,2.958,2.958,2.954,2.945,2.943,2.943,2.933,2.932,2.932,2.932,2.935,2.94,2.94,2.94,2.925,2.921,2.92,2.919,2.918,2.918,2.918,2.92,2.92,2.92,2.919,2.915,2.915,2.917,2.919,2.917,2.917,2.908,2.908,2.908,2.91,2.911,2.911,2.911,2.917,2.919,2.919,2.919,2.916,2.916,2.916,2.921,2.928,2.935,2.935,2.935,2.938,2.938,2.94,2.949,2.95,2.954,2.954,2.958,2.961,2.963,2.967,2.972,2.976,2.978,2.988,2.991,2.998,2.998,2.998,2.998,3.008,3.013,3.02,3.023,3.025,3.028,3.028,3.033,3.038,3.038,3.046,3.047,3.048,3.049,3.049,3.076,3.08,3.081,3.083,3.087,3.09,3.09,3.107,3.109,3.117,3.13,0.007,3.161,3.161,3.171,3.171,3.172,3.186,3.189,3.192,3.211,3.229,3.696,3.743,3.751,3.764,3.764,3.786,3.792,3.804,3.824,3.83,3.85,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.82} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.762709}
SEN {Time 26.82} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.8216} {Type Sonar} {Name Sonar0 Range 4.0386} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.8702} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 26.8594} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.193,0,0,0,0,0,3.675,3.668,3.668,3.675,3.675,3.676,3.685,3.695,3.697,3.698,3.708,3.709,3.709,3.715,3.72,3.721,3.739,3.744,3.751,3.751,3.761,3.763,3.769,3.782,3.79,3.795,3.806,3.815,3.824,3.83,3.831,3.833,3.858,3.859,3.863,3.884,3.892,3.893,3.905,3.915,3.923,3.927,0,0,0,0.161,0.155,0.15,0.145,0.145,0.145,0.148,0.148,0.152,0.152,0.153,0.156,0.241,0,0,0,0,0,0,0,0.163,0.159,0.157,0.157,0.154,0.15,0.15,0.15,0.15,0.15,0.137,0.131,0.081,0.067,0.063,0.063,0.061,0.061,0.061,0.061,0.061,0.06,0.06,0.056,0.055,0.055,0.055,0.082,0.144,3.285,3.285,3.285,3.285,3.278,3.263,3.263,3.251,3.244,3.231,3.228,3.221,3.217,3.216,3.18,3.175,3.167,3.156,3.139,3.126,3.1,3.098,3.082,3.076,3.054,3.029,3.027,3.011,2.992,2.987,2.983,2.951,2.946,2.939,2.931,2.926,2.917,2.899,2.892,2.887,2.875,2.86,2.855,2.851,2.84,2.827,2.818,2.804,2.803,2.79,2.78,1.147,1.146,1.137,1.137,1.136,1.132,1.13,1.128,1.128,1.128,1.125,1.121,1.117,1.111,1.107,1.104,1.103,1.096,1.096,1.094,1.093,1.092,1.089,1.085,1.084,1.084,1.084,1.084,1.081,1.076,1.076,1.076,1.067,1.067,1.067,1.066,1.065,1.065,1.064,1.064,1.066,1.066,1.066,1.066,1.062,1.058,1.058,1.058,1.055,1.052,1.052,1.052,1.052,1.051,1.049,1.049,1.049,1.049,1.05,1.052,1.053,1.054,1.055,1.058,1.058,1.06,1.06,1.061,1.064,1.064,1.064,1.064,1.064,1.064,1.063,1.062,1.062,1.062,1.062,1.061,1.061,1.061,1.057,1.057,1.057,1.057,1.055,1.055,1.055,1.055,1.055,1.056,1.058,1.058,1.058,1.058,1.058,1.059,1.059,1.058,1.058,1.06,1.061,1.061,1.062,1.063,1.064,1.064,1.066,1.068,1.068,1.068,1.068,1.07,1.073,1.074,1.074,1.079,1.087,1.089,2.518,2.537,2.541,2.541,2.543,2.548,2.551,2.557,2.558,2.568,2.569,2.571,2.584,2.587,2.593,2.608,2.609,2.611,2.62,2.62,2.635,2.638,2.65,2.651,2.654,2.667,2.674,2.678,2.698,2.703,2.707,2.714,2.724,2.731,2.739,2.741,2.765,2.767,2.769,2.787,2.796,2.802,2.814,2.816,2.837,2.847,2.856,2.869,2.885,2.9,2.9,2.913,2.917,2.933,2.94,2.974,2.985,2.986,2.986,2.999,3.018,3.037,3.045,3.056,3.068,3.094,3.102,3.116,3.127,3.152,3.159,3.183,3.19,3.207,3.226,3.229,3.259,3.273,3.293,3.302,3.313,3.326,3.347,3.377,3.387,3.411,3.427,3.447,3.48,3.497,3.517,3.539,3.565,3.594,3.61,3.635,3.661,3.694,3.713,3.74,3.769,3.792,3.826,3.862,3.889,3.907,3.948,3.98,4.006,4.042,4.09,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,0,3.293,3.284,3.265,3.259,3.248,3.233,3.218,3.217,3.209,3.208,3.187,3.179,3.175,3.153,3.15,3.142,3.137,3.137,3.133,3.113,3.113,3.113,3.102,3.093,3.092,3.079,3.068,3.068,3.065,3.058,3.058,3.041,3.036,3.034,3.021,3.019,3.013,3.007,3.004,3.003,2.993,2.988,2.985,2.985,2.975,2.972,2.967,2.966,2.965,2.955,2.955,2.954,2.955,2.954,2.937,2.937,2.937,2.935,2.937,2.942,2.934,2.934,2.934,2.918,2.918,2.918,2.916,2.916,2.917,2.917,2.916,2.914,2.917,2.914,2.914,2.913,2.913,2.912,2.912,2.91,2.907,2.907,2.907,2.907,2.91,2.914,2.914,2.914,2.915,2.913,2.913,2.914,2.924,2.924,2.924,2.925,2.93,2.932,2.94,2.94,2.941,2.941,2.942,2.952,2.954,2.955,2.956,2.956,2.963,2.971,2.973,2.975,2.975,2.975,2.99,2.992,2.992,2.994,2.998,3.007,3.013,3.014,3.021,3.026,3.026,3.026,3.03,3.042,3.042,3.042,3.046,3.05,3.062,3.063,3.067,3.075,3.08,3.082,3.089,3.09,3.102,3.107,3.109,3.114,3.135,0.007,3.163,3.163,3.168,3.168,3.169,3.187,3.19,3.193,3.202,3.226,3.702,3.737,3.755,3.758,3.769,3.781,3.793,3.811,3.82,3.823,3.843,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.760964}
SEN {Time 27.02} {Type Tachometer} {Name LeftRight} {Vel 0.017780,-0.017780}
SEN {Time 27.0154} {Type Sonar} {Name Sonar0 Range 4.0386} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.9972} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 27.0583} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.192,0.192,0.192,0.192,0.207,0,0,0,0,0,3.67,3.67,3.67,3.674,3.677,3.685,3.689,3.689,3.69,3.69,3.703,3.707,3.711,3.723,3.726,3.727,3.75,3.75,3.751,3.751,3.765,3.771,3.772,3.779,3.788,3.796,3.804,3.805,3.821,3.824,3.829,3.841,3.844,3.855,3.863,3.868,3.874,3.902,3.905,3.908,3.918,3.918,3.93,3.93,3.887,0.158,0.156,0.152,0.151,0.151,0.147,0.151,0.151,0.151,0.151,0.151,0.16,0.245,0,0,0,0,0,0,0,0,0.162,0.158,0.157,0.157,0.154,0.149,0.149,0.149,0.138,0.134,0.108,0.076,0.066,0.064,0.058,0.058,0.064,0.061,0.064,0.064,0.064,0.061,0.058,0.058,0.058,0.068,0.089,0.139,3.277,3.285,3.285,3.277,3.247,3.247,3.244,3.243,3.243,3.243,3.232,3.228,3.217,3.217,3.192,3.187,3.175,3.151,3.148,3.121,3.113,3.096,3.088,3.064,3.046,3.029,3.026,3.02,3,2.989,2.978,2.962,2.955,2.945,2.932,2.931,2.922,2.897,2.89,2.888,2.867,2.866,2.852,2.846,2.841,2.833,2.826,2.814,2.799,2.799,2.79,2.788,1.151,1.143,1.142,1.14,1.138,1.135,1.134,1.126,1.125,1.12,1.12,1.12,1.109,1.109,1.106,1.102,1.102,1.099,1.099,1.099,1.099,1.094,1.089,1.085,1.082,1.08,1.08,1.078,1.076,1.076,1.076,1.075,1.074,1.064,1.064,1.06,1.06,1.061,1.063,1.061,1.061,1.061,1.062,1.06,1.06,1.059,1.056,1.056,1.056,1.058,1.058,1.058,1.053,1.057,1.053,1.053,1.054,1.057,1.054,1.054,1.054,1.059,1.059,1.06,1.064,1.064,1.064,1.065,1.064,1.063,1.063,1.065,1.063,1.059,1.065,1.059,1.059,1.059,1.059,1.059,1.061,1.056,1.063,1.063,1.053,1.053,1.053,1.053,1.054,1.054,1.052,1.054,1.052,1.052,1.054,1.054,1.056,1.059,1.059,1.059,1.062,1.063,1.063,1.063,1.06,1.06,1.06,1.066,1.068,1.069,1.072,1.069,1.072,1.072,1.074,1.074,1.075,1.075,1.075,2.528,2.533,2.537,2.537,2.545,2.546,2.551,2.555,2.563,2.567,2.569,2.574,2.576,2.581,2.594,2.604,2.607,2.608,2.623,2.63,2.632,2.633,2.641,2.656,2.662,2.665,2.68,2.688,2.695,2.697,2.713,2.719,2.722,2.725,2.741,2.746,2.747,2.769,2.771,2.777,2.794,2.797,2.814,2.819,2.824,2.847,2.847,2.862,2.877,2.884,2.904,2.908,2.923,2.925,2.932,2.95,2.961,2.975,2.989,3.003,3.021,3.03,3.053,3.055,3.071,3.087,3.106,3.113,3.13,3.148,3.163,3.172,3.179,3.201,3.222,3.231,3.253,3.262,3.286,3.299,3.32,3.326,3.351,3.375,3.391,3.417,3.432,3.445,3.474,3.5,3.513,3.545,3.578,3.592,3.613,3.636,3.656,3.681,3.715,3.748,3.749,3.792,3.818,3.845,3.887,3.901,3.932,3.975,4.004,4.058,4.073,0.016,0.016,0.016,0.016,0,0,0,0.009,0,0,0,0,0,0.007,0,0,0.007,3.942,3.292,3.278,3.264,3.253,3.247,3.234,3.226,3.211,3.203,3.2,3.19,3.185,3.174,3.155,3.152,3.146,3.14,3.138,3.128,3.116,3.114,3.113,3.094,3.092,3.088,3.076,3.072,3.064,3.056,3.05,3.041,3.038,3.029,3.029,3.024,3.019,3.018,3.017,3.007,2.998,2.995,2.993,2.987,2.972,2.969,2.969,2.965,2.962,2.96,2.958,2.958,2.957,2.953,2.946,2.943,2.943,2.946,2.943,2.946,2.946,2.946,2.94,2.934,2.926,2.925,2.919,2.919,2.919,2.917,2.919,2.917,2.913,2.917,2.912,2.911,2.911,2.911,2.911,2.913,2.913,2.913,2.913,2.912,2.908,2.911,2.911,2.911,2.911,2.916,2.916,2.916,2.916,2.917,2.924,2.925,2.931,2.935,2.94,2.94,2.94,2.938,2.938,2.938,2.948,2.951,2.954,2.956,2.962,2.965,2.968,2.969,2.972,2.98,2.983,2.986,2.992,2.999,3,3.001,3.002,3.012,3.016,3.022,3.027,3.029,3.032,3.034,3.034,3.046,3.047,3.047,3.049,3.06,3.06,3.066,3.067,3.082,3.088,3.09,3.091,3.092,3.101,3.108,3.113,3.132,3.145,3.156,3.156,3.159,3.163,3.167,3.171,3.179,3.195,3.204,3.212,3.65,3.734,3.745,3.751,3.772,3.779,3.793,3.794,3.814,3.816,3.852,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.006,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.740020}
SEN {Time 27.22} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400}
SEN {Time 27.2196} {Type Sonar} {Name Sonar0 Range 4.0386} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.9972} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 27.2554} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.178,0.187,0.187,0.187,0.203,0,0,0,0,3.644,3.644,3.644,3.653,3.661,3.668,3.675,3.675,3.68,3.684,3.684,3.691,3.698,3.702,3.705,3.72,3.722,3.729,3.738,3.739,3.746,3.751,3.766,3.766,3.767,3.775,3.776,3.786,3.791,3.8,3.816,3.818,3.822,3.833,3.842,3.853,3.854,3.87,3.871,3.893,3.899,3.901,3.901,3.909,3.909,3.909,0.165,0.153,0.152,0.144,0.152,0.145,0.147,0.147,0.147,0.147,0.155,0.157,0.172,0.23,0,0,0,0,0,0,0,0.166,0.161,0.157,0.157,0.157,0.15,0.15,0.145,0.131,0.127,0.117,0.086,0.062,0.059,0.059,0.059,0.06,0.062,0.062,0.061,0.06,0.06,0.06,0.06,0.063,0.064,0.095,0.136,3.302,0.007,3.302,3.301,3.287,3.261,3.261,3.26,3.26,3.26,3.259,3.259,3.241,3.238,3.224,3.214,3.193,3.178,3.167,3.155,3.133,3.121,3.116,3.098,3.071,3.067,3.063,3.044,3.03,3.01,3.007,2.986,2.97,2.96,2.959,2.949,2.935,2.922,2.911,2.908,2.889,2.886,2.868,2.859,2.855,2.846,2.836,2.829,2.818,2.809,2.799,2.799,2.79,2.784,1.141,1.141,1.137,1.133,1.132,1.127,1.124,1.122,1.123,1.123,1.119,1.116,1.103,1.103,1.103,1.103,1.103,1.099,1.098,1.097,1.092,1.09,1.088,1.087,1.087,1.084,1.079,1.079,1.071,1.071,1.072,1.072,1.07,1.063,1.063,1.062,1.062,1.06,1.06,1.06,1.06,1.062,1.063,1.063,1.062,1.059,1.056,1.056,1.052,1.052,1.05,1.052,1.052,1.053,1.053,1.053,1.055,1.055,1.055,1.055,1.056,1.057,1.058,1.059,1.058,1.059,1.059,1.059,1.056,1.06,1.06,1.06,1.06,1.06,1.06,1.061,1.063,1.063,1.059,1.059,1.057,1.057,1.056,1.055,1.052,1.052,1.054,1.054,1.053,1.054,1.053,1.053,1.053,1.054,1.053,1.055,1.055,1.055,1.054,1.055,1.061,1.063,1.068,1.068,1.068,1.065,1.065,1.063,1.065,1.067,1.067,1.067,1.068,1.068,1.069,1.071,1.078,1.08,1.08,1.081,2.533,2.538,2.539,2.539,2.539,2.546,2.553,2.558,2.558,2.565,2.571,2.572,2.581,2.589,2.591,2.601,2.603,2.616,2.619,2.628,2.63,2.645,2.654,2.654,2.66,2.665,2.67,2.688,2.693,2.694,2.712,2.717,2.723,2.738,2.74,2.746,2.757,2.77,2.771,2.78,2.795,2.805,2.815,2.826,2.835,2.836,2.857,2.862,2.879,2.883,2.893,2.912,2.913,2.932,2.949,2.953,2.955,2.979,2.993,3.012,3.02,3.032,3.045,3.057,3.081,3.083,3.105,3.121,3.139,3.153,3.159,3.175,3.19,3.209,3.223,3.245,3.25,3.277,3.294,3.303,3.313,3.339,3.356,3.368,3.404,3.407,3.431,3.456,3.49,3.502,3.526,3.559,3.565,3.609,3.611,3.644,3.668,3.682,3.723,3.758,3.775,3.813,3.845,3.874,3.896,3.916,3.955,3.983,4.017,4.038,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,3.28,3.277,3.262,3.254,3.25,3.238,3.227,3.226,3.211,3.189,3.183,3.167,3.166,3.166,3.158,3.154,3.148,3.135,3.126,3.122,3.114,3.105,3.096,3.091,3.083,3.077,3.071,3.07,3.061,3.056,3.044,3.037,3.035,3.029,3.029,3.025,3.02,3.017,3.015,3,2.999,2.992,2.986,2.986,2.982,2.978,2.972,2.962,2.962,2.96,2.959,2.956,2.955,2.951,2.948,2.943,2.936,2.936,2.943,2.943,2.947,2.947,2.947,2.936,2.924,2.924,2.923,2.923,2.923,2.923,2.916,2.911,2.911,2.911,2.911,2.911,2.911,2.906,2.906,2.909,2.909,2.909,2.909,2.912,2.911,2.906,2.911,2.912,2.912,2.912,2.92,2.92,2.92,2.92,2.923,2.929,2.935,2.935,2.936,2.936,2.938,2.942,2.949,2.949,2.952,2.952,2.955,2.955,2.957,2.966,2.97,2.97,2.979,2.981,2.992,2.992,2.997,2.998,3.003,3.008,3.013,3.009,3.014,3.03,3.035,3.035,3.035,3.036,3.043,3.043,3.049,3.058,3.065,3.066,3.066,3.077,3.077,3.089,3.093,3.094,3.098,3.104,3.116,3.129,3.13,3.138,3.144,3.147,3.158,3.165,3.177,3.181,3.185,3.197,3.225,3.624,3.735,3.735,3.751,3.763,3.774,3.775,3.787,3.806,3.82,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.708604}
SEN {Time 27.41} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400}
SEN {Time 27.4134} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7178} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 2.9972} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.016} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 27.4544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.193,0.193,0.193,0,0,0,0,3.628,3.628,3.628,3.632,3.636,3.647,3.647,3.652,3.654,3.656,3.656,3.662,3.675,3.675,3.675,3.681,3.689,3.69,3.695,3.697,3.699,3.718,3.725,3.735,3.748,3.748,3.748,3.748,3.748,3.756,3.769,3.772,3.774,3.786,3.79,3.794,3.816,3.82,3.822,3.831,3.837,3.841,3.853,3.855,3.855,3.855,0.163,0.156,0.145,0.145,0.145,0.152,0.146,0.15,0.15,0.15,0.15,0.158,0.254,0,0,0,0,0,0,0,0,0.164,0.163,0.163,0.163,0.151,0.151,0.151,0.149,0.13,0.127,0.102,0.079,0.063,0.06,0.06,0.056,0.058,0.06,0.062,0.06,0.06,0.061,0.06,0.06,0.06,0.061,0.081,0.169,0.27,0,0,0,0,0,0,0,0,0.007,3.325,3.325,3.32,3.314,3.299,3.295,3.269,3.264,3.246,3.23,3.214,3.207,3.185,3.17,3.149,3.139,3.118,3.112,3.093,3.091,3.072,3.057,3.039,3.034,3.017,3.004,2.992,2.979,2.978,2.963,2.94,2.938,2.927,2.921,2.907,2.906,2.89,2.871,2.863,2.853,2.85,2.831,2.827,2.816,2.81,2.793,2.784,2.784,2.777,2.769,1.141,1.14,1.136,1.135,1.129,1.125,1.12,1.116,1.113,1.112,1.11,1.106,1.105,1.103,1.103,1.098,1.097,1.094,1.094,1.09,1.085,1.082,1.079,1.079,1.079,1.079,1.078,1.076,1.071,1.071,1.07,1.068,1.068,1.066,1.065,1.064,1.064,1.064,1.064,1.064,1.061,1.061,1.057,1.057,1.054,1.054,1.054,1.054,1.051,1.049,1.049,1.049,1.049,1.049,1.053,1.053,1.054,1.054,1.054,1.054,1.054,1.056,1.056,1.054,1.057,1.057,1.06,1.06,1.06,1.061,1.061,1.059,1.059,1.059,1.059,1.059,1.055,1.055,1.055,1.055,1.054,1.053,1.053,1.053,1.053,1.05,1.053,1.051,1.05,1.051,1.051,1.051,1.047,1.051,1.051,1.051,1.048,1.051,1.048,1.048,1.053,1.053,1.051,1.053,1.056,1.056,1.064,1.064,1.064,1.064,1.064,1.074,1.075,1.075,1.075,1.074,1.074,1.074,1.078,1.079,2.523,2.536,2.538,2.538,2.538,2.546,2.548,2.553,2.565,2.565,2.568,2.571,2.579,2.596,2.599,2.601,2.602,2.618,2.619,2.63,2.639,2.644,2.647,2.664,2.668,2.672,2.682,2.689,2.692,2.694,2.709,2.715,2.717,2.741,2.745,2.748,2.761,2.765,2.774,2.791,2.798,2.804,2.812,2.818,2.844,2.847,2.851,2.88,2.883,2.888,2.9,2.913,2.923,2.937,2.947,2.965,2.978,2.999,3.007,3.01,3.03,3.036,3.055,3.068,3.091,3.099,3.108,3.127,3.14,3.161,3.186,3.204,3.207,3.207,3.227,3.245,3.26,3.277,3.285,3.314,3.321,3.36,3.372,3.392,3.402,3.436,3.456,3.466,3.502,3.519,3.535,3.546,3.583,3.608,3.638,3.653,3.688,3.718,3.731,3.759,3.793,3.812,3.855,3.862,3.896,3.925,3.993,4.032,4.058,4.058,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.3,3.291,3.272,3.266,3.242,3.233,3.231,3.211,3.21,3.209,3.2,3.189,3.178,3.177,3.155,3.153,3.153,3.15,3.133,3.125,3.12,3.109,3.102,3.094,3.088,3.083,3.073,3.068,3.061,3.055,3.055,3.044,3.044,3.035,3.03,3.024,3.015,3.013,3.006,3,2.996,2.995,2.99,2.987,2.982,2.981,2.975,2.975,2.967,2.961,2.957,2.952,2.947,2.946,2.946,2.945,2.945,2.942,2.943,2.943,2.945,2.943,2.943,2.935,2.93,2.928,2.926,2.921,2.919,2.919,2.919,2.916,2.916,2.916,2.916,2.916,2.916,2.909,2.908,2.909,2.909,2.908,2.909,2.914,2.914,2.914,2.915,2.915,2.916,2.919,2.921,2.923,2.927,2.932,2.938,2.932,2.932,2.939,2.94,2.941,2.941,2.942,2.949,2.949,2.95,2.95,2.959,2.964,2.97,2.97,2.974,2.975,2.975,2.983,2.986,2.99,2.993,3.001,3.004,3.009,3.009,3.022,3.024,3.026,3.032,3.035,3.035,3.035,3.041,3.041,3.041,3.053,3.056,3.064,3.068,3.079,3.086,3.086,3.096,3.096,3.098,3.106,3.115,3.118,3.124,3.135,3.146,3.156,3.171,3.172,3.173,3.184,3.196,3.207,3.215,0.007,3.751,3.751,3.768,3.768,3.769,3.785,3.797,3.8,3.82,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.61} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.673697}
SEN {Time 27.61} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020}
SEN {Time 27.6075} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 3.3528} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.9464} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 27.6544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.182,0.194,0.194,0.194,0.2,0,0,0,0,3.622,3.622,3.618,3.619,3.622,3.624,3.625,3.628,3.628,3.632,3.635,3.64,3.643,3.644,3.644,3.652,3.652,3.655,3.663,3.664,3.666,3.675,3.681,3.686,3.689,3.697,3.697,3.707,3.708,3.716,3.723,3.728,3.745,3.747,3.757,3.76,3.76,3.76,3.774,3.785,3.787,3.793,3.793,3.793,3.793,3.793,0.007,0.158,0.15,0.143,0.143,0.147,0.147,0.147,0.147,0.147,0.153,0.153,0.239,0,0,0,0,0,0,0,0,0.162,0.159,0.156,0.157,0.155,0.15,0.15,0.15,0.15,0.142,0.138,0.068,0.068,0.056,0.056,0.056,0.057,0.059,0.06,0.06,0.06,0.056,0.056,0.056,0.06,0.061,0.09,0.172,0.275,0,0,0,0,0,0,0,0,0.007,0,0.007,0,3.396,3.394,3.39,3.379,3.379,3.341,3.34,3.311,3.309,3.276,3.262,3.253,3.23,3.219,3.204,3.182,3.169,3.167,3.146,3.118,3.11,3.093,3.092,3.077,3.054,3.037,3.029,3.013,3.011,2.99,2.977,2.976,2.964,2.954,2.941,2.917,2.911,2.906,2.904,2.876,2.874,2.859,2.856,2.842,2.824,2.818,2.807,2.799,2.79,2.789,2.789,2.782,2.763,1.137,1.127,1.127,1.126,1.121,1.121,1.121,1.117,1.116,1.116,1.115,1.112,1.11,1.106,1.098,1.096,1.093,1.09,1.09,1.087,1.087,1.086,1.086,1.078,1.078,1.078,1.073,1.072,1.07,1.067,1.067,1.067,1.067,1.067,1.067,1.067,1.063,1.063,1.063,1.063,1.062,1.06,1.058,1.054,1.054,1.054,1.055,1.055,1.055,1.055,1.053,1.053,1.053,1.053,1.053,1.05,1.05,1.05,1.05,1.05,1.051,1.052,1.056,1.058,1.058,1.056,1.058,1.056,1.056,1.058,1.058,1.054,1.054,1.054,1.052,1.052,1.055,1.055,1.054,1.054,1.045,1.045,1.045,1.044,1.048,1.055,1.048,1.046,1.046,1.043,1.043,1.043,1.043,1.043,1.049,1.049,1.051,1.051,1.051,1.051,1.051,1.054,1.051,1.054,1.051,1.058,1.06,1.06,1.06,1.064,1.064,1.066,1.067,1.067,1.069,1.069,1.07,1.074,1.083,1.086,1.089,2.531,2.535,2.535,2.535,2.538,2.538,2.55,2.556,2.56,2.56,2.567,2.579,2.588,2.594,2.602,2.606,2.613,2.618,2.621,2.633,2.638,2.641,2.649,2.655,2.666,2.67,2.673,2.68,2.69,2.704,2.713,2.719,2.726,2.733,2.747,2.753,2.763,2.773,2.78,2.782,2.805,2.813,2.821,2.829,2.831,2.839,2.863,2.867,2.885,2.898,2.91,2.927,2.933,2.954,2.965,2.968,2.985,2.989,3.017,3.019,3.035,3.043,3.061,3.07,3.087,3.1,3.113,3.121,3.138,3.155,3.173,3.18,3.211,3.217,3.24,3.266,3.288,3.317,3.332,3.332,3.352,3.364,3.378,3.398,3.418,3.443,3.464,3.485,3.506,3.537,3.562,3.576,3.602,3.619,3.648,3.671,3.692,3.714,3.733,3.769,3.801,3.823,3.842,3.875,3.906,3.936,3.982,4.012,4.037,4.071,0.016,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,3.289,3.282,3.273,3.265,3.264,3.238,3.237,3.224,3.224,3.207,3.202,3.18,3.18,3.174,3.158,3.158,3.152,3.139,3.138,3.121,3.119,3.11,3.107,3.104,3.092,3.091,3.08,3.072,3.065,3.053,3.048,3.046,3.036,3.032,3.03,3.027,3.024,3.021,3.011,3.007,2.997,2.995,2.994,2.99,2.984,2.979,2.978,2.974,2.968,2.968,2.967,2.959,2.959,2.959,2.95,2.947,2.942,2.94,2.94,2.94,2.949,2.949,2.949,2.935,2.932,2.932,2.925,2.924,2.924,2.922,2.922,2.921,2.921,2.921,2.915,2.915,2.919,2.919,2.919,2.919,2.919,2.917,2.917,2.917,2.917,2.917,2.918,2.922,2.923,2.926,2.926,2.927,2.934,2.934,2.936,2.937,2.939,2.943,2.945,2.946,2.946,2.947,2.949,2.955,2.956,2.959,2.969,2.969,2.975,2.976,2.977,2.977,2.979,2.988,2.988,2.99,2.997,3.003,3.006,3.019,3.021,3.027,3.028,3.033,3.041,3.041,3.041,3.041,3.053,3.058,3.061,3.069,3.069,3.07,3.08,3.085,3.086,3.098,3.098,3.103,3.115,3.119,3.121,3.128,3.136,3.139,3.153,3.158,3.174,3.178,3.195,3.198,3.198,3.213,3.213,3.22,3.227,3.748,3.752,3.768,3.774,3.782,3.803,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.81} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.631809}
SEN {Time 27.81} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020}
SEN {Time 27.8103} {Type Sonar} {Name Sonar0 Range 4.0894} {Name Sonar1 Range 3.3528} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.2766} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.254} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9398}
SEN {Time 27.8544} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.195,0,0,0,0,3.6,3.597,3.597,3.6,3.609,3.61,3.612,3.612,3.612,3.615,3.615,3.619,3.621,3.625,3.625,3.629,3.634,3.626,3.634,3.636,3.639,3.644,3.649,3.65,3.652,3.656,3.658,3.668,3.67,3.681,3.682,3.69,3.696,3.696,3.707,3.707,3.709,3.729,3.736,3.738,3.748,3.749,3.749,3.749,3.749,0,0,0,0.152,0.152,0.152,0.145,0.145,0.145,0.145,0.145,0.145,0.16,0.223,0,0,0,0,0,0,0,0,0.161,0.156,0.156,0.15,0.15,0.15,0.15,0.149,0.14,0.133,0.104,0.068,0.066,0.061,0.061,0.06,0.061,0.063,0.063,0.061,0.061,0.061,0.061,0.061,0.061,0.063,0.079,0.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.496,3.492,3.459,3.457,3.455,3.444,3.421,3.401,3.379,3.375,3.337,3.32,3.312,3.286,3.27,3.258,3.233,3.219,3.207,3.199,3.186,3.151,3.148,3.134,3.114,3.096,3.087,3.064,3.062,3.053,3.044,3.025,3.008,2.991,2.985,2.976,2.965,2.957,2.94,2.928,2.925,2.91,2.891,2.89,2.867,2.853,2.849,2.842,2.841,2.83,2.805,2.797,2.797,2.779,2.77,2.77,2.763,2.762,1.135,1.131,1.13,1.126,1.124,1.121,1.117,1.114,1.109,1.109,1.104,1.104,1.099,1.092,1.092,1.09,1.09,1.09,1.09,1.086,1.086,1.084,1.083,1.083,1.083,1.08,1.08,1.077,1.071,1.071,1.071,1.071,1.07,1.07,1.063,1.06,1.059,1.059,1.056,1.056,1.056,1.059,1.059,1.059,1.053,1.053,1.053,1.053,1.052,1.052,1.047,1.047,1.047,1.049,1.052,1.052,1.052,1.053,1.053,1.054,1.054,1.054,1.05,1.048,1.046,1.047,1.047,1.047,1.048,1.057,1.057,1.057,1.057,1.055,1.055,1.053,1.053,1.053,1.053,1.053,1.051,1.044,1.044,1.044,1.047,1.044,1.044,1.037,1.037,1.037,1.042,1.043,1.043,1.046,1.046,1.043,1.046,1.051,1.051,1.049,1.051,1.051,1.049,1.055,1.057,1.057,1.057,1.057,1.057,1.056,1.056,1.067,1.072,1.072,1.073,1.075,1.076,1.075,1.076,1.077,1.094,2.523,2.528,2.539,2.539,2.542,2.55,2.551,2.56,2.566,2.57,2.575,2.577,2.589,2.593,2.593,2.603,2.604,2.607,2.624,2.626,2.639,2.64,2.654,2.658,2.67,2.672,2.677,2.698,2.698,2.708,2.715,2.727,2.728,2.735,2.745,2.755,2.765,2.778,2.792,2.794,2.808,2.811,2.826,2.841,2.844,2.856,2.863,2.88,2.898,2.906,2.92,2.921,2.931,2.954,2.955,2.98,2.992,2.993,3.007,3.019,3.035,3.044,3.061,3.08,3.098,3.105,3.127,3.144,3.152,3.175,3.188,3.208,3.218,3.229,3.25,3.262,3.278,3.302,3.316,3.338,3.345,3.375,3.396,3.413,3.428,3.449,3.483,3.496,3.512,3.537,3.547,3.577,3.604,3.623,3.648,3.674,3.687,3.721,3.748,3.768,3.805,3.838,3.872,3.896,3.931,3.967,3.986,4.02,4.059,0.016,0.016,0.007,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0.007,3.965,3.298,3.287,3.284,3.281,3.265,3.264,3.248,3.237,3.224,3.207,3.205,3.191,3.188,3.17,3.17,3.168,3.163,3.15,3.147,3.131,3.129,3.124,3.109,3.104,3.099,3.092,3.08,3.073,3.069,3.067,3.056,3.054,3.05,3.044,3.04,3.038,3.029,3.019,3.017,3.011,3.006,3.002,2.999,2.995,2.995,2.986,2.981,2.981,2.975,2.973,2.967,2.961,2.96,2.957,2.955,2.953,2.949,2.951,2.949,2.949,2.951,2.951,2.945,2.945,2.944,2.931,2.927,2.929,2.928,2.927,2.927,2.927,2.927,2.922,2.927,2.928,2.931,2.931,2.931,2.925,2.925,2.925,2.925,2.927,2.93,2.93,2.933,2.93,2.93,2.932,2.935,2.932,2.933,2.935,2.935,2.935,2.935,2.946,2.946,2.947,2.95,2.953,2.954,2.954,2.964,2.965,2.967,2.968,2.972,2.978,2.979,2.984,2.987,2.991,2.997,2.997,3.007,3.007,3.008,3.014,3.023,3.029,3.038,3.038,3.038,3.044,3.044,3.051,3.053,3.053,3.053,3.07,3.074,3.076,3.081,3.082,3.092,3.11,3.114,3.115,3.115,3.119,3.126,3.128,3.137,3.138,3.156,3.162,3.172,3.18,3.18,3.184,3.197,3.213,3.213,3.213,3.233,3.745,3.755,3.773,3.774,3.796,3.803,3.813,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.01} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.588176}
SEN {Time 28.01} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020}
SEN {Time 28.0134} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 3.3528} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 4.8514} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9144}
SEN {Time 28.0543} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.184,0.185,0.185,0.185,0.205,0,0,0,0,3.59,3.59,3.59,3.591,3.592,3.594,3.592,3.592,3.593,3.596,3.596,3.596,3.598,3.598,3.602,3.603,3.606,3.606,3.609,3.61,3.614,3.62,3.62,3.62,3.62,3.634,3.636,3.638,3.64,3.641,3.645,3.648,3.648,3.66,3.671,3.675,3.675,3.678,3.684,3.688,3.69,3.693,3.693,3.701,3.712,0,0,0,0.155,0.152,0.152,0.149,0.149,0.149,0.149,0.149,0.156,0.156,0.238,0,0,0,0,0,0,0,0,0.164,0.16,0.159,0.159,0.159,0.155,0.155,0.152,0.141,0.133,0.128,0.072,0.066,0.057,0.057,0.055,0.057,0.06,0.063,0.06,0.06,0.06,0.06,0.06,0.06,0.061,0.093,0.143,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.592,3.574,3.568,3.539,3.526,3.507,3.498,3.46,3.447,3.421,3.397,3.389,3.355,3.338,3.336,3.306,3.298,3.287,3.259,3.245,3.228,3.198,3.194,3.156,3.154,3.152,3.133,3.112,3.108,3.088,3.069,3.063,3.051,3.045,3.017,3.016,2.999,2.984,2.968,2.961,2.947,2.941,2.931,2.917,2.902,2.894,2.881,2.864,2.862,2.842,2.836,2.827,2.819,2.812,2.795,2.791,2.783,2.772,2.765,2.765,2.764,2.746,1.127,1.127,1.12,1.118,1.114,1.112,1.112,1.107,1.104,1.102,1.099,1.099,1.099,1.098,1.093,1.086,1.086,1.083,1.081,1.078,1.078,1.078,1.077,1.08,1.08,1.076,1.075,1.072,1.07,1.064,1.064,1.062,1.062,1.057,1.057,1.057,1.057,1.057,1.059,1.053,1.053,1.052,1.05,1.047,1.049,1.049,1.049,1.049,1.049,1.049,1.049,1.048,1.048,1.048,1.048,1.048,1.048,1.048,1.048,1.051,1.052,1.052,1.052,1.05,1.047,1.047,1.05,1.051,1.051,1.052,1.052,1.051,1.049,1.051,1.049,1.042,1.045,1.045,1.044,1.044,1.044,1.044,1.043,1.041,1.04,1.04,1.039,1.039,1.039,1.04,1.04,1.042,1.042,1.042,1.042,1.042,1.046,1.046,1.047,1.047,1.047,1.047,1.051,1.052,1.055,1.057,1.058,1.058,1.058,1.058,1.06,1.064,1.066,1.074,1.074,1.074,1.074,1.074,1.074,1.076,1.087,2.534,2.539,2.542,2.542,2.542,2.552,2.555,2.556,2.571,2.575,2.581,2.591,2.592,2.593,2.603,2.607,2.607,2.622,2.624,2.633,2.638,2.646,2.658,2.658,2.67,2.677,2.693,2.693,2.704,2.715,2.716,2.728,2.735,2.736,2.761,2.761,2.773,2.783,2.801,2.806,2.809,2.83,2.84,2.851,2.855,2.866,2.883,2.896,2.898,2.918,2.926,2.931,2.944,2.961,2.967,2.975,2.992,3.005,3.033,3.039,3.052,3.066,3.084,3.094,3.114,3.119,3.135,3.152,3.171,3.182,3.198,3.212,3.229,3.255,3.267,3.285,3.296,3.321,3.334,3.354,3.363,3.388,3.402,3.425,3.451,3.459,3.479,3.515,3.532,3.552,3.579,3.606,3.626,3.651,3.664,3.71,3.724,3.757,3.772,3.811,3.828,3.849,3.896,3.932,3.957,3.99,4.024,4.062,4.082,0.016,0,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,3.306,3.295,3.293,3.268,3.265,3.257,3.245,3.228,3.225,3.224,3.206,3.204,3.202,3.181,3.176,3.167,3.155,3.154,3.148,3.136,3.131,3.118,3.115,3.112,3.107,3.09,3.085,3.08,3.079,3.069,3.066,3.061,3.05,3.045,3.04,3.036,3.029,3.027,3.022,3.013,3.012,3.009,3.009,3.002,2.995,2.989,2.984,2.983,2.979,2.977,2.97,2.969,2.968,2.959,2.958,2.955,2.952,2.952,2.95,2.95,2.95,2.95,2.949,2.939,2.937,2.936,2.935,2.935,2.931,2.936,2.932,2.932,2.931,2.932,2.932,2.931,2.939,2.939,2.932,2.929,2.924,2.924,2.928,2.928,2.929,2.931,2.934,2.934,2.937,2.937,2.939,2.941,2.941,2.938,2.941,2.946,2.949,2.954,2.955,2.955,2.955,2.957,2.962,2.962,2.97,2.971,2.974,2.975,2.977,2.977,2.982,2.993,2.996,2.998,2.999,3.002,3.02,3.021,3.024,3.029,3.03,3.036,3.036,3.046,3.047,3.047,3.06,3.06,3.06,3.06,3.068,3.073,3.08,3.082,3.085,3.089,3.098,3.119,3.121,3.121,3.121,3.133,3.134,3.139,3.145,3.148,3.156,3.166,3.182,3.191,3.201,3.202,3.211,3.22,3.227,3.246,3.616,3.744,3.756,3.795,3.798,3.808,3.808,3.828,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.21} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.549779}
SEN {Time 28.21} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020}
SEN {Time 28.2073} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 4.8514} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 2.2098} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.8768} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 0.9144}
SEN {Time 28.2504} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.187,0,0,0,0,3.584,3.584,3.584,3.584,3.59,3.594,3.594,3.594,3.59,3.59,3.59,3.588,3.59,3.592,3.592,3.594,3.595,3.595,3.594,3.595,3.595,3.595,3.604,3.605,3.606,3.607,3.607,3.614,3.614,3.614,3.614,3.622,3.625,3.635,3.636,3.637,3.637,3.64,3.64,3.644,3.647,3.662,3.662,3.662,3.662,3.639,0.162,0.161,0.153,0.153,0.153,0.153,0.147,0.148,0.147,0.147,0.148,0.157,0.223,0,0,0.009,0.009,0.009,0,0,0.169,0.165,0.164,0.16,0.16,0.159,0.148,0.148,0.147,0.137,0.13,0.125,0.081,0.057,0.056,0.056,0.056,0.057,0.064,0.064,0.064,0.065,0.064,0.06,0.06,0.06,0.06,0.101,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.713,3.71,3.674,3.67,3.633,3.612,3.592,3.554,3.545,3.532,3.503,3.466,3.463,3.447,3.425,3.398,3.371,3.346,3.342,3.317,3.295,3.273,3.27,3.251,3.234,3.21,3.201,3.197,3.167,3.146,3.141,3.125,3.112,3.094,3.078,3.074,3.052,3.046,3.034,3.018,3.01,2.994,2.972,2.968,2.954,2.936,2.93,2.921,2.921,2.903,2.898,2.88,2.859,2.857,2.844,2.832,2.828,2.82,2.804,2.802,2.783,2.78,2.767,2.759,2.759,2.752,2.743,1.123,1.123,1.12,1.12,1.12,1.115,1.112,1.111,1.104,1.104,1.103,1.098,1.096,1.096,1.092,1.089,1.089,1.089,1.088,1.084,1.081,1.076,1.075,1.074,1.074,1.074,1.071,1.066,1.066,1.065,1.065,1.065,1.07,1.07,1.07,1.061,1.058,1.057,1.057,1.057,1.058,1.058,1.058,1.054,1.052,1.051,1.051,1.044,1.044,1.043,1.042,1.04,1.042,1.04,1.04,1.04,1.051,1.048,1.05,1.048,1.05,1.048,1.048,1.048,1.051,1.05,1.05,1.05,1.042,1.041,1.041,1.041,1.042,1.041,1.042,1.045,1.046,1.045,1.045,1.041,1.041,1.041,1.037,1.042,1.042,1.042,1.04,1.041,1.041,1.043,1.043,1.043,1.043,1.044,1.047,1.044,1.048,1.048,1.048,1.052,1.052,1.052,1.053,1.057,1.057,1.057,1.06,1.061,1.061,1.062,1.062,1.068,1.07,1.071,1.073,1.073,1.074,1.075,1.076,1.08,1.08,2.524,2.533,2.54,2.54,2.546,2.549,2.555,2.56,2.561,2.565,2.572,2.59,2.59,2.597,2.6,2.608,2.609,2.613,2.633,2.636,2.646,2.65,2.658,2.671,2.676,2.679,2.683,2.686,2.702,2.717,2.72,2.726,2.733,2.746,2.75,2.761,2.771,2.779,2.792,2.81,2.822,2.823,2.84,2.849,2.85,2.854,2.875,2.886,2.893,2.914,2.931,2.945,2.947,2.969,2.984,2.992,3.002,3.011,3.017,3.036,3.05,3.069,3.083,3.09,3.117,3.117,3.138,3.158,3.164,3.175,3.199,3.214,3.233,3.241,3.249,3.279,3.299,3.309,3.318,3.345,3.369,3.388,3.408,3.42,3.448,3.468,3.483,3.505,3.538,3.553,3.564,3.596,3.627,3.653,3.669,3.702,3.735,3.768,3.78,3.803,3.831,3.867,3.897,3.937,4.038,4.049,0,0,0.016,0.016,0,0,0.016,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,3.303,3.3,3.292,3.281,3.268,3.258,3.251,3.241,3.228,3.218,3.214,3.2,3.19,3.181,3.174,3.17,3.165,3.155,3.142,3.139,3.13,3.13,3.123,3.119,3.119,3.102,3.101,3.093,3.079,3.076,3.062,3.059,3.053,3.051,3.045,3.04,3.04,3.028,3.025,3.019,3.018,3.011,3.005,3,2.996,2.991,2.989,2.984,2.981,2.978,2.978,2.977,2.964,2.963,2.958,2.958,2.958,2.953,2.949,2.949,2.949,2.949,2.949,2.947,2.947,2.94,2.937,2.936,2.936,2.936,2.937,2.94,2.947,2.94,2.94,2.94,2.937,2.937,2.932,2.932,2.932,2.932,2.932,2.937,2.939,2.937,2.937,2.939,2.937,2.937,2.938,2.941,2.944,2.949,2.949,2.953,2.953,2.954,2.959,2.959,2.959,2.96,2.961,2.967,2.969,2.97,2.98,2.985,2.985,2.987,2.989,2.994,2.994,3.005,3.009,3.012,3.02,3.022,3.023,3.025,3.037,3.039,3.042,3.045,3.05,3.052,3.052,3.057,3.065,3.065,3.067,3.084,3.088,3.098,3.096,3.098,3.107,3.111,3.113,3.121,3.128,3.137,3.14,3.147,3.147,3.151,3.17,3.182,3.186,3.196,3.196,3.204,3.214,3.215,3.229,3.266,3.748,3.767,3.771,3.773,3.8,3.818,3.819,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.41} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.509636}
SEN {Time 28.41} {Type Tachometer} {Name LeftRight} {Vel 0.033020,-0.033020}
SEN {Time 28.4104} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.8448} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 4.8514} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.54} {Name Sonar7 Range 1.9812} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8288} {Name Sonar11 Range 1.905} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.8768} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 0.9144}
SEN {Time 35.0303} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0.009,0.009,0,0.204,0.204,0.204,0.541,0,0.007,1.518,1.518,1.526,1.526,1.546,1.559,1.578,1.589,1.598,1.616,1.628,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.145,0.145,0.145,0.141,0.141,0.136,0.142,0.142,0.142,0.142,0.152,0.161,0.172,0,0,0,0,0,0,0,0,0.171,0.17,0.153,0.153,0.153,0.15,0.147,0.147,0.147,0.142,0.127,0.076,0.062,0.062,0.06,0.06,0.063,0.063,0.063,0.063,0.063,0.062,0.061,0.061,0.062,0.064,0.085,3.065,3.111,3.114,3.111,3.114,3.248,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.349,3.372,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.109,3.091,3.089,3.089,3.091,3.091,3.089,3.086,3.077,3.073,3.073,3.074,3.074,3.391,3.457,3.466,3.466,3.469,3.462,3.462,3.462,3.462,3.462,3.462,3.464,3.465,3.467,3.467,3.467,3.469,3.47,3.469,3.469,3.478,3.478,3.481,3.481,3.481,3.481,3.481,3.481,3.481,3.487,3.49,3.493,3.495,3.501,3.506,3.507,3.508,3.509,3.512,3.52,3.531,3.533,3.534,3.538,3.542,3.546,3.554,3.555,3.559,3.56,3.567,3.579,3.584,3.588,3.592,3.6,3.608,3.61,3.617,3.622,3.631,3.639,3.642,3.643,3.648,3.659,3.669,3.678,3.684,3.695,3.706,3.707,3.72,3.721,3.733,3.749,3.755,3.757,3.769,3.769,3.783,3.798,3.807,3.813,3.837,3.841,3.852,3.859,3.859,3.897,3.9,3.908,3.927,3.942,3.948,3.967,3.98,4.005,4.01,4.012,4.06,4.06,4.074,4.084,0.016,0.016,0.016,4.074,4.038,4.008,3.996,3.938,3.908,3.895,3.852,3.845,3.788,3.773,3.74,3.732,3.688,3.675,3.647,3.622,3.597,3.571,3.554,3.529,3.503,3.465,3.452,3.423,3.422,3.399,3.375,3.356,3.326,3.311,3.307,3.279,3.273,3.253,3.241,3.22,3.208,3.187,3.177,3.153,3.14,3.128,3.111,3.104,3.09,3.066,3.056,3.044,3.026,3.009,3.008,2.991,2.986,2.964,2.957,2.939,2.933,2.917,2.915,2.888,2.886,2.875,2.865,2.85,2.833,2.828,2.827,2.805,2.802,2.801,2.794,2.778,2.769,2.759,2.753,2.727,2.725,2.724,2.711,2.701,2.699,2.694,2.678,2.671,2.657,2.653,2.649,2.648,2.633,2.63,2.63,1.1,1.097,1.097,1.097,1.083,1.083,1.083,1.082,1.082,1.082,1.08,1.076,1.074,1.07,1.07,1.067,1.063,1.063,1.063,1.063,1.063,1.063,1.062,1.062,1.059,1.057,1.059,1.057,1.056,1.056,1.057,1.056,1.055,1.051,1.047,1.046,1.047,1.047,1.048,1.05,1.05,1.051,1.054,1.055,1.055,1.055,1.055,1.055,1.057,1.057,1.057,1.057,1.059,1.06,1.06,1.06,1.06,1.056,1.056,1.056,1.056,1.056,1.053,1.053,1.051,1.051,1.053,1.053,1.05,1.052,1.052,1.049,1.049,1.05,1.05,1.05,1.05,1.05,1.05,1.05,1.051,1.051,1.051,1.053,1.053,1.059,1.06,1.063,1.063,1.066,1.066,1.068,1.068,1.068,1.074,1.076,1.08,1.076,1.08,1.08,1.08,1.084,1.087,1.084,1.084,1.086,1.088,1.089,1.092,1.092,1.092,1.096,1.105,1.106,1.11,1.11,1.118,1.118,1.121,1.127,1.136,2.643,2.644,2.646,2.655,2.666,2.668,2.682,2.687,2.698,2.708,2.71,2.727,2.728,2.738,2.744,2.754,2.763,2.771,2.791,2.793,2.806,2.807,2.826,2.831,2.835,2.85,2.855,2.862,2.872,2.894,2.901,2.911,2.93,2.933,2.949,2.952,2.977,2.989,3.004,3.005,3.016,3.036,3.05,3.059,3.079,3.087,3.109,3.119,3.124,3.145,3.156,3.178,3.184,3.203,3.227,3.232,3.26,3.276,3.296,3.307,3.342,3.35,3.368,3.401,3.403,3.432,3.45,3.458,3.489,3.506,3.535,3.55,3.571,3.608,3.618,3.642,3.684,3.706,3.717,3.759,3.791,3.812,3.836,3.869,3.892,3.934,3.953,3.998,4.04,4.064,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0.007,0,0.006,0.007,3.399,3.378,3.363,3.358,3.352,3.326,3.316,3.315,3.305,3.3,3.278,3.277,3.272,3.261,3.257,3.253,3.236,3.235,3.232,3.213,3.212,3.2,3.2,3.194,3.188,3.186,3.182,3.172,3.165,3.163,3.151,3.148,3.147,3.138,3.137,3.13,3.127,3.121,3.119,3.119,3.117,3.096,3.095,3.088,3.087,3.085,3.078,3.077,3.075,3.068,3.065,3.065,3.063,3.063,3.063,3.065,3.062,3.062,3.059,3.055,3.053,3.053,3.059,3.065,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.19} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.471239}
SEN {Time 35.19} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 35.1873} {Type Sonar} {Name Sonar0 Range 6.0706} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9144} {Name Sonar3 Range 4.2672} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.2766} {Name Sonar8 Range 3.3274} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8034} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 5.2832}
SEN {Time 35.2234} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.183,0.186,0.186,0.186,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.157,0.148,0.147,0.143,0.143,0.141,0.141,0.144,0.144,0.144,0.153,0.156,0.202,0,0,0,0,0,0,0,0,0.16,0.158,0.156,0.155,0.154,0.154,0.154,0.143,0.124,0.119,0.091,0.07,0.064,0.064,0.064,0.056,0.056,0.06,0.06,0.06,0.062,0.06,0.06,0.06,0.06,0.06,0.065,0.079,0.099,0.123,0,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.101,3.101,3.099,3.101,3.101,3.099,3.096,3.091,3.082,3.082,3.082,3.465,3.472,3.472,3.472,3.469,3.469,3.468,3.468,3.468,3.47,3.47,3.472,3.473,3.473,3.472,3.474,3.472,3.468,3.472,3.47,3.47,3.473,3.475,3.476,3.479,3.485,3.485,3.488,3.496,3.489,3.489,3.49,3.49,3.49,3.501,3.504,3.505,3.515,3.521,3.523,3.524,3.528,3.53,3.535,3.542,3.548,3.554,3.557,3.561,3.566,3.576,3.581,3.581,3.587,3.593,3.595,3.604,3.613,3.614,3.624,3.634,3.642,3.643,3.647,3.654,3.664,3.664,3.684,3.689,3.692,3.693,3.701,3.712,3.726,3.737,3.74,3.746,3.765,3.767,3.775,3.781,3.799,3.804,3.828,3.832,3.841,3.848,3.856,3.876,3.892,3.894,3.904,3.907,3.938,3.948,3.966,3.981,3.99,3.992,4.009,4.03,4.056,4.073,4.075,0.016,0.016,0.016,0.016,4.091,4.091,4.026,3.987,3.932,3.908,3.861,3.831,3.814,3.787,3.774,3.73,3.709,3.684,3.646,3.625,3.619,3.589,3.556,3.543,3.515,3.492,3.484,3.452,3.439,3.41,3.395,3.381,3.351,3.339,3.31,3.3,3.276,3.262,3.245,3.23,3.212,3.193,3.175,3.173,3.146,3.139,3.121,3.107,3.098,3.077,3.076,3.052,3.044,3.024,3.01,3,2.992,2.975,2.965,2.955,2.937,2.917,2.906,2.905,2.891,2.874,2.865,2.855,2.837,2.835,2.823,2.823,2.811,2.807,2.788,2.773,2.769,2.756,2.749,2.738,2.734,2.723,2.718,2.713,2.705,2.688,2.685,2.669,2.668,2.662,2.66,2.65,2.636,2.636,2.636,2.621,1.099,1.09,1.089,1.087,1.087,1.087,1.084,1.079,1.077,1.077,1.077,1.074,1.07,1.074,1.071,1.067,1.07,1.07,1.067,1.064,1.063,1.062,1.062,1.061,1.057,1.057,1.057,1.057,1.053,1.053,1.053,1.053,1.053,1.047,1.053,1.048,1.047,1.047,1.047,1.046,1.046,1.046,1.046,1.048,1.048,1.049,1.044,1.049,1.057,1.057,1.055,1.055,1.05,1.05,1.055,1.056,1.058,1.058,1.058,1.054,1.053,1.052,1.052,1.049,1.047,1.049,1.049,1.049,1.049,1.052,1.052,1.052,1.05,1.051,1.05,1.051,1.051,1.051,1.051,1.053,1.056,1.057,1.057,1.058,1.058,1.059,1.06,1.062,1.062,1.062,1.061,1.062,1.065,1.065,1.07,1.071,1.07,1.071,1.076,1.078,1.078,1.079,1.083,1.087,1.087,1.087,1.087,1.092,1.092,1.099,1.101,1.102,1.105,1.107,1.107,1.109,1.114,1.116,1.116,1.117,2.625,2.642,2.642,2.642,2.647,2.662,2.675,2.683,2.695,2.696,2.698,2.712,2.723,2.727,2.729,2.751,2.754,2.76,2.771,2.773,2.791,2.802,2.81,2.82,2.833,2.842,2.869,2.872,2.883,2.883,2.884,2.903,2.923,2.925,2.936,2.951,2.962,2.97,2.976,3.001,3.001,3.023,3.029,3.044,3.055,3.087,3.09,3.111,3.113,3.13,3.143,3.165,3.183,3.183,3.197,3.218,3.231,3.247,3.28,3.281,3.305,3.326,3.337,3.369,3.381,3.404,3.421,3.456,3.478,3.496,3.51,3.546,3.564,3.581,3.603,3.627,3.66,3.681,3.705,3.726,3.756,3.785,3.799,3.831,3.866,3.911,3.921,3.964,4.005,4.019,0.016,0.007,0,0,0,0,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.006,0.007,3.391,3.38,3.38,3.361,3.357,3.354,3.316,3.313,3.306,3.306,3.291,3.288,3.28,3.262,3.255,3.252,3.247,3.234,3.231,3.223,3.206,3.205,3.188,3.187,3.186,3.177,3.175,3.17,3.165,3.156,3.154,3.147,3.147,3.139,3.133,3.132,3.132,3.114,3.112,3.112,3.107,3.104,3.095,3.093,3.092,3.091,3.088,3.075,3.075,3.069,3.067,3.065,3.065,3.065,3.057,3.057,3.065,3.057,3.057,3.054,3.052,3.051,3.046,3.046,3.045,3.045,3.043,3.04,3.04,3.04,3.04,3.042,3.053,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.38} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.422370}
SEN {Time 35.38} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 35.3822} {Type Sonar} {Name Sonar0 Range 6.223} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9144} {Name Sonar3 Range 4.2672} {Name Sonar4 Range 3.2258} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 2.7686} {Name Sonar7 Range 3.2766} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.54} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8034} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 4.0132}
SEN {Time 35.4224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.188,0.188,0.188,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.153,0.146,0.144,0.144,0.144,0.144,0.146,0.146,0.146,0.155,0.155,0.21,0,0,0,0,0,0,0,0,0.165,0.163,0.163,0.156,0.153,0.156,0.156,0.146,0.142,0.135,0.122,0.085,0.063,0.063,0.062,0.055,0.062,0.062,0.062,0.06,0.06,0.059,0.059,0.059,0.062,0.065,0.072,0.079,0.079,0.006,0.006,0.006,0.006,0.006,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.112,3.103,3.103,3.106,3.106,3.103,3.094,3.082,3.082,3.082,3.09,3.477,3.477,3.48,3.477,3.477,3.474,3.473,3.473,3.474,3.474,3.475,3.479,3.475,3.477,3.477,3.477,3.475,3.475,3.472,3.472,3.472,3.486,3.486,3.486,3.486,3.486,3.488,3.488,3.489,3.489,3.496,3.5,3.502,3.505,3.511,3.515,3.522,3.522,3.517,3.522,3.526,3.534,3.537,3.545,3.546,3.552,3.555,3.562,3.57,3.572,3.572,3.579,3.582,3.597,3.604,3.609,3.614,3.618,3.624,3.632,3.635,3.647,3.647,3.654,3.658,3.667,3.678,3.681,3.697,3.709,3.713,3.717,3.726,3.729,3.735,3.755,3.764,3.768,3.788,3.789,3.791,3.806,3.819,3.835,3.842,3.868,3.869,3.874,3.883,3.903,3.917,3.922,3.935,3.956,3.959,3.959,3.987,3.988,4.002,4.023,4.044,4.055,4.062,4.088,0.016,0.016,0.016,4.082,4.058,4.02,3.964,3.944,3.93,3.893,3.856,3.823,3.789,3.77,3.738,3.706,3.69,3.675,3.641,3.613,3.6,3.573,3.554,3.53,3.508,3.49,3.467,3.445,3.429,3.419,3.394,3.366,3.344,3.333,3.314,3.298,3.284,3.261,3.239,3.219,3.207,3.186,3.167,3.165,3.145,3.122,3.11,3.097,3.086,3.074,3.058,3.038,3.033,3.02,3.008,2.992,2.974,2.966,2.957,2.957,2.936,2.917,2.913,2.903,2.892,2.877,2.855,2.853,2.843,2.821,2.811,2.805,2.801,2.777,2.775,2.765,2.763,2.744,2.74,2.728,2.717,2.714,2.704,2.7,2.699,2.684,2.672,2.669,2.662,2.654,2.65,2.65,2.65,2.65,2.631,1.093,1.093,1.093,1.091,1.088,1.085,1.085,1.085,1.072,1.07,1.07,1.07,1.07,1.069,1.064,1.064,1.063,1.062,1.061,1.06,1.054,1.054,1.054,1.054,1.054,1.054,1.051,1.051,1.049,1.047,1.047,1.045,1.044,1.043,1.043,1.044,1.045,1.045,1.049,1.049,1.042,1.042,1.042,1.042,1.042,1.042,1.04,1.04,1.04,1.048,1.049,1.049,1.048,1.049,1.045,1.045,1.049,1.053,1.053,1.053,1.049,1.049,1.049,1.049,1.052,1.052,1.047,1.047,1.049,1.047,1.049,1.049,1.046,1.046,1.046,1.046,1.051,1.051,1.053,1.052,1.052,1.048,1.052,1.052,1.053,1.053,1.055,1.054,1.054,1.054,1.056,1.06,1.061,1.068,1.066,1.069,1.071,1.071,1.071,1.071,1.071,1.071,1.075,1.076,1.083,1.083,1.087,1.087,1.09,1.092,1.101,1.103,1.103,1.103,1.103,1.103,1.107,1.108,1.108,1.119,2.628,2.63,2.642,2.642,2.646,2.651,2.655,2.664,2.673,2.68,2.686,2.69,2.702,2.706,2.72,2.73,2.744,2.755,2.761,2.763,2.777,2.792,2.803,2.804,2.817,2.835,2.838,2.846,2.858,2.873,2.876,2.891,2.905,2.911,2.919,2.937,2.957,2.96,2.968,2.98,3.001,3.014,3.017,3.029,3.041,3.055,3.06,3.085,3.107,3.116,3.124,3.148,3.162,3.169,3.199,3.21,3.231,3.234,3.258,3.269,3.295,3.317,3.331,3.339,3.367,3.383,3.404,3.415,3.432,3.456,3.487,3.516,3.532,3.566,3.593,3.606,3.626,3.66,3.69,3.705,3.739,3.756,3.761,3.844,3.869,3.869,3.902,3.933,3.975,3.991,4.066,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0.016,0,0,0.016,0.016,4.013,3.412,3.392,3.377,3.365,3.352,3.343,3.34,3.335,3.319,3.3,3.293,3.293,3.274,3.267,3.266,3.263,3.243,3.241,3.235,3.228,3.221,3.204,3.202,3.198,3.182,3.181,3.181,3.176,3.172,3.169,3.157,3.149,3.149,3.149,3.133,3.133,3.127,3.126,3.116,3.113,3.102,3.102,3.101,3.101,3.09,3.09,3.088,3.079,3.079,3.076,3.068,3.065,3.061,3.061,3.061,3.061,3.061,3.061,3.061,3.06,3.06,3.06,3.046,3.045,3.044,3.04,3.04,3.04,3.04,3.04,3.037,3.037,3.036,3.036,3.034,3.034,3.034,3.033,3.033,3.036,3.036,3.045,3.047,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.58} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.375246}
SEN {Time 35.58} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 35.5772} {Type Sonar} {Name Sonar0 Range 6.223} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.2672} {Name Sonar4 Range 3.2258} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.2766} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 2.8448} {Name Sonar15 Range 4.0132}
SEN {Time 35.6224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.193,0.189,0.189,0.193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.015,0.015,0.015,0.153,0.153,0.149,0.149,0.146,0.144,0.144,0.146,0.162,0.174,0,0,0,0,0,0,0,0,0.169,0.156,0.155,0.155,0.152,0.153,0.153,0.152,0.12,0.114,0.096,0.068,0.064,0.057,0.057,0.057,0.06,0.06,0.062,0.062,0.063,0.062,0.061,0.057,0.055,0.055,0.057,0.092,0.006,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.114,3.111,3.111,3.114,3.111,3.111,3.108,3.098,3.098,3.098,3.104,3.474,3.474,3.48,3.477,3.477,3.477,3.48,3.477,3.481,3.483,3.486,3.484,3.484,3.484,3.484,3.484,3.481,3.484,3.481,3.48,3.48,3.48,3.48,3.481,3.484,3.484,3.488,3.488,3.488,3.49,3.499,3.503,3.504,3.506,3.506,3.506,3.519,3.522,3.526,3.533,3.533,3.538,3.539,3.544,3.554,3.554,3.555,3.56,3.56,3.574,3.575,3.577,3.58,3.601,3.601,3.614,3.615,3.617,3.619,3.629,3.642,3.646,3.651,3.652,3.676,3.677,3.678,3.687,3.693,3.702,3.716,3.723,3.73,3.74,3.742,3.743,3.759,3.781,3.786,3.786,3.806,3.806,3.823,3.827,3.84,3.855,3.867,3.872,3.89,3.898,3.906,3.924,3.941,3.951,3.958,3.98,4.001,4.006,4.026,4.036,4.057,4.058,4.071,4.089,0.016,0.016,0.016,0.016,4.073,4.017,3.973,3.962,3.908,3.873,3.848,3.817,3.794,3.763,3.73,3.703,3.698,3.671,3.634,3.61,3.596,3.578,3.546,3.508,3.503,3.467,3.449,3.428,3.415,3.4,3.373,3.365,3.347,3.314,3.301,3.293,3.293,3.264,3.247,3.21,3.201,3.186,3.182,3.162,3.148,3.133,3.111,3.098,3.085,3.063,3.055,3.039,3.028,3.008,3,2.987,2.971,2.964,2.946,2.936,2.924,2.914,2.907,2.897,2.888,2.876,2.865,2.854,2.845,2.837,2.814,2.808,2.804,2.79,2.771,2.769,2.75,2.748,2.733,2.733,2.727,2.715,2.697,2.692,2.686,2.678,2.668,2.662,2.658,2.648,2.644,2.644,2.636,2.625,1.087,1.086,1.086,1.083,1.081,1.081,1.081,1.08,1.077,1.077,1.075,1.074,1.074,1.071,1.065,1.064,1.063,1.059,1.055,1.054,1.054,1.053,1.053,1.052,1.051,1.051,1.051,1.05,1.048,1.048,1.048,1.046,1.044,1.042,1.038,1.038,1.044,1.038,1.041,1.042,1.041,1.038,1.038,1.038,1.038,1.041,1.041,1.041,1.045,1.045,1.039,1.038,1.045,1.045,1.045,1.05,1.05,1.052,1.05,1.05,1.049,1.049,1.044,1.044,1.041,1.044,1.044,1.046,1.046,1.046,1.046,1.046,1.044,1.044,1.046,1.047,1.047,1.048,1.049,1.051,1.053,1.051,1.049,1.047,1.047,1.047,1.051,1.052,1.053,1.053,1.057,1.057,1.059,1.059,1.057,1.059,1.059,1.059,1.059,1.06,1.068,1.072,1.072,1.075,1.076,1.077,1.079,1.082,1.082,1.085,1.089,1.094,1.096,1.097,1.101,1.101,1.101,1.101,1.101,1.115,1.116,2.62,2.625,2.625,2.625,2.641,2.653,2.658,2.661,2.662,2.674,2.683,2.69,2.7,2.705,2.718,2.725,2.731,2.733,2.751,2.759,2.764,2.774,2.786,2.806,2.809,2.827,2.83,2.843,2.846,2.868,2.875,2.903,2.909,2.918,2.918,2.929,2.943,2.955,2.97,2.98,2.99,3.003,3.025,3.029,3.041,3.055,3.061,3.1,3.115,3.115,3.122,3.14,3.151,3.172,3.173,3.203,3.227,3.233,3.246,3.267,3.283,3.305,3.325,3.329,3.363,3.385,3.387,3.421,3.426,3.467,3.482,3.498,3.527,3.551,3.563,3.605,3.628,3.639,3.67,3.687,3.73,3.749,3.77,3.802,3.829,3.854,3.899,3.925,3.999,4.021,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,3.378,3.359,3.349,3.345,3.339,3.335,3.309,3.309,3.3,3.284,3.276,3.258,3.25,3.246,3.244,3.235,3.234,3.219,3.205,3.202,3.201,3.191,3.184,3.18,3.171,3.164,3.161,3.158,3.149,3.148,3.135,3.134,3.133,3.123,3.122,3.121,3.113,3.102,3.102,3.101,3.093,3.092,3.088,3.084,3.081,3.075,3.07,3.066,3.064,3.061,3.064,3.064,3.063,3.063,3.063,3.063,3.063,3.053,3.053,3.052,3.049,3.049,3.045,3.044,3.044,3.042,3.04,3.038,3.037,3.03,3.03,3.03,3.03,3.031,3.031,3.029,3.029,3.029,3.029,3.032,3.035,3.035,3.035,3.032,3.032,3.032,3.034,3.039,3.044,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.78} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.324631}
SEN {Time 35.78} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 35.7791} {Type Sonar} {Name Sonar0 Range 6.223} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 3.2258} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.2512} {Name Sonar8 Range 3.0226} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.2992} {Name Sonar15 Range 4.0132}
SEN {Time 35.8224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.279,0.279,0.279,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.147,0.147,0.147,0.147,0.147,0.147,0.144,0.144,0.146,0.146,0.153,0.158,0.196,3.596,3.522,3.522,3.522,3.522,3.503,3.499,0.166,0.162,0.154,0.154,0.152,0.146,0.146,0.146,0.143,0.137,0.119,0.079,0.068,0.066,0.055,0.055,0.055,0.058,0.062,0.062,0.062,0.062,0.064,0.064,0.064,0.057,0.064,0.066,0.092,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.118,3.115,3.115,3.118,3.118,3.11,3.11,3.098,3.097,3.092,3.092,3.097,3.481,3.481,3.481,3.481,3.483,3.48,3.483,3.483,3.488,3.483,3.488,3.488,3.483,3.483,3.488,3.485,3.49,3.493,3.49,3.49,3.49,3.49,3.49,3.492,3.492,3.493,3.494,3.502,3.504,3.504,3.507,3.509,3.509,3.509,3.51,3.516,3.525,3.525,3.525,3.531,3.532,3.536,3.54,3.54,3.549,3.556,3.57,3.571,3.573,3.579,3.579,3.579,3.59,3.596,3.609,3.61,3.615,3.629,3.64,3.642,3.65,3.652,3.654,3.664,3.673,3.681,3.699,3.7,3.704,3.716,3.725,3.731,3.739,3.753,3.766,3.772,3.787,3.793,3.797,3.798,3.827,3.831,3.838,3.84,3.864,3.865,3.884,3.9,3.9,3.92,3.936,3.953,3.959,3.963,3.981,4.001,4.018,4.029,4.044,4.051,4.076,4.091,0.016,0.016,0.016,0.016,4.071,4.047,4.028,3.976,3.929,3.91,3.891,3.836,3.827,3.794,3.763,3.727,3.715,3.687,3.651,3.638,3.61,3.581,3.57,3.536,3.514,3.498,3.476,3.46,3.432,3.408,3.404,3.376,3.329,3.329,3.304,3.301,3.291,3.262,3.249,3.234,3.213,3.203,3.18,3.171,3.149,3.143,3.135,3.11,3.088,3.085,3.074,3.047,3.043,3.014,3.014,2.997,2.988,2.965,2.963,2.95,2.929,2.92,2.904,2.904,2.903,2.894,2.866,2.854,2.836,2.834,2.827,2.82,2.807,2.796,2.785,2.772,2.769,2.765,2.742,2.733,2.731,2.72,2.706,2.704,2.689,2.68,2.673,2.664,2.662,2.653,2.65,2.65,2.641,2.634,1.094,1.083,1.083,1.083,1.083,1.08,1.084,1.08,1.079,1.076,1.066,1.066,1.066,1.066,1.066,1.064,1.061,1.058,1.058,1.057,1.056,1.056,1.056,1.052,1.05,1.049,1.049,1.048,1.047,1.044,1.044,1.044,1.037,1.037,1.036,1.036,1.036,1.034,1.036,1.042,1.042,1.041,1.041,1.038,1.038,1.038,1.038,1.04,1.042,1.044,1.042,1.044,1.047,1.044,1.047,1.047,1.042,1.042,1.048,1.04,1.044,1.049,1.044,1.043,1.043,1.043,1.041,1.039,1.038,1.038,1.038,1.038,1.039,1.039,1.041,1.041,1.044,1.044,1.044,1.043,1.044,1.043,1.043,1.044,1.044,1.046,1.046,1.048,1.048,1.051,1.053,1.053,1.055,1.055,1.062,1.065,1.066,1.066,1.065,1.066,1.067,1.067,1.071,1.071,1.071,1.071,1.072,1.078,1.081,1.09,1.081,1.091,1.094,1.095,1.099,1.099,1.099,1.099,1.099,1.106,1.116,2.611,2.619,2.621,2.621,2.625,2.631,2.647,2.658,2.66,2.672,2.676,2.685,2.688,2.694,2.713,2.716,2.72,2.733,2.745,2.747,2.769,2.774,2.783,2.786,2.8,2.812,2.822,2.829,2.831,2.841,2.857,2.859,2.89,2.895,2.902,2.913,2.923,2.938,2.95,2.963,2.97,2.986,3.018,3.018,3.044,3.044,3.05,3.066,3.076,3.095,3.108,3.123,3.143,3.158,3.172,3.191,3.196,3.218,3.229,3.254,3.258,3.285,3.302,3.306,3.335,3.347,3.366,3.401,3.405,3.43,3.453,3.491,3.502,3.525,3.551,3.574,3.586,3.612,3.642,3.662,3.686,3.728,3.732,3.747,3.808,3.847,3.847,3.878,3.914,3.941,3.974,4.017,4.048,0.016,0.007,0,0.016,0,0,0.016,0,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0.007,0.009,0,0,3.354,3.344,3.344,3.333,3.32,3.307,3.303,3.286,3.278,3.269,3.265,3.263,3.246,3.234,3.231,3.23,3.215,3.205,3.204,3.2,3.192,3.176,3.17,3.169,3.167,3.164,3.159,3.148,3.148,3.14,3.129,3.126,3.119,3.116,3.116,3.114,3.11,3.105,3.095,3.093,3.089,3.085,3.083,3.075,3.075,3.067,3.066,3.065,3.062,3.058,3.052,3.049,3.048,3.043,3.043,3.043,3.056,3.056,3.056,3.055,3.045,3.042,3.042,3.038,3.038,3.038,3.038,3.035,3.035,3.035,3.033,3.031,3.032,3.032,3.031,3.032,3.032,3.028,3.025,3.025,3.025,3.025,3.025,3.033,3.035,3.035,3.037,3.041,3.043,3.043,3.041,3.033,3.033,3.033,3.069,3.073,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 35.98} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.274017}
SEN {Time 35.98} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 35.9832} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 0.9398} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 6.223} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.2512} {Name Sonar8 Range 2.54} {Name Sonar9 Range 2.5654} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.8288} {Name Sonar14 Range 6.2992} {Name Sonar15 Range 4.4704}
SEN {Time 36.0224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.178,0.182,0.182,0.182,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0.148,0.147,0.146,0.146,0.147,0.146,0.146,0.151,0.151,0.151,0.151,0.154,0.154,0.155,0,0,0,0,0,0,0.164,0.164,0.156,0.152,0.152,0.152,0.152,0.152,0.151,0.134,0.118,0.091,0.07,0.063,0.061,0.061,0.059,0.059,0.061,0.063,0.063,0.063,0.06,0.06,0.056,0.056,0.061,0.062,0.071,0.077,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.118,3.113,3.111,3.111,3.109,3.104,3.103,3.103,3.103,3.491,3.496,3.496,3.491,3.491,3.491,3.491,3.493,3.493,3.495,3.493,3.487,3.487,3.487,3.487,3.489,3.49,3.49,3.494,3.5,3.498,3.5,3.501,3.501,3.502,3.503,3.503,3.503,3.506,3.506,3.506,3.51,3.517,3.517,3.518,3.52,3.533,3.533,3.535,3.539,3.54,3.545,3.549,3.549,3.557,3.563,3.566,3.578,3.579,3.58,3.592,3.6,3.6,3.609,3.617,3.617,3.631,3.631,3.633,3.641,3.654,3.665,3.666,3.666,3.671,3.685,3.693,3.705,3.71,3.715,3.729,3.739,3.745,3.753,3.756,3.767,3.774,3.783,3.808,3.815,3.817,3.832,3.836,3.847,3.872,3.883,3.889,3.901,3.91,3.924,3.924,3.965,3.971,3.974,3.991,4.008,4.025,4.041,4.045,4.056,4.074,0.016,0.016,0.016,0.016,0.016,0.016,4.068,4.018,3.986,3.934,3.921,3.87,3.845,3.833,3.795,3.751,3.749,3.709,3.681,3.656,3.632,3.617,3.583,3.558,3.538,3.522,3.491,3.472,3.445,3.431,3.405,3.379,3.376,3.354,3.333,3.323,3.292,3.278,3.262,3.243,3.227,3.202,3.19,3.176,3.168,3.15,3.134,3.123,3.114,3.089,3.088,3.064,3.051,3.039,3.03,3.017,3.013,2.988,2.977,2.977,2.964,2.95,2.932,2.923,2.905,2.886,2.879,2.863,2.839,2.835,2.827,2.814,2.804,2.8,2.79,2.775,2.772,2.767,2.751,2.74,2.735,2.723,2.717,2.707,2.697,2.691,2.684,2.678,2.676,2.657,2.657,2.647,2.633,2.631,1.089,1.083,1.081,1.083,1.081,1.079,1.076,1.075,1.072,1.072,1.072,1.069,1.067,1.066,1.063,1.063,1.062,1.055,1.053,1.053,1.052,1.049,1.049,1.049,1.049,1.05,1.05,1.046,1.046,1.046,1.045,1.045,1.043,1.039,1.039,1.034,1.034,1.034,1.034,1.034,1.036,1.036,1.036,1.036,1.036,1.037,1.039,1.038,1.038,1.038,1.038,1.038,1.038,1.038,1.039,1.042,1.043,1.043,1.045,1.045,1.045,1.042,1.042,1.042,1.042,1.042,1.042,1.035,1.032,1.031,1.031,1.035,1.035,1.035,1.036,1.035,1.035,1.035,1.033,1.031,1.033,1.031,1.033,1.033,1.042,1.042,1.045,1.045,1.045,1.048,1.048,1.049,1.049,1.049,1.049,1.049,1.057,1.057,1.058,1.062,1.063,1.068,1.068,1.073,1.073,1.073,1.075,1.078,1.079,1.079,1.08,1.085,1.089,1.09,1.09,1.09,1.094,1.097,1.097,1.099,1.1,1.104,2.608,2.616,2.622,2.616,2.622,2.622,2.636,2.651,2.652,2.657,2.671,2.679,2.683,2.69,2.706,2.712,2.72,2.728,2.735,2.743,2.752,2.758,2.771,2.781,2.786,2.804,2.81,2.826,2.834,2.841,2.848,2.857,2.873,2.879,2.894,2.905,2.91,2.922,2.946,2.955,2.977,2.985,2.996,3,3.028,3.029,3.052,3.057,3.067,3.088,3.105,3.12,3.129,3.151,3.167,3.175,3.192,3.204,3.222,3.242,3.264,3.283,3.308,3.323,3.326,3.357,3.37,3.386,3.405,3.43,3.45,3.472,3.488,3.515,3.542,3.566,3.58,3.614,3.63,3.668,3.686,3.709,3.744,3.757,3.792,3.822,3.846,3.869,3.895,3.941,3.968,4.011,4.023,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.006,3.372,3.36,3.333,3.325,3.305,3.303,3.298,3.288,3.278,3.27,3.254,3.25,3.249,3.234,3.233,3.219,3.207,3.204,3.199,3.199,3.185,3.178,3.165,3.165,3.163,3.156,3.148,3.148,3.147,3.126,3.121,3.121,3.12,3.114,3.109,3.103,3.1,3.1,3.085,3.085,3.081,3.075,3.071,3.07,3.07,3.07,3.058,3.058,3.058,3.047,3.046,3.045,3.044,3.041,3.041,3.041,3.051,3.051,3.051,3.039,3.035,3.032,3.032,3.031,3.032,3.034,3.034,3.029,3.029,3.027,3.027,3.027,3.029,3.029,3.029,3.029,3.029,3.029,3.03,3.03,3.03,3.03,3.03,3.028,3.028,3.028,3.034,3.034,3.036,3.036,3.044,3.044,3.044,3.045,3.045,3.049,3.051,3.053,3.056,3.06,3.06,3.075,3.085,3.092,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.18} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.226893}
SEN {Time 36.18} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 36.1771} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 6.1976} {Name Sonar3 Range 4.0386} {Name Sonar4 Range 6.223} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8448} {Name Sonar7 Range 3.2512} {Name Sonar8 Range 2.54} {Name Sonar9 Range 1.9812} {Name Sonar10 Range 0.9398} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.1844} {Name Sonar14 Range 6.2992} {Name Sonar15 Range 4.4704}
SEN {Time 36.2224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.195,0.195,0.195,0.195,0.201,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,3.589,0.151,0.15,0.149,0.149,0.149,0.145,0.145,0.149,0.146,0.146,0.151,0.153,0.157,0,0,0,0,0,0,0,0,0,0.165,0.157,0.15,0.15,0.148,0.148,0.147,0.137,0.11,0.099,0.063,0.061,0.06,0.06,0.06,0.06,0.061,0.061,0.061,0.061,0.061,0.06,0.058,0.058,0.06,0.067,0.078,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.128,3.128,3.128,3.126,3.119,3.108,3.108,3.106,3.108,3.109,3.494,3.497,3.498,3.498,3.498,3.497,3.497,3.493,3.493,3.493,3.49,3.494,3.496,3.503,3.504,3.504,3.504,3.504,3.505,3.501,3.505,3.507,3.507,3.507,3.507,3.515,3.516,3.516,3.515,3.516,3.524,3.523,3.525,3.525,3.524,3.524,3.529,3.529,3.538,3.547,3.549,3.549,3.554,3.559,3.562,3.565,3.576,3.579,3.585,3.59,3.595,3.595,3.603,3.614,3.62,3.633,3.638,3.638,3.639,3.656,3.663,3.664,3.669,3.678,3.681,3.69,3.703,3.706,3.716,3.72,3.733,3.734,3.751,3.751,3.769,3.776,3.776,3.8,3.806,3.808,3.83,3.836,3.857,3.857,3.873,3.876,3.906,3.915,3.918,3.929,3.945,3.967,3.967,3.994,3.998,4.005,4.039,4.049,4.059,4.064,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,3.951,3.888,3.851,3.827,3.794,3.762,3.728,3.72,3.674,3.657,3.645,3.608,3.593,3.574,3.548,3.532,3.494,3.482,3.445,3.428,3.403,3.391,3.36,3.359,3.334,3.313,3.295,3.291,3.253,3.236,3.216,3.206,3.197,3.186,3.16,3.149,3.135,3.121,3.11,3.083,3.075,3.055,3.044,3.036,3.036,3.015,3.008,2.995,2.978,2.955,2.95,2.942,2.93,2.913,2.901,2.883,2.881,2.867,2.855,2.852,2.832,2.819,2.816,2.814,2.796,2.785,2.773,2.766,2.742,2.74,2.735,2.726,2.722,2.709,2.696,2.693,2.68,2.675,2.674,2.663,2.656,2.656,2.646,2.642,1.086,1.086,1.085,1.084,1.084,1.079,1.073,1.069,1.068,1.068,1.063,1.068,1.068,1.066,1.061,1.062,1.058,1.058,1.057,1.056,1.053,1.053,1.053,1.053,1.053,1.052,1.045,1.044,1.042,1.041,1.041,1.041,1.04,1.037,1.036,1.036,1.039,1.039,1.041,1.044,1.041,1.041,1.04,1.035,1.035,1.035,1.04,1.035,1.036,1.042,1.036,1.034,1.034,1.034,1.034,1.034,1.036,1.036,1.039,1.039,1.039,1.04,1.041,1.041,1.041,1.041,1.04,1.04,1.038,1.036,1.036,1.039,1.036,1.039,1.039,1.038,1.034,1.038,1.038,1.038,1.041,1.043,1.041,1.038,1.041,1.042,1.038,1.042,1.042,1.045,1.042,1.045,1.049,1.057,1.057,1.057,1.057,1.057,1.06,1.062,1.066,1.066,1.067,1.069,1.069,1.069,1.071,1.071,1.071,1.072,1.074,1.077,1.083,1.086,1.091,1.091,1.093,1.093,1.093,1.099,1.105,2.593,2.61,2.613,2.613,2.62,2.633,2.635,2.636,2.655,2.658,2.662,2.671,2.683,2.684,2.688,2.704,2.709,2.719,2.72,2.732,2.745,2.752,2.757,2.765,2.78,2.782,2.796,2.8,2.821,2.837,2.837,2.855,2.859,2.865,2.884,2.897,2.902,2.92,2.933,2.939,2.955,2.971,2.971,2.99,3.004,3.012,3.029,3.048,3.052,3.062,3.092,3.116,3.118,3.126,3.14,3.159,3.166,3.189,3.204,3.228,3.235,3.256,3.269,3.302,3.307,3.326,3.346,3.369,3.399,3.407,3.442,3.445,3.479,3.481,3.5,3.539,3.549,3.563,3.602,3.642,3.651,3.684,3.707,3.743,3.751,3.792,3.82,3.832,3.882,3.909,3.943,3.966,4.018,4.042,4.075,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.326,3.32,3.312,3.298,3.286,3.284,3.272,3.257,3.253,3.242,3.239,3.232,3.223,3.217,3.205,3.201,3.195,3.189,3.171,3.168,3.166,3.155,3.153,3.15,3.142,3.14,3.129,3.128,3.116,3.115,3.111,3.096,3.095,3.092,3.089,3.084,3.083,3.079,3.075,3.073,3.072,3.066,3.06,3.059,3.059,3.051,3.044,3.044,3.044,3.039,3.038,3.038,3.038,3.046,3.056,3.056,3.056,3.021,3.02,3.02,3.02,3.02,3.026,3.026,3.026,3.026,3.021,3.021,3.021,3.021,3.022,3.026,3.026,3.028,3.028,3.028,3.028,3.028,3.028,3.028,3.028,3.028,3.03,3.03,3.031,3.033,3.036,3.036,3.037,3.038,3.045,3.045,3.046,3.047,3.049,3.049,3.049,3.051,3.053,3.063,3.064,3.073,3.078,3.078,3.078,3.084,3.093,3.094,3.111,3.117,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.38} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.174533}
SEN {Time 36.38} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 36.3801} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 6.1976} {Name Sonar3 Range 3.429} {Name Sonar4 Range 6.223} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 3.3274} {Name Sonar8 Range 2.54} {Name Sonar9 Range 1.9812} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.1844} {Name Sonar14 Range 6.096} {Name Sonar15 Range 4.4704}
SEN {Time 36.4224} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.193,0.184,0.184,0.193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,0,0,0.009,0.009,0.009,0.009,3.629,3.614,3.596,3.596,3.596,3.579,0,0.007,0,3.322,0.152,0.145,0.145,0.152,0.153,0.153,0.153,0.155,0.147,0.147,0.146,0.146,0.146,0,0,0,0,0,0,0,0.165,0.16,0.153,0.154,0.153,0.153,0.151,0.151,0.145,0.122,0.12,0.072,0.065,0.054,0.054,0.054,0.055,0.06,0.061,0.062,0.062,0.062,0.062,0.059,0.059,0.059,0.062,0.062,0.068,0.076,0,0,0,0.007,0,0,0,0,0,0.009,0.009,0.009,0.009,3.145,3.13,3.123,3.123,3.121,3.121,3.121,3.492,3.496,3.497,3.496,3.497,3.496,3.495,3.495,3.495,3.492,3.495,3.496,3.497,3.498,3.499,3.499,3.499,3.499,3.499,3.499,3.501,3.502,3.502,3.511,3.512,3.512,3.513,3.515,3.515,3.517,3.523,3.53,3.531,3.531,3.531,3.531,3.531,3.534,3.544,3.546,3.554,3.557,3.565,3.569,3.572,3.574,3.576,3.579,3.58,3.581,3.588,3.599,3.615,3.616,3.619,3.629,3.639,3.64,3.644,3.646,3.658,3.663,3.674,3.675,3.681,3.688,3.692,3.705,3.713,3.715,3.724,3.739,3.75,3.758,3.759,3.764,3.78,3.795,3.805,3.809,3.813,3.836,3.837,3.861,3.865,3.879,3.901,3.903,3.903,3.914,3.928,3.957,3.963,3.985,3.986,4.012,4.026,4.042,4.06,4.082,4.085,4.094,0.016,0.016,0.016,0.016,0,4.094,4.094,0.007,4.023,4.023,3.957,3.912,3.854,3.83,3.792,3.762,3.731,3.714,3.692,3.665,3.639,3.608,3.581,3.561,3.533,3.509,3.496,3.467,3.455,3.425,3.405,3.378,3.364,3.352,3.325,3.307,3.302,3.283,3.252,3.245,3.22,3.217,3.199,3.179,3.15,3.143,3.132,3.116,3.1,3.083,3.082,3.064,3.036,3.033,3.014,3.009,2.994,2.967,2.966,2.96,2.938,2.922,2.919,2.918,2.902,2.891,2.878,2.869,2.854,2.848,2.834,2.816,2.805,2.798,2.786,2.784,2.777,2.766,2.759,2.747,2.741,2.721,2.718,2.706,2.701,2.684,2.677,2.669,2.66,2.659,2.659,2.655,2.651,1.105,1.091,1.089,1.088,1.088,1.084,1.078,1.075,1.074,1.074,1.07,1.068,1.065,1.061,1.061,1.061,1.061,1.054,1.054,1.054,1.051,1.051,1.051,1.047,1.046,1.045,1.046,1.04,1.043,1.043,1.043,1.037,1.04,1.036,1.034,1.033,1.031,1.031,1.03,1.031,1.033,1.034,1.034,1.034,1.034,1.034,1.032,1.034,1.034,1.035,1.034,1.037,1.034,1.036,1.036,1.037,1.036,1.04,1.042,1.042,1.041,1.041,1.041,1.037,1.037,1.037,1.035,1.034,1.035,1.034,1.031,1.034,1.033,1.033,1.034,1.038,1.038,1.038,1.038,1.038,1.037,1.037,1.037,1.037,1.037,1.036,1.037,1.04,1.036,1.04,1.041,1.042,1.042,1.043,1.043,1.049,1.049,1.049,1.049,1.049,1.051,1.06,1.06,1.066,1.068,1.068,1.068,1.07,1.07,1.075,1.076,1.076,1.079,1.083,1.085,1.086,1.088,1.088,1.089,1.089,1.107,2.593,2.603,2.604,2.604,2.606,2.616,2.618,2.626,2.637,2.639,2.652,2.654,2.671,2.678,2.684,2.689,2.698,2.709,2.71,2.728,2.742,2.745,2.752,2.753,2.772,2.787,2.788,2.802,2.811,2.825,2.842,2.845,2.846,2.869,2.877,2.884,2.89,2.905,2.909,2.926,2.946,2.959,2.963,2.97,2.994,2.998,3.025,3.026,3.04,3.058,3.066,3.085,3.096,3.116,3.117,3.148,3.16,3.164,3.185,3.21,3.228,3.239,3.251,3.278,3.28,3.307,3.327,3.348,3.362,3.379,3.396,3.428,3.455,3.464,3.488,3.505,3.536,3.554,3.581,3.617,3.63,3.654,3.672,3.708,3.729,3.759,3.771,3.812,3.843,3.872,3.897,3.936,3.961,3.989,4.034,4.087,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.007,3.354,3.329,3.316,3.311,3.295,3.292,3.279,3.267,3.259,3.246,3.242,3.24,3.234,3.226,3.214,3.212,3.206,3.189,3.186,3.182,3.178,3.17,3.162,3.162,3.151,3.15,3.147,3.14,3.119,3.117,3.113,3.108,3.104,3.103,3.095,3.095,3.088,3.084,3.078,3.076,3.07,3.061,3.06,3.059,3.057,3.055,3.051,3.049,3.045,3.045,3.044,3.037,3.037,3.033,3.033,3.057,3.057,3.034,3.034,3.028,3.027,3.024,3.023,3.022,3.019,3.022,3.015,3.016,3.016,3.018,3.016,3.018,3.023,3.02,3.02,3.02,3.014,3.012,3.012,3.012,3.021,3.023,3.025,3.025,3.028,3.028,3.028,3.029,3.03,3.034,3.034,3.036,3.041,3.042,3.043,3.043,3.043,3.047,3.055,3.056,3.056,3.059,3.061,3.062,3.063,3.067,3.069,3.074,3.077,3.077,3.087,3.096,3.096,3.105,3.105,3.113,3.121,3.123,3.14,3.15,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.58} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.123918}
SEN {Time 36.58} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 36.583} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9144} {Name Sonar2 Range 6.1976} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 3.3274} {Name Sonar8 Range 2.54} {Name Sonar9 Range 1.9812} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.1844} {Name Sonar14 Range 6.096} {Name Sonar15 Range 5.0038}
SEN {Time 36.6223} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0.009,0.009,0,0.208,0.208,0.208,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,0,0,0.009,0.009,0.009,0.009,3.637,3.616,3.6,3.599,3.599,3.6,3.585,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.144,0.144,0.144,0.144,0.143,0.146,0.148,0.148,0.148,0.152,0.154,0.162,0.167,0,0,0,0,0,0,0.161,0.161,0.152,0.153,0.15,0.153,0.149,0.149,0.147,0.134,0.114,0.083,0.058,0.058,0.053,0.053,0.062,0.064,0.064,0.064,0.062,0.061,0.06,0.056,0.06,0.06,0.06,0.069,0.072,0.081,3.127,3.129,3.129,3.127,3.122,3.117,3.117,3.117,3.129,3.136,0.007,3.455,3.455,3.468,3.468,3.47,3.48,3.48,3.482,3.482,3.486,3.495,3.499,3.499,3.499,3.501,3.507,3.508,3.508,3.509,3.509,3.509,3.51,3.51,3.516,3.519,3.522,3.519,3.519,3.519,3.526,3.521,3.526,3.526,3.537,3.539,3.539,3.539,3.539,3.541,3.545,3.548,3.556,3.564,3.565,3.574,3.579,3.579,3.586,3.59,3.594,3.605,3.611,3.613,3.62,3.621,3.627,3.638,3.639,3.653,3.655,3.655,3.658,3.658,3.673,3.681,3.688,3.703,3.705,3.712,3.722,3.728,3.728,3.744,3.749,3.761,3.768,3.78,3.78,3.804,3.82,3.82,3.82,3.838,3.856,3.866,3.871,3.875,3.904,3.906,3.921,3.934,3.943,3.963,3.966,3.981,3.987,4.012,4.022,4.034,4.063,4.066,0.016,0.016,0,0.016,0,0.007,0.016,4.06,4.007,3.99,3.963,3.963,3.919,3.898,3.845,3.811,3.805,3.769,3.726,3.693,3.688,3.656,3.616,3.608,3.57,3.565,3.53,3.513,3.495,3.471,3.44,3.43,3.393,3.38,3.354,3.331,3.326,3.303,3.282,3.272,3.253,3.245,3.215,3.203,3.184,3.164,3.15,3.14,3.121,3.114,3.103,3.084,3.084,3.062,3.054,3.019,3.002,2.997,2.987,2.98,2.97,2.955,2.932,2.917,2.909,2.9,2.887,2.885,2.866,2.846,2.845,2.833,2.823,2.821,2.808,2.8,2.794,2.774,2.767,2.763,2.746,2.742,2.731,2.715,2.713,2.708,2.687,2.685,2.684,2.668,2.664,2.654,2.645,1.089,1.086,1.085,1.085,1.085,1.079,1.071,1.071,1.071,1.071,1.071,1.065,1.063,1.063,1.063,1.063,1.061,1.057,1.056,1.054,1.053,1.052,1.047,1.051,1.051,1.049,1.049,1.049,1.047,1.043,1.041,1.04,1.04,1.038,1.038,1.032,1.032,1.031,1.031,1.031,1.034,1.031,1.03,1.035,1.03,1.028,1.028,1.032,1.032,1.033,1.035,1.033,1.035,1.036,1.036,1.037,1.04,1.04,1.04,1.04,1.039,1.035,1.035,1.034,1.032,1.031,1.031,1.031,1.031,1.031,1.032,1.032,1.032,1.032,1.032,1.035,1.029,1.028,1.029,1.028,1.027,1.028,1.031,1.033,1.034,1.035,1.037,1.036,1.037,1.039,1.039,1.04,1.043,1.043,1.043,1.042,1.043,1.043,1.043,1.047,1.053,1.055,1.056,1.057,1.058,1.057,1.058,1.058,1.058,1.058,1.07,1.071,1.075,1.077,1.082,1.083,1.084,1.084,1.084,1.094,1.095,1.102,1.104,2.591,2.594,2.598,2.609,2.61,2.623,2.629,2.629,2.643,2.643,2.652,2.662,2.672,2.674,2.686,2.687,2.694,2.706,2.716,2.733,2.737,2.744,2.75,2.77,2.771,2.782,2.79,2.8,2.812,2.82,2.827,2.838,2.843,2.862,2.867,2.886,2.899,2.906,2.922,2.93,2.951,2.955,2.974,2.983,2.999,3.002,3.016,3.029,3.049,3.049,3.074,3.085,3.097,3.112,3.129,3.135,3.149,3.171,3.181,3.202,3.231,3.234,3.246,3.273,3.297,3.303,3.326,3.348,3.372,3.385,3.406,3.432,3.44,3.47,3.482,3.52,3.542,3.573,3.589,3.607,3.634,3.658,3.68,3.722,3.751,3.764,3.807,3.821,3.85,3.873,3.911,3.954,4.002,4.04,4.079,4.079,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.317,3.297,3.291,3.291,3.271,3.27,3.255,3.245,3.239,3.227,3.226,3.215,3.214,3.201,3.191,3.179,3.176,3.171,3.17,3.163,3.151,3.146,3.143,3.137,3.127,3.119,3.115,3.112,3.106,3.104,3.103,3.09,3.09,3.087,3.087,3.08,3.076,3.061,3.06,3.059,3.055,3.055,3.053,3.045,3.045,3.041,3.039,3.032,3.029,3.028,3.026,3.025,3.025,3.026,3.034,3.034,3.034,3.021,3.021,3.021,3.021,3.016,3.015,3.013,3.014,3.013,3.014,3.013,3.009,3.009,3.017,3.012,3.012,3.017,3.018,3.016,3.016,3.016,3.016,3.016,3.018,3.018,3.018,3.023,3.025,3.026,3.027,3.032,3.037,3.032,3.033,3.037,3.038,3.037,3.038,3.039,3.044,3.048,3.051,3.051,3.051,3.06,3.065,3.069,3.07,3.073,3.074,3.074,3.084,3.085,3.091,3.097,3.098,3.103,3.105,3.117,3.118,3.121,3.131,3.133,3.133,3.137,3.143,3.144,3.163,3.181,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.78} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.078540}
SEN {Time 36.78} {Type Tachometer} {Name LeftRight} {Vel -0.040640,0.040640}
SEN {Time 36.778} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9398} {Name Sonar2 Range 6.1976} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.0226} {Name Sonar7 Range 3.3274} {Name Sonar8 Range 2.54} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 6.096} {Name Sonar15 Range 5.0038}
SEN {Time 36.8184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.194,0.194,0.194,0.195,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0.009,0.009,0.009,0.009,3.646,3.631,3.624,3.613,3.613,3.613,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.006,0.006,0.148,0.148,0.148,0.148,0.148,0.146,0.146,0.146,0.146,0.146,0.147,0.153,0.157,0,0,0,0,0,0,0,0,0.161,0.154,0.154,0.154,0.153,0.153,0.153,0.143,0.131,0.115,0.089,0.065,0.06,0.057,0.057,0.057,0.06,0.06,0.06,0.06,0.06,0.06,0.059,0.057,0.057,0.057,0.059,3.098,3.127,3.133,3.133,3.133,3.133,3.349,0.007,0,0,0,0,0.007,3.463,3.463,3.463,3.463,3.473,3.482,3.48,3.482,3.492,3.498,3.498,3.504,3.504,3.51,3.51,3.512,3.514,3.514,3.514,3.516,3.525,3.525,3.526,3.532,3.537,3.537,3.537,3.54,3.544,3.546,3.549,3.552,3.556,3.574,3.577,3.583,3.585,3.587,3.587,3.592,3.592,3.596,3.598,3.605,3.617,3.624,3.632,3.637,3.641,3.647,3.65,3.653,3.657,3.664,3.673,3.679,3.682,3.686,3.696,3.707,3.712,3.712,3.735,3.737,3.742,3.751,3.761,3.77,3.773,3.779,3.796,3.813,3.813,3.833,3.833,3.84,3.865,3.875,3.882,3.904,3.904,3.908,3.937,3.945,3.959,3.966,3.981,3.994,4.013,4.014,4.033,4.055,4.072,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.077,4.077,0.007,0,0.007,0.009,3.901,3.801,3.773,3.773,3.737,3.712,3.688,3.64,3.633,3.609,3.592,3.567,3.544,3.517,3.503,3.487,3.445,3.435,3.407,3.396,3.371,3.347,3.326,3.313,3.28,3.277,3.257,3.249,3.227,3.213,3.188,3.175,3.167,3.143,3.138,3.122,3.099,3.083,3.07,3.07,3.056,3.044,3.017,3.009,2.992,2.984,2.956,2.955,2.937,2.931,2.914,2.897,2.896,2.883,2.869,2.864,2.853,2.839,2.83,2.815,2.811,2.806,2.782,2.769,2.767,2.762,2.746,2.739,2.737,2.721,2.718,2.701,2.7,2.693,2.682,2.677,2.669,2.657,2.653,1.093,1.089,1.083,1.087,1.087,1.081,1.081,1.081,1.076,1.076,1.073,1.07,1.062,1.062,1.062,1.06,1.06,1.061,1.055,1.055,1.053,1.05,1.049,1.049,1.046,1.044,1.045,1.04,1.04,1.04,1.04,1.039,1.038,1.036,1.035,1.035,1.035,1.035,1.034,1.033,1.032,1.031,1.031,1.031,1.031,1.027,1.027,1.024,1.027,1.025,1.025,1.032,1.036,1.037,1.037,1.036,1.036,1.031,1.031,1.034,1.034,1.032,1.034,1.036,1.036,1.037,1.037,1.037,1.032,1.03,1.03,1.029,1.028,1.029,1.031,1.028,1.028,1.032,1.029,1.029,1.029,1.029,1.029,1.033,1.034,1.034,1.034,1.037,1.031,1.031,1.034,1.035,1.035,1.038,1.038,1.039,1.04,1.04,1.044,1.045,1.047,1.049,1.049,1.051,1.055,1.06,1.06,1.061,1.063,1.064,1.071,1.073,1.073,1.073,1.07,1.07,1.07,1.083,1.088,1.089,1.09,1.093,2.578,2.582,2.592,2.592,2.597,2.598,2.601,2.621,2.622,2.633,2.638,2.641,2.656,2.659,2.66,2.679,2.692,2.7,2.704,2.705,2.713,2.727,2.736,2.741,2.752,2.768,2.77,2.783,2.792,2.799,2.82,2.824,2.841,2.843,2.855,2.856,2.874,2.893,2.9,2.908,2.914,2.932,2.942,2.952,2.976,2.986,3.004,3.009,3.019,3.058,3.078,3.084,3.084,3.091,3.107,3.121,3.14,3.156,3.17,3.183,3.2,3.206,3.221,3.252,3.262,3.287,3.295,3.318,3.329,3.354,3.371,3.395,3.412,3.428,3.447,3.486,3.493,3.528,3.538,3.571,3.593,3.629,3.651,3.665,3.689,3.715,3.745,3.773,3.796,3.836,3.875,3.886,3.926,3.953,3.972,4.019,4.07,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.311,3.306,3.29,3.289,3.276,3.264,3.258,3.251,3.25,3.225,3.221,3.219,3.202,3.198,3.188,3.177,3.176,3.167,3.161,3.157,3.155,3.139,3.134,3.127,3.126,3.118,3.118,3.116,3.109,3.102,3.097,3.097,3.096,3.095,3.086,3.076,3.076,3.074,3.062,3.061,3.059,3.051,3.048,3.048,3.038,3.035,3.035,3.032,3.031,3.029,3.027,3.021,3.018,3.018,3.018,3.018,3.018,3.014,3.006,3.006,3.006,3.006,3.006,3.007,3.011,3.011,3.007,3.007,3.007,3.002,3.002,3.002,3.01,3.01,3.01,3.01,3.01,3.006,3.006,3.006,3.006,3.01,3.011,3.011,3.014,3.014,3.02,3.02,3.027,3.027,3.027,3.027,3.029,3.032,3.034,3.044,3.049,3.049,3.052,3.052,3.053,3.053,3.062,3.064,3.072,3.074,3.079,3.08,3.081,3.081,3.086,3.095,3.102,3.104,3.108,3.108,3.11,3.111,3.117,3.117,3.118,3.118,3.139,3.142,3.144,3.148,3.16,3.162,3.169,3.172,3.191,3.205,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.97} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.038397}
SEN {Time 36.97} {Type Tachometer} {Name LeftRight} {Vel -0.012700,0.012700}
SEN {Time 36.972} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9398} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.3274} {Name Sonar8 Range 2.54} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 1.651} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.0038}
SEN {Time 37.0184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.184,0.186,0.186,0.186,0.197,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,3.702,3.662,3.66,3.643,3.632,3.619,3.598,3.598,3.598,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.228,3.228,3.228,3.368,0.007,0,3.368,0.152,0.143,0.143,0.143,0.141,0.141,0.147,0.147,0.15,0.151,0.155,0.165,0,0,0,0,0,0,0,0.007,0.164,0.163,0.163,0.151,0.151,0.148,0.148,0.145,0.129,0.119,0.082,0.066,0.064,0.055,0.055,0.055,0.057,0.064,0.064,0.064,0.064,0.06,0.06,0.056,0.06,0.064,0.086,0.175,3.338,3.37,3.37,3.365,3.368,3.368,3.368,3.393,3.401,3.445,3.442,3.445,3.459,3.459,3.465,3.472,3.473,3.484,3.487,3.493,3.495,3.503,3.505,3.508,3.516,3.52,3.52,3.53,3.531,3.536,3.54,3.541,3.541,3.544,3.549,3.552,3.56,3.561,3.563,3.568,3.574,3.575,3.582,3.587,3.59,3.59,3.599,3.6,3.607,3.619,3.628,3.629,3.633,3.645,3.651,3.652,3.654,3.662,3.668,3.669,3.677,3.695,3.697,3.697,3.711,3.715,3.719,3.725,3.732,3.74,3.754,3.764,3.772,3.78,3.787,3.797,3.799,3.8,3.818,3.83,3.846,3.852,3.856,3.867,3.885,3.903,3.904,3.93,3.933,3.936,3.967,3.977,3.979,4.02,4.02,4.022,4.045,4.062,4.083,4.085,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.033,4.01,3.988,3.944,3.907,3.896,3.846,3.824,3.789,3.752,3.728,3.697,3.679,3.646,3.637,3.593,3.575,3.553,3.534,3.51,3.503,3.477,3.463,3.446,3.421,3.393,3.368,3.354,3.34,3.306,3.29,3.282,3.245,3.243,3.228,3.217,3.186,3.185,3.158,3.142,3.119,3.107,3.096,3.08,3.07,3.058,3.048,3.038,3.018,2.999,2.999,2.99,2.983,2.955,2.941,2.926,2.924,2.909,2.899,2.889,2.86,2.852,2.849,2.838,2.824,2.814,2.812,2.801,2.793,2.773,2.765,2.757,2.744,2.734,2.725,2.718,2.714,2.708,2.692,2.689,2.679,2.675,2.675,2.672,2.655,1.095,1.094,1.09,1.09,1.078,1.076,1.074,1.07,1.07,1.067,1.064,1.064,1.066,1.064,1.064,1.06,1.056,1.055,1.055,1.055,1.055,1.051,1.047,1.044,1.042,1.036,1.036,1.036,1.036,1.036,1.038,1.038,1.037,1.037,1.034,1.034,1.029,1.029,1.029,1.03,1.03,1.03,1.027,1.027,1.024,1.024,1.024,1.029,1.025,1.029,1.029,1.029,1.025,1.023,1.023,1.029,1.029,1.033,1.033,1.033,1.031,1.031,1.031,1.031,1.032,1.039,1.033,1.033,1.033,1.036,1.033,1.032,1.032,1.032,1.026,1.028,1.027,1.027,1.028,1.029,1.029,1.029,1.028,1.028,1.026,1.028,1.028,1.031,1.031,1.034,1.034,1.034,1.04,1.042,1.046,1.046,1.043,1.047,1.047,1.047,1.047,1.047,1.047,1.047,1.047,1.051,1.052,1.059,1.059,1.058,1.059,1.06,1.06,1.06,1.068,1.069,1.069,1.077,1.083,1.083,1.083,1.087,1.091,2.577,2.579,2.593,2.594,2.603,2.605,2.61,2.621,2.635,2.636,2.641,2.649,2.651,2.658,2.675,2.676,2.685,2.688,2.711,2.716,2.719,2.728,2.738,2.738,2.768,2.771,2.78,2.784,2.797,2.802,2.815,2.828,2.829,2.841,2.856,2.869,2.883,2.904,2.904,2.91,2.925,2.931,2.953,2.962,2.984,2.984,2.999,3.016,3.019,3.042,3.057,3.069,3.078,3.092,3.106,3.134,3.145,3.152,3.173,3.19,3.206,3.213,3.223,3.247,3.265,3.282,3.3,3.322,3.344,3.361,3.382,3.403,3.416,3.443,3.458,3.48,3.485,3.521,3.544,3.57,3.602,3.62,3.66,3.676,3.697,3.725,3.744,3.779,3.789,3.835,3.863,3.897,3.924,3.968,3.987,4.022,4.081,4.093,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.329,3.325,3.307,3.294,3.288,3.277,3.273,3.259,3.252,3.24,3.233,3.224,3.219,3.212,3.208,3.19,3.187,3.173,3.171,3.168,3.166,3.157,3.154,3.147,3.141,3.126,3.124,3.122,3.106,3.105,3.102,3.097,3.09,3.088,3.086,3.082,3.068,3.066,3.061,3.059,3.059,3.053,3.053,3.048,3.044,3.043,3.041,3.035,3.035,3.03,3.025,3.024,3.021,3.019,3.012,3.019,3.019,3.012,3.012,3.041,3.02,3.01,3.013,3.013,3.002,3,3,3,3,3,2.998,2.998,2.998,2.998,3,3,2.999,2.999,2.999,2.999,2.999,3.002,3.003,3.005,3.003,3.005,3.012,3.012,3.015,3.017,3.017,3.017,3.02,3.023,3.028,3.031,3.036,3.038,3.038,3.04,3.04,3.049,3.055,3.056,3.059,3.06,3.062,3.062,3.066,3.07,3.073,3.084,3.088,3.095,3.095,3.104,3.106,3.11,3.118,3.118,3.114,3.118,3.121,3.129,3.134,3.137,3.134,3.14,3.15,3.16,3.165,3.17,3.174,3.201,3.206,3.212,3.213,3.228,3.229,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.18} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.020944}
SEN {Time 37.18} {Type Tachometer} {Name LeftRight} {Vel -0.012700,0.012700}
SEN {Time 37.1759} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9398} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.8702} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0988} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08}
SEN {Time 37.2194} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.191,0.191,0.191,0,0,0,0,0,0,0,0,0,0,0,0,3.695,3.668,3.651,3.649,3.638,3.633,3.633,3.612,3.612,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.233,3.225,3.225,0.007,0,0.007,0,0,0,0,0.159,0.154,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.144,0.15,0.166,0,0,0,0,0,0,0,0.163,0.158,0.153,0.153,0.153,0.149,0.15,0.15,0.145,0.13,0.119,0.07,0.062,0.062,0.062,0.062,0.059,0.059,0.064,0.064,0.064,0.064,0.059,0.058,0.054,0.054,0.059,0.086,0.168,3.354,3.36,3.364,3.363,3.364,3.373,3.376,3.398,3.404,3.404,3.41,3.434,3.453,3.457,3.459,3.467,3.492,3.494,3.495,3.501,3.507,3.512,3.516,3.521,3.527,3.528,3.535,3.536,3.539,3.54,3.55,3.554,3.557,3.558,3.562,3.568,3.568,3.569,3.569,3.569,3.589,3.594,3.605,3.605,3.606,3.614,3.622,3.627,3.634,3.636,3.646,3.648,3.653,3.655,3.656,3.672,3.675,3.68,3.688,3.69,3.701,3.708,3.719,3.723,3.735,3.743,3.744,3.753,3.762,3.765,3.773,3.783,3.793,3.8,3.821,3.825,3.83,3.833,3.853,3.867,3.873,3.881,3.897,3.903,3.917,3.934,3.947,3.956,3.97,3.987,4.004,4.019,4.038,4.049,4.053,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.043,4.006,3.963,3.938,3.909,3.882,3.844,3.821,3.785,3.772,3.743,3.706,3.679,3.649,3.637,3.611,3.576,3.557,3.543,3.519,3.489,3.47,3.46,3.445,3.417,3.395,3.372,3.344,3.337,3.319,3.303,3.267,3.265,3.24,3.226,3.198,3.197,3.184,3.164,3.144,3.136,3.114,3.107,3.085,3.079,3.058,3.04,3.033,3.019,3.019,3.013,2.993,2.969,2.951,2.945,2.918,2.914,2.914,2.911,2.902,2.878,2.866,2.853,2.837,2.828,2.817,2.805,2.796,2.793,2.783,2.771,2.761,2.747,2.746,2.727,2.725,2.713,2.703,2.697,2.692,2.673,2.673,2.673,2.673,2.673,1.09,1.09,1.089,1.082,1.081,1.079,1.074,1.074,1.075,1.074,1.069,1.068,1.068,1.06,1.06,1.06,1.054,1.054,1.054,1.051,1.051,1.051,1.047,1.047,1.044,1.044,1.044,1.036,1.036,1.036,1.036,1.038,1.038,1.033,1.029,1.029,1.027,1.027,1.027,1.028,1.028,1.029,1.029,1.028,1.027,1.028,1.028,1.029,1.029,1.029,1.029,1.029,1.03,1.028,1.028,1.028,1.028,1.028,1.031,1.031,1.031,1.031,1.03,1.03,1.031,1.031,1.031,1.033,1.034,1.034,1.033,1.033,1.035,1.035,1.035,1.035,1.035,1.032,1.029,1.027,1.026,1.022,1.022,1.022,1.022,1.03,1.03,1.034,1.037,1.039,1.039,1.039,1.039,1.04,1.039,1.039,1.043,1.043,1.048,1.05,1.05,1.052,1.052,1.053,1.053,1.055,1.055,1.055,1.066,1.069,1.069,1.069,1.069,1.07,1.07,1.07,1.076,1.078,1.08,1.081,1.081,1.086,2.59,2.59,2.596,2.596,2.596,2.597,2.606,2.611,2.621,2.627,2.631,2.635,2.644,2.647,2.664,2.668,2.68,2.682,2.693,2.694,2.711,2.723,2.737,2.737,2.749,2.761,2.769,2.783,2.784,2.787,2.798,2.815,2.822,2.83,2.843,2.862,2.864,2.878,2.891,2.899,2.911,2.922,2.932,2.944,2.974,2.991,3.001,3.001,3.002,3.023,3.037,3.056,3.062,3.083,3.097,3.106,3.124,3.148,3.152,3.175,3.19,3.201,3.22,3.233,3.242,3.26,3.278,3.311,3.321,3.339,3.355,3.368,3.403,3.418,3.427,3.451,3.483,3.499,3.519,3.551,3.562,3.587,3.619,3.655,3.672,3.697,3.743,3.751,3.796,3.8,3.829,3.872,3.896,3.922,3.963,3.991,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.345,3.331,3.316,3.303,3.299,3.29,3.275,3.271,3.255,3.246,3.244,3.239,3.224,3.22,3.21,3.209,3.199,3.198,3.175,3.175,3.162,3.16,3.152,3.149,3.138,3.132,3.122,3.117,3.115,3.106,3.106,3.104,3.093,3.087,3.087,3.075,3.074,3.074,3.074,3.067,3.06,3.055,3.049,3.043,3.042,3.04,3.04,3.034,3.03,3.029,3.021,3.016,3.014,3.012,3.012,3.011,3.011,3.011,3.009,3.006,3.008,3.006,3.006,3.006,3.007,2.998,3.003,3,3,2.996,2.996,2.996,2.996,2.996,2.998,2.998,2.998,2.998,2.999,3,3.001,3.001,3.002,3.002,3.006,3.006,3.009,3.009,3.011,3.015,3.016,3.017,3.02,3.021,3.021,3.022,3.029,3.03,3.034,3.034,3.037,3.043,3.043,3.046,3.048,3.051,3.061,3.062,3.062,3.062,3.069,3.071,3.078,3.079,3.08,3.094,3.104,3.105,3.105,3.115,3.116,3.116,3.119,3.119,3.121,3.123,3.133,3.139,3.147,3.147,3.15,3.156,3.162,3.179,3.201,3.205,3.206,3.206,3.212,3.218,3.223,3.24,3.259,3.271,3.271,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.38} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.010472}
SEN {Time 37.38} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 37.3759} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0988} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.2794} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 5.08}
SEN {Time 37.4184} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.194,0.194,0.194,0.204,0,0,0,0,0,0,0,0,0,0,3.702,3.68,3.658,3.658,3.645,3.64,3.64,3.64,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.226,3.225,3.222,3.211,3.211,3.211,0,0,0,0,0.007,0,3.305,0.155,0.153,0.153,0.142,0.142,0.142,0.147,0.147,0.147,0.147,0.147,0.148,0.16,0,0,0,0,0,0,0,0,0.166,0.16,0.154,0.153,0.153,0.153,0.153,0.153,0.13,0.113,0.094,0.072,0.057,0.055,0.055,0.055,0.057,0.062,0.062,0.066,0.066,0.065,0.06,0.058,0.058,0.058,0.102,0.17,3.36,3.373,3.373,3.36,3.356,3.356,3.356,3.384,3.385,3.41,0.007,3.47,3.454,3.47,3.47,3.479,3.492,3.492,3.5,3.502,3.51,3.514,3.518,3.527,3.528,3.531,3.539,3.544,3.546,3.546,3.546,3.553,3.56,3.56,3.57,3.574,3.576,3.579,3.584,3.587,3.591,3.599,3.603,3.607,3.607,3.629,3.63,3.631,3.631,3.639,3.649,3.66,3.661,3.667,3.675,3.681,3.687,3.689,3.697,3.706,3.712,3.727,3.731,3.734,3.737,3.743,3.762,3.769,3.779,3.781,3.803,3.809,3.818,3.818,3.84,3.84,3.852,3.855,3.865,3.876,3.897,3.91,3.926,3.929,3.93,3.954,3.969,3.979,4,4.015,4.028,4.055,4.057,4.057,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.03,3.994,3.968,3.944,3.891,3.856,3.84,3.806,3.782,3.751,3.728,3.698,3.663,3.641,3.609,3.606,3.575,3.544,3.529,3.505,3.477,3.454,3.44,3.416,3.405,3.383,3.373,3.343,3.337,3.309,3.289,3.276,3.255,3.244,3.212,3.202,3.186,3.162,3.158,3.147,3.121,3.121,3.102,3.079,3.065,3.051,3.038,3.03,3.02,3.001,2.994,2.974,2.965,2.955,2.955,2.939,2.917,2.911,2.889,2.882,2.874,2.858,2.847,2.845,2.823,2.81,2.8,2.789,2.787,2.781,2.769,2.753,2.752,2.74,2.726,2.715,2.707,2.696,2.687,2.684,2.684,2.684,2.678,2.674,1.096,1.095,1.091,1.087,1.085,1.082,1.081,1.077,1.076,1.074,1.069,1.064,1.06,1.06,1.06,1.062,1.062,1.062,1.062,1.061,1.05,1.05,1.048,1.047,1.048,1.048,1.043,1.043,1.041,1.041,1.038,1.039,1.039,1.039,1.038,1.032,1.031,1.03,1.03,1.03,1.031,1.03,1.03,1.03,1.027,1.026,1.024,1.024,1.027,1.027,1.027,1.029,1.029,1.029,1.031,1.032,1.032,1.032,1.036,1.036,1.036,1.036,1.033,1.03,1.03,1.029,1.029,1.029,1.029,1.029,1.031,1.029,1.029,1.029,1.032,1.025,1.029,1.029,1.026,1.025,1.026,1.026,1.026,1.026,1.028,1.028,1.031,1.033,1.034,1.034,1.037,1.037,1.037,1.037,1.038,1.038,1.038,1.043,1.046,1.043,1.043,1.043,1.047,1.051,1.051,1.053,1.055,1.055,1.056,1.058,1.058,1.065,1.065,1.068,1.073,1.078,1.078,1.078,1.075,1.075,1.075,1.087,1.089,2.589,2.595,2.596,2.595,2.596,2.598,2.605,2.617,2.626,2.627,2.633,2.64,2.644,2.661,2.665,2.666,2.673,2.687,2.688,2.71,2.714,2.719,2.721,2.74,2.744,2.754,2.768,2.778,2.786,2.796,2.8,2.812,2.824,2.835,2.841,2.86,2.869,2.87,2.889,2.902,2.902,2.935,2.94,2.955,2.961,2.979,2.98,3.004,3.013,3.023,3.045,3.049,3.074,3.075,3.094,3.12,3.123,3.145,3.156,3.172,3.187,3.204,3.224,3.227,3.25,3.266,3.272,3.303,3.331,3.343,3.356,3.376,3.397,3.404,3.431,3.459,3.478,3.506,3.519,3.542,3.561,3.576,3.606,3.649,3.672,3.704,3.715,3.762,3.766,3.802,3.843,3.862,3.902,3.919,3.958,3.993,4.029,4.051,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.356,3.354,3.324,3.319,3.309,3.303,3.285,3.28,3.269,3.265,3.246,3.245,3.241,3.231,3.21,3.209,3.206,3.189,3.189,3.188,3.167,3.166,3.166,3.153,3.145,3.135,3.135,3.134,3.13,3.117,3.115,3.105,3.102,3.098,3.086,3.083,3.074,3.069,3.068,3.062,3.061,3.061,3.05,3.049,3.042,3.042,3.039,3.039,3.032,3.031,3.029,3.027,3.024,3.019,3.017,3.012,3.012,3.015,3.015,3.015,3.015,3.013,3.007,3.003,3.003,3.003,2.999,2.998,2.998,2.999,2.999,3,3.002,3.002,3,2.995,2.995,2.995,2.995,2.998,2.998,3.003,3.003,3.003,3.003,3.006,3.006,3.006,3.01,3.01,3.01,3.015,3.02,3.02,3.021,3.021,3.021,3.023,3.025,3.028,3.035,3.036,3.041,3.041,3.043,3.051,3.055,3.058,3.061,3.066,3.071,3.077,3.077,3.079,3.083,3.086,3.089,3.095,3.1,3.108,3.114,3.114,3.114,3.114,3.114,3.118,3.122,3.128,3.131,3.144,3.144,3.151,3.156,3.167,3.171,3.189,3.198,3.202,3.203,3.228,3.228,3.23,3.233,3.241,3.261,3.276,3.276,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.57} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.010472}
SEN {Time 37.57} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 37.5748} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.08}
SEN {Time 37.6154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.201,0,0,0,0,0,0,0,0,0,3.704,3.694,3.673,3.669,3.655,3.65,3.641,3.641,3.641,3.618,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.243,3.243,3.235,3.22,3.235,3.423,3.423,0,0,0,0.007,0,3.314,0.151,0.146,0.146,0.146,0.146,0.146,0.145,0.145,0.145,0.145,0.149,0.153,0.16,0.167,0,0,0,0,0,0,0.16,0.155,0.154,0.151,0.151,0.148,0.148,0.144,0.144,0.13,0.116,0.084,0.073,0.056,0.056,0.056,0.056,0.057,0.06,0.062,0.06,0.06,0.06,0.06,0.059,0.059,0.059,0.093,0.175,3.355,3.361,3.361,3.355,3.361,3.37,3.37,3.396,3.405,3.408,3.408,3.431,3.432,3.465,3.47,3.483,3.496,3.5,3.501,3.501,3.501,3.517,3.524,3.526,3.528,3.534,3.538,3.54,3.543,3.543,3.546,3.553,3.569,3.569,3.571,3.571,3.574,3.58,3.581,3.59,3.599,3.601,3.603,3.605,3.618,3.627,3.631,3.635,3.636,3.636,3.652,3.657,3.667,3.672,3.677,3.677,3.68,3.686,3.707,3.709,3.714,3.725,3.733,3.734,3.751,3.754,3.755,3.764,3.782,3.791,3.805,3.807,3.813,3.816,3.831,3.837,3.838,3.871,3.874,3.886,3.895,3.903,3.905,3.93,3.935,3.946,3.958,3.987,4.001,4.012,4.027,4.034,4.066,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.023,3.981,3.953,3.924,3.905,3.869,3.831,3.813,3.796,3.745,3.724,3.703,3.68,3.642,3.624,3.592,3.576,3.545,3.538,3.499,3.485,3.463,3.447,3.409,3.407,3.396,3.366,3.357,3.322,3.311,3.286,3.276,3.265,3.233,3.222,3.203,3.189,3.166,3.16,3.138,3.126,3.124,3.101,3.085,3.065,3.061,3.047,3.028,3.018,3.003,2.992,2.965,2.962,2.941,2.938,2.924,2.913,2.899,2.884,2.879,2.863,2.86,2.844,2.831,2.822,2.805,2.798,2.797,2.783,2.777,2.766,2.754,2.75,2.746,2.727,2.721,2.707,2.694,2.689,2.681,2.677,2.677,2.666,2.665,1.096,1.092,1.089,1.08,1.08,1.08,1.08,1.08,1.07,1.069,1.068,1.066,1.066,1.065,1.065,1.062,1.062,1.062,1.062,1.062,1.05,1.05,1.049,1.049,1.049,1.047,1.045,1.042,1.042,1.04,1.038,1.038,1.038,1.035,1.033,1.033,1.028,1.028,1.033,1.033,1.033,1.033,1.033,1.03,1.03,1.03,1.028,1.027,1.027,1.029,1.027,1.028,1.029,1.028,1.027,1.028,1.03,1.03,1.031,1.031,1.03,1.03,1.027,1.027,1.027,1.028,1.028,1.028,1.028,1.028,1.027,1.027,1.027,1.027,1.027,1.028,1.029,1.029,1.029,1.028,1.032,1.023,1.027,1.027,1.029,1.029,1.031,1.031,1.032,1.033,1.034,1.036,1.034,1.036,1.036,1.04,1.04,1.043,1.046,1.046,1.046,1.047,1.048,1.05,1.051,1.051,1.054,1.055,1.058,1.06,1.061,1.061,1.065,1.068,1.069,1.072,1.076,1.076,1.08,1.082,1.082,1.082,1.086,2.585,2.59,2.592,2.592,2.593,2.597,2.61,2.622,2.622,2.623,2.631,2.639,2.648,2.661,2.661,2.662,2.683,2.686,2.69,2.701,2.71,2.711,2.733,2.733,2.735,2.759,2.771,2.773,2.778,2.794,2.812,2.82,2.827,2.84,2.854,2.855,2.878,2.88,2.896,2.902,2.92,2.932,2.945,2.946,2.968,2.974,2.987,3.002,3.01,3.027,3.044,3.045,3.067,3.079,3.096,3.123,3.124,3.125,3.159,3.168,3.195,3.203,3.222,3.236,3.258,3.266,3.284,3.3,3.33,3.333,3.352,3.377,3.39,3.417,3.45,3.452,3.473,3.5,3.516,3.548,3.571,3.583,3.617,3.631,3.67,3.696,3.72,3.76,3.771,3.789,3.835,3.87,3.893,3.925,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.351,3.34,3.336,3.305,3.303,3.299,3.293,3.276,3.271,3.254,3.252,3.236,3.236,3.229,3.226,3.208,3.206,3.192,3.178,3.173,3.173,3.171,3.158,3.151,3.15,3.148,3.144,3.13,3.119,3.118,3.113,3.108,3.103,3.098,3.077,3.074,3.074,3.074,3.07,3.068,3.061,3.059,3.057,3.057,3.057,3.057,3.049,3.043,3.034,3.032,3.032,3.03,3.03,3.025,3.02,3.014,3.009,3.009,3.014,3.007,3.007,3.01,3.008,3.006,3.006,2.999,2.999,2.999,2.999,2.999,2.999,2.999,2.999,2.999,2.996,2.992,2.992,2.992,2.994,3,3.002,3.002,3.002,3.002,3.002,2.997,2.997,3.006,3.006,3.006,3.009,3.014,3.015,3.015,3.021,3.021,3.022,3.022,3.026,3.029,3.033,3.033,3.046,3.047,3.047,3.056,3.058,3.059,3.065,3.066,3.076,3.076,3.078,3.078,3.08,3.083,3.086,3.099,3.109,3.112,3.112,3.113,3.113,3.115,3.121,3.121,3.121,3.136,3.136,3.145,3.148,3.15,3.159,3.168,3.171,3.195,3.202,3.211,3.221,3.222,3.224,3.227,3.228,3.235,3.264,3.27,3.27,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.77} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.010472}
SEN {Time 37.77} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 37.7728} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.461}
SEN {Time 37.8144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.178,0.184,0.184,0.184,0.203,0,0,0,0,0,0,0,0,0,3.709,3.695,3.679,3.671,3.647,3.645,3.63,3.63,3.63,3.614,3.606,3.356,3.356,3.356,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.243,3.229,3.221,3.221,3.221,3.234,3.423,0,0,0,0.007,0,3.304,0.153,0.151,0.147,0.145,0.145,0.144,0.145,0.146,0.149,0.149,0.152,0.154,0.157,0,0,0,0,0,0,0,0,0.154,0.153,0.153,0.152,0.152,0.151,0.151,0.151,0.137,0.118,0.087,0.063,0.063,0.059,0.056,0.056,0.056,0.056,0.06,0.061,0.061,0.06,0.061,0.058,0.058,0.068,0.091,0.176,3.354,3.365,3.365,3.358,3.365,3.377,3.382,0.007,0,0.007,0,3.465,3.465,3.465,3.465,3.473,3.476,3.503,3.506,3.506,3.515,3.525,3.528,3.528,3.532,3.537,3.537,3.547,3.548,3.55,3.551,3.553,3.558,3.568,3.573,3.574,3.575,3.58,3.581,3.591,3.592,3.594,3.597,3.617,3.622,3.628,3.637,3.64,3.642,3.642,3.651,3.661,3.668,3.67,3.676,3.684,3.69,3.696,3.699,3.703,3.709,3.725,3.731,3.734,3.75,3.751,3.753,3.758,3.763,3.78,3.804,3.81,3.816,3.819,3.832,3.835,3.851,3.867,3.874,3.875,3.905,3.908,3.912,3.935,3.941,3.95,3.972,3.991,4.003,4.004,4.036,4.037,4.066,4.067,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.046,4.015,3.981,3.954,3.943,3.895,3.859,3.827,3.812,3.772,3.75,3.727,3.698,3.659,3.646,3.623,3.586,3.566,3.553,3.529,3.506,3.503,3.462,3.442,3.426,3.4,3.386,3.366,3.342,3.33,3.323,3.282,3.268,3.257,3.237,3.211,3.198,3.192,3.172,3.154,3.149,3.117,3.105,3.095,3.086,3.061,3.055,3.043,3.029,3.02,3.002,2.991,2.97,2.961,2.956,2.932,2.924,2.911,2.892,2.89,2.878,2.872,2.858,2.845,2.837,2.825,2.815,2.799,2.794,2.789,2.77,2.755,2.753,2.739,2.737,2.729,2.726,2.711,2.703,2.692,2.688,2.678,2.678,2.666,2.665,1.094,1.094,1.085,1.085,1.085,1.079,1.079,1.077,1.077,1.074,1.073,1.071,1.069,1.065,1.061,1.06,1.06,1.056,1.055,1.055,1.05,1.048,1.048,1.048,1.046,1.045,1.043,1.04,1.04,1.04,1.04,1.04,1.04,1.038,1.037,1.037,1.037,1.026,1.026,1.024,1.027,1.027,1.027,1.031,1.031,1.025,1.025,1.026,1.026,1.029,1.031,1.031,1.031,1.031,1.03,1.03,1.031,1.03,1.033,1.033,1.033,1.03,1.03,1.03,1.03,1.03,1.03,1.03,1.032,1.033,1.033,1.033,1.033,1.033,1.033,1.031,1.031,1.027,1.025,1.025,1.025,1.025,1.025,1.023,1.023,1.023,1.028,1.03,1.03,1.03,1.031,1.033,1.033,1.035,1.037,1.04,1.041,1.041,1.041,1.041,1.041,1.046,1.053,1.055,1.055,1.055,1.055,1.055,1.055,1.056,1.065,1.065,1.069,1.069,1.069,1.07,1.073,1.074,1.074,1.074,1.085,1.087,1.093,2.584,2.584,2.586,2.586,2.591,2.594,2.606,2.611,2.631,2.631,2.636,2.641,2.641,2.65,2.668,2.675,2.676,2.688,2.696,2.7,2.704,2.715,2.735,2.742,2.745,2.754,2.766,2.784,2.786,2.792,2.799,2.814,2.821,2.832,2.841,2.855,2.872,2.875,2.898,2.902,2.908,2.932,2.94,2.943,2.961,2.973,2.991,3.005,3.013,3.022,3.047,3.054,3.075,3.078,3.097,3.116,3.13,3.146,3.161,3.165,3.194,3.211,3.226,3.235,3.246,3.263,3.278,3.311,3.325,3.337,3.367,3.375,3.398,3.418,3.448,3.451,3.484,3.497,3.516,3.546,3.57,3.598,3.617,3.658,3.67,3.712,3.732,3.748,3.772,3.804,3.833,3.861,3.904,3.907,3.955,3.997,4.014,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.351,3.342,3.331,3.316,3.301,3.292,3.281,3.278,3.268,3.26,3.245,3.244,3.227,3.227,3.211,3.206,3.204,3.196,3.183,3.18,3.17,3.169,3.158,3.153,3.148,3.14,3.132,3.127,3.124,3.118,3.116,3.116,3.103,3.098,3.087,3.08,3.076,3.076,3.07,3.067,3.064,3.059,3.058,3.045,3.045,3.038,3.036,3.035,3.035,3.034,3.029,3.028,3.025,3.017,3.016,3.014,3.01,3.01,3.014,3.012,3.012,3.012,3.009,3.009,3.007,3.004,3.002,2.998,2.994,2.995,2.995,2.995,2.995,2.997,2.997,2.999,2.996,2.996,2.995,2.995,2.993,2.993,2.996,3.002,3.002,3.003,3.003,3.003,3.008,3.009,3.009,3.013,3.014,3.014,3.021,3.025,3.027,3.027,3.027,3.029,3.034,3.038,3.04,3.045,3.046,3.047,3.053,3.054,3.055,3.061,3.063,3.07,3.073,3.075,3.078,3.088,3.091,3.093,3.101,3.105,3.11,3.117,3.119,3.122,3.123,3.123,3.127,3.132,3.135,3.139,3.144,3.149,3.155,3.164,3.171,3.178,3.203,3.207,3.214,3.218,3.224,3.228,3.236,3.236,3.245,3.265,3.266,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 37.97} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.010472}
SEN {Time 37.97} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 37.9668} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.461}
SEN {Time 38.0144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.198,0.198,0.198,0,0,0,0,0,0,0,0,0,3.703,3.689,3.684,3.66,3.652,3.652,3.627,3.627,3.627,3.613,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.237,3.236,3.232,3.232,3.233,3.233,3.418,0,0,0,0,0,0,0.151,0.147,0.146,0.145,0.145,0.141,0.139,0.139,0.139,0.139,0.152,0.153,0.154,0.166,0,0,0,0,0,0,0.166,0.16,0.16,0.16,0.16,0.16,0.157,0.157,0.149,0.133,0.118,0.091,0.064,0.059,0.055,0.055,0.059,0.059,0.06,0.06,0.06,0.06,0.06,0.06,0.06,0.061,0.061,0.101,0.173,3.347,3.364,3.364,3.364,3.386,0,0,0,0.007,0,0,0,0,0,3.494,3.486,3.486,3.494,3.507,3.513,3.515,3.516,3.522,3.526,3.53,3.531,3.537,3.543,3.545,3.548,3.551,3.552,3.567,3.569,3.574,3.574,3.575,3.581,3.587,3.589,3.595,3.602,3.611,3.614,3.621,3.629,3.629,3.646,3.646,3.65,3.655,3.657,3.658,3.67,3.681,3.681,3.682,3.685,3.695,3.703,3.719,3.732,3.734,3.736,3.739,3.753,3.759,3.771,3.773,3.774,3.793,3.807,3.809,3.824,3.831,3.835,3.847,3.862,3.873,3.885,3.899,3.9,3.921,3.938,3.938,3.952,3.953,3.995,3.996,4.016,4.019,4.053,4.059,4.089,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.051,4.051,4.031,3.99,3.924,3.892,3.85,3.848,3.821,3.777,3.746,3.721,3.711,3.662,3.641,3.632,3.595,3.568,3.549,3.534,3.502,3.483,3.449,3.429,3.423,3.4,3.384,3.37,3.349,3.321,3.308,3.295,3.277,3.25,3.235,3.225,3.208,3.182,3.163,3.148,3.137,3.119,3.116,3.096,3.084,3.062,3.062,3.062,3.046,3.018,3.008,2.99,2.973,2.964,2.945,2.933,2.923,2.911,2.899,2.891,2.877,2.869,2.866,2.837,2.835,2.817,2.814,2.802,2.796,2.788,2.778,2.769,2.75,2.744,2.737,2.727,2.722,2.715,2.703,2.691,2.68,2.676,2.676,2.674,2.662,1.1,1.096,1.087,1.087,1.083,1.083,1.08,1.074,1.074,1.073,1.069,1.069,1.063,1.062,1.059,1.058,1.058,1.058,1.053,1.053,1.053,1.05,1.049,1.046,1.046,1.046,1.046,1.046,1.046,1.046,1.046,1.046,1.045,1.039,1.038,1.038,1.029,1.029,1.025,1.025,1.031,1.032,1.032,1.032,1.031,1.028,1.028,1.03,1.03,1.03,1.031,1.031,1.031,1.033,1.029,1.029,1.029,1.031,1.031,1.031,1.031,1.032,1.032,1.031,1.031,1.03,1.03,1.03,1.03,1.029,1.029,1.029,1.029,1.028,1.028,1.028,1.029,1.029,1.029,1.029,1.029,1.027,1.027,1.027,1.027,1.027,1.027,1.027,1.033,1.033,1.033,1.033,1.033,1.033,1.038,1.041,1.04,1.041,1.041,1.041,1.046,1.048,1.05,1.051,1.051,1.051,1.057,1.057,1.059,1.063,1.065,1.065,1.068,1.07,1.068,1.07,1.074,1.078,1.08,1.082,1.083,1.09,1.094,2.592,2.592,2.597,2.597,2.601,2.607,2.611,2.612,2.616,2.627,2.634,2.638,2.641,2.65,2.673,2.675,2.68,2.686,2.692,2.712,2.713,2.713,2.728,2.739,2.746,2.755,2.759,2.77,2.785,2.792,2.808,2.823,2.827,2.836,2.84,2.861,2.861,2.863,2.895,2.907,2.924,2.929,2.933,2.946,2.957,2.966,2.982,3.012,3.029,3.039,3.039,3.057,3.071,3.075,3.1,3.106,3.132,3.14,3.153,3.168,3.194,3.213,3.223,3.237,3.251,3.265,3.283,3.304,3.328,3.338,3.359,3.377,3.394,3.407,3.441,3.459,3.482,3.511,3.516,3.554,3.584,3.592,3.615,3.653,3.666,3.691,3.725,3.748,3.792,3.797,3.833,3.865,3.9,3.906,3.957,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.346,3.346,3.333,3.314,3.306,3.294,3.293,3.279,3.264,3.256,3.252,3.245,3.236,3.23,3.22,3.206,3.206,3.193,3.191,3.185,3.179,3.168,3.158,3.15,3.15,3.139,3.134,3.125,3.121,3.118,3.111,3.109,3.101,3.096,3.088,3.083,3.073,3.072,3.072,3.068,3.063,3.061,3.058,3.056,3.048,3.039,3.039,3.039,3.038,3.034,3.033,3.026,3.019,3.018,3.017,3.014,3.012,3.012,3.014,3.011,3.011,3.015,3.011,3.01,2.999,2.999,2.998,2.998,2.999,2.998,2.997,2.994,2.994,2.994,2.994,2.997,2.997,2.998,2.998,2.998,2.998,3.004,3.001,3.001,3.001,3.007,3.005,3.005,3.007,3.008,3.008,3.014,3.014,3.016,3.02,3.02,3.02,3.026,3.032,3.033,3.035,3.041,3.041,3.042,3.042,3.05,3.053,3.054,3.056,3.064,3.069,3.073,3.084,3.086,3.088,3.091,3.099,3.103,3.109,3.11,3.115,3.118,3.121,3.121,3.123,3.123,3.127,3.132,3.138,3.146,3.153,3.156,3.157,3.165,3.167,3.19,3.194,3.204,3.206,3.228,3.229,3.231,3.232,3.232,3.234,3.259,3.275,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.17} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,-0.008727}
SEN {Time 38.17} {Type Tachometer} {Name LeftRight} {Vel -0.007620,0.007620}
SEN {Time 38.1678} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.7686} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.461}
SEN {Time 38.2144} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.188,0.188,0.198,0,0,0,0,0,0,0,0,0,3.716,3.695,3.675,3.663,3.654,3.64,3.64,3.64,3.64,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.23,3.227,3.227,3.228,3.425,3.425,3.425,3.425,0,0,3.311,3.308,0.151,0.15,0.15,0.148,0.146,0.146,0.146,0.146,0.143,0.143,0.149,0.155,0.163,0,0,0,0,0,0,0,0.164,0.153,0.153,0.153,0.15,0.15,0.15,0.15,0.146,0.129,0.117,0.086,0.067,0.053,0.053,0.053,0.053,0.056,0.062,0.062,0.062,0.062,0.059,0.058,0.059,0.059,0.068,0.101,0.175,3.345,3.364,3.364,3.345,3.364,3.375,3.388,3.389,0,3.435,3.443,3.458,3.458,3.458,3.471,3.473,3.489,3.49,3.493,3.504,3.51,3.516,3.516,3.518,3.533,3.536,3.537,3.54,3.548,3.548,3.548,3.55,3.55,3.567,3.58,3.58,3.58,3.584,3.584,3.584,3.586,3.601,3.601,3.605,3.608,3.623,3.627,3.633,3.635,3.651,3.653,3.656,3.661,3.668,3.672,3.679,3.691,3.697,3.7,3.703,3.714,3.722,3.741,3.741,3.749,3.754,3.756,3.772,3.778,3.781,3.803,3.805,3.823,3.832,3.834,3.846,3.85,3.857,3.874,3.891,3.896,3.902,3.92,3.925,3.951,3.954,3.97,3.983,4.002,4.013,4.028,4.04,4.058,4.071,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.035,3.996,3.973,3.931,3.897,3.864,3.831,3.811,3.788,3.749,3.721,3.701,3.683,3.63,3.621,3.592,3.562,3.546,3.524,3.502,3.478,3.468,3.446,3.423,3.394,3.383,3.357,3.352,3.314,3.304,3.301,3.267,3.25,3.237,3.221,3.196,3.195,3.171,3.16,3.137,3.117,3.116,3.102,3.072,3.065,3.049,3.045,3.019,3.003,3.001,2.986,2.975,2.959,2.958,2.931,2.922,2.912,2.903,2.886,2.884,2.865,2.858,2.837,2.836,2.819,2.806,2.804,2.795,2.782,2.782,2.773,2.762,2.74,2.737,2.724,2.714,2.705,2.704,2.694,2.689,2.678,2.678,2.667,2.664,1.097,1.096,1.084,1.083,1.083,1.083,1.081,1.081,1.081,1.07,1.069,1.069,1.069,1.069,1.069,1.068,1.064,1.058,1.057,1.05,1.05,1.05,1.048,1.052,1.052,1.051,1.043,1.037,1.037,1.035,1.035,1.035,1.034,1.034,1.034,1.032,1.032,1.029,1.027,1.029,1.029,1.029,1.029,1.029,1.027,1.026,1.026,1.026,1.026,1.028,1.028,1.028,1.028,1.028,1.028,1.029,1.03,1.03,1.029,1.03,1.03,1.03,1.03,1.03,1.03,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.028,1.029,1.026,1.026,1.028,1.028,1.025,1.022,1.028,1.028,1.034,1.035,1.035,1.034,1.033,1.033,1.033,1.039,1.039,1.039,1.039,1.042,1.042,1.042,1.046,1.052,1.053,1.053,1.054,1.053,1.054,1.053,1.055,1.059,1.06,1.062,1.066,1.068,1.066,1.068,1.071,1.08,1.08,1.08,1.083,1.086,1.092,2.585,2.593,2.598,2.598,2.601,2.603,2.605,2.619,2.629,2.632,2.633,2.644,2.653,2.654,2.654,2.672,2.678,2.678,2.693,2.703,2.712,2.721,2.736,2.737,2.74,2.752,2.764,2.774,2.791,2.801,2.803,2.817,2.825,2.832,2.858,2.859,2.866,2.886,2.904,2.909,2.92,2.936,2.947,2.949,2.963,2.972,2.987,3.002,3.006,3.034,3.044,3.055,3.072,3.082,3.099,3.111,3.136,3.147,3.163,3.169,3.191,3.212,3.224,3.238,3.246,3.268,3.293,3.31,3.326,3.339,3.349,3.377,3.405,3.423,3.458,3.462,3.479,3.507,3.516,3.553,3.585,3.587,3.618,3.644,3.672,3.702,3.727,3.769,3.778,3.815,3.82,3.88,3.897,3.925,3.957,3.994,4.027,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.352,3.34,3.329,3.304,3.301,3.291,3.288,3.277,3.269,3.263,3.247,3.245,3.228,3.222,3.222,3.212,3.203,3.189,3.18,3.179,3.174,3.168,3.157,3.148,3.144,3.141,3.132,3.124,3.119,3.116,3.113,3.106,3.101,3.093,3.085,3.084,3.075,3.072,3.068,3.064,3.061,3.061,3.055,3.049,3.048,3.046,3.046,3.034,3.032,3.032,3.029,3.026,3.021,3.017,3.013,3.011,3.013,3.017,3.018,3.018,3.018,3.012,3.003,3.001,2.996,2.996,2.995,2.995,2.995,2.995,2.993,2.993,2.993,2.993,2.993,2.994,2.995,2.995,2.996,2.997,2.998,3.003,3.003,3.002,3.003,3.004,3.002,3.005,3.01,3.01,3.01,3.014,3.014,3.016,3.014,3.022,3.022,3.024,3.024,3.029,3.034,3.034,3.038,3.041,3.043,3.045,3.046,3.046,3.062,3.063,3.068,3.071,3.072,3.078,3.082,3.092,3.096,3.099,3.1,3.111,3.118,3.121,3.121,3.121,3.128,3.128,3.138,3.142,3.146,3.148,3.15,3.155,3.166,3.174,3.175,3.18,3.205,3.205,3.219,3.219,3.228,3.234,3.241,3.245,3.264,3.27,3.27,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.37} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,0.003491}
SEN {Time 38.37} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 38.3717} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.4864}
SEN {Time 38.4143} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.192,0.186,0.186,0.192,0,0,0,0,0,0,0,0,0,3.676,3.667,3.661,3.653,3.64,3.632,3.632,3.64,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.226,3.226,3.226,3.227,3.228,3.405,0,0,0,0,0,0,0,0,0.149,0.147,0.145,0.138,0.138,0.138,0.138,0.138,0.138,0.138,0.148,0.148,0.16,0.164,0,0,0,0,0,0,0,0.162,0.157,0.156,0.156,0.152,0.148,0.148,0.143,0.13,0.113,0.083,0.066,0.06,0.058,0.058,0.056,0.056,0.056,0.063,0.058,0.058,0.058,0.058,0.058,0.062,0.067,0.096,0.175,3.354,3.354,3.36,3.358,3.358,3.36,3.365,3.4,3.409,0.007,0,3.471,3.471,3.471,3.471,3.48,3.482,3.506,3.506,3.507,3.511,3.524,3.525,3.534,3.535,3.536,3.554,3.555,3.556,3.556,3.558,3.561,3.563,3.569,3.573,3.58,3.582,3.59,3.591,3.602,3.604,3.611,3.625,3.628,3.628,3.634,3.641,3.651,3.655,3.659,3.67,3.671,3.676,3.688,3.69,3.69,3.703,3.711,3.717,3.728,3.736,3.738,3.751,3.757,3.759,3.765,3.777,3.782,3.79,3.797,3.813,3.831,3.836,3.841,3.871,3.876,3.886,3.893,3.894,3.912,3.93,3.932,3.942,3.965,3.97,3.996,3.997,4.009,4.02,4.045,4.053,4.069,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,4.022,3.927,3.9,3.866,3.823,3.811,3.775,3.735,3.712,3.707,3.663,3.646,3.607,3.586,3.573,3.544,3.512,3.508,3.471,3.467,3.427,3.414,3.4,3.38,3.357,3.338,3.315,3.305,3.291,3.273,3.245,3.223,3.202,3.198,3.185,3.166,3.152,3.138,3.121,3.098,3.094,3.082,3.068,3.046,3.046,3.019,3.013,3.013,3.004,2.979,2.96,2.953,2.934,2.913,2.911,2.899,2.896,2.882,2.859,2.856,2.841,2.839,2.817,2.808,2.802,2.792,2.778,2.768,2.761,2.754,2.733,2.728,2.725,2.712,2.708,2.694,2.689,2.689,2.677,2.668,2.661,1.095,1.089,1.086,1.089,1.089,1.077,1.077,1.078,1.076,1.076,1.076,1.069,1.066,1.065,1.064,1.061,1.057,1.059,1.057,1.053,1.054,1.05,1.049,1.048,1.043,1.04,1.041,1.041,1.041,1.041,1.042,1.042,1.037,1.037,1.037,1.033,1.033,1.03,1.028,1.028,1.028,1.028,1.029,1.029,1.027,1.027,1.028,1.027,1.027,1.026,1.026,1.025,1.025,1.028,1.028,1.028,1.029,1.031,1.031,1.032,1.032,1.032,1.032,1.033,1.033,1.033,1.033,1.033,1.033,1.033,1.033,1.031,1.031,1.031,1.031,1.035,1.035,1.035,1.03,1.032,1.032,1.032,1.03,1.029,1.029,1.028,1.028,1.03,1.034,1.035,1.038,1.038,1.038,1.035,1.038,1.041,1.039,1.044,1.044,1.044,1.046,1.049,1.05,1.051,1.055,1.058,1.058,1.055,1.061,1.061,1.058,1.062,1.067,1.071,1.075,1.076,1.076,1.076,1.079,1.081,1.083,1.094,1.098,2.577,2.578,2.581,2.581,2.602,2.603,2.606,2.609,2.61,2.619,2.636,2.639,2.646,2.646,2.649,2.66,2.677,2.691,2.693,2.695,2.707,2.711,2.729,2.729,2.732,2.764,2.769,2.772,2.782,2.793,2.797,2.814,2.826,2.832,2.846,2.854,2.865,2.876,2.881,2.909,2.911,2.916,2.933,2.953,2.976,2.977,2.99,2.99,3,3.026,3.029,3.045,3.061,3.077,3.085,3.103,3.111,3.144,3.146,3.166,3.176,3.193,3.214,3.239,3.255,3.264,3.286,3.302,3.319,3.337,3.358,3.366,3.398,3.412,3.428,3.437,3.468,3.502,3.523,3.543,3.557,3.589,3.597,3.637,3.657,3.684,3.711,3.738,3.777,3.795,3.824,3.848,3.875,3.927,3.952,3.973,4.019,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.345,3.335,3.316,3.31,3.293,3.286,3.271,3.26,3.259,3.249,3.249,3.232,3.228,3.214,3.206,3.202,3.19,3.182,3.175,3.17,3.165,3.16,3.147,3.145,3.141,3.128,3.128,3.125,3.124,3.124,3.113,3.105,3.097,3.092,3.08,3.076,3.067,3.063,3.062,3.059,3.058,3.051,3.048,3.046,3.045,3.039,3.039,3.037,3.03,3.024,3.024,3.023,3.016,3.016,3.014,3.012,3.012,3.019,3.012,3.005,3.003,3.002,3,3,2.999,2.997,2.995,2.995,2.995,2.996,2.997,2.997,2.997,2.995,2.991,2.991,2.991,2.991,2.994,2.994,2.994,2.994,2.996,2.996,3,3,3.002,3.002,3,3.003,3.014,3.014,3.014,3.018,3.018,3.018,3.026,3.028,3.032,3.032,3.033,3.039,3.042,3.042,3.042,3.052,3.059,3.061,3.065,3.065,3.065,3.07,3.075,3.075,3.077,3.086,3.092,3.093,3.095,3.11,3.117,3.117,3.12,3.12,3.12,3.124,3.124,3.14,3.142,3.145,3.149,3.151,3.173,3.174,3.179,3.194,3.196,3.202,3.214,3.215,3.216,3.226,3.236,3.236,3.242,3.246,3.252,3.287,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.57} {Type Odometry} {Name Odometry} {Pose 0.002468,1.002610,0.026180}
SEN {Time 38.57} {Type Tachometer} {Name LeftRight} {Vel -0.017780,0.017780}
SEN {Time 38.5668} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 0.9652} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.445} {Name Sonar15 Range 5.4864}