# UvA Rescue Team Logfile
#
# Created Date: 29-07-2010
# Created Time: 16:36
#
# Machine: U013153
#
# Original Filename: Logs\Hercules.log

NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 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 13.1352} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 2.9718}
SEN {Time 13.2035} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.184,0.184,0.184,0.184,0.206,0,0,0,0,0,0,0,0,0,3.711,3.68,3.673,3.658,3.65,3.648,3.622,3.622,3.622,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.227,3.227,3.222,3.219,3.222,3.42,3.42,0,0,0,0,0,0,0,0,0.157,0.152,0.152,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.163,3.042,3.044,3.044,3.044,3.054,3.06,3.06,3.06,0.171,0.162,0.159,0.153,0.153,0.153,0.153,0.146,0.141,0.1,0.073,0.069,0.062,0.062,0.059,0.059,0.063,0.064,0.064,0.064,0.063,0.058,0.056,0.058,0.058,0.066,0.093,0.173,3.362,3.371,3.371,3.366,3.365,3.366,3.366,3.403,3.427,3.436,3.431,3.431,3.436,3.454,3.464,3.479,3.479,3.483,3.485,3.501,3.506,3.512,3.514,3.518,3.522,3.533,3.533,3.535,3.544,3.545,3.546,3.553,3.554,3.554,3.555,3.559,3.57,3.57,3.574,3.576,3.588,3.589,3.589,3.603,3.609,3.614,3.621,3.622,3.629,3.634,3.644,3.65,3.656,3.656,3.659,3.666,3.677,3.68,3.691,3.694,3.697,3.725,3.725,3.725,3.731,3.742,3.751,3.757,3.761,3.78,3.795,3.802,3.805,3.823,3.824,3.827,3.835,3.848,3.859,3.865,3.883,3.889,3.907,3.913,3.936,3.95,3.954,3.963,3.98,3.998,4.004,4.031,4.053,4.053,4.068,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.066,4.008,3.979,3.93,3.91,3.872,3.852,3.821,3.785,3.755,3.731,3.728,3.68,3.662,3.621,3.589,3.583,3.567,3.541,3.508,3.487,3.459,3.453,3.44,3.414,3.381,3.375,3.357,3.339,3.315,3.298,3.275,3.252,3.24,3.223,3.213,3.199,3.175,3.157,3.143,3.132,3.126,3.1,3.089,3.065,3.058,3.036,3.023,3.016,3.016,2.996,2.995,2.973,2.953,2.945,2.934,2.914,2.902,2.889,2.882,2.881,2.864,2.845,2.843,2.831,2.827,2.806,2.794,2.789,2.783,2.78,2.76,2.746,2.744,2.732,2.724,2.716,2.713,2.701,2.691,2.684,2.669,2.662,2.655,2.649,2.639,2.631,2.627,2.626,2.616,2.615,2.6,2.593,2.588,2.579,2.578,2.575,2.57,2.559,2.559,2.549,2.544,2.542,2.537,2.527,2.517,2.51,2.51,2.501,2.501,2.496,2.491,2.488,2.488,2.491,2.486,2.478,2.478,2.474,2.463,2.456,2.453,2.452,2.452,2.452,2.45,2.439,2.439,2.435,2.433,2.433,2.433,2.426,2.426,2.425,2.425,2.421,2.421,2.418,2.419,2.419,2.413,2.412,2.412,2.412,2.404,1.012,1.012,1.01,1.01,1.012,1.013,1.013,1.013,1.018,2.407,2.415,2.415,2.415,2.415,2.415,2.417,2.417,2.416,2.416,2.416,2.416,2.417,2.418,2.429,2.43,2.43,2.431,2.431,2.436,2.436,2.439,2.446,2.449,2.449,2.449,2.459,2.459,2.459,2.465,2.468,2.47,2.474,2.478,2.483,2.491,2.493,2.493,2.495,2.502,2.51,2.511,2.516,2.521,2.523,2.523,2.533,2.545,2.545,2.547,2.564,2.566,2.571,2.583,2.589,2.59,2.595,2.596,2.599,2.613,2.621,2.631,2.631,2.638,2.642,2.648,2.669,2.67,2.679,2.687,2.696,2.703,2.714,2.731,2.732,2.739,2.741,2.749,2.766,2.777,2.79,2.792,2.806,2.82,2.824,2.834,2.84,2.86,2.873,2.879,2.892,2.91,2.911,2.931,2.953,2.955,2.959,2.974,2.985,3.002,3.004,3.029,3.037,3.055,3.068,3.083,3.092,3.107,3.121,3.133,3.155,3.179,3.179,3.207,3.214,3.228,3.245,3.262,3.282,3.3,3.306,3.332,3.349,3.375,3.387,3.413,3.435,3.449,3.459,3.496,3.514,3.531,3.579,3.591,3.619,3.637,3.665,3.686,3.727,3.761,3.785,3.791,3.834,3.86,3.878,3.924,3.939,3.987,4.032,4.065,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.375,3.354,3.333,3.329,3.324,3.31,3.307,3.29,3.278,3.273,3.265,3.264,3.246,3.246,3.23,3.223,3.217,3.217,3.205,3.192,3.192,3.184,3.178,3.16,3.157,3.152,3.148,3.136,3.13,3.13,3.126,3.115,3.11,3.106,3.099,3.092,3.089,3.082,3.08,3.078,3.078,3.075,3.066,3.063,3.056,3.055,3.051,3.048,3.048,3.041,3.041,3.039,3.033,3.032,3.029,3.028,3.026,3.026,3.026,3.03,3.03,3.03,3.028,3.019,3.018,3.013,3.013,3.013,3.007,3.005,3.002,3.002,3.002,3.003,3.012,3.012,3.012,3.012,3.01,3.01,3.013,3.01,3.007,3.013,3.011,3.011,3.016,3.018,3.018,3.025,3.018,3.029,3.018,3.03,3.03,3.034,3.03,3.034,3.036,3.038,3.038,3.045,3.046,3.046,3.056,3.058,3.061,3.065,3.08,3.08,3.082,3.082,3.082,3.082,3.088,3.088,3.099,3.105,3.109,3.112,3.121,3.121,3.123,3.127,3.133,3.133,3.137,3.139,3.14,3.148,3.148,3.165,3.165,3.171,3.175,3.204,3.206,3.218,3.225,3.227,3.229,3.242,3.245,3.245,3.258,3.281,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 14.15} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 14.15} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 14.15} {Type Sonar} {Name Sonar0 Range 0.9398} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 2.9718}
SEN {Time 14.1995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.193,0,0,0,0,0,0,0,0,0,3.706,3.68,3.679,3.659,3.655,3.638,3.625,3.625,3.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.248,3.231,3.231,3.228,3.224,3.224,3.426,3.426,0,0,0,0.007,3.293,0.193,0.159,0.157,0.151,0.146,0.146,0.151,0.153,0.153,0.154,0.154,0.154,0.154,0.163,3.036,3.039,3.042,3.042,3.042,3.07,3.07,3.07,0.162,0.161,0.158,0.151,0.151,0.151,0.151,0.147,0.147,0.107,0.067,0.06,0.059,0.059,0.059,0.059,0.06,0.064,0.066,0.064,0.064,0.06,0.059,0.059,0.06,0.065,0.092,0.171,3.354,3.361,3.361,3.354,3.354,3.361,3.379,0,0.007,3.435,3.435,3.439,3.439,3.451,3.461,3.466,3.484,3.486,3.487,3.491,3.503,3.51,3.516,3.52,3.521,3.526,3.526,3.526,3.537,3.541,3.541,3.548,3.549,3.554,3.558,3.562,3.566,3.568,3.568,3.576,3.577,3.581,3.586,3.602,3.61,3.614,3.62,3.63,3.63,3.637,3.643,3.655,3.658,3.667,3.671,3.674,3.675,3.685,3.685,3.691,3.699,3.706,3.724,3.728,3.739,3.742,3.744,3.754,3.768,3.791,3.794,3.796,3.801,3.808,3.822,3.829,3.844,3.845,3.862,3.868,3.882,3.894,3.902,3.903,3.934,3.934,3.965,3.976,3.989,4,4.018,4.02,4.057,4.069,4.074,0.016,0.016,0.016,0.016,0,0,0,0.007,4.086,3.977,3.975,3.935,3.903,3.869,3.85,3.806,3.785,3.754,3.749,3.711,3.67,3.652,3.637,3.61,3.585,3.558,3.537,3.512,3.482,3.475,3.449,3.424,3.404,3.393,3.371,3.354,3.342,3.314,3.295,3.279,3.272,3.239,3.22,3.202,3.19,3.175,3.158,3.144,3.125,3.113,3.095,3.085,3.073,3.058,3.038,3.019,3.018,3.013,2.994,2.972,2.969,2.955,2.94,2.927,2.924,2.905,2.885,2.884,2.868,2.861,2.855,2.832,2.825,2.819,2.811,2.792,2.787,2.783,2.769,2.751,2.75,2.745,2.732,2.727,2.715,2.704,2.688,2.684,2.675,2.669,2.664,2.656,2.656,2.645,2.638,2.631,2.622,2.619,2.618,2.607,2.59,2.586,2.583,2.581,2.576,2.56,2.558,2.552,2.546,2.54,2.538,2.531,2.525,2.516,2.516,2.513,2.505,2.503,2.495,2.493,2.486,2.481,2.48,2.479,2.475,2.474,2.467,2.467,2.463,2.461,2.455,2.449,2.448,2.447,2.447,2.442,2.441,2.438,2.433,2.433,2.427,2.425,2.424,2.424,2.421,2.42,2.419,2.418,2.418,2.418,2.417,2.418,2.417,2.412,1.009,1.009,1.009,1.013,1.014,1.015,1.014,1.014,1.017,2.409,2.411,2.416,2.416,2.411,2.416,2.417,2.416,2.416,2.416,2.417,2.42,2.421,2.423,2.423,2.423,2.43,2.43,2.435,2.435,2.441,2.446,2.448,2.451,2.453,2.453,2.457,2.457,2.461,2.463,2.467,2.473,2.481,2.482,2.485,2.489,2.491,2.491,2.496,2.502,2.509,2.51,2.515,2.522,2.525,2.53,2.533,2.548,2.55,2.552,2.554,2.563,2.567,2.584,2.586,2.591,2.6,2.6,2.603,2.608,2.625,2.628,2.643,2.645,2.651,2.651,2.653,2.661,2.681,2.683,2.688,2.693,2.717,2.721,2.731,2.732,2.743,2.751,2.769,2.77,2.791,2.796,2.812,2.812,2.834,2.835,2.845,2.86,2.864,2.871,2.887,2.9,2.909,2.926,2.936,2.941,2.956,2.976,2.985,2.995,3.016,3.026,3.029,3.062,3.068,3.072,3.097,3.113,3.128,3.137,3.151,3.169,3.194,3.208,3.214,3.232,3.242,3.259,3.271,3.297,3.322,3.331,3.35,3.385,3.385,3.415,3.421,3.454,3.475,3.5,3.523,3.541,3.576,3.581,3.607,3.644,3.657,3.693,3.718,3.755,3.782,3.797,3.826,3.863,3.879,3.899,3.95,3.986,4.006,4.051,4.087,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.356,3.337,3.337,3.313,3.309,3.302,3.293,3.291,3.272,3.264,3.255,3.254,3.24,3.231,3.216,3.214,3.202,3.201,3.19,3.185,3.179,3.175,3.164,3.159,3.148,3.146,3.134,3.134,3.128,3.119,3.117,3.116,3.115,3.095,3.094,3.094,3.091,3.084,3.083,3.075,3.067,3.061,3.061,3.056,3.053,3.05,3.044,3.041,3.044,3.041,3.035,3.034,3.028,3.026,3.025,3.023,3.023,3.023,3.033,3.033,3.033,3.023,3.012,3.012,3.012,3.012,3.012,3.008,3.008,3.007,3.007,3.007,3.01,3.01,3.01,3.007,3.007,3.007,3.007,3.011,3.011,3.011,3.011,3.011,3.017,3.02,3.02,3.025,3.025,3.024,3.025,3.03,3.03,3.032,3.032,3.032,3.032,3.032,3.04,3.048,3.049,3.049,3.051,3.054,3.055,3.061,3.068,3.073,3.073,3.08,3.082,3.083,3.085,3.092,3.1,3.1,3.109,3.119,3.123,3.124,3.126,3.127,3.128,3.129,3.13,3.134,3.135,3.147,3.149,3.152,3.158,3.166,3.167,3.173,3.207,3.212,3.223,3.224,3.227,3.228,3.232,3.248,3.265,3.27,3.282,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0}
SEN {Time 14.35} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 14.35} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 14.3519} {Type Sonar} {Name Sonar0 Range 0.9398} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 2.9718}
SEN {Time 14.3994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.196,0.196,0.196,0.2,0,0,0,0,0,0,0,0,0,3.718,3.68,3.677,3.667,3.645,3.64,3.624,3.624,3.624,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.244,3.236,3.224,3.219,3.213,3.213,3.213,3.432,0,0,0,0.007,0,3.311,0.158,0.155,0.153,0.147,0.147,0.147,0.147,0.147,0.147,0.147,0.153,0.153,0.007,3.059,3.053,3.053,3.053,3.053,3.062,3.062,3.062,0.17,0.166,0.163,0.153,0.152,0.152,0.15,0.146,0.142,0.107,0.069,0.059,0.056,0.054,0.054,0.056,0.058,0.058,0.058,0.058,0.058,0.059,0.058,0.059,0.059,0.068,0.102,0.165,3.339,3.356,3.356,3.355,3.356,3.357,3.375,3.396,3.435,3.435,3.435,3.44,3.45,3.458,3.485,3.488,3.485,3.488,3.49,3.493,3.506,3.514,3.514,3.516,3.524,3.529,3.532,3.534,3.539,3.542,3.542,3.543,3.551,3.561,3.562,3.562,3.565,3.572,3.573,3.579,3.586,3.599,3.599,3.6,3.601,3.61,3.615,3.619,3.634,3.637,3.641,3.647,3.655,3.662,3.663,3.673,3.678,3.683,3.689,3.697,3.707,3.721,3.722,3.727,3.731,3.74,3.748,3.759,3.763,3.778,3.782,3.789,3.8,3.803,3.825,3.835,3.837,3.844,3.857,3.881,3.886,3.906,3.906,3.919,3.931,3.947,3.956,3.979,3.989,4.007,4.026,4.031,4.038,4.056,4.08,4.088,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.032,3.995,3.959,3.935,3.912,3.88,3.851,3.815,3.776,3.757,3.732,3.719,3.683,3.653,3.617,3.608,3.583,3.565,3.527,3.517,3.483,3.467,3.459,3.432,3.413,3.388,3.367,3.354,3.328,3.316,3.304,3.287,3.253,3.238,3.226,3.217,3.197,3.173,3.168,3.151,3.133,3.109,3.106,3.086,3.071,3.053,3.041,3.029,3.009,3.004,2.995,2.979,2.968,2.955,2.948,2.928,2.926,2.913,2.888,2.886,2.868,2.861,2.851,2.836,2.821,2.817,2.807,2.797,2.796,2.771,2.768,2.762,2.744,2.741,2.736,2.727,2.719,2.709,2.703,2.684,2.672,2.671,2.668,2.663,2.644,2.639,2.638,2.628,2.628,2.619,2.618,2.603,2.593,2.591,2.586,2.582,2.579,2.568,2.565,2.565,2.552,2.548,2.536,2.533,2.529,2.517,2.513,2.509,2.505,2.499,2.495,2.487,2.487,2.484,2.48,2.476,2.475,2.472,2.468,2.468,2.459,2.452,2.451,2.451,2.446,2.446,2.441,2.441,2.441,2.431,2.428,2.428,2.427,2.427,2.426,2.423,2.421,2.421,2.419,2.416,2.413,2.41,2.41,2.413,2.41,2.404,1.016,1.016,1.015,1.016,1.016,1.019,1.016,1.02,1.02,2.407,2.41,2.41,2.41,2.412,2.419,2.419,2.421,2.421,2.419,2.419,2.421,2.425,2.425,2.426,2.427,2.432,2.433,2.437,2.44,2.441,2.443,2.444,2.45,2.45,2.451,2.456,2.458,2.462,2.462,2.47,2.471,2.475,2.477,2.478,2.479,2.489,2.49,2.493,2.5,2.507,2.509,2.517,2.519,2.524,2.532,2.532,2.542,2.545,2.558,2.558,2.56,2.566,2.584,2.585,2.587,2.596,2.596,2.597,2.617,2.626,2.633,2.634,2.643,2.647,2.647,2.662,2.671,2.674,2.678,2.693,2.705,2.713,2.725,2.736,2.743,2.746,2.746,2.767,2.775,2.788,2.793,2.806,2.82,2.823,2.836,2.839,2.86,2.862,2.875,2.888,2.898,2.911,2.928,2.936,2.954,2.96,2.974,2.98,2.999,3.018,3.018,3.029,3.048,3.065,3.081,3.089,3.103,3.116,3.138,3.148,3.175,3.19,3.209,3.217,3.227,3.256,3.26,3.273,3.299,3.316,3.329,3.36,3.369,3.389,3.412,3.442,3.453,3.481,3.494,3.514,3.552,3.574,3.583,3.608,3.644,3.648,3.691,3.71,3.748,3.773,3.803,3.82,3.866,3.905,3.92,3.956,3.993,4.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.377,3.362,3.339,3.334,3.327,3.311,3.311,3.303,3.283,3.269,3.264,3.255,3.246,3.246,3.234,3.216,3.214,3.208,3.201,3.194,3.187,3.181,3.17,3.163,3.159,3.153,3.146,3.139,3.136,3.136,3.135,3.108,3.107,3.104,3.099,3.093,3.092,3.087,3.087,3.082,3.068,3.067,3.064,3.062,3.057,3.054,3.053,3.047,3.046,3.044,3.04,3.036,3.035,3.035,3.035,3.034,3.029,3.029,3.061,3.03,3.03,3.03,3.023,3.016,3.016,3.01,3.007,3.007,3.013,3.011,3.011,3.011,3.009,3.009,3.005,3.006,3.006,3.01,3.007,3.015,3.015,3.015,3.009,3.012,3.012,3.012,3.012,3.012,3.016,3.016,3.016,3.024,3.025,3.027,3.029,3.03,3.035,3.036,3.04,3.04,3.041,3.048,3.053,3.058,3.061,3.061,3.063,3.067,3.072,3.082,3.082,3.082,3.082,3.083,3.084,3.092,3.102,3.103,3.112,3.12,3.127,3.127,3.127,3.128,3.131,3.131,3.133,3.141,3.146,3.15,3.151,3.152,3.173,3.174,3.178,3.196,3.214,3.219,3.23,3.232,3.232,3.243,3.243,3.248,3.255,3.271,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 15.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 15.22} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 15.2219} {Type Sonar} {Name Sonar0 Range 0.9398} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.7432} {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 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 2.9718}
SEN {Time 15.2955} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.188,0.188,0.204,0,0,0,0,0,0,0,0,0,3.692,3.679,3.671,3.668,3.652,3.64,3.629,3.629,3.629,3.618,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.242,3.223,3.22,3.217,3.205,3.205,3.205,0,0,0,0,0,0,0.182,0.151,0.146,0.146,0.146,0.147,0.147,0.147,0.147,0.148,0.148,0.154,0.16,0.162,3.046,3.046,3.046,3.046,3.04,3.04,3.04,0.17,0.166,0.166,0.16,0.159,0.158,0.155,0.153,0.15,0.143,0.103,0.064,0.063,0.056,0.055,0.055,0.055,0.06,0.06,0.061,0.06,0.061,0.062,0.062,0.062,0.064,0.067,0.096,0.155,3.339,3.364,3.364,3.354,3.362,3.362,3.362,3.383,0,0,0,3.462,3.46,3.46,3.462,3.463,3.48,3.485,3.491,3.491,3.5,3.507,3.508,3.51,3.516,3.516,3.527,3.535,3.545,3.545,3.543,3.545,3.548,3.553,3.555,3.558,3.566,3.572,3.572,3.573,3.575,3.59,3.595,3.603,3.606,3.627,3.632,3.638,3.642,3.643,3.644,3.655,3.655,3.659,3.661,3.674,3.675,3.676,3.692,3.694,3.697,3.709,3.717,3.722,3.736,3.737,3.748,3.75,3.762,3.769,3.79,3.791,3.795,3.8,3.817,3.826,3.838,3.842,3.861,3.869,3.875,3.893,3.911,3.919,3.931,3.935,3.958,3.97,3.987,4.001,4.006,4.034,4.048,4.07,4.089,4.09,4.09,0.016,0,0,0,0,0.007,4.073,3.989,3.978,3.923,3.914,3.88,3.842,3.819,3.775,3.772,3.735,3.705,3.684,3.652,3.636,3.611,3.578,3.556,3.534,3.516,3.481,3.475,3.453,3.432,3.404,3.395,3.374,3.354,3.337,3.313,3.286,3.283,3.264,3.233,3.215,3.2,3.192,3.17,3.16,3.148,3.131,3.11,3.108,3.093,3.067,3.046,3.038,3.029,3.021,3.004,2.997,2.975,2.957,2.957,2.941,2.927,2.915,2.908,2.901,2.886,2.873,2.87,2.847,2.839,2.839,2.828,2.828,2.803,2.794,2.774,2.765,2.761,2.756,2.738,2.733,2.728,2.718,2.712,2.691,2.69,2.685,2.674,2.663,2.656,2.656,2.636,2.632,2.63,2.628,2.625,2.606,2.602,2.599,2.592,2.579,2.577,2.576,2.574,2.557,2.552,2.55,2.543,2.536,2.536,2.518,2.517,2.509,2.508,2.5,2.493,2.493,2.484,2.484,2.478,2.478,2.477,2.473,2.473,2.473,2.463,2.462,2.457,2.452,2.452,2.452,2.451,2.446,2.446,2.437,2.431,2.43,2.428,2.43,2.425,2.418,2.418,2.418,2.417,2.417,2.417,2.412,2.41,2.411,2.412,2.411,2.409,1.018,1.018,1.013,1.013,1.018,1.013,1.013,1.013,1.021,2.407,2.412,2.412,2.412,2.41,2.412,2.417,2.417,2.416,2.417,2.417,2.418,2.418,2.423,2.434,2.434,2.434,2.434,2.435,2.435,2.442,2.448,2.448,2.448,2.448,2.46,2.463,2.463,2.463,2.467,2.467,2.471,2.476,2.476,2.479,2.485,2.485,2.486,2.494,2.501,2.504,2.513,2.514,2.52,2.528,2.533,2.535,2.535,2.554,2.554,2.556,2.557,2.564,2.587,2.597,2.597,2.597,2.604,2.606,2.612,2.616,2.621,2.625,2.642,2.642,2.646,2.665,2.669,2.669,2.686,2.691,2.705,2.708,2.712,2.73,2.743,2.748,2.753,2.766,2.773,2.78,2.797,2.807,2.817,2.827,2.827,2.846,2.848,2.871,2.874,2.889,2.911,2.912,2.93,2.936,2.949,2.964,2.969,2.975,3.002,3.021,3.023,3.033,3.049,3.067,3.072,3.094,3.109,3.13,3.132,3.156,3.166,3.182,3.205,3.211,3.227,3.244,3.263,3.279,3.302,3.314,3.325,3.359,3.377,3.388,3.42,3.432,3.452,3.477,3.51,3.513,3.539,3.572,3.582,3.616,3.626,3.671,3.688,3.73,3.738,3.768,3.802,3.826,3.853,3.89,3.901,3.948,4.024,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.376,3.353,3.349,3.329,3.323,3.306,3.304,3.298,3.284,3.276,3.266,3.258,3.253,3.241,3.237,3.222,3.216,3.212,3.201,3.19,3.179,3.176,3.175,3.161,3.158,3.158,3.141,3.14,3.137,3.13,3.122,3.12,3.113,3.11,3.101,3.095,3.088,3.085,3.085,3.082,3.079,3.071,3.07,3.061,3.06,3.057,3.052,3.05,3.05,3.049,3.042,3.037,3.032,3.032,3.032,3.026,3.02,3.02,3.02,3.044,3.044,3.044,3.016,3.014,3.012,3.012,3.012,3.005,3.005,3.01,3.01,3.006,3.006,3.005,3.005,3.005,3.005,3.006,3.006,3.007,3.013,3.011,3.011,3.013,3.013,3.015,3.018,3.019,3.019,3.019,3.019,3.023,3.024,3.03,3.03,3.03,3.032,3.032,3.033,3.035,3.047,3.049,3.053,3.057,3.057,3.058,3.067,3.068,3.069,3.082,3.082,3.086,3.086,3.09,3.094,3.096,3.103,3.106,3.115,3.119,3.125,3.131,3.131,3.131,3.131,3.131,3.134,3.14,3.142,3.148,3.155,3.158,3.17,3.173,3.18,3.201,3.205,3.216,3.219,3.23,3.232,3.239,3.239,3.262,3.262,3.277,3.281,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 15.45} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 15.45} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 15.4499} {Type Sonar} {Name Sonar0 Range 0.9398} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {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 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.921} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 2.9718}
SEN {Time 15.4954} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.211,0,0,0,0,0,0,0,0,0,3.697,3.677,3.676,3.659,3.652,3.651,3.617,3.617,3.617,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.239,3.239,3.23,3.21,3.21,3.42,3.42,0,0,0,0,0,0,0,0.15,0.15,0.141,0.141,0.144,0.151,0.007,0.157,0.157,0.157,0.157,0.007,3.061,3.055,3.055,3.055,3.048,3.04,0.163,0.159,0.158,0.158,0.158,0.156,0.152,0.152,0.152,0.145,0.138,0.11,0.063,0.061,0.061,0.053,0.061,0.057,0.058,0.058,0.064,0.058,0.058,0.058,0.054,0.054,0.054,0.061,0.086,0.162,3.345,3.357,3.358,3.357,3.358,3.378,3.38,0.007,0,3.451,3.451,3.451,3.451,3.457,3.459,3.478,3.484,3.491,3.492,3.495,3.505,3.51,3.513,3.514,3.527,3.528,3.528,3.531,3.535,3.539,3.543,3.547,3.549,3.551,3.554,3.555,3.573,3.573,3.583,3.588,3.589,3.589,3.589,3.597,3.606,3.617,3.617,3.623,3.624,3.639,3.652,3.652,3.653,3.662,3.668,3.669,3.673,3.682,3.697,3.697,3.698,3.709,3.723,3.728,3.733,3.742,3.744,3.756,3.757,3.765,3.794,3.796,3.801,3.808,3.827,3.835,3.836,3.859,3.868,3.868,3.898,3.898,3.908,3.927,3.929,3.944,3.946,3.974,3.987,3.992,4.011,4.027,4.045,4.053,4.062,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.069,4.03,4.03,3.985,3.975,3.911,3.878,3.855,3.795,3.784,3.769,3.721,3.7,3.689,3.653,3.634,3.604,3.581,3.557,3.532,3.517,3.491,3.465,3.443,3.43,3.407,3.383,3.367,3.355,3.337,3.315,3.29,3.287,3.256,3.238,3.226,3.207,3.191,3.178,3.161,3.143,3.124,3.118,3.105,3.083,3.06,3.06,3.036,3.031,3.022,3.002,2.992,2.985,2.962,2.954,2.948,2.933,2.912,2.906,2.887,2.875,2.859,2.85,2.842,2.836,2.827,2.815,2.808,2.794,2.79,2.777,2.777,2.762,2.752,2.747,2.736,2.727,2.71,2.701,2.693,2.686,2.684,2.663,2.659,2.655,2.654,2.645,2.637,2.624,2.624,2.619,2.616,2.605,2.597,2.588,2.585,2.579,2.573,2.568,2.563,2.559,2.551,2.541,2.541,2.528,2.522,2.517,2.51,2.508,2.506,2.503,2.494,2.493,2.484,2.483,2.482,2.476,2.474,2.473,2.464,2.464,2.461,2.459,2.45,2.45,2.45,2.447,2.445,2.442,2.439,2.438,2.432,2.429,2.428,2.423,2.423,2.421,2.421,2.421,2.421,2.421,2.419,2.413,2.413,2.413,2.413,2.405,1.015,1.015,1.015,1.016,1.016,1.017,1.016,1.016,1.019,2.411,2.411,2.415,2.415,2.411,2.415,2.418,2.418,2.418,2.418,2.418,2.42,2.421,2.421,2.423,2.434,2.435,2.435,2.436,2.437,2.442,2.444,2.445,2.446,2.447,2.449,2.457,2.458,2.466,2.467,2.47,2.473,2.473,2.478,2.479,2.48,2.48,2.491,2.493,2.501,2.501,2.508,2.514,2.519,2.524,2.524,2.53,2.536,2.54,2.549,2.557,2.56,2.57,2.587,2.59,2.594,2.601,2.601,2.608,2.608,2.618,2.626,2.636,2.641,2.642,2.653,2.662,2.666,2.674,2.69,2.692,2.701,2.71,2.712,2.733,2.745,2.747,2.753,2.765,2.772,2.79,2.796,2.797,2.808,2.823,2.838,2.839,2.852,2.869,2.871,2.897,2.9,2.915,2.929,2.944,2.952,2.956,2.969,2.976,2.999,3.015,3.017,3.038,3.05,3.064,3.079,3.092,3.105,3.121,3.139,3.146,3.164,3.187,3.205,3.216,3.232,3.244,3.271,3.28,3.303,3.318,3.329,3.355,3.363,3.391,3.416,3.427,3.452,3.478,3.497,3.519,3.553,3.557,3.581,3.615,3.639,3.664,3.696,3.717,3.752,3.769,3.806,3.824,3.857,3.884,3.928,3.945,4.067,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.371,3.353,3.341,3.33,3.319,3.309,3.3,3.294,3.279,3.272,3.272,3.263,3.248,3.236,3.228,3.228,3.225,3.207,3.206,3.195,3.179,3.177,3.167,3.163,3.16,3.148,3.145,3.134,3.133,3.133,3.133,3.121,3.113,3.106,3.1,3.091,3.083,3.078,3.077,3.076,3.068,3.066,3.065,3.065,3.058,3.057,3.051,3.053,3.048,3.046,3.042,3.039,3.033,3.032,3.029,3.022,3.022,3.022,3.022,3.032,3.032,3.032,3.025,3.02,3.014,3.011,3.012,3.008,3.008,3.008,3.008,3.007,3.005,3.005,3.005,3.005,3.006,3.006,3.006,3.006,3.006,3.006,3.011,3.016,3.016,3.017,3.017,3.018,3.021,3.021,3.021,3.023,3.024,3.026,3.027,3.027,3.028,3.028,3.034,3.034,3.045,3.049,3.05,3.05,3.053,3.053,3.063,3.064,3.068,3.077,3.081,3.086,3.087,3.089,3.089,3.095,3.102,3.102,3.115,3.117,3.122,3.122,3.125,3.126,3.134,3.134,3.136,3.138,3.148,3.155,3.159,3.159,3.164,3.167,3.18,3.198,3.21,3.222,3.223,3.222,3.223,3.242,3.248,3.257,3.257,3.268,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 16.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 16.39} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 16.3857} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.064} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 4.9276}
SEN {Time 16.4915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.18,0.185,0.185,0.185,0.203,0,0,0,0,0,0,0,0,0,3.699,3.679,3.67,3.654,3.649,3.645,3.616,3.616,3.616,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.233,3.233,3.222,3.217,3.217,0,0,0,0,0,0,0,0,0.161,0.153,0.149,0.147,0.147,0.145,0.145,0.147,0.145,0.147,0.149,0.149,0.157,3.044,3.044,3.044,3.055,3.055,3.055,3.055,0.007,0.168,0.158,0.158,0.157,0.155,0.153,0.153,0.153,0.144,0.103,0.067,0.061,0.06,0.058,0.058,0.056,0.058,0.059,0.06,0.06,0.06,0.06,0.06,0.06,0.067,0.069,0.091,0.158,3.364,3.364,3.364,3.357,3.354,3.354,3.357,3.391,3.392,3.432,3.443,3.443,3.46,3.461,3.461,3.472,3.472,3.48,3.49,3.499,3.504,3.506,3.513,3.516,3.522,3.522,3.528,3.528,3.531,3.534,3.537,3.539,3.542,3.542,3.556,3.559,3.565,3.569,3.579,3.58,3.58,3.581,3.584,3.601,3.608,3.614,3.62,3.626,3.641,3.648,3.655,3.655,3.657,3.657,3.662,3.673,3.673,3.686,3.688,3.694,3.695,3.713,3.719,3.728,3.732,3.744,3.744,3.762,3.764,3.768,3.785,3.792,3.8,3.815,3.822,3.824,3.847,3.857,3.869,3.872,3.881,3.893,3.905,3.92,3.927,3.947,3.961,3.978,3.979,3.998,4.024,4.026,4.033,4.055,4.074,4.091,0.016,0.016,0.016,0.016,0.016,0.016,4.059,4.02,4,3.973,3.948,3.908,3.87,3.861,3.819,3.782,3.765,3.734,3.716,3.678,3.645,3.633,3.605,3.567,3.55,3.541,3.515,3.496,3.464,3.443,3.426,3.405,3.382,3.381,3.358,3.328,3.317,3.288,3.284,3.25,3.245,3.223,3.204,3.193,3.168,3.158,3.154,3.13,3.113,3.107,3.087,3.062,3.062,3.05,3.033,3.02,3.006,3.002,2.977,2.968,2.96,2.947,2.932,2.925,2.904,2.893,2.879,2.869,2.866,2.848,2.836,2.825,2.82,2.814,2.803,2.794,2.777,2.768,2.754,2.754,2.746,2.735,2.729,2.711,2.703,2.694,2.683,2.679,2.662,2.662,2.66,2.65,2.636,2.63,2.627,2.626,2.612,2.612,2.606,2.594,2.588,2.586,2.581,2.575,2.571,2.566,2.557,2.547,2.543,2.542,2.519,2.517,2.512,2.511,2.506,2.506,2.504,2.495,2.492,2.484,2.482,2.481,2.48,2.478,2.468,2.463,2.463,2.462,2.456,2.456,2.45,2.448,2.448,2.446,2.445,2.444,2.44,2.429,2.428,2.426,2.426,2.425,2.423,2.423,2.419,2.418,2.418,2.419,2.418,2.414,2.414,2.414,2.409,1.011,1.011,1.011,1.016,1.016,1.016,1.016,1.016,1.02,2.408,2.408,2.413,2.413,2.417,2.42,2.42,2.42,2.42,2.42,2.42,2.42,2.42,2.424,2.424,2.426,2.427,2.434,2.437,2.437,2.442,2.447,2.448,2.448,2.452,2.454,2.455,2.455,2.46,2.465,2.467,2.473,2.474,2.486,2.486,2.489,2.489,2.493,2.495,2.496,2.505,2.507,2.509,2.516,2.527,2.53,2.531,2.537,2.551,2.552,2.56,2.562,2.565,2.586,2.592,2.598,2.6,2.601,2.602,2.603,2.624,2.629,2.638,2.638,2.642,2.663,2.667,2.667,2.672,2.687,2.695,2.697,2.715,2.715,2.724,2.741,2.743,2.748,2.772,2.779,2.791,2.794,2.804,2.819,2.831,2.832,2.844,2.859,2.861,2.876,2.894,2.907,2.907,2.928,2.94,2.943,2.952,2.967,2.989,3,3.014,3.025,3.038,3.05,3.061,3.077,3.094,3.114,3.121,3.137,3.148,3.162,3.183,3.203,3.212,3.239,3.245,3.253,3.27,3.303,3.319,3.322,3.359,3.369,3.388,3.42,3.433,3.455,3.482,3.499,3.517,3.533,3.564,3.594,3.608,3.628,3.66,3.699,3.714,3.753,3.778,3.804,3.84,3.861,3.877,3.905,3.958,3.998,4.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.364,3.356,3.336,3.323,3.319,3.314,3.302,3.294,3.278,3.277,3.27,3.254,3.25,3.249,3.228,3.219,3.217,3.205,3.203,3.194,3.187,3.186,3.169,3.164,3.154,3.153,3.147,3.143,3.132,3.131,3.121,3.12,3.107,3.102,3.099,3.094,3.092,3.086,3.078,3.077,3.073,3.072,3.063,3.062,3.061,3.051,3.05,3.05,3.05,3.045,3.041,3.039,3.029,3.029,3.026,3.028,3.026,3.028,3.028,3.029,3.029,3.029,3.018,3.016,3.014,3.014,3.01,3.009,3.009,3.008,3.008,3.008,3.005,3.005,3.005,3.005,3.007,3.007,3.005,3.01,3.008,3.008,3.01,3.01,3.01,3.013,3.013,3.021,3.021,3.021,3.021,3.023,3.021,3.023,3.032,3.032,3.032,3.035,3.041,3.043,3.043,3.045,3.054,3.054,3.058,3.059,3.059,3.066,3.077,3.079,3.085,3.085,3.087,3.087,3.089,3.092,3.094,3.11,3.112,3.116,3.131,3.133,3.133,3.133,3.133,3.133,3.135,3.14,3.145,3.148,3.153,3.172,3.173,3.178,3.178,3.213,3.218,3.221,3.23,3.23,3.233,3.247,3.25,3.257,3.276,3.289,3.289,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD}
SEN {Time 16.65} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 16.65} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 16.6485} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0226} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 4.9276}
SEN {Time 16.6875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.176,0.188,0.188,0.188,0.208,0,0,0,0,0,0,0,0,0,3.706,3.679,3.672,3.655,3.641,3.641,3.625,3.625,3.625,0.006,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.242,3.231,3.231,3.225,3.225,3.231,3.412,3.412,0,0,0,0,0,0,0.007,0.156,0.153,0.153,0.153,0.149,0.149,0.153,0.153,0.153,0.154,0.154,0.168,3.037,3.037,3.037,3.037,3.037,3.054,3.054,3.054,0.16,0.159,0.159,0.156,0.157,0.153,0.152,0.15,0.14,0.103,0.068,0.061,0.056,0.053,0.053,0.054,0.056,0.059,0.063,0.063,0.063,0.063,0.06,0.06,0.06,0.06,0.101,0.172,3.347,3.354,3.359,3.354,3.354,3.356,3.359,3.379,3.405,0,0.007,3.459,3.459,3.463,3.463,3.483,3.485,3.487,3.487,3.49,3.498,3.501,3.506,3.519,3.519,3.522,3.523,3.533,3.536,3.537,3.54,3.541,3.542,3.542,3.556,3.563,3.57,3.574,3.576,3.576,3.579,3.593,3.601,3.605,3.609,3.619,3.627,3.627,3.628,3.632,3.648,3.654,3.654,3.656,3.661,3.672,3.675,3.682,3.683,3.688,3.696,3.71,3.726,3.73,3.738,3.739,3.747,3.749,3.753,3.765,3.789,3.79,3.791,3.817,3.818,3.834,3.838,3.851,3.876,3.876,3.89,3.899,3.917,3.918,3.924,3.932,3.949,3.968,3.987,3.99,3.996,4.025,4.044,4.063,4.064,4.087,4.092,0.016,0,0,0,0,4.075,4.045,4.011,3.966,3.939,3.909,3.873,3.854,3.806,3.795,3.752,3.72,3.713,3.671,3.656,3.627,3.611,3.583,3.557,3.535,3.497,3.487,3.463,3.445,3.432,3.408,3.396,3.382,3.348,3.334,3.316,3.284,3.283,3.26,3.231,3.224,3.202,3.196,3.173,3.163,3.14,3.125,3.114,3.101,3.075,3.062,3.051,3.04,3.033,3.015,2.997,2.996,2.974,2.968,2.953,2.942,2.931,2.913,2.905,2.898,2.89,2.869,2.862,2.857,2.848,2.819,2.816,2.814,2.793,2.784,2.78,2.766,2.761,2.751,2.746,2.732,2.729,2.714,2.709,2.694,2.69,2.682,2.668,2.659,2.656,2.655,2.645,2.637,2.627,2.627,2.615,2.613,2.613,2.589,2.589,2.584,2.576,2.569,2.565,2.565,2.559,2.548,2.548,2.545,2.537,2.529,2.518,2.511,2.505,2.503,2.498,2.494,2.491,2.486,2.486,2.483,2.478,2.478,2.478,2.47,2.46,2.459,2.456,2.455,2.453,2.453,2.449,2.447,2.443,2.442,2.435,2.433,2.432,2.432,2.427,2.426,2.426,2.423,2.423,2.419,2.418,2.416,2.412,2.412,2.416,2.41,2.409,1.016,1.016,1.016,1.018,1.018,1.018,1.018,1.018,1.019,2.412,2.413,2.413,2.413,2.412,2.414,2.414,2.416,2.416,2.419,2.425,2.425,2.425,2.425,2.425,2.429,2.431,2.437,2.437,2.438,2.439,2.442,2.446,2.447,2.452,2.453,2.458,2.459,2.462,2.462,2.464,2.464,2.478,2.479,2.482,2.483,2.486,2.489,2.49,2.507,2.507,2.513,2.513,2.521,2.521,2.524,2.534,2.537,2.538,2.56,2.561,2.562,2.565,2.583,2.584,2.593,2.597,2.597,2.61,2.617,2.619,2.621,2.636,2.639,2.642,2.65,2.667,2.67,2.679,2.688,2.692,2.706,2.71,2.715,2.73,2.744,2.749,2.754,2.762,2.764,2.795,2.797,2.804,2.805,2.821,2.824,2.854,2.855,2.861,2.876,2.888,2.891,2.928,2.93,2.937,2.946,2.952,2.969,2.99,2.994,3.012,3.023,3.03,3.054,3.07,3.078,3.09,3.109,3.12,3.141,3.148,3.158,3.186,3.204,3.217,3.223,3.245,3.257,3.272,3.297,3.307,3.329,3.36,3.37,3.392,3.411,3.436,3.441,3.465,3.5,3.515,3.547,3.562,3.587,3.615,3.634,3.662,3.694,3.706,3.751,3.755,3.811,3.828,3.849,3.885,3.918,3.951,4.02,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.372,3.359,3.347,3.331,3.317,3.305,3.303,3.286,3.278,3.274,3.272,3.249,3.247,3.241,3.219,3.217,3.217,3.201,3.201,3.197,3.194,3.179,3.173,3.165,3.151,3.15,3.141,3.131,3.13,3.128,3.128,3.119,3.117,3.117,3.098,3.096,3.092,3.089,3.086,3.082,3.078,3.076,3.075,3.058,3.058,3.056,3.053,3.049,3.048,3.043,3.032,3.031,3.029,3.029,3.026,3.022,3.022,3.024,3.024,3.03,3.03,3.03,3.03,3.025,3.015,3.014,3.012,3.009,3.008,3.006,3.006,3.007,3.007,3.007,3.007,3.008,3.011,3.011,3.011,3.011,3.013,3.011,3.011,3.011,3.011,3.011,3.011,3.013,3.017,3.019,3.019,3.022,3.025,3.029,3.03,3.032,3.03,3.033,3.034,3.038,3.045,3.049,3.051,3.052,3.058,3.061,3.066,3.067,3.069,3.077,3.077,3.083,3.086,3.086,3.096,3.096,3.103,3.108,3.109,3.122,3.125,3.127,3.127,3.128,3.129,3.134,3.136,3.149,3.15,3.157,3.157,3.161,3.167,3.173,3.175,3.204,3.21,3.233,3.244,0,3.244,3.244,0.007,3.281,3.281,3.288,3.288,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0}
SEN {Time 17.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 17.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 17.3976} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.7178} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.4958} {Name Sonar15 Range 2.9464}
SEN {Time 17.4875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0.215,0.215,0.215,0,0,0,0,0,0,0,0,0,3.7,3.684,3.684,3.661,3.652,3.651,3.625,3.625,3.625,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.23,3.224,3.213,3.21,3.21,3.21,3.418,0,0,0,0,0,0,0.153,0.148,0.146,0.143,0.143,0.143,0.15,0.154,0.154,0.154,0.154,0.156,0.007,3.06,3.057,3.057,3.057,3.041,3.032,0.169,0.163,0.163,0.163,0.163,0.163,0.155,0.151,0.151,0.148,0.141,0.102,0.07,0.06,0.06,0.056,0.06,0.056,0.056,0.063,0.063,0.056,0.061,0.056,0.053,0.056,0.061,0.073,0.095,0.16,3.338,3.364,3.374,3.374,0.007,3.386,3.386,3.403,3.403,0.007,0,0.007,0,0.007,3.484,3.484,3.486,3.486,3.487,3.488,3.498,3.505,3.505,3.508,3.525,3.528,3.534,3.535,3.535,3.537,3.537,3.541,3.546,3.553,3.555,3.56,3.562,3.566,3.575,3.58,3.587,3.593,3.593,3.596,3.608,3.628,3.63,3.635,3.635,3.636,3.642,3.646,3.653,3.653,3.659,3.661,3.672,3.68,3.689,3.689,3.701,3.711,3.724,3.734,3.737,3.739,3.746,3.76,3.767,3.775,3.783,3.797,3.812,3.813,3.823,3.835,3.836,3.859,3.865,3.876,3.885,3.892,3.9,3.918,3.928,3.946,3.955,3.984,3.985,4.003,4.011,4.03,4.05,4.062,4.076,4.088,0.016,0.016,0,0,0,0,0.016,4.058,4.011,3.962,3.937,3.921,3.89,3.85,3.817,3.765,3.764,3.743,3.72,3.687,3.659,3.62,3.606,3.583,3.554,3.535,3.51,3.483,3.468,3.462,3.435,3.407,3.394,3.369,3.346,3.336,3.311,3.291,3.28,3.254,3.24,3.219,3.214,3.19,3.177,3.159,3.156,3.137,3.113,3.102,3.079,3.074,3.06,3.044,3.031,3.018,3.001,2.994,2.987,2.962,2.954,2.939,2.932,2.914,2.909,2.891,2.883,2.866,2.864,2.848,2.835,2.825,2.818,2.814,2.797,2.788,2.778,2.769,2.762,2.747,2.747,2.746,2.734,2.709,2.706,2.696,2.691,2.679,2.671,2.67,2.663,2.659,2.65,2.647,2.646,2.629,2.613,2.612,2.607,2.604,2.594,2.588,2.584,2.579,2.575,2.569,2.564,2.556,2.547,2.545,2.532,2.531,2.524,2.52,2.51,2.507,2.501,2.497,2.492,2.489,2.489,2.479,2.474,2.472,2.468,2.468,2.463,2.462,2.461,2.454,2.452,2.45,2.449,2.446,2.442,2.438,2.433,2.432,2.432,2.432,2.431,2.431,2.426,2.426,2.426,2.425,2.419,2.417,2.417,2.415,2.417,2.415,2.415,1.013,1.013,1.011,1.009,1.013,1.009,1.009,1.01,1.014,2.414,2.417,2.417,2.414,2.414,2.414,2.414,2.416,2.416,2.419,2.424,2.424,2.427,2.428,2.43,2.43,2.432,2.433,2.436,2.439,2.44,2.444,2.446,2.448,2.457,2.461,2.464,2.465,2.465,2.466,2.474,2.477,2.48,2.483,2.485,2.488,2.489,2.489,2.499,2.509,2.515,2.52,2.522,2.528,2.528,2.528,2.528,2.546,2.547,2.554,2.557,2.564,2.57,2.584,2.593,2.596,2.599,2.603,2.607,2.613,2.627,2.634,2.635,2.644,2.649,2.659,2.67,2.673,2.673,2.69,2.691,2.709,2.714,2.722,2.733,2.744,2.746,2.749,2.779,2.78,2.783,2.797,2.811,2.816,2.827,2.835,2.848,2.857,2.857,2.876,2.897,2.897,2.922,2.928,2.938,2.942,2.962,2.965,2.99,3.002,3.008,3.023,3.029,3.055,3.061,3.078,3.094,3.106,3.12,3.133,3.147,3.175,3.19,3.208,3.21,3.229,3.245,3.263,3.27,3.303,3.313,3.332,3.362,3.373,3.391,3.407,3.439,3.455,3.482,3.497,3.513,3.541,3.57,3.579,3.615,3.644,3.666,3.695,3.718,3.752,3.763,3.801,3.838,3.856,3.876,3.908,3.985,4.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.377,3.356,3.338,3.336,3.32,3.31,3.297,3.293,3.286,3.268,3.259,3.254,3.248,3.237,3.232,3.219,3.217,3.212,3.191,3.19,3.176,3.173,3.165,3.163,3.153,3.148,3.143,3.133,3.132,3.126,3.121,3.118,3.113,3.11,3.095,3.091,3.084,3.078,3.076,3.076,3.076,3.069,3.057,3.056,3.055,3.054,3.052,3.044,3.044,3.044,3.039,3.038,3.038,3.031,3.026,3.026,3.026,3.026,3.029,3.035,3.035,3.035,3.017,3.016,3.016,3.013,3.013,3.01,3.011,3.011,3.011,3.011,3.011,3.007,3.006,3.007,3.007,3.008,3.008,3.009,3.009,3.009,3.009,3.01,3.016,3.018,3.018,3.019,3.02,3.021,3.021,3.021,3.024,3.025,3.029,3.031,3.033,3.034,3.034,3.041,3.045,3.045,3.048,3.049,3.049,3.056,3.06,3.065,3.066,3.075,3.079,3.079,3.08,3.082,3.09,3.099,3.103,3.11,3.111,3.124,3.125,3.125,3.125,3.126,3.128,3.128,3.128,3.137,3.151,3.151,3.156,3.165,3.167,3.171,3.182,3.209,3.216,3.216,3.219,3.239,3.239,3.247,0.007,3.284,3.28,3.28,3.28,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD}
SEN {Time 17.64} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 17.64} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 17.6434} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {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 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 4.4958} {Name Sonar15 Range 2.9464}
SEN {Time 17.6835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.182,0.182,0.182,0.216,0,0,0,0,0,0,0,0,0,3.719,3.683,3.679,3.658,3.647,3.633,3.629,3.629,3.629,0,0,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.231,3.231,3.223,3.211,3.223,3.43,3.43,0,0,0,0.007,3.301,0.183,0.159,0.153,0.151,0.148,0.148,0.147,0.15,0.15,0.15,0.15,0.15,0.151,0.155,3.045,3.045,3.047,3.047,3.047,3.041,3.047,0.154,0.154,0.154,0.154,0.154,0.154,0.152,0.152,0.143,0.143,0.101,0.069,0.065,0.058,0.057,0.057,0.057,0.057,0.057,0.057,0.057,0.057,0.056,0.056,0.06,0.06,0.068,0.091,0.177,3.361,3.365,0.006,3.365,3.365,3.365,3.396,3.396,0.007,3.443,3.432,3.443,3.44,3.443,3.458,3.477,3.477,3.482,3.482,3.491,3.5,3.508,3.512,3.517,3.523,3.528,3.534,3.534,3.543,3.543,3.547,3.549,3.551,3.554,3.564,3.565,3.566,3.567,3.574,3.575,3.585,3.592,3.601,3.605,3.611,3.614,3.618,3.627,3.632,3.634,3.65,3.656,3.659,3.666,3.666,3.668,3.674,3.684,3.684,3.696,3.702,3.72,3.721,3.73,3.741,3.746,3.747,3.752,3.761,3.773,3.774,3.795,3.806,3.81,3.821,3.834,3.841,3.861,3.875,3.878,3.886,3.89,3.907,3.908,3.934,3.936,3.965,3.979,3.979,4.006,4.016,4.018,4.04,4.056,4.077,4.078,0.016,0.016,0,0,0,0,0.016,4.044,4.01,3.972,3.924,3.915,3.878,3.852,3.826,3.789,3.764,3.743,3.709,3.687,3.659,3.626,3.616,3.567,3.546,3.538,3.516,3.472,3.466,3.445,3.425,3.417,3.395,3.379,3.356,3.336,3.313,3.3,3.275,3.255,3.243,3.23,3.206,3.189,3.174,3.158,3.15,3.127,3.114,3.094,3.088,3.061,3.043,3.041,3.032,3.013,2.994,2.993,2.987,2.967,2.951,2.942,2.927,2.924,2.898,2.897,2.89,2.869,2.86,2.846,2.845,2.834,2.822,2.807,2.804,2.789,2.776,2.767,2.763,2.752,2.748,2.73,2.728,2.717,2.71,2.706,2.691,2.684,2.68,2.664,2.662,2.651,2.651,2.639,2.631,2.626,2.624,2.612,2.604,2.591,2.588,2.586,2.581,2.571,2.565,2.56,2.552,2.552,2.55,2.549,2.54,2.533,2.525,2.519,2.508,2.505,2.497,2.497,2.494,2.488,2.477,2.477,2.478,2.477,2.476,2.475,2.465,2.458,2.454,2.453,2.453,2.452,2.451,2.451,2.442,2.44,2.434,2.434,2.431,2.43,2.428,2.428,2.428,2.428,2.42,2.418,2.418,2.416,2.414,2.414,2.416,2.411,2.409,1.012,1.012,1.012,1.012,1.015,1.015,1.015,1.017,1.017,2.408,2.412,2.412,2.412,2.412,2.414,2.415,2.417,2.417,2.419,2.418,2.419,2.418,2.423,2.42,2.423,2.423,2.431,2.435,2.439,2.439,2.443,2.447,2.447,2.449,2.455,2.456,2.458,2.462,2.464,2.464,2.472,2.477,2.484,2.491,2.491,2.491,2.493,2.498,2.509,2.512,2.512,2.515,2.524,2.528,2.531,2.535,2.546,2.546,2.556,2.563,2.569,2.571,2.589,2.593,2.597,2.599,2.601,2.606,2.616,2.626,2.629,2.636,2.648,2.65,2.654,2.668,2.671,2.678,2.687,2.69,2.705,2.716,2.718,2.733,2.739,2.743,2.753,2.769,2.783,2.786,2.802,2.813,2.823,2.823,2.837,2.851,2.859,2.871,2.883,2.89,2.891,2.921,2.937,2.939,2.955,2.966,2.976,2.983,2.996,3.013,3.015,3.035,3.052,3.065,3.073,3.086,3.113,3.12,3.139,3.143,3.163,3.181,3.207,3.218,3.231,3.249,3.254,3.277,3.295,3.32,3.324,3.36,3.382,3.386,3.412,3.432,3.452,3.472,3.501,3.511,3.538,3.576,3.582,3.611,3.64,3.658,3.697,3.719,3.747,3.763,3.803,3.821,3.858,3.873,3.935,3.981,4.07,4.07,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.372,3.341,3.336,3.326,3.316,3.304,3.303,3.28,3.277,3.275,3.262,3.251,3.243,3.238,3.23,3.214,3.213,3.211,3.197,3.189,3.187,3.175,3.162,3.159,3.153,3.146,3.142,3.129,3.128,3.128,3.125,3.107,3.104,3.104,3.096,3.096,3.087,3.082,3.08,3.074,3.069,3.068,3.068,3.061,3.054,3.049,3.049,3.043,3.042,3.038,3.037,3.037,3.036,3.028,3.028,3.028,3.024,3.024,3.024,3.034,3.034,3.034,3.021,3.015,3.009,3.009,3.009,3.009,3.009,3.01,3.01,3.009,3.009,3.005,3.005,3.007,3.008,3.008,3.008,3.009,3.011,3.013,3.013,3.013,3.013,3.014,3.014,3.014,3.022,3.015,3.015,3.02,3.022,3.025,3.028,3.028,3.029,3.029,3.029,3.036,3.043,3.044,3.046,3.047,3.048,3.06,3.061,3.064,3.064,3.074,3.075,3.076,3.082,3.088,3.091,3.088,3.094,3.097,3.111,3.113,3.121,3.124,3.124,3.124,3.124,3.128,3.133,3.136,3.139,3.15,3.152,3.161,3.172,3.182,3.189,3.202,3.206,3.214,3.228,3.233,3.233,3.247,3.255,3.266,3.266,3.278,3.282,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type Camera} {Name DragonFly2} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944}
SEN {Time 18.40} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 18.40} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 18.4024} {Type Sonar} {Name Sonar0 Range 0.9398} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.9972} {Name Sonar8 Range 2.5654} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.7686} {Name Sonar14 Range 3.9878} {Name Sonar15 Range 2.9464}
SEN {Time 18.4835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.188,0.188,0.188,0.208,0,0,0,0,0,0,0,0,0,3.705,3.686,3.671,3.655,3.653,3.64,3.628,3.628,3.628,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.225,3.225,3.218,3.217,3.217,3.422,3.422,0,0,0,0,0,0,0.151,0.149,0.149,0.149,0.149,0.148,0.148,0.148,0.148,0.148,0.155,0.156,0.156,3.039,3.044,3.044,3.044,3.043,3.044,3.043,0.168,0.165,0.165,0.163,0.152,0.152,0.152,0.152,0.145,0.137,0.094,0.068,0.064,0.064,0.062,0.06,0.059,0.059,0.059,0.059,0.059,0.059,0.057,0.057,0.057,0.057,0.064,0.085,0.155,3.337,3.349,3.35,3.35,3.361,3.371,3.376,0.007,0,0,0,0,0,0.007,3.487,3.482,3.487,3.487,3.498,3.502,3.504,3.509,3.511,3.518,3.519,3.528,3.53,3.536,3.54,3.54,3.541,3.543,3.557,3.557,3.559,3.56,3.565,3.573,3.574,3.581,3.59,3.593,3.593,3.603,3.605,3.613,3.626,3.626,3.629,3.631,3.646,3.65,3.666,3.668,3.671,3.671,3.672,3.68,3.684,3.693,3.701,3.711,3.712,3.717,3.734,3.738,3.748,3.752,3.758,3.782,3.79,3.793,3.797,3.798,3.818,3.826,3.852,3.856,3.861,3.869,3.894,3.903,3.907,3.917,3.929,3.946,3.958,3.968,3.991,4.003,4.017,4.05,4.055,4.08,4.08,4.085,0.016,0.016,0,0,0.009,0,0,0,4.007,3.966,3.939,3.906,3.868,3.852,3.811,3.79,3.773,3.732,3.697,3.682,3.662,3.618,3.601,3.581,3.563,3.533,3.516,3.494,3.469,3.448,3.423,3.401,3.388,3.382,3.358,3.331,3.327,3.3,3.279,3.256,3.242,3.214,3.206,3.202,3.175,3.157,3.145,3.132,3.118,3.095,3.093,3.061,3.056,3.04,3.022,3.008,3.003,2.995,2.985,2.958,2.954,2.944,2.928,2.914,2.899,2.89,2.885,2.868,2.861,2.855,2.834,2.828,2.816,2.81,2.787,2.787,2.781,2.777,2.772,2.75,2.742,2.74,2.729,2.716,2.701,2.694,2.688,2.677,2.669,2.661,2.655,2.65,2.646,2.635,2.631,2.63,2.62,2.612,2.597,2.595,2.59,2.582,2.579,2.575,2.568,2.56,2.552,2.547,2.541,2.541,2.537,2.527,2.52,2.52,2.513,2.504,2.5,2.497,2.493,2.49,2.488,2.48,2.48,2.468,2.467,2.466,2.459,2.459,2.459,2.455,2.455,2.45,2.448,2.446,2.444,2.441,2.436,2.433,2.431,2.431,2.431,2.425,2.425,2.421,2.42,2.417,2.417,2.414,2.414,2.414,2.419,2.414,2.411,1.013,1.013,1.013,1.013,1.014,1.014,1.01,1.01,1.014,2.414,2.42,2.42,2.414,2.414,2.419,2.415,2.417,2.417,2.417,2.417,2.421,2.423,2.424,2.424,2.424,2.429,2.433,2.435,2.435,2.435,2.445,2.446,2.449,2.45,2.455,2.458,2.458,2.46,2.466,2.467,2.468,2.475,2.476,2.478,2.485,2.486,2.488,2.491,2.51,2.512,2.513,2.515,2.522,2.53,2.531,2.533,2.543,2.548,2.557,2.559,2.559,2.579,2.583,2.584,2.592,2.598,2.602,2.603,2.621,2.627,2.628,2.635,2.638,2.65,2.655,2.659,2.667,2.672,2.675,2.699,2.699,2.715,2.718,2.737,2.74,2.743,2.753,2.769,2.783,2.791,2.792,2.802,2.818,2.826,2.834,2.853,2.86,2.867,2.873,2.891,2.897,2.908,2.934,2.938,2.95,2.963,2.968,2.981,2.997,3.016,3.025,3.026,3.047,3.063,3.089,3.105,3.116,3.116,3.127,3.141,3.157,3.185,3.204,3.207,3.228,3.243,3.274,3.274,3.301,3.307,3.325,3.349,3.372,3.384,3.406,3.436,3.457,3.487,3.498,3.516,3.538,3.565,3.58,3.615,3.634,3.672,3.698,3.724,3.737,3.783,3.793,3.831,3.852,3.886,3.942,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.375,3.343,3.342,3.329,3.322,3.306,3.304,3.291,3.278,3.272,3.257,3.257,3.248,3.244,3.229,3.216,3.211,3.205,3.197,3.188,3.179,3.178,3.166,3.153,3.153,3.148,3.141,3.136,3.124,3.124,3.122,3.118,3.112,3.1,3.092,3.089,3.089,3.084,3.081,3.08,3.067,3.065,3.061,3.06,3.056,3.053,3.048,3.048,3.046,3.043,3.036,3.03,3.03,3.026,3.025,3.025,3.023,3.023,3.023,3.031,3.031,3.031,3.022,3.02,3.015,3.014,3.013,3.009,3.009,3.008,3.003,3.003,3.003,3.008,3.001,3.006,3.006,3.013,3.012,3.013,3.013,3.012,3.01,3.01,3.01,3.018,3.018,3.018,3.019,3.019,3.019,3.022,3.025,3.025,3.029,3.03,3.031,3.032,3.033,3.041,3.041,3.042,3.047,3.054,3.055,3.056,3.062,3.062,3.065,3.072,3.076,3.077,3.082,3.085,3.089,3.093,3.095,3.105,3.115,3.116,3.119,3.119,3.117,3.122,3.122,3.122,3.135,3.135,3.142,3.148,3.156,3.164,3.165,3.165,3.172,3.195,3.217,3.226,3.237,3.239,3.239,3.239,3.243,3.263,3.274,3.278,3.278,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.16} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,-0.001745}
SEN {Time 23.16} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 23.1617} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {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 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.794} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 23.2635} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.189,0.189,0.206,0,0,0,0,0,0,0,0,0,3.704,3.689,3.684,3.67,3.644,3.642,3.624,3.624,3.624,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.235,3.234,3.235,3.228,3.222,3.222,0,0,0,0,0,0.007,0,0.007,0.18,0.151,0.151,0.147,0.147,0.147,0.151,0.143,0.151,0.151,0.152,0.153,0.007,3.051,3.049,3.049,3.047,3.047,3.047,3.047,3.047,0.165,0.162,0.162,0.157,0.157,0.15,0.148,0.145,0.14,0.093,0.074,0.065,0.065,0.058,0.058,0.058,0.058,0.063,0.064,0.064,0.064,0.064,0.064,0.066,0.067,0.07,0.097,0.158,3.337,3.352,3.352,3.352,3.361,3.361,3.361,3.372,0.007,3.439,3.439,3.442,3.442,3.453,3.461,3.478,3.478,3.479,3.488,3.496,3.503,3.506,3.518,3.519,3.52,3.528,3.529,3.537,3.538,3.54,3.541,3.547,3.552,3.554,3.558,3.561,3.567,3.568,3.575,3.582,3.585,3.586,3.596,3.602,3.613,3.62,3.624,3.625,3.625,3.636,3.641,3.644,3.657,3.66,3.661,3.668,3.677,3.683,3.686,3.697,3.702,3.709,3.722,3.725,3.735,3.738,3.74,3.758,3.759,3.784,3.791,3.795,3.797,3.808,3.814,3.831,3.838,3.844,3.87,3.874,3.878,3.891,3.905,3.909,3.93,3.943,3.951,3.952,3.988,4.001,4.016,4.025,4.041,4.06,4.069,4.093,0.016,0.016,0.016,0.007,0.016,0.016,0.016,4.082,3.996,3.963,3.938,3.908,3.886,3.842,3.815,3.776,3.768,3.721,3.71,3.685,3.65,3.631,3.604,3.581,3.57,3.531,3.519,3.484,3.477,3.452,3.439,3.402,3.396,3.381,3.355,3.339,3.315,3.29,3.278,3.252,3.247,3.225,3.207,3.191,3.18,3.164,3.143,3.125,3.109,3.108,3.095,3.065,3.056,3.047,3.027,3.018,2.998,2.997,2.983,2.967,2.958,2.936,2.933,2.921,2.899,2.887,2.883,2.867,2.867,2.851,2.845,2.827,2.824,2.801,2.796,2.782,2.773,2.771,2.762,2.742,2.739,2.732,2.729,2.704,2.7,2.699,2.684,2.677,2.675,2.658,2.656,2.652,2.646,2.637,2.63,2.627,2.62,2.616,2.598,2.598,2.595,2.58,2.578,2.574,2.569,2.566,2.554,2.549,2.537,2.535,2.53,2.524,2.517,2.512,2.506,2.502,2.499,2.495,2.494,2.486,2.485,2.479,2.477,2.477,2.472,2.471,2.465,2.458,2.454,2.449,2.449,2.449,2.449,2.447,2.447,2.443,2.44,2.43,2.429,2.425,2.425,2.424,2.42,2.42,2.418,2.418,2.417,2.417,2.415,2.409,2.409,2.408,2.408,1.012,1.012,1.012,1.012,1.015,1.015,1.014,1.014,1.015,2.41,2.41,2.41,2.41,2.415,2.415,2.416,2.419,2.419,2.419,2.421,2.419,2.421,2.424,2.423,2.424,2.432,2.434,2.436,2.439,2.441,2.445,2.447,2.452,2.452,2.454,2.459,2.459,2.46,2.466,2.466,2.472,2.474,2.475,2.485,2.487,2.487,2.488,2.491,2.505,2.508,2.512,2.512,2.523,2.524,2.525,2.533,2.54,2.542,2.553,2.557,2.557,2.573,2.591,2.594,2.598,2.601,2.601,2.609,2.618,2.621,2.623,2.638,2.639,2.642,2.66,2.664,2.671,2.672,2.689,2.692,2.708,2.711,2.718,2.735,2.737,2.738,2.748,2.758,2.771,2.792,2.795,2.805,2.808,2.827,2.834,2.849,2.862,2.869,2.873,2.886,2.899,2.908,2.933,2.934,2.943,2.957,2.976,2.985,2.992,3.014,3.027,3.041,3.057,3.061,3.074,3.098,3.105,3.118,3.138,3.142,3.174,3.19,3.202,3.214,3.232,3.252,3.265,3.278,3.301,3.305,3.317,3.348,3.372,3.391,3.408,3.42,3.46,3.466,3.51,3.51,3.539,3.573,3.59,3.61,3.643,3.656,3.695,3.717,3.759,3.776,3.802,3.835,3.865,3.886,3.919,3.941,4.043,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.362,3.359,3.339,3.335,3.319,3.31,3.302,3.29,3.278,3.268,3.257,3.257,3.25,3.241,3.234,3.225,3.217,3.208,3.199,3.198,3.194,3.175,3.169,3.162,3.159,3.147,3.145,3.135,3.135,3.131,3.122,3.118,3.112,3.107,3.101,3.095,3.092,3.088,3.087,3.084,3.08,3.071,3.065,3.059,3.059,3.049,3.048,3.046,3.046,3.041,3.038,3.031,3.031,3.03,3.025,3.023,3.022,3.022,3.023,3.029,3.029,3.029,3.015,3.014,3.014,3.014,3.014,3.011,3.007,3.005,3.005,3.005,3.005,3.005,3.005,3.006,3.007,3.007,3.007,3.01,3.007,3.007,3.007,3.007,3.007,3.013,3.014,3.017,3.017,3.02,3.019,3.02,3.02,3.02,3.029,3.034,3.029,3.034,3.034,3.035,3.047,3.047,3.048,3.05,3.051,3.056,3.063,3.067,3.068,3.071,3.075,3.081,3.081,3.088,3.089,3.094,3.097,3.102,3.114,3.114,3.122,3.122,3.134,3.134,3.134,3.134,3.136,3.144,3.144,3.147,3.159,3.164,3.166,3.175,3.176,3.206,3.209,3.214,3.218,3.23,3.236,3.236,3.248,3.253,3.279,3.291,3.291,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.008727}
SEN {Time 23.47} {Type Tachometer} {Name LeftRight} {Vel -0.050800,0.048260}
SEN {Time 23.4707} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 3.0226} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 23.5635} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.182,0.186,0.186,0.186,0.192,0,0,0,0,0,0,0,0,0,3.681,3.665,3.652,3.646,3.633,3.627,3.627,3.627,3.593,3.592,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.224,3.219,3.215,3.215,3.215,3.219,3.379,0.007,0,0,0,0,0,0,0,0.152,0.15,0.146,0.15,0.15,0.153,0.153,0.153,0.153,0.153,0.153,0.161,0.007,0.006,3.043,3.043,3.043,3.043,3.061,3.061,3.061,0.168,0.168,0.168,0.165,0.153,0.151,0.148,0.143,0.139,0.103,0.069,0.06,0.06,0.06,0.06,0.06,0.061,0.062,0.062,0.062,0.061,0.06,0.059,0.059,0.059,0.064,0.087,0.166,3.344,3.354,3.354,3.354,3.372,3.374,3.378,3.382,3.382,3.408,3.418,3.425,3.448,3.46,3.474,3.479,3.479,3.485,3.491,3.5,3.512,3.512,3.513,3.516,3.532,3.532,3.539,3.542,3.542,3.544,3.554,3.554,3.555,3.555,3.569,3.574,3.577,3.581,3.585,3.595,3.599,3.599,3.603,3.615,3.616,3.629,3.63,3.648,3.652,3.652,3.654,3.66,3.663,3.671,3.674,3.689,3.692,3.693,3.707,3.713,3.72,3.724,3.734,3.748,3.754,3.767,3.775,3.781,3.793,3.803,3.806,3.817,3.831,3.831,3.846,3.856,3.864,3.886,3.892,3.892,3.906,3.913,3.922,3.949,3.966,3.981,3.986,3.986,4.011,4.037,4.055,4.06,4.085,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.026,3.986,3.953,3.927,3.896,3.876,3.844,3.814,3.781,3.76,3.719,3.703,3.671,3.64,3.621,3.601,3.571,3.557,3.535,3.501,3.492,3.466,3.434,3.418,3.405,3.388,3.365,3.348,3.325,3.306,3.291,3.274,3.255,3.23,3.218,3.215,3.183,3.161,3.151,3.144,3.122,3.109,3.093,3.08,3.07,3.05,3.037,3.029,3.008,2.994,2.985,2.979,2.963,2.943,2.941,2.926,2.915,2.902,2.887,2.878,2.862,2.857,2.849,2.832,2.814,2.811,2.806,2.794,2.778,2.764,2.763,2.755,2.745,2.734,2.715,2.714,2.711,2.708,2.7,2.683,2.676,2.664,2.659,2.652,2.652,2.638,2.628,2.624,2.622,2.619,2.607,2.601,2.592,2.591,2.58,2.568,2.565,2.56,2.552,2.552,2.55,2.538,2.532,2.528,2.527,2.516,2.508,2.506,2.499,2.497,2.49,2.485,2.48,2.479,2.479,2.478,2.473,2.467,2.46,2.459,2.457,2.456,2.449,2.445,2.443,2.445,2.443,2.438,2.435,2.435,2.435,2.431,2.426,2.426,2.426,2.423,2.423,2.421,2.42,2.416,2.414,2.414,2.414,2.414,2.412,1.013,1.013,1.013,1.018,1.018,1.018,1.01,1.01,1.01,2.407,2.413,2.414,2.414,2.416,2.417,2.417,2.417,2.419,2.417,2.419,2.417,2.419,2.419,2.419,2.425,2.427,2.427,2.431,2.433,2.436,2.44,2.447,2.448,2.448,2.451,2.454,2.455,2.461,2.464,2.471,2.471,2.477,2.477,2.478,2.49,2.493,2.494,2.496,2.502,2.509,2.509,2.521,2.522,2.523,2.534,2.536,2.538,2.546,2.552,2.556,2.559,2.573,2.576,2.576,2.592,2.601,2.605,2.607,2.622,2.625,2.63,2.645,2.646,2.648,2.661,2.662,2.663,2.676,2.697,2.701,2.705,2.717,2.723,2.725,2.734,2.756,2.763,2.766,2.776,2.788,2.798,2.814,2.825,2.835,2.847,2.854,2.859,2.874,2.886,2.902,2.903,2.916,2.931,2.939,2.949,2.977,2.991,2.995,3.008,3.019,3.029,3.044,3.069,3.07,3.092,3.101,3.116,3.126,3.146,3.169,3.182,3.185,3.204,3.229,3.258,3.273,3.28,3.3,3.319,3.33,3.347,3.366,3.377,3.399,3.433,3.451,3.478,3.489,3.521,3.54,3.572,3.59,3.596,3.619,3.657,3.689,3.714,3.723,3.758,3.798,3.833,3.861,3.892,3.91,3.949,3.979,4.024,4.051,4.092,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.318,3.304,3.297,3.28,3.276,3.257,3.254,3.245,3.236,3.231,3.22,3.217,3.214,3.202,3.19,3.183,3.183,3.172,3.162,3.159,3.157,3.15,3.138,3.134,3.126,3.121,3.115,3.11,3.109,3.109,3.103,3.084,3.082,3.079,3.078,3.074,3.064,3.064,3.061,3.058,3.05,3.049,3.042,3.035,3.035,3.029,3.029,3.029,3.029,3.029,3.028,3.019,3.019,3.019,3.024,3.024,3.024,3.016,3.011,3.008,3.008,3.008,3.008,3.004,3.004,3.002,3.003,3.003,3.003,3.001,3.003,2.998,2.998,2.997,2.997,2.997,2.997,3.004,3.004,3.004,3.004,3.004,3.006,3.006,3.011,3.014,3.014,3.02,3.02,3.021,3.021,3.029,3.029,3.036,3.036,3.036,3.041,3.041,3.044,3.052,3.061,3.061,3.066,3.067,3.068,3.071,3.08,3.08,3.084,3.095,3.096,3.096,3.1,3.1,3.103,3.121,3.124,3.124,3.126,3.126,3.127,3.136,3.138,3.15,3.15,3.152,3.154,3.157,3.172,3.175,3.194,3.205,3.211,3.215,3.22,3.221,3.226,3.234,3.243,3.252,3.257,3.257,3.268,3.27,3.27,3.296,3.307,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.090757}
SEN {Time 23.72} {Type Tachometer} {Name LeftRight} {Vel -0.058420,0.058420}
SEN {Time 23.7186} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.5908} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6388}
SEN {Time 23.7595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.205,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,3.083,3.072,3.069,3.068,3.06,0.153,0.15,0.142,0.149,0.142,0.149,0.146,0.149,0.15,0.15,0.15,0.15,0.15,0.007,3.019,3.016,3.016,3.016,3.019,3,3,0.161,0.159,0.151,0.153,0.153,0.153,0.153,0.153,0.145,0.135,0.124,0.121,0.067,0.056,0.056,0.056,0.056,0.058,0.058,0.061,0.061,0.061,0.061,0.061,0.061,0.063,0.067,0.092,0.186,3.366,3.376,3.376,3.376,3.376,3.382,3.382,3.427,0,0.007,3.474,3.474,3.486,3.486,3.487,3.515,3.517,3.525,3.53,3.543,3.545,3.561,3.564,3.569,3.579,3.586,3.594,3.596,3.601,3.61,3.618,3.62,3.624,3.635,3.637,3.65,3.651,3.656,3.665,3.668,3.673,3.681,3.686,3.697,3.71,3.718,3.734,3.736,3.739,3.748,3.753,3.762,3.765,3.767,3.773,3.797,3.799,3.811,3.817,3.828,3.828,3.846,3.861,3.867,3.889,3.9,3.9,3.919,3.923,3.928,3.955,3.965,3.987,3.989,3.998,4.022,4.033,4.039,4.059,4.067,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,4.085,4.023,3.976,3.923,3.921,3.888,3.851,3.824,3.787,3.756,3.74,3.709,3.692,3.672,3.633,3.618,3.586,3.575,3.541,3.526,3.502,3.474,3.447,3.417,3.413,3.387,3.376,3.352,3.335,3.306,3.294,3.275,3.26,3.252,3.22,3.217,3.192,3.172,3.159,3.148,3.137,3.12,3.104,3.1,3.076,3.06,3.047,3.029,3.029,3.002,2.996,2.981,2.971,2.959,2.947,2.934,2.918,2.909,2.905,2.884,2.872,2.865,2.86,2.842,2.83,2.826,2.806,2.797,2.79,2.783,2.782,2.765,2.751,2.744,2.734,2.728,2.713,2.708,2.691,2.685,2.673,2.661,2.661,2.657,2.654,2.645,2.635,2.625,2.611,2.606,2.604,2.602,2.592,2.591,2.582,2.572,2.57,2.566,2.559,2.551,2.551,2.543,2.542,2.536,2.53,2.523,2.519,2.515,2.505,2.501,2.494,2.493,2.492,2.489,2.484,2.474,2.474,2.472,2.47,2.463,2.46,2.455,2.454,2.447,2.447,2.447,2.441,2.438,2.436,2.433,2.433,2.429,2.429,2.429,2.427,2.426,2.419,2.419,2.418,2.416,2.419,2.42,2.416,2.416,1.014,1.011,1.011,1.011,1.01,1.008,1.009,1.009,1.009,2.408,2.408,2.408,2.408,2.41,2.407,2.411,2.413,2.411,2.411,2.413,2.418,2.413,2.418,2.424,2.426,2.428,2.432,2.433,2.434,2.435,2.439,2.44,2.443,2.446,2.447,2.447,2.447,2.456,2.457,2.462,2.462,2.466,2.471,2.474,2.474,2.481,2.483,2.487,2.492,2.498,2.505,2.51,2.511,2.513,2.516,2.527,2.529,2.538,2.539,2.545,2.549,2.561,2.568,2.568,2.572,2.585,2.586,2.595,2.596,2.602,2.618,2.622,2.626,2.633,2.645,2.646,2.656,2.661,2.664,2.684,2.701,2.702,2.706,2.712,2.715,2.739,2.746,2.746,2.767,2.767,2.775,2.782,2.799,2.805,2.818,2.828,2.839,2.862,2.862,2.865,2.88,2.895,2.902,2.922,2.934,2.939,2.956,2.977,2.981,2.99,3.008,3.018,3.028,3.048,3.058,3.071,3.076,3.094,3.119,3.135,3.151,3.162,3.176,3.188,3.208,3.23,3.239,3.262,3.274,3.296,3.315,3.331,3.347,3.37,3.386,3.401,3.431,3.452,3.48,3.497,3.522,3.551,3.571,3.583,3.6,3.634,3.657,3.67,3.722,3.736,3.761,3.789,3.822,3.858,3.883,3.916,3.944,3.984,4.002,4.039,4.078,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.305,3.298,3.296,3.276,3.269,3.264,3.245,3.245,3.235,3.226,3.218,3.211,3.209,3.196,3.192,3.174,3.168,3.162,3.161,3.157,3.147,3.138,3.134,3.13,3.126,3.122,3.119,3.106,3.099,3.098,3.096,3.088,3.077,3.076,3.068,3.063,3.063,3.053,3.048,3.046,3.044,3.042,3.042,3.031,3.03,3.029,3.028,3.021,3.018,3.021,3.018,3.018,3.012,3.012,3.012,3.015,3.015,3.015,3.003,3.003,3.002,3,3,3,3,2.995,2.999,2.999,2.998,2.995,2.995,2.995,2.998,3,3,3,3,2.998,2.993,2.993,2.999,2.995,2.996,2.999,3.003,3.005,3.008,3.009,3.014,3.014,3.017,3.017,3.018,3.018,3.019,3.026,3.032,3.035,3.037,3.04,3.044,3.045,3.056,3.058,3.06,3.065,3.066,3.067,3.078,3.078,3.078,3.079,3.095,3.097,3.102,3.102,3.108,3.113,3.113,3.118,3.126,3.126,3.134,3.141,3.146,3.146,3.15,3.16,3.165,3.165,3.17,3.191,3.2,3.207,3.213,3.215,3.222,3.228,3.24,3.245,3.247,3.249,3.26,3.265,3.27,3.27,3.271,3.283,3.815,3.831,3.838,3.86,3.866,3.877,3.892,3.913,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 23.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.162316}
SEN {Time 23.91} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 23.9125} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.7846} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 3.2512} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0828} {Name Sonar9 Range 0.9398} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6896}
SEN {Time 23.9595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.193,0.191,0.191,0.193,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,3.414,3.339,3.339,3.339,3.339,0.007,0,0,0,0,3.12,3.12,3.12,0.009,0.009,0.009,0.009,3.081,3.076,3.068,3.067,3.061,3.053,3.053,3.05,3.048,3.048,3.044,3.034,3.034,3.034,3.032,3.029,0.152,0.152,0.148,0.143,0.148,0.143,0.143,0.148,0.148,0.148,0.148,0.153,3,3,2.995,3,3,3.036,3.504,3.504,3.504,0.162,0.158,0.158,0.162,0.162,0.151,0.151,0.145,0.143,0.134,0.132,0.075,0.065,0.057,0.057,0.057,0.058,0.063,0.063,0.06,0.06,0.057,0.057,0.057,0.058,0.061,0.097,0.165,0.261,3.352,3.36,3.379,3.386,3.387,3.389,0.007,0,3.485,0,3.532,3.532,0.007,3.575,3.575,3.577,3.577,3.588,3.609,3.613,3.635,3.642,3.642,3.646,3.66,3.674,3.679,3.679,3.68,3.694,3.7,3.705,3.714,3.725,3.74,3.751,3.752,3.754,3.771,3.776,3.79,3.807,3.808,3.811,3.825,3.835,3.838,3.845,3.874,3.876,3.886,3.9,3.903,3.909,3.925,3.933,3.94,3.961,3.98,3.989,4.013,4.021,4.036,4.051,4.058,4.068,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,3.97,3.913,3.875,3.875,3.875,3.848,3.826,3.719,3.718,3.673,3.646,3.634,3.613,3.591,3.546,3.535,3.516,3.485,3.465,3.438,3.428,3.389,3.378,3.357,3.344,3.318,3.302,3.29,3.282,3.258,3.24,3.222,3.197,3.187,3.168,3.157,3.141,3.127,3.108,3.108,3.087,3.085,3.058,3.035,3.022,3.013,3.007,2.991,2.977,2.964,2.956,2.951,2.934,2.916,2.913,2.902,2.881,2.873,2.863,2.855,2.84,2.835,2.82,2.812,2.799,2.788,2.781,2.774,2.762,2.741,2.73,2.728,2.724,2.723,2.704,2.69,2.689,2.677,2.666,2.66,2.648,2.647,2.638,2.634,2.625,2.619,2.61,2.604,2.59,2.583,2.58,2.577,2.565,2.562,2.561,2.551,2.549,2.537,2.533,2.533,2.52,2.52,2.52,2.52,2.502,2.499,2.491,2.491,2.49,2.486,2.483,2.482,2.479,2.476,2.47,2.47,2.461,2.458,2.453,2.451,2.45,2.45,2.445,2.444,2.437,2.437,2.434,2.432,2.43,2.426,2.426,2.418,2.418,2.418,2.418,2.417,2.417,2.41,2.409,1.01,1.01,1.01,1.01,1.013,1.013,1.009,1.009,1.013,2.405,2.408,2.408,2.405,2.407,2.401,2.401,2.407,2.407,2.408,2.408,2.411,2.412,2.413,2.414,2.417,2.425,2.425,2.423,2.423,2.423,2.423,2.423,2.433,2.437,2.439,2.441,2.443,2.446,2.446,2.448,2.457,2.457,2.459,2.463,2.468,2.472,2.476,2.478,2.481,2.489,2.491,2.495,2.495,2.496,2.506,2.511,2.517,2.518,2.528,2.536,2.542,2.552,2.555,2.555,2.568,2.575,2.577,2.583,2.586,2.595,2.602,2.611,2.613,2.621,2.627,2.637,2.641,2.648,2.659,2.672,2.679,2.686,2.687,2.688,2.708,2.712,2.728,2.731,2.739,2.753,2.768,2.769,2.782,2.806,2.809,2.813,2.827,2.847,2.852,2.855,2.865,2.885,2.89,2.894,2.913,2.924,2.938,2.951,2.956,2.986,2.993,3.015,3.015,3.028,3.052,3.057,3.068,3.077,3.106,3.116,3.132,3.134,3.166,3.185,3.188,3.212,3.228,3.242,3.268,3.271,3.299,3.31,3.328,3.35,3.373,3.394,3.408,3.424,3.448,3.477,3.49,3.512,3.542,3.562,3.584,3.605,3.632,3.661,3.677,3.711,3.732,3.768,3.8,3.825,3.856,3.891,3.913,3.952,3.991,4.011,4.048,4.073,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.269,3.261,3.259,3.259,3.25,3.243,3.228,3.202,3.197,3.195,3.185,3.182,3.176,3.16,3.155,3.154,3.146,3.132,3.123,3.122,3.112,3.109,3.108,3.099,3.099,3.085,3.081,3.076,3.075,3.07,3.059,3.057,3.056,3.047,3.043,3.033,3.03,3.029,3.027,3.027,3.026,3.023,3.012,3.008,3.002,2.999,2.998,2.997,2.996,2.996,2.996,3.005,3.005,3.005,2.993,2.993,2.99,2.99,2.988,2.982,2.981,2.981,2.981,2.983,2.986,2.986,2.986,2.982,2.982,2.982,2.982,2.981,2.984,2.984,2.984,2.984,2.984,2.985,2.988,2.988,2.992,2.992,2.992,2.993,2.996,2.999,3.001,3.002,3.002,3.006,3.008,3.015,3.016,3.016,3.023,3.029,3.032,3.033,3.039,3.042,3.048,3.053,3.054,3.06,3.062,3.068,3.072,3.073,3.074,3.087,3.095,3.097,3.099,3.106,3.106,3.113,3.114,3.114,3.122,3.127,3.132,3.138,3.14,3.148,3.149,3.165,3.166,3.175,3.175,3.177,3.193,3.198,3.199,3.214,3.214,3.22,3.23,3.244,3.253,3.254,3.265,3.275,3.286,3.391,3.798,3.815,3.824,3.832,3.834,3.861,3.866,3.887,3.909,3.913,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.12} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.258309}
SEN {Time 24.12} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 24.1155} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.429} {Name Sonar3 Range 3.2258} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0828} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 4.0132} {Name Sonar15 Range 5.6896}
SEN {Time 24.1595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.19,0,0,0,0,0.009,0.009,0.009,0,0,0,0,3.134,3.124,3.12,3.12,3.119,3.108,3.104,3.092,3.08,3.08,3.074,3.069,3.061,3.06,3.058,3.058,3.053,3.05,3.048,3.043,3.036,3.035,3.03,3.03,3.03,3.03,3.03,3.03,3.029,3.021,3.016,3.016,3.016,3.015,3.015,3.015,3.015,3.017,3.017,3.017,0.151,0.147,0.143,0.143,0.145,0.145,0.145,0.145,0.145,0.151,0.161,0.186,3.539,3.527,3.538,3.538,3.529,3.529,3.529,3.396,0.156,0.156,0.153,0.152,0.152,0.152,0.146,0.146,0.144,0.133,0.12,0.091,0.065,0.056,0.056,0.062,0.062,0.062,0.062,0.059,0.059,0.058,0.056,0.056,0.058,0.058,0.074,0.165,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.696,3.696,3.696,3.72,3.749,3.751,3.761,3.761,3.766,3.787,3.808,3.811,3.813,3.833,3.841,3.842,3.865,3.872,3.893,3.906,3.917,3.917,3.937,3.938,3.945,3.973,3.982,3.989,4.013,4.022,4.044,4.06,4.061,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,4.069,4.04,4.016,3.966,3.944,3.904,3.875,3.832,3.809,3.77,3.753,3.733,3.699,3.684,3.665,3.617,3.6,3.589,3.561,3.533,3.506,3.497,3.475,3.444,3.425,3.389,3.379,3.363,3.336,3.319,3.294,3.289,3.268,3.258,3.221,3.22,3.19,3.175,3.171,3.158,3.139,3.123,3.109,3.094,3.079,3.073,3.058,3.043,3.039,3.015,2.996,2.991,2.98,2.976,2.949,2.948,2.93,2.917,2.909,2.894,2.882,2.878,2.863,2.845,2.841,2.837,2.82,2.812,2.8,2.797,2.791,2.778,2.769,2.749,2.745,2.738,2.724,2.72,2.703,2.7,2.692,2.689,2.677,2.669,2.66,2.652,2.649,2.63,2.628,2.619,2.617,2.605,2.597,2.593,2.592,2.584,2.577,2.572,2.559,2.558,2.551,2.549,2.54,2.539,2.527,2.524,2.513,2.506,2.503,2.499,2.499,2.493,2.493,2.489,2.482,2.479,2.479,2.468,2.467,2.466,2.46,2.454,2.46,2.454,2.444,2.441,2.442,2.441,2.439,2.436,2.436,2.436,2.435,2.426,2.426,2.425,2.423,2.423,2.419,2.419,2.416,2.408,1.011,1.011,1.011,1.018,1.018,1.018,1.018,1.018,2.408,2.408,2.408,2.408,2.407,2.406,2.406,2.405,2.405,2.406,2.409,2.412,2.412,2.412,2.412,2.413,2.414,2.418,2.421,2.423,2.423,2.423,2.427,2.427,2.432,2.438,2.439,2.441,2.442,2.445,2.448,2.449,2.449,2.45,2.457,2.461,2.466,2.466,2.476,2.479,2.481,2.482,2.491,2.492,2.496,2.499,2.51,2.51,2.514,2.515,2.525,2.531,2.533,2.538,2.541,2.547,2.548,2.556,2.565,2.573,2.577,2.584,2.594,2.605,2.61,2.617,2.627,2.629,2.631,2.643,2.65,2.669,2.669,2.675,2.686,2.688,2.694,2.704,2.717,2.726,2.729,2.735,2.755,2.764,2.77,2.781,2.805,2.807,2.82,2.825,2.841,2.841,2.848,2.866,2.875,2.893,2.898,2.911,2.925,2.942,2.946,2.953,2.984,2.995,3.002,3.005,3.023,3.048,3.067,3.074,3.092,3.103,3.11,3.118,3.132,3.163,3.167,3.187,3.202,3.216,3.24,3.255,3.274,3.293,3.311,3.333,3.342,3.373,3.389,3.404,3.412,3.452,3.468,3.488,3.513,3.533,3.568,3.58,3.601,3.625,3.66,3.678,3.708,3.731,3.754,3.786,3.799,3.841,3.872,3.906,3.931,3.961,4.002,4.041,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.274,3.263,3.255,3.249,3.237,3.23,3.221,3.213,3.205,3.189,3.187,3.177,3.173,3.156,3.149,3.148,3.141,3.136,3.129,3.124,3.113,3.11,3.102,3.1,3.098,3.084,3.083,3.082,3.073,3.062,3.057,3.055,3.05,3.046,3.037,3.037,3.035,3.031,3.024,3.021,3.02,3.007,3.005,3.002,3.002,2.996,2.994,2.993,2.992,2.988,2.988,2.991,2.991,2.993,2.993,2.993,2.987,2.981,2.978,2.977,2.978,2.977,2.977,2.977,2.971,2.971,2.971,2.978,2.971,2.971,2.98,2.971,2.968,2.971,2.969,2.969,2.971,2.971,2.971,2.978,2.976,2.976,2.976,2.983,2.983,2.984,2.984,2.995,2.997,2.998,2.998,2.999,2.998,3,3.003,3.008,3.016,3.018,3.022,3.025,3.028,3.03,3.037,3.039,3.045,3.048,3.054,3.057,3.057,3.065,3.068,3.074,3.076,3.083,3.099,3.099,3.101,3.103,3.107,3.108,3.121,3.122,3.122,3.124,3.126,3.126,3.14,3.155,3.163,3.163,3.163,3.176,3.182,3.19,3.192,3.195,3.21,3.214,3.215,3.239,3.24,3.246,3.252,3.263,3.27,3.288,3.787,3.804,3.824,3.831,3.841,3.844,3.86,3.877,3.886,3.908,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.345575}
SEN {Time 24.32} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 24.3184} {Type Sonar} {Name Sonar0 Range 0.9144} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 2.0828} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 1.651} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 5.6896}
SEN {Time 24.3595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.181,0.182,0,0,0,0,3.104,3.095,3.092,3.091,3.091,3.09,3.082,3.081,3.075,3.072,3.065,3.061,3.057,3.057,3.053,3.047,3.045,3.038,3.035,3.035,3.031,3.03,3.029,3.028,3.027,3.027,3.025,3.02,3.02,3.021,3.02,3.021,3.024,3.073,3.526,3.547,3.552,3.554,3.554,3.554,3.557,3.557,3.546,3.546,3.529,3.346,0.153,0.153,0.153,0.144,0.144,0.144,0.144,0.149,0.149,0.149,0.151,0.158,0.178,3.534,3.534,3.552,3.554,3.563,0,0,0,0.159,0.158,0.158,0.157,0.153,0.148,0.148,0.144,0.141,0.138,0.114,0.079,0.062,0.06,0.059,0.059,0.06,0.06,0.06,0.06,0.058,0.058,0.058,0.058,0.062,0.063,0.095,0.182,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.92,3.915,3.92,3.92,3.946,3.958,3.976,3.985,4.004,4.011,4.02,4.059,4.062,4.072,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.033,4.033,4.029,3.984,3.911,3.891,3.858,3.821,3.792,3.758,3.739,3.712,3.683,3.653,3.628,3.625,3.6,3.562,3.552,3.511,3.486,3.463,3.437,3.43,3.413,3.374,3.354,3.346,3.319,3.313,3.285,3.273,3.261,3.241,3.22,3.201,3.175,3.169,3.153,3.142,3.131,3.109,3.092,3.079,3.071,3.061,3.042,3.026,3.023,2.997,2.986,2.977,2.975,2.945,2.94,2.927,2.914,2.912,2.893,2.883,2.866,2.863,2.858,2.841,2.832,2.822,2.817,2.799,2.798,2.783,2.765,2.764,2.755,2.747,2.736,2.733,2.711,2.709,2.7,2.689,2.686,2.682,2.667,2.666,2.658,2.651,2.643,2.639,2.634,2.627,2.616,2.605,2.601,2.595,2.581,2.579,2.575,2.569,2.567,2.552,2.549,2.54,2.54,2.53,2.525,2.522,2.515,2.514,2.51,2.5,2.499,2.491,2.485,2.475,2.475,2.475,2.47,2.466,2.463,2.458,2.456,2.456,2.456,2.448,2.447,2.445,2.442,2.442,2.441,2.434,2.433,2.43,2.43,2.426,2.423,2.423,2.426,2.423,2.423,1.012,1.01,1.01,1.012,1.013,1.015,1.015,1.015,1.024,2.402,2.408,2.408,2.408,2.409,2.409,2.409,2.409,2.409,2.408,2.408,2.408,2.41,2.41,2.411,2.41,2.41,2.418,2.418,2.418,2.424,2.426,2.428,2.428,2.433,2.433,2.437,2.437,2.441,2.441,2.441,2.442,2.445,2.453,2.456,2.457,2.459,2.467,2.47,2.471,2.476,2.479,2.488,2.489,2.49,2.493,2.5,2.511,2.513,2.515,2.517,2.517,2.527,2.539,2.54,2.545,2.549,2.551,2.556,2.569,2.571,2.579,2.586,2.595,2.598,2.605,2.608,2.623,2.625,2.639,2.645,2.645,2.66,2.661,2.668,2.685,2.69,2.697,2.7,2.722,2.725,2.736,2.751,2.753,2.763,2.772,2.784,2.794,2.801,2.802,2.816,2.836,2.841,2.851,2.858,2.879,2.881,2.892,2.911,2.927,2.936,2.952,2.955,2.987,2.989,3.004,3.005,3.02,3.035,3.047,3.061,3.082,3.095,3.105,3.114,3.145,3.149,3.165,3.186,3.187,3.213,3.229,3.247,3.269,3.295,3.324,3.325,3.338,3.354,3.38,3.398,3.421,3.436,3.472,3.485,3.504,3.537,3.543,3.588,3.594,3.63,3.644,3.686,3.697,3.731,3.762,3.784,3.817,3.84,3.884,3.927,3.972,3.972,3.989,4.027,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.352,3.32,3.32,3.32,0.009,0.009,0.009,3.266,3.243,3.239,3.234,3.225,3.215,3.209,3.197,3.196,3.189,3.18,3.168,3.161,3.147,3.14,3.135,3.122,3.114,3.108,3.107,3.106,3.106,3.103,3.088,3.078,3.077,3.074,3.07,3.058,3.058,3.056,3.05,3.041,3.032,3.031,3.029,3.026,3.021,3.016,3.007,3.007,3.005,3.003,2.994,2.987,2.987,2.986,2.987,2.986,2.975,2.971,2.971,2.971,2.974,2.974,2.974,2.964,2.963,2.963,2.963,2.963,2.963,2.961,2.959,2.959,2.957,2.959,2.962,2.962,2.957,2.962,2.96,2.954,2.96,2.96,2.959,2.959,2.962,2.959,2.964,2.966,2.964,2.967,2.972,2.972,2.972,2.972,2.978,2.98,2.98,2.981,2.984,2.989,2.99,2.99,2.993,2.995,3.003,3.005,3.01,3.011,3.016,3.023,3.028,3.028,3.029,3.035,3.043,3.043,3.043,3.054,3.061,3.061,3.065,3.083,3.083,3.083,3.083,3.083,3.083,3.094,3.098,3.1,3.102,3.112,3.12,3.12,3.127,3.141,3.142,3.154,3.157,3.161,3.163,3.188,3.192,3.192,3.194,3.206,3.219,3.228,3.236,3.238,3.253,3.253,3.271,3.786,3.786,3.8,3.812,3.816,3.831,3.835,3.85,3.876,3.893,3.895,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.429351}
SEN {Time 24.51} {Type Tachometer} {Name LeftRight} {Vel -0.073660,0.073660}
SEN {Time 24.5124} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 6.1214} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.8956} {Name Sonar5 Range 3.7084} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 0.9398} {Name Sonar9 Range 0.3048} {Name Sonar10 Range 1.651} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 3.9624} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9398}
SEN {Time 24.5555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.174,0.174,0.187,0,0,0,3.069,3.062,3.048,3.048,3.048,3.05,3.054,3.054,3.05,3.05,3.041,3.035,3.031,3.031,3.029,3.029,3.029,3.027,3.027,3.032,3.034,3.552,3.554,3.559,3.56,3.559,3.56,3.559,3.564,3.563,3.564,3.563,3.564,3.563,3.562,3.561,3.562,3.561,3.561,3.561,3.561,3.56,3.56,3.557,3.553,3.553,3.553,3.345,0.144,0.144,0.139,0.139,0.149,0.149,0.149,0.151,0.151,0.153,0.157,0.198,3.55,3.55,3.607,3.611,0,0,0,0,0.161,0.155,0.146,0.146,0.149,0.144,0.144,0.142,0.139,0.138,0.136,0.067,0.066,0.06,0.06,0.06,0.058,0.06,0.06,0.061,0.062,0.062,0.06,0.063,0.063,0.063,0.09,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0.007,0.016,0.016,4.031,4,3.941,3.911,3.875,3.849,3.849,3.83,3.784,3.729,3.729,3.708,3.69,3.649,3.608,3.587,3.569,3.546,3.52,3.487,3.487,3.453,3.417,3.409,3.38,3.363,3.35,3.325,3.31,3.308,3.276,3.264,3.242,3.211,3.194,3.182,3.163,3.154,3.143,3.117,3.111,3.091,3.087,3.061,3.051,3.047,3.027,3.016,3.005,2.989,2.989,2.986,2.963,2.947,2.921,2.914,2.903,2.902,2.88,2.869,2.864,2.856,2.844,2.828,2.821,2.814,2.798,2.797,2.78,2.773,2.756,2.754,2.74,2.737,2.732,2.714,2.713,2.692,2.687,2.684,2.671,2.669,2.665,2.66,2.652,2.637,2.629,2.629,2.619,2.604,2.603,2.601,2.601,2.584,2.582,2.577,2.572,2.569,2.566,2.556,2.555,2.546,2.544,2.54,2.524,2.515,2.511,2.511,2.509,2.501,2.5,2.498,2.491,2.488,2.486,2.48,2.477,2.474,2.474,2.466,2.457,2.455,2.455,2.455,2.448,2.447,2.445,2.439,2.437,2.435,2.427,2.424,2.423,2.423,2.423,2.423,2.423,1.016,1.016,1.016,1.018,1.018,1.018,1.019,1.019,2.407,2.408,2.414,2.408,2.408,2.41,2.406,2.406,2.409,2.41,2.411,2.415,2.415,2.415,2.415,2.414,2.414,2.414,2.418,2.421,2.425,2.431,2.431,2.431,2.43,2.43,2.43,2.431,2.432,2.439,2.44,2.445,2.445,2.448,2.448,2.452,2.455,2.457,2.462,2.475,2.478,2.478,2.478,2.482,2.485,2.488,2.488,2.496,2.504,2.508,2.512,2.519,2.524,2.525,2.533,2.535,2.541,2.541,2.555,2.563,2.565,2.567,2.572,2.583,2.586,2.586,2.599,2.604,2.607,2.621,2.633,2.635,2.64,2.643,2.653,2.676,2.679,2.679,2.688,2.706,2.714,2.715,2.733,2.738,2.749,2.768,2.769,2.773,2.787,2.788,2.804,2.816,2.834,2.84,2.848,2.862,2.863,2.89,2.893,2.902,2.92,2.928,2.947,2.95,2.972,2.979,2.997,2.998,3.015,3.035,3.036,3.062,3.067,3.076,3.102,3.119,3.123,3.141,3.162,3.179,3.188,3.217,3.221,3.234,3.256,3.268,3.289,3.31,3.321,3.354,3.369,3.392,3.399,3.428,3.451,3.457,3.482,3.506,3.54,3.562,3.58,3.607,3.614,3.647,3.682,3.706,3.73,3.755,3.79,3.82,3.845,3.874,3.918,3.943,3.993,4.005,4.055,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.329,3.316,3.316,3.316,0.009,0.009,0.009,3.253,3.245,3.227,3.224,3.219,3.202,3.201,3.192,3.192,3.182,3.17,3.155,3.144,3.143,3.135,3.126,3.119,3.11,3.11,3.098,3.097,3.089,3.075,3.073,3.067,3.065,3.059,3.047,3.046,3.038,3.031,3.031,3.024,3.024,3.023,3.019,3.014,3.007,3.006,3.002,3.001,3.001,2.99,2.989,2.987,2.987,2.979,2.977,2.977,2.972,2.977,2.977,2.977,2.977,2.977,2.964,2.96,2.956,2.958,2.958,2.955,2.955,2.951,2.949,2.946,2.946,2.949,2.949,2.944,2.945,2.944,2.944,2.945,2.948,2.948,2.954,2.948,2.954,2.957,2.957,2.956,2.957,2.957,2.958,2.961,2.961,2.961,2.964,2.966,2.974,2.976,2.977,2.981,2.981,2.984,2.986,2.996,2.996,3.001,3.003,3.004,3.011,3.011,3.017,3.018,3.024,3.025,3.033,3.038,3.041,3.048,3.054,3.055,3.06,3.067,3.077,3.078,3.078,3.078,3.083,3.083,3.083,3.097,3.103,3.113,3.115,3.12,3.121,3.13,3.133,3.145,3.154,3.159,3.163,3.164,3.171,3.179,3.2,3.209,3.216,3.216,3.23,3.233,3.238,3.246,3.265,3.758,3.774,3.787,3.805,3.811,3.826,3.835,3.847,3.855,3.872,3.897,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.72} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.521853}
SEN {Time 24.72} {Type Tachometer} {Name LeftRight} {Vel -0.078740,0.078740}
SEN {Time 24.7155} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.8956} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 0.9398} {Name Sonar9 Range 3.3528} {Name Sonar10 Range 1.651} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 0.9398}
SEN {Time 24.7554} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.185,0.185,0.187,0,0,0,0,0,3.046,3.046,3.046,3.046,3.046,3.568,3.578,3.578,3.578,3.578,3.578,3.576,3.576,3.566,3.576,3.576,3.574,3.569,3.574,3.569,3.569,3.566,3.566,3.566,3.574,3.574,3.575,3.575,3.582,3.585,3.585,3.585,3.585,3.585,3.591,3.594,3.605,3.607,3.607,3.609,3.61,3.607,3.607,3.61,3.591,3.379,0.152,0.143,0.143,0.143,0.144,0.144,0.145,0.144,0.146,0.153,0.153,0.155,0.212,3.68,3.69,3.696,3.696,0,0,0,0.159,0.155,0.155,0.153,0.153,0.146,0.146,0.143,0.138,0.135,0.125,0.064,0.056,0.053,0.053,0.055,0.056,0.056,0.059,0.059,0.059,0.058,0.059,0.059,0.059,0.063,0.083,0.176,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.797,3.777,3.721,3.701,3.66,3.648,3.623,3.606,3.569,3.562,3.532,3.512,3.492,3.457,3.434,3.432,3.393,3.383,3.359,3.342,3.333,3.311,3.278,3.261,3.252,3.223,3.215,3.2,3.18,3.163,3.151,3.138,3.12,3.103,3.092,3.078,3.061,3.046,3.043,3.023,2.996,2.991,2.977,2.967,2.962,2.946,2.938,2.918,2.91,2.905,2.888,2.884,2.868,2.852,2.851,2.832,2.828,2.813,2.804,2.799,2.783,2.783,2.768,2.758,2.751,2.741,2.739,2.719,2.716,2.71,2.695,2.691,2.68,2.678,2.67,2.657,2.656,2.656,2.647,2.631,2.63,2.626,2.619,2.608,2.6,2.581,2.579,2.572,2.57,2.569,2.558,2.557,2.555,2.548,2.545,2.536,2.529,2.525,2.517,2.516,2.506,2.506,2.504,2.504,2.503,2.493,2.493,2.489,2.487,2.483,2.481,2.475,2.472,2.466,2.463,2.46,2.457,2.447,2.447,2.447,2.444,2.442,2.44,2.436,2.436,2.436,2.429,1.024,1.022,1.018,1.017,1.018,1.018,1.018,1.018,1.019,2.417,2.417,2.417,2.417,2.415,2.414,2.415,2.414,2.414,2.414,2.414,2.414,2.419,2.419,2.42,2.421,2.42,2.42,2.421,2.421,2.421,2.423,2.425,2.426,2.426,2.435,2.436,2.436,2.436,2.444,2.444,2.449,2.449,2.451,2.451,2.456,2.456,2.457,2.467,2.472,2.474,2.477,2.481,2.481,2.482,2.484,2.493,2.503,2.504,2.511,2.513,2.513,2.513,2.519,2.535,2.537,2.537,2.549,2.556,2.561,2.562,2.563,2.567,2.579,2.587,2.594,2.595,2.605,2.616,2.616,2.617,2.628,2.638,2.64,2.657,2.659,2.669,2.669,2.679,2.686,2.702,2.708,2.72,2.731,2.737,2.745,2.759,2.771,2.776,2.777,2.793,2.807,2.815,2.822,2.838,2.857,2.858,2.869,2.874,2.898,2.908,2.918,2.931,2.951,2.96,2.969,2.971,2.997,3.001,3.025,3.032,3.051,3.064,3.081,3.112,3.123,3.14,3.14,3.154,3.166,3.179,3.183,3.213,3.227,3.243,3.269,3.275,3.295,3.308,3.329,3.356,3.373,3.38,3.415,3.427,3.449,3.463,3.485,3.501,3.544,3.552,3.576,3.599,3.639,3.644,3.671,3.704,3.73,3.751,3.798,3.819,3.84,3.861,3.898,3.928,3.976,4.007,4.062,4.071,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.241,3.231,3.215,3.202,3.201,3.199,3.187,3.179,3.177,3.163,3.163,3.142,3.139,3.129,3.123,3.117,3.112,3.107,3.103,3.093,3.092,3.083,3.073,3.067,3.064,3.06,3.059,3.039,3.032,3.031,3.028,3.024,3.02,3.019,3.016,3.015,3.007,3.006,2.996,2.992,2.988,2.986,2.977,2.975,2.974,2.964,2.964,2.963,2.963,2.963,2.963,2.963,2.963,2.963,2.963,2.959,2.953,2.948,2.948,2.945,2.945,2.945,2.946,2.946,2.948,2.948,2.947,2.947,2.944,2.941,2.944,2.938,2.937,2.936,2.936,2.936,2.936,2.94,2.942,2.941,2.942,2.942,2.954,2.954,2.954,2.953,2.953,2.953,2.957,2.958,2.962,2.962,2.963,2.971,2.979,2.98,2.983,2.987,2.99,2.993,2.996,2.999,3.007,3.009,3.009,3.02,3.022,3.027,3.029,3.034,3.04,3.046,3.046,3.054,3.062,3.062,3.062,3.065,3.065,3.067,3.074,3.084,3.09,3.094,3.095,3.103,3.105,3.105,3.112,3.127,3.138,3.138,3.147,3.148,3.153,3.156,3.17,3.178,3.185,3.201,3.205,3.217,3.218,3.232,3.232,3.245,3.764,3.764,3.775,3.784,3.805,3.818,3.82,3.832,3.84,3.859,3.872,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 24.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.612611}
SEN {Time 24.91} {Type Tachometer} {Name LeftRight} {Vel -0.078740,0.078740}
SEN {Time 24.9094} {Type Sonar} {Name Sonar0 Range 2.3622} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.8956} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 2.54} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 0.9398} {Name Sonar9 Range 3.3528} {Name Sonar10 Range 1.8034} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 0.9398}
SEN {Time 24.9555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.175,0.185,0.185,0.185,0.199,0,0,0,0,0,3.585,3.585,3.584,3.584,3.584,3.584,3.583,3.583,3.584,3.584,3.584,3.585,3.591,3.59,3.593,3.593,3.6,3.6,3.604,3.604,3.607,3.608,3.609,3.611,3.619,3.625,3.626,3.631,3.636,3.638,3.641,3.643,3.646,3.649,3.659,3.662,3.681,3.682,3.682,3.694,3.698,3.698,3.698,3.698,3.699,3.666,3.377,0.149,0.147,0.146,0.143,0.143,0.146,0.143,0.143,0.149,0.15,0.152,0.221,0,0,0,0,0,0,0,0.165,0.16,0.16,0.165,0.165,0.15,0.15,0.147,0.147,0.143,0.14,0.072,0.07,0.056,0.056,0.056,0.058,0.06,0.06,0.064,0.064,0.06,0.056,0.056,0.056,0.064,0.072,0.143,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0.009,0.007,3.529,3.476,3.443,3.424,3.422,3.403,3.378,3.344,3.338,3.318,3.303,3.264,3.263,3.262,3.246,3.206,3.198,3.181,3.168,3.16,3.132,3.122,3.106,3.101,3.084,3.064,3.055,3.046,3.022,3.012,2.998,2.987,2.979,2.959,2.954,2.934,2.93,2.918,2.905,2.893,2.891,2.868,2.862,2.851,2.832,2.828,2.816,2.798,2.794,2.785,2.773,2.772,2.767,2.76,2.74,2.739,2.729,2.721,2.71,2.705,2.695,2.69,2.677,2.671,2.668,2.651,2.642,2.64,2.638,2.629,2.621,2.619,2.601,2.598,2.594,2.584,2.579,2.578,2.574,2.561,2.557,2.554,2.551,2.54,2.539,2.539,2.531,2.528,2.528,2.519,2.507,2.506,2.503,2.503,2.496,2.495,2.493,2.493,2.486,2.481,2.477,2.468,2.467,2.462,2.461,2.46,2.461,2.459,2.459,2.458,2.447,2.446,2.446,2.44,2.434,1.035,1.035,1.035,1.035,1.035,1.034,1.034,1.034,2.42,2.43,2.43,2.429,2.426,2.426,2.419,2.419,2.419,2.42,2.424,2.425,2.424,2.425,2.424,2.426,2.423,2.426,2.427,2.429,2.427,2.436,2.436,2.428,2.428,2.435,2.435,2.441,2.442,2.446,2.45,2.446,2.452,2.452,2.455,2.455,2.456,2.456,2.461,2.47,2.471,2.479,2.483,2.484,2.486,2.487,2.499,2.5,2.501,2.506,2.506,2.509,2.512,2.528,2.528,2.532,2.533,2.547,2.55,2.557,2.558,2.565,2.566,2.578,2.579,2.586,2.586,2.6,2.605,2.609,2.61,2.626,2.628,2.644,2.651,2.654,2.657,2.672,2.676,2.678,2.691,2.695,2.7,2.717,2.73,2.734,2.749,2.755,2.767,2.769,2.781,2.789,2.813,2.817,2.82,2.829,2.856,2.856,2.867,2.879,2.889,2.899,2.914,2.928,2.939,2.949,2.955,2.964,2.988,2.99,3.011,3.024,3.036,3.051,3.073,3.076,3.094,3.104,3.137,3.141,3.159,3.179,3.197,3.199,3.223,3.242,3.25,3.265,3.295,3.314,3.321,3.337,3.375,3.379,3.405,3.421,3.425,3.457,3.487,3.507,3.519,3.539,3.567,3.587,3.605,3.633,3.663,3.687,3.719,3.731,3.776,3.798,3.834,3.857,3.873,3.918,3.945,3.971,4.017,4.041,4.082,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,4.04,4.04,4.04,4.023,3.984,3.931,3.325,3.307,3.284,3.284,3.284,0.009,0.009,0.009,3.223,3.222,3.212,3.202,3.188,3.187,3.187,3.17,3.169,3.164,3.151,3.141,3.129,3.115,3.115,3.109,3.103,3.1,3.097,3.085,3.08,3.072,3.066,3.061,3.051,3.044,3.044,3.038,3.034,3.021,3.02,3.016,3.015,3.01,3.004,3.003,2.993,2.989,2.986,2.986,2.983,2.972,2.971,2.967,2.967,2.962,2.961,2.959,2.955,2.955,2.955,2.955,2.954,2.954,2.954,2.94,2.939,2.939,2.938,2.932,2.932,2.93,2.93,2.93,2.932,2.932,2.932,2.93,2.93,2.93,2.93,2.931,2.931,2.931,2.933,2.933,2.935,2.935,2.935,2.938,2.938,2.939,2.939,2.939,2.945,2.945,2.945,2.945,2.949,2.957,2.958,2.959,2.959,2.958,2.959,2.966,2.972,2.974,2.983,2.983,2.983,2.984,2.988,3.004,3.005,3.006,3.009,3.013,3.018,3.027,3.027,3.034,3.035,3.038,3.051,3.051,3.053,3.053,3.058,3.058,3.07,3.074,3.077,3.079,3.091,3.101,3.101,3.102,3.107,3.114,3.114,3.122,3.124,3.136,3.138,3.151,3.161,3.165,3.182,3.189,3.193,3.199,3.202,3.213,3.213,3.22,3.239,3.745,3.766,3.767,3.777,3.799,3.809,3.823,3.831,3.857,3.863,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.705113}
SEN {Time 25.11} {Type Tachometer} {Name LeftRight} {Vel -0.078740,0.078740}
SEN {Time 25.1124} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.9398} {Name Sonar9 Range 3.3528} {Name Sonar10 Range 1.8034} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 2.3368}
SEN {Time 25.154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.179,0.188,0.188,0.188,0.192,0,0,0,0,0,3.621,3.617,3.617,3.617,3.617,3.617,3.626,3.627,3.627,3.627,3.629,3.636,3.646,3.646,3.652,3.654,3.654,3.655,3.665,3.666,3.669,3.671,3.684,3.686,3.695,3.699,3.715,3.716,3.716,3.716,3.732,3.74,3.745,3.745,3.75,3.758,3.779,3.784,3.785,3.787,3.795,3.795,3.795,3.795,3.754,0.147,0.145,0.143,0.143,0.143,0.144,0.144,0.151,0.151,0.151,0.153,0.157,0.158,0.239,0,0,0,0,0,0,0,0.158,0.153,0.153,0.153,0.153,0.153,0.146,0.145,0.138,0.138,0.097,0.074,0.062,0.058,0.058,0.056,0.056,0.058,0.054,0.054,0.055,0.055,0.055,0.057,0.059,0.063,0.085,0.151,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,3.347,3.347,3.287,3.276,3.261,3.245,3.211,3.209,3.195,3.171,3.17,3.154,3.126,3.112,3.1,3.083,3.077,3.061,3.047,3.036,3.022,3.01,3.006,2.994,2.978,2.975,2.95,2.943,2.932,2.927,2.914,2.904,2.878,2.878,2.87,2.855,2.849,2.829,2.826,2.807,2.8,2.793,2.786,2.768,2.766,2.759,2.752,2.734,2.732,2.715,2.712,2.71,2.688,2.688,2.678,2.672,2.663,2.653,2.647,2.641,2.635,2.628,2.625,2.617,2.613,2.604,2.601,2.6,2.579,2.578,2.575,2.56,2.557,2.552,2.551,2.542,2.538,2.533,2.529,2.528,2.517,2.517,2.516,2.509,2.505,2.498,2.498,2.497,2.493,2.493,2.493,2.486,2.48,2.478,2.468,2.467,2.465,2.464,2.462,2.462,2.454,2.454,2.458,2.454,2.454,1.044,1.043,1.034,1.038,1.034,1.034,1.034,1.038,1.038,2.431,2.435,2.435,2.435,2.436,2.436,2.436,2.434,2.434,2.433,2.433,2.433,2.433,2.433,2.433,2.433,2.433,2.434,2.434,2.44,2.435,2.438,2.435,2.438,2.438,2.445,2.445,2.446,2.447,2.447,2.448,2.45,2.453,2.459,2.459,2.459,2.459,2.468,2.471,2.471,2.471,2.48,2.48,2.482,2.487,2.49,2.501,2.502,2.504,2.509,2.515,2.517,2.522,2.525,2.532,2.54,2.544,2.55,2.551,2.554,2.559,2.56,2.56,2.584,2.59,2.597,2.597,2.597,2.597,2.611,2.627,2.627,2.638,2.643,2.654,2.66,2.671,2.674,2.676,2.695,2.697,2.706,2.718,2.719,2.734,2.741,2.753,2.756,2.766,2.777,2.792,2.796,2.805,2.816,2.824,2.832,2.839,2.857,2.865,2.879,2.885,2.902,2.914,2.925,2.931,2.96,2.967,2.979,2.994,2.997,3.007,3.029,3.047,3.069,3.083,3.095,3.101,3.12,3.131,3.145,3.16,3.165,3.198,3.204,3.219,3.233,3.248,3.272,3.287,3.31,3.327,3.333,3.356,3.387,3.413,3.429,3.445,3.467,3.479,3.502,3.522,3.548,3.57,3.601,3.63,3.656,3.673,3.699,3.725,3.75,3.775,3.808,3.83,3.864,3.886,3.936,3.946,3.98,4.007,4.06,4.083,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,4.008,4.008,0.007,3.972,3.972,3.315,3.315,0.007,0.009,0.009,0.009,0.009,3.22,3.218,3.209,3.199,3.191,3.189,3.165,3.164,3.157,3.154,3.135,3.135,3.121,3.118,3.105,3.104,3.094,3.087,3.087,3.084,3.081,3.062,3.052,3.052,3.046,3.046,3.033,3.027,3.021,3.018,3.014,3.008,3.008,3.007,3.008,3,2.989,2.984,2.98,2.976,2.964,2.963,2.962,2.959,2.957,2.951,2.95,2.944,2.945,2.944,2.945,2.945,2.945,2.944,2.942,2.939,2.938,2.923,2.923,2.923,2.923,2.923,2.925,2.925,2.922,2.922,2.922,2.922,2.922,2.924,2.922,2.922,2.922,2.922,2.922,2.922,2.92,2.92,2.92,2.92,2.924,2.929,2.929,2.932,2.933,2.934,2.934,2.936,2.944,2.946,2.947,2.952,2.952,2.955,2.955,2.959,2.966,2.966,2.969,2.975,2.98,2.98,2.981,2.986,2.994,2.994,3.001,3.001,3.008,3.009,3.009,3.029,3.029,3.037,3.04,3.041,3.052,3.052,3.055,3.052,3.052,3.057,3.069,3.07,3.076,3.078,3.085,3.089,3.101,3.101,3.107,3.111,3.118,3.12,3.128,3.145,3.146,3.153,3.171,3.175,3.182,3.205,3.207,3.213,3.207,3.213,3.227,3.741,3.746,3.76,3.776,3.778,3.795,3.808,3.829,3.841,3.842,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.801106}
SEN {Time 25.31} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 25.3063} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 6.477} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 1.8034} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.9944} {Name Sonar15 Range 2.3368}
SEN {Time 25.3515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.181,0.181,0.181,0.203,0,0,0,0,0,3.671,3.671,3.671,3.683,3.685,3.695,3.695,3.695,3.708,3.709,3.714,3.715,3.736,3.736,3.742,3.75,3.757,3.757,3.765,3.767,3.783,3.784,3.794,3.804,3.806,3.806,3.827,3.831,3.839,3.852,3.864,3.867,3.881,3.891,3.895,3.904,3.925,3.925,3.938,3.956,3.957,3.957,3.957,3.957,3.925,0.147,0.147,0.147,0.144,0.148,0.148,0.148,0.148,0.148,0.151,0.154,0.155,0.232,0,0,0,0,0,0,0,0,0.159,0.159,0.159,0.159,0.159,0.148,0.143,0.138,0.138,0.135,0.132,0.072,0.062,0.062,0.061,0.056,0.056,0.059,0.059,0.059,0.059,0.059,0.059,0.055,0.055,0.059,0.06,0.107,3.22,3.228,3.228,3.22,3.209,3.196,3.193,3.193,3.175,3.169,3.164,3.154,3.143,3.143,3.123,3.111,3.092,3.065,3.061,3.048,3.027,3.019,3,2.998,2.983,2.967,2.963,2.963,2.938,2.925,2.911,2.897,2.892,2.89,2.873,2.87,2.859,2.837,2.837,2.828,2.817,2.804,2.795,2.781,2.78,2.779,2.767,2.76,2.74,2.737,2.73,2.728,2.72,2.707,2.693,2.689,2.686,2.665,2.661,2.657,2.645,2.645,2.634,2.63,2.622,2.619,2.606,2.594,2.593,2.584,2.584,2.582,2.58,2.556,2.554,2.553,2.552,2.543,2.533,2.533,2.532,2.531,2.527,2.515,2.513,2.507,2.507,2.502,2.502,2.492,2.491,2.487,2.485,2.478,2.477,2.477,2.472,2.468,2.466,2.466,2.463,2.463,2.461,2.46,1.041,1.041,1.041,1.041,1.041,1.041,1.041,1.041,1.056,2.446,2.446,2.446,2.443,2.443,2.443,2.443,2.443,2.44,2.44,2.44,2.44,2.44,2.44,2.44,2.442,2.44,2.444,2.444,2.451,2.451,2.451,2.451,2.451,2.454,2.448,2.454,2.454,2.454,2.455,2.46,2.464,2.464,2.464,2.464,2.465,2.475,2.476,2.48,2.484,2.484,2.484,2.484,2.486,2.495,2.495,2.503,2.504,2.504,2.505,2.517,2.52,2.525,2.536,2.536,2.539,2.542,2.546,2.558,2.56,2.562,2.571,2.576,2.578,2.588,2.593,2.596,2.601,2.619,2.619,2.619,2.631,2.636,2.641,2.65,2.655,2.668,2.67,2.676,2.689,2.7,2.706,2.716,2.719,2.721,2.726,2.745,2.755,2.763,2.772,2.781,2.791,2.8,2.815,2.826,2.832,2.835,2.852,2.864,2.88,2.886,2.898,2.898,2.928,2.928,2.94,2.952,2.965,2.987,2.99,3.005,3.012,3.043,3.048,3.057,3.077,3.089,3.1,3.113,3.14,3.147,3.16,3.177,3.189,3.208,3.232,3.248,3.258,3.286,3.302,3.31,3.333,3.358,3.372,3.377,3.412,3.432,3.449,3.451,3.487,3.5,3.522,3.544,3.577,3.582,3.614,3.645,3.668,3.69,3.718,3.755,3.781,3.807,3.829,3.864,3.9,3.926,3.95,3.99,4.05,4.078,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,0,0,0.007,3.969,3.3,3.288,3.278,3.278,3.278,0.009,0.009,0.009,3.218,3.208,3.192,3.188,3.18,3.171,3.158,3.157,3.144,3.138,3.128,3.128,3.125,3.101,3.098,3.088,3.087,3.081,3.081,3.08,3.066,3.055,3.052,3.045,3.042,3.04,3.037,3.024,3.022,3.018,3.01,3.003,3.002,3.001,2.988,2.985,2.982,2.973,2.973,2.972,2.964,2.962,2.957,2.953,2.953,2.95,2.95,2.944,2.936,2.936,2.939,2.944,2.939,2.939,2.927,2.927,2.927,2.927,2.924,2.924,2.921,2.918,2.917,2.918,2.919,2.917,2.917,2.914,2.914,2.914,2.917,2.917,2.917,2.906,2.906,2.906,2.906,2.908,2.909,2.909,2.913,2.919,2.921,2.921,2.921,2.921,2.926,2.932,2.932,2.932,2.934,2.937,2.941,2.941,2.942,2.951,2.957,2.958,2.958,2.968,2.968,2.975,2.975,2.976,2.983,2.992,2.992,2.993,2.994,3.001,3.005,3.01,3.015,3.024,3.031,3.035,3.035,3.035,3.035,3.036,3.049,3.049,3.049,3.054,3.067,3.075,3.082,3.097,3.092,3.097,3.098,3.098,3.1,3.109,3.117,3.13,3.142,3.161,3.161,3.164,3.164,3.182,3.184,3.185,3.194,3.209,3.214,3.722,3.742,3.754,3.758,3.762,3.784,3.795,3.808,3.814,3.831,3.84,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.51} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.904081}
SEN {Time 25.51} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 25.5093} {Type Sonar} {Name Sonar0 Range 5.2578} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.9398} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 2.1844} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 5.2832} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 2.3368}
SEN {Time 25.5515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.184,0.184,0.184,0.2,0,0,0,0,0.007,3.784,3.782,3.784,3.784,3.799,3.803,3.81,3.821,3.824,3.827,3.845,3.847,3.848,3.86,3.875,3.878,3.898,3.91,3.913,3.937,3.939,3.942,3.944,3.973,3.985,3.992,4.001,4.001,4.026,4.039,4.051,4.055,4.073,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.152,0.152,0.149,0.145,0.145,0.145,0.144,0.144,0.143,0.143,0.15,0.154,0.219,0,0,0,0,0,0,0,0,0.163,0.159,0.159,0.159,0.152,0.15,0.15,0.15,0.141,0.139,0.119,0.086,0.064,0.063,0.063,0.063,0.064,0.064,0.064,0.065,0.062,0.06,0.059,0.056,0.056,0.059,0.059,0.066,3.069,3.085,3.085,3.073,3.069,3.059,3.041,3.039,3.036,3.028,3.002,2.993,2.97,2.967,2.938,2.936,2.921,2.906,2.895,2.875,2.864,2.864,2.859,2.844,2.834,2.813,2.805,2.8,2.789,2.785,2.766,2.763,2.752,2.745,2.736,2.732,2.725,2.709,2.708,2.692,2.689,2.683,2.673,2.668,2.657,2.655,2.655,2.654,2.643,2.631,2.626,2.618,2.609,2.606,2.595,2.59,2.584,2.578,2.577,2.567,2.561,2.556,2.552,2.551,2.542,2.542,2.529,2.524,2.523,2.52,2.517,2.515,2.51,2.505,2.502,2.496,2.493,2.489,2.489,2.489,2.483,2.483,2.479,2.47,2.479,2.468,2.464,1.053,1.053,1.053,1.053,1.053,1.051,1.051,1.051,2.447,2.455,2.455,2.449,2.449,2.451,2.449,2.449,2.449,2.447,2.447,2.446,2.446,2.446,2.449,2.447,2.447,2.447,2.447,2.447,2.45,2.451,2.457,2.458,2.458,2.46,2.46,2.461,2.466,2.466,2.468,2.47,2.472,2.477,2.478,2.478,2.479,2.486,2.486,2.486,2.491,2.494,2.497,2.497,2.501,2.51,2.512,2.513,2.513,2.519,2.523,2.525,2.534,2.537,2.54,2.544,2.544,2.556,2.557,2.566,2.568,2.571,2.577,2.585,2.59,2.592,2.599,2.6,2.604,2.615,2.621,2.626,2.626,2.637,2.649,2.65,2.664,2.672,2.682,2.682,2.689,2.689,2.7,2.715,2.717,2.724,2.742,2.749,2.757,2.763,2.769,2.793,2.794,2.794,2.805,2.82,2.826,2.844,2.863,2.864,2.873,2.875,2.895,2.91,2.925,2.931,2.935,2.957,2.968,2.98,2.995,3.008,3.013,3.03,3.047,3.064,3.075,3.085,3.096,3.114,3.125,3.148,3.156,3.173,3.185,3.206,3.215,3.244,3.247,3.263,3.29,3.297,3.32,3.338,3.36,3.375,3.395,3.414,3.435,3.464,3.476,3.503,3.516,3.543,3.563,3.594,3.601,3.639,3.651,3.69,3.7,3.73,3.763,3.781,3.814,3.846,3.853,3.898,3.93,3.968,3.997,4.042,4.064,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0.007,0,0,0,3.297,3.28,3.28,3.28,0.009,0.009,0.009,0.009,3.206,3.206,3.197,3.19,3.175,3.174,3.173,3.154,3.148,3.145,3.127,3.126,3.117,3.111,3.107,3.092,3.089,3.085,3.077,3.068,3.058,3.053,3.046,3.042,3.04,3.03,3.025,3.023,3.017,3.012,3.007,3.002,2.992,2.991,2.982,2.976,2.976,2.974,2.967,2.96,2.959,2.956,2.955,2.947,2.939,2.939,2.939,2.939,2.937,2.926,2.926,2.926,2.932,2.932,2.932,2.92,2.917,2.917,2.92,2.917,2.916,2.91,2.909,2.909,2.91,2.91,2.91,2.911,2.911,2.909,2.907,2.905,2.905,2.905,2.903,2.9,2.9,2.9,2.911,2.912,2.912,2.912,2.912,2.911,2.911,2.911,2.911,2.926,2.928,2.929,2.928,2.929,2.931,2.937,2.937,2.94,2.942,2.943,2.944,2.95,2.95,2.95,2.964,2.964,2.964,2.965,2.971,2.981,2.982,2.987,2.991,2.992,3.011,3.012,3.017,3.024,3.024,3.022,3.022,3.022,3.022,3.034,3.042,3.045,3.048,3.05,3.065,3.068,3.07,3.077,3.082,3.085,3.099,3.103,3.109,3.117,3.121,3.145,3.148,3.148,3.15,3.163,3.166,3.172,3.181,3.191,3.203,3.296,3.714,3.724,3.736,3.762,3.77,3.774,3.782,3.791,3.805,3.815,3.846,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0.009,0.009,0.007,0.009,0.009,0.007,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.71} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.008800}
SEN {Time 25.71} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 25.7122} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.302} {Name Sonar5 Range 3.0226} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 1.2192} {Name Sonar8 Range 0.2794} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 3.9624} {Name Sonar13 Range 5.2832} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 5.2832}
SEN {Time 25.7514} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.187,0.188,0.188,0.188,0.21,0,0,0,0,0,0,3.93,3.93,3.93,3.949,3.961,3.983,3.996,3.998,4.017,4.024,4.028,4.032,4.067,4.078,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0.007,3.998,3.998,0,0,0.009,0.009,0,0,0.145,0.144,0.144,0.145,0.146,0.146,0.146,0.146,0.143,0.143,0.157,0.159,0.18,0,0,0.009,0.009,0.009,0.009,0.007,3.295,0.163,0.156,0.156,0.156,0.15,0.15,0.15,0.144,0.131,0.119,0.093,0.082,0.062,0.06,0.06,0.059,0.059,0.059,0.059,0.059,0.057,0.056,0.056,0.052,0.05,0.05,0.058,2.982,2.982,2.982,2.962,2.939,2.938,2.936,2.916,2.905,2.904,2.882,2.858,2.853,2.845,2.812,2.805,2.785,2.784,2.769,2.767,2.755,2.738,2.734,2.72,2.718,2.703,2.693,2.685,2.681,2.677,2.666,2.658,2.647,2.645,2.642,2.633,2.62,2.618,2.611,2.608,2.599,2.598,2.597,2.581,2.58,2.58,2.58,2.574,2.565,2.557,2.553,2.552,2.541,2.541,2.54,2.53,2.522,2.521,2.519,2.514,2.512,2.507,2.503,2.502,2.501,2.496,2.494,2.494,2.492,2.479,1.06,1.06,1.06,1.065,1.065,1.065,1.069,1.069,2.455,2.466,2.466,2.461,2.457,2.458,2.458,2.458,2.458,2.458,2.451,2.45,2.451,2.451,2.452,2.456,2.458,2.458,2.458,2.458,2.461,2.461,2.462,2.465,2.467,2.465,2.467,2.47,2.472,2.475,2.477,2.478,2.478,2.479,2.479,2.48,2.481,2.492,2.492,2.497,2.5,2.506,2.506,2.508,2.509,2.513,2.513,2.517,2.52,2.533,2.538,2.538,2.542,2.546,2.552,2.556,2.556,2.563,2.567,2.57,2.579,2.584,2.587,2.592,2.593,2.6,2.603,2.607,2.625,2.626,2.627,2.634,2.648,2.65,2.658,2.664,2.673,2.679,2.681,2.683,2.698,2.711,2.714,2.715,2.731,2.737,2.749,2.76,2.764,2.769,2.78,2.781,2.786,2.804,2.818,2.839,2.845,2.852,2.852,2.861,2.874,2.895,2.907,2.909,2.92,2.925,2.945,2.946,2.964,2.985,2.997,3,3.018,3.038,3.055,3.058,3.058,3.077,3.089,3.101,3.131,3.136,3.148,3.165,3.175,3.191,3.216,3.232,3.244,3.265,3.282,3.296,3.319,3.328,3.356,3.369,3.397,3.405,3.431,3.441,3.456,3.475,3.501,3.518,3.544,3.573,3.588,3.609,3.631,3.651,3.684,3.716,3.733,3.78,3.796,3.816,3.847,3.876,3.909,3.953,3.983,4.029,4.041,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,3.301,3.279,3.277,3.258,3.253,3.253,3.234,3.231,3.207,3.191,3.183,3.181,3.175,3.157,3.153,3.148,3.134,3.124,3.119,3.106,3.106,3.099,3.095,3.072,3.07,3.068,3.061,3.058,3.048,3.048,3.048,3.038,3.029,3.026,3.025,3.014,3.006,3.005,2.994,2.993,2.992,2.989,2.978,2.973,2.969,2.964,2.961,2.959,2.956,2.956,2.943,2.943,2.943,2.938,2.933,2.933,2.93,2.925,2.925,2.925,2.925,2.924,2.911,2.911,2.911,2.906,2.906,2.906,2.906,2.906,2.903,2.902,2.903,2.904,2.903,2.896,2.902,2.902,2.896,2.898,2.898,2.898,2.898,2.899,2.899,2.899,2.899,2.899,2.896,2.901,2.901,2.903,2.91,2.91,2.91,2.916,2.915,2.912,2.915,2.923,2.931,2.931,2.933,2.931,2.931,2.936,2.938,2.941,2.952,2.954,2.955,2.957,2.965,2.965,2.969,2.977,2.977,2.985,2.986,2.992,2.996,3.005,3.005,3.018,3.018,3.02,3.02,3.02,3.02,3.029,3.029,3.039,3.04,3.051,3.054,3.061,3.061,3.077,3.08,3.08,3.081,3.089,3.093,3.108,3.112,3.121,3.135,3.145,3.148,3.156,3.16,3.173,3.186,3.186,3.192,3.716,3.716,3.734,3.739,3.751,3.757,3.76,3.775,3.793,3.802,3.811,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 25.91} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.104793}
SEN {Time 25.91} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 25.9063} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 1.2192} {Name Sonar8 Range 1.651} {Name Sonar9 Range 2.8448} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 4.8514} {Name Sonar13 Range 5.2832} {Name Sonar14 Range 0.9144} {Name Sonar15 Range 5.2832}
SEN {Time 25.9515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.178,0.178,0.178,0.212,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0.007,0,0,0,3.991,3.991,3.991,0,0.009,0.009,0.009,0.009,0.009,0.007,0,3.729,3.658,3.642,3.601,3.591,3.565,3.557,3.515,3.499,3.474,3.474,3.474,3.448,3.421,0.147,0.147,0.144,0.147,0.144,0.143,0.143,0.139,0.139,0.151,0.151,0.151,3.159,3.136,3.136,3.137,3.137,3.137,3.137,3.137,0.168,0.163,0.162,0.152,0.151,0.149,0.148,0.147,0.149,0.138,0.081,0.072,0.057,0.056,0.056,0.056,0.057,0.062,0.063,0.063,0.063,0.063,0.06,0.06,0.06,0.06,0.06,2.869,2.869,2.869,2.851,2.846,2.835,2.815,2.815,2.801,2.785,2.784,2.758,2.743,2.724,2.716,2.704,2.696,2.686,2.685,2.673,2.666,2.652,2.65,2.63,2.62,2.613,2.607,2.597,2.596,2.578,2.573,2.568,2.568,2.568,2.56,2.553,2.552,2.548,2.546,2.54,2.538,2.529,2.529,2.528,2.525,2.525,2.525,2.522,2.514,2.512,2.512,2.51,2.51,1.069,1.069,1.069,1.069,1.069,1.069,1.069,1.069,2.482,2.482,2.482,2.474,2.473,2.473,2.47,2.467,2.466,2.466,2.466,2.463,2.466,2.463,2.47,2.463,2.468,2.468,2.471,2.468,2.47,2.471,2.475,2.47,2.471,2.471,2.471,2.471,2.474,2.48,2.48,2.482,2.482,2.482,2.489,2.49,2.49,2.494,2.496,2.499,2.503,2.508,2.508,2.513,2.515,2.518,2.518,2.52,2.521,2.532,2.533,2.535,2.538,2.543,2.55,2.552,2.566,2.573,2.575,2.576,2.586,2.587,2.591,2.596,2.598,2.609,2.61,2.617,2.624,2.63,2.636,2.646,2.649,2.666,2.666,2.668,2.673,2.679,2.69,2.691,2.706,2.71,2.72,2.724,2.732,2.74,2.748,2.759,2.759,2.767,2.776,2.783,2.785,2.808,2.821,2.826,2.837,2.842,2.86,2.86,2.868,2.88,2.893,2.899,2.913,2.924,2.939,2.947,2.963,2.976,2.978,3.006,3.008,3.015,3.038,3.042,3.061,3.082,3.097,3.104,3.123,3.127,3.14,3.16,3.17,3.201,3.211,3.22,3.222,3.261,3.265,3.285,3.299,3.329,3.339,3.354,3.368,3.391,3.404,3.418,3.441,3.469,3.485,3.514,3.533,3.548,3.583,3.592,3.635,3.652,3.677,3.703,3.733,3.755,3.777,3.805,3.824,3.857,3.878,3.92,3.954,3.986,4.023,4.04,4.088,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,4.063,4.063,4.063,4.051,0,0.007,0,3.98,3.288,3.284,3.265,3.265,3.265,0.009,0.009,0.009,3.215,3.202,3.187,3.176,3.176,3.173,3.159,3.149,3.145,3.131,3.123,3.122,3.106,3.105,3.089,3.087,3.086,3.069,3.061,3.049,3.048,3.043,3.029,3.027,3.024,3.013,3.011,3.009,3.001,2.998,2.992,2.982,2.978,2.976,2.976,2.965,2.964,2.961,2.949,2.948,2.948,2.943,2.939,2.937,2.929,2.928,2.928,2.926,2.924,2.919,2.919,2.919,2.919,2.915,2.908,2.909,2.908,2.908,2.901,2.901,2.901,2.908,2.894,2.895,2.897,2.895,2.892,2.893,2.893,2.889,2.893,2.893,2.881,2.881,2.883,2.883,2.887,2.887,2.887,2.887,2.887,2.887,2.887,2.89,2.893,2.902,2.902,2.905,2.909,2.91,2.91,2.912,2.916,2.916,2.917,2.921,2.921,2.925,2.931,2.934,2.938,2.939,2.947,2.947,2.953,2.953,2.957,2.957,2.964,2.973,2.974,2.976,2.98,2.995,2.996,3.001,3.001,3.003,3.005,3.011,3.012,3.012,3.013,3.026,3.029,3.03,3.036,3.045,3.048,3.056,3.057,3.065,3.071,3.077,3.082,3.09,3.093,3.11,3.111,3.118,3.129,3.132,3.137,3.141,3.152,3.157,3.157,3.187,3.7,3.7,3.706,3.73,3.731,3.747,3.752,3.765,3.783,3.789,3.803,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.11} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.213004}
SEN {Time 26.11} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 26.1092} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.8956} {Name Sonar3 Range 3.048} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 1.2192} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 3.048} {Name Sonar11 Range 3.0734} {Name Sonar12 Range 4.8514} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 5.2832}
SEN {Time 26.1515} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.174,0.189,0.189,0.189,0.199,0,0,0,0,0,0,0,0,0,0.007,4.001,3.945,3.895,3.865,3.865,3.835,3.815,3.765,3.731,3.726,3.682,3.672,3.635,3.618,3.61,3.578,3.544,3.52,3.517,3.482,3.48,3.439,3.411,3.407,3.369,3.363,3.351,3.32,3.305,3.293,3.269,3.251,3.25,3.226,3.202,3.191,3.174,3.174,3.174,3.165,3.165,0.15,0.147,0.146,0.146,0.143,0.142,0.142,0.142,0.142,0.146,0.15,0.007,2.98,2.935,2.935,2.935,2.929,2.929,2.929,0.165,0.161,0.161,0.161,0.155,0.155,0.148,0.148,0.137,0.137,0.135,0.065,0.056,0.053,0.05,0.053,0.055,0.055,0.059,0.06,0.06,0.063,0.06,0.059,0.057,0.056,0.056,0.056,2.791,2.791,2.791,2.751,2.747,2.74,2.739,2.73,2.712,2.698,2.683,2.677,2.659,2.65,2.643,2.631,2.623,2.613,2.606,2.599,2.59,2.58,2.578,2.572,2.558,2.549,2.542,2.539,2.532,2.53,2.525,2.522,2.522,2.513,2.512,1.086,1.081,1.081,1.081,1.081,1.077,1.077,1.077,2.493,2.499,2.499,2.496,2.496,2.495,2.489,2.489,2.487,2.486,2.485,2.485,2.481,2.477,2.476,2.477,2.476,2.477,2.477,2.48,2.479,2.48,2.48,2.48,2.48,2.48,2.483,2.483,2.488,2.488,2.488,2.489,2.489,2.487,2.495,2.498,2.498,2.501,2.503,2.503,2.507,2.51,2.511,2.511,2.512,2.519,2.521,2.531,2.535,2.538,2.541,2.547,2.551,2.551,2.553,2.569,2.569,2.571,2.571,2.577,2.582,2.582,2.597,2.601,2.603,2.611,2.617,2.624,2.626,2.636,2.641,2.646,2.649,2.65,2.671,2.678,2.684,2.691,2.701,2.704,2.711,2.721,2.724,2.73,2.73,2.757,2.757,2.767,2.782,2.785,2.795,2.804,2.811,2.819,2.826,2.831,2.848,2.855,2.863,2.879,2.889,2.889,2.903,2.914,2.929,2.942,2.945,2.954,2.978,2.983,2.994,3.014,3.019,3.032,3.041,3.045,3.075,3.086,3.092,3.102,3.129,3.13,3.15,3.161,3.174,3.192,3.209,3.232,3.247,3.262,3.274,3.289,3.31,3.32,3.339,3.36,3.38,3.391,3.418,3.436,3.451,3.473,3.497,3.5,3.536,3.558,3.562,3.598,3.618,3.645,3.654,3.692,3.722,3.745,3.758,3.794,3.815,3.853,3.876,3.903,3.951,3.968,4.016,4.042,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.068,4.068,4.046,4.046,0.007,0,0.007,3.941,3.295,3.274,3.274,3.267,3.246,3.246,3.225,3.22,3.193,3.177,3.175,3.163,3.16,3.153,3.145,3.128,3.121,3.118,3.118,3.108,3.093,3.092,3.074,3.069,3.066,3.066,3.056,3.048,3.047,3.031,3.029,3.029,3.026,3.01,3.01,3.009,2.996,2.99,2.983,2.976,2.975,2.971,2.969,2.968,2.955,2.953,2.952,2.946,2.933,2.928,2.927,2.926,2.922,2.921,2.914,2.912,2.911,2.911,2.911,2.911,2.909,2.909,2.909,2.898,2.898,2.894,2.891,2.891,2.891,2.888,2.887,2.885,2.885,2.882,2.885,2.885,2.882,2.88,2.882,2.882,2.882,2.882,2.882,2.878,2.878,2.878,2.879,2.879,2.888,2.888,2.888,2.885,2.888,2.888,2.9,2.9,2.9,2.897,2.897,2.897,2.901,2.904,2.909,2.909,2.91,2.92,2.922,2.924,2.93,2.936,2.937,2.942,2.951,2.951,2.952,2.958,2.959,2.959,2.968,2.97,2.976,2.979,2.98,2.99,2.994,2.994,2.995,2.995,2.998,3.003,3.016,3.016,3.019,3.028,3.034,3.037,3.043,3.051,3.06,3.061,3.063,3.068,3.072,3.082,3.086,3.107,3.127,3.125,3.127,3.131,3.14,3.143,3.143,3.153,3.153,3.161,3.175,3.705,3.708,3.711,3.735,3.738,3.741,3.764,3.764,3.776,3.788,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.31} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.305506}
SEN {Time 26.31} {Type Tachometer} {Name LeftRight} {Vel -0.058420,0.058420}
SEN {Time 26.3122} {Type Sonar} {Name Sonar0 Range 3.4544} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.8956} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 0.3048} {Name Sonar8 Range 1.651} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 3.048} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 4.8514} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 3.7592}
SEN {Time 26.3485} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.18,0.187,0.187,0.187,0.206,0,0,0,0,0,0,0,0,3.637,3.607,3.598,3.576,3.54,3.512,3.493,3.49,3.461,3.443,3.415,3.4,3.379,3.358,3.34,3.318,3.299,3.292,3.261,3.259,3.233,3.222,3.203,3.192,3.177,3.162,3.146,3.118,3.113,3.105,3.087,3.075,3.06,3.059,3.049,3.036,3.023,3.006,2.996,2.992,2.984,0.149,0.144,0.143,0.144,0.143,0.144,0.142,0.142,0.142,0.137,0.137,0.143,0.154,0.163,2.823,2.823,2.823,2.819,2.802,2.802,2.793,0.153,0.153,0.153,0.153,0.151,0.153,0.151,0.151,0.151,0.155,0.147,0.129,0.056,0.056,0.049,0.056,0.055,0.056,0.056,0.056,0.058,0.058,0.056,0.056,0.056,0.055,0.055,0.055,2.736,2.736,2.736,2.701,2.698,2.689,2.682,2.678,2.669,2.652,2.644,2.631,2.617,2.616,2.599,2.593,2.587,2.587,2.575,2.571,1.094,1.089,1.086,1.084,1.084,1.081,1.081,1.081,2.495,2.5,2.5,2.495,2.494,2.488,2.488,2.488,2.488,2.487,2.487,2.487,2.489,2.489,2.492,2.497,2.5,2.5,2.5,2.5,2.498,2.496,2.494,2.494,2.493,2.496,2.498,2.498,2.495,2.498,2.495,2.495,2.501,2.505,2.514,2.514,2.514,2.514,2.515,2.518,2.515,2.519,2.52,2.522,2.527,2.534,2.536,2.537,2.545,2.546,2.546,2.546,2.557,2.559,2.56,2.564,2.575,2.575,2.575,2.586,2.592,2.598,2.604,2.606,2.619,2.62,2.621,2.632,2.634,2.639,2.643,2.646,2.657,2.662,2.662,2.681,2.681,2.689,2.696,2.697,2.704,2.719,2.72,2.732,2.74,2.746,2.757,2.765,2.767,2.79,2.798,2.798,2.808,2.822,2.831,2.844,2.854,2.856,2.864,2.878,2.886,2.897,2.919,2.92,2.924,2.944,2.954,2.968,2.968,2.984,2.993,2.998,3.015,3.025,3.039,3.056,3.067,3.074,3.088,3.107,3.121,3.138,3.146,3.168,3.178,3.192,3.208,3.213,3.238,3.261,3.267,3.292,3.299,3.312,3.337,3.349,3.372,3.387,3.403,3.423,3.435,3.466,3.476,3.507,3.526,3.541,3.565,3.585,3.606,3.631,3.655,3.68,3.706,3.733,3.751,3.783,3.813,3.836,3.866,3.893,3.922,3.959,4.01,4.028,4.047,4.082,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,4.085,4.085,0,0,0,0,0,3.294,3.294,3.294,3.265,3.265,3.237,3.231,3.228,3.201,3.199,3.195,3.188,3.17,3.161,3.148,3.146,3.138,3.135,3.121,3.117,3.104,3.099,3.092,3.077,3.07,3.061,3.055,3.05,3.043,3.039,3.033,3.029,3.019,3.012,3.01,3.008,2.994,2.992,2.979,2.979,2.974,2.969,2.965,2.959,2.957,2.957,2.956,2.948,2.943,2.942,2.938,2.927,2.925,2.925,2.919,2.914,2.915,2.909,2.913,2.913,2.915,2.913,2.913,2.894,2.894,2.886,2.886,2.892,2.893,2.893,2.893,2.892,2.894,2.884,2.879,2.884,2.884,2.884,2.88,2.882,2.881,2.881,2.881,2.881,2.881,2.875,2.881,2.88,2.88,2.88,2.881,2.881,2.882,2.882,2.893,2.893,2.894,2.896,2.899,2.899,2.902,2.906,2.906,2.91,2.912,2.913,2.913,2.917,2.927,2.931,2.931,2.931,2.936,2.939,2.942,2.943,2.951,2.953,2.96,2.965,2.967,2.968,2.974,2.992,2.993,2.993,2.993,2.995,2.997,3.002,3.005,3.005,3.013,3.013,3.016,3.019,3.044,3.045,3.047,3.047,3.059,3.063,3.066,3.076,3.081,3.083,3.095,3.099,3.119,3.121,3.123,3.125,3.134,3.15,3.153,3.155,3.167,3.243,3.679,3.698,3.706,3.726,3.729,3.742,3.754,3.754,3.765,3.772,3.792,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 26.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.5031} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.8956} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 0.3048} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 1.8034} {Name Sonar10 Range 3.048} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 3.7592}
SEN {Time 26.5475} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.175,0.188,0.183,0.183,0.188,0,0,0,0,0,0,3.483,3.455,3.448,3.415,3.406,3.394,3.375,3.349,3.318,3.312,3.303,3.264,3.253,3.237,3.235,3.218,3.188,3.172,3.166,3.156,3.133,3.123,3.122,3.096,3.069,3.065,3.046,3.04,3.03,3.015,3.003,3.001,2.989,2.98,2.957,2.956,2.941,2.934,2.933,2.917,2.908,2.903,2.896,0.155,0.155,0.148,0.148,0.148,0.148,0.144,0.144,0.148,0.148,0.148,0.148,0.148,2.779,2.779,2.75,2.75,2.75,2.75,2.763,2.763,2.763,0.173,0.16,0.158,0.151,0.151,0.15,0.145,0.145,0.157,0.142,0.13,0.049,0.049,0.048,0.049,0.05,0.053,0.055,0.062,0.059,0.055,0.055,0.055,0.054,0.054,0.054,0.054,2.706,2.706,2.706,2.685,2.672,2.663,2.663,2.661,2.661,2.665,2.665,2.635,1.084,1.079,1.067,1.067,1.067,1.067,1.092,2.536,2.543,2.543,2.536,2.529,2.519,2.51,2.51,2.507,2.504,2.496,2.495,2.494,2.495,2.495,2.497,2.498,2.501,2.504,2.504,2.504,2.507,2.504,2.507,2.507,2.51,2.51,2.512,2.512,2.521,2.514,2.512,2.514,2.516,2.514,2.516,2.523,2.522,2.523,2.528,2.528,2.528,2.537,2.543,2.545,2.546,2.547,2.549,2.549,2.551,2.554,2.564,2.564,2.567,2.571,2.578,2.58,2.588,2.593,2.597,2.598,2.599,2.605,2.605,2.607,2.632,2.632,2.633,2.638,2.638,2.647,2.649,2.671,2.675,2.677,2.679,2.685,2.693,2.7,2.718,2.721,2.722,2.729,2.73,2.742,2.743,2.768,2.773,2.774,2.797,2.797,2.804,2.816,2.817,2.831,2.84,2.856,2.865,2.872,2.883,2.895,2.903,2.919,2.924,2.936,2.946,2.957,2.957,2.976,2.991,3.004,3.007,3.025,3.029,3.048,3.061,3.066,3.072,3.097,3.098,3.121,3.133,3.143,3.162,3.18,3.189,3.202,3.223,3.236,3.253,3.278,3.285,3.296,3.32,3.338,3.358,3.369,3.397,3.397,3.425,3.446,3.461,3.477,3.498,3.53,3.552,3.563,3.595,3.606,3.632,3.648,3.682,3.707,3.73,3.754,3.764,3.814,3.836,3.837,3.894,3.923,3.957,3.981,4.014,4.043,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,3.289,3.267,3.256,3.248,3.231,3.225,3.212,3.208,3.199,3.182,3.173,3.165,3.154,3.151,3.143,3.137,3.122,3.121,3.115,3.114,3.095,3.085,3.076,3.072,3.061,3.053,3.05,3.043,3.036,3.03,3.022,3.013,3.011,3.01,3.003,2.999,2.995,2.984,2.984,2.98,2.97,2.965,2.965,2.96,2.951,2.944,2.942,2.938,2.938,2.932,2.928,2.924,2.924,2.923,2.914,2.914,2.914,2.914,2.914,2.916,2.916,2.916,2.907,2.907,2.898,2.898,2.898,2.887,2.886,2.886,2.886,2.886,2.889,2.889,2.891,2.889,2.885,2.883,2.883,2.882,2.883,2.883,2.883,2.883,2.884,2.883,2.883,2.885,2.887,2.888,2.888,2.888,2.889,2.889,2.889,2.897,2.897,2.9,2.9,2.9,2.9,2.907,2.909,2.908,2.911,2.913,2.914,2.917,2.918,2.929,2.936,2.937,2.94,2.942,2.946,2.951,2.956,2.957,2.957,2.965,2.968,2.972,2.979,2.988,2.989,2.989,2.992,2.993,2.993,2.994,3.011,3.012,3.012,3.017,3.025,3.028,3.044,3.044,3.051,3.063,3.063,3.064,3.071,3.078,3.079,3.079,3.1,3.109,3.109,3.12,3.133,3.134,3.134,3.148,3.15,3.173,3.581,3.696,3.696,3.707,3.71,3.72,3.725,3.751,3.751,3.77,3.782,3.786,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 26.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.7011} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.2512} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 0.3048} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.2832} {Name Sonar11 Range 3.9878} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 1.3462} {Name Sonar15 Range 3.7592}
SEN {Time 26.7475} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0.009,0.009,0,0.204,0.204,0.204,0,0,0,0,0,3.497,3.49,3.466,3.457,3.433,3.403,3.384,3.374,3.349,3.344,3.311,3.303,3.283,3.268,3.246,3.228,3.214,3.202,3.174,3.164,3.157,3.133,3.132,3.113,3.1,3.08,3.079,3.058,3.047,3.046,3.025,3.013,2.997,2.994,2.983,2.961,2.959,2.945,2.938,2.934,2.915,2.913,2.913,2.905,0.144,0.144,0.143,0.144,0.144,0.151,0.143,0.151,0.151,0.151,0.151,0.152,0.155,2.79,2.79,2.749,2.749,2.749,2.749,2.767,2.767,2.767,0.167,0.164,0.155,0.155,0.155,0.148,0.148,0.148,0.148,0.147,0.123,0.055,0.05,0.05,0.055,0.058,0.058,0.06,0.061,0.06,0.056,0.057,0.057,0.055,0.054,0.057,0.059,2.711,2.711,2.711,2.678,2.674,2.673,2.663,2.651,2.651,2.651,2.643,2.639,1.074,1.074,1.074,1.075,1.075,1.076,1.083,2.533,2.543,2.543,2.534,2.533,2.518,2.515,2.512,2.509,2.506,2.501,2.5,2.5,2.498,2.495,2.495,2.501,2.495,2.499,2.499,2.499,2.499,2.499,2.5,2.502,2.509,2.509,2.51,2.511,2.514,2.515,2.517,2.515,2.517,2.515,2.517,2.521,2.521,2.524,2.525,2.525,2.525,2.529,2.531,2.538,2.541,2.543,2.543,2.547,2.549,2.552,2.554,2.566,2.568,2.568,2.568,2.579,2.581,2.589,2.589,2.591,2.6,2.603,2.603,2.608,2.613,2.62,2.63,2.641,2.642,2.646,2.648,2.657,2.67,2.677,2.678,2.678,2.7,2.703,2.706,2.708,2.724,2.731,2.731,2.744,2.745,2.751,2.764,2.778,2.779,2.786,2.801,2.814,2.819,2.834,2.839,2.848,2.86,2.864,2.875,2.895,2.906,2.914,2.923,2.925,2.938,2.952,2.961,2.98,2.984,2.996,3.005,3.023,3.03,3.032,3.058,3.064,3.076,3.094,3.102,3.111,3.138,3.143,3.155,3.18,3.192,3.196,3.22,3.231,3.245,3.265,3.282,3.3,3.305,3.328,3.359,3.367,3.379,3.405,3.414,3.445,3.457,3.472,3.479,3.516,3.541,3.562,3.574,3.594,3.624,3.645,3.678,3.689,3.729,3.751,3.77,3.802,3.826,3.868,3.881,3.927,3.947,3.985,4,4.041,4.076,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,3.304,3.28,3.272,3.254,3.253,3.241,3.225,3.216,3.207,3.196,3.188,3.174,3.167,3.165,3.151,3.141,3.133,3.13,3.13,3.11,3.107,3.094,3.091,3.084,3.08,3.065,3.057,3.056,3.051,3.048,3.041,3.03,3.016,3.012,3.01,3.001,2.998,2.988,2.979,2.976,2.976,2.972,2.972,2.964,2.961,2.951,2.951,2.951,2.95,2.941,2.931,2.929,2.929,2.929,2.929,2.922,2.915,2.907,2.907,2.907,2.93,2.93,2.93,2.906,2.902,2.899,2.894,2.889,2.886,2.884,2.884,2.883,2.884,2.884,2.884,2.885,2.885,2.882,2.882,2.881,2.881,2.882,2.881,2.883,2.884,2.884,2.884,2.884,2.886,2.885,2.886,2.886,2.885,2.885,2.888,2.887,2.888,2.888,2.894,2.894,2.898,2.9,2.902,2.908,2.909,2.912,2.916,2.916,2.918,2.924,2.931,2.94,2.94,2.943,2.948,2.949,2.95,2.954,2.958,2.961,2.961,2.977,2.978,2.984,2.985,2.998,2.998,2.998,2.996,2.996,2.996,2.996,3.003,3.006,3.009,3.032,3.032,3.04,3.039,3.04,3.042,3.057,3.058,3.059,3.065,3.072,3.083,3.097,3.101,3.112,3.12,3.121,3.128,3.146,3.148,3.15,3.176,0.007,3.695,3.695,3.711,3.711,3.722,3.723,3.742,3.751,3.773,3.779,3.78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.009,0.009,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 26.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 26.90} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 26.8991} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.2832} {Name Sonar11 Range 3.4544} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 3.7592}
SEN {Time 26.9475} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.177,0.185,0.185,0.185,0.206,0,0,0,0,0,3.487,3.481,3.481,3.446,3.436,3.413,3.408,3.393,3.359,3.328,3.319,3.297,3.281,3.278,3.26,3.238,3.205,3.203,3.176,3.172,3.148,3.142,3.128,3.127,3.098,3.092,3.068,3.064,3.052,3.034,3.024,3.013,2.994,2.994,2.98,2.971,2.951,2.95,2.944,2.932,2.924,2.911,2.909,2.909,2.904,0.148,0.148,0.148,0.147,0.148,0.143,0.141,0.141,0.143,0.143,0.152,0.152,0.159,2.769,2.769,2.769,2.764,2.764,2.764,2.764,2.764,0.167,0.16,0.158,0.156,0.154,0.151,0.151,0.151,0.154,0.149,0.128,0.056,0.051,0.051,0.056,0.056,0.056,0.063,0.063,0.063,0.063,0.063,0.063,0.059,0.057,0.057,0.057,2.704,2.704,2.704,2.677,2.672,2.669,2.662,2.652,2.652,2.652,2.652,2.641,1.081,1.072,1.072,1.071,1.072,1.077,1.08,2.534,2.535,2.535,2.534,2.524,2.523,2.511,2.511,2.503,2.503,2.499,2.5,2.496,2.496,2.496,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.501,2.501,2.506,2.506,2.512,2.513,2.513,2.513,2.513,2.513,2.514,2.515,2.515,2.518,2.518,2.521,2.52,2.52,2.524,2.529,2.533,2.537,2.542,2.543,2.544,2.545,2.546,2.552,2.553,2.554,2.556,2.566,2.569,2.574,2.577,2.583,2.587,2.589,2.597,2.597,2.599,2.608,2.612,2.629,2.631,2.635,2.637,2.644,2.644,2.649,2.665,2.668,2.677,2.686,2.69,2.693,2.694,2.712,2.722,2.725,2.731,2.734,2.737,2.749,2.765,2.77,2.775,2.791,2.797,2.803,2.812,2.821,2.829,2.838,2.855,2.861,2.868,2.879,2.892,2.909,2.912,2.919,2.93,2.943,2.946,2.966,2.975,2.985,2.996,3.009,3.024,3.029,3.041,3.056,3.067,3.075,3.096,3.096,3.118,3.128,3.15,3.15,3.168,3.175,3.202,3.228,3.233,3.258,3.271,3.283,3.303,3.31,3.325,3.35,3.363,3.373,3.404,3.424,3.436,3.447,3.478,3.49,3.523,3.528,3.566,3.581,3.595,3.631,3.65,3.678,3.693,3.733,3.738,3.766,3.8,3.825,3.848,3.889,3.918,3.949,3.984,4.025,4.035,4.071,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.311,3.281,3.275,3.262,3.262,3.255,3.239,3.219,3.216,3.192,3.191,3.172,3.162,3.161,3.145,3.138,3.136,3.135,3.116,3.113,3.109,3.103,3.095,3.084,3.078,3.064,3.064,3.049,3.048,3.044,3.032,3.024,3.023,3.017,3.006,3,3,2.994,2.982,2.98,2.974,2.97,2.963,2.962,2.96,2.952,2.952,2.949,2.942,2.94,2.933,2.932,2.93,2.928,2.926,2.922,2.917,2.917,2.917,2.917,2.917,2.917,2.917,2.907,2.903,2.895,2.894,2.893,2.892,2.893,2.893,2.89,2.89,2.889,2.889,2.886,2.882,2.882,2.882,2.879,2.878,2.878,2.878,2.878,2.88,2.883,2.883,2.88,2.883,2.887,2.887,2.88,2.886,2.88,2.88,2.886,2.895,2.896,2.896,2.897,2.902,2.902,2.902,2.908,2.911,2.913,2.917,2.917,2.927,2.93,2.932,2.935,2.935,2.939,2.945,2.952,2.955,2.955,2.959,2.966,2.968,2.968,2.975,2.976,2.982,2.993,2.993,2.994,3,3,3.01,3.01,3.01,3.01,3.014,3.017,3.028,3.038,3.039,3.044,3.044,3.051,3.058,3.074,3.074,3.074,3.082,3.101,3.104,3.104,3.125,3.13,3.132,3.141,3.144,3.158,3.164,3.173,3.694,3.704,3.715,3.715,3.726,3.729,3.732,3.751,3.758,3.768,3.783,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0.016,0.016,0,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 27.10} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 27.1011} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.2832} {Name Sonar11 Range 3.4544} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 3.4798}
SEN {Time 27.1475} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.184,0.184,0.184,0.184,0.204,0,0,0,0,0,0,3.489,3.47,3.434,3.432,3.405,3.391,3.377,3.361,3.341,3.316,3.306,3.278,3.269,3.244,3.236,3.219,3.21,3.176,3.162,3.158,3.132,3.131,3.118,3.096,3.083,3.081,3.061,3.059,3.03,3.014,3.013,3.009,2.993,2.985,2.969,2.964,2.951,2.949,2.931,2.924,2.919,2.904,2.9,2.9,2.9,0.153,0.153,0.153,0.145,0.144,0.144,0.143,0.142,0.142,0.143,0.145,0.159,2.756,2.756,2.756,2.756,2.752,2.752,2.752,0.164,0.158,0.158,0.158,0.158,0.158,0.156,0.154,0.154,0.154,0.154,0.131,0.056,0.056,0.051,0.056,0.056,0.057,0.06,0.064,0.064,0.064,0.061,0.061,0.056,0.054,0.054,0.054,2.702,2.702,2.702,2.687,2.687,2.671,2.661,2.66,2.66,2.661,2.653,2.637,1.08,1.074,1.073,1.073,1.073,1.073,1.079,2.53,2.546,2.546,2.53,2.53,2.525,2.52,2.511,2.505,2.503,2.498,2.492,2.492,2.492,2.492,2.492,2.496,2.494,2.502,2.504,2.502,2.502,2.502,2.502,2.502,2.502,2.509,2.514,2.514,2.514,2.514,2.514,2.514,2.514,2.512,2.517,2.517,2.512,2.525,2.528,2.532,2.532,2.533,2.533,2.547,2.547,2.547,2.547,2.547,2.555,2.556,2.562,2.561,2.564,2.564,2.571,2.576,2.584,2.59,2.591,2.592,2.597,2.608,2.61,2.613,2.626,2.632,2.632,2.636,2.636,2.647,2.653,2.662,2.67,2.675,2.678,2.685,2.687,2.708,2.71,2.714,2.722,2.734,2.736,2.736,2.756,2.756,2.771,2.773,2.779,2.795,2.797,2.807,2.815,2.834,2.84,2.853,2.862,2.88,2.884,2.886,2.899,2.915,2.922,2.932,2.951,2.952,2.957,2.985,2.987,3.006,3.017,3.02,3.02,3.048,3.061,3.061,3.075,3.095,3.101,3.109,3.123,3.142,3.156,3.175,3.19,3.202,3.22,3.233,3.246,3.27,3.286,3.303,3.316,3.33,3.356,3.36,3.376,3.413,3.427,3.438,3.454,3.475,3.487,3.523,3.534,3.564,3.576,3.6,3.628,3.659,3.674,3.696,3.725,3.747,3.782,3.801,3.835,3.847,3.875,3.927,3.946,3.979,4.028,4.041,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.3,3.296,3.269,3.259,3.253,3.236,3.226,3.221,3.212,3.196,3.185,3.177,3.175,3.162,3.148,3.147,3.138,3.133,3.12,3.119,3.119,3.098,3.088,3.088,3.073,3.07,3.063,3.058,3.048,3.035,3.03,3.029,3.017,3.011,3.009,3.008,3.004,2.999,2.979,2.979,2.977,2.97,2.967,2.966,2.957,2.955,2.954,2.947,2.945,2.94,2.936,2.933,2.927,2.926,2.921,2.921,2.917,2.909,2.909,2.917,2.917,2.917,2.917,2.911,2.909,2.901,2.894,2.892,2.891,2.885,2.885,2.883,2.883,2.885,2.887,2.88,2.883,2.887,2.883,2.883,2.883,2.886,2.885,2.886,2.885,2.885,2.885,2.885,2.885,2.885,2.891,2.891,2.891,2.889,2.889,2.889,2.892,2.893,2.899,2.902,2.902,2.902,2.902,2.904,2.91,2.913,2.914,2.914,2.915,2.92,2.932,2.934,2.936,2.938,2.938,2.942,2.947,2.955,2.957,2.958,2.959,2.961,2.979,2.982,2.986,2.989,2.989,2.994,2.994,2.994,2.994,3.007,3.013,3.013,3.015,3.019,3.042,3.045,3.046,3.046,3.057,3.062,3.067,3.071,3.081,3.081,3.084,3.1,3.117,3.117,3.124,3.127,3.139,3.14,3.146,3.149,3.177,0.007,3.7,3.7,3.715,3.715,3.724,3.736,3.738,3.757,3.76,3.771,3.785,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.437,3.437,3.437,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 27.30} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 27.302} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.2832} {Name Sonar11 Range 3.4544} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.7658} {Name Sonar15 Range 3.4798}
SEN {Time 27.3474} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.193,0.193,0.193,0.202,0,0,0,0,0,0,3.495,3.468,3.441,3.427,3.408,3.403,3.387,3.335,3.333,3.322,3.305,3.271,3.271,3.24,3.237,3.211,3.194,3.181,3.169,3.157,3.136,3.124,3.111,3.092,3.079,3.074,3.056,3.046,3.035,3.025,3.009,3.009,2.994,2.99,2.973,2.957,2.954,2.935,2.934,2.924,2.917,2.906,2.906,2.906,2.895,0.148,0.153,0.148,0.148,0.148,0.146,0.146,0.146,0.146,0.146,0.149,2.777,2.777,2.768,2.768,2.755,2.753,2.753,2.736,0.162,0.159,0.159,0.159,0.159,0.156,0.156,0.156,0.156,0.156,0.156,0.127,0.058,0.058,0.057,0.058,0.057,0.059,0.06,0.064,0.06,0.06,0.06,0.06,0.056,0.056,0.056,0.056,2.707,2.707,2.707,2.68,2.667,2.66,2.66,2.656,2.656,2.656,2.656,2.631,1.074,1.069,1.069,1.066,1.074,1.078,1.081,2.533,2.539,2.539,2.534,2.533,2.525,2.515,2.515,2.513,2.499,2.497,2.497,2.496,2.494,2.494,2.494,2.496,2.497,2.499,2.499,2.499,2.504,2.502,2.502,2.504,2.51,2.51,2.512,2.512,2.519,2.515,2.513,2.515,2.515,2.515,2.517,2.517,2.517,2.523,2.521,2.531,2.532,2.532,2.538,2.542,2.547,2.547,2.549,2.549,2.549,2.553,2.564,2.564,2.567,2.574,2.578,2.578,2.586,2.596,2.593,2.598,2.598,2.598,2.611,2.613,2.625,2.63,2.633,2.634,2.639,2.643,2.646,2.66,2.671,2.675,2.684,2.69,2.69,2.697,2.708,2.713,2.724,2.729,2.737,2.737,2.744,2.754,2.773,2.779,2.781,2.782,2.803,2.811,2.811,2.828,2.833,2.847,2.859,2.87,2.888,2.901,2.905,2.907,2.918,2.934,2.941,2.956,2.957,2.983,2.984,2.998,3.006,3.019,3.028,3.039,3.056,3.06,3.07,3.093,3.099,3.121,3.121,3.138,3.152,3.17,3.182,3.199,3.213,3.222,3.253,3.268,3.276,3.303,3.318,3.338,3.354,3.371,3.382,3.389,3.408,3.437,3.461,3.486,3.492,3.514,3.535,3.553,3.582,3.606,3.629,3.649,3.682,3.696,3.719,3.757,3.762,3.808,3.822,3.851,3.886,3.918,3.94,3.98,4.015,4.028,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,3.302,3.277,3.273,3.269,3.243,3.242,3.228,3.219,3.209,3.209,3.194,3.192,3.17,3.164,3.145,3.144,3.133,3.121,3.119,3.116,3.106,3.097,3.091,3.083,3.075,3.067,3.061,3.054,3.053,3.043,3.043,3.029,3.018,3.012,3.009,3.005,2.993,2.992,2.981,2.978,2.976,2.963,2.959,2.955,2.955,2.954,2.949,2.948,2.948,2.944,2.936,2.932,2.928,2.927,2.927,2.915,2.913,2.911,2.913,2.915,2.92,2.92,2.92,2.9,2.9,2.897,2.897,2.897,2.888,2.888,2.88,2.88,2.88,2.884,2.884,2.887,2.884,2.883,2.881,2.881,2.878,2.88,2.878,2.879,2.879,2.88,2.885,2.885,2.885,2.887,2.887,2.887,2.886,2.887,2.887,2.887,2.891,2.896,2.896,2.897,2.898,2.907,2.907,2.907,2.91,2.91,2.914,2.922,2.925,2.929,2.933,2.938,2.938,2.938,2.943,2.943,2.955,2.955,2.959,2.959,2.962,2.972,2.974,2.975,2.975,2.987,2.989,2.991,2.991,2.991,3.001,3.001,3.012,3.012,3.013,3.019,3.03,3.035,3.046,3.046,3.046,3.059,3.059,3.067,3.067,3.078,3.092,3.104,3.115,3.115,3.127,3.13,3.133,3.144,3.146,3.148,3.167,0.007,3.703,3.703,3.715,3.715,3.719,3.726,3.733,3.751,3.764,3.773,3.787,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.432,3.432,3.432,0.016,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 27.50} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 27.503} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.7404} {Name Sonar11 Range 3.2766} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 3.4798}
SEN {Time 27.5435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.179,0.19,0.19,0.19,0.201,0,0,0,0,3.501,3.492,3.482,3.476,3.457,3.424,3.423,3.4,3.39,3.363,3.335,3.323,3.305,3.278,3.271,3.245,3.229,3.219,3.193,3.175,3.173,3.156,3.14,3.132,3.119,3.103,3.088,3.077,3.053,3.052,3.046,3.026,3.011,3.01,2.998,2.985,2.973,2.961,2.955,2.941,2.936,2.917,2.914,2.909,2.909,2.901,2.901,0.007,0.164,0.148,0.148,0.145,0.145,0.147,0.147,0.147,0.148,0.148,0.154,2.759,2.759,2.759,2.757,2.757,2.757,2.757,2.757,0.161,0.16,0.16,0.161,0.161,0.154,0.154,0.154,0.154,0.154,0.133,0.059,0.051,0.051,0.055,0.056,0.056,0.059,0.063,0.059,0.059,0.06,0.06,0.057,0.056,0.06,0.062,2.714,2.714,2.714,2.685,2.676,2.666,2.663,2.661,2.661,2.661,2.658,2.629,1.076,1.066,1.066,1.071,1.076,1.077,1.079,2.525,2.551,2.551,2.527,2.525,2.523,2.514,2.509,2.508,2.502,2.5,2.497,2.497,2.498,2.498,2.498,2.498,2.498,2.501,2.498,2.499,2.501,2.499,2.499,2.503,2.504,2.504,2.508,2.51,2.517,2.517,2.519,2.517,2.519,2.519,2.522,2.519,2.522,2.522,2.524,2.524,2.531,2.536,2.538,2.539,2.543,2.548,2.549,2.549,2.549,2.552,2.557,2.567,2.569,2.572,2.572,2.574,2.581,2.584,2.592,2.595,2.596,2.6,2.601,2.616,2.622,2.624,2.631,2.635,2.642,2.646,2.653,2.662,2.673,2.676,2.677,2.684,2.691,2.696,2.707,2.715,2.718,2.725,2.732,2.734,2.747,2.761,2.766,2.774,2.779,2.792,2.801,2.805,2.81,2.83,2.843,2.855,2.862,2.862,2.885,2.891,2.891,2.911,2.921,2.937,2.939,2.949,2.957,2.979,2.988,2.997,3.001,3.022,3.022,3.036,3.055,3.07,3.07,3.089,3.107,3.107,3.127,3.139,3.153,3.172,3.189,3.202,3.222,3.228,3.243,3.27,3.286,3.301,3.309,3.334,3.353,3.366,3.381,3.402,3.419,3.438,3.462,3.478,3.493,3.526,3.526,3.559,3.585,3.605,3.625,3.65,3.677,3.694,3.721,3.75,3.765,3.798,3.838,3.854,3.884,3.913,3.954,3.97,4.011,4.046,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.306,3.28,3.268,3.265,3.252,3.241,3.226,3.224,3.206,3.197,3.184,3.175,3.17,3.168,3.148,3.146,3.144,3.119,3.118,3.113,3.113,3.112,3.096,3.082,3.079,3.069,3.067,3.055,3.046,3.044,3.03,3.028,3.028,3.015,3.008,3.003,2.994,2.994,2.986,2.985,2.977,2.977,2.977,2.964,2.961,2.955,2.953,2.949,2.944,2.94,2.931,2.931,2.93,2.923,2.922,2.919,2.921,2.919,2.921,2.921,2.921,2.919,2.919,2.908,2.901,2.9,2.899,2.895,2.892,2.889,2.892,2.892,2.889,2.888,2.888,2.885,2.883,2.883,2.878,2.878,2.878,2.874,2.874,2.879,2.879,2.879,2.88,2.882,2.882,2.882,2.882,2.882,2.882,2.885,2.886,2.886,2.895,2.896,2.896,2.896,2.9,2.9,2.905,2.906,2.908,2.909,2.913,2.914,2.925,2.926,2.933,2.937,2.938,2.939,2.941,2.943,2.951,2.954,2.963,2.963,2.966,2.966,2.977,2.982,2.984,2.992,2.992,2.994,2.994,2.994,2.994,2.999,3.007,3.013,3.013,3.022,3.028,3.039,3.043,3.046,3.047,3.054,3.062,3.067,3.068,3.069,3.092,3.103,3.116,3.116,3.124,3.13,3.131,3.14,3.147,3.152,3.168,3.17,3.694,3.707,3.719,3.719,3.72,3.736,3.738,3.752,3.752,3.774,3.787,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.436,3.436,3.436,0.016,0.016,0.016,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.70} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.359611}
SEN {Time 27.70} {Type Tachometer} {Name LeftRight} {Vel 0.000000,0.000000}
SEN {Time 27.7039} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.7404} {Name Sonar11 Range 3.2766} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 3.4798}
SEN {Time 27.7435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.197,0,0,0,0,0.007,3.504,3.492,3.478,3.457,3.424,3.409,3.398,3.379,3.355,3.335,3.313,3.294,3.275,3.271,3.252,3.231,3.219,3.198,3.179,3.163,3.153,3.138,3.137,3.11,3.101,3.089,3.067,3.054,3.053,3.036,3.029,3.012,3,2.993,2.992,2.971,2.961,2.954,2.941,2.936,2.927,2.917,2.913,2.898,0.15,0.147,0.147,0.15,0.147,0.15,0.15,0.147,0.147,0.144,0.144,0.148,0.158,0.166,2.75,2.75,2.75,2.75,2.748,2.748,2.736,0.16,0.16,0.16,0.16,0.16,0.157,0.157,0.157,0.157,0.157,0.157,0.136,0.052,0.051,0.051,0.052,0.056,0.056,0.059,0.06,0.06,0.06,0.062,0.06,0.06,0.056,0.06,0.06,2.701,2.701,2.701,2.681,2.674,2.674,2.67,2.668,2.668,2.668,2.668,2.636,1.073,1.068,1.068,1.073,1.073,1.075,1.08,2.524,2.549,2.549,2.53,2.524,2.524,2.516,2.515,2.515,2.507,2.504,2.502,2.5,2.502,2.496,2.496,2.503,2.503,2.493,2.498,2.498,2.498,2.499,2.5,2.504,2.504,2.506,2.509,2.511,2.513,2.513,2.513,2.515,2.515,2.515,2.515,2.528,2.524,2.53,2.53,2.53,2.53,2.538,2.534,2.538,2.542,2.547,2.545,2.548,2.549,2.551,2.559,2.56,2.56,2.571,2.574,2.579,2.581,2.581,2.588,2.59,2.595,2.599,2.606,2.613,2.617,2.625,2.637,2.637,2.642,2.651,2.652,2.658,2.669,2.673,2.681,2.682,2.689,2.694,2.702,2.725,2.726,2.729,2.729,2.748,2.751,2.758,2.768,2.782,2.787,2.795,2.805,2.81,2.817,2.825,2.833,2.849,2.861,2.863,2.88,2.893,2.901,2.917,2.922,2.94,2.947,2.948,2.961,2.971,2.984,3.005,3.008,3.022,3.03,3.046,3.059,3.067,3.076,3.096,3.104,3.112,3.13,3.149,3.152,3.173,3.181,3.206,3.22,3.232,3.248,3.273,3.281,3.303,3.313,3.326,3.359,3.36,3.386,3.397,3.422,3.432,3.459,3.465,3.501,3.525,3.537,3.57,3.58,3.6,3.633,3.654,3.677,3.694,3.733,3.743,3.758,3.8,3.827,3.86,3.886,3.925,3.94,3.973,4.014,4.04,4.087,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.288,3.286,3.276,3.26,3.245,3.242,3.226,3.213,3.211,3.203,3.187,3.173,3.172,3.159,3.153,3.142,3.141,3.123,3.121,3.112,3.107,3.095,3.092,3.081,3.079,3.065,3.061,3.061,3.048,3.046,3.04,3.03,3.021,3.018,3.014,3.01,3.01,3.01,2.988,2.986,2.978,2.972,2.966,2.966,2.961,2.955,2.953,2.95,2.941,2.937,2.933,2.927,2.925,2.922,2.922,2.922,2.915,2.915,2.915,2.915,2.916,2.916,2.916,2.899,2.897,2.897,2.895,2.891,2.888,2.888,2.888,2.888,2.888,2.891,2.891,2.885,2.891,2.885,2.879,2.881,2.879,2.879,2.879,2.88,2.88,2.88,2.882,2.882,2.885,2.885,2.89,2.885,2.885,2.89,2.885,2.885,2.893,2.897,2.899,2.901,2.905,2.905,2.905,2.907,2.908,2.913,2.913,2.914,2.915,2.919,2.932,2.934,2.94,2.94,2.941,2.951,2.954,2.954,2.954,2.96,2.961,2.975,2.978,2.982,2.987,2.991,2.994,2.995,2.999,2.999,3.005,3.01,3.01,3.01,3.018,3.037,3.048,3.048,3.047,3.047,3.048,3.056,3.059,3.06,3.064,3.078,3.085,3.102,3.115,3.115,3.121,3.13,3.131,3.138,3.143,3.152,3.161,3.167,3.695,3.697,3.717,3.717,3.719,3.732,3.733,3.749,3.767,3.769,3.785,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 27.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.354375}
SEN {Time 27.90} {Type Tachometer} {Name LeftRight} {Vel 0.025400,-0.025400}
SEN {Time 27.899} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.651} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.7404} {Name Sonar11 Range 3.2766} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 3.4798}
SEN {Time 27.9435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0.184,0.185,0.185,0.185,0.205,0,0,0,0,0,0,3.493,3.463,3.452,3.433,3.407,3.405,3.379,3.358,3.338,3.338,3.304,3.275,3.274,3.256,3.228,3.228,3.197,3.179,3.173,3.165,3.135,3.125,3.122,3.105,3.093,3.074,3.064,3.057,3.043,3.026,3.016,3.006,2.995,2.993,2.964,2.961,2.951,2.95,2.945,2.933,2.916,2.904,2.904,2.892,0.153,0.153,0.153,0.15,0.15,0.15,0.145,0.145,0.143,0.143,0.152,0.154,2.783,2.783,2.762,2.762,2.756,2.75,2.75,2.75,0.15,0.15,0.15,0.15,0.153,0.153,0.153,0.153,0.153,0.154,0.154,0.136,0.058,0.055,0.055,0.058,0.055,0.06,0.06,0.068,0.068,0.068,0.062,0.062,0.056,0.056,0.056,0.056,2.711,2.711,2.711,2.681,2.673,2.671,2.67,2.659,2.659,2.659,2.659,2.639,1.081,1.081,1.078,1.073,1.078,1.078,1.078,1.106,2.541,2.541,2.541,2.52,2.518,2.514,2.513,2.508,2.507,2.503,2.5,2.5,2.5,2.5,2.497,2.5,2.5,2.499,2.503,2.503,2.503,2.502,2.502,2.502,2.503,2.514,2.516,2.516,2.516,2.516,2.518,2.519,2.519,2.519,2.528,2.517,2.517,2.52,2.521,2.521,2.532,2.535,2.538,2.538,2.542,2.542,2.547,2.548,2.547,2.553,2.554,2.559,2.561,2.566,2.568,2.578,2.58,2.583,2.585,2.597,2.597,2.599,2.599,2.619,2.62,2.628,2.632,2.638,2.639,2.64,2.646,2.66,2.672,2.677,2.68,2.689,2.692,2.697,2.719,2.721,2.724,2.726,2.733,2.742,2.748,2.76,2.761,2.773,2.786,2.799,2.801,2.804,2.809,2.823,2.84,2.859,2.861,2.862,2.887,2.891,2.905,2.911,2.92,2.927,2.949,2.95,2.957,2.972,2.979,2.996,2.999,3.013,3.027,3.037,3.053,3.069,3.092,3.098,3.11,3.11,3.137,3.137,3.153,3.173,3.175,3.2,3.213,3.234,3.251,3.253,3.278,3.295,3.322,3.332,3.353,3.363,3.377,3.396,3.415,3.435,3.455,3.478,3.489,3.515,3.528,3.546,3.578,3.604,3.616,3.647,3.666,3.686,3.714,3.737,3.76,3.795,3.825,3.852,3.871,3.908,3.94,3.958,3.995,4.067,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0.006,0,0,3.278,3.278,3.267,3.26,3.249,3.236,3.223,3.211,3.202,3.201,3.183,3.167,3.154,3.152,3.149,3.141,3.129,3.127,3.105,3.1,3.097,3.093,3.082,3.073,3.07,3.06,3.058,3.056,3.047,3.037,3.033,3.025,3.011,3.009,3.004,3,2.994,2.991,2.987,2.981,2.977,2.965,2.965,2.957,2.957,2.954,2.951,2.944,2.934,2.933,2.932,2.927,2.927,2.922,2.918,2.914,2.914,2.914,2.914,2.916,2.916,2.916,2.902,2.899,2.898,2.896,2.887,2.886,2.886,2.886,2.886,2.886,2.887,2.887,2.88,2.886,2.883,2.883,2.883,2.883,2.883,2.881,2.881,2.877,2.877,2.877,2.875,2.875,2.877,2.884,2.877,2.881,2.883,2.883,2.883,2.905,2.905,2.905,2.904,2.902,2.902,2.902,2.904,2.91,2.911,2.912,2.915,2.92,2.927,2.929,2.932,2.934,2.937,2.941,2.947,2.948,2.948,2.962,2.962,2.962,2.967,2.969,2.979,2.985,2.985,2.992,2.992,2.992,2.992,2.992,2.997,3.003,3.005,3.019,3.02,3.042,3.058,3.063,3.058,3.058,3.059,3.059,3.059,3.06,3.069,3.091,0.007,3.13,3.123,3.129,3.129,3.13,3.137,3.147,3.15,3.159,3.162,3.694,3.697,3.698,3.698,3.712,3.722,3.741,3.755,3.759,3.76,3.782,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.10} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.319469}
SEN {Time 28.10} {Type Tachometer} {Name LeftRight} {Vel 0.048260,-0.048260}
SEN {Time 28.1009} {Type Sonar} {Name Sonar0 Range 2.8702} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 2.54} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.207} {Name Sonar11 Range 3.2766} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 6.1722} {Name Sonar15 Range 3.4798}
SEN {Time 28.1435} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.19,0.19,0.19,0.2,0,0,0,0,0,0.007,3.592,3.571,3.554,3.528,3.489,3.476,3.472,3.438,3.415,3.404,3.384,3.356,3.344,3.324,3.303,3.287,3.283,3.251,3.248,3.225,3.201,3.187,3.174,3.17,3.153,3.139,3.123,3.104,3.098,3.083,3.064,3.056,3.044,3.038,3.022,3.018,2.993,2.989,2.982,2.966,2.961,2.953,2.945,0.15,0.146,0.143,0.146,0.143,0.143,0.143,0.143,0.143,0.143,0.143,0.152,0.154,0.16,2.779,2.787,2.787,2.787,2.779,2.787,2.777,0.161,0.161,0.161,0.161,0.161,0.161,0.153,0.153,0.153,0.153,0.151,0.133,0.053,0.053,0.053,0.053,0.058,0.059,0.06,0.061,0.063,0.063,0.06,0.059,0.058,0.056,0.058,0.059,2.721,2.721,2.721,2.69,2.688,2.675,2.671,2.67,2.661,2.66,2.646,2.629,2.615,2.6,2.6,2.596,2.574,1.078,1.078,1.077,1.078,1.078,1.078,1.078,1.087,2.505,2.51,2.51,2.505,2.504,2.503,2.497,2.497,2.497,2.497,2.497,2.497,2.501,2.498,2.498,2.498,2.498,2.498,2.495,2.501,2.501,2.501,2.5,2.503,2.505,2.5,2.505,2.506,2.505,2.507,2.509,2.507,2.507,2.515,2.515,2.515,2.517,2.521,2.522,2.529,2.529,2.531,2.531,2.531,2.531,2.531,2.535,2.545,2.549,2.551,2.551,2.559,2.56,2.568,2.571,2.575,2.575,2.575,2.584,2.592,2.593,2.595,2.602,2.606,2.613,2.618,2.624,2.626,2.629,2.646,2.646,2.651,2.654,2.665,2.673,2.683,2.692,2.693,2.695,2.699,2.716,2.725,2.734,2.735,2.742,2.746,2.753,2.766,2.783,2.783,2.796,2.801,2.811,2.817,2.842,2.845,2.854,2.861,2.868,2.881,2.886,2.891,2.913,2.914,2.93,2.934,2.949,2.961,2.966,2.979,3,3.012,3.033,3.033,3.035,3.05,3.059,3.067,3.083,3.095,3.116,3.127,3.148,3.157,3.177,3.183,3.204,3.216,3.228,3.253,3.256,3.272,3.288,3.307,3.325,3.349,3.359,3.364,3.405,3.41,3.437,3.457,3.47,3.496,3.517,3.535,3.55,3.585,3.596,3.623,3.645,3.668,3.691,3.718,3.744,3.774,3.803,3.826,3.84,3.874,3.89,3.946,3.963,4.003,4.025,4.07,0,0.009,0.009,0,0.009,0.007,0,0,0,0,0.007,0,0,0,0.007,3.991,3.924,3.302,3.28,3.278,3.266,3.255,3.241,3.236,3.22,3.206,3.202,3.19,3.181,3.181,3.179,3.157,3.151,3.143,3.136,3.129,3.12,3.112,3.101,3.093,3.087,3.078,3.062,3.059,3.055,3.045,3.038,3.037,3.028,3.026,3.019,3.016,3.012,2.996,2.996,2.994,2.991,2.989,2.976,2.975,2.969,2.962,2.957,2.951,2.957,2.951,2.947,2.943,2.937,2.936,2.935,2.923,2.923,2.921,2.915,2.912,2.912,2.912,2.912,2.908,2.908,2.902,2.899,2.897,2.897,2.897,2.897,2.897,2.897,2.892,2.891,2.887,2.886,2.887,2.886,2.882,2.882,2.878,2.877,2.878,2.883,2.882,2.882,2.883,2.882,2.878,2.878,2.888,2.887,2.887,2.888,2.888,2.889,2.89,2.892,2.895,2.895,2.904,2.907,2.908,2.913,2.915,2.92,2.92,2.92,2.92,2.92,2.92,2.929,2.941,2.941,2.941,2.942,2.951,2.957,2.961,2.961,2.964,2.967,2.975,2.979,2.98,2.988,2.992,2.994,2.996,2.999,2.999,2.999,3.002,3.012,3.014,3.016,3.032,3.034,3.042,3.048,3.048,3.049,3.05,3.059,3.066,3.069,3.091,3.1,0.007,3.128,3.126,3.128,3.128,3.135,3.141,3.15,3.157,3.157,3.175,3.694,3.694,3.708,3.713,3.723,3.739,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.249656}
SEN {Time 28.30} {Type Tachometer} {Name LeftRight} {Vel 0.071120,-0.071120}
SEN {Time 28.3039} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.0828} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 1.8034} {Name Sonar9 Range 2.1844} {Name Sonar10 Range 5.207} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 6.1722} {Name Sonar15 Range 3.7592}
SEN {Time 28.3405} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.209,0.209,0.209,0,0,0,0,0,0,0,3.828,3.805,3.771,3.738,3.714,3.711,3.683,3.652,3.644,3.602,3.576,3.57,3.532,3.508,3.496,3.467,3.463,3.446,3.419,3.39,3.382,3.354,3.338,3.318,3.301,3.278,3.258,3.248,3.233,3.223,3.194,3.182,3.173,3.148,3.145,3.122,3.114,3.105,3.089,3.085,3.073,3.064,0.153,0.15,0.143,0.144,0.143,0.143,0.143,0.144,0.145,0.145,0.145,0.148,0.154,0.007,2.901,2.882,2.882,2.874,2.871,2.871,2.871,0.166,0.163,0.163,0.163,0.159,0.153,0.153,0.153,0.153,0.155,0.155,0.138,0.056,0.053,0.053,0.056,0.056,0.057,0.058,0.059,0.062,0.062,0.062,0.056,0.055,0.052,0.052,0.056,2.765,2.765,2.765,2.723,2.722,2.714,2.706,2.697,2.693,2.68,2.676,2.65,2.641,2.639,2.629,2.608,2.606,2.601,2.591,2.586,2.577,2.566,2.565,2.553,2.551,2.551,2.54,2.533,1.083,1.076,1.076,1.076,1.081,1.083,1.083,1.085,1.099,2.504,2.504,2.504,2.498,2.491,2.491,2.492,2.497,2.497,2.497,2.497,2.497,2.494,2.489,2.489,2.489,2.489,2.489,2.489,2.486,2.489,2.49,2.483,2.49,2.49,2.497,2.497,2.5,2.5,2.5,2.497,2.499,2.497,2.499,2.499,2.501,2.504,2.504,2.51,2.51,2.512,2.513,2.517,2.519,2.527,2.527,2.53,2.531,2.532,2.541,2.546,2.549,2.551,2.563,2.565,2.571,2.571,2.571,2.571,2.584,2.585,2.596,2.605,2.606,2.606,2.607,2.607,2.628,2.63,2.635,2.637,2.645,2.653,2.658,2.66,2.673,2.679,2.691,2.7,2.705,2.716,2.717,2.722,2.737,2.738,2.747,2.764,2.769,2.769,2.782,2.796,2.801,2.808,2.82,2.825,2.828,2.839,2.86,2.866,2.868,2.875,2.89,2.899,2.907,2.908,2.931,2.931,2.948,2.963,2.971,2.984,2.993,3.015,3.022,3.027,3.042,3.066,3.077,3.082,3.09,3.111,3.119,3.145,3.146,3.158,3.175,3.192,3.207,3.228,3.23,3.251,3.273,3.279,3.303,3.326,3.338,3.365,3.365,3.385,3.407,3.424,3.441,3.465,3.485,3.504,3.527,3.551,3.582,3.585,3.612,3.638,3.658,3.681,3.705,3.73,3.738,3.772,3.81,3.832,3.859,3.881,3.925,3.946,3.978,4.012,4.044,0.016,0.009,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,0.007,0,0,0,3.3,3.289,3.273,3.26,3.241,3.237,3.223,3.222,3.199,3.198,3.197,3.171,3.17,3.157,3.148,3.137,3.135,3.128,3.112,3.107,3.1,3.099,3.092,3.074,3.07,3.065,3.056,3.053,3.051,3.049,3.03,3.03,3.022,3.018,3.016,3.008,2.997,2.996,2.996,2.989,2.985,2.981,2.974,2.964,2.961,2.958,2.949,2.945,2.94,2.939,2.938,2.938,2.931,2.93,2.929,2.922,2.917,2.913,2.913,2.913,2.916,2.916,2.916,2.911,2.908,2.907,2.898,2.898,2.896,2.896,2.895,2.89,2.889,2.889,2.89,2.89,2.89,2.89,2.89,2.888,2.884,2.884,2.881,2.881,2.881,2.881,2.882,2.882,2.882,2.882,2.882,2.9,2.902,2.902,2.902,2.902,2.902,2.902,2.907,2.909,2.909,2.909,2.909,2.915,2.917,2.918,2.921,2.922,2.924,2.93,2.93,2.932,2.944,2.946,2.948,2.95,2.959,2.959,2.968,2.972,2.972,2.972,2.981,2.984,2.986,2.994,2.995,2.995,2.998,2.999,2.999,3.012,3.014,3.016,3.019,3.028,3.043,3.045,3.046,3.046,3.047,3.062,3.063,3.074,3.077,3.079,3.08,3.102,3.103,3.115,3.135,3.135,3.137,3.14,3.154,3.155,3.17,3.209,3.696,3.696,3.703,3.711,3.722,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0.007,0,0.007,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.50} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.162389}
SEN {Time 28.50} {Type Tachometer} {Name LeftRight} {Vel 0.086360,-0.086360}
SEN {Time 28.4978} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 3.7084} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.2794} {Name Sonar7 Range 1.6764} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 5.207} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 6.1722} {Name Sonar15 Range 3.7592}
SEN {Time 28.5395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0.009,0.009,0,0.206,0.206,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.012,3.963,3.882,3.882,3.882,3.849,3.836,3.737,3.72,3.69,3.69,3.644,3.643,3.614,3.593,3.559,3.548,3.529,3.507,3.47,3.466,3.432,3.431,3.389,3.385,3.359,3.353,3.322,3.298,3.284,3.284,3.284,3.267,3.267,0.157,0.149,0.146,0.146,0.149,0.149,0.149,0.149,0.151,0.147,0.154,0.007,3.048,3.02,3.02,3.014,3.013,3.013,3.009,0.164,0.163,0.163,0.163,0.16,0.15,0.15,0.15,0.15,0.15,0.131,0.07,0.049,0.049,0.049,0.058,0.055,0.058,0.06,0.061,0.061,0.061,0.06,0.06,0.059,0.053,0.053,0.063,2.821,2.821,2.821,2.789,2.786,2.78,2.774,2.771,2.756,2.745,2.729,2.702,2.699,2.682,2.669,2.66,2.656,2.642,2.636,2.631,2.622,2.605,2.605,2.605,2.602,2.582,2.573,2.566,2.559,2.551,2.548,2.538,2.535,2.534,2.534,2.533,2.528,2.527,2.521,2.516,2.516,2.518,2.516,2.51,1.084,1.076,1.076,1.079,1.079,1.076,1.079,1.079,2.487,2.487,2.489,2.487,2.481,2.481,2.481,2.48,2.474,2.474,2.473,2.474,2.475,2.475,2.475,2.475,2.475,2.475,2.476,2.475,2.475,2.479,2.471,2.471,2.474,2.476,2.475,2.476,2.479,2.482,2.484,2.486,2.49,2.49,2.493,2.493,2.495,2.497,2.497,2.497,2.505,2.508,2.51,2.512,2.512,2.515,2.519,2.531,2.532,2.532,2.533,2.543,2.543,2.549,2.555,2.562,2.564,2.564,2.567,2.571,2.578,2.584,2.589,2.593,2.608,2.612,2.613,2.621,2.622,2.633,2.645,2.652,2.653,2.657,2.659,2.667,2.667,2.688,2.693,2.699,2.701,2.715,2.721,2.728,2.728,2.738,2.745,2.746,2.764,2.769,2.774,2.791,2.793,2.806,2.815,2.829,2.837,2.84,2.844,2.85,2.874,2.881,2.887,2.895,2.903,2.912,2.925,2.933,2.955,2.959,2.961,2.982,2.982,3.009,3.028,3.028,3.044,3.051,3.072,3.082,3.09,3.105,3.123,3.127,3.145,3.163,3.175,3.196,3.208,3.224,3.246,3.247,3.278,3.292,3.299,3.324,3.341,3.357,3.364,3.388,3.404,3.416,3.453,3.461,3.484,3.5,3.535,3.544,3.571,3.595,3.619,3.639,3.665,3.679,3.715,3.734,3.763,3.784,3.813,3.846,3.889,3.908,3.955,3.975,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.288,3.279,3.273,3.265,3.246,3.23,3.228,3.219,3.204,3.203,3.194,3.186,3.174,3.158,3.154,3.142,3.138,3.135,3.13,3.119,3.109,3.103,3.098,3.092,3.089,3.078,3.076,3.069,3.061,3.052,3.047,3.032,3.027,3.023,3.021,3.017,3.006,3,2.996,2.994,2.99,2.976,2.976,2.968,2.966,2.962,2.96,2.959,2.959,2.954,2.954,2.948,2.936,2.933,2.932,2.93,2.926,2.921,2.921,2.92,2.92,2.924,2.924,2.913,2.913,2.912,2.909,2.909,2.909,2.902,2.902,2.898,2.898,2.896,2.898,2.903,2.903,2.896,2.898,2.897,2.896,2.897,2.897,2.897,2.896,2.896,2.896,2.896,2.895,2.896,2.895,2.9,2.9,2.9,2.9,2.901,2.901,2.907,2.911,2.911,2.911,2.912,2.915,2.92,2.923,2.927,2.928,2.931,2.932,2.935,2.938,2.939,2.946,2.947,2.951,2.955,2.958,2.961,2.972,2.972,2.975,2.983,2.984,2.986,2.988,2.996,3.004,3.005,3.007,3.012,3.014,3.014,3.016,3.022,3.028,3.041,3.044,3.044,3.044,3.046,3.059,3.064,3.066,3.079,3.08,3.081,3.088,3.089,3.107,3.115,3.122,3.133,3.136,3.14,3.15,3.154,3.165,3.165,3.181,3.694,3.694,3.715,3.723,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.69} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,1.055924}
SEN {Time 28.69} {Type Tachometer} {Name LeftRight} {Vel 0.101600,-0.101600}
SEN {Time 28.6917} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.8702} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 2.5654} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 0.2794} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 4.1656} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 3.7592}
SEN {Time 28.7395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0,0,0,0.214,0.214,0.214,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0.009,0.016,0,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.911,3.853,3.84,3.818,3.818,3.782,3.753,3.725,3.688,3.66,3.617,3.617,3.602,3.552,0.153,0.144,0.144,0.142,0.144,0.143,0.143,0.143,0.144,0.144,0.147,0.147,0.163,3.266,3.237,3.24,3.24,3.24,3.24,3.24,3.22,0.163,0.156,0.156,0.154,0.153,0.153,0.152,0.147,0.147,0.14,0.098,0.066,0.057,0.056,0.056,0.056,0.056,0.06,0.06,0.06,0.06,0.058,0.056,0.056,0.056,0.056,0.056,2.936,2.936,2.936,2.895,2.892,2.89,2.886,2.869,2.868,2.84,2.835,2.821,2.797,2.78,2.762,2.76,2.741,2.728,2.727,2.715,2.707,2.695,2.694,2.678,2.667,2.666,2.652,2.651,2.638,2.632,2.627,2.623,2.608,2.606,2.601,2.599,2.591,2.581,2.578,2.577,2.572,2.57,2.567,2.563,2.561,2.558,2.553,2.552,2.552,2.532,2.525,2.524,2.521,2.521,2.517,2.512,2.51,2.505,2.504,2.498,2.498,2.494,2.492,1.067,1.067,1.061,1.063,1.063,1.058,1.058,1.063,2.467,2.467,2.467,2.467,2.466,2.462,2.462,2.46,2.46,2.46,2.459,2.459,2.46,2.46,2.464,2.464,2.46,2.464,2.462,2.456,2.462,2.465,2.462,2.465,2.465,2.466,2.466,2.468,2.468,2.475,2.477,2.476,2.476,2.478,2.482,2.489,2.494,2.495,2.495,2.495,2.496,2.496,2.502,2.505,2.511,2.512,2.513,2.522,2.53,2.532,2.532,2.533,2.54,2.544,2.545,2.554,2.563,2.568,2.575,2.575,2.579,2.582,2.591,2.592,2.596,2.598,2.599,2.613,2.616,2.63,2.631,2.634,2.638,2.639,2.659,2.66,2.66,2.673,2.677,2.684,2.688,2.695,2.705,2.708,2.709,2.729,2.736,2.737,2.75,2.763,2.769,2.771,2.772,2.794,2.794,2.799,2.813,2.833,2.834,2.852,2.862,2.865,2.884,2.891,2.892,2.912,2.914,2.922,2.944,2.945,2.965,2.973,2.976,2.998,3.01,3.025,3.037,3.052,3.053,3.078,3.087,3.104,3.11,3.127,3.133,3.153,3.169,3.175,3.194,3.212,3.224,3.238,3.256,3.278,3.306,3.307,3.33,3.337,3.357,3.393,3.404,3.42,3.445,3.465,3.487,3.49,3.525,3.543,3.557,3.584,3.612,3.631,3.654,3.676,3.715,3.736,3.741,3.778,3.811,3.836,3.877,3.897,3.945,3.961,4.023,4.074,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.09,4.065,4.065,4.061,4.022,4.022,3.999,3.999,0.007,3.946,3.299,3.28,3.267,3.253,3.245,3.234,3.22,3.22,3.206,3.196,3.191,3.178,3.165,3.156,3.156,3.143,3.14,3.126,3.121,3.112,3.1,3.094,3.091,3.08,3.072,3.071,3.064,3.062,3.056,3.052,3.045,3.033,3.032,3.032,3.016,3.016,3.015,3.015,3.002,3,2.99,2.989,2.983,2.976,2.976,2.972,2.968,2.964,2.956,2.955,2.951,2.942,2.94,2.939,2.939,2.939,2.933,2.929,2.929,2.929,2.929,2.94,2.94,2.94,2.915,2.914,2.91,2.905,2.91,2.902,2.905,2.905,2.907,2.907,2.907,2.911,2.911,2.899,2.899,2.902,2.899,2.902,2.902,2.901,2.901,2.901,2.901,2.901,2.907,2.904,2.907,2.909,2.909,2.909,2.91,2.914,2.911,2.914,2.915,2.919,2.923,2.923,2.926,2.927,2.93,2.93,2.935,2.938,2.941,2.945,2.955,2.959,2.96,2.96,2.963,2.968,2.979,2.98,2.983,2.983,2.984,2.993,2.995,3.001,3.004,3.005,3.009,3.013,3.013,3.013,3.017,3.018,3.035,3.04,3.04,3.052,3.061,3.061,3.067,3.08,3.08,3.084,3.087,3.092,3.093,3.093,3.111,3.112,3.113,3.133,3.142,3.149,3.158,3.164,3.167,3.182,3.182,3.184,3.194,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0.007,0,0.016,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 28.89} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.937242}
SEN {Time 28.89} {Type Tachometer} {Name LeftRight} {Vel 0.101600,-0.101600}
SEN {Time 28.8948} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.8702} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 0.2794} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 1.8288} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 3.937} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 5.2832}
SEN {Time 28.9395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.187,0.187,0.187,0.215,0,0,0,0,0,0,3.845,3.845,3.845,3.858,3.866,3.878,3.886,3.902,3.905,3.924,3.929,3.937,3.954,3.954,3.963,3.983,3.99,4.008,4.025,4.039,4.05,4.072,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.153,0.152,0.148,0.148,0.148,0.148,0.148,0.152,0.152,0.152,0.154,0.155,0.155,0.198,0,0,0,0,0,0,0,0.165,0.156,0.155,0.155,0.156,0.155,0.155,0.15,0.15,0.125,0.111,0.092,0.066,0.053,0.053,0.053,0.06,0.062,0.062,0.062,0.06,0.058,0.056,0.056,0.056,0.056,0.057,3.049,3.049,3.049,3.028,3.028,3.021,3.01,2.994,2.987,2.97,2.969,2.943,2.94,2.914,2.906,2.882,2.88,2.858,2.842,2.838,2.832,2.819,2.798,2.796,2.786,2.777,2.771,2.763,2.757,2.746,2.735,2.732,2.713,2.712,2.703,2.698,2.692,2.681,2.677,2.673,2.672,2.664,2.653,2.644,2.64,2.636,2.635,2.623,2.617,2.613,2.6,2.594,2.589,2.585,2.585,2.575,2.569,2.56,2.559,2.557,2.546,2.546,2.545,2.54,2.535,2.53,2.525,2.517,2.509,2.509,2.501,2.5,2.5,2.499,2.496,2.491,2.486,2.486,2.485,2.48,2.485,2.478,2.475,1.053,1.049,1.048,1.048,1.047,1.046,1.046,1.046,2.449,2.46,2.46,2.456,2.456,2.452,2.452,2.451,2.451,2.451,2.449,2.449,2.449,2.449,2.449,2.45,2.452,2.452,2.452,2.453,2.454,2.454,2.458,2.459,2.459,2.462,2.466,2.467,2.468,2.472,2.472,2.476,2.476,2.478,2.478,2.48,2.485,2.486,2.491,2.491,2.498,2.498,2.499,2.504,2.506,2.508,2.51,2.513,2.522,2.522,2.524,2.533,2.535,2.535,2.538,2.542,2.544,2.555,2.562,2.566,2.567,2.569,2.569,2.574,2.579,2.586,2.597,2.602,2.604,2.616,2.618,2.629,2.631,2.634,2.647,2.652,2.654,2.665,2.673,2.674,2.682,2.693,2.699,2.708,2.716,2.72,2.723,2.74,2.746,2.748,2.764,2.773,2.785,2.799,2.802,2.806,2.816,2.829,2.83,2.853,2.855,2.862,2.869,2.894,2.897,2.907,2.915,2.929,2.94,2.951,2.96,2.98,2.986,3.005,3.009,3.023,3.049,3.061,3.07,3.071,3.098,3.112,3.123,3.14,3.147,3.161,3.18,3.195,3.209,3.222,3.249,3.256,3.269,3.301,3.302,3.325,3.333,3.354,3.383,3.4,3.426,3.431,3.459,3.471,3.502,3.516,3.545,3.568,3.593,3.607,3.639,3.662,3.686,3.717,3.744,3.759,3.781,3.821,3.834,3.872,3.903,3.937,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.007,0,3.992,3.321,3.28,3.275,3.275,3.255,3.243,3.238,3.221,3.216,3.213,3.198,3.197,3.183,3.175,3.168,3.157,3.153,3.146,3.138,3.135,3.123,3.109,3.108,3.103,3.095,3.089,3.08,3.072,3.072,3.066,3.053,3.046,3.044,3.042,3.033,3.029,3.025,3.022,3.021,3.012,2.999,2.991,2.991,2.989,2.987,2.985,2.977,2.973,2.968,2.966,2.96,2.956,2.951,2.951,2.946,2.94,2.937,2.932,2.932,2.928,2.928,2.932,2.941,2.941,2.941,2.929,2.918,2.917,2.915,2.914,2.913,2.913,2.91,2.91,2.91,2.911,2.911,2.912,2.912,2.912,2.912,2.902,2.902,2.902,2.903,2.911,2.911,2.911,2.909,2.914,2.914,2.916,2.916,2.92,2.917,2.917,2.917,2.926,2.927,2.931,2.931,2.928,2.928,2.929,2.929,2.94,2.946,2.948,2.952,2.955,2.955,2.959,2.96,2.962,2.971,2.977,2.979,2.98,2.984,2.987,2.993,2.997,3.008,3.011,3.016,3.016,3.018,3.027,3.027,3.027,3.027,3.027,3.035,3.044,3.047,3.052,3.061,3.064,3.073,3.083,3.083,3.086,3.087,3.101,3.102,3.112,3.125,3.129,3.141,3.146,3.146,3.152,3.161,3.162,3.18,3.194,3.208,0.006,0.007,0.006,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 29.10} {Type Odometry} {Name Odometry} {Pose 0.002537,1.000115,0.816814}
SEN {Time 29.10} {Type Tachometer} {Name LeftRight} {Vel 0.101600,-0.101600}
SEN {Time 29.0977} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 6.2738} {Name Sonar2 Range 2.8702} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 0.9398} {Name Sonar7 Range 0.2794} {Name Sonar8 Range 4.826} {Name Sonar9 Range 2.8194} {Name Sonar10 Range 2.9464} {Name Sonar11 Range 3.937} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.9398} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 5.2832}
SEN {Time 29.1405} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.199,0.199,0.199,0.206,0,0,0,0,0,3.716,3.71,3.71,3.716,3.716,3.733,3.741,3.751,3.751,3.754,3.764,3.768,3.775,3.779,3.787,3.789,3.796,3.798,3.799,3.811,3.832,3.834,3.845,3.855,3.856,3.868,3.874,3.878,3.889,3.913,3.918,3.929,3.935,3.958,3.958,3.966,3.984,3.998,4.023,0.009,0.009,0.009,0.009,0,0,0.147,0.147,0.145,0.145,0.15,0.15,0.15,0.15,0.15,0.15,0.156,0.157,0.219,0,0,0,0,0,0,0,0,0,0.157,0.155,0.15,0.15,0.145,0.145,0.143,0.143,0.143,0.14,0.092,0.067,0.064,0.06,0.06,0.059,0.059,0.056,0.059,0.057,0.056,0.056,0.057,0.057,0.068,0.069,0.096,3.202,3.202,3.202,3.184,3.176,3.17,3.164,3.153,3.135,3.134,3.132,3.102,3.101,3.099,3.077,3.065,3.051,3.046,3.019,3.019,3.004,2.992,2.964,2.952,2.945,2.941,2.922,2.915,2.905,2.893,2.891,2.869,2.864,2.853,2.845,2.845,2.833,2.817,2.803,2.799,2.787,2.785,2.773,2.769,2.759,2.755,2.745,2.745,2.722,2.721,2.708,2.705,2.698,2.685,2.675,2.673,2.663,2.659,2.654,2.644,2.643,2.639,2.625,2.617,2.612,2.606,2.598,2.584,2.583,2.576,2.566,2.565,2.56,2.557,2.551,2.545,2.544,2.543,2.54,2.532,2.528,2.517,2.517,2.513,2.511,2.504,2.503,2.503,2.498,2.493,2.493,2.486,2.482,2.48,2.48,2.479,2.479,2.472,2.471,2.472,2.467,2.46,1.05,1.049,1.04,1.04,1.04,1.039,1.039,1.039,1.066,2.434,2.447,2.447,2.445,2.445,2.447,2.446,2.446,2.446,2.446,2.446,2.446,2.446,2.446,2.446,2.446,2.449,2.453,2.453,2.453,2.453,2.453,2.453,2.454,2.454,2.454,2.456,2.462,2.462,2.462,2.462,2.463,2.465,2.466,2.468,2.471,2.473,2.473,2.473,2.48,2.487,2.487,2.487,2.493,2.497,2.502,2.503,2.503,2.504,2.504,2.51,2.524,2.528,2.53,2.531,2.537,2.54,2.548,2.548,2.556,2.556,2.564,2.571,2.571,2.578,2.588,2.591,2.598,2.599,2.6,2.616,2.62,2.626,2.637,2.645,2.651,2.657,2.659,2.671,2.673,2.676,2.692,2.703,2.71,2.71,2.713,2.728,2.734,2.751,2.758,2.766,2.769,2.786,2.787,2.801,2.812,2.813,2.832,2.84,2.855,2.858,2.875,2.887,2.899,2.899,2.92,2.923,2.942,2.947,2.973,2.978,2.979,3.014,3.024,3.034,3.034,3.046,3.054,3.084,3.089,3.1,3.112,3.127,3.148,3.152,3.178,3.202,3.215,3.231,3.244,3.26,3.28,3.298,3.311,3.322,3.342,3.374,3.378,3.397,3.42,3.439,3.466,3.474,3.498,3.521,3.546,3.553,3.587,3.612,3.652,3.667,3.693,3.715,3.744,3.769,3.796,3.817,3.847,3.882,0.009,0.009,0.009,4.083,4.083,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,0,0,0,0.007,3.963,3.294,3.275,3.272,3.27,3.253,3.245,3.232,3.231,3.219,3.2,3.193,3.19,3.175,3.173,3.169,3.159,3.144,3.143,3.133,3.123,3.114,3.107,3.103,3.099,3.089,3.087,3.084,3.074,3.068,3.062,3.055,3.048,3.035,3.034,3.029,3.024,3.023,3.017,3.015,3.015,3.002,3.002,3.001,2.986,2.983,2.983,2.983,2.979,2.975,2.964,2.964,2.96,2.955,2.955,2.95,2.95,2.95,2.947,2.944,2.947,2.95,2.941,2.941,2.939,2.938,2.934,2.93,2.925,2.93,2.93,2.928,2.925,2.928,2.92,2.926,2.926,2.926,2.921,2.921,2.917,2.911,2.911,2.911,2.915,2.915,2.922,2.922,2.919,2.919,2.921,2.921,2.923,2.923,2.925,2.925,2.925,2.93,2.931,2.931,2.941,2.945,2.945,2.945,2.945,2.955,2.954,2.958,2.96,2.962,2.968,2.975,2.979,2.979,2.986,2.986,2.988,2.992,2.994,2.994,3.008,3.01,3.014,3.021,3.022,3.031,3.034,3.031,3.035,3.039,3.044,3.044,3.055,3.056,3.06,3.067,3.07,3.076,3.082,3.092,3.092,3.096,3.106,3.112,3.12,3.122,3.122,3.134,3.137,3.149,3.153,3.174,3.177,3.178,3.199,3.199,3.201,3.207,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 29.30} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.691150}
SEN {Time 29.30} {Type Tachometer} {Name LeftRight} {Vel 0.101600,-0.101600}
SEN {Time 29.3007} {Type Sonar} {Name Sonar0 Range 3.4798} {Name Sonar1 Range 6.2738} {Name Sonar2 Range 2.7432} {Name Sonar3 Range 3.2766} {Name Sonar4 Range 3.302} {Name Sonar5 Range 2.5654} {Name Sonar6 Range 2.5654} {Name Sonar7 Range 0.2794} {Name Sonar8 Range 4.826} {Name Sonar9 Range 2.8194} {Name Sonar10 Range 1.8034} {Name Sonar11 Range 3.937} {Name Sonar12 Range 0.127} {Name Sonar13 Range 4.699} {Name Sonar14 Range 0.9398} {Name Sonar15 Range 5.2832}
SEN {Time 36.7115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0.189,0.189,0.189,0.189,3.051,3.051,3.051,3.051,3.051,3.597,3.597,3.597,3.581,3.581,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.584,3.579,3.579,3.576,3.576,3.572,3.572,3.572,3.579,3.58,3.58,3.581,3.584,3.59,3.593,3.596,3.596,3.596,3.596,3.597,3.597,3.604,3.609,3.61,3.616,3.618,3.62,3.624,3.624,3.624,3.624,3.624,3.602,0.152,0.144,0.144,0.141,0.141,0.149,0.149,0.146,0.146,0.146,0.146,0.156,0.22,3.709,3.709,3.727,0,0,0,0,0.164,0.16,0.154,0.149,0.151,0.148,0.148,0.146,0.147,0.147,0.146,0.138,0.083,0.056,0.053,0.053,0.053,0.061,0.061,0.062,0.063,0.063,0.063,0.063,0.062,0.062,0.064,0.094,0.164,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.71,3.697,3.667,3.636,3.609,3.595,3.571,3.55,3.533,3.507,3.487,3.472,3.428,3.411,3.405,3.371,3.359,3.329,3.326,3.299,3.289,3.262,3.239,3.227,3.208,3.198,3.179,3.16,3.145,3.13,3.127,3.106,3.086,3.079,3.054,3.048,3.033,3.031,3.011,2.995,2.98,2.968,2.955,2.947,2.929,2.918,2.916,2.896,2.888,2.875,2.873,2.859,2.849,2.842,2.829,2.815,2.809,2.795,2.788,2.78,2.779,2.754,2.752,2.739,2.736,2.724,2.713,2.706,2.7,2.693,2.687,2.675,2.674,2.666,2.66,2.646,2.645,2.627,2.626,2.624,2.606,2.604,2.603,2.597,2.589,2.581,2.578,2.576,2.568,2.56,2.557,2.556,2.549,2.539,2.539,2.537,2.536,2.525,2.515,2.515,2.512,2.502,2.5,2.499,2.497,2.495,2.493,2.483,2.482,2.48,2.478,2.473,2.463,2.462,2.462,2.459,2.453,2.451,2.448,2.443,2.441,2.441,2.441,2.438,2.437,1.025,1.025,1.025,1.028,1.028,1.028,1.028,1.028,2.421,2.425,2.431,2.425,2.425,2.425,2.426,2.425,2.424,2.423,2.423,2.423,2.423,2.423,2.423,2.427,2.427,2.427,2.427,2.429,2.43,2.43,2.43,2.43,2.434,2.436,2.441,2.442,2.444,2.445,2.449,2.451,2.456,2.46,2.461,2.461,2.46,2.463,2.465,2.472,2.475,2.486,2.487,2.488,2.493,2.493,2.494,2.496,2.499,2.504,2.508,2.522,2.525,2.528,2.534,2.534,2.537,2.545,2.554,2.561,2.562,2.566,2.574,2.578,2.579,2.581,2.598,2.603,2.617,2.619,2.621,2.638,2.647,2.648,2.659,2.66,2.666,2.673,2.68,2.693,2.694,2.718,2.727,2.727,2.737,2.753,2.756,2.759,2.783,2.788,2.799,2.802,2.822,2.823,2.837,2.841,2.855,2.869,2.881,2.897,2.906,2.919,2.933,2.936,2.956,2.956,2.991,2.996,3.004,3.013,3.033,3.053,3.058,3.064,3.084,3.103,3.112,3.13,3.143,3.158,3.158,3.197,3.21,3.222,3.227,3.249,3.268,3.287,3.308,3.32,3.337,3.354,3.373,3.401,3.407,3.439,3.449,3.475,3.5,3.533,3.551,3.572,3.583,3.625,3.653,3.665,3.693,3.714,3.749,3.766,3.804,3.833,3.864,3.901,3.927,3.962,3.975,4.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,3.316,3.305,3.299,3.299,3.305,0.009,0.009,0.009,3.232,3.229,3.223,3.213,3.189,3.18,3.18,3.174,3.169,3.156,3.151,3.147,3.134,3.129,3.124,3.113,3.111,3.105,3.09,3.089,3.087,3.079,3.068,3.064,3.06,3.053,3.052,3.046,3.033,3.032,3.03,3.022,3.017,3.014,3.011,3.002,2.999,2.997,2.997,3.002,2.997,2.995,2.986,2.974,2.971,2.971,2.965,2.963,2.959,2.958,2.958,2.958,2.968,2.968,2.968,2.958,2.949,2.949,2.949,2.949,2.949,2.946,2.946,2.946,2.944,2.944,2.944,2.944,2.944,2.944,2.945,2.945,2.945,2.943,2.943,2.943,2.943,2.941,2.947,2.949,2.949,2.947,2.951,2.954,2.953,2.953,2.959,2.96,2.96,2.962,2.967,2.973,2.975,2.975,2.975,2.976,2.976,2.991,2.991,2.992,2.997,2.997,3.002,3.006,3.009,3.014,3.022,3.024,3.028,3.03,3.037,3.038,3.044,3.047,3.06,3.061,3.061,3.061,3.066,3.066,3.081,3.084,3.092,3.093,3.094,3.105,3.108,3.108,3.116,3.121,3.13,3.13,3.146,3.154,3.159,3.159,3.171,3.187,3.205,3.205,3.205,3.216,3.225,3.233,3.234,3.253,3.754,3.774,3.777,3.782,3.79,3.814,3.818,3.821,3.84,3.864,3.893,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 36.87} {Type Odometry} {Name Odometry} {Pose 0.002422,1.002653,0.644026}
SEN {Time 36.87} {Type Tachometer} {Name LeftRight} {Vel -0.086360,0.086360}
SEN {Time 36.8706} {Type Sonar} {Name Sonar0 Range 1.3716} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 2.8702} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 6.1468} {Name Sonar5 Range 3.2766} {Name Sonar6 Range 2.54} {Name Sonar7 Range 2.5654} {Name Sonar8 Range 0.9652} {Name Sonar9 Range 1.6764} {Name Sonar10 Range 1.8034} {Name Sonar11 Range 1.8034} {Name Sonar12 Range 3.0226} {Name Sonar13 Range 3.81} {Name Sonar14 Range 2.413} {Name Sonar15 Range 0.9398}