# UvA Rescue Team Logfile
#
# Created Date: 26-07-2010
# Created Time: 16:27
#
# Machine: U013153
#
# Original Filename: Logs\Hercules.log

NFO {Gametype BotDeathMatch} {Level Nomad-Scout-Experiment} {TimeLimit 0}
SEN {Time 28.90} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 28.9037} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 28.9755} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,3.682,3.681,3.681,3.682,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.266,3.264,3.266,3.266,3.317,0,0,0,0,0,0,0.007,0,0,0,3.148,3.148,3.141,3.139,0.159,0.152,0.147,0.152,0.152,0.152,0.147,0.152,0.147,0.147,0.145,0.149,0.149,0.15,3.057,3.057,3.057,3.057,3.057,3.055,3.05,0.16,0.16,0.16,0.16,0.159,0.159,0.159,0.159,0.159,0.162,3.032,3.033,3.043,3.043,3.536,3.564,3.573,3.573,3.573,3.573,3.573,3.567,3.567,3.57,3.567,3.567,3.568,3.568,3.568,3.575,3.575,3.579,3.577,3.575,3.577,3.577,3.577,3.581,3.583,3.583,3.585,3.585,3.586,3.591,3.593,3.598,3.598,3.6,3.606,3.616,3.617,3.616,3.617,3.617,3.623,3.626,3.634,3.634,3.636,3.652,3.654,3.66,3.662,3.666,3.67,3.675,3.677,3.686,3.701,3.708,3.71,3.71,3.717,3.724,3.724,3.732,3.747,3.762,3.764,3.781,3.789,3.792,3.793,3.804,3.81,3.816,3.82,3.832,3.852,3.852,3.868,3.869,3.881,3.893,3.919,3.925,3.931,3.94,3.961,3.964,3.969,3.984,3.99,4.021,4.026,4.026,4.048,4.074,4.077,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.011,3.986,3.946,3.909,3.882,3.847,3.834,3.796,3.772,3.744,3.717,3.681,3.668,3.645,3.629,3.6,3.572,3.556,3.538,3.512,3.492,3.473,3.439,3.421,3.406,3.391,3.365,3.347,3.33,3.309,3.288,3.277,3.257,3.232,3.228,3.202,3.2,3.186,3.166,3.148,3.137,3.126,3.117,3.091,3.083,3.058,3.052,3.036,3.021,3.013,2.998,2.985,2.978,2.958,2.952,2.943,2.922,2.916,2.905,2.895,2.888,2.873,2.872,2.855,2.836,2.832,2.826,2.808,2.796,2.791,2.789,2.771,2.762,2.753,2.743,2.739,2.731,2.717,2.704,2.698,2.696,2.696,2.689,2.675,1.151,1.149,1.144,1.137,1.14,1.14,1.144,2.599,2.599,2.599,2.589,2.586,2.585,2.579,2.57,2.569,2.568,2.554,2.553,2.551,2.544,2.536,2.53,2.527,2.527,2.527,2.527,2.527,2.524,2.509,2.493,2.49,2.489,2.486,2.48,2.477,2.472,2.47,2.47,2.467,2.467,2.466,2.462,2.46,2.46,2.457,2.457,2.452,2.451,2.45,2.446,2.446,2.442,2.44,2.44,2.44,2.441,2.441,2.441,2.436,2.432,2.432,2.432,2.43,2.427,2.429,2.429,2.429,2.429,2.43,2.431,2.431,2.431,2.431,2.431,2.436,2.434,2.439,2.438,2.439,2.439,2.44,2.443,2.445,2.447,2.449,2.453,2.457,2.457,2.46,2.461,2.462,2.463,2.466,2.466,2.479,2.479,2.479,2.484,2.486,2.491,2.495,2.496,2.5,2.503,2.504,2.506,2.517,2.519,2.519,2.519,1.119,1.119,1.119,1.12,1.124,1.126,1.136,2.569,2.578,2.581,2.581,2.591,2.594,2.603,2.607,2.607,2.612,2.629,2.64,2.649,2.657,2.662,2.663,2.669,2.68,2.689,2.709,2.718,2.72,2.728,2.731,2.742,2.749,2.756,2.762,2.772,2.781,2.792,2.803,2.811,2.818,2.836,2.841,2.845,2.861,2.88,2.893,2.9,2.913,2.918,2.934,2.943,2.956,2.971,2.973,2.991,3.006,3.02,3.03,3.044,3.058,3.068,3.079,3.097,3.11,3.121,3.139,3.152,3.174,3.183,3.188,3.22,3.23,3.249,3.269,3.278,3.286,3.32,3.34,3.356,3.383,3.39,3.406,3.432,3.448,3.477,3.501,3.522,3.543,3.57,3.589,3.614,3.635,3.658,3.687,3.711,3.734,3.744,3.786,3.807,3.848,3.874,3.901,3.929,3.947,4.007,4.019,4.061,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.318,3.305,3.294,3.279,3.276,3.27,3.258,3.235,3.23,3.228,3.216,3.203,3.202,3.191,3.188,3.179,3.165,3.163,3.148,3.133,3.13,3.129,3.129,3.118,3.108,3.101,3.093,3.085,3.084,3.083,3.066,3.061,3.061,3.059,3.055,3.045,3.044,3.038,3.029,3.024,3.023,3.02,3.016,3.013,3.002,2.998,2.995,2.994,2.994,2.99,2.982,2.981,2.981,2.977,2.977,2.971,2.971,2.971,2.971,2.971,2.965,2.965,2.963,2.959,2.957,2.957,2.955,2.955,2.959,2.959,2.955,2.955,2.95,2.949,2.949,2.949,2.946,2.946,2.946,2.946,2.949,2.95,2.952,2.952,2.953,2.953,2.953,2.953,2.957,2.962,2.965,2.969,2.969,2.969,2.965,2.969,2.968,2.968,2.977,2.981,2.981,2.983,2.983,2.987,2.99,2.992,2.998,2.999,3.002,3.007,3.014,3.014,3.019,3.019,3.029,3.029,3.034,3.036,3.052,3.055,3.057,3.061,3.061,3.067,3.073,3.078,3.078,3.086,3.093,3.096,3.099,3.108,3.115,3.122,3.124,3.13,3.133,3.15,3.15,3.154,3.154,3.159,3.163,3.175,3.178,3.198,3.2,3.211,3.211,3.219,3.22,3.234,3.238,3.25,3.751,3.773,3.789,3.791,3.796,3.813,3.841,3.862,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 29.83} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 29.8297} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.0292} {Name Sonar15 Range 1.0414}
SEN {Time 29.8714} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.687,3.687,3.687,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.262,3.262,3.268,3.325,0.007,0,0,0,0,0,0,0.007,0,0,0,0.007,3.2,3.145,3.137,0.154,0.154,0.148,0.148,0.154,0.154,0.148,0.153,0.153,0.153,0.153,0.153,0.154,0.158,3.061,3.061,3.061,3.06,3.06,3.054,3.054,3.049,0.169,0.164,0.164,0.163,0.162,0.162,0.162,0.162,0.165,3.031,3.034,3.043,3.043,3.569,3.569,3.569,3.569,3.569,3.569,3.569,3.569,3.568,3.568,3.568,3.573,3.573,3.573,3.573,3.572,3.572,3.57,3.57,3.579,3.579,3.579,3.579,3.579,3.579,3.582,3.582,3.59,3.591,3.591,3.598,3.598,3.6,3.6,3.604,3.606,3.609,3.61,3.612,3.614,3.625,3.63,3.633,3.633,3.634,3.638,3.644,3.658,3.664,3.664,3.673,3.673,3.683,3.696,3.706,3.711,3.711,3.714,3.72,3.722,3.742,3.744,3.744,3.748,3.759,3.774,3.778,3.787,3.796,3.812,3.814,3.818,3.824,3.826,3.844,3.85,3.855,3.877,3.882,3.896,3.906,3.923,3.928,3.947,3.953,3.958,3.969,3.98,4.001,4.013,4.032,4.033,4.056,4.058,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,0.007,3.979,3.919,3.897,3.853,3.815,3.789,3.781,3.76,3.73,3.695,3.672,3.651,3.632,3.605,3.569,3.568,3.533,3.508,3.479,3.463,3.439,3.424,3.411,3.391,3.358,3.341,3.327,3.308,3.293,3.278,3.248,3.246,3.224,3.209,3.194,3.183,3.17,3.155,3.139,3.128,3.093,3.092,3.079,3.066,3.054,3.033,3.026,3.018,2.999,2.994,2.973,2.964,2.955,2.939,2.92,2.913,2.901,2.89,2.888,2.87,2.857,2.853,2.84,2.83,2.827,2.813,2.801,2.79,2.784,2.766,2.765,2.76,2.741,2.739,2.73,2.718,2.713,2.697,2.696,2.696,2.694,2.683,1.154,1.142,1.141,1.135,1.135,1.135,1.144,2.603,2.603,2.603,2.591,2.589,2.588,2.588,2.575,2.573,2.567,2.554,2.546,2.542,2.539,2.53,2.53,2.53,2.524,2.521,2.517,2.513,2.509,2.507,2.501,2.499,2.489,2.484,2.484,2.482,2.478,2.477,2.468,2.466,2.463,2.461,2.463,2.463,2.455,2.455,2.454,2.451,2.449,2.447,2.443,2.443,2.443,2.443,2.443,2.441,2.439,2.434,2.433,2.433,2.432,2.432,2.431,2.432,2.431,2.431,2.432,2.433,2.433,2.433,2.433,2.433,2.433,2.435,2.435,2.435,2.438,2.438,2.438,2.438,2.439,2.442,2.446,2.45,2.45,2.45,2.45,2.45,2.459,2.461,2.467,2.467,2.466,2.466,2.47,2.472,2.474,2.482,2.487,2.488,2.488,2.497,2.501,2.502,2.51,2.512,2.519,2.521,2.523,2.523,2.523,1.121,1.121,1.121,1.128,1.13,1.134,1.134,2.575,2.575,2.585,2.585,2.593,2.599,2.603,2.609,2.613,2.627,2.63,2.638,2.644,2.662,2.662,2.67,2.678,2.683,2.692,2.711,2.718,2.719,2.725,2.725,2.74,2.741,2.763,2.769,2.771,2.78,2.789,2.813,2.814,2.82,2.833,2.844,2.857,2.864,2.879,2.884,2.899,2.909,2.921,2.931,2.944,2.947,2.969,2.982,3.002,3.009,3.02,3.024,3.047,3.059,3.065,3.079,3.094,3.121,3.121,3.145,3.154,3.161,3.181,3.197,3.213,3.236,3.245,3.258,3.277,3.29,3.321,3.331,3.359,3.379,3.397,3.415,3.432,3.454,3.469,3.506,3.526,3.533,3.556,3.59,3.605,3.636,3.657,3.669,3.709,3.734,3.753,3.781,3.817,3.848,3.877,3.911,3.962,4.008,4.068,4.068,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.317,3.303,3.286,3.284,3.272,3.271,3.247,3.235,3.234,3.226,3.215,3.204,3.2,3.184,3.18,3.175,3.167,3.159,3.148,3.139,3.135,3.128,3.122,3.121,3.113,3.096,3.093,3.092,3.085,3.081,3.073,3.07,3.068,3.059,3.051,3.05,3.041,3.04,3.033,3.025,3.024,3.022,3.011,3.008,3.006,3.004,2.998,2.994,2.993,2.991,2.985,2.982,2.982,2.976,2.976,2.975,2.968,2.968,2.968,2.97,2.97,2.97,2.962,2.962,2.96,2.96,2.956,2.956,2.956,2.956,2.956,2.95,2.956,2.95,2.949,2.95,2.95,2.95,2.95,2.95,2.95,2.95,2.95,2.95,2.951,2.955,2.955,2.957,2.958,2.958,2.959,2.96,2.966,2.969,2.969,2.969,2.969,2.97,2.972,2.977,2.988,2.988,2.985,2.985,2.994,3,3.002,3.003,3.003,3.003,3.011,3.011,3.012,3.023,3.031,3.033,3.037,3.051,3.052,3.055,3.055,3.06,3.065,3.073,3.073,3.074,3.074,3.088,3.09,3.092,3.1,3.103,3.103,3.117,3.118,3.127,3.13,3.144,3.154,3.155,3.156,3.159,3.163,3.17,3.175,3.195,3.209,3.212,3.212,3.217,3.221,3.233,3.241,3.251,3.745,3.765,3.787,3.79,3.799,3.819,3.828,3.848,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type GroundVehicle} {Name USARBot.Nomad} {SteeringType SkidSteered} {Mass 30} {MaxSpeed 9.84252} {MaxTorque 20} {MaxFrontSteer 0} {MaxRearSteer 0}
SEN {Time 30.02} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 30.0224} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.2324} {Name Sonar15 Range 1.0414}
SEN {Time 30.0675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.669,3.669,3.657,3.657,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.276,3.264,3.264,3.264,3.321,0,0,0,0,0,0,0.007,0,0,0,3.145,3.145,3.135,3.135,0.152,0.151,0.15,0.15,0.151,0.148,0.148,0.149,0.151,0.151,0.151,0.151,0.152,0.152,3.067,3.067,3.067,3.061,3.061,3.054,3.061,3.061,0.165,0.163,0.165,0.163,0.163,0.163,0.158,0.158,0.163,3.025,3.032,3.043,3.043,3.563,3.567,3.573,3.567,3.573,3.57,3.57,3.57,3.572,3.572,3.575,3.575,3.572,3.575,3.578,3.575,3.579,3.579,3.582,3.58,3.58,3.58,3.584,3.581,3.584,3.586,3.584,3.589,3.591,3.594,3.594,3.6,3.603,3.603,3.603,3.607,3.615,3.618,3.618,3.626,3.626,3.626,3.632,3.638,3.64,3.652,3.652,3.653,3.664,3.666,3.669,3.675,3.682,3.69,3.692,3.697,3.707,3.717,3.718,3.725,3.728,3.743,3.753,3.758,3.772,3.78,3.789,3.805,3.806,3.806,3.813,3.815,3.827,3.836,3.847,3.851,3.874,3.875,3.876,3.892,3.911,3.919,3.922,3.945,3.947,3.963,3.977,3.981,4.001,4.012,4.017,4.046,4.051,4.067,4.068,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,3.974,3.937,3.919,3.88,3.857,3.828,3.793,3.77,3.731,3.728,3.694,3.676,3.65,3.619,3.604,3.578,3.551,3.535,3.512,3.487,3.461,3.445,3.427,3.406,3.385,3.373,3.337,3.321,3.318,3.285,3.276,3.26,3.234,3.225,3.206,3.2,3.178,3.167,3.153,3.138,3.121,3.103,3.1,3.084,3.059,3.059,3.034,3.021,3.015,2.998,2.994,2.973,2.966,2.96,2.934,2.932,2.906,2.906,2.893,2.893,2.875,2.864,2.853,2.839,2.836,2.818,2.801,2.798,2.796,2.779,2.77,2.762,2.743,2.743,2.735,2.718,2.715,2.709,2.697,2.695,2.695,2.687,2.68,1.151,1.151,1.149,1.139,1.135,1.135,1.135,2.602,2.602,2.602,2.591,2.588,2.587,2.586,2.574,2.572,2.568,2.558,2.549,2.547,2.545,2.537,2.529,2.527,2.525,2.523,2.518,2.515,2.514,2.5,2.5,2.5,2.495,2.487,2.482,2.477,2.475,2.473,2.472,2.47,2.468,2.461,2.457,2.457,2.456,2.455,2.455,2.45,2.448,2.446,2.446,2.444,2.444,2.441,2.441,2.441,2.439,2.434,2.434,2.433,2.433,2.433,2.433,2.433,2.433,2.431,2.431,2.424,2.425,2.425,2.433,2.432,2.433,2.435,2.435,2.436,2.438,2.438,2.438,2.438,2.44,2.446,2.447,2.448,2.449,2.45,2.451,2.452,2.456,2.464,2.464,2.464,2.463,2.463,2.463,2.471,2.477,2.484,2.484,2.484,2.494,2.495,2.495,2.502,2.505,2.507,2.519,2.519,2.524,2.524,2.524,1.117,1.117,1.117,1.125,1.129,1.129,1.141,2.581,2.581,2.585,2.585,2.599,2.603,2.607,2.613,2.623,2.623,2.633,2.644,2.65,2.658,2.664,2.668,2.674,2.682,2.685,2.708,2.709,2.712,2.716,2.725,2.741,2.754,2.756,2.765,2.766,2.79,2.791,2.805,2.809,2.821,2.834,2.838,2.855,2.863,2.877,2.89,2.898,2.921,2.922,2.925,2.944,2.956,2.965,2.976,2.993,3.008,3.016,3.028,3.059,3.06,3.064,3.085,3.099,3.112,3.122,3.142,3.153,3.166,3.177,3.195,3.209,3.23,3.25,3.266,3.283,3.287,3.321,3.333,3.355,3.371,3.398,3.412,3.431,3.44,3.479,3.492,3.524,3.53,3.561,3.571,3.614,3.628,3.652,3.682,3.701,3.724,3.759,3.789,3.818,3.845,3.869,3.898,3.926,3.958,4.002,4.029,4.066,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.323,3.3,3.293,3.278,3.278,3.276,3.253,3.243,3.235,3.221,3.212,3.202,3.201,3.189,3.181,3.176,3.17,3.17,3.16,3.147,3.127,3.127,3.121,3.115,3.106,3.097,3.091,3.091,3.083,3.075,3.073,3.065,3.059,3.057,3.056,3.054,3.038,3.037,3.036,3.033,3.027,3.021,3.007,3.006,3.005,3.003,2.995,2.994,2.992,2.991,2.988,2.987,2.981,2.977,2.976,2.972,2.972,2.972,2.972,2.983,2.983,2.983,2.964,2.964,2.959,2.959,2.958,2.957,2.957,2.955,2.954,2.954,2.952,2.952,2.954,2.952,2.952,2.952,2.952,2.952,2.952,2.954,2.955,2.955,2.954,2.955,2.955,2.955,2.957,2.957,2.961,2.963,2.965,2.967,2.971,2.972,2.972,2.973,2.979,2.979,2.98,2.987,2.986,2.987,2.995,2.995,3.002,3.005,3.007,3.007,3.014,3.014,3.014,3.021,3.023,3.027,3.047,3.047,3.051,3.058,3.059,3.064,3.065,3.067,3.072,3.078,3.078,3.08,3.086,3.093,3.096,3.106,3.11,3.116,3.119,3.124,3.127,3.144,3.148,3.149,3.152,3.158,3.167,3.176,3.182,3.2,3.21,3.211,3.211,3.222,3.223,3.231,3.248,3.252,3.75,3.77,3.78,3.785,3.801,3.817,3.839,3.85,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 31.04} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.0444} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8796} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 5.461} {Name Sonar15 Range 1.0414}
SEN {Time 31.0674} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.662,3.662,3.662,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.274,3.272,3.272,3.274,3.32,0.007,0,0,0,0,0,0,0.007,0,0,0,3.139,3.139,3.134,3.134,0.16,0.153,0.149,0.149,0.151,0.151,0.15,0.151,0.153,0.153,0.153,0.153,0.153,0.155,3.062,3.062,3.062,3.061,3.061,3.06,3.06,0.162,0.162,0.157,0.162,0.157,0.157,0.156,0.153,0.153,0.156,3.032,3.042,3.049,3.049,3.553,3.569,3.572,3.577,3.572,3.572,3.572,3.572,3.572,3.572,3.569,3.572,3.569,3.569,3.575,3.577,3.579,3.579,3.578,3.579,3.579,3.578,3.579,3.58,3.582,3.582,3.583,3.591,3.595,3.595,3.597,3.595,3.595,3.608,3.609,3.609,3.61,3.61,3.62,3.627,3.63,3.633,3.637,3.638,3.64,3.647,3.651,3.651,3.656,3.665,3.67,3.681,3.685,3.692,3.704,3.71,3.71,3.714,3.727,3.732,3.733,3.739,3.755,3.76,3.776,3.777,3.786,3.796,3.797,3.804,3.814,3.818,3.833,3.835,3.84,3.862,3.862,3.876,3.884,3.899,3.901,3.925,3.934,3.948,3.955,3.956,3.975,3.979,4.004,4.03,4.031,4.049,4.052,4.066,4.084,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0.007,0,3.985,3.882,3.844,3.823,3.783,3.772,3.751,3.718,3.687,3.68,3.653,3.625,3.61,3.579,3.565,3.541,3.517,3.481,3.462,3.444,3.426,3.405,3.392,3.369,3.347,3.334,3.308,3.293,3.276,3.256,3.24,3.229,3.203,3.202,3.176,3.174,3.15,3.147,3.122,3.097,3.09,3.08,3.057,3.052,3.024,3.023,3.018,2.998,2.991,2.978,2.969,2.953,2.943,2.932,2.914,2.901,2.889,2.888,2.874,2.869,2.855,2.847,2.831,2.813,2.81,2.802,2.788,2.771,2.769,2.759,2.756,2.744,2.73,2.727,2.711,2.708,2.698,2.694,2.694,2.683,2.678,1.149,1.147,1.14,1.136,1.139,1.139,1.14,2.606,2.606,2.606,2.592,2.59,2.587,2.578,2.571,2.57,2.566,2.557,2.556,2.552,2.543,2.533,2.533,2.527,2.525,2.521,2.512,2.511,2.506,2.503,2.502,2.498,2.489,2.483,2.482,2.479,2.478,2.476,2.476,2.472,2.466,2.465,2.464,2.463,2.463,2.457,2.454,2.451,2.451,2.45,2.444,2.443,2.443,2.442,2.438,2.438,2.438,2.438,2.435,2.43,2.43,2.432,2.432,2.432,2.432,2.432,2.432,2.43,2.43,2.43,2.429,2.429,2.427,2.429,2.436,2.436,2.436,2.443,2.438,2.443,2.443,2.446,2.446,2.446,2.449,2.449,2.455,2.456,2.459,2.46,2.466,2.468,2.468,2.468,2.468,2.473,2.48,2.48,2.482,2.484,2.487,2.494,2.499,2.499,2.5,2.507,2.515,2.519,2.519,2.519,2.519,1.126,1.116,1.116,1.126,1.126,1.131,1.137,2.571,2.584,2.588,2.588,2.59,2.6,2.603,2.619,2.622,2.63,2.631,2.637,2.643,2.651,2.656,2.66,2.675,2.679,2.683,2.704,2.717,2.718,2.719,2.729,2.739,2.747,2.757,2.764,2.775,2.785,2.785,2.806,2.816,2.822,2.834,2.839,2.855,2.857,2.873,2.891,2.894,2.911,2.921,2.932,2.952,2.955,2.963,2.975,2.989,3.012,3.015,3.032,3.039,3.065,3.068,3.089,3.096,3.119,3.126,3.153,3.154,3.164,3.183,3.193,3.208,3.243,3.247,3.259,3.277,3.292,3.315,3.327,3.357,3.379,3.403,3.41,3.432,3.455,3.48,3.49,3.52,3.547,3.563,3.582,3.603,3.633,3.656,3.686,3.71,3.731,3.743,3.774,3.821,3.837,3.879,3.89,3.926,4,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.319,3.302,3.291,3.28,3.275,3.263,3.257,3.239,3.234,3.221,3.207,3.202,3.2,3.192,3.185,3.175,3.167,3.162,3.15,3.146,3.129,3.129,3.12,3.117,3.114,3.105,3.103,3.099,3.087,3.083,3.072,3.068,3.066,3.059,3.05,3.05,3.042,3.041,3.031,3.029,3.029,3.029,3.011,3.011,3.01,3.004,3.001,2.997,2.996,2.996,2.983,2.981,2.977,2.976,2.974,2.974,2.97,2.97,2.97,2.982,2.982,2.982,2.963,2.961,2.961,2.959,2.958,2.955,2.955,2.955,2.954,2.953,2.953,2.952,2.952,2.953,2.953,2.953,2.954,2.953,2.951,2.954,2.953,2.95,2.953,2.954,2.956,2.957,2.958,2.959,2.96,2.961,2.963,2.966,2.971,2.971,2.972,2.972,2.98,2.98,2.983,2.987,2.987,2.987,2.992,2.992,3.002,3.003,3.004,3.01,3.011,3.013,3.025,3.026,3.03,3.033,3.044,3.047,3.048,3.052,3.055,3.061,3.061,3.064,3.075,3.078,3.08,3.081,3.092,3.097,3.105,3.106,3.107,3.12,3.124,3.132,3.135,3.143,3.144,3.146,3.146,3.162,3.163,3.172,3.185,3.198,3.217,3.217,3.217,3.219,3.226,3.227,3.25,3.251,3.738,3.763,3.791,3.793,3.804,3.809,3.832,3.85,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
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 31.22} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 31.2202} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9464} {Name Sonar14 Range 5.461} {Name Sonar15 Range 1.0414}
SEN {Time 31.2634} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.205,0.205,0,0,0,0,0,0,3.685,3.671,3.671,3.671,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.272,3.267,3.267,3.267,3.323,0.007,0,0,0,0,0,0,0.007,0,0,0,3.146,3.146,3.135,3.132,0.16,0.155,0.155,0.155,0.153,0.153,0.151,0.151,0.151,0.151,0.15,0.151,0.151,0.153,3.066,3.066,3.066,3.056,3.056,3.051,3.056,3.051,0.164,0.163,0.164,0.163,0.163,0.16,0.156,0.156,0.156,3.032,3.032,3.038,3.038,3.566,3.574,3.574,3.566,3.566,3.568,3.568,3.577,3.577,3.577,3.577,3.572,3.572,3.572,3.572,3.571,3.571,3.579,3.579,3.579,3.579,3.582,3.582,3.583,3.584,3.583,3.583,3.586,3.592,3.592,3.594,3.599,3.6,3.611,3.611,3.613,3.614,3.615,3.616,3.624,3.63,3.64,3.642,3.642,3.643,3.646,3.652,3.662,3.663,3.665,3.672,3.672,3.677,3.695,3.697,3.704,3.716,3.716,3.718,3.73,3.74,3.74,3.753,3.76,3.772,3.784,3.79,3.8,3.802,3.807,3.811,3.816,3.819,3.832,3.843,3.857,3.86,3.867,3.886,3.899,3.902,3.913,3.922,3.926,3.961,3.969,3.972,3.986,4,4.007,4.021,4.034,4.05,4.074,4.081,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0.007,4.02,3.963,3.903,3.893,3.852,3.816,3.801,3.77,3.746,3.713,3.694,3.665,3.65,3.623,3.611,3.575,3.552,3.536,3.521,3.477,3.461,3.443,3.414,3.41,3.384,3.354,3.346,3.33,3.312,3.289,3.275,3.253,3.242,3.221,3.208,3.197,3.174,3.167,3.147,3.14,3.123,3.107,3.1,3.082,3.072,3.061,3.035,3.02,3.017,2.997,2.993,2.97,2.963,2.956,2.949,2.928,2.914,2.905,2.895,2.889,2.869,2.865,2.861,2.843,2.841,2.82,2.816,2.799,2.796,2.777,2.773,2.764,2.755,2.739,2.738,2.727,2.716,2.716,2.703,2.701,2.701,2.689,2.671,1.142,1.142,1.14,1.14,1.135,1.135,1.135,2.602,2.602,2.602,2.592,2.588,2.587,2.582,2.565,2.562,2.56,2.559,2.553,2.549,2.545,2.534,2.528,2.527,2.527,2.519,2.515,2.506,2.505,2.503,2.498,2.497,2.494,2.487,2.486,2.484,2.485,2.477,2.471,2.468,2.466,2.465,2.459,2.459,2.459,2.457,2.457,2.455,2.455,2.449,2.446,2.442,2.443,2.442,2.442,2.44,2.44,2.437,2.437,2.434,2.433,2.43,2.429,2.429,2.429,2.428,2.428,2.428,2.429,2.43,2.433,2.43,2.433,2.433,2.434,2.435,2.435,2.435,2.435,2.439,2.441,2.443,2.448,2.448,2.448,2.452,2.452,2.453,2.456,2.464,2.465,2.467,2.468,2.468,2.47,2.47,2.476,2.479,2.48,2.485,2.492,2.492,2.503,2.503,2.505,2.512,2.515,2.52,2.52,2.518,2.518,1.127,1.127,1.127,1.126,1.127,1.131,1.133,2.575,2.577,2.587,2.587,2.596,2.606,2.609,2.611,2.613,2.626,2.635,2.637,2.649,2.65,2.651,2.666,2.67,2.674,2.677,2.698,2.707,2.717,2.723,2.726,2.746,2.746,2.763,2.769,2.77,2.786,2.789,2.803,2.812,2.826,2.838,2.848,2.856,2.868,2.873,2.889,2.899,2.907,2.918,2.923,2.947,2.963,2.967,2.972,2.991,3,3.02,3.029,3.048,3.058,3.062,3.083,3.09,3.116,3.121,3.146,3.161,3.166,3.181,3.199,3.219,3.239,3.246,3.263,3.279,3.291,3.321,3.326,3.346,3.381,3.397,3.418,3.436,3.449,3.469,3.496,3.519,3.55,3.572,3.592,3.599,3.63,3.658,3.682,3.709,3.733,3.743,3.792,3.817,3.837,3.87,3.913,3.969,0.007,0,0,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.287,3.287,3.284,3.283,3.267,3.248,3.239,3.235,3.234,3.214,3.209,3.205,3.196,3.183,3.174,3.17,3.154,3.151,3.142,3.127,3.125,3.121,3.115,3.115,3.107,3.092,3.086,3.083,3.079,3.073,3.071,3.064,3.063,3.047,3.046,3.042,3.036,3.032,3.024,3.019,3.019,3.019,3.018,3.005,2.997,2.997,2.99,2.987,2.987,2.987,2.982,2.979,2.979,2.977,2.975,2.972,2.972,2.972,2.972,2.971,2.971,2.963,2.956,2.955,2.956,2.955,2.955,2.955,2.955,2.955,2.955,2.958,2.955,2.952,2.958,2.956,2.948,2.948,2.949,2.948,2.948,2.947,2.947,2.947,2.951,2.953,2.953,2.953,2.958,2.959,2.96,2.964,2.964,2.968,2.973,2.973,2.974,2.975,2.977,2.981,2.983,2.984,2.986,2.998,2.998,2.998,2.999,3.009,3.009,3.015,3.016,3.019,3.023,3.024,3.029,3.034,3.035,3.047,3.05,3.055,3.061,3.062,3.076,3.079,3.083,3.085,3.085,3.086,3.097,3.097,3.106,3.109,3.114,3.126,3.128,3.131,3.14,3.147,3.149,3.152,3.164,3.167,3.168,3.188,3.193,3.198,3.21,3.211,3.212,3.218,3.232,3.235,3.255,3.748,3.766,3.784,3.789,3.799,3.815,3.832,3.851,3.867,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type RangeScanner} {Name RangeScanner Location 0.115,0,-0.5665 Orientation 0,0,0 Mount HARD}
SEN {Time 32.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.0662} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.6896} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 1.0414}
SEN {Time 32.1635} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,3.671,3.671,3.671,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.301,3.274,3.271,3.269,3.261,3.261,3.261,3.326,0,0,0,0,0,0,0.007,0,0,0,3.15,3.15,3.139,3.139,0.151,0.151,0.15,0.15,0.149,0.149,0.149,0.149,0.151,0.152,0.152,0.152,0.153,0.157,3.062,3.062,3.062,3.061,3.061,3.057,3.061,3.057,0.163,0.163,0.163,0.163,0.163,0.162,0.16,0.16,0.162,3.033,3.041,3.044,3.044,3.564,3.577,3.577,3.569,3.569,3.569,3.569,3.572,3.572,3.574,3.576,3.574,3.566,3.574,3.578,3.576,3.578,3.578,3.578,3.579,3.58,3.58,3.58,3.58,3.58,3.585,3.585,3.588,3.596,3.596,3.601,3.601,3.601,3.601,3.614,3.616,3.616,3.616,3.621,3.622,3.622,3.63,3.63,3.63,3.633,3.638,3.638,3.65,3.66,3.666,3.67,3.671,3.678,3.693,3.696,3.704,3.706,3.719,3.721,3.725,3.73,3.739,3.748,3.751,3.767,3.773,3.782,3.794,3.806,3.81,3.81,3.833,3.836,3.842,3.856,3.859,3.869,3.869,3.884,3.893,3.912,3.918,3.934,3.939,3.962,3.969,3.972,3.981,3.991,4.021,4.029,4.042,4.045,4.068,4.083,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.966,3.96,3.96,3.917,3.885,3.827,3.802,3.787,3.754,3.709,3.697,3.665,3.644,3.622,3.608,3.576,3.551,3.546,3.511,3.485,3.474,3.459,3.43,3.406,3.375,3.356,3.345,3.331,3.309,3.295,3.263,3.258,3.228,3.226,3.214,3.194,3.171,3.169,3.154,3.147,3.123,3.104,3.094,3.09,3.068,3.057,3.031,3.024,3.006,2.998,2.993,2.97,2.964,2.953,2.947,2.927,2.916,2.909,2.896,2.882,2.878,2.862,2.859,2.839,2.832,2.816,2.811,2.8,2.783,2.778,2.772,2.766,2.749,2.744,2.737,2.72,2.717,2.711,2.702,2.698,2.698,2.691,2.679,1.151,1.145,1.141,1.139,1.139,1.141,1.141,2.602,2.602,2.602,2.591,2.591,2.587,2.586,2.576,2.566,2.566,2.562,2.552,2.55,2.55,2.539,2.532,2.527,2.522,2.518,2.518,2.518,2.511,2.511,2.498,2.495,2.487,2.486,2.482,2.479,2.479,2.475,2.473,2.467,2.467,2.465,2.46,2.46,2.455,2.455,2.454,2.454,2.454,2.446,2.446,2.446,2.446,2.446,2.446,2.443,2.441,2.436,2.434,2.43,2.43,2.43,2.43,2.43,2.432,2.432,2.432,2.432,2.432,2.428,2.428,2.428,2.43,2.431,2.432,2.431,2.432,2.432,2.432,2.435,2.443,2.445,2.449,2.45,2.45,2.451,2.452,2.459,2.464,2.464,2.467,2.467,2.465,2.467,2.467,2.472,2.48,2.484,2.487,2.494,2.499,2.499,2.499,2.505,2.508,2.509,2.513,2.515,2.523,2.523,2.523,1.128,1.128,1.125,1.128,1.129,1.13,1.136,2.569,2.573,2.583,2.583,2.594,2.596,2.612,2.616,2.62,2.622,2.632,2.634,2.636,2.647,2.663,2.667,2.677,2.683,2.692,2.711,2.712,2.717,2.73,2.732,2.748,2.752,2.764,2.766,2.775,2.789,2.796,2.81,2.813,2.831,2.832,2.843,2.855,2.868,2.876,2.877,2.906,2.919,2.919,2.927,2.941,2.954,2.966,2.985,3.002,3.004,3.021,3.026,3.047,3.062,3.068,3.088,3.09,3.113,3.136,3.145,3.154,3.168,3.182,3.194,3.218,3.227,3.249,3.264,3.28,3.299,3.309,3.327,3.356,3.38,3.395,3.406,3.44,3.448,3.49,3.505,3.522,3.534,3.555,3.582,3.612,3.623,3.652,3.681,3.698,3.735,3.751,3.789,3.801,3.836,3.877,3.896,3.929,3.969,4.003,4.025,4.056,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.323,3.306,3.296,3.286,3.283,3.27,3.252,3.246,3.237,3.225,3.216,3.209,3.199,3.184,3.18,3.176,3.17,3.161,3.155,3.138,3.138,3.124,3.123,3.122,3.11,3.105,3.098,3.089,3.083,3.08,3.07,3.062,3.062,3.058,3.058,3.056,3.039,3.035,3.029,3.027,3.017,3.016,3.016,3.014,3.013,3.003,2.997,2.997,2.994,2.988,2.983,2.979,2.978,2.975,2.972,2.972,2.965,2.972,2.973,2.978,2.978,2.978,2.963,2.961,2.96,2.96,2.956,2.955,2.955,2.955,2.954,2.954,2.956,2.953,2.953,2.955,2.955,2.955,2.955,2.955,2.951,2.949,2.949,2.95,2.951,2.95,2.953,2.95,2.954,2.954,2.959,2.965,2.967,2.967,2.967,2.97,2.97,2.974,2.974,2.975,2.983,2.983,2.986,2.991,2.997,2.997,2.997,3.008,3.012,3.015,3.017,3.018,3.019,3.022,3.024,3.035,3.036,3.044,3.051,3.054,3.058,3.066,3.066,3.069,3.072,3.074,3.074,3.08,3.091,3.092,3.103,3.106,3.108,3.117,3.122,3.125,3.131,3.149,3.149,3.153,3.168,3.168,3.168,3.175,3.192,3.193,3.209,3.216,3.216,3.216,3.219,3.237,3.243,3.251,3.748,3.777,3.793,3.798,3.799,3.831,3.84,3.852,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {Fov 4.7131392} {Pawing 0} {Tilting 0}
SEN {Time 32.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 32.3211} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7432} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9304} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.3594} {Name Sonar15 Range 1.0414}
SEN {Time 32.3595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,3.664,3.664,3.664,3.652,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.273,3.26,3.26,3.26,3.318,0.007,0,0,0,0,0,0,0.007,0,0,0,3.145,3.145,3.142,3.142,0.152,0.151,0.151,0.15,0.151,0.152,0.152,0.151,0.151,0.151,0.151,0.151,0.151,0.155,3.072,3.072,3.072,3.057,3.057,3.053,3.057,3.057,0.161,0.156,0.16,0.157,0.158,0.158,0.158,0.158,0.16,3.037,3.04,3.044,3.047,3.563,3.566,3.568,3.568,3.572,3.574,3.572,3.572,3.574,3.574,3.572,3.572,3.572,3.572,3.572,3.572,3.579,3.579,3.579,3.581,3.581,3.581,3.581,3.581,3.58,3.58,3.581,3.592,3.594,3.598,3.598,3.599,3.599,3.611,3.612,3.613,3.618,3.619,3.619,3.62,3.621,3.623,3.635,3.637,3.643,3.647,3.652,3.659,3.659,3.669,3.67,3.682,3.687,3.691,3.697,3.7,3.712,3.719,3.719,3.724,3.728,3.735,3.749,3.753,3.758,3.783,3.786,3.792,3.799,3.806,3.81,3.822,3.827,3.829,3.849,3.852,3.859,3.873,3.886,3.886,3.918,3.918,3.92,3.94,3.952,3.962,3.972,3.983,3.996,4.019,4.027,4.031,4.035,4.072,4.079,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,4.078,4.058,4.024,4.002,3.947,3.915,3.879,3.861,3.822,3.795,3.773,3.751,3.722,3.688,3.673,3.655,3.62,3.614,3.579,3.566,3.546,3.517,3.487,3.47,3.442,3.424,3.4,3.388,3.371,3.347,3.318,3.303,3.294,3.282,3.244,3.244,3.228,3.205,3.191,3.181,3.156,3.153,3.147,3.112,3.108,3.103,3.079,3.068,3.057,3.029,3.021,3.015,3.001,2.994,2.982,2.961,2.957,2.954,2.927,2.918,2.907,2.884,2.88,2.876,2.869,2.854,2.84,2.826,2.819,2.806,2.797,2.793,2.777,2.767,2.763,2.756,2.748,2.732,2.729,2.716,2.712,2.704,2.696,2.696,2.688,2.679,1.147,1.145,1.145,1.142,1.142,1.142,1.142,2.602,2.602,2.602,2.597,2.591,2.588,2.586,2.577,2.575,2.564,2.559,2.556,2.544,2.542,2.533,2.53,2.527,2.523,2.521,2.517,2.517,2.509,2.506,2.502,2.497,2.486,2.485,2.484,2.484,2.477,2.476,2.475,2.47,2.465,2.465,2.456,2.455,2.455,2.454,2.454,2.451,2.45,2.447,2.445,2.445,2.445,2.445,2.445,2.438,2.437,2.436,2.432,2.43,2.43,2.43,2.43,2.43,2.434,2.43,2.429,2.428,2.428,2.428,2.428,2.428,2.428,2.429,2.429,2.432,2.433,2.437,2.436,2.438,2.44,2.44,2.443,2.446,2.45,2.45,2.45,2.454,2.459,2.463,2.463,2.465,2.468,2.47,2.47,2.473,2.477,2.477,2.489,2.49,2.493,2.495,2.498,2.499,2.508,2.513,2.521,2.521,2.521,2.521,2.521,1.122,1.122,1.117,1.117,1.13,1.133,1.134,2.581,2.582,2.595,2.595,2.599,2.601,2.602,2.613,2.615,2.632,2.641,2.642,2.646,2.658,2.663,2.67,2.686,2.69,2.695,2.702,2.721,2.722,2.728,2.729,2.732,2.753,2.763,2.77,2.771,2.775,2.783,2.798,2.823,2.828,2.832,2.848,2.859,2.865,2.876,2.886,2.9,2.921,2.925,2.927,2.945,2.965,2.973,2.981,2.994,3.003,3.009,3.026,3.045,3.064,3.07,3.084,3.097,3.115,3.126,3.148,3.149,3.169,3.183,3.199,3.211,3.235,3.243,3.263,3.28,3.294,3.317,3.329,3.343,3.375,3.396,3.42,3.433,3.453,3.485,3.504,3.529,3.534,3.558,3.574,3.605,3.638,3.662,3.679,3.699,3.728,3.758,3.775,3.811,3.842,3.871,3.904,3.931,3.976,4.035,0.007,0,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.331,3.325,3.303,3.303,3.278,3.273,3.263,3.253,3.242,3.237,3.224,3.209,3.207,3.199,3.195,3.18,3.169,3.166,3.158,3.153,3.149,3.135,3.131,3.127,3.119,3.118,3.1,3.097,3.091,3.08,3.08,3.074,3.062,3.061,3.058,3.055,3.051,3.044,3.038,3.03,3.025,3.024,3.023,3.016,3.011,3.01,3.005,3.005,2.998,2.997,2.991,2.981,2.978,2.978,2.977,2.972,2.971,2.97,2.97,2.972,2.975,2.975,2.975,2.965,2.958,2.958,2.963,2.958,2.956,2.956,2.956,2.955,2.952,2.956,2.949,2.947,2.949,2.951,2.951,2.951,2.951,2.952,2.952,2.952,2.952,2.95,2.95,2.95,2.948,2.95,2.957,2.957,2.959,2.96,2.962,2.96,2.97,2.97,2.97,2.978,2.979,2.982,2.983,2.983,2.985,2.993,2.99,2.993,3.002,3.006,3.006,3.018,3.019,3.022,3.022,3.024,3.027,3.036,3.039,3.052,3.055,3.056,3.06,3.062,3.069,3.071,3.073,3.073,3.075,3.089,3.092,3.097,3.109,3.113,3.113,3.121,3.124,3.129,3.145,3.148,3.153,3.156,3.165,3.171,3.175,3.188,3.192,3.212,3.213,3.213,3.213,3.225,3.228,3.246,3.249,3.749,3.776,3.787,3.792,3.801,3.814,3.845,3.85,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
GEO {Type Camera} {Name Camera Location 0,0,-0.94 Orientation 0,1.5708,-3.14159 Mount HARD}
SEN {Time 33.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.071} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.032} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 4.1656} {Name Sonar15 Range 1.0414}
SEN {Time 33.1595} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.671,3.671,3.671,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.301,3.272,3.261,3.257,3.257,3.261,3.329,0,0,0,0,0,0,0.007,0,0,0,3.141,3.141,3.139,3.137,0.154,0.154,0.15,0.15,0.147,0.147,0.144,0.147,0.151,0.153,0.153,0.153,0.153,0.153,3.061,3.063,3.063,3.061,3.061,3.063,3.078,3.078,3.078,0.174,0.16,0.16,0.161,0.161,0.161,0.162,0.171,3.031,3.034,3.038,3.038,3.546,3.568,3.569,3.572,3.572,3.572,3.572,3.572,3.573,3.575,3.573,3.573,3.569,3.569,3.569,3.574,3.575,3.577,3.58,3.58,3.581,3.581,3.581,3.581,3.583,3.583,3.588,3.589,3.594,3.595,3.603,3.603,3.606,3.603,3.603,3.61,3.615,3.615,3.617,3.617,3.628,3.633,3.638,3.646,3.647,3.649,3.656,3.658,3.66,3.669,3.68,3.68,3.682,3.697,3.697,3.702,3.704,3.715,3.724,3.73,3.739,3.74,3.757,3.766,3.77,3.772,3.784,3.784,3.789,3.806,3.813,3.819,3.826,3.829,3.859,3.859,3.866,3.871,3.884,3.887,3.901,3.925,3.935,3.941,3.943,3.963,3.975,3.984,3.995,4.02,4.029,4.046,4.063,4.064,4.076,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.09,4.049,3.975,3.962,3.925,3.891,3.86,3.836,3.804,3.774,3.755,3.71,3.694,3.685,3.656,3.627,3.614,3.58,3.562,3.545,3.512,3.485,3.467,3.448,3.421,3.402,3.39,3.356,3.342,3.327,3.305,3.285,3.277,3.253,3.242,3.221,3.202,3.194,3.181,3.175,3.16,3.148,3.121,3.108,3.107,3.082,3.062,3.053,3.037,3.014,3.006,3.003,2.989,2.98,2.958,2.949,2.936,2.929,2.919,2.906,2.898,2.893,2.871,2.865,2.848,2.845,2.837,2.815,2.814,2.802,2.795,2.773,2.767,2.762,2.757,2.74,2.736,2.723,2.718,2.718,2.698,2.695,2.695,2.695,2.673,1.154,1.148,1.14,1.137,1.137,1.137,1.14,2.602,2.602,2.602,2.591,2.59,2.59,2.586,2.579,2.574,2.562,2.555,2.55,2.55,2.545,2.535,2.53,2.53,2.528,2.522,2.516,2.516,2.511,2.502,2.5,2.499,2.498,2.482,2.475,2.474,2.473,2.474,2.471,2.47,2.464,2.463,2.462,2.459,2.459,2.454,2.454,2.454,2.451,2.451,2.45,2.448,2.445,2.445,2.444,2.443,2.439,2.439,2.437,2.434,2.434,2.432,2.432,2.432,2.432,2.43,2.43,2.429,2.429,2.433,2.435,2.435,2.436,2.436,2.436,2.436,2.438,2.438,2.438,2.438,2.441,2.45,2.45,2.451,2.45,2.45,2.45,2.455,2.457,2.459,2.46,2.462,2.462,2.466,2.47,2.478,2.478,2.481,2.482,2.483,2.489,2.499,2.504,2.506,2.506,2.511,2.511,2.513,2.524,2.524,2.513,1.125,1.124,1.124,1.124,1.13,1.131,1.139,2.57,2.574,2.587,2.587,2.588,2.602,2.612,2.615,2.62,2.624,2.632,2.635,2.644,2.646,2.654,2.673,2.673,2.679,2.683,2.705,2.714,2.728,2.732,2.737,2.739,2.748,2.758,2.77,2.774,2.784,2.788,2.796,2.81,2.82,2.835,2.84,2.851,2.864,2.876,2.89,2.896,2.912,2.916,2.934,2.955,2.965,2.969,2.978,2.994,3.01,3.013,3.029,3.05,3.064,3.067,3.084,3.087,3.12,3.123,3.15,3.154,3.164,3.178,3.2,3.214,3.236,3.253,3.265,3.273,3.292,3.32,3.335,3.35,3.381,3.391,3.413,3.433,3.459,3.474,3.505,3.529,3.546,3.554,3.591,3.607,3.63,3.665,3.688,3.701,3.73,3.757,3.786,3.815,3.845,3.857,3.907,3.958,3.999,0,0.016,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.319,3.303,3.287,3.286,3.281,3.261,3.259,3.244,3.237,3.227,3.217,3.204,3.197,3.192,3.177,3.176,3.17,3.157,3.149,3.145,3.137,3.126,3.121,3.12,3.117,3.1,3.092,3.09,3.08,3.076,3.074,3.065,3.063,3.059,3.057,3.049,3.042,3.036,3.029,3.026,3.022,3.014,3.01,3.007,3.005,3.001,3,3,3,2.996,2.984,2.982,2.981,2.981,2.979,2.973,2.969,2.969,2.969,2.974,2.974,2.974,2.959,2.959,2.956,2.956,2.956,2.955,2.955,2.955,2.954,2.954,2.956,2.954,2.956,2.958,2.956,2.952,2.952,2.952,2.948,2.948,2.952,2.948,2.954,2.954,2.954,2.955,2.957,2.959,2.961,2.961,2.963,2.968,2.969,2.971,2.971,2.975,2.978,2.978,2.979,2.981,2.984,2.986,2.997,2.999,3,3.004,3.004,3.009,3.01,3.015,3.018,3.023,3.026,3.029,3.04,3.041,3.047,3.052,3.061,3.064,3.074,3.074,3.075,3.077,3.077,3.089,3.092,3.098,3.105,3.108,3.109,3.113,3.125,3.126,3.131,3.141,3.145,3.156,3.163,3.163,3.163,3.169,3.178,3.192,3.194,3.205,3.21,3.215,3.221,3.23,3.241,3.248,3.762,3.773,3.791,3.793,3.795,3.819,3.839,3.852,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
CONF {Type Camera} {Name Camera} {DefFov 1.5708} {MinFov 0.349066} {MaxFov 2.0944}
SEN {Time 33.32} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 33.317} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.6388} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.032} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 6.0452} {Name Sonar15 Range 1.0414}
SEN {Time 33.3554} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.194,0.194,0,0,0,0,0,0,3.685,3.666,3.666,3.666,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.265,3.265,3.259,3.265,3.265,3.321,0,0,0,0,0,0,0.007,0,0,0,3.139,3.139,3.133,3.129,0.157,0.156,0.153,0.147,0.149,0.147,0.149,0.149,0.149,0.149,0.153,0.153,0.153,0.163,3.066,3.066,3.066,3.061,3.061,3.054,3.061,3.054,0.166,0.163,0.163,0.163,0.163,0.159,0.157,0.159,0.159,3.038,3.039,3.047,3.047,3.575,3.577,3.577,3.575,3.572,3.572,3.572,3.575,3.575,3.575,3.574,3.573,3.573,3.573,3.574,3.573,3.575,3.575,3.575,3.581,3.585,3.585,3.585,3.583,3.583,3.582,3.583,3.588,3.589,3.595,3.596,3.596,3.598,3.597,3.598,3.609,3.615,3.615,3.624,3.624,3.627,3.63,3.633,3.634,3.647,3.648,3.654,3.661,3.668,3.673,3.673,3.675,3.694,3.695,3.709,3.709,3.711,3.713,3.723,3.729,3.731,3.746,3.756,3.766,3.769,3.782,3.792,3.796,3.798,3.803,3.817,3.818,3.825,3.829,3.849,3.855,3.859,3.876,3.883,3.894,3.903,3.919,3.933,3.944,3.959,3.965,3.971,3.984,4.001,4.022,4.027,4.032,4.048,4.068,4.081,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.009,0.009,0.009,0,0.016,4.038,4.038,3.972,3.95,3.882,3.852,3.818,3.817,3.774,3.745,3.717,3.704,3.677,3.638,3.621,3.606,3.588,3.56,3.533,3.516,3.478,3.464,3.443,3.423,3.407,3.38,3.357,3.336,3.326,3.309,3.29,3.269,3.264,3.239,3.219,3.21,3.194,3.179,3.166,3.153,3.141,3.124,3.108,3.098,3.083,3.062,3.058,3.037,3.025,3.014,3.004,2.984,2.982,2.964,2.956,2.941,2.933,2.917,2.905,2.901,2.882,2.877,2.863,2.863,2.847,2.837,2.825,2.807,2.805,2.8,2.78,2.775,2.767,2.752,2.748,2.736,2.734,2.719,2.713,2.692,2.688,2.688,2.685,2.683,1.147,1.14,1.138,1.136,1.136,1.138,1.138,2.604,2.604,2.604,2.599,2.591,2.583,2.578,2.577,2.574,2.567,2.562,2.554,2.543,2.541,2.54,2.525,2.522,2.519,2.517,2.515,2.514,2.511,2.506,2.503,2.496,2.491,2.489,2.486,2.476,2.475,2.475,2.472,2.468,2.471,2.468,2.462,2.461,2.458,2.457,2.457,2.456,2.456,2.445,2.44,2.438,2.438,2.438,2.438,2.437,2.438,2.438,2.438,2.438,2.438,2.432,2.432,2.432,2.432,2.432,2.43,2.43,2.43,2.43,2.43,2.433,2.433,2.436,2.432,2.432,2.432,2.436,2.436,2.438,2.444,2.444,2.444,2.45,2.45,2.45,2.451,2.451,2.457,2.458,2.458,2.463,2.464,2.465,2.467,2.475,2.479,2.481,2.483,2.484,2.487,2.49,2.499,2.502,2.51,2.513,2.516,2.519,2.521,2.521,2.521,1.116,1.116,1.116,1.124,1.125,1.133,1.136,2.577,2.581,2.585,2.585,2.592,2.594,2.599,2.617,2.619,2.628,2.636,2.637,2.648,2.649,2.654,2.662,2.678,2.682,2.696,2.71,2.711,2.712,2.728,2.733,2.74,2.75,2.765,2.769,2.771,2.787,2.793,2.803,2.816,2.826,2.836,2.85,2.855,2.871,2.876,2.891,2.896,2.912,2.924,2.93,2.958,2.96,2.978,2.982,2.997,3.006,3.027,3.032,3.043,3.059,3.059,3.079,3.099,3.118,3.126,3.145,3.152,3.16,3.179,3.195,3.217,3.235,3.25,3.26,3.282,3.305,3.319,3.332,3.347,3.392,3.396,3.413,3.437,3.439,3.476,3.501,3.533,3.539,3.553,3.585,3.614,3.627,3.657,3.684,3.712,3.725,3.752,3.791,3.811,3.842,3.862,3.892,3.929,3.975,4.024,4.076,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.319,3.303,3.293,3.281,3.267,3.256,3.25,3.239,3.232,3.225,3.219,3.205,3.2,3.187,3.182,3.179,3.175,3.166,3.15,3.148,3.131,3.122,3.121,3.121,3.118,3.098,3.095,3.093,3.086,3.08,3.079,3.07,3.067,3.063,3.055,3.05,3.042,3.039,3.036,3.03,3.029,3.022,3.014,3.013,3.012,3.005,2.995,2.994,2.988,2.988,2.982,2.981,2.978,2.978,2.976,2.97,2.97,2.97,2.97,2.978,2.978,2.978,2.963,2.963,2.961,2.963,2.963,2.963,2.961,2.958,2.953,2.953,2.952,2.952,2.952,2.953,2.953,2.953,2.953,2.951,2.951,2.951,2.956,2.956,2.956,2.956,2.959,2.954,2.959,2.959,2.959,2.963,2.964,2.968,2.968,2.972,2.977,2.977,2.98,2.982,2.984,2.987,2.989,2.989,2.997,2.998,2.998,3.002,3.002,3.012,3.018,3.018,3.021,3.025,3.029,3.036,3.038,3.045,3.047,3.05,3.062,3.063,3.064,3.068,3.072,3.076,3.078,3.079,3.096,3.096,3.099,3.105,3.109,3.115,3.121,3.127,3.138,3.14,3.149,3.15,3.151,3.159,3.162,3.174,3.175,3.191,3.196,3.214,3.217,3.222,3.226,3.236,3.237,3.242,3.753,3.77,3.786,3.79,3.799,3.818,3.833,3.844,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.53} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.5313} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.953} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.921} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 1.0414}
SEN {Time 38.6394} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.207,0.207,0,0,0,0,0,0,3.677,3.673,3.673,3.673,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.275,3.265,3.262,3.262,3.265,3.321,0,0,0,0,0,0,0.007,0,0,0,3.148,3.148,3.14,3.138,3.148,0.155,0.151,0.148,0.151,0.151,0.148,0.153,0.154,0.154,0.158,0.158,0.159,0.16,3.073,3.073,3.073,3.064,3.064,3.06,3.064,3.052,0.163,0.158,0.163,0.158,0.159,0.159,0.159,0.159,0.159,3.036,3.038,3.046,3.046,3.549,3.562,3.572,3.572,3.572,3.572,3.572,3.573,3.571,3.569,3.569,3.569,3.567,3.567,3.576,3.576,3.579,3.579,3.579,3.579,3.582,3.582,3.582,3.579,3.579,3.579,3.588,3.588,3.589,3.594,3.595,3.598,3.602,3.608,3.611,3.612,3.617,3.617,3.622,3.626,3.63,3.634,3.642,3.642,3.651,3.653,3.654,3.663,3.665,3.668,3.673,3.674,3.676,3.697,3.705,3.716,3.717,3.719,3.72,3.72,3.736,3.744,3.76,3.762,3.777,3.781,3.782,3.782,3.787,3.805,3.816,3.836,3.838,3.841,3.861,3.865,3.865,3.865,3.873,3.883,3.908,3.931,3.932,3.946,3.957,3.958,3.982,3.99,3.993,4.015,4.021,4.047,4.053,4.07,4.084,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.048,4.009,3.922,3.88,3.847,3.823,3.803,3.773,3.746,3.723,3.685,3.68,3.651,3.632,3.601,3.587,3.55,3.543,3.514,3.495,3.469,3.442,3.422,3.41,3.389,3.37,3.35,3.329,3.31,3.288,3.283,3.253,3.245,3.226,3.216,3.197,3.183,3.168,3.151,3.136,3.125,3.099,3.097,3.083,3.062,3.061,3.039,3.022,3.014,3.001,2.992,2.975,2.961,2.956,2.946,2.929,2.914,2.911,2.89,2.882,2.875,2.869,2.852,2.847,2.835,2.823,2.814,2.797,2.795,2.783,2.769,2.767,2.759,2.752,2.746,2.73,2.714,2.71,2.705,2.696,2.696,2.688,2.68,1.147,1.142,1.142,1.142,1.142,1.142,1.143,2.603,2.603,2.603,2.599,2.592,2.584,2.583,2.573,2.571,2.565,2.555,2.554,2.553,2.552,2.537,2.534,2.529,2.524,2.522,2.517,2.513,2.511,2.503,2.501,2.495,2.491,2.487,2.486,2.475,2.475,2.474,2.473,2.47,2.467,2.466,2.466,2.46,2.458,2.458,2.454,2.454,2.452,2.452,2.448,2.446,2.443,2.439,2.439,2.44,2.443,2.44,2.44,2.434,2.434,2.434,2.435,2.435,2.435,2.435,2.435,2.431,2.435,2.437,2.437,2.437,2.438,2.438,2.437,2.434,2.436,2.436,2.436,2.437,2.442,2.446,2.446,2.447,2.448,2.448,2.452,2.456,2.458,2.459,2.46,2.473,2.473,2.473,2.473,2.477,2.482,2.482,2.487,2.487,2.491,2.497,2.504,2.506,2.507,2.511,2.517,2.519,2.52,2.52,2.52,1.125,1.125,1.125,1.13,1.13,1.137,1.14,2.577,2.587,2.594,2.594,2.6,2.602,2.611,2.618,2.621,2.626,2.631,2.636,2.649,2.658,2.659,2.676,2.676,2.68,2.695,2.709,2.711,2.712,2.725,2.737,2.742,2.751,2.764,2.767,2.776,2.784,2.792,2.8,2.806,2.826,2.831,2.84,2.851,2.868,2.877,2.895,2.904,2.919,2.92,2.934,2.944,2.96,2.972,2.981,3.002,3.012,3.019,3.029,3.054,3.056,3.079,3.086,3.094,3.114,3.126,3.149,3.158,3.17,3.184,3.203,3.216,3.249,3.25,3.263,3.281,3.299,3.317,3.332,3.354,3.377,3.399,3.419,3.426,3.444,3.487,3.504,3.527,3.536,3.562,3.585,3.607,3.648,3.654,3.682,3.704,3.725,3.756,3.784,3.823,3.857,3.864,3.907,3.923,3.974,4.005,4.033,4.068,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.34,3.313,3.303,3.289,3.283,3.278,3.264,3.252,3.245,3.23,3.228,3.213,3.207,3.204,3.19,3.183,3.175,3.17,3.156,3.149,3.147,3.128,3.127,3.124,3.117,3.109,3.105,3.093,3.093,3.084,3.084,3.081,3.071,3.062,3.062,3.05,3.049,3.046,3.044,3.028,3.028,3.024,3.024,3.012,3.01,3.005,3,2.997,2.993,2.99,2.987,2.978,2.978,2.977,2.977,2.973,2.968,2.968,2.968,2.968,2.976,2.976,2.976,2.964,2.964,2.963,2.959,2.959,2.955,2.955,2.955,2.954,2.954,2.954,2.954,2.952,2.954,2.954,2.954,2.954,2.954,2.954,2.954,2.954,2.954,2.957,2.957,2.951,2.951,2.955,2.955,2.958,2.963,2.964,2.964,2.966,2.971,2.976,2.977,2.981,2.981,2.983,2.984,2.984,2.99,2.993,2.994,2.999,3.001,3.005,3.006,3.007,3.016,3.023,3.024,3.025,3.028,3.04,3.043,3.051,3.052,3.055,3.06,3.078,3.078,3.078,3.078,3.078,3.084,3.089,3.091,3.099,3.108,3.111,3.118,3.121,3.125,3.134,3.141,3.147,3.148,3.163,3.167,3.172,3.186,3.192,3.202,3.209,3.216,3.216,3.217,3.217,3.231,3.251,3.254,3.75,3.768,3.787,3.789,3.802,3.819,3.824,3.855,3.855,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.79} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.7942} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.953} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.0414}
SEN {Time 38.8354} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,3.674,3.66,3.66,3.66,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,3.3,3.285,3.274,3.274,3.274,3.321,0.007,0,0,0,0,0,0,0.007,0,0,0,3.14,3.14,3.137,3.137,0.155,0.155,0.153,0.155,0.155,0.155,0.152,0.155,0.15,0.15,0.149,0.15,0.15,0.155,3.066,3.066,3.066,3.058,3.058,3.057,3.058,3.056,0.162,0.157,0.162,0.162,0.157,0.162,0.162,0.162,0.162,3.033,3.037,3.044,3.044,3.544,3.573,3.573,3.573,3.573,3.573,3.572,3.574,3.574,3.572,3.572,3.571,3.564,3.571,3.574,3.574,3.574,3.574,3.574,3.577,3.577,3.577,3.578,3.582,3.582,3.585,3.587,3.588,3.588,3.589,3.592,3.599,3.601,3.602,3.602,3.605,3.61,3.62,3.62,3.623,3.625,3.64,3.64,3.64,3.644,3.644,3.656,3.658,3.66,3.66,3.664,3.666,3.687,3.689,3.698,3.703,3.708,3.717,3.722,3.723,3.728,3.75,3.762,3.772,3.774,3.775,3.775,3.779,3.805,3.809,3.814,3.826,3.831,3.831,3.847,3.857,3.861,3.88,3.882,3.897,3.907,3.913,3.926,3.952,3.96,3.963,3.97,3.979,4,4.02,4.034,4.049,4.063,4.064,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,4.019,3.986,3.95,3.923,3.888,3.835,3.818,3.796,3.775,3.745,3.717,3.708,3.663,3.662,3.627,3.599,3.58,3.565,3.529,3.519,3.495,3.465,3.448,3.415,3.413,3.386,3.361,3.356,3.325,3.307,3.293,3.267,3.254,3.247,3.228,3.208,3.19,3.177,3.175,3.154,3.146,3.122,3.109,3.103,3.078,3.064,3.055,3.032,3.025,3.013,3.003,2.996,2.976,2.961,2.959,2.934,2.93,2.911,2.908,2.895,2.884,2.869,2.86,2.858,2.841,2.838,2.827,2.811,2.804,2.793,2.78,2.772,2.767,2.747,2.745,2.735,2.734,2.716,2.713,2.702,2.701,2.701,2.693,2.687,1.148,1.143,1.143,1.14,1.136,1.136,1.14,2.605,2.605,2.605,2.602,2.598,2.588,2.581,2.58,2.577,2.562,2.562,2.557,2.553,2.548,2.534,2.532,2.532,2.531,2.522,2.519,2.517,2.51,2.504,2.497,2.496,2.492,2.486,2.48,2.477,2.475,2.475,2.471,2.468,2.468,2.461,2.458,2.458,2.457,2.453,2.453,2.453,2.453,2.445,2.445,2.443,2.441,2.441,2.441,2.441,2.437,2.436,2.433,2.436,2.435,2.435,2.435,2.435,2.434,2.432,2.43,2.429,2.43,2.43,2.43,2.431,2.434,2.434,2.435,2.435,2.435,2.435,2.435,2.436,2.442,2.447,2.453,2.453,2.453,2.451,2.454,2.454,2.46,2.466,2.466,2.466,2.466,2.466,2.466,2.477,2.478,2.48,2.486,2.489,2.498,2.498,2.501,2.501,2.509,2.512,2.518,2.523,2.524,2.523,2.518,1.122,1.122,1.122,1.129,1.13,1.131,1.134,2.58,2.583,2.584,2.584,2.592,2.603,2.606,2.61,2.612,2.622,2.628,2.636,2.637,2.652,2.657,2.665,2.666,2.68,2.69,2.708,2.708,2.718,2.725,2.736,2.737,2.751,2.76,2.765,2.771,2.784,2.788,2.804,2.804,2.828,2.833,2.839,2.851,2.862,2.876,2.888,2.897,2.911,2.919,2.933,2.951,2.967,2.975,2.986,2.996,3.007,3.016,3.03,3.048,3.055,3.07,3.083,3.098,3.114,3.128,3.146,3.153,3.175,3.177,3.202,3.216,3.237,3.252,3.27,3.282,3.299,3.315,3.326,3.351,3.391,3.402,3.41,3.434,3.458,3.48,3.508,3.529,3.531,3.566,3.575,3.598,3.632,3.652,3.673,3.7,3.74,3.75,3.782,3.825,3.849,3.874,3.936,3.961,3.98,3.98,4.044,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.318,3.308,3.292,3.281,3.276,3.264,3.255,3.242,3.228,3.224,3.213,3.204,3.203,3.191,3.185,3.178,3.17,3.167,3.145,3.145,3.132,3.127,3.123,3.119,3.107,3.101,3.099,3.094,3.093,3.08,3.072,3.065,3.063,3.054,3.051,3.043,3.041,3.037,3.032,3.026,3.022,3.017,3.016,3.011,3.002,3.002,2.998,2.996,2.994,2.993,2.984,2.981,2.98,2.978,2.976,2.97,2.97,2.97,2.973,2.982,2.982,2.982,2.961,2.961,2.96,2.961,2.96,2.958,2.955,2.958,2.955,2.955,2.955,2.951,2.951,2.951,2.951,2.957,2.957,2.952,2.952,2.95,2.95,2.95,2.951,2.955,2.956,2.955,2.956,2.96,2.96,2.958,2.962,2.962,2.963,2.971,2.971,2.971,2.971,2.985,2.987,2.989,2.989,2.993,2.994,2.996,3.006,3.007,3.007,3.008,3.014,3.018,3.02,3.023,3.029,3.029,3.039,3.047,3.05,3.051,3.057,3.065,3.066,3.072,3.074,3.075,3.075,3.087,3.09,3.092,3.093,3.102,3.118,3.12,3.128,3.129,3.133,3.148,3.151,3.152,3.163,3.168,3.168,3.17,3.171,3.202,3.211,3.216,3.216,3.216,3.228,3.233,3.241,3.253,3.755,3.77,3.777,3.787,3.803,3.818,3.832,3.851,3.852,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 38.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 38.9871} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.572} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8194} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.0414}
SEN {Time 39.0354} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.686,3.663,3.663,3.663,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.272,3.271,3.269,3.271,3.272,3.327,0,0,0,0,0,0,0.007,0,0,0,3.142,3.142,3.141,3.138,0.155,0.155,0.153,0.149,0.153,0.149,0.147,0.147,0.153,0.148,0.151,0.151,0.151,0.151,3.069,3.069,3.069,3.067,3.067,3.062,3.062,3.062,0.166,0.162,0.162,0.159,0.162,0.162,0.159,0.163,0.164,3.028,3.036,3.037,3.046,3.562,3.568,3.575,3.568,3.572,3.575,3.575,3.572,3.572,3.575,3.571,3.571,3.574,3.576,3.576,3.576,3.579,3.579,3.576,3.576,3.58,3.58,3.58,3.58,3.583,3.583,3.589,3.589,3.597,3.597,3.599,3.599,3.599,3.601,3.604,3.604,3.61,3.613,3.617,3.62,3.635,3.635,3.635,3.635,3.639,3.653,3.656,3.658,3.658,3.665,3.667,3.677,3.686,3.699,3.699,3.703,3.708,3.718,3.719,3.734,3.739,3.745,3.751,3.755,3.777,3.777,3.785,3.791,3.795,3.799,3.811,3.83,3.832,3.84,3.853,3.859,3.859,3.859,3.872,3.879,3.907,3.91,3.925,3.935,3.962,3.969,3.972,3.977,3.994,4.016,4.017,4.045,4.047,4.069,4.087,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.01,3.966,3.948,3.91,3.882,3.86,3.821,3.795,3.775,3.743,3.72,3.693,3.668,3.662,3.623,3.588,3.578,3.551,3.539,3.517,3.487,3.458,3.448,3.423,3.408,3.39,3.358,3.343,3.327,3.311,3.284,3.272,3.259,3.248,3.228,3.207,3.196,3.179,3.172,3.161,3.14,3.12,3.102,3.093,3.08,3.067,3.054,3.03,3.021,3.01,2.994,2.976,2.973,2.961,2.956,2.941,2.932,2.906,2.902,2.899,2.882,2.877,2.87,2.854,2.845,2.832,2.823,2.811,2.795,2.783,2.783,2.766,2.765,2.755,2.753,2.731,2.718,2.718,2.709,2.703,2.689,2.689,2.689,2.676,1.145,1.145,1.145,1.138,1.137,1.137,1.146,2.603,2.603,2.603,2.589,2.588,2.586,2.577,2.576,2.575,2.558,2.557,2.551,2.548,2.541,2.538,2.535,2.529,2.523,2.52,2.517,2.515,2.513,2.509,2.499,2.498,2.488,2.487,2.486,2.479,2.478,2.476,2.476,2.475,2.468,2.466,2.465,2.457,2.455,2.452,2.45,2.45,2.449,2.449,2.446,2.446,2.445,2.444,2.44,2.439,2.437,2.436,2.435,2.433,2.433,2.433,2.433,2.432,2.432,2.431,2.432,2.431,2.431,2.435,2.435,2.435,2.438,2.438,2.438,2.438,2.437,2.437,2.437,2.44,2.443,2.447,2.447,2.45,2.45,2.452,2.455,2.456,2.459,2.46,2.465,2.465,2.467,2.47,2.473,2.474,2.481,2.483,2.484,2.487,2.489,2.493,2.498,2.501,2.504,2.514,2.515,2.518,2.523,2.523,2.523,1.123,1.123,1.123,1.125,1.133,1.135,1.136,2.576,2.577,2.582,2.582,2.591,2.596,2.605,2.61,2.62,2.622,2.63,2.638,2.646,2.65,2.667,2.674,2.68,2.691,2.694,2.707,2.717,2.72,2.73,2.734,2.735,2.754,2.764,2.765,2.768,2.781,2.796,2.798,2.814,2.824,2.839,2.846,2.852,2.863,2.875,2.882,2.905,2.919,2.92,2.937,2.946,2.965,2.966,2.977,2.996,3,3.023,3.028,3.044,3.049,3.065,3.087,3.101,3.11,3.124,3.149,3.154,3.167,3.183,3.202,3.227,3.235,3.257,3.275,3.286,3.29,3.307,3.342,3.356,3.373,3.408,3.418,3.437,3.452,3.484,3.5,3.526,3.55,3.571,3.591,3.605,3.622,3.653,3.679,3.696,3.743,3.755,3.787,3.829,3.843,3.879,3.935,3.965,4.007,4.007,4.028,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.315,3.302,3.296,3.292,3.275,3.26,3.251,3.235,3.233,3.228,3.209,3.202,3.196,3.196,3.195,3.184,3.171,3.167,3.151,3.136,3.135,3.131,3.125,3.12,3.112,3.098,3.092,3.087,3.087,3.08,3.076,3.068,3.066,3.06,3.055,3.052,3.049,3.036,3.03,3.026,3.021,3.015,3.014,3.014,3.005,3,2.997,2.995,2.991,2.991,2.985,2.983,2.98,2.98,2.976,2.969,2.969,2.969,2.97,2.981,2.981,2.981,2.96,2.959,2.957,2.957,2.959,2.957,2.955,2.955,2.953,2.953,2.953,2.95,2.953,2.953,2.953,2.953,2.953,2.952,2.952,2.952,2.952,2.954,2.954,2.954,2.955,2.955,2.958,2.958,2.958,2.964,2.966,2.971,2.971,2.972,2.972,2.975,2.976,2.98,2.985,2.991,2.991,2.993,2.997,2.999,2.999,2.999,3.003,3.015,3.016,3.016,3.018,3.018,3.024,3.03,3.038,3.042,3.049,3.051,3.059,3.063,3.063,3.072,3.073,3.079,3.079,3.08,3.088,3.092,3.099,3.106,3.111,3.12,3.12,3.127,3.136,3.149,3.15,3.159,3.167,3.172,3.177,3.183,3.185,3.196,3.203,3.218,3.216,3.218,3.218,3.234,3.242,3.254,3.745,3.772,3.793,3.795,3.796,3.815,3.833,3.86,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.1881} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.572} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 1.0414}
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SEN {Time 39.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.39} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.1816} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9812} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.0414}
SEN {Time 39.4314} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.668,3.668,3.668,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.289,3.282,3.261,3.261,3.261,3.269,3.323,0.007,0,0,0,0,0,0,0.007,0,0,0,3.148,3.148,3.139,3.133,0.157,0.156,0.154,0.151,0.151,0.148,0.148,0.152,0.153,0.153,0.154,0.154,0.154,0.155,3.061,3.063,3.063,3.063,3.062,3.062,3.055,0.167,0.163,0.163,0.167,0.163,0.163,0.164,0.161,0.161,0.164,3.033,3.034,3.044,3.044,3.558,3.564,3.571,3.572,3.571,3.571,3.571,3.577,3.577,3.577,3.577,3.577,3.573,3.573,3.577,3.574,3.579,3.579,3.579,3.576,3.579,3.576,3.576,3.574,3.579,3.579,3.579,3.588,3.592,3.593,3.597,3.598,3.598,3.604,3.604,3.609,3.613,3.614,3.621,3.622,3.626,3.632,3.632,3.641,3.642,3.647,3.651,3.652,3.657,3.671,3.672,3.682,3.689,3.692,3.693,3.698,3.705,3.714,3.72,3.725,3.737,3.74,3.748,3.753,3.756,3.776,3.785,3.785,3.786,3.798,3.809,3.828,3.828,3.838,3.851,3.862,3.867,3.874,3.882,3.889,3.908,3.911,3.916,3.94,3.957,3.967,3.978,3.986,3.996,4,4.023,4.034,4.059,4.066,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.02,3.976,3.957,3.916,3.895,3.854,3.833,3.813,3.787,3.745,3.73,3.697,3.661,3.652,3.625,3.603,3.572,3.56,3.543,3.516,3.486,3.467,3.448,3.437,3.41,3.389,3.367,3.354,3.333,3.312,3.289,3.273,3.265,3.244,3.225,3.205,3.193,3.183,3.164,3.155,3.148,3.113,3.102,3.1,3.086,3.061,3.057,3.029,3.021,3.011,3,2.999,2.982,2.963,2.958,2.938,2.931,2.908,2.904,2.899,2.89,2.871,2.869,2.862,2.841,2.828,2.818,2.815,2.797,2.79,2.778,2.773,2.771,2.75,2.747,2.737,2.727,2.721,2.708,2.707,2.694,2.694,2.69,2.677,1.15,1.145,1.14,1.138,1.139,1.139,1.139,2.609,2.609,2.609,2.602,2.593,2.584,2.582,2.578,2.571,2.569,2.564,2.555,2.551,2.546,2.538,2.534,2.524,2.524,2.524,2.523,2.514,2.511,2.506,2.497,2.495,2.494,2.49,2.479,2.476,2.476,2.476,2.475,2.475,2.468,2.463,2.462,2.461,2.459,2.454,2.454,2.453,2.451,2.447,2.447,2.447,2.446,2.444,2.443,2.441,2.441,2.441,2.44,2.434,2.432,2.432,2.432,2.432,2.432,2.433,2.433,2.435,2.435,2.437,2.437,2.435,2.434,2.436,2.436,2.436,2.436,2.436,2.438,2.44,2.442,2.446,2.446,2.447,2.448,2.451,2.455,2.455,2.457,2.465,2.467,2.468,2.468,2.473,2.473,2.473,2.479,2.482,2.485,2.488,2.493,2.494,2.496,2.504,2.509,2.515,2.517,2.522,2.525,2.525,2.525,1.128,1.128,1.127,1.127,1.133,1.134,1.135,2.576,2.579,2.583,2.583,2.594,2.603,2.61,2.613,2.616,2.619,2.632,2.642,2.646,2.656,2.658,2.674,2.677,2.678,2.686,2.707,2.716,2.724,2.726,2.727,2.746,2.748,2.762,2.772,2.777,2.784,2.794,2.804,2.818,2.82,2.834,2.841,2.854,2.859,2.877,2.892,2.904,2.914,2.922,2.933,2.934,2.966,2.972,2.983,2.99,3.008,3.022,3.029,3.051,3.061,3.066,3.087,3.095,3.112,3.128,3.154,3.159,3.169,3.183,3.198,3.211,3.234,3.253,3.265,3.278,3.29,3.32,3.331,3.342,3.378,3.398,3.406,3.426,3.457,3.485,3.494,3.518,3.54,3.569,3.588,3.597,3.631,3.659,3.691,3.711,3.735,3.753,3.783,3.805,3.837,3.867,3.9,3.972,3.998,4.038,4.038,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.315,3.307,3.295,3.29,3.283,3.264,3.255,3.24,3.236,3.234,3.215,3.211,3.203,3.19,3.175,3.172,3.168,3.159,3.152,3.14,3.134,3.129,3.125,3.12,3.119,3.098,3.098,3.09,3.088,3.085,3.071,3.066,3.062,3.058,3.058,3.048,3.044,3.034,3.034,3.034,3.033,3.027,3.018,3.013,3.011,3.008,2.995,2.99,2.988,2.988,2.988,2.984,2.983,2.98,2.98,2.972,2.971,2.971,2.971,2.99,2.99,2.99,2.963,2.963,2.961,2.961,2.956,2.955,2.955,2.955,2.954,2.954,2.954,2.954,2.949,2.949,2.949,2.949,2.949,2.949,2.949,2.949,2.952,2.952,2.955,2.955,2.95,2.95,2.955,2.956,2.961,2.963,2.963,2.968,2.969,2.969,2.969,2.973,2.973,2.976,2.977,2.978,2.99,2.991,2.994,2.996,3.002,3.003,3.004,3.01,3.014,3.017,3.023,3.024,3.025,3.029,3.043,3.044,3.053,3.055,3.056,3.06,3.061,3.076,3.079,3.079,3.079,3.083,3.09,3.095,3.101,3.107,3.112,3.114,3.119,3.122,3.132,3.147,3.148,3.154,3.16,3.163,3.165,3.166,3.181,3.2,3.212,3.212,3.212,3.219,3.229,3.23,3.235,3.257,3.742,3.775,3.792,3.796,3.799,3.821,3.827,3.846,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.5829} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.1816} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.0414}
SEN {Time 39.6315} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,3.676,3.676,3.676,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.274,3.265,3.265,3.265,3.319,0.007,0,0,0,0,0,0,0.007,0,0,0,3.144,3.144,3.141,3.144,3.144,0.154,0.151,0.151,0.151,0.151,0.146,0.153,0.154,0.153,0.151,0.151,0.151,0.151,3.063,3.063,3.063,3.059,3.059,3.051,3.051,3.05,0.171,0.156,0.167,0.156,0.158,0.158,0.158,0.158,0.163,3.039,3.039,3.047,3.047,3.568,3.574,3.576,3.574,3.574,3.576,3.576,3.574,3.574,3.574,3.574,3.572,3.572,3.572,3.573,3.579,3.581,3.584,3.581,3.582,3.584,3.582,3.582,3.582,3.582,3.582,3.585,3.595,3.597,3.598,3.599,3.599,3.599,3.607,3.608,3.61,3.612,3.619,3.627,3.63,3.632,3.634,3.634,3.637,3.643,3.646,3.648,3.657,3.657,3.668,3.672,3.672,3.683,3.69,3.698,3.699,3.702,3.702,3.722,3.724,3.739,3.745,3.751,3.757,3.78,3.782,3.786,3.792,3.801,3.81,3.815,3.83,3.837,3.848,3.852,3.855,3.857,3.868,3.879,3.889,3.915,3.922,3.926,3.938,3.944,3.946,3.975,3.977,3.993,4.016,4.02,4.045,4.046,4.057,4.083,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,4.021,3.955,3.901,3.883,3.859,3.82,3.793,3.775,3.739,3.724,3.694,3.674,3.65,3.622,3.609,3.581,3.552,3.532,3.51,3.493,3.459,3.439,3.418,3.411,3.387,3.371,3.354,3.322,3.309,3.292,3.263,3.256,3.24,3.217,3.205,3.198,3.182,3.173,3.158,3.144,3.119,3.104,3.096,3.086,3.065,3.055,3.036,3.029,3.011,3.004,2.994,2.987,2.955,2.955,2.936,2.924,2.917,2.905,2.893,2.891,2.875,2.87,2.855,2.847,2.839,2.83,2.813,2.805,2.794,2.786,2.774,2.766,2.751,2.744,2.734,2.726,2.711,2.706,2.704,2.695,2.695,2.695,2.689,1.148,1.148,1.146,1.137,1.136,1.136,1.136,2.592,2.592,2.592,2.59,2.589,2.584,2.58,2.579,2.569,2.562,2.557,2.557,2.557,2.538,2.536,2.534,2.53,2.529,2.523,2.516,2.51,2.508,2.506,2.501,2.5,2.491,2.487,2.484,2.484,2.484,2.48,2.474,2.474,2.473,2.466,2.46,2.46,2.461,2.46,2.452,2.452,2.452,2.447,2.446,2.446,2.445,2.443,2.443,2.439,2.439,2.432,2.432,2.432,2.432,2.433,2.433,2.433,2.433,2.433,2.431,2.429,2.431,2.431,2.431,2.433,2.433,2.435,2.435,2.438,2.437,2.44,2.437,2.44,2.44,2.446,2.448,2.449,2.45,2.45,2.457,2.458,2.458,2.461,2.462,2.463,2.467,2.468,2.471,2.475,2.478,2.482,2.483,2.488,2.492,2.494,2.497,2.504,2.505,2.508,2.509,2.516,2.521,2.521,2.521,1.117,1.117,1.117,1.118,1.132,1.132,1.136,2.571,2.584,2.588,2.588,2.591,2.594,2.613,2.618,2.621,2.621,2.632,2.633,2.644,2.664,2.664,2.671,2.678,2.679,2.694,2.706,2.714,2.72,2.726,2.727,2.743,2.747,2.765,2.765,2.769,2.784,2.796,2.801,2.817,2.826,2.838,2.849,2.852,2.876,2.878,2.892,2.902,2.907,2.921,2.932,2.948,2.955,2.968,2.979,2.995,3.006,3.015,3.035,3.051,3.061,3.067,3.082,3.094,3.118,3.134,3.151,3.151,3.164,3.179,3.202,3.213,3.234,3.253,3.265,3.28,3.294,3.322,3.324,3.356,3.376,3.402,3.408,3.437,3.455,3.477,3.494,3.528,3.541,3.553,3.596,3.607,3.639,3.661,3.678,3.701,3.727,3.756,3.786,3.817,3.841,3.873,3.935,3.965,4.036,4.036,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.324,3.31,3.295,3.28,3.272,3.258,3.252,3.242,3.233,3.232,3.213,3.206,3.206,3.187,3.179,3.176,3.175,3.156,3.146,3.146,3.137,3.136,3.128,3.114,3.108,3.105,3.096,3.092,3.088,3.084,3.084,3.071,3.066,3.063,3.054,3.047,3.045,3.039,3.032,3.028,3.027,3.02,3.013,3.011,3.004,3,2.994,2.99,2.989,2.988,2.986,2.983,2.979,2.979,2.978,2.974,2.973,2.974,2.974,2.979,2.979,2.979,2.964,2.958,2.957,2.958,2.957,2.955,2.955,2.954,2.952,2.952,2.952,2.952,2.952,2.952,2.955,2.952,2.952,2.952,2.954,2.953,2.953,2.954,2.953,2.953,2.955,2.956,2.956,2.956,2.957,2.957,2.966,2.966,2.967,2.972,2.973,2.974,2.978,2.984,2.985,2.987,2.987,2.989,2.99,2.994,2.994,2.999,3.002,3.009,3.012,3.017,3.023,3.023,3.024,3.029,3.041,3.049,3.05,3.053,3.057,3.064,3.068,3.069,3.077,3.081,3.081,3.088,3.09,3.093,3.098,3.105,3.107,3.124,3.127,3.131,3.133,3.148,3.154,3.154,3.165,3.165,3.167,3.175,3.186,3.201,3.211,3.214,3.214,3.219,3.224,3.237,3.24,3.251,3.75,3.768,3.784,3.796,3.798,3.818,3.832,3.849,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.784} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.1816} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 5.7404} {Name Sonar15 Range 1.0414}
SEN {Time 39.8329} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.662,3.662,3.662,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.289,3.269,3.256,3.256,3.256,3.323,0.007,0,0,0,0,0,0,0.007,0,0,0,3.144,3.144,3.141,3.14,0.15,0.15,0.15,0.149,0.149,0.149,0.15,0.148,0.15,0.149,0.156,0.156,0.158,0.158,3.072,3.072,3.072,3.06,3.06,3.059,3.059,3.057,0.163,0.163,0.166,0.165,0.165,0.166,0.165,0.165,0.169,3.04,3.04,3.04,3.047,3.557,3.563,3.566,3.567,3.571,3.571,3.571,3.574,3.572,3.572,3.572,3.572,3.572,3.573,3.573,3.573,3.578,3.579,3.579,3.579,3.579,3.579,3.583,3.581,3.583,3.581,3.583,3.585,3.591,3.592,3.595,3.596,3.608,3.609,3.611,3.611,3.611,3.618,3.619,3.619,3.623,3.628,3.63,3.637,3.643,3.647,3.656,3.657,3.658,3.662,3.67,3.68,3.682,3.693,3.708,3.708,3.709,3.716,3.72,3.732,3.739,3.745,3.764,3.769,3.777,3.78,3.789,3.79,3.796,3.805,3.815,3.821,3.821,3.838,3.855,3.858,3.865,3.872,3.881,3.894,3.911,3.92,3.938,3.948,3.953,3.97,3.975,3.987,3.991,4.01,4.035,4.036,4.051,4.068,4.091,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0,0,0.016,4.071,3.982,3.967,3.914,3.889,3.855,3.824,3.798,3.78,3.745,3.711,3.693,3.664,3.651,3.613,3.605,3.575,3.57,3.529,3.514,3.498,3.461,3.441,3.419,3.404,3.391,3.372,3.356,3.334,3.311,3.297,3.274,3.262,3.244,3.214,3.211,3.195,3.178,3.166,3.154,3.147,3.13,3.111,3.097,3.083,3.066,3.066,3.057,3.028,3.01,3,2.994,2.977,2.967,2.96,2.944,2.93,2.913,2.9,2.897,2.889,2.873,2.868,2.862,2.843,2.841,2.821,2.811,2.799,2.793,2.786,2.769,2.761,2.76,2.745,2.736,2.725,2.707,2.703,2.701,2.697,2.697,2.693,2.679,1.145,1.143,1.143,1.14,1.138,1.138,1.138,2.605,2.605,2.605,2.592,2.591,2.585,2.58,2.572,2.567,2.563,2.559,2.55,2.55,2.544,2.539,2.537,2.533,2.533,2.522,2.519,2.519,2.508,2.507,2.503,2.494,2.492,2.491,2.483,2.483,2.479,2.473,2.473,2.471,2.471,2.471,2.47,2.46,2.46,2.46,2.456,2.45,2.449,2.449,2.443,2.443,2.443,2.443,2.434,2.434,2.434,2.434,2.434,2.431,2.431,2.431,2.433,2.433,2.434,2.434,2.434,2.434,2.435,2.436,2.436,2.437,2.438,2.438,2.438,2.438,2.437,2.437,2.437,2.44,2.446,2.446,2.45,2.451,2.451,2.451,2.454,2.456,2.457,2.458,2.46,2.467,2.467,2.468,2.471,2.472,2.475,2.476,2.484,2.485,2.485,2.488,2.497,2.504,2.507,2.509,2.516,2.524,2.524,2.519,2.519,1.127,1.123,1.123,1.123,1.125,1.135,1.139,2.569,2.577,2.581,2.581,2.595,2.596,2.609,2.615,2.623,2.623,2.634,2.639,2.643,2.652,2.665,2.673,2.674,2.678,2.685,2.712,2.715,2.717,2.727,2.728,2.739,2.751,2.755,2.766,2.774,2.783,2.791,2.803,2.817,2.826,2.838,2.841,2.852,2.872,2.875,2.895,2.902,2.906,2.926,2.935,2.946,2.968,2.971,2.98,3.001,3.01,3.021,3.03,3.042,3.055,3.064,3.084,3.092,3.112,3.116,3.151,3.156,3.164,3.183,3.201,3.21,3.234,3.255,3.261,3.274,3.298,3.336,3.336,3.358,3.389,3.401,3.413,3.437,3.46,3.482,3.497,3.528,3.544,3.572,3.589,3.607,3.625,3.661,3.692,3.714,3.728,3.752,3.794,3.813,3.832,3.879,3.897,3.932,3.977,4.008,4.076,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.335,3.314,3.303,3.302,3.29,3.267,3.261,3.25,3.24,3.235,3.233,3.224,3.208,3.207,3.207,3.187,3.178,3.167,3.166,3.146,3.145,3.137,3.127,3.127,3.117,3.107,3.104,3.096,3.095,3.081,3.08,3.075,3.073,3.066,3.059,3.052,3.051,3.04,3.031,3.031,3.03,3.02,3.019,3.012,3.011,3.004,3.003,2.998,2.992,2.991,2.99,2.987,2.985,2.984,2.975,2.974,2.973,2.973,2.973,2.973,2.98,2.98,2.98,2.966,2.96,2.96,2.96,2.96,2.96,2.958,2.955,2.955,2.955,2.955,2.952,2.955,2.952,2.957,2.952,2.952,2.952,2.954,2.954,2.954,2.954,2.956,2.954,2.954,2.954,2.955,2.955,2.957,2.96,2.964,2.97,2.97,2.97,2.973,2.975,2.974,2.98,2.985,2.985,2.985,2.988,2.996,2.999,3.001,3.003,3.005,3.011,3.014,3.018,3.024,3.024,3.027,3.036,3.043,3.046,3.053,3.053,3.055,3.061,3.063,3.075,3.076,3.082,3.085,3.088,3.088,3.092,3.101,3.11,3.114,3.119,3.121,3.126,3.13,3.152,3.152,3.154,3.158,3.164,3.167,3.175,3.189,3.191,3.208,3.208,3.208,3.21,3.225,3.232,3.247,3.25,3.753,3.771,3.786,3.787,3.805,3.831,3.838,3.844,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 39.99} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 39.9861} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.5466} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 40.0325} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,3.678,3.678,3.678,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.266,3.261,3.255,3.255,3.261,3.324,0,0,0,0,0,0,0.007,0,0,0,3.14,3.14,3.132,3.127,0.153,0.151,0.151,0.15,0.153,0.15,0.148,0.146,0.148,0.148,0.151,0.151,0.155,0.155,3.069,3.069,3.069,3.056,3.056,3.053,3.056,3.047,0.167,0.163,0.163,0.163,0.163,0.163,0.161,0.164,0.164,3.033,3.04,3.043,3.043,3.553,3.572,3.577,3.577,3.577,3.574,3.573,3.573,3.573,3.572,3.572,3.572,3.572,3.572,3.576,3.579,3.582,3.582,3.582,3.582,3.582,3.582,3.582,3.579,3.579,3.579,3.587,3.587,3.594,3.602,3.603,3.602,3.604,3.607,3.607,3.61,3.614,3.614,3.614,3.625,3.629,3.633,3.639,3.643,3.647,3.647,3.654,3.659,3.659,3.66,3.662,3.667,3.685,3.693,3.697,3.708,3.71,3.712,3.728,3.731,3.731,3.734,3.758,3.759,3.777,3.778,3.784,3.786,3.796,3.803,3.814,3.822,3.833,3.841,3.845,3.851,3.869,3.878,3.881,3.89,3.91,3.912,3.926,3.936,3.954,3.955,3.967,3.984,3.995,4.018,4.02,4.04,4.043,4.062,4.066,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,4.05,4.033,3.919,3.872,3.855,3.829,3.802,3.772,3.732,3.712,3.684,3.671,3.651,3.626,3.609,3.587,3.556,3.533,3.521,3.489,3.47,3.453,3.424,3.405,3.391,3.357,3.355,3.323,3.312,3.291,3.276,3.267,3.241,3.23,3.205,3.199,3.176,3.156,3.152,3.135,3.119,3.103,3.099,3.086,3.057,3.051,3.029,3.028,3.012,2.996,2.988,2.969,2.964,2.954,2.946,2.923,2.917,2.908,2.899,2.889,2.873,2.869,2.856,2.84,2.838,2.825,2.808,2.8,2.792,2.778,2.771,2.765,2.75,2.74,2.739,2.727,2.712,2.704,2.703,2.692,2.692,2.686,2.685,1.148,1.145,1.143,1.139,1.137,1.137,1.137,2.593,2.593,2.593,2.592,2.589,2.585,2.581,2.578,2.574,2.56,2.56,2.556,2.55,2.546,2.532,2.523,2.523,2.522,2.52,2.519,2.516,2.506,2.5,2.496,2.491,2.491,2.484,2.483,2.479,2.476,2.477,2.476,2.474,2.473,2.467,2.459,2.456,2.456,2.455,2.453,2.451,2.45,2.447,2.446,2.446,2.443,2.443,2.441,2.438,2.437,2.435,2.432,2.432,2.431,2.431,2.436,2.436,2.43,2.433,2.432,2.428,2.432,2.432,2.43,2.43,2.431,2.431,2.437,2.437,2.437,2.438,2.44,2.442,2.444,2.442,2.451,2.451,2.451,2.452,2.452,2.454,2.459,2.465,2.465,2.465,2.465,2.465,2.465,2.471,2.477,2.481,2.481,2.487,2.491,2.499,2.5,2.503,2.504,2.504,2.511,2.518,2.525,2.525,2.525,1.118,1.118,1.118,1.128,1.131,1.131,1.132,2.573,2.577,2.586,2.586,2.589,2.601,2.601,2.609,2.615,2.621,2.633,2.634,2.644,2.652,2.662,2.673,2.683,2.684,2.688,2.708,2.71,2.72,2.73,2.734,2.735,2.753,2.765,2.768,2.776,2.778,2.789,2.801,2.818,2.824,2.825,2.844,2.855,2.867,2.88,2.888,2.905,2.911,2.92,2.941,2.944,2.955,2.965,2.986,2.99,3.008,3.02,3.029,3.053,3.065,3.075,3.085,3.095,3.116,3.127,3.146,3.155,3.164,3.186,3.192,3.21,3.237,3.241,3.264,3.278,3.289,3.326,3.331,3.358,3.373,3.39,3.417,3.424,3.455,3.479,3.502,3.519,3.54,3.564,3.582,3.604,3.639,3.663,3.686,3.701,3.713,3.764,3.776,3.817,3.845,3.868,3.912,3.925,3.968,4.075,0.016,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.31,3.307,3.299,3.285,3.27,3.266,3.253,3.241,3.239,3.228,3.206,3.205,3.202,3.196,3.185,3.174,3.172,3.17,3.148,3.146,3.14,3.127,3.121,3.118,3.103,3.103,3.094,3.094,3.08,3.079,3.079,3.074,3.074,3.061,3.053,3.051,3.041,3.036,3.032,3.026,3.025,3.016,3.016,3.014,3.008,3.001,2.994,2.994,2.993,2.988,2.981,2.981,2.979,2.979,2.978,2.975,2.966,2.966,2.966,2.979,2.979,2.979,2.962,2.961,2.961,2.961,2.96,2.96,2.957,2.955,2.953,2.953,2.951,2.951,2.951,2.953,2.953,2.954,2.954,2.953,2.951,2.95,2.95,2.949,2.95,2.957,2.957,2.957,2.959,2.962,2.96,2.96,2.96,2.964,2.965,2.971,2.973,2.981,2.983,2.983,2.982,2.982,2.985,2.986,2.997,2.998,2.998,3.008,3.008,3.009,3.009,3.021,3.023,3.024,3.029,3.037,3.043,3.046,3.048,3.05,3.053,3.055,3.066,3.07,3.075,3.083,3.083,3.084,3.089,3.092,3.099,3.109,3.116,3.116,3.116,3.121,3.131,3.142,3.151,3.153,3.16,3.163,3.166,3.173,3.18,3.199,3.208,3.217,3.217,3.218,3.23,3.236,3.245,3.257,3.754,3.769,3.789,3.792,3.792,3.832,3.837,3.851,3.869,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.19} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.188} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.5466} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.0066} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 40.2312} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.664,3.664,3.664,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.271,3.27,3.259,3.259,3.27,3.321,0,0,0,0,0,0,0.007,0,0,0,3.147,3.147,3.147,3.129,0.151,0.151,0.151,0.151,0.151,0.152,0.151,0.149,0.154,0.152,0.149,0.149,0.152,0.152,3.072,3.072,3.072,3.056,3.056,3.054,3.054,3.054,0.174,0.165,0.165,0.163,0.163,0.163,0.161,0.163,0.163,3.033,3.039,3.041,3.041,3.577,3.578,3.584,3.578,3.578,3.578,3.578,3.576,3.575,3.575,3.575,3.575,3.567,3.575,3.576,3.575,3.576,3.579,3.579,3.578,3.58,3.58,3.581,3.581,3.582,3.582,3.586,3.595,3.596,3.595,3.598,3.602,3.603,3.604,3.606,3.606,3.617,3.617,3.622,3.626,3.63,3.63,3.633,3.633,3.641,3.648,3.651,3.658,3.658,3.673,3.673,3.677,3.685,3.691,3.697,3.708,3.713,3.715,3.72,3.72,3.734,3.737,3.752,3.756,3.776,3.778,3.778,3.797,3.798,3.809,3.813,3.827,3.832,3.839,3.844,3.848,3.873,3.883,3.885,3.903,3.903,3.921,3.922,3.941,3.942,3.964,3.967,3.989,3.993,4.006,4.031,4.036,4.048,4.063,4.079,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.067,4.011,3.942,3.902,3.889,3.841,3.82,3.783,3.771,3.756,3.721,3.689,3.667,3.644,3.631,3.595,3.587,3.566,3.533,3.512,3.488,3.459,3.442,3.412,3.408,3.391,3.358,3.354,3.324,3.311,3.291,3.274,3.259,3.237,3.228,3.2,3.2,3.184,3.164,3.152,3.146,3.121,3.11,3.1,3.092,3.066,3.049,3.025,3.023,3.019,3.003,2.991,2.973,2.972,2.957,2.938,2.928,2.913,2.911,2.895,2.888,2.875,2.866,2.863,2.837,2.834,2.826,2.818,2.8,2.793,2.782,2.763,2.762,2.758,2.742,2.731,2.726,2.71,2.708,2.705,2.697,2.697,2.69,2.677,1.146,1.145,1.14,1.14,1.135,1.135,1.135,2.594,2.602,2.602,2.594,2.587,2.579,2.576,2.574,2.568,2.558,2.557,2.556,2.551,2.543,2.538,2.534,2.534,2.521,2.519,2.515,2.514,2.512,2.501,2.499,2.495,2.49,2.488,2.484,2.479,2.474,2.47,2.47,2.468,2.47,2.466,2.457,2.457,2.455,2.455,2.455,2.455,2.451,2.45,2.449,2.442,2.442,2.442,2.442,2.44,2.434,2.434,2.434,2.434,2.434,2.433,2.433,2.427,2.428,2.428,2.435,2.435,2.435,2.435,2.431,2.431,2.428,2.431,2.433,2.436,2.436,2.439,2.439,2.44,2.441,2.448,2.448,2.45,2.452,2.452,2.452,2.454,2.458,2.463,2.463,2.466,2.466,2.467,2.467,2.467,2.476,2.478,2.482,2.489,2.49,2.5,2.502,2.503,2.509,2.51,2.515,2.523,2.524,2.524,2.523,1.122,1.122,1.122,1.126,1.129,1.133,1.135,2.579,2.587,2.589,2.589,2.59,2.592,2.604,2.615,2.624,2.627,2.63,2.644,2.647,2.65,2.664,2.671,2.676,2.685,2.689,2.704,2.712,2.717,2.726,2.736,2.75,2.755,2.765,2.774,2.778,2.782,2.794,2.8,2.815,2.82,2.83,2.85,2.855,2.867,2.872,2.893,2.904,2.918,2.92,2.932,2.941,2.959,2.959,2.978,3.002,3.003,3.019,3.032,3.047,3.058,3.069,3.082,3.09,3.114,3.127,3.155,3.156,3.164,3.179,3.199,3.22,3.228,3.25,3.259,3.28,3.287,3.324,3.334,3.348,3.376,3.402,3.408,3.437,3.462,3.486,3.502,3.517,3.541,3.573,3.592,3.598,3.632,3.665,3.684,3.695,3.725,3.759,3.789,3.814,3.843,3.866,3.9,3.93,4.001,4.028,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.313,3.303,3.287,3.286,3.282,3.263,3.259,3.242,3.239,3.222,3.219,3.208,3.203,3.187,3.186,3.18,3.166,3.16,3.151,3.145,3.145,3.133,3.129,3.118,3.115,3.097,3.095,3.092,3.084,3.084,3.071,3.068,3.061,3.059,3.053,3.047,3.045,3.037,3.031,3.029,3.025,3.023,3.014,3.01,3.006,3.001,2.999,2.999,2.997,2.995,2.991,2.98,2.979,2.979,2.979,2.979,2.979,2.979,2.979,2.983,2.983,2.983,2.963,2.963,2.963,2.963,2.959,2.959,2.959,2.956,2.956,2.956,2.957,2.954,2.954,2.954,2.951,2.951,2.951,2.949,2.952,2.953,2.952,2.952,2.953,2.952,2.947,2.947,2.952,2.952,2.956,2.96,2.961,2.966,2.966,2.971,2.979,2.978,2.979,2.982,2.983,2.986,2.986,2.99,2.993,2.994,2.996,3.002,3.011,3.011,3.014,3.018,3.025,3.025,3.025,3.029,3.04,3.049,3.053,3.059,3.06,3.066,3.069,3.073,3.077,3.078,3.079,3.083,3.09,3.092,3.103,3.104,3.111,3.118,3.126,3.13,3.137,3.151,3.151,3.153,3.164,3.171,3.171,3.175,3.179,3.197,3.208,3.209,3.209,3.217,3.219,3.225,3.246,3.256,3.75,3.777,3.786,3.795,3.801,3.814,3.841,3.844,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.39} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.3898} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 4.5466} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.0066} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 40.4274} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.662,3.662,3.662,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.276,3.271,3.271,3.276,3.322,0.007,0,0,0,0,0,0,0.007,0,0,0,3.148,3.148,3.147,3.148,3.148,0.153,0.153,0.153,0.153,0.153,0.153,0.152,0.154,0.151,0.151,0.151,0.156,0.157,3.073,3.073,3.073,3.062,3.062,3.059,3.059,3.058,0.173,0.16,0.173,0.16,0.159,0.158,0.158,0.158,0.159,3.027,3.042,3.047,3.05,3.572,3.573,3.573,3.573,3.573,3.575,3.569,3.575,3.575,3.575,3.569,3.574,3.569,3.568,3.569,3.573,3.573,3.575,3.584,3.583,3.583,3.578,3.581,3.578,3.578,3.581,3.589,3.591,3.591,3.595,3.597,3.597,3.6,3.597,3.6,3.602,3.609,3.61,3.619,3.627,3.634,3.634,3.636,3.636,3.645,3.646,3.654,3.654,3.654,3.665,3.668,3.675,3.692,3.693,3.701,3.704,3.705,3.723,3.723,3.728,3.739,3.741,3.759,3.761,3.764,3.78,3.786,3.791,3.805,3.806,3.807,3.819,3.831,3.834,3.843,3.853,3.86,3.867,3.868,3.904,3.909,3.921,3.923,3.939,3.941,3.958,3.982,3.983,3.996,4.003,4.02,4.03,4.04,4.077,4.077,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,4.041,4.018,3.927,3.878,3.856,3.823,3.789,3.779,3.747,3.712,3.678,3.669,3.653,3.628,3.608,3.586,3.552,3.541,3.514,3.478,3.462,3.456,3.428,3.403,3.379,3.368,3.344,3.32,3.301,3.284,3.278,3.251,3.235,3.215,3.206,3.189,3.177,3.17,3.154,3.147,3.124,3.103,3.094,3.083,3.061,3.061,3.029,3.021,3.019,3.007,2.988,2.974,2.965,2.96,2.944,2.929,2.919,2.909,2.896,2.88,2.869,2.86,2.86,2.835,2.834,2.833,2.815,2.802,2.794,2.786,2.77,2.764,2.753,2.743,2.737,2.727,2.718,2.718,2.701,2.692,2.692,2.687,2.686,1.152,1.152,1.142,1.14,1.14,1.14,1.14,2.602,2.602,2.602,2.593,2.589,2.587,2.58,2.574,2.573,2.562,2.56,2.553,2.552,2.549,2.544,2.531,2.531,2.529,2.516,2.516,2.509,2.509,2.504,2.502,2.496,2.492,2.487,2.486,2.479,2.479,2.472,2.467,2.464,2.464,2.459,2.459,2.457,2.455,2.455,2.455,2.453,2.452,2.452,2.445,2.444,2.444,2.439,2.438,2.436,2.436,2.434,2.433,2.434,2.434,2.433,2.432,2.432,2.432,2.431,2.429,2.427,2.427,2.427,2.432,2.434,2.434,2.434,2.434,2.434,2.433,2.439,2.439,2.441,2.445,2.447,2.449,2.45,2.45,2.452,2.454,2.455,2.461,2.463,2.466,2.466,2.466,2.468,2.473,2.474,2.477,2.479,2.486,2.487,2.488,2.497,2.498,2.498,2.506,2.512,2.514,2.523,2.524,2.524,2.523,1.131,1.121,1.121,1.13,1.131,1.133,1.139,2.578,2.585,2.588,2.588,2.6,2.604,2.608,2.617,2.617,2.626,2.634,2.641,2.645,2.661,2.662,2.669,2.675,2.683,2.696,2.706,2.713,2.721,2.728,2.729,2.731,2.752,2.765,2.769,2.771,2.787,2.791,2.807,2.812,2.814,2.844,2.845,2.85,2.872,2.872,2.887,2.901,2.92,2.923,2.931,2.945,2.961,2.974,2.978,2.994,3.001,3.022,3.033,3.04,3.058,3.061,3.083,3.094,3.114,3.121,3.148,3.148,3.17,3.185,3.202,3.221,3.229,3.253,3.273,3.285,3.29,3.322,3.327,3.353,3.373,3.394,3.414,3.432,3.447,3.476,3.493,3.518,3.539,3.553,3.587,3.6,3.636,3.67,3.679,3.711,3.723,3.751,3.779,3.821,3.853,3.88,3.9,3.968,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.332,3.314,3.305,3.291,3.286,3.27,3.264,3.252,3.238,3.234,3.23,3.216,3.207,3.201,3.2,3.186,3.178,3.174,3.173,3.144,3.138,3.129,3.129,3.122,3.117,3.113,3.104,3.096,3.092,3.084,3.084,3.073,3.07,3.064,3.064,3.051,3.048,3.045,3.036,3.033,3.027,3.026,3.015,3.014,3.013,3.006,3.003,3.002,2.996,2.995,2.992,2.987,2.981,2.981,2.978,2.978,2.977,2.975,2.975,2.975,2.979,2.979,2.979,2.969,2.963,2.96,2.958,2.956,2.955,2.954,2.954,2.951,2.951,2.951,2.949,2.949,2.949,2.949,2.955,2.955,2.952,2.952,2.951,2.951,2.949,2.951,2.951,2.951,2.956,2.958,2.96,2.96,2.961,2.961,2.971,2.971,2.971,2.973,2.98,2.979,2.986,2.99,2.99,2.99,2.99,2.993,2.996,3.002,3.004,3.006,3.012,3.014,3.015,3.015,3.026,3.029,3.031,3.038,3.049,3.049,3.051,3.061,3.063,3.074,3.074,3.074,3.078,3.078,3.082,3.083,3.091,3.099,3.106,3.109,3.121,3.121,3.122,3.126,3.146,3.151,3.151,3.158,3.163,3.175,3.177,3.188,3.197,3.208,3.211,3.211,3.214,3.217,3.24,3.241,3.245,3.753,3.774,3.784,3.785,3.802,3.816,3.833,3.837,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.5829} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.0066} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.4864} {Name Sonar15 Range 1.0414}
SEN {Time 40.6275} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,3.662,3.662,3.662,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.267,3.267,3.328,3.328,0.007,0,0,0,0,0,0,0.007,0,0,0,3.141,3.141,3.139,3.134,0.156,0.153,0.153,0.153,0.149,0.147,0.145,0.145,0.149,0.153,0.154,0.154,0.154,0.154,3.067,3.067,3.067,3.063,3.061,3.054,3.061,3.061,0.164,0.164,0.164,0.164,0.164,0.164,0.162,0.162,0.167,3.03,3.036,3.044,3.047,3.575,3.577,3.577,3.577,3.575,3.577,3.567,3.569,3.569,3.569,3.569,3.569,3.568,3.568,3.57,3.576,3.576,3.576,3.576,3.579,3.579,3.579,3.58,3.58,3.576,3.576,3.587,3.587,3.591,3.593,3.597,3.599,3.604,3.606,3.606,3.606,3.607,3.609,3.614,3.627,3.627,3.627,3.63,3.638,3.638,3.641,3.654,3.655,3.661,3.662,3.67,3.675,3.684,3.694,3.697,3.706,3.708,3.719,3.72,3.731,3.742,3.751,3.754,3.755,3.773,3.775,3.779,3.785,3.786,3.803,3.813,3.818,3.837,3.837,3.84,3.856,3.857,3.876,3.883,3.894,3.917,3.924,3.939,3.942,3.942,3.956,3.989,3.989,3.992,4.021,4.024,4.026,4.056,4.083,4.084,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,4.008,3.964,3.964,3.924,3.886,3.825,3.801,3.77,3.745,3.726,3.698,3.656,3.645,3.623,3.589,3.573,3.559,3.527,3.517,3.485,3.461,3.45,3.42,3.392,3.381,3.365,3.35,3.325,3.301,3.281,3.27,3.258,3.236,3.222,3.209,3.19,3.175,3.171,3.154,3.14,3.12,3.107,3.093,3.081,3.065,3.059,3.027,3.024,3.021,2.998,2.994,2.972,2.957,2.955,2.945,2.927,2.918,2.911,2.897,2.892,2.88,2.875,2.854,2.843,2.84,2.824,2.809,2.799,2.796,2.78,2.768,2.767,2.749,2.745,2.738,2.719,2.719,2.711,2.696,2.694,2.694,2.694,2.675,1.144,1.141,1.139,1.134,1.134,1.134,1.135,2.6,2.6,2.6,2.588,2.587,2.586,2.58,2.573,2.572,2.561,2.556,2.554,2.552,2.548,2.535,2.535,2.528,2.528,2.521,2.517,2.515,2.511,2.51,2.509,2.507,2.487,2.486,2.484,2.484,2.48,2.478,2.47,2.466,2.466,2.464,2.457,2.456,2.456,2.455,2.454,2.449,2.448,2.447,2.447,2.446,2.446,2.438,2.436,2.435,2.434,2.433,2.433,2.433,2.433,2.433,2.433,2.431,2.431,2.431,2.43,2.43,2.43,2.429,2.43,2.43,2.433,2.433,2.434,2.434,2.435,2.437,2.437,2.439,2.442,2.448,2.449,2.449,2.451,2.453,2.454,2.455,2.46,2.46,2.462,2.465,2.465,2.47,2.471,2.472,2.476,2.482,2.485,2.492,2.493,2.498,2.499,2.504,2.511,2.513,2.514,2.516,2.518,2.518,2.518,1.127,1.127,1.127,1.13,1.131,1.134,1.139,2.578,2.578,2.583,2.583,2.595,2.601,2.604,2.607,2.612,2.62,2.626,2.637,2.649,2.658,2.661,2.666,2.676,2.679,2.686,2.708,2.719,2.719,2.731,2.733,2.743,2.749,2.766,2.767,2.776,2.787,2.795,2.803,2.813,2.83,2.831,2.849,2.849,2.87,2.874,2.894,2.903,2.911,2.921,2.934,2.95,2.959,2.966,2.979,3.001,3.007,3.017,3.04,3.045,3.053,3.064,3.082,3.095,3.122,3.126,3.145,3.149,3.173,3.179,3.203,3.223,3.236,3.255,3.262,3.279,3.296,3.328,3.329,3.354,3.375,3.39,3.419,3.436,3.446,3.475,3.488,3.522,3.541,3.566,3.593,3.611,3.623,3.662,3.68,3.7,3.726,3.745,3.786,3.821,3.839,3.874,3.903,3.94,0.009,0.009,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.305,3.292,3.285,3.269,3.268,3.256,3.243,3.231,3.23,3.219,3.212,3.204,3.192,3.185,3.181,3.17,3.155,3.148,3.142,3.136,3.131,3.128,3.116,3.115,3.099,3.094,3.092,3.087,3.079,3.073,3.065,3.062,3.062,3.061,3.055,3.039,3.034,3.034,3.031,3.021,3.02,3.016,3.013,3.01,3.008,2.999,2.998,2.993,2.99,2.983,2.979,2.979,2.977,2.976,2.973,2.969,2.969,2.973,2.977,2.977,2.977,2.961,2.961,2.961,2.961,2.959,2.959,2.958,2.952,2.951,2.952,2.952,2.951,2.951,2.952,2.952,2.952,2.952,2.949,2.949,2.949,2.954,2.954,2.955,2.955,2.951,2.951,2.955,2.955,2.961,2.963,2.964,2.966,2.968,2.968,2.972,2.974,2.977,2.98,2.982,2.983,2.988,2.992,2.994,2.997,2.998,3,3.01,3.012,3.013,3.019,3.019,3.02,3.03,3.034,3.037,3.045,3.058,3.06,3.06,3.061,3.065,3.073,3.074,3.075,3.08,3.08,3.092,3.093,3.1,3.108,3.11,3.113,3.117,3.127,3.129,3.144,3.146,3.155,3.157,3.16,3.16,3.181,3.194,3.199,3.212,3.22,3.22,3.22,3.223,3.232,3.239,3.254,3.742,3.773,3.788,3.79,3.804,3.814,3.838,3.839,3.862,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 40.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.7848} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.4864} {Name Sonar15 Range 1.0414}
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SEN {Time 40.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 40.979} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7404} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.4864} {Name Sonar15 Range 1.0414}
SEN {Time 41.0274} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.675,3.675,3.675,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.278,3.278,3.323,3.323,0.007,0,0,0,0,0,0,0.007,0,0,0,3.147,3.147,3.138,3.132,0.151,0.151,0.151,0.151,0.151,0.151,0.15,0.15,0.153,0.151,0.152,0.152,0.152,0.152,3.06,3.061,3.061,3.06,3.06,3.06,3.06,3.045,0.162,0.161,0.161,0.16,0.158,0.158,0.157,0.157,0.174,3.033,3.034,3.047,3.047,3.556,3.566,3.579,3.579,3.579,3.579,3.579,3.575,3.578,3.575,3.574,3.574,3.573,3.573,3.572,3.572,3.572,3.575,3.578,3.578,3.579,3.583,3.583,3.583,3.584,3.584,3.588,3.592,3.592,3.591,3.592,3.595,3.595,3.601,3.612,3.612,3.613,3.613,3.62,3.622,3.623,3.632,3.634,3.642,3.643,3.646,3.658,3.659,3.665,3.666,3.67,3.671,3.692,3.695,3.695,3.701,3.707,3.722,3.722,3.723,3.74,3.743,3.746,3.762,3.764,3.775,3.78,3.781,3.788,3.809,3.812,3.817,3.831,3.836,3.855,3.858,3.862,3.869,3.875,3.894,3.905,3.922,3.928,3.944,3.95,3.96,3.976,3.985,4,4.017,4.035,4.037,4.056,4.066,4.076,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,4.022,3.984,3.947,3.947,3.924,3.889,3.825,3.797,3.789,3.752,3.716,3.692,3.674,3.651,3.623,3.605,3.575,3.566,3.538,3.511,3.492,3.476,3.446,3.42,3.41,3.392,3.362,3.349,3.33,3.301,3.281,3.273,3.248,3.248,3.223,3.208,3.199,3.173,3.167,3.144,3.141,3.119,3.102,3.101,3.083,3.061,3.055,3.036,3.03,3.014,2.997,2.989,2.981,2.973,2.953,2.941,2.927,2.911,2.901,2.891,2.891,2.874,2.863,2.855,2.842,2.833,2.826,2.812,2.797,2.796,2.779,2.77,2.76,2.751,2.746,2.738,2.727,2.713,2.71,2.698,2.698,2.698,2.692,2.681,1.153,1.148,1.147,1.14,1.131,1.131,1.14,2.608,2.608,2.608,2.596,2.591,2.589,2.587,2.576,2.567,2.567,2.56,2.556,2.554,2.543,2.54,2.532,2.531,2.525,2.522,2.517,2.516,2.51,2.508,2.505,2.494,2.494,2.485,2.481,2.481,2.477,2.473,2.473,2.472,2.467,2.466,2.458,2.455,2.455,2.454,2.453,2.452,2.451,2.45,2.447,2.446,2.446,2.441,2.44,2.44,2.439,2.437,2.438,2.437,2.437,2.436,2.436,2.432,2.43,2.429,2.429,2.429,2.429,2.432,2.432,2.432,2.434,2.437,2.434,2.438,2.44,2.441,2.44,2.441,2.442,2.442,2.44,2.45,2.454,2.451,2.452,2.454,2.454,2.467,2.468,2.47,2.47,2.473,2.474,2.478,2.478,2.48,2.482,2.482,2.495,2.495,2.501,2.502,2.507,2.508,2.511,2.519,2.519,2.518,2.518,1.115,1.115,1.115,1.127,1.131,1.135,1.139,2.577,2.579,2.586,2.586,2.587,2.592,2.609,2.609,2.613,2.621,2.637,2.638,2.643,2.651,2.654,2.67,2.674,2.683,2.689,2.708,2.714,2.718,2.718,2.727,2.745,2.753,2.764,2.765,2.767,2.784,2.787,2.805,2.809,2.819,2.825,2.846,2.853,2.868,2.872,2.89,2.898,2.915,2.927,2.93,2.949,2.964,2.967,2.984,2.999,3.008,3.021,3.033,3.048,3.056,3.074,3.081,3.084,3.118,3.127,3.15,3.153,3.165,3.181,3.2,3.218,3.229,3.253,3.258,3.276,3.292,3.324,3.33,3.36,3.377,3.388,3.412,3.439,3.448,3.482,3.508,3.521,3.539,3.565,3.575,3.61,3.627,3.654,3.668,3.7,3.744,3.745,3.778,3.819,3.845,3.867,3.904,3.931,3.968,4.042,4.063,0.009,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.313,3.303,3.298,3.288,3.276,3.26,3.255,3.237,3.237,3.231,3.222,3.205,3.202,3.193,3.178,3.174,3.171,3.157,3.156,3.145,3.141,3.129,3.129,3.118,3.114,3.106,3.092,3.089,3.084,3.083,3.074,3.064,3.063,3.058,3.055,3.048,3.047,3.038,3.034,3.027,3.02,3.011,3.009,3.008,3.005,3.003,3.002,3,2.994,2.993,2.99,2.985,2.983,2.975,2.974,2.974,2.97,2.97,2.97,2.979,2.979,2.979,2.964,2.963,2.962,2.959,2.959,2.958,2.957,2.957,2.956,2.951,2.951,2.951,2.951,2.951,2.953,2.953,2.953,2.953,2.953,2.953,2.955,2.955,2.956,2.956,2.959,2.959,2.959,2.959,2.959,2.961,2.963,2.963,2.967,2.971,2.974,2.974,2.975,2.978,2.982,2.984,2.984,2.989,2.989,2.999,2.999,3.002,3.007,3.011,3.014,3.014,3.017,3.023,3.026,3.029,3.04,3.042,3.044,3.053,3.057,3.061,3.066,3.073,3.077,3.077,3.077,3.082,3.088,3.092,3.105,3.107,3.111,3.117,3.119,3.127,3.128,3.143,3.148,3.155,3.156,3.163,3.165,3.167,3.179,3.196,3.202,3.212,3.212,3.22,3.231,3.232,3.238,3.251,3.758,3.775,3.786,3.788,3.796,3.811,3.833,3.841,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.18} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.1809} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.715} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 41.2284} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,3.667,3.667,3.667,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.27,3.266,3.256,3.256,3.266,3.322,0,0,0,0,0,0,0.007,0,0,0,3.143,3.143,3.142,3.142,0.153,0.153,0.153,0.153,0.153,0.153,0.15,0.15,0.153,0.15,0.153,0.153,0.153,0.158,3.065,3.065,3.065,3.059,3.059,3.059,3.059,3.055,0.166,0.162,0.166,0.162,0.161,0.161,0.157,0.157,0.164,3.03,3.036,3.036,3.036,3.549,3.564,3.57,3.57,3.572,3.573,3.572,3.572,3.572,3.573,3.573,3.574,3.573,3.573,3.572,3.572,3.572,3.573,3.575,3.575,3.579,3.575,3.573,3.573,3.581,3.582,3.583,3.584,3.587,3.592,3.596,3.596,3.598,3.597,3.606,3.606,3.615,3.615,3.615,3.626,3.626,3.626,3.634,3.638,3.645,3.649,3.652,3.655,3.656,3.666,3.671,3.676,3.682,3.684,3.688,3.694,3.71,3.714,3.721,3.722,3.742,3.745,3.753,3.755,3.768,3.778,3.779,3.785,3.788,3.802,3.812,3.815,3.824,3.844,3.85,3.855,3.872,3.876,3.882,3.889,3.912,3.929,3.93,3.935,3.962,3.972,3.972,3.983,3.991,4.011,4.025,4.035,4.061,4.07,4.081,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,3.974,3.955,3.915,3.881,3.852,3.821,3.795,3.765,3.745,3.717,3.687,3.683,3.652,3.621,3.611,3.578,3.569,3.532,3.516,3.48,3.469,3.438,3.422,3.404,3.388,3.369,3.344,3.337,3.303,3.296,3.272,3.262,3.239,3.225,3.206,3.188,3.172,3.169,3.149,3.134,3.121,3.104,3.099,3.075,3.068,3.054,3.03,3.023,3.004,3.001,2.992,2.977,2.959,2.954,2.941,2.93,2.917,2.909,2.896,2.889,2.87,2.867,2.861,2.844,2.83,2.825,2.805,2.794,2.791,2.78,2.769,2.769,2.75,2.744,2.738,2.734,2.714,2.713,2.701,2.693,2.693,2.691,2.681,1.146,1.144,1.141,1.14,1.139,1.139,1.139,2.601,2.601,2.601,2.6,2.595,2.589,2.575,2.572,2.57,2.562,2.556,2.553,2.551,2.547,2.538,2.536,2.536,2.522,2.522,2.52,2.515,2.51,2.503,2.498,2.497,2.488,2.485,2.482,2.478,2.474,2.472,2.471,2.47,2.465,2.462,2.461,2.46,2.46,2.454,2.452,2.45,2.448,2.448,2.447,2.441,2.441,2.441,2.44,2.44,2.437,2.436,2.433,2.43,2.43,2.428,2.428,2.43,2.431,2.431,2.432,2.431,2.432,2.432,2.432,2.429,2.432,2.434,2.434,2.437,2.437,2.435,2.436,2.436,2.436,2.436,2.439,2.452,2.454,2.454,2.454,2.454,2.455,2.457,2.46,2.466,2.466,2.472,2.472,2.472,2.476,2.48,2.483,2.487,2.492,2.495,2.497,2.5,2.503,2.513,2.515,2.516,2.522,2.522,2.522,1.119,1.119,1.119,1.119,1.126,1.133,1.136,2.573,2.579,2.587,2.587,2.592,2.599,2.608,2.608,2.612,2.617,2.628,2.636,2.644,2.653,2.663,2.667,2.669,2.678,2.689,2.709,2.712,2.717,2.73,2.733,2.737,2.752,2.759,2.768,2.775,2.777,2.788,2.8,2.806,2.812,2.837,2.845,2.853,2.868,2.871,2.888,2.9,2.915,2.92,2.937,2.942,2.966,2.969,2.97,2.988,3.01,3.015,3.026,3.033,3.058,3.074,3.079,3.091,3.111,3.124,3.152,3.155,3.165,3.175,3.201,3.207,3.236,3.247,3.261,3.281,3.287,3.32,3.332,3.354,3.381,3.401,3.42,3.44,3.456,3.474,3.498,3.515,3.542,3.56,3.582,3.609,3.637,3.649,3.679,3.709,3.741,3.755,3.775,3.813,3.845,3.874,3.905,3.922,3.967,3.997,4.074,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.337,3.31,3.296,3.296,3.284,3.278,3.268,3.253,3.234,3.234,3.231,3.22,3.202,3.202,3.191,3.185,3.171,3.167,3.16,3.148,3.146,3.14,3.126,3.124,3.118,3.112,3.101,3.096,3.091,3.083,3.079,3.074,3.069,3.069,3.057,3.054,3.053,3.053,3.048,3.035,3.026,3.024,3.019,3.016,3.007,3.001,2.999,2.994,2.993,2.988,2.988,2.986,2.982,2.981,2.978,2.977,2.972,2.97,2.97,2.97,2.969,2.969,2.967,2.959,2.959,2.959,2.959,2.959,2.959,2.955,2.959,2.953,2.953,2.953,2.953,2.953,2.953,2.947,2.947,2.947,2.947,2.954,2.954,2.954,2.954,2.953,2.953,2.953,2.953,2.957,2.957,2.963,2.963,2.966,2.969,2.969,2.97,2.971,2.971,2.973,2.976,2.981,2.982,2.982,2.984,2.99,2.996,2.996,3.002,3.003,3.003,3.011,3.013,3.021,3.023,3.029,3.03,3.04,3.043,3.048,3.05,3.057,3.063,3.068,3.073,3.076,3.078,3.078,3.082,3.086,3.091,3.099,3.099,3.108,3.124,3.129,3.132,3.132,3.15,3.15,3.151,3.161,3.161,3.175,3.178,3.187,3.188,3.211,3.214,3.214,3.217,3.217,3.235,3.247,3.259,3.752,3.768,3.781,3.797,3.797,3.819,3.827,3.845,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.3828} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.715} {Name Sonar4 Range 2.667} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 41.4234} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0,0,0,0,0,0,0,3.667,3.667,3.667,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.276,3.266,3.266,3.266,3.334,0,0,0,0,0,0,0.007,0,0,0,3.146,3.146,3.141,3.124,0.155,0.155,0.153,0.153,0.155,0.157,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.157,3.064,3.064,3.064,3.061,3.061,3.055,3.061,3.061,0.167,0.165,0.167,0.165,0.165,0.162,0.156,0.156,0.162,3.036,3.037,3.041,3.041,3.571,3.575,3.575,3.574,3.574,3.575,3.574,3.574,3.572,3.572,3.565,3.567,3.569,3.569,3.569,3.578,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.575,3.583,3.58,3.58,3.58,3.591,3.593,3.599,3.6,3.604,3.604,3.608,3.611,3.613,3.613,3.613,3.627,3.627,3.627,3.632,3.637,3.638,3.642,3.648,3.649,3.665,3.665,3.672,3.687,3.689,3.696,3.698,3.705,3.713,3.719,3.728,3.731,3.736,3.743,3.746,3.748,3.766,3.78,3.781,3.785,3.796,3.798,3.809,3.82,3.825,3.832,3.847,3.85,3.865,3.884,3.885,3.888,3.916,3.916,3.926,3.94,3.952,3.965,3.976,3.985,3.996,4.022,4.034,4.035,4.051,4.064,4.081,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,4.048,3.983,3.955,3.908,3.876,3.857,3.822,3.797,3.77,3.751,3.724,3.702,3.675,3.657,3.631,3.611,3.578,3.568,3.542,3.516,3.498,3.467,3.437,3.429,3.411,3.385,3.363,3.344,3.324,3.303,3.28,3.273,3.261,3.244,3.216,3.207,3.182,3.178,3.17,3.155,3.142,3.122,3.115,3.096,3.075,3.061,3.055,3.031,3.023,3.007,2.999,2.99,2.982,2.969,2.949,2.946,2.93,2.919,2.91,2.895,2.884,2.871,2.864,2.864,2.843,2.83,2.819,2.811,2.798,2.793,2.775,2.772,2.765,2.759,2.751,2.737,2.733,2.716,2.714,2.702,2.699,2.699,2.691,2.688,1.145,1.144,1.143,1.14,1.138,1.138,1.138,2.598,2.598,2.598,2.596,2.593,2.586,2.571,2.571,2.57,2.57,2.555,2.551,2.548,2.546,2.534,2.531,2.527,2.525,2.521,2.518,2.513,2.511,2.502,2.5,2.494,2.492,2.49,2.48,2.477,2.477,2.477,2.471,2.467,2.467,2.464,2.459,2.459,2.457,2.456,2.456,2.456,2.452,2.448,2.446,2.446,2.446,2.445,2.442,2.442,2.44,2.435,2.436,2.435,2.433,2.429,2.429,2.427,2.429,2.429,2.428,2.428,2.429,2.433,2.43,2.43,2.43,2.43,2.43,2.438,2.44,2.442,2.44,2.442,2.443,2.443,2.448,2.45,2.448,2.45,2.45,2.453,2.458,2.463,2.465,2.466,2.466,2.466,2.466,2.47,2.474,2.481,2.485,2.485,2.49,2.492,2.493,2.5,2.504,2.508,2.518,2.524,2.53,2.53,2.524,1.122,1.122,1.122,1.124,1.126,1.131,1.144,2.569,2.581,2.581,2.581,2.598,2.601,2.604,2.618,2.62,2.627,2.632,2.634,2.644,2.655,2.657,2.668,2.671,2.677,2.691,2.706,2.708,2.719,2.724,2.727,2.739,2.753,2.764,2.765,2.767,2.792,2.797,2.797,2.82,2.824,2.834,2.838,2.85,2.868,2.875,2.883,2.893,2.914,2.915,2.933,2.958,2.959,2.971,2.98,3.001,3.001,3.016,3.028,3.042,3.055,3.066,3.082,3.101,3.108,3.135,3.147,3.161,3.17,3.188,3.202,3.216,3.235,3.247,3.277,3.28,3.287,3.319,3.329,3.354,3.37,3.395,3.41,3.428,3.447,3.48,3.489,3.523,3.539,3.562,3.583,3.601,3.629,3.657,3.686,3.7,3.738,3.751,3.778,3.807,3.851,3.868,3.903,3.913,3.999,4.03,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.319,3.299,3.29,3.289,3.279,3.267,3.25,3.24,3.236,3.234,3.213,3.202,3.202,3.188,3.176,3.175,3.169,3.164,3.154,3.14,3.138,3.127,3.12,3.118,3.115,3.098,3.097,3.095,3.091,3.077,3.076,3.067,3.06,3.059,3.058,3.051,3.048,3.029,3.029,3.027,3.027,3.019,3.016,3.008,3.005,3.004,2.998,2.993,2.991,2.989,2.988,2.985,2.982,2.978,2.975,2.974,2.973,2.973,2.973,2.973,2.973,2.969,2.962,2.961,2.961,2.961,2.961,2.959,2.955,2.953,2.951,2.951,2.951,2.952,2.952,2.952,2.952,2.948,2.948,2.949,2.954,2.95,2.952,2.95,2.952,2.952,2.958,2.958,2.96,2.961,2.958,2.962,2.964,2.966,2.971,2.971,2.975,2.975,2.981,2.981,2.982,2.984,2.983,2.993,2.994,3.001,3.001,3.002,3.002,3.009,3.021,3.022,3.023,3.024,3.024,3.036,3.042,3.042,3.044,3.052,3.054,3.063,3.065,3.07,3.078,3.078,3.078,3.089,3.089,3.093,3.101,3.109,3.109,3.124,3.128,3.129,3.135,3.141,3.144,3.153,3.154,3.157,3.169,3.171,3.185,3.194,3.199,3.204,3.209,3.22,3.223,3.233,3.245,3.253,3.754,3.771,3.788,3.791,3.808,3.818,3.829,3.851,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.5757} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.715} {Name Sonar4 Range 2.667} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
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SEN {Time 41.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.7776} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.9944} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 41.8234} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.205,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.267,3.261,3.261,3.261,3.261,3.327,0,0,0,0,0,0,0.007,0,0,0,3.149,3.149,3.139,3.139,0.157,0.151,0.148,0.148,0.148,0.148,0.148,0.148,0.148,0.147,0.147,0.149,0.15,0.154,3.06,3.06,3.06,3.056,3.056,3.053,3.056,3.056,0.163,0.163,0.168,0.163,0.167,0.167,0.156,0.156,0.167,3.029,3.04,3.046,3.049,3.566,3.567,3.567,3.571,3.569,3.572,3.569,3.572,3.577,3.579,3.579,3.579,3.575,3.575,3.575,3.575,3.577,3.577,3.579,3.579,3.579,3.579,3.579,3.579,3.58,3.58,3.583,3.583,3.586,3.593,3.594,3.597,3.609,3.61,3.61,3.61,3.611,3.611,3.614,3.623,3.632,3.637,3.638,3.638,3.645,3.652,3.652,3.656,3.66,3.66,3.664,3.676,3.681,3.691,3.699,3.707,3.71,3.716,3.717,3.725,3.736,3.738,3.738,3.756,3.775,3.78,3.782,3.796,3.803,3.805,3.815,3.821,3.834,3.838,3.84,3.844,3.859,3.88,3.886,3.892,3.911,3.927,3.939,3.945,3.956,3.963,3.972,3.99,3.992,4.014,4.036,4.036,4.045,4.068,4.08,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,4.024,3.941,3.916,3.883,3.839,3.823,3.791,3.782,3.746,3.714,3.689,3.665,3.651,3.623,3.619,3.574,3.563,3.524,3.52,3.493,3.477,3.452,3.425,3.397,3.38,3.361,3.348,3.333,3.303,3.291,3.282,3.253,3.25,3.228,3.206,3.187,3.172,3.167,3.153,3.144,3.121,3.111,3.092,3.084,3.065,3.059,3.031,3.029,3.016,3.005,2.987,2.972,2.969,2.967,2.947,2.93,2.916,2.902,2.896,2.883,2.879,2.862,2.852,2.843,2.83,2.821,2.814,2.798,2.793,2.772,2.77,2.766,2.756,2.754,2.739,2.731,2.714,2.711,2.707,2.698,2.698,2.694,2.671,1.147,1.147,1.143,1.142,1.136,1.136,1.136,2.607,2.607,2.607,2.594,2.592,2.585,2.585,2.58,2.573,2.559,2.554,2.552,2.552,2.551,2.541,2.536,2.531,2.529,2.523,2.519,2.511,2.509,2.504,2.501,2.494,2.49,2.485,2.483,2.479,2.478,2.476,2.473,2.466,2.466,2.46,2.457,2.456,2.456,2.456,2.452,2.452,2.451,2.451,2.445,2.444,2.441,2.441,2.437,2.437,2.436,2.436,2.436,2.433,2.433,2.433,2.435,2.43,2.43,2.43,2.432,2.432,2.432,2.432,2.432,2.432,2.432,2.433,2.437,2.437,2.438,2.439,2.439,2.441,2.441,2.444,2.447,2.452,2.452,2.452,2.452,2.453,2.458,2.458,2.458,2.463,2.468,2.47,2.47,2.472,2.475,2.476,2.484,2.484,2.487,2.492,2.498,2.501,2.502,2.512,2.513,2.519,2.519,2.519,2.519,1.123,1.121,1.121,1.121,1.125,1.125,1.128,2.57,2.578,2.584,2.584,2.59,2.591,2.603,2.605,2.615,2.622,2.634,2.637,2.649,2.653,2.663,2.664,2.68,2.681,2.683,2.709,2.71,2.717,2.734,2.735,2.736,2.752,2.759,2.768,2.769,2.792,2.792,2.794,2.808,2.82,2.832,2.844,2.856,2.871,2.871,2.89,2.905,2.922,2.922,2.929,2.952,2.965,2.972,2.978,2.996,3.008,3.022,3.031,3.045,3.058,3.073,3.082,3.099,3.11,3.124,3.148,3.148,3.162,3.183,3.201,3.211,3.23,3.244,3.26,3.282,3.29,3.314,3.333,3.353,3.379,3.4,3.413,3.436,3.457,3.481,3.506,3.518,3.546,3.569,3.589,3.617,3.641,3.668,3.684,3.692,3.737,3.748,3.777,3.803,3.837,3.86,3.91,3.924,3.955,4.008,4.033,4.057,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.32,3.308,3.29,3.282,3.271,3.27,3.249,3.239,3.238,3.228,3.208,3.204,3.2,3.197,3.185,3.178,3.173,3.161,3.148,3.139,3.136,3.13,3.123,3.116,3.113,3.111,3.093,3.093,3.09,3.079,3.074,3.069,3.069,3.056,3.05,3.049,3.047,3.034,3.033,3.028,3.027,3.018,3.017,3.011,3.007,3.005,2.998,2.993,2.99,2.987,2.984,2.984,2.981,2.978,2.975,2.973,2.967,2.967,2.967,2.975,2.975,2.975,2.962,2.959,2.957,2.956,2.956,2.951,2.951,2.95,2.951,2.952,2.952,2.951,2.951,2.951,2.951,2.952,2.952,2.952,2.952,2.954,2.951,2.951,2.951,2.954,2.955,2.955,2.957,2.957,2.958,2.959,2.968,2.968,2.969,2.97,2.975,2.975,2.979,2.979,2.983,2.985,2.985,2.989,2.99,2.991,2.999,3,3.004,3.014,3.014,3.02,3.021,3.027,3.028,3.032,3.035,3.043,3.044,3.05,3.057,3.058,3.062,3.072,3.077,3.08,3.081,3.089,3.091,3.092,3.092,3.108,3.11,3.124,3.126,3.135,3.139,3.143,3.158,3.158,3.162,3.173,3.175,3.177,3.177,3.194,3.21,3.217,3.217,3.218,3.219,3.231,3.247,3.253,3.752,3.775,3.785,3.789,3.799,3.81,3.814,3.849,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 41.98} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 41.9799} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.9944} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 42.0213} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.669,3.669,3.669,3.652,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.267,3.265,3.265,3.267,3.328,0.007,0,0,0,0,0,0,0.007,0,0,0,3.142,3.142,3.14,3.14,0.153,0.153,0.153,0.153,0.153,0.153,0.155,0.155,0.155,0.155,0.155,0.153,0.153,0.155,3.074,3.074,3.074,3.064,3.064,3.064,3.081,3.081,3.081,0.164,0.163,0.163,0.163,0.163,0.158,0.163,0.163,3.029,3.042,3.046,3.046,3.565,3.569,3.569,3.569,3.569,3.569,3.569,3.569,3.569,3.572,3.568,3.568,3.57,3.572,3.574,3.574,3.578,3.578,3.577,3.577,3.58,3.58,3.58,3.58,3.584,3.584,3.584,3.584,3.59,3.596,3.6,3.6,3.602,3.602,3.607,3.612,3.613,3.614,3.621,3.621,3.627,3.634,3.637,3.637,3.638,3.643,3.647,3.652,3.659,3.664,3.672,3.677,3.685,3.697,3.705,3.711,3.711,3.723,3.728,3.729,3.739,3.744,3.753,3.756,3.778,3.784,3.787,3.796,3.797,3.8,3.809,3.825,3.831,3.835,3.853,3.863,3.868,3.87,3.878,3.89,3.9,3.918,3.93,3.952,3.959,3.96,3.977,3.982,4.005,4.009,4.026,4.046,4.057,4.058,4.09,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,3.98,3.951,3.92,3.88,3.852,3.819,3.801,3.784,3.74,3.712,3.698,3.667,3.648,3.635,3.601,3.568,3.557,3.535,3.511,3.495,3.471,3.446,3.418,3.404,3.393,3.37,3.355,3.329,3.314,3.292,3.276,3.25,3.241,3.22,3.206,3.196,3.184,3.17,3.155,3.147,3.127,3.11,3.095,3.076,3.065,3.044,3.042,3.02,3.018,3,2.994,2.974,2.965,2.955,2.938,2.938,2.931,2.912,2.892,2.89,2.874,2.869,2.857,2.843,2.84,2.819,2.811,2.797,2.786,2.778,2.772,2.762,2.761,2.747,2.737,2.727,2.716,2.711,2.705,2.702,2.702,2.697,2.68,1.15,1.146,1.145,1.142,1.137,1.137,1.142,2.603,2.603,2.603,2.591,2.59,2.589,2.586,2.574,2.572,2.563,2.562,2.558,2.556,2.552,2.535,2.532,2.53,2.52,2.516,2.513,2.509,2.505,2.505,2.503,2.501,2.493,2.489,2.488,2.487,2.479,2.478,2.473,2.467,2.466,2.464,2.461,2.46,2.459,2.456,2.453,2.453,2.453,2.452,2.448,2.445,2.442,2.441,2.439,2.436,2.436,2.435,2.435,2.435,2.431,2.431,2.431,2.436,2.436,2.436,2.436,2.432,2.429,2.432,2.429,2.429,2.435,2.436,2.439,2.439,2.439,2.441,2.441,2.441,2.443,2.443,2.449,2.451,2.451,2.45,2.453,2.455,2.461,2.461,2.463,2.465,2.468,2.47,2.473,2.475,2.475,2.481,2.488,2.49,2.494,2.498,2.499,2.499,2.508,2.514,2.515,2.516,2.522,2.522,2.522,1.123,1.123,1.123,1.123,1.126,1.13,1.133,2.574,2.579,2.585,2.585,2.597,2.606,2.608,2.612,2.623,2.627,2.632,2.64,2.645,2.65,2.657,2.668,2.677,2.678,2.68,2.715,2.721,2.723,2.732,2.737,2.738,2.756,2.757,2.77,2.779,2.789,2.794,2.803,2.811,2.822,2.838,2.844,2.847,2.87,2.874,2.892,2.894,2.916,2.923,2.94,2.945,2.961,2.966,2.988,2.992,3.006,3.029,3.029,3.041,3.064,3.071,3.081,3.095,3.112,3.114,3.148,3.148,3.164,3.179,3.193,3.211,3.23,3.256,3.267,3.28,3.298,3.31,3.333,3.354,3.382,3.396,3.42,3.444,3.447,3.472,3.502,3.532,3.532,3.567,3.572,3.613,3.642,3.658,3.685,3.703,3.723,3.754,3.795,3.817,3.852,3.873,3.901,3.942,3.978,4.027,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.318,3.303,3.301,3.288,3.274,3.264,3.252,3.243,3.242,3.234,3.218,3.21,3.203,3.19,3.183,3.172,3.171,3.169,3.153,3.145,3.138,3.131,3.122,3.118,3.115,3.102,3.093,3.09,3.085,3.081,3.075,3.069,3.067,3.054,3.051,3.05,3.046,3.04,3.039,3.029,3.024,3.023,3.016,3.013,3.008,2.999,2.998,2.995,2.992,2.989,2.989,2.979,2.977,2.977,2.975,2.972,2.966,2.972,2.972,2.978,2.978,2.978,2.961,2.958,2.958,2.961,2.958,2.955,2.958,2.957,2.955,2.957,2.957,2.954,2.954,2.954,2.953,2.953,2.953,2.951,2.951,2.949,2.949,2.948,2.955,2.96,2.96,2.956,2.962,2.962,2.964,2.964,2.964,2.966,2.976,2.976,2.976,2.977,2.977,2.983,2.985,2.989,2.989,2.992,2.993,2.996,3.002,3.002,3.003,3.012,3.014,3.019,3.023,3.023,3.028,3.03,3.038,3.046,3.052,3.052,3.054,3.061,3.065,3.067,3.073,3.074,3.082,3.082,3.093,3.097,3.097,3.109,3.11,3.118,3.122,3.128,3.132,3.154,3.155,3.156,3.159,3.166,3.173,3.183,3.186,3.197,3.203,3.211,3.211,3.222,3.225,3.231,3.244,3.252,3.755,3.773,3.784,3.797,3.8,3.822,3.834,3.849,3.855,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.1726} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 42.2234} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0,0,0,0,0,0,0,3.669,3.669,3.669,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.263,3.261,3.261,3.263,3.323,0,0,0,0,0,0,0.007,0,0,0,3.15,3.15,3.144,3.121,0.15,0.144,0.144,0.144,0.148,0.15,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.151,3.072,3.072,3.072,3.061,3.061,3.052,3.052,0.166,0.166,0.163,0.166,0.163,0.163,0.162,0.16,0.16,0.16,3.035,3.037,3.038,3.038,3.571,3.571,3.571,3.571,3.57,3.57,3.57,3.565,3.565,3.569,3.569,3.569,3.569,3.569,3.576,3.571,3.579,3.584,3.579,3.575,3.584,3.579,3.578,3.579,3.58,3.58,3.582,3.583,3.586,3.589,3.598,3.602,3.607,3.607,3.605,3.609,3.61,3.617,3.617,3.623,3.626,3.629,3.637,3.637,3.647,3.647,3.654,3.655,3.655,3.666,3.666,3.682,3.688,3.693,3.695,3.705,3.71,3.711,3.716,3.729,3.743,3.751,3.753,3.762,3.764,3.778,3.79,3.793,3.793,3.804,3.818,3.821,3.829,3.846,3.853,3.863,3.864,3.868,3.875,3.892,3.898,3.916,3.925,3.943,3.955,3.965,3.973,3.983,4.004,4.01,4.025,4.031,4.04,4.074,4.081,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.959,3.911,3.879,3.857,3.819,3.806,3.765,3.755,3.718,3.695,3.669,3.652,3.63,3.613,3.571,3.547,3.541,3.508,3.483,3.467,3.454,3.427,3.411,3.377,3.366,3.343,3.327,3.303,3.294,3.28,3.257,3.231,3.225,3.213,3.19,3.183,3.169,3.152,3.136,3.121,3.11,3.102,3.075,3.06,3.051,3.034,3.029,3.011,2.994,2.982,2.974,2.962,2.948,2.947,2.933,2.917,2.905,2.9,2.884,2.871,2.865,2.851,2.839,2.83,2.818,2.807,2.801,2.79,2.78,2.769,2.757,2.749,2.748,2.731,2.73,2.711,2.71,2.7,2.691,2.691,2.683,2.679,1.151,1.147,1.143,1.14,1.14,1.141,1.141,2.604,2.604,2.604,2.596,2.594,2.588,2.584,2.576,2.574,2.569,2.56,2.557,2.554,2.55,2.541,2.539,2.534,2.528,2.528,2.515,2.512,2.506,2.506,2.499,2.497,2.487,2.487,2.482,2.478,2.477,2.474,2.474,2.472,2.466,2.46,2.456,2.456,2.456,2.453,2.452,2.449,2.449,2.444,2.444,2.444,2.444,2.443,2.442,2.442,2.441,2.439,2.437,2.432,2.43,2.43,2.431,2.43,2.431,2.431,2.431,2.432,2.433,2.434,2.434,2.434,2.435,2.436,2.436,2.436,2.437,2.437,2.437,2.437,2.44,2.443,2.445,2.447,2.452,2.452,2.452,2.452,2.455,2.455,2.461,2.461,2.463,2.468,2.468,2.471,2.473,2.478,2.479,2.489,2.493,2.497,2.499,2.503,2.504,2.511,2.512,2.513,2.521,2.521,2.521,1.123,1.123,1.123,1.126,1.134,1.134,1.134,2.571,2.584,2.586,2.584,2.586,2.588,2.601,2.607,2.612,2.631,2.636,2.638,2.648,2.658,2.66,2.671,2.677,2.678,2.683,2.71,2.712,2.724,2.726,2.732,2.738,2.753,2.756,2.764,2.77,2.783,2.788,2.809,2.817,2.83,2.831,2.843,2.852,2.872,2.877,2.888,2.9,2.903,2.924,2.931,2.953,2.963,2.97,2.972,2.996,3.003,3.016,3.026,3.045,3.059,3.067,3.083,3.097,3.119,3.121,3.15,3.154,3.165,3.179,3.201,3.209,3.231,3.246,3.268,3.277,3.3,3.325,3.329,3.354,3.382,3.392,3.415,3.437,3.445,3.477,3.504,3.516,3.534,3.563,3.588,3.614,3.644,3.65,3.677,3.697,3.726,3.746,3.788,3.81,3.84,3.879,3.904,3.916,3.979,3.995,4.034,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.32,3.304,3.283,3.281,3.277,3.266,3.253,3.236,3.235,3.229,3.215,3.211,3.205,3.193,3.179,3.177,3.175,3.164,3.144,3.135,3.135,3.119,3.117,3.116,3.116,3.107,3.099,3.095,3.084,3.078,3.075,3.064,3.064,3.056,3.056,3.054,3.042,3.04,3.031,3.028,3.027,3.015,3.013,3.006,3.005,3.004,3,2.996,2.994,2.991,2.988,2.985,2.978,2.973,2.973,2.973,2.975,2.975,2.976,2.976,2.976,2.974,2.962,2.956,2.956,2.958,2.959,2.958,2.958,2.958,2.954,2.952,2.954,2.952,2.954,2.955,2.955,2.953,2.953,2.948,2.947,2.947,2.948,2.948,2.949,2.951,2.957,2.961,2.964,2.964,2.965,2.965,2.966,2.967,2.97,2.97,2.975,2.975,2.978,2.978,2.982,2.983,2.993,2.993,2.994,2.995,2.999,3.001,3.002,3.003,3.008,3.012,3.015,3.02,3.029,3.034,3.036,3.039,3.049,3.055,3.057,3.06,3.066,3.074,3.077,3.081,3.081,3.081,3.092,3.093,3.105,3.108,3.112,3.113,3.123,3.128,3.131,3.15,3.15,3.157,3.16,3.169,3.173,3.182,3.196,3.197,3.201,3.209,3.209,3.218,3.225,3.233,3.233,3.248,3.746,3.774,3.788,3.789,3.796,3.821,3.835,3.848,3.866,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.3747} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 42.4195} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,3.667,3.667,3.667,3.652,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.256,3.253,3.256,3.268,3.324,0,0,0,0,0,0,0.007,0,0,0,3.139,3.139,3.135,3.129,0.157,0.155,0.153,0.149,0.153,0.146,0.146,0.149,0.149,0.149,0.149,0.149,0.152,0.163,3.062,3.062,3.062,3.057,3.057,3.055,3.044,0.163,0.163,0.157,0.157,0.157,0.157,0.157,0.156,0.157,0.164,3.03,3.037,3.045,3.045,3.545,3.562,3.569,3.57,3.571,3.571,3.569,3.569,3.569,3.569,3.569,3.566,3.569,3.569,3.569,3.571,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.579,3.585,3.588,3.591,3.594,3.596,3.603,3.603,3.603,3.603,3.603,3.603,3.611,3.613,3.621,3.623,3.63,3.635,3.639,3.639,3.64,3.644,3.647,3.652,3.662,3.67,3.67,3.683,3.686,3.701,3.703,3.707,3.71,3.715,3.722,3.723,3.739,3.751,3.751,3.758,3.772,3.777,3.781,3.786,3.8,3.81,3.819,3.819,3.822,3.837,3.856,3.857,3.861,3.874,3.88,3.902,3.914,3.918,3.919,3.952,3.962,3.966,3.968,3.995,3.999,4.028,4.033,4.039,4.056,4.075,4.081,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.956,3.914,3.888,3.857,3.827,3.797,3.777,3.731,3.724,3.683,3.661,3.636,3.629,3.602,3.584,3.56,3.534,3.52,3.484,3.467,3.453,3.433,3.405,3.379,3.367,3.339,3.323,3.301,3.291,3.272,3.253,3.25,3.222,3.222,3.19,3.175,3.163,3.148,3.144,3.121,3.103,3.1,3.082,3.062,3.049,3.026,3.015,3.013,2.995,2.992,2.981,2.97,2.955,2.949,2.924,2.915,2.903,2.9,2.886,2.87,2.866,2.857,2.85,2.831,2.822,2.807,2.806,2.795,2.773,2.77,2.766,2.755,2.751,2.733,2.724,2.724,2.715,2.694,2.691,2.691,2.691,2.681,1.149,1.144,1.141,1.141,1.14,1.141,1.141,2.602,2.602,2.602,2.598,2.592,2.586,2.585,2.573,2.57,2.57,2.556,2.553,2.55,2.542,2.539,2.538,2.524,2.521,2.52,2.518,2.517,2.513,2.498,2.498,2.497,2.49,2.489,2.488,2.483,2.482,2.48,2.473,2.468,2.464,2.463,2.46,2.457,2.457,2.457,2.455,2.454,2.454,2.449,2.449,2.448,2.446,2.444,2.442,2.438,2.436,2.434,2.433,2.433,2.434,2.433,2.433,2.432,2.432,2.428,2.428,2.428,2.428,2.428,2.43,2.43,2.431,2.431,2.431,2.431,2.433,2.433,2.433,2.437,2.437,2.45,2.45,2.45,2.45,2.45,2.455,2.458,2.459,2.459,2.462,2.463,2.463,2.464,2.464,2.473,2.477,2.477,2.479,2.479,2.492,2.495,2.496,2.5,2.51,2.516,2.517,2.518,2.522,2.518,2.518,1.115,1.115,1.115,1.123,1.126,1.132,1.14,2.576,2.577,2.579,2.579,2.593,2.597,2.611,2.612,2.623,2.624,2.632,2.642,2.644,2.657,2.667,2.671,2.674,2.68,2.683,2.708,2.708,2.72,2.72,2.731,2.741,2.748,2.758,2.763,2.772,2.783,2.785,2.793,2.805,2.824,2.836,2.837,2.856,2.865,2.877,2.892,2.903,2.917,2.927,2.933,2.952,2.957,2.959,2.986,2.999,3.013,3.026,3.03,3.034,3.061,3.075,3.079,3.092,3.112,3.121,3.146,3.148,3.157,3.186,3.193,3.218,3.23,3.247,3.257,3.282,3.297,3.334,3.337,3.354,3.376,3.393,3.408,3.435,3.451,3.483,3.498,3.521,3.544,3.565,3.582,3.607,3.626,3.656,3.67,3.707,3.735,3.757,3.785,3.81,3.848,3.88,3.908,3.928,3.96,4.007,4.033,4.075,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.316,3.295,3.294,3.283,3.269,3.262,3.252,3.238,3.236,3.23,3.224,3.214,3.201,3.189,3.18,3.173,3.169,3.164,3.15,3.141,3.136,3.136,3.125,3.123,3.106,3.103,3.101,3.088,3.084,3.074,3.073,3.068,3.065,3.061,3.051,3.05,3.048,3.032,3.03,3.028,3.021,3.017,3.015,3.011,3.009,2.998,2.997,2.992,2.992,2.99,2.988,2.977,2.977,2.977,2.974,2.973,2.97,2.97,2.97,2.977,2.977,2.977,2.965,2.963,2.963,2.963,2.956,2.956,2.956,2.954,2.95,2.951,2.951,2.951,2.951,2.952,2.952,2.952,2.952,2.952,2.953,2.953,2.955,2.955,2.955,2.954,2.954,2.953,2.953,2.953,2.953,2.968,2.969,2.969,2.969,2.969,2.969,2.972,2.973,2.982,2.983,2.987,2.986,2.992,2.993,2.999,3.001,3.002,3.007,3.009,3.011,3.012,3.021,3.027,3.027,3.031,3.034,3.049,3.054,3.054,3.054,3.062,3.063,3.074,3.078,3.079,3.081,3.082,3.089,3.092,3.102,3.106,3.121,3.121,3.124,3.127,3.128,3.15,3.151,3.151,3.165,3.168,3.172,3.172,3.181,3.183,3.195,3.212,3.215,3.22,3.224,3.231,3.24,3.247,3.758,3.769,3.781,3.788,3.799,3.827,3.836,3.853,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.58} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.5765} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 42.6194} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.68,3.68,3.68,0.006,0.006,0.006,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.277,3.273,3.277,3.277,3.315,0,0,0,0,0,0,0.007,0,0,0,3.142,3.142,3.138,3.138,0.15,0.15,0.15,0.153,0.153,0.153,0.152,0.152,0.152,0.154,0.154,0.154,0.154,0.154,3.071,3.071,3.071,3.056,3.056,3.055,3.056,3.055,0.162,0.16,0.162,0.162,0.162,0.163,0.163,0.164,0.167,3.033,3.037,3.04,3.04,3.537,3.572,3.574,3.574,3.572,3.568,3.566,3.566,3.568,3.568,3.571,3.575,3.575,3.576,3.576,3.575,3.579,3.579,3.579,3.576,3.579,3.579,3.579,3.584,3.586,3.59,3.588,3.59,3.59,3.59,3.594,3.604,3.605,3.605,3.61,3.61,3.613,3.61,3.613,3.621,3.63,3.632,3.637,3.637,3.638,3.645,3.651,3.655,3.661,3.663,3.667,3.682,3.688,3.697,3.698,3.7,3.713,3.715,3.718,3.727,3.734,3.746,3.752,3.761,3.772,3.775,3.779,3.783,3.785,3.803,3.816,3.82,3.828,3.831,3.847,3.863,3.869,3.871,3.886,3.889,3.912,3.922,3.93,3.932,3.94,3.961,3.961,3.976,3.999,4.011,4.03,4.04,4.046,4.055,4.068,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.009,0.009,0.009,0,4.021,3.979,3.911,3.894,3.852,3.817,3.796,3.768,3.738,3.711,3.697,3.665,3.65,3.638,3.602,3.577,3.556,3.533,3.51,3.481,3.457,3.45,3.422,3.401,3.388,3.368,3.345,3.332,3.305,3.293,3.284,3.256,3.241,3.214,3.204,3.19,3.179,3.169,3.149,3.144,3.121,3.107,3.103,3.084,3.066,3.065,3.032,3.024,3.015,2.997,2.984,2.983,2.968,2.952,2.942,2.926,2.919,2.908,2.895,2.892,2.875,2.869,2.859,2.843,2.84,2.816,2.811,2.793,2.79,2.785,2.776,2.758,2.758,2.748,2.739,2.732,2.717,2.712,2.699,2.696,2.696,2.689,2.689,1.148,1.147,1.143,1.141,1.14,1.14,1.141,2.606,2.606,2.606,2.598,2.591,2.589,2.579,2.574,2.562,2.562,2.556,2.55,2.549,2.543,2.536,2.534,2.53,2.529,2.522,2.514,2.511,2.507,2.503,2.5,2.495,2.491,2.485,2.48,2.48,2.476,2.476,2.475,2.475,2.471,2.465,2.465,2.463,2.465,2.465,2.452,2.451,2.451,2.448,2.445,2.445,2.445,2.443,2.441,2.441,2.44,2.434,2.43,2.43,2.43,2.434,2.434,2.434,2.434,2.434,2.434,2.434,2.434,2.436,2.436,2.436,2.436,2.436,2.435,2.435,2.437,2.437,2.437,2.438,2.441,2.451,2.451,2.451,2.452,2.453,2.452,2.453,2.457,2.459,2.466,2.466,2.473,2.473,2.473,2.473,2.475,2.481,2.487,2.487,2.488,2.503,2.503,2.505,2.513,2.513,2.514,2.519,2.519,2.518,2.518,1.125,1.124,1.124,1.125,1.128,1.135,1.136,2.582,2.582,2.59,2.59,2.599,2.604,2.604,2.609,2.613,2.633,2.634,2.635,2.643,2.657,2.659,2.666,2.669,2.68,2.687,2.714,2.716,2.72,2.73,2.733,2.739,2.749,2.758,2.765,2.769,2.776,2.791,2.807,2.816,2.828,2.843,2.846,2.856,2.87,2.876,2.891,2.9,2.911,2.92,2.936,2.945,2.961,2.971,2.977,2.995,3.007,3.016,3.029,3.051,3.062,3.072,3.087,3.09,3.12,3.12,3.142,3.159,3.161,3.176,3.201,3.213,3.238,3.254,3.262,3.283,3.299,3.317,3.339,3.354,3.378,3.394,3.41,3.434,3.458,3.48,3.5,3.518,3.54,3.566,3.578,3.606,3.64,3.652,3.683,3.703,3.727,3.746,3.795,3.812,3.845,3.871,3.93,3.964,0,4.061,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.321,3.302,3.294,3.287,3.274,3.259,3.25,3.24,3.239,3.235,3.213,3.201,3.199,3.193,3.181,3.174,3.171,3.164,3.15,3.143,3.128,3.128,3.119,3.115,3.106,3.104,3.098,3.096,3.081,3.077,3.07,3.064,3.064,3.052,3.051,3.05,3.043,3.039,3.03,3.028,3.027,3.019,3.016,3.01,3.009,3,3,3,2.993,2.988,2.988,2.988,2.981,2.979,2.974,2.972,2.966,2.966,2.966,2.97,2.97,2.97,2.96,2.96,2.96,2.961,2.961,2.961,2.956,2.954,2.95,2.95,2.95,2.947,2.947,2.952,2.952,2.952,2.952,2.951,2.951,2.951,2.951,2.951,2.951,2.951,2.954,2.954,2.955,2.955,2.956,2.956,2.957,2.957,2.966,2.968,2.97,2.972,2.974,2.982,2.982,2.985,2.986,2.991,2.994,2.999,3.001,3.002,3.014,3.014,3.016,3.016,3.02,3.024,3.029,3.031,3.042,3.044,3.052,3.054,3.066,3.069,3.068,3.07,3.07,3.079,3.079,3.083,3.083,3.09,3.095,3.106,3.106,3.116,3.128,3.129,3.132,3.132,3.15,3.155,3.159,3.162,3.167,3.183,3.19,3.195,3.204,3.214,3.214,3.215,3.221,3.231,3.246,3.251,3.746,3.781,3.786,3.796,3.8,3.823,3.827,3.843,3.866,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.78} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.7785} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.3848} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.0414}
SEN {Time 42.8194} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.666,3.666,3.666,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.264,3.264,3.321,3.321,0.007,0,0,0,0,0,0,0.007,0,0,0,3.143,3.143,3.14,3.138,0.159,0.151,0.151,0.151,0.153,0.146,0.147,0.153,0.153,0.154,0.154,0.154,0.155,0.163,3.061,3.062,3.062,3.062,3.062,3.062,3.062,3.052,0.172,0.159,0.172,0.159,0.16,0.16,0.16,0.16,0.168,3.04,3.044,3.044,3.046,3.548,3.569,3.572,3.572,3.57,3.57,3.57,3.57,3.568,3.575,3.575,3.575,3.57,3.575,3.575,3.57,3.579,3.579,3.574,3.574,3.578,3.578,3.579,3.579,3.581,3.581,3.581,3.585,3.593,3.593,3.594,3.595,3.597,3.605,3.609,3.613,3.614,3.618,3.622,3.625,3.63,3.634,3.637,3.637,3.644,3.649,3.652,3.654,3.656,3.658,3.667,3.669,3.69,3.692,3.707,3.709,3.713,3.717,3.724,3.736,3.745,3.751,3.757,3.759,3.774,3.775,3.778,3.783,3.802,3.802,3.811,3.832,3.834,3.84,3.856,3.861,3.866,3.869,3.876,3.889,3.905,3.918,3.925,3.944,3.952,3.962,3.976,3.98,3.999,4.021,4.024,4.036,4.053,4.058,4.068,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.013,3.978,3.94,3.907,3.885,3.853,3.823,3.804,3.778,3.728,3.717,3.701,3.663,3.649,3.618,3.598,3.574,3.549,3.526,3.522,3.489,3.469,3.437,3.428,3.407,3.382,3.363,3.349,3.313,3.31,3.292,3.264,3.247,3.244,3.222,3.209,3.194,3.187,3.157,3.154,3.144,3.123,3.102,3.098,3.086,3.063,3.063,3.029,3.024,3.019,2.995,2.994,2.972,2.967,2.953,2.934,2.927,2.923,2.901,2.891,2.89,2.874,2.873,2.857,2.839,2.834,2.819,2.815,2.801,2.792,2.786,2.77,2.767,2.761,2.75,2.738,2.729,2.715,2.708,2.698,2.691,2.691,2.687,2.677,1.147,1.146,1.144,1.143,1.142,1.142,1.142,2.598,2.598,2.598,2.593,2.584,2.583,2.58,2.574,2.572,2.556,2.555,2.552,2.55,2.547,2.536,2.533,2.523,2.523,2.522,2.516,2.514,2.503,2.503,2.502,2.491,2.49,2.489,2.487,2.487,2.479,2.479,2.477,2.475,2.475,2.463,2.462,2.458,2.457,2.456,2.456,2.453,2.453,2.445,2.445,2.444,2.444,2.443,2.443,2.442,2.442,2.44,2.435,2.434,2.434,2.432,2.432,2.429,2.429,2.429,2.429,2.432,2.432,2.432,2.429,2.429,2.429,2.43,2.437,2.437,2.439,2.44,2.44,2.44,2.444,2.444,2.444,2.452,2.452,2.452,2.455,2.457,2.46,2.462,2.465,2.467,2.467,2.471,2.471,2.473,2.48,2.484,2.485,2.488,2.49,2.493,2.5,2.5,2.503,2.51,2.512,2.523,2.527,2.527,2.523,1.126,1.124,1.124,1.12,1.124,1.131,1.137,2.576,2.578,2.587,2.587,2.591,2.592,2.607,2.612,2.62,2.622,2.632,2.634,2.646,2.65,2.655,2.672,2.675,2.679,2.688,2.705,2.72,2.724,2.724,2.731,2.74,2.744,2.764,2.767,2.776,2.782,2.792,2.8,2.813,2.822,2.838,2.851,2.855,2.871,2.88,2.887,2.906,2.915,2.916,2.933,2.95,2.957,2.976,2.989,2.991,3.006,3.018,3.029,3.045,3.059,3.076,3.081,3.108,3.112,3.127,3.145,3.16,3.17,3.178,3.199,3.22,3.228,3.245,3.271,3.278,3.293,3.315,3.335,3.352,3.372,3.387,3.419,3.432,3.46,3.492,3.509,3.523,3.542,3.566,3.595,3.603,3.629,3.663,3.677,3.693,3.741,3.749,3.786,3.825,3.845,3.867,3.907,3.932,3.975,4.009,4.074,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.326,3.292,3.288,3.288,3.28,3.27,3.252,3.237,3.235,3.227,3.215,3.208,3.199,3.185,3.181,3.176,3.164,3.162,3.155,3.14,3.137,3.126,3.122,3.119,3.106,3.1,3.099,3.085,3.081,3.076,3.066,3.066,3.061,3.055,3.054,3.05,3.049,3.04,3.028,3.028,3.024,3.022,3.012,3.012,3.004,3.001,2.998,2.997,2.99,2.988,2.983,2.981,2.98,2.98,2.978,2.976,2.973,2.973,2.973,2.977,2.977,2.977,2.965,2.965,2.964,2.961,2.961,2.957,2.953,2.953,2.953,2.953,2.953,2.953,2.953,2.954,2.955,2.955,2.955,2.955,2.955,2.953,2.953,2.955,2.954,2.955,2.956,2.956,2.956,2.957,2.957,2.962,2.962,2.964,2.97,2.973,2.974,2.977,2.978,2.978,2.982,2.982,2.982,2.991,2.995,3,3,3.007,3.012,3.013,3.016,3.016,3.027,3.027,3.033,3.033,3.036,3.047,3.048,3.054,3.055,3.06,3.076,3.076,3.08,3.083,3.083,3.087,3.09,3.091,3.102,3.103,3.109,3.121,3.128,3.129,3.13,3.14,3.154,3.158,3.162,3.168,3.169,3.184,3.186,3.189,3.21,3.212,3.212,3.214,3.222,3.233,3.24,3.253,3.744,3.773,3.788,3.788,3.795,3.819,3.837,3.838,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 42.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 42.9724} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.3848} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.0414}
SEN {Time 43.0164} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.677,3.677,3.677,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.26,3.26,3.325,3.325,0.007,0,0,0,0,0,0,0.007,0,0,0,3.144,3.144,3.141,3.141,3.137,0.159,0.153,0.153,0.149,0.149,0.146,0.149,0.149,0.152,0.152,0.152,0.153,0.155,3.072,3.072,3.072,3.063,3.063,3.057,3.057,3.055,0.168,0.165,0.165,0.165,0.165,0.165,0.162,0.162,0.162,3.037,3.038,3.051,3.051,3.538,3.574,3.574,3.574,3.574,3.574,3.57,3.57,3.57,3.569,3.569,3.569,3.566,3.569,3.571,3.572,3.578,3.578,3.578,3.579,3.575,3.575,3.579,3.58,3.58,3.581,3.583,3.587,3.587,3.594,3.596,3.6,3.604,3.607,3.611,3.611,3.616,3.616,3.616,3.621,3.627,3.629,3.634,3.633,3.645,3.645,3.645,3.657,3.66,3.672,3.673,3.676,3.689,3.69,3.691,3.713,3.713,3.714,3.715,3.734,3.738,3.739,3.746,3.762,3.769,3.782,3.784,3.791,3.799,3.804,3.819,3.821,3.825,3.846,3.847,3.848,3.852,3.876,3.877,3.9,3.902,3.905,3.914,3.932,3.953,3.956,3.975,3.976,4,4.008,4.018,4.041,4.048,4.064,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,4.024,3.906,3.878,3.858,3.82,3.785,3.777,3.744,3.731,3.689,3.668,3.653,3.621,3.618,3.571,3.566,3.539,3.504,3.498,3.474,3.453,3.413,3.404,3.379,3.359,3.347,3.321,3.318,3.286,3.273,3.254,3.231,3.224,3.217,3.188,3.179,3.175,3.152,3.138,3.125,3.105,3.092,3.068,3.06,3.055,3.036,3.021,3.009,3.003,2.993,2.984,2.965,2.96,2.939,2.92,2.914,2.912,2.892,2.886,2.868,2.861,2.85,2.846,2.825,2.814,2.808,2.795,2.794,2.777,2.771,2.771,2.755,2.747,2.739,2.726,2.723,2.72,2.695,2.693,2.693,2.692,2.683,1.15,1.145,1.142,1.138,1.134,1.134,1.138,2.599,2.6,2.6,2.599,2.594,2.584,2.581,2.576,2.575,2.56,2.554,2.554,2.552,2.545,2.533,2.531,2.53,2.53,2.517,2.512,2.511,2.505,2.501,2.5,2.496,2.493,2.486,2.485,2.477,2.477,2.477,2.476,2.468,2.467,2.466,2.465,2.465,2.459,2.457,2.457,2.448,2.444,2.444,2.444,2.444,2.444,2.443,2.443,2.44,2.437,2.437,2.434,2.433,2.432,2.431,2.431,2.429,2.429,2.429,2.432,2.428,2.434,2.435,2.434,2.433,2.433,2.433,2.433,2.433,2.437,2.439,2.439,2.44,2.446,2.446,2.447,2.447,2.448,2.452,2.453,2.455,2.456,2.459,2.461,2.465,2.472,2.472,2.472,2.473,2.481,2.482,2.485,2.488,2.493,2.495,2.496,2.499,2.509,2.509,2.511,2.519,2.523,2.523,2.523,1.121,1.121,1.121,1.126,1.127,1.129,1.138,2.579,2.58,2.586,2.586,2.602,2.605,2.608,2.612,2.622,2.624,2.636,2.636,2.655,2.656,2.659,2.676,2.676,2.682,2.689,2.704,2.717,2.717,2.722,2.727,2.743,2.747,2.761,2.769,2.772,2.777,2.791,2.805,2.816,2.826,2.838,2.845,2.865,2.871,2.881,2.882,2.904,2.913,2.92,2.938,2.953,2.964,2.967,2.979,2.993,3.008,3.025,3.029,3.048,3.06,3.077,3.078,3.102,3.118,3.127,3.146,3.165,3.166,3.179,3.202,3.216,3.237,3.251,3.269,3.285,3.294,3.323,3.335,3.356,3.379,3.397,3.406,3.432,3.449,3.485,3.495,3.526,3.538,3.56,3.584,3.612,3.633,3.659,3.682,3.696,3.73,3.755,3.787,3.816,3.854,3.864,3.913,3.928,3.959,3.986,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.318,3.304,3.296,3.286,3.267,3.263,3.248,3.234,3.233,3.228,3.217,3.207,3.202,3.189,3.182,3.175,3.172,3.155,3.15,3.137,3.136,3.136,3.127,3.12,3.117,3.097,3.095,3.09,3.082,3.08,3.078,3.068,3.065,3.064,3.06,3.057,3.04,3.039,3.032,3.028,3.025,3.023,3.021,3.01,3.008,3,2.999,2.999,2.994,2.987,2.985,2.979,2.979,2.978,2.976,2.964,2.964,2.964,2.974,2.974,2.974,2.969,2.966,2.966,2.96,2.96,2.96,2.96,2.951,2.949,2.949,2.951,2.951,2.953,2.953,2.952,2.952,2.952,2.952,2.949,2.949,2.95,2.95,2.95,2.95,2.952,2.955,2.955,2.955,2.955,2.955,2.955,2.962,2.967,2.967,2.971,2.973,2.973,2.973,2.978,2.981,2.986,2.987,2.989,2.992,2.995,2.995,2.997,3.008,3.01,3.011,3.013,3.014,3.022,3.03,3.03,3.042,3.049,3.051,3.054,3.058,3.059,3.061,3.076,3.077,3.077,3.081,3.083,3.083,3.083,3.102,3.106,3.106,3.113,3.121,3.121,3.125,3.14,3.15,3.151,3.154,3.157,3.164,3.175,3.19,3.199,3.205,3.212,3.212,3.212,3.212,3.231,3.247,3.255,3.748,3.765,3.787,3.787,3.798,3.814,3.83,3.848,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.1736} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.3848} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.0414}
SEN {Time 43.2204} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.677,3.663,3.663,3.663,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.291,3.269,3.263,3.263,3.263,3.32,0.007,0,0,0,0,0,0,0.007,0,0,0,3.145,3.145,3.142,3.138,0.155,0.155,0.155,0.155,0.155,0.155,0.153,0.15,0.15,0.149,0.149,0.147,0.147,0.149,3.059,3.059,3.063,3.063,3.063,3.063,3.069,3.069,0.168,0.163,0.168,0.163,0.163,0.159,0.159,0.159,0.159,3.033,3.036,3.042,3.042,3.574,3.574,3.574,3.574,3.572,3.572,3.572,3.566,3.572,3.567,3.567,3.567,3.574,3.574,3.575,3.575,3.58,3.58,3.58,3.582,3.583,3.583,3.583,3.583,3.583,3.583,3.584,3.589,3.592,3.597,3.601,3.601,3.601,3.603,3.604,3.607,3.615,3.614,3.616,3.616,3.624,3.626,3.628,3.638,3.641,3.643,3.645,3.653,3.655,3.67,3.675,3.676,3.676,3.691,3.703,3.704,3.708,3.71,3.728,3.728,3.737,3.74,3.753,3.755,3.773,3.78,3.781,3.785,3.803,3.811,3.817,3.818,3.833,3.835,3.842,3.859,3.865,3.876,3.877,3.892,3.908,3.919,3.934,3.942,3.953,3.958,3.98,3.987,3.998,4.008,4.025,4.037,4.05,4.051,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,0.007,0,3.976,3.883,3.846,3.828,3.785,3.774,3.747,3.727,3.689,3.661,3.643,3.618,3.602,3.574,3.55,3.529,3.516,3.482,3.472,3.457,3.427,3.405,3.387,3.372,3.351,3.331,3.317,3.283,3.276,3.265,3.246,3.225,3.209,3.191,3.18,3.165,3.16,3.148,3.121,3.102,3.098,3.08,3.058,3.057,3.031,3.021,3.006,2.999,2.988,2.974,2.969,2.955,2.938,2.93,2.913,2.902,2.896,2.892,2.876,2.875,2.855,2.839,2.83,2.818,2.808,2.798,2.795,2.785,2.769,2.769,2.752,2.743,2.739,2.718,2.717,2.713,2.693,2.693,2.693,2.692,2.683,1.152,1.144,1.142,1.141,1.135,1.135,1.135,2.61,2.61,2.61,2.596,2.591,2.586,2.58,2.58,2.578,2.568,2.562,2.558,2.553,2.549,2.536,2.532,2.529,2.529,2.522,2.52,2.515,2.508,2.505,2.502,2.492,2.488,2.485,2.484,2.483,2.477,2.472,2.472,2.466,2.466,2.463,2.456,2.456,2.456,2.456,2.456,2.455,2.451,2.447,2.446,2.444,2.443,2.44,2.438,2.438,2.439,2.439,2.437,2.437,2.432,2.432,2.432,2.432,2.432,2.429,2.429,2.43,2.431,2.43,2.43,2.429,2.429,2.429,2.433,2.434,2.436,2.439,2.438,2.44,2.44,2.443,2.446,2.446,2.45,2.453,2.453,2.453,2.454,2.464,2.464,2.464,2.464,2.472,2.477,2.478,2.479,2.48,2.48,2.491,2.493,2.497,2.503,2.505,2.507,2.512,2.514,2.514,2.522,2.522,2.522,1.123,1.123,1.123,1.125,1.131,1.134,1.136,2.578,2.584,2.584,2.584,2.596,2.605,2.606,2.613,2.621,2.624,2.634,2.636,2.641,2.652,2.658,2.671,2.671,2.68,2.687,2.706,2.708,2.71,2.728,2.74,2.744,2.748,2.758,2.776,2.776,2.783,2.79,2.803,2.811,2.832,2.833,2.833,2.849,2.87,2.879,2.885,2.902,2.92,2.924,2.93,2.943,2.964,2.967,2.978,2.998,3.005,3.023,3.026,3.045,3.06,3.076,3.077,3.099,3.116,3.121,3.148,3.151,3.166,3.177,3.194,3.219,3.228,3.25,3.256,3.276,3.293,3.324,3.324,3.354,3.378,3.396,3.407,3.435,3.453,3.479,3.504,3.534,3.546,3.566,3.582,3.602,3.629,3.663,3.688,3.707,3.741,3.761,3.787,3.817,3.834,3.858,3.909,3.939,3.971,4.003,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.325,3.323,3.306,3.295,3.286,3.27,3.264,3.255,3.236,3.234,3.233,3.209,3.208,3.197,3.19,3.183,3.173,3.164,3.157,3.15,3.14,3.135,3.126,3.126,3.115,3.114,3.102,3.096,3.093,3.085,3.085,3.077,3.066,3.064,3.062,3.053,3.052,3.046,3.044,3.029,3.028,3.025,3.025,3.015,3.013,3.012,3.007,3.001,2.997,2.994,2.991,2.988,2.982,2.98,2.974,2.972,2.972,2.965,2.965,2.965,2.973,2.973,2.973,2.962,2.962,2.958,2.958,2.958,2.958,2.957,2.957,2.954,2.957,2.957,2.95,2.952,2.952,2.951,2.951,2.951,2.949,2.95,2.95,2.95,2.95,2.95,2.952,2.954,2.955,2.957,2.957,2.958,2.966,2.968,2.969,2.968,2.972,2.972,2.975,2.975,2.979,2.979,2.982,2.984,2.986,2.992,3,3.001,3.003,3.005,3.011,3.012,3.015,3.019,3.02,3.024,3.031,3.042,3.043,3.049,3.055,3.056,3.066,3.066,3.071,3.077,3.078,3.08,3.084,3.092,3.092,3.093,3.102,3.115,3.116,3.12,3.13,3.133,3.145,3.148,3.156,3.156,3.16,3.169,3.177,3.18,3.195,3.21,3.213,3.213,3.214,3.218,3.235,3.242,3.251,3.754,3.767,3.785,3.789,3.806,3.819,3.824,3.861,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.38} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.3754} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 43.4154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.195,0.195,0,0,0,0,0,0,0,3.673,3.673,3.673,0.006,0.006,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.28,3.265,3.255,3.255,3.255,3.256,3.324,0,0,0,0,0,0,0.007,0,0,0,3.143,3.143,3.141,3.141,0.156,0.152,0.149,0.148,0.148,0.143,0.148,0.151,0.153,0.151,0.153,0.153,0.154,0.157,3.064,3.064,3.064,3.059,3.059,3.059,3.059,3.046,0.163,0.162,0.162,0.162,0.162,0.156,0.151,0.151,0.151,3.032,3.036,3.039,3.043,3.545,3.559,3.573,3.573,3.573,3.573,3.565,3.565,3.575,3.571,3.573,3.573,3.571,3.571,3.573,3.579,3.579,3.581,3.581,3.581,3.582,3.583,3.583,3.582,3.583,3.583,3.587,3.59,3.59,3.591,3.593,3.596,3.603,3.603,3.603,3.603,3.611,3.614,3.614,3.618,3.626,3.621,3.626,3.626,3.641,3.652,3.652,3.656,3.658,3.664,3.67,3.67,3.676,3.691,3.704,3.706,3.708,3.709,3.709,3.73,3.74,3.748,3.755,3.757,3.757,3.785,3.785,3.79,3.795,3.811,3.814,3.822,3.826,3.836,3.838,3.852,3.87,3.873,3.88,3.885,3.916,3.919,3.922,3.943,3.954,3.968,3.981,3.986,3.998,4.019,4.025,4.027,4.057,4.062,4.068,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,4.015,3.978,3.949,3.908,3.888,3.854,3.829,3.791,3.772,3.751,3.728,3.695,3.673,3.638,3.625,3.601,3.579,3.562,3.534,3.512,3.485,3.451,3.442,3.423,3.407,3.383,3.363,3.339,3.323,3.31,3.287,3.269,3.254,3.232,3.22,3.207,3.191,3.174,3.171,3.15,3.148,3.124,3.102,3.09,3.086,3.061,3.057,3.033,3.028,3.015,2.998,2.993,2.982,2.968,2.952,2.945,2.933,2.914,2.907,2.89,2.882,2.875,2.863,2.86,2.847,2.836,2.813,2.808,2.797,2.786,2.779,2.773,2.765,2.756,2.746,2.735,2.733,2.711,2.703,2.701,2.701,2.701,2.694,2.672,1.148,1.148,1.143,1.139,1.136,1.136,1.136,2.6,2.6,2.6,2.592,2.591,2.586,2.583,2.569,2.569,2.567,2.552,2.55,2.549,2.549,2.537,2.53,2.53,2.524,2.521,2.515,2.512,2.505,2.5,2.495,2.493,2.493,2.488,2.487,2.482,2.476,2.475,2.472,2.472,2.461,2.461,2.459,2.461,2.461,2.455,2.45,2.449,2.449,2.449,2.446,2.442,2.44,2.439,2.439,2.439,2.437,2.437,2.433,2.432,2.432,2.431,2.431,2.432,2.432,2.431,2.432,2.431,2.431,2.431,2.433,2.433,2.433,2.435,2.435,2.435,2.433,2.433,2.433,2.434,2.441,2.441,2.448,2.45,2.45,2.448,2.45,2.452,2.452,2.458,2.464,2.464,2.466,2.466,2.466,2.467,2.475,2.477,2.478,2.484,2.489,2.5,2.502,2.503,2.509,2.509,2.509,2.525,2.525,2.525,2.518,1.121,1.121,1.121,1.121,1.127,1.128,1.129,2.571,2.578,2.586,2.586,2.596,2.597,2.603,2.612,2.615,2.618,2.634,2.635,2.638,2.657,2.662,2.67,2.677,2.681,2.683,2.708,2.711,2.719,2.731,2.731,2.733,2.742,2.761,2.763,2.778,2.782,2.79,2.805,2.813,2.825,2.827,2.837,2.851,2.87,2.87,2.893,2.907,2.917,2.918,2.935,2.951,2.955,2.972,2.98,2.996,3.004,3.015,3.026,3.041,3.06,3.069,3.073,3.094,3.114,3.124,3.148,3.154,3.166,3.181,3.199,3.215,3.235,3.253,3.263,3.27,3.287,3.321,3.327,3.35,3.39,3.396,3.418,3.434,3.453,3.467,3.502,3.523,3.537,3.56,3.585,3.602,3.637,3.662,3.679,3.714,3.732,3.746,3.786,3.814,3.84,3.872,3.898,3.928,3.969,3.995,4.075,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.317,3.295,3.294,3.285,3.265,3.26,3.258,3.238,3.238,3.231,3.221,3.201,3.198,3.19,3.18,3.172,3.171,3.163,3.153,3.146,3.142,3.131,3.121,3.116,3.115,3.099,3.098,3.09,3.084,3.079,3.069,3.065,3.064,3.061,3.051,3.05,3.049,3.049,3.031,3.029,3.017,3.015,3.012,3.01,3.005,3.004,3.004,2.994,2.993,2.989,2.987,2.98,2.974,2.974,2.968,2.967,2.967,2.972,2.972,2.974,2.974,2.974,2.962,2.96,2.958,2.958,2.958,2.958,2.955,2.955,2.955,2.955,2.953,2.952,2.952,2.951,2.952,2.951,2.951,2.951,2.953,2.953,2.953,2.953,2.953,2.957,2.957,2.958,2.96,2.96,2.96,2.96,2.961,2.967,2.973,2.974,2.974,2.974,2.974,2.975,2.98,2.98,2.981,2.987,2.998,2.998,2.999,3.004,3.004,3.01,3.015,3.018,3.018,3.021,3.023,3.025,3.035,3.049,3.051,3.056,3.058,3.061,3.063,3.07,3.072,3.078,3.078,3.081,3.091,3.092,3.101,3.113,3.113,3.121,3.124,3.127,3.127,3.144,3.144,3.148,3.157,3.162,3.168,3.171,3.175,3.197,3.202,3.216,3.216,3.217,3.222,3.231,3.243,3.252,3.747,3.774,3.784,3.789,3.796,3.816,3.828,3.846,3.868,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.5684} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 43.6154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,3.673,3.671,3.671,3.673,3.666,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.279,3.27,3.263,3.263,3.263,3.322,0.007,0,0,0,0,0,0,0.007,0,0,0,3.148,3.148,3.147,3.135,0.148,0.148,0.148,0.148,0.149,0.149,0.147,0.147,0.147,0.147,0.147,0.15,0.152,0.152,3.061,3.061,3.062,3.061,3.061,3.06,3.062,3.039,0.163,0.163,0.163,0.163,0.163,0.163,0.158,0.163,0.171,3.035,3.036,3.045,3.045,3.548,3.572,3.573,3.574,3.573,3.574,3.574,3.575,3.569,3.573,3.573,3.573,3.571,3.573,3.573,3.571,3.573,3.573,3.573,3.579,3.579,3.577,3.579,3.577,3.577,3.577,3.586,3.589,3.589,3.589,3.589,3.59,3.601,3.601,3.607,3.61,3.61,3.61,3.617,3.618,3.623,3.626,3.628,3.632,3.634,3.641,3.647,3.65,3.652,3.666,3.67,3.671,3.682,3.689,3.689,3.71,3.715,3.72,3.722,3.73,3.737,3.737,3.76,3.765,3.772,3.783,3.784,3.786,3.801,3.811,3.823,3.825,3.83,3.831,3.85,3.856,3.86,3.877,3.882,3.89,3.914,3.919,3.931,3.95,3.961,3.966,3.968,3.995,3.997,4.015,4.025,4.038,4.039,4.068,4.084,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,3.988,3.941,3.93,3.905,3.846,3.825,3.814,3.778,3.76,3.715,3.685,3.662,3.654,3.629,3.611,3.573,3.564,3.538,3.51,3.487,3.468,3.443,3.416,3.399,3.389,3.364,3.349,3.312,3.308,3.297,3.275,3.264,3.243,3.225,3.202,3.192,3.181,3.168,3.151,3.136,3.116,3.1,3.093,3.085,3.068,3.049,3.039,3.02,3.013,2.998,2.989,2.973,2.965,2.954,2.944,2.934,2.918,2.906,2.897,2.885,2.876,2.855,2.851,2.846,2.829,2.821,2.807,2.794,2.793,2.781,2.769,2.769,2.754,2.753,2.734,2.728,2.714,2.708,2.698,2.688,2.688,2.679,2.678,1.15,1.146,1.146,1.141,1.139,1.139,1.139,2.602,2.602,2.602,2.593,2.592,2.588,2.58,2.574,2.567,2.561,2.56,2.559,2.549,2.546,2.537,2.534,2.532,2.527,2.523,2.514,2.513,2.511,2.508,2.499,2.498,2.491,2.484,2.483,2.482,2.478,2.477,2.47,2.468,2.465,2.464,2.463,2.454,2.454,2.452,2.452,2.451,2.449,2.448,2.444,2.444,2.442,2.439,2.438,2.438,2.438,2.435,2.435,2.438,2.436,2.434,2.434,2.434,2.434,2.434,2.434,2.434,2.435,2.435,2.435,2.434,2.432,2.432,2.432,2.435,2.437,2.437,2.439,2.439,2.446,2.446,2.446,2.447,2.447,2.448,2.449,2.458,2.46,2.464,2.465,2.465,2.466,2.472,2.472,2.472,2.472,2.479,2.48,2.481,2.488,2.497,2.5,2.502,2.502,2.508,2.513,2.516,2.522,2.522,2.522,1.12,1.117,1.117,1.117,1.128,1.131,1.136,2.579,2.585,2.59,2.59,2.597,2.599,2.603,2.605,2.616,2.626,2.63,2.635,2.644,2.654,2.658,2.672,2.675,2.68,2.687,2.689,2.715,2.716,2.731,2.732,2.74,2.764,2.767,2.772,2.773,2.777,2.787,2.791,2.819,2.827,2.834,2.843,2.853,2.865,2.877,2.879,2.904,2.913,2.919,2.924,2.95,2.952,2.973,2.982,2.994,3.015,3.018,3.033,3.037,3.059,3.069,3.077,3.097,3.117,3.122,3.146,3.146,3.165,3.181,3.203,3.215,3.23,3.253,3.265,3.28,3.292,3.317,3.341,3.358,3.374,3.388,3.412,3.427,3.444,3.481,3.507,3.521,3.542,3.567,3.581,3.592,3.635,3.661,3.675,3.7,3.738,3.755,3.786,3.822,3.843,3.87,3.902,3.927,3.966,3.995,4.034,4.074,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.321,3.308,3.293,3.285,3.284,3.284,3.268,3.257,3.234,3.228,3.213,3.209,3.207,3.185,3.182,3.171,3.168,3.156,3.149,3.139,3.139,3.13,3.124,3.117,3.116,3.103,3.091,3.09,3.087,3.083,3.074,3.066,3.06,3.056,3.056,3.051,3.048,3.032,3.03,3.025,3.025,3.025,3.015,3.008,3.001,2.999,3,2.998,2.996,2.986,2.982,2.978,2.978,2.975,2.975,2.975,2.972,2.972,2.972,2.973,2.973,2.973,2.963,2.962,2.961,2.962,2.961,2.952,2.956,2.955,2.954,2.955,2.955,2.954,2.954,2.95,2.95,2.949,2.953,2.951,2.951,2.948,2.951,2.948,2.948,2.951,2.954,2.951,2.954,2.954,2.954,2.954,2.964,2.965,2.965,2.968,2.969,2.976,2.98,2.98,2.982,2.984,2.984,2.987,2.999,3.001,2.999,3.002,3.004,3.005,3.012,3.02,3.02,3.02,3.025,3.029,3.035,3.042,3.045,3.057,3.058,3.061,3.066,3.066,3.067,3.075,3.081,3.083,3.085,3.089,3.103,3.103,3.108,3.114,3.123,3.125,3.131,3.146,3.146,3.149,3.16,3.165,3.166,3.17,3.184,3.203,3.211,3.216,3.216,3.216,3.224,3.228,3.251,3.253,3.75,3.772,3.783,3.788,3.788,3.83,3.831,3.847,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.77} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.7704} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.0414}
SEN {Time 43.8164} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.271,3.268,3.271,3.331,3.331,0.007,0,0,0,0,0,0,0.007,0,0,0,3.145,3.145,3.144,3.129,0.154,0.151,0.148,0.147,0.147,0.147,0.15,0.151,0.151,0.151,0.153,0.153,0.153,0.156,3.064,3.064,3.064,3.059,3.059,3.059,3.08,3.08,3.08,0.17,0.166,0.162,0.162,0.162,0.156,0.156,0.163,3.03,3.032,3.047,3.047,3.546,3.572,3.575,3.575,3.575,3.575,3.564,3.564,3.564,3.57,3.57,3.572,3.57,3.573,3.574,3.574,3.574,3.574,3.575,3.582,3.585,3.582,3.582,3.582,3.582,3.579,3.582,3.59,3.59,3.593,3.597,3.598,3.598,3.607,3.608,3.614,3.614,3.614,3.615,3.618,3.618,3.63,3.635,3.635,3.641,3.648,3.652,3.653,3.656,3.673,3.678,3.678,3.682,3.69,3.701,3.701,3.702,3.717,3.722,3.728,3.738,3.745,3.748,3.763,3.774,3.779,3.782,3.788,3.812,3.815,3.815,3.824,3.825,3.828,3.83,3.851,3.872,3.877,3.88,3.897,3.916,3.923,3.928,3.946,3.959,3.968,3.974,3.984,3.989,4.017,4.021,4.03,4.051,4.069,4.075,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.051,3.988,3.943,3.913,3.896,3.853,3.829,3.81,3.772,3.759,3.718,3.696,3.669,3.653,3.621,3.595,3.583,3.547,3.531,3.517,3.487,3.48,3.452,3.429,3.407,3.392,3.361,3.352,3.319,3.308,3.292,3.273,3.256,3.232,3.227,3.205,3.201,3.179,3.167,3.154,3.142,3.119,3.106,3.094,3.087,3.057,3.048,3.035,3.024,3.021,2.999,2.994,2.966,2.966,2.955,2.951,2.923,2.918,2.906,2.899,2.889,2.871,2.869,2.859,2.84,2.836,2.811,2.802,2.793,2.784,2.783,2.767,2.767,2.753,2.748,2.728,2.726,2.718,2.705,2.695,2.693,2.693,2.69,2.684,1.153,1.152,1.139,1.137,1.137,1.137,1.137,2.603,2.603,2.603,2.597,2.587,2.581,2.575,2.575,2.571,2.57,2.564,2.556,2.553,2.551,2.538,2.536,2.532,2.529,2.521,2.513,2.51,2.51,2.509,2.5,2.491,2.488,2.488,2.481,2.481,2.477,2.475,2.468,2.466,2.472,2.464,2.46,2.458,2.458,2.457,2.456,2.453,2.444,2.444,2.444,2.44,2.443,2.443,2.436,2.434,2.434,2.433,2.432,2.429,2.425,2.425,2.429,2.424,2.43,2.432,2.43,2.43,2.43,2.43,2.43,2.43,2.432,2.432,2.432,2.432,2.435,2.436,2.436,2.437,2.441,2.44,2.448,2.448,2.449,2.45,2.453,2.454,2.455,2.46,2.46,2.46,2.461,2.468,2.47,2.471,2.472,2.479,2.479,2.48,2.488,2.497,2.498,2.5,2.51,2.51,2.517,2.523,2.523,2.523,2.523,1.123,1.119,1.117,1.119,1.123,1.129,1.135,2.576,2.578,2.579,2.579,2.595,2.603,2.612,2.618,2.618,2.622,2.623,2.626,2.649,2.652,2.653,2.667,2.67,2.674,2.68,2.704,2.719,2.72,2.724,2.733,2.744,2.756,2.764,2.773,2.773,2.788,2.79,2.798,2.82,2.82,2.836,2.845,2.848,2.87,2.871,2.881,2.904,2.919,2.921,2.927,2.944,2.953,2.971,2.975,3.002,3.01,3.02,3.037,3.045,3.056,3.068,3.081,3.092,3.117,3.126,3.152,3.159,3.159,3.188,3.202,3.214,3.244,3.252,3.26,3.281,3.296,3.319,3.328,3.358,3.368,3.388,3.417,3.438,3.449,3.478,3.508,3.52,3.541,3.568,3.579,3.607,3.618,3.654,3.675,3.706,3.738,3.76,3.777,3.816,3.843,3.861,3.903,3.936,3.966,3.995,4.075,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.316,3.307,3.289,3.287,3.271,3.262,3.25,3.237,3.233,3.232,3.211,3.205,3.202,3.186,3.183,3.17,3.167,3.163,3.15,3.142,3.135,3.13,3.119,3.118,3.116,3.108,3.093,3.088,3.084,3.079,3.073,3.072,3.066,3.066,3.063,3.061,3.045,3.038,3.029,3.025,3.021,3.018,3.018,3.012,3.01,3.004,2.995,2.994,2.991,2.989,2.985,2.983,2.978,2.973,2.972,2.97,2.972,2.973,2.974,2.979,2.979,2.979,2.96,2.96,2.96,2.96,2.96,2.956,2.954,2.954,2.953,2.949,2.949,2.952,2.95,2.95,2.952,2.952,2.95,2.949,2.954,2.95,2.949,2.949,2.95,2.95,2.955,2.955,2.955,2.955,2.955,2.96,2.961,2.969,2.969,2.971,2.973,2.975,2.979,2.98,2.989,2.99,2.992,2.992,2.994,2.996,2.999,3,3,3.013,3.014,3.017,3.018,3.02,3.028,3.029,3.036,3.044,3.047,3.052,3.054,3.058,3.067,3.068,3.073,3.073,3.073,3.08,3.09,3.097,3.1,3.106,3.111,3.119,3.125,3.127,3.128,3.15,3.15,3.152,3.158,3.162,3.169,3.171,3.185,3.204,3.213,3.215,3.215,3.217,3.224,3.238,3.238,3.256,3.749,3.778,3.782,3.785,3.8,3.816,3.817,3.841,3.86,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 43.97} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 43.9725} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9464} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.5974} {Name Sonar15 Range 1.0414}
SEN {Time 44.0154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.206,0.206,0,0,0,0,0,0,0,3.665,3.665,3.665,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.289,3.272,3.271,3.268,3.268,3.271,3.322,0.007,0,0,0,0,0,0,0.007,0,0,0,3.139,3.139,3.135,3.128,0.16,0.155,0.153,0.153,0.151,0.151,0.151,0.151,0.151,0.153,0.153,0.153,0.154,0.161,3.076,3.076,3.076,3.054,3.054,3.049,3.049,3.046,0.164,0.161,0.164,0.161,0.161,0.161,0.157,0.157,0.165,3.032,3.038,3.041,3.047,3.546,3.566,3.57,3.573,3.57,3.577,3.577,3.575,3.574,3.575,3.574,3.573,3.573,3.573,3.573,3.565,3.576,3.578,3.58,3.576,3.578,3.578,3.578,3.578,3.579,3.585,3.589,3.59,3.59,3.59,3.592,3.598,3.601,3.605,3.608,3.613,3.613,3.612,3.614,3.616,3.626,3.632,3.636,3.642,3.649,3.649,3.651,3.652,3.655,3.663,3.666,3.683,3.685,3.695,3.702,3.707,3.715,3.715,3.721,3.726,3.734,3.742,3.746,3.759,3.768,3.776,3.778,3.792,3.794,3.801,3.811,3.812,3.818,3.825,3.845,3.853,3.877,3.877,3.877,3.88,3.903,3.91,3.926,3.94,3.95,3.953,3.981,3.985,3.99,4.02,4.022,4.023,4.058,4.066,4.08,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,4.075,4.045,3.98,3.94,3.906,3.886,3.854,3.829,3.787,3.779,3.736,3.721,3.691,3.669,3.641,3.625,3.598,3.57,3.558,3.547,3.514,3.477,3.449,3.444,3.412,3.403,3.389,3.36,3.354,3.325,3.315,3.293,3.277,3.249,3.242,3.224,3.2,3.195,3.179,3.161,3.141,3.139,3.121,3.1,3.091,3.082,3.072,3.053,3.032,3.024,3.017,2.995,2.985,2.978,2.962,2.954,2.938,2.926,2.915,2.903,2.894,2.882,2.872,2.862,2.858,2.842,2.832,2.815,2.815,2.793,2.79,2.786,2.769,2.764,2.756,2.745,2.739,2.726,2.715,2.711,2.704,2.701,2.701,2.69,2.678,1.149,1.149,1.141,1.14,1.138,1.14,1.14,2.603,2.603,2.603,2.595,2.587,2.581,2.574,2.572,2.564,2.563,2.554,2.553,2.552,2.548,2.533,2.529,2.529,2.522,2.517,2.516,2.512,2.512,2.502,2.497,2.494,2.494,2.484,2.482,2.477,2.476,2.474,2.472,2.468,2.467,2.458,2.458,2.458,2.457,2.457,2.454,2.452,2.451,2.448,2.447,2.447,2.444,2.441,2.439,2.439,2.439,2.436,2.436,2.436,2.435,2.435,2.435,2.432,2.434,2.432,2.43,2.432,2.433,2.431,2.431,2.431,2.431,2.431,2.433,2.434,2.436,2.437,2.438,2.441,2.442,2.443,2.446,2.448,2.451,2.451,2.454,2.456,2.457,2.458,2.461,2.466,2.466,2.466,2.466,2.466,2.475,2.477,2.479,2.485,2.488,2.497,2.499,2.505,2.505,2.507,2.517,2.517,2.518,2.518,2.517,1.123,1.123,1.123,1.124,1.124,1.129,1.134,2.582,2.584,2.587,2.587,2.595,2.598,2.603,2.615,2.624,2.625,2.636,2.64,2.649,2.656,2.66,2.669,2.672,2.676,2.686,2.702,2.712,2.713,2.73,2.731,2.735,2.755,2.763,2.772,2.773,2.781,2.791,2.806,2.82,2.822,2.836,2.851,2.852,2.875,2.878,2.888,2.904,2.91,2.917,2.935,2.95,2.957,2.964,2.975,2.993,3.002,3.022,3.036,3.046,3.064,3.072,3.082,3.092,3.121,3.127,3.142,3.155,3.168,3.184,3.202,3.21,3.235,3.245,3.272,3.273,3.292,3.328,3.332,3.354,3.379,3.385,3.416,3.435,3.45,3.481,3.5,3.519,3.547,3.572,3.575,3.617,3.627,3.654,3.678,3.693,3.732,3.745,3.786,3.819,3.829,3.863,3.905,3.921,3.962,3.985,4.041,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.333,3.316,3.303,3.29,3.279,3.273,3.265,3.252,3.237,3.237,3.228,3.208,3.206,3.2,3.196,3.183,3.18,3.174,3.163,3.15,3.141,3.137,3.126,3.126,3.121,3.115,3.098,3.094,3.092,3.082,3.079,3.067,3.063,3.062,3.061,3.047,3.044,3.041,3.041,3.031,3.025,3.024,3.017,3.016,3.012,3.004,3.003,2.996,2.994,2.994,2.991,2.982,2.981,2.981,2.981,2.981,2.979,2.972,2.972,2.972,2.982,2.982,2.982,2.967,2.967,2.962,2.962,2.96,2.955,2.955,2.955,2.957,2.957,2.957,2.952,2.952,2.947,2.947,2.944,2.944,2.944,2.95,2.95,2.955,2.95,2.955,2.955,2.955,2.953,2.955,2.955,2.96,2.961,2.962,2.967,2.966,2.97,2.973,2.974,2.983,2.984,2.985,2.985,2.985,2.985,2.992,2.992,3,3,3.006,3.013,3.014,3.016,3.017,3.03,3.03,3.033,3.033,3.049,3.053,3.053,3.053,3.053,3.067,3.068,3.071,3.081,3.081,3.082,3.089,3.092,3.096,3.103,3.115,3.115,3.123,3.128,3.129,3.129,3.148,3.158,3.161,3.161,3.162,3.175,3.188,3.196,3.202,3.209,3.209,3.219,3.221,3.231,3.239,3.251,3.742,3.766,3.787,3.788,3.79,3.813,3.831,3.854,3.861,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.17} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 44.1744} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 4.5974} {Name Sonar15 Range 1.0414}
SEN {Time 44.2154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.2,0.2,0,0,0,0,0,0,3.684,3.66,3.66,3.66,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.274,3.257,3.255,3.255,3.255,3.321,0,0,0,0,0,0,0.007,0,0,0,3.145,3.145,3.131,3.123,0.155,0.154,0.153,0.153,0.153,0.147,0.143,0.143,0.151,0.146,0.151,0.152,0.152,0.157,3.063,3.063,3.063,3.056,3.056,3.056,3.067,3.067,3.067,0.161,0.161,0.161,0.161,0.162,0.162,0.162,0.169,3.037,3.038,3.039,3.039,3.55,3.56,3.569,3.571,3.571,3.571,3.57,3.57,3.57,3.57,3.568,3.568,3.568,3.568,3.569,3.574,3.575,3.575,3.575,3.575,3.578,3.586,3.586,3.579,3.582,3.582,3.582,3.591,3.596,3.596,3.597,3.597,3.601,3.603,3.603,3.608,3.61,3.62,3.626,3.626,3.627,3.629,3.635,3.641,3.644,3.644,3.649,3.659,3.66,3.666,3.679,3.679,3.68,3.692,3.702,3.708,3.711,3.715,3.721,3.723,3.735,3.752,3.761,3.761,3.775,3.776,3.781,3.786,3.803,3.804,3.805,3.819,3.84,3.843,3.849,3.857,3.859,3.869,3.877,3.878,3.914,3.915,3.927,3.935,3.956,3.963,3.982,3.984,3.985,4.011,4.018,4.04,4.049,4.064,4.085,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,4.051,4.016,4.016,4.016,3.958,3.94,3.847,3.815,3.795,3.774,3.749,3.713,3.694,3.664,3.661,3.62,3.601,3.575,3.552,3.53,3.517,3.484,3.452,3.445,3.428,3.389,3.388,3.364,3.351,3.333,3.322,3.302,3.271,3.25,3.236,3.227,3.198,3.188,3.182,3.169,3.149,3.14,3.121,3.108,3.098,3.087,3.071,3.053,3.033,3.018,3.01,2.991,2.991,2.983,2.964,2.955,2.938,2.926,2.918,2.906,2.895,2.877,2.876,2.859,2.858,2.84,2.829,2.814,2.805,2.803,2.791,2.783,2.769,2.762,2.762,2.74,2.735,2.726,2.714,2.714,2.7,2.696,2.696,2.695,2.685,1.157,1.147,1.143,1.139,1.138,1.138,1.143,2.605,2.605,2.605,2.599,2.588,2.581,2.577,2.575,2.571,2.57,2.559,2.556,2.555,2.546,2.542,2.537,2.53,2.527,2.525,2.515,2.51,2.506,2.503,2.498,2.491,2.489,2.483,2.483,2.474,2.474,2.474,2.474,2.47,2.466,2.464,2.462,2.462,2.459,2.457,2.453,2.454,2.45,2.45,2.444,2.444,2.441,2.438,2.438,2.438,2.435,2.435,2.434,2.431,2.431,2.434,2.434,2.43,2.432,2.431,2.43,2.43,2.431,2.431,2.429,2.431,2.433,2.434,2.434,2.434,2.434,2.435,2.44,2.443,2.443,2.449,2.449,2.451,2.451,2.453,2.453,2.455,2.455,2.459,2.46,2.464,2.467,2.467,2.467,2.478,2.478,2.478,2.478,2.487,2.492,2.496,2.498,2.498,2.504,2.505,2.511,2.514,2.517,2.514,2.514,1.124,1.123,1.123,1.124,1.126,1.136,1.141,2.574,2.579,2.588,2.588,2.592,2.6,2.605,2.609,2.613,2.627,2.636,2.64,2.644,2.652,2.665,2.672,2.675,2.677,2.687,2.712,2.712,2.713,2.73,2.731,2.744,2.749,2.76,2.76,2.773,2.783,2.786,2.8,2.817,2.826,2.83,2.846,2.847,2.86,2.874,2.883,2.904,2.912,2.915,2.931,2.941,2.957,2.976,2.977,2.997,3.007,3.029,3.047,3.051,3.051,3.069,3.078,3.099,3.107,3.123,3.14,3.155,3.159,3.182,3.204,3.219,3.232,3.251,3.263,3.285,3.293,3.316,3.327,3.36,3.383,3.388,3.413,3.443,3.457,3.463,3.501,3.537,3.538,3.569,3.577,3.611,3.63,3.662,3.669,3.703,3.731,3.754,3.784,3.814,3.833,3.869,3.9,3.926,0,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.321,3.302,3.291,3.286,3.274,3.269,3.244,3.239,3.237,3.233,3.217,3.202,3.198,3.195,3.181,3.178,3.171,3.163,3.153,3.138,3.131,3.128,3.127,3.118,3.118,3.097,3.095,3.084,3.082,3.081,3.074,3.063,3.061,3.055,3.053,3.051,3.036,3.031,3.029,3.027,3.021,3.018,3.013,3.005,3.002,3.001,3,2.994,2.991,2.99,2.985,2.981,2.976,2.975,2.971,2.968,2.968,2.968,2.975,2.979,2.979,2.979,2.955,2.955,2.955,2.955,2.958,2.958,2.958,2.958,2.955,2.955,2.954,2.949,2.949,2.947,2.947,2.947,2.949,2.947,2.949,2.949,2.95,2.948,2.95,2.952,2.953,2.955,2.955,2.959,2.963,2.964,2.968,2.968,2.968,2.968,2.968,2.968,2.975,2.977,2.977,2.983,2.991,2.993,2.993,2.994,2.997,3.002,3.009,3.009,3.009,3.012,3.016,3.024,3.031,3.034,3.044,3.045,3.046,3.057,3.058,3.06,3.065,3.066,3.068,3.08,3.08,3.082,3.087,3.092,3.096,3.104,3.104,3.111,3.121,3.128,3.13,3.131,3.151,3.152,3.156,3.161,3.169,3.174,3.186,3.199,3.211,3.221,3.221,3.222,3.228,3.228,3.239,3.248,3.741,3.766,3.788,3.793,3.803,3.822,3.823,3.852,3.856,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.37} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 44.3674} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.5052} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.1816} {Name Sonar15 Range 1.0414}
SEN {Time 44.4115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.689,3.672,3.672,3.672,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,3.297,3.268,3.266,3.263,3.263,3.266,3.313,0,0,0,0,0,0,0,0,0,0,3.147,3.147,3.14,3.138,0.155,0.154,0.153,0.153,0.153,0.153,0.146,0.146,0.158,0.155,0.156,0.156,0.156,0.156,3.063,3.063,3.063,3.06,3.06,3.057,3.057,3.05,0.163,0.163,0.163,0.163,0.163,0.161,0.159,0.159,0.161,3.033,3.035,3.038,3.046,3.559,3.572,3.572,3.572,3.577,3.577,3.575,3.575,3.575,3.575,3.571,3.571,3.567,3.567,3.571,3.565,3.575,3.575,3.575,3.575,3.577,3.579,3.579,3.579,3.579,3.579,3.579,3.593,3.595,3.595,3.601,3.596,3.604,3.604,3.604,3.607,3.61,3.612,3.617,3.622,3.623,3.628,3.63,3.641,3.643,3.645,3.654,3.654,3.657,3.664,3.676,3.679,3.684,3.688,3.692,3.705,3.711,3.717,3.72,3.729,3.733,3.739,3.761,3.767,3.776,3.777,3.786,3.787,3.806,3.808,3.812,3.824,3.833,3.838,3.848,3.861,3.861,3.88,3.886,3.9,3.9,3.923,3.928,3.954,3.956,3.965,3.977,3.986,3.993,4.017,4.031,4.033,4.042,4.068,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,4.015,3.974,3.949,3.915,3.894,3.857,3.819,3.793,3.779,3.749,3.711,3.7,3.668,3.648,3.62,3.593,3.574,3.555,3.542,3.518,3.491,3.458,3.439,3.428,3.412,3.385,3.363,3.342,3.325,3.312,3.283,3.274,3.248,3.248,3.224,3.205,3.189,3.185,3.167,3.155,3.139,3.116,3.112,3.092,3.083,3.06,3.053,3.033,3.022,3.014,2.997,2.988,2.969,2.955,2.951,2.944,2.929,2.914,2.906,2.891,2.888,2.875,2.867,2.863,2.843,2.822,2.821,2.803,2.8,2.787,2.782,2.765,2.764,2.751,2.744,2.729,2.728,2.717,2.707,2.7,2.687,2.687,2.685,2.684,1.15,1.149,1.137,1.136,1.136,1.136,1.137,2.6,2.6,2.6,2.595,2.585,2.582,2.578,2.577,2.573,2.564,2.558,2.553,2.552,2.545,2.539,2.53,2.529,2.523,2.522,2.518,2.517,2.503,2.499,2.498,2.495,2.493,2.49,2.49,2.48,2.476,2.476,2.473,2.464,2.464,2.464,2.459,2.454,2.454,2.454,2.454,2.454,2.449,2.444,2.444,2.444,2.439,2.439,2.438,2.436,2.436,2.435,2.432,2.435,2.435,2.432,2.43,2.435,2.43,2.43,2.43,2.429,2.427,2.429,2.429,2.429,2.43,2.434,2.433,2.434,2.435,2.436,2.436,2.439,2.44,2.445,2.446,2.446,2.446,2.449,2.45,2.455,2.458,2.459,2.462,2.467,2.467,2.472,2.473,2.474,2.477,2.482,2.483,2.489,2.494,2.497,2.5,2.505,2.507,2.508,2.508,2.518,2.521,2.521,2.521,1.122,1.122,1.122,1.122,1.132,1.135,1.135,2.582,2.582,2.584,2.584,2.585,2.599,2.608,2.608,2.608,2.627,2.632,2.636,2.643,2.655,2.659,2.668,2.672,2.679,2.679,2.707,2.712,2.72,2.723,2.733,2.752,2.753,2.754,2.767,2.773,2.789,2.79,2.807,2.817,2.825,2.832,2.848,2.854,2.87,2.881,2.885,2.903,2.91,2.923,2.934,2.948,2.963,2.971,2.98,2.999,3.01,3.016,3.029,3.051,3.059,3.067,3.084,3.093,3.114,3.121,3.148,3.153,3.166,3.183,3.201,3.216,3.237,3.252,3.262,3.28,3.297,3.323,3.334,3.35,3.381,3.398,3.417,3.442,3.454,3.48,3.501,3.528,3.541,3.566,3.582,3.606,3.63,3.662,3.674,3.703,3.731,3.762,3.785,3.819,3.836,3.882,3.91,3.925,3.982,4.033,4.069,4.069,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.32,3.299,3.292,3.289,3.272,3.269,3.252,3.241,3.227,3.226,3.206,3.204,3.204,3.186,3.178,3.174,3.17,3.165,3.152,3.136,3.135,3.132,3.132,3.118,3.114,3.11,3.11,3.093,3.086,3.081,3.076,3.07,3.067,3.052,3.05,3.047,3.045,3.039,3.033,3.03,3.022,3.013,3.007,3.007,3.007,3,2.997,2.994,2.994,2.994,2.986,2.975,2.973,2.973,2.972,2.972,2.972,2.972,2.972,2.972,2.972,2.972,2.961,2.96,2.958,2.958,2.956,2.954,2.954,2.954,2.954,2.954,2.954,2.952,2.952,2.952,2.954,2.954,2.954,2.949,2.949,2.949,2.949,2.947,2.953,2.953,2.953,2.954,2.958,2.954,2.958,2.961,2.965,2.965,2.971,2.972,2.972,2.972,2.975,2.981,2.983,2.988,2.986,2.989,2.989,2.993,3.008,3.009,3.012,3.012,3.012,3.016,3.018,3.025,3.029,3.03,3.042,3.043,3.051,3.051,3.058,3.061,3.061,3.075,3.076,3.076,3.078,3.082,3.086,3.095,3.098,3.101,3.102,3.102,3.102,3.122,3.13,3.131,3.149,3.151,3.153,3.172,3.172,3.175,3.191,3.191,3.203,3.203,3.203,3.224,3.225,3.233,3.243,3.257,3.739,3.775,3.775,3.792,3.795,3.823,3.834,3.856,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.57} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 44.5703} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8956} {Name Sonar14 Range 5.1816} {Name Sonar15 Range 1.0414}
SEN {Time 44.6114} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,3.667,3.667,3.667,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.277,3.269,3.258,3.258,3.258,3.322,0.007,0,0,0,0,0,0,0.007,0,0,0,3.142,3.142,3.14,3.129,0.152,0.152,0.152,0.152,0.152,0.152,0.152,0.152,0.145,0.145,0.147,0.147,0.147,0.151,3.058,3.061,3.061,3.061,3.061,3.061,3.066,3.066,0.162,0.156,0.156,0.156,0.156,0.156,0.156,0.156,0.156,3.03,3.044,3.044,3.044,3.538,3.566,3.566,3.57,3.566,3.566,3.566,3.566,3.566,3.571,3.571,3.571,3.573,3.577,3.577,3.576,3.576,3.576,3.576,3.576,3.578,3.579,3.578,3.578,3.58,3.58,3.582,3.586,3.587,3.591,3.6,3.6,3.603,3.608,3.608,3.614,3.615,3.615,3.617,3.634,3.634,3.631,3.634,3.634,3.638,3.642,3.646,3.646,3.662,3.669,3.67,3.673,3.688,3.692,3.697,3.701,3.711,3.711,3.728,3.73,3.737,3.74,3.752,3.76,3.773,3.774,3.778,3.791,3.797,3.803,3.81,3.813,3.825,3.837,3.854,3.854,3.869,3.869,3.873,3.893,3.911,3.918,3.924,3.93,3.963,3.965,3.975,3.983,3.986,4.013,4.027,4.039,4.058,4.066,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.946,3.917,3.888,3.856,3.819,3.8,3.778,3.742,3.723,3.689,3.669,3.638,3.625,3.598,3.562,3.553,3.536,3.521,3.487,3.47,3.447,3.421,3.407,3.389,3.371,3.348,3.321,3.315,3.29,3.272,3.258,3.233,3.228,3.209,3.194,3.187,3.171,3.152,3.141,3.124,3.11,3.099,3.075,3.061,3.049,3.03,3.028,3.011,3.004,2.984,2.979,2.96,2.959,2.942,2.932,2.916,2.907,2.901,2.882,2.871,2.87,2.86,2.842,2.835,2.815,2.802,2.796,2.792,2.791,2.778,2.769,2.755,2.745,2.732,2.726,2.712,2.709,2.706,2.69,2.69,2.687,2.675,1.152,1.147,1.147,1.144,1.139,1.139,1.148,2.594,2.601,2.601,2.594,2.59,2.589,2.577,2.562,2.558,2.558,2.552,2.55,2.548,2.547,2.539,2.528,2.528,2.525,2.525,2.511,2.509,2.508,2.504,2.503,2.497,2.487,2.487,2.484,2.481,2.481,2.471,2.467,2.466,2.466,2.465,2.462,2.462,2.458,2.457,2.456,2.456,2.45,2.45,2.449,2.449,2.447,2.445,2.44,2.44,2.439,2.437,2.433,2.431,2.431,2.431,2.431,2.426,2.426,2.426,2.426,2.426,2.426,2.428,2.43,2.428,2.43,2.435,2.435,2.435,2.435,2.435,2.437,2.441,2.441,2.444,2.446,2.451,2.451,2.454,2.454,2.458,2.459,2.463,2.463,2.463,2.463,2.468,2.47,2.471,2.474,2.477,2.481,2.49,2.493,2.497,2.498,2.498,2.503,2.51,2.512,2.515,2.522,2.522,2.522,1.121,1.118,1.118,1.118,1.131,1.133,1.136,2.578,2.578,2.583,2.583,2.597,2.607,2.607,2.612,2.617,2.619,2.636,2.639,2.642,2.656,2.658,2.668,2.671,2.679,2.692,2.711,2.713,2.723,2.725,2.732,2.739,2.75,2.766,2.766,2.776,2.781,2.797,2.81,2.812,2.826,2.835,2.852,2.855,2.867,2.879,2.885,2.905,2.912,2.919,2.934,2.948,2.958,2.968,2.984,2.994,3.008,3.012,3.032,3.04,3.054,3.066,3.082,3.099,3.106,3.127,3.146,3.154,3.177,3.184,3.194,3.214,3.242,3.25,3.264,3.282,3.292,3.32,3.335,3.354,3.373,3.393,3.412,3.433,3.449,3.478,3.492,3.518,3.538,3.564,3.583,3.605,3.626,3.673,3.681,3.703,3.735,3.755,3.783,3.818,3.841,3.876,3.9,3.917,3.955,4.003,4.027,4.075,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.304,3.291,3.279,3.274,3.267,3.253,3.243,3.238,3.229,3.214,3.207,3.206,3.188,3.184,3.18,3.17,3.16,3.157,3.139,3.136,3.13,3.126,3.12,3.11,3.098,3.094,3.089,3.086,3.082,3.081,3.062,3.056,3.053,3.048,3.043,3.039,3.032,3.03,3.027,3.025,3.013,3.012,3.006,3.006,3.002,3.001,3.001,2.997,2.991,2.983,2.983,2.979,2.978,2.975,2.969,2.965,2.965,2.965,2.982,2.982,2.982,2.966,2.966,2.966,2.966,2.963,2.957,2.955,2.95,2.95,2.95,2.95,2.95,2.952,2.953,2.951,2.953,2.953,2.951,2.951,2.949,2.949,2.949,2.955,2.952,2.955,2.955,2.957,2.959,2.964,2.959,2.965,2.967,2.969,2.97,2.97,2.971,2.977,2.977,2.979,2.981,2.982,2.988,2.994,2.995,3.002,3.005,3.006,3.006,3.011,3.017,3.018,3.022,3.024,3.029,3.034,3.042,3.045,3.048,3.056,3.065,3.066,3.075,3.075,3.08,3.082,3.089,3.092,3.094,3.104,3.106,3.109,3.114,3.115,3.123,3.134,3.143,3.148,3.162,3.164,3.164,3.173,3.177,3.182,3.196,3.206,3.212,3.212,3.215,3.221,3.239,3.24,3.249,3.752,3.774,3.78,3.794,3.807,3.81,3.836,3.854,3.854,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 44.76} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 44.7622} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4798} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 5.1816} {Name Sonar15 Range 1.0414}
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SEN {Time 44.96} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 44.9642} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.0414}
SEN {Time 45.0115} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,3.666,3.666,3.666,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,3.294,3.275,3.259,3.258,3.258,3.259,3.325,0.007,0,0,0,0,0,0,0.007,0,0,0,3.139,3.139,3.137,3.133,0.154,0.153,0.152,0.152,0.152,0.151,0.151,0.151,0.151,0.149,0.148,0.149,0.149,0.154,3.063,3.063,3.063,3.06,3.06,3.058,3.054,0.158,0.158,0.158,0.16,0.16,0.16,0.16,0.159,0.159,0.163,3.032,3.034,3.049,3.051,3.55,3.573,3.573,3.573,3.573,3.573,3.573,3.573,3.574,3.574,3.568,3.572,3.572,3.572,3.572,3.573,3.575,3.575,3.581,3.581,3.583,3.583,3.583,3.581,3.581,3.581,3.581,3.588,3.589,3.591,3.593,3.602,3.603,3.603,3.603,3.603,3.614,3.616,3.616,3.619,3.624,3.624,3.627,3.633,3.635,3.642,3.652,3.654,3.662,3.667,3.67,3.679,3.686,3.689,3.705,3.706,3.711,3.712,3.717,3.726,3.728,3.735,3.751,3.753,3.777,3.778,3.791,3.801,3.804,3.804,3.813,3.823,3.824,3.841,3.844,3.851,3.859,3.869,3.878,3.888,3.899,3.921,3.932,3.946,3.967,3.968,3.973,3.978,4.003,4.009,4.027,4.032,4.047,4.055,4.077,4.089,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,4.059,4.025,3.968,3.965,3.915,3.902,3.854,3.819,3.799,3.78,3.752,3.732,3.693,3.675,3.654,3.623,3.604,3.586,3.551,3.536,3.511,3.485,3.47,3.446,3.421,3.404,3.389,3.364,3.351,3.339,3.307,3.289,3.269,3.253,3.228,3.218,3.211,3.194,3.18,3.17,3.141,3.139,3.122,3.109,3.098,3.073,3.061,3.061,3.059,3.033,3.026,2.994,2.993,2.975,2.967,2.957,2.941,2.925,2.914,2.905,2.905,2.894,2.881,2.866,2.855,2.839,2.835,2.817,2.804,2.799,2.791,2.781,2.769,2.766,2.755,2.752,2.733,2.73,2.715,2.71,2.697,2.696,2.696,2.681,2.68,1.148,1.147,1.144,1.142,1.133,1.133,1.133,2.602,2.603,2.603,2.602,2.593,2.586,2.585,2.574,2.572,2.565,2.559,2.553,2.551,2.548,2.537,2.535,2.53,2.527,2.525,2.523,2.518,2.503,2.501,2.5,2.492,2.49,2.483,2.479,2.478,2.478,2.477,2.472,2.472,2.467,2.464,2.456,2.456,2.456,2.456,2.454,2.451,2.449,2.449,2.449,2.448,2.447,2.446,2.441,2.441,2.44,2.437,2.435,2.433,2.433,2.433,2.433,2.429,2.429,2.429,2.432,2.432,2.434,2.434,2.432,2.433,2.433,2.431,2.433,2.434,2.435,2.439,2.439,2.44,2.442,2.444,2.446,2.447,2.453,2.453,2.456,2.456,2.456,2.457,2.459,2.466,2.467,2.467,2.467,2.472,2.479,2.482,2.487,2.492,2.497,2.498,2.498,2.499,2.504,2.516,2.519,2.522,2.524,2.524,2.524,1.131,1.126,1.126,1.126,1.126,1.132,1.135,2.585,2.585,2.587,2.587,2.587,2.599,2.607,2.61,2.611,2.625,2.636,2.639,2.647,2.655,2.655,2.677,2.678,2.685,2.691,2.702,2.715,2.724,2.727,2.727,2.742,2.753,2.758,2.762,2.775,2.776,2.789,2.803,2.817,2.821,2.832,2.85,2.85,2.863,2.873,2.894,2.903,2.914,2.927,2.932,2.955,2.961,2.965,2.984,2.997,3.016,3.017,3.024,3.048,3.054,3.068,3.079,3.096,3.113,3.125,3.148,3.151,3.167,3.183,3.203,3.212,3.24,3.249,3.264,3.283,3.298,3.318,3.323,3.349,3.388,3.401,3.41,3.433,3.458,3.482,3.5,3.517,3.539,3.572,3.585,3.613,3.637,3.661,3.685,3.692,3.722,3.753,3.786,3.821,3.834,3.894,3.93,3.999,3.999,4.037,0,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.316,3.303,3.288,3.284,3.275,3.265,3.254,3.244,3.236,3.225,3.208,3.203,3.197,3.189,3.186,3.174,3.173,3.157,3.157,3.142,3.137,3.13,3.128,3.11,3.102,3.101,3.086,3.084,3.076,3.076,3.075,3.07,3.059,3.056,3.049,3.044,3.038,3.036,3.036,3.025,3.023,3.018,3.013,3.009,3.008,3.003,2.997,2.994,2.993,2.989,2.982,2.98,2.979,2.977,2.975,2.973,2.965,2.965,2.965,2.98,2.98,2.98,2.956,2.956,2.956,2.956,2.956,2.958,2.956,2.955,2.952,2.952,2.951,2.951,2.952,2.951,2.955,2.955,2.956,2.951,2.953,2.953,2.955,2.953,2.955,2.955,2.955,2.955,2.955,2.956,2.957,2.964,2.965,2.967,2.967,2.968,2.968,2.974,2.975,2.979,2.982,2.984,2.99,2.991,2.991,2.997,2.998,2.999,3.008,3.008,3.008,3.018,3.022,3.022,3.024,3.034,3.042,3.048,3.049,3.049,3.053,3.06,3.061,3.068,3.078,3.078,3.078,3.084,3.092,3.095,3.103,3.107,3.113,3.117,3.13,3.13,3.131,3.15,3.15,3.151,3.164,3.164,3.168,3.182,3.191,3.201,3.207,3.212,3.212,3.22,3.22,3.228,3.249,3.255,3.736,3.771,3.782,3.796,3.798,3.811,3.831,3.844,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.26} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.000000}
SEN {Time 45.2553} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 5.8928} {Name Sonar15 Range 1.0414}
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SEN {Time 45.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.041888}
SEN {Time 45.4673} {Type Sonar} {Name Sonar0 Range 0.9906} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 5.7658} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.699} {Name Sonar15 Range 1.0414}
SEN {Time 45.5074} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.128,3.121,3.121,3.119,3.115,0.15,0.15,0.15,0.15,0.15,0.15,0.147,0.143,0.147,0.147,0.148,0.148,0.153,0.156,3.061,3.061,3.061,3.052,3.052,3.052,3.061,3.061,3.061,0.166,0.166,0.161,0.161,0.166,0.16,0.16,0.166,0.362,3.569,3.574,3.574,3.569,3.569,3.563,3.563,3.567,3.567,3.57,3.582,3.582,3.583,3.583,3.583,3.58,3.58,3.58,3.58,3.586,3.586,3.586,3.584,3.595,3.595,3.598,3.598,3.599,3.599,3.6,3.61,3.61,3.612,3.616,3.624,3.624,3.624,3.627,3.627,3.643,3.644,3.644,3.649,3.653,3.659,3.662,3.662,3.674,3.689,3.691,3.691,3.693,3.693,3.699,3.706,3.725,3.74,3.74,3.743,3.758,3.763,3.768,3.777,3.781,3.792,3.794,3.812,3.827,3.828,3.829,3.84,3.855,3.868,3.871,3.873,3.893,3.893,3.916,3.918,3.925,3.947,3.961,3.972,3.981,3.998,4.003,4.019,4.028,4.038,4.06,4.079,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.028,0,0.007,3.899,3.834,3.807,3.774,3.737,3.723,3.688,3.665,3.642,3.624,3.598,3.569,3.558,3.525,3.509,3.482,3.467,3.452,3.426,3.395,3.376,3.367,3.342,3.33,3.312,3.291,3.273,3.253,3.231,3.221,3.208,3.196,3.172,3.165,3.141,3.125,3.117,3.109,3.095,3.079,3.075,3.059,3.044,3.028,3.009,2.993,2.984,2.978,2.961,2.946,2.944,2.925,2.918,2.908,2.888,2.877,2.871,2.863,2.848,2.838,2.828,2.822,2.81,2.801,2.801,2.777,2.771,2.762,2.756,2.739,2.738,2.729,2.717,2.711,2.704,2.691,2.684,1.156,1.151,1.146,1.147,1.146,1.141,1.141,1.147,2.605,2.605,2.605,2.596,2.593,2.592,2.578,2.567,2.567,2.564,2.563,2.557,2.554,2.547,2.537,2.534,2.529,2.525,2.522,2.52,2.518,2.511,2.506,2.502,2.5,2.498,2.497,2.49,2.49,2.487,2.483,2.475,2.473,2.47,2.461,2.461,2.46,2.456,2.455,2.455,2.452,2.451,2.45,2.45,2.446,2.446,2.446,2.443,2.441,2.442,2.439,2.438,2.433,2.431,2.431,2.431,2.431,2.431,2.433,2.433,2.432,2.43,2.432,2.43,2.432,2.428,2.434,2.434,2.435,2.436,2.436,2.439,2.44,2.44,2.44,2.44,2.44,2.44,2.443,2.448,2.448,2.456,2.463,2.465,2.465,2.464,2.471,2.473,2.473,2.478,2.485,2.487,2.487,2.488,2.488,2.498,2.499,2.502,2.507,2.518,2.52,2.52,2.52,1.115,1.115,1.115,1.128,1.13,1.13,1.132,1.137,2.575,2.578,2.578,2.592,2.594,2.595,2.609,2.615,2.616,2.622,2.638,2.639,2.646,2.652,2.662,2.662,2.676,2.676,2.685,2.692,2.706,2.715,2.726,2.735,2.744,2.747,2.761,2.77,2.78,2.792,2.794,2.803,2.818,2.832,2.839,2.848,2.858,2.869,2.872,2.886,2.905,2.915,2.934,2.934,2.953,2.959,2.977,2.982,2.995,3.003,3.022,3.032,3.036,3.062,3.087,3.101,3.103,3.121,3.134,3.141,3.166,3.191,3.193,3.205,3.222,3.245,3.259,3.284,3.29,3.308,3.329,3.347,3.363,3.39,3.404,3.419,3.435,3.461,3.487,3.511,3.528,3.555,3.571,3.589,3.614,3.656,3.662,3.704,3.714,3.756,3.772,3.795,3.83,3.873,3.885,3.915,3.952,3.998,4.008,4.047,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.265,3.249,3.235,3.231,3.231,3.218,3.199,3.198,3.184,3.178,3.175,3.165,3.162,3.148,3.147,3.132,3.131,3.118,3.11,3.109,3.101,3.09,3.084,3.08,3.073,3.072,3.07,3.059,3.054,3.047,3.04,3.033,3.03,3.03,3.029,3.019,3.016,3.011,3.008,3.006,2.999,2.993,2.986,2.981,2.981,2.981,2.978,2.975,2.969,2.967,2.967,2.963,2.963,2.967,2.963,2.963,2.963,2.958,2.956,2.955,2.954,2.95,2.95,2.948,2.948,2.945,2.944,2.944,2.944,2.944,2.944,2.945,2.945,2.946,2.955,2.955,2.95,2.955,2.953,2.95,2.953,2.953,2.953,2.953,2.953,2.953,2.955,2.956,2.956,2.958,2.958,2.96,2.965,2.966,2.97,2.972,2.978,2.984,2.987,2.99,2.992,2.995,2.996,2.996,3,3.008,3.011,3.013,3.014,3.022,3.029,3.03,3.034,3.044,3.048,3.048,3.06,3.061,3.061,3.061,3.067,3.075,3.076,3.083,3.089,3.091,3.096,3.105,3.115,3.117,3.121,3.121,3.137,3.14,3.15,3.153,3.158,3.172,3.175,3.189,3.19,3.191,3.208,3.212,3.219,3.235,3.235,3.236,3.238,3.748,3.77,3.776,3.791,3.795,3.799,3.829,3.841,3.853,3.861,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.66} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.102974}
SEN {Time 45.661} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.0706} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.699} {Name Sonar15 Range 1.0414}
SEN {Time 45.7085} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0.009,0.009,0.009,3.127,3.113,3.113,3.111,3.108,3.102,3.102,3.095,3.093,3.088,3.088,3.088,3.088,3.088,0.153,0.153,0.153,0.15,0.15,0.15,0.147,0.15,0.153,0.153,0.153,0.153,0.153,0.153,3.049,3.049,3.049,3.049,3.054,3.095,3.545,3.545,3.545,0.163,0.163,0.163,0.163,0.163,0.163,0.167,0.168,0.359,3.567,3.579,3.579,3.579,3.581,3.585,3.585,3.587,3.59,3.594,3.594,3.595,3.599,3.599,3.603,3.603,3.603,3.61,3.611,3.613,3.614,3.623,3.625,3.625,3.632,3.634,3.635,3.637,3.639,3.644,3.647,3.658,3.665,3.668,3.671,3.676,3.689,3.696,3.697,3.704,3.707,3.708,3.72,3.728,3.73,3.737,3.741,3.743,3.751,3.758,3.768,3.772,3.783,3.79,3.792,3.807,3.824,3.829,3.84,3.843,3.853,3.871,3.871,3.878,3.888,3.898,3.919,3.926,3.935,3.942,3.958,3.979,3.985,3.989,4.012,4.016,4.026,4.039,4.065,4.072,4.084,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,0.016,4.083,4.083,0.007,0,0.007,3.925,3.859,3.832,3.804,3.774,3.754,3.73,3.706,3.666,3.637,3.619,3.597,3.574,3.545,3.526,3.497,3.468,3.458,3.437,3.42,3.409,3.381,3.357,3.334,3.327,3.319,3.283,3.27,3.251,3.246,3.228,3.205,3.193,3.177,3.166,3.142,3.133,3.119,3.107,3.092,3.069,3.068,3.04,3.029,3.018,3.015,2.995,2.988,2.982,2.962,2.952,2.947,2.942,2.918,2.902,2.9,2.887,2.876,2.874,2.849,2.844,2.835,2.832,2.819,2.809,2.799,2.792,2.782,2.761,2.757,2.752,2.738,2.729,2.724,2.714,2.714,2.71,2.699,1.161,1.151,1.147,1.146,1.141,1.141,1.141,2.615,2.615,2.615,2.606,2.596,2.593,2.585,2.577,2.575,2.574,2.565,2.563,2.555,2.55,2.541,2.54,2.53,2.523,2.522,2.519,2.517,2.512,2.511,2.511,2.505,2.504,2.494,2.492,2.486,2.484,2.481,2.479,2.474,2.474,2.467,2.466,2.466,2.466,2.464,2.464,2.461,2.45,2.45,2.449,2.445,2.445,2.44,2.44,2.438,2.437,2.437,2.437,2.437,2.437,2.436,2.436,2.435,2.432,2.431,2.432,2.433,2.431,2.431,2.432,2.432,2.432,2.432,2.433,2.433,2.437,2.436,2.437,2.439,2.44,2.44,2.445,2.447,2.447,2.449,2.45,2.45,2.45,2.45,2.457,2.458,2.46,2.46,2.467,2.47,2.471,2.474,2.477,2.488,2.488,2.489,2.49,2.501,2.502,2.503,2.512,2.518,2.518,2.518,1.131,1.118,1.118,1.118,1.126,1.13,1.134,2.564,2.57,2.581,2.581,2.582,2.588,2.596,2.6,2.609,2.618,2.619,2.625,2.632,2.639,2.64,2.645,2.657,2.661,2.673,2.675,2.694,2.699,2.705,2.711,2.724,2.735,2.739,2.741,2.76,2.77,2.773,2.789,2.798,2.806,2.812,2.817,2.834,2.854,2.869,2.871,2.873,2.892,2.897,2.912,2.919,2.945,2.955,2.955,2.961,2.968,2.997,3.005,3.018,3.034,3.05,3.062,3.074,3.09,3.1,3.112,3.126,3.146,3.148,3.174,3.193,3.2,3.223,3.229,3.248,3.265,3.293,3.305,3.324,3.343,3.365,3.384,3.385,3.421,3.445,3.456,3.474,3.492,3.517,3.539,3.561,3.598,3.602,3.629,3.658,3.689,3.714,3.73,3.766,3.795,3.823,3.849,3.877,3.916,3.939,3.99,4.045,4.085,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.26,3.26,3.244,3.233,3.224,3.22,3.207,3.205,3.199,3.19,3.178,3.17,3.169,3.149,3.145,3.136,3.129,3.121,3.121,3.105,3.103,3.094,3.094,3.092,3.089,3.068,3.066,3.066,3.064,3.047,3.043,3.036,3.026,3.021,3.02,3.017,3.011,3.011,3.009,3.001,2.996,2.989,2.988,2.988,2.98,2.979,2.973,2.973,2.973,2.967,2.961,2.958,2.958,2.957,2.958,2.962,2.962,2.961,2.961,2.96,2.948,2.948,2.947,2.944,2.939,2.938,2.938,2.939,2.938,2.943,2.943,2.941,2.936,2.936,2.93,2.93,2.93,2.939,2.939,2.939,2.939,2.943,2.943,2.944,2.946,2.95,2.953,2.953,2.953,2.953,2.955,2.955,2.96,2.963,2.963,2.967,2.967,2.974,2.974,2.978,2.974,2.982,2.986,2.986,2.989,2.994,2.996,2.997,3.005,3.01,3.013,3.018,3.031,3.033,3.037,3.041,3.042,3.049,3.05,3.053,3.057,3.057,3.066,3.066,3.073,3.088,3.088,3.091,3.095,3.1,3.102,3.118,3.126,3.132,3.133,3.134,3.135,3.15,3.155,3.162,3.167,3.185,3.188,3.189,3.197,3.206,3.213,3.225,3.23,3.244,3.703,3.757,3.772,3.776,3.789,3.806,3.818,3.819,3.841,3.848,3.864,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 45.86} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.164061}
SEN {Time 45.8641} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.207} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 6.0706} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.699} {Name Sonar15 Range 1.0414}
SEN {Time 45.9074} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.195,0.195,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0.009,0.009,0.009,3.131,3.126,3.125,3.121,3.119,3.116,3.108,3.106,3.105,3.096,3.094,3.091,3.091,3.085,3.085,3.08,3.08,3.077,3.077,3.07,3.07,3.07,3.065,3.065,3.058,0.158,0.155,0.155,0.151,0.151,0.15,0.151,0.151,0.151,0.153,0.153,0.155,0.158,0.276,3.575,3.575,3.579,3.576,3.576,3.586,3.586,3.576,0.168,0.168,0.165,0.165,0.165,0.165,0.165,0.172,0.382,3.594,3.596,3.597,3.609,3.61,3.61,3.611,3.614,3.619,3.621,3.628,3.628,3.631,3.631,3.642,3.646,3.645,3.646,3.65,3.657,3.657,3.664,3.671,3.679,3.683,3.686,3.697,3.698,3.701,3.703,3.707,3.727,3.727,3.733,3.733,3.74,3.751,3.754,3.768,3.777,3.778,3.783,3.795,3.798,3.804,3.821,3.831,3.831,3.837,3.859,3.86,3.865,3.879,3.883,3.898,3.911,3.918,3.93,3.937,3.958,3.961,3.969,3.977,4.006,4.008,4.024,4.026,4.051,4.082,4.082,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,3.97,3.948,0,3.851,3.825,3.775,3.731,3.714,3.692,3.678,3.646,3.624,3.598,3.587,3.561,3.53,3.52,3.487,3.475,3.445,3.43,3.401,3.376,3.367,3.341,3.326,3.302,3.283,3.27,3.254,3.231,3.228,3.199,3.189,3.172,3.156,3.148,3.134,3.111,3.105,3.09,3.077,3.066,3.044,3.033,3.02,3.008,2.997,2.986,2.976,2.97,2.955,2.94,2.926,2.916,2.901,2.89,2.88,2.874,2.868,2.855,2.853,2.841,2.832,2.821,2.815,2.806,2.792,2.777,2.772,2.754,2.751,2.75,2.738,2.729,2.729,2.721,2.705,1.16,1.157,1.155,1.154,1.15,1.15,1.15,2.63,2.63,2.63,2.623,2.61,2.609,2.603,2.591,2.584,2.572,2.571,2.569,2.567,2.562,2.56,2.546,2.536,2.536,2.536,2.53,2.522,2.517,2.517,2.517,2.511,2.51,2.503,2.497,2.492,2.491,2.485,2.483,2.48,2.477,2.476,2.473,2.471,2.471,2.468,2.466,2.458,2.457,2.457,2.457,2.454,2.45,2.45,2.445,2.444,2.443,2.438,2.438,2.438,2.438,2.438,2.435,2.432,2.43,2.428,2.428,2.428,2.43,2.43,2.435,2.435,2.434,2.435,2.435,2.436,2.437,2.437,2.437,2.44,2.438,2.441,2.443,2.441,2.445,2.45,2.45,2.451,2.451,2.452,2.455,2.457,2.464,2.466,2.466,2.467,2.47,2.47,2.475,2.479,2.483,2.485,2.489,2.497,2.5,2.501,2.501,2.502,2.502,2.502,2.5,1.117,1.117,1.117,1.12,1.131,1.136,1.136,2.573,2.575,2.575,2.575,2.577,2.578,2.596,2.596,2.606,2.606,2.615,2.627,2.63,2.645,2.645,2.646,2.66,2.673,2.686,2.686,2.687,2.705,2.706,2.712,2.721,2.734,2.747,2.749,2.758,2.765,2.777,2.782,2.796,2.799,2.815,2.826,2.833,2.848,2.855,2.864,2.877,2.888,2.898,2.913,2.923,2.929,2.948,2.959,2.976,2.978,2.985,3.011,3.018,3.033,3.045,3.063,3.076,3.085,3.105,3.113,3.123,3.145,3.152,3.175,3.199,3.203,3.222,3.235,3.256,3.275,3.292,3.306,3.326,3.338,3.364,3.376,3.395,3.424,3.44,3.455,3.481,3.501,3.52,3.548,3.565,3.592,3.616,3.643,3.66,3.697,3.72,3.739,3.759,3.784,3.821,3.863,3.883,3.902,3.948,3.984,4.013,4.044,4.09,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.252,3.239,3.235,3.226,3.22,3.207,3.204,3.197,3.184,3.176,3.165,3.163,3.153,3.145,3.131,3.129,3.129,3.121,3.11,3.103,3.094,3.088,3.085,3.08,3.074,3.055,3.054,3.051,3.048,3.043,3.039,3.032,3.027,3.024,3.02,3.02,3.016,3.003,3.002,2.997,2.995,2.991,2.984,2.975,2.973,2.969,2.963,2.96,2.956,2.956,2.955,2.955,2.953,2.95,2.95,2.963,2.949,2.945,2.945,2.945,2.938,2.939,2.939,2.939,2.936,2.936,2.933,2.933,2.935,2.933,2.933,2.935,2.933,2.927,2.928,2.928,2.928,2.935,2.936,2.936,2.938,2.94,2.94,2.94,2.94,2.941,2.941,2.941,2.941,2.95,2.95,2.95,2.95,2.95,2.951,2.955,2.964,2.968,2.968,2.969,2.969,2.974,2.982,2.983,2.984,2.984,2.992,2.998,2.998,3,3.009,3.011,3.013,3.018,3.025,3.029,3.037,3.044,3.047,3.047,3.051,3.056,3.056,3.061,3.068,3.078,3.078,3.079,3.081,3.093,3.097,3.1,3.106,3.115,3.118,3.123,3.132,3.134,3.135,3.148,3.159,3.181,3.182,3.188,3.188,3.191,3.2,3.21,3.21,3.218,3.225,3.745,3.757,3.767,3.769,3.794,3.795,3.829,3.833,3.854,3.86,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.07} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.221657}
SEN {Time 46.0681} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.207} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 6.0706} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.6764} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.6576} {Name Sonar14 Range 5.715} {Name Sonar15 Range 1.0414}
SEN {Time 46.1108} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.14,3.139,3.137,3.127,3.126,3.12,3.12,3.109,3.107,3.105,3.105,3.099,3.095,3.092,3.088,3.087,3.087,3.075,3.073,3.073,3.071,3.069,3.066,3.066,3.066,3.068,3.074,3.074,3.074,3.066,3.066,3.064,3.062,0.159,0.151,0.144,0.144,0.144,0.144,0.143,0.145,0.151,0.145,0.151,0.153,0.156,0.161,0.278,3.578,3.586,3.586,3.581,3.581,3.586,3.581,3.58,0.161,0.161,0.161,0.161,0.162,0.162,0.162,0.167,0.396,3.62,3.623,3.627,3.627,3.628,3.628,3.648,3.649,3.653,3.657,3.66,3.663,3.677,3.677,3.679,3.684,3.691,3.698,3.707,3.717,3.722,3.729,3.736,3.742,3.747,3.747,3.752,3.753,3.753,3.767,3.769,3.786,3.791,3.801,3.81,3.817,3.822,3.829,3.833,3.844,3.85,3.872,3.873,3.898,3.899,3.905,3.911,3.921,3.938,3.954,3.959,3.964,3.981,3.988,4.009,4.016,4.028,4.046,4.06,4.071,4.085,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,4.016,3.954,3.954,3.928,3.868,3.834,3.803,3.779,3.739,3.71,3.685,3.671,3.641,3.625,3.587,3.571,3.547,3.538,3.512,3.481,3.456,3.442,3.417,3.402,3.383,3.356,3.356,3.329,3.311,3.289,3.281,3.254,3.233,3.229,3.21,3.189,3.174,3.15,3.138,3.129,3.099,3.099,3.09,3.07,3.053,3.044,3.033,3.025,3.009,3.003,2.987,2.977,2.965,2.954,2.939,2.927,2.927,2.908,2.895,2.879,2.878,2.862,2.854,2.846,2.844,2.826,2.817,2.799,2.797,2.787,2.786,2.773,2.756,2.755,2.749,2.743,2.743,2.728,2.714,1.167,1.161,1.159,1.157,1.145,1.145,1.145,2.637,2.637,2.637,2.627,2.619,2.619,2.615,2.603,2.595,2.59,2.587,2.581,2.569,2.569,2.564,2.556,2.555,2.541,2.541,2.539,2.536,2.528,2.518,2.517,2.51,2.504,2.501,2.5,2.492,2.491,2.49,2.489,2.484,2.479,2.479,2.472,2.471,2.471,2.461,2.459,2.458,2.457,2.456,2.454,2.454,2.454,2.454,2.448,2.447,2.447,2.443,2.443,2.438,2.442,2.438,2.437,2.438,2.435,2.433,2.435,2.439,2.436,2.436,2.436,2.432,2.432,2.432,2.432,2.435,2.435,2.437,2.435,2.438,2.438,2.438,2.441,2.447,2.447,2.447,2.448,2.449,2.451,2.455,2.455,2.457,2.457,2.461,2.463,2.467,2.467,2.47,2.472,2.473,2.478,2.485,2.489,2.492,2.492,2.498,2.501,2.501,2.501,2.501,1.123,1.121,1.121,1.123,1.123,1.127,1.132,1.132,2.554,2.571,2.573,2.573,2.575,2.584,2.585,2.599,2.602,2.609,2.618,2.623,2.628,2.628,2.645,2.645,2.649,2.668,2.669,2.67,2.682,2.701,2.706,2.716,2.717,2.727,2.733,2.748,2.751,2.755,2.77,2.778,2.79,2.803,2.804,2.81,2.825,2.836,2.846,2.854,2.875,2.876,2.882,2.905,2.915,2.926,2.941,2.942,2.955,2.975,2.977,2.992,3.009,3.025,3.034,3.041,3.06,3.073,3.087,3.101,3.108,3.129,3.141,3.159,3.178,3.201,3.206,3.214,3.251,3.252,3.271,3.286,3.309,3.327,3.332,3.359,3.389,3.399,3.421,3.449,3.457,3.482,3.501,3.538,3.553,3.569,3.601,3.634,3.646,3.666,3.697,3.71,3.746,3.782,3.804,3.843,3.849,3.891,3.948,3.988,4.017,4.017,4.057,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.246,3.239,3.229,3.221,3.217,3.203,3.198,3.182,3.181,3.168,3.162,3.149,3.137,3.134,3.124,3.117,3.117,3.112,3.109,3.093,3.088,3.086,3.077,3.071,3.061,3.061,3.056,3.046,3.041,3.035,3.029,3.022,3.02,3.015,3.013,3.006,3.002,3.001,2.99,2.981,2.976,2.975,2.975,2.975,2.974,2.965,2.962,2.955,2.955,2.955,2.953,2.949,2.948,2.948,2.948,2.948,2.948,2.948,2.936,2.932,2.932,2.932,2.929,2.929,2.923,2.923,2.924,2.925,2.925,2.925,2.925,2.929,2.921,2.921,2.921,2.922,2.921,2.922,2.924,2.922,2.926,2.926,2.923,2.923,2.923,2.923,2.925,2.939,2.941,2.943,2.943,2.945,2.946,2.949,2.95,2.95,2.955,2.96,2.961,2.964,2.964,2.966,2.969,2.975,2.979,2.984,2.984,2.987,2.992,3,3.008,3.01,3.01,3.012,3.018,3.024,3.025,3.033,3.035,3.035,3.039,3.043,3.043,3.047,3.056,3.063,3.064,3.082,3.082,3.083,3.089,3.09,3.096,3.098,3.118,3.123,3.126,3.132,3.139,3.141,3.156,3.156,3.171,3.179,3.18,3.192,3.194,3.205,3.205,3.209,3.222,3.74,3.763,3.764,3.777,3.794,3.816,3.819,3.828,3.846,3.847,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.27} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.280998}
SEN {Time 46.272} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 5.207} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.7592} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.6764} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.6576} {Name Sonar14 Range 5.715} {Name Sonar15 Range 2.3368}
SEN {Time 46.3114} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.191,0.191,0,0,0,0,0,0,0,3.15,3.141,3.138,3.137,3.125,3.125,3.122,3.122,3.121,3.111,3.104,3.104,3.102,3.102,3.1,3.098,3.095,3.088,3.086,3.085,3.082,3.078,3.071,3.071,3.071,3.071,3.071,3.071,3.065,3.065,3.067,3.067,3.067,3.069,3.581,3.604,3.604,3.605,3.604,3.604,3.591,3.498,0.173,0.153,0.152,0.152,0.152,0.153,0.153,0.153,0.15,0.15,0.15,0.158,0.159,0.165,0.291,3.598,3.61,3.614,3.614,3.615,3.615,3.614,3.601,0.163,0.158,0.157,0.157,0.158,0.155,0.155,0.164,0.41,3.65,3.652,3.676,3.678,3.682,3.682,3.69,3.699,3.706,3.71,3.712,3.721,3.723,3.734,3.742,3.748,3.749,3.764,3.768,3.779,3.783,3.79,3.796,3.806,3.818,3.829,3.838,3.838,3.841,3.846,3.848,3.868,3.871,3.888,3.893,3.906,3.918,3.935,3.938,3.942,3.961,3.963,3.981,3.997,3.998,4.014,4.018,4.044,4.049,4.073,4.076,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,4.09,4.09,0.007,3.975,3.938,3.89,3.86,3.832,3.801,3.775,3.759,3.725,3.696,3.683,3.634,3.625,3.597,3.577,3.551,3.53,3.515,3.469,3.459,3.429,3.4,3.4,3.374,3.366,3.338,3.318,3.307,3.286,3.273,3.26,3.231,3.222,3.209,3.2,3.17,3.16,3.139,3.137,3.103,3.101,3.081,3.076,3.06,3.041,3.023,3.015,2.999,2.991,2.987,2.973,2.959,2.949,2.933,2.923,2.912,2.903,2.89,2.889,2.872,2.867,2.861,2.842,2.829,2.828,2.813,2.8,2.793,2.787,2.775,2.771,2.754,2.752,2.743,2.743,2.731,2.723,1.177,1.167,1.161,1.155,1.153,1.153,1.153,1.189,2.636,2.638,2.638,2.636,2.628,2.616,2.611,2.603,2.599,2.596,2.588,2.581,2.576,2.575,2.56,2.557,2.552,2.551,2.545,2.539,2.536,2.533,2.528,2.52,2.518,2.508,2.503,2.501,2.499,2.497,2.497,2.487,2.483,2.482,2.479,2.479,2.476,2.472,2.464,2.461,2.46,2.457,2.457,2.457,2.457,2.455,2.454,2.45,2.446,2.444,2.443,2.443,2.442,2.44,2.442,2.442,2.437,2.437,2.437,2.437,2.437,2.434,2.437,2.437,2.436,2.437,2.437,2.437,2.436,2.437,2.434,2.434,2.439,2.439,2.44,2.442,2.442,2.442,2.442,2.442,2.448,2.452,2.452,2.452,2.456,2.457,2.459,2.465,2.468,2.476,2.478,2.478,2.478,2.479,2.482,2.486,2.49,2.497,2.498,2.502,2.502,2.502,1.112,1.109,1.109,1.109,1.112,1.121,1.121,2.55,2.554,2.559,2.559,2.564,2.564,2.578,2.581,2.594,2.595,2.604,2.606,2.608,2.626,2.631,2.638,2.643,2.653,2.655,2.66,2.673,2.685,2.685,2.687,2.7,2.712,2.716,2.732,2.736,2.737,2.754,2.769,2.776,2.779,2.795,2.806,2.811,2.818,2.832,2.836,2.852,2.865,2.87,2.875,2.89,2.9,2.916,2.927,2.939,2.943,2.972,2.977,2.979,2.995,3.014,3.022,3.04,3.05,3.057,3.07,3.089,3.1,3.118,3.122,3.145,3.163,3.182,3.197,3.207,3.223,3.247,3.251,3.259,3.283,3.307,3.331,3.349,3.372,3.385,3.401,3.416,3.436,3.463,3.487,3.51,3.525,3.547,3.58,3.593,3.62,3.659,3.674,3.694,3.72,3.748,3.772,3.818,3.829,3.871,3.888,3.926,3.943,3.999,4.026,4.075,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.251,3.246,3.233,3.231,3.211,3.207,3.19,3.186,3.178,3.169,3.154,3.147,3.144,3.139,3.137,3.124,3.115,3.109,3.108,3.098,3.082,3.082,3.07,3.063,3.061,3.055,3.045,3.041,3.037,3.028,3.027,3.027,3.025,3.006,3.004,3.002,3.001,2.996,2.994,2.992,2.986,2.98,2.97,2.969,2.969,2.955,2.955,2.954,2.954,2.953,2.942,2.936,2.935,2.933,2.933,2.933,2.939,2.939,2.939,2.929,2.928,2.925,2.921,2.921,2.919,2.919,2.919,2.916,2.916,2.916,2.916,2.916,2.915,2.916,2.916,2.916,2.916,2.916,2.921,2.912,2.908,2.908,2.919,2.919,2.924,2.925,2.927,2.928,2.931,2.933,2.935,2.935,2.938,2.942,2.942,2.942,2.944,2.944,2.954,2.954,2.956,2.958,2.963,2.963,2.964,2.969,2.976,2.984,2.985,2.986,2.994,2.994,3.001,3.007,3.007,3.009,3.014,3.023,3.029,3.036,3.036,3.039,3.042,3.045,3.044,3.045,3.055,3.068,3.069,3.071,3.075,3.08,3.086,3.099,3.103,3.103,3.111,3.123,3.127,3.133,3.138,3.14,3.14,3.157,3.174,3.176,3.184,3.191,3.199,3.199,3.211,3.217,3.739,3.739,3.751,3.761,3.775,3.797,3.805,3.818,3.837,3.844,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.47} {Type Odometry} {Name Odometry} {Pose 0.000000,1.000000,0.336849}
SEN {Time 46.466} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.6764} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 3.6576} {Name Sonar14 Range 5.715} {Name Sonar15 Range 2.3368}
SEN {Time 46.5034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,3.137,3.135,3.109,3.104,3.104,3.102,3.103,3.102,3.1,3.097,3.097,3.092,3.091,3.087,3.087,3.081,3.08,3.077,3.077,3.074,3.074,3.076,3.08,3.076,3.076,3.08,3.087,3.606,3.613,3.613,3.61,3.606,3.608,3.608,3.609,3.609,3.613,3.613,3.612,3.612,3.603,3.603,3.603,3.601,0.166,0.153,0.151,0.151,0.151,0.151,0.15,0.151,0.156,0.149,0.153,0.153,0.153,0.153,0.305,3.619,3.63,3.638,3.641,3.641,0,0,0,0.163,0.163,0.162,0.163,0.162,0.162,0.162,0.163,0.421,3.71,3.716,3.739,3.751,3.752,3.753,3.764,3.77,3.77,3.782,3.782,3.796,3.802,3.808,3.812,3.826,3.832,3.836,3.847,3.86,3.865,3.872,3.881,3.907,3.908,3.912,3.919,3.933,3.938,3.956,3.964,3.968,3.993,4.005,4.013,4.025,4.033,4.051,4.064,4.065,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.847,3.793,3.768,3.753,3.713,3.69,3.661,3.643,3.626,3.595,3.588,3.548,3.527,3.507,3.479,3.473,3.431,3.416,3.404,3.375,3.342,3.329,3.323,3.296,3.281,3.254,3.236,3.233,3.206,3.195,3.185,3.174,3.143,3.133,3.116,3.105,3.095,3.081,3.068,3.057,3.043,3.022,3.019,3.008,2.995,2.974,2.965,2.954,2.942,2.928,2.92,2.909,2.896,2.886,2.877,2.876,2.862,2.84,2.828,2.825,2.824,2.82,2.802,2.791,2.787,2.765,2.763,2.758,2.745,2.745,2.739,2.726,1.171,1.171,1.164,1.159,1.159,1.159,1.16,2.662,2.662,2.662,2.642,2.637,2.635,2.63,2.629,2.626,2.607,2.602,2.601,2.592,2.59,2.581,2.571,2.57,2.558,2.556,2.549,2.548,2.544,2.544,2.541,2.536,2.523,2.519,2.512,2.509,2.508,2.508,2.506,2.494,2.492,2.487,2.484,2.483,2.479,2.476,2.474,2.467,2.466,2.464,2.463,2.461,2.458,2.457,2.457,2.446,2.445,2.443,2.443,2.443,2.443,2.442,2.442,2.441,2.44,2.439,2.436,2.436,2.436,2.436,2.438,2.441,2.441,2.441,2.439,2.438,2.438,2.438,2.438,2.436,2.442,2.442,2.442,2.447,2.451,2.451,2.455,2.455,2.455,2.455,2.455,2.455,2.455,2.455,2.465,2.468,2.47,2.471,2.473,2.476,2.476,2.481,2.483,2.487,2.489,2.5,2.503,2.503,2.503,2.503,1.129,1.112,1.112,1.112,1.118,1.123,1.126,2.545,2.554,2.56,2.56,2.561,2.571,2.576,2.584,2.59,2.591,2.602,2.602,2.603,2.616,2.62,2.637,2.64,2.651,2.654,2.66,2.66,2.666,2.68,2.692,2.698,2.7,2.713,2.722,2.728,2.737,2.746,2.757,2.767,2.777,2.786,2.793,2.802,2.812,2.828,2.829,2.838,2.851,2.871,2.874,2.882,2.899,2.91,2.921,2.928,2.941,2.952,2.965,2.971,2.978,2.998,3.006,3.026,3.043,3.045,3.061,3.073,3.088,3.103,3.12,3.132,3.146,3.167,3.171,3.192,3.199,3.231,3.233,3.257,3.273,3.29,3.311,3.329,3.349,3.359,3.392,3.409,3.431,3.431,3.469,3.482,3.516,3.538,3.55,3.578,3.608,3.63,3.643,3.676,3.702,3.725,3.75,3.771,3.816,3.84,3.874,3.923,3.938,4.035,4.066,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.256,3.244,3.234,3.225,3.214,3.204,3.203,3.2,3.178,3.164,3.163,3.158,3.145,3.129,3.128,3.121,3.105,3.102,3.092,3.088,3.083,3.075,3.069,3.067,3.062,3.059,3.051,3.04,3.031,3.031,3.029,3.013,3.011,3.006,2.999,2.994,2.99,2.99,2.988,2.981,2.978,2.978,2.971,2.961,2.961,2.96,2.959,2.955,2.95,2.949,2.949,2.945,2.936,2.932,2.929,2.929,2.929,2.926,2.926,2.923,2.923,2.923,2.923,2.923,2.92,2.92,2.919,2.911,2.911,2.917,2.917,2.917,2.917,2.916,2.91,2.911,2.91,2.91,2.91,2.91,2.91,2.908,2.908,2.908,2.908,2.913,2.914,2.915,2.915,2.917,2.923,2.925,2.933,2.933,2.937,2.937,2.938,2.938,2.942,2.943,2.944,2.945,2.95,2.957,2.957,2.96,2.963,2.966,2.966,2.972,2.979,2.988,2.99,2.992,2.993,2.998,2.998,3.007,3.01,3.027,3.027,3.028,3.029,3.032,3.035,3.037,3.04,3.048,3.051,3.061,3.061,3.07,3.076,3.082,3.087,3.088,3.101,3.109,3.112,3.114,3.114,3.127,3.131,3.138,3.15,3.166,3.168,3.177,3.188,3.191,3.191,3.197,3.202,3.74,3.75,3.753,3.753,3.763,3.782,3.8,3.812,3.816,3.833,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,3.815,3.764,3.764,3.764,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 46.66} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.394444}
SEN {Time 46.6611} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.8702} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 2.3368}
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SEN {Time 46.86} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.453786}
SEN {Time 46.8638} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.667} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.8702} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 0.9906}
SEN {Time 46.9069} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,3.102,3.092,3.09,3.084,3.084,3.088,3.09,3.091,3.616,3.636,3.636,3.631,3.631,3.631,3.625,3.623,3.622,3.622,3.618,3.622,3.622,3.622,3.623,3.63,3.631,3.631,3.631,3.631,3.631,3.637,3.637,3.637,3.64,3.643,3.643,3.651,3.653,3.653,3.654,3.654,3.654,3.654,3.654,3.649,3.544,0.154,0.153,0.153,0.147,0.153,0.153,0.153,0.153,0.153,0.152,0.152,0.152,0.152,0.154,0.339,3.737,0.007,3.757,3.757,0,0,0,0,0.163,0.16,0.157,0.157,0.157,0.159,0.162,0.172,3.871,3.881,3.9,3.896,3.896,3.9,3.917,3.92,3.922,3.94,3.952,3.969,3.978,4.025,4.029,4.029,4.035,4.036,4.042,4.074,4.078,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.75,3.715,3.712,3.669,3.636,3.634,3.597,3.588,3.57,3.535,3.513,3.501,3.47,3.454,3.444,3.396,3.39,3.371,3.362,3.337,3.333,3.303,3.289,3.258,3.243,3.231,3.212,3.181,3.175,3.172,3.143,3.134,3.114,3.098,3.086,3.079,3.056,3.045,3.036,3.011,3.009,2.996,2.972,2.971,2.959,2.948,2.927,2.919,2.91,2.908,2.895,2.884,2.87,2.869,2.855,2.852,2.842,2.824,2.819,2.807,2.8,2.796,2.782,2.767,2.765,2.765,2.763,2.754,1.173,1.17,1.169,1.165,1.159,1.159,1.159,2.664,2.664,2.664,2.664,2.645,2.636,2.634,2.631,2.623,2.621,2.616,2.603,2.599,2.597,2.594,2.59,2.572,2.569,2.569,2.565,2.556,2.555,2.549,2.544,2.543,2.537,2.537,2.534,2.529,2.523,2.519,2.519,2.511,2.506,2.501,2.497,2.495,2.494,2.49,2.485,2.484,2.481,2.479,2.477,2.476,2.472,2.466,2.462,2.464,2.462,2.462,2.46,2.459,2.453,2.453,2.45,2.45,2.448,2.448,2.442,2.442,2.438,2.438,2.438,2.438,2.437,2.438,2.438,2.442,2.443,2.447,2.448,2.448,2.448,2.448,2.448,2.448,2.448,2.449,2.455,2.455,2.456,2.456,2.456,2.456,2.459,2.462,2.463,2.471,2.471,2.475,2.477,2.479,2.481,2.485,2.486,2.491,2.492,2.493,2.499,2.505,2.505,2.499,1.112,1.112,1.112,1.119,1.119,1.123,2.547,2.556,2.558,2.558,2.558,2.561,2.565,2.578,2.583,2.589,2.594,2.594,2.597,2.612,2.62,2.628,2.629,2.633,2.65,2.652,2.659,2.666,2.667,2.68,2.682,2.689,2.701,2.711,2.719,2.726,2.733,2.742,2.751,2.758,2.766,2.774,2.783,2.789,2.808,2.812,2.824,2.838,2.84,2.854,2.871,2.882,2.885,2.901,2.913,2.925,2.938,2.953,2.959,2.967,2.99,3,3.009,3.018,3.022,3.041,3.055,3.07,3.089,3.105,3.114,3.127,3.14,3.151,3.169,3.192,3.197,3.215,3.219,3.252,3.268,3.278,3.29,3.313,3.326,3.354,3.361,3.396,3.41,3.422,3.451,3.465,3.502,3.51,3.536,3.566,3.576,3.602,3.625,3.653,3.675,3.707,3.732,3.749,3.779,3.807,3.839,3.862,3.886,3.957,4.002,4.017,4.017,4.075,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.251,3.225,3.22,3.214,3.204,3.195,3.183,3.168,3.165,3.161,3.148,3.139,3.136,3.12,3.115,3.111,3.103,3.099,3.093,3.077,3.074,3.071,3.061,3.051,3.044,3.041,3.032,3.028,3.027,3.017,3.011,3.007,3.006,2.997,2.994,2.988,2.983,2.981,2.975,2.965,2.961,2.958,2.958,2.955,2.952,2.946,2.944,2.944,2.943,2.934,2.931,2.928,2.913,2.913,2.913,2.919,2.92,2.92,2.92,2.917,2.914,2.913,2.908,2.904,2.903,2.903,2.903,2.907,2.907,2.907,2.896,2.896,2.896,2.897,2.897,2.9,2.898,2.898,2.898,2.898,2.897,2.897,2.897,2.898,2.898,2.905,2.906,2.907,2.907,2.912,2.913,2.912,2.913,2.913,2.918,2.918,2.919,2.919,2.924,2.929,2.933,2.936,2.937,2.942,2.942,2.946,2.953,2.954,2.956,2.958,2.96,2.965,2.973,2.981,2.983,2.989,2.991,3.002,3.002,3.003,3.007,3.003,3.013,3.016,3.016,3.025,3.026,3.041,3.041,3.043,3.046,3.046,3.055,3.058,3.067,3.074,3.092,3.094,3.099,3.099,3.101,3.101,3.121,3.125,3.133,3.145,3.151,3.156,3.167,3.171,3.171,3.178,3.187,3.707,3.722,3.722,3.743,3.759,3.764,3.777,3.782,3.797,3.805,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.856,3.824,0,0.009,3.76,0,0.007,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.07} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.520108}
SEN {Time 47.067} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.429} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.667} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.3528} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.8702} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 0.9906}
SEN {Time 47.0994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.647,3.646,3.639,3.638,3.638,3.637,3.633,3.633,3.633,3.631,3.631,3.631,3.637,3.637,3.638,3.638,3.638,3.637,3.638,3.638,3.64,3.64,3.65,3.65,3.654,3.654,3.654,3.654,3.669,3.671,3.674,3.684,3.684,3.685,3.692,3.693,3.695,3.696,3.697,3.697,3.702,3.702,3.695,0.163,0.153,0.15,0.15,0.152,0.151,0.151,0.152,0.151,0.151,0.151,0.154,0.154,0.157,0.341,3.813,0,0.007,0,0,0,0,0,0.166,0.159,0.159,0.159,0.159,0.163,0.169,0.171,0,0,0,4.022,4.022,4.022,4.05,4.056,4.056,4.085,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.877,3.877,0.007,0,0.007,3.744,3.682,3.682,3.682,3.653,3.653,3.569,3.547,3.523,3.509,3.474,3.454,3.445,3.404,3.383,3.377,3.352,3.341,3.306,3.304,3.284,3.269,3.244,3.233,3.213,3.193,3.184,3.16,3.156,3.14,3.112,3.104,3.102,3.075,3.064,3.051,3.03,3.028,3.016,2.993,2.991,2.973,2.965,2.953,2.938,2.925,2.917,2.911,2.892,2.889,2.87,2.869,2.861,2.848,2.843,2.829,2.821,2.804,2.801,2.782,2.779,2.774,2.767,2.762,2.725,1.179,1.176,1.172,1.168,1.16,1.16,1.16,2.675,2.675,2.675,2.657,2.657,2.645,2.642,2.641,2.631,2.629,2.619,2.616,2.605,2.601,2.595,2.594,2.588,2.577,2.576,2.569,2.565,2.564,2.564,2.558,2.556,2.543,2.537,2.536,2.53,2.523,2.523,2.523,2.515,2.515,2.511,2.509,2.508,2.501,2.5,2.498,2.498,2.491,2.489,2.486,2.486,2.477,2.475,2.475,2.472,2.472,2.472,2.463,2.463,2.464,2.46,2.46,2.458,2.453,2.453,2.453,2.453,2.452,2.451,2.451,2.451,2.45,2.45,2.452,2.443,2.445,2.45,2.45,2.445,2.45,2.451,2.454,2.454,2.454,2.457,2.457,2.457,2.456,2.459,2.46,2.46,2.466,2.467,2.468,2.474,2.476,2.476,2.476,2.479,2.483,2.493,2.494,2.496,2.499,2.501,2.501,2.503,2.503,2.503,1.117,1.116,1.116,1.117,1.117,1.123,1.126,2.557,2.558,2.565,2.565,2.569,2.57,2.572,2.575,2.576,2.589,2.596,2.6,2.602,2.618,2.624,2.627,2.636,2.64,2.65,2.657,2.667,2.668,2.679,2.681,2.686,2.691,2.706,2.719,2.72,2.733,2.744,2.746,2.756,2.761,2.769,2.78,2.792,2.802,2.805,2.805,2.831,2.841,2.847,2.871,2.874,2.889,2.898,2.9,2.916,2.92,2.935,2.943,2.954,2.977,2.981,2.994,3.014,3.025,3.026,3.039,3.066,3.071,3.096,3.106,3.126,3.134,3.148,3.155,3.176,3.189,3.203,3.225,3.244,3.26,3.279,3.293,3.309,3.331,3.332,3.355,3.388,3.401,3.411,3.432,3.454,3.479,3.499,3.53,3.546,3.574,3.592,3.621,3.635,3.663,3.679,3.717,3.741,3.763,3.784,3.828,3.84,3.879,3.9,3.937,3.975,4.01,4.037,4.084,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.213,3.212,3.199,3.183,3.183,3.176,3.167,3.15,3.145,3.133,3.127,3.121,3.112,3.098,3.092,3.084,3.077,3.07,3.064,3.06,3.058,3.044,3.04,3.037,3.026,3.024,3.024,3.019,3.003,3.001,3,2.997,2.986,2.984,2.983,2.977,2.97,2.969,2.964,2.964,2.96,2.96,2.95,2.939,2.938,2.93,2.924,2.923,2.922,2.921,2.918,2.918,2.918,2.92,2.92,2.92,2.92,2.906,2.903,2.903,2.902,2.902,2.897,2.897,2.897,2.897,2.897,2.897,2.897,2.897,2.897,2.895,2.895,2.895,2.895,2.895,2.899,2.891,2.894,2.899,2.899,2.894,2.899,2.9,2.903,2.904,2.904,2.908,2.909,2.91,2.909,2.91,2.91,2.91,2.914,2.918,2.918,2.925,2.929,2.93,2.93,2.932,2.937,2.948,2.951,2.952,2.954,2.955,2.955,2.964,2.966,2.973,2.975,2.978,2.985,2.995,2.996,2.997,3.001,3.007,3.008,3.01,3.015,3.019,3.02,3.026,3.038,3.038,3.04,3.05,3.051,3.057,3.066,3.068,3.084,3.084,3.086,3.087,3.087,3.103,3.106,3.122,3.126,3.133,3.143,3.151,3.156,3.175,3.175,3.178,3.189,3.705,3.707,3.729,3.737,3.753,3.759,3.772,3.777,3.796,3.812,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,3.668,3.668,3.668,3.686,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.25} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.568977}
SEN {Time 47.2538} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.7686} {Name Sonar3 Range 2.667} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.3528} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 4.953} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 0.9906}
SEN {Time 47.2994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,3.648,3.642,3.642,3.642,3.644,3.645,3.65,3.651,3.645,3.651,3.651,3.651,3.651,3.651,3.659,3.659,3.665,3.672,3.669,3.673,3.681,3.681,3.683,3.683,3.689,3.689,3.697,3.701,3.703,3.704,3.716,3.722,3.723,3.732,3.734,3.745,3.748,3.75,3.75,3.761,3.761,3.761,0.154,0.151,0.15,0.15,0.149,0.149,0.148,0.148,0.148,0.149,0.149,0.15,0.154,0.155,0.381,0,0,0,0,0,0,0,0,0.17,0.163,0.157,0.157,0.157,0.157,0.166,0.168,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0.009,3.853,3.841,3.744,3.741,3.714,3.679,3.656,3.655,3.611,3.6,3.575,3.543,3.525,3.506,3.477,3.471,3.433,3.418,3.385,3.375,3.359,3.34,3.314,3.297,3.28,3.267,3.248,3.225,3.213,3.196,3.191,3.162,3.144,3.139,3.12,3.113,3.085,3.067,3.058,3.052,3.044,3.025,3.018,3.009,2.988,2.976,2.969,2.957,2.949,2.932,2.923,2.906,2.902,2.886,2.883,2.879,2.862,2.849,2.84,2.832,2.817,2.807,2.792,2.788,2.785,2.774,2.772,2.753,1.182,1.181,1.177,1.176,1.176,1.166,1.166,1.166,2.674,2.676,2.676,2.674,2.657,2.656,2.645,2.635,2.627,2.624,2.623,2.604,2.6,2.6,2.588,2.587,2.583,2.579,2.568,2.566,2.565,2.562,2.56,2.559,2.552,2.546,2.546,2.534,2.529,2.528,2.528,2.528,2.518,2.514,2.514,2.513,2.501,2.501,2.5,2.5,2.5,2.5,2.488,2.487,2.487,2.483,2.483,2.483,2.483,2.473,2.473,2.472,2.465,2.463,2.463,2.463,2.463,2.463,2.463,2.461,2.461,2.454,2.454,2.453,2.453,2.454,2.453,2.453,2.452,2.453,2.45,2.449,2.449,2.45,2.45,2.45,2.452,2.456,2.456,2.454,2.456,2.456,2.463,2.463,2.464,2.464,2.471,2.473,2.473,2.473,2.478,2.479,2.482,2.485,2.488,2.495,2.495,2.495,2.499,2.499,2.499,1.123,1.123,1.123,1.124,1.128,1.13,1.132,2.547,2.547,2.549,2.549,2.558,2.563,2.569,2.569,2.571,2.59,2.592,2.596,2.597,2.604,2.616,2.619,2.622,2.635,2.639,2.639,2.657,2.662,2.663,2.677,2.686,2.686,2.696,2.701,2.712,2.724,2.728,2.733,2.743,2.749,2.753,2.772,2.774,2.784,2.79,2.807,2.818,2.818,2.83,2.848,2.854,2.866,2.88,2.888,2.904,2.911,2.918,2.94,2.943,2.944,2.978,2.985,2.988,3.012,3.017,3.034,3.039,3.057,3.064,3.077,3.093,3.104,3.122,3.135,3.147,3.175,3.181,3.202,3.216,3.23,3.255,3.277,3.287,3.296,3.31,3.338,3.352,3.371,3.395,3.411,3.441,3.461,3.481,3.492,3.517,3.54,3.564,3.576,3.608,3.627,3.641,3.671,3.697,3.731,3.744,3.784,3.81,3.84,3.863,3.889,3.993,4.018,4.059,4.059,4.059,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.218,3.215,3.207,3.201,3.177,3.174,3.164,3.154,3.153,3.143,3.134,3.127,3.119,3.107,3.094,3.092,3.092,3.083,3.07,3.067,3.058,3.054,3.049,3.035,3.029,3.027,3.018,3.012,3.012,3.007,2.996,2.989,2.988,2.981,2.98,2.978,2.977,2.967,2.96,2.954,2.954,2.944,2.943,2.943,2.934,2.928,2.928,2.928,2.928,2.928,2.927,2.927,2.913,2.91,2.91,2.913,2.908,2.908,2.897,2.897,2.897,2.895,2.895,2.897,2.894,2.893,2.892,2.888,2.886,2.884,2.886,2.886,2.887,2.89,2.89,2.887,2.887,2.886,2.886,2.892,2.893,2.892,2.892,2.893,2.892,2.892,2.895,2.895,2.895,2.896,2.898,2.908,2.909,2.909,2.911,2.912,2.911,2.92,2.921,2.922,2.922,2.923,2.927,2.933,2.936,2.939,2.948,2.951,2.952,2.954,2.957,2.962,2.965,2.969,2.976,2.976,2.978,2.984,2.994,2.996,2.999,3.006,3.006,3.006,3.006,3.02,3.027,3.028,3.034,3.035,3.037,3.049,3.051,3.052,3.062,3.071,3.074,3.078,3.078,3.092,3.097,3.11,3.12,3.126,3.133,3.135,3.138,3.156,3.157,3.16,3.168,3.184,3.65,3.701,3.708,3.732,3.739,3.751,3.761,3.764,3.788,3.811,3.814,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0.009,0.007,0.009,0,0,3.646,3.628,3.628,3.628,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.46} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.628319}
SEN {Time 47.4569} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 3.429} {Name Sonar2 Range 2.7686} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.3528} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.4638} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 4.953} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.0414}
SEN {Time 47.4994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,3.667,3.664,3.664,3.664,3.664,3.665,3.666,3.67,3.675,3.677,3.678,3.678,3.684,3.689,3.69,3.701,3.701,3.707,3.71,3.721,3.721,3.728,3.73,3.732,3.736,3.751,3.758,3.759,3.76,3.768,3.769,3.779,3.783,3.801,3.805,3.806,3.81,3.811,3.815,3.822,3.822,3.815,0.161,0.161,0.156,0.154,0.156,0.152,0.15,0.15,0.15,0.149,0.15,0.151,0.153,0.154,0,0,0,0,0,0,0,0,0,0.16,0.16,0.158,0.157,0.157,0.162,0.162,0.17,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.992,3.928,3.878,3.862,3.839,3.796,3.781,3.753,3.734,3.713,3.68,3.65,3.643,3.612,3.603,3.568,3.549,3.538,3.51,3.491,3.451,3.447,3.412,3.404,3.37,3.362,3.342,3.332,3.286,3.279,3.269,3.239,3.231,3.197,3.197,3.182,3.165,3.141,3.137,3.118,3.11,3.086,3.081,3.07,3.048,3.031,3.026,3.019,2.994,2.989,2.979,2.974,2.964,2.952,2.942,2.931,2.911,2.901,2.891,2.884,2.884,2.864,2.855,2.839,2.834,2.826,2.823,2.804,2.802,2.799,2.799,2.777,2.765,1.188,1.185,1.184,1.174,1.172,1.172,1.174,2.675,2.675,2.675,2.673,2.664,2.661,2.656,2.65,2.64,2.635,2.63,2.624,2.617,2.608,2.604,2.6,2.591,2.591,2.584,2.584,2.576,2.572,2.561,2.559,2.557,2.547,2.539,2.539,2.539,2.527,2.522,2.52,2.52,2.519,2.518,2.515,2.508,2.508,2.504,2.499,2.495,2.493,2.493,2.493,2.489,2.487,2.482,2.482,2.481,2.481,2.481,2.475,2.475,2.473,2.473,2.473,2.471,2.471,2.471,2.471,2.466,2.466,2.466,2.466,2.459,2.459,2.46,2.456,2.46,2.461,2.461,2.458,2.461,2.46,2.46,2.46,2.461,2.461,2.461,2.461,2.464,2.465,2.468,2.471,2.471,2.472,2.472,2.473,2.473,2.478,2.481,2.485,2.487,2.49,2.492,2.494,2.494,2.502,2.502,2.508,2.508,2.508,1.126,1.126,1.126,1.128,1.131,1.131,2.542,2.548,2.555,2.555,2.555,2.561,2.562,2.574,2.577,2.585,2.587,2.595,2.597,2.606,2.61,2.616,2.618,2.635,2.637,2.639,2.656,2.661,2.664,2.669,2.671,2.682,2.692,2.696,2.704,2.714,2.723,2.724,2.738,2.748,2.753,2.768,2.769,2.781,2.793,2.795,2.808,2.822,2.831,2.836,2.849,2.856,2.861,2.868,2.89,2.901,2.916,2.921,2.938,2.94,2.955,2.974,2.991,3.002,3.012,3.016,3.03,3.052,3.058,3.08,3.084,3.106,3.109,3.13,3.131,3.163,3.164,3.178,3.201,3.214,3.218,3.239,3.263,3.278,3.293,3.316,3.336,3.343,3.376,3.396,3.41,3.432,3.457,3.463,3.485,3.507,3.538,3.554,3.579,3.613,3.629,3.659,3.691,3.715,3.733,3.756,3.781,3.805,3.834,3.872,3.903,3.91,3.956,3.984,4.009,4.065,4.092,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.235,3.231,3.21,3.197,3.19,3.177,3.174,3.159,3.158,3.146,3.144,3.125,3.123,3.114,3.107,3.102,3.096,3.077,3.075,3.073,3.061,3.054,3.049,3.043,3.037,3.035,3.023,3.021,3.011,3.009,3.008,3.002,2.987,2.987,2.978,2.978,2.968,2.967,2.96,2.959,2.955,2.947,2.942,2.941,2.939,2.937,2.928,2.927,2.928,2.926,2.915,2.914,2.913,2.913,2.911,2.911,2.911,2.909,2.902,2.902,2.894,2.892,2.892,2.892,2.888,2.888,2.887,2.887,2.887,2.886,2.886,2.883,2.883,2.883,2.883,2.883,2.88,2.88,2.88,2.88,2.883,2.884,2.884,2.884,2.885,2.883,2.883,2.89,2.894,2.896,2.896,2.896,2.896,2.905,2.905,2.905,2.906,2.911,2.911,2.911,2.913,2.915,2.921,2.924,2.926,2.929,2.935,2.94,2.943,2.944,2.946,2.948,2.955,2.961,2.961,2.965,2.971,2.98,2.982,2.982,2.983,2.996,2.996,3.005,3.005,3.005,3.006,3.008,3.017,3.019,3.033,3.034,3.034,3.034,3.038,3.051,3.061,3.07,3.072,3.074,3.077,3.09,3.098,3.109,3.115,3.115,3.119,3.128,3.148,3.156,3.156,3.156,3.168,3.693,3.693,3.699,3.72,3.72,3.729,3.745,3.762,3.771,3.789,3.796,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.802,3.722,3.713,3.713,3.713,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0.007,0,1.443,1.443,1.441,1.44,1.438,1.437,1.437,1.432,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 47.66} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.692896}
SEN {Time 47.6609} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.7686} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 1.3716} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.4638} {Name Sonar12 Range 2.4892} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.0414}
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SEN {Time 47.92} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.767945}
SEN {Time 47.9248} {Type Sonar} {Name Sonar0 Range 4.2672} {Name Sonar1 Range 3.2004} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 1.3716} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.4892} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 1.0414}
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SEN {Time 48.15} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 48.1527} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.3716} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.127} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 3.5306} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 2.3368} {Name Sonar15 Range 1.0414}
SEN {Time 48.1954} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,3.771,3.771,3.771,3.782,3.782,3.788,3.801,3.811,3.811,3.825,3.825,3.828,3.829,3.84,3.848,3.85,3.853,3.876,3.881,3.89,3.891,3.897,3.91,3.911,3.936,3.937,3.953,3.954,3.972,3.978,4.001,4.005,4.009,4.012,4.042,4.056,4.066,4.07,4.095,0,0,0,0.153,0.153,0.153,0.152,0.148,0.148,0.148,0.148,0.149,0.149,0.149,0.149,0.153,0.154,0,0,0,0,0,0,0,0,0,0.161,0.159,0.159,0.159,0.161,0.163,0.167,0.174,0.369,3.623,3.623,3.623,3.62,3.598,3.561,3.544,3.522,3.486,3.481,3.471,3.442,3.423,3.407,3.379,3.365,3.33,3.325,3.301,3.293,3.273,3.254,3.232,3.23,3.213,3.202,3.178,3.159,3.147,3.138,3.119,3.1,3.092,3.069,3.061,3.061,3.028,3.028,3.009,3,2.994,2.976,2.957,2.955,2.944,2.939,2.929,2.909,2.897,2.897,2.879,2.877,2.874,2.852,2.843,2.837,2.822,2.818,2.815,2.815,2.798,2.787,1.207,1.205,1.202,1.196,1.196,1.202,1.213,2.707,2.707,2.707,2.706,2.698,2.69,2.681,2.668,2.662,2.661,2.65,2.65,2.628,2.628,2.624,2.621,2.618,2.604,2.603,2.592,2.586,2.581,2.574,2.566,2.565,2.561,2.556,2.552,2.545,2.544,2.541,2.541,2.534,2.528,2.521,2.518,2.514,2.515,2.514,2.512,2.506,2.506,2.506,2.5,2.495,2.495,2.49,2.486,2.486,2.487,2.479,2.478,2.478,2.477,2.477,2.475,2.475,2.473,2.477,2.471,2.471,2.471,2.471,2.468,2.468,2.468,2.47,2.468,2.47,2.472,2.473,2.472,2.473,2.473,2.477,2.477,2.477,2.477,2.476,2.476,2.482,2.482,2.482,2.482,2.486,2.492,2.492,2.494,2.496,2.494,2.497,2.499,2.499,2.5,2.501,2.501,2.507,2.508,2.512,2.512,2.512,1.13,1.13,1.13,1.13,1.131,1.134,2.547,2.548,2.554,2.554,2.561,2.569,2.574,2.574,2.576,2.577,2.586,2.588,2.591,2.598,2.599,2.604,2.611,2.617,2.618,2.636,2.644,2.649,2.656,2.66,2.676,2.678,2.679,2.695,2.699,2.706,2.707,2.726,2.726,2.742,2.742,2.748,2.762,2.772,2.772,2.785,2.802,2.811,2.814,2.825,2.838,2.848,2.863,2.87,2.87,2.89,2.897,2.905,2.917,2.924,2.937,2.951,2.957,2.97,2.992,2.994,3.013,3.027,3.035,3.044,3.054,3.073,3.088,3.1,3.115,3.125,3.141,3.165,3.175,3.182,3.204,3.214,3.23,3.25,3.273,3.277,3.301,3.321,3.342,3.355,3.375,3.399,3.405,3.438,3.449,3.474,3.49,3.508,3.541,3.56,3.573,3.595,3.617,3.652,3.661,3.684,3.7,3.743,3.773,3.797,3.817,3.853,3.868,3.922,3.955,3.99,4.016,4.067,4.077,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.27,3.266,3.248,3.244,3.223,3.22,3.206,3.197,3.191,3.181,3.169,3.155,3.155,3.142,3.14,3.13,3.121,3.108,3.102,3.092,3.08,3.079,3.07,3.06,3.056,3.051,3.045,3.041,3.034,3.03,3.009,3.004,3,3,2.99,2.99,2.989,2.98,2.976,2.963,2.96,2.957,2.954,2.953,2.945,2.941,2.935,2.932,2.93,2.928,2.926,2.915,2.913,2.912,2.911,2.911,2.907,2.899,2.897,2.897,2.897,2.901,2.901,2.901,2.889,2.883,2.881,2.881,2.876,2.875,2.873,2.872,2.868,2.866,2.866,2.866,2.868,2.87,2.87,2.868,2.866,2.863,2.863,2.866,2.866,2.866,2.869,2.872,2.872,2.872,2.873,2.87,2.87,2.874,2.877,2.877,2.877,2.877,2.877,2.891,2.891,2.893,2.893,2.893,2.893,2.901,2.902,2.902,2.907,2.907,2.908,2.914,2.923,2.93,2.935,2.936,2.943,2.949,2.945,2.949,2.952,2.957,2.96,2.966,2.967,2.98,2.982,2.988,2.989,2.989,2.989,2.991,2.995,3.003,3.011,3.011,3.019,3.029,3.029,3.038,3.039,3.039,3.039,3.041,3.047,3.061,3.067,3.077,3.084,3.103,3.103,3.118,3.122,3.125,3.129,3.144,3.152,3.162,3.162,3.68,3.697,3.702,3.702,3.705,3.714,3.74,3.748,3.754,3.777,3.786,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.93,3.93,3.891,3.891,0.007,0,3.795,3.715,3.695,3.661,3.651,3.651,3.62,3.62,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,1.44,1.438,1.438,1.438,1.434,1.433,1.429,1.419,1.411,1.405,1.405,1.404,1.404,1.401,1.398,1.397,1.397,1.397,1.395,1.389,1.389,1.389,1.389,1.391,1.4,1.4,1.41,1.427,1.429,1.472,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.35} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 48.3546} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.8448} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 3.5306} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 48.3954} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.78,3.773,3.773,3.78,3.781,3.793,3.808,3.811,3.814,3.82,3.82,3.823,3.83,3.836,3.84,3.854,3.862,3.873,3.882,3.888,3.905,3.913,3.919,3.925,3.937,3.944,3.952,3.952,3.968,3.975,3.99,4.004,4.006,4.022,4.034,4.05,4.065,4.078,4.085,0,0,0,0.154,0.153,0.15,0.149,0.149,0.149,0.149,0.149,0.15,0.153,0.155,0.155,0.155,0.155,0,0,0,0,0,0,0,0,0,0.166,0.161,0.161,0.164,0.164,0.164,0.166,0.167,0.366,3.647,3.647,3.647,3.621,3.595,3.584,3.553,3.516,3.501,3.477,3.46,3.441,3.43,3.393,3.39,3.36,3.341,3.31,3.309,3.278,3.275,3.255,3.228,3.215,3.209,3.194,3.172,3.158,3.145,3.137,3.115,3.106,3.095,3.085,3.063,3.057,3.044,3.029,3.018,2.998,2.994,2.981,2.961,2.959,2.943,2.938,2.924,2.906,2.905,2.898,2.883,2.87,2.861,2.858,2.847,2.832,2.829,2.826,2.814,2.814,2.802,2.797,1.202,1.2,1.193,1.193,1.193,1.193,1.214,2.712,2.712,2.712,2.7,2.694,2.689,2.678,2.668,2.657,2.652,2.644,2.643,2.634,2.631,2.624,2.623,2.609,2.603,2.602,2.592,2.585,2.582,2.576,2.574,2.562,2.56,2.557,2.556,2.552,2.544,2.542,2.541,2.533,2.529,2.527,2.524,2.524,2.524,2.521,2.514,2.509,2.503,2.498,2.498,2.493,2.491,2.49,2.489,2.487,2.487,2.482,2.48,2.477,2.474,2.474,2.474,2.474,2.474,2.474,2.474,2.473,2.47,2.468,2.464,2.463,2.464,2.465,2.462,2.465,2.466,2.47,2.47,2.474,2.476,2.47,2.476,2.476,2.478,2.478,2.478,2.478,2.479,2.481,2.484,2.485,2.485,2.484,2.489,2.488,2.486,2.488,2.496,2.496,2.503,2.503,2.506,2.509,2.512,2.512,2.512,2.512,1.13,1.13,1.13,1.133,1.138,1.139,2.551,2.551,2.554,2.554,2.56,2.561,2.565,2.566,2.576,2.581,2.586,2.588,2.59,2.594,2.609,2.61,2.611,2.62,2.62,2.63,2.641,2.644,2.649,2.658,2.669,2.672,2.677,2.698,2.699,2.718,2.721,2.721,2.732,2.737,2.748,2.757,2.758,2.772,2.782,2.793,2.794,2.804,2.814,2.822,2.826,2.842,2.857,2.864,2.875,2.877,2.892,2.909,2.918,2.921,2.94,2.961,2.976,2.982,2.982,3.002,3.004,3.02,3.035,3.045,3.057,3.07,3.093,3.095,3.116,3.12,3.148,3.164,3.172,3.182,3.204,3.213,3.231,3.254,3.267,3.283,3.297,3.324,3.335,3.354,3.374,3.39,3.403,3.432,3.457,3.466,3.496,3.517,3.521,3.553,3.557,3.593,3.621,3.644,3.674,3.682,3.703,3.737,3.764,3.792,3.819,3.843,3.88,3.912,3.965,3.985,4.017,4.057,4.086,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.276,3.264,3.245,3.239,3.23,3.215,3.202,3.202,3.184,3.178,3.172,3.153,3.145,3.142,3.141,3.126,3.12,3.107,3.102,3.096,3.089,3.08,3.079,3.073,3.061,3.05,3.05,3.031,3.029,3.02,3.013,3.006,3.002,2.996,2.994,2.992,2.987,2.979,2.974,2.961,2.961,2.959,2.953,2.949,2.945,2.941,2.939,2.931,2.93,2.927,2.923,2.921,2.913,2.913,2.911,2.908,2.905,2.9,2.898,2.898,2.898,2.905,2.905,2.905,2.882,2.874,2.874,2.877,2.868,2.874,2.877,2.875,2.875,2.875,2.875,2.871,2.869,2.869,2.867,2.867,2.867,2.867,2.867,2.867,2.863,2.869,2.869,2.873,2.873,2.874,2.874,2.874,2.878,2.878,2.878,2.879,2.882,2.88,2.882,2.888,2.892,2.892,2.892,2.892,2.896,2.896,2.897,2.901,2.901,2.905,2.907,2.911,2.92,2.92,2.932,2.934,2.941,2.943,2.946,2.947,2.949,2.96,2.965,2.967,2.971,2.971,2.982,2.984,2.985,2.985,2.988,2.992,2.999,3.006,3.01,3.014,3.023,3.028,3.03,3.03,3.035,3.04,3.045,3.049,3.062,3.062,3.063,3.079,3.092,3.102,3.102,3.121,3.122,3.123,3.127,3.143,3.147,3.149,3.168,3.656,3.683,3.699,3.703,3.707,3.723,3.736,3.75,3.757,3.759,3.788,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.979,3.958,3.869,3.869,3.826,3.807,3.751,3.722,3.683,3.657,3.645,3.645,3.608,3.608,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,1.446,1.441,1.434,1.434,1.434,1.434,1.428,1.425,1.416,1.415,1.408,1.404,1.396,1.392,1.391,1.391,1.389,1.391,1.391,1.391,1.391,1.393,1.395,1.397,1.4,1.401,1.404,1.422,1.433,1.475,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.55} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 48.5477} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.5306} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 48.5965} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.201,0.201,0,0,0,0,0,0,0,3.777,3.764,3.764,3.773,3.773,3.791,3.804,3.81,3.81,3.81,3.813,3.828,3.829,3.833,3.847,3.858,3.859,3.873,3.875,3.877,3.892,3.899,3.913,3.918,3.924,3.931,3.945,3.95,3.96,3.98,3.989,3.994,4.013,4.014,4.029,4.057,4.063,4.077,0,0,0,0,0.163,0.158,0.145,0.145,0.148,0.148,0.143,0.148,0.148,0.15,0.151,0.151,0.151,0.154,0,0,0,0,0,0,0,0,0,0.158,0.158,0.158,0.158,0.16,0.161,0.165,0.165,0.378,3.632,3.632,3.632,3.616,3.593,3.571,3.552,3.524,3.491,3.488,3.458,3.433,3.408,3.395,3.384,3.364,3.342,3.325,3.307,3.287,3.274,3.253,3.241,3.217,3.206,3.201,3.173,3.162,3.141,3.14,3.114,3.104,3.1,3.072,3.07,3.055,3.047,3.023,3.006,3.001,2.993,2.98,2.965,2.962,2.946,2.93,2.928,2.909,2.902,2.898,2.88,2.877,2.876,2.855,2.85,2.847,2.831,2.823,2.818,2.818,2.803,2.793,1.206,1.195,1.195,1.191,1.191,1.191,1.209,2.709,2.709,2.709,2.704,2.702,2.685,2.681,2.663,2.663,2.657,2.653,2.642,2.635,2.627,2.625,2.621,2.621,2.604,2.602,2.591,2.591,2.578,2.574,2.572,2.569,2.562,2.558,2.555,2.55,2.546,2.546,2.541,2.54,2.527,2.521,2.52,2.52,2.52,2.515,2.512,2.505,2.499,2.492,2.492,2.492,2.491,2.488,2.483,2.483,2.483,2.476,2.476,2.476,2.476,2.474,2.475,2.475,2.474,2.475,2.475,2.474,2.466,2.474,2.468,2.468,2.468,2.468,2.466,2.466,2.466,2.468,2.468,2.47,2.477,2.477,2.477,2.477,2.477,2.474,2.474,2.474,2.485,2.485,2.485,2.485,2.488,2.488,2.488,2.488,2.488,2.497,2.498,2.499,2.501,2.502,2.505,2.509,2.512,2.512,2.512,2.509,1.13,1.13,1.13,1.134,1.137,1.146,2.544,2.546,2.558,2.558,2.562,2.565,2.566,2.568,2.578,2.585,2.589,2.59,2.6,2.602,2.608,2.609,2.621,2.623,2.628,2.632,2.639,2.654,2.654,2.658,2.671,2.674,2.682,2.689,2.699,2.699,2.705,2.726,2.733,2.736,2.741,2.752,2.756,2.765,2.77,2.794,2.796,2.803,2.811,2.83,2.831,2.839,2.851,2.864,2.881,2.882,2.901,2.914,2.918,2.926,2.937,2.948,2.96,2.969,2.99,3.004,3.01,3.022,3.041,3.047,3.064,3.072,3.09,3.105,3.114,3.131,3.138,3.163,3.175,3.176,3.197,3.222,3.234,3.253,3.267,3.282,3.301,3.327,3.336,3.354,3.374,3.395,3.408,3.427,3.452,3.463,3.487,3.504,3.527,3.561,3.57,3.604,3.621,3.627,3.661,3.676,3.716,3.728,3.772,3.778,3.82,3.855,3.879,3.908,3.947,3.984,4.008,4.052,4.086,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.272,3.261,3.253,3.251,3.222,3.221,3.201,3.198,3.183,3.175,3.171,3.155,3.152,3.147,3.133,3.126,3.118,3.11,3.1,3.089,3.085,3.074,3.072,3.061,3.055,3.048,3.048,3.039,3.036,3.029,3.01,2.999,2.997,2.996,2.993,2.99,2.985,2.977,2.976,2.963,2.96,2.958,2.949,2.949,2.944,2.94,2.939,2.935,2.932,2.931,2.929,2.912,2.908,2.907,2.906,2.903,2.895,2.894,2.894,2.895,2.896,2.902,2.902,2.902,2.883,2.881,2.881,2.881,2.88,2.878,2.878,2.877,2.876,2.877,2.876,2.872,2.869,2.869,2.868,2.868,2.869,2.87,2.869,2.869,2.87,2.872,2.872,2.872,2.872,2.873,2.87,2.866,2.866,2.874,2.874,2.879,2.879,2.885,2.885,2.885,2.885,2.89,2.891,2.891,2.896,2.898,2.898,2.898,2.904,2.907,2.908,2.915,2.921,2.925,2.928,2.929,2.931,2.944,2.949,2.953,2.955,2.959,2.962,2.973,2.986,2.991,2.986,2.986,2.983,2.983,2.983,2.999,3,3.009,3.009,3.014,3.018,3.025,3.029,3.029,3.04,3.049,3.049,3.053,3.054,3.054,3.064,3.074,3.101,3.103,3.103,3.114,3.127,3.128,3.132,3.136,3.148,3.148,3.172,3.657,3.683,3.698,3.709,3.711,3.728,3.736,3.75,3.755,3.762,3.793,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.84,3.8,3.741,3.709,3.695,3.656,3.633,3.633,3.616,3.616,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.517,1.517,1.517,0,0,0,0,0,0,0,1.443,1.44,1.439,1.438,1.438,1.435,1.431,1.42,1.41,1.409,1.406,1.404,1.403,1.402,1.399,1.399,1.392,1.39,1.388,1.386,1.386,1.388,1.392,1.395,1.399,1.402,1.403,1.431,1.433,1.466,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.75} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 48.7496} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 48.7965} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.211,0.211,0,0,0,0,0,0,0,3.776,3.776,3.776,3.784,3.789,3.795,3.796,3.796,3.809,3.813,3.826,3.83,3.832,3.843,3.853,3.853,3.854,3.867,3.877,3.882,3.883,3.905,3.914,3.914,3.935,3.936,3.938,3.966,3.973,3.973,3.987,4.01,4.021,4.022,4.03,4.043,4.065,4.069,0,0,0,0,0,0.156,0.156,0.156,0.152,0.152,0.153,0.152,0.152,0.152,0.152,0.151,0.151,0.158,0,0,0,0,0,0,0,0,0,0.164,0.164,0.164,0.164,0.164,0.164,0.164,0.164,0.375,3.64,3.64,3.64,3.614,3.612,3.579,3.545,3.526,3.495,3.487,3.456,3.437,3.416,3.414,3.379,3.372,3.339,3.319,3.306,3.288,3.275,3.252,3.242,3.226,3.21,3.19,3.169,3.16,3.139,3.137,3.116,3.106,3.088,3.082,3.066,3.048,3.035,3.024,3.005,3,2.989,2.975,2.972,2.968,2.946,2.938,2.924,2.909,2.907,2.899,2.88,2.874,2.856,2.848,2.848,2.828,2.827,2.818,2.811,2.811,2.799,2.796,1.207,1.2,1.198,1.193,1.193,1.193,1.215,2.706,2.706,2.706,2.702,2.692,2.692,2.679,2.677,2.668,2.657,2.651,2.641,2.637,2.631,2.631,2.621,2.613,2.61,2.606,2.598,2.586,2.584,2.574,2.573,2.573,2.561,2.552,2.548,2.547,2.547,2.543,2.533,2.524,2.524,2.524,2.524,2.524,2.515,2.509,2.507,2.5,2.492,2.489,2.489,2.492,2.489,2.49,2.49,2.488,2.488,2.488,2.483,2.483,2.477,2.473,2.473,2.474,2.474,2.474,2.474,2.474,2.468,2.468,2.468,2.465,2.465,2.47,2.47,2.47,2.47,2.47,2.47,2.47,2.468,2.47,2.473,2.47,2.473,2.473,2.475,2.475,2.479,2.479,2.481,2.483,2.484,2.486,2.486,2.49,2.49,2.493,2.495,2.501,2.505,2.506,2.506,2.511,2.511,2.516,2.516,2.509,1.132,1.132,1.132,1.135,1.14,1.14,2.546,2.549,2.549,2.549,2.558,2.561,2.566,2.571,2.576,2.579,2.59,2.592,2.592,2.598,2.601,2.613,2.619,2.623,2.624,2.635,2.646,2.65,2.653,2.664,2.672,2.674,2.68,2.689,2.694,2.704,2.714,2.719,2.736,2.739,2.743,2.758,2.763,2.772,2.78,2.785,2.793,2.796,2.814,2.819,2.832,2.845,2.854,2.869,2.871,2.882,2.884,2.917,2.917,2.921,2.933,2.948,2.964,2.98,2.981,3.004,3.013,3.014,3.031,3.052,3.053,3.073,3.086,3.1,3.106,3.129,3.15,3.163,3.173,3.185,3.206,3.221,3.23,3.258,3.266,3.286,3.303,3.314,3.342,3.355,3.378,3.394,3.404,3.43,3.459,3.475,3.486,3.509,3.526,3.555,3.578,3.6,3.62,3.644,3.664,3.684,3.715,3.741,3.761,3.79,3.809,3.854,3.887,3.92,3.947,3.98,4.019,4.06,4.094,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,3.275,3.254,3.252,3.248,3.227,3.222,3.202,3.202,3.19,3.176,3.165,3.153,3.143,3.139,3.131,3.119,3.115,3.107,3.105,3.095,3.076,3.074,3.069,3.06,3.059,3.044,3.04,3.029,3.028,3.027,3.007,3.005,2.997,2.997,2.994,2.992,2.99,2.976,2.975,2.965,2.959,2.957,2.957,2.949,2.938,2.937,2.935,2.935,2.929,2.929,2.921,2.92,2.908,2.906,2.905,2.905,2.901,2.901,2.893,2.893,2.893,2.894,2.894,2.894,2.887,2.884,2.884,2.884,2.882,2.881,2.875,2.875,2.875,2.869,2.875,2.875,2.869,2.868,2.868,2.867,2.867,2.863,2.86,2.86,2.863,2.869,2.871,2.871,2.875,2.875,2.875,2.874,2.874,2.874,2.875,2.881,2.881,2.881,2.881,2.887,2.887,2.887,2.89,2.89,2.893,2.9,2.9,2.906,2.906,2.912,2.915,2.916,2.923,2.926,2.932,2.938,2.938,2.938,2.943,2.947,2.949,2.952,2.96,2.965,2.969,2.978,2.981,2.983,2.984,2.986,2.986,2.986,2.998,2.999,3.011,3.02,3.021,3.027,3.032,3.034,3.034,3.034,3.034,3.036,3.05,3.061,3.062,3.078,0.007,3.114,3.114,3.122,3.122,3.127,3.13,3.137,3.141,3.145,3.164,3.649,3.677,3.689,3.699,3.718,3.724,3.736,3.741,3.751,3.769,3.788,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,3.884,3.852,3.768,3.733,3.718,3.683,3.665,3.662,3.662,3.619,3.619,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,1.443,1.441,1.437,1.435,1.435,1.435,1.425,1.42,1.414,1.409,1.406,1.404,1.402,1.399,1.395,1.393,1.393,1.393,1.386,1.386,1.386,1.387,1.387,1.391,1.392,1.403,1.405,1.422,1.431,1.469,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 48.95} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 48.9516} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 48.992} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,3.786,3.777,3.77,3.776,3.777,3.777,3.788,3.799,3.803,3.809,3.813,3.814,3.832,3.843,3.844,3.853,3.854,3.861,3.864,3.882,3.885,3.888,3.905,3.912,3.915,3.934,3.945,3.947,3.949,3.966,3.972,4.004,4.008,4.027,4.027,4.051,4.062,4.063,4.063,4.087,0,0,0,0.155,0.154,0.149,0.149,0.149,0.144,0.144,0.144,0.145,0.149,0.15,0.15,0.153,0.155,0,0,0,0,0,0,0,0,0,0.16,0.16,0.159,0.158,0.158,0.158,0.158,0.16,0.377,3.633,3.633,3.633,3.628,3.6,3.575,3.553,3.533,3.514,3.468,3.466,3.432,3.418,3.409,3.377,3.361,3.34,3.316,3.31,3.288,3.277,3.247,3.231,3.228,3.206,3.197,3.171,3.15,3.148,3.135,3.119,3.1,3.09,3.08,3.067,3.06,3.038,3.036,3.012,3.002,2.988,2.987,2.968,2.961,2.939,2.937,2.925,2.91,2.906,2.904,2.879,2.868,2.868,2.856,2.841,2.833,2.819,2.816,2.816,2.816,2.804,2.789,1.21,1.205,1.205,1.199,1.199,1.205,1.206,2.709,2.709,2.709,2.702,2.688,2.682,2.675,2.667,2.661,2.661,2.648,2.638,2.636,2.63,2.627,2.622,2.613,2.603,2.6,2.59,2.585,2.575,2.574,2.573,2.566,2.561,2.556,2.555,2.553,2.541,2.541,2.541,2.541,2.529,2.529,2.525,2.523,2.515,2.512,2.503,2.503,2.502,2.5,2.497,2.494,2.493,2.492,2.492,2.482,2.481,2.481,2.478,2.478,2.475,2.477,2.477,2.477,2.472,2.477,2.477,2.477,2.474,2.474,2.47,2.47,2.47,2.47,2.471,2.471,2.472,2.472,2.472,2.472,2.472,2.472,2.477,2.477,2.475,2.477,2.48,2.484,2.485,2.485,2.484,2.481,2.481,2.481,2.486,2.486,2.486,2.495,2.497,2.497,2.502,2.503,2.505,2.506,2.516,2.519,2.519,2.516,1.13,1.128,1.128,1.13,1.135,1.136,2.548,2.551,2.555,2.555,2.557,2.561,2.564,2.568,2.575,2.584,2.585,2.59,2.592,2.601,2.604,2.607,2.618,2.621,2.624,2.628,2.644,2.645,2.653,2.657,2.66,2.682,2.684,2.688,2.695,2.699,2.707,2.714,2.727,2.733,2.748,2.752,2.76,2.767,2.774,2.794,2.796,2.796,2.812,2.815,2.829,2.842,2.857,2.858,2.869,2.886,2.901,2.909,2.915,2.929,2.937,2.952,2.962,2.971,2.988,3.004,3.01,3.025,3.038,3.056,3.057,3.076,3.089,3.098,3.108,3.125,3.146,3.168,3.176,3.185,3.203,3.221,3.227,3.252,3.262,3.282,3.304,3.316,3.344,3.355,3.373,3.399,3.411,3.43,3.444,3.469,3.492,3.516,3.526,3.558,3.57,3.603,3.617,3.629,3.669,3.696,3.709,3.752,3.759,3.79,3.816,3.851,3.862,3.91,3.956,3.983,3.998,4.059,4.088,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.262,3.258,3.257,3.236,3.232,3.227,3.208,3.199,3.187,3.179,3.164,3.161,3.148,3.143,3.142,3.124,3.12,3.105,3.098,3.094,3.087,3.073,3.071,3.064,3.051,3.048,3.043,3.035,3.029,3.029,3.008,3.006,3,2.998,2.997,2.994,2.994,2.984,2.976,2.964,2.962,2.956,2.948,2.946,2.941,2.933,2.932,2.928,2.928,2.927,2.912,2.912,2.912,2.912,2.911,2.906,2.904,2.901,2.898,2.898,2.898,2.904,2.904,2.904,2.884,2.878,2.878,2.878,2.877,2.875,2.875,2.874,2.874,2.872,2.872,2.871,2.87,2.87,2.87,2.866,2.874,2.875,2.874,2.867,2.868,2.868,2.867,2.866,2.868,2.875,2.87,2.87,2.875,2.875,2.87,2.875,2.884,2.885,2.884,2.885,2.886,2.891,2.892,2.896,2.896,2.897,2.901,2.901,2.907,2.909,2.913,2.914,2.921,2.922,2.928,2.931,2.934,2.941,2.949,2.949,2.951,2.96,2.962,2.964,2.974,2.978,2.98,2.98,2.981,2.987,2.989,2.989,2.997,3.001,3.007,3.011,3.017,3.029,3.037,3.037,3.037,3.042,3.047,3.048,3.054,3.067,3.069,3.076,3.087,3.095,3.102,3.114,3.119,3.123,3.131,3.143,3.149,3.155,3.172,3.653,3.678,3.693,3.697,3.704,3.722,3.744,3.744,3.759,3.769,3.797,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.9,3.894,3.894,3.864,3.836,3.773,3.742,3.715,3.697,3.656,3.649,3.649,3.609,3.609,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.524,1.524,1.524,0,0,0,0,0,0,0,1.444,1.442,1.44,1.437,1.437,1.44,1.437,1.43,1.416,1.416,1.405,1.4,1.398,1.398,1.397,1.394,1.394,1.392,1.388,1.388,1.388,1.389,1.39,1.39,1.39,1.396,1.407,1.425,1.431,1.481,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 49.14} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 49.1435} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 3.3528} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 49.1915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,0,0,3.768,3.768,3.768,3.78,3.788,3.789,3.791,3.798,3.813,3.815,3.816,3.822,3.838,3.84,3.847,3.85,3.864,3.87,3.877,3.888,3.896,3.909,3.912,3.926,3.933,3.937,3.955,3.957,3.977,3.979,3.98,3.992,4.01,4.029,4.048,4.05,4.064,4.065,4.084,0,0,0,0.158,0.153,0.153,0.153,0.153,0.153,0.149,0.149,0.149,0.151,0.151,0.151,0.155,0.159,0,0,0,0,0,0,0,0,0.169,0.165,0.165,0.163,0.163,0.163,0.163,0.163,0.165,0.383,3.623,3.623,3.623,3.619,3.599,3.573,3.548,3.531,3.51,3.473,3.467,3.447,3.417,3.408,3.369,3.358,3.334,3.323,3.306,3.29,3.272,3.255,3.234,3.226,3.208,3.187,3.171,3.16,3.154,3.137,3.116,3.104,3.094,3.082,3.06,3.056,3.034,3.031,3.009,2.996,2.982,2.982,2.968,2.962,2.944,2.93,2.929,2.911,2.905,2.884,2.881,2.869,2.864,2.849,2.843,2.837,2.83,2.823,2.815,2.815,2.805,2.788,1.208,1.202,1.202,1.194,1.194,1.202,1.208,2.716,2.716,2.716,2.692,2.686,2.683,2.678,2.665,2.659,2.645,2.644,2.638,2.633,2.631,2.626,2.622,2.612,2.607,2.606,2.593,2.588,2.587,2.578,2.576,2.568,2.564,2.56,2.552,2.552,2.543,2.541,2.541,2.538,2.525,2.524,2.523,2.518,2.518,2.517,2.517,2.508,2.507,2.507,2.501,2.494,2.491,2.491,2.488,2.486,2.484,2.48,2.48,2.48,2.48,2.48,2.47,2.47,2.47,2.47,2.471,2.471,2.468,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.468,2.468,2.468,2.471,2.468,2.471,2.474,2.474,2.474,2.48,2.48,2.482,2.482,2.484,2.492,2.493,2.493,2.493,2.493,2.493,2.493,2.503,2.506,2.506,2.506,2.506,2.508,2.509,2.509,2.509,1.133,1.132,1.131,1.132,1.133,1.144,2.552,2.552,2.558,2.558,2.558,2.568,2.572,2.572,2.573,2.583,2.585,2.591,2.592,2.599,2.61,2.616,2.617,2.626,2.633,2.639,2.648,2.648,2.651,2.662,2.674,2.683,2.688,2.689,2.689,2.708,2.714,2.717,2.734,2.735,2.745,2.756,2.76,2.766,2.77,2.796,2.801,2.808,2.817,2.826,2.835,2.837,2.851,2.863,2.875,2.884,2.894,2.91,2.918,2.928,2.933,2.951,2.959,2.966,2.995,3.001,3.015,3.022,3.035,3.047,3.056,3.068,3.088,3.094,3.112,3.125,3.141,3.159,3.171,3.182,3.196,3.22,3.232,3.261,3.265,3.288,3.303,3.319,3.336,3.361,3.373,3.395,3.423,3.436,3.449,3.472,3.487,3.511,3.535,3.555,3.588,3.604,3.624,3.657,3.662,3.686,3.71,3.743,3.764,3.793,3.818,3.863,3.874,3.913,3.952,3.986,4.018,4.056,4.085,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.273,3.257,3.253,3.247,3.235,3.218,3.203,3.192,3.191,3.183,3.169,3.151,3.147,3.14,3.138,3.122,3.118,3.116,3.096,3.092,3.087,3.077,3.072,3.058,3.051,3.051,3.045,3.04,3.035,3.029,3.011,3.01,2.997,2.996,2.995,2.991,2.987,2.976,2.97,2.961,2.958,2.957,2.956,2.953,2.948,2.938,2.937,2.937,2.934,2.927,2.925,2.925,2.911,2.911,2.91,2.903,2.902,2.896,2.894,2.896,2.896,2.896,2.895,2.895,2.888,2.883,2.883,2.877,2.872,2.877,2.878,2.872,2.873,2.878,2.876,2.874,2.874,2.874,2.874,2.869,2.869,2.869,2.868,2.867,2.867,2.868,2.868,2.873,2.873,2.875,2.875,2.873,2.875,2.876,2.877,2.884,2.884,2.885,2.887,2.887,2.887,2.887,2.891,2.899,2.901,2.903,2.903,2.903,2.911,2.913,2.913,2.914,2.924,2.927,2.931,2.936,2.937,2.939,2.942,2.944,2.945,2.956,2.963,2.968,2.974,2.977,2.981,2.985,2.989,2.989,2.99,2.993,2.998,3.004,3.01,3.012,3.012,3.028,3.031,3.031,3.031,3.031,3.038,3.052,3.055,3.058,3.076,3.077,3.091,3.103,3.103,3.117,3.119,3.132,3.135,3.14,3.14,3.154,3.165,3.658,3.685,3.699,3.706,3.716,3.719,3.731,3.75,3.755,3.776,3.782,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.876,3.825,3.808,3.765,3.746,3.706,3.694,3.674,3.637,3.637,3.622,3.622,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.517,1.517,1.517,0,0,0,0,0,0,0,1.446,1.439,1.439,1.433,1.429,1.433,1.429,1.425,1.416,1.41,1.409,1.407,1.404,1.402,1.399,1.399,1.389,1.389,1.389,1.388,1.389,1.385,1.4,1.398,1.399,1.399,1.402,1.424,1.43,1.482,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 49.35} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 49.3465} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.8956} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 49.3915} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.212,0.212,0,0,0,0,0,0,0,3.784,3.755,3.755,3.784,3.789,3.791,3.799,3.805,3.814,3.817,3.82,3.828,3.831,3.838,3.845,3.86,3.864,3.869,3.872,3.885,3.891,3.908,3.924,3.931,3.931,3.933,3.948,3.962,3.967,3.981,3.983,4.004,4.009,4.03,4.034,4.065,4.068,0,0,0,0,0,0.158,0.158,0.154,0.152,0.152,0.151,0.148,0.148,0.149,0.149,0.151,0.153,0.153,0.16,0,0,0,0,0,0,0,0,0,0.163,0.162,0.16,0.16,0.159,0.159,0.159,0.163,0.401,3.631,3.631,3.631,3.605,3.596,3.568,3.546,3.528,3.508,3.481,3.477,3.443,3.419,3.415,3.376,3.362,3.346,3.326,3.314,3.278,3.273,3.263,3.232,3.227,3.221,3.191,3.159,3.156,3.151,3.138,3.127,3.111,3.086,3.077,3.06,3.06,3.033,3.031,3.014,3.005,2.986,2.979,2.961,2.955,2.945,2.937,2.921,2.902,2.901,2.894,2.877,2.877,2.864,2.854,2.836,2.832,2.827,2.82,2.819,2.819,2.806,2.79,1.209,1.204,1.198,1.196,1.196,1.204,1.212,2.696,2.7,2.7,2.696,2.691,2.682,2.679,2.659,2.659,2.653,2.651,2.642,2.633,2.633,2.628,2.613,2.612,2.606,2.596,2.592,2.591,2.583,2.57,2.568,2.568,2.568,2.555,2.553,2.549,2.545,2.544,2.542,2.537,2.536,2.528,2.525,2.523,2.523,2.519,2.512,2.503,2.505,2.503,2.503,2.497,2.497,2.492,2.489,2.492,2.488,2.487,2.482,2.482,2.482,2.477,2.474,2.474,2.475,2.475,2.477,2.477,2.475,2.471,2.468,2.468,2.466,2.466,2.466,2.466,2.466,2.466,2.466,2.471,2.471,2.473,2.473,2.473,2.478,2.478,2.478,2.479,2.479,2.479,2.479,2.479,2.479,2.482,2.49,2.491,2.493,2.494,2.497,2.497,2.498,2.5,2.509,2.509,2.514,2.516,2.516,2.514,1.132,1.132,1.129,1.132,1.136,1.136,2.547,2.548,2.549,2.549,2.554,2.557,2.562,2.576,2.577,2.581,2.588,2.59,2.592,2.599,2.611,2.619,2.621,2.631,2.633,2.634,2.639,2.646,2.667,2.669,2.67,2.671,2.679,2.694,2.701,2.706,2.706,2.719,2.729,2.735,2.75,2.761,2.766,2.776,2.776,2.793,2.799,2.799,2.802,2.818,2.836,2.843,2.844,2.862,2.878,2.88,2.899,2.899,2.926,2.929,2.944,2.953,2.963,2.973,2.991,3,3.01,3.019,3.034,3.053,3.064,3.071,3.09,3.099,3.107,3.13,3.147,3.155,3.171,3.185,3.207,3.223,3.236,3.25,3.266,3.279,3.299,3.321,3.337,3.352,3.378,3.39,3.409,3.43,3.444,3.464,3.496,3.516,3.534,3.549,3.558,3.604,3.616,3.635,3.662,3.688,3.706,3.739,3.761,3.789,3.806,3.855,3.898,3.917,3.958,3.978,4.024,4.045,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.254,3.249,3.245,3.228,3.224,3.208,3.195,3.187,3.177,3.163,3.155,3.15,3.142,3.14,3.128,3.12,3.115,3.107,3.096,3.081,3.081,3.072,3.06,3.059,3.042,3.038,3.029,3.028,3.018,3.011,3.003,2.999,2.997,2.996,2.989,2.982,2.976,2.971,2.962,2.962,2.961,2.955,2.952,2.945,2.939,2.936,2.936,2.925,2.925,2.919,2.925,2.918,2.912,2.912,2.912,2.901,2.901,2.9,2.901,2.905,2.905,2.905,2.905,2.891,2.881,2.881,2.876,2.874,2.876,2.876,2.876,2.873,2.878,2.874,2.874,2.869,2.874,2.869,2.867,2.867,2.869,2.869,2.869,2.869,2.869,2.871,2.872,2.872,2.872,2.873,2.871,2.871,2.873,2.874,2.878,2.882,2.889,2.891,2.891,2.891,2.896,2.896,2.899,2.899,2.899,2.902,2.905,2.906,2.906,2.914,2.915,2.919,2.92,2.922,2.926,2.938,2.939,2.941,2.95,2.955,2.959,2.964,2.97,2.976,2.977,2.982,2.982,2.987,2.988,2.988,2.989,2.997,3,3.013,3.018,3.018,3.031,3.034,3.034,3.037,3.051,3.048,3.051,3.067,3.067,3.08,3.081,3.083,3.091,3.105,3.116,3.119,3.126,3.127,3.142,3.147,3.148,3.166,3.661,3.68,3.695,3.708,3.713,3.723,3.739,3.741,3.755,3.769,3.787,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,3.885,3.885,3.864,3.831,3.769,3.769,3.749,3.72,3.684,3.643,3.643,3.607,3.607,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.527,1.527,1.527,0,0,0,0,0,0,0,1.444,1.44,1.435,1.435,1.435,1.435,1.433,1.421,1.41,1.409,1.405,1.403,1.4,1.4,1.399,1.392,1.39,1.388,1.388,1.388,1.388,1.392,1.392,1.392,1.396,1.398,1.419,1.42,1.434,1.472,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 49.55} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 49.5485} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.1082} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 2.8956} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 49.5914} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.771,3.763,3.763,3.771,3.783,3.788,3.798,3.813,3.814,3.815,3.824,3.837,3.842,3.846,3.846,3.846,3.852,3.873,3.875,3.876,3.904,3.91,3.911,3.92,3.926,3.935,3.954,3.96,3.972,3.978,3.981,4.008,4.011,4.015,4.035,4.061,4.072,4.089,4.089,0,0,0,0.158,0.156,0.155,0.154,0.155,0.147,0.147,0.147,0.147,0.147,0.15,0.153,0.153,0.154,0,0,0,0,0,0,0,0,0,0.161,0.161,0.161,0.161,0.161,0.163,0.163,0.166,0.381,3.627,3.627,3.627,3.614,3.597,3.573,3.548,3.517,3.503,3.476,3.469,3.441,3.421,3.411,3.389,3.362,3.346,3.328,3.305,3.278,3.265,3.259,3.238,3.233,3.21,3.205,3.171,3.165,3.154,3.13,3.12,3.102,3.092,3.079,3.072,3.06,3.033,3.031,3.01,3.003,2.986,2.982,2.964,2.962,2.947,2.94,2.927,2.91,2.908,2.891,2.888,2.866,2.857,2.849,2.843,2.839,2.833,2.814,2.807,2.807,2.787,2.783,1.209,1.204,1.195,1.194,1.194,1.195,1.209,2.71,2.71,2.71,2.698,2.688,2.687,2.672,2.662,2.66,2.648,2.645,2.644,2.63,2.627,2.622,2.621,2.608,2.605,2.593,2.588,2.586,2.572,2.571,2.569,2.567,2.564,2.556,2.551,2.546,2.546,2.545,2.54,2.534,2.533,2.532,2.52,2.518,2.517,2.516,2.507,2.507,2.503,2.503,2.502,2.502,2.498,2.491,2.485,2.485,2.488,2.485,2.481,2.482,2.481,2.48,2.48,2.48,2.47,2.474,2.471,2.47,2.468,2.467,2.466,2.466,2.466,2.467,2.466,2.468,2.468,2.468,2.47,2.47,2.47,2.47,2.47,2.473,2.473,2.473,2.473,2.473,2.473,2.477,2.477,2.48,2.483,2.483,2.483,2.485,2.486,2.492,2.492,2.492,2.505,2.506,2.508,2.509,2.51,2.513,2.513,2.51,1.13,1.13,1.13,1.13,1.137,1.14,2.545,2.548,2.549,2.549,2.554,2.557,2.566,2.571,2.572,2.583,2.584,2.59,2.596,2.6,2.606,2.608,2.623,2.624,2.625,2.631,2.644,2.651,2.659,2.66,2.666,2.673,2.69,2.691,2.694,2.703,2.717,2.723,2.736,2.737,2.743,2.754,2.756,2.771,2.782,2.787,2.799,2.807,2.814,2.818,2.835,2.845,2.856,2.868,2.87,2.879,2.891,2.906,2.907,2.927,2.939,2.948,2.963,2.976,2.981,3.009,3.015,3.024,3.035,3.036,3.061,3.078,3.087,3.094,3.118,3.126,3.152,3.164,3.174,3.178,3.203,3.221,3.235,3.242,3.272,3.272,3.304,3.32,3.335,3.362,3.375,3.395,3.415,3.435,3.462,3.483,3.487,3.516,3.525,3.557,3.562,3.591,3.614,3.638,3.665,3.683,3.707,3.746,3.762,3.787,3.815,3.85,3.881,3.908,3.952,3.982,4.008,4.046,4.084,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0.009,0.007,0,0,0,3.271,3.259,3.252,3.252,3.24,3.225,3.208,3.192,3.189,3.189,3.173,3.16,3.153,3.144,3.143,3.122,3.117,3.108,3.097,3.094,3.09,3.083,3.071,3.064,3.059,3.055,3.046,3.041,3.032,3.027,3.01,3.006,3.004,2.997,2.996,2.996,2.985,2.984,2.978,2.965,2.964,2.962,2.954,2.952,2.949,2.94,2.931,2.931,2.93,2.929,2.919,2.918,2.918,2.911,2.911,2.902,2.902,2.901,2.896,2.901,2.902,2.9,2.9,2.9,2.88,2.88,2.88,2.88,2.876,2.876,2.876,2.876,2.876,2.869,2.873,2.869,2.868,2.869,2.868,2.863,2.866,2.866,2.864,2.864,2.864,2.864,2.864,2.865,2.866,2.87,2.873,2.87,2.873,2.877,2.877,2.877,2.878,2.878,2.882,2.882,2.883,2.894,2.899,2.899,2.899,2.9,2.901,2.902,2.907,2.907,2.912,2.914,2.92,2.92,2.923,2.931,2.94,2.942,2.943,2.944,2.949,2.956,2.961,2.965,2.965,2.983,2.983,2.984,2.986,2.986,2.992,2.997,2.998,3.006,3.011,3.012,3.012,3.026,3.032,3.035,3.038,3.038,3.038,3.044,3.048,3.069,3.073,3.078,3.094,3.102,3.102,3.122,3.124,3.125,3.134,3.135,3.148,3.157,3.164,3.659,3.684,3.697,3.705,3.712,3.725,3.735,3.751,3.763,3.766,3.787,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,3.826,3.805,3.783,3.737,3.721,3.687,3.658,3.643,3.643,3.616,3.616,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.535,1.535,1.535,0,0,0,0,0,0,0,1.445,1.441,1.437,1.437,1.437,1.433,1.43,1.424,1.409,1.407,1.406,1.405,1.397,1.396,1.396,1.396,1.396,1.396,1.384,1.384,1.384,1.384,1.394,1.395,1.397,1.399,1.405,1.427,1.437,1.46,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 49.75} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 49.7495} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.1082} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 49.7914} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.776,3.776,3.776,3.777,3.783,3.8,3.801,3.808,3.813,3.816,3.823,3.828,3.838,3.838,3.84,3.85,3.863,3.863,3.88,3.888,3.89,3.91,3.917,3.926,3.926,3.948,3.949,3.956,3.971,3.979,3.993,4.007,4.011,4.017,4.041,4.049,4.049,4.06,4.076,0,0,0,0.158,0.153,0.153,0.152,0.153,0.152,0.151,0.149,0.149,0.149,0.149,0.149,0.154,0.159,0,0,0,0,0,0,0,0,0,0.166,0.166,0.159,0.159,0.159,0.159,0.161,0.161,0.389,3.644,3.644,3.644,3.614,3.589,3.573,3.547,3.521,3.498,3.491,3.468,3.441,3.425,3.411,3.376,3.37,3.347,3.328,3.306,3.292,3.264,3.26,3.237,3.228,3.216,3.202,3.175,3.158,3.155,3.128,3.12,3.105,3.092,3.077,3.062,3.062,3.038,3.029,3.014,3.001,2.996,2.977,2.966,2.954,2.944,2.935,2.928,2.911,2.904,2.89,2.884,2.87,2.868,2.852,2.852,2.842,2.827,2.812,2.807,2.807,2.801,2.794,1.213,1.202,1.198,1.194,1.194,1.202,1.212,2.702,2.708,2.708,2.702,2.693,2.687,2.673,2.657,2.653,2.651,2.65,2.637,2.635,2.632,2.629,2.62,2.612,2.609,2.598,2.591,2.586,2.579,2.574,2.569,2.568,2.561,2.55,2.547,2.54,2.54,2.538,2.532,2.531,2.528,2.523,2.521,2.516,2.514,2.514,2.502,2.501,2.501,2.498,2.498,2.498,2.496,2.49,2.489,2.488,2.488,2.488,2.481,2.477,2.473,2.473,2.473,2.474,2.477,2.479,2.477,2.477,2.47,2.47,2.47,2.467,2.467,2.467,2.467,2.467,2.466,2.465,2.465,2.466,2.466,2.465,2.468,2.474,2.477,2.474,2.48,2.483,2.483,2.482,2.483,2.482,2.482,2.482,2.485,2.485,2.489,2.49,2.497,2.501,2.501,2.502,2.502,2.502,2.508,2.519,2.519,2.5,1.134,1.13,1.129,1.13,1.131,1.131,2.547,2.549,2.55,2.55,2.555,2.558,2.564,2.573,2.577,2.581,2.585,2.585,2.591,2.6,2.603,2.605,2.619,2.621,2.622,2.63,2.642,2.643,2.654,2.659,2.663,2.678,2.679,2.694,2.695,2.702,2.705,2.721,2.726,2.731,2.746,2.75,2.753,2.768,2.769,2.792,2.799,2.809,2.814,2.82,2.832,2.845,2.853,2.862,2.868,2.89,2.894,2.911,2.912,2.934,2.939,2.944,2.956,2.968,2.986,2.997,3.011,3.026,3.042,3.05,3.063,3.076,3.086,3.098,3.112,3.128,3.146,3.158,3.176,3.19,3.201,3.214,3.232,3.256,3.264,3.288,3.297,3.322,3.337,3.348,3.374,3.391,3.416,3.43,3.448,3.455,3.494,3.515,3.522,3.561,3.572,3.595,3.623,3.639,3.653,3.697,3.706,3.737,3.776,3.79,3.813,3.843,3.885,3.933,3.988,4.019,4.019,4.053,4.093,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.281,3.257,3.247,3.245,3.227,3.219,3.206,3.198,3.193,3.182,3.17,3.154,3.15,3.142,3.142,3.129,3.118,3.105,3.104,3.097,3.085,3.085,3.074,3.067,3.064,3.047,3.044,3.04,3.035,3.028,3.016,3.01,3.003,2.998,2.992,2.99,2.983,2.983,2.969,2.966,2.964,2.96,2.955,2.952,2.943,2.939,2.936,2.934,2.932,2.93,2.924,2.921,2.916,2.911,2.91,2.899,2.896,2.896,2.896,2.896,2.902,2.902,2.899,2.899,2.885,2.878,2.878,2.878,2.878,2.878,2.877,2.876,2.868,2.865,2.865,2.868,2.867,2.87,2.87,2.867,2.867,2.871,2.867,2.871,2.871,2.871,2.872,2.872,2.872,2.876,2.873,2.873,2.873,2.875,2.875,2.876,2.876,2.878,2.885,2.887,2.89,2.891,2.891,2.891,2.891,2.899,2.901,2.901,2.908,2.908,2.908,2.915,2.916,2.923,2.926,2.93,2.939,2.946,2.946,2.946,2.949,2.958,2.958,2.962,2.971,2.975,2.983,2.983,2.983,2.983,2.983,2.997,3.002,3.003,3.009,3.01,3.012,3.033,3.033,3.038,3.038,3.043,3.043,3.049,3.049,3.057,3.071,3.086,3.092,3.098,3.098,3.117,3.118,3.129,3.133,3.133,3.147,3.148,3.168,3.665,3.68,3.697,3.697,3.704,3.724,3.732,3.747,3.748,3.777,3.802,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.834,3.811,3.767,3.744,3.697,3.69,3.673,3.641,3.641,3.617,3.617,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,1.447,1.435,1.435,1.433,1.433,1.433,1.428,1.414,1.41,1.406,1.402,1.396,1.395,1.391,1.387,1.387,1.387,1.387,1.393,1.393,1.387,1.388,1.388,1.386,1.388,1.391,1.411,1.424,1.432,1.463,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 49.94} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 49.9424} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.1082} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 49.9914} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.193,0.193,0,0,0,0,0,0,0.007,3.784,3.771,3.784,3.784,3.791,3.8,3.805,3.806,3.806,3.813,3.821,3.829,3.832,3.846,3.85,3.851,3.862,3.869,3.873,3.887,3.895,3.91,3.912,3.917,3.925,3.941,3.953,3.957,3.97,3.989,3.992,4.011,4.015,4.026,4.034,4.056,4.057,4.073,4.078,0.007,0,0,0.007,0.156,0.154,0.153,0.153,0.147,0.147,0.147,0.147,0.147,0.152,0.154,0.156,0.16,0,0,0,0,0,0,0,0,0,0.166,0.166,0.165,0.165,0.163,0.159,0.159,0.163,0.389,3.633,3.633,3.633,3.626,3.598,3.567,3.553,3.503,3.499,3.475,3.468,3.435,3.428,3.403,3.385,3.368,3.334,3.314,3.309,3.291,3.269,3.252,3.237,3.228,3.208,3.196,3.168,3.154,3.135,3.129,3.123,3.106,3.092,3.087,3.065,3.057,3.043,3.036,3.01,3,2.987,2.981,2.97,2.953,2.941,2.938,2.921,2.909,2.905,2.897,2.878,2.875,2.867,2.85,2.843,2.829,2.826,2.821,2.811,2.811,2.806,2.795,1.209,1.202,1.199,1.197,1.197,1.202,1.209,2.705,2.705,2.705,2.7,2.69,2.681,2.672,2.664,2.657,2.649,2.646,2.641,2.624,2.624,2.617,2.617,2.61,2.603,2.6,2.596,2.585,2.577,2.572,2.565,2.563,2.557,2.557,2.557,2.547,2.545,2.542,2.534,2.533,2.525,2.522,2.519,2.518,2.518,2.515,2.512,2.509,2.498,2.498,2.497,2.495,2.495,2.495,2.489,2.487,2.488,2.487,2.482,2.478,2.478,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.468,2.468,2.468,2.468,2.468,2.468,2.468,2.471,2.471,2.472,2.473,2.474,2.474,2.474,2.475,2.474,2.478,2.476,2.478,2.479,2.48,2.484,2.484,2.485,2.485,2.485,2.485,2.486,2.486,2.5,2.5,2.5,2.5,2.501,2.505,2.508,2.508,2.509,2.508,2.501,1.131,1.131,1.131,1.132,1.139,1.14,2.542,2.542,2.557,2.557,2.558,2.56,2.561,2.566,2.57,2.58,2.585,2.587,2.598,2.603,2.605,2.607,2.618,2.619,2.631,2.633,2.643,2.644,2.656,2.665,2.669,2.676,2.677,2.696,2.698,2.703,2.71,2.716,2.733,2.74,2.746,2.756,2.759,2.767,2.779,2.785,2.796,2.806,2.807,2.825,2.836,2.848,2.854,2.859,2.879,2.884,2.897,2.911,2.913,2.916,2.939,2.951,2.964,2.973,2.989,3.001,3.013,3.022,3.036,3.048,3.061,3.08,3.085,3.097,3.114,3.129,3.147,3.162,3.171,3.175,3.203,3.212,3.233,3.251,3.273,3.283,3.309,3.316,3.339,3.344,3.38,3.381,3.408,3.43,3.453,3.474,3.487,3.517,3.537,3.553,3.572,3.598,3.625,3.638,3.657,3.675,3.701,3.737,3.759,3.782,3.824,3.849,3.882,3.914,3.944,3.991,4.021,4.061,4.086,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,3.27,3.262,3.253,3.244,3.233,3.217,3.206,3.205,3.188,3.179,3.17,3.165,3.15,3.145,3.145,3.13,3.123,3.102,3.092,3.091,3.086,3.07,3.069,3.065,3.053,3.053,3.042,3.04,3.039,3.028,3.021,3.005,3.003,2.996,2.993,2.992,2.991,2.976,2.964,2.963,2.962,2.959,2.959,2.955,2.951,2.945,2.942,2.939,2.926,2.924,2.919,2.919,2.919,2.912,2.906,2.899,2.898,2.895,2.895,2.898,2.899,2.899,2.899,2.898,2.885,2.879,2.879,2.875,2.874,2.874,2.874,2.871,2.871,2.871,2.871,2.874,2.874,2.874,2.874,2.873,2.869,2.869,2.869,2.869,2.866,2.866,2.866,2.871,2.871,2.871,2.87,2.87,2.87,2.87,2.876,2.877,2.881,2.881,2.881,2.888,2.888,2.892,2.894,2.894,2.901,2.901,2.904,2.905,2.905,2.912,2.915,2.915,2.915,2.922,2.933,2.934,2.938,2.943,2.943,2.95,2.951,2.96,2.961,2.972,2.982,2.987,2.987,2.982,2.987,2.987,2.987,2.988,3.002,3.007,3.01,3.013,3.017,3.029,3.033,3.034,3.034,3.034,3.034,3.043,3.057,3.063,3.072,3.082,3.083,3.101,3.101,3.12,3.125,3.126,3.127,3.134,3.142,3.151,3.163,3.654,3.679,3.699,3.704,3.708,3.717,3.728,3.756,3.761,3.765,3.771,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.865,3.82,3.804,3.785,3.732,3.713,3.706,3.67,3.632,3.632,3.621,3.621,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.517,1.517,1.517,0,0,0,0,0,0,0,1.438,1.438,1.438,1.438,1.438,1.438,1.429,1.415,1.414,1.412,1.407,1.403,1.393,1.393,1.391,1.389,1.389,1.389,1.389,1.385,1.385,1.385,1.385,1.391,1.398,1.404,1.407,1.421,1.429,1.481,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.14} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 50.1445} {Type Sonar} {Name Sonar0 Range 3.7592} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9972} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 4.0386} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 50.1874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,0,3.774,3.774,3.774,3.785,3.791,3.796,3.798,3.799,3.802,3.811,3.821,3.838,3.839,3.843,3.853,3.861,3.866,3.883,3.889,3.89,3.898,3.909,3.913,3.934,3.941,3.943,3.956,3.966,3.974,3.977,4.002,4.003,4.021,4.028,4.044,4.061,4.073,4.082,0.007,0,4.082,0.154,0.153,0.152,0.148,0.148,0.152,0.152,0.152,0.152,0.152,0.149,0.152,0.152,0.153,0,0,0,0,0,0,0,0,0,0.161,0.159,0.159,0.159,0.159,0.162,0.163,0.172,0.382,3.63,3.63,3.63,3.611,3.594,3.569,3.553,3.519,3.501,3.476,3.468,3.438,3.43,3.403,3.383,3.368,3.345,3.31,3.307,3.286,3.272,3.265,3.234,3.229,3.203,3.199,3.172,3.15,3.141,3.138,3.121,3.098,3.078,3.071,3.06,3.054,3.04,3.031,3.022,2.995,2.988,2.983,2.968,2.962,2.94,2.935,2.926,2.908,2.905,2.893,2.879,2.877,2.871,2.856,2.85,2.839,2.826,2.822,2.821,2.821,2.797,2.793,1.216,1.208,1.202,1.199,1.199,1.202,1.202,2.699,2.704,2.704,2.699,2.695,2.686,2.679,2.667,2.655,2.652,2.647,2.64,2.638,2.634,2.63,2.625,2.613,2.61,2.601,2.589,2.585,2.576,2.572,2.571,2.562,2.561,2.56,2.551,2.547,2.547,2.544,2.543,2.538,2.53,2.525,2.523,2.518,2.517,2.516,2.514,2.508,2.507,2.498,2.498,2.497,2.494,2.494,2.49,2.489,2.48,2.48,2.48,2.477,2.477,2.474,2.474,2.474,2.474,2.474,2.466,2.463,2.463,2.463,2.46,2.46,2.462,2.462,2.462,2.47,2.47,2.47,2.47,2.47,2.47,2.47,2.472,2.474,2.474,2.474,2.475,2.475,2.482,2.482,2.484,2.485,2.486,2.486,2.491,2.492,2.492,2.492,2.498,2.498,2.501,2.501,2.509,2.509,2.51,2.513,2.513,2.509,1.135,1.133,1.133,1.133,1.133,1.143,2.549,2.553,2.553,2.553,2.555,2.559,2.563,2.563,2.573,2.582,2.584,2.588,2.593,2.598,2.613,2.619,2.619,2.619,2.629,2.637,2.641,2.643,2.652,2.657,2.672,2.673,2.691,2.694,2.699,2.708,2.711,2.724,2.729,2.734,2.741,2.748,2.749,2.769,2.777,2.794,2.795,2.801,2.815,2.822,2.83,2.832,2.855,2.87,2.876,2.884,2.897,2.904,2.914,2.925,2.94,2.947,2.965,2.976,2.993,2.998,3.009,3.016,3.037,3.055,3.066,3.073,3.089,3.102,3.113,3.132,3.143,3.166,3.168,3.193,3.201,3.214,3.242,3.253,3.261,3.291,3.303,3.325,3.342,3.351,3.381,3.394,3.41,3.432,3.46,3.476,3.492,3.516,3.531,3.55,3.565,3.594,3.613,3.637,3.664,3.689,3.709,3.734,3.755,3.788,3.813,3.855,3.885,3.92,3.954,3.98,4.011,4.053,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.276,3.26,3.257,3.24,3.234,3.221,3.202,3.195,3.187,3.183,3.171,3.154,3.145,3.136,3.135,3.134,3.116,3.108,3.104,3.092,3.084,3.077,3.075,3.063,3.059,3.05,3.045,3.037,3.036,3.03,3.008,3.005,3,2.995,2.995,2.99,2.985,2.979,2.977,2.968,2.961,2.959,2.957,2.951,2.948,2.936,2.935,2.934,2.931,2.922,2.921,2.921,2.911,2.909,2.906,2.906,2.903,2.896,2.894,2.896,2.896,2.896,2.896,2.896,2.883,2.88,2.88,2.88,2.879,2.878,2.876,2.876,2.869,2.869,2.869,2.869,2.869,2.866,2.865,2.865,2.865,2.865,2.865,2.865,2.865,2.867,2.869,2.872,2.873,2.875,2.875,2.873,2.873,2.874,2.871,2.874,2.876,2.876,2.881,2.883,2.886,2.891,2.892,2.892,2.898,2.9,2.9,2.9,2.9,2.907,2.907,2.908,2.915,2.922,2.929,2.929,2.945,2.946,2.947,2.949,2.95,2.955,2.966,2.968,2.973,2.974,2.982,2.982,2.982,2.982,2.982,2.982,2.995,2.996,3.008,3.015,3.016,3.024,3.031,3.039,3.039,3.041,3.039,3.039,3.057,3.059,3.065,3.078,3.094,3.096,3.096,3.113,3.121,3.131,3.132,3.144,3.153,3.153,3.157,3.658,3.679,3.698,3.699,3.708,3.723,3.726,3.753,3.753,3.766,3.793,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.83,3.802,3.779,3.744,3.718,3.693,3.673,3.641,3.641,3.617,3.617,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.525,1.525,1.525,0,0,0,0,0,0,0,1.433,1.43,1.43,1.43,1.43,1.43,1.424,1.423,1.419,1.408,1.406,1.402,1.401,1.398,1.393,1.392,1.392,1.391,1.39,1.39,1.39,1.39,1.39,1.394,1.397,1.398,1.407,1.42,1.422,1.474,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.35} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 50.3464} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 3.4798} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9972} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.2512} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 50.3874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.206,0.206,0,0,0,0,0,0,0,0,3.78,3.778,3.778,3.778,3.786,3.799,3.804,3.805,3.807,3.825,3.827,3.83,3.844,3.845,3.845,3.845,3.857,3.879,3.891,3.894,3.911,3.914,3.916,3.928,3.938,3.938,3.965,3.966,3.982,3.983,4.001,4.012,4.03,4.056,4.059,4.059,4.076,4.084,0,0,0,0.153,0.148,0.147,0.148,0.148,0.148,0.148,0.148,0.148,0.146,0.146,0.149,0.15,0.152,0,0,0,0,0,0,0,0,0,0.157,0.157,0.154,0.152,0.154,0.16,0.16,0.164,0.371,3.637,3.637,3.637,3.631,3.584,3.575,3.552,3.521,3.504,3.478,3.453,3.433,3.423,3.394,3.385,3.36,3.341,3.333,3.316,3.291,3.278,3.247,3.234,3.231,3.212,3.199,3.182,3.158,3.155,3.134,3.116,3.1,3.085,3.083,3.064,3.059,3.038,3.033,3.007,2.999,2.988,2.979,2.964,2.961,2.95,2.937,2.922,2.906,2.901,2.891,2.882,2.876,2.868,2.852,2.85,2.838,2.832,2.817,2.816,2.816,2.801,2.792,1.205,1.2,1.198,1.197,1.197,1.2,1.21,2.711,2.711,2.711,2.698,2.694,2.69,2.681,2.662,2.656,2.652,2.651,2.648,2.636,2.629,2.624,2.62,2.611,2.611,2.599,2.598,2.587,2.583,2.572,2.567,2.561,2.561,2.559,2.558,2.551,2.544,2.541,2.535,2.534,2.532,2.528,2.525,2.523,2.516,2.512,2.508,2.506,2.505,2.504,2.502,2.489,2.487,2.487,2.487,2.483,2.483,2.477,2.477,2.477,2.474,2.472,2.47,2.47,2.467,2.466,2.466,2.466,2.466,2.466,2.468,2.467,2.467,2.465,2.467,2.467,2.47,2.47,2.47,2.467,2.467,2.467,2.467,2.467,2.473,2.477,2.477,2.477,2.478,2.478,2.481,2.481,2.484,2.484,2.491,2.491,2.492,2.492,2.493,2.493,2.497,2.497,2.5,2.5,2.505,2.506,2.506,2.506,1.132,1.129,1.129,1.132,1.132,1.143,2.546,2.548,2.551,2.551,2.556,2.56,2.564,2.565,2.58,2.581,2.583,2.594,2.595,2.603,2.604,2.607,2.618,2.62,2.623,2.628,2.644,2.646,2.654,2.667,2.669,2.676,2.689,2.69,2.696,2.699,2.7,2.716,2.719,2.737,2.744,2.754,2.761,2.772,2.778,2.786,2.796,2.8,2.805,2.824,2.831,2.842,2.856,2.859,2.881,2.885,2.893,2.91,2.911,2.922,2.927,2.954,2.958,2.972,2.985,2.999,3.002,3.02,3.032,3.048,3.06,3.068,3.085,3.108,3.111,3.129,3.142,3.149,3.17,3.178,3.205,3.218,3.236,3.259,3.263,3.289,3.302,3.325,3.339,3.36,3.386,3.387,3.408,3.432,3.449,3.48,3.487,3.523,3.535,3.542,3.569,3.608,3.612,3.64,3.665,3.687,3.714,3.739,3.756,3.789,3.818,3.847,3.877,3.91,3.951,3.988,4.012,4.055,4.09,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0.007,0,3.954,3.274,3.262,3.249,3.242,3.227,3.209,3.203,3.193,3.188,3.186,3.173,3.162,3.149,3.141,3.133,3.13,3.121,3.106,3.098,3.092,3.088,3.076,3.072,3.062,3.06,3.057,3.039,3.039,3.037,3.035,3.016,3.013,3.005,3.004,3,2.996,2.982,2.975,2.971,2.964,2.964,2.963,2.963,2.946,2.944,2.943,2.935,2.934,2.928,2.923,2.918,2.914,2.909,2.909,2.908,2.908,2.908,2.907,2.897,2.897,2.897,2.899,2.899,2.899,2.887,2.879,2.879,2.881,2.879,2.875,2.875,2.875,2.875,2.876,2.876,2.876,2.875,2.873,2.869,2.869,2.872,2.868,2.861,2.865,2.867,2.865,2.865,2.865,2.867,2.866,2.866,2.866,2.871,2.871,2.874,2.878,2.882,2.878,2.878,2.886,2.89,2.891,2.891,2.895,2.896,2.896,2.901,2.901,2.902,2.909,2.916,2.916,2.918,2.918,2.925,2.927,2.937,2.945,2.946,2.949,2.953,2.957,2.959,2.962,2.971,2.983,2.984,2.991,2.991,2.991,2.991,2.991,2.992,3.003,3.004,3.007,3.009,3.025,3.03,3.035,3.036,3.041,3.041,3.043,3.052,3.067,3.07,3.081,3.092,3.098,3.098,3.118,3.119,3.124,3.127,3.141,3.15,3.159,3.169,3.654,3.673,3.693,3.706,3.71,3.729,3.737,3.751,3.757,3.769,3.781,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.778,3.7,3.698,3.675,3.64,3.64,3.61,3.61,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.524,1.524,1.524,0,0,0,0,0,0,0,1.445,1.441,1.441,1.441,1.441,1.439,1.43,1.429,1.411,1.403,1.399,1.399,1.399,1.398,1.398,1.396,1.394,1.393,1.393,1.393,1.39,1.389,1.389,1.389,1.391,1.4,1.404,1.424,1.425,1.474,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.61} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.776672}
SEN {Time 50.6094} {Type Sonar} {Name Sonar0 Range 3.7338} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9972} {Name Sonar4 Range 3.3782} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.2512} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 50.6875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,3.783,3.781,3.781,3.783,3.789,3.798,3.805,3.805,3.817,3.819,3.823,3.824,3.84,3.841,3.852,3.861,3.865,3.877,3.884,3.889,3.909,3.919,3.92,3.936,3.937,3.945,3.949,3.979,3.988,3.989,3.992,4.015,4.027,4.031,4.041,4.062,4.065,4.08,0,0,0,0.169,0.152,0.148,0.147,0.147,0.144,0.144,0.147,0.148,0.147,0.147,0.148,0.148,0.15,0,0,0,0,0,0,0,0,0,0.159,0.159,0.159,0.159,0.16,0.16,0.161,0.161,0.379,3.641,3.641,3.641,3.625,3.591,3.569,3.543,3.514,3.505,3.48,3.472,3.442,3.419,3.401,3.38,3.354,3.342,3.329,3.314,3.284,3.262,3.261,3.244,3.224,3.212,3.202,3.167,3.148,3.141,3.135,3.119,3.102,3.084,3.077,3.061,3.061,3.039,3.031,3.014,2.997,2.99,2.979,2.964,2.96,2.949,2.943,2.932,2.906,2.906,2.897,2.879,2.87,2.866,2.849,2.839,2.835,2.831,2.819,2.816,2.816,2.8,2.787,1.213,1.201,1.201,1.199,1.199,1.199,1.207,2.714,2.714,2.714,2.699,2.697,2.691,2.676,2.662,2.66,2.654,2.642,2.641,2.632,2.628,2.621,2.619,2.612,2.607,2.591,2.591,2.581,2.577,2.571,2.57,2.568,2.564,2.556,2.549,2.547,2.547,2.546,2.543,2.525,2.524,2.523,2.523,2.52,2.516,2.511,2.504,2.504,2.5,2.499,2.493,2.493,2.493,2.493,2.493,2.493,2.482,2.477,2.477,2.477,2.477,2.477,2.475,2.476,2.476,2.476,2.476,2.476,2.475,2.47,2.467,2.467,2.464,2.464,2.464,2.464,2.464,2.464,2.464,2.468,2.468,2.47,2.47,2.471,2.472,2.47,2.472,2.476,2.476,2.477,2.482,2.482,2.482,2.483,2.486,2.49,2.49,2.491,2.494,2.495,2.498,2.498,2.501,2.506,2.513,2.514,2.514,2.514,1.133,1.132,1.132,1.133,1.136,1.137,1.148,2.544,2.551,2.552,2.562,2.565,2.569,2.571,2.572,2.575,2.59,2.59,2.591,2.608,2.61,2.615,2.619,2.624,2.627,2.627,2.639,2.653,2.657,2.66,2.667,2.673,2.674,2.685,2.701,2.702,2.709,2.715,2.722,2.734,2.744,2.746,2.751,2.767,2.775,2.779,2.788,2.793,2.817,2.818,2.828,2.842,2.852,2.865,2.873,2.878,2.904,2.913,2.923,2.928,2.929,2.946,2.962,2.975,2.991,3.01,3.016,3.018,3.041,3.05,3.062,3.069,3.086,3.107,3.115,3.129,3.148,3.156,3.17,3.185,3.201,3.213,3.226,3.252,3.263,3.278,3.292,3.318,3.337,3.351,3.376,3.381,3.403,3.432,3.451,3.471,3.495,3.508,3.523,3.556,3.562,3.59,3.622,3.645,3.66,3.692,3.709,3.725,3.754,3.777,3.821,3.856,3.886,3.911,3.947,3.99,4.014,4.048,4.07,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.293,3.269,3.256,3.241,3.237,3.224,3.218,3.197,3.192,3.178,3.169,3.155,3.154,3.144,3.137,3.126,3.124,3.114,3.105,3.101,3.092,3.083,3.073,3.067,3.061,3.046,3.043,3.038,3.032,3.029,3.014,3.004,3.003,3.001,3,2.993,2.986,2.984,2.984,2.966,2.965,2.961,2.959,2.952,2.947,2.947,2.935,2.931,2.929,2.928,2.925,2.916,2.913,2.912,2.912,2.906,2.897,2.893,2.893,2.893,2.893,2.893,2.892,2.892,2.891,2.88,2.88,2.877,2.876,2.877,2.877,2.87,2.87,2.871,2.871,2.871,2.871,2.871,2.867,2.866,2.866,2.866,2.867,2.865,2.865,2.865,2.873,2.867,2.872,2.873,2.872,2.872,2.872,2.872,2.872,2.874,2.874,2.878,2.882,2.884,2.893,2.893,2.896,2.899,2.9,2.901,2.901,2.906,2.909,2.909,2.911,2.915,2.916,2.921,2.931,2.932,2.936,2.939,2.947,2.947,2.949,2.955,2.959,2.966,2.97,2.978,2.985,2.985,2.992,2.991,2.991,2.993,3.004,3.005,3.006,3.011,3.019,3.022,3.03,3.031,3.032,3.036,3.038,3.047,3.055,3.069,3.071,3.077,3.083,3.088,3.095,3.112,3.116,3.122,3.127,3.128,3.146,3.146,3.148,3.156,3.674,3.697,3.697,3.701,3.725,3.733,3.741,3.754,3.763,3.779,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.009,0.009,0.009,0,3.782,3.757,3.727,3.697,3.677,3.664,3.664,3.664,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.445,1.438,1.436,1.436,1.436,1.436,1.429,1.428,1.416,1.414,1.402,1.401,1.401,1.399,1.399,1.397,1.39,1.39,1.393,1.393,1.393,1.393,1.388,1.388,1.388,1.398,1.402,1.415,1.436,1.456,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 50.85} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.722566}
SEN {Time 50.8484} {Type Sonar} {Name Sonar0 Range 4.0386} {Name Sonar1 Range 5.4864} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 3.4036} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0828} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8796} {Name Sonar11 Range 2.8448} {Name Sonar12 Range 3.2512} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 0.9906} {Name Sonar15 Range 1.0414}
SEN {Time 50.8911} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,3.734,3.726,3.726,3.734,3.739,3.743,3.749,3.754,3.764,3.77,3.779,3.783,3.785,3.791,3.8,3.802,3.804,3.808,3.825,3.829,3.836,3.839,3.839,3.854,3.854,3.867,3.881,3.883,3.889,3.909,3.916,3.925,3.932,3.933,3.949,3.973,3.985,3.985,3.995,0,0,0,0.007,0.157,0.151,0.151,0.151,0.151,0.151,0.152,0.149,0.151,0.151,0.151,0.151,0.158,0,0,0,0,0,0,0,0,0,0.167,0.166,0.163,0.158,0.163,0.158,0.163,0.169,0,0,0,0,0,3.77,3.746,3.725,3.687,3.676,3.63,3.617,3.599,3.579,3.55,3.527,3.505,3.482,3.46,3.456,3.429,3.401,3.397,3.372,3.359,3.319,3.315,3.296,3.276,3.254,3.252,3.233,3.22,3.201,3.181,3.151,3.148,3.134,3.132,3.11,3.092,3.082,3.066,3.049,3.043,3.026,3.02,3.009,2.987,2.981,2.975,2.964,2.953,2.936,2.924,2.916,2.91,2.904,2.894,2.883,2.873,2.859,2.849,2.837,2.832,2.815,2.815,2.81,2.81,2.8,2.792,1.206,1.198,1.195,1.195,1.196,1.196,1.196,2.693,2.698,2.698,2.693,2.674,2.672,2.666,2.666,2.655,2.645,2.643,2.634,2.623,2.619,2.615,2.603,2.6,2.596,2.593,2.588,2.582,2.579,2.57,2.561,2.559,2.558,2.55,2.548,2.546,2.541,2.537,2.529,2.527,2.527,2.519,2.518,2.515,2.514,2.51,2.507,2.503,2.503,2.5,2.497,2.496,2.494,2.49,2.487,2.484,2.483,2.483,2.481,2.476,2.476,2.476,2.474,2.472,2.472,2.472,2.473,2.473,2.473,2.464,2.464,2.464,2.464,2.462,2.462,2.462,2.462,2.463,2.463,2.463,2.464,2.464,2.466,2.468,2.468,2.468,2.468,2.47,2.473,2.473,2.473,2.473,2.473,2.473,2.48,2.481,2.481,2.489,2.489,2.489,2.49,2.49,2.494,2.496,2.507,2.508,2.508,2.508,2.507,1.123,1.123,1.123,1.123,1.13,1.131,1.134,2.547,2.551,2.552,2.552,2.555,2.56,2.567,2.571,2.578,2.587,2.588,2.59,2.59,2.603,2.608,2.615,2.626,2.629,2.633,2.639,2.653,2.654,2.661,2.665,2.672,2.677,2.689,2.69,2.695,2.704,2.718,2.72,2.724,2.733,2.753,2.758,2.769,2.776,2.789,2.797,2.81,2.812,2.827,2.841,2.843,2.847,2.863,2.869,2.884,2.898,2.909,2.917,2.927,2.934,2.942,2.953,2.97,2.993,3.002,3.002,3.024,3.024,3.051,3.058,3.076,3.085,3.098,3.116,3.128,3.148,3.156,3.175,3.183,3.204,3.224,3.239,3.257,3.263,3.297,3.3,3.329,3.338,3.349,3.369,3.39,3.407,3.426,3.442,3.461,3.485,3.497,3.522,3.555,3.562,3.589,3.618,3.633,3.676,3.697,3.718,3.728,3.773,3.794,3.824,3.845,3.886,3.911,3.948,3.986,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.269,3.252,3.246,3.242,3.232,3.211,3.209,3.199,3.179,3.174,3.169,3.162,3.143,3.137,3.136,3.123,3.12,3.113,3.101,3.087,3.07,3.067,3.066,3.061,3.059,3.054,3.045,3.038,3.036,3.022,3.017,3.013,3.012,3.003,3.002,2.987,2.98,2.979,2.975,2.97,2.969,2.954,2.953,2.949,2.948,2.945,2.945,2.941,2.941,2.927,2.925,2.917,2.912,2.905,2.905,2.902,2.902,2.902,2.902,2.902,2.906,2.905,2.905,2.905,2.892,2.889,2.88,2.88,2.877,2.88,2.881,2.881,2.877,2.879,2.877,2.877,2.879,2.88,2.88,2.88,2.873,2.871,2.871,2.871,2.871,2.871,2.871,2.871,2.871,2.872,2.872,2.876,2.88,2.877,2.88,2.881,2.88,2.884,2.891,2.891,2.894,2.894,2.896,2.897,2.905,2.91,2.912,2.912,2.916,2.919,2.921,2.928,2.931,2.937,2.939,2.939,2.941,2.947,2.955,2.959,2.967,2.968,2.974,2.98,2.981,2.984,2.985,2.985,2.981,2.994,2.994,2.997,3,3.004,3.012,3.025,3.029,3.029,3.032,3.033,3.048,3.049,3.053,3.057,3.06,3.062,3.077,3.089,3.095,3.096,3.101,3.125,3.127,3.131,3.142,3.145,3.151,3.152,3.196,3.671,3.692,3.7,3.71,3.719,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0,0,0.007,0,0.007,0,0,0.007,3.739,3.739,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.544,1.544,1.544,0,0,0,0,0,0,0,1.435,1.434,1.432,1.432,1.434,1.432,1.432,1.425,1.417,1.415,1.409,1.409,1.406,1.403,1.4,1.399,1.399,1.399,1.4,1.399,1.399,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.01} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.385718}
SEN {Time 52.0052} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.4036} {Name Sonar2 Range 2.8194} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 1.397} {Name Sonar6 Range 2.0066} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.4544} {Name Sonar13 Range 4.8006} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 0.9906}
SEN {Time 52.0835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.193,0.193,0,0,0,0,0,3.114,3.093,3.092,3.088,3.088,3.088,3.088,3.085,3.088,3.087,3.085,3.084,3.084,3.082,3.081,3.081,3.081,3.619,3.623,3.623,3.621,3.619,3.616,3.616,3.614,3.614,3.613,3.611,3.611,3.612,3.611,3.611,3.612,3.614,3.614,3.614,3.618,3.619,3.619,3.619,3.619,3.622,3.617,3.614,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.15,0.151,0.15,0.15,0.15,0.153,0.153,0.319,3.667,3.683,0,0,0,0,0,0.173,0.164,0.164,0.161,0.161,0.164,0.161,0.161,0.168,0.448,3.763,3.766,3.774,3.799,3.809,3.812,3.817,3.828,3.831,3.837,3.863,3.865,3.871,3.875,3.891,3.891,3.894,3.918,3.926,3.927,3.95,3.954,3.97,3.983,3.993,4.012,4.013,4.02,4.035,4.041,4.06,4.082,4.083,0.016,0.016,0.016,0.016,0,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.007,4.025,3.947,3.913,3.899,3.864,3.831,3.805,3.782,3.746,3.723,3.688,3.68,3.644,3.624,3.607,3.588,3.575,3.544,3.529,3.479,3.468,3.46,3.436,3.418,3.371,3.37,3.355,3.334,3.31,3.29,3.286,3.267,3.246,3.228,3.208,3.194,3.175,3.159,3.136,3.113,3.113,3.101,3.088,3.072,3.059,3.054,3.037,3.025,3.019,2.995,2.993,2.969,2.965,2.953,2.94,2.934,2.917,2.908,2.896,2.887,2.87,2.865,2.865,2.843,2.841,2.828,2.819,2.808,2.804,2.791,2.781,2.763,2.751,2.751,2.751,2.751,2.745,2.73,1.175,1.175,1.175,1.161,1.169,0.01,2.664,2.647,2.648,2.648,2.647,2.646,2.63,2.618,2.616,2.611,2.601,2.591,2.589,2.584,2.584,2.579,2.576,2.565,2.564,2.562,2.55,2.545,2.539,2.537,2.528,2.525,2.525,2.525,2.514,2.513,2.511,2.504,2.504,2.501,2.496,2.489,2.486,2.486,2.481,2.48,2.477,2.474,2.468,2.468,2.466,2.462,2.459,2.458,2.458,2.455,2.453,2.445,2.443,2.443,2.443,2.443,2.443,2.443,2.439,2.439,2.438,2.438,2.436,2.434,2.434,2.435,2.435,2.437,2.441,2.441,2.441,2.444,2.438,2.438,2.445,2.445,2.445,2.446,2.446,2.446,2.446,2.446,2.45,2.452,2.452,2.453,2.46,2.463,2.464,2.464,2.467,2.468,2.47,2.47,2.472,2.475,2.48,2.482,2.491,2.493,2.496,2.498,2.498,2.498,2.498,1.117,1.117,1.117,1.117,1.12,1.124,1.13,2.551,2.555,2.565,2.565,2.57,2.571,2.574,2.576,2.58,2.599,2.602,2.61,2.612,2.618,2.621,2.627,2.63,2.645,2.657,2.659,2.662,2.673,2.68,2.692,2.697,2.702,2.716,2.719,2.724,2.736,2.744,2.76,2.763,2.771,2.771,2.79,2.796,2.815,2.816,2.842,2.845,2.85,2.86,2.874,2.879,2.904,2.91,2.921,2.931,2.943,2.959,2.971,2.974,2.993,3.009,3.016,3.024,3.037,3.049,3.063,3.071,3.091,3.097,3.118,3.135,3.136,3.157,3.179,3.186,3.209,3.217,3.246,3.262,3.266,3.279,3.295,3.319,3.335,3.355,3.387,3.402,3.407,3.435,3.454,3.469,3.507,3.52,3.539,3.564,3.591,3.603,3.634,3.664,3.679,3.709,3.736,3.756,3.781,3.829,3.837,3.864,3.905,3.929,4.048,0.009,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.306,3.285,3.283,3.268,3.258,3.242,3.223,3.22,3.219,3.206,3.193,3.181,3.18,3.169,3.165,3.154,3.142,3.141,3.141,3.128,3.125,3.125,3.112,3.112,3.086,3.075,3.07,3.068,3.059,3.059,3.046,3.039,3.036,3.032,3.03,3.029,3.017,3.012,3.006,2.993,2.993,2.988,2.979,2.979,2.972,2.972,2.972,2.97,2.965,2.962,2.96,2.952,2.944,2.944,2.943,2.94,2.939,2.938,2.936,2.936,2.936,2.936,2.936,2.931,2.927,2.922,2.919,2.919,2.918,2.915,2.914,2.91,2.91,2.91,2.91,2.908,2.908,2.908,2.908,2.908,2.907,2.9,2.9,2.9,2.905,2.91,2.91,2.91,2.91,2.91,2.914,2.915,2.921,2.921,2.921,2.926,2.926,2.926,2.928,2.929,2.929,2.934,2.934,2.934,2.938,2.95,2.951,2.952,2.953,2.957,2.962,2.962,2.969,2.969,2.969,2.98,2.982,2.985,2.991,2.994,2.995,3.002,3.011,3.014,3.019,3.021,3.021,3.029,3.029,3.029,3.029,3.036,3.04,3.046,3.056,3.061,3.064,3.065,3.082,3.092,3.094,3.094,3.105,3.106,3.106,3.107,3.129,3.138,3.141,3.148,3.157,3.169,3.173,3.177,3.181,3.181,3.194,3.205,3.714,3.73,3.734,3.754,3.757,3.779,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.972,3.972,3.972,3.951,3.915,0,3.834,3.808,3.744,3.744,3.744,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.24} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.317650}
SEN {Time 52.2441} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.8542} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 0.9906}
SEN {Time 52.2874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,3.13,3.113,3.111,3.11,3.107,3.106,3.101,3.101,3.098,3.096,3.096,3.094,3.091,3.084,3.083,3.083,3.083,3.082,3.082,3.079,3.079,3.077,3.077,3.077,3.08,3.592,3.612,3.615,3.612,3.613,3.612,3.611,3.611,3.613,3.614,3.614,3.614,3.614,3.611,3.605,3.603,3.598,3.598,3.498,0.159,0.157,0.154,0.154,0.154,0.149,0.157,0.158,0.157,0.151,0.154,0.154,0.154,0.297,3.628,3.632,3.633,3.633,3.64,0,0,0,0.163,0.163,0.162,0.162,0.162,0.165,0.165,0.172,0.406,3.699,3.709,3.721,3.728,3.733,3.734,3.748,3.754,3.756,3.769,3.775,3.775,3.792,3.8,3.805,3.806,3.806,3.823,3.832,3.843,3.853,3.86,3.864,3.884,3.902,3.905,3.908,3.92,3.926,3.932,3.936,3.963,3.976,3.977,3.982,3.998,4.016,4.026,4.04,4.048,4.057,4.068,4.084,0.016,0.016,0.016,0.016,0,0.009,0.009,0.009,0,0,0,0.007,0,0,0,4.078,4.039,4.009,4.009,4.009,3.981,3.953,3.867,3.855,3.813,3.787,3.755,3.724,3.709,3.687,3.672,3.65,3.612,3.589,3.57,3.529,3.519,3.495,3.477,3.449,3.432,3.411,3.39,3.367,3.354,3.32,3.307,3.298,3.276,3.26,3.24,3.229,3.207,3.198,3.183,3.162,3.142,3.137,3.119,3.108,3.089,3.076,3.066,3.059,3.046,3.027,3.02,3.005,3,2.986,2.969,2.959,2.939,2.925,2.922,2.911,2.902,2.895,2.876,2.868,2.856,2.852,2.839,2.833,2.824,2.8,2.8,2.795,2.788,2.772,2.766,2.762,2.75,2.75,2.743,2.735,1.174,1.17,1.166,1.166,1.16,1.16,1.16,1.169,2.639,2.645,2.645,2.639,2.634,2.628,2.622,2.608,2.605,2.6,2.587,2.584,2.578,2.57,2.569,2.565,2.565,2.555,2.55,2.546,2.542,2.542,2.541,2.527,2.522,2.515,2.512,2.509,2.506,2.505,2.494,2.494,2.49,2.489,2.486,2.482,2.476,2.476,2.471,2.467,2.466,2.463,2.459,2.459,2.459,2.453,2.453,2.453,2.45,2.447,2.447,2.447,2.447,2.438,2.438,2.438,2.437,2.436,2.437,2.436,2.436,2.434,2.436,2.434,2.434,2.434,2.436,2.435,2.435,2.435,2.435,2.435,2.439,2.439,2.439,2.439,2.442,2.442,2.443,2.444,2.444,2.449,2.449,2.449,2.446,2.449,2.457,2.458,2.458,2.462,2.467,2.473,2.473,2.475,2.479,2.482,2.483,2.486,2.49,2.494,2.496,2.5,2.5,2.496,1.109,1.109,1.109,1.112,1.114,1.12,1.12,2.554,2.559,2.56,2.56,2.56,2.571,2.581,2.584,2.584,2.585,2.595,2.604,2.606,2.615,2.629,2.632,2.635,2.646,2.654,2.662,2.663,2.671,2.679,2.687,2.697,2.709,2.72,2.735,2.739,2.751,2.754,2.758,2.769,2.781,2.783,2.796,2.815,2.82,2.829,2.834,2.854,2.854,2.869,2.876,2.895,2.904,2.91,2.913,2.938,2.944,2.95,2.963,2.979,2.994,2.998,3.011,3.035,3.037,3.054,3.07,3.081,3.096,3.11,3.122,3.135,3.156,3.17,3.176,3.194,3.213,3.226,3.245,3.26,3.281,3.288,3.313,3.329,3.353,3.361,3.388,3.403,3.433,3.455,3.481,3.486,3.517,3.528,3.559,3.578,3.607,3.629,3.654,3.67,3.698,3.733,3.757,3.782,3.82,3.822,3.86,3.905,3.925,3.954,3.99,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.297,3.293,3.277,3.262,3.259,3.239,3.236,3.228,3.22,3.201,3.198,3.197,3.183,3.163,3.162,3.156,3.145,3.14,3.127,3.124,3.12,3.113,3.105,3.099,3.089,3.089,3.089,3.078,3.058,3.058,3.058,3.05,3.034,3.032,3.023,3.019,3.018,3.015,3.013,3.013,3.002,2.99,2.987,2.986,2.985,2.979,2.975,2.97,2.969,2.966,2.961,2.954,2.952,2.949,2.949,2.949,2.945,2.949,0.007,0.015,0.007,2.984,2.936,2.932,2.929,2.924,2.922,2.924,2.922,2.924,2.922,2.915,2.915,2.917,2.917,2.923,2.923,2.923,2.909,2.909,2.909,2.903,2.915,2.915,2.915,2.917,2.918,2.918,2.918,2.919,2.92,2.925,2.923,2.925,2.925,2.925,2.925,2.927,2.933,2.934,2.943,2.943,2.944,2.944,2.946,2.953,2.963,2.964,2.964,2.965,2.967,2.971,2.978,2.981,2.982,2.982,2.989,2.996,3.001,3.005,3.011,3.016,3.022,3.028,3.03,3.033,3.037,3.037,3.037,3.037,3.048,3.055,3.058,3.06,3.075,3.075,3.077,3.085,3.086,3.088,3.089,3.108,3.111,3.122,3.124,3.138,3.138,3.141,3.165,3.165,3.18,3.18,3.189,3.19,3.193,3.207,3.716,3.734,3.742,3.742,3.754,3.772,3.774,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.011,4.011,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.45} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.256563}
SEN {Time 52.4471} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 0.9906}
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SEN {Time 52.64} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.198968}
SEN {Time 52.6421} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 3.7338} {Name Sonar2 Range 3.429} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 3.7592} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 2.3368}
SEN {Time 52.6794} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.16,3.157,3.157,3.148,3.132,3.132,3.129,3.129,3.124,3.119,3.115,3.111,3.108,3.106,3.092,3.09,3.09,3.087,3.087,3.084,3.082,3.081,3.077,3.077,3.075,3.074,3.074,3.07,3.07,3.068,3.068,3.067,3.06,3.06,3.06,3.055,0.148,0.148,0.148,0.148,0.151,0.151,0.151,0.148,0.151,0.145,0.145,0.155,0.156,0.159,0.283,3.572,3.575,3.579,3.593,3.593,3.597,0.007,3.36,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.383,3.613,3.616,3.62,3.623,3.623,3.627,3.627,3.635,3.641,3.643,3.643,3.655,3.656,3.656,3.662,3.671,3.673,3.674,3.684,3.7,3.709,3.711,3.718,3.724,3.724,3.728,3.735,3.736,3.74,3.741,3.753,3.762,3.77,3.776,3.791,3.792,3.798,3.816,3.818,3.821,3.834,3.839,3.856,3.863,3.878,3.878,3.884,3.89,3.906,3.916,3.925,3.927,3.956,3.968,3.968,3.982,4.015,4.019,4.021,4.038,4.042,4.063,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0.016,4.027,4.027,4.002,3.973,3.906,3.886,3.846,3.82,3.783,3.743,3.732,3.7,3.681,3.669,3.643,3.614,3.574,3.572,3.546,3.516,3.499,3.484,3.457,3.451,3.411,3.406,3.384,3.37,3.337,3.317,3.299,3.267,3.265,3.24,3.232,3.222,3.2,3.183,3.172,3.148,3.14,3.121,3.111,3.092,3.075,3.06,3.054,3.053,3.037,3.027,3.004,3.001,2.986,2.975,2.956,2.955,2.932,2.918,2.914,2.911,2.89,2.882,2.88,2.865,2.849,2.843,2.837,2.829,2.813,2.801,2.796,2.792,2.776,2.774,2.765,2.765,2.764,2.75,2.725,2.725,2.718,2.714,1.162,1.162,1.159,1.154,1.148,1.148,1.148,2.621,2.622,2.622,2.621,2.609,2.607,2.597,2.595,2.585,2.585,2.576,2.568,2.562,2.556,2.551,2.545,2.545,2.537,2.531,2.529,2.525,2.519,2.509,2.504,2.502,2.501,2.498,2.494,2.491,2.485,2.485,2.485,2.485,2.481,2.477,2.474,2.474,2.473,2.462,2.463,2.458,2.456,2.456,2.456,2.451,2.45,2.451,2.45,2.45,2.449,2.443,2.434,2.434,2.44,2.435,2.44,2.44,2.438,2.436,2.436,2.433,2.431,2.431,2.429,2.429,2.432,2.433,2.435,2.435,2.435,2.435,2.435,2.436,2.436,2.436,2.436,2.443,2.443,2.443,2.447,2.447,2.45,2.451,2.453,2.46,2.46,2.462,2.462,2.464,2.465,2.467,2.473,2.474,2.482,2.484,2.486,2.489,2.489,2.495,2.502,2.504,2.504,2.504,2.504,1.11,1.11,1.11,1.12,1.122,1.125,1.126,1.126,2.559,2.561,2.565,2.57,2.586,2.592,2.595,2.603,2.603,2.611,2.616,2.628,2.633,2.633,2.642,2.651,2.657,2.669,2.67,2.688,2.689,2.693,2.707,2.713,2.716,2.718,2.737,2.745,2.76,2.763,2.764,2.791,2.791,2.802,2.808,2.82,2.831,2.847,2.848,2.872,2.874,2.882,2.882,2.896,2.913,2.93,2.932,2.951,2.961,2.972,2.989,3,3.007,3.032,3.038,3.052,3.055,3.067,3.092,3.107,3.125,3.144,3.147,3.168,3.174,3.193,3.213,3.224,3.239,3.263,3.276,3.295,3.314,3.336,3.353,3.373,3.387,3.405,3.427,3.443,3.474,3.485,3.509,3.527,3.544,3.579,3.6,3.624,3.638,3.677,3.704,3.722,3.75,3.774,3.799,3.831,3.835,3.878,3.918,3.954,3.975,4.019,4.048,4.085,0.009,0.009,0.009,0.009,0.009,0.007,0,0.016,0,0,0,0,0,0.007,0,0,0.007,3.953,3.295,3.29,3.279,3.275,3.266,3.244,3.238,3.233,3.216,3.214,3.205,3.187,3.186,3.172,3.167,3.157,3.156,3.153,3.131,3.131,3.127,3.126,3.115,3.097,3.087,3.086,3.085,3.075,3.068,3.068,3.059,3.058,3.054,3.04,3.032,3.029,3.027,3.019,3.013,3.012,3.012,3.011,3.005,2.996,2.991,2.986,2.982,2.979,2.976,2.969,2.967,2.959,2.957,2.957,2.957,2.955,2.955,2.955,2.955,2.957,2.957,2.957,2.957,2.943,2.939,2.932,2.932,2.932,2.932,2.934,2.934,2.927,2.93,2.928,2.928,2.928,2.93,2.928,2.926,2.926,2.934,2.928,2.929,2.929,2.929,2.929,2.931,2.935,2.935,2.935,2.94,2.94,2.94,2.942,2.947,2.947,2.948,2.951,2.951,2.954,2.957,2.964,2.964,2.965,2.966,2.968,2.974,2.979,2.981,2.988,2.99,2.992,2.995,2.995,3.003,3.003,3.006,3.008,3.023,3.023,3.027,3.028,3.037,3.038,3.043,3.045,3.045,3.05,3.055,3.056,3.065,3.079,3.087,3.103,3.087,3.087,3.103,3.108,3.108,3.123,3.126,3.131,3.133,3.133,3.138,3.148,3.154,3.178,3.185,3.191,3.191,3.205,3.205,3.208,3.219,3.234,3.742,3.752,3.77,3.771,3.783,3.785,3.81,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 52.84} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.144862}
SEN {Time 52.837} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2418} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 2.3368}
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SEN {Time 53.04} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.082030}
SEN {Time 53.04} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2418} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.0414}
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SEN {Time 53.23} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,0.022689}
SEN {Time 53.2338} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.4102} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 4.0386} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.0414}
SEN {Time 53.2765} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.302,3.302,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.007,0,0,0,3.14,3.139,3.135,3.126,3.126,3.126,3.126,3.115,0.158,0.153,0.149,0.146,0.146,0.146,0.146,0.145,0.15,0.15,0.152,0.152,0.153,0.159,3.058,3.058,3.058,3.053,3.053,3.047,3.053,3.035,0.157,0.157,0.161,0.157,0.158,0.16,0.158,0.158,0.16,0.299,3.567,3.567,3.567,3.57,3.568,3.568,3.568,3.568,3.568,3.568,3.568,3.572,3.575,3.574,3.574,3.574,3.574,3.574,3.576,3.578,3.578,3.578,3.585,3.585,3.585,3.586,3.586,3.586,3.59,3.592,3.601,3.601,3.608,3.613,3.617,3.617,3.617,3.617,3.618,3.627,3.632,3.634,3.644,3.647,3.648,3.648,3.65,3.67,3.67,3.672,3.677,3.688,3.69,3.697,3.71,3.718,3.718,3.719,3.724,3.741,3.746,3.75,3.756,3.762,3.777,3.777,3.79,3.79,3.812,3.813,3.819,3.834,3.838,3.839,3.86,3.861,3.874,3.878,3.886,3.891,3.915,3.916,3.918,3.958,3.965,3.974,3.98,3.996,4.011,4.022,4.023,4.038,4.064,4.068,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0,0,0.016,4.075,3.942,3.942,3.942,3.908,3.845,3.815,3.79,3.754,3.715,3.701,3.695,3.654,3.634,3.604,3.58,3.564,3.547,3.525,3.502,3.486,3.464,3.433,3.417,3.389,3.384,3.363,3.343,3.322,3.302,3.286,3.266,3.251,3.229,3.209,3.2,3.182,3.172,3.149,3.148,3.125,3.121,3.1,3.098,3.071,3.062,3.06,3.033,3.027,3.01,2.997,2.984,2.969,2.968,2.952,2.938,2.924,2.917,2.901,2.894,2.876,2.874,2.859,2.847,2.845,2.838,2.821,2.804,2.79,2.788,2.784,2.769,2.765,2.75,2.74,2.737,2.729,2.724,2.715,2.704,2.684,2.683,2.68,1.147,1.147,1.139,1.139,1.139,1.136,1.136,1.136,2.595,2.595,2.595,2.593,2.586,2.582,2.578,2.57,2.567,2.566,2.551,2.55,2.538,2.538,2.538,2.532,2.521,2.515,2.513,2.512,2.504,2.497,2.495,2.495,2.492,2.488,2.487,2.482,2.48,2.474,2.472,2.472,2.466,2.465,2.464,2.464,2.459,2.455,2.452,2.45,2.447,2.447,2.447,2.443,2.443,2.443,2.442,2.439,2.434,2.434,2.434,2.434,2.432,2.432,2.432,2.431,2.428,2.428,2.428,2.428,2.428,2.428,2.428,2.431,2.428,2.431,2.431,2.429,2.429,2.433,2.433,2.433,2.437,2.438,2.438,2.442,2.443,2.446,2.447,2.453,2.453,2.453,2.453,2.453,2.455,2.464,2.466,2.466,2.471,2.472,2.473,2.482,2.484,2.486,2.49,2.49,2.497,2.5,2.501,2.502,2.514,2.516,2.516,2.514,1.117,1.114,1.114,1.114,1.115,1.131,1.132,1.136,2.57,2.58,2.581,2.581,2.586,2.605,2.61,2.615,2.625,2.626,2.634,2.643,2.649,2.655,2.656,2.669,2.672,2.676,2.696,2.702,2.702,2.726,2.73,2.736,2.74,2.744,2.748,2.766,2.782,2.783,2.795,2.801,2.817,2.818,2.836,2.842,2.858,2.864,2.869,2.881,2.908,2.912,2.923,2.939,2.947,2.95,2.969,2.986,2.999,3.004,3.015,3.035,3.053,3.063,3.064,3.09,3.093,3.114,3.127,3.144,3.149,3.182,3.188,3.202,3.212,3.237,3.247,3.258,3.286,3.305,3.319,3.339,3.357,3.362,3.39,3.42,3.443,3.449,3.471,3.497,3.53,3.545,3.567,3.59,3.598,3.629,3.648,3.677,3.719,3.739,3.747,3.785,3.821,3.844,3.868,3.896,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.34,3.313,3.305,3.285,3.282,3.266,3.262,3.256,3.239,3.237,3.226,3.221,3.209,3.202,3.19,3.178,3.175,3.16,3.158,3.158,3.149,3.134,3.126,3.113,3.112,3.11,3.104,3.095,3.091,3.087,3.081,3.074,3.072,3.065,3.056,3.055,3.048,3.048,3.044,3.044,3.036,3.027,3.009,3.009,3.007,3.007,3.007,2.995,2.994,2.989,2.989,2.984,2.979,2.977,2.975,2.971,2.965,2.965,2.965,2.965,2.965,2.964,2.964,2.961,2.956,2.955,2.956,2.956,2.955,2.955,2.955,2.952,2.952,2.949,2.951,2.951,2.951,2.953,2.953,2.953,2.953,2.951,2.951,2.952,2.951,2.947,2.952,2.952,2.952,2.954,2.955,2.956,2.957,2.957,2.961,2.966,2.969,2.974,2.975,2.975,2.975,2.977,2.978,2.978,2.989,2.992,2.995,2.995,2.995,3.002,3.011,3.017,3.019,3.024,3.026,3.024,3.027,3.028,3.032,3.051,3.051,3.056,3.06,3.061,3.063,3.07,3.073,3.073,3.075,3.085,3.092,3.098,3.104,3.108,3.111,3.113,3.116,3.123,3.133,3.144,3.15,3.152,3.155,3.159,3.171,3.171,3.189,3.194,3.199,3.207,3.22,3.221,3.228,3.221,3.23,3.239,3.753,3.774,3.779,3.786,3.8,3.818,0.009,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 53.44} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.034907}
SEN {Time 53.4379} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.4102} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.9022} {Name Sonar15 Range 1.0414}
SEN {Time 53.4794} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.711,3.711,3.706,3.706,0.007,0.009,0.009,0.009,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.29,3.275,3.275,3.275,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,3.304,0,0.007,0.151,0.151,0.151,0.151,0.151,0.146,0.146,0.154,0.153,0.153,0.153,0.153,0.153,3.078,3.078,3.078,3.069,3.069,3.069,3.069,3.069,0.155,0.152,0.155,0.155,0.155,0.16,0.16,0.16,0.168,3.032,3.036,3.037,3.037,3.037,3.037,3.037,3.032,3.032,3.561,3.561,3.564,3.57,3.57,3.568,3.57,3.568,3.568,3.573,3.573,3.57,3.57,3.57,3.566,3.57,3.567,3.567,3.567,3.568,3.567,3.568,3.57,3.583,3.583,3.586,3.586,3.591,3.591,3.591,3.591,3.595,3.591,3.598,3.604,3.606,3.606,3.606,3.61,3.614,3.614,3.62,3.631,3.632,3.634,3.641,3.641,3.65,3.655,3.667,3.667,3.672,3.677,3.683,3.685,3.705,3.713,3.717,3.717,3.733,3.733,3.738,3.749,3.758,3.759,3.765,3.77,3.771,3.782,3.796,3.797,3.81,3.819,3.819,3.829,3.834,3.855,3.866,3.871,3.879,3.884,3.896,3.908,3.912,3.944,3.951,3.961,3.968,3.973,3.985,4.004,4.015,4.029,4.042,4.075,4.087,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.016,4.094,4.065,4.033,3.992,3.959,3.937,3.889,3.881,3.838,3.818,3.785,3.768,3.744,3.708,3.698,3.671,3.634,3.622,3.59,3.568,3.55,3.537,3.503,3.479,3.461,3.443,3.424,3.398,3.377,3.349,3.338,3.317,3.299,3.289,3.278,3.256,3.245,3.233,3.207,3.197,3.175,3.171,3.134,3.134,3.115,3.104,3.095,3.072,3.061,3.053,3.03,3.026,3.013,2.991,2.988,2.974,2.967,2.952,2.935,2.925,2.914,2.909,2.895,2.879,2.872,2.853,2.851,2.842,2.826,2.818,2.811,2.802,2.795,2.787,2.766,2.758,2.75,2.743,2.733,2.722,2.721,2.704,2.702,2.689,2.689,2.683,2.678,1.148,1.148,1.146,1.139,1.13,1.13,1.13,1.137,2.6,2.6,2.6,2.593,2.586,2.579,2.578,2.567,2.566,2.563,2.55,2.548,2.546,2.533,2.531,2.528,2.528,2.513,2.51,2.507,2.505,2.502,2.5,2.493,2.484,2.483,2.483,2.476,2.475,2.471,2.47,2.468,2.467,2.466,2.461,2.46,2.458,2.457,2.456,2.452,2.452,2.45,2.449,2.44,2.44,2.436,2.436,2.436,2.433,2.433,2.428,2.433,2.433,2.433,2.433,2.433,2.43,2.43,2.426,2.426,2.431,2.432,2.431,2.432,2.433,2.433,2.434,2.435,2.435,2.435,2.436,2.436,2.436,2.442,2.444,2.447,2.453,2.453,2.453,2.453,2.453,2.452,2.457,2.458,2.459,2.465,2.475,2.476,2.476,2.476,2.484,2.489,2.489,2.49,2.499,2.503,2.503,2.505,2.514,2.515,2.516,2.524,2.524,2.524,2.524,1.124,1.124,1.124,1.127,1.13,1.136,1.141,2.586,2.59,2.601,2.601,2.601,2.601,2.615,2.619,2.624,2.637,2.644,2.66,2.668,2.672,2.676,2.68,2.688,2.689,2.702,2.706,2.71,2.724,2.725,2.742,2.745,2.757,2.765,2.781,2.784,2.8,2.803,2.821,2.83,2.84,2.847,2.858,2.88,2.883,2.896,2.898,2.912,2.915,2.943,2.944,2.96,2.968,2.987,2.994,3.005,3.013,3.019,3.056,3.065,3.072,3.084,3.1,3.119,3.136,3.152,3.155,3.176,3.188,3.207,3.22,3.24,3.251,3.266,3.294,3.302,3.325,3.341,3.358,3.382,3.389,3.415,3.442,3.45,3.479,3.503,3.515,3.562,3.565,3.603,3.617,3.641,3.658,3.681,3.723,3.731,3.768,3.787,3.836,3.88,3.902,3.902,3.936,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.349,3.316,3.313,3.297,3.292,3.28,3.274,3.253,3.252,3.24,3.232,3.23,3.216,3.206,3.196,3.182,3.178,3.174,3.16,3.158,3.146,3.146,3.144,3.14,3.121,3.113,3.112,3.111,3.094,3.092,3.081,3.076,3.071,3.07,3.065,3.059,3.048,3.043,3.04,3.039,3.038,3.033,3.022,3.02,3.015,3.012,3.008,3.004,3.003,2.994,2.994,2.992,2.992,2.983,2.983,2.983,2.972,2.97,2.972,2.972,2.98,2.98,2.98,2.969,2.967,2.964,2.963,2.964,2.963,2.96,2.96,2.96,2.959,2.957,2.957,2.957,2.955,2.956,2.955,2.955,2.956,2.956,2.955,2.955,2.955,2.954,2.955,2.955,2.955,2.964,2.964,2.964,2.964,2.968,2.971,2.974,2.979,2.98,2.982,2.983,2.988,2.989,2.994,2.994,2.995,2.996,2.998,3.003,3.012,3.015,3.017,3.024,3.025,3.026,3.028,3.032,3.039,3.04,3.043,3.059,3.061,3.061,3.061,3.07,3.07,3.081,3.082,3.092,3.099,3.099,3.1,3.1,3.112,3.12,3.123,3.124,3.14,3.142,3.145,3.145,3.145,3.153,3.158,3.162,3.169,3.177,3.178,3.201,3.205,3.218,3.223,3.226,3.23,3.236,3.238,3.69,3.779,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 53.63} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.089012}
SEN {Time 53.632} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.4102} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8702} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 1.0668}
SEN {Time 53.6754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.738,3.717,3.696,3.696,3.686,3.686,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.286,3.266,3.266,3.286,3.265,0,0.007,0,3.227,0.165,0.153,0.153,0.152,0.153,0.152,0.145,0.145,0.145,0.145,0.148,0.148,0.148,0.15,3.098,3.098,3.098,3.096,3.096,3.096,3.096,3.096,0.164,0.161,0.161,0.16,0.16,0.156,0.155,0.155,0.156,3.049,3.049,3.049,3.042,3.042,3.038,3.037,3.03,3.03,3.03,3.031,3.029,3.026,3.026,3.023,3.021,3.018,3.021,3.021,3.559,3.564,3.564,3.565,3.559,3.568,3.56,3.565,3.565,3.565,3.561,3.565,3.561,3.561,3.563,3.563,3.563,3.567,3.567,3.567,3.567,3.567,3.567,3.57,3.572,3.572,3.57,3.57,3.578,3.578,3.583,3.583,3.588,3.594,3.594,3.6,3.601,3.603,3.608,3.612,3.617,3.62,3.626,3.627,3.634,3.638,3.639,3.646,3.649,3.667,3.671,3.672,3.673,3.694,3.706,3.709,3.709,3.709,3.711,3.722,3.723,3.729,3.746,3.751,3.752,3.757,3.771,3.775,3.784,3.787,3.787,3.813,3.815,3.821,3.839,3.854,3.854,3.854,3.874,3.876,3.888,3.892,3.922,3.931,3.939,3.948,3.965,3.972,3.974,3.999,4.017,4.027,4.033,4.049,4.081,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,4.034,4.013,3.988,3.947,3.906,3.883,3.865,3.826,3.789,3.777,3.748,3.715,3.688,3.658,3.648,3.61,3.59,3.573,3.545,3.52,3.519,3.468,3.459,3.432,3.43,3.409,3.389,3.375,3.341,3.33,3.312,3.29,3.284,3.255,3.254,3.221,3.213,3.192,3.175,3.159,3.151,3.124,3.119,3.104,3.089,3.067,3.055,3.041,3.03,3.026,3.02,2.994,2.981,2.964,2.957,2.948,2.938,2.911,2.908,2.903,2.892,2.874,2.866,2.855,2.851,2.831,2.827,2.817,2.804,2.788,2.786,2.776,2.771,2.762,2.756,2.748,2.73,2.722,2.715,2.71,2.696,2.685,2.684,2.682,2.681,2.668,1.145,1.144,1.142,1.142,1.139,1.134,1.134,1.134,2.584,2.584,2.584,2.58,2.577,2.575,2.572,2.565,2.556,2.552,2.54,2.537,2.537,2.53,2.524,2.522,2.514,2.501,2.499,2.499,2.498,2.497,2.495,2.493,2.492,2.479,2.478,2.476,2.474,2.47,2.466,2.465,2.465,2.463,2.458,2.453,2.453,2.449,2.446,2.446,2.446,2.44,2.44,2.44,2.44,2.44,2.44,2.437,2.431,2.437,2.432,2.432,2.431,2.431,2.431,2.431,2.431,2.431,2.429,2.429,2.436,2.439,2.439,2.439,2.439,2.439,2.439,2.44,2.44,2.44,2.44,2.44,2.442,2.445,2.447,2.448,2.448,2.45,2.458,2.458,2.459,2.461,2.462,2.467,2.467,2.473,2.479,2.479,2.483,2.486,2.486,2.489,2.496,2.496,2.497,2.501,2.504,2.505,2.515,2.52,2.524,2.527,2.527,2.527,1.126,1.126,1.126,1.131,1.131,1.133,1.141,2.575,2.606,2.606,2.606,2.613,2.616,2.616,2.627,2.629,2.641,2.648,2.65,2.651,2.662,2.674,2.677,2.682,2.697,2.704,2.706,2.708,2.723,2.737,2.742,2.744,2.754,2.772,2.789,2.797,2.807,2.808,2.826,2.826,2.828,2.851,2.852,2.867,2.88,2.889,2.9,2.902,2.928,2.944,2.951,2.964,2.977,2.983,2.997,3.016,3.037,3.041,3.041,3.052,3.082,3.091,3.106,3.116,3.123,3.145,3.159,3.179,3.197,3.211,3.229,3.236,3.245,3.278,3.281,3.304,3.324,3.335,3.354,3.368,3.393,3.411,3.435,3.458,3.484,3.497,3.516,3.546,3.56,3.579,3.619,3.638,3.657,3.691,3.736,3.747,3.751,3.792,3.822,3.862,3.887,3.912,4.002,0,0.007,0.009,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.368,3.328,3.304,3.301,3.293,3.277,3.268,3.257,3.253,3.232,3.224,3.219,3.216,3.204,3.203,3.186,3.179,3.178,3.178,3.175,3.152,3.143,3.138,3.125,3.125,3.123,3.116,3.1,3.097,3.097,3.091,3.08,3.075,3.075,3.072,3.065,3.054,3.047,3.044,3.04,3.037,3.036,3.027,3.026,3.022,3.013,3.012,3.01,3.009,3.003,2.999,2.998,2.993,2.991,2.986,2.984,2.984,2.979,2.979,2.986,2.99,2.99,2.99,2.977,2.974,2.967,2.964,2.964,2.964,2.964,2.967,2.967,2.957,2.96,2.96,2.96,2.96,2.963,2.963,2.963,2.963,2.963,2.965,2.965,2.965,2.965,2.967,2.97,2.97,2.974,2.974,2.975,2.975,2.984,2.985,2.985,2.985,2.985,2.987,2.987,2.994,2.995,2.999,2.999,2.999,3,3.008,3.01,3.011,3.012,3.027,3.032,3.035,3.035,3.035,3.038,3.048,3.052,3.06,3.06,3.065,3.076,3.079,3.081,3.083,3.083,3.088,3.088,3.09,3.093,3.114,3.116,3.117,3.118,3.121,3.135,3.145,3.148,3.149,3.157,3.16,3.166,3.171,3.175,3.187,3.2,3.201,3.202,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 53.84} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.148353}
SEN {Time 53.8358} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.016} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8702} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.048} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 1.0668}
SEN {Time 53.8754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.712,3.696,3.694,3.673,3.673,3.67,3.673,0.007,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.265,0.157,0.152,0.152,0.149,0.149,0.151,0.151,0.151,0.153,0.155,0.155,0.155,0.155,0.155,0.162,3.145,0,0,0,0,0,3.152,3.152,0.159,0.159,0.155,0.155,0.155,0.152,0.152,0.163,3.061,3.062,3.062,3.061,3.057,3.053,3.053,3.049,3.041,3.041,3.039,3.038,3.038,3.038,3.035,3.031,3.029,3.027,3.026,3.026,3.022,3.027,3.022,3.022,3.022,3.022,3.022,3.024,3.555,3.555,3.555,3.555,3.555,3.556,3.558,3.558,3.558,3.556,3.559,3.555,3.555,3.555,3.555,3.555,3.555,3.555,3.555,3.554,3.554,3.558,3.56,3.56,3.56,3.56,3.56,3.561,3.569,3.582,3.582,3.582,3.583,3.586,3.592,3.597,3.603,3.605,3.606,3.616,3.619,3.622,3.629,3.632,3.642,3.643,3.644,3.652,3.652,3.656,3.657,3.665,3.668,3.668,3.674,3.69,3.696,3.701,3.704,3.705,3.716,3.722,3.729,3.733,3.747,3.748,3.764,3.776,3.779,3.786,3.79,3.795,3.799,3.819,3.832,3.837,3.844,3.849,3.862,3.863,3.885,3.906,3.909,3.923,3.931,3.939,3.955,3.973,3.978,4.002,4.009,4.018,4.043,4.051,4.065,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.016,4.011,3.988,3.944,3.907,3.87,3.85,3.835,3.798,3.769,3.748,3.713,3.705,3.674,3.662,3.643,3.612,3.584,3.552,3.55,3.524,3.507,3.472,3.458,3.435,3.413,3.391,3.368,3.359,3.341,3.32,3.303,3.275,3.266,3.236,3.228,3.208,3.201,3.169,3.161,3.153,3.14,3.123,3.101,3.091,3.081,3.061,3.056,3.039,3.031,3.011,3.001,2.994,2.986,2.968,2.954,2.934,2.924,2.918,2.9,2.896,2.885,2.876,2.868,2.855,2.843,2.836,2.834,2.811,2.799,2.797,2.78,2.774,2.767,2.758,2.754,2.744,2.737,2.722,2.72,2.714,2.711,2.692,2.69,2.676,2.676,2.675,2.675,1.143,1.142,1.142,1.141,1.135,1.135,1.135,2.587,2.587,2.587,2.581,2.576,2.573,2.565,2.562,2.557,2.552,2.549,2.541,2.537,2.534,2.532,2.523,2.515,2.514,2.508,2.507,2.501,2.498,2.493,2.492,2.491,2.479,2.473,2.473,2.472,2.471,2.468,2.463,2.463,2.463,2.463,2.463,2.463,2.458,2.457,2.456,2.453,2.45,2.449,2.449,2.447,2.443,2.443,2.442,2.443,2.442,2.441,2.439,2.439,2.439,2.441,2.441,2.441,2.438,2.437,2.435,2.431,2.431,2.431,2.435,2.436,2.436,2.443,2.444,2.444,2.444,2.444,2.444,2.448,2.452,2.453,2.453,2.454,2.452,2.455,2.455,2.462,2.462,2.465,2.473,2.474,2.474,2.478,2.481,2.482,2.49,2.491,2.493,2.498,2.502,2.503,2.504,2.505,2.516,2.519,2.522,2.529,2.53,2.53,2.53,2.529,1.123,1.123,1.123,1.136,1.141,1.142,1.148,2.597,2.598,2.6,2.607,2.617,2.619,2.623,2.633,2.641,2.646,2.652,2.671,2.675,2.683,2.683,2.688,2.707,2.713,2.718,2.72,2.738,2.746,2.747,2.764,2.769,2.772,2.783,2.791,2.803,2.816,2.825,2.846,2.847,2.85,2.872,2.874,2.878,2.906,2.906,2.918,2.927,2.941,2.956,2.96,2.981,2.994,3.003,3.019,3.029,3.042,3.063,3.082,3.089,3.091,3.11,3.113,3.137,3.159,3.169,3.175,3.199,3.212,3.225,3.239,3.253,3.266,3.288,3.321,3.329,3.348,3.356,3.378,3.402,3.421,3.438,3.47,3.483,3.51,3.535,3.563,3.572,3.602,3.622,3.64,3.663,3.699,3.741,3.777,3.81,3.846,3.846,3.855,3.95,3.997,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.007,0,0,0,0,4.031,4.007,3.975,3.369,3.329,3.323,3.314,3.311,3.29,3.278,3.277,3.257,3.254,3.236,3.235,3.228,3.207,3.206,3.198,3.196,3.182,3.178,3.162,3.157,3.149,3.142,3.14,3.14,3.119,3.115,3.112,3.111,3.106,3.092,3.09,3.084,3.083,3.075,3.063,3.06,3.056,3.054,3.05,3.046,3.045,3.045,3.033,3.029,3.028,3.017,3.015,3.01,3.009,3.007,3.007,3.002,3,2.998,2.992,2.992,2.992,2.992,3.011,3.011,2.985,2.985,2.979,2.979,2.979,2.979,2.979,2.976,2.974,2.974,2.974,2.974,2.972,2.972,2.97,2.97,2.97,2.97,2.969,2.97,2.97,2.97,2.97,2.971,2.974,2.976,2.976,2.977,2.978,2.979,2.979,2.984,2.989,2.989,2.99,2.994,2.994,2.996,2.998,3.007,3.007,3.008,3.01,3.011,3.014,3.014,3.017,3.024,3.033,3.033,3.038,3.044,3.045,3.047,3.05,3.057,3.062,3.063,3.066,3.069,3.074,3.078,3.087,3.087,3.088,3.091,3.091,3.097,3.106,3.108,3.12,3.12,3.125,3.129,3.134,3.138,3.148,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.03} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.205949}
SEN {Time 54.0308} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.016} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 2.8702} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.8006} {Name Sonar15 Range 1.0668}
SEN {Time 54.0765} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.93,3.93,0,0,0,0,0,0,0,0,0,0,3.709,3.69,3.671,3.668,3.656,3.647,3.631,3.631,3.631,0.006,0.009,0.009,0.009,0,0,0,0.153,0.151,0.151,0.151,0.151,0.15,0.147,0.146,0.147,0.147,0.149,0.149,0.152,0.153,0,0.006,0.009,0.009,0.009,0,0,0,0,0.163,0.161,0.16,0.16,0.159,0.158,0.158,0.158,3.092,3.092,3.094,3.092,3.091,3.075,3.074,3.074,3.068,3.068,3.063,3.063,3.061,3.06,3.049,3.041,3.041,3.041,3.041,3.038,3.04,3.038,3.034,3.03,3.029,3.029,3.029,3.021,3.017,3.017,3.014,3.011,3.01,3.008,3.008,3.008,3.01,3.015,3.543,3.546,3.546,3.543,3.546,3.547,3.542,3.542,3.542,3.54,3.54,3.539,3.54,3.541,3.544,3.544,3.544,3.544,3.544,3.546,3.546,3.547,3.555,3.559,3.559,3.559,3.561,3.564,3.565,3.567,3.574,3.575,3.578,3.578,3.578,3.596,3.597,3.597,3.601,3.602,3.604,3.61,3.611,3.611,3.614,3.618,3.625,3.639,3.644,3.65,3.654,3.656,3.657,3.671,3.681,3.684,3.685,3.691,3.702,3.706,3.709,3.719,3.724,3.731,3.734,3.745,3.748,3.756,3.766,3.772,3.792,3.794,3.805,3.809,3.823,3.831,3.849,3.851,3.856,3.87,3.878,3.893,3.896,3.921,3.926,3.949,3.95,3.965,3.978,3.982,4.015,4.02,4.036,4.043,4.053,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.075,4.038,4.013,3.951,3.914,3.886,3.866,3.83,3.802,3.787,3.742,3.705,3.701,3.67,3.645,3.618,3.601,3.579,3.555,3.529,3.518,3.496,3.467,3.453,3.422,3.392,3.387,3.361,3.345,3.338,3.305,3.283,3.275,3.256,3.241,3.232,3.203,3.19,3.18,3.169,3.154,3.131,3.115,3.101,3.094,3.073,3.062,3.047,3.029,3.018,3.015,3.004,2.985,2.973,2.973,2.963,2.959,2.93,2.911,2.896,2.89,2.873,2.87,2.858,2.857,2.843,2.84,2.827,2.816,2.804,2.803,2.783,2.775,2.764,2.755,2.748,2.742,2.737,2.732,2.717,2.713,2.701,2.682,2.681,2.671,2.671,2.658,2.656,1.148,1.143,1.137,1.132,1.131,1.131,1.132,2.585,2.585,2.585,2.585,2.578,2.575,2.562,2.556,2.555,2.544,2.54,2.533,2.53,2.529,2.528,2.524,2.511,2.509,2.508,2.504,2.504,2.489,2.488,2.487,2.486,2.485,2.479,2.479,2.475,2.472,2.472,2.467,2.464,2.462,2.456,2.456,2.453,2.455,2.453,2.452,2.452,2.452,2.452,2.449,2.447,2.449,2.449,2.447,2.442,2.436,2.433,2.433,2.433,2.433,2.436,2.437,2.437,2.436,2.432,2.432,2.432,2.438,2.438,2.438,2.438,2.437,2.437,2.437,2.445,2.447,2.447,2.447,2.447,2.452,2.454,2.454,2.454,2.457,2.457,2.463,2.464,2.471,2.473,2.473,2.473,2.475,2.478,2.483,2.488,2.489,2.492,2.498,2.503,2.514,2.519,2.519,2.521,2.524,2.525,2.53,2.542,2.543,2.548,2.548,2.548,1.131,1.13,1.13,1.131,1.135,1.142,1.146,2.604,2.607,2.617,2.617,2.62,2.626,2.639,2.639,2.641,2.646,2.658,2.668,2.684,2.687,2.694,2.7,2.709,2.713,2.72,2.73,2.745,2.753,2.761,2.762,2.769,2.772,2.802,2.809,2.824,2.825,2.83,2.843,2.859,2.861,2.874,2.884,2.898,2.907,2.914,2.93,2.948,2.964,2.969,2.972,2.987,2.996,3.017,3.023,3.028,3.051,3.059,3.073,3.088,3.106,3.116,3.136,3.144,3.162,3.164,3.193,3.207,3.222,3.242,3.256,3.263,3.289,3.304,3.329,3.345,3.374,3.377,3.405,3.412,3.434,3.462,3.483,3.506,3.53,3.554,3.58,3.603,3.628,3.647,3.669,3.696,3.724,3.757,3.775,3.793,3.821,3.838,3.877,3.907,3.936,3.981,4.007,4.036,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0.007,0,0.007,0,4.037,3.344,3.333,3.323,3.323,3.303,3.293,3.289,3.272,3.254,3.247,3.246,3.23,3.22,3.213,3.206,3.192,3.191,3.184,3.179,3.168,3.166,3.145,3.143,3.142,3.137,3.124,3.121,3.113,3.105,3.104,3.097,3.094,3.09,3.072,3.07,3.068,3.053,3.052,3.051,3.05,3.047,3.043,3.041,3.039,3.033,3.033,3.031,3.021,3.015,3.007,3.006,3.003,3.001,2.999,2.999,2.999,2.993,2.999,2.999,2.999,2.997,2.997,2.99,2.99,2.989,2.989,2.987,2.986,2.977,2.986,2.977,2.977,2.981,2.981,2.976,2.981,2.981,2.976,2.976,2.975,2.975,2.975,2.982,2.982,2.983,2.983,2.983,2.983,2.987,2.993,2.993,2.994,2.994,2.994,2.994,2.994,2.997,2.997,3.007,3.009,3.009,3.011,3.014,3.017,3.018,3.029,3.029,3.03,3.031,3.033,3.041,3.043,3.051,3.051,3.052,3.059,3.067,3.071,3.075,3.08,3.085,3.092,3.092,3.092,3.096,3.102,3.108,3.111,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.23} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.268781}
SEN {Time 54.2346} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 1.016} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.0292}
SEN {Time 54.2754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,3.695,3.673,3.673,3.673,3.666,3.534,0.158,0.153,0.15,0.15,0.15,0.15,0.149,0.149,0.149,0.149,0.15,0.153,0.153,0.157,0,0,0,0,0,0,0,0,0,0.161,0.161,0.156,0.156,0.161,0.154,0.154,0.162,0,0,0,0,0.007,0,0,0,3.11,3.108,3.101,3.1,3.088,3.083,3.083,3.075,3.073,3.069,3.068,3.065,3.065,3.056,3.053,3.044,3.044,3.044,3.04,3.034,3.032,3.031,3.027,3.026,3.029,3.027,3.025,3.024,3.024,3.016,3.015,3.011,3.011,3.008,3.008,3.003,3.001,3.001,3.001,3.534,3.535,3.535,3.535,3.535,3.535,3.533,3.533,3.533,3.534,3.541,3.541,3.545,3.544,3.541,3.541,3.535,3.535,3.535,3.544,3.544,3.547,3.544,3.55,3.545,3.55,3.552,3.552,3.554,3.558,3.561,3.568,3.571,3.571,3.573,3.573,3.577,3.582,3.586,3.59,3.591,3.594,3.594,3.601,3.601,3.604,3.615,3.615,3.624,3.627,3.638,3.64,3.649,3.65,3.651,3.661,3.668,3.675,3.688,3.697,3.697,3.702,3.71,3.714,3.716,3.722,3.751,3.751,3.751,3.756,3.767,3.776,3.779,3.805,3.813,3.817,3.819,3.826,3.837,3.864,3.868,3.868,3.869,3.898,3.908,3.919,3.933,3.945,3.954,3.981,3.999,4,4.007,4.015,4.036,4.053,4.072,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,4.064,3.981,3.963,3.927,3.887,3.867,3.832,3.809,3.782,3.764,3.734,3.69,3.677,3.65,3.622,3.595,3.571,3.561,3.531,3.524,3.485,3.469,3.443,3.424,3.402,3.374,3.362,3.351,3.325,3.314,3.288,3.278,3.254,3.239,3.226,3.203,3.192,3.185,3.165,3.155,3.135,3.129,3.112,3.094,3.079,3.064,3.046,3.033,3.017,3.008,2.995,2.991,2.976,2.972,2.954,2.943,2.928,2.919,2.918,2.908,2.897,2.878,2.869,2.859,2.853,2.841,2.829,2.823,2.807,2.801,2.792,2.781,2.759,2.749,2.748,2.735,2.735,2.719,2.716,2.712,2.696,2.687,2.682,2.673,2.666,2.666,2.666,2.661,1.144,1.144,1.141,1.141,1.13,1.13,1.13,2.584,2.584,2.584,2.576,2.566,2.565,2.559,2.558,2.554,2.544,2.538,2.535,2.525,2.525,2.52,2.52,2.516,2.508,2.504,2.497,2.497,2.497,2.489,2.481,2.481,2.483,2.483,2.483,2.483,2.476,2.471,2.465,2.467,2.465,2.464,2.461,2.461,2.458,2.454,2.452,2.45,2.447,2.442,2.442,2.442,2.442,2.442,2.442,2.441,2.442,2.443,2.443,2.443,2.443,2.439,2.439,2.439,2.439,2.444,2.444,2.444,2.443,2.443,2.443,2.443,2.443,2.444,2.452,2.451,2.451,2.452,2.452,2.453,2.453,2.456,2.457,2.462,2.462,2.465,2.466,2.473,2.476,2.479,2.486,2.486,2.488,2.488,2.493,2.496,2.496,2.505,2.505,2.506,2.514,2.515,2.518,2.519,2.524,2.528,2.53,2.538,2.54,2.54,2.54,1.141,1.141,1.141,1.143,1.143,1.145,1.149,1.155,2.609,2.611,2.62,2.628,2.632,2.642,2.645,2.649,2.658,2.669,2.672,2.676,2.682,2.695,2.698,2.705,2.715,2.729,2.735,2.736,2.74,2.762,2.771,2.777,2.8,2.8,2.805,2.81,2.823,2.838,2.853,2.855,2.87,2.881,2.884,2.894,2.912,2.927,2.934,2.94,2.957,2.967,2.98,2.99,3.001,3.007,3.033,3.037,3.055,3.069,3.07,3.08,3.106,3.12,3.135,3.148,3.173,3.175,3.194,3.2,3.228,3.241,3.253,3.268,3.294,3.314,3.337,3.353,3.367,3.4,3.405,3.428,3.449,3.462,3.491,3.514,3.535,3.56,3.573,3.589,3.624,3.654,3.674,3.698,3.729,3.74,3.761,3.806,3.838,3.862,3.882,3.924,3.949,3.995,4.069,0.007,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0.016,0,0.007,4.06,4.06,4.011,4,3.349,3.337,3.321,3.313,3.31,3.295,3.275,3.269,3.265,3.249,3.247,3.232,3.229,3.228,3.213,3.208,3.19,3.188,3.175,3.168,3.167,3.163,3.154,3.147,3.135,3.127,3.124,3.119,3.116,3.108,3.102,3.1,3.094,3.082,3.081,3.074,3.066,3.066,3.064,3.064,3.059,3.046,3.045,3.034,3.034,3.034,3.034,3.031,3.024,3.022,3.018,3.018,3.016,3.011,3.008,3.007,3.006,3.007,3.007,3.007,3.006,3.006,2.994,2.99,2.985,2.989,2.988,2.985,2.987,2.988,2.988,2.987,2.988,2.988,2.984,2.981,2.982,2.982,2.984,2.985,2.99,2.992,2.992,2.99,2.99,2.989,2.989,2.992,2.998,2.998,2.998,2.998,3.001,3.001,3.003,3.003,3.006,3.006,3.008,3.01,3.012,3.021,3.022,3.022,3.027,3.027,3.028,3.031,3.038,3.039,3.048,3.049,3.055,3.057,3.061,3.061,3.064,3.067,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.43} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.324631}
SEN {Time 54.4298} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 4.2418} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.794} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.8448} {Name Sonar14 Range 4.0894} {Name Sonar15 Range 5.0292}
SEN {Time 54.4714} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.2,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0,0,0,0,0,0.007,0,0.153,0.153,0.153,0.15,0.148,0.148,0.148,0.148,0.151,0.151,0.153,0.163,0,0,0,0,0,0,0,0,0.167,0.162,0.162,0.162,0.162,0.163,0.163,0.166,0.174,3.23,0,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,3.1,3.099,3.098,3.091,3.084,3.083,3.076,3.076,3.075,3.065,3.061,3.06,3.053,3.051,3.046,3.046,3.042,3.039,3.038,3.034,3.029,3.029,3.016,3.016,3.015,3.016,3.009,3.009,3.002,3.002,3.002,3.002,3.002,2.998,2.997,2.993,2.99,2.993,2.99,2.993,2.994,3.528,3.533,3.533,3.53,3.53,3.53,3.53,3.53,3.536,3.532,3.536,3.537,3.537,3.532,3.536,3.536,3.533,3.533,3.536,3.536,3.536,3.536,3.539,3.54,3.546,3.546,3.546,3.55,3.551,3.555,3.559,3.559,3.559,3.562,3.562,3.562,3.563,3.573,3.582,3.593,3.593,3.593,3.598,3.605,3.612,3.614,3.614,3.619,3.63,3.631,3.638,3.638,3.645,3.655,3.666,3.674,3.676,3.683,3.686,3.697,3.698,3.717,3.717,3.717,3.72,3.732,3.741,3.748,3.76,3.766,3.786,3.791,3.792,3.8,3.815,3.822,3.83,3.842,3.85,3.874,3.88,3.89,3.912,3.926,3.93,3.931,3.966,3.973,3.979,3.988,4,4.001,4.032,4.039,4.048,4.065,4.083,0.016,0.016,0.016,0,0,0.016,0,0.007,0,0.016,4.076,4.076,4.034,4.018,3.936,3.899,3.863,3.834,3.822,3.793,3.745,3.738,3.716,3.691,3.642,3.635,3.614,3.594,3.557,3.53,3.517,3.494,3.486,3.454,3.429,3.41,3.406,3.381,3.348,3.344,3.321,3.305,3.291,3.284,3.255,3.231,3.226,3.21,3.182,3.177,3.165,3.141,3.129,3.113,3.11,3.089,3.071,3.07,3.04,3.034,3.021,3.02,3.008,2.984,2.972,2.963,2.956,2.94,2.929,2.921,2.91,2.893,2.88,2.868,2.861,2.844,2.834,2.826,2.821,2.819,2.797,2.793,2.784,2.766,2.759,2.748,2.742,2.738,2.728,2.721,2.712,2.708,2.697,2.693,2.684,2.678,2.667,2.667,2.662,2.653,1.145,1.138,1.137,1.135,1.133,1.133,1.137,2.579,2.579,2.579,2.578,2.574,2.559,2.559,2.557,2.553,2.535,2.535,2.534,2.529,2.525,2.523,2.519,2.516,2.515,2.511,2.509,2.502,2.499,2.499,2.495,2.493,2.493,2.483,2.481,2.479,2.468,2.465,2.463,2.463,2.462,2.462,2.462,2.461,2.461,2.461,2.461,2.451,2.451,2.453,2.453,2.449,2.449,2.446,2.446,2.446,2.441,2.441,2.443,2.443,2.443,2.443,2.443,2.444,2.444,2.444,2.444,2.449,2.449,2.449,2.439,2.449,2.449,2.45,2.451,2.452,2.452,2.452,2.458,2.463,2.467,2.468,2.468,2.468,2.472,2.472,2.472,2.473,2.474,2.477,2.478,2.479,2.485,2.486,2.487,2.496,2.506,2.509,2.51,2.51,2.519,2.519,2.521,2.525,2.529,2.53,2.542,2.546,2.552,2.552,2.552,1.142,1.141,1.141,1.141,1.147,1.147,1.148,1.149,2.605,2.613,2.621,2.635,2.638,2.641,2.643,2.658,2.664,2.667,2.673,2.685,2.69,2.695,2.718,2.723,2.726,2.733,2.738,2.753,2.762,2.769,2.78,2.781,2.792,2.807,2.81,2.82,2.831,2.846,2.849,2.866,2.877,2.889,2.896,2.916,2.92,2.923,2.938,2.959,2.96,2.976,2.987,2.993,3.018,3.021,3.039,3.048,3.064,3.086,3.102,3.115,3.119,3.138,3.151,3.168,3.183,3.196,3.211,3.223,3.244,3.259,3.276,3.298,3.328,3.331,3.352,3.373,3.379,3.404,3.436,3.438,3.462,3.494,3.516,3.519,3.551,3.589,3.6,3.616,3.631,3.673,3.704,3.732,3.763,3.765,3.803,3.833,3.853,3.875,3.916,3.941,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,4.047,4.047,3.354,3.349,3.335,3.313,3.309,3.309,3.289,3.282,3.27,3.264,3.252,3.243,3.241,3.234,3.216,3.209,3.202,3.192,3.189,3.175,3.169,3.166,3.161,3.158,3.15,3.135,3.133,3.13,3.12,3.115,3.114,3.106,3.104,3.095,3.084,3.078,3.07,3.069,3.063,3.063,3.061,3.053,3.051,3.051,3.049,3.044,3.037,3.032,3.028,3.02,3.019,3.015,3.015,3.015,3.008,3.006,3.006,3.009,3.009,3.01,3.013,3.013,3.013,3.01,3.008,3.005,2.997,2.998,2.998,2.998,2.998,2.998,2.997,2.994,2.994,2.994,2.993,2.994,2.994,2.994,2.994,2.997,2.997,2.996,2.996,2.995,2.995,2.995,2.995,2.998,2.998,2.998,3.002,3.006,3.006,3.006,3.012,3.013,3.012,3.013,3.018,3.027,3.028,3.03,3.03,3.031,3.038,3.038,3.053,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 54.62} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.380482}
SEN {Time 54.6248} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 1.3462} {Name Sonar2 Range 6.477} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.794} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.159} {Name Sonar14 Range 4.953} {Name Sonar15 Range 5.0292}
SEN {Time 54.6715} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.159,0.152,0.152,0.152,0.152,0.15,0.15,0.15,0.149,0.15,0.15,0.154,0.155,0.304,3.621,3.627,0.009,0.009,0.009,0.009,0.009,0.009,0.158,0.158,0.153,0.153,0.158,0.153,0.153,0.165,0,0,0,0,0,0,0,3.238,3.237,3.227,3.227,3.227,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,3.101,3.091,3.086,3.081,3.078,3.068,3.067,3.061,3.061,3.054,3.046,3.045,3.045,3.039,3.035,3.03,3.029,3.025,3.02,3.02,3.016,3.015,3.009,3.008,3.008,3.002,3.002,3.002,3.002,3,3.002,2.997,2.998,2.997,2.993,2.99,2.987,2.985,2.985,2.987,3.523,3.53,3.53,3.532,3.532,3.524,3.524,3.529,3.522,3.527,3.527,3.526,3.526,3.526,3.524,3.526,3.526,3.526,3.531,3.534,3.534,3.534,3.531,3.531,3.531,3.54,3.546,3.546,3.548,3.548,3.547,3.555,3.557,3.562,3.562,3.568,3.569,3.571,3.571,3.574,3.583,3.59,3.591,3.596,3.603,3.603,3.611,3.614,3.616,3.624,3.628,3.637,3.648,3.649,3.659,3.661,3.667,3.67,3.674,3.692,3.696,3.701,3.704,3.716,3.719,3.73,3.741,3.745,3.747,3.751,3.777,3.793,3.799,3.807,3.815,3.821,3.832,3.844,3.847,3.868,3.882,3.886,3.895,3.895,3.921,3.927,3.941,3.942,3.95,3.988,3.988,4.003,4.013,4.027,4.044,4.06,4.069,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.071,4.049,4.012,3.982,3.967,3.915,3.876,3.861,3.825,3.799,3.764,3.751,3.717,3.702,3.663,3.647,3.601,3.592,3.561,3.548,3.531,3.511,3.488,3.462,3.449,3.424,3.395,3.379,3.361,3.344,3.329,3.307,3.299,3.269,3.263,3.254,3.238,3.217,3.198,3.185,3.166,3.165,3.148,3.13,3.114,3.097,3.084,3.077,3.07,3.054,3.029,3.024,3.002,2.993,2.99,2.97,2.961,2.942,2.93,2.918,2.911,2.894,2.885,2.877,2.869,2.856,2.848,2.835,2.831,2.814,2.811,2.793,2.786,2.78,2.774,2.756,2.748,2.735,2.732,2.731,2.72,2.701,2.699,2.688,2.68,2.676,2.67,2.659,2.653,2.651,2.647,1.149,1.145,1.145,1.143,1.135,1.135,1.135,1.139,2.58,2.58,2.58,2.569,2.569,2.566,2.563,2.561,2.553,2.552,2.536,2.534,2.533,2.522,2.522,2.521,2.515,2.509,2.506,2.504,2.503,2.492,2.491,2.488,2.488,2.481,2.478,2.478,2.477,2.474,2.473,2.472,2.47,2.461,2.461,2.465,2.465,2.459,2.458,2.454,2.453,2.452,2.451,2.451,2.451,2.451,2.451,2.448,2.448,2.448,2.446,2.438,2.438,2.444,2.442,2.443,2.444,2.444,2.453,2.453,2.456,2.458,2.458,2.458,2.458,2.457,2.457,2.459,2.461,2.461,2.461,2.463,2.464,2.466,2.467,2.47,2.471,2.473,2.473,2.481,2.484,2.485,2.488,2.489,2.49,2.498,2.504,2.507,2.508,2.511,2.515,2.52,2.521,2.522,2.529,2.53,2.54,2.545,2.551,2.557,2.557,2.57,2.57,2.57,1.148,1.148,1.148,1.149,1.152,1.157,1.161,2.622,2.629,2.635,2.635,2.636,2.649,2.661,2.665,2.679,2.687,2.69,2.702,2.706,2.706,2.713,2.716,2.734,2.741,2.744,2.757,2.765,2.774,2.788,2.797,2.806,2.807,2.819,2.834,2.84,2.86,2.86,2.862,2.876,2.899,2.907,2.908,2.926,2.934,2.955,2.965,2.97,2.987,2.998,3.019,3.022,3.029,3.043,3.064,3.073,3.092,3.102,3.123,3.138,3.179,3.196,3.207,3.207,3.212,3.217,3.24,3.267,3.268,3.286,3.308,3.329,3.334,3.351,3.37,3.397,3.406,3.434,3.451,3.469,3.5,3.529,3.555,3.572,3.585,3.61,3.629,3.655,3.684,3.707,3.747,3.764,3.777,3.812,3.863,3.902,3.941,3.941,3.996,4.027,4.076,4.076,0,0,0,0,0.007,0.016,0.016,0,0,0,0,0.007,0,0,0,0,4.057,4.057,0.007,4.006,3.359,3.346,3.337,3.337,3.309,3.305,3.293,3.274,3.271,3.269,3.255,3.243,3.241,3.238,3.228,3.215,3.203,3.201,3.193,3.188,3.181,3.178,3.165,3.155,3.152,3.142,3.142,3.139,3.133,3.131,3.116,3.106,3.104,3.097,3.097,3.096,3.086,3.081,3.075,3.072,3.061,3.059,3.059,3.054,3.053,3.048,3.046,3.043,3.036,3.034,3.029,3.029,3.021,3.021,3.019,3.019,3.013,3.013,3.013,3.02,3.02,3.02,3.016,3.007,3.005,3.005,3.005,3.005,3.004,3.004,3.001,3.001,3.001,3.002,3.001,3.002,3.002,2.998,2.997,2.997,2.997,2.997,2.997,2.995,2.995,2.995,2.995,3,3,3.002,3.007,3.007,3.008,3.01,3.008,3.011,3.015,3.015,3.022,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.22} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.849975}
SEN {Time 56.2235} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 1.3462} {Name Sonar3 Range 5.842} {Name Sonar4 Range 3.7338} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.159} {Name Sonar15 Range 5.1054}
SEN {Time 56.2674} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.211,0.211,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0.007,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.169,0.162,0.154,0.152,0.147,0.149,0.149,0.149,0.149,0.149,0.153,0.154,0.155,0.155,0,0,0,0,0,0,0,0,0,0.164,0.16,0.16,0.16,0.16,0.16,0.162,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.621,3.619,3.6,3.6,3.598,3.6,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.199,3.197,3.197,3.197,3.185,3.175,3.175,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,0,3.044,3.04,3.037,3.034,3.029,3.015,3.014,3.012,3.012,3.005,2.999,2.998,2.998,2.989,2.986,2.985,2.985,2.984,2.98,2.975,2.973,2.971,2.971,2.966,2.963,2.959,2.958,2.955,2.952,2.952,2.951,2.951,2.95,2.946,2.943,2.941,2.941,2.941,2.941,3.456,3.485,3.493,3.495,3.493,3.495,3.493,3.495,3.49,3.495,3.495,3.495,3.495,3.495,3.495,3.492,3.492,3.492,3.492,3.496,3.496,3.499,3.502,3.504,3.509,3.512,3.512,3.517,3.517,3.517,3.517,3.518,3.527,3.527,3.53,3.531,3.535,3.539,3.541,3.541,3.552,3.56,3.564,3.567,3.568,3.57,3.576,3.578,3.582,3.584,3.59,3.603,3.603,3.607,3.616,3.628,3.635,3.64,3.646,3.649,3.659,3.666,3.678,3.679,3.685,3.69,3.702,3.703,3.707,3.719,3.735,3.738,3.744,3.757,3.764,3.775,3.794,3.796,3.811,3.816,3.823,3.827,3.845,3.847,3.857,3.882,3.89,3.9,3.932,3.935,3.946,3.95,3.97,3.983,3.984,4.015,4.023,4.03,4.065,4.079,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.072,4.031,4.009,3.969,3.922,3.884,3.862,3.833,3.825,3.787,3.751,3.715,3.707,3.684,3.678,3.641,3.623,3.594,3.571,3.54,3.528,3.519,3.485,3.458,3.454,3.427,3.41,3.394,3.379,3.375,3.346,3.321,3.303,3.292,3.282,3.256,3.242,3.227,3.205,3.187,3.175,3.166,3.142,3.128,3.118,3.106,3.092,3.081,3.061,3.05,3.043,3.039,3.022,3.013,2.992,2.986,2.972,2.966,2.946,2.945,2.945,2.92,2.908,2.907,2.89,2.885,2.874,2.857,2.852,2.848,2.827,2.816,2.813,2.8,2.796,2.787,2.776,2.775,2.759,2.757,2.751,2.735,2.731,2.728,2.722,2.712,2.698,2.695,2.688,2.687,2.669,2.665,2.658,2.657,2.657,2.649,2.644,1.17,1.162,1.162,1.157,1.157,1.162,2.578,2.578,2.584,2.578,2.576,2.57,2.561,2.56,2.56,2.559,2.558,2.549,2.541,2.539,2.537,2.53,2.53,2.529,2.528,2.525,2.519,2.514,2.514,2.514,2.514,2.508,2.504,2.503,2.5,2.497,2.496,2.496,2.492,2.492,2.489,2.489,2.489,2.484,2.484,2.484,2.484,2.481,2.481,2.481,2.478,2.478,2.48,2.48,2.478,2.48,2.48,2.48,2.48,2.483,2.483,2.483,2.489,2.489,2.487,2.487,2.487,2.486,2.487,2.49,2.496,2.496,2.496,2.502,2.498,2.506,2.507,2.515,2.515,2.519,2.523,2.525,2.527,2.532,2.532,2.535,2.535,2.538,2.539,2.541,2.551,2.56,2.564,2.567,2.567,2.578,2.58,2.58,2.588,2.591,2.594,2.601,2.608,2.61,2.621,2.621,2.61,1.184,1.184,1.184,1.196,1.196,1.199,1.199,2.69,2.694,2.696,2.696,2.713,2.715,2.718,2.726,2.727,2.751,2.757,2.761,2.768,2.771,2.788,2.796,2.8,2.812,2.823,2.827,2.845,2.859,2.86,2.864,2.879,2.911,2.922,2.922,2.922,2.927,2.942,2.949,2.96,2.971,2.977,2.999,3.01,3.023,3.034,3.052,3.055,3.062,3.077,3.098,3.114,3.118,3.141,3.15,3.165,3.184,3.202,3.211,3.222,3.242,3.259,3.262,3.289,3.301,3.324,3.341,3.364,3.381,3.387,3.419,3.432,3.462,3.491,3.515,3.525,3.549,3.576,3.585,3.619,3.638,3.664,3.68,3.703,3.74,3.767,3.8,3.808,3.836,3.9,0.007,3.998,3.998,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0.007,4.09,3.429,3.408,3.397,3.378,3.366,3.359,3.344,3.341,3.329,3.327,3.313,3.304,3.292,3.283,3.282,3.281,3.265,3.262,3.261,3.249,3.231,3.228,3.213,3.209,3.209,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.43} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.909317}
SEN {Time 56.4275} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7338} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.032} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 5.1054}
SEN {Time 56.4634} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.15,0.15,0.15,0.15,0.152,0.153,0.153,0.153,0.153,0.153,0.155,0.156,0.156,0.161,0,0,0,0,0,0,0,0,0,0.164,0.163,0.159,0.159,0.163,0.157,0.157,0.167,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.637,3.625,3.625,3.609,3.587,3.573,3.559,3.559,3.545,3.545,0.007,0.006,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.197,3.185,3.178,3.163,3.163,3.163,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0.007,0,0.007,0,0,0,3.045,3.041,3.032,3.028,3.023,3.02,3.02,3.016,3.007,3.002,2.995,2.995,2.994,2.993,2.993,2.993,2.984,2.979,2.977,2.975,2.968,2.968,2.966,2.964,2.962,2.962,2.962,2.96,2.958,2.957,2.949,2.946,2.943,2.939,2.939,2.937,2.937,2.939,2.937,2.937,2.944,3.49,3.49,3.492,3.492,3.49,3.49,3.489,3.489,3.489,3.489,3.489,3.489,3.492,3.492,3.495,3.496,3.496,3.502,3.502,3.502,3.502,3.496,3.496,3.504,3.504,3.508,3.514,3.515,3.516,3.516,3.52,3.524,3.526,3.529,3.53,3.535,3.535,3.537,3.542,3.55,3.556,3.556,3.565,3.568,3.57,3.57,3.582,3.582,3.585,3.586,3.601,3.612,3.613,3.621,3.625,3.637,3.648,3.65,3.652,3.656,3.664,3.677,3.681,3.685,3.691,3.698,3.708,3.712,3.737,3.738,3.74,3.758,3.761,3.771,3.777,3.783,3.793,3.804,3.82,3.827,3.843,3.85,3.858,3.867,3.889,3.891,3.912,3.914,3.939,3.949,3.966,3.968,3.994,4.001,4.022,4.033,4.063,4.067,4.081,4.082,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.046,4.004,3.988,3.953,3.92,3.89,3.849,3.83,3.812,3.785,3.754,3.735,3.71,3.685,3.674,3.645,3.63,3.605,3.581,3.549,3.541,3.512,3.481,3.464,3.455,3.426,3.412,3.386,3.366,3.354,3.344,3.317,3.3,3.283,3.275,3.244,3.236,3.221,3.197,3.188,3.166,3.166,3.143,3.141,3.121,3.115,3.1,3.093,3.073,3.064,3.051,3.031,3.025,3.016,2.999,2.987,2.979,2.962,2.956,2.951,2.935,2.919,2.905,2.904,2.887,2.883,2.873,2.867,2.854,2.839,2.833,2.826,2.822,2.809,2.8,2.792,2.78,2.776,2.763,2.757,2.745,2.731,2.729,2.724,2.722,2.709,2.707,2.694,2.689,2.683,2.681,2.672,2.66,2.655,2.655,2.65,2.644,1.178,1.171,1.164,1.164,1.161,1.161,1.161,2.58,2.58,2.58,2.577,2.573,2.572,2.566,2.566,2.563,2.556,2.555,2.547,2.547,2.546,2.542,2.537,2.531,2.53,2.525,2.521,2.518,2.516,2.516,2.511,2.51,2.509,2.509,2.507,2.507,2.507,2.506,2.5,2.49,2.49,2.49,2.493,2.493,2.493,2.489,2.488,2.488,2.489,2.488,2.488,2.481,2.481,2.481,2.481,2.482,2.482,2.482,2.483,2.483,2.484,2.484,2.496,2.496,2.493,2.496,2.497,2.497,2.501,2.505,2.507,2.507,2.51,2.51,2.511,2.511,2.516,2.516,2.517,2.529,2.533,2.533,2.534,2.542,2.542,2.542,2.547,2.547,2.551,2.556,2.557,2.564,2.567,2.576,2.576,2.582,2.582,2.583,2.595,2.607,2.612,2.613,2.613,2.615,2.622,2.622,2.622,1.196,1.195,1.195,1.196,1.197,1.202,1.204,2.689,2.699,2.7,2.702,2.714,2.726,2.73,2.743,2.743,2.755,2.771,2.771,2.772,2.781,2.792,2.807,2.811,2.823,2.84,2.843,2.848,2.864,2.877,2.879,2.89,2.898,2.915,2.921,2.94,2.946,2.946,2.967,2.985,2.989,2.998,3.017,3.022,3.023,3.046,3.051,3.082,3.084,3.092,3.098,3.124,3.138,3.153,3.162,3.184,3.19,3.209,3.22,3.247,3.257,3.28,3.288,3.317,3.332,3.337,3.37,3.384,3.402,3.415,3.504,3.504,3.507,3.507,3.527,3.546,3.563,3.584,3.612,3.65,3.662,3.676,3.697,3.746,3.8,3.848,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0.016,3.47,3.413,3.407,3.397,3.376,3.376,3.371,3.359,3.346,3.332,3.326,3.312,3.302,3.3,3.299,3.3,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.62} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-0.965167}
SEN {Time 56.6225} {Type Sonar} {Name Sonar0 Range 4.4958} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.429} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.032} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 5.7404}
SEN {Time 56.6634} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0.152,0.149,0.146,0.149,0.149,0.147,0.147,0.149,0.149,0.149,0.151,0.152,0.158,0.158,0.292,0,0,0,0,0.009,0.009,0.495,0.483,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.853,3.853,3.853,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.614,3.611,3.596,3.596,3.581,3.579,3.566,3.554,3.554,3.552,3.554,0.007,0.006,0.009,0.009,0,0,0.007,0,0,0,0,0,0,0,0,3.188,3.184,3.184,3.178,3.178,0.007,0.009,0.009,0.009,0.009,0,0,0.007,0,0,0.007,0,0.007,0,0,0,3.039,3.038,3.033,3.026,3.026,3.023,3.02,3.015,3.007,3.006,2.999,2.995,2.987,2.984,2.984,2.979,2.978,2.976,2.976,2.969,2.969,2.964,2.963,2.961,2.959,2.959,2.959,2.959,2.955,2.954,2.948,2.948,2.938,2.938,2.938,2.93,2.93,2.925,2.925,2.934,3.468,3.491,3.491,3.491,3.488,3.482,3.482,3.482,3.484,3.488,3.488,3.488,3.488,3.488,3.488,3.492,3.492,3.492,3.492,3.492,3.493,3.493,3.502,3.502,3.502,3.502,3.504,3.504,3.506,3.508,3.516,3.519,3.521,3.528,3.53,3.534,3.537,3.538,3.542,3.543,3.549,3.56,3.56,3.562,3.562,3.578,3.585,3.592,3.592,3.594,3.597,3.601,3.623,3.623,3.624,3.624,3.637,3.641,3.651,3.652,3.659,3.663,3.67,3.67,3.693,3.694,3.703,3.704,3.709,3.727,3.731,3.741,3.744,3.758,3.776,3.784,3.791,3.801,3.808,3.825,3.839,3.844,3.845,3.865,3.874,3.883,3.901,3.915,3.934,3.94,3.96,3.973,3.973,3.985,4.012,4.02,4.049,4.064,4.065,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.063,4.006,3.976,3.968,3.931,3.892,3.867,3.841,3.81,3.776,3.764,3.742,3.694,3.689,3.643,3.63,3.613,3.596,3.567,3.544,3.519,3.511,3.482,3.463,3.434,3.42,3.398,3.387,3.358,3.345,3.325,3.314,3.309,3.295,3.264,3.256,3.249,3.235,3.211,3.198,3.186,3.167,3.152,3.147,3.122,3.114,3.095,3.092,3.076,3.062,3.052,3.039,3.026,3.017,2.996,2.992,2.97,2.965,2.958,2.938,2.938,2.926,2.918,2.914,2.891,2.882,2.874,2.865,2.862,2.849,2.844,2.82,2.818,2.81,2.795,2.794,2.781,2.774,2.766,2.756,2.744,2.744,2.727,2.721,2.714,2.707,2.704,2.692,2.687,2.682,2.677,2.674,2.67,2.66,2.66,2.659,2.642,1.169,1.168,1.165,1.163,1.162,1.162,1.162,2.59,2.59,2.59,2.587,2.583,2.58,2.572,2.562,2.561,2.561,2.557,2.554,2.552,2.551,2.55,2.546,2.544,2.533,2.533,2.533,2.527,2.523,2.516,2.516,2.514,2.511,2.509,2.509,2.509,2.509,2.505,2.502,2.499,2.499,2.499,2.491,2.491,2.49,2.491,2.486,2.486,2.486,2.486,2.486,2.489,2.491,2.493,2.492,2.492,2.495,2.492,2.492,2.496,2.496,2.496,2.498,2.5,2.503,2.503,2.503,2.506,2.507,2.508,2.508,2.513,2.515,2.515,2.515,2.515,2.516,2.519,2.522,2.529,2.531,2.531,2.531,2.543,2.548,2.548,2.552,2.553,2.56,2.562,2.566,2.566,2.568,2.571,2.574,2.584,2.595,2.595,2.605,2.608,2.608,2.608,2.622,2.636,2.636,2.636,1.199,1.199,1.199,1.199,1.202,1.206,1.211,2.705,2.71,2.711,2.711,2.718,2.724,2.735,2.754,2.755,2.755,2.775,2.78,2.786,2.795,2.795,2.806,2.814,2.814,2.837,2.849,2.852,2.856,2.879,2.885,2.89,2.906,2.917,2.917,2.938,2.952,2.954,2.975,2.979,2.988,2.993,3.016,3.021,3.03,3.038,3.059,3.067,3.075,3.086,3.112,3.123,3.132,3.16,3.168,3.185,3.188,3.204,3.221,3.243,3.243,3.271,3.28,3.319,3.327,3.346,3.366,3.379,3.397,3.435,3.438,3.452,3.483,3.495,3.523,3.538,3.562,3.593,3.618,3.64,3.672,3.687,3.705,3.735,3.755,3.789,3.813,3.832,3.892,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0.016,3.415,3.414,3.399,3.399,3.399,3.399,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 56.82} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-1.022763}
SEN {Time 56.8174} {Type Sonar} {Name Sonar0 Range 4.4958} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 4.2418} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.032} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 5.7404}
SEN {Time 56.8645} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.159,0.159,0.153,0.153,0.153,0.153,0.147,0.147,0.147,0.147,0.147,0.152,0.153,0.154,0,0,0,0,0,0,0,0,0,0.162,0.161,0.161,0.161,0.162,0.162,0.162,0.162,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,3.596,3.585,3.579,3.579,3.553,3.546,3.546,3.54,3.523,3.523,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.195,3.173,3.166,3.154,3.154,3.147,3.147,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,3.031,3.028,3.026,3.022,3.018,3.016,3.014,3.004,3.004,3.004,2.998,2.994,2.992,2.981,2.979,2.977,2.975,2.97,2.97,2.968,2.966,2.963,2.961,2.961,2.957,2.955,2.951,2.944,2.943,2.943,2.941,2.94,2.937,2.933,2.925,2.923,2.923,2.923,2.925,3.481,3.484,3.484,3.481,3.481,3.481,3.481,3.481,3.481,3.481,3.481,3.481,3.481,3.49,3.49,3.488,3.488,3.488,3.488,3.488,3.488,3.488,3.491,3.495,3.492,3.492,3.501,3.503,3.51,3.51,3.51,3.51,3.514,3.516,3.52,3.521,3.53,3.538,3.538,3.538,3.539,3.548,3.548,3.557,3.562,3.562,3.57,3.574,3.581,3.59,3.597,3.6,3.601,3.602,3.619,3.619,3.632,3.636,3.644,3.644,3.652,3.654,3.663,3.671,3.676,3.695,3.702,3.705,3.706,3.718,3.719,3.74,3.748,3.759,3.765,3.775,3.787,3.788,3.801,3.82,3.827,3.837,3.849,3.852,3.862,3.882,3.896,3.916,3.92,3.933,3.955,3.97,3.971,3.992,4.012,4.024,4.032,4.046,4.059,4.084,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.062,4.04,4.003,3.966,3.929,3.893,3.863,3.862,3.815,3.793,3.764,3.74,3.708,3.697,3.656,3.638,3.6,3.591,3.567,3.557,3.531,3.511,3.493,3.488,3.469,3.432,3.42,3.405,3.389,3.37,3.356,3.341,3.323,3.305,3.293,3.27,3.252,3.227,3.223,3.213,3.187,3.179,3.168,3.15,3.144,3.118,3.107,3.099,3.077,3.07,3.059,3.047,3.025,3.023,3.006,2.982,2.98,2.965,2.964,2.951,2.947,2.932,2.92,2.911,2.895,2.883,2.883,2.865,2.854,2.848,2.846,2.833,2.828,2.809,2.807,2.806,2.781,2.777,2.769,2.768,2.762,2.748,2.739,2.738,2.722,2.721,2.712,2.703,2.695,2.69,2.682,2.678,2.676,2.672,2.665,2.665,2.654,2.651,1.178,1.176,1.174,1.17,1.17,1.174,1.179,2.592,2.592,2.592,2.59,2.578,2.578,2.576,2.575,2.575,2.567,2.552,2.547,2.545,2.544,2.542,2.54,2.54,2.534,2.534,2.53,2.529,2.521,2.52,2.515,2.515,2.515,2.515,2.513,2.51,2.505,2.505,2.505,2.502,2.502,2.505,2.502,2.502,2.502,2.502,2.501,2.501,2.5,2.497,2.496,2.496,2.496,2.496,2.497,2.504,2.504,2.504,2.503,2.503,2.503,2.506,2.508,2.509,2.509,2.509,2.509,2.511,2.511,2.511,2.519,2.52,2.52,2.52,2.522,2.525,2.527,2.534,2.534,2.546,2.546,2.547,2.547,2.547,2.549,2.557,2.558,2.561,2.566,2.574,2.574,2.58,2.583,2.588,2.592,2.595,2.597,2.616,2.617,2.625,2.625,2.629,2.645,2.645,2.645,1.218,1.201,1.201,1.201,1.206,1.218,1.218,2.697,2.717,2.719,2.719,2.731,2.734,2.743,2.746,2.754,2.774,2.777,2.779,2.792,2.797,2.804,2.819,2.82,2.822,2.829,2.851,2.864,2.874,2.884,2.897,2.898,2.9,2.919,2.931,2.942,2.948,2.951,2.969,2.972,2.996,3.006,3.019,3.03,3.032,3.062,3.063,3.074,3.085,3.096,3.12,3.132,3.135,3.155,3.17,3.184,3.201,3.229,3.231,3.244,3.271,3.285,3.298,3.313,3.331,3.344,3.381,3.387,3.423,3.424,3.45,3.453,3.489,3.499,3.536,3.551,3.586,3.6,3.611,3.646,3.664,3.684,3.717,3.735,3.763,3.816,3.856,3.873,3.873,3.905,3.935,3.966,3.993,4.029,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.02} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-1.083849}
SEN {Time 57.0213} {Type Sonar} {Name Sonar0 Range 4.4958} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 4.2418} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 5.7404}
SEN {Time 57.0594} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.153,0.147,0.147,0.149,0.149,0.152,0.152,0.152,0.152,0.152,0.152,0.152,0.152,0.158,0,0,0,0,0,0,0,0,0,0.162,0.16,0.16,0.16,0.156,0.156,0.156,0.156,0,0,0,0,0,0.505,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,3.577,3.569,3.569,3.569,3.569,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.257,3.257,3.257,0,0,0,0,0,0,0,0,3.176,3.165,3.155,3.155,3.144,3.141,3.141,0.009,0.009,0.009,0.009,0,0,0,0,3.221,3.221,0.007,0,0,0,3.032,3.031,3.027,3.021,3.012,3.011,3.009,3.008,3.008,2.999,2.995,2.992,2.983,2.974,2.974,2.973,2.971,2.969,2.964,2.963,2.961,2.961,2.961,2.956,2.955,2.945,2.943,2.942,2.94,2.939,2.934,2.934,2.934,2.924,2.919,2.916,2.916,2.915,2.915,2.916,3.462,3.475,3.479,3.479,3.479,3.477,3.475,3.475,3.477,3.477,3.479,3.481,3.483,3.485,3.486,3.486,3.486,3.485,3.485,3.485,3.487,3.487,3.488,3.489,3.489,3.492,3.504,3.505,3.509,3.509,3.513,3.513,3.516,3.516,3.525,3.527,3.527,3.531,3.535,3.538,3.543,3.55,3.55,3.552,3.561,3.565,3.573,3.574,3.578,3.589,3.597,3.598,3.612,3.614,3.614,3.624,3.633,3.642,3.644,3.653,3.658,3.661,3.665,3.681,3.681,3.684,3.71,3.712,3.72,3.725,3.739,3.742,3.757,3.762,3.768,3.792,3.799,3.802,3.81,3.817,3.838,3.85,3.863,3.867,3.869,3.886,3.911,3.915,3.918,3.94,3.945,3.953,3.979,3.989,4.012,4.017,4.034,4.051,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.078,4.05,4.014,3.982,3.943,3.917,3.874,3.85,3.831,3.798,3.779,3.76,3.729,3.698,3.695,3.659,3.643,3.624,3.595,3.58,3.557,3.543,3.508,3.502,3.479,3.465,3.441,3.423,3.397,3.381,3.372,3.346,3.324,3.321,3.294,3.27,3.269,3.24,3.229,3.223,3.208,3.182,3.181,3.154,3.152,3.129,3.113,3.103,3.09,3.087,3.074,3.062,3.041,3.03,3.016,3.003,2.991,2.985,2.972,2.965,2.96,2.938,2.929,2.913,2.908,2.897,2.887,2.877,2.869,2.858,2.855,2.848,2.837,2.832,2.812,2.803,2.785,2.784,2.782,2.771,2.767,2.761,2.75,2.735,2.73,2.725,2.718,2.705,2.702,2.699,2.694,2.69,2.672,2.672,2.664,2.654,2.653,2.641,1.175,1.171,1.171,1.171,1.171,1.171,1.181,2.591,2.591,2.591,2.59,2.589,2.588,2.58,2.579,2.576,2.568,2.564,2.562,2.559,2.556,2.548,2.548,2.546,2.545,2.539,2.533,2.533,2.533,2.533,2.533,2.533,2.531,2.523,2.519,2.517,2.517,2.517,2.508,2.508,2.509,2.509,2.507,2.504,2.504,2.501,2.503,2.503,2.503,2.503,2.506,2.506,2.506,2.504,2.504,2.503,2.503,2.503,2.503,2.503,2.503,2.505,2.505,2.509,2.513,2.513,2.513,2.517,2.522,2.523,2.524,2.524,2.527,2.527,2.528,2.532,2.536,2.537,2.543,2.547,2.549,2.552,2.558,2.558,2.565,2.566,2.574,2.574,2.579,2.583,2.589,2.589,2.598,2.602,2.603,2.603,2.607,2.61,2.619,2.62,2.637,2.641,2.643,2.644,2.644,2.644,2.664,1.219,1.219,1.22,1.221,1.221,1.252,2.719,2.723,2.729,2.739,2.742,2.749,2.76,2.76,2.773,2.779,2.782,2.791,2.799,2.813,2.813,2.827,2.836,2.845,2.847,2.871,2.874,2.886,2.898,2.903,2.911,2.924,2.935,2.947,2.957,2.967,2.98,2.991,3.002,3.014,3.025,3.047,3.051,3.053,3.065,3.088,3.096,3.113,3.121,3.134,3.142,3.17,3.175,3.191,3.211,3.235,3.248,3.256,3.274,3.284,3.303,3.328,3.339,3.355,3.396,3.41,3.413,3.434,3.453,3.464,3.511,3.515,3.542,3.57,3.592,3.613,3.618,3.651,3.677,3.703,3.722,3.745,3.77,3.801,3.831,3.885,0.007,3.96,3.96,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.22} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-1.137955}
SEN {Time 57.2155} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6896} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 4.2418} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 4.2418} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.286} {Name Sonar12 Range 0.127} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.159}
SEN {Time 57.2594} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0.006,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.17,0.154,0.153,0.153,0.153,0.153,0.143,0.143,0.147,0.147,0.147,0.151,0.151,0.157,0,0,0,0,0,0,0,0,0,0.163,0.163,0.163,0.156,0.162,0.162,0.162,0.164,0,0,0,0,0.007,0,0,0,0,0,0,0.524,0.524,0.524,0.501,0.499,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.812,3.812,3.812,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,3.59,3.568,3.565,3.551,3.54,3.536,3.536,3.54,0,0.006,0.006,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,3.168,3.166,3.156,3.152,3.14,3.135,3.135,3.14,0,0,0,0,0,0,0,0,3.11,3.11,3.11,0,0,0,3.03,3.028,3.02,3.019,3.01,2.998,2.998,2.995,2.993,2.991,2.985,2.982,2.978,2.973,2.973,2.967,2.967,2.967,2.964,2.964,2.956,2.951,2.943,2.943,2.942,2.941,2.937,2.935,2.933,2.921,2.92,2.92,2.918,2.917,2.911,2.911,2.911,2.911,2.913,3.462,3.473,3.473,3.471,3.471,3.472,3.472,3.472,3.472,3.472,3.472,3.471,3.471,3.477,3.476,3.477,3.481,3.485,3.489,3.489,3.487,3.489,3.492,3.489,3.495,3.495,3.496,3.495,3.495,3.495,3.501,3.506,3.511,3.514,3.519,3.525,3.525,3.525,3.527,3.535,3.535,3.541,3.552,3.555,3.559,3.564,3.566,3.571,3.575,3.577,3.587,3.595,3.6,3.603,3.608,3.615,3.622,3.623,3.637,3.641,3.647,3.66,3.665,3.668,3.677,3.687,3.7,3.702,3.703,3.715,3.735,3.742,3.745,3.751,3.773,3.777,3.793,3.797,3.807,3.819,3.827,3.827,3.841,3.848,3.875,3.884,3.894,3.895,3.921,3.931,3.949,3.971,3.979,3.998,4.004,4.027,4.043,4.046,4.061,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.086,4.045,4.033,4,3.974,3.952,3.899,3.89,3.86,3.841,3.796,3.774,3.751,3.713,3.702,3.679,3.652,3.631,3.609,3.595,3.579,3.548,3.524,3.514,3.481,3.472,3.44,3.424,3.413,3.381,3.366,3.349,3.334,3.324,3.308,3.285,3.265,3.246,3.244,3.219,3.216,3.203,3.192,3.176,3.162,3.148,3.124,3.117,3.106,3.091,3.084,3.063,3.049,3.029,3.029,3.007,3.006,2.985,2.979,2.974,2.956,2.942,2.942,2.924,2.918,2.914,2.899,2.883,2.867,2.866,2.854,2.848,2.837,2.829,2.817,2.813,2.805,2.789,2.787,2.783,2.769,2.768,2.753,2.743,2.734,2.725,2.722,2.716,2.712,2.707,2.7,2.698,2.691,2.682,2.681,2.666,2.658,2.657,2.654,1.187,1.185,1.185,1.185,1.185,1.185,1.185,2.605,2.605,2.605,2.592,2.59,2.589,2.579,2.568,2.567,2.563,2.563,2.559,2.558,2.558,2.553,2.551,2.551,2.548,2.546,2.546,2.546,2.539,2.533,2.536,2.533,2.528,2.528,2.519,2.519,2.519,2.522,2.522,2.522,2.511,2.51,2.51,2.511,2.518,2.518,2.518,2.51,2.508,2.508,2.509,2.51,2.509,2.509,2.509,2.508,2.508,2.508,2.51,2.517,2.517,2.514,2.515,2.514,2.514,2.515,2.521,2.523,2.525,2.525,2.529,2.53,2.53,2.531,2.538,2.538,2.538,2.553,2.553,2.554,2.554,2.557,2.569,2.57,2.574,2.576,2.58,2.581,2.581,2.582,2.582,2.596,2.601,2.61,2.613,2.613,2.616,2.621,2.629,2.637,2.641,2.652,2.659,2.659,2.652,1.228,1.219,1.218,1.218,1.219,1.22,1.224,2.73,2.73,2.731,2.731,2.74,2.743,2.75,2.762,2.77,2.778,2.788,2.796,2.804,2.816,2.826,2.833,2.841,2.855,2.857,2.875,2.878,2.887,2.897,2.912,2.921,2.928,2.938,2.955,2.959,2.978,2.99,2.99,3.008,3.016,3.022,3.031,3.048,3.056,3.08,3.081,3.099,3.115,3.122,3.138,3.146,3.165,3.175,3.199,3.217,3.228,3.249,3.258,3.264,3.292,3.314,3.322,3.337,3.365,3.385,3.401,3.414,3.445,3.452,3.485,3.493,3.519,3.541,3.55,3.581,3.602,3.627,3.655,3.678,3.691,3.714,3.742,3.77,3.785,3.819,3.827,3.876,3.923,0.007,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.42} {Type Odometry} {Name Odometry} {Pose 0.002736,1.002328,-1.197296}
SEN {Time 57.4193} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.9436} {Name Sonar2 Range 1.0668} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.842} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 2.7432} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.286} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.159}
SEN {Time 57.4594} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.192,0.192,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.006,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.153,0.152,0.152,0.147,0.144,0.144,0.144,0.144,0.148,0.152,0.153,0.159,0.161,0,0,0,0,0,0,0,0,0,0.16,0.157,0.156,0.155,0.155,0.155,0.155,0.157,0,0,0,0,0.007,0,0.007,0.009,0.007,0.009,0,0.007,0,0.007,0,0,0,0,0,0,0.51,0.501,0.5,0.476,0.476,0.476,0.478,0.493,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.823,3.81,3.81,3.81,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,3.576,3.568,3.564,3.553,3.547,3.533,3.525,3.525,3.533,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,3.173,3.166,3.165,3.137,3.134,3.124,3.124,3.124,3.124,3.138,0,0,0,3.251,3.238,3.238,3.229,3.238,0.007,0,0,0,0,3.023,3.015,3.013,3.008,3,2.995,2.991,2.987,2.985,2.977,2.975,2.975,2.975,2.973,2.967,2.958,2.958,2.952,2.951,2.948,2.945,2.941,2.936,2.936,2.935,2.931,2.927,2.922,2.92,2.92,2.918,2.916,2.915,2.913,2.912,2.91,2.91,2.91,2.921,3.459,3.464,3.464,3.469,3.469,3.471,3.469,3.471,3.471,3.469,3.469,3.474,3.479,3.48,3.48,3.48,3.479,3.476,3.474,3.476,3.479,3.48,3.48,3.488,3.497,3.5,3.5,3.501,3.501,3.502,3.504,3.505,3.513,3.514,3.515,3.519,3.527,3.537,3.537,3.545,3.546,3.547,3.554,3.559,3.559,3.567,3.567,3.575,3.584,3.585,3.585,3.589,3.597,3.604,3.615,3.618,3.637,3.642,3.645,3.652,3.659,3.66,3.666,3.68,3.693,3.693,3.699,3.704,3.717,3.738,3.74,3.751,3.754,3.754,3.769,3.784,3.786,3.796,3.805,3.822,3.842,3.848,3.851,3.88,3.886,3.896,3.918,3.928,3.935,3.941,3.957,3.969,3.995,4.017,4.03,4.039,4.053,4.079,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.057,4.015,3.992,3.943,3.929,3.91,3.872,3.851,3.803,3.784,3.773,3.758,3.71,3.688,3.678,3.638,3.617,3.598,3.584,3.559,3.541,3.505,3.493,3.487,3.453,3.429,3.413,3.395,3.378,3.36,3.345,3.331,3.313,3.302,3.274,3.267,3.252,3.228,3.221,3.195,3.179,3.174,3.161,3.154,3.129,3.117,3.095,3.089,3.083,3.073,3.066,3.046,3.045,3.026,3.015,3,2.98,2.97,2.959,2.95,2.949,2.931,2.922,2.921,2.907,2.891,2.888,2.87,2.863,2.86,2.849,2.835,2.827,2.814,2.81,2.797,2.797,2.786,2.783,2.765,2.755,2.755,2.753,2.753,2.734,2.725,2.719,2.712,2.71,2.703,2.698,2.681,2.678,2.669,2.662,2.662,2.662,2.651,1.188,1.188,1.188,1.188,1.188,1.188,1.188,2.599,2.599,2.6,2.599,2.588,2.585,2.585,2.583,2.576,2.575,2.575,2.566,2.562,2.565,2.554,2.554,2.544,2.544,2.543,2.542,2.535,2.535,2.537,2.535,2.535,2.533,2.532,2.528,2.523,2.522,2.52,2.519,2.519,2.522,2.519,2.522,2.522,2.518,2.513,2.518,2.514,2.514,2.514,2.514,2.514,2.514,2.514,2.514,2.517,2.517,2.521,2.522,2.522,2.522,2.523,2.527,2.525,2.531,2.532,2.531,2.532,2.533,2.533,2.54,2.547,2.548,2.552,2.552,2.552,2.554,2.557,2.557,2.56,2.569,2.571,2.574,2.582,2.583,2.582,2.583,2.587,2.592,2.594,2.608,2.611,2.616,2.622,2.626,2.632,2.639,2.642,2.645,2.647,2.654,2.657,2.654,2.647,1.234,1.23,1.228,1.228,1.23,1.233,1.239,2.734,2.734,2.742,2.742,2.745,2.757,2.762,2.777,2.784,2.798,2.801,2.806,2.816,2.824,2.837,2.84,2.841,2.862,2.866,2.88,2.888,2.899,2.906,2.922,2.939,2.943,2.952,2.958,2.973,2.984,2.992,3.009,3.009,3.027,3.041,3.045,3.051,3.071,3.085,3.098,3.116,3.128,3.138,3.144,3.164,3.179,3.19,3.217,3.233,3.244,3.262,3.267,3.291,3.296,3.319,3.338,3.35,3.371,3.394,3.407,3.425,3.439,3.469,3.48,3.511,3.525,3.539,3.579,3.596,3.611,3.641,3.667,3.681,3.697,3.738,3.758,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.61} {Type Odometry} {Name Odometry} {Pose 0.005267,1.002124,-1.256637}
SEN {Time 57.6142} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.9436} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 5.842} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.429} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.286} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 2.8702} {Name Sonar15 Range 2.159}
SEN {Time 57.6605} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.207,0.207,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.008,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.161,0.159,0.159,0.159,0.155,0.155,0.153,0.156,0.153,0.153,0.153,0.153,0.153,0,0,0.009,0.009,0.009,0,0,0,0,0.162,0.162,0.162,0.16,0.16,0.16,0.16,0.164,0.016,0,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0.5,0.498,0.498,0.49,0.484,0.484,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0,3.576,3.563,3.56,3.548,3.541,3.528,3.515,3.512,3.466,3.275,3.275,3.275,3.273,3.265,0,0,0,0,0,0,0,0,0,0,3.175,3.172,3.168,3.148,3.139,3.131,3.131,3.131,3.272,0,0.007,0,0,0,0,0,0,0,0.007,0,0,0,0,3.014,3.008,3.004,3.002,2.994,2.993,2.987,2.985,2.98,2.975,2.972,2.971,2.966,2.963,2.961,2.951,2.946,2.946,2.945,2.943,2.945,2.945,2.938,2.934,2.925,2.92,2.919,2.919,2.915,2.912,2.912,2.911,2.909,2.905,2.905,2.904,2.905,2.905,2.912,2.916,3.459,3.469,3.472,3.47,3.47,3.469,3.47,3.469,3.469,3.471,3.471,3.471,3.478,3.474,3.474,3.474,3.474,3.474,3.477,3.479,3.487,3.49,3.49,3.488,3.488,3.492,3.502,3.502,3.503,3.503,3.503,3.511,3.511,3.512,3.521,3.523,3.524,3.529,3.531,3.539,3.546,3.548,3.552,3.557,3.561,3.577,3.584,3.584,3.59,3.59,3.6,3.603,3.613,3.621,3.626,3.627,3.634,3.635,3.653,3.654,3.661,3.672,3.679,3.683,3.703,3.706,3.716,3.716,3.719,3.739,3.748,3.758,3.77,3.781,3.783,3.791,3.801,3.803,3.825,3.847,3.852,3.868,3.871,3.897,3.898,3.905,3.942,3.943,3.96,3.963,3.981,3.989,4.011,4.019,4.043,4.045,4.076,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.055,4.028,3.988,3.955,3.929,3.898,3.861,3.833,3.805,3.784,3.759,3.74,3.71,3.683,3.677,3.639,3.618,3.591,3.576,3.561,3.538,3.519,3.494,3.475,3.454,3.427,3.426,3.395,3.376,3.364,3.332,3.324,3.312,3.3,3.285,3.254,3.249,3.23,3.219,3.203,3.179,3.177,3.159,3.147,3.131,3.121,3.11,3.094,3.081,3.064,3.06,3.052,3.031,3.023,3.016,2.997,2.996,2.983,2.969,2.955,2.953,2.936,2.92,2.909,2.907,2.897,2.889,2.877,2.855,2.855,2.854,2.838,2.833,2.826,2.822,2.79,2.79,2.788,2.781,2.764,2.761,2.759,2.742,2.74,2.73,2.728,2.72,2.705,2.7,2.699,2.691,2.686,2.684,2.665,2.665,2.665,2.655,2.651,1.204,1.202,1.189,1.187,1.187,1.189,1.193,2.599,2.601,2.607,2.601,2.599,2.592,2.586,2.584,2.584,2.582,2.566,2.566,2.566,2.566,2.563,2.56,2.559,2.558,2.558,2.558,2.542,2.542,2.541,2.539,2.539,2.537,2.537,2.535,2.53,2.53,2.525,2.522,2.522,2.522,2.522,2.518,2.517,2.517,2.517,2.517,2.522,2.522,2.522,2.522,2.522,2.522,2.521,2.521,2.521,2.525,2.525,2.528,2.528,2.529,2.531,2.531,2.531,2.537,2.54,2.54,2.543,2.543,2.544,2.545,2.545,2.548,2.55,2.561,2.561,2.562,2.562,2.568,2.574,2.577,2.582,2.587,2.587,2.588,2.591,2.6,2.6,2.603,2.603,2.609,2.623,2.625,2.629,2.64,2.641,2.644,2.644,2.654,2.655,2.661,2.672,2.672,2.672,1.233,1.233,1.233,1.233,1.235,1.243,2.744,2.746,2.753,2.753,2.759,2.771,2.774,2.775,2.788,2.8,2.8,2.813,2.833,2.837,2.843,2.855,2.855,2.859,2.88,2.889,2.889,2.905,2.908,2.928,2.936,2.952,2.953,2.956,2.97,2.985,3.005,3.013,3.025,3.027,3.046,3.049,3.062,3.08,3.086,3.104,3.127,3.13,3.145,3.165,3.166,3.188,3.206,3.212,3.227,3.248,3.258,3.281,3.289,3.301,3.319,3.344,3.363,3.364,3.391,3.411,3.432,3.443,3.461,3.476,3.503,3.528,3.55,3.586,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 57.82} {Type Odometry} {Name Odometry} {Pose 0.005267,1.002124,-1.314233}
SEN {Time 57.8172} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.9436} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 3.429} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 2.8702} {Name Sonar15 Range 1.8542}
SEN {Time 57.8594} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.006,0.009,0.009,0.009,0.009,0,0,0,0,0.152,0.151,0.151,0.151,0.147,0.143,0.143,0.143,0.146,0.146,0.153,0.153,0.155,0.16,0,0,0,0,0,0,0,0,0,0.161,0.161,0.161,0.161,0.165,0.165,0.169,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.009,0.009,0.009,0.007,0,0.007,0,0.007,0,0,0,0,0,0.493,0.493,0.493,0.484,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,3.576,3.575,3.56,3.547,3.546,3.539,3.539,3.539,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,3.171,3.161,3.146,3.146,3.146,3.128,3.128,0.007,3.297,3.297,0,0,0,0,0,0.007,3.205,3.205,0,0,0,0,0,3.008,3.003,2.996,2.994,2.989,2.984,2.982,2.978,2.966,2.966,2.964,2.964,2.962,2.956,2.953,2.953,2.949,2.946,2.936,2.931,2.931,2.928,2.93,2.925,2.925,2.925,2.925,2.924,2.917,2.916,2.916,2.914,2.911,2.905,2.905,2.9,2.9,2.9,2.905,3.387,3.464,3.467,3.467,3.467,3.465,3.469,3.469,3.469,3.469,3.469,3.469,3.472,3.469,3.475,3.475,3.475,3.475,3.479,3.48,3.48,3.48,3.481,3.482,3.486,3.49,3.493,3.494,3.501,3.506,3.506,3.507,3.51,3.516,3.521,3.523,3.526,3.533,3.534,3.538,3.546,3.554,3.558,3.56,3.56,3.564,3.569,3.574,3.584,3.589,3.593,3.6,3.604,3.61,3.626,3.626,3.631,3.642,3.651,3.651,3.661,3.674,3.684,3.687,3.687,3.693,3.715,3.715,3.716,3.731,3.732,3.75,3.758,3.77,3.782,3.799,3.806,3.811,3.812,3.823,3.842,3.85,3.873,3.874,3.894,3.902,3.91,3.926,3.936,3.955,3.982,3.989,3.994,4.026,4.028,4.03,4.056,4.068,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.048,4.013,3.989,3.956,3.916,3.891,3.849,3.824,3.802,3.774,3.762,3.739,3.703,3.68,3.646,3.638,3.618,3.583,3.578,3.556,3.52,3.513,3.494,3.463,3.456,3.432,3.409,3.395,3.375,3.358,3.341,3.324,3.314,3.301,3.285,3.261,3.25,3.229,3.213,3.203,3.19,3.174,3.167,3.149,3.133,3.124,3.11,3.095,3.086,3.072,3.061,3.044,3.036,3.024,3.013,3.002,3.002,2.994,2.98,2.956,2.944,2.942,2.925,2.917,2.908,2.892,2.881,2.875,2.869,2.86,2.847,2.846,2.827,2.825,2.812,2.807,2.797,2.797,2.778,2.769,2.766,2.76,2.746,2.738,2.729,2.724,2.718,2.715,2.714,2.705,2.696,2.692,2.684,2.68,2.676,2.676,2.674,2.67,1.209,1.205,1.199,1.198,1.198,1.198,2.607,2.613,2.613,2.607,2.604,2.604,2.603,2.595,2.594,2.591,2.582,2.58,2.573,2.573,2.564,2.563,2.563,2.557,2.557,2.551,2.551,2.549,2.549,2.548,2.548,2.547,2.54,2.538,2.538,2.538,2.537,2.537,2.536,2.534,2.532,2.532,2.532,2.529,2.529,2.528,2.523,2.528,2.523,2.523,2.528,2.53,2.53,2.53,2.537,2.532,2.533,2.533,2.533,2.533,2.537,2.537,2.539,2.54,2.545,2.546,2.551,2.551,2.552,2.554,2.556,2.567,2.567,2.569,2.571,2.572,2.572,2.574,2.575,2.58,2.583,2.584,2.592,2.592,2.595,2.599,2.603,2.603,2.616,2.62,2.626,2.627,2.631,2.635,2.64,2.645,2.653,2.658,2.666,2.67,2.678,2.678,2.678,1.24,1.237,1.237,1.24,1.247,1.256,2.741,2.749,2.751,2.751,2.768,2.778,2.784,2.784,2.786,2.797,2.797,2.817,2.833,2.834,2.846,2.851,2.861,2.867,2.867,2.885,2.9,2.911,2.918,2.926,2.936,2.95,2.954,2.962,2.983,2.983,2.988,3.017,3.026,3.036,3.048,3.053,3.074,3.078,3.096,3.101,3.112,3.135,3.139,3.153,3.165,3.182,3.201,3.217,3.228,3.248,3.253,3.273,3.287,3.308,3.32,3.336,3.358,3.374,3.397,3.426,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 58.01} {Type Odometry} {Name Odometry} {Pose 0.005267,1.002124,-1.370083}
SEN {Time 58.0121} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.0132} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 4.191} {Name Sonar6 Range 3.429} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 2.8702} {Name Sonar15 Range 1.8542}
SEN {Time 58.0605} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.151,0.149,0.149,0.149,0.151,0.151,0.151,0.157,0.157,0.15,0.15,0.157,0.158,0.159,0,0,0,0,0,0,0,0,0,0.16,0.16,0.157,0.159,0.159,0.159,0.159,0.163,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.48,0.48,0.475,0.456,0.456,0.461,0.461,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.816,3.816,3.816,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,3.601,3.577,3.571,3.571,3.552,3.548,3.534,3.53,3.53,3.53,3.525,0.006,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.149,3.148,3.147,3.148,3.148,3.129,3.115,0.009,0.009,0,0,0,0,0,0,0.007,3.202,3.202,0,0,0,0,0,3.006,2.998,2.996,2.987,2.986,2.985,2.984,2.975,2.972,2.968,2.968,2.955,2.951,2.951,2.952,2.948,2.947,2.947,2.944,2.936,2.935,2.933,2.932,2.932,2.929,2.925,2.92,2.918,2.917,2.915,2.914,2.909,2.907,2.906,2.905,2.9,2.9,2.9,3.465,3.467,3.469,3.469,3.469,3.469,3.469,3.467,3.467,3.467,3.467,3.468,3.473,3.468,3.472,3.472,3.473,3.472,3.473,3.474,3.482,3.486,3.487,3.488,3.488,3.488,3.49,3.498,3.498,3.506,3.507,3.509,3.514,3.516,3.516,3.516,3.516,3.529,3.531,3.532,3.541,3.553,3.553,3.553,3.559,3.56,3.568,3.583,3.586,3.592,3.592,3.594,3.604,3.608,3.626,3.627,3.63,3.635,3.643,3.653,3.654,3.655,3.667,3.672,3.687,3.69,3.702,3.713,3.729,3.737,3.737,3.75,3.757,3.761,3.764,3.779,3.794,3.806,3.81,3.813,3.841,3.854,3.856,3.866,3.87,3.9,3.902,3.919,3.945,3.946,3.957,3.961,3.994,4.007,4.011,4.04,4.041,4.075,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.022,4.01,3.988,3.951,3.913,3.892,3.875,3.84,3.8,3.795,3.746,3.723,3.717,3.681,3.667,3.63,3.615,3.583,3.578,3.547,3.54,3.513,3.495,3.473,3.451,3.43,3.417,3.399,3.381,3.364,3.355,3.329,3.325,3.304,3.285,3.259,3.251,3.237,3.226,3.203,3.201,3.187,3.169,3.146,3.132,3.125,3.104,3.102,3.089,3.078,3.055,3.045,3.043,3.032,3.016,2.992,2.989,2.982,2.962,2.962,2.958,2.933,2.932,2.91,2.903,2.902,2.892,2.887,2.873,2.862,2.849,2.847,2.836,2.827,2.821,2.803,2.791,2.789,2.788,2.781,2.768,2.764,2.752,2.749,2.74,2.736,2.734,2.715,2.715,2.709,2.707,2.699,2.695,2.695,2.681,2.681,2.666,2.664,2.666,1.217,1.208,1.202,1.195,1.195,1.202,2.608,2.608,2.608,2.607,2.603,2.602,2.602,2.602,2.586,2.581,2.579,2.576,2.573,2.572,2.572,2.569,2.564,2.564,2.564,2.564,2.564,2.562,2.561,2.561,2.549,2.541,2.541,2.541,2.543,2.542,2.542,2.54,2.54,2.54,2.538,2.536,2.538,2.534,2.532,2.532,2.535,2.532,2.535,2.535,2.535,2.538,2.538,2.538,2.535,2.538,2.538,2.542,2.539,2.542,2.542,2.549,2.546,2.549,2.549,2.552,2.552,2.56,2.561,2.561,2.561,2.576,2.576,2.578,2.576,2.578,2.578,2.581,2.587,2.588,2.6,2.599,2.602,2.605,2.605,2.617,2.619,2.629,2.633,2.636,2.641,2.645,2.645,2.655,2.657,2.658,2.66,2.678,2.681,2.682,2.681,2.678,1.249,1.249,1.248,1.249,1.251,1.26,2.757,2.76,2.776,2.774,2.776,2.777,2.792,2.793,2.794,2.804,2.818,2.829,2.832,2.85,2.852,2.858,2.859,2.875,2.888,2.899,2.908,2.916,2.929,2.938,2.95,2.956,2.964,2.972,2.984,3.002,3.005,3.015,3.026,3.038,3.057,3.064,3.074,3.088,3.096,3.11,3.122,3.132,3.147,3.16,3.179,3.195,3.207,3.21,3.237,3.259,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 58.29} {Type Odometry} {Name Odometry} {Pose 0.005267,1.002124,-1.450369}
SEN {Time 58.2852} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.0132} {Name Sonar2 Range 5.6896} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 4.191} {Name Sonar6 Range 3.175} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.7432} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.3716} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 58.3555} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.151,0.151,0.151,0.151,0.151,0.15,0.15,0.15,0.15,0.15,0.15,0.15,0.152,0,0,0,0,0,0,0,0,0.168,0.16,0.16,0.16,0.156,0.156,0.156,0.156,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0.478,0.472,0.466,0.461,0.459,0.459,0.459,0.009,0.009,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.807,3.807,3.807,0.009,0.009,0.009,3.716,3.716,3.716,0,0,0,0,0,0,0,3.578,3.562,3.559,3.547,3.528,3.527,3.527,3.528,3.514,0.009,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0.007,0,0,0,0,3.157,3.141,3.132,3.126,3.126,3.125,3.115,3.102,3.102,3.102,3.3,0.007,0,0,0,0,0.007,3.199,3.199,0,0,0,0,0,3,2.997,2.991,2.988,2.985,2.985,2.983,2.983,2.962,2.962,2.96,2.96,2.957,2.956,2.952,2.945,2.945,2.941,2.938,2.937,2.935,2.926,2.923,2.918,2.918,2.916,2.911,2.905,2.904,2.9,2.9,2.896,2.896,2.896,2.894,2.898,2.899,2.899,3.461,3.465,3.465,3.465,3.465,3.465,3.466,3.466,3.463,3.461,3.461,3.461,3.469,3.473,3.473,3.473,3.476,3.482,3.482,3.482,3.482,3.482,3.482,3.485,3.49,3.492,3.494,3.497,3.503,3.505,3.507,3.511,3.511,3.517,3.52,3.523,3.524,3.531,3.535,3.539,3.54,3.555,3.559,3.559,3.577,3.577,3.577,3.583,3.584,3.585,3.599,3.603,3.608,3.624,3.625,3.635,3.643,3.645,3.647,3.66,3.664,3.671,3.683,3.687,3.692,3.703,3.722,3.723,3.728,3.733,3.741,3.758,3.776,3.781,3.781,3.804,3.807,3.81,3.819,3.834,3.846,3.867,3.875,3.881,3.893,3.909,3.919,3.943,3.953,3.956,3.979,3.988,4.01,4.018,4.042,4.06,4.079,4.086,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.083,4.058,4.01,3.979,3.954,3.941,3.896,3.881,3.839,3.82,3.789,3.757,3.728,3.705,3.68,3.656,3.653,3.625,3.595,3.574,3.569,3.546,3.517,3.511,3.483,3.458,3.439,3.43,3.406,3.382,3.379,3.354,3.333,3.325,3.306,3.3,3.273,3.264,3.24,3.232,3.218,3.199,3.176,3.164,3.16,3.142,3.131,3.118,3.103,3.101,3.082,3.073,3.053,3.05,3.032,3.023,3.017,2.995,2.992,2.984,2.97,2.955,2.94,2.93,2.925,2.914,2.913,2.902,2.901,2.875,2.869,2.865,2.853,2.851,2.849,2.824,2.82,2.813,2.808,2.793,2.785,2.773,2.766,2.765,2.76,2.759,2.749,2.741,2.731,2.73,2.719,2.714,2.705,2.7,2.685,2.681,2.681,2.681,2.678,1.214,1.212,1.212,1.212,1.212,1.213,2.631,2.631,2.631,2.619,2.617,2.615,2.611,2.606,2.606,2.603,2.597,2.597,2.594,2.589,2.588,2.584,2.582,2.581,2.579,2.573,2.573,2.571,2.57,2.564,2.562,2.562,2.559,2.555,2.551,2.555,2.553,2.551,2.553,2.553,2.553,2.551,2.551,2.544,2.544,2.544,2.545,2.546,2.546,2.546,2.546,2.551,2.55,2.551,2.551,2.551,2.551,2.553,2.551,2.555,2.558,2.558,2.559,2.559,2.56,2.565,2.567,2.567,2.569,2.569,2.569,2.572,2.58,2.583,2.592,2.592,2.595,2.603,2.603,2.603,2.604,2.612,2.616,2.621,2.623,2.631,2.635,2.638,2.641,2.645,2.646,2.654,2.665,2.671,2.676,2.676,2.682,2.687,2.692,2.692,2.687,1.259,1.254,1.254,1.254,1.255,1.266,1.273,2.761,2.77,2.772,2.777,2.787,2.795,2.797,2.811,2.824,2.825,2.838,2.849,2.85,2.854,2.866,2.873,2.882,2.882,2.904,2.912,2.921,2.93,2.934,2.947,2.955,2.973,2.983,2.998,3,3.006,3.023,3.032,3.045,3.051,3.052,3.068,3.09,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 58.51} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.464331}
SEN {Time 58.5131} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 4.0132} {Name Sonar2 Range 5.6896} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 4.191} {Name Sonar6 Range 3.175} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.3716} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 58.5554} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.205,0.205,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.155,0.153,0.153,0.154,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.153,2.912,0.007,0.009,0,0,0,0,0,0,0.174,0.174,0.156,0.163,0.163,0.163,0.163,0.17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.149,1.149,1.149,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.477,0.477,0.472,0.464,0.45,0.45,0.45,0.45,0.453,0.454,0.454,0.459,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.794,3.784,3.763,3.747,3.739,3.722,3.722,3.722,0,0,0,0,0,0,0,3.599,3.573,3.563,3.551,3.541,3.534,3.52,3.513,3.513,3.51,3.489,3.255,3.252,3.242,3.234,3.242,3.228,3.228,0.007,0,0,0,0,0,0,0,3.141,3.133,3.132,3.132,3.128,3.123,3.118,3.118,3.118,3.169,3.265,0,0,0,0,0,3.116,3.028,3.028,3.028,0,0,0,3.005,3,2.998,2.989,2.988,2.984,2.982,2.979,2.973,2.969,2.963,2.963,2.962,2.956,2.956,2.951,2.951,2.948,2.939,2.938,2.929,2.929,2.929,2.926,2.923,2.914,2.912,2.909,2.906,2.906,2.902,2.899,2.895,2.895,2.895,2.895,2.898,2.902,3.457,3.463,3.463,3.463,3.464,3.466,3.467,3.467,3.467,3.467,3.467,3.467,3.468,3.471,3.471,3.475,3.475,3.475,3.475,3.482,3.488,3.489,3.489,3.49,3.491,3.491,3.498,3.502,3.502,3.502,3.508,3.517,3.518,3.519,3.519,3.526,3.529,3.532,3.537,3.541,3.542,3.551,3.561,3.564,3.565,3.569,3.572,3.577,3.589,3.598,3.599,3.6,3.607,3.619,3.62,3.638,3.642,3.643,3.653,3.665,3.671,3.672,3.682,3.685,3.69,3.705,3.712,3.715,3.72,3.733,3.744,3.752,3.761,3.777,3.779,3.792,3.807,3.81,3.826,3.834,3.859,3.862,3.868,3.89,3.901,3.901,3.917,3.939,3.964,3.967,3.973,3.998,4.007,4.023,4.031,4.061,4.066,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.047,4.017,3.989,3.944,3.932,3.9,3.874,3.834,3.792,3.783,3.755,3.733,3.689,3.685,3.667,3.634,3.629,3.592,3.573,3.552,3.544,3.512,3.495,3.484,3.464,3.446,3.426,3.406,3.375,3.358,3.356,3.337,3.307,3.307,3.29,3.267,3.248,3.235,3.228,3.21,3.198,3.184,3.178,3.152,3.128,3.124,3.115,3.099,3.094,3.082,3.067,3.056,3.035,3.03,3.016,3.016,2.99,2.989,2.977,2.958,2.95,2.948,2.929,2.921,2.908,2.906,2.899,2.888,2.884,2.867,2.855,2.853,2.846,2.841,2.82,2.814,2.813,2.797,2.788,2.787,2.78,2.77,2.766,2.762,2.746,2.742,2.735,2.728,2.719,2.717,2.702,2.702,2.697,2.692,2.687,2.687,2.684,2.684,1.218,1.212,1.212,1.209,1.212,1.212,2.612,2.62,2.621,2.62,2.618,2.618,2.607,2.602,2.599,2.599,2.599,2.599,2.599,2.586,2.583,2.579,2.579,2.578,2.573,2.566,2.566,2.566,2.568,2.568,2.568,2.567,2.56,2.557,2.553,2.553,2.553,2.551,2.551,2.545,2.545,2.544,2.545,2.544,2.545,2.545,2.55,2.55,2.55,2.545,2.55,2.55,2.548,2.55,2.55,2.55,2.552,2.552,2.553,2.553,2.553,2.559,2.56,2.56,2.562,2.562,2.565,2.566,2.566,2.568,2.573,2.579,2.581,2.583,2.586,2.586,2.595,2.602,2.606,2.608,2.61,2.616,2.622,2.623,2.626,2.629,2.635,2.64,2.64,2.645,2.649,2.656,2.659,2.668,2.672,2.681,2.69,2.69,2.692,2.692,2.692,1.261,1.259,1.258,1.258,1.261,1.271,2.76,2.767,2.777,2.777,2.78,2.785,2.793,2.804,2.812,2.823,2.831,2.838,2.853,2.854,2.859,2.863,2.887,2.892,2.893,2.904,2.906,2.919,2.933,2.938,2.955,2.956,2.974,2.981,2.982,3.007,3.008,3.026,3.027,3.051,3.052,3.061,3.071,3.099,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 58.71} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.464331}
SEN {Time 58.7061} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.969} {Name Sonar2 Range 4.8006} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 5.2324} {Name Sonar6 Range 3.175} {Name Sonar7 Range 2.7432} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.3716} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 58.7554} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0.156,0.153,0.153,0.153,0.152,0.148,0.148,0.148,0.146,0.148,0.151,0.151,0.152,2.918,0.007,0.009,0.007,0,0,0,0,0,0.165,0.165,0.163,0.157,0.157,0.155,0.155,0.168,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.147,1.147,1.147,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0.48,0.48,0.47,0.458,0.454,0.454,0.454,0.454,0.454,0.454,0.454,0.457,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.812,3.794,3.777,3.762,3.741,3.734,3.722,3.722,3.722,0,0,0,0,0,0,0,3.576,3.572,3.558,3.549,3.548,3.53,3.523,3.505,3.505,3.504,3.503,3.258,3.255,3.249,3.241,3.249,3.232,3.232,0.007,0,0,0,0,0,0,3.149,3.145,3.139,3.138,3.125,3.118,3.113,3.112,3.112,3.113,3.187,3.276,0,0,0,0,0,3.121,3.031,3.031,3.031,0,0,0,3.009,2.997,2.991,2.987,2.98,2.976,2.974,2.973,2.973,2.971,2.957,2.957,2.957,2.956,2.953,2.944,2.944,2.942,2.942,2.937,2.937,2.925,2.925,2.922,2.918,2.917,2.912,2.911,2.911,2.909,2.905,2.894,2.905,2.901,2.894,2.894,2.901,2.901,2.966,3.455,3.466,3.467,3.467,3.467,3.468,3.469,3.468,3.468,3.471,3.467,3.467,3.47,3.471,3.478,3.479,3.48,3.481,3.482,3.484,3.485,3.485,3.487,3.487,3.489,3.489,3.494,3.502,3.502,3.51,3.51,3.515,3.517,3.518,3.52,3.531,3.534,3.537,3.539,3.551,3.553,3.554,3.563,3.569,3.569,3.569,3.578,3.589,3.591,3.595,3.608,3.61,3.623,3.63,3.635,3.637,3.649,3.662,3.664,3.67,3.674,3.682,3.686,3.693,3.705,3.711,3.718,3.725,3.733,3.739,3.749,3.757,3.786,3.787,3.802,3.805,3.806,3.818,3.821,3.85,3.856,3.873,3.874,3.886,3.919,3.929,3.947,3.954,3.961,3.971,3.985,4.007,4.029,4.038,4.061,4.066,4.084,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.087,4.049,4.015,3.98,3.946,3.923,3.883,3.864,3.856,3.813,3.802,3.772,3.733,3.699,3.683,3.666,3.636,3.608,3.606,3.572,3.564,3.535,3.518,3.49,3.486,3.455,3.44,3.414,3.412,3.383,3.364,3.354,3.33,3.322,3.3,3.287,3.265,3.252,3.242,3.233,3.211,3.208,3.179,3.175,3.154,3.136,3.134,3.111,3.102,3.092,3.073,3.073,3.066,3.057,3.03,3.024,3.007,2.999,2.986,2.978,2.95,2.944,2.944,2.932,2.917,2.911,2.911,2.895,2.886,2.883,2.872,2.864,2.843,2.84,2.836,2.831,2.812,2.807,2.804,2.788,2.787,2.771,2.767,2.765,2.762,2.752,2.752,2.741,2.724,2.72,2.716,2.711,2.698,2.696,2.688,2.683,2.683,2.675,2.674,1.213,1.207,1.206,1.206,1.206,1.206,2.621,2.621,2.621,2.621,2.615,2.613,2.61,2.604,2.601,2.598,2.595,2.593,2.592,2.59,2.589,2.579,2.577,2.573,2.572,2.565,2.565,2.564,2.561,2.56,2.558,2.556,2.558,2.558,2.556,2.553,2.556,2.556,2.553,2.553,2.549,2.546,2.546,2.546,2.546,2.546,2.546,2.548,2.548,2.545,2.545,2.545,2.545,2.549,2.549,2.549,2.549,2.549,2.552,2.554,2.558,2.558,2.56,2.56,2.56,2.56,2.563,2.564,2.568,2.57,2.575,2.579,2.579,2.579,2.585,2.587,2.598,2.599,2.601,2.606,2.613,2.617,2.619,2.625,2.626,2.63,2.634,2.64,2.644,2.644,2.645,2.659,2.661,2.665,2.67,2.678,2.68,2.693,2.697,2.697,2.697,1.253,1.253,1.253,1.258,1.265,1.268,2.766,2.769,2.769,2.769,2.77,2.785,2.8,2.805,2.805,2.829,2.839,2.839,2.841,2.852,2.853,2.867,2.88,2.886,2.895,2.903,2.911,2.925,2.926,2.939,2.939,2.963,2.975,2.987,2.99,3.005,3.012,3.026,3.032,3.047,3.06,3.061,3.084,3.098,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 58.91} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.464331}
SEN {Time 58.908} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.969} {Name Sonar2 Range 4.8006} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 5.2324} {Name Sonar6 Range 3.3274} {Name Sonar7 Range 2.8194} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.3528} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.826} {Name Sonar15 Range 1.8542}
SEN {Time 58.9564} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0.154,0.149,0.149,0.149,0.153,0.149,0.153,0.153,0.147,0.144,0.147,0.147,0.153,2.912,0.007,0,0.007,0,0,0,0,0,0.159,0.157,0.157,0.157,0.157,0.157,0.158,0.164,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.146,1.146,1.146,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.48,0.477,0.464,0.462,0.451,0.451,0.451,0.455,0.455,0.456,0.457,0.457,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.806,3.783,3.763,3.761,3.742,3.731,3.731,3.731,0,0,0,0,0,0,0,3.579,3.579,3.561,3.544,3.54,3.532,3.516,3.512,3.512,3.512,3.493,3.254,3.251,3.243,3.24,3.24,3.236,3.24,0.007,0,0,0,0,0,0,3.158,3.137,3.136,3.127,3.117,3.117,3.115,3.105,3.105,3.105,3.181,3.272,0,0,0,0,3.205,3.128,3.024,3.024,3.024,0,0,0,3.005,3.003,2.995,2.986,2.986,2.979,2.979,2.975,2.975,2.967,2.965,2.963,2.956,2.955,2.955,2.949,2.946,2.944,2.944,2.933,2.931,2.926,2.925,2.923,2.923,2.921,2.919,2.914,2.915,2.91,2.904,2.904,2.904,2.903,2.903,2.894,2.894,2.894,3.459,3.465,3.47,3.47,3.47,3.47,3.47,3.471,3.471,3.469,3.469,3.469,3.469,3.469,3.469,3.476,3.478,3.478,3.478,3.481,3.481,3.485,3.487,3.487,3.487,3.488,3.492,3.503,3.503,3.503,3.506,3.513,3.515,3.515,3.527,3.529,3.531,3.535,3.544,3.546,3.547,3.547,3.548,3.564,3.571,3.573,3.575,3.578,3.594,3.597,3.597,3.602,3.613,3.614,3.626,3.627,3.63,3.64,3.654,3.66,3.679,3.68,3.685,3.691,3.692,3.694,3.717,3.724,3.729,3.736,3.744,3.763,3.767,3.783,3.789,3.793,3.8,3.82,3.826,3.84,3.845,3.864,3.865,3.887,3.91,3.911,3.929,3.947,3.958,3.962,3.966,3.992,3.992,4.021,4.042,4.06,4.067,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,4.084,4.048,4.01,3.974,3.96,3.96,3.927,3.894,3.84,3.807,3.8,3.752,3.742,3.709,3.684,3.657,3.635,3.623,3.605,3.575,3.562,3.538,3.511,3.496,3.487,3.461,3.438,3.434,3.403,3.385,3.363,3.354,3.333,3.317,3.302,3.285,3.27,3.247,3.242,3.226,3.217,3.194,3.183,3.172,3.157,3.132,3.131,3.11,3.102,3.088,3.078,3.062,3.058,3.05,3.029,3.014,3.005,2.992,2.99,2.981,2.958,2.955,2.943,2.929,2.922,2.917,2.91,2.889,2.883,2.882,2.873,2.859,2.851,2.847,2.842,2.823,2.818,2.806,2.804,2.792,2.792,2.791,2.787,2.767,2.763,2.758,2.743,2.741,2.721,2.721,2.719,2.712,2.705,2.691,2.687,2.686,2.686,2.679,2.672,1.225,1.21,1.208,1.208,1.208,1.208,2.621,2.624,2.624,2.621,2.62,2.609,2.609,2.607,2.605,2.601,2.601,2.593,2.592,2.583,2.58,2.576,2.576,2.575,2.57,2.569,2.569,2.566,2.562,2.56,2.559,2.558,2.558,2.552,2.552,2.552,2.55,2.548,2.548,2.548,2.546,2.546,2.546,2.545,2.542,2.542,2.548,2.546,2.549,2.55,2.55,2.55,2.55,2.549,2.549,2.549,2.55,2.55,2.553,2.553,2.553,2.555,2.556,2.556,2.564,2.564,2.566,2.57,2.571,2.575,2.578,2.578,2.578,2.582,2.587,2.587,2.598,2.601,2.604,2.607,2.61,2.618,2.619,2.624,2.631,2.631,2.633,2.634,2.634,2.651,2.657,2.657,2.66,2.662,2.672,2.678,2.678,2.687,2.695,2.695,2.695,1.255,1.255,1.255,1.256,1.267,1.27,2.766,2.766,2.769,2.769,2.774,2.781,2.795,2.799,2.813,2.821,2.825,2.834,2.843,2.852,2.853,2.869,2.878,2.883,2.891,2.894,2.91,2.916,2.931,2.942,2.946,2.967,2.971,2.984,2.991,3.009,3.017,3.033,3.033,3.046,3.053,3.054,3.091,3.093,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 62.99} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.466077}
SEN {Time 62.9916} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.1054} {Name Sonar2 Range 5.715} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 3.8862} {Name Sonar6 Range 3.4036} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 4.8768} {Name Sonar15 Range 1.8542}
SEN {Time 63.0405} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.158,0.157,0.153,0.153,0.157,0.155,0.15,0.155,0.155,0.155,0.153,0.154,0.154,0.16,2.919,0.007,0.009,0.007,0.009,0,0.009,0,0,0.16,0.16,0.159,0.159,0.159,0.159,0.159,0.164,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.148,1.148,1.148,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0.492,0.482,0.482,0.461,0.454,0.454,0.454,0.453,0.452,0.452,0.453,0.458,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.798,3.788,3.769,3.761,3.74,3.723,3.723,3.723,0,0,0,0,0,0,0,3.588,3.578,3.557,3.554,3.541,3.54,3.523,3.513,3.513,3.512,3.496,3.253,3.251,3.24,3.237,3.237,3.233,3.237,0.007,0,0,0,0,0,0,0,3.149,3.137,3.13,3.13,3.119,3.118,3.115,3.115,3.115,3.177,3.273,0,0,0,0,0,3.132,3.029,3.029,3.029,0,0,0,3.006,3.002,3.001,2.989,2.988,2.985,2.981,2.974,2.972,2.966,2.966,2.963,2.962,2.957,2.956,2.954,2.946,2.942,2.939,2.937,2.928,2.928,2.926,2.924,2.922,2.921,2.919,2.916,2.911,2.904,2.904,2.902,2.897,2.897,2.895,2.897,2.898,2.902,2.948,3.467,3.467,3.468,3.467,3.467,3.47,3.467,3.467,3.47,3.473,3.473,3.473,3.472,3.474,3.474,3.476,3.476,3.481,3.481,3.485,3.486,3.487,3.487,3.487,3.488,3.488,3.49,3.498,3.501,3.505,3.507,3.51,3.51,3.514,3.524,3.525,3.534,3.541,3.545,3.548,3.551,3.554,3.558,3.561,3.576,3.58,3.581,3.582,3.594,3.603,3.603,3.608,3.624,3.631,3.632,3.638,3.65,3.656,3.656,3.664,3.669,3.683,3.685,3.7,3.7,3.705,3.731,3.737,3.74,3.745,3.746,3.758,3.784,3.8,3.801,3.812,3.816,3.823,3.825,3.847,3.86,3.868,3.877,3.899,3.903,3.934,3.941,3.949,3.96,3.99,3.991,4.014,4.015,4.045,4.048,4.074,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.044,4.015,3.984,3.951,3.922,3.893,3.866,3.826,3.819,3.775,3.763,3.744,3.702,3.68,3.663,3.646,3.613,3.596,3.581,3.563,3.534,3.505,3.503,3.483,3.46,3.445,3.432,3.411,3.378,3.366,3.354,3.335,3.317,3.298,3.287,3.271,3.253,3.236,3.227,3.227,3.196,3.181,3.172,3.151,3.138,3.124,3.116,3.097,3.091,3.08,3.063,3.047,3.039,3.033,3.022,3.011,2.991,2.988,2.974,2.958,2.952,2.948,2.928,2.927,2.918,2.914,2.894,2.887,2.879,2.872,2.864,2.852,2.848,2.845,2.826,2.826,2.819,2.818,2.801,2.777,2.776,2.772,2.77,2.759,2.749,2.739,2.739,2.736,2.725,2.724,2.719,2.696,2.695,2.69,2.688,2.688,2.686,2.669,1.211,1.21,1.208,1.202,1.202,1.202,2.625,2.625,2.625,2.623,2.612,2.61,2.604,2.604,2.602,2.598,2.598,2.589,2.588,2.586,2.584,2.58,2.578,2.578,2.567,2.566,2.566,2.561,2.561,2.566,2.558,2.558,2.557,2.554,2.554,2.551,2.551,2.55,2.551,2.551,2.551,2.551,2.551,2.549,2.549,2.549,2.552,2.553,2.553,2.552,2.552,2.549,2.548,2.548,2.548,2.549,2.553,2.553,2.557,2.553,2.555,2.555,2.562,2.562,2.564,2.564,2.565,2.566,2.572,2.573,2.576,2.578,2.578,2.581,2.582,2.587,2.598,2.598,2.601,2.606,2.609,2.616,2.618,2.618,2.625,2.63,2.631,2.635,2.643,2.643,2.651,2.651,2.656,2.658,2.678,2.679,2.691,2.691,2.692,2.692,2.692,1.261,1.261,1.261,1.261,1.275,1.275,2.764,2.774,2.779,2.779,2.783,2.789,2.794,2.804,2.808,2.823,2.83,2.835,2.842,2.847,2.864,2.868,2.878,2.887,2.893,2.907,2.91,2.923,2.928,2.938,2.951,2.955,2.978,2.981,2.983,2.997,3.02,3.029,3.031,3.046,3.055,3.061,3.077,3.102,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 63.20} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.420698}
SEN {Time 63.1955} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.1054} {Name Sonar2 Range 5.715} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 2.3368} {Name Sonar5 Range 3.8862} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.6924} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 63.2364} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.207,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.156,0.151,0.148,0.148,0.151,0.151,0.148,0.148,0.155,0.148,0.146,0.146,0.155,0.157,0,0,0,0,0,0,0,0,0,0.162,0.161,0.159,0.159,0.161,0.159,0.159,0.162,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0.016,0.016,0.016,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.46,0.46,0.456,0.456,0.46,0.466,0.466,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.511,3.511,3.509,3.494,3.269,3.266,3.264,3.247,3.247,3.238,3.238,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.174,3.174,3.174,3.278,0,0,0,3.205,3.189,3.125,3.125,3.125,0,0,0,0,3.011,2.999,2.996,2.996,2.991,2.985,2.978,2.976,2.976,2.969,2.969,2.96,2.958,2.956,2.955,2.954,2.95,2.948,2.94,2.938,2.935,2.927,2.926,2.927,2.926,2.924,2.924,2.919,2.916,2.916,2.914,2.902,2.902,2.901,2.896,2.9,2.896,2.896,2.9,3.467,3.467,3.468,3.471,3.471,3.474,3.474,3.474,3.475,3.475,3.469,3.475,3.476,3.47,3.47,3.47,3.47,3.47,3.483,3.483,3.483,3.486,3.487,3.487,3.491,3.495,3.497,3.497,3.499,3.502,3.506,3.512,3.517,3.523,3.525,3.532,3.536,3.536,3.536,3.538,3.552,3.554,3.567,3.567,3.572,3.583,3.589,3.589,3.596,3.598,3.602,3.606,3.622,3.622,3.634,3.639,3.641,3.651,3.656,3.669,3.671,3.689,3.693,3.699,3.7,3.727,3.73,3.733,3.737,3.754,3.759,3.767,3.785,3.785,3.806,3.815,3.825,3.826,3.846,3.858,3.874,3.88,3.891,3.897,3.91,3.928,3.941,3.956,3.972,3.993,4,4.012,4.027,4.045,4.065,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.046,4.034,3.983,3.964,3.932,3.894,3.857,3.842,3.815,3.79,3.767,3.73,3.707,3.696,3.666,3.646,3.627,3.603,3.573,3.551,3.522,3.511,3.485,3.477,3.452,3.431,3.423,3.396,3.385,3.363,3.353,3.334,3.31,3.301,3.298,3.267,3.25,3.239,3.225,3.206,3.187,3.175,3.174,3.148,3.137,3.121,3.104,3.098,3.09,3.074,3.063,3.046,3.03,3.025,3.02,2.997,2.987,2.984,2.974,2.959,2.956,2.944,2.928,2.922,2.908,2.899,2.879,2.876,2.874,2.86,2.843,2.84,2.838,2.833,2.818,2.803,2.801,2.8,2.797,2.774,2.771,2.769,2.762,2.758,2.747,2.732,2.73,2.725,2.709,2.707,2.706,2.694,2.692,2.683,2.677,2.677,2.659,1.219,1.205,1.205,1.201,1.198,1.201,1.205,2.627,2.627,2.627,2.616,2.608,2.604,2.604,2.598,2.592,2.59,2.578,2.578,2.576,2.574,2.571,2.572,2.57,2.561,2.561,2.561,2.558,2.558,2.558,2.557,2.552,2.552,2.552,2.552,2.553,2.553,2.553,2.547,2.544,2.542,2.541,2.536,2.536,2.536,2.536,2.538,2.538,2.542,2.536,2.542,2.54,2.54,2.54,2.542,2.543,2.549,2.551,2.551,2.549,2.551,2.551,2.554,2.555,2.555,2.555,2.557,2.56,2.563,2.563,2.569,2.569,2.572,2.574,2.574,2.581,2.582,2.588,2.589,2.59,2.596,2.597,2.603,2.606,2.607,2.617,2.628,2.632,2.633,2.636,2.641,2.648,2.658,2.661,2.661,2.668,2.669,2.669,2.682,2.682,2.682,1.268,1.251,1.251,1.251,1.251,1.254,1.257,2.759,2.763,2.773,2.773,2.776,2.778,2.788,2.802,2.807,2.814,2.827,2.841,2.842,2.842,2.842,2.866,2.876,2.884,2.901,2.906,2.909,2.933,2.939,2.943,2.943,2.963,2.97,2.975,2.992,3.005,3.009,3.025,3.03,3.048,3.05,3.07,3.092,3.096,3.109,3.123,3.13,3.147,3.159,3.172,3.175,3.21,3.227,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 63.39} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.364847}
SEN {Time 63.3904} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 5.1054} {Name Sonar2 Range 5.715} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.8862} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 2.286} {Name Sonar13 Range 3.0734} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 63.4354} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.151,0.151,0.151,0.151,0.151,0.152,0.151,0.151,0.151,0.153,0.152,0.152,0.152,0.16,0,0,0,0,0,0,0,0,0,0.163,0.163,0.156,0.156,0.156,0.154,0.154,0.157,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.458,0.458,0.458,0.459,0.471,0.472,0.479,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.731,3.731,3.731,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.538,3.523,3.522,3.522,3.522,3.497,3.275,3.271,3.266,3.257,3.248,3.248,3.248,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.134,3.134,3.134,3.202,3.307,0,0,0,0,0,3.104,3.104,3.104,0,0,0,3.011,3.003,3.001,2.994,2.984,2.982,2.982,2.981,2.981,2.976,2.964,2.961,2.958,2.957,2.955,2.95,2.947,2.947,2.946,2.946,2.936,2.936,2.935,2.934,2.932,2.932,2.928,2.925,2.917,2.917,2.915,2.913,2.911,2.911,2.901,2.901,2.901,2.901,2.911,3.407,3.465,3.466,3.467,3.472,3.475,3.475,3.475,3.475,3.475,3.475,3.475,3.475,3.476,3.474,3.476,3.481,3.481,3.481,3.482,3.483,3.491,3.491,3.491,3.491,3.491,3.491,3.495,3.501,3.501,3.506,3.509,3.516,3.517,3.522,3.525,3.532,3.534,3.536,3.536,3.536,3.549,3.549,3.554,3.566,3.567,3.58,3.582,3.586,3.596,3.598,3.604,3.614,3.619,3.619,3.64,3.647,3.652,3.655,3.659,3.665,3.668,3.684,3.694,3.697,3.698,3.707,3.723,3.723,3.741,3.758,3.759,3.778,3.779,3.782,3.8,3.804,3.814,3.828,3.839,3.851,3.867,3.879,3.898,3.906,3.915,3.915,3.942,3.961,3.961,3.989,3.995,3.996,4.029,4.047,4.048,4.063,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.05,3.999,3.972,3.939,3.924,3.89,3.856,3.837,3.814,3.777,3.755,3.726,3.717,3.677,3.656,3.635,3.603,3.585,3.577,3.546,3.522,3.499,3.49,3.476,3.451,3.427,3.423,3.395,3.38,3.35,3.343,3.329,3.301,3.288,3.278,3.27,3.246,3.227,3.22,3.199,3.179,3.177,3.164,3.147,3.133,3.128,3.098,3.098,3.078,3.066,3.061,3.043,3.033,3.018,3.012,2.995,2.986,2.985,2.985,2.967,2.959,2.935,2.918,2.915,2.899,2.898,2.89,2.873,2.867,2.85,2.844,2.836,2.826,2.819,2.818,2.795,2.789,2.778,2.778,2.77,2.755,2.754,2.752,2.747,2.743,2.738,2.725,2.717,2.713,2.708,2.702,2.687,2.683,2.681,2.681,2.681,0.01,0.01,0.01,1.204,1.199,1.199,1.199,1.215,2.612,2.612,2.612,2.608,2.607,2.602,2.595,2.592,2.585,2.583,2.579,2.574,2.574,2.57,2.567,2.563,2.563,2.561,2.561,2.557,2.556,2.556,2.548,2.538,2.538,2.543,2.539,2.539,2.541,2.539,2.537,2.534,2.534,2.534,2.534,2.532,2.534,2.531,2.531,2.531,2.531,2.531,2.531,2.529,2.529,2.529,2.529,2.531,2.534,2.534,2.535,2.537,2.537,2.544,2.544,2.544,2.544,2.546,2.546,2.553,2.555,2.558,2.559,2.565,2.567,2.571,2.571,2.571,2.572,2.575,2.578,2.587,2.588,2.589,2.596,2.596,2.598,2.602,2.611,2.611,2.618,2.624,2.627,2.635,2.635,2.641,2.644,2.653,2.66,2.662,2.666,2.679,2.68,2.68,2.68,1.248,1.236,1.236,1.248,1.25,1.259,2.732,2.757,2.761,2.761,2.762,2.775,2.778,2.783,2.79,2.809,2.817,2.824,2.833,2.833,2.854,2.855,2.857,2.872,2.892,2.898,2.906,2.914,2.916,2.933,2.946,2.949,2.962,2.987,2.988,3.003,3.012,3.014,3.03,3.042,3.044,3.065,3.072,3.081,3.092,3.106,3.119,3.135,3.151,3.159,3.174,3.195,3.207,3.211,3.241,3.263,3.264,3.274,3.305,3.319,3.337,3.366,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 63.59} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.300270}
SEN {Time 63.5943} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 4.064} {Name Sonar2 Range 2.794} {Name Sonar3 Range 1.0668} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7846} {Name Sonar6 Range 3.302} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.0066} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 1.7018} {Name Sonar15 Range 1.8542}
SEN {Time 63.6354} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.015,0.016,0.016,0.016,0.016,0,0,0,0,0,0.152,0.152,0.152,0.152,0.157,0.157,0.148,0.148,0.155,0.148,0.153,0.153,0.153,0.153,0,0,0,0,0,0,0,0,0,0.164,0.164,0.162,0.162,0.164,0.162,0.162,0.166,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0.476,0.476,0.475,0.472,0.472,0.475,0.476,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,3.779,3.738,3.738,3.738,0,0,0,0,0,0,0,0,0,0,0,3.57,3.562,3.53,3.524,3.524,3.522,3.512,3.279,3.276,3.269,3.243,3.243,3.243,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.12,3.118,3.118,3.118,3.272,0,0,0,3.221,3.219,3.162,3.162,3.162,0,0,0,0,0.007,0.009,0.009,0.009,2.994,2.991,2.988,2.976,2.976,2.976,2.969,2.964,2.96,2.958,2.958,2.958,2.954,2.947,2.947,2.941,2.941,2.94,2.929,2.924,2.92,2.92,2.92,2.92,2.913,2.907,2.907,2.907,2.907,2.907,2.907,2.907,2.906,2.907,2.907,3.457,3.466,3.466,3.466,3.466,3.466,3.464,3.466,3.473,3.473,3.472,3.472,3.472,3.471,3.471,3.471,3.471,3.471,3.483,3.484,3.486,3.486,3.486,3.486,3.485,3.485,3.489,3.489,3.5,3.501,3.502,3.516,3.516,3.516,3.517,3.522,3.529,3.531,3.537,3.541,3.546,3.548,3.559,3.56,3.561,3.568,3.572,3.579,3.589,3.593,3.599,3.599,3.611,3.619,3.62,3.633,3.634,3.636,3.654,3.655,3.664,3.683,3.683,3.69,3.696,3.707,3.714,3.728,3.739,3.743,3.754,3.757,3.761,3.781,3.782,3.791,3.795,3.828,3.831,3.835,3.854,3.864,3.875,3.882,3.883,3.914,3.919,3.937,3.956,3.969,3.986,3.992,4.011,4.021,4.038,4.056,4.067,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.067,4.04,4.01,3.984,3.954,3.918,3.886,3.868,3.849,3.811,3.763,3.757,3.742,3.704,3.686,3.652,3.651,3.62,3.596,3.566,3.542,3.532,3.516,3.496,3.473,3.455,3.442,3.414,3.391,3.373,3.358,3.331,3.32,3.31,3.29,3.271,3.258,3.244,3.232,3.214,3.202,3.185,3.175,3.164,3.144,3.125,3.121,3.101,3.101,3.098,3.08,3.05,3.045,3.022,3.02,3.013,2.992,2.983,2.971,2.971,2.946,2.935,2.923,2.92,2.915,2.899,2.891,2.885,2.877,2.864,2.854,2.848,2.827,2.827,2.823,2.806,2.799,2.79,2.782,2.77,2.765,2.758,2.758,2.748,2.732,2.727,2.725,2.711,2.711,2.7,2.697,2.691,2.684,2.683,2.679,2.666,2.665,2.643,1.201,1.201,1.196,1.191,1.187,1.191,1.191,2.611,2.611,2.611,2.604,2.597,2.594,2.587,2.586,2.586,2.585,2.579,2.578,2.572,2.566,2.561,2.561,2.559,2.552,2.556,2.548,2.546,2.545,2.539,2.537,2.537,2.537,2.539,2.539,2.539,2.536,2.534,2.532,2.532,2.532,2.53,2.53,2.527,2.527,2.527,2.527,2.527,2.524,2.522,2.522,2.522,2.523,2.523,2.525,2.525,2.528,2.532,2.54,2.54,2.538,2.538,2.538,2.538,2.542,2.547,2.547,2.548,2.549,2.549,2.55,2.56,2.56,2.561,2.561,2.565,2.574,2.575,2.575,2.582,2.582,2.583,2.583,2.594,2.596,2.597,2.599,2.599,2.609,2.612,2.619,2.628,2.628,2.632,2.636,2.642,2.647,2.66,2.666,2.668,2.672,2.672,2.672,1.237,1.237,1.237,1.238,1.245,1.251,2.739,2.745,2.746,2.746,2.76,2.763,2.769,2.779,2.797,2.806,2.807,2.818,2.823,2.834,2.835,2.852,2.861,2.869,2.879,2.891,2.896,2.908,2.913,2.922,2.938,2.941,2.946,2.975,2.988,2.991,3.003,3.012,3.029,3.037,3.053,3.058,3.067,3.082,3.089,3.104,3.115,3.139,3.145,3.163,3.166,3.198,3.203,3.213,3.224,3.251,3.258,3.287,3.291,3.303,3.336,3.343,3.362,3.379,3.403,3.429,3.432,3.452,3.481,3.512,3.521,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 63.79} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.244420}
SEN {Time 63.7902} {Type Sonar} {Name Sonar0 Range 2.794} {Name Sonar1 Range 4.064} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7846} {Name Sonar6 Range 3.175} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.8194} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.032} {Name Sonar12 Range 0.127} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 1.8542}
SEN {Time 63.8355} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.152,0.152,0.152,0.152,0.152,0.156,0.152,0.152,0.148,0.148,0.148,0.153,0.155,0,0.006,0.006,0,0,0,0,0,0,0.163,0.163,0.162,0.162,0.163,0.163,0.163,0.169,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.506,0.506,0.506,0.506,0.486,0.477,0.474,0.474,0.474,0.477,0.485,0.501,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.007,0.009,3.774,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.006,3.52,3.503,3.28,3.26,3.258,3.253,3.248,3.253,3.253,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.144,3.133,3.133,3.144,3.199,3.309,0,0,0,0,3.204,3.121,3.121,3.121,0,0,0,3.022,3.008,3.007,3.002,2.998,2.996,2.989,2.988,2.983,2.981,2.978,2.964,2.962,2.961,2.961,2.958,2.955,2.953,2.951,2.945,2.939,2.936,2.933,2.929,2.93,2.929,2.927,2.92,2.919,2.914,2.908,2.907,2.906,2.906,2.906,2.902,2.901,2.901,2.901,3.438,3.464,3.472,3.472,3.472,3.473,3.473,3.47,3.473,3.47,3.47,3.471,3.475,3.475,3.475,3.478,3.479,3.482,3.486,3.486,3.486,3.486,3.486,3.486,3.487,3.49,3.494,3.499,3.5,3.5,3.505,3.509,3.512,3.514,3.517,3.522,3.528,3.533,3.538,3.54,3.55,3.551,3.553,3.553,3.556,3.56,3.57,3.573,3.579,3.586,3.598,3.599,3.604,3.617,3.628,3.632,3.639,3.648,3.649,3.652,3.655,3.66,3.675,3.68,3.688,3.699,3.709,3.715,3.726,3.734,3.737,3.753,3.757,3.757,3.779,3.791,3.805,3.81,3.836,3.836,3.84,3.857,3.868,3.883,3.9,3.91,3.914,3.941,3.946,3.966,3.984,3.989,4.002,4.029,4.04,4.05,4.059,4.079,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.055,4.013,3.996,3.956,3.938,3.906,3.877,3.834,3.813,3.777,3.758,3.746,3.704,3.681,3.662,3.644,3.618,3.602,3.57,3.53,3.528,3.511,3.482,3.471,3.443,3.421,3.409,3.397,3.371,3.351,3.345,3.325,3.316,3.3,3.273,3.268,3.246,3.221,3.203,3.194,3.189,3.164,3.155,3.133,3.131,3.118,3.102,3.088,3.078,3.058,3.044,3.034,3.021,3.011,2.996,2.981,2.979,2.973,2.97,2.944,2.939,2.929,2.917,2.905,2.897,2.89,2.87,2.864,2.864,2.848,2.845,2.839,2.837,2.812,2.807,2.79,2.789,2.784,2.772,2.769,2.752,2.747,2.736,2.732,2.731,2.723,2.717,2.704,2.702,2.701,2.691,2.685,2.676,2.674,2.674,2.668,2.658,1.193,1.191,1.189,1.189,1.189,1.189,1.19,2.598,2.603,2.603,2.601,2.598,2.591,2.59,2.585,2.578,2.574,2.574,2.568,2.564,2.559,2.557,2.555,2.555,2.552,2.546,2.544,2.541,2.543,2.54,2.536,2.539,2.539,2.534,2.532,2.539,2.532,2.531,2.523,2.523,2.519,2.518,2.518,2.518,2.516,2.517,2.516,2.516,2.513,2.512,2.512,2.515,2.515,2.519,2.521,2.521,2.521,2.521,2.521,2.521,2.522,2.524,2.522,2.529,2.531,2.535,2.535,2.538,2.541,2.541,2.547,2.547,2.55,2.554,2.555,2.558,2.559,2.559,2.559,2.572,2.572,2.576,2.576,2.581,2.584,2.587,2.59,2.605,2.605,2.611,2.611,2.623,2.623,2.627,2.629,2.632,2.641,2.647,2.651,2.651,2.664,2.664,2.664,1.227,1.227,1.227,1.234,1.234,1.236,1.237,2.734,2.742,2.75,2.748,2.75,2.758,2.767,2.778,2.782,2.792,2.807,2.808,2.818,2.827,2.841,2.853,2.854,2.867,2.876,2.879,2.9,2.905,2.911,2.919,2.922,2.94,2.953,2.97,2.979,2.98,3,3.004,3.024,3.025,3.043,3.056,3.066,3.077,3.098,3.107,3.108,3.123,3.152,3.164,3.184,3.184,3.216,3.223,3.236,3.252,3.261,3.276,3.303,3.309,3.329,3.357,3.376,3.391,3.401,3.423,3.446,3.459,3.481,3.507,3.516,3.543,3.55,3.579,3.611,3.623,3.662,3.682,3.713,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 63.99} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.188569}
SEN {Time 63.9933} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 4.064} {Name Sonar2 Range 2.794} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7846} {Name Sonar6 Range 3.175} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.032} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3048} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 1.8796}
SEN {Time 64.0354} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.155,0.153,0.155,0.154,0.154,0.154,0.154,0.15,0.147,0.147,0.147,0.151,0.154,0,0,0,0,0,0,0,0,0,0.159,0.159,0.159,0.159,0.161,0.161,0.161,0.162,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.009,0.49,0.494,0.494,0.485,0.481,0.485,0.485,0.489,0.511,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.537,3.533,3.523,3.523,3.513,3.3,3.275,3.26,3.254,3.253,3.252,3.252,3.252,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.13,3.122,3.122,3.13,3.28,0,0,0,0,0,3.229,3.229,0.007,0,0,0,0,3.025,3.018,3.015,3.009,2.998,2.998,2.993,2.989,2.98,2.98,2.98,2.974,2.971,2.969,2.956,2.956,2.955,2.954,2.95,2.946,2.945,2.941,2.94,2.936,2.936,2.933,2.931,2.926,2.926,2.919,2.919,2.914,2.914,2.914,2.914,2.905,2.905,2.905,3.47,3.47,3.47,3.47,3.473,3.469,3.469,3.473,3.473,3.473,3.476,3.478,3.476,3.473,3.476,3.477,3.476,3.476,3.477,3.477,3.483,3.484,3.484,3.484,3.487,3.489,3.49,3.492,3.493,3.499,3.501,3.504,3.513,3.514,3.515,3.522,3.526,3.527,3.529,3.537,3.541,3.545,3.546,3.561,3.561,3.567,3.57,3.575,3.58,3.581,3.587,3.598,3.6,3.601,3.609,3.628,3.631,3.635,3.643,3.653,3.653,3.655,3.666,3.671,3.681,3.691,3.707,3.712,3.715,3.722,3.735,3.747,3.758,3.768,3.772,3.786,3.79,3.8,3.828,3.831,3.833,3.854,3.875,3.879,3.888,3.892,3.914,3.927,3.951,3.951,3.967,3.972,3.99,4.012,4.026,4.037,4.063,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.053,4.034,4.006,3.974,3.974,3.974,3.952,3.926,3.82,3.813,3.772,3.746,3.722,3.704,3.68,3.661,3.627,3.614,3.589,3.564,3.536,3.519,3.509,3.475,3.464,3.434,3.426,3.396,3.396,3.37,3.341,3.328,3.309,3.305,3.283,3.271,3.251,3.235,3.217,3.202,3.201,3.179,3.159,3.139,3.133,3.125,3.099,3.097,3.081,3.081,3.054,3.049,3.029,3.015,3.015,2.993,2.987,2.972,2.967,2.946,2.945,2.922,2.921,2.908,2.895,2.893,2.875,2.872,2.853,2.852,2.845,2.831,2.823,2.817,2.805,2.791,2.79,2.782,2.773,2.761,2.751,2.751,2.739,2.732,2.726,2.716,2.711,2.709,2.707,2.687,2.685,2.678,2.676,2.666,2.663,2.661,2.651,1.186,1.186,1.183,1.183,1.183,1.183,1.183,2.599,2.599,2.599,2.594,2.589,2.586,2.579,2.575,2.574,2.574,2.574,2.568,2.565,2.554,2.554,2.554,2.551,2.551,2.54,2.54,2.54,2.54,2.54,2.533,2.533,2.533,2.528,2.524,2.523,2.523,2.523,2.522,2.515,2.514,2.515,2.515,2.512,2.509,2.512,2.512,2.513,2.513,2.513,2.511,2.51,2.51,2.51,2.51,2.51,2.511,2.509,2.509,2.518,2.518,2.518,2.519,2.522,2.522,2.522,2.527,2.528,2.528,2.528,2.53,2.539,2.54,2.542,2.543,2.548,2.548,2.551,2.555,2.556,2.561,2.577,2.577,2.578,2.584,2.584,2.584,2.588,2.594,2.594,2.607,2.608,2.615,2.615,2.618,2.631,2.633,2.636,2.639,2.643,2.649,2.662,2.662,2.662,1.212,1.212,1.212,1.219,1.225,1.24,2.721,2.732,2.732,2.732,2.733,2.754,2.755,2.766,2.777,2.782,2.784,2.794,2.798,2.818,2.818,2.841,2.846,2.854,2.864,2.871,2.886,2.89,2.897,2.911,2.921,2.93,2.945,2.953,2.961,2.975,2.982,3.002,3.004,3.019,3.027,3.031,3.051,3.063,3.076,3.091,3.098,3.112,3.128,3.139,3.153,3.175,3.192,3.204,3.219,3.231,3.252,3.254,3.271,3.289,3.315,3.335,3.351,3.368,3.386,3.411,3.432,3.434,3.459,3.487,3.494,3.526,3.535,3.567,3.593,3.611,3.626,3.647,3.681,3.702,3.718,3.76,3.773,3.81,3.82,3.855,3.892,3.914,3.938,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 64.19} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.132719}
SEN {Time 64.1892} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.3368} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.032} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 3.0226} {Name Sonar15 Range 1.8796}
SEN {Time 64.2314} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.158,0.157,0.155,0.155,0.153,0.151,0.153,0.151,0.151,0.151,0.155,0.155,0.155,0,0,0,0,0,0,0,0,0,0.168,0.168,0.156,0.156,0.156,0.158,0.158,0.167,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.495,0.495,0.493,0.493,0.494,0.495,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.768,3.738,3.738,3.738,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.551,3.55,3.545,3.534,3.501,3.329,3.28,3.268,3.266,3.266,3.256,3.256,0.007,0,0,0,0,0,0,0,0,0,0,3.18,3.163,3.139,3.136,3.136,3.139,3.142,3.289,0,0,0,0.007,0,3.231,0,0,0,0,0,0,0,3.03,3.018,3.017,3.008,3,3,2.999,2.991,2.99,2.987,2.987,2.973,2.973,2.968,2.965,2.964,2.954,2.954,2.954,2.954,2.951,2.951,2.947,2.945,2.943,2.941,2.939,2.93,2.93,2.926,2.921,2.92,2.915,2.915,2.914,2.914,2.914,2.916,3.47,3.472,3.473,3.477,3.477,3.477,3.478,3.478,3.48,3.48,3.48,3.48,3.48,3.48,3.481,3.481,3.481,3.481,3.487,3.487,3.487,3.489,3.489,3.489,3.493,3.496,3.496,3.496,3.496,3.496,3.513,3.516,3.516,3.521,3.523,3.531,3.531,3.533,3.536,3.536,3.545,3.546,3.551,3.554,3.568,3.569,3.572,3.58,3.587,3.591,3.6,3.605,3.611,3.615,3.622,3.627,3.631,3.644,3.652,3.66,3.664,3.676,3.676,3.681,3.695,3.705,3.708,3.715,3.731,3.737,3.739,3.748,3.765,3.785,3.789,3.79,3.798,3.809,3.829,3.839,3.841,3.849,3.873,3.892,3.892,3.897,3.925,3.943,3.951,3.962,3.99,3.998,4.018,4.019,4.037,4.05,4.082,4.082,4.088,0.016,0.016,0.016,0.016,0.016,0.016,4.08,4.052,4.025,3.977,3.964,3.929,3.897,3.874,3.844,3.829,3.796,3.765,3.752,3.714,3.693,3.688,3.66,3.63,3.615,3.579,3.557,3.534,3.519,3.499,3.472,3.458,3.436,3.422,3.41,3.382,3.367,3.344,3.334,3.321,3.291,3.279,3.253,3.253,3.235,3.21,3.195,3.185,3.175,3.16,3.156,3.13,3.123,3.097,3.096,3.075,3.075,3.05,3.034,3.03,3.018,3.015,2.989,2.982,2.972,2.965,2.948,2.935,2.935,2.922,2.908,2.904,2.884,2.873,2.872,2.85,2.843,2.838,2.826,2.819,2.81,2.802,2.799,2.794,2.779,2.775,2.764,2.759,2.746,2.742,2.733,2.723,2.722,2.718,2.709,2.696,2.692,2.689,2.682,2.673,2.668,2.668,2.657,2.651,1.192,1.182,1.181,1.176,1.172,1.172,1.172,2.584,2.584,2.585,2.584,2.582,2.581,2.579,2.573,2.569,2.567,2.561,2.561,2.56,2.552,2.549,2.545,2.545,2.545,2.536,2.536,2.536,2.533,2.535,2.532,2.528,2.524,2.524,2.523,2.522,2.521,2.518,2.513,2.513,2.508,2.508,2.508,2.511,2.511,2.511,2.511,2.507,2.507,2.506,2.506,2.506,2.506,2.504,2.504,2.506,2.516,2.516,2.516,2.51,2.51,2.51,2.509,2.515,2.515,2.515,2.515,2.525,2.529,2.529,2.529,2.529,2.529,2.529,2.535,2.535,2.537,2.541,2.546,2.552,2.554,2.561,2.562,2.563,2.572,2.573,2.575,2.582,2.587,2.592,2.595,2.598,2.6,2.605,2.608,2.615,2.624,2.625,2.632,2.636,2.643,2.646,2.646,2.646,1.217,1.217,1.216,1.217,1.221,1.222,1.232,2.717,2.723,2.74,2.74,2.74,2.749,2.752,2.766,2.774,2.776,2.778,2.79,2.802,2.817,2.827,2.833,2.848,2.85,2.856,2.871,2.879,2.891,2.9,2.909,2.927,2.928,2.932,2.955,2.962,2.968,2.986,2.996,3.003,3.005,3.031,3.041,3.046,3.051,3.084,3.088,3.103,3.108,3.134,3.146,3.155,3.172,3.177,3.208,3.222,3.233,3.246,3.267,3.285,3.305,3.317,3.329,3.35,3.375,3.383,3.398,3.432,3.459,3.46,3.493,3.51,3.523,3.562,3.575,3.604,3.607,3.645,3.66,3.696,3.703,3.745,3.762,3.785,3.793,3.838,3.86,3.893,3.933,3.95,4.019,0.007,0,0.007,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 64.39} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.069887}
SEN {Time 64.3923} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 1.016} {Name Sonar4 Range 1.0414} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.9718} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.0066} {Name Sonar11 Range 2.286} {Name Sonar12 Range 0.9652} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.4638}
SEN {Time 64.4336} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.157,0.147,0.147,0.154,0.154,0.147,0.152,0.152,0.152,0.152,0.152,0.153,0.153,0.154,0,0,0,0,0,0,0,0,0,0.16,0.16,0.16,0.16,0.167,0.167,0.169,0.173,0,0,0.009,0.009,0.009,0.009,0.009,0.506,0.494,0.494,0.506,0.515,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.556,3.537,3.537,3.53,3.512,3.293,3.276,3.276,3.274,3.274,3.274,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.137,3.137,3.129,3.137,3.294,0,0,0,0,0,0.007,3.244,3.244,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.01,3.009,3.005,3.001,2.997,2.994,2.994,2.987,2.987,2.981,2.974,2.968,2.968,2.965,2.962,2.961,2.962,2.956,2.954,2.954,2.95,2.943,2.943,2.938,2.936,2.932,2.931,2.931,2.92,2.918,2.918,2.918,2.918,2.919,2.92,3.475,3.479,3.479,3.479,3.478,3.479,3.481,3.478,3.485,3.485,3.485,3.48,3.484,3.48,3.48,3.48,3.483,3.483,3.488,3.49,3.49,3.49,3.491,3.492,3.494,3.495,3.506,3.507,3.508,3.509,3.512,3.516,3.517,3.517,3.529,3.532,3.532,3.539,3.54,3.545,3.55,3.556,3.559,3.563,3.565,3.575,3.58,3.587,3.591,3.595,3.598,3.6,3.608,3.634,3.634,3.634,3.643,3.652,3.654,3.662,3.664,3.672,3.689,3.689,3.695,3.702,3.704,3.714,3.735,3.744,3.748,3.76,3.761,3.77,3.777,3.786,3.803,3.815,3.826,3.828,3.84,3.853,3.868,3.889,3.894,3.912,3.919,3.935,3.95,3.962,3.989,3.997,4,4.018,4.037,4.053,4.068,4.082,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.058,4.003,3.994,3.957,3.929,3.896,3.859,3.833,3.815,3.778,3.758,3.72,3.715,3.693,3.676,3.645,3.614,3.605,3.572,3.565,3.538,3.521,3.494,3.475,3.463,3.434,3.406,3.389,3.381,3.358,3.352,3.324,3.324,3.3,3.286,3.264,3.244,3.234,3.217,3.196,3.184,3.175,3.161,3.146,3.136,3.108,3.102,3.092,3.066,3.057,3.044,3.043,3.03,3.017,3.009,2.986,2.985,2.968,2.954,2.952,2.942,2.925,2.923,2.901,2.9,2.891,2.876,2.863,2.855,2.837,2.832,2.831,2.829,2.809,2.8,2.788,2.77,2.77,2.768,2.753,2.747,2.744,2.73,2.728,2.722,2.715,2.711,2.703,2.686,2.682,2.676,2.671,2.669,2.666,2.666,2.65,2.63,1.182,1.175,1.172,1.168,1.168,1.175,2.594,2.594,2.598,2.594,2.59,2.581,2.577,2.571,2.571,2.568,2.556,2.554,2.552,2.554,2.551,2.548,2.548,2.543,2.537,2.533,2.53,2.527,2.525,2.524,2.515,2.515,2.515,2.519,2.511,2.513,2.511,2.508,2.508,2.508,2.508,2.508,2.507,2.506,2.506,2.502,2.502,2.502,2.502,2.502,2.502,2.502,2.502,2.504,2.505,2.505,2.508,2.508,2.506,2.503,2.504,2.504,2.504,2.509,2.51,2.511,2.511,2.514,2.519,2.52,2.52,2.523,2.523,2.523,2.528,2.527,2.528,2.536,2.539,2.546,2.547,2.548,2.553,2.554,2.557,2.562,2.562,2.571,2.572,2.584,2.586,2.589,2.593,2.593,2.601,2.604,2.612,2.616,2.621,2.631,2.637,2.641,2.641,2.641,1.224,1.21,1.21,1.21,1.212,1.215,0.007,2.725,2.725,2.73,2.73,2.738,2.742,2.748,2.75,2.757,2.773,2.775,2.798,2.799,2.803,2.814,2.816,2.836,2.84,2.855,2.855,2.867,2.883,2.884,2.893,2.911,2.914,2.926,2.93,2.95,2.956,2.963,2.984,2.994,3.01,3.015,3.025,3.048,3.049,3.065,3.075,3.08,3.101,3.121,3.123,3.147,3.16,3.168,3.188,3.203,3.21,3.239,3.255,3.264,3.277,3.3,3.326,3.339,3.349,3.369,3.396,3.413,3.431,3.451,3.463,3.492,3.518,3.541,3.555,3.569,3.594,3.621,3.642,3.667,3.698,3.727,3.747,3.774,3.795,3.828,3.837,3.88,3.912,3.937,3.973,4.029,4.067,0.016,0.016,0.007,0,0.007,0,0.007,0,0,0,0,0,0.007,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 64.59} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-1.012291}
SEN {Time 64.5873} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.1562} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 1.016} {Name Sonar4 Range 5.2324} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.6576} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.0066} {Name Sonar11 Range 2.286} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 0.3302} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.4638}
SEN {Time 64.6325} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0.155,0.153,0.153,0.153,0.153,0.153,0.153,0.152,0.152,0.152,0.15,0.153,0.156,0.158,0,0,0,0,0,0,0,0,0.161,0.159,0.159,0.159,0.159,0.164,0.164,0.164,0.172,0.377,0.496,0.52,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.549,3.544,3.532,3.532,3.518,3.303,3.297,3.287,3.26,3.258,3.258,3.258,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.132,3.132,3.132,3.132,3.17,3.285,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.012,3.007,3.006,3.005,3.001,2.997,2.994,2.99,2.987,2.981,2.978,2.978,2.971,2.971,2.97,2.962,2.96,2.96,2.96,2.956,2.956,2.952,2.945,2.945,2.946,2.944,2.944,2.934,2.932,2.932,2.933,2.932,2.933,2.934,3.482,3.482,3.482,3.482,3.486,3.486,3.486,3.486,3.483,3.483,3.48,3.48,3.483,3.487,3.483,3.489,3.487,3.492,3.487,3.49,3.487,3.49,3.49,3.5,3.503,3.504,3.506,3.507,3.507,3.509,3.507,3.507,3.515,3.52,3.526,3.53,3.536,3.536,3.541,3.546,3.546,3.552,3.555,3.559,3.565,3.576,3.571,3.576,3.583,3.597,3.6,3.6,3.615,3.618,3.622,3.633,3.634,3.642,3.648,3.651,3.666,3.666,3.675,3.678,3.686,3.711,3.717,3.717,3.722,3.731,3.737,3.749,3.751,3.77,3.778,3.789,3.798,3.806,3.819,3.831,3.84,3.851,3.863,3.867,3.888,3.894,3.908,3.925,3.943,3.949,3.963,3.974,3.988,4.013,4.017,4.041,4.059,4.07,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.07,4.03,4.003,3.986,3.936,3.906,3.867,3.841,3.83,3.795,3.766,3.74,3.704,3.692,3.663,3.638,3.614,3.599,3.562,3.548,3.53,3.511,3.476,3.456,3.442,3.437,3.404,3.4,3.386,3.364,3.333,3.332,3.311,3.305,3.268,3.261,3.247,3.228,3.216,3.202,3.183,3.166,3.165,3.141,3.131,3.109,3.105,3.093,3.077,3.065,3.055,3.033,3.033,3.013,2.999,2.983,2.982,2.967,2.952,2.945,2.933,2.924,2.922,2.905,2.895,2.888,2.877,2.86,2.854,2.85,2.829,2.824,2.817,2.806,2.801,2.79,2.78,2.768,2.767,2.753,2.749,2.747,2.731,2.716,2.715,2.714,2.697,2.694,2.691,2.681,2.671,2.668,2.661,2.661,2.656,2.65,1.181,1.181,1.169,1.168,1.167,1.167,1.167,2.589,2.593,2.593,2.589,2.583,2.57,2.57,2.569,2.567,2.565,2.562,2.559,2.559,2.553,2.553,2.54,2.539,2.531,2.528,2.525,2.519,2.518,2.518,2.517,2.517,2.515,2.514,2.513,2.508,2.507,2.506,2.505,2.5,2.496,2.495,2.495,2.495,2.495,2.495,2.5,2.495,2.495,2.498,2.498,2.494,2.498,2.496,2.492,2.496,2.496,2.496,2.493,2.496,2.496,2.502,2.503,2.503,2.504,2.505,2.504,2.506,2.513,2.513,2.513,2.515,2.515,2.518,2.522,2.525,2.53,2.536,2.536,2.536,2.542,2.544,2.547,2.55,2.55,2.552,2.555,2.558,2.566,2.567,2.571,2.572,2.578,2.584,2.59,2.593,2.604,2.605,2.606,2.612,2.623,2.628,2.63,2.636,2.636,2.636,1.202,1.202,1.202,1.208,1.213,1.218,2.699,2.709,2.721,2.721,2.725,2.733,2.737,2.741,2.741,2.761,2.766,2.769,2.781,2.793,2.794,2.818,2.821,2.824,2.834,2.855,2.855,2.858,2.88,2.89,2.895,2.911,2.911,2.922,2.941,2.947,2.955,2.974,2.978,2.985,3,3.019,3.029,3.035,3.046,3.059,3.074,3.084,3.093,3.122,3.132,3.137,3.161,3.167,3.194,3.204,3.217,3.237,3.257,3.26,3.275,3.295,3.305,3.333,3.356,3.364,3.383,3.407,3.423,3.453,3.459,3.487,3.524,3.527,3.55,3.573,3.596,3.615,3.646,3.672,3.699,3.727,3.749,3.759,3.799,3.823,3.849,3.877,3.916,3.936,3.989,4.047,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.006,0.009,0.009,0.009,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 64.79} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.952950}
SEN {Time 64.7913} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 1.016} {Name Sonar4 Range 5.2324} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.6576} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.0066} {Name Sonar11 Range 2.286} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.4638}
SEN {Time 64.8289} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.154,0.154,0.147,0.147,0.147,0.155,0.149,0.151,0.151,0.151,0.151,0.152,0.155,0.158,0,0,0.009,0,0.009,0.007,0.009,0.006,0.006,0.16,0.16,0.16,0.16,0.16,0.16,0.16,0.167,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,3.549,3.547,3.543,3.495,3.305,3.303,3.303,3.296,3.296,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.142,3.142,3.142,3.207,3.313,3.313,3.313,0,0,3.239,0,0.007,0,0,0,0,0,0.009,0.009,0.009,3.016,3.016,3.01,3.009,3.008,3,2.998,2.994,2.99,2.985,2.984,2.98,2.978,2.976,2.973,2.971,2.97,2.968,2.961,2.955,2.955,2.954,2.954,2.954,2.95,2.95,2.947,2.947,2.942,2.941,2.937,2.933,2.933,2.933,3.489,3.491,3.495,3.491,3.491,3.493,3.487,3.487,3.49,3.49,3.488,3.488,3.488,3.488,3.489,3.491,3.492,3.492,3.494,3.494,3.497,3.496,3.497,3.499,3.5,3.506,3.508,3.508,3.512,3.512,3.512,3.518,3.519,3.53,3.532,3.532,3.535,3.537,3.545,3.547,3.548,3.548,3.552,3.559,3.571,3.574,3.578,3.588,3.592,3.592,3.594,3.612,3.614,3.615,3.625,3.629,3.636,3.639,3.643,3.654,3.662,3.67,3.677,3.677,3.694,3.701,3.703,3.72,3.723,3.724,3.741,3.746,3.766,3.77,3.777,3.78,3.784,3.798,3.82,3.82,3.828,3.848,3.865,3.872,3.888,3.891,3.904,3.907,3.938,3.941,3.953,3.97,3.973,4.004,4.012,4.035,4.043,4.061,4.079,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.062,4.024,4.012,3.955,3.925,3.905,3.889,3.853,3.834,3.794,3.775,3.759,3.731,3.708,3.673,3.64,3.614,3.579,3.579,3.559,3.544,3.523,3.489,3.466,3.45,3.42,3.4,3.382,3.363,3.353,3.34,3.323,3.3,3.28,3.27,3.259,3.241,3.231,3.206,3.202,3.185,3.171,3.15,3.148,3.139,3.117,3.092,3.085,3.072,3.06,3.057,3.03,3.029,3.012,3.004,2.983,2.976,2.964,2.955,2.944,2.942,2.926,2.908,2.905,2.892,2.888,2.875,2.872,2.854,2.852,2.828,2.816,2.816,2.814,2.799,2.786,2.772,2.769,2.765,2.764,2.743,2.739,2.733,2.718,2.716,2.711,2.702,2.695,2.694,2.674,2.674,2.674,2.665,2.658,2.648,2.641,1.176,1.175,1.169,1.167,1.16,1.16,1.16,2.589,2.592,2.592,2.589,2.579,2.572,2.572,2.572,2.566,2.559,2.555,2.552,2.548,2.543,2.54,2.538,2.538,2.537,2.537,2.523,2.523,2.518,2.518,2.517,2.515,2.511,2.511,2.509,2.509,2.502,2.499,2.499,2.494,2.499,2.493,2.493,2.492,2.492,2.492,2.492,2.492,2.488,2.484,2.483,2.483,2.483,2.483,2.486,2.486,2.488,2.493,2.493,2.493,2.493,2.491,2.491,2.498,2.5,2.501,2.502,2.503,2.507,2.507,2.508,2.507,2.507,2.509,2.511,2.512,2.513,2.518,2.529,2.529,2.529,2.531,2.538,2.538,2.542,2.542,2.548,2.562,2.562,2.563,2.563,2.565,2.572,2.579,2.583,2.584,2.585,2.586,2.592,2.609,2.612,2.617,2.619,2.63,2.63,2.63,1.192,1.189,1.189,1.189,1.195,1.205,1.209,2.694,2.706,2.715,2.715,2.717,2.722,2.728,2.745,2.747,2.751,2.755,2.772,2.784,2.789,2.79,2.808,2.819,2.819,2.836,2.838,2.852,2.864,2.891,2.892,2.91,2.91,2.914,2.918,2.936,2.945,2.95,2.965,2.973,2.99,3.003,3.013,3.033,3.033,3.047,3.063,3.075,3.086,3.097,3.104,3.124,3.134,3.154,3.163,3.185,3.189,3.213,3.228,3.252,3.266,3.268,3.303,3.307,3.328,3.352,3.364,3.391,3.405,3.414,3.451,3.47,3.492,3.501,3.517,3.546,3.574,3.592,3.607,3.634,3.673,3.706,3.723,3.751,3.777,3.793,3.825,3.852,3.882,3.908,3.937,0,0,0,0,0.007,0,0.007,0,0.007,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0.006,0.006,0.006,0.009,3.403,3.389,3.367,3.343,3.339,3.338,3.323,3.322,3.322,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 64.99} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.895354}
SEN {Time 64.9862} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 5.6642} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 1.016} {Name Sonar4 Range 5.2324} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 3.6576} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 2.4638}
SEN {Time 65.0314} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0.153,0.153,0.147,0.146,0.146,0.15,0.149,0.15,0.151,0.151,0.152,0.153,0.153,0.159,0.341,0,0,0,0,0,0,0,0,0.165,0.163,0.161,0.16,0.157,0.156,0.156,0.157,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0.009,3.831,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.585,3.56,3.553,3.55,3.532,3.319,3.319,3.31,3.303,3.303,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.157,3.157,3.157,3.195,3.308,0,0,0,0,0,0,0,0,0,0,3.041,3.039,3.039,3.035,3.031,3.027,3.017,3.016,3.009,3.005,3.003,2.999,2.994,2.994,2.991,2.989,2.988,2.982,2.981,2.972,2.967,2.965,2.965,2.965,2.965,2.965,2.957,2.954,2.954,2.953,2.952,2.952,2.952,2.941,2.941,2.941,2.941,2.941,2.942,3.025,3.492,3.494,3.502,3.495,3.494,3.495,3.495,3.491,3.487,3.491,3.491,3.491,3.491,3.493,3.493,3.493,3.496,3.504,3.504,3.505,3.505,3.505,3.505,3.506,3.509,3.509,3.509,3.509,3.513,3.516,3.516,3.518,3.527,3.529,3.531,3.541,3.545,3.547,3.547,3.556,3.557,3.559,3.568,3.57,3.573,3.573,3.576,3.579,3.593,3.601,3.602,3.616,3.618,3.62,3.625,3.638,3.64,3.648,3.657,3.663,3.671,3.671,3.678,3.678,3.693,3.703,3.706,3.709,3.72,3.736,3.749,3.758,3.76,3.763,3.777,3.783,3.811,3.813,3.824,3.834,3.844,3.85,3.851,3.875,3.892,3.902,3.915,3.931,3.944,3.954,3.956,3.977,3.985,4.006,4.026,4.042,4.057,4.069,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.066,4.03,4.006,3.971,3.924,3.902,3.876,3.856,3.816,3.794,3.767,3.735,3.72,3.687,3.657,3.632,3.621,3.597,3.576,3.567,3.532,3.526,3.496,3.472,3.456,3.421,3.415,3.401,3.379,3.36,3.342,3.314,3.304,3.286,3.273,3.253,3.237,3.225,3.202,3.182,3.164,3.156,3.143,3.123,3.117,3.111,3.092,3.075,3.07,3.058,3.057,3.043,3.024,3.018,2.995,2.994,2.976,2.967,2.962,2.943,2.93,2.917,2.906,2.901,2.895,2.883,2.872,2.859,2.839,2.833,2.831,2.819,2.811,2.799,2.797,2.787,2.777,2.775,2.759,2.758,2.742,2.724,2.723,2.722,2.716,2.705,2.7,2.685,2.679,2.675,2.671,2.668,2.657,2.657,2.645,2.644,1.172,1.171,1.167,1.164,1.16,1.16,1.16,2.589,2.589,2.589,2.575,2.574,2.571,2.568,2.562,2.562,2.546,2.546,2.545,2.545,2.54,2.538,2.532,2.53,2.528,2.521,2.521,2.518,2.512,2.511,2.51,2.505,2.504,2.504,2.502,2.502,2.501,2.502,2.502,2.499,2.494,2.494,2.488,2.485,2.484,2.483,2.483,2.484,2.486,2.486,2.486,2.482,2.482,2.482,2.483,2.483,2.483,2.485,2.483,2.478,2.483,2.479,2.479,2.481,2.486,2.489,2.492,2.493,2.497,2.494,2.497,2.497,2.503,2.51,2.51,2.51,2.51,2.512,2.515,2.517,2.517,2.52,2.524,2.533,2.534,2.543,2.543,2.544,2.547,2.548,2.555,2.556,2.564,2.564,2.566,2.575,2.575,2.591,2.598,2.602,2.607,2.616,2.617,2.617,2.617,2.617,1.195,1.185,1.185,1.185,1.193,1.194,1.196,2.684,2.69,2.698,2.698,2.706,2.71,2.718,2.732,2.737,2.741,2.754,2.761,2.764,2.781,2.791,2.796,2.801,2.821,2.824,2.835,2.836,2.847,2.865,2.868,2.873,2.895,2.906,2.911,2.914,2.923,2.952,2.953,2.969,2.977,2.991,3.006,3.009,3.025,3.041,3.045,3.051,3.074,3.092,3.097,3.12,3.124,3.145,3.161,3.168,3.183,3.207,3.218,3.237,3.25,3.268,3.284,3.293,3.317,3.335,3.359,3.366,3.38,3.421,3.434,3.459,3.476,3.493,3.516,3.532,3.542,3.584,3.602,3.625,3.643,3.681,3.686,3.721,3.755,3.762,3.792,3.823,3.853,3.881,3.929,3.952,3.986,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0.009,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.388,3.357,3.345,3.337,3.329,3.329,3.327,3.303,3.29,3.289,3.282,3.267,3.261,3.243,3.241,3.238,3.238,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.19} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.837758}
SEN {Time 65.1902} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 2.3622} {Name Sonar3 Range 1.016} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.6764} {Name Sonar14 Range 1.8542} {Name Sonar15 Range 5.6896}
SEN {Time 65.2348} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.178,0.156,0.156,0.15,0.15,0.15,0.152,0.152,0.152,0.15,0.152,0.15,0.15,0.154,0,0,0,0,0,0,0,0,0,0.161,0.161,0.16,0.16,0.16,0.156,0.156,0.156,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.581,3.575,3.562,3.549,3.511,3.326,3.314,3.314,3.314,3.314,0.007,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.171,3.161,3.153,3.153,3.153,3.28,3.339,0,0,0,0,0,0,0.007,0,0,0,0.007,0.009,0.009,0.009,3.035,3.026,3.023,3.019,3.015,3.014,3.01,3.008,3.001,2.999,2.994,2.994,2.989,2.983,2.982,2.98,2.972,2.972,2.972,2.965,2.963,2.963,2.961,2.96,2.96,2.953,2.953,2.95,2.95,2.95,2.948,2.946,2.946,2.946,2.946,3.408,3.498,3.498,3.498,3.498,3.498,3.496,3.498,3.498,3.5,3.5,3.5,3.5,3.5,3.499,3.498,3.498,3.496,3.496,3.496,3.498,3.498,3.506,3.506,3.507,3.508,3.511,3.513,3.515,3.519,3.523,3.524,3.527,3.529,3.532,3.538,3.542,3.543,3.548,3.553,3.559,3.56,3.561,3.567,3.577,3.579,3.579,3.583,3.593,3.593,3.594,3.602,3.611,3.615,3.625,3.634,3.64,3.646,3.653,3.654,3.667,3.671,3.682,3.686,3.692,3.695,3.703,3.72,3.725,3.727,3.747,3.748,3.758,3.769,3.775,3.782,3.792,3.806,3.809,3.819,3.837,3.851,3.859,3.863,3.884,3.887,3.908,3.912,3.928,3.932,3.955,3.965,3.976,3.992,4.016,4.017,4.034,4.055,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.079,4.051,4.01,3.983,3.934,3.911,3.881,3.847,3.805,3.775,3.751,3.727,3.702,3.677,3.659,3.633,3.604,3.594,3.565,3.54,3.533,3.506,3.492,3.476,3.451,3.421,3.408,3.391,3.36,3.358,3.339,3.329,3.306,3.296,3.281,3.247,3.232,3.214,3.204,3.186,3.175,3.152,3.139,3.127,3.11,3.103,3.09,3.064,3.056,3.04,3.029,3.022,3.01,3,2.986,2.976,2.964,2.959,2.942,2.937,2.931,2.921,2.905,2.905,2.893,2.878,2.864,2.859,2.836,2.833,2.824,2.819,2.799,2.797,2.79,2.786,2.773,2.757,2.749,2.74,2.738,2.726,2.719,2.714,2.711,2.71,2.702,2.69,2.688,2.678,2.669,2.662,2.655,2.65,2.644,1.163,1.163,1.161,1.161,1.16,1.16,1.16,2.577,2.579,2.581,2.579,2.577,2.572,2.572,2.563,2.555,2.552,2.547,2.545,2.542,2.541,2.538,2.535,2.531,2.525,2.524,2.523,2.517,2.516,2.516,2.506,2.506,2.504,2.499,2.499,2.496,2.495,2.492,2.492,2.492,2.492,2.492,2.484,2.483,2.482,2.479,2.479,2.479,2.481,2.481,2.481,2.48,2.48,2.472,2.472,2.472,2.474,2.476,2.479,2.476,2.478,2.482,2.482,2.483,2.483,2.483,2.483,2.483,2.482,2.483,2.483,2.483,2.49,2.491,2.492,2.499,2.505,2.508,2.51,2.512,2.514,2.516,2.516,2.516,2.523,2.527,2.54,2.54,2.541,2.541,2.546,2.546,2.555,2.556,2.569,2.571,2.574,2.575,2.579,2.589,2.591,2.594,2.598,2.598,2.602,2.602,2.602,1.183,1.183,1.18,1.18,1.185,1.192,1.202,2.675,2.675,2.692,2.692,2.701,2.701,2.715,2.717,2.723,2.74,2.746,2.759,2.76,2.773,2.775,2.783,2.787,2.803,2.819,2.837,2.838,2.841,2.857,2.861,2.87,2.88,2.899,2.907,2.917,2.926,2.947,2.951,2.955,2.978,2.979,2.989,3,3.014,3.019,3.031,3.055,3.07,3.08,3.102,3.105,3.106,3.151,3.158,3.158,3.179,3.194,3.213,3.227,3.25,3.261,3.278,3.286,3.303,3.327,3.345,3.35,3.383,3.39,3.418,3.432,3.454,3.477,3.502,3.518,3.557,3.561,3.6,3.622,3.638,3.673,3.697,3.702,3.744,3.763,3.793,3.824,3.84,3.868,3.903,3.916,3.953,4.029,4.066,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,3.416,3.416,3.405,3.393,3.37,3.36,3.343,3.331,3.329,3.315,3.305,3.299,3.283,3.276,3.268,3.267,3.255,3.241,3.238,3.231,3.22,3.217,3.21,3.207,3.19,3.19,3.18,3.173,3.168,3.168,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.39} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.774926}
SEN {Time 65.3941} {Type Sonar} {Name Sonar0 Range 4.064} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 1.016} {Name Sonar3 Range 1.016} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.429} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1524} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 2.159} {Name Sonar15 Range 5.6896}
SEN {Time 65.434} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.008,0.009,0.009,0.008,0.539,0.538,0.529,0.538,0.538,0,0,0,0,0.149,0.144,0.144,0.145,0.145,0.145,0.145,0.153,0.153,0.15,0.153,0.152,0.152,0.155,0,0,0,0,0,0,0,0,0,0.163,0.161,0.161,0.157,0.157,0.157,0.162,0.168,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.006,3.561,3.549,3.325,3.322,3.322,3.307,3.307,0.007,0,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,3.158,3.155,3.155,3.155,3.354,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0.009,0.009,0.009,0.009,3.026,3.025,3.022,3.018,3.009,3.003,3.001,2.998,2.995,2.993,2.991,2.983,2.979,2.978,2.978,2.979,2.975,2.972,2.971,2.966,2.965,2.963,2.96,2.956,2.953,2.948,2.948,2.948,2.95,2.95,2.95,2.942,2.941,2.941,2.942,3.489,3.489,3.492,3.492,3.493,3.493,3.497,3.498,3.5,3.498,3.5,3.498,3.5,3.495,3.5,3.5,3.5,3.5,3.506,3.5,3.508,3.509,3.513,3.513,3.517,3.52,3.521,3.52,3.525,3.527,3.527,3.527,3.534,3.527,3.538,3.543,3.543,3.546,3.546,3.553,3.558,3.565,3.565,3.58,3.581,3.585,3.591,3.597,3.603,3.607,3.612,3.617,3.625,3.633,3.636,3.64,3.644,3.646,3.664,3.664,3.674,3.687,3.688,3.691,3.694,3.706,3.711,3.724,3.739,3.745,3.751,3.752,3.763,3.781,3.789,3.806,3.817,3.823,3.828,3.841,3.856,3.86,3.864,3.885,3.888,3.913,3.918,3.927,3.93,3.957,3.967,3.993,4.004,4.026,4.04,4.051,4.067,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.095,4.056,4.019,4.005,3.963,3.929,3.902,3.871,3.829,3.814,3.771,3.75,3.733,3.713,3.676,3.652,3.624,3.608,3.594,3.556,3.53,3.523,3.497,3.483,3.454,3.441,3.41,3.403,3.377,3.366,3.34,3.322,3.303,3.293,3.278,3.268,3.241,3.228,3.207,3.188,3.178,3.168,3.162,3.141,3.132,3.115,3.091,3.079,3.075,3.058,3.046,3.026,3.017,3.004,2.988,2.987,2.963,2.951,2.942,2.931,2.929,2.907,2.897,2.89,2.883,2.878,2.859,2.843,2.837,2.832,2.831,2.821,2.819,2.799,2.792,2.781,2.775,2.769,2.759,2.74,2.736,2.733,2.725,2.719,2.714,2.698,2.688,2.684,2.677,2.671,2.669,2.657,2.648,2.648,2.648,2.638,1.157,1.155,1.148,1.147,1.147,1.147,1.148,2.583,2.583,2.583,2.575,2.568,2.566,2.561,2.554,2.548,2.548,2.541,2.539,2.539,2.536,2.533,2.528,2.528,2.516,2.514,2.513,2.506,2.505,2.504,2.503,2.493,2.493,2.491,2.49,2.488,2.488,2.488,2.488,2.488,2.486,2.482,2.482,2.482,2.482,2.479,2.478,2.477,2.473,2.477,2.478,2.467,2.474,2.474,2.472,2.467,2.466,2.466,2.466,2.474,2.475,2.478,2.478,2.475,2.479,2.479,2.481,2.481,2.482,2.482,2.482,2.482,2.484,2.489,2.489,2.495,2.492,2.492,2.495,2.497,2.503,2.505,2.509,2.512,2.513,2.518,2.525,2.525,2.533,2.539,2.539,2.54,2.544,2.549,2.553,2.559,2.566,2.568,2.573,2.575,2.589,2.59,2.591,2.593,2.597,2.597,2.597,1.18,1.18,1.18,1.183,1.183,1.186,1.195,2.662,2.674,2.689,2.689,2.699,2.701,2.705,2.711,2.713,2.732,2.745,2.758,2.759,2.763,2.77,2.776,2.791,2.796,2.801,2.822,2.831,2.832,2.853,2.854,2.866,2.876,2.886,2.898,2.912,2.923,2.931,2.932,2.953,2.973,2.973,2.981,3.006,3.008,3.021,3.022,3.047,3.068,3.075,3.086,3.093,3.12,3.131,3.133,3.154,3.171,3.184,3.203,3.213,3.244,3.247,3.269,3.285,3.303,3.322,3.338,3.349,3.381,3.385,3.408,3.426,3.456,3.487,3.49,3.511,3.533,3.558,3.578,3.607,3.621,3.649,3.666,3.709,3.739,3.748,3.791,3.803,3.831,3.853,3.914,3.954,3.993,3.993,4.004,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0.009,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.348,3.338,3.328,3.32,3.315,3.296,3.286,3.283,3.279,3.274,3.258,3.253,3.239,3.234,3.216,3.215,3.211,3.2,3.198,3.193,3.182,3.176,3.175,3.163,3.163,3.155,3.152,3.148,3.134,3.13,3.124,3.116,3.116,3.116,3.116,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 65.59} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.719076}
SEN {Time 65.5891} {Type Sonar} {Name Sonar0 Range 6.3246} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 1.016} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 4.0386} {Name Sonar5 Range 3.429} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.1016} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 2.8702} {Name Sonar14 Range 2.159} {Name Sonar15 Range 5.8166}
SEN {Time 65.6274} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.207,0.207,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.009,0.007,0.545,0.532,0.545,0.545,0.553,0,0,0,0,0,0,0,0,0,0,0,0,0,0.156,0.156,0.151,0.151,0.15,0.15,0.15,0.15,0.147,0.149,0.149,0.151,0.151,0.157,0,0,0,0,0,0,0,0,0,0.165,0.164,0.163,0.162,0.163,0.162,0.162,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.851,3.851,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.579,3.579,3.579,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,3.189,3.189,3.189,3.218,3.326,3.389,3.389,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.045,3.029,3.022,3.02,3.016,3.01,3.009,3.009,3.005,3.003,2.998,2.994,2.99,2.99,2.99,2.989,2.984,2.977,2.974,2.974,2.974,2.971,2.967,2.965,2.96,2.955,2.955,2.954,2.953,2.951,2.949,2.947,2.947,2.947,2.949,3.496,3.496,3.496,3.496,3.496,3.496,3.502,3.502,3.502,3.499,3.499,3.499,3.501,3.504,3.504,3.505,3.508,3.512,3.512,3.516,3.516,3.516,3.516,3.516,3.516,3.524,3.524,3.525,3.526,3.529,3.535,3.535,3.535,3.535,3.54,3.541,3.546,3.559,3.561,3.563,3.564,3.572,3.577,3.583,3.584,3.587,3.593,3.602,3.606,3.611,3.614,3.619,3.62,3.633,3.64,3.645,3.647,3.648,3.66,3.663,3.68,3.686,3.697,3.704,3.708,3.714,3.717,3.724,3.74,3.751,3.752,3.754,3.767,3.776,3.786,3.799,3.806,3.806,3.828,3.839,3.852,3.861,3.874,3.878,3.888,3.897,3.933,3.941,3.941,3.964,3.968,3.981,4.004,4.015,4.026,4.032,4.049,4.07,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.075,4.031,3.998,3.981,3.937,3.909,3.874,3.839,3.832,3.778,3.767,3.74,3.706,3.697,3.677,3.638,3.615,3.591,3.579,3.555,3.531,3.516,3.487,3.468,3.432,3.42,3.404,3.373,3.368,3.343,3.33,3.325,3.297,3.274,3.267,3.252,3.237,3.217,3.209,3.189,3.171,3.157,3.142,3.124,3.115,3.098,3.087,3.074,3.061,3.051,3.047,3.029,3.019,3.002,2.988,2.97,2.955,2.943,2.937,2.931,2.927,2.909,2.889,2.885,2.876,2.865,2.849,2.845,2.826,2.816,2.815,2.802,2.791,2.782,2.779,2.769,2.762,2.754,2.75,2.734,2.726,2.725,2.715,2.714,2.7,2.695,2.678,2.673,2.666,2.661,2.658,2.653,2.653,2.648,2.637,1.158,1.156,1.15,1.15,1.146,1.146,1.146,2.577,2.578,2.578,2.577,2.577,2.567,2.566,2.556,2.554,2.544,2.544,2.544,2.535,2.524,2.522,2.52,2.52,2.518,2.511,2.509,2.507,2.507,2.505,2.498,2.492,2.492,2.49,2.489,2.488,2.488,2.484,2.484,2.479,2.479,2.479,2.472,2.472,2.472,2.47,2.47,2.47,2.47,2.475,2.475,2.466,2.472,2.466,2.466,2.465,2.466,2.464,2.464,2.464,2.466,2.467,2.468,2.468,2.474,2.475,2.474,2.474,2.478,2.48,2.478,2.482,2.482,2.484,2.49,2.494,2.49,2.496,2.497,2.499,2.5,2.501,2.501,2.513,2.515,2.516,2.518,2.519,2.525,2.527,2.531,2.531,2.538,2.544,2.55,2.55,2.559,2.564,2.569,2.574,2.575,2.581,2.585,2.588,2.6,2.6,2.6,1.179,1.179,1.179,1.179,1.183,1.185,1.185,2.668,2.672,2.672,2.672,2.685,2.693,2.7,2.705,2.706,2.718,2.721,2.728,2.745,2.761,2.768,2.777,2.78,2.788,2.789,2.813,2.814,2.828,2.836,2.841,2.848,2.865,2.881,2.887,2.889,2.911,2.912,2.926,2.942,2.95,2.967,2.973,2.988,2.994,3.019,3.025,3.03,3.064,3.084,3.084,3.084,3.103,3.124,3.125,3.145,3.149,3.167,3.184,3.197,3.209,3.233,3.244,3.272,3.278,3.285,3.305,3.324,3.354,3.373,3.394,3.422,3.424,3.448,3.481,3.481,3.487,3.56,3.576,3.576,3.612,3.627,3.652,3.68,3.702,3.725,3.763,3.786,3.794,3.839,3.858,3.926,3.945,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,4.07,3.396,3.391,3.374,3.36,3.34,3.333,3.322,3.315,3.314,3.304,3.301,3.286,3.283,3.272,3.264,3.247,3.246,3.236,3.216,3.215,3.207,3.203,3.196,3.19,3.179,3.175,3.169,3.161,3.16,3.149,3.148,3.138,3.136,3.13,3.13,3.123,3.12,3.115,3.109,3.1,3.096,3.095,3.093,3.082,3.076,3.074,3.064,3.064,3.064,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 70.27} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.094248}
SEN {Time 70.2734} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0922}
SEN {Time 70.3129} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.194,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.733,3.699,3.694,3.677,3.677,3.664,3.656,3.656,3.656,3.638,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.257,3.257,3.257,3.257,3.257,0.155,0.154,0.154,0.15,0.148,0.148,0.153,0.153,0.156,0.159,0.159,0.159,0.162,0.162,3.1,3.105,3.105,3.109,3.109,3.11,3.126,3.126,3.126,0.16,0.16,0.16,0.16,0.161,0.161,0.163,0.163,3.05,3.05,3.051,3.05,3.047,3.04,3.037,3.037,3.034,3.034,3.034,3.034,3.032,3.033,3.028,3.029,3.029,3.029,3.029,3.03,3.566,3.566,3.567,3.566,3.567,3.566,3.566,3.56,3.56,3.56,3.565,3.566,3.566,3.566,3.566,3.566,3.567,3.568,3.568,3.568,3.572,3.572,3.576,3.576,3.576,3.576,3.576,3.576,3.576,3.579,3.582,3.586,3.584,3.586,3.594,3.603,3.605,3.606,3.609,3.621,3.621,3.621,3.625,3.633,3.64,3.643,3.644,3.644,3.656,3.663,3.666,3.67,3.675,3.69,3.694,3.695,3.698,3.7,3.721,3.724,3.731,3.735,3.741,3.741,3.747,3.769,3.77,3.778,3.79,3.799,3.806,3.808,3.823,3.824,3.842,3.85,3.862,3.862,3.881,3.886,3.897,3.917,3.92,3.938,3.947,3.963,3.967,3.978,3.989,3.998,4.021,4.027,4.059,4.066,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.068,4.026,4.004,3.971,3.923,3.904,3.881,3.836,3.796,3.785,3.756,3.724,3.709,3.675,3.639,3.633,3.612,3.568,3.556,3.539,3.513,3.5,3.479,3.459,3.428,3.424,3.417,3.379,3.353,3.331,3.32,3.312,3.274,3.27,3.248,3.228,3.218,3.193,3.192,3.172,3.15,3.141,3.115,3.111,3.093,3.08,3.06,3.047,3.04,3.032,3.011,3.007,2.992,2.969,2.967,2.959,2.941,2.93,2.921,2.906,2.886,2.884,2.878,2.865,2.854,2.844,2.827,2.817,2.817,2.798,2.796,2.781,2.774,2.767,2.763,2.741,2.737,2.729,2.72,2.717,2.702,2.69,2.684,2.684,2.674,2.673,1.149,1.149,1.145,1.145,1.132,1.132,1.132,1.132,2.594,2.595,2.595,2.594,2.59,2.577,2.569,2.568,2.547,2.545,2.541,2.541,2.539,2.532,2.527,2.522,2.519,2.512,2.51,2.502,2.501,2.501,2.501,2.488,2.484,2.482,2.475,2.474,2.471,2.471,2.468,2.464,2.46,2.457,2.455,2.452,2.452,2.451,2.449,2.447,2.446,2.443,2.439,2.436,2.436,2.437,2.437,2.436,2.436,2.436,2.436,2.436,2.434,2.434,2.432,2.432,2.432,2.433,2.435,2.438,2.438,2.435,2.435,2.439,2.438,2.441,2.443,2.441,2.438,2.438,2.438,2.438,2.438,2.443,2.447,2.449,2.449,2.451,2.456,2.458,2.458,2.459,2.467,2.468,2.468,2.472,2.474,2.476,2.481,2.482,2.482,2.492,2.493,2.496,2.503,2.504,2.509,2.511,2.515,2.519,2.521,2.536,2.536,2.521,1.125,1.125,1.125,1.13,1.134,1.135,1.135,2.59,2.602,2.605,2.605,2.612,2.62,2.624,2.624,2.643,2.644,2.646,2.651,2.652,2.657,2.675,2.682,2.686,2.692,2.702,2.712,2.716,2.732,2.742,2.751,2.761,2.766,2.768,2.785,2.793,2.811,2.812,2.829,2.834,2.845,2.851,2.863,2.877,2.885,2.891,2.913,2.92,2.928,2.947,2.956,2.966,2.973,2.988,2.997,3.019,3.022,3.05,3.054,3.068,3.079,3.096,3.096,3.124,3.138,3.148,3.174,3.178,3.202,3.219,3.232,3.239,3.271,3.277,3.288,3.313,3.335,3.351,3.375,3.395,3.402,3.423,3.457,3.466,3.485,3.507,3.529,3.556,3.576,3.61,3.636,3.655,3.675,3.704,3.714,3.765,3.782,3.807,3.833,3.873,3.916,0.007,0,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.329,3.319,3.301,3.297,3.272,3.266,3.264,3.26,3.249,3.23,3.227,3.22,3.208,3.199,3.199,3.179,3.174,3.169,3.154,3.154,3.143,3.139,3.138,3.127,3.122,3.116,3.103,3.101,3.088,3.086,3.086,3.082,3.076,3.071,3.064,3.057,3.053,3.043,3.04,3.035,3.033,3.026,3.022,3.02,3.019,3.014,3.005,3,2.998,2.998,2.998,2.998,2.991,2.989,2.986,2.981,2.977,2.977,2.977,2.989,2.989,2.989,2.973,2.97,2.966,2.961,2.96,2.96,2.961,2.962,2.966,2.966,2.966,2.966,2.961,2.961,2.961,2.961,2.961,2.961,2.961,2.962,2.964,2.968,2.968,2.968,2.968,2.965,2.963,2.965,2.97,2.97,2.976,2.976,2.977,2.981,2.983,2.985,2.986,2.988,2.99,2.99,2.997,2.997,3,3.007,3.012,3.014,3.02,3.026,3.027,3.028,3.03,3.043,3.044,3.05,3.051,3.058,3.059,3.06,3.073,3.082,3.082,3.082,3.082,3.082,3.082,3.083,3.092,3.103,3.104,3.109,3.116,3.127,3.127,3.135,3.14,3.154,3.156,3.157,3.164,3.168,3.168,3.173,3.186,3.191,3.194,3.208,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 70.47} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.094248}
SEN {Time 70.4663} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0922}
SEN {Time 70.5125} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.726,3.712,3.694,3.69,3.674,3.658,3.653,3.653,3.653,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.258,3.254,3.254,3.254,3.249,3.249,0.153,0.151,0.149,0.149,0.149,0.151,0.143,0.146,0.151,0.151,0.15,0.15,0.151,0.152,3.109,3.109,3.109,3.109,3.109,3.11,3.125,3.125,3.125,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.163,3.043,3.046,3.046,3.045,3.043,3.043,3.039,3.037,3.033,3.033,3.029,3.029,3.029,3.029,3.028,3.029,3.028,3.023,3.028,3.03,3.562,3.562,3.57,3.562,3.57,3.558,3.559,3.558,3.559,3.557,3.559,3.556,3.563,3.561,3.563,3.561,3.563,3.568,3.568,3.568,3.57,3.568,3.57,3.57,3.573,3.576,3.579,3.579,3.58,3.58,3.579,3.586,3.586,3.587,3.596,3.606,3.607,3.607,3.613,3.615,3.615,3.618,3.622,3.623,3.641,3.643,3.657,3.666,3.669,3.674,3.678,3.68,3.693,3.695,3.697,3.705,3.715,3.717,3.718,3.726,3.726,3.734,3.74,3.749,3.751,3.766,3.772,3.791,3.791,3.798,3.798,3.805,3.813,3.841,3.841,3.842,3.85,3.864,3.873,3.891,3.902,3.903,3.923,3.931,3.938,3.953,3.966,3.967,3.998,3.999,4.021,4.025,4.058,4.062,4.067,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.031,3.991,3.966,3.938,3.906,3.88,3.838,3.812,3.781,3.768,3.723,3.698,3.673,3.66,3.618,3.592,3.586,3.557,3.53,3.519,3.496,3.47,3.453,3.442,3.428,3.399,3.379,3.367,3.333,3.328,3.304,3.285,3.259,3.245,3.237,3.219,3.204,3.178,3.167,3.155,3.141,3.129,3.101,3.098,3.07,3.068,3.046,3.043,3.031,3.01,2.999,2.994,2.98,2.965,2.962,2.936,2.929,2.928,2.896,2.892,2.877,2.876,2.863,2.852,2.838,2.825,2.808,2.803,2.799,2.799,2.772,2.767,2.754,2.752,2.752,2.734,2.726,2.712,2.707,2.704,2.694,2.69,2.688,2.679,2.677,1.148,1.146,1.142,1.14,1.132,1.13,1.13,1.13,2.597,2.597,2.597,2.589,2.574,2.57,2.567,2.557,2.555,2.553,2.543,2.541,2.53,2.528,2.527,2.524,2.51,2.505,2.505,2.504,2.503,2.499,2.496,2.496,2.483,2.483,2.482,2.478,2.476,2.476,2.473,2.465,2.463,2.462,2.457,2.449,2.449,2.447,2.447,2.445,2.445,2.444,2.444,2.44,2.439,2.439,2.437,2.437,2.437,2.437,2.436,2.436,2.433,2.43,2.43,2.43,2.435,2.435,2.435,2.435,2.438,2.43,2.43,2.435,2.43,2.43,2.43,2.435,2.436,2.441,2.441,2.442,2.443,2.443,2.443,2.443,2.445,2.453,2.453,2.453,2.453,2.464,2.466,2.466,2.467,2.471,2.474,2.477,2.478,2.48,2.482,2.491,2.491,2.494,2.499,2.505,2.505,2.512,2.517,2.518,2.537,2.54,2.54,2.54,1.119,1.119,1.119,1.129,1.132,1.133,1.134,2.594,2.604,2.611,2.611,2.611,2.617,2.623,2.626,2.63,2.645,2.647,2.647,2.655,2.659,2.671,2.676,2.677,2.684,2.699,2.705,2.719,2.725,2.743,2.748,2.767,2.767,2.767,2.792,2.797,2.803,2.817,2.831,2.832,2.846,2.855,2.867,2.878,2.886,2.888,2.914,2.919,2.922,2.94,2.958,2.963,2.976,2.986,3,3.014,3.044,3.06,3.064,3.064,3.089,3.091,3.105,3.118,3.137,3.16,3.165,3.18,3.197,3.22,3.236,3.241,3.266,3.279,3.285,3.321,3.336,3.346,3.369,3.381,3.405,3.431,3.454,3.464,3.484,3.508,3.526,3.552,3.569,3.606,3.627,3.654,3.671,3.702,3.735,3.757,3.79,3.806,3.845,3.874,3.907,3.929,3.962,0,0,0,0,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.327,3.32,3.303,3.288,3.286,3.274,3.259,3.256,3.247,3.239,3.218,3.216,3.208,3.205,3.205,3.185,3.178,3.167,3.164,3.16,3.148,3.144,3.133,3.125,3.121,3.111,3.107,3.099,3.094,3.088,3.086,3.082,3.075,3.071,3.069,3.053,3.045,3.042,3.037,3.037,3.036,3.028,3.016,3.014,3.012,3.011,3.008,3.001,2.998,2.997,2.997,2.994,2.988,2.985,2.985,2.979,2.978,2.978,2.978,2.982,2.982,2.982,2.975,2.97,2.97,2.967,2.965,2.963,2.963,2.963,2.963,2.962,2.96,2.962,2.96,2.96,2.96,2.96,2.96,2.96,2.96,2.96,2.96,2.96,2.961,2.964,2.966,2.966,2.966,2.969,2.97,2.973,2.974,2.974,2.974,2.979,2.981,2.981,2.983,2.986,2.994,3.005,3.005,3.005,3.006,3.006,3.006,3.008,3.012,3.022,3.025,3.027,3.032,3.032,3.033,3.04,3.047,3.048,3.059,3.064,3.069,3.073,3.081,3.081,3.085,3.088,3.089,3.089,3.089,3.096,3.109,3.111,3.115,3.122,3.131,3.131,3.133,3.145,3.149,3.163,3.163,3.171,3.171,3.172,3.197,3.2,3.2,3.216,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 70.67} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.094248}
SEN {Time 70.6682} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9972} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.0038}
SEN {Time 70.7114} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.73,3.715,3.697,3.693,3.684,3.665,3.665,3.665,3.665,3.652,0,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,3.287,3.257,3.257,3.257,3.257,3.257,0.154,0.154,0.153,0.152,0.152,0.153,0.152,0.152,0.152,0.152,0.152,0.152,0.153,0.153,3.11,3.11,3.11,3.106,3.106,3.104,3.106,3.106,0.163,0.16,0.161,0.16,0.16,0.16,0.156,0.156,0.17,3.044,3.052,3.052,3.049,3.044,3.04,3.04,3.039,3.039,3.039,3.037,3.036,3.035,3.034,3.03,3.029,3.029,3.024,3.024,3.03,3.568,3.568,3.568,3.568,3.57,3.565,3.565,3.559,3.559,3.558,3.558,3.558,3.57,3.569,3.569,3.569,3.569,3.569,3.571,3.571,3.576,3.576,3.574,3.569,3.574,3.574,3.574,3.576,3.582,3.582,3.575,3.586,3.586,3.588,3.595,3.596,3.604,3.611,3.612,3.616,3.62,3.621,3.621,3.631,3.632,3.645,3.645,3.649,3.665,3.668,3.672,3.673,3.679,3.684,3.7,3.701,3.707,3.708,3.712,3.714,3.717,3.737,3.742,3.744,3.754,3.77,3.781,3.782,3.797,3.799,3.803,3.809,3.81,3.831,3.845,3.853,3.859,3.871,3.874,3.882,3.894,3.908,3.927,3.938,3.938,3.95,3.971,3.975,3.981,4.007,4.016,4.039,4.048,4.066,4.074,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.063,4.037,3.986,3.968,3.926,3.899,3.874,3.833,3.81,3.777,3.764,3.73,3.713,3.671,3.656,3.631,3.61,3.575,3.557,3.533,3.51,3.49,3.462,3.44,3.432,3.428,3.405,3.379,3.357,3.34,3.32,3.299,3.289,3.262,3.236,3.234,3.216,3.197,3.176,3.175,3.154,3.135,3.125,3.107,3.098,3.079,3.067,3.056,3.04,3.029,3.015,3.009,2.988,2.977,2.969,2.954,2.943,2.925,2.917,2.917,2.907,2.89,2.879,2.871,2.863,2.844,2.828,2.818,2.817,2.794,2.792,2.78,2.774,2.76,2.754,2.742,2.727,2.724,2.712,2.708,2.707,2.697,2.691,2.689,2.674,2.672,1.14,1.14,1.138,1.137,1.137,1.131,1.131,1.131,2.603,2.603,2.603,2.59,2.577,2.576,2.573,2.568,2.554,2.552,2.542,2.54,2.54,2.533,2.518,2.517,2.514,2.512,2.498,2.498,2.498,2.495,2.492,2.492,2.489,2.487,2.486,2.476,2.474,2.471,2.467,2.467,2.466,2.463,2.462,2.454,2.454,2.45,2.449,2.449,2.444,2.44,2.436,2.436,2.436,2.436,2.434,2.435,2.434,2.434,2.433,2.432,2.432,2.434,2.432,2.434,2.436,2.434,2.432,2.436,2.43,2.43,2.43,2.43,2.43,2.432,2.433,2.438,2.438,2.441,2.441,2.438,2.44,2.443,2.448,2.448,2.448,2.451,2.45,2.451,2.453,2.459,2.461,2.466,2.467,2.467,2.475,2.476,2.478,2.479,2.483,2.486,2.493,2.499,2.503,2.506,2.507,2.512,2.517,2.519,2.527,2.528,2.528,2.528,1.123,1.123,1.123,1.13,1.131,1.135,1.139,2.589,2.598,2.611,2.611,2.613,2.616,2.617,2.622,2.628,2.635,2.644,2.648,2.658,2.663,2.665,2.685,2.692,2.693,2.703,2.709,2.723,2.727,2.742,2.746,2.763,2.764,2.767,2.79,2.799,2.808,2.811,2.818,2.834,2.847,2.855,2.862,2.877,2.887,2.893,2.905,2.917,2.932,2.952,2.956,2.956,2.978,2.989,2.998,3.021,3.025,3.038,3.052,3.069,3.083,3.099,3.105,3.119,3.132,3.154,3.162,3.178,3.209,3.222,3.228,3.25,3.264,3.276,3.285,3.324,3.338,3.344,3.37,3.386,3.4,3.413,3.451,3.469,3.486,3.51,3.522,3.548,3.58,3.59,3.618,3.647,3.669,3.698,3.734,3.757,3.774,3.814,3.838,3.863,3.91,3.928,3.97,3.992,4.048,4.063,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.328,3.323,3.304,3.298,3.287,3.27,3.259,3.253,3.237,3.232,3.23,3.215,3.207,3.196,3.194,3.186,3.18,3.176,3.162,3.151,3.148,3.138,3.138,3.127,3.125,3.119,3.102,3.1,3.094,3.085,3.083,3.082,3.068,3.067,3.061,3.051,3.05,3.049,3.045,3.039,3.035,3.035,3.029,3.029,3.019,3.012,3.006,3.004,3.001,3,2.999,2.992,2.992,2.986,2.985,2.983,2.977,2.976,2.976,2.977,2.975,2.98,2.981,2.98,2.971,2.969,2.969,2.962,2.962,2.962,2.962,2.961,2.961,2.961,2.963,2.955,2.955,2.955,2.961,2.958,2.961,2.964,2.964,2.967,2.967,2.969,2.969,2.961,2.961,2.962,2.962,2.97,2.97,2.971,2.971,2.976,2.977,2.979,2.987,2.993,2.993,2.993,2.997,2.997,3,3,3.004,3.012,3.02,3.023,3.026,3.027,3.031,3.031,3.043,3.044,3.044,3.046,3.064,3.067,3.069,3.071,3.083,3.083,3.084,3.087,3.087,3.087,3.089,3.106,3.107,3.11,3.12,3.124,3.129,3.127,3.131,3.145,3.146,3.147,3.159,3.168,3.179,3.182,3.19,3.196,3.198,3.213,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 70.87} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.094248}
SEN {Time 70.8703} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3048} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 4.6228} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.0038}
SEN {Time 70.9114} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.734,3.706,3.696,3.684,3.679,3.663,3.658,3.658,3.658,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.264,3.264,3.259,3.259,3.259,3.239,0.157,0.154,0.154,0.153,0.154,0.154,0.151,0.151,0.149,0.149,0.156,0.156,0.157,0.159,3.106,3.108,3.108,3.108,3.108,3.106,3.095,0.163,0.162,0.159,0.162,0.159,0.157,0.157,0.155,0.155,0.162,3.042,3.044,3.044,3.044,3.042,3.041,3.041,3.038,3.036,3.035,3.032,3.032,3.034,3.032,3.034,3.034,3.026,3.024,3.026,3.026,3.562,3.563,3.563,3.564,3.57,3.563,3.562,3.562,3.561,3.561,3.561,3.564,3.564,3.564,3.563,3.563,3.563,3.565,3.57,3.57,3.572,3.57,3.57,3.565,3.565,3.565,3.566,3.566,3.575,3.579,3.579,3.581,3.582,3.585,3.585,3.598,3.599,3.6,3.607,3.621,3.621,3.624,3.627,3.633,3.635,3.643,3.658,3.661,3.661,3.664,3.668,3.676,3.678,3.684,3.702,3.705,3.71,3.71,3.715,3.717,3.72,3.737,3.744,3.745,3.759,3.761,3.766,3.778,3.78,3.797,3.8,3.807,3.82,3.828,3.831,3.846,3.866,3.868,3.875,3.882,3.897,3.911,3.916,3.942,3.942,3.948,3.967,3.974,3.992,4.004,4.012,4.025,4.044,4.064,4.068,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,4.066,4.066,4.027,3.994,3.928,3.903,3.861,3.832,3.811,3.773,3.744,3.723,3.696,3.686,3.659,3.628,3.602,3.57,3.558,3.534,3.514,3.49,3.467,3.444,3.432,3.427,3.41,3.382,3.352,3.345,3.316,3.298,3.294,3.261,3.249,3.236,3.224,3.195,3.18,3.168,3.158,3.144,3.122,3.108,3.091,3.078,3.059,3.053,3.04,3.033,3.015,3.005,2.992,2.983,2.966,2.946,2.945,2.927,2.924,2.908,2.902,2.878,2.876,2.865,2.858,2.858,2.841,2.822,2.808,2.804,2.795,2.78,2.779,2.766,2.75,2.743,2.735,2.721,2.715,2.713,2.702,2.69,2.685,2.683,2.674,2.668,1.144,1.144,1.144,1.144,1.138,1.137,1.137,1.137,2.593,2.593,2.593,2.588,2.58,2.58,2.572,2.564,2.56,2.55,2.546,2.543,2.541,2.529,2.525,2.522,2.516,2.513,2.501,2.501,2.494,2.494,2.493,2.491,2.491,2.485,2.483,2.477,2.477,2.474,2.465,2.464,2.464,2.462,2.46,2.457,2.454,2.452,2.447,2.448,2.444,2.443,2.443,2.441,2.44,2.441,2.44,2.44,2.435,2.434,2.433,2.427,2.426,2.425,2.425,2.425,2.437,2.437,2.437,2.435,2.435,2.435,2.439,2.439,2.439,2.439,2.432,2.432,2.439,2.439,2.439,2.439,2.44,2.448,2.448,2.45,2.452,2.452,2.45,2.452,2.452,2.452,2.47,2.473,2.474,2.475,2.48,2.48,2.482,2.482,2.49,2.493,2.496,2.496,2.496,2.498,2.509,2.515,2.516,2.529,2.53,2.532,2.532,2.532,1.123,1.123,1.123,1.125,1.128,1.135,1.136,2.585,2.603,2.603,2.603,2.617,2.617,2.625,2.627,2.636,2.64,2.651,2.651,2.664,2.666,2.67,2.672,2.674,2.693,2.713,2.713,2.716,2.724,2.734,2.75,2.76,2.765,2.766,2.779,2.789,2.802,2.822,2.832,2.838,2.838,2.854,2.86,2.878,2.883,2.894,2.91,2.924,2.926,2.949,2.956,2.966,2.97,2.986,3.005,3.019,3.032,3.038,3.051,3.069,3.082,3.098,3.107,3.121,3.14,3.149,3.173,3.177,3.201,3.219,3.232,3.237,3.261,3.268,3.293,3.32,3.323,3.352,3.361,3.39,3.398,3.429,3.454,3.466,3.479,3.509,3.522,3.556,3.583,3.588,3.62,3.652,3.677,3.708,3.723,3.766,3.78,3.815,3.838,3.869,3.892,3.92,3.964,3.999,4.063,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.978,3.327,3.32,3.3,3.293,3.278,3.276,3.255,3.253,3.243,3.231,3.228,3.22,3.21,3.207,3.199,3.192,3.172,3.17,3.16,3.153,3.152,3.138,3.129,3.125,3.115,3.114,3.111,3.094,3.093,3.087,3.082,3.074,3.063,3.063,3.062,3.053,3.052,3.044,3.041,3.039,3.029,3.024,3.024,3.02,3.011,3.007,3.001,2.998,2.997,2.996,2.996,2.996,2.994,2.989,2.988,2.982,2.981,2.981,2.982,2.983,2.983,2.983,2.976,2.975,2.97,2.966,2.96,2.96,2.962,2.963,2.963,2.963,2.962,2.965,2.965,2.962,2.962,2.964,2.964,2.964,2.964,2.964,2.965,2.965,2.967,2.967,2.97,2.967,2.969,2.97,2.969,2.969,2.974,2.974,2.974,2.976,2.984,2.985,2.986,2.988,2.994,3.004,3.005,3.005,3.004,3.007,3.004,3.004,3.018,3.026,3.027,3.028,3.034,3.038,3.039,3.044,3.048,3.05,3.062,3.062,3.07,3.076,3.079,3.079,3.083,3.087,3.087,3.095,3.095,3.1,3.106,3.107,3.12,3.124,3.125,3.138,3.139,3.145,3.155,3.161,3.162,3.167,3.177,3.178,3.197,3.199,3.201,3.204,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 71.06} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.094248}
SEN {Time 71.0632} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7432} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 4.6228} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.0038}
SEN {Time 71.1075} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.734,3.708,3.704,3.689,3.682,3.659,3.655,3.655,3.655,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.258,3.258,3.255,3.255,3.255,3.255,0.159,0.159,0.159,0.159,0.153,0.15,0.149,0.15,0.15,0.15,0.152,0.157,0.157,3.108,3.108,3.108,3.105,3.105,3.1,3.105,3.105,0.159,0.159,0.16,0.159,0.156,0.157,0.156,0.156,0.157,3.043,3.053,3.053,3.047,3.046,3.046,3.036,3.036,3.034,3.034,3.033,3.034,3.034,3.033,3.03,3.028,3.028,3.027,3.028,3.034,3.563,3.563,3.565,3.565,3.572,3.564,3.564,3.562,3.562,3.562,3.563,3.565,3.565,3.565,3.565,3.565,3.565,3.571,3.572,3.572,3.572,3.571,3.573,3.578,3.578,3.578,3.58,3.58,3.581,3.581,3.586,3.586,3.586,3.586,3.591,3.595,3.6,3.604,3.612,3.614,3.619,3.627,3.633,3.633,3.636,3.649,3.649,3.657,3.658,3.667,3.668,3.676,3.687,3.689,3.699,3.7,3.701,3.704,3.727,3.731,3.732,3.737,3.74,3.751,3.762,3.765,3.781,3.788,3.791,3.797,3.805,3.812,3.812,3.826,3.853,3.853,3.863,3.869,3.876,3.885,3.893,3.898,3.918,3.923,3.933,3.968,3.97,3.983,3.993,4.006,4.017,4.032,4.048,4.068,4.077,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0.016,4.061,4.061,4.041,4.041,0.007,3.934,3.878,3.849,3.813,3.772,3.752,3.734,3.71,3.674,3.649,3.623,3.599,3.572,3.56,3.534,3.516,3.491,3.474,3.458,3.443,3.42,3.401,3.39,3.367,3.344,3.313,3.291,3.29,3.269,3.246,3.245,3.219,3.202,3.179,3.17,3.155,3.133,3.114,3.106,3.106,3.1,3.089,3.052,3.04,3.03,3.015,3.007,2.99,2.978,2.965,2.958,2.936,2.927,2.916,2.908,2.894,2.882,2.872,2.857,2.855,2.834,2.833,2.822,2.809,2.804,2.795,2.778,2.774,2.762,2.759,2.742,2.726,2.723,2.72,2.716,2.706,2.698,2.695,2.688,2.68,2.669,1.154,1.145,1.142,1.142,1.142,1.134,1.134,1.134,2.601,2.601,2.601,2.587,2.579,2.575,2.574,2.56,2.559,2.558,2.55,2.54,2.536,2.535,2.531,2.524,2.518,2.512,2.503,2.499,2.499,2.498,2.498,2.49,2.485,2.483,2.48,2.479,2.477,2.477,2.473,2.473,2.463,2.461,2.459,2.459,2.453,2.451,2.445,2.445,2.445,2.445,2.444,2.444,2.441,2.444,2.44,2.439,2.433,2.433,2.433,2.433,2.431,2.434,2.427,2.427,2.429,2.436,2.435,2.436,2.436,2.437,2.435,2.437,2.437,2.44,2.437,2.44,2.441,2.441,2.441,2.441,2.441,2.444,2.451,2.452,2.455,2.455,2.455,2.455,2.455,2.455,2.458,2.46,2.467,2.468,2.474,2.479,2.481,2.486,2.486,2.49,2.498,2.5,2.5,2.502,2.505,2.52,2.523,2.523,2.524,2.527,2.527,2.527,1.129,1.129,1.129,1.134,1.136,1.137,1.137,2.593,2.604,2.609,2.609,2.609,2.618,2.62,2.627,2.634,2.638,2.645,2.651,2.655,2.661,2.673,2.68,2.684,2.694,2.709,2.713,2.713,2.73,2.734,2.743,2.765,2.768,2.772,2.786,2.799,2.801,2.808,2.82,2.835,2.842,2.845,2.871,2.872,2.874,2.887,2.904,2.92,2.926,2.941,2.954,2.959,2.973,2.979,3.001,3.023,3.028,3.038,3.04,3.065,3.092,3.097,3.102,3.12,3.138,3.149,3.166,3.179,3.192,3.219,3.241,3.243,3.265,3.275,3.286,3.306,3.333,3.341,3.362,3.384,3.39,3.425,3.445,3.471,3.487,3.522,3.531,3.565,3.586,3.596,3.629,3.652,3.686,3.696,3.729,3.761,3.79,3.811,3.845,3.877,3.889,3.928,3.964,4.001,4.056,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.329,3.323,3.304,3.296,3.28,3.277,3.277,3.26,3.256,3.233,3.227,3.219,3.212,3.201,3.192,3.188,3.176,3.175,3.164,3.152,3.149,3.137,3.136,3.131,3.119,3.113,3.113,3.108,3.092,3.092,3.088,3.079,3.071,3.069,3.068,3.054,3.05,3.044,3.039,3.037,3.03,3.03,3.026,3.023,3.015,3.014,3.013,3.001,3.001,2.995,2.995,2.994,2.992,2.992,2.988,2.979,2.979,2.98,2.98,2.988,2.988,2.988,2.979,2.977,2.971,2.967,2.962,2.962,2.961,2.962,2.963,2.963,2.959,2.963,2.959,2.959,2.957,2.955,2.955,2.961,2.962,2.962,2.962,2.962,2.962,2.962,2.968,2.962,2.969,2.97,2.971,2.971,2.972,2.972,2.973,2.978,2.978,2.978,2.987,2.99,2.99,2.992,2.997,2.997,3,3.004,3.007,3.009,3.014,3.024,3.027,3.032,3.032,3.035,3.041,3.049,3.051,3.058,3.06,3.067,3.069,3.07,3.082,3.082,3.084,3.09,3.09,3.09,3.091,3.104,3.11,3.117,3.119,3.122,3.124,3.135,3.137,3.139,3.144,3.162,3.162,3.167,3.171,3.173,3.183,3.186,3.199,3.21,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 71.35} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.092502}
SEN {Time 71.3543} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.175} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 4.9276}
SEN {Time 71.4074} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.731,3.71,3.694,3.689,3.68,3.662,3.659,3.659,3.659,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.293,3.257,3.252,3.252,3.242,3.233,0.159,0.155,0.153,0.153,0.153,0.153,0.148,0.159,0.159,0.156,0.156,0.156,0.156,0.158,3.105,3.106,3.106,3.106,3.106,3.103,3.103,3.103,0.162,0.162,0.163,0.162,0.162,0.163,0.157,0.157,0.163,3.048,3.048,3.048,3.048,3.045,3.045,3.042,3.04,3.039,3.033,3.033,3.033,3.033,3.033,3.03,3.028,3.024,3.021,3.021,3.024,3.563,3.563,3.564,3.564,3.563,3.559,3.561,3.559,3.559,3.561,3.561,3.562,3.564,3.564,3.564,3.567,3.568,3.568,3.569,3.573,3.574,3.574,3.574,3.576,3.576,3.576,3.576,3.575,3.575,3.575,3.575,3.575,3.584,3.584,3.603,3.604,3.606,3.609,3.61,3.613,3.614,3.63,3.637,3.637,3.637,3.638,3.643,3.656,3.666,3.666,3.666,3.676,3.68,3.698,3.702,3.702,3.707,3.714,3.723,3.726,3.73,3.737,3.746,3.75,3.761,3.761,3.776,3.79,3.792,3.802,3.803,3.816,3.827,3.837,3.844,3.854,3.86,3.87,3.875,3.884,3.898,3.904,3.916,3.938,3.945,3.961,3.962,3.993,3.999,4.003,4.017,4.029,4.043,4.07,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,4.087,4.024,4.008,3.965,3.933,3.889,3.873,3.831,3.797,3.79,3.754,3.734,3.692,3.666,3.643,3.625,3.603,3.571,3.549,3.541,3.51,3.491,3.482,3.459,3.424,3.419,3.406,3.384,3.354,3.333,3.329,3.291,3.289,3.255,3.235,3.232,3.22,3.203,3.189,3.172,3.158,3.127,3.123,3.111,3.09,3.085,3.065,3.054,3.046,3.027,3.008,3.005,2.995,2.976,2.974,2.95,2.944,2.927,2.922,2.903,2.897,2.883,2.88,2.865,2.859,2.834,2.833,2.821,2.814,2.802,2.802,2.784,2.777,2.765,2.752,2.75,2.74,2.732,2.721,2.717,2.702,2.697,2.693,2.685,2.662,2.661,1.151,1.148,1.144,1.143,1.13,1.13,1.13,1.134,2.596,2.596,2.596,2.591,2.578,2.569,2.569,2.567,2.559,2.547,2.547,2.545,2.533,2.533,2.525,2.521,2.521,2.519,2.508,2.503,2.502,2.497,2.494,2.489,2.486,2.485,2.48,2.478,2.477,2.477,2.472,2.466,2.464,2.463,2.463,2.457,2.453,2.449,2.448,2.448,2.448,2.442,2.442,2.442,2.438,2.434,2.437,2.437,2.434,2.437,2.437,2.433,2.433,2.436,2.433,2.435,2.435,2.432,2.432,2.432,2.432,2.433,2.433,2.434,2.439,2.439,2.439,2.439,2.439,2.44,2.441,2.441,2.446,2.448,2.448,2.453,2.454,2.454,2.456,2.46,2.46,2.459,2.46,2.46,2.462,2.462,2.475,2.479,2.479,2.479,2.481,2.487,2.493,2.497,2.501,2.502,2.508,2.508,2.514,2.53,2.531,2.535,2.531,2.53,1.127,1.127,1.127,1.132,1.133,1.135,1.142,2.588,2.589,2.597,2.597,2.603,2.608,2.616,2.626,2.634,2.644,2.649,2.653,2.656,2.664,2.673,2.686,2.693,2.705,2.71,2.717,2.719,2.727,2.73,2.755,2.758,2.765,2.778,2.783,2.8,2.807,2.814,2.829,2.833,2.845,2.858,2.86,2.876,2.891,2.9,2.904,2.921,2.935,2.947,2.953,2.963,2.97,2.989,3.018,3.03,3.036,3.036,3.06,3.072,3.09,3.102,3.107,3.13,3.141,3.161,3.168,3.175,3.205,3.214,3.241,3.249,3.268,3.277,3.296,3.313,3.338,3.354,3.374,3.393,3.411,3.429,3.452,3.482,3.491,3.516,3.545,3.559,3.589,3.602,3.636,3.653,3.685,3.709,3.737,3.77,3.8,3.812,3.846,3.874,3.904,3.933,3.968,4.008,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.322,3.306,3.293,3.278,3.273,3.253,3.249,3.241,3.238,3.225,3.209,3.208,3.197,3.195,3.185,3.173,3.165,3.16,3.151,3.147,3.137,3.134,3.121,3.121,3.113,3.106,3.101,3.096,3.086,3.078,3.07,3.07,3.066,3.066,3.048,3.047,3.047,3.038,3.034,3.03,3.029,3.027,3.025,3.021,3.013,3.013,3.002,2.997,2.997,2.996,2.996,2.993,2.993,2.984,2.98,2.976,2.98,2.98,2.981,2.981,2.983,2.981,2.974,2.973,2.97,2.965,2.965,2.964,2.965,2.965,2.964,2.956,2.957,2.957,2.957,2.957,2.958,2.959,2.958,2.957,2.964,2.962,2.962,2.962,2.962,2.962,2.966,2.969,2.971,2.973,2.973,2.973,2.975,2.975,2.975,2.977,2.983,2.985,2.986,2.99,2.995,3.003,3.003,3.006,3.01,3.012,3.022,3.023,3.024,3.029,3.033,3.037,3.039,3.043,3.05,3.051,3.058,3.066,3.067,3.074,3.087,3.087,3.087,3.088,3.091,3.096,3.102,3.108,3.108,3.112,3.115,3.119,3.12,3.139,3.139,3.143,3.144,3.156,3.157,3.158,3.165,3.175,3.188,3.19,3.191,3.202,3.213,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 71.57} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,-0.040143}
SEN {Time 71.5661} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 4.9276}
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SEN {Time 71.76} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.013963}
SEN {Time 71.7622} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8702} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 71.8084} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0,3.402,3.402,3.402,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.19,0.154,0.153,0.152,0.151,0.151,0.151,0.152,0.153,0.153,0.151,0.151,0.151,0.151,0.154,3.062,3.062,3.062,3.057,3.057,3.054,3.054,0.161,0.16,0.155,0.16,0.16,0.16,0.163,0.163,0.163,0.174,0.27,3.041,3.043,3.572,3.572,3.574,3.575,3.576,3.575,3.576,3.576,3.576,3.576,3.576,3.576,3.576,3.576,3.576,3.576,3.578,3.581,3.578,3.581,3.581,3.586,3.586,3.586,3.586,3.586,3.586,3.59,3.596,3.6,3.606,3.607,3.607,3.607,3.607,3.609,3.616,3.624,3.624,3.628,3.628,3.634,3.639,3.642,3.65,3.65,3.658,3.665,3.67,3.672,3.672,3.673,3.677,3.697,3.709,3.714,3.723,3.724,3.725,3.725,3.74,3.756,3.762,3.772,3.779,3.787,3.792,3.801,3.802,3.822,3.822,3.832,3.848,3.851,3.857,3.865,3.874,3.882,3.889,3.898,3.915,3.924,3.945,3.956,3.963,3.974,3.987,4.003,4.008,4.019,4.021,4.047,4.07,4.077,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.016,0.016,4.077,4.055,4.01,3.984,3.984,3.949,3.921,3.852,3.828,3.783,3.76,3.737,3.708,3.694,3.674,3.64,3.613,3.6,3.577,3.542,3.535,3.512,3.496,3.455,3.44,3.427,3.401,3.377,3.368,3.35,3.325,3.296,3.292,3.272,3.254,3.225,3.219,3.198,3.195,3.175,3.162,3.14,3.138,3.123,3.11,3.086,3.079,3.06,3.048,3.032,3.03,3.004,2.998,2.983,2.974,2.958,2.952,2.931,2.931,2.915,2.91,2.897,2.88,2.862,2.858,2.855,2.838,2.831,2.821,2.805,2.8,2.781,2.78,2.769,2.756,2.75,2.743,2.734,2.724,2.709,2.707,2.701,2.701,2.695,2.672,1.148,1.146,1.145,1.141,1.139,1.141,1.141,2.598,2.598,2.598,2.593,2.593,2.581,2.58,2.573,2.571,2.569,2.561,2.555,2.546,2.545,2.538,2.533,2.532,2.53,2.52,2.516,2.513,2.507,2.506,2.502,2.5,2.491,2.491,2.481,2.479,2.475,2.475,2.474,2.471,2.465,2.464,2.464,2.461,2.46,2.455,2.454,2.453,2.453,2.445,2.444,2.442,2.442,2.441,2.437,2.437,2.437,2.437,2.437,2.437,2.433,2.433,2.433,2.433,2.43,2.432,2.43,2.43,2.428,2.432,2.43,2.432,2.432,2.433,2.434,2.434,2.435,2.435,2.438,2.434,2.439,2.439,2.442,2.444,2.449,2.45,2.449,2.45,2.453,2.453,2.454,2.459,2.462,2.465,2.474,2.476,2.476,2.482,2.482,2.485,2.491,2.491,2.497,2.505,2.505,2.508,2.508,2.516,2.519,2.519,2.519,1.115,1.115,1.115,1.119,1.123,1.131,1.137,2.567,2.582,2.586,2.586,2.589,2.592,2.603,2.607,2.623,2.627,2.632,2.636,2.64,2.649,2.649,2.651,2.667,2.676,2.682,2.69,2.707,2.714,2.724,2.728,2.737,2.751,2.753,2.764,2.783,2.787,2.791,2.794,2.811,2.822,2.832,2.846,2.848,2.869,2.873,2.882,2.897,2.909,2.915,2.926,2.944,2.946,2.962,2.973,2.996,2.999,3.004,3.029,3.051,3.051,3.075,3.081,3.089,3.107,3.121,3.137,3.148,3.17,3.193,3.197,3.21,3.227,3.253,3.266,3.283,3.303,3.322,3.332,3.355,3.372,3.393,3.42,3.426,3.458,3.465,3.499,3.51,3.548,3.57,3.598,3.599,3.641,3.671,3.688,3.7,3.736,3.755,3.786,3.817,3.844,3.878,3.911,3.929,3.975,4.005,4.033,4.067,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.278,3.273,3.263,3.248,3.242,3.227,3.221,3.203,3.202,3.198,3.191,3.175,3.17,3.161,3.148,3.147,3.135,3.135,3.122,3.12,3.106,3.102,3.096,3.092,3.078,3.07,3.067,3.066,3.066,3.057,3.052,3.051,3.046,3.037,3.035,3.028,3.025,3.019,3.014,3.009,3.009,3.006,3.002,2.992,2.991,2.99,2.98,2.98,2.976,2.975,2.97,2.969,2.969,2.963,2.963,2.97,2.97,2.963,2.963,2.961,2.955,2.954,2.954,2.954,2.954,2.954,2.954,2.954,2.954,2.949,2.948,2.948,2.948,2.946,2.948,2.949,2.952,2.952,2.952,2.946,2.946,2.946,2.952,2.952,2.953,2.953,2.952,2.952,2.959,2.961,2.961,2.964,2.966,2.966,2.974,2.974,2.975,2.976,2.976,2.979,2.984,2.994,2.994,2.997,2.997,3.008,3.009,3.009,3.013,3.019,3.029,3.029,3.031,3.033,3.04,3.047,3.052,3.054,3.064,3.064,3.065,3.066,3.066,3.066,3.091,3.101,3.101,3.102,3.103,3.106,3.108,3.127,3.134,3.135,3.148,3.151,3.162,3.163,3.163,3.174,3.174,3.186,3.197,3.203,3.212,3.216,3.224,3.231,3.236,3.247,3.731,3.762,3.784,3.785,3.799,3.806,3.822,3.836,3.837,3.858,3.89,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 71.97} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.075049}
SEN {Time 71.966} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.3302} {Name Sonar11 Range 2.8702} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0414}
SEN {Time 72.0034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.205,0.205,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.122,3.116,3.116,3.11,3.106,3.102,3.095,3.095,3.095,3.092,0.152,0.152,0.151,0.151,0.151,0.147,0.145,0.147,0.147,0.152,0.152,0.152,0.156,0.158,3.055,3.055,3.055,3.046,3.046,3.045,3.046,3.045,0.162,0.162,0.162,0.162,0.162,0.16,0.16,0.16,0.161,0.359,3.573,3.573,3.574,3.579,3.579,3.579,3.58,3.579,3.58,3.58,3.592,3.592,3.592,3.592,3.592,3.593,3.595,3.595,3.598,3.601,3.601,3.605,3.605,3.616,3.618,3.623,3.629,3.63,3.63,3.63,3.636,3.638,3.638,3.641,3.656,3.658,3.658,3.66,3.671,3.683,3.686,3.692,3.696,3.699,3.712,3.712,3.712,3.717,3.726,3.735,3.744,3.746,3.753,3.759,3.766,3.776,3.786,3.793,3.796,3.8,3.806,3.826,3.83,3.842,3.858,3.861,3.879,3.886,3.891,3.9,3.907,3.918,3.934,3.934,3.972,3.977,3.98,3.993,3.996,4.015,4.023,4.041,4.058,4.063,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0.007,0.009,3.876,3.809,3.765,3.744,3.71,3.682,3.674,3.636,3.605,3.595,3.569,3.539,3.525,3.507,3.479,3.459,3.438,3.421,3.385,3.37,3.361,3.341,3.327,3.302,3.284,3.27,3.243,3.234,3.209,3.206,3.184,3.168,3.16,3.15,3.128,3.104,3.101,3.08,3.071,3.051,3.044,3.032,3.026,3.002,3,2.979,2.975,2.953,2.945,2.939,2.927,2.901,2.899,2.893,2.873,2.866,2.859,2.851,2.845,2.832,2.825,2.808,2.803,2.785,2.783,2.766,2.759,2.744,2.734,2.73,2.717,2.717,2.697,2.697,2.695,2.685,1.151,1.146,1.146,1.143,1.141,1.143,1.154,2.616,2.616,2.616,2.601,2.597,2.596,2.587,2.581,2.577,2.572,2.564,2.557,2.553,2.545,2.538,2.537,2.534,2.527,2.524,2.518,2.518,2.513,2.512,2.504,2.504,2.5,2.493,2.492,2.48,2.479,2.476,2.476,2.476,2.476,2.476,2.47,2.46,2.458,2.455,2.453,2.452,2.439,2.437,2.437,2.437,2.437,2.437,2.436,2.433,2.433,2.433,2.435,2.436,2.436,2.436,2.431,2.431,2.431,2.431,2.431,2.432,2.432,2.432,2.432,2.432,2.432,2.431,2.431,2.431,2.435,2.435,2.436,2.438,2.44,2.443,2.443,2.443,2.444,2.444,2.448,2.454,2.454,2.454,2.456,2.457,2.459,2.459,2.46,2.465,2.468,2.479,2.48,2.486,2.487,2.49,2.492,2.492,2.501,2.504,2.505,2.509,2.513,2.513,2.513,1.117,1.117,1.117,1.117,1.13,1.133,2.559,2.571,2.575,2.575,2.581,2.586,2.599,2.601,2.604,2.612,2.616,2.623,2.63,2.637,2.649,2.655,2.667,2.671,2.674,2.674,2.689,2.701,2.705,2.716,2.722,2.726,2.743,2.745,2.755,2.766,2.773,2.775,2.799,2.802,2.828,2.833,2.837,2.839,2.856,2.858,2.873,2.898,2.898,2.909,2.917,2.929,2.949,2.958,2.961,2.978,2.991,2.999,3.007,3.032,3.046,3.063,3.07,3.08,3.098,3.124,3.124,3.142,3.159,3.174,3.192,3.207,3.216,3.243,3.253,3.261,3.283,3.304,3.329,3.345,3.377,3.378,3.391,3.409,3.434,3.454,3.482,3.496,3.518,3.542,3.563,3.594,3.604,3.641,3.676,3.694,3.727,3.741,3.768,3.789,3.836,3.856,3.879,3.918,3.961,3.969,4.01,4.092,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.253,3.237,3.236,3.229,3.221,3.215,3.196,3.192,3.181,3.174,3.17,3.163,3.161,3.161,3.149,3.133,3.122,3.117,3.108,3.103,3.092,3.092,3.084,3.069,3.067,3.065,3.06,3.048,3.039,3.039,3.037,3.035,3.032,3.021,3.019,3.014,3.014,3.013,3.003,2.996,2.994,2.991,2.984,2.982,2.98,2.975,2.972,2.967,2.961,2.957,2.956,2.955,2.956,2.957,2.97,2.97,2.97,2.958,2.952,2.949,2.949,2.949,2.949,2.943,2.941,2.943,2.941,2.941,2.938,2.938,2.937,2.937,2.94,2.941,2.94,2.94,2.939,2.939,2.936,2.935,2.939,2.946,2.946,2.948,2.949,2.951,2.951,2.953,2.954,2.954,2.954,2.958,2.96,2.96,2.965,2.964,2.966,2.971,2.987,2.987,2.988,2.988,2.993,2.997,3.001,3.002,3.003,3.008,3.016,3.016,3.017,3.027,3.033,3.034,3.037,3.042,3.051,3.052,3.055,3.055,3.061,3.061,3.065,3.073,3.08,3.092,3.092,3.095,3.101,3.101,3.11,3.121,3.127,3.134,3.145,3.152,3.153,3.157,3.16,3.161,3.165,3.193,3.202,3.203,3.216,3.22,3.232,3.234,3.239,3.704,3.756,3.78,3.78,3.789,3.805,3.818,3.831,3.837,3.842,3.868,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 72.16} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.129154}
SEN {Time 72.1612} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.1336} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.0414}
SEN {Time 72.2034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.19,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.424,3.424,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0.009,0.009,0.009,3.128,3.125,3.121,3.119,3.116,3.111,3.101,3.099,3.097,3.092,3.089,3.084,3.084,3.084,3.082,3.078,3.078,3.078,3.076,0.161,0.154,0.152,0.152,0.152,0.152,0.15,0.156,0.156,0.154,0.154,0.154,0.154,0.259,3.559,3.559,3.568,3.579,3.579,3.568,3.559,3.363,0.167,0.158,0.158,0.155,0.155,0.155,0.157,0.157,0.164,0.373,3.572,3.574,3.58,3.586,3.588,3.592,3.6,3.6,3.601,3.601,3.605,3.609,3.614,3.614,3.614,3.616,3.62,3.624,3.631,3.635,3.641,3.641,3.649,3.652,3.652,3.662,3.662,3.665,3.667,3.678,3.683,3.685,3.692,3.694,3.698,3.716,3.728,3.729,3.729,3.737,3.741,3.743,3.75,3.767,3.769,3.773,3.787,3.792,3.795,3.796,3.813,3.821,3.831,3.837,3.84,3.849,3.863,3.874,3.886,3.891,3.906,3.907,3.929,3.936,3.957,3.958,3.96,3.974,4.003,4.016,4.02,4.036,4.04,4.074,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,3.997,3.997,0.007,0,3.9,3.817,3.795,3.753,3.735,3.708,3.687,3.672,3.64,3.618,3.59,3.574,3.55,3.521,3.506,3.485,3.448,3.432,3.415,3.403,3.385,3.361,3.328,3.321,3.304,3.288,3.256,3.248,3.232,3.216,3.206,3.185,3.171,3.149,3.147,3.123,3.107,3.092,3.087,3.065,3.062,3.041,3.031,3.012,3.007,2.991,2.972,2.968,2.943,2.937,2.933,2.919,2.911,2.897,2.896,2.887,2.871,2.857,2.851,2.844,2.823,2.817,2.814,2.799,2.79,2.79,2.767,2.76,2.757,2.745,2.744,2.728,2.727,2.727,2.719,2.707,1.152,1.152,1.151,1.147,1.139,1.139,1.139,2.623,2.623,2.623,2.613,2.604,2.597,2.595,2.589,2.577,2.574,2.562,2.558,2.557,2.556,2.549,2.545,2.535,2.535,2.528,2.524,2.521,2.518,2.507,2.498,2.493,2.493,2.492,2.491,2.488,2.485,2.483,2.483,2.48,2.466,2.466,2.465,2.465,2.462,2.459,2.458,2.456,2.452,2.452,2.447,2.446,2.446,2.446,2.444,2.438,2.437,2.436,2.436,2.436,2.436,2.433,2.433,2.433,2.431,2.431,2.431,2.43,2.431,2.432,2.431,2.431,2.432,2.431,2.428,2.428,2.432,2.432,2.438,2.438,2.437,2.438,2.438,2.438,2.439,2.442,2.446,2.449,2.449,2.451,2.453,2.453,2.455,2.458,2.462,2.463,2.47,2.471,2.475,2.478,2.481,2.485,2.487,2.499,2.501,2.502,2.509,2.509,2.512,2.512,2.512,1.131,1.122,1.122,1.125,1.131,1.133,2.563,2.57,2.57,2.57,2.572,2.584,2.584,2.588,2.599,2.61,2.621,2.621,2.623,2.638,2.642,2.654,2.656,2.656,2.67,2.676,2.688,2.693,2.697,2.705,2.722,2.727,2.729,2.742,2.744,2.758,2.776,2.778,2.784,2.786,2.804,2.82,2.825,2.831,2.851,2.856,2.87,2.874,2.892,2.906,2.918,2.921,2.932,2.949,2.959,2.965,2.986,3.006,3.023,3.026,3.041,3.053,3.064,3.075,3.089,3.11,3.12,3.133,3.156,3.166,3.186,3.202,3.206,3.235,3.245,3.267,3.282,3.303,3.314,3.334,3.355,3.375,3.387,3.403,3.425,3.457,3.462,3.491,3.495,3.533,3.561,3.583,3.604,3.636,3.647,3.671,3.705,3.728,3.757,3.781,3.811,3.847,3.868,3.904,3.932,3.969,3.998,4.031,4.066,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.247,3.231,3.217,3.215,3.204,3.194,3.187,3.182,3.176,3.166,3.157,3.156,3.147,3.134,3.13,3.126,3.105,3.105,3.092,3.089,3.088,3.081,3.078,3.063,3.058,3.05,3.048,3.046,3.033,3.03,3.03,3.029,3.016,3.013,3.007,3.005,2.993,2.993,2.992,2.99,2.986,2.975,2.975,2.973,2.966,2.966,2.965,2.964,2.955,2.955,2.954,2.954,2.954,2.954,2.95,2.95,2.949,2.942,2.942,2.936,2.934,2.934,2.936,2.936,2.936,2.936,2.933,2.933,2.933,2.933,2.933,2.934,2.933,2.934,2.934,2.934,2.933,2.934,2.934,2.936,2.936,2.937,2.939,2.94,2.942,2.942,2.944,2.945,2.945,2.95,2.958,2.958,2.959,2.963,2.965,2.968,2.968,2.969,2.973,2.973,2.976,2.976,2.984,2.988,2.991,2.996,3.003,3.008,3.015,3.017,3.019,3.025,3.031,3.034,3.038,3.04,3.045,3.045,3.051,3.052,3.057,3.061,3.062,3.069,3.082,3.087,3.091,3.092,3.1,3.1,3.1,3.11,3.124,3.128,3.133,3.136,3.152,3.159,3.163,3.176,3.177,3.187,3.189,3.203,3.211,3.214,3.214,3.221,3.224,3.756,3.763,3.787,3.788,3.8,3.802,3.824,3.825,3.849,3.856,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 72.36} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.188496}
SEN {Time 72.364} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.2926} {Name Sonar2 Range 3.4798} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.0668}
SEN {Time 72.4034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,3.144,3.138,3.137,3.134,3.125,3.122,3.121,3.116,3.113,3.107,3.104,3.095,3.094,3.094,3.092,3.092,3.089,3.086,3.082,3.081,3.077,3.072,3.072,3.069,3.072,3.069,3.069,3.069,3.063,3.058,0.153,0.15,0.15,0.15,0.15,0.146,0.143,0.143,0.146,0.152,0.154,0.155,0.157,0.157,0.284,3.571,3.586,3.587,3.587,3.587,3.592,3.587,3.577,0.163,0.163,0.163,0.157,0.165,0.165,0.171,0.171,0.372,3.601,3.607,3.608,3.619,3.619,3.625,3.631,3.631,3.634,3.636,3.643,3.651,3.656,3.658,3.662,3.663,3.668,3.67,3.681,3.684,3.692,3.697,3.7,3.71,3.71,3.714,3.724,3.733,3.734,3.738,3.742,3.758,3.759,3.77,3.775,3.778,3.779,3.798,3.8,3.809,3.821,3.824,3.836,3.846,3.854,3.86,3.861,3.864,3.892,3.894,3.906,3.915,3.936,3.939,3.956,3.965,3.978,3.983,4.005,4.02,4.021,4.036,4.043,4.059,4.068,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.076,4.034,4.034,3.971,3.94,3.876,3.845,3.814,3.79,3.758,3.731,3.69,3.678,3.658,3.624,3.608,3.592,3.56,3.55,3.517,3.497,3.485,3.45,3.431,3.425,3.389,3.374,3.37,3.335,3.314,3.291,3.287,3.258,3.251,3.228,3.214,3.198,3.178,3.163,3.153,3.138,3.121,3.109,3.097,3.082,3.07,3.059,3.037,3.027,3.015,3.006,2.993,2.982,2.969,2.959,2.944,2.934,2.927,2.908,2.898,2.894,2.871,2.866,2.85,2.846,2.842,2.828,2.827,2.809,2.805,2.795,2.794,2.78,2.773,2.764,2.751,2.739,2.735,2.735,2.717,2.716,1.168,1.16,1.16,1.16,1.157,1.157,1.157,2.625,2.625,2.625,2.623,2.617,2.611,2.609,2.598,2.592,2.585,2.579,2.576,2.576,2.56,2.552,2.548,2.547,2.535,2.534,2.528,2.525,2.52,2.518,2.513,2.509,2.506,2.498,2.496,2.496,2.487,2.484,2.482,2.482,2.482,2.472,2.472,2.471,2.465,2.465,2.459,2.465,2.459,2.457,2.456,2.45,2.449,2.446,2.446,2.438,2.438,2.438,2.441,2.441,2.443,2.441,2.439,2.438,2.438,2.437,2.433,2.433,2.43,2.43,2.429,2.429,2.431,2.434,2.434,2.434,2.434,2.435,2.437,2.44,2.44,2.442,2.442,2.445,2.442,2.445,2.448,2.451,2.448,2.456,2.456,2.456,2.456,2.457,2.461,2.464,2.471,2.476,2.477,2.478,2.481,2.484,2.49,2.49,2.493,2.494,2.495,2.501,2.501,2.501,1.112,1.112,1.112,1.114,1.118,1.126,1.127,1.127,2.558,2.573,2.575,2.575,2.577,2.591,2.593,2.601,2.602,2.609,2.611,2.623,2.635,2.638,2.642,2.644,2.654,2.656,2.667,2.68,2.692,2.694,2.701,2.705,2.717,2.727,2.738,2.745,2.747,2.758,2.76,2.78,2.784,2.796,2.811,2.813,2.826,2.842,2.852,2.856,2.876,2.883,2.894,2.9,2.907,2.925,2.938,2.955,2.961,2.971,2.984,2.997,3.008,3.026,3.037,3.047,3.056,3.079,3.095,3.112,3.13,3.148,3.154,3.16,3.165,3.197,3.212,3.226,3.244,3.268,3.278,3.3,3.32,3.329,3.355,3.382,3.384,3.407,3.432,3.448,3.463,3.493,3.521,3.526,3.562,3.58,3.606,3.626,3.646,3.67,3.693,3.717,3.756,3.787,3.812,3.833,3.865,3.882,3.932,3.965,3.991,4.045,4.067,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.255,3.25,3.244,3.24,3.224,3.201,3.2,3.2,3.184,3.182,3.168,3.159,3.148,3.145,3.14,3.123,3.119,3.115,3.106,3.096,3.092,3.088,3.085,3.082,3.07,3.064,3.056,3.056,3.05,3.037,3.033,3.028,3.025,3.019,3.014,3.01,3.008,2.999,2.995,2.994,2.98,2.98,2.977,2.976,2.972,2.967,2.967,2.963,2.956,2.955,2.953,2.952,2.949,2.948,2.949,2.949,2.949,2.949,2.949,2.942,2.933,2.933,2.933,2.931,2.931,2.927,2.927,2.927,2.928,2.928,2.928,2.928,2.928,2.925,2.92,2.924,2.925,2.925,2.925,2.926,2.929,2.929,2.929,2.929,2.928,2.928,2.929,2.934,2.941,2.941,2.942,2.947,2.947,2.949,2.95,2.954,2.956,2.958,2.962,2.962,2.962,2.964,2.972,2.973,2.976,2.976,2.992,2.992,2.992,2.994,3.001,3.002,3.006,3.015,3.022,3.023,3.023,3.024,3.035,3.044,3.044,3.044,3.052,3.053,3.061,3.064,3.066,3.068,3.07,3.075,3.093,3.093,3.1,3.102,3.108,3.113,3.118,3.127,3.137,3.139,3.143,3.15,3.166,3.173,3.182,3.191,3.195,3.204,3.206,3.208,3.225,3.719,3.743,3.751,3.787,3.788,3.791,3.795,3.807,3.831,3.85,3.874,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 72.56} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.247837}
SEN {Time 72.5591} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.2926} {Name Sonar2 Range 3.2004} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.81} {Name Sonar14 Range 5.0546} {Name Sonar15 Range 1.0668}
SEN {Time 72.6044} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.191,0.191,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.154,3.139,3.139,3.134,3.125,3.125,3.118,3.114,3.113,3.111,3.106,3.105,3.1,3.093,3.093,3.09,3.089,3.088,3.088,3.088,3.088,3.078,3.077,3.076,3.069,3.063,3.064,3.063,3.063,3.063,3.064,3.082,3.083,3.579,3.595,3.595,3.595,3.516,0.167,0.155,0.153,0.15,0.15,0.155,0.15,0.15,0.154,0.149,0.149,0.149,0.154,0.157,0.303,3.582,3.592,3.596,3.596,3.594,3.592,3.376,0.167,0.166,0.166,0.161,0.161,0.16,0.16,0.16,0.162,0.405,3.656,3.657,3.661,3.661,3.665,3.674,3.679,3.681,3.692,3.696,3.702,3.704,3.711,3.721,3.732,3.735,3.738,3.739,3.747,3.751,3.751,3.772,3.773,3.782,3.785,3.792,3.796,3.803,3.813,3.821,3.828,3.831,3.831,3.858,3.858,3.884,3.885,3.896,3.909,3.922,3.923,3.944,3.951,3.951,3.964,3.975,3.985,3.987,4.018,4.028,4.045,4.048,4.053,4.087,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,3.938,3.89,3.877,3.849,3.807,3.783,3.768,3.731,3.701,3.679,3.659,3.632,3.609,3.575,3.557,3.524,3.507,3.478,3.471,3.449,3.42,3.405,3.376,3.357,3.347,3.327,3.315,3.287,3.281,3.254,3.242,3.226,3.217,3.188,3.178,3.166,3.145,3.131,3.116,3.107,3.088,3.078,3.071,3.053,3.034,3.017,3.015,3.007,2.991,2.971,2.96,2.954,2.945,2.943,2.911,2.909,2.902,2.885,2.872,2.865,2.865,2.847,2.84,2.825,2.818,2.805,2.791,2.789,2.782,2.774,2.771,2.748,2.745,2.736,2.726,2.718,1.17,1.166,1.163,1.163,1.163,1.163,1.163,1.163,2.633,2.633,2.633,2.633,2.623,2.616,2.615,2.601,2.597,2.589,2.585,2.575,2.571,2.563,2.562,2.561,2.552,2.549,2.547,2.544,2.524,2.522,2.519,2.516,2.511,2.51,2.507,2.506,2.5,2.494,2.491,2.488,2.485,2.48,2.479,2.479,2.474,2.47,2.463,2.46,2.458,2.458,2.458,2.455,2.446,2.446,2.446,2.447,2.447,2.448,2.447,2.447,2.444,2.444,2.443,2.444,2.444,2.444,2.443,2.443,2.434,2.434,2.434,2.435,2.435,2.435,2.435,2.434,2.434,2.436,2.436,2.436,2.437,2.437,2.439,2.439,2.439,2.44,2.443,2.443,2.448,2.453,2.455,2.456,2.459,2.459,2.459,2.46,2.464,2.464,2.472,2.474,2.476,2.478,2.482,2.483,2.486,2.487,2.492,2.496,2.497,2.497,2.497,1.121,1.121,1.113,1.121,1.121,1.127,1.134,2.552,2.555,2.562,2.562,2.566,2.571,2.577,2.585,2.589,2.596,2.605,2.616,2.62,2.627,2.633,2.636,2.639,2.655,2.659,2.677,2.677,2.678,2.684,2.701,2.706,2.711,2.729,2.734,2.745,2.755,2.757,2.771,2.773,2.789,2.792,2.802,2.816,2.826,2.83,2.845,2.851,2.859,2.872,2.877,2.896,2.905,2.918,2.937,2.941,2.957,2.965,2.976,2.996,3.01,3.015,3.029,3.037,3.045,3.064,3.08,3.099,3.11,3.122,3.131,3.145,3.165,3.183,3.186,3.206,3.228,3.24,3.258,3.284,3.297,3.316,3.339,3.351,3.373,3.389,3.411,3.426,3.455,3.465,3.507,3.511,3.537,3.564,3.58,3.609,3.631,3.654,3.684,3.716,3.73,3.748,3.792,3.821,3.838,3.874,3.908,3.938,3.964,4.003,4.043,4.075,0.016,0.016,0.016,0.016,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.25,3.229,3.221,3.203,3.202,3.197,3.188,3.183,3.17,3.17,3.157,3.147,3.147,3.132,3.129,3.115,3.11,3.105,3.098,3.089,3.086,3.083,3.076,3.063,3.059,3.047,3.046,3.043,3.039,3.03,3.028,3.026,3.023,3.023,3.004,2.998,2.997,2.99,2.987,2.985,2.983,2.978,2.973,2.971,2.966,2.966,2.966,2.959,2.95,2.95,2.944,2.943,2.937,2.937,2.937,2.942,2.942,2.942,2.933,2.927,2.927,2.927,2.922,2.922,2.914,2.914,2.914,2.919,2.919,2.919,2.917,2.917,2.917,2.917,2.917,2.917,2.919,2.919,2.921,2.922,2.922,2.922,2.922,2.922,2.922,2.922,2.922,2.922,2.922,2.93,2.93,2.932,2.931,2.935,2.94,2.942,2.95,2.951,2.952,2.955,2.957,2.959,2.961,2.963,2.97,2.973,2.974,2.986,2.983,2.983,2.994,2.996,2.996,3.001,3.012,3.014,3.018,3.02,3.025,3.035,3.035,3.038,3.038,3.038,3.042,3.052,3.054,3.061,3.063,3.068,3.073,3.08,3.083,3.091,3.099,3.11,3.117,3.122,3.132,3.133,3.134,3.143,3.16,3.16,3.164,3.179,3.179,3.188,3.202,3.206,3.211,3.712,3.74,3.751,3.768,3.77,3.798,3.801,3.804,3.819,3.832,3.851,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 72.76} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.310669}
SEN {Time 72.763} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2926} {Name Sonar2 Range 3.2004} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 1.7018} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 0.127} {Name Sonar13 Range 3.81} {Name Sonar14 Range 4.699} {Name Sonar15 Range 1.016}
SEN {Time 72.8034} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.131,3.123,3.121,3.119,3.119,3.112,3.107,3.107,3.106,3.105,3.105,3.095,3.093,3.093,3.092,3.092,3.087,3.084,3.081,3.079,3.075,3.075,3.073,3.075,3.073,3.073,3.08,3.106,3.589,3.605,3.612,3.613,3.613,3.613,3.614,3.611,3.61,3.611,3.611,3.608,3.608,3.604,3.504,0.159,0.159,0.153,0.153,0.154,0.154,0.154,0.154,0.154,0.147,0.147,0.16,0.16,0.16,0.305,3.638,3.645,3.645,3.645,3.647,0,0,0,0.165,0.163,0.163,0.16,0.163,0.16,0.164,0.164,0.411,3.703,3.721,3.728,3.728,3.733,3.745,3.745,3.754,3.757,3.765,3.773,3.779,3.781,3.793,3.799,3.804,3.806,3.824,3.829,3.833,3.833,3.854,3.861,3.874,3.876,3.885,3.894,3.901,3.917,3.92,3.935,3.95,3.95,3.973,3.98,3.998,4.004,4.021,4.025,4.046,4.059,4.067,4.074,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,0.016,4.085,4.085,4.085,4.064,0,0.007,0,0,0,3.812,3.785,3.745,3.718,3.705,3.677,3.669,3.631,3.593,3.58,3.555,3.531,3.508,3.482,3.464,3.451,3.433,3.399,3.386,3.365,3.336,3.329,3.296,3.282,3.274,3.252,3.237,3.221,3.206,3.185,3.167,3.155,3.141,3.116,3.103,3.096,3.089,3.068,3.061,3.054,3.032,3.027,3.001,3.001,2.985,2.967,2.958,2.944,2.931,2.929,2.913,2.894,2.886,2.876,2.873,2.855,2.855,2.838,2.829,2.824,2.815,2.801,2.8,2.784,2.773,2.772,2.764,2.741,2.741,2.737,2.733,1.177,1.174,1.165,1.162,1.162,1.162,1.165,2.654,2.654,2.654,2.644,2.633,2.632,2.626,2.615,2.612,2.612,2.607,2.596,2.588,2.579,2.577,2.577,2.564,2.561,2.556,2.553,2.546,2.545,2.522,2.521,2.52,2.519,2.512,2.511,2.506,2.499,2.499,2.493,2.491,2.487,2.484,2.483,2.473,2.473,2.473,2.473,2.473,2.463,2.462,2.459,2.459,2.458,2.45,2.448,2.444,2.444,2.443,2.444,2.445,2.445,2.443,2.439,2.439,2.438,2.437,2.436,2.436,2.433,2.431,2.431,2.433,2.432,2.437,2.439,2.44,2.44,2.44,2.434,2.434,2.434,2.437,2.441,2.441,2.444,2.447,2.446,2.448,2.451,2.451,2.447,2.451,2.453,2.457,2.459,2.46,2.461,2.466,2.468,2.47,2.473,2.476,2.478,2.482,2.486,2.489,2.492,2.496,2.503,2.496,2.492,1.105,1.105,1.105,1.111,1.113,1.122,1.149,2.535,2.553,2.555,2.557,2.563,2.567,2.578,2.588,2.589,2.591,2.598,2.603,2.619,2.62,2.622,2.628,2.632,2.636,2.646,2.647,2.672,2.675,2.68,2.69,2.697,2.701,2.714,2.721,2.723,2.743,2.745,2.765,2.769,2.778,2.781,2.801,2.808,2.82,2.833,2.835,2.859,2.861,2.87,2.887,2.897,2.902,2.913,2.931,2.939,2.946,2.955,2.972,2.981,3,3.01,3.021,3.032,3.041,3.056,3.066,3.089,3.101,3.115,3.131,3.145,3.169,3.169,3.193,3.196,3.223,3.235,3.259,3.266,3.286,3.306,3.332,3.344,3.361,3.376,3.398,3.413,3.441,3.468,3.487,3.512,3.518,3.548,3.583,3.595,3.616,3.649,3.674,3.702,3.725,3.738,3.796,3.802,3.834,3.86,3.885,3.931,3.947,3.991,4.031,4.05,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,3.288,3.288,3.288,3.276,3.266,3.24,3.226,3.223,3.203,3.197,3.187,3.183,3.167,3.163,3.148,3.143,3.143,3.137,3.116,3.114,3.107,3.1,3.092,3.088,3.086,3.074,3.069,3.062,3.055,3.05,3.036,3.036,3.036,3.022,3.015,3.014,3.003,3.002,3.002,2.998,2.993,2.991,2.989,2.974,2.971,2.971,2.969,2.966,2.963,2.962,2.954,2.949,2.949,2.941,2.939,2.937,2.933,2.933,2.933,2.933,2.941,2.941,2.941,2.928,2.921,2.915,2.915,2.913,2.915,2.913,2.912,2.911,2.911,2.911,2.909,2.911,2.909,2.907,2.907,2.907,2.906,2.906,2.907,2.907,2.912,2.912,2.911,2.911,2.914,2.917,2.918,2.918,2.918,2.921,2.923,2.921,2.928,2.927,2.929,2.935,2.935,2.936,2.94,2.945,2.951,2.955,2.955,2.956,2.962,2.962,2.964,2.975,2.976,2.977,2.979,2.981,2.984,2.992,2.997,3.003,3.007,3.016,3.016,3.025,3.028,3.028,3.029,3.032,3.042,3.043,3.049,3.049,3.052,3.063,3.076,3.078,3.078,3.082,3.083,3.095,3.096,3.103,3.112,3.124,3.142,3.148,3.15,3.15,3.165,3.172,3.174,3.175,3.179,3.179,3.19,3.206,3.721,3.742,3.751,3.76,3.776,3.781,3.792,3.813,3.816,3.83,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0.009,3.816,3.816,3.816,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.34} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 75.3366} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.159} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.556} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.7752}
SEN {Time 75.3914} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,4.009,4.009,4.009,4.015,4.036,4.039,4.056,4.067,4.086,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.161,0.153,0.153,0.151,0.15,0.15,0.145,0.145,0.145,0.152,0.15,0.154,0.154,0.159,0.24,3.444,3.446,3.446,3.444,3.444,3.446,3.43,3.392,0.162,0.16,0.159,0.159,0.16,0.153,0.153,0.162,3.172,3.172,3.172,3.162,3.148,3.125,3.111,3.106,3.082,3.074,3.06,3.058,3.036,3.015,3.013,3,2.991,2.978,2.968,2.967,2.95,2.935,2.926,2.913,2.909,2.894,2.885,2.877,2.867,2.849,2.848,2.843,2.84,2.818,2.817,1.232,1.215,1.215,1.215,1.21,1.215,1.217,1.238,2.728,2.728,2.728,2.716,2.715,2.697,2.696,2.696,2.68,2.674,2.66,2.657,2.65,2.649,2.641,2.64,2.638,2.625,2.617,2.615,2.612,2.609,2.608,2.594,2.594,2.589,2.586,2.586,2.57,2.566,2.564,2.562,2.561,2.548,2.547,2.542,2.542,2.537,2.533,2.533,2.532,2.523,2.521,2.515,2.514,2.512,2.507,2.506,2.504,2.503,2.498,2.493,2.493,2.491,2.487,2.485,2.485,2.482,2.485,2.482,2.479,2.477,2.476,2.476,2.474,2.474,2.473,2.474,2.474,2.474,2.476,2.478,2.478,2.478,2.478,2.478,2.48,2.484,2.484,2.48,2.485,2.488,2.488,2.488,2.488,2.493,2.495,2.495,2.499,2.502,2.502,2.503,2.504,2.509,2.512,2.513,2.514,2.514,2.514,1.145,1.144,1.142,1.144,1.144,1.145,1.157,2.549,2.552,2.572,2.572,2.573,2.578,2.578,2.581,2.584,2.586,2.586,2.596,2.603,2.605,2.619,2.632,2.632,2.633,2.635,2.642,2.649,2.654,2.662,2.665,2.668,2.685,2.687,2.689,2.693,2.707,2.718,2.724,2.725,2.737,2.745,2.75,2.754,2.767,2.772,2.786,2.8,2.807,2.812,2.817,2.836,2.846,2.85,2.861,2.871,2.883,2.885,2.901,2.913,2.928,2.936,2.938,2.955,2.973,2.974,2.993,3.008,3.018,3.031,3.047,3.048,3.053,3.068,3.093,3.103,3.115,3.126,3.148,3.159,3.173,3.188,3.202,3.222,3.234,3.254,3.266,3.288,3.299,3.323,3.336,3.356,3.366,3.387,3.409,3.425,3.45,3.466,3.494,3.507,3.528,3.546,3.575,3.584,3.604,3.647,3.669,3.684,3.712,3.74,3.76,3.794,3.819,3.843,3.859,3.91,3.946,3.977,4.014,4.042,4.075,4.091,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.899,3.275,3.25,3.244,3.241,3.221,3.217,3.199,3.186,3.183,3.171,3.154,3.148,3.138,3.136,3.127,3.117,3.102,3.098,3.086,3.083,3.071,3.07,3.054,3.053,3.048,3.044,3.034,3.022,3.02,3.018,3.013,3,2.998,2.994,2.994,2.985,2.98,2.973,2.972,2.965,2.959,2.955,2.949,2.946,2.944,2.937,2.924,2.92,2.916,2.914,2.911,2.91,2.905,2.905,2.903,2.895,2.894,2.886,2.884,2.884,2.884,2.891,2.891,2.891,2.874,2.873,2.864,2.862,2.862,2.862,2.862,2.867,2.867,2.86,2.86,2.86,2.858,2.855,2.855,2.855,2.854,2.852,2.853,2.852,2.852,2.853,2.857,2.857,2.859,2.86,2.86,2.86,2.86,2.867,2.868,2.869,2.869,2.87,2.869,2.869,2.868,2.874,2.874,2.874,2.882,2.883,2.891,2.891,2.894,2.897,2.898,2.905,2.906,2.908,2.915,2.916,2.921,2.922,2.928,2.929,2.931,2.937,2.946,2.949,2.954,2.957,2.959,2.964,2.964,2.964,2.973,2.973,2.977,2.978,2.98,2.984,3,3.005,3.006,3.021,3.023,3.024,3.028,3.036,3.044,3.044,3.044,3.049,3.067,3.072,3.093,3.103,3.113,3.113,3.116,3.119,3.129,3.129,3.136,3.14,3.655,3.669,3.685,3.697,3.708,3.72,3.728,3.73,3.739,3.757,3.765,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.03,3.998,3.927,3.903,3.872,3.835,3.814,3.784,3.75,3.734,3.7,3.664,3.648,3.623,3.623,3.603,3.603,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.435,1.406,1.406,1.406,1.403,1.403,1.403,1.396,1.396,1.395,1.393,1.393,1.387,1.387,1.379,1.378,1.378,1.377,1.374,1.374,1.374,1.374,1.374,1.377,1.381,1.383,1.393,1.401,1.416,1.428,1.469,1.551,1.64,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.55} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 75.5476} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.556} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.9276}
SEN {Time 75.5914} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,3.989,3.989,3.989,3.991,4.011,4.024,4.034,4.045,4.065,4.08,4.084,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.161,0.157,0.152,0.152,0.152,0.15,0.152,0.15,0.152,0.149,0.152,0.153,0.155,0.165,0.231,3.443,3.443,3.443,3.429,3.429,3.429,3.412,3.398,0.166,0.157,0.157,0.157,0.156,0.155,0.155,0.155,3.171,3.171,3.171,3.151,3.146,3.123,3.105,3.092,3.083,3.074,3.057,3.056,3.031,3.024,3.013,3.01,2.986,2.972,2.965,2.964,2.941,2.931,2.925,2.918,2.911,2.899,2.893,2.874,2.865,2.852,2.849,2.844,2.834,2.821,2.813,1.224,1.224,1.211,1.209,1.207,1.207,1.207,1.243,2.728,2.728,2.728,2.714,2.714,2.7,2.698,2.683,2.678,2.671,2.668,2.656,2.647,2.645,2.645,2.643,2.63,2.627,2.619,2.616,2.615,2.604,2.603,2.6,2.585,2.583,2.581,2.58,2.576,2.569,2.568,2.555,2.551,2.547,2.546,2.543,2.538,2.534,2.528,2.527,2.527,2.527,2.521,2.52,2.517,2.507,2.506,2.495,2.495,2.494,2.493,2.49,2.49,2.489,2.488,2.488,2.481,2.481,2.481,2.479,2.481,2.481,2.481,2.484,2.484,2.482,2.48,2.479,2.479,2.479,2.479,2.477,2.477,2.477,2.48,2.48,2.48,2.48,2.483,2.485,2.479,2.485,2.486,2.489,2.489,2.489,2.494,2.498,2.502,2.502,2.502,2.502,2.507,2.507,2.511,2.515,2.518,2.518,2.518,1.137,1.137,1.137,1.137,1.143,1.145,1.146,2.559,2.564,2.568,2.564,2.568,2.572,2.576,2.583,2.59,2.598,2.599,2.605,2.61,2.611,2.613,2.619,2.632,2.634,2.637,2.638,2.647,2.66,2.662,2.671,2.676,2.685,2.687,2.694,2.7,2.71,2.711,2.713,2.735,2.739,2.739,2.747,2.765,2.77,2.78,2.782,2.791,2.797,2.814,2.822,2.828,2.836,2.856,2.857,2.862,2.877,2.888,2.897,2.903,2.924,2.928,2.942,2.956,2.97,2.975,2.98,3.005,3.02,3.032,3.04,3.048,3.065,3.075,3.089,3.105,3.116,3.125,3.139,3.16,3.173,3.184,3.202,3.219,3.239,3.246,3.274,3.28,3.299,3.322,3.339,3.354,3.377,3.397,3.407,3.429,3.446,3.467,3.488,3.508,3.528,3.539,3.575,3.592,3.608,3.64,3.665,3.674,3.721,3.723,3.77,3.775,3.81,3.855,3.881,3.89,3.946,3.971,4.011,4.036,4.071,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.282,3.249,3.246,3.231,3.221,3.208,3.206,3.188,3.174,3.173,3.158,3.146,3.137,3.13,3.117,3.111,3.104,3.099,3.085,3.076,3.069,3.065,3.06,3.057,3.047,3.038,3.037,3.028,3.015,3.012,3.008,3.002,3,2.993,2.982,2.981,2.976,2.97,2.961,2.956,2.955,2.955,2.948,2.94,2.937,2.932,2.927,2.92,2.913,2.911,2.912,2.911,2.899,2.899,2.899,2.889,2.896,2.896,2.886,2.884,2.886,2.886,2.879,2.879,2.872,2.867,2.866,2.867,2.866,2.862,2.86,2.862,2.86,2.86,2.855,2.855,2.855,2.855,2.849,2.852,2.853,2.852,2.852,2.852,2.852,2.852,2.852,2.852,2.855,2.855,2.858,2.858,2.858,2.858,2.862,2.86,2.862,2.864,2.864,2.867,2.87,2.87,2.875,2.875,2.88,2.883,2.885,2.894,2.895,2.899,2.901,2.904,2.904,2.912,2.92,2.921,2.927,2.927,2.927,2.927,2.933,2.939,2.939,2.946,2.946,2.957,2.962,2.967,2.967,2.967,2.967,2.967,2.967,2.982,2.985,2.992,2.994,2.994,3.006,3.012,3.022,3.026,3.035,3.038,3.038,3.042,3.042,3.058,3.07,3.073,3.089,3.093,3.093,3.11,3.117,3.124,3.13,3.13,3.131,3.138,3.662,3.672,3.68,3.689,3.707,3.711,3.717,3.727,3.746,3.762,3.764,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.987,3.909,3.863,3.855,3.827,3.788,3.757,3.731,3.709,3.683,3.649,3.62,3.62,3.609,3.609,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.422,1.406,1.405,1.405,1.404,1.404,1.403,1.399,1.395,1.395,1.392,1.388,1.388,1.384,1.376,1.374,1.374,1.376,1.376,1.375,1.375,1.373,1.373,1.375,1.376,1.385,1.391,1.404,1.416,1.433,1.454,1.622,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.75} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 75.7496} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.6322} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.9276}
SEN {Time 75.7874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0,0,0,0,0,0,0,0.007,3.989,3.989,4.006,4.006,4.018,4.023,4.049,4.05,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.161,0.154,0.153,0.15,0.15,0.143,0.145,0.145,0.152,0.152,0.153,0.153,0.153,0.158,0.236,3.458,3.458,3.458,3.445,3.445,3.445,3.403,3.398,0.163,0.163,0.158,0.158,0.16,0.16,0.16,0.163,3.172,3.172,3.172,3.152,3.149,3.128,3.111,3.094,3.087,3.07,3.065,3.049,3.034,3.032,3.003,3.001,2.987,2.98,2.973,2.963,2.955,2.934,2.926,2.918,2.91,2.905,2.892,2.875,2.86,2.85,2.849,2.846,2.83,2.822,2.819,1.23,1.218,1.214,1.213,1.212,1.213,1.213,1.245,2.727,2.727,2.727,2.715,2.709,2.701,2.696,2.693,2.68,2.669,2.667,2.659,2.654,2.649,2.649,2.643,2.633,2.624,2.621,2.618,2.609,2.605,2.597,2.597,2.597,2.597,2.591,2.588,2.576,2.565,2.559,2.554,2.551,2.549,2.549,2.546,2.537,2.535,2.531,2.53,2.522,2.522,2.515,2.514,2.513,2.513,2.505,2.503,2.501,2.498,2.493,2.491,2.487,2.487,2.487,2.487,2.487,2.487,2.484,2.482,2.478,2.478,2.478,2.473,2.471,2.473,2.473,2.474,2.48,2.48,2.477,2.475,2.477,2.477,2.477,2.477,2.48,2.48,2.48,2.48,2.484,2.485,2.485,2.487,2.489,2.492,2.494,2.494,2.499,2.502,2.504,2.504,2.507,2.513,2.517,2.517,2.519,2.517,2.515,1.14,1.14,1.14,1.148,1.149,1.15,1.155,2.556,2.557,2.575,2.561,2.575,2.576,2.582,2.583,2.585,2.588,2.59,2.599,2.606,2.608,2.609,2.627,2.628,2.632,2.642,2.647,2.647,2.651,2.666,2.668,2.677,2.679,2.69,2.7,2.7,2.709,2.709,2.71,2.735,2.738,2.743,2.748,2.753,2.773,2.78,2.789,2.797,2.808,2.813,2.822,2.831,2.855,2.86,2.863,2.874,2.875,2.896,2.901,2.909,2.927,2.931,2.941,2.946,2.965,2.979,2.992,3.005,3.024,3.033,3.043,3.049,3.059,3.075,3.095,3.101,3.112,3.127,3.15,3.151,3.175,3.188,3.201,3.224,3.239,3.251,3.27,3.289,3.305,3.314,3.336,3.359,3.373,3.391,3.409,3.435,3.442,3.467,3.488,3.503,3.528,3.563,3.575,3.589,3.609,3.637,3.661,3.675,3.707,3.736,3.762,3.783,3.81,3.846,3.881,3.895,3.939,3.97,4.019,4.048,4.062,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.255,3.243,3.236,3.221,3.207,3.205,3.205,3.183,3.163,3.159,3.152,3.138,3.137,3.115,3.112,3.104,3.097,3.082,3.079,3.077,3.074,3.064,3.059,3.051,3.039,3.036,3.029,3.02,3.018,3.009,3.004,2.994,2.994,2.992,2.983,2.974,2.972,2.964,2.955,2.951,2.951,2.948,2.942,2.935,2.928,2.923,2.92,2.914,2.909,2.909,2.905,2.904,2.896,2.896,2.893,2.889,2.889,2.883,2.883,2.883,2.883,2.883,2.883,2.876,2.87,2.868,2.867,2.865,2.865,2.865,2.865,2.863,2.863,2.861,2.858,2.858,2.856,2.856,2.856,2.855,2.851,2.851,2.851,2.855,2.856,2.857,2.856,2.856,2.856,2.858,2.856,2.859,2.861,2.866,2.866,2.866,2.866,2.87,2.87,2.871,2.874,2.874,2.88,2.88,2.881,2.882,2.887,2.899,2.901,2.905,2.905,2.909,2.91,2.91,2.916,2.922,2.924,2.925,2.932,2.932,2.935,2.939,2.942,2.955,2.956,2.963,2.967,2.97,2.97,2.97,2.97,2.974,2.979,2.985,2.989,2.993,3.007,3.012,3.012,3.018,3.023,3.034,3.035,3.046,3.048,3.048,3.05,3.066,3.09,3.09,3.096,3.107,3.107,3.117,3.118,3.12,3.12,3.135,3.142,3.654,3.669,3.681,3.697,3.701,3.712,3.715,3.726,3.752,3.759,3.765,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.968,3.937,3.914,3.887,3.853,3.82,3.785,3.763,3.726,3.7,3.684,3.635,3.628,3.628,3.595,3.595,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.421,1.41,1.404,1.404,1.404,1.405,1.402,1.399,1.399,1.397,1.396,1.39,1.39,1.386,1.385,1.38,1.378,1.378,1.379,1.379,1.379,1.379,1.379,1.379,1.38,1.394,1.394,1.411,1.423,1.427,1.475,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 75.94} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 75.9436} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.6322} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 4.9276}
SEN {Time 75.9874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.213,0.213,0,0,0,0,0,0,0,0,0,4.017,4.016,4.016,4.017,4.033,4.048,4.058,4.082,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.163,0.154,0.153,0.153,0.153,0.153,0.154,0.155,0.157,0.157,0.155,0.157,0.161,0.161,0.242,3.45,3.485,3.485,3.45,3.45,0,3.429,3.39,0.16,0.16,0.156,0.156,0.16,0.156,0.156,0.166,3.176,3.176,3.176,3.166,3.152,3.133,3.11,3.097,3.083,3.079,3.057,3.052,3.036,3.029,3.021,3.002,2.993,2.979,2.967,2.963,2.953,2.937,2.92,2.919,2.911,2.904,2.9,2.877,2.874,2.847,2.844,2.843,2.828,2.824,2.819,1.224,1.221,1.216,1.216,1.208,1.208,1.208,1.243,2.726,2.726,2.726,2.713,2.706,2.7,2.693,2.688,2.682,2.677,2.674,2.658,2.656,2.656,2.643,2.639,2.635,2.624,2.619,2.616,2.61,2.604,2.603,2.594,2.59,2.589,2.585,2.577,2.573,2.573,2.568,2.56,2.557,2.557,2.544,2.539,2.537,2.536,2.531,2.531,2.524,2.522,2.521,2.517,2.51,2.51,2.5,2.497,2.494,2.494,2.491,2.487,2.487,2.487,2.486,2.487,2.484,2.48,2.48,2.476,2.476,2.482,2.482,2.481,2.481,2.477,2.477,2.477,2.477,2.476,2.476,2.476,2.476,2.476,2.48,2.481,2.483,2.484,2.484,2.484,2.482,2.482,2.481,2.482,2.486,2.488,2.488,2.488,2.496,2.497,2.497,2.502,2.503,2.511,2.512,2.519,2.522,2.522,2.519,1.137,1.137,1.137,1.141,1.142,1.147,1.159,2.555,2.562,2.567,2.567,2.571,2.573,2.58,2.582,2.582,2.591,2.596,2.604,2.608,2.61,2.621,2.623,2.633,2.64,2.646,2.647,2.654,2.658,2.666,2.672,2.675,2.684,2.686,2.691,2.705,2.709,2.71,2.717,2.736,2.741,2.747,2.749,2.767,2.769,2.777,2.779,2.794,2.808,2.814,2.816,2.836,2.836,2.846,2.862,2.872,2.873,2.888,2.909,2.918,2.919,2.936,2.945,2.956,2.971,2.979,2.993,3.007,3.017,3.025,3.045,3.047,3.059,3.07,3.092,3.106,3.115,3.12,3.151,3.16,3.164,3.187,3.197,3.226,3.236,3.254,3.269,3.286,3.303,3.31,3.332,3.362,3.371,3.387,3.417,3.432,3.446,3.477,3.487,3.508,3.517,3.542,3.573,3.588,3.614,3.632,3.665,3.691,3.7,3.713,3.763,3.793,3.817,3.846,3.869,3.905,3.925,3.976,4.002,4.052,4.082,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.262,3.245,3.243,3.222,3.21,3.201,3.189,3.187,3.176,3.164,3.152,3.131,3.127,3.12,3.117,3.108,3.097,3.092,3.079,3.077,3.064,3.058,3.056,3.044,3.04,3.033,3.028,3.017,3.017,3.004,2.999,2.999,2.997,2.986,2.979,2.975,2.972,2.956,2.956,2.955,2.95,2.947,2.945,2.938,2.931,2.923,2.923,2.922,2.914,2.913,2.912,2.904,2.904,2.903,2.903,2.897,2.892,2.888,2.888,2.888,2.89,2.89,2.89,2.876,2.872,2.864,2.86,2.86,2.86,2.86,2.86,2.857,2.857,2.86,2.86,2.86,2.86,2.856,2.856,2.852,2.852,2.85,2.856,2.85,2.852,2.852,2.855,2.855,2.855,2.856,2.859,2.859,2.86,2.862,2.864,2.868,2.869,2.868,2.869,2.875,2.876,2.879,2.88,2.881,2.887,2.89,2.892,2.898,2.898,2.9,2.9,2.9,2.911,2.915,2.923,2.925,2.925,2.925,2.925,2.931,2.944,2.945,2.95,2.955,2.957,2.957,2.963,2.963,2.968,2.969,2.969,2.969,2.99,2.991,2.992,2.992,2.994,3.008,3.01,3.01,3.026,3.027,3.038,3.048,3.048,3.048,3.059,3.072,3.078,3.079,3.091,3.103,3.103,3.117,3.123,3.127,3.127,3.138,3.147,3.663,3.674,3.684,3.687,3.702,3.711,3.724,3.725,3.751,3.759,3.762,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.964,3.936,3.898,3.868,3.849,3.817,3.77,3.754,3.728,3.7,3.669,3.646,3.623,3.623,3.594,3.594,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.422,1.412,1.407,1.407,1.405,1.405,1.4,1.4,1.394,1.394,1.393,1.392,1.388,1.388,1.381,1.38,1.377,1.38,1.38,1.38,1.377,1.373,1.369,1.369,1.373,1.389,1.393,1.393,1.423,1.426,1.475,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.15} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 76.1455} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7178} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.6322} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 5.0038}
SEN {Time 76.1874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,4.014,4.014,4.014,4.021,4.041,4.053,4.064,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.157,0.156,0.155,0.151,0.148,0.148,0.148,0.147,0.147,0.147,0.147,0.15,0.153,0.155,0.232,3.448,3.448,3.448,3.426,3.426,3.426,3.424,3.401,0.171,0.16,0.16,0.16,0.159,0.159,0.159,0.159,3.161,3.167,3.167,3.161,3.151,3.133,3.112,3.101,3.092,3.074,3.06,3.055,3.032,3.027,3.02,2.998,2.993,2.977,2.966,2.965,2.948,2.935,2.932,2.913,2.9,2.896,2.894,2.877,2.874,2.852,2.845,2.837,2.833,2.827,2.818,1.221,1.22,1.215,1.215,1.206,1.206,1.206,1.237,2.729,2.729,2.729,2.717,2.702,2.701,2.692,2.684,2.679,2.674,2.667,2.66,2.658,2.65,2.646,2.643,2.637,2.622,2.618,2.618,2.609,2.609,2.603,2.598,2.595,2.589,2.584,2.578,2.577,2.571,2.567,2.566,2.56,2.554,2.551,2.538,2.538,2.535,2.528,2.528,2.528,2.524,2.524,2.524,2.517,2.516,2.511,2.507,2.499,2.499,2.495,2.495,2.495,2.494,2.494,2.486,2.482,2.478,2.478,2.478,2.478,2.477,2.477,2.475,2.475,2.475,2.472,2.47,2.47,2.47,2.47,2.471,2.471,2.471,2.476,2.476,2.476,2.479,2.479,2.481,2.481,2.482,2.485,2.488,2.491,2.494,2.494,2.494,2.495,2.498,2.503,2.504,2.504,2.505,2.506,2.51,2.51,2.51,2.51,1.146,1.146,1.146,1.146,1.147,1.152,1.155,2.553,2.559,2.56,2.56,2.571,2.574,2.578,2.58,2.594,2.595,2.595,2.601,2.602,2.608,2.611,2.613,2.625,2.631,2.643,2.647,2.65,2.658,2.669,2.671,2.672,2.685,2.693,2.7,2.703,2.71,2.712,2.717,2.731,2.738,2.746,2.75,2.756,2.768,2.782,2.785,2.794,2.796,2.817,2.823,2.827,2.827,2.854,2.862,2.874,2.874,2.881,2.904,2.911,2.917,2.94,2.949,2.95,2.973,2.977,2.992,3.006,3.01,3.02,3.039,3.051,3.064,3.083,3.098,3.109,3.114,3.119,3.141,3.152,3.173,3.197,3.198,3.222,3.229,3.248,3.268,3.28,3.31,3.325,3.334,3.361,3.381,3.392,3.418,3.43,3.442,3.465,3.487,3.507,3.524,3.555,3.578,3.58,3.622,3.644,3.664,3.686,3.705,3.726,3.766,3.793,3.831,3.853,3.864,3.905,3.943,3.983,4.005,4.056,4.066,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.905,3.264,3.259,3.241,3.238,3.228,3.203,3.202,3.197,3.179,3.175,3.158,3.148,3.145,3.137,3.122,3.109,3.098,3.094,3.083,3.083,3.081,3.062,3.062,3.048,3.048,3.037,3.036,3.026,3.019,3.012,3.009,3.002,3.001,2.996,2.983,2.982,2.979,2.966,2.963,2.962,2.955,2.949,2.949,2.944,2.938,2.934,2.928,2.923,2.921,2.921,2.909,2.909,2.909,2.906,2.901,2.899,2.899,2.896,2.892,2.89,2.89,2.89,2.89,2.89,2.877,2.87,2.87,2.868,2.868,2.865,2.861,2.86,2.86,2.86,2.86,2.86,2.859,2.853,2.853,2.853,2.853,2.853,2.855,2.855,2.855,2.855,2.855,2.854,2.854,2.855,2.857,2.86,2.861,2.864,2.861,2.861,2.868,2.868,2.868,2.871,2.873,2.878,2.88,2.881,2.882,2.882,2.882,2.884,2.893,2.896,2.899,2.91,2.912,2.917,2.918,2.92,2.922,2.921,2.922,2.925,2.93,2.937,2.941,2.943,2.951,2.955,2.962,2.97,2.97,2.972,2.973,2.973,2.976,2.977,2.982,2.984,2.997,3.002,3.003,3.016,3.025,3.028,3.029,3.036,3.039,3.044,3.045,3.051,3.063,3.079,3.081,3.09,3.103,3.105,3.115,3.12,3.123,3.123,3.131,3.137,3.66,3.679,3.688,3.692,3.697,3.718,3.726,3.726,3.75,3.76,3.761,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,3.976,3.948,3.9,3.88,3.845,3.845,3.808,3.792,3.726,3.695,3.67,3.641,3.624,3.624,3.601,3.601,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.425,1.41,1.409,1.408,1.407,1.407,1.402,1.399,1.392,1.388,1.387,1.387,1.385,1.384,1.38,1.38,1.38,1.381,1.381,1.381,1.381,1.374,1.374,1.374,1.383,1.384,1.392,1.412,1.416,1.435,1.475,1.693,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.34} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 76.3385} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 2.9718} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3782} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 5.0038}
SEN {Time 76.3874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,4.021,4.021,4.021,4.024,4.024,4.052,4.065,4.066,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.158,0.158,0.156,0.155,0.156,0.156,0.155,0.152,0.152,0.148,0.152,0.152,0.152,0.155,0.242,3.458,3.458,3.458,3.444,3.423,3.423,3.4,3.285,0.166,0.161,0.161,0.161,0.161,0.161,0.163,0.168,3.163,3.163,3.163,3.156,3.148,3.119,3.113,3.105,3.095,3.069,3.056,3.055,3.038,3.02,3.019,2.995,2.98,2.977,2.969,2.96,2.943,2.929,2.929,2.916,2.91,2.908,2.889,2.887,2.875,2.853,2.846,2.841,2.834,2.829,2.811,1.233,1.22,1.219,1.219,1.207,1.207,1.207,1.245,2.729,2.729,2.729,2.723,2.707,2.706,2.688,2.688,2.68,2.673,2.666,2.648,2.647,2.647,2.641,2.634,2.634,2.627,2.619,2.615,2.605,2.604,2.592,2.587,2.587,2.587,2.586,2.582,2.58,2.578,2.566,2.556,2.55,2.55,2.55,2.544,2.541,2.533,2.531,2.525,2.525,2.52,2.517,2.516,2.515,2.512,2.508,2.506,2.5,2.5,2.5,2.494,2.49,2.488,2.488,2.488,2.488,2.484,2.485,2.484,2.484,2.482,2.482,2.482,2.479,2.479,2.479,2.48,2.479,2.479,2.477,2.479,2.479,2.48,2.48,2.48,2.48,2.48,2.48,2.48,2.48,2.48,2.491,2.491,2.491,2.492,2.497,2.492,2.497,2.498,2.498,2.503,2.504,2.511,2.513,2.515,2.52,2.515,2.513,1.152,1.149,1.148,1.149,1.149,1.149,1.153,2.552,2.567,2.57,2.57,2.574,2.576,2.578,2.582,2.584,2.595,2.599,2.599,2.603,2.609,2.623,2.624,2.628,2.64,2.646,2.651,2.652,2.652,2.665,2.667,2.675,2.687,2.694,2.7,2.703,2.707,2.718,2.723,2.73,2.737,2.747,2.75,2.751,2.768,2.775,2.79,2.794,2.803,2.817,2.817,2.838,2.846,2.855,2.862,2.878,2.878,2.884,2.901,2.918,2.927,2.934,2.944,2.951,2.967,2.979,2.992,3.009,3.012,3.023,3.045,3.049,3.061,3.073,3.091,3.111,3.121,3.129,3.149,3.153,3.175,3.199,3.204,3.216,3.236,3.236,3.268,3.294,3.303,3.321,3.331,3.355,3.371,3.395,3.416,3.428,3.44,3.468,3.49,3.5,3.524,3.543,3.567,3.593,3.61,3.63,3.667,3.677,3.707,3.731,3.762,3.798,3.817,3.848,3.883,3.906,3.937,3.983,4.012,4.048,4.075,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.268,3.255,3.244,3.238,3.217,3.216,3.197,3.195,3.186,3.178,3.16,3.145,3.142,3.134,3.119,3.111,3.109,3.107,3.085,3.081,3.073,3.068,3.059,3.051,3.046,3.043,3.035,3.029,3.021,3.012,3.011,3.002,2.999,2.994,2.984,2.982,2.981,2.96,2.958,2.958,2.958,2.955,2.955,2.944,2.935,2.929,2.926,2.922,2.919,2.916,2.914,2.909,2.909,2.903,2.901,2.895,2.895,2.883,2.882,2.882,2.883,2.888,2.888,2.888,2.88,2.878,2.871,2.871,2.87,2.865,2.862,2.862,2.86,2.859,2.859,2.859,2.859,2.855,2.853,2.853,2.851,2.853,2.853,2.853,2.852,2.852,2.849,2.849,2.852,2.852,2.852,2.852,2.858,2.858,2.865,2.865,2.869,2.869,2.869,2.872,2.872,2.875,2.878,2.88,2.881,2.884,2.886,2.887,2.89,2.894,2.903,2.903,2.903,2.906,2.909,2.915,2.921,2.922,2.922,2.922,2.936,2.941,2.943,2.946,2.953,2.956,2.963,2.968,2.969,2.969,2.97,2.97,2.97,2.97,2.983,2.983,2.996,3.001,3.006,3.021,3.022,3.022,3.035,3.035,3.035,3.039,3.044,3.049,3.065,3.07,3.082,3.086,3.095,3.104,3.115,3.116,3.132,3.132,3.136,3.142,3.66,3.676,3.682,3.695,3.704,3.719,3.726,3.731,3.751,3.755,3.757,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,3.928,3.88,3.852,3.82,3.784,3.755,3.72,3.699,3.666,3.649,3.618,3.618,3.6,3.6,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,1.423,1.415,1.407,1.407,1.407,1.407,1.407,1.404,1.399,1.397,1.396,1.395,1.388,1.386,1.382,1.381,1.381,1.379,1.381,1.379,1.384,1.378,1.377,1.377,1.38,1.38,1.391,1.406,1.422,1.425,1.484,1.631,0.007,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.54} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 76.5415} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3782} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 5.0038}
SEN {Time 76.5885} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,4.019,4.019,4.019,4.029,4.038,4.044,4.066,4.082,4.084,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.155,0.155,0.155,0.153,0.153,0.147,0.144,0.144,0.147,0.147,0.153,0.153,0.162,0.232,3.461,3.461,3.467,3.467,0,0,0,0,0.167,0.167,0.156,0.16,0.164,0.16,0.16,0.164,3.175,3.175,3.175,3.153,3.148,3.13,3.107,3.099,3.093,3.067,3.061,3.058,3.032,3.03,3.028,2.998,2.997,2.976,2.969,2.96,2.944,2.941,2.928,2.92,2.907,2.897,2.894,2.88,2.871,2.853,2.845,2.844,2.831,2.827,2.808,1.225,1.221,1.218,1.218,1.215,1.215,1.215,1.237,2.716,2.716,2.716,2.71,2.71,2.702,2.701,2.686,2.683,2.675,2.668,2.66,2.653,2.644,2.642,2.638,2.635,2.623,2.622,2.621,2.608,2.603,2.602,2.596,2.593,2.588,2.582,2.578,2.572,2.568,2.564,2.564,2.558,2.551,2.548,2.547,2.539,2.533,2.523,2.523,2.522,2.519,2.523,2.519,2.514,2.509,2.508,2.503,2.501,2.501,2.5,2.494,2.494,2.49,2.486,2.486,2.487,2.486,2.486,2.483,2.476,2.476,2.477,2.476,2.477,2.477,2.474,2.474,2.473,2.473,2.474,2.474,2.475,2.477,2.475,2.475,2.477,2.481,2.483,2.485,2.485,2.485,2.485,2.489,2.489,2.492,2.492,2.493,2.493,2.497,2.498,2.499,2.501,2.505,2.51,2.51,2.511,2.511,2.511,1.143,1.143,1.136,1.143,1.145,1.152,1.157,2.552,2.564,2.566,2.566,2.566,2.569,2.578,2.586,2.587,2.59,2.594,2.598,2.604,2.605,2.612,2.622,2.624,2.63,2.635,2.645,2.654,2.654,2.659,2.659,2.668,2.681,2.689,2.697,2.701,2.711,2.717,2.72,2.725,2.737,2.748,2.752,2.76,2.769,2.775,2.786,2.796,2.808,2.814,2.826,2.834,2.839,2.859,2.859,2.871,2.874,2.888,2.897,2.916,2.922,2.929,2.947,2.953,2.971,2.982,2.991,3.005,3.014,3.023,3.048,3.052,3.062,3.074,3.095,3.106,3.121,3.127,3.152,3.156,3.177,3.192,3.206,3.22,3.238,3.251,3.266,3.29,3.308,3.318,3.335,3.357,3.374,3.39,3.407,3.426,3.441,3.468,3.48,3.502,3.528,3.546,3.568,3.602,3.603,3.638,3.666,3.677,3.708,3.734,3.762,3.798,3.825,3.845,3.884,3.907,3.93,3.974,4.009,4.032,4.07,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.278,3.255,3.246,3.227,3.226,3.21,3.198,3.195,3.195,3.183,3.17,3.142,3.138,3.137,3.124,3.108,3.102,3.099,3.082,3.081,3.074,3.064,3.05,3.045,3.036,3.034,3.034,3.023,3.021,3.01,3.01,3.007,2.996,2.994,2.985,2.982,2.976,2.973,2.966,2.962,2.953,2.953,2.951,2.951,2.938,2.937,2.933,2.921,2.919,2.915,2.909,2.906,2.905,2.899,2.897,2.894,2.894,2.892,2.889,2.886,2.886,2.892,2.885,2.885,2.87,2.868,2.867,2.865,2.864,2.864,2.863,2.863,2.862,2.862,2.862,2.862,2.861,2.856,2.856,2.856,2.855,2.856,2.856,2.856,2.856,2.858,2.858,2.858,2.857,2.862,2.862,2.862,2.857,2.862,2.863,2.862,2.866,2.869,2.869,2.869,2.87,2.87,2.877,2.877,2.878,2.881,2.882,2.888,2.894,2.895,2.901,2.904,2.908,2.912,2.916,2.916,2.918,2.918,2.924,2.928,2.936,2.939,2.943,2.945,2.948,2.951,2.957,2.968,2.968,2.969,2.968,2.968,2.969,2.98,2.982,2.989,2.993,3.006,3.008,3.009,3.017,3.025,3.028,3.029,3.035,3.042,3.047,3.047,3.074,3.085,3.093,3.101,3.106,3.106,3.11,3.118,3.125,3.125,3.136,3.138,3.664,3.673,3.674,3.682,3.696,3.707,3.731,3.735,3.742,3.762,3.773,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0,0,0,3.876,3.855,3.821,3.788,3.748,3.728,3.702,3.669,3.652,3.638,3.638,3.609,3.609,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.414,1.409,1.407,1.406,1.407,1.406,1.405,1.403,1.401,1.396,1.392,1.389,1.389,1.384,1.379,1.378,1.378,1.378,1.378,1.377,1.377,1.377,1.376,1.376,1.38,1.382,1.386,1.405,1.413,1.42,1.462,1.622,1.696,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.74} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 76.7433} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.3782} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.8768}
SEN {Time 76.7874} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,4.011,4.011,4.011,4.013,4.032,4.047,4.063,4.076,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.16,0.158,0.153,0.149,0.153,0.153,0.154,0.154,0.154,0.153,0.153,0.151,0.153,0.156,0.245,3.457,3.457,3.457,3.43,3.43,3.43,3.42,3.402,0.158,0.153,0.153,0.154,0.154,0.154,0.163,0.163,3.175,3.175,3.175,3.16,3.139,3.127,3.101,3.097,3.09,3.064,3.058,3.053,3.032,3.029,3.024,3.002,2.994,2.978,2.973,2.962,2.952,2.93,2.927,2.913,2.906,2.906,2.894,2.875,2.863,2.862,2.846,2.845,2.828,2.828,2.816,1.231,1.219,1.21,1.21,1.21,1.21,1.21,1.233,2.725,2.725,2.725,2.724,2.71,2.699,2.695,2.692,2.678,2.676,2.673,2.668,2.656,2.652,2.649,2.645,2.639,2.624,2.622,2.613,2.613,2.607,2.597,2.596,2.595,2.589,2.581,2.574,2.574,2.572,2.562,2.561,2.559,2.554,2.552,2.548,2.541,2.541,2.521,2.521,2.522,2.522,2.522,2.522,2.508,2.506,2.505,2.498,2.497,2.497,2.493,2.491,2.488,2.485,2.482,2.482,2.481,2.481,2.482,2.478,2.478,2.478,2.478,2.478,2.476,2.476,2.476,2.476,2.472,2.472,2.472,2.476,2.476,2.478,2.48,2.48,2.48,2.48,2.48,2.48,2.476,2.48,2.48,2.487,2.487,2.491,2.5,2.497,2.497,2.497,2.497,2.497,2.499,2.5,2.512,2.514,2.514,2.514,2.514,1.132,1.132,1.132,1.14,1.147,1.15,1.154,2.559,2.564,2.571,2.568,2.571,2.577,2.58,2.582,2.59,2.598,2.599,2.602,2.608,2.617,2.622,2.623,2.632,2.632,2.639,2.642,2.645,2.654,2.657,2.672,2.683,2.686,2.688,2.692,2.704,2.704,2.722,2.723,2.727,2.741,2.744,2.747,2.761,2.768,2.77,2.787,2.79,2.803,2.803,2.818,2.836,2.844,2.846,2.861,2.872,2.879,2.879,2.898,2.911,2.93,2.937,2.95,2.95,2.969,2.974,2.994,3.006,3.017,3.028,3.043,3.052,3.063,3.078,3.087,3.114,3.118,3.131,3.152,3.153,3.171,3.196,3.2,3.22,3.237,3.242,3.261,3.285,3.302,3.324,3.336,3.344,3.376,3.395,3.413,3.432,3.446,3.467,3.5,3.5,3.533,3.548,3.571,3.601,3.614,3.644,3.66,3.682,3.702,3.731,3.76,3.793,3.808,3.838,3.876,3.903,3.942,3.981,3.998,4.046,4.073,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.266,3.246,3.238,3.232,3.223,3.218,3.195,3.195,3.178,3.175,3.154,3.146,3.135,3.133,3.121,3.106,3.106,3.1,3.086,3.082,3.075,3.075,3.064,3.047,3.046,3.04,3.024,3.024,3.016,3.012,3.007,3.006,3.001,2.996,2.988,2.983,2.974,2.973,2.959,2.953,2.953,2.951,2.949,2.942,2.935,2.934,2.93,2.919,2.912,2.91,2.908,2.907,2.907,2.905,2.897,2.897,2.891,2.887,2.884,2.884,2.884,2.884,2.884,2.884,2.877,2.873,2.868,2.864,2.864,2.864,2.864,2.862,2.86,2.857,2.857,2.857,2.853,2.855,2.855,2.853,2.852,2.852,2.852,2.852,2.855,2.858,2.858,2.856,2.856,2.856,2.856,2.859,2.86,2.864,2.864,2.865,2.864,2.866,2.863,2.866,2.866,2.877,2.878,2.88,2.884,2.885,2.893,2.897,2.899,2.899,2.902,2.902,2.904,2.91,2.91,2.923,2.923,2.928,2.928,2.93,2.935,2.936,2.937,2.944,2.951,2.955,2.96,2.965,2.965,2.972,2.972,2.972,2.974,2.985,2.99,2.992,2.995,3.004,3.01,3.01,3.021,3.027,3.035,3.037,3.038,3.046,3.051,3.051,3.064,3.079,3.08,3.096,3.097,3.108,3.11,3.12,3.133,3.133,3.136,3.137,3.658,3.682,3.682,3.688,3.708,3.718,3.727,3.734,3.754,3.754,3.764,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.069,4.026,3.963,3.934,3.901,3.866,3.84,3.806,3.781,3.75,3.72,3.701,3.677,3.648,3.63,3.63,3.603,3.603,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.437,1.413,1.407,1.405,1.403,1.402,1.4,1.396,1.39,1.39,1.391,1.39,1.389,1.384,1.382,1.382,1.381,1.381,1.381,1.381,1.376,1.374,1.376,1.376,1.38,1.384,1.388,1.403,1.423,1.424,1.476,1.632,1.693,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 76.95} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 76.9453} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.8354} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.8768}
SEN {Time 76.9834} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,0,0,4.009,4.009,4.009,4.029,4.034,4.053,4.06,4.071,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.159,0.154,0.151,0.151,0.151,0.151,0.151,0.153,0.153,0.153,0.156,0.163,0.163,0.248,3.46,3.46,3.46,3.437,3.423,3.423,3.392,3.286,0.16,0.159,0.159,0.159,0.159,0.157,0.159,0.165,3.164,3.164,3.164,3.158,3.149,3.127,3.12,3.103,3.08,3.078,3.06,3.049,3.034,3.031,3.023,3,2.996,2.981,2.968,2.956,2.947,2.929,2.927,2.915,2.911,2.902,2.898,2.882,2.868,2.855,2.85,2.846,2.836,2.817,2.814,1.225,1.219,1.216,1.216,1.207,1.207,1.207,1.246,2.723,2.723,2.723,2.71,2.698,2.696,2.696,2.683,2.682,2.677,2.676,2.653,2.651,2.647,2.646,2.637,2.627,2.621,2.618,2.617,2.613,2.606,2.601,2.592,2.592,2.592,2.586,2.579,2.578,2.564,2.564,2.563,2.558,2.552,2.548,2.541,2.541,2.532,2.53,2.527,2.522,2.519,2.518,2.512,2.509,2.509,2.503,2.501,2.501,2.5,2.497,2.495,2.493,2.493,2.493,2.49,2.49,2.485,2.484,2.485,2.484,2.479,2.479,2.48,2.475,2.475,2.473,2.472,2.472,2.472,2.473,2.475,2.479,2.479,2.479,2.479,2.48,2.48,2.482,2.482,2.48,2.482,2.482,2.482,2.485,2.493,2.495,2.495,2.5,2.498,2.498,2.5,2.507,2.509,2.509,2.509,2.52,2.52,2.505,1.136,1.136,1.136,1.144,1.145,1.152,1.16,2.557,2.574,2.574,2.574,2.574,2.574,2.575,2.585,2.587,2.591,2.6,2.602,2.611,2.618,2.623,2.627,2.635,2.636,2.642,2.642,2.656,2.657,2.669,2.675,2.678,2.68,2.684,2.703,2.706,2.713,2.72,2.724,2.725,2.736,2.748,2.753,2.762,2.765,2.776,2.782,2.791,2.801,2.807,2.819,2.831,2.833,2.859,2.86,2.867,2.878,2.892,2.908,2.909,2.924,2.933,2.941,2.958,2.964,2.976,3.003,3.009,3.019,3.019,3.046,3.052,3.058,3.069,3.09,3.105,3.122,3.124,3.146,3.16,3.175,3.186,3.192,3.226,3.242,3.247,3.268,3.295,3.305,3.329,3.336,3.357,3.366,3.389,3.412,3.437,3.446,3.469,3.484,3.504,3.53,3.549,3.571,3.599,3.617,3.631,3.662,3.699,3.711,3.741,3.766,3.799,3.814,3.855,3.876,3.911,3.942,3.985,4.009,4.042,4.062,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0.007,0,3.947,3.283,3.261,3.248,3.24,3.224,3.208,3.198,3.194,3.177,3.175,3.16,3.147,3.142,3.135,3.121,3.118,3.101,3.1,3.081,3.079,3.067,3.067,3.057,3.054,3.047,3.034,3.032,3.031,3.025,3.019,3.019,3.014,3.003,2.996,2.985,2.984,2.973,2.972,2.961,2.958,2.954,2.947,2.944,2.943,2.937,2.93,2.925,2.92,2.914,2.913,2.908,2.908,2.907,2.9,2.899,2.895,2.895,2.887,2.885,2.885,2.887,2.891,2.891,2.891,2.873,2.871,2.871,2.87,2.87,2.867,2.867,2.862,2.862,2.862,2.86,2.862,2.862,2.859,2.859,2.855,2.855,2.855,2.858,2.858,2.858,2.856,2.855,2.854,2.854,2.854,2.854,2.855,2.86,2.862,2.865,2.868,2.868,2.868,2.87,2.876,2.877,2.881,2.883,2.883,2.883,2.887,2.89,2.893,2.894,2.9,2.904,2.907,2.907,2.909,2.922,2.924,2.924,2.925,2.925,2.926,2.933,2.934,2.943,2.945,2.948,2.959,2.961,2.968,2.968,2.968,2.968,2.97,2.97,2.97,2.982,2.992,2.994,3,3.001,3.016,3.017,3.023,3.035,3.036,3.046,3.05,3.05,3.053,3.065,3.082,3.098,3.103,3.106,3.106,3.112,3.121,3.136,3.136,3.14,3.147,3.665,3.682,3.686,3.69,3.705,3.713,3.729,3.737,3.747,3.762,3.768,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.077,4.031,4.031,3.955,3.928,3.882,3.86,3.814,3.795,3.75,3.733,3.711,3.666,3.647,3.616,3.616,3.61,3.61,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.423,1.407,1.407,1.407,1.407,1.407,1.408,1.402,1.4,1.396,1.395,1.394,1.394,1.394,1.391,1.391,1.38,1.38,1.38,1.38,1.38,1.376,1.376,1.376,1.376,1.388,1.389,1.397,1.417,1.428,1.475,1.552,1.625,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.14} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 77.1384} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.54} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.8354} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 4.8768}
SEN {Time 77.1835} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.213,0.213,0,0,0,0,0,0,0,0,0,4.012,4.012,4.012,4.029,4.032,4.045,4.076,4.078,4.084,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0.159,0.153,0.149,0.149,0.146,0.146,0.146,0.15,0.146,0.15,0.15,0.15,0.15,0.246,3.457,3.457,3.457,3.457,3.457,0,0,0,0.163,0.163,0.155,0.163,0.163,0.155,0.155,0.166,3.164,3.164,3.164,3.151,3.148,3.13,3.101,3.096,3.088,3.075,3.061,3.058,3.03,3.028,3.014,2.995,2.987,2.977,2.967,2.963,2.948,2.934,2.929,2.917,2.911,2.9,2.89,2.881,2.864,2.862,2.842,2.839,2.829,2.823,2.817,1.23,1.22,1.219,1.219,1.215,1.215,1.215,1.24,2.724,2.724,2.724,2.712,2.712,2.698,2.697,2.692,2.676,2.673,2.673,2.661,2.655,2.65,2.649,2.647,2.629,2.626,2.619,2.617,2.617,2.608,2.606,2.601,2.596,2.594,2.589,2.581,2.579,2.572,2.571,2.564,2.564,2.56,2.548,2.542,2.542,2.536,2.531,2.531,2.531,2.529,2.52,2.52,2.517,2.515,2.512,2.504,2.502,2.5,2.498,2.498,2.498,2.493,2.493,2.489,2.489,2.485,2.482,2.482,2.48,2.48,2.477,2.477,2.477,2.477,2.476,2.476,2.476,2.477,2.477,2.477,2.478,2.479,2.48,2.479,2.478,2.479,2.482,2.485,2.488,2.488,2.488,2.493,2.494,2.494,2.494,2.494,2.499,2.499,2.499,2.499,2.505,2.509,2.513,2.515,2.521,2.521,2.521,1.144,1.144,1.139,1.144,1.147,1.155,1.155,2.554,2.562,2.563,2.563,2.571,2.572,2.574,2.584,2.589,2.589,2.589,2.601,2.608,2.613,2.615,2.617,2.63,2.632,2.637,2.643,2.647,2.649,2.668,2.669,2.673,2.676,2.687,2.697,2.699,2.699,2.719,2.73,2.733,2.744,2.751,2.753,2.763,2.763,2.781,2.788,2.79,2.814,2.819,2.822,2.826,2.845,2.854,2.862,2.862,2.872,2.893,2.907,2.916,2.924,2.939,2.94,2.955,2.977,3.001,3.015,3.015,3.016,3.029,3.037,3.048,3.069,3.073,3.098,3.098,3.116,3.124,3.146,3.15,3.173,3.181,3.205,3.225,3.235,3.238,3.272,3.293,3.306,3.318,3.329,3.357,3.372,3.398,3.411,3.433,3.441,3.464,3.488,3.505,3.531,3.549,3.576,3.585,3.611,3.635,3.661,3.688,3.715,3.752,3.77,3.786,3.816,3.849,3.875,3.915,3.928,3.975,4.024,4.047,4.065,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0,0,0,0,0,0,3.907,3.274,3.258,3.247,3.236,3.228,3.211,3.197,3.196,3.18,3.175,3.163,3.147,3.141,3.136,3.13,3.112,3.108,3.103,3.084,3.082,3.074,3.068,3.057,3.053,3.042,3.035,3.032,3.029,3.015,3.015,3.015,3.012,2.998,2.987,2.985,2.98,2.969,2.968,2.964,2.957,2.956,2.953,2.948,2.943,2.941,2.93,2.921,2.921,2.918,2.912,2.911,2.911,2.909,2.907,2.906,2.904,2.903,2.885,2.88,2.88,2.885,2.889,2.889,2.889,2.871,2.867,2.867,2.867,2.864,2.864,2.86,2.86,2.857,2.854,2.854,2.864,2.854,2.853,2.856,2.853,2.853,2.853,2.855,2.851,2.855,2.849,2.856,2.855,2.855,2.854,2.855,2.855,2.864,2.864,2.864,2.864,2.864,2.864,2.865,2.865,2.875,2.876,2.88,2.881,2.881,2.883,2.883,2.885,2.894,2.898,2.901,2.901,2.904,2.911,2.923,2.923,2.925,2.925,2.929,2.932,2.935,2.935,2.937,2.947,2.956,2.956,2.962,2.964,2.964,2.964,2.976,2.978,2.978,2.981,2.983,2.984,2.988,3.007,3.007,3.016,3.022,3.03,3.032,3.036,3.036,3.037,3.037,3.059,3.07,3.091,3.093,3.103,3.103,3.106,3.114,3.124,3.127,3.127,3.128,3.141,3.657,3.68,3.686,3.687,3.704,3.708,3.725,3.736,3.75,3.772,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,3.924,3.861,3.857,3.812,3.793,3.753,3.729,3.706,3.665,3.655,3.63,3.63,3.602,3.602,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.422,1.406,1.406,1.406,1.406,1.406,1.406,1.397,1.394,1.394,1.394,1.394,1.394,1.379,1.379,1.379,1.379,1.38,1.385,1.38,1.377,1.372,1.372,1.372,1.372,1.377,1.38,1.398,1.419,1.424,1.462,1.56,1.611,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.34} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.930260}
SEN {Time 77.3403} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.54} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 5.1816}
SEN {Time 77.3834} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.212,0.212,0,0,0,0,0,0,0,0,0,4.012,4.012,4.012,4.019,4.036,4.05,4.074,4.075,4.089,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.156,0.153,0.153,0.15,0.156,0.144,0.144,0.144,0.153,0.153,0.153,0.154,0.154,0.158,0.237,3.457,3.457,3.464,0,0,0.006,0.006,0.006,0.16,0.16,0.16,0.16,0.161,0.161,0.161,0.161,3.169,3.169,3.169,3.155,3.145,3.125,3.111,3.103,3.079,3.068,3.062,3.053,3.034,3.032,3.02,3.006,2.992,2.982,2.966,2.959,2.948,2.934,2.926,2.911,2.911,2.901,2.896,2.877,2.867,2.852,2.851,2.847,2.83,2.821,2.814,1.223,1.223,1.218,1.208,1.204,1.208,1.208,1.247,2.737,2.737,2.737,2.711,2.708,2.702,2.697,2.697,2.678,2.674,2.672,2.662,2.66,2.658,2.645,2.644,2.634,2.634,2.624,2.622,2.613,2.604,2.603,2.599,2.598,2.596,2.591,2.582,2.578,2.573,2.569,2.569,2.558,2.552,2.552,2.544,2.537,2.537,2.533,2.531,2.531,2.521,2.521,2.521,2.518,2.513,2.503,2.503,2.503,2.495,2.494,2.494,2.491,2.489,2.485,2.485,2.485,2.482,2.479,2.478,2.479,2.479,2.479,2.479,2.479,2.477,2.477,2.476,2.476,2.476,2.476,2.477,2.477,2.476,2.476,2.477,2.479,2.481,2.481,2.487,2.487,2.484,2.484,2.487,2.487,2.489,2.493,2.494,2.495,2.496,2.498,2.498,2.501,2.505,2.516,2.517,2.519,2.519,2.519,1.142,1.142,1.142,1.142,1.151,1.155,1.157,2.554,2.564,2.565,2.565,2.58,2.583,2.583,2.586,2.59,2.591,2.596,2.601,2.602,2.615,2.619,2.625,2.628,2.629,2.636,2.648,2.65,2.655,2.662,2.673,2.677,2.682,2.684,2.699,2.709,2.709,2.715,2.716,2.729,2.735,2.741,2.753,2.764,2.774,2.78,2.789,2.797,2.803,2.818,2.824,2.85,2.852,2.852,2.86,2.87,2.887,2.888,2.898,2.911,2.912,2.935,2.95,2.952,2.969,2.979,2.987,3.008,3.018,3.021,3.034,3.047,3.061,3.073,3.091,3.109,3.119,3.127,3.151,3.156,3.166,3.193,3.195,3.225,3.236,3.243,3.277,3.29,3.309,3.313,3.337,3.358,3.379,3.398,3.415,3.432,3.447,3.462,3.491,3.502,3.518,3.553,3.576,3.581,3.612,3.642,3.652,3.683,3.699,3.732,3.757,3.786,3.815,3.849,3.865,3.905,3.936,3.98,4.017,4.036,4.061,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.273,3.256,3.243,3.235,3.22,3.206,3.203,3.189,3.181,3.168,3.154,3.153,3.135,3.133,3.123,3.111,3.102,3.101,3.084,3.08,3.075,3.066,3.059,3.05,3.043,3.038,3.034,3.029,3.022,3.018,3.014,3.003,2.998,2.992,2.987,2.984,2.982,2.97,2.965,2.957,2.957,2.957,2.952,2.943,2.928,2.925,2.922,2.922,2.919,2.913,2.909,2.909,2.908,2.904,2.904,2.902,2.902,2.886,2.881,2.881,2.886,2.896,2.896,2.896,2.874,2.872,2.867,2.865,2.863,2.863,2.863,2.863,2.856,2.856,2.856,2.856,2.856,2.855,2.855,2.855,2.851,2.851,2.851,2.851,2.851,2.851,2.851,2.851,2.852,2.856,2.856,2.859,2.861,2.861,2.861,2.861,2.865,2.866,2.865,2.866,2.873,2.877,2.882,2.882,2.882,2.882,2.889,2.891,2.894,2.896,2.901,2.905,2.905,2.905,2.917,2.921,2.927,2.929,2.93,2.931,2.936,2.938,2.944,2.952,2.954,2.955,2.958,2.969,2.969,2.971,2.971,2.971,2.972,2.984,2.985,2.989,2.998,3.004,3.008,3.012,3.018,3.018,3.036,3.039,3.039,3.039,3.043,3.053,3.061,3.084,3.095,3.1,3.1,3.1,3.117,3.119,3.119,3.119,3.139,3.142,3.664,3.67,3.682,3.687,3.698,3.705,3.719,3.722,3.743,3.766,3.777,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,3.909,3.839,3.81,3.799,3.755,3.731,3.701,3.687,3.654,3.626,3.626,3.603,3.603,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.414,1.412,1.408,1.408,1.404,1.402,1.4,1.4,1.396,1.393,1.393,1.389,1.388,1.388,1.379,1.379,1.378,1.379,1.378,1.378,1.377,1.377,1.373,1.377,1.377,1.384,1.394,1.395,1.422,1.426,1.473,1.55,1.616,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 77.63} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.932006}
SEN {Time 77.6313} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 5.1816}
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SEN {Time 77.84} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,0.989602}
SEN {Time 77.8433} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.7432} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.048} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.7752}
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SEN {Time 78.04} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,1.040216}
SEN {Time 78.0382} {Type Sonar} {Name Sonar0 Range 3.4036} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 3.7592} {Name Sonar3 Range 3.6576} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4638} {Name Sonar11 Range 0.127} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 2.3368} {Name Sonar14 Range 1.3208} {Name Sonar15 Range 4.7752}
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SEN {Time 78.69} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,1.235693}
SEN {Time 78.692} {Type Sonar} {Name Sonar0 Range 3.429} {Name Sonar1 Range 2.667} {Name Sonar2 Range 2.9718} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 1.3716} {Name Sonar5 Range 2.1082} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.1242} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 2.413} {Name Sonar15 Range 4.0132}
SEN {Time 78.7794} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,3.648,3.612,3.607,3.579,3.554,3.534,3.515,3.485,3.459,3.443,3.431,3.397,3.375,3.371,3.335,3.333,3.31,3.291,3.265,3.263,3.245,3.222,3.204,3.201,3.177,3.154,3.148,3.13,3.129,3.116,3.096,3.087,3.07,3.069,3.039,3.034,3.017,3.017,3.015,3.015,0.149,0.149,0.149,0.149,0.151,0.156,0.159,0.159,0.159,0.159,0.157,0.155,0.157,0.159,1.246,1.246,1.248,1.246,1.245,1.245,1.239,1.236,0.172,0.166,0.163,0.16,0.159,0.159,0.159,0.159,0.161,2.71,2.71,2.71,2.71,2.707,2.687,2.68,2.677,2.675,2.671,2.657,2.652,2.65,2.648,2.645,2.635,2.629,2.621,2.615,2.612,2.61,2.607,2.607,2.601,2.599,2.598,2.594,2.585,2.576,2.573,2.569,2.569,2.567,2.564,2.564,2.562,2.559,2.556,2.555,2.547,2.547,2.546,2.546,2.546,2.537,2.532,2.529,2.525,2.525,2.522,2.519,2.519,2.522,2.522,2.522,2.522,2.522,2.522,2.52,2.518,2.52,2.52,2.521,2.521,2.524,2.524,2.525,2.53,2.53,2.528,2.53,2.528,2.523,2.523,2.532,2.527,2.532,2.533,2.533,2.533,2.533,2.536,2.536,2.544,2.541,2.549,2.549,2.541,1.167,1.165,1.163,1.165,1.167,1.173,2.569,2.574,2.574,2.574,2.585,2.587,2.587,2.595,2.597,2.599,2.599,2.608,2.612,2.628,2.632,2.633,2.647,2.65,2.654,2.658,2.666,2.675,2.676,2.686,2.689,2.69,2.695,2.71,2.714,2.717,2.727,2.728,2.739,2.752,2.756,2.758,2.766,2.781,2.786,2.799,2.805,2.806,2.827,2.842,2.844,2.859,2.866,2.874,2.895,2.897,2.906,2.909,2.923,2.939,2.946,2.956,2.964,2.985,2.985,2.999,3.003,3.017,3.035,3.047,3.05,3.065,3.076,3.084,3.108,3.118,3.129,3.141,3.161,3.169,3.192,3.204,3.217,3.233,3.248,3.263,3.275,3.301,3.31,3.311,3.335,3.361,3.378,3.39,3.407,3.431,3.449,3.468,3.49,3.498,3.525,3.549,3.577,3.596,3.613,3.63,3.666,3.676,3.713,3.734,3.759,3.771,3.812,3.833,3.874,3.891,3.929,3.967,3.997,4.016,4.052,4.089,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.22,3.199,3.187,3.181,3.163,3.162,3.156,3.142,3.135,3.132,3.107,3.105,3.104,3.1,3.086,3.073,3.068,3.057,3.05,3.048,3.03,3.03,3.021,3.017,3.012,2.997,2.994,2.993,2.982,2.974,2.973,2.96,2.954,2.952,2.947,2.941,2.94,2.933,2.932,2.925,2.919,2.918,2.913,2.902,2.901,2.899,2.891,2.891,2.891,2.891,2.89,2.882,2.873,2.869,2.869,2.869,2.878,2.878,2.878,2.861,2.853,2.849,2.848,2.844,2.844,2.844,2.844,2.844,2.844,2.844,2.844,2.841,2.839,2.841,2.841,2.838,2.838,2.838,2.838,2.838,2.838,2.837,2.837,2.837,2.837,2.835,2.834,2.834,2.837,2.837,2.842,2.844,2.848,2.852,2.854,2.855,2.859,2.859,2.859,2.864,2.864,2.864,2.87,2.878,2.88,2.884,2.88,2.88,2.884,2.887,2.892,2.896,2.902,2.906,2.906,2.906,2.911,2.927,2.933,2.936,2.942,2.942,2.942,2.942,2.945,2.947,2.947,2.951,2.957,2.958,2.967,2.968,2.971,2.981,2.986,2.996,3.001,3.002,3.002,3.002,3.01,3.025,3.025,3.044,3.051,3.064,3.064,3.067,3.073,3.083,3.084,3.093,3.103,3.103,3.111,3.63,3.63,3.646,3.655,3.673,3.674,3.678,3.691,3.712,3.734,3.738,3.753,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.879,3.795,3.758,3.729,3.709,3.677,3.651,3.631,3.605,3.569,3.553,3.553,3.553,3.565,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,1.375,1.366,1.364,1.362,1.352,1.35,1.349,1.349,1.349,1.342,1.342,1.342,1.337,1.335,1.328,1.328,1.327,1.326,1.326,1.326,1.326,1.328,1.328,1.332,1.333,1.346,1.359,1.377,1.395,1.397,1.479,1.556,1.621,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 78.94} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,1.302016}
SEN {Time 78.9401} {Type Sonar} {Name Sonar0 Range 2.8194} {Name Sonar1 Range 2.667} {Name Sonar2 Range 2.9718} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.1082} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.1242} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 0.9906} {Name Sonar14 Range 2.413} {Name Sonar15 Range 3.429}
SEN {Time 78.9754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,3.495,3.461,3.452,3.427,3.415,3.395,3.379,3.362,3.347,3.319,3.313,3.291,3.27,3.243,3.232,3.22,3.201,3.182,3.167,3.158,3.147,3.138,3.114,3.113,3.088,3.074,3.073,3.057,3.041,3.036,3.022,3.011,3,2.993,2.985,2.974,2.958,2.942,2.942,2.935,2.935,2.935,0.149,0.149,0.149,0.149,0.153,0.153,0.149,0.153,0.151,0.151,0.153,0.155,0.156,2.787,2.787,2.787,2.763,2.763,2.762,2.762,2.76,0.157,0.156,0.157,0.156,0.157,0.162,0.162,0.162,0.163,2.675,2.675,2.675,2.675,2.662,2.644,2.642,2.642,2.64,2.631,2.629,2.627,2.62,2.613,2.611,2.611,2.604,2.599,2.595,2.593,2.587,2.585,2.585,2.579,2.573,2.572,2.565,2.562,2.564,2.556,2.556,2.551,2.551,2.55,2.548,2.548,2.548,2.545,2.535,2.536,2.536,2.532,2.536,2.536,2.528,2.528,2.525,2.525,2.525,2.524,2.524,2.525,2.524,2.52,2.519,2.52,2.52,2.522,2.528,2.528,2.529,2.529,2.532,2.529,2.528,2.528,2.538,2.534,2.539,2.541,2.544,2.544,2.545,2.548,2.55,2.548,2.553,2.556,2.556,2.541,1.172,1.172,1.172,1.18,1.18,2.583,2.586,2.587,2.587,2.59,2.593,2.599,2.602,2.603,2.606,2.617,2.621,2.625,2.625,2.635,2.638,2.645,2.645,2.665,2.666,2.667,2.669,2.684,2.685,2.689,2.691,2.704,2.709,2.718,2.722,2.73,2.74,2.747,2.752,2.754,2.775,2.776,2.787,2.797,2.8,2.805,2.823,2.828,2.835,2.839,2.86,2.861,2.881,2.883,2.899,2.909,2.912,2.931,2.937,2.952,2.96,2.968,2.982,2.989,3.005,3.013,3.016,3.038,3.048,3.059,3.072,3.083,3.094,3.105,3.119,3.133,3.148,3.16,3.173,3.193,3.2,3.216,3.233,3.246,3.258,3.285,3.285,3.317,3.329,3.343,3.35,3.391,3.397,3.42,3.431,3.454,3.48,3.492,3.5,3.526,3.548,3.571,3.595,3.612,3.631,3.659,3.685,3.714,3.728,3.766,3.788,3.802,3.847,3.862,3.901,3.921,3.964,3.999,4.018,4.052,4.095,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.205,3.195,3.179,3.171,3.159,3.151,3.145,3.14,3.12,3.118,3.107,3.102,3.091,3.078,3.071,3.068,3.056,3.049,3.042,3.036,3.03,3.029,3.016,3.007,3.003,2.994,2.99,2.976,2.974,2.97,2.967,2.967,2.959,2.939,2.937,2.936,2.935,2.926,2.917,2.916,2.91,2.91,2.902,2.901,2.892,2.886,2.88,2.88,2.878,2.878,2.878,2.877,2.877,2.877,2.877,2.877,2.877,2.877,2.855,2.855,2.855,2.855,2.852,2.852,2.846,2.845,2.845,2.844,2.84,2.836,2.836,2.835,2.835,2.835,2.835,2.834,2.834,2.836,2.836,2.837,2.838,2.838,2.839,2.838,2.836,2.836,2.836,2.836,2.839,2.844,2.848,2.849,2.853,2.853,2.853,2.855,2.855,2.855,2.856,2.857,2.864,2.864,2.87,2.872,2.875,2.877,2.88,2.881,2.882,2.89,2.896,2.897,2.911,2.912,2.912,2.913,2.913,2.915,2.922,2.935,2.94,2.94,2.94,2.94,2.947,2.947,2.948,2.957,2.959,2.967,2.968,2.975,2.98,2.99,2.993,2.997,2.997,2.997,3.013,3.014,3.015,3.033,3.046,3.047,3.054,3.066,3.067,3.067,3.069,3.085,3.089,3.097,3.112,3.114,3.604,3.631,3.646,3.654,3.657,3.665,3.692,3.695,3.704,3.729,3.731,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.776,3.709,3.698,3.662,3.633,3.612,3.586,3.586,3.563,3.563,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,1.35,1.345,1.345,1.34,1.34,1.331,1.331,1.331,1.331,1.332,1.332,1.332,1.327,1.327,1.312,1.318,1.312,1.311,1.311,1.318,1.324,1.33,1.333,1.357,1.372,1.374,1.416,1.482,1.569,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 79.13} {Type Odometry} {Name Odometry} {Pose 0.005471,1.004656,1.359611}
SEN {Time 79.1351} {Type Sonar} {Name Sonar0 Range 2.8194} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.9022} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.1242} {Name Sonar11 Range 2.9972} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 2.413} {Name Sonar15 Range 3.429}
SEN {Time 79.1754} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,3.323,3.296,3.289,3.264,3.256,3.236,3.21,3.202,3.194,3.172,3.156,3.145,3.131,3.117,3.103,3.088,3.082,3.067,3.053,3.04,3.026,3.007,3.005,2.991,2.983,2.978,2.96,2.949,2.945,2.94,2.927,2.918,2.907,2.906,2.898,2.887,2.874,2.848,1.261,1.261,1.255,1.232,0.163,0.154,0.152,0.152,0.154,0.151,0.152,0.152,0.152,0.147,0.147,0.147,0.156,2.735,2.735,2.735,2.723,2.723,2.714,2.723,2.711,0.159,0.159,0.159,0.158,0.158,0.162,0.158,0.162,0.167,2.641,2.641,2.641,2.632,2.62,2.619,2.608,2.604,2.603,2.602,2.598,2.594,2.591,2.59,2.586,2.578,2.572,2.572,2.564,2.562,2.562,2.562,2.562,2.562,2.562,2.561,2.552,2.552,2.551,2.546,2.543,2.542,2.542,2.541,2.541,2.54,2.537,2.537,2.537,2.534,2.536,2.534,2.535,2.532,2.535,2.535,2.535,2.536,2.536,2.536,2.536,2.536,2.54,2.534,2.542,2.542,2.542,2.541,2.545,2.544,2.545,2.545,2.55,2.56,2.56,2.56,2.563,2.56,2.551,1.182,1.18,1.18,1.182,1.185,1.188,2.584,2.59,2.597,2.597,2.6,2.605,2.605,2.605,2.608,2.618,2.629,2.633,2.637,2.64,2.64,2.647,2.647,2.654,2.675,2.675,2.676,2.679,2.687,2.693,2.701,2.71,2.71,2.722,2.723,2.734,2.735,2.751,2.752,2.752,2.766,2.769,2.78,2.789,2.798,2.801,2.822,2.823,2.828,2.835,2.855,2.86,2.866,2.885,2.885,2.885,2.902,2.914,2.933,2.939,2.944,2.96,2.972,2.983,2.987,2.999,3.017,3.026,3.046,3.048,3.069,3.075,3.094,3.115,3.117,3.132,3.145,3.154,3.176,3.182,3.199,3.209,3.231,3.234,3.258,3.259,3.281,3.308,3.315,3.327,3.345,3.355,3.376,3.401,3.419,3.442,3.449,3.48,3.491,3.527,3.55,3.564,3.569,3.594,3.623,3.653,3.657,3.694,3.716,3.736,3.762,3.793,3.81,3.842,3.871,3.903,3.932,3.963,3.992,4.028,4.055,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.218,3.208,3.187,3.181,3.173,3.172,3.157,3.142,3.131,3.111,3.111,3.108,3.096,3.091,3.076,3.073,3.064,3.052,3.051,3.047,3.025,3.021,3.019,3.011,3.008,3.003,2.989,2.989,2.981,2.977,2.965,2.958,2.955,2.952,2.948,2.942,2.934,2.932,2.926,2.92,2.919,2.913,2.904,2.9,2.89,2.889,2.889,2.886,2.88,2.877,2.874,2.865,2.864,2.865,2.865,2.868,2.868,2.868,2.857,2.855,2.85,2.849,2.843,2.842,2.842,2.841,2.84,2.841,2.84,2.84,2.839,2.839,2.839,2.84,2.839,2.832,2.834,2.834,2.832,2.832,2.827,2.823,2.823,2.827,2.827,2.827,2.829,2.829,2.83,2.832,2.832,2.838,2.842,2.844,2.844,2.844,2.844,2.851,2.854,2.855,2.856,2.86,2.86,2.863,2.863,2.87,2.872,2.872,2.874,2.874,2.885,2.888,2.896,2.896,2.902,2.904,2.911,2.913,2.918,2.92,2.922,2.933,2.934,2.934,2.937,2.944,2.944,2.944,2.944,2.955,2.957,2.966,2.97,2.973,2.979,2.987,2.988,2.989,2.989,3.007,3.008,3.021,3.025,3.033,3.041,3.051,3.053,3.06,3.06,3.078,3.082,3.082,3.092,3.099,3.106,3.597,3.641,3.652,3.652,3.659,3.667,3.669,3.682,3.7,3.712,3.718,3.746,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0.007,0.009,0.007,0.009,3.769,3.696,3.663,3.629,3.619,3.591,3.568,3.541,3.541,3.541,0.016,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,1.355,1.355,1.355,1.345,1.351,1.357,1.351,1.348,1.348,1.343,1.343,1.342,1.342,1.335,1.324,1.316,1.316,1.314,1.314,1.314,1.312,1.311,1.312,1.317,1.314,1.318,1.325,1.332,1.332,1.358,1.374,1.376,1.416,1.497,1.579,1.625,0.016,0.016,0.016,0,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 79.33} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.420698}
SEN {Time 79.3301} {Type Sonar} {Name Sonar0 Range 2.8194} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.9022} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 3.429}
SEN {Time 79.3725} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,3.175,3.166,3.139,3.125,3.113,3.112,3.103,3.084,3.069,3.064,3.044,3.036,3.023,3.011,3.001,2.993,2.984,2.968,2.958,2.945,2.934,2.929,2.922,2.908,2.902,2.897,2.897,2.884,2.867,1.281,1.272,1.271,1.269,1.269,1.269,1.291,2.789,2.789,2.789,2.789,2.788,2.783,0.148,0.148,0.148,0.148,0.149,0.154,0.149,0.149,0.149,0.145,0.145,0.142,0.142,0.145,2.681,2.681,2.681,2.68,2.68,2.68,2.68,2.673,0.162,0.159,0.154,0.154,0.153,0.154,0.153,0.153,0.16,2.603,2.603,2.603,2.603,2.587,2.587,2.577,2.577,2.577,2.568,2.567,2.567,2.567,2.568,2.567,2.564,2.565,2.564,2.56,2.554,2.554,2.551,2.551,2.551,2.55,2.547,2.549,2.544,2.544,2.541,2.544,2.544,2.544,2.541,2.544,2.547,2.547,2.548,2.548,2.548,2.55,2.548,2.549,2.549,2.549,2.549,2.55,2.551,2.553,2.555,2.555,2.555,2.555,2.555,2.561,2.561,2.569,2.569,2.561,1.193,1.193,1.187,1.193,1.193,2.598,2.601,2.609,2.609,2.623,2.624,2.626,2.626,2.627,2.631,2.641,2.645,2.648,2.65,2.652,2.655,2.655,2.658,2.66,2.672,2.687,2.695,2.696,2.698,2.702,2.713,2.716,2.716,2.732,2.738,2.745,2.75,2.753,2.758,2.771,2.772,2.789,2.796,2.801,2.803,2.808,2.826,2.836,2.839,2.851,2.859,2.862,2.878,2.887,2.897,2.911,2.921,2.929,2.933,2.951,2.956,2.967,2.975,2.994,2.996,3.003,3.022,3.039,3.056,3.061,3.078,3.082,3.089,3.106,3.13,3.14,3.148,3.163,3.182,3.193,3.209,3.218,3.242,3.252,3.275,3.285,3.31,3.323,3.328,3.354,3.366,3.378,3.407,3.409,3.442,3.442,3.474,3.502,3.516,3.518,3.561,3.586,3.598,3.624,3.648,3.667,3.699,3.719,3.742,3.763,3.797,3.811,3.841,3.87,3.892,3.923,3.944,4,4.011,4.048,4.076,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.212,3.202,3.18,3.17,3.165,3.15,3.14,3.139,3.134,3.131,3.112,3.112,3.091,3.09,3.078,3.077,3.069,3.046,3.041,3.035,3.035,3.024,3.023,3.017,3,2.999,2.992,2.992,2.974,2.964,2.961,2.96,2.954,2.943,2.943,2.941,2.929,2.924,2.923,2.913,2.913,2.908,2.907,2.905,2.895,2.893,2.885,2.883,2.882,2.878,2.872,2.872,2.864,2.864,2.872,2.859,2.859,2.858,2.848,2.848,2.848,2.842,2.843,2.843,2.843,2.838,2.838,2.838,2.838,2.838,2.838,2.835,2.835,2.828,2.828,2.828,2.828,2.827,2.827,2.827,2.827,2.827,2.827,2.826,2.826,2.831,2.833,2.833,2.833,2.833,2.832,2.832,2.832,2.839,2.845,2.845,2.846,2.848,2.849,2.851,2.853,2.855,2.857,2.858,2.861,2.863,2.868,2.874,2.879,2.881,2.884,2.89,2.892,2.895,2.903,2.903,2.903,2.908,2.916,2.923,2.93,2.931,2.931,2.931,2.937,2.941,2.939,2.944,2.947,2.947,2.961,2.966,2.978,2.981,2.985,2.985,2.987,2.987,2.999,3.016,3.016,3.017,3.024,3.031,3.045,3.045,3.054,3.067,3.067,3.07,3.073,3.082,3.082,3.084,3.1,3.623,3.627,3.638,3.642,3.653,3.666,3.679,3.695,3.7,3.712,3.73,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0.009,0.007,0.009,0.007,3.761,3.709,3.668,3.655,3.626,3.591,3.581,3.548,3.537,3.537,3.537,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,1.348,1.348,1.337,1.337,1.335,1.335,1.335,1.335,1.335,1.335,1.331,1.331,1.331,1.32,1.318,1.318,1.309,1.309,1.308,1.306,1.303,1.303,1.303,1.302,1.302,1.303,1.307,1.311,1.328,1.34,1.365,1.376,1.399,1.491,1.576,1.633,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 79.53} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.481785}
SEN {Time 79.5329} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.9022} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 3.175}
SEN {Time 79.575} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,3.068,3.05,3.042,3.023,3.012,3.005,2.995,2.989,2.983,2.983,2.96,2.956,2.944,2.925,2.924,2.915,2.903,2.891,2.884,2.868,1.287,1.287,1.287,1.28,1.28,1.288,1.288,2.805,0.007,2.805,2.787,2.785,2.772,2.764,2.759,2.757,2.755,2.74,2.738,2.737,2.737,2.73,2.726,0.154,0.148,0.148,0.148,0.154,0.146,0.146,0.146,0.149,0.146,0.149,0.149,0.153,0.153,2.654,2.654,2.654,2.644,2.644,2.644,2.646,2.646,2.646,0.167,0.161,0.157,0.157,0.157,0.154,0.154,0.164,2.583,2.592,2.592,2.583,2.58,2.573,2.571,2.561,2.56,2.561,2.56,2.559,2.556,2.556,2.556,2.556,2.551,2.551,2.55,2.548,2.548,2.548,2.549,2.549,2.553,2.553,2.553,2.55,2.553,2.553,2.553,2.553,2.554,2.554,2.554,2.554,2.557,2.562,2.568,2.565,2.565,2.563,2.565,2.563,2.563,2.583,2.583,2.561,1.19,1.185,1.184,1.185,1.187,1.187,2.598,2.606,2.623,2.623,2.623,2.625,2.626,2.627,2.635,2.641,2.644,2.647,2.659,2.66,2.67,2.673,2.674,2.677,2.684,2.688,2.693,2.698,2.699,2.701,2.715,2.722,2.725,2.736,2.737,2.741,2.751,2.756,2.765,2.774,2.778,2.783,2.796,2.796,2.806,2.823,2.825,2.832,2.833,2.846,2.847,2.866,2.875,2.888,2.891,2.901,2.909,2.918,2.936,2.938,2.953,2.955,2.961,2.988,3,3.004,3.016,3.034,3.042,3.043,3.061,3.074,3.087,3.102,3.119,3.132,3.135,3.15,3.173,3.177,3.197,3.208,3.224,3.24,3.249,3.269,3.286,3.303,3.312,3.334,3.361,3.377,3.393,3.403,3.429,3.448,3.467,3.474,3.503,3.514,3.544,3.577,3.586,3.594,3.616,3.652,3.664,3.691,3.717,3.739,3.756,3.784,3.822,3.839,3.875,3.907,3.928,3.967,3.99,4.012,4.067,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.205,3.199,3.19,3.178,3.173,3.153,3.151,3.139,3.128,3.116,3.114,3.099,3.092,3.083,3.078,3.063,3.06,3.052,3.048,3.046,3.024,3.023,3.015,3.013,3.006,3.004,2.997,2.981,2.978,2.973,2.965,2.965,2.954,2.954,2.953,2.945,2.929,2.925,2.92,2.914,2.911,2.906,2.9,2.9,2.889,2.888,2.888,2.884,2.877,2.876,2.873,2.87,2.867,2.867,2.867,2.87,2.864,2.859,2.854,2.853,2.848,2.847,2.843,2.843,2.84,2.836,2.836,2.834,2.836,2.834,2.822,2.822,2.833,2.83,2.83,2.83,2.828,2.828,2.82,2.828,2.828,2.821,2.821,2.821,2.821,2.827,2.827,2.832,2.832,2.832,2.84,2.84,2.839,2.842,2.843,2.844,2.844,2.847,2.848,2.848,2.849,2.853,2.856,2.856,2.859,2.86,2.872,2.873,2.873,2.881,2.883,2.887,2.888,2.893,2.9,2.902,2.911,2.911,2.918,2.919,2.93,2.931,2.931,2.93,2.931,2.933,2.933,2.938,2.948,2.944,2.948,2.958,2.963,2.965,2.973,2.976,2.98,2.981,2.995,3.001,3.001,3.005,3.006,3.025,3.029,3.032,3.045,3.047,3.052,3.054,3.073,3.078,3.085,3.092,3.094,3.549,3.618,3.64,3.646,3.652,3.665,3.667,3.686,3.688,3.697,3.723,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.85,3.825,3.803,3.768,3.739,3.704,3.692,3.647,3.641,3.608,3.579,3.564,3.564,3.53,3.53,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,1.34,1.34,1.331,1.331,1.327,1.326,1.322,1.322,1.319,1.313,1.31,1.31,1.31,1.311,1.311,1.311,1.306,1.306,1.305,1.303,1.298,1.297,1.296,1.295,1.295,1.295,1.297,1.299,1.309,1.325,1.358,1.361,1.374,1.467,1.545,1.611,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 79.73} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.535890}
SEN {Time 79.7279} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 4.7752} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 0.9652} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.016} {Name Sonar14 Range 4.2418} {Name Sonar15 Range 3.175}
SEN {Time 79.7714} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0,0,0,0,0,3.006,2.972,2.964,2.959,2.955,2.933,2.931,2.924,2.921,2.901,2.901,2.891,2.886,1.294,1.291,1.288,1.287,1.287,1.291,1.301,2.782,2.789,2.789,2.787,2.782,2.767,2.764,2.759,2.756,2.751,2.742,2.74,2.73,2.729,2.722,2.706,2.705,2.699,2.695,2.695,2.695,2.699,2.695,2.685,0.154,0.148,0.145,0.146,0.146,0.148,0.146,0.148,0.15,0.15,0.15,0.15,0.153,0.153,2.635,2.648,2.648,2.635,2.631,2.631,2.631,2.631,2.623,0.163,0.155,0.152,0.155,0.155,0.152,0.157,0.161,2.579,2.579,2.579,2.573,2.569,2.565,2.565,2.559,2.556,2.556,2.556,2.556,2.557,2.557,2.556,2.556,2.556,2.556,2.559,2.563,2.564,2.563,2.563,2.563,2.564,2.564,2.569,2.569,2.569,2.569,2.571,2.572,2.572,2.572,2.574,2.582,2.587,2.587,2.587,1.201,1.2,1.198,1.2,1.2,1.208,2.611,2.616,2.62,2.62,2.625,2.625,2.632,2.633,2.633,2.633,2.647,2.657,2.658,2.662,2.665,2.667,2.682,2.684,2.693,2.693,2.699,2.706,2.716,2.725,2.727,2.734,2.738,2.739,2.75,2.75,2.761,2.766,2.774,2.778,2.787,2.798,2.799,2.805,2.811,2.826,2.827,2.849,2.85,2.854,2.867,2.873,2.877,2.886,2.908,2.909,2.915,2.931,2.944,2.946,2.948,2.959,2.98,2.987,2.994,3.003,3.01,3.025,3.037,3.056,3.061,3.076,3.086,3.112,3.12,3.135,3.152,3.161,3.165,3.185,3.198,3.219,3.227,3.24,3.25,3.267,3.283,3.314,3.321,3.332,3.351,3.372,3.389,3.403,3.416,3.442,3.466,3.474,3.502,3.519,3.538,3.565,3.597,3.628,3.633,3.669,3.682,3.693,3.722,3.755,3.796,3.796,3.818,3.854,3.875,3.9,3.943,3.96,4.005,4.02,4.06,4.086,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0.009,0.009,0.009,3.204,3.186,3.185,3.176,3.163,3.162,3.147,3.146,3.128,3.123,3.113,3.104,3.098,3.085,3.074,3.071,3.06,3.06,3.045,3.042,3.032,3.028,3.014,3.005,3.004,3.002,2.994,2.989,2.985,2.974,2.973,2.961,2.956,2.952,2.952,2.941,2.941,2.926,2.926,2.915,2.912,2.91,2.908,2.906,2.905,2.89,2.885,2.884,2.877,2.877,2.871,2.871,2.868,2.871,2.871,2.871,2.871,2.871,2.86,2.846,2.844,2.841,2.838,2.838,2.838,2.84,2.84,2.844,2.84,2.837,2.837,2.837,2.834,2.837,2.834,2.83,2.829,2.827,2.826,2.82,2.82,2.82,2.825,2.825,2.825,2.826,2.829,2.829,2.829,2.83,2.832,2.832,2.832,2.834,2.834,2.838,2.846,2.847,2.849,2.855,2.855,2.855,2.858,2.859,2.866,2.87,2.871,2.872,2.875,2.876,2.877,2.88,2.881,2.882,2.904,2.906,2.908,2.912,2.914,2.92,2.92,2.93,2.93,2.93,2.933,2.933,2.933,2.943,2.948,2.948,2.953,2.961,2.963,2.971,2.974,2.979,2.982,2.984,3.002,3.004,3.005,3.01,3.028,3.029,3.035,3.035,3.043,3.057,3.058,3.063,3.073,3.076,3.1,0.007,3.616,3.616,3.632,3.632,3.64,3.665,3.665,3.672,3.682,3.692,3.704,3.715,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,3.855,3.855,3.855,3.823,3.77,3.701,3.665,3.651,3.611,3.591,3.563,3.563,3.563,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0,0,0,0,0,0,1.332,1.332,1.332,0.009,0.009,0.009,0.009,1.324,1.31,1.31,1.306,1.304,1.304,1.304,1.304,1.297,1.297,1.297,1.294,1.289,1.289,1.289,1.289,1.289,1.294,1.289,1.289,1.295,1.301,1.308,1.319,1.344,1.361,1.4,1.479,1.565,1.625,0.016,0.016,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.016,0.016,0.016,0.016,0.016,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 79.93} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.595231}
SEN {Time 79.9319} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 4.7752} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 0.9652} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.016} {Name Sonar14 Range 3.7338} {Name Sonar15 Range 4.8006}
SEN {Time 79.9714} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,2.914,2.914,2.899,2.882,1.299,1.299,1.298,1.298,1.299,1.299,1.318,2.805,2.805,2.805,2.794,2.792,2.771,2.77,2.768,2.765,2.752,2.747,2.746,2.737,2.731,2.726,2.724,2.722,2.706,2.699,2.698,2.695,2.691,2.683,2.676,2.665,2.665,2.664,2.663,2.663,2.663,2.663,2.663,2.666,2.666,0.152,0.152,0.152,0.152,0.152,0.146,0.146,0.153,0.153,0.153,0.153,0.153,0.156,2.615,2.615,2.615,2.611,2.61,2.61,2.61,2.608,0.169,0.161,0.161,0.16,0.16,0.161,0.16,0.16,0.172,2.586,2.586,2.586,2.581,2.569,2.569,2.565,2.565,2.565,2.565,2.565,2.571,2.573,2.574,2.574,2.574,2.574,2.574,2.575,2.577,2.578,2.581,2.584,2.585,2.585,2.59,2.593,2.593,2.593,1.206,1.206,1.206,1.206,1.21,1.217,2.616,2.627,2.631,2.631,2.634,2.637,2.637,2.645,2.652,2.652,2.652,2.655,2.655,2.668,2.671,2.678,2.683,2.684,2.687,2.693,2.695,2.701,2.705,2.714,2.725,2.734,2.736,2.739,2.742,2.755,2.769,2.772,2.781,2.786,2.795,2.8,2.803,2.812,2.827,2.835,2.835,2.849,2.855,2.855,2.856,2.873,2.876,2.894,2.902,2.905,2.926,2.927,2.945,2.955,2.955,2.968,2.971,2.983,3.005,3.01,3.022,3.031,3.046,3.054,3.066,3.082,3.095,3.095,3.108,3.111,3.131,3.159,3.162,3.178,3.201,3.203,3.223,3.223,3.261,3.27,3.294,3.306,3.321,3.325,3.348,3.358,3.389,3.405,3.414,3.433,3.458,3.485,3.491,3.52,3.542,3.564,3.565,3.591,3.616,3.648,3.677,3.677,3.716,3.725,3.772,3.788,3.814,3.841,3.865,3.909,3.942,3.957,4.02,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.233,3.222,3.206,3.195,3.184,3.175,3.17,3.158,3.147,3.134,3.131,3.121,3.109,3.106,3.093,3.084,3.076,3.068,3.061,3.046,3.035,3.035,3.03,3.025,3.018,3.013,2.999,2.998,2.995,2.988,2.978,2.971,2.959,2.957,2.955,2.953,2.944,2.937,2.936,2.935,2.932,2.917,2.913,2.913,2.906,2.903,2.898,2.896,2.887,2.884,2.878,2.875,2.875,2.869,2.867,2.867,2.869,2.869,2.86,2.857,2.856,2.851,2.847,2.845,2.844,2.845,2.844,2.844,2.838,2.844,2.838,2.833,2.832,2.832,2.831,2.831,2.827,2.827,2.829,2.829,2.827,2.827,2.827,2.827,2.826,2.826,2.826,2.819,2.826,2.826,2.826,2.826,2.826,2.833,2.839,2.84,2.84,2.84,2.841,2.843,2.843,2.849,2.849,2.853,2.853,2.856,2.856,2.865,2.866,2.87,2.872,2.876,2.877,2.891,2.891,2.893,2.899,2.904,2.907,2.911,2.914,2.916,2.919,2.921,2.922,2.922,2.926,2.931,2.931,2.941,2.948,2.949,2.961,2.963,2.966,2.971,2.978,2.982,2.988,2.99,2.992,2.993,3.004,3.008,3.014,3.019,3.038,3.04,3.047,3.053,3.055,3.07,3.072,3.075,3.075,3.083,3.616,3.616,3.632,3.633,3.638,3.645,3.647,3.673,3.694,3.697,3.697,3.709,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.804,3.765,3.738,3.711,3.686,3.652,3.648,3.609,3.585,3.549,3.549,3.53,3.53,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,1.332,1.332,1.319,1.319,1.317,1.315,1.314,1.311,1.307,1.302,1.302,1.301,1.301,1.295,1.29,1.288,1.286,1.284,1.286,1.284,1.28,1.28,1.28,1.28,1.282,1.294,1.298,1.308,1.319,1.345,1.369,1.402,1.482,1.557,1.617,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 80.20} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.668535}
SEN {Time 80.1959} {Type Sonar} {Name Sonar0 Range 2.5654} {Name Sonar1 Range 2.9972} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.1082} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 1.016} {Name Sonar14 Range 3.7338} {Name Sonar15 Range 4.8006}
SEN {Time 80.2714} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.22,0.22,0,0,0,0,2.835,2.815,2.804,2.786,2.784,2.784,2.774,2.769,2.767,2.758,2.755,2.754,2.743,2.738,2.731,2.725,2.718,2.712,2.702,2.695,2.693,2.693,2.689,2.679,2.675,2.674,2.666,2.664,2.662,2.659,2.651,2.648,2.64,2.638,2.633,2.633,2.631,2.63,2.624,2.621,2.621,2.621,2.636,2.636,2.636,0.155,0.152,0.152,0.152,0.151,0.149,0.151,0.151,0.151,0.15,0.15,0.15,0.15,0.15,2.618,2.618,2.618,2.61,2.61,2.61,2.623,2.623,2.623,0.159,0.159,0.159,0.159,0.158,0.162,0.162,2.616,2.616,2.616,2.595,2.591,2.59,2.59,2.586,2.59,2.59,2.59,2.59,2.6,2.6,2.606,2.6,2.599,1.217,1.217,1.217,1.226,1.227,2.62,2.626,2.63,2.63,2.637,2.64,2.641,2.643,2.643,2.661,2.664,2.664,2.664,2.681,2.682,2.683,2.694,2.699,2.701,2.702,2.712,2.715,2.722,2.726,2.73,2.732,2.747,2.75,2.753,2.762,2.769,2.77,2.778,2.783,2.793,2.799,2.806,2.82,2.824,2.832,2.844,2.852,2.854,2.865,2.874,2.879,2.898,2.909,2.909,2.923,2.925,2.943,2.951,2.953,2.971,2.973,2.983,2.992,2.994,3.015,3.025,3.026,3.045,3.063,3.08,3.085,3.094,3.113,3.114,3.131,3.142,3.157,3.175,3.19,3.192,3.216,3.23,3.243,3.256,3.257,3.284,3.303,3.324,3.328,3.358,3.362,3.381,3.399,3.408,3.438,3.451,3.471,3.5,3.511,3.543,3.564,3.58,3.602,3.619,3.645,3.667,3.684,3.713,3.731,3.767,3.789,3.805,3.832,3.862,3.892,3.921,3.946,3.971,4.01,4.042,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.223,3.219,3.201,3.196,3.188,3.176,3.169,3.167,3.152,3.139,3.13,3.123,3.107,3.105,3.089,3.08,3.08,3.064,3.061,3.057,3.044,3.033,3.02,3.019,3.018,3.004,2.994,2.988,2.988,2.983,2.979,2.972,2.97,2.954,2.954,2.95,2.947,2.933,2.93,2.929,2.922,2.914,2.912,2.911,2.905,2.9,2.899,2.895,2.888,2.882,2.879,2.875,2.873,2.873,2.873,2.873,2.873,2.873,2.873,2.858,2.855,2.85,2.848,2.848,2.848,2.843,2.841,2.841,2.841,2.841,2.841,2.835,2.829,2.825,2.825,2.825,2.825,2.825,2.824,2.823,2.823,2.823,2.823,2.823,2.829,2.824,2.824,2.824,2.824,2.824,2.825,2.827,2.838,2.838,2.843,2.843,2.843,2.844,2.844,2.844,2.844,2.846,2.848,2.849,2.858,2.861,2.869,2.87,2.872,2.872,2.873,2.873,2.88,2.89,2.892,2.894,2.896,2.898,2.898,2.902,2.921,2.923,2.927,2.927,2.927,2.927,2.93,2.93,2.932,2.939,2.946,2.954,2.954,2.954,2.967,2.97,2.97,2.971,2.979,2.991,2.992,2.993,2.994,3.001,3.021,3.029,3.029,3.038,3.048,3.049,3.058,3.067,3.071,3.072,3.073,3.092,3.585,3.611,3.627,3.634,3.635,3.643,3.666,3.676,3.677,3.679,3.701,3.722,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0,0.007,0,0.007,0.009,0.009,0.009,0.007,3.753,3.673,3.665,3.639,3.614,3.573,3.546,3.53,3.509,3.509,3.509,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,1.317,1.308,1.307,1.303,1.302,1.301,1.3,1.293,1.29,1.285,1.284,1.283,1.281,1.279,1.279,1.279,1.276,1.279,1.275,1.28,1.275,1.281,1.284,1.286,1.29,1.29,1.309,1.326,1.351,1.37,1.451,1.523,1.596,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 80.42} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 80.4238} {Type Sonar} {Name Sonar0 Range 2.5654} {Name Sonar1 Range 2.9972} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.1082} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 4.7752} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 4.8006}
SEN {Time 80.4724} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.234,0.234,0,0,0,0,2.817,2.81,2.801,2.793,2.776,2.775,2.769,2.764,2.759,2.756,2.755,2.749,2.739,2.73,2.719,2.718,2.71,2.708,2.696,2.696,2.691,2.683,2.674,2.673,2.67,2.663,2.662,2.658,2.653,2.653,2.65,2.642,2.638,2.635,2.629,2.624,2.624,2.62,2.619,2.62,2.62,2.621,2.635,2.635,2.635,0.156,0.156,0.151,0.151,0.147,0.147,0.147,0.147,0.153,0.154,0.153,0.153,0.154,0.154,2.616,2.616,2.616,2.605,2.605,2.605,2.619,2.619,2.619,0.171,0.171,0.154,0.156,0.156,0.171,0.171,2.601,2.601,2.601,2.599,2.595,2.593,2.586,2.586,2.589,2.586,2.589,2.591,2.591,2.601,2.601,2.601,2.601,1.225,1.221,1.221,1.222,1.225,2.625,2.635,2.648,2.648,2.647,2.649,2.649,2.652,2.654,2.654,2.66,2.664,2.673,2.683,2.688,2.69,2.694,2.698,2.703,2.711,2.717,2.723,2.725,2.735,2.741,2.742,2.748,2.751,2.752,2.764,2.772,2.776,2.786,2.788,2.799,2.805,2.814,2.824,2.828,2.839,2.843,2.852,2.854,2.875,2.878,2.882,2.892,2.908,2.918,2.923,2.927,2.95,2.952,2.964,2.979,2.984,2.987,2.99,3.011,3.022,3.022,3.044,3.05,3.063,3.071,3.087,3.105,3.11,3.116,3.135,3.142,3.16,3.175,3.188,3.201,3.214,3.224,3.245,3.257,3.268,3.28,3.308,3.313,3.315,3.351,3.37,3.382,3.406,3.423,3.432,3.459,3.488,3.488,3.527,3.545,3.555,3.588,3.604,3.626,3.652,3.679,3.687,3.718,3.73,3.755,3.776,3.825,3.836,3.851,3.889,3.921,3.951,3.977,4.005,4.037,4.081,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.302,3.275,3.275,3.255,3.249,3.234,3.212,3.202,3.189,3.179,3.172,3.169,3.157,3.14,3.127,3.126,3.117,3.108,3.098,3.086,3.085,3.075,3.07,3.065,3.051,3.049,3.032,3.031,3.023,3.017,3.008,3.008,2.995,2.995,2.983,2.981,2.968,2.964,2.964,2.949,2.948,2.941,2.94,2.935,2.929,2.917,2.913,2.912,2.91,2.902,2.9,2.895,2.892,2.89,2.885,2.883,2.875,2.875,2.871,2.871,2.885,2.885,2.88,2.88,2.853,2.851,2.847,2.844,2.844,2.842,2.842,2.847,2.847,2.841,2.841,2.841,2.84,2.834,2.834,2.827,2.823,2.825,2.825,2.825,2.825,2.825,2.829,2.83,2.829,2.829,2.83,2.83,2.833,2.833,2.829,2.829,2.833,2.835,2.836,2.836,2.836,2.836,2.84,2.841,2.843,2.844,2.852,2.852,2.856,2.856,2.86,2.861,2.863,2.864,2.869,2.874,2.874,2.879,2.883,2.887,2.89,2.892,2.895,2.901,2.907,2.909,2.918,2.924,2.924,2.924,2.924,2.924,2.924,2.939,2.944,2.947,2.95,2.951,2.957,2.965,2.969,2.971,2.977,2.978,2.986,2.991,2.993,3.003,3.013,3.027,3.032,3.032,3.034,3.042,3.042,3.06,3.066,3.069,3.072,3.072,3.09,3.09,3.607,3.615,3.633,3.638,3.652,3.66,3.661,3.675,3.679,3.692,3.714,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,3.826,3.808,3.776,3.743,3.708,3.701,3.668,3.627,3.601,3.598,3.561,3.539,3.539,3.539,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,1.327,1.323,1.32,1.317,1.31,1.304,1.304,1.304,1.303,1.298,1.295,1.298,1.298,1.295,1.294,1.294,1.287,1.285,1.285,1.285,1.278,1.278,1.277,1.275,1.275,1.277,1.277,1.279,1.286,1.289,1.311,1.322,1.35,1.356,1.416,1.501,1.57,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 80.63} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 80.6257} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.9972} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.1844} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 4.7752} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 80.6674} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.22,0.22,0,0,0,0,2.827,2.816,2.785,2.784,2.78,2.775,2.766,2.765,2.764,2.764,2.749,2.746,2.746,2.725,2.719,2.718,2.709,2.709,2.705,2.693,2.688,2.687,2.676,2.675,2.673,2.67,2.659,2.654,2.654,2.649,2.649,2.648,2.641,2.637,2.634,2.631,2.623,2.621,2.621,2.621,2.621,2.623,2.623,2.623,2.623,0.146,0.146,0.146,0.147,0.148,0.151,0.148,0.148,0.15,0.151,0.151,0.151,0.153,0.155,2.61,2.61,2.61,2.604,2.604,2.604,2.612,2.612,2.612,0.166,0.166,0.157,0.16,0.166,0.167,0.167,2.605,2.605,2.605,2.597,2.591,2.59,2.59,2.586,2.586,2.587,2.592,2.594,2.599,2.599,2.599,2.594,1.216,1.216,1.216,1.216,1.221,1.226,2.629,2.633,2.641,2.641,2.646,2.646,2.646,2.653,2.653,2.663,2.664,2.672,2.676,2.677,2.68,2.691,2.692,2.696,2.699,2.705,2.712,2.721,2.721,2.742,2.744,2.746,2.746,2.754,2.759,2.761,2.77,2.773,2.778,2.789,2.799,2.802,2.805,2.813,2.834,2.837,2.849,2.854,2.856,2.869,2.872,2.892,2.894,2.901,2.913,2.929,2.931,2.949,2.953,2.96,2.974,2.985,2.985,2.997,3.014,3.016,3.03,3.038,3.054,3.06,3.072,3.084,3.106,3.115,3.119,3.14,3.143,3.157,3.174,3.186,3.202,3.212,3.231,3.233,3.265,3.267,3.299,3.3,3.324,3.328,3.344,3.37,3.382,3.404,3.42,3.43,3.459,3.472,3.506,3.51,3.546,3.562,3.574,3.611,3.625,3.653,3.676,3.696,3.72,3.734,3.756,3.783,3.803,3.839,3.857,3.896,3.923,3.951,3.979,3.999,4.045,4.076,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.307,3.266,3.257,3.251,3.236,3.228,3.227,3.203,3.189,3.189,3.172,3.162,3.16,3.148,3.146,3.126,3.12,3.112,3.095,3.091,3.081,3.066,3.066,3.062,3.055,3.051,3.034,3.032,3.023,3.022,3.007,3.001,2.991,2.991,2.988,2.978,2.978,2.965,2.962,2.955,2.943,2.939,2.932,2.926,2.926,2.925,2.92,2.912,2.91,2.91,2.905,2.895,2.892,2.884,2.884,2.884,2.884,2.874,2.873,2.873,2.873,2.874,2.874,2.874,2.865,2.857,2.852,2.852,2.851,2.851,2.847,2.843,2.842,2.839,2.838,2.837,2.836,2.824,2.824,2.824,2.824,2.824,2.829,2.827,2.824,2.823,2.827,2.825,2.823,2.825,2.825,2.825,2.827,2.83,2.83,2.831,2.831,2.831,2.835,2.838,2.838,2.838,2.838,2.841,2.841,2.844,2.849,2.85,2.852,2.855,2.855,2.858,2.86,2.867,2.867,2.87,2.872,2.883,2.885,2.886,2.892,2.895,2.898,2.907,2.91,2.922,2.923,2.927,2.927,2.927,2.927,2.931,2.933,2.938,2.939,2.943,2.946,2.947,2.953,2.955,2.959,2.973,2.973,2.973,2.987,2.988,2.994,3.003,3.014,0.007,3.048,3.037,3.048,3.048,3.052,3.059,3.063,3.064,3.069,3.069,3.081,3.087,3.608,3.626,3.633,3.643,3.648,3.661,3.669,3.685,3.686,3.705,3.711,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.979,3.939,3.891,3.863,3.839,3.802,3.77,3.745,3.721,3.688,3.671,3.651,3.617,3.579,3.567,3.529,3.529,3.529,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.327,1.322,1.32,1.319,1.311,1.306,1.308,1.306,1.301,1.301,1.297,1.295,1.295,1.29,1.289,1.285,1.285,1.285,1.285,1.283,1.285,1.282,1.277,1.276,1.277,1.277,1.277,1.281,1.285,1.286,1.305,1.315,1.338,1.37,1.432,1.493,1.573,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.231,1.231,1.231,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 80.82} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 80.8188} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 3.6576} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.1844} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4384} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 1.3462} {Name Sonar13 Range 4.3942} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 80.8675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,2.821,2.809,2.79,2.788,2.785,2.775,2.769,2.764,2.764,2.754,2.749,2.742,2.741,2.733,2.721,2.718,2.716,2.704,2.697,2.691,2.687,2.685,2.672,2.672,2.669,2.668,2.66,2.658,2.655,2.649,2.647,2.647,2.637,2.633,2.629,2.629,2.623,2.623,2.623,2.619,2.619,2.621,2.621,2.621,2.621,0.141,0.141,0.141,0.144,0.145,0.145,0.144,0.144,0.147,0.146,0.147,0.147,0.149,0.149,2.616,2.616,2.616,2.613,2.613,2.613,2.62,2.62,2.62,0.165,0.163,0.162,0.162,0.159,0.162,0.162,2.6,2.6,2.6,2.594,2.594,2.592,2.592,2.587,2.587,2.587,2.594,2.595,2.602,2.604,2.61,2.61,2.61,1.216,1.216,1.216,1.222,1.223,2.635,2.643,2.644,2.644,2.645,2.645,2.651,2.651,2.654,2.665,2.667,2.676,2.677,2.679,2.681,2.688,2.695,2.698,2.704,2.711,2.714,2.718,2.727,2.731,2.737,2.742,2.75,2.754,2.756,2.766,2.769,2.775,2.775,2.784,2.798,2.804,2.814,2.819,2.826,2.834,2.848,2.855,2.862,2.87,2.876,2.887,2.892,2.912,2.914,2.921,2.937,2.939,2.944,2.961,2.971,2.979,2.984,3.001,3.009,3.019,3.03,3.041,3.042,3.062,3.077,3.087,3.104,3.116,3.123,3.138,3.144,3.155,3.175,3.185,3.204,3.21,3.228,3.239,3.257,3.273,3.293,3.299,3.323,3.327,3.349,3.367,3.381,3.414,3.422,3.437,3.449,3.477,3.499,3.522,3.549,3.562,3.583,3.598,3.624,3.638,3.669,3.692,3.715,3.734,3.775,3.793,3.815,3.826,3.862,3.888,3.917,3.941,3.979,4.008,4.051,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.299,3.268,3.258,3.255,3.243,3.223,3.22,3.211,3.196,3.191,3.171,3.161,3.159,3.148,3.143,3.128,3.112,3.101,3.098,3.092,3.085,3.072,3.066,3.061,3.052,3.051,3.032,3.029,3.026,3.017,3.001,2.998,2.995,2.987,2.985,2.979,2.97,2.968,2.961,2.955,2.952,2.946,2.937,2.937,2.925,2.925,2.92,2.914,2.909,2.902,2.896,2.892,2.892,2.89,2.881,2.881,2.881,2.872,2.871,2.871,2.871,2.884,2.884,2.884,2.861,2.857,2.855,2.854,2.85,2.849,2.845,2.845,2.844,2.844,2.84,2.84,2.84,2.838,2.829,2.829,2.829,2.824,2.824,2.824,2.822,2.823,2.824,2.824,2.823,2.824,2.824,2.828,2.828,2.828,2.827,2.829,2.829,2.837,2.839,2.839,2.837,2.836,2.836,2.836,2.843,2.845,2.848,2.852,2.853,2.853,2.857,2.858,2.864,2.867,2.871,2.873,2.882,2.885,2.886,2.889,2.899,2.899,2.9,2.903,2.908,2.917,2.919,2.927,2.927,2.927,2.927,2.933,2.935,2.937,2.941,2.942,2.942,2.952,2.964,2.964,2.977,2.975,2.977,2.979,2.987,2.988,2.991,3.001,3.01,3.026,3.03,3.03,3.039,3.044,3.053,3.061,3.064,3.067,3.068,3.068,3.081,3.091,3.605,3.617,3.63,3.641,3.65,3.661,3.663,3.671,3.686,3.699,3.716,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.971,3.872,3.826,3.812,3.771,3.751,3.719,3.696,3.661,3.629,3.613,3.589,3.57,3.524,3.524,3.524,0,0.009,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.328,1.321,1.314,1.313,1.313,1.31,1.308,1.306,1.302,1.3,1.298,1.298,1.291,1.286,1.287,1.287,1.286,1.285,1.28,1.28,1.278,1.277,1.277,1.277,1.276,1.276,1.277,1.279,1.281,1.29,1.309,1.324,1.34,1.368,1.43,1.512,1.587,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.218,1.218,1.218,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.02} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 81.0208} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 3.6576} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.3114} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.1844} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.413} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 1.3462} {Name Sonar13 Range 4.3942} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.794}
SEN {Time 81.0685} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,2.824,2.804,2.791,2.791,2.791,2.778,2.778,2.767,2.764,2.757,2.749,2.744,2.741,2.723,2.722,2.721,2.71,2.708,2.703,2.692,2.691,2.678,2.675,2.673,2.666,2.666,2.662,2.655,2.652,2.652,2.645,2.642,2.641,2.641,2.634,2.633,2.628,2.628,2.624,2.622,2.624,2.625,2.625,2.625,2.625,0.155,0.149,0.149,0.149,0.155,0.153,0.153,0.153,0.153,0.153,0.153,0.153,0.157,0.158,2.61,2.61,2.61,2.61,2.612,2.612,2.619,2.619,2.619,0.166,0.166,0.16,0.157,0.157,0.163,0.163,2.61,2.61,2.61,2.598,2.595,2.594,2.589,2.589,2.588,2.589,2.593,2.593,2.594,2.597,2.597,2.588,1.21,1.21,1.21,1.215,1.231,1.232,2.624,2.625,2.644,2.644,2.648,2.65,2.65,2.65,2.654,2.655,2.664,2.672,2.677,2.677,2.684,2.686,2.693,2.698,2.703,2.715,2.715,2.722,2.73,2.732,2.736,2.746,2.746,2.754,2.761,2.765,2.768,2.777,2.782,2.788,2.799,2.804,2.814,2.821,2.831,2.833,2.85,2.853,2.857,2.875,2.877,2.888,2.893,2.91,2.921,2.926,2.928,2.936,2.952,2.965,2.973,2.984,2.987,2.997,3.011,3.014,3.034,3.038,3.058,3.067,3.074,3.075,3.097,3.112,3.113,3.137,3.14,3.155,3.175,3.185,3.204,3.218,3.228,3.242,3.261,3.272,3.296,3.3,3.315,3.343,3.352,3.368,3.369,3.405,3.41,3.453,3.459,3.487,3.495,3.517,3.539,3.558,3.583,3.614,3.621,3.643,3.688,3.692,3.711,3.741,3.751,3.792,3.807,3.838,3.863,3.883,3.912,3.938,3.969,3.996,4.036,4.077,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.305,3.283,3.267,3.266,3.239,3.218,3.218,3.205,3.193,3.189,3.169,3.163,3.159,3.144,3.136,3.13,3.128,3.116,3.092,3.092,3.082,3.073,3.071,3.061,3.056,3.05,3.04,3.04,3.029,3.021,3.007,3.003,3.002,2.989,2.983,2.976,2.976,2.971,2.96,2.951,2.951,2.948,2.94,2.939,2.929,2.923,2.919,2.914,2.913,2.907,2.902,2.894,2.889,2.884,2.881,2.881,2.88,2.881,2.877,2.882,2.882,2.882,2.882,2.882,2.859,2.854,2.854,2.855,2.854,2.852,2.852,2.851,2.846,2.845,2.844,2.836,2.836,2.834,2.834,2.834,2.834,2.822,2.821,2.821,2.823,2.823,2.823,2.823,2.825,2.828,2.828,2.828,2.829,2.829,2.829,2.831,2.834,2.834,2.839,2.839,2.839,2.839,2.839,2.843,2.843,2.852,2.854,2.854,2.855,2.857,2.863,2.863,2.869,2.869,2.873,2.875,2.88,2.884,2.884,2.888,2.892,2.898,2.899,2.903,2.907,2.913,2.921,2.922,2.922,2.926,2.926,2.93,2.93,2.933,2.938,2.943,2.949,2.958,2.968,2.968,2.968,2.968,2.975,2.981,2.982,2.984,2.99,3.01,3.019,3.028,3.033,3.033,3.038,3.05,3.054,3.06,3.065,3.066,3.076,3.066,3.08,3.092,3.606,3.62,3.632,3.644,3.645,3.652,3.661,3.681,3.688,3.704,3.71,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.844,3.809,3.778,3.754,3.716,3.679,3.674,3.64,3.61,3.596,3.554,3.533,3.533,3.533,0,0,0.009,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.325,1.32,1.318,1.318,1.314,1.314,1.316,1.314,1.306,1.301,1.3,1.296,1.296,1.288,1.285,1.285,1.283,1.283,1.282,1.279,1.279,1.278,1.278,1.275,1.275,1.272,1.272,1.283,1.285,1.288,1.311,1.32,1.335,1.358,1.435,1.5,1.57,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.219,1.219,1.219,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.22} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 81.2217} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 3.6576} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.286} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.413} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 1.3462} {Name Sonar13 Range 4.3942} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.7686}
SEN {Time 81.2645} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,2.824,2.816,2.792,2.785,2.781,2.78,2.768,2.765,2.765,2.764,2.752,2.75,2.74,2.723,2.72,2.717,2.716,2.704,2.704,2.703,2.692,2.679,2.679,2.672,2.672,2.669,2.657,2.656,2.656,2.653,2.646,2.642,2.635,2.634,2.629,2.633,2.625,2.622,2.622,2.625,2.625,2.627,2.629,2.629,2.629,2.635,0.157,0.146,0.157,0.159,0.157,0.151,0.152,0.151,0.146,0.146,0.146,0.146,0.007,2.631,2.608,2.608,2.608,2.608,2.608,2.608,2.608,0.156,0.156,0.156,0.157,0.157,0.163,0.163,0.163,2.604,2.604,2.604,2.602,2.591,2.59,2.59,2.584,2.59,2.59,2.595,2.599,2.599,2.599,2.605,2.599,2.597,1.226,1.226,1.226,1.227,1.231,2.624,2.643,2.643,2.643,2.642,2.642,2.642,2.654,2.654,2.655,2.666,2.672,2.676,2.68,2.684,2.686,2.694,2.701,2.701,2.707,2.708,2.727,2.732,2.735,2.741,2.741,2.741,2.748,2.755,2.763,2.767,2.77,2.779,2.794,2.798,2.805,2.811,2.828,2.83,2.832,2.841,2.853,2.855,2.871,2.878,2.893,2.899,2.904,2.918,2.925,2.929,2.939,2.948,2.962,2.964,2.987,2.987,2.995,3.007,3.018,3.036,3.041,3.049,3.069,3.075,3.082,3.102,3.118,3.119,3.133,3.146,3.158,3.175,3.189,3.208,3.215,3.228,3.247,3.258,3.278,3.299,3.312,3.318,3.331,3.353,3.372,3.374,3.405,3.424,3.447,3.466,3.481,3.505,3.513,3.541,3.561,3.593,3.604,3.626,3.647,3.664,3.704,3.72,3.735,3.768,3.782,3.813,3.831,3.867,3.891,3.913,3.956,3.987,4.015,4.038,4.089,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.299,3.276,3.269,3.259,3.232,3.228,3.223,3.2,3.19,3.182,3.17,3.169,3.167,3.149,3.134,3.128,3.12,3.106,3.104,3.092,3.079,3.07,3.065,3.061,3.055,3.041,3.037,3.028,3.018,3.015,3.012,3.008,2.995,2.989,2.986,2.976,2.973,2.972,2.966,2.953,2.952,2.947,2.934,2.931,2.922,2.919,2.918,2.916,2.91,2.902,2.891,2.891,2.89,2.888,2.878,2.876,2.875,2.873,2.873,2.873,2.873,2.873,2.867,2.867,2.866,2.857,2.854,2.853,2.853,2.852,2.852,2.839,2.839,2.839,2.839,2.839,2.834,2.831,2.828,2.827,2.826,2.826,2.826,2.824,2.826,2.824,2.824,2.825,2.825,2.824,2.825,2.824,2.824,2.827,2.828,2.828,2.83,2.828,2.833,2.833,2.833,2.833,2.835,2.847,2.847,2.847,2.851,2.851,2.853,2.855,2.86,2.866,2.866,2.867,2.867,2.868,2.878,2.885,2.89,2.89,2.895,2.895,2.895,2.904,2.912,2.917,2.918,2.927,2.927,2.927,2.927,2.927,2.927,2.94,2.945,2.949,2.95,2.952,2.963,2.971,2.971,2.971,2.973,2.981,2.986,2.991,2.994,3.007,3.018,3.029,3.034,3.034,3.035,3.05,3.053,3.056,3.059,3.071,3.075,3.075,3.086,3.091,3.607,3.626,3.637,3.639,3.641,3.657,3.676,3.687,3.689,3.697,3.717,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,3.943,3.866,3.83,3.802,3.773,3.729,3.728,3.681,3.676,3.648,3.599,3.589,3.559,3.535,3.535,3.522,3.522,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.324,1.322,1.313,1.312,1.308,1.306,1.306,1.306,1.304,1.303,1.297,1.302,1.293,1.293,1.289,1.289,1.289,1.289,1.289,1.289,1.28,1.28,1.28,1.28,1.28,1.279,1.279,1.288,1.288,1.292,1.309,1.319,1.335,1.362,1.43,1.508,1.567,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.226,1.226,1.226,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 81.41} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 81.4147} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 3.0226} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.286} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.413} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 1.3462} {Name Sonar13 Range 3.7846} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.7686}
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SEN {Time 84.46} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.680752}
SEN {Time 84.4582} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.286} {Name Sonar5 Range 3.0734} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 1.3462} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.7686}
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SEN {Time 84.72} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.619666}
SEN {Time 84.7151} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.286} {Name Sonar5 Range 0.9906} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 4.1148} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.8194}
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SEN {Time 84.91} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.565560}
SEN {Time 84.91} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.0066} {Name Sonar4 Range 2.286} {Name Sonar5 Range 0.9906} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.4036} {Name Sonar15 Range 2.8194}
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SEN {Time 85.11} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.509710}
SEN {Time 85.1051} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.9718} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.286} {Name Sonar5 Range 0.9906} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.159} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 0.9906} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 3.7338} {Name Sonar15 Range 3.2512}
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SEN {Time 85.31} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.452114}
SEN {Time 85.3091} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.032} {Name Sonar5 Range 0.9652} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.8608} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.016} {Name Sonar14 Range 3.7338} {Name Sonar15 Range 3.2512}
SEN {Time 85.3514} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.187,0.187,0,0,0,0,0,3.126,3.104,3.089,3.076,3.061,3.045,3.041,3.03,3.019,3.008,2.994,2.991,2.972,2.968,2.961,2.948,2.938,2.925,2.918,2.9,2.899,2.899,2.882,2.88,1.29,1.29,1.281,1.276,1.276,1.276,1.289,2.794,2.794,2.794,2.792,2.775,2.768,2.765,2.764,2.756,2.752,2.752,2.752,2.751,0.148,0.148,0.148,0.148,0.149,0.149,0.151,0.144,0.144,0.144,0.151,0.144,0.153,0.158,2.664,2.664,2.664,2.657,2.657,2.657,2.661,2.661,2.661,0.164,0.162,0.156,0.159,0.159,0.159,0.159,0.16,2.579,2.585,2.585,2.579,2.578,2.57,2.563,2.562,2.561,2.562,2.562,2.562,2.564,2.564,2.562,2.56,2.554,2.554,2.551,2.551,2.553,2.553,2.551,2.553,2.547,2.544,2.546,2.546,2.546,2.545,2.546,2.545,2.549,2.55,2.555,2.552,2.555,2.552,2.555,2.555,2.555,2.554,2.555,2.56,2.56,2.564,2.567,2.567,2.569,2.57,2.57,2.57,1.187,1.185,1.185,1.187,1.2,1.2,2.593,2.604,2.611,2.611,2.617,2.62,2.622,2.633,2.639,2.643,2.643,2.651,2.654,2.658,2.661,2.664,2.665,2.67,2.679,2.682,2.692,2.692,2.694,2.694,2.713,2.715,2.725,2.728,2.732,2.743,2.746,2.751,2.755,2.756,2.764,2.781,2.791,2.794,2.798,2.807,2.82,2.824,2.839,2.843,2.847,2.853,2.866,2.875,2.884,2.893,2.905,2.914,2.927,2.932,2.951,2.961,2.966,2.979,2.991,3.004,3.009,3.018,3.03,3.048,3.053,3.07,3.078,3.091,3.105,3.125,3.13,3.142,3.158,3.176,3.186,3.195,3.214,3.22,3.244,3.265,3.28,3.292,3.311,3.335,3.339,3.36,3.376,3.399,3.407,3.433,3.441,3.472,3.482,3.493,3.527,3.547,3.557,3.576,3.613,3.631,3.652,3.679,3.684,3.718,3.755,3.771,3.798,3.819,3.828,3.865,3.929,3.958,3.99,3.99,4.032,4.061,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.263,3.251,3.246,3.227,3.214,3.206,3.201,3.183,3.182,3.162,3.154,3.15,3.138,3.123,3.121,3.107,3.105,3.095,3.083,3.083,3.071,3.068,3.054,3.046,3.038,3.035,3.034,3.015,3.014,3.007,3.001,2.989,2.987,2.984,2.98,2.975,2.967,2.964,2.948,2.947,2.939,2.935,2.933,2.928,2.92,2.913,2.911,2.908,2.905,2.892,2.891,2.889,2.888,2.886,2.873,2.873,2.868,2.868,2.864,2.864,2.864,2.872,2.872,2.872,2.86,2.845,2.842,2.842,2.842,2.841,2.84,2.841,2.838,2.841,2.832,2.834,2.832,2.832,2.829,2.827,2.824,2.824,2.824,2.818,2.818,2.821,2.826,2.821,2.826,2.828,2.828,2.83,2.83,2.83,2.833,2.835,2.839,2.84,2.84,2.84,2.84,2.846,2.846,2.849,2.851,2.851,2.855,2.857,2.859,2.86,2.866,2.867,2.873,2.874,2.875,2.878,2.889,2.891,2.891,2.896,2.902,2.906,2.906,2.909,2.911,2.921,2.931,2.932,2.932,2.931,2.93,2.93,2.93,2.938,2.94,2.945,2.954,2.955,2.957,2.972,2.972,2.977,2.983,2.99,2.994,2.997,2.997,3.002,3.008,3.023,3.034,3.036,3.048,3.05,3.057,3.06,3.069,3.071,3.085,3.085,3.094,3.623,3.623,3.63,3.65,3.652,3.655,3.661,3.681,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,4.061,4.061,0,3.982,3.953,3.85,3.844,3.791,3.777,3.744,3.712,3.699,3.661,3.634,3.599,3.599,3.581,3.581,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,1.338,1.333,1.333,1.332,1.332,1.338,1.338,1.332,1.328,1.326,1.325,1.323,1.323,1.321,1.316,1.313,1.312,1.312,1.313,1.313,1.305,1.308,1.304,1.303,1.303,1.308,1.311,1.313,1.332,1.335,1.353,1.407,1.458,1.546,1.546,1.628,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.51} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.389282}
SEN {Time 85.5131} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.032} {Name Sonar5 Range 0.9652} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.921} {Name Sonar11 Range 1.0414} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.016} {Name Sonar14 Range 4.064} {Name Sonar15 Range 3.2512}
SEN {Time 85.5484} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,0,3.218,3.201,3.18,3.175,3.162,3.148,3.136,3.121,3.117,3.109,3.09,3.065,3.063,3.049,3.049,3.025,3.009,3.006,2.989,2.981,2.977,2.961,2.948,2.932,2.928,2.928,2.912,2.903,2.899,2.887,2.887,2.878,2.855,1.285,1.279,1.277,1.276,1.276,1.276,2.819,2.819,2.819,0.154,0.154,0.151,0.153,0.154,0.153,0.153,0.153,0.155,0.153,0.154,0.154,0.154,0.154,2.698,2.698,2.698,2.694,2.694,2.694,2.702,2.702,2.702,0.165,0.165,0.162,0.162,0.162,0.162,0.165,2.636,2.636,2.636,2.619,2.61,2.596,2.593,2.593,2.586,2.584,2.583,2.58,2.579,2.575,2.568,2.568,2.568,2.566,2.56,2.553,2.553,2.558,2.558,2.558,2.558,2.555,2.55,2.549,2.542,2.54,2.54,2.542,2.542,2.545,2.545,2.542,2.542,2.541,2.54,2.541,2.541,2.543,2.546,2.548,2.546,2.548,2.55,2.55,2.55,2.55,2.55,2.55,2.55,2.55,2.552,2.556,2.556,2.557,2.557,2.558,2.562,2.564,2.562,2.562,1.182,1.182,1.182,1.184,1.19,1.198,2.606,2.606,2.607,2.607,2.613,2.62,2.622,2.622,2.623,2.627,2.631,2.633,2.646,2.647,2.652,2.659,2.663,2.665,2.667,2.676,2.679,2.684,2.688,2.691,2.704,2.711,2.718,2.721,2.722,2.731,2.733,2.741,2.755,2.761,2.763,2.773,2.786,2.795,2.799,2.807,2.81,2.824,2.826,2.836,2.847,2.859,2.877,2.884,2.887,2.889,2.908,2.909,2.923,2.931,2.942,2.953,2.962,2.97,2.983,3.002,3.003,3.019,3.033,3.035,3.052,3.062,3.072,3.093,3.116,3.12,3.133,3.15,3.166,3.175,3.186,3.202,3.218,3.23,3.248,3.263,3.278,3.289,3.314,3.329,3.339,3.35,3.37,3.379,3.409,3.428,3.44,3.456,3.48,3.502,3.522,3.546,3.568,3.586,3.613,3.624,3.651,3.678,3.708,3.722,3.741,3.77,3.801,3.829,3.846,3.875,3.899,3.968,3.993,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,3.336,3.261,3.25,3.239,3.221,3.22,3.198,3.194,3.185,3.183,3.172,3.161,3.157,3.139,3.128,3.123,3.117,3.109,3.095,3.08,3.077,3.072,3.068,3.05,3.048,3.038,3.035,3.026,3.014,3.012,3.002,2.995,2.994,2.991,2.978,2.969,2.962,2.961,2.956,2.949,2.947,2.94,2.934,2.933,2.925,2.925,2.921,2.919,2.913,2.906,2.902,2.899,2.887,2.886,2.884,2.873,2.871,2.867,2.864,2.863,2.863,2.867,2.858,2.858,2.851,2.849,2.848,2.847,2.847,2.846,2.844,2.84,2.838,2.839,2.835,2.835,2.836,2.836,2.831,2.833,2.831,2.831,2.831,2.831,2.831,2.832,2.834,2.834,2.832,2.836,2.834,2.829,2.834,2.836,2.834,2.833,2.836,2.843,2.841,2.845,2.846,2.846,2.847,2.847,2.85,2.854,2.856,2.862,2.872,2.87,2.87,2.872,2.872,2.883,2.883,2.883,2.883,2.883,2.893,2.893,2.898,2.898,2.907,2.914,2.916,2.917,2.918,2.929,2.937,2.937,2.937,2.943,2.953,2.956,2.956,2.957,2.957,2.958,2.967,2.983,2.985,2.989,2.987,2.989,2.99,2.993,2.995,3.011,3.027,3.029,3.035,3.042,3.045,3.047,3.053,3.065,3.076,3.078,3.084,3.1,3.103,3.104,3.605,3.637,3.642,3.654,3.658,3.67,3.672,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.902,3.876,3.851,3.817,3.783,3.764,3.729,3.709,3.681,3.661,3.661,3.661,0.009,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.015,0.007,0,0,0,0,0,0,0,0,1.352,1.349,1.348,1.346,1.348,1.348,1.346,1.346,1.346,1.345,1.344,1.342,1.34,1.338,1.328,1.324,1.315,1.314,1.311,1.311,1.311,1.31,1.311,1.313,1.313,1.313,1.317,1.321,1.323,1.342,1.36,1.399,1.453,1.547,1.547,0.016,0.016,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.71} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.329941}
SEN {Time 85.7072} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.8448} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 0.9652} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.921} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.3368} {Name Sonar13 Range 1.016} {Name Sonar14 Range 4.064} {Name Sonar15 Range 3.4036}
SEN {Time 85.7485} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.205,0.205,0,0,0,0,0,0,3.404,3.393,3.372,3.343,3.325,3.314,3.301,3.272,3.262,3.236,3.222,3.219,3.204,3.185,3.173,3.159,3.145,3.13,3.121,3.105,3.08,3.063,3.06,3.06,3.035,3.026,3.014,3,2.988,2.986,2.975,2.966,2.946,2.938,2.93,2.926,2.916,2.91,2.895,2.89,2.89,2.881,2.88,0.16,0.154,0.154,0.154,0.154,0.154,0.153,0.155,0.155,0.155,0.152,0.152,0.152,0.156,2.754,2.754,2.754,2.74,2.74,2.739,2.74,2.726,0.166,0.158,0.16,0.16,0.158,0.16,0.16,0.16,0.16,2.646,2.646,2.646,2.638,2.636,2.63,2.621,2.62,2.616,2.613,2.604,2.601,2.6,2.597,2.594,2.594,2.586,2.582,2.58,2.576,2.571,2.568,2.567,2.565,2.562,2.56,2.559,2.554,2.551,2.551,2.548,2.548,2.548,2.547,2.545,2.544,2.541,2.541,2.532,2.532,2.532,2.532,2.536,2.536,2.533,2.532,2.532,2.532,2.533,2.533,2.533,2.533,2.531,2.531,2.531,2.531,2.53,2.532,2.536,2.536,2.542,2.545,2.547,2.549,2.552,2.556,2.561,2.564,2.566,2.566,2.571,2.571,2.571,2.561,1.187,1.178,1.178,1.187,1.187,2.581,2.581,2.59,2.59,2.59,2.6,2.603,2.61,2.612,2.618,2.622,2.622,2.632,2.633,2.633,2.64,2.647,2.653,2.656,2.664,2.674,2.682,2.683,2.687,2.688,2.689,2.704,2.715,2.718,2.722,2.731,2.736,2.743,2.75,2.766,2.767,2.778,2.787,2.788,2.811,2.812,2.812,2.826,2.839,2.842,2.851,2.862,2.868,2.875,2.889,2.895,2.912,2.921,2.926,2.933,2.949,2.958,2.975,2.988,2.991,3.006,3.02,3.022,3.046,3.058,3.064,3.087,3.089,3.102,3.11,3.136,3.136,3.156,3.17,3.175,3.187,3.199,3.217,3.237,3.247,3.275,3.277,3.299,3.303,3.332,3.346,3.36,3.374,3.399,3.421,3.434,3.446,3.477,3.493,3.512,3.531,3.554,3.583,3.594,3.61,3.635,3.664,3.675,3.706,3.722,3.749,3.778,3.818,3.835,3.857,3.888,3.917,3.949,3.97,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.272,3.258,3.245,3.228,3.225,3.222,3.2,3.188,3.175,3.17,3.153,3.152,3.142,3.141,3.12,3.115,3.115,3.094,3.089,3.085,3.072,3.063,3.061,3.054,3.041,3.033,3.024,3.021,3.02,3.012,3.002,3.001,2.998,2.986,2.971,2.971,2.968,2.958,2.952,2.951,2.943,2.935,2.934,2.929,2.915,2.912,2.912,2.904,2.903,2.902,2.897,2.892,2.889,2.882,2.88,2.88,2.873,2.871,2.871,2.871,2.873,2.871,2.871,2.868,2.859,2.856,2.845,2.853,2.847,2.847,2.847,2.847,2.845,2.845,2.843,2.843,2.841,2.841,2.837,2.837,2.836,2.832,2.832,2.826,2.826,2.83,2.834,2.832,2.837,2.838,2.838,2.836,2.836,2.836,2.834,2.836,2.841,2.846,2.849,2.849,2.849,2.849,2.849,2.85,2.859,2.861,2.861,2.866,2.868,2.868,2.87,2.877,2.877,2.877,2.878,2.885,2.891,2.894,2.898,2.902,2.905,2.908,2.918,2.924,2.925,2.932,2.938,2.941,2.941,2.941,2.948,2.941,2.941,2.947,2.961,2.961,2.962,2.968,2.972,2.976,2.983,2.99,2.997,2.998,3.004,3.004,3.011,3.022,3.029,3.031,3.043,3.052,3.057,3.057,3.065,3.075,3.087,3.087,3.091,3.1,3.12,3.645,3.645,3.653,3.653,3.665,3.67,3.678,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.865,3.826,3.794,3.774,3.727,3.699,3.697,3.656,3.633,3.633,3.633,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.355,1.355,1.355,1.35,1.35,1.35,1.349,1.345,1.34,1.339,1.34,1.337,1.332,1.332,1.332,1.332,1.331,1.328,1.325,1.325,1.319,1.319,1.321,1.321,1.321,1.321,1.321,1.331,1.339,1.352,1.367,1.422,1.511,1.57,1.57,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0.007,0.006,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 85.90} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.275836}
SEN {Time 85.902} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 5.6896} {Name Sonar3 Range 1.3716} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.1016} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.921} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 4.064} {Name Sonar15 Range 3.4036}
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SEN {Time 86.10} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.218240}
SEN {Time 86.105} {Type Sonar} {Name Sonar0 Range 2.6924} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 5.6896} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.0066} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4892} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 3.4036}
SEN {Time 86.1474} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,0,0,3.67,3.665,3.654,3.616,3.606,3.572,3.551,3.526,3.503,3.476,3.463,3.44,3.435,3.404,3.381,3.358,3.354,3.332,3.306,3.298,3.281,3.27,3.246,3.242,3.208,3.204,3.2,3.168,3.164,3.143,3.126,3.111,3.104,3.094,3.079,3.057,3.047,3.047,3.047,3.038,0.157,0.153,0.153,0.153,0.154,0.153,0.148,0.145,0.148,0.148,0.151,0.151,0.151,0.155,2.864,2.875,2.875,2.864,1.248,1.248,1.248,1.244,1.221,0.165,0.158,0.153,0.158,0.158,0.149,0.159,0.163,2.731,2.731,2.731,2.716,2.713,2.703,2.699,2.695,2.68,2.675,2.673,2.665,2.662,2.65,2.643,2.641,2.634,2.628,2.625,2.622,2.618,2.613,2.607,2.605,2.6,2.597,2.596,2.592,2.585,2.581,2.579,2.574,2.571,2.569,2.569,2.568,2.567,2.563,2.557,2.548,2.547,2.547,2.542,2.542,2.539,2.536,2.535,2.533,2.533,2.53,2.523,2.529,2.523,2.519,2.519,2.52,2.519,2.519,2.519,2.519,2.519,2.518,2.518,2.518,2.518,2.518,2.519,2.523,2.523,2.523,2.523,2.523,2.522,2.522,2.522,2.522,2.522,2.522,2.525,2.528,2.529,2.528,2.528,2.533,2.534,2.534,2.535,2.536,2.541,2.541,2.535,1.16,1.16,1.16,1.161,1.166,1.167,1.168,2.556,2.566,2.573,2.574,2.583,2.59,2.591,2.594,2.606,2.609,2.606,2.609,2.609,2.624,2.631,2.634,2.635,2.64,2.649,2.661,2.663,2.668,2.671,2.671,2.691,2.691,2.696,2.699,2.711,2.725,2.726,2.728,2.731,2.743,2.749,2.767,2.767,2.778,2.79,2.796,2.813,2.818,2.822,2.829,2.852,2.855,2.864,2.875,2.883,2.888,2.891,2.914,2.914,2.932,2.94,2.955,2.961,2.976,2.99,2.994,2.999,3.019,3.019,3.036,3.047,3.06,3.075,3.086,3.094,3.11,3.122,3.129,3.147,3.167,3.178,3.197,3.205,3.221,3.241,3.246,3.274,3.276,3.288,3.323,3.33,3.335,3.351,3.388,3.396,3.422,3.432,3.453,3.472,3.503,3.525,3.543,3.562,3.574,3.601,3.623,3.641,3.666,3.694,3.713,3.731,3.776,3.798,3.826,3.855,3.862,3.91,3.937,3.96,4.004,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.007,0,3.955,3.275,3.253,3.242,3.228,3.214,3.208,3.2,3.196,3.168,3.168,3.157,3.155,3.136,3.136,3.123,3.121,3.094,3.092,3.089,3.08,3.066,3.065,3.065,3.046,3.043,3.036,3.017,3.015,3.007,3.005,3.004,2.995,2.981,2.978,2.977,2.971,2.959,2.956,2.951,2.941,2.939,2.935,2.931,2.925,2.922,2.918,2.912,2.911,2.911,2.905,2.9,2.893,2.889,2.889,2.887,2.883,2.882,2.882,2.874,2.866,2.866,2.866,2.864,2.864,2.862,2.861,2.857,2.855,2.855,2.851,2.851,2.846,2.846,2.845,2.845,2.845,2.845,2.845,2.845,2.845,2.843,2.843,2.838,2.843,2.838,2.836,2.838,2.837,2.837,2.845,2.845,2.845,2.845,2.845,2.84,2.84,2.846,2.846,2.847,2.851,2.854,2.855,2.855,2.855,2.855,2.856,2.868,2.87,2.87,2.877,2.884,2.884,2.886,2.887,2.887,2.894,2.895,2.896,2.905,2.907,2.914,2.916,2.919,2.919,2.923,2.93,2.935,2.936,2.946,2.946,2.955,2.955,2.955,2.955,2.959,2.965,2.969,2.969,2.976,2.981,2.994,2.994,3,3.005,3.008,3.016,3.016,3.019,3.029,3.04,3.05,3.067,3.067,3.067,3.075,3.086,3.088,3.098,3.1,3.1,3.119,3.63,3.63,3.655,3.667,3.672,3.677,3.685,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.016,0,4.065,4.024,3.962,3.962,3.91,3.902,3.831,3.801,3.781,3.744,3.713,3.696,3.67,3.67,3.67,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.007,0,0,0,0,0,0,0,0,1.374,1.374,1.37,1.37,1.37,1.37,1.362,1.359,1.352,1.348,1.348,1.348,1.345,1.344,1.344,1.343,1.342,1.342,1.335,1.334,1.33,1.328,1.326,1.326,1.326,1.334,1.338,1.356,1.358,1.38,1.42,1.519,1.591,1.591,1.669,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.31} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,1.164135}
SEN {Time 86.3088} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 5.6896} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.286} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4892} {Name Sonar11 Range 3.556} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.0414} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 3.7338}
SEN {Time 86.3474} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.866,3.825,3.796,3.782,3.753,3.737,3.695,3.682,3.644,3.638,3.614,3.586,3.567,3.536,3.521,3.489,3.48,3.462,3.431,3.427,3.388,3.387,3.369,3.357,3.332,3.305,3.284,3.275,3.264,3.234,3.228,3.215,3.197,3.188,3.161,3.153,3.153,3.142,3.142,3.191,3.191,0.152,0.152,0.152,0.146,0.146,0.15,0.151,0.151,0.153,0.153,0.153,0.156,2.929,2.929,2.929,2.912,2.912,2.907,2.905,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.241,2.778,2.778,2.778,2.778,2.761,2.755,2.74,2.738,2.724,2.723,2.716,2.711,2.71,2.698,2.693,2.677,2.676,2.67,2.667,2.663,2.653,2.647,2.644,2.643,2.637,2.631,2.627,2.62,2.616,2.612,2.6,2.596,2.596,2.593,2.592,2.586,2.579,2.576,2.576,2.575,2.575,2.565,2.561,2.555,2.554,2.546,2.542,2.541,2.54,2.539,2.533,2.536,2.531,2.528,2.525,2.525,2.525,2.521,2.521,2.521,2.521,2.521,2.521,2.521,2.52,2.511,2.51,2.51,2.51,2.51,2.509,2.509,2.509,2.509,2.506,2.513,2.513,2.512,2.507,2.512,2.51,2.511,2.51,2.511,2.511,2.513,2.517,2.517,2.519,2.521,2.521,2.523,2.523,2.523,2.524,2.528,2.528,2.53,2.531,2.531,0.01,0.007,1.159,1.159,1.164,1.164,1.165,2.56,2.568,2.574,2.576,2.58,2.581,2.582,2.594,2.596,2.6,2.603,2.604,2.612,2.619,2.621,2.63,2.638,2.639,2.641,2.656,2.659,2.664,2.665,2.676,2.682,2.693,2.697,2.703,2.71,2.711,2.732,2.733,2.747,2.756,2.76,2.768,2.769,2.786,2.793,2.798,2.805,2.819,2.821,2.829,2.837,2.851,2.862,2.87,2.875,2.884,2.897,2.903,2.918,2.922,2.934,2.938,2.962,2.968,2.979,2.994,3.006,3.01,3.012,3.036,3.049,3.058,3.068,3.075,3.09,3.101,3.119,3.138,3.144,3.157,3.174,3.191,3.201,3.224,3.239,3.255,3.266,3.28,3.294,3.312,3.333,3.347,3.378,3.393,3.402,3.427,3.439,3.453,3.475,3.499,3.522,3.542,3.564,3.582,3.609,3.62,3.636,3.676,3.698,3.718,3.734,3.775,3.786,3.818,3.842,3.874,3.903,3.925,3.955,4.017,0.007,0,0,0.007,0,0.009,0.007,0,0,0,4.049,4.005,4.005,4.005,0,0,0,0,3.271,3.246,3.238,3.224,3.223,3.211,3.193,3.187,3.171,3.169,3.151,3.14,3.129,3.127,3.12,3.109,3.098,3.088,3.078,3.072,3.068,3.06,3.06,3.036,3.034,3.031,3.026,3.013,3.012,3.006,2.998,2.985,2.983,2.983,2.972,2.962,2.962,2.96,2.955,2.953,2.947,2.94,2.938,2.933,2.925,2.918,2.912,2.911,2.909,2.909,2.897,2.894,2.889,2.885,2.884,2.879,2.872,2.871,2.871,2.87,2.87,2.87,2.868,2.868,2.862,2.86,2.854,2.854,2.855,2.854,2.847,2.855,2.85,2.847,2.847,2.849,2.843,2.838,2.843,2.84,2.84,2.844,2.844,2.844,2.844,2.84,2.84,2.84,2.836,2.836,2.836,2.836,2.836,2.836,2.842,2.842,2.854,2.854,2.854,2.854,2.858,2.862,2.862,2.862,2.862,2.86,2.86,2.862,2.878,2.879,2.88,2.881,2.881,2.883,2.883,2.884,2.89,2.894,2.907,2.908,2.915,2.915,2.923,2.926,2.935,2.936,2.937,2.948,2.949,2.949,2.95,2.955,2.955,2.958,2.961,2.964,2.968,2.968,2.977,3.001,3.003,3.003,3.001,3.003,3.003,3.014,3.017,3.021,3.029,3.046,3.047,3.065,3.065,3.071,3.075,3.092,3.096,3.097,3.101,3.101,3.114,3.636,3.636,3.647,3.663,3.668,3.689,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,3.991,3.967,3.904,3.866,3.84,3.803,3.789,3.764,3.723,3.709,3.664,3.664,3.664,3.638,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,1.393,1.379,1.379,1.377,1.375,1.374,1.374,1.374,1.374,1.374,1.374,1.352,1.352,1.347,1.345,1.345,1.343,1.343,1.341,1.342,1.339,1.34,1.339,1.34,1.34,1.344,1.353,1.371,1.378,1.386,1.388,1.433,1.521,1.602,1.663,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.50} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.101303}
SEN {Time 86.5028} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.699} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.4892} {Name Sonar11 Range 3.556} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.016} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 3.7338}
SEN {Time 86.5485} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.19,0.19,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.85,3.829,3.802,3.788,3.751,3.735,3.712,3.681,3.659,3.637,3.614,3.602,3.586,3.545,3.515,3.497,3.474,3.46,3.442,3.423,3.404,3.379,3.362,3.341,3.32,3.319,3.303,3.296,3.296,3.293,0.159,0.159,0.159,0.159,0.157,0.146,0.146,0.15,0.146,0.15,0.151,0.151,3.063,3.063,3.049,3.049,3.02,3.019,3.013,3.005,0.163,0.163,0.16,0.163,0.16,0.16,0.157,0.156,0.156,0.157,2.853,2.853,2.853,2.847,2.829,1.241,1.24,1.234,1.234,1.231,1.231,1.231,2.757,2.757,2.757,2.752,2.748,2.735,2.726,2.722,2.713,2.707,2.7,2.698,2.695,2.677,2.669,2.668,2.656,2.652,2.648,2.642,2.638,2.635,2.622,2.621,2.616,2.612,2.612,2.607,2.602,2.595,2.595,2.594,2.579,2.574,2.567,2.563,2.563,2.563,2.563,2.556,2.554,2.539,2.538,2.539,2.539,2.539,2.538,2.538,2.523,2.523,2.518,2.519,2.519,2.519,2.517,2.519,2.515,2.51,2.51,2.51,2.508,2.508,2.507,2.507,2.501,2.498,2.497,2.497,2.493,2.493,2.495,2.495,2.495,2.495,2.495,2.497,2.497,2.494,2.493,2.497,2.493,2.493,2.495,2.5,2.506,2.506,2.506,2.507,2.507,2.513,2.513,2.513,2.517,2.518,2.518,2.519,2.521,2.521,2.521,1.156,1.156,1.156,1.158,1.158,1.158,1.162,2.557,2.569,2.57,2.57,2.583,2.585,2.585,2.589,2.592,2.604,2.606,2.606,2.61,2.616,2.621,2.629,2.636,2.639,2.644,2.653,2.66,2.663,2.678,2.687,2.69,2.7,2.701,2.704,2.705,2.707,2.727,2.736,2.738,2.744,2.748,2.769,2.773,2.784,2.788,2.802,2.804,2.806,2.824,2.83,2.84,2.849,2.855,2.86,2.879,2.888,2.892,2.903,2.911,2.92,2.943,2.953,2.962,2.972,2.984,2.989,3.002,3.016,3.025,3.03,3.062,3.068,3.088,3.088,3.1,3.11,3.127,3.143,3.155,3.175,3.185,3.203,3.219,3.225,3.242,3.253,3.266,3.289,3.304,3.329,3.332,3.354,3.367,3.392,3.411,3.422,3.449,3.463,3.492,3.494,3.523,3.544,3.561,3.581,3.619,3.635,3.652,3.676,3.701,3.714,3.751,3.793,3.809,3.818,3.853,3.9,3.916,3.998,4.016,4.045,4.045,0.016,0.016,0.009,0.009,0.009,0.007,0,0,0,0,0.007,0,0,0.007,0,0,0,3.257,3.248,3.238,3.228,3.211,3.197,3.183,3.181,3.163,3.153,3.152,3.151,3.135,3.13,3.112,3.107,3.094,3.09,3.082,3.077,3.069,3.055,3.052,3.041,3.036,3.022,3.019,3.018,3.009,3.005,3.002,2.997,2.989,2.984,2.966,2.966,2.966,2.964,2.963,2.949,2.935,2.934,2.93,2.93,2.919,2.918,2.917,2.914,2.91,2.904,2.895,2.892,2.888,2.888,2.888,2.883,2.879,2.878,2.878,2.878,2.878,2.878,2.875,2.872,2.87,2.866,2.865,2.855,2.85,2.85,2.85,2.849,2.85,2.855,2.849,2.849,2.848,2.846,2.846,2.846,2.846,2.84,2.84,2.847,2.847,2.847,2.851,2.847,2.847,2.848,2.851,2.849,2.849,2.849,2.849,2.849,2.85,2.855,2.859,2.859,2.864,2.868,2.869,2.869,2.873,2.873,2.874,2.876,2.877,2.879,2.883,2.894,2.896,2.897,2.9,2.911,2.911,2.911,2.912,2.913,2.926,2.927,2.927,2.931,2.94,2.941,2.953,2.953,2.957,2.957,2.96,2.96,2.967,2.97,2.972,2.973,2.98,2.991,2.993,3.001,3.003,3.007,3.008,3.015,3.029,3.03,3.032,3.032,3.047,3.055,3.067,3.071,3.079,3.083,3.092,3.104,3.105,3.107,3.116,3.131,3.643,3.657,3.668,3.668,3.683,3.689,3.693,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,3.91,3.86,3.826,3.797,3.776,3.75,3.724,3.711,3.657,3.643,3.643,3.643,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,1.394,1.387,1.385,1.385,1.381,1.381,1.381,1.379,1.365,1.364,1.364,1.362,1.361,1.361,1.362,1.361,1.361,1.358,1.358,1.357,1.355,1.352,1.352,1.35,1.347,1.352,1.358,1.378,1.39,1.394,1.413,0,0,0,0,0,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.71} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,1.047198}
SEN {Time 86.7068} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.699} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 0.9652} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 3.556} {Name Sonar12 Range 1.0414} {Name Sonar13 Range 1.016} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 3.7338}
SEN {Time 86.7474} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.206,0.206,0,0,0,0,0,0,0,0,0,0,0,0.009,0,0,0,0,0,0,0,0,4.071,4.071,4.015,3.98,3.944,3.903,3.878,3.878,3.849,3.822,3.762,3.755,3.726,3.686,3.683,3.669,3.623,3.621,3.586,3.562,3.533,3.527,3.494,3.483,3.459,3.443,3.425,3.405,3.35,0.16,0.154,0.152,0.151,0.151,0.151,0.148,0.151,0.153,0.153,0.153,0.153,0.153,0.153,3.119,3.119,3.119,3.108,3.094,3.092,3.092,3.079,0.162,0.161,0.162,0.161,0.161,0.161,0.156,0.156,0.161,2.918,2.918,2.918,2.903,2.891,2.886,2.869,2.864,2.859,2.844,2.844,2.837,2.835,1.239,1.236,1.234,1.231,1.236,1.236,1.255,2.743,2.743,2.743,2.741,2.73,2.721,2.714,2.714,2.701,2.696,2.684,2.683,2.683,2.672,2.669,2.659,2.653,2.646,2.642,2.635,2.633,2.626,2.622,2.62,2.602,2.6,2.594,2.594,2.59,2.587,2.576,2.575,2.572,2.566,2.56,2.56,2.557,2.552,2.546,2.546,2.545,2.542,2.539,2.538,2.533,2.531,2.533,2.531,2.531,2.525,2.518,2.518,2.515,2.512,2.511,2.508,2.505,2.501,2.498,2.497,2.497,2.494,2.491,2.491,2.49,2.49,2.493,2.493,2.49,2.489,2.485,2.485,2.489,2.489,2.493,2.493,2.492,2.49,2.49,2.49,2.49,2.491,2.491,2.494,2.491,2.492,2.492,2.494,2.498,2.498,2.507,2.507,2.508,2.52,2.52,2.521,2.521,2.521,2.52,1.155,1.155,1.155,1.155,1.156,1.157,1.157,2.561,2.567,2.567,2.567,2.571,2.576,2.577,2.586,2.587,2.594,2.599,2.602,2.612,2.615,2.619,2.621,2.625,2.638,2.645,2.654,2.654,2.657,2.669,2.674,2.679,2.689,2.699,2.699,2.708,2.722,2.729,2.733,2.734,2.743,2.749,2.757,2.769,2.77,2.786,2.789,2.794,2.812,2.816,2.826,2.836,2.851,2.854,2.865,2.866,2.884,2.897,2.899,2.913,2.927,2.931,2.95,2.952,2.957,2.975,2.986,2.992,3.007,3.018,3.037,3.053,3.06,3.076,3.079,3.087,3.112,3.12,3.133,3.136,3.168,3.179,3.198,3.216,3.226,3.234,3.251,3.271,3.283,3.302,3.325,3.341,3.347,3.375,3.383,3.409,3.422,3.449,3.464,3.474,3.508,3.529,3.547,3.568,3.582,3.611,3.621,3.66,3.673,3.697,3.732,3.766,3.79,3.799,3.833,3.852,3.897,3.926,3.957,3.981,4.011,0.016,0.009,0.007,0.009,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,3.301,3.252,3.244,3.228,3.224,3.215,3.199,3.18,3.171,3.168,3.165,3.149,3.142,3.132,3.125,3.116,3.108,3.092,3.092,3.078,3.078,3.07,3.067,3.054,3.051,3.047,3.037,3.031,3.018,3.015,3.013,3.005,2.995,2.989,2.978,2.975,2.971,2.967,2.963,2.947,2.945,2.943,2.942,2.934,2.934,2.929,2.925,2.919,2.919,2.915,2.909,2.906,2.901,2.9,2.891,2.891,2.881,2.879,2.879,2.879,2.878,2.878,2.882,2.875,2.875,2.873,2.861,2.861,2.861,2.861,2.861,2.853,2.853,2.853,2.853,2.854,2.854,2.854,2.853,2.853,2.851,2.85,2.848,2.848,2.847,2.848,2.842,2.848,2.848,2.848,2.847,2.848,2.847,2.847,2.846,2.857,2.857,2.858,2.861,2.861,2.861,2.866,2.866,2.87,2.875,2.875,2.878,2.88,2.884,2.887,2.891,2.892,2.894,2.901,2.904,2.905,2.905,2.917,2.917,2.918,2.922,2.923,2.934,2.934,2.936,2.942,2.943,2.946,2.96,2.96,2.96,2.96,2.965,2.972,0.007,2.992,2.991,2.992,2.992,3.008,3.01,3.01,3.01,3.01,3.01,3.016,3.029,3.033,3.042,3.058,3.068,3.071,3.071,3.086,3.087,3.093,3.106,3.106,3.119,3.119,3.142,3.637,3.637,3.664,3.668,3.682,3.684,3.707,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.923,3.888,3.851,3.831,3.794,3.759,3.718,3.718,3.701,3.701,0.007,0.009,0.009,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.395,1.393,1.393,1.393,1.393,1.393,1.392,1.388,1.38,1.38,1.38,1.369,1.369,1.369,1.368,1.368,1.368,1.366,1.358,1.366,1.361,1.361,1.362,1.364,1.364,1.37,1.376,1.395,1.409,1.41,1.477,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 86.90} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.977384}
SEN {Time 86.9017} {Type Sonar} {Name Sonar0 Range 3.2004} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 4.699} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0574} {Name Sonar6 Range 0.9652} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 4.0132} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 1.016} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 3.7592}
SEN {Time 86.9444} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.208,0.208,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,4.032,3.969,3.93,3.889,3.874,3.856,3.807,3.794,3.775,3.742,3.72,3.694,3.639,3.639,3.519,0.158,0.156,0.155,0.155,0.155,0.154,0.154,0.154,0.154,0.153,0.154,0.154,0.156,0.173,3.292,3.292,3.292,3.285,3.285,3.285,3.264,3.249,0.164,0.164,0.163,0.162,0.163,0.162,0.162,0.166,3.04,3.04,3.04,3.038,3.036,3.009,3.003,2.996,2.982,2.963,2.96,2.96,2.938,2.929,2.922,2.905,2.901,2.883,2.883,2.88,2.862,2.854,2.847,2.847,2.829,2.826,1.239,1.236,1.226,1.219,1.219,1.219,1.23,2.737,2.737,2.737,2.733,2.731,2.723,2.709,2.706,2.704,2.684,2.682,2.678,2.665,2.663,2.662,2.655,2.65,2.645,2.628,2.627,2.627,2.612,2.608,2.604,2.604,2.603,2.6,2.587,2.585,2.58,2.576,2.576,2.574,2.565,2.565,2.561,2.559,2.554,2.547,2.543,2.542,2.539,2.534,2.528,2.524,2.524,2.518,2.512,2.508,2.51,2.51,2.508,2.508,2.504,2.503,2.498,2.497,2.494,2.493,2.491,2.489,2.488,2.487,2.486,2.485,2.482,2.482,2.482,2.484,2.484,2.484,2.485,2.485,2.482,2.485,2.485,2.485,2.485,2.486,2.485,2.486,2.486,2.492,2.49,2.492,2.493,2.495,2.498,2.5,2.498,2.502,2.505,2.507,2.514,2.515,2.515,2.519,2.522,2.522,2.519,1.15,1.15,1.15,1.152,1.159,1.16,2.566,2.571,2.576,2.576,2.576,2.579,2.589,2.59,2.593,2.594,2.597,2.608,2.612,2.612,2.619,2.626,2.641,2.643,2.65,2.65,2.655,2.659,2.666,2.677,2.678,2.685,2.696,2.696,2.705,2.714,2.721,2.723,2.737,2.741,2.745,2.753,2.771,2.775,2.779,2.782,2.797,2.803,2.814,2.822,2.826,2.838,2.85,2.863,2.875,2.883,2.891,2.898,2.907,2.92,2.927,2.946,2.951,2.959,2.978,2.99,2.995,3.013,3.019,3.03,3.04,3.051,3.079,3.088,3.097,3.112,3.121,3.132,3.146,3.162,3.173,3.191,3.209,3.231,3.239,3.249,3.259,3.282,3.304,3.318,3.334,3.356,3.376,3.389,3.416,3.434,3.449,3.472,3.487,3.517,3.533,3.549,3.578,3.596,3.618,3.638,3.667,3.689,3.715,3.726,3.76,3.795,3.817,3.844,3.871,3.9,3.925,3.975,4.001,4.088,0.009,0.007,0.009,0,0,0,0.016,0.016,0.016,0,0,0,0,0,0.007,0,3.938,3.259,3.245,3.244,3.223,3.216,3.204,3.193,3.185,3.18,3.177,3.165,3.156,3.141,3.137,3.133,3.118,3.107,3.099,3.094,3.09,3.071,3.065,3.064,3.049,3.039,3.032,3.026,3.016,3.015,3,3,2.996,2.995,2.994,2.983,2.98,2.968,2.966,2.964,2.964,2.957,2.955,2.949,2.941,2.933,2.93,2.927,2.915,2.913,2.912,2.911,2.906,2.906,2.896,2.893,2.887,2.887,2.885,2.882,2.879,2.879,2.879,2.882,2.882,2.882,2.871,2.871,2.866,2.866,2.866,2.866,2.865,2.863,2.858,2.855,2.855,2.858,2.855,2.855,2.853,2.853,2.853,2.853,2.853,2.852,2.85,2.849,2.85,2.852,2.854,2.854,2.855,2.855,2.856,2.861,2.861,2.859,2.861,2.861,2.861,2.864,2.871,2.876,2.877,2.877,2.884,2.887,2.89,2.89,2.891,2.897,2.899,2.901,2.906,2.909,2.911,2.915,2.921,2.925,2.927,2.935,2.936,2.945,2.95,2.955,2.961,2.962,2.965,2.966,2.966,2.966,2.966,2.976,2.976,2.978,2.98,2.991,3.001,3.003,3.004,3.013,3.013,3.018,3.019,3.022,3.025,3.036,3.042,3.061,3.082,3.085,3.085,3.093,3.096,3.109,3.114,3.116,3.129,3.129,3.14,3.661,3.661,3.672,3.679,3.695,3.697,3.708,3.718,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.064,4.005,3.961,3.936,3.891,3.865,3.822,3.808,3.777,3.756,3.719,3.706,3.671,3.642,3.642,3.642,0,0,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.5,1.5,1.5,0,0,0,0,0,0,0,1.415,1.41,1.409,1.405,1.401,1.4,1.393,1.389,1.389,1.389,1.385,1.383,1.383,1.381,1.379,1.375,1.375,1.375,1.375,1.375,1.375,1.375,1.377,1.377,1.381,1.386,1.401,1.406,1.423,1.427,1.477,1.707,0,0.007,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.016,0.016,0.016,0.016,0.016,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 87.10} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.918043}
SEN {Time 87.1047} {Type Sonar} {Name Sonar0 Range 3.2004} {Name Sonar1 Range 2.6924} {Name Sonar2 Range 2.6924} {Name Sonar3 Range 3.4036} {Name Sonar4 Range 1.397} {Name Sonar5 Range 2.0066} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.0988} {Name Sonar11 Range 4.0132} {Name Sonar12 Range 3.7592} {Name Sonar13 Range 1.0668} {Name Sonar14 Range 1.0414} {Name Sonar15 Range 3.7592}
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SEN {Time 92.47} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 92.4679} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7846} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 3.1496} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 1.016}
SEN {Time 92.5274} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,3.148,3.125,3.124,3.122,3.112,3.111,3.108,3.107,3.107,3.107,3.102,3.1,3.095,3.093,3.093,3.092,3.084,3.08,3.08,3.08,3.08,3.075,3.079,3.075,3.075,3.077,3.077,3.077,3.079,3.094,3.59,3.597,3.611,3.611,3.611,3.608,3.608,3.599,3.608,3.603,3.607,3.603,3.603,3.515,0.172,0.15,0.15,0.15,0.15,0.148,0.148,0.147,0.147,0.148,0.151,0.151,0.153,0.158,0.307,3.595,3.611,3.616,3.616,3.611,3.626,3.603,3.362,0.163,0.163,0.163,0.163,0.164,0.165,0.167,0.167,0.431,3.683,3.683,3.699,3.706,3.711,3.72,3.733,3.734,3.746,3.752,3.758,3.765,3.769,3.773,3.774,3.786,3.793,3.805,3.812,3.819,3.837,3.837,3.844,3.845,3.857,3.87,3.874,3.891,3.897,3.908,3.92,3.926,3.936,3.95,3.958,3.966,3.99,3.996,3.997,4.018,4.037,4.045,4.077,4.077,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,0,4.075,0,3.982,3.944,3.889,3.855,3.824,3.794,3.771,3.752,3.719,3.702,3.663,3.641,3.615,3.602,3.565,3.546,3.527,3.497,3.486,3.465,3.442,3.41,3.396,3.373,3.364,3.336,3.312,3.306,3.278,3.274,3.241,3.228,3.214,3.2,3.184,3.175,3.155,3.146,3.131,3.112,3.096,3.086,3.072,3.058,3.044,3.03,3.014,3.007,2.992,2.992,2.967,2.956,2.943,2.935,2.924,2.92,2.911,2.892,2.881,2.872,2.856,2.856,2.836,2.836,2.826,2.817,2.802,2.792,2.783,2.775,2.767,2.765,2.752,2.744,2.736,2.726,1.173,1.168,1.167,1.167,1.162,1.158,1.158,1.158,2.65,2.65,2.65,2.641,2.631,2.626,2.625,2.616,2.605,2.601,2.594,2.591,2.581,2.576,2.57,2.565,2.557,2.555,2.547,2.545,2.544,2.538,2.527,2.521,2.519,2.513,2.513,2.507,2.504,2.501,2.499,2.495,2.493,2.485,2.483,2.481,2.477,2.471,2.468,2.468,2.467,2.459,2.459,2.459,2.457,2.453,2.451,2.451,2.451,2.451,2.447,2.445,2.444,2.442,2.441,2.439,2.438,2.439,2.439,2.438,2.438,2.438,2.438,2.436,2.436,2.436,2.436,2.436,2.434,2.434,2.434,2.434,2.439,2.44,2.441,2.441,2.442,2.445,2.447,2.447,2.447,2.449,2.449,2.45,2.454,2.457,2.458,2.458,2.463,2.465,2.465,2.467,2.472,2.475,2.48,2.48,2.48,2.487,2.49,2.496,2.505,2.507,2.507,2.505,1.114,1.113,1.113,1.114,1.119,1.125,1.127,2.554,2.556,2.563,2.563,2.573,2.574,2.584,2.585,2.586,2.601,2.602,2.618,2.62,2.624,2.629,2.631,2.642,2.648,2.666,2.667,2.669,2.678,2.683,2.692,2.704,2.707,2.722,2.73,2.733,2.745,2.751,2.77,2.77,2.787,2.789,2.806,2.815,2.826,2.842,2.851,2.854,2.859,2.879,2.885,2.901,2.908,2.919,2.928,2.948,2.952,2.955,2.974,2.98,2.995,3.015,3.02,3.04,3.052,3.068,3.076,3.09,3.105,3.118,3.129,3.152,3.157,3.178,3.197,3.214,3.231,3.235,3.254,3.278,3.295,3.308,3.327,3.344,3.371,3.384,3.404,3.426,3.433,3.462,3.49,3.511,3.518,3.551,3.573,3.595,3.617,3.643,3.673,3.727,3.748,3.783,3.783,3.804,3.827,3.863,3.906,3.93,3.958,3.98,4.02,4.088,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.297,3.278,3.278,3.272,3.265,3.249,3.24,3.227,3.213,3.211,3.201,3.19,3.176,3.168,3.157,3.152,3.148,3.14,3.128,3.122,3.119,3.107,3.101,3.098,3.093,3.077,3.076,3.073,3.06,3.057,3.049,3.049,3.045,3.03,3.028,3.025,3.021,3.02,3.015,3.008,3.002,2.995,2.99,2.99,2.987,2.983,2.978,2.976,2.975,2.961,2.959,2.955,2.954,2.955,2.947,2.947,2.944,2.943,2.943,2.944,2.945,2.945,2.945,2.932,2.932,2.932,2.932,2.933,2.933,2.925,2.922,2.922,2.92,2.92,2.92,2.92,2.919,2.917,2.917,2.917,2.917,2.917,2.913,2.913,2.917,2.917,2.917,2.92,2.92,2.921,2.926,2.926,2.929,2.929,2.929,2.931,2.932,2.938,2.945,2.945,2.945,2.948,2.948,2.951,2.954,2.954,2.954,2.96,2.961,2.967,2.969,2.974,2.976,2.977,2.989,2.994,2.996,3,3.003,3.008,3.016,3.021,3.027,3.03,3.031,3.031,3.034,3.034,3.037,3.052,3.055,3.056,3.058,3.063,3.067,3.078,3.08,3.09,3.097,3.1,3.1,3.118,3.118,3.12,3.125,3.137,3.142,3.152,3.167,3.17,3.178,3.181,3.182,3.198,3.198,3.203,3.217,3.741,3.743,3.754,3.765,3.785,3.789,3.801,3.811,3.82,3.838,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.69} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 92.6869} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 3.1496} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 1.016}
SEN {Time 92.7234} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,3.141,3.126,3.124,3.122,3.111,3.107,3.106,3.106,3.106,3.106,3.101,3.101,3.099,3.095,3.091,3.091,3.091,3.084,3.081,3.079,3.071,3.07,3.071,3.07,3.069,3.069,3.069,3.069,3.071,3.092,3.589,3.607,3.61,3.61,3.61,3.61,3.611,3.607,3.601,3.61,3.601,3.6,3.598,3.499,0.174,0.156,0.154,0.154,0.154,0.154,0.148,0.148,0.157,0.153,0.154,0.154,0.154,0.154,0.3,3.61,3.614,3.629,3.629,3.614,3.607,3.368,0.174,0.162,0.162,0.162,0.163,0.164,0.164,0.164,0.169,0.436,3.675,3.692,3.709,3.71,3.721,3.725,3.731,3.736,3.738,3.746,3.747,3.76,3.766,3.78,3.787,3.788,3.788,3.796,3.82,3.82,3.825,3.838,3.839,3.855,3.859,3.873,3.876,3.878,3.895,3.91,3.914,3.931,3.938,3.946,3.968,3.975,3.979,3.979,4.012,4.02,4.028,4.047,4.049,4.072,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,4.004,3.965,3.902,3.892,3.846,3.827,3.789,3.778,3.741,3.73,3.694,3.684,3.643,3.62,3.593,3.56,3.551,3.527,3.505,3.475,3.457,3.431,3.425,3.397,3.365,3.345,3.334,3.319,3.302,3.285,3.262,3.243,3.235,3.208,3.19,3.183,3.174,3.158,3.144,3.116,3.111,3.101,3.082,3.071,3.056,3.046,3.03,3.011,3.006,2.992,2.977,2.961,2.956,2.945,2.934,2.928,2.914,2.902,2.894,2.874,2.873,2.863,2.853,2.846,2.838,2.825,2.804,2.798,2.791,2.781,2.773,2.769,2.756,2.745,2.745,2.74,2.726,1.17,1.169,1.166,1.166,1.158,1.151,1.151,1.158,2.651,2.651,2.651,2.65,2.633,2.629,2.623,2.622,2.603,2.6,2.596,2.596,2.578,2.577,2.571,2.57,2.563,2.561,2.554,2.554,2.537,2.536,2.532,2.528,2.523,2.519,2.517,2.516,2.504,2.502,2.501,2.491,2.49,2.49,2.488,2.481,2.48,2.477,2.477,2.466,2.463,2.46,2.459,2.457,2.457,2.457,2.457,2.456,2.456,2.449,2.449,2.446,2.445,2.44,2.437,2.436,2.436,2.437,2.437,2.437,2.44,2.44,2.439,2.439,2.439,2.439,2.439,2.436,2.436,2.436,2.436,2.438,2.44,2.443,2.444,2.443,2.443,2.444,2.449,2.453,2.453,2.453,2.453,2.453,2.456,2.456,2.457,2.458,2.461,2.466,2.467,2.477,2.477,2.479,2.48,2.488,2.49,2.492,2.495,2.5,2.507,2.507,2.507,2.507,1.114,1.111,1.111,1.114,1.12,1.129,1.131,2.55,2.561,2.563,2.563,2.574,2.576,2.58,2.587,2.59,2.593,2.6,2.612,2.613,2.626,2.626,2.63,2.64,2.646,2.653,2.672,2.675,2.679,2.696,2.703,2.708,2.712,2.726,2.735,2.74,2.743,2.756,2.772,2.775,2.786,2.795,2.797,2.808,2.823,2.833,2.845,2.852,2.867,2.869,2.886,2.898,2.903,2.911,2.924,2.934,2.958,2.962,2.979,2.986,2.997,3.005,3.03,3.039,3.045,3.064,3.082,3.092,3.106,3.115,3.128,3.149,3.15,3.175,3.201,3.209,3.218,3.24,3.251,3.274,3.304,3.315,3.322,3.343,3.36,3.381,3.406,3.427,3.45,3.46,3.489,3.507,3.527,3.553,3.573,3.599,3.625,3.651,3.678,3.703,3.723,3.756,3.787,3.798,3.829,3.856,3.898,3.915,3.958,3.991,4.028,4.059,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.3,3.289,3.274,3.271,3.262,3.245,3.235,3.223,3.222,3.216,3.202,3.19,3.177,3.167,3.16,3.155,3.152,3.135,3.131,3.129,3.114,3.113,3.103,3.101,3.089,3.083,3.069,3.066,3.062,3.06,3.051,3.04,3.033,3.029,3.029,3.029,3.028,3.019,3.014,3.007,2.995,2.993,2.992,2.99,2.99,2.978,2.976,2.975,2.965,2.965,2.959,2.957,2.948,2.95,2.948,2.944,2.942,2.939,2.939,2.939,2.945,2.945,2.945,2.931,2.926,2.925,2.925,2.925,2.918,2.92,2.918,2.918,2.92,2.92,2.92,2.922,2.922,2.92,2.917,2.917,2.915,2.915,2.917,2.918,2.918,2.918,2.914,2.914,2.914,2.914,2.922,2.927,2.93,2.93,2.933,2.935,2.936,2.938,2.938,2.939,2.939,2.944,2.946,2.946,2.951,2.957,2.963,2.966,2.967,2.97,2.973,2.974,2.975,2.98,2.985,2.989,2.992,2.996,3.006,3.01,3.017,3.026,3.026,3.027,3.028,3.034,3.034,3.04,3.04,3.049,3.05,3.059,3.061,3.064,3.066,3.066,3.085,3.097,3.097,3.113,3.113,3.117,3.123,3.125,3.129,3.136,3.146,3.148,3.162,3.168,3.169,3.186,3.19,3.198,3.198,3.206,3.208,3.74,3.742,3.763,3.769,3.771,3.801,3.812,3.833,3.833,3.84,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 92.88} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 92.8799} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 3.1496} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.016}
SEN {Time 92.9235} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.188,0.188,0,0,0,0,0,3.148,3.134,3.12,3.114,3.114,3.11,3.109,3.108,3.108,3.104,3.103,3.1,3.096,3.094,3.093,3.083,3.082,3.08,3.078,3.075,3.075,3.076,3.078,3.078,3.078,3.078,3.075,3.075,3.075,3.092,3.597,3.605,3.607,3.609,3.609,3.609,3.614,3.609,3.607,3.599,3.599,3.599,3.592,3.511,0.178,0.158,0.154,0.153,0.152,0.153,0.151,0.153,0.151,0.156,0.156,0.158,0.158,0.158,0.294,3.617,3.624,3.632,3.632,3.632,3.632,3.632,3.618,0.161,0.161,0.161,0.161,0.163,0.167,0.168,0.174,0.42,3.676,3.704,3.706,3.709,3.723,3.726,3.727,3.741,3.747,3.75,3.75,3.755,3.768,3.772,3.774,3.791,3.793,3.796,3.811,3.821,3.828,3.834,3.843,3.86,3.865,3.866,3.875,3.876,3.897,3.9,3.907,3.915,3.933,3.947,3.962,3.976,3.979,3.99,3.997,4.01,4.017,4.041,4.046,4.066,4.072,4.09,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,4.066,4.029,3.992,3.97,3.938,3.902,3.888,3.871,3.827,3.795,3.771,3.753,3.727,3.701,3.667,3.647,3.629,3.599,3.571,3.547,3.532,3.509,3.492,3.464,3.443,3.42,3.401,3.376,3.355,3.338,3.315,3.302,3.283,3.265,3.247,3.236,3.214,3.209,3.188,3.176,3.164,3.143,3.124,3.109,3.095,3.087,3.072,3.061,3.047,3.032,3.024,3.011,2.996,2.991,2.961,2.959,2.951,2.931,2.919,2.907,2.902,2.895,2.874,2.871,2.866,2.857,2.838,2.837,2.828,2.817,2.808,2.793,2.782,2.776,2.773,2.763,2.751,2.744,2.743,2.734,1.171,1.171,1.17,1.17,1.164,1.163,1.163,1.164,2.656,2.656,2.656,2.646,2.633,2.627,2.618,2.618,2.602,2.601,2.594,2.584,2.584,2.575,2.571,2.564,2.563,2.56,2.549,2.544,2.536,2.532,2.528,2.527,2.521,2.519,2.519,2.512,2.51,2.498,2.495,2.489,2.489,2.489,2.486,2.484,2.479,2.478,2.476,2.472,2.465,2.459,2.457,2.457,2.456,2.456,2.45,2.45,2.449,2.448,2.442,2.441,2.44,2.439,2.439,2.441,2.438,2.442,2.442,2.439,2.434,2.434,2.434,2.432,2.434,2.435,2.439,2.435,2.439,2.435,2.439,2.439,2.439,2.44,2.441,2.441,2.441,2.443,2.443,2.443,2.443,2.447,2.449,2.454,2.455,2.456,2.459,2.459,2.459,2.47,2.473,2.473,2.48,2.481,2.482,2.485,2.486,2.491,2.495,2.496,2.498,2.508,2.508,2.508,1.11,1.11,1.11,1.119,1.122,1.123,1.123,2.544,2.561,2.565,2.565,2.569,2.576,2.579,2.587,2.587,2.6,2.605,2.611,2.615,2.628,2.63,2.634,2.644,2.654,2.664,2.67,2.674,2.678,2.69,2.69,2.705,2.71,2.718,2.731,2.733,2.744,2.751,2.761,2.771,2.784,2.792,2.801,2.804,2.823,2.828,2.852,2.853,2.859,2.875,2.886,2.9,2.906,2.909,2.929,2.942,2.955,2.964,2.979,2.992,3.001,3.013,3.021,3.034,3.049,3.065,3.072,3.089,3.109,3.123,3.124,3.145,3.161,3.174,3.191,3.205,3.223,3.235,3.255,3.284,3.3,3.309,3.331,3.335,3.364,3.379,3.394,3.427,3.448,3.469,3.484,3.505,3.526,3.551,3.57,3.592,3.623,3.653,3.669,3.697,3.721,3.749,3.777,3.795,3.834,3.852,3.886,3.955,3.993,4.019,4.019,4.057,4.095,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.293,3.273,3.266,3.254,3.252,3.238,3.231,3.219,3.217,3.196,3.188,3.173,3.17,3.159,3.156,3.149,3.144,3.132,3.127,3.121,3.109,3.101,3.1,3.092,3.083,3.082,3.069,3.061,3.056,3.047,3.042,3.037,3.037,3.035,3.022,3.021,3.017,3.008,3.005,3.003,2.993,2.991,2.991,2.986,2.98,2.976,2.968,2.965,2.964,2.96,2.958,2.955,2.954,2.953,2.947,2.947,2.94,2.94,2.942,2.942,2.942,2.942,2.928,2.923,2.923,2.923,2.925,2.925,2.925,2.919,2.919,2.919,2.919,2.916,2.916,2.916,2.915,2.914,2.914,2.912,2.912,2.912,2.916,2.917,2.917,2.917,2.918,2.918,2.921,2.922,2.925,2.928,2.928,2.93,2.93,2.937,2.938,2.939,2.939,2.939,2.945,2.949,2.949,2.952,2.956,2.958,2.959,2.959,2.974,2.977,2.977,2.979,2.98,2.987,2.991,2.996,3.001,3.001,3.011,3.012,3.015,3.025,3.025,3.032,3.032,3.036,3.037,3.037,3.045,3.047,3.048,3.061,3.068,3.072,3.074,3.076,3.092,3.102,3.107,3.107,3.115,3.116,3.123,3.13,3.143,3.148,3.152,3.163,3.172,3.178,3.187,3.187,3.205,3.205,3.206,3.213,3.738,3.743,3.752,3.767,3.778,3.782,3.803,3.813,3.84,3.841,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.965,3.965,3.965,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.08} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 93.0819} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8448} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.016}
SEN {Time 93.1252} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,3.148,3.145,3.118,3.114,3.114,3.114,3.109,3.109,3.111,3.108,3.107,3.102,3.098,3.096,3.092,3.092,3.085,3.083,3.077,3.077,3.076,3.076,3.077,3.075,3.072,3.073,3.072,3.072,3.073,3.091,3.598,3.605,3.606,3.606,3.606,3.614,3.615,3.615,3.611,3.611,3.606,3.599,3.59,3.507,0.172,0.152,0.151,0.15,0.15,0.15,0.146,0.157,0.159,0.157,0.154,0.159,0.159,0.162,0.299,3.613,3.62,3.625,3.625,3.631,3.634,3.631,3.61,0.168,0.164,0.16,0.161,0.161,0.164,0.164,0.164,0.424,3.681,3.693,3.703,3.709,3.714,3.717,3.722,3.725,3.737,3.751,3.752,3.752,3.768,3.778,3.778,3.792,3.793,3.803,3.814,3.815,3.825,3.843,3.845,3.849,3.853,3.88,3.88,3.881,3.891,3.904,3.906,3.928,3.942,3.954,3.955,3.979,3.988,3.999,4.008,4.014,4.027,4.034,4.04,4.072,4.089,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.007,0,4.034,3.937,3.911,3.889,3.852,3.818,3.795,3.776,3.754,3.715,3.697,3.672,3.635,3.619,3.598,3.576,3.543,3.518,3.499,3.487,3.464,3.443,3.421,3.388,3.356,3.35,3.336,3.307,3.301,3.282,3.273,3.252,3.236,3.212,3.198,3.18,3.165,3.158,3.142,3.123,3.11,3.107,3.083,3.073,3.054,3.038,3.025,3.024,3.011,2.994,2.99,2.966,2.957,2.946,2.933,2.925,2.914,2.908,2.888,2.879,2.869,2.863,2.856,2.846,2.83,2.827,2.815,2.81,2.79,2.778,2.777,2.759,2.759,2.75,2.739,2.737,2.725,1.175,1.174,1.173,1.173,1.163,1.162,1.162,1.162,2.644,2.644,2.644,2.644,2.636,2.627,2.626,2.616,2.615,2.606,2.594,2.591,2.589,2.576,2.574,2.574,2.562,2.558,2.554,2.553,2.54,2.531,2.528,2.528,2.525,2.52,2.518,2.515,2.504,2.499,2.494,2.491,2.491,2.485,2.484,2.482,2.479,2.479,2.474,2.47,2.468,2.462,2.462,2.462,2.46,2.455,2.455,2.454,2.452,2.449,2.448,2.446,2.443,2.439,2.439,2.438,2.434,2.434,2.434,2.435,2.437,2.437,2.437,2.437,2.438,2.439,2.439,2.439,2.439,2.436,2.436,2.437,2.436,2.437,2.44,2.44,2.445,2.446,2.447,2.447,2.446,2.449,2.452,2.453,2.455,2.46,2.46,2.46,2.46,2.467,2.47,2.477,2.477,2.479,2.483,2.484,2.485,2.485,2.486,2.494,2.496,2.497,2.497,2.497,1.116,1.116,1.116,1.12,1.121,1.121,1.125,2.55,2.558,2.563,2.563,2.571,2.578,2.579,2.587,2.591,2.603,2.606,2.61,2.625,2.63,2.632,2.632,2.647,2.655,2.658,2.666,2.672,2.674,2.68,2.688,2.707,2.719,2.723,2.735,2.736,2.747,2.753,2.767,2.768,2.783,2.796,2.809,2.815,2.824,2.829,2.848,2.85,2.863,2.878,2.888,2.904,2.905,2.924,2.93,2.934,2.95,2.953,2.969,2.979,3.005,3.009,3.021,3.035,3.044,3.063,3.079,3.092,3.108,3.115,3.129,3.155,3.156,3.176,3.194,3.214,3.226,3.242,3.259,3.28,3.298,3.314,3.322,3.344,3.36,3.392,3.403,3.423,3.445,3.452,3.485,3.501,3.525,3.548,3.565,3.601,3.633,3.647,3.676,3.704,3.719,3.755,3.786,3.799,3.828,3.852,3.895,3.924,3.952,3.982,4.029,4.067,4.088,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.283,3.275,3.271,3.255,3.249,3.242,3.229,3.212,3.212,3.209,3.194,3.176,3.169,3.162,3.15,3.149,3.139,3.133,3.128,3.119,3.115,3.102,3.101,3.086,3.082,3.08,3.067,3.064,3.055,3.053,3.041,3.04,3.034,3.03,3.029,3.024,3.021,3.013,3.004,3.002,2.994,2.993,2.985,2.985,2.985,2.982,2.977,2.971,2.964,2.961,2.959,2.956,2.953,2.948,2.948,2.948,2.945,2.936,2.936,2.936,2.936,2.936,2.93,2.93,2.93,2.931,2.931,2.931,2.93,2.93,2.921,2.921,2.921,2.917,2.917,2.919,2.915,2.915,2.915,2.914,2.914,2.914,2.916,2.918,2.919,2.918,2.919,2.922,2.922,2.926,2.926,2.926,2.926,2.926,2.932,2.933,2.934,2.938,2.938,2.938,2.94,2.947,2.947,2.953,2.959,2.959,2.96,2.964,2.965,2.968,2.971,2.972,2.979,2.981,2.99,2.998,2.998,3.001,3.003,3.01,3.025,3.026,3.026,3.034,3.039,3.039,3.04,3.04,3.049,3.05,3.056,3.066,3.074,3.076,3.08,3.082,3.087,3.092,3.096,3.101,3.111,3.112,3.122,3.124,3.141,3.151,3.154,3.16,3.167,3.179,3.179,3.187,3.198,3.198,3.206,3.213,3.741,3.742,3.76,3.774,3.778,3.793,3.794,3.815,3.841,3.843,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.28} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 93.2838} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8448} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.016}
SEN {Time 93.3233} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,3.142,3.13,3.121,3.118,3.113,3.112,3.11,3.104,3.108,3.102,3.102,3.099,3.099,3.093,3.091,3.087,3.084,3.081,3.081,3.077,3.073,3.073,3.073,3.073,3.071,3.07,3.07,3.07,3.072,3.095,3.591,3.601,3.604,3.604,3.605,3.605,3.605,3.605,3.605,3.605,3.606,3.603,3.603,3.513,0.163,0.154,0.154,0.148,0.152,0.152,0.148,0.148,0.152,0.15,0.153,0.154,0.157,0.157,0.29,3.609,3.614,3.622,3.622,3.629,3.636,3.629,3.612,0.163,0.163,0.163,0.163,0.163,0.163,0.163,0.165,0.425,3.689,3.704,3.707,3.71,3.721,3.724,3.735,3.738,3.747,3.75,3.758,3.762,3.773,3.774,3.783,3.786,3.792,3.805,3.813,3.815,3.828,3.832,3.832,3.85,3.861,3.871,3.874,3.881,3.892,3.901,3.908,3.932,3.935,3.946,3.953,3.979,3.979,4,4.005,4.006,4.024,4.047,4.048,4.072,4.084,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.948,3.948,3.948,3.931,3.913,3.82,3.788,3.777,3.741,3.714,3.695,3.666,3.651,3.619,3.596,3.565,3.545,3.518,3.498,3.487,3.469,3.432,3.421,3.405,3.368,3.352,3.337,3.312,3.298,3.282,3.259,3.25,3.232,3.212,3.202,3.178,3.17,3.164,3.143,3.119,3.118,3.104,3.087,3.072,3.055,3.034,3.02,3.019,3.01,2.991,2.988,2.961,2.961,2.951,2.931,2.926,2.921,2.904,2.891,2.881,2.872,2.867,2.848,2.842,2.829,2.824,2.811,2.797,2.791,2.783,2.775,2.773,2.762,2.743,2.739,2.737,2.727,1.173,1.172,1.167,1.167,1.162,1.16,1.16,1.16,2.648,2.648,2.648,2.643,2.628,2.627,2.626,2.613,2.604,2.604,2.592,2.586,2.585,2.578,2.575,2.568,2.562,2.558,2.555,2.546,2.536,2.531,2.53,2.525,2.52,2.515,2.511,2.51,2.506,2.501,2.498,2.492,2.488,2.483,2.481,2.48,2.479,2.476,2.468,2.464,2.463,2.46,2.46,2.46,2.458,2.452,2.45,2.446,2.446,2.446,2.446,2.442,2.441,2.441,2.441,2.441,2.44,2.44,2.442,2.44,2.442,2.442,2.44,2.438,2.438,2.437,2.437,2.437,2.437,2.437,2.437,2.437,2.44,2.44,2.443,2.446,2.444,2.444,2.445,2.447,2.448,2.45,2.45,2.45,2.455,2.455,2.453,2.455,2.463,2.464,2.467,2.468,2.474,2.48,2.482,2.483,2.488,2.49,2.49,2.49,2.494,2.494,2.494,2.494,1.111,1.111,1.111,1.12,1.124,1.125,1.126,2.56,2.561,2.567,2.567,2.568,2.576,2.582,2.586,2.588,2.599,2.602,2.608,2.616,2.619,2.623,2.628,2.639,2.647,2.661,2.662,2.674,2.675,2.683,2.689,2.7,2.709,2.717,2.731,2.733,2.733,2.746,2.761,2.769,2.78,2.791,2.803,2.806,2.821,2.826,2.846,2.855,2.866,2.876,2.888,2.904,2.909,2.925,2.93,2.933,2.953,2.961,2.973,2.986,2.998,3.012,3.025,3.03,3.049,3.061,3.066,3.085,3.102,3.112,3.126,3.15,3.154,3.181,3.193,3.209,3.224,3.232,3.258,3.277,3.285,3.313,3.316,3.342,3.356,3.375,3.405,3.433,3.446,3.466,3.483,3.499,3.519,3.554,3.577,3.595,3.619,3.643,3.658,3.689,3.737,3.761,3.782,3.798,3.84,3.867,3.885,3.921,3.953,3.993,4.02,4.067,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.295,3.287,3.274,3.267,3.252,3.242,3.235,3.228,3.213,3.211,3.21,3.183,3.177,3.167,3.154,3.153,3.149,3.142,3.135,3.124,3.121,3.107,3.106,3.105,3.094,3.086,3.083,3.071,3.061,3.06,3.053,3.044,3.041,3.031,3.03,3.029,3.025,3.018,3.018,3.003,2.994,2.994,2.986,2.985,2.981,2.977,2.974,2.971,2.968,2.968,2.957,2.955,2.953,2.953,2.951,2.944,2.939,2.939,2.939,2.939,2.939,2.939,2.939,2.934,2.934,2.927,2.927,2.92,2.92,2.92,2.917,2.917,2.92,2.919,2.919,2.919,2.918,2.913,2.913,2.913,2.913,2.917,2.918,2.919,2.922,2.922,2.922,2.922,2.922,2.922,2.921,2.922,2.922,2.923,2.923,2.928,2.93,2.933,2.933,2.938,2.94,2.941,2.947,2.947,2.948,2.958,2.963,2.964,2.967,2.973,2.974,2.981,2.981,2.982,2.988,2.994,2.996,3.003,3.005,3.007,3.008,3.021,3.023,3.03,3.034,3.034,3.036,3.039,3.041,3.042,3.044,3.059,3.062,3.062,3.068,3.073,3.082,3.083,3.087,3.098,3.1,3.112,3.116,3.121,3.121,3.139,3.141,3.151,3.162,3.164,3.173,3.181,3.189,3.196,3.196,3.207,3.731,3.731,3.734,3.761,3.762,3.765,3.78,3.804,3.811,3.825,3.836,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 93.48} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 93.4759} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8448} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.1242} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 1.016}
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SEN {Time 93.68} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 93.6777} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 4.6736} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.7084} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 1.016}
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SEN {Time 93.88} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 93.8788} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 4.6736} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 5.5372} {Name Sonar15 Range 1.016}
SEN {Time 93.9194} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.195,0.195,0,0,0,0,0,3.144,3.125,3.125,3.12,3.11,3.11,3.107,3.107,3.107,3.107,3.103,3.098,3.098,3.096,3.087,3.087,3.084,3.081,3.081,3.074,3.074,3.074,3.075,3.074,3.069,3.07,3.07,3.07,3.076,3.093,3.589,3.603,3.607,3.607,3.607,3.607,3.607,3.606,3.604,3.604,3.597,3.593,3.592,3.508,0.164,0.152,0.152,0.152,0.155,0.155,0.155,0.154,0.154,0.154,0.154,0.155,0.156,0.161,0.315,3.607,3.618,3.625,3.625,3.628,3.633,3.633,3.613,0.163,0.163,0.158,0.162,0.162,0.167,0.167,0.168,0.423,3.674,3.702,3.704,3.711,3.718,3.729,3.729,3.739,3.742,3.743,3.756,3.761,3.766,3.778,3.786,3.792,3.794,3.795,3.809,3.817,3.827,3.834,3.843,3.864,3.864,3.88,3.881,3.887,3.891,3.905,3.914,3.935,3.945,3.946,3.948,3.967,3.978,3.994,4.005,4.014,4.025,4.049,4.066,4.074,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.016,0.016,0,0,4.08,4.037,3.945,3.922,3.882,3.861,3.831,3.794,3.779,3.759,3.711,3.698,3.659,3.636,3.613,3.592,3.573,3.548,3.526,3.498,3.479,3.459,3.438,3.415,3.4,3.365,3.345,3.327,3.314,3.306,3.282,3.27,3.25,3.235,3.218,3.2,3.187,3.173,3.161,3.145,3.121,3.111,3.1,3.09,3.078,3.056,3.047,3.023,3.021,3.01,2.988,2.988,2.96,2.958,2.948,2.93,2.924,2.919,2.89,2.89,2.878,2.876,2.866,2.86,2.847,2.837,2.825,2.823,2.801,2.796,2.778,2.776,2.767,2.76,2.751,2.743,2.732,2.731,1.169,1.168,1.167,1.167,1.165,1.16,1.16,1.16,2.653,2.653,2.653,2.65,2.637,2.632,2.63,2.616,2.607,2.605,2.599,2.593,2.589,2.58,2.578,2.572,2.559,2.558,2.554,2.55,2.541,2.535,2.531,2.522,2.52,2.518,2.511,2.51,2.504,2.497,2.497,2.496,2.491,2.491,2.488,2.482,2.482,2.48,2.468,2.465,2.465,2.462,2.465,2.462,2.459,2.455,2.451,2.451,2.449,2.447,2.445,2.443,2.443,2.439,2.438,2.438,2.439,2.439,2.44,2.44,2.44,2.44,2.438,2.436,2.438,2.437,2.437,2.435,2.437,2.435,2.435,2.437,2.44,2.44,2.443,2.444,2.444,2.444,2.444,2.444,2.444,2.444,2.444,2.449,2.451,2.457,2.46,2.46,2.465,2.468,2.474,2.479,2.479,2.479,2.479,2.48,2.488,2.491,2.492,2.495,2.497,2.505,2.505,2.505,1.12,1.117,1.117,1.12,1.124,1.128,1.13,2.542,2.559,2.56,2.56,2.568,2.572,2.58,2.583,2.587,2.605,2.605,2.612,2.617,2.626,2.631,2.632,2.639,2.651,2.66,2.666,2.677,2.686,2.69,2.693,2.7,2.714,2.72,2.735,2.738,2.746,2.748,2.764,2.768,2.779,2.787,2.8,2.805,2.828,2.838,2.841,2.849,2.869,2.883,2.886,2.896,2.904,2.916,2.923,2.938,2.955,2.959,2.98,2.988,2.995,3.011,3.022,3.035,3.048,3.066,3.076,3.09,3.103,3.124,3.129,3.148,3.154,3.179,3.198,3.211,3.222,3.24,3.26,3.264,3.302,3.304,3.322,3.344,3.365,3.381,3.405,3.423,3.443,3.466,3.492,3.495,3.523,3.554,3.578,3.591,3.626,3.644,3.674,3.698,3.723,3.766,3.788,3.809,3.827,3.866,3.888,3.921,3.955,3.999,4.03,4.052,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.289,3.288,3.274,3.274,3.265,3.259,3.233,3.233,3.217,3.21,3.195,3.195,3.181,3.169,3.157,3.154,3.152,3.14,3.128,3.126,3.112,3.105,3.104,3.102,3.087,3.085,3.078,3.068,3.062,3.061,3.048,3.045,3.039,3.034,3.029,3.029,3.02,3.014,3.003,3.003,3.002,2.997,2.993,2.987,2.985,2.978,2.973,2.973,2.967,2.963,2.961,2.957,2.957,2.954,2.953,2.951,2.949,2.946,2.941,2.941,2.941,2.941,2.941,2.934,2.933,2.924,2.924,2.924,2.925,2.925,2.925,2.924,2.921,2.918,2.918,2.918,2.916,2.915,2.915,2.915,2.915,2.917,2.917,2.917,2.918,2.919,2.918,2.918,2.92,2.92,2.92,2.923,2.927,2.929,2.931,2.931,2.936,2.936,2.937,2.942,2.942,2.944,2.948,2.948,2.955,2.958,2.961,2.962,2.965,2.971,2.974,2.974,2.975,2.981,2.991,2.991,2.992,3.006,3.006,3.007,3.011,3.018,3.025,3.025,3.027,3.032,3.033,3.036,3.05,3.05,3.053,3.054,3.056,3.07,3.074,3.075,3.077,3.088,3.093,3.1,3.109,3.115,3.115,3.127,3.132,3.14,3.142,3.143,3.161,3.168,3.179,3.185,3.187,3.199,3.199,3.207,3.212,3.74,3.75,3.753,3.765,3.775,3.792,3.8,3.819,3.83,3.835,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.07} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 94.0718} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7592} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 4.6736} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.048} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 1.016}
SEN {Time 94.1165} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,3.144,3.128,3.125,3.124,3.12,3.119,3.106,3.104,3.106,3.106,3.104,3.101,3.096,3.092,3.091,3.09,3.085,3.079,3.077,3.077,3.076,3.076,3.078,3.078,3.078,3.078,3.071,3.071,3.079,3.088,3.586,3.602,3.603,3.607,3.607,3.608,3.611,3.607,3.603,3.607,3.602,3.602,3.602,3.516,0.166,0.161,0.155,0.148,0.155,0.155,0.155,0.154,0.154,0.154,0.149,0.154,0.156,0.158,0.295,3.612,3.621,3.631,3.631,3.631,3.636,3.636,3.606,0.16,0.16,0.158,0.158,0.158,0.16,0.16,0.163,0.411,3.683,3.706,3.711,3.711,3.716,3.718,3.725,3.732,3.746,3.754,3.764,3.764,3.765,3.767,3.784,3.791,3.792,3.794,3.804,3.812,3.823,3.833,3.844,3.856,3.864,3.874,3.883,3.885,3.899,3.908,3.915,3.918,3.932,3.938,3.963,3.97,3.984,4.004,4.004,4.024,4.028,4.04,4.057,4.081,4.083,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,0.016,0,0,0,3.903,3.895,3.85,3.828,3.8,3.778,3.751,3.71,3.702,3.665,3.64,3.634,3.593,3.58,3.557,3.534,3.492,3.487,3.46,3.445,3.419,3.4,3.375,3.35,3.337,3.319,3.294,3.278,3.271,3.24,3.224,3.215,3.203,3.179,3.173,3.152,3.143,3.125,3.118,3.094,3.089,3.07,3.056,3.034,3.033,3.029,3.005,2.986,2.986,2.966,2.965,2.949,2.932,2.92,2.918,2.903,2.891,2.88,2.867,2.861,2.857,2.844,2.834,2.826,2.814,2.804,2.794,2.779,2.776,2.769,2.759,2.748,2.747,2.734,2.726,1.174,1.169,1.168,1.168,1.165,1.162,1.162,1.162,2.654,2.654,2.654,2.651,2.637,2.629,2.62,2.613,2.605,2.602,2.59,2.588,2.588,2.574,2.572,2.565,2.561,2.557,2.549,2.546,2.536,2.531,2.525,2.521,2.519,2.518,2.514,2.512,2.508,2.503,2.499,2.496,2.495,2.483,2.482,2.481,2.48,2.479,2.477,2.472,2.467,2.463,2.461,2.461,2.456,2.456,2.453,2.45,2.449,2.449,2.445,2.443,2.443,2.441,2.44,2.44,2.432,2.432,2.432,2.434,2.435,2.435,2.435,2.435,2.438,2.44,2.44,2.44,2.44,2.436,2.436,2.436,2.444,2.447,2.447,2.448,2.448,2.448,2.447,2.447,2.447,2.447,2.449,2.449,2.454,2.456,2.457,2.458,2.458,2.472,2.474,2.474,2.477,2.477,2.483,2.483,2.483,2.487,2.49,2.492,2.502,2.503,2.503,2.503,1.111,1.111,1.111,1.114,1.117,1.123,1.125,2.543,2.552,2.565,2.565,2.567,2.572,2.577,2.581,2.583,2.599,2.6,2.61,2.616,2.62,2.634,2.635,2.641,2.657,2.661,2.662,2.676,2.678,2.687,2.697,2.702,2.719,2.728,2.73,2.743,2.749,2.749,2.766,2.779,2.784,2.784,2.807,2.811,2.823,2.836,2.85,2.853,2.861,2.875,2.88,2.903,2.906,2.922,2.926,2.941,2.95,2.964,2.979,2.981,2.997,3.016,3.022,3.032,3.051,3.065,3.078,3.089,3.108,3.12,3.123,3.145,3.149,3.178,3.192,3.202,3.222,3.251,3.256,3.274,3.278,3.315,3.318,3.34,3.355,3.372,3.415,3.429,3.436,3.459,3.486,3.495,3.528,3.547,3.582,3.595,3.624,3.643,3.675,3.698,3.728,3.751,3.781,3.801,3.82,3.868,3.881,3.918,3.952,4.002,4.021,4.049,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.299,3.286,3.282,3.268,3.258,3.249,3.237,3.235,3.219,3.209,3.209,3.194,3.181,3.169,3.158,3.155,3.154,3.146,3.128,3.124,3.114,3.106,3.105,3.102,3.092,3.077,3.076,3.063,3.063,3.058,3.042,3.037,3.036,3.035,3.031,3.023,3.023,3.017,3.013,3.012,3,2.994,2.992,2.992,2.989,2.983,2.978,2.976,2.97,2.96,2.958,2.957,2.956,2.949,2.948,2.948,2.945,2.943,2.938,2.943,2.943,2.943,2.931,2.93,2.926,2.926,2.924,2.924,2.924,2.921,2.92,2.921,2.92,2.92,2.919,2.922,2.919,2.919,2.918,2.918,2.909,2.918,2.918,2.913,2.913,2.919,2.915,2.919,2.919,2.92,2.923,2.925,2.927,2.93,2.932,2.932,2.938,2.939,2.939,2.939,2.939,2.941,2.951,2.951,2.953,2.955,2.955,2.962,2.962,2.968,2.969,2.972,2.977,2.978,2.984,2.994,2.998,2.999,3.003,3.008,3.021,3.024,3.025,3.025,3.027,3.035,3.035,3.037,3.037,3.046,3.049,3.055,3.06,3.069,3.069,3.073,3.081,3.092,3.095,3.103,3.103,3.113,3.117,3.121,3.124,3.138,3.142,3.146,3.157,3.17,3.17,3.181,3.184,3.197,3.197,3.214,3.214,3.738,3.743,3.751,3.765,3.772,3.788,3.805,3.822,3.829,3.847,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.27} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 94.2737} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.4036} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 3.048} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.4798} {Name Sonar13 Range 3.7338} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 1.016}
SEN {Time 94.3205} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0,0,0,0,0,3.156,3.131,3.125,3.12,3.116,3.115,3.1,3.1,3.103,3.1,3.1,3.1,3.096,3.092,3.092,3.092,3.087,3.084,3.073,3.073,3.073,3.073,3.074,3.074,3.074,3.073,3.07,3.07,3.073,3.096,3.589,3.597,3.602,3.606,3.606,3.606,3.606,3.602,3.602,3.602,3.601,3.601,3.598,3.499,0.163,0.155,0.155,0.152,0.155,0.152,0.152,0.151,0.15,0.15,0.15,0.15,0.157,0.158,0.287,3.605,3.622,3.622,3.622,3.622,3.629,3.621,3.614,0.163,0.163,0.163,0.159,0.159,0.162,0.162,0.162,0.422,3.696,3.704,3.706,3.706,3.711,3.726,3.737,3.737,3.738,3.739,3.751,3.759,3.773,3.782,3.782,3.785,3.803,3.808,3.815,3.822,3.827,3.836,3.839,3.851,3.854,3.875,3.875,3.88,3.888,3.902,3.91,3.933,3.94,3.956,3.959,3.977,3.991,3.996,4,4.02,4.033,4.035,4.049,4.057,4.075,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0.016,0.016,0,0,0,0,3.908,3.883,3.852,3.819,3.813,3.776,3.752,3.732,3.701,3.669,3.638,3.626,3.594,3.561,3.557,3.525,3.496,3.488,3.464,3.446,3.416,3.398,3.364,3.356,3.325,3.316,3.302,3.278,3.261,3.238,3.231,3.207,3.193,3.183,3.179,3.157,3.144,3.126,3.107,3.097,3.086,3.063,3.051,3.041,3.035,3.026,3.009,2.988,2.982,2.965,2.956,2.944,2.93,2.929,2.916,2.901,2.886,2.878,2.869,2.867,2.856,2.841,2.835,2.821,2.819,2.807,2.789,2.785,2.782,2.77,2.753,2.748,2.738,2.734,2.733,1.175,1.169,1.162,1.162,1.16,1.159,1.16,1.16,2.655,2.655,2.655,2.644,2.637,2.634,2.634,2.61,2.601,2.599,2.587,2.581,2.579,2.578,2.572,2.566,2.562,2.561,2.547,2.543,2.537,2.534,2.531,2.528,2.525,2.522,2.513,2.511,2.504,2.502,2.5,2.492,2.492,2.486,2.486,2.484,2.479,2.476,2.474,2.467,2.458,2.456,2.456,2.456,2.456,2.454,2.453,2.452,2.452,2.449,2.447,2.446,2.44,2.44,2.439,2.439,2.439,2.436,2.439,2.439,2.439,2.439,2.439,2.438,2.439,2.441,2.438,2.435,2.438,2.436,2.436,2.438,2.441,2.442,2.444,2.445,2.445,2.445,2.445,2.447,2.448,2.45,2.453,2.454,2.454,2.455,2.455,2.459,2.463,2.463,2.468,2.473,2.473,2.48,2.48,2.481,2.482,2.486,2.493,2.495,2.5,2.503,2.503,2.503,1.106,1.106,1.106,1.113,1.123,1.123,1.125,2.548,2.553,2.561,2.561,2.565,2.569,2.581,2.586,2.587,2.594,2.602,2.606,2.616,2.624,2.631,2.631,2.643,2.654,2.654,2.667,2.674,2.69,2.691,2.696,2.704,2.714,2.72,2.728,2.734,2.741,2.747,2.765,2.767,2.782,2.792,2.803,2.812,2.827,2.835,2.849,2.861,2.865,2.882,2.884,2.895,2.907,2.924,2.927,2.943,2.953,2.961,2.975,2.984,2.995,3.013,3.019,3.036,3.056,3.059,3.077,3.087,3.107,3.119,3.122,3.155,3.166,3.178,3.196,3.207,3.222,3.242,3.256,3.28,3.291,3.315,3.318,3.339,3.362,3.376,3.412,3.429,3.458,3.465,3.482,3.516,3.524,3.551,3.574,3.602,3.627,3.651,3.674,3.698,3.715,3.741,3.775,3.798,3.831,3.852,3.895,3.921,3.985,4.028,4.053,4.053,4.089,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.305,3.288,3.275,3.272,3.259,3.246,3.228,3.225,3.219,3.209,3.201,3.196,3.184,3.171,3.158,3.155,3.15,3.143,3.137,3.123,3.121,3.11,3.1,3.094,3.092,3.078,3.075,3.069,3.057,3.054,3.048,3.042,3.04,3.029,3.025,3.025,3.025,3.02,3.013,3.007,2.999,2.997,2.992,2.987,2.986,2.979,2.975,2.974,2.967,2.967,2.957,2.953,2.953,2.951,2.95,2.95,2.946,2.936,2.936,2.937,2.937,2.937,2.937,2.933,2.929,2.926,2.926,2.925,2.925,2.917,2.917,2.917,2.917,2.917,2.917,2.917,2.918,2.918,2.917,2.918,2.918,2.919,2.919,2.92,2.923,2.923,2.924,2.923,2.92,2.92,2.92,2.92,2.923,2.924,2.925,2.926,2.932,2.937,2.939,2.94,2.942,2.945,2.946,2.949,2.954,2.955,2.96,2.961,2.963,2.965,2.972,2.972,2.974,2.975,2.985,2.99,2.994,2.995,3.007,3.008,3.018,3.022,3.024,3.029,3.032,3.034,3.038,3.039,3.04,3.046,3.057,3.059,3.06,3.065,3.071,3.075,3.079,3.09,3.094,3.097,3.098,3.103,3.118,3.119,3.126,3.138,3.149,3.151,3.166,3.171,3.171,3.187,3.19,3.2,3.2,3.21,3.213,3.741,3.748,3.762,3.771,3.772,3.785,3.804,3.808,3.836,3.838,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.48} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 94.4757} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.3274} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 2.4384} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.4798} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 1.016}
SEN {Time 94.5154} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.192,0.192,0,0,0,0,0,3.155,3.132,3.126,3.124,3.112,3.105,3.105,3.105,3.105,3.107,3.107,3.103,3.098,3.098,3.095,3.094,3.086,3.082,3.082,3.081,3.076,3.076,3.081,3.076,3.076,3.076,3.074,3.074,3.076,3.092,3.59,3.605,3.606,3.609,3.606,3.606,3.612,3.606,3.606,3.609,3.609,3.596,3.591,3.502,0.177,0.152,0.152,0.152,0.152,0.152,0.152,0.153,0.153,0.153,0.157,0.157,0.16,0.161,0.303,3.61,3.622,3.622,3.631,3.644,0,0,0,0.166,0.163,0.163,0.159,0.162,0.162,0.162,0.162,0.428,3.693,3.699,3.703,3.712,3.719,3.719,3.729,3.734,3.736,3.747,3.756,3.759,3.765,3.776,3.783,3.783,3.799,3.801,3.809,3.816,3.83,3.831,3.837,3.857,3.863,3.868,3.871,3.888,3.89,3.902,3.92,3.923,3.928,3.952,3.953,3.98,3.985,3.997,4.006,4.008,4.025,4.039,4.05,4.076,4.084,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,3.968,3.936,3.909,3.89,3.86,3.827,3.805,3.776,3.748,3.719,3.702,3.673,3.637,3.618,3.608,3.572,3.548,3.523,3.502,3.482,3.466,3.44,3.418,3.39,3.374,3.356,3.338,3.313,3.307,3.285,3.275,3.233,3.232,3.219,3.194,3.185,3.17,3.155,3.147,3.121,3.11,3.097,3.09,3.07,3.051,3.041,3.019,3.012,3.006,2.992,2.985,2.967,2.956,2.942,2.931,2.924,2.906,2.903,2.886,2.875,2.869,2.866,2.857,2.841,2.828,2.822,2.814,2.802,2.788,2.784,2.776,2.763,2.76,2.756,2.746,2.737,2.735,1.173,1.171,1.162,1.162,1.161,1.158,1.158,1.158,2.652,2.652,2.652,2.65,2.637,2.633,2.628,2.61,2.609,2.602,2.592,2.591,2.586,2.582,2.576,2.564,2.561,2.56,2.555,2.55,2.54,2.534,2.529,2.527,2.517,2.516,2.515,2.511,2.509,2.499,2.495,2.492,2.487,2.486,2.48,2.478,2.477,2.471,2.47,2.467,2.457,2.456,2.454,2.454,2.453,2.451,2.451,2.447,2.447,2.447,2.44,2.44,2.436,2.44,2.44,2.44,2.437,2.437,2.437,2.437,2.437,2.438,2.439,2.438,2.439,2.439,2.439,2.438,2.439,2.439,2.438,2.442,2.442,2.442,2.444,2.444,2.444,2.444,2.444,2.444,2.444,2.444,2.451,2.452,2.454,2.454,2.455,2.456,2.461,2.468,2.47,2.473,2.475,2.475,2.483,2.489,2.49,2.495,2.497,2.498,2.501,2.504,2.504,2.504,1.113,1.113,1.113,1.116,1.117,1.123,1.125,2.554,2.555,2.56,2.56,2.572,2.572,2.573,2.591,2.591,2.598,2.599,2.607,2.61,2.618,2.624,2.634,2.639,2.654,2.659,2.664,2.67,2.684,2.691,2.694,2.708,2.719,2.72,2.733,2.735,2.745,2.749,2.77,2.773,2.778,2.793,2.805,2.818,2.825,2.837,2.848,2.852,2.858,2.885,2.888,2.898,2.91,2.915,2.924,2.938,2.957,2.966,2.973,2.988,2.999,3.004,3.026,3.033,3.055,3.066,3.068,3.099,3.109,3.12,3.121,3.148,3.158,3.17,3.194,3.203,3.223,3.237,3.262,3.265,3.301,3.307,3.325,3.339,3.358,3.381,3.406,3.433,3.444,3.467,3.487,3.5,3.527,3.546,3.574,3.595,3.624,3.649,3.67,3.703,3.734,3.755,3.789,3.81,3.841,3.856,3.894,3.926,3.947,3.99,4.037,4.094,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.306,3.293,3.281,3.275,3.252,3.244,3.228,3.224,3.216,3.214,3.192,3.191,3.175,3.173,3.163,3.154,3.149,3.148,3.129,3.124,3.115,3.103,3.102,3.101,3.086,3.077,3.075,3.067,3.059,3.051,3.047,3.046,3.036,3.031,3.03,3.029,3.02,3.017,3.006,3,2.992,2.99,2.989,2.987,2.985,2.985,2.975,2.971,2.971,2.966,2.962,2.958,2.957,2.952,2.952,2.952,2.951,2.947,2.94,2.94,2.94,2.94,2.94,2.931,2.931,2.931,2.931,2.928,2.928,2.923,2.922,2.922,2.923,2.926,2.926,2.926,2.919,2.918,2.918,2.919,2.919,2.92,2.92,2.916,2.916,2.92,2.916,2.92,2.92,2.921,2.921,2.923,2.923,2.924,2.927,2.928,2.928,2.929,2.934,2.942,2.942,2.947,2.948,2.948,2.95,2.959,2.959,2.96,2.962,2.971,2.971,2.971,2.974,2.982,2.986,2.994,2.996,3.003,3.009,3.01,3.026,3.022,3.026,3.026,3.026,3.032,3.034,3.038,3.041,3.047,3.049,3.055,3.059,3.068,3.072,3.077,3.079,3.089,3.097,3.105,3.105,3.112,3.117,3.123,3.124,3.139,3.14,3.143,3.162,3.166,3.174,3.181,3.187,3.198,3.198,3.207,3.214,3.738,3.74,3.748,3.769,3.783,3.787,3.805,3.811,3.827,3.827,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 94.67} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 94.6687} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0386} {Name Sonar2 Range 3.3274} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 2.4384} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.4798} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.016}
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SEN {Time 94.87} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 94.8705} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0132} {Name Sonar2 Range 3.3274} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 4.7752} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.3716} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0988} {Name Sonar13 Range 3.9878} {Name Sonar14 Range 1.0922} {Name Sonar15 Range 1.016}
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SEN {Time 98.17} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.296706}
SEN {Time 98.1731} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 3.7846} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.2258} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 2.1844} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 1.0668} {Name Sonar15 Range 0.9906}
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SEN {Time 98.44} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.228638}
SEN {Time 98.4371} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 3.7846} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.9718} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 3.0734} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 0.9906}
SEN {Time 98.5047} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,3.168,3.155,3.154,3.145,3.143,3.143,3.142,3.13,3.124,3.121,3.116,3.116,3.111,3.11,3.109,3.101,3.1,3.097,3.092,3.092,3.087,3.083,3.082,3.082,3.079,3.075,3.071,3.068,3.066,3.065,3.065,3.061,3.061,3.065,3.062,3.067,3.068,3.073,3.495,3.495,3.495,0.164,0.157,0.154,0.152,0.152,0.152,0.149,0.149,0.154,0.149,0.149,0.149,0.154,0.156,0.285,3.569,3.595,3.595,3.595,3.596,3.596,3.594,3.58,0.163,0.163,0.163,0.163,0.163,0.161,0.161,0.17,0.382,3.619,3.644,3.646,3.646,3.652,3.656,3.657,3.664,3.666,3.666,3.681,3.687,3.688,3.692,3.696,3.698,3.707,3.726,3.728,3.737,3.744,3.745,3.745,3.748,3.767,3.767,3.769,3.782,3.789,3.796,3.801,3.812,3.812,3.834,3.835,3.845,3.847,3.867,3.871,3.886,3.895,3.901,3.902,3.927,3.933,3.942,3.95,3.954,3.981,3.986,3.987,4.011,4.019,4.026,4.049,4.049,4.07,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,4.038,3.99,3.929,3.904,3.875,3.837,3.818,3.794,3.76,3.747,3.713,3.684,3.662,3.626,3.614,3.569,3.552,3.541,3.526,3.503,3.47,3.457,3.427,3.415,3.395,3.381,3.365,3.337,3.323,3.311,3.299,3.269,3.239,3.235,3.212,3.2,3.181,3.163,3.157,3.133,3.113,3.104,3.09,3.071,3.061,3.057,3.048,3.034,3.009,2.999,2.994,2.98,2.968,2.953,2.951,2.94,2.93,2.91,2.903,2.894,2.877,2.874,2.858,2.852,2.841,2.837,2.809,2.807,2.804,2.799,2.786,2.774,2.771,2.765,2.753,2.746,2.743,2.743,2.737,2.725,1.18,1.167,1.165,1.159,1.145,1.145,1.145,2.638,2.638,2.638,2.632,2.625,2.62,2.606,2.6,2.599,2.588,2.582,2.571,2.569,2.569,2.555,2.552,2.546,2.545,2.538,2.533,2.531,2.52,2.519,2.515,2.513,2.505,2.503,2.496,2.494,2.491,2.487,2.487,2.484,2.484,2.476,2.474,2.472,2.467,2.464,2.463,2.457,2.456,2.456,2.452,2.45,2.451,2.45,2.449,2.447,2.446,2.444,2.442,2.442,2.442,2.438,2.438,2.437,2.432,2.432,2.437,2.438,2.438,2.438,2.438,2.438,2.437,2.437,2.431,2.431,2.431,2.431,2.436,2.436,2.436,2.436,2.437,2.443,2.443,2.447,2.449,2.452,2.455,2.456,2.456,2.459,2.459,2.459,2.464,2.465,2.47,2.472,2.473,2.476,2.481,2.481,2.485,2.487,2.488,2.498,2.509,2.509,2.518,2.509,2.506,1.114,1.114,1.114,1.114,1.122,1.123,1.128,2.558,2.563,2.565,2.565,2.58,2.583,2.588,2.589,2.593,2.597,2.612,2.622,2.628,2.629,2.633,2.638,2.643,2.65,2.665,2.669,2.675,2.68,2.698,2.7,2.718,2.725,2.729,2.733,2.751,2.76,2.762,2.771,2.773,2.783,2.802,2.81,2.822,2.823,2.84,2.853,2.863,2.876,2.881,2.885,2.901,2.911,2.928,2.938,2.949,2.958,2.965,2.987,2.989,3.004,3.025,3.033,3.047,3.061,3.069,3.087,3.107,3.117,3.135,3.135,3.157,3.173,3.195,3.216,3.222,3.234,3.254,3.26,3.291,3.309,3.319,3.351,3.363,3.376,3.406,3.428,3.438,3.462,3.488,3.495,3.53,3.558,3.58,3.6,3.626,3.641,3.669,3.693,3.714,3.741,3.763,3.803,3.824,3.854,3.879,3.947,0.007,4.059,4.059,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,3.938,3.319,3.299,3.28,3.27,3.261,3.261,3.244,3.237,3.232,3.209,3.207,3.198,3.191,3.178,3.17,3.158,3.149,3.145,3.132,3.128,3.127,3.117,3.114,3.113,3.1,3.091,3.085,3.08,3.077,3.069,3.058,3.056,3.053,3.043,3.036,3.036,3.029,3.025,3.013,3.012,3.011,3.01,3.006,2.997,2.994,2.992,2.985,2.983,2.975,2.971,2.969,2.964,2.962,2.961,2.956,2.956,2.955,2.954,2.942,2.942,2.942,2.942,2.939,2.939,2.938,2.936,2.931,2.928,2.927,2.927,2.927,2.926,2.925,2.926,2.925,2.925,2.925,2.925,2.925,2.925,2.925,2.926,2.924,2.927,2.927,2.927,2.927,2.927,2.929,2.927,2.929,2.929,2.937,2.937,2.937,2.938,2.938,2.943,2.947,2.947,2.949,2.95,2.958,2.961,2.961,2.961,2.965,2.968,2.973,2.976,2.978,2.984,2.987,2.988,2.994,2.996,2.996,3.009,3.01,3.016,3.018,3.019,3.032,3.036,3.039,3.039,3.039,3.047,3.047,3.047,3.056,3.064,3.066,3.079,3.084,3.087,3.087,3.092,3.106,3.107,3.109,3.122,3.131,3.136,3.144,3.147,3.148,3.165,3.175,3.176,3.178,3.192,3.194,3.203,3.203,3.208,3.227,3.741,3.758,3.768,3.77,3.788,3.804,3.812,3.831,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.73} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.219911}
SEN {Time 98.7271} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 3.7846} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 3.3782} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 2.3368}
SEN {Time 98.7995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,3.16,3.16,3.153,3.148,3.143,3.143,3.14,3.137,3.13,3.121,3.115,3.113,3.107,3.105,3.102,3.098,3.097,3.089,3.087,3.089,3.087,3.086,3.085,3.082,3.077,3.076,3.076,3.075,3.064,3.064,3.061,3.06,3.064,3.064,3.06,3.064,3.064,3.071,3.104,3.104,3.104,0.169,0.157,0.156,0.152,0.151,0.151,0.151,0.151,0.151,0.151,0.152,0.153,0.153,0.153,0.278,3.573,3.587,3.596,3.596,3.596,3.597,3.584,3.371,0.162,0.162,0.16,0.159,0.159,0.159,0.159,0.163,0.379,3.625,3.635,3.635,3.644,3.652,3.652,3.652,3.658,3.662,3.669,3.673,3.689,3.69,3.694,3.701,3.706,3.707,3.721,3.723,3.735,3.736,3.748,3.749,3.75,3.762,3.767,3.769,3.772,3.79,3.796,3.799,3.815,3.815,3.826,3.831,3.834,3.837,3.855,3.867,3.88,3.887,3.894,3.905,3.917,3.918,3.939,3.939,3.948,3.974,3.984,3.985,3.99,4.007,4.026,4.044,4.056,4.063,4.071,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,4.044,4.044,3.992,3.992,0.007,3.907,3.872,3.82,3.804,3.774,3.746,3.708,3.696,3.67,3.634,3.617,3.599,3.564,3.549,3.517,3.511,3.487,3.472,3.44,3.409,3.409,3.389,3.361,3.349,3.319,3.304,3.294,3.272,3.256,3.236,3.216,3.193,3.178,3.168,3.16,3.143,3.122,3.112,3.105,3.079,3.079,3.061,3.045,3.027,3.019,3.012,3.004,2.988,2.977,2.968,2.946,2.944,2.925,2.909,2.906,2.896,2.886,2.882,2.867,2.852,2.85,2.833,2.822,2.818,2.806,2.799,2.79,2.785,2.765,2.763,2.755,2.747,2.741,2.741,2.737,2.726,1.167,1.163,1.161,1.16,1.147,1.147,1.147,1.167,2.629,2.629,2.629,2.624,2.622,2.616,2.599,2.595,2.595,2.595,2.589,2.579,2.576,2.562,2.556,2.553,2.545,2.544,2.533,2.533,2.521,2.519,2.519,2.516,2.506,2.503,2.493,2.493,2.488,2.487,2.485,2.485,2.475,2.474,2.473,2.472,2.47,2.463,2.461,2.454,2.454,2.454,2.454,2.45,2.449,2.446,2.446,2.444,2.443,2.443,2.442,2.442,2.442,2.439,2.436,2.436,2.435,2.435,2.435,2.435,2.433,2.433,2.433,2.433,2.435,2.435,2.435,2.435,2.434,2.434,2.435,2.435,2.437,2.442,2.443,2.448,2.448,2.448,2.448,2.448,2.449,2.452,2.454,2.454,2.454,2.458,2.459,2.47,2.47,2.471,2.471,2.472,2.475,2.477,2.485,2.493,2.493,2.497,2.498,2.501,2.509,2.509,2.509,1.115,1.115,1.115,1.116,1.12,1.122,1.126,1.129,2.557,2.56,2.561,2.573,2.582,2.586,2.589,2.592,2.597,2.608,2.611,2.622,2.623,2.632,2.635,2.642,2.649,2.662,2.668,2.684,2.686,2.693,2.701,2.713,2.714,2.728,2.736,2.739,2.752,2.753,2.77,2.771,2.784,2.789,2.796,2.819,2.827,2.835,2.849,2.856,2.871,2.877,2.881,2.903,2.911,2.922,2.928,2.936,2.952,2.961,2.983,2.988,2.996,3.018,3.026,3.051,3.061,3.063,3.08,3.095,3.115,3.123,3.13,3.149,3.168,3.195,3.203,3.22,3.231,3.25,3.259,3.282,3.3,3.317,3.34,3.351,3.367,3.386,3.413,3.434,3.455,3.478,3.496,3.524,3.536,3.579,3.588,3.61,3.646,3.653,3.682,3.703,3.73,3.753,3.794,3.812,3.852,3.871,3.9,3.939,3.967,3.999,4.044,4.061,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.297,3.289,3.278,3.27,3.262,3.256,3.238,3.234,3.219,3.212,3.21,3.194,3.183,3.176,3.16,3.159,3.148,3.141,3.125,3.124,3.12,3.115,3.113,3.108,3.095,3.089,3.086,3.074,3.07,3.061,3.06,3.058,3.051,3.05,3.033,3.033,3.032,3.019,3.018,3.011,3.009,3.007,3.007,2.999,2.995,2.986,2.984,2.975,2.974,2.961,2.961,2.961,2.961,2.961,2.952,2.949,2.948,2.938,2.938,2.938,2.948,2.948,2.948,2.935,2.931,2.931,2.931,2.931,2.931,2.931,2.931,2.924,2.928,2.926,2.924,2.926,2.926,2.926,2.922,2.925,2.924,2.921,2.924,2.925,2.926,2.929,2.929,2.926,2.926,2.927,2.927,2.934,2.935,2.94,2.94,2.941,2.942,2.941,2.946,2.947,2.954,2.954,2.955,2.961,2.964,2.97,2.971,2.971,2.972,2.976,2.98,2.984,2.986,2.991,2.996,3,3.002,3.007,3.012,3.015,3.017,3.021,3.033,3.036,3.039,3.04,3.042,3.046,3.046,3.049,3.058,3.06,3.074,3.076,3.079,3.083,3.092,3.096,3.098,3.102,3.122,3.125,3.129,3.129,3.139,3.142,3.149,3.153,3.165,3.182,3.186,3.195,3.195,3.204,3.204,3.224,3.228,3.759,3.76,3.761,3.767,3.789,3.804,3.817,3.836,3.855,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 98.96} {Type Odometry} {Name Odometry} {Pose 0.005675,1.007188,0.160570}
SEN {Time 98.9569} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0894} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.6924} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 4.064} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.9784} {Name Sonar15 Range 2.3368}
SEN {Time 98.9995} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.157,3.154,3.149,3.147,3.14,3.135,3.127,3.121,3.118,3.111,3.11,3.104,3.103,3.096,3.096,3.096,3.091,3.087,3.086,3.08,3.079,3.075,3.072,3.075,3.066,3.066,3.065,3.062,3.062,3.06,3.06,0.158,0.158,0.153,0.153,0.149,0.153,0.147,0.147,0.149,0.155,0.15,0.153,0.155,0.155,0.273,3.573,3.58,3.58,3.58,3.573,3.568,3.354,0.168,0.16,0.16,0.158,0.158,0.158,0.158,0.158,0.163,0.379,3.592,3.593,3.605,3.605,3.606,3.612,3.618,3.621,3.623,3.627,3.628,3.631,3.638,3.638,3.64,3.641,3.641,3.655,3.663,3.669,3.674,3.678,3.678,3.68,3.682,3.693,3.704,3.707,3.709,3.716,3.72,3.726,3.737,3.747,3.751,3.771,3.771,3.771,3.777,3.785,3.787,3.799,3.799,3.819,3.824,3.835,3.836,3.844,3.85,3.872,3.876,3.876,3.887,3.892,3.918,3.922,3.927,3.95,3.962,3.969,3.985,3.988,4,4.013,4.03,4.053,4.056,4.075,4.091,4.094,0.016,0.016,0.016,0,0.007,0,0.007,0,0,0,0,0,0.016,0.016,4.053,4.022,4.022,3.988,3.95,3.868,3.853,3.817,3.79,3.768,3.746,3.712,3.701,3.667,3.643,3.622,3.612,3.568,3.558,3.523,3.518,3.501,3.459,3.453,3.426,3.391,3.385,3.369,3.348,3.324,3.309,3.284,3.271,3.257,3.232,3.219,3.208,3.194,3.174,3.152,3.151,3.136,3.115,3.109,3.084,3.078,3.061,3.05,3.031,3.021,3.007,2.994,2.99,2.979,2.969,2.951,2.948,2.934,2.912,2.912,2.895,2.876,2.875,2.859,2.857,2.849,2.844,2.836,2.825,2.815,2.802,2.79,2.787,2.767,2.761,2.759,2.742,2.738,2.729,2.729,2.72,2.71,1.161,1.16,1.154,1.151,1.147,1.145,1.145,1.145,2.62,2.62,2.62,2.609,2.608,2.598,2.596,2.581,2.575,2.572,2.571,2.567,2.559,2.546,2.54,2.537,2.536,2.529,2.528,2.527,2.525,2.524,2.513,2.502,2.502,2.502,2.5,2.492,2.488,2.484,2.479,2.478,2.476,2.471,2.47,2.467,2.465,2.464,2.456,2.456,2.456,2.452,2.451,2.451,2.449,2.449,2.449,2.447,2.447,2.445,2.444,2.441,2.44,2.44,2.438,2.433,2.432,2.433,2.433,2.432,2.432,2.432,2.432,2.431,2.429,2.431,2.431,2.431,2.432,2.433,2.433,2.434,2.434,2.436,2.438,2.439,2.442,2.446,2.449,2.449,2.451,2.452,2.452,2.455,2.459,2.459,2.459,2.459,2.461,2.462,2.471,2.475,2.475,2.484,2.49,2.49,2.493,2.494,2.497,2.498,2.507,2.507,2.507,2.507,1.114,1.114,1.114,1.123,1.123,1.132,1.138,2.566,2.569,2.575,2.575,2.576,2.585,2.593,2.593,2.596,2.607,2.617,2.619,2.635,2.637,2.651,2.656,2.658,2.664,2.675,2.678,2.681,2.687,2.699,2.714,2.721,2.728,2.741,2.744,2.751,2.769,2.769,2.775,2.785,2.804,2.808,2.82,2.833,2.843,2.845,2.861,2.867,2.879,2.89,2.903,2.909,2.931,2.937,2.943,2.966,2.978,2.981,2.994,3.007,3.017,3.032,3.056,3.071,3.075,3.08,3.101,3.114,3.129,3.146,3.156,3.173,3.186,3.208,3.219,3.239,3.26,3.275,3.283,3.302,3.33,3.35,3.361,3.374,3.403,3.425,3.446,3.468,3.483,3.5,3.533,3.545,3.573,3.587,3.617,3.639,3.665,3.685,3.711,3.737,3.774,3.785,3.82,3.912,3.956,3.969,3.969,3.969,4.014,4.055,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.288,3.285,3.263,3.262,3.247,3.24,3.23,3.22,3.213,3.213,3.198,3.198,3.182,3.176,3.166,3.163,3.148,3.139,3.135,3.131,3.122,3.109,3.109,3.098,3.095,3.083,3.079,3.071,3.065,3.064,3.06,3.053,3.049,3.04,3.037,3.028,3.026,3.022,3.018,3.018,3.003,3.001,3,2.998,2.993,2.99,2.985,2.981,2.972,2.972,2.968,2.966,2.957,2.957,2.955,2.95,2.948,2.955,2.955,2.965,2.965,2.965,2.948,2.941,2.941,2.941,2.938,2.938,2.938,2.937,2.936,2.932,2.933,2.933,2.932,2.933,2.935,2.935,2.935,2.935,2.934,2.934,2.934,2.934,2.934,2.934,2.934,2.934,2.936,2.937,2.941,2.943,2.941,2.943,2.943,2.951,2.951,2.952,2.954,2.96,2.963,2.964,2.975,2.976,2.977,2.979,2.983,2.985,2.986,2.991,2.991,2.997,2.997,3.005,3.006,3.011,3.019,3.021,3.029,3.031,3.034,3.041,3.044,3.045,3.054,3.055,3.056,3.066,3.067,3.081,3.081,3.084,3.092,3.095,3.1,3.105,3.108,3.114,3.123,3.134,3.134,3.138,3.148,3.163,3.163,3.168,3.173,3.183,3.188,3.196,3.21,3.216,3.221,3.221,3.749,3.758,3.775,3.775,3.789,3.799,3.81,3.822,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.16} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.101229}
SEN {Time 99.16} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 4.0894} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.8194} {Name Sonar5 Range 4.064} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.9276} {Name Sonar15 Range 1.0668}
SEN {Time 99.1994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.151,3.144,3.136,3.13,3.129,3.127,3.12,3.111,3.107,3.107,3.103,3.103,3.098,3.092,3.092,3.089,3.084,3.074,3.074,3.074,3.074,3.067,0.153,0.153,0.152,0.152,0.152,0.152,0.152,0.152,0.149,0.148,0.149,0.149,0.149,0.151,3.059,3.062,3.091,3.568,3.57,3.57,3.57,3.568,3.378,0.16,0.16,0.156,0.156,0.165,0.165,0.165,0.169,0.38,3.572,3.573,3.586,3.586,3.587,3.589,3.588,3.588,3.589,3.593,3.597,3.597,3.598,3.598,3.605,3.605,3.614,3.616,3.622,3.623,3.626,3.629,3.632,3.634,3.636,3.645,3.636,3.645,3.646,3.662,3.663,3.672,3.675,3.676,3.689,3.691,3.697,3.711,3.713,3.716,3.719,3.719,3.735,3.739,3.746,3.746,3.751,3.754,3.776,3.777,3.782,3.786,3.803,3.809,3.821,3.832,3.837,3.844,3.844,3.862,3.864,3.886,3.888,3.899,3.901,3.926,3.927,3.95,3.971,3.973,3.974,3.995,4.009,4.011,4.04,4.043,4.047,4.071,4.08,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,0.016,4.008,3.987,3.965,3.912,3.893,3.869,3.839,3.811,3.791,3.748,3.726,3.699,3.684,3.664,3.637,3.615,3.58,3.558,3.54,3.516,3.502,3.471,3.449,3.421,3.41,3.388,3.377,3.346,3.329,3.313,3.297,3.286,3.259,3.248,3.231,3.225,3.204,3.184,3.175,3.154,3.138,3.126,3.107,3.101,3.09,3.074,3.053,3.039,3.028,3.019,3.008,2.994,2.989,2.969,2.962,2.947,2.936,2.926,2.914,2.907,2.894,2.885,2.878,2.856,2.851,2.84,2.837,2.825,2.81,2.806,2.794,2.781,2.771,2.766,2.756,2.739,2.738,2.731,2.717,2.709,2.709,2.704,2.692,1.152,1.152,1.151,1.146,1.141,1.141,1.141,2.617,2.617,2.617,2.608,2.607,2.596,2.593,2.582,2.576,2.575,2.571,2.565,2.56,2.553,2.549,2.544,2.537,2.529,2.527,2.516,2.513,2.51,2.509,2.507,2.503,2.5,2.497,2.494,2.489,2.486,2.481,2.481,2.477,2.475,2.472,2.465,2.465,2.465,2.464,2.464,2.458,2.453,2.453,2.448,2.447,2.444,2.443,2.443,2.443,2.44,2.438,2.438,2.436,2.433,2.431,2.431,2.433,2.433,2.432,2.432,2.432,2.43,2.429,2.429,2.43,2.43,2.438,2.438,2.438,2.438,2.437,2.437,2.437,2.437,2.438,2.441,2.441,2.447,2.447,2.451,2.451,2.451,2.453,2.458,2.459,2.46,2.461,2.461,2.466,2.47,2.472,2.474,2.48,2.483,2.489,2.492,2.494,2.5,2.502,2.506,2.509,2.513,2.517,2.517,2.517,1.12,1.119,1.119,1.12,1.122,1.123,1.134,2.565,2.573,2.576,2.576,2.588,2.591,2.599,2.606,2.617,2.62,2.625,2.627,2.633,2.638,2.647,2.653,2.66,2.67,2.675,2.684,2.69,2.698,2.714,2.715,2.729,2.731,2.741,2.743,2.759,2.77,2.78,2.782,2.796,2.807,2.813,2.827,2.837,2.853,2.864,2.867,2.872,2.886,2.902,2.917,2.925,2.939,2.947,2.959,2.965,2.979,3.002,3.005,3.02,3.034,3.043,3.066,3.072,3.086,3.104,3.122,3.128,3.144,3.166,3.179,3.185,3.21,3.225,3.227,3.251,3.261,3.289,3.308,3.324,3.341,3.357,3.371,3.387,3.42,3.44,3.449,3.483,3.501,3.516,3.535,3.557,3.591,3.61,3.626,3.668,3.685,3.705,3.738,3.762,3.799,3.819,3.841,3.916,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.322,3.307,3.295,3.289,3.27,3.263,3.261,3.235,3.233,3.23,3.212,3.207,3.2,3.193,3.182,3.172,3.166,3.155,3.152,3.139,3.137,3.123,3.122,3.121,3.104,3.1,3.099,3.095,3.083,3.081,3.076,3.066,3.064,3.061,3.057,3.052,3.035,3.029,3.029,3.023,3.021,3.019,3.017,3.003,3.003,3,3,2.994,2.986,2.983,2.983,2.979,2.975,2.973,2.97,2.969,2.96,2.96,2.96,2.96,2.96,2.96,2.96,2.954,2.954,2.95,2.95,2.946,2.944,2.944,2.944,2.944,2.944,2.942,2.938,2.938,2.94,2.94,2.94,2.94,2.94,2.94,2.943,2.943,2.944,2.943,2.944,2.944,2.948,2.952,2.952,2.952,2.954,2.956,2.954,2.958,2.958,2.96,2.963,2.966,2.966,2.968,2.971,2.973,2.977,2.979,2.98,2.985,2.991,2.994,2.997,3.006,3.011,3.017,3.017,3.017,3.017,3.017,3.021,3.029,3.034,3.036,3.042,3.052,3.057,3.057,3.059,3.063,3.067,3.067,3.068,3.083,3.092,3.097,3.1,3.103,3.108,3.11,3.121,3.126,3.143,3.148,3.15,3.156,3.163,3.164,3.167,3.175,3.191,3.192,3.204,3.208,3.217,3.222,3.235,3.246,3.727,3.76,3.777,3.784,3.787,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.36} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.045379}
SEN {Time 99.3559} {Type Sonar} {Name Sonar0 Range 1.3716} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 4.064} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.8354} {Name Sonar14 Range 4.9276} {Name Sonar15 Range 1.0668}
SEN {Time 99.3994} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0.007,0,0,0,3.148,3.14,3.133,3.129,3.125,3.122,3.119,3.113,3.112,3.108,3.108,3.106,3.106,0.149,0.149,0.144,0.149,0.149,0.151,0.151,0.151,0.151,0.15,0.146,0.15,0.15,0.151,3.052,3.052,3.052,3.049,3.049,3.049,3.064,3.064,3.064,0.167,0.167,0.155,0.16,0.16,0.167,0.167,0.168,0.355,3.571,3.571,3.571,3.571,3.572,3.573,3.574,3.577,3.577,3.577,3.578,3.579,3.58,3.58,3.584,3.586,3.586,3.586,3.588,3.589,3.591,3.6,3.6,3.602,3.604,3.607,3.604,3.607,3.611,3.615,3.621,3.623,3.625,3.634,3.636,3.638,3.64,3.641,3.647,3.652,3.652,3.655,3.663,3.671,3.675,3.677,3.687,3.689,3.7,3.708,3.709,3.715,3.719,3.723,3.736,3.745,3.747,3.762,3.765,3.777,3.786,3.788,3.791,3.804,3.814,3.829,3.845,3.845,3.852,3.869,3.88,3.887,3.887,3.907,3.91,3.92,3.94,3.951,3.955,3.958,3.979,3.981,4.005,4.014,4.045,4.046,4.056,4.066,4.074,4.091,4.095,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,4.079,4.036,4.024,3.993,3.939,3.907,3.88,3.846,3.806,3.796,3.772,3.74,3.711,3.691,3.654,3.631,3.61,3.586,3.565,3.541,3.53,3.499,3.471,3.445,3.436,3.423,3.396,3.382,3.37,3.337,3.321,3.302,3.281,3.278,3.249,3.235,3.217,3.203,3.187,3.168,3.161,3.137,3.121,3.108,3.102,3.08,3.072,3.059,3.047,3.036,3.03,3.017,3.003,2.98,2.98,2.954,2.95,2.928,2.921,2.918,2.906,2.895,2.884,2.876,2.867,2.86,2.844,2.833,2.813,2.811,2.8,2.793,2.777,2.773,2.76,2.752,2.739,2.727,2.724,2.717,2.709,2.702,2.702,2.696,2.687,1.151,1.151,1.145,1.143,1.14,1.14,1.14,2.606,2.606,2.606,2.603,2.6,2.591,2.587,2.575,2.573,2.564,2.558,2.555,2.546,2.546,2.545,2.54,2.54,2.534,2.527,2.527,2.517,2.514,2.502,2.501,2.5,2.495,2.494,2.488,2.488,2.486,2.483,2.478,2.475,2.472,2.468,2.463,2.457,2.456,2.455,2.453,2.446,2.443,2.443,2.443,2.443,2.443,2.443,2.443,2.438,2.438,2.438,2.439,2.438,2.438,2.436,2.435,2.435,2.434,2.433,2.431,2.429,2.428,2.428,2.429,2.431,2.431,2.434,2.431,2.431,2.432,2.432,2.432,2.434,2.435,2.437,2.439,2.443,2.443,2.445,2.449,2.449,2.457,2.458,2.458,2.463,2.464,2.464,2.466,2.467,2.475,2.477,2.48,2.482,2.484,2.489,2.49,2.492,2.496,2.497,2.501,2.505,2.511,2.512,2.512,2.505,1.12,1.12,1.12,1.122,1.124,1.125,1.132,1.136,2.578,2.578,2.583,2.586,2.594,2.599,2.601,2.613,2.619,2.626,2.635,2.635,2.646,2.656,2.663,2.665,2.673,2.687,2.689,2.699,2.715,2.717,2.73,2.742,2.745,2.749,2.757,2.777,2.781,2.783,2.791,2.799,2.808,2.829,2.838,2.841,2.856,2.857,2.87,2.883,2.889,2.908,2.925,2.932,2.948,2.948,2.975,2.978,2.99,2.994,3.015,3.029,3.047,3.048,3.063,3.074,3.092,3.114,3.126,3.142,3.163,3.174,3.175,3.196,3.222,3.231,3.249,3.263,3.267,3.303,3.31,3.328,3.354,3.366,3.386,3.405,3.426,3.441,3.463,3.493,3.513,3.531,3.549,3.58,3.606,3.63,3.669,3.689,3.702,3.724,3.746,3.786,3.801,3.836,3.865,3.917,0.007,4.015,4.015,0,0,0,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.319,3.311,3.298,3.289,3.274,3.267,3.25,3.24,3.235,3.223,3.212,3.209,3.2,3.189,3.181,3.175,3.172,3.157,3.154,3.15,3.138,3.129,3.127,3.121,3.119,3.101,3.099,3.095,3.082,3.082,3.076,3.071,3.066,3.058,3.05,3.049,3.045,3.041,3.03,3.027,3.023,3.022,3.017,3.01,3.008,3,2.997,2.994,2.992,2.991,2.982,2.979,2.976,2.973,2.97,2.969,2.969,2.968,2.968,2.968,2.975,2.975,2.975,2.958,2.957,2.957,2.955,2.955,2.955,2.957,2.956,2.956,2.956,2.951,2.949,2.949,2.947,2.947,2.946,2.946,2.945,2.946,2.947,2.953,2.953,2.953,2.951,2.951,2.951,2.951,2.954,2.955,2.958,2.958,2.961,2.962,2.962,2.962,2.968,2.971,2.975,2.978,2.979,2.98,2.984,2.986,2.988,2.989,2.999,3.002,3.008,3.013,3.016,3.018,3.019,3.025,3.027,3.034,3.034,3.047,3.049,3.051,3.052,3.058,3.066,3.075,3.075,3.075,3.075,3.079,3.09,3.098,3.099,3.106,3.111,3.118,3.12,3.127,3.134,3.14,3.156,3.162,3.163,3.164,3.168,3.174,3.182,3.19,3.204,3.207,3.216,3.223,3.225,3.225,3.228,3.246,3.764,3.774,3.787,3.793,3.807,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.56} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.017453}
SEN {Time 99.5589} {Type Sonar} {Name Sonar0 Range 1.3716} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.1242} {Name Sonar14 Range 4.9276} {Name Sonar15 Range 1.0668}
SEN {Time 99.5954} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,3.292,3.292,0,0,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,3.191,3.145,0.148,0.148,0.148,0.148,0.151,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.151,0.157,3.067,3.067,3.067,3.062,3.062,3.058,3.062,3.051,0.166,0.161,0.164,0.161,0.161,0.161,0.16,0.16,0.163,3.036,3.036,3.038,3.038,3.044,3.566,3.568,3.568,3.568,3.572,3.572,3.572,3.572,3.572,3.571,3.571,3.571,3.577,3.573,3.573,3.578,3.573,3.573,3.572,3.578,3.578,3.578,3.575,3.582,3.582,3.584,3.584,3.593,3.593,3.595,3.593,3.595,3.595,3.596,3.598,3.604,3.606,3.607,3.616,3.619,3.627,3.631,3.631,3.631,3.64,3.642,3.644,3.653,3.653,3.661,3.669,3.67,3.672,3.692,3.695,3.704,3.708,3.709,3.719,3.724,3.731,3.741,3.746,3.747,3.769,3.773,3.774,3.784,3.797,3.806,3.808,3.815,3.817,3.839,3.842,3.844,3.868,3.872,3.874,3.892,3.908,3.915,3.927,3.933,3.946,3.962,3.968,3.968,3.986,4.006,4.022,4.023,4.031,4.05,4.071,4.075,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.016,4.064,4.003,3.984,3.935,3.903,3.86,3.847,3.832,3.79,3.769,3.74,3.732,3.697,3.68,3.65,3.617,3.608,3.569,3.56,3.531,3.501,3.487,3.458,3.434,3.422,3.401,3.38,3.354,3.342,3.321,3.304,3.303,3.264,3.259,3.238,3.226,3.214,3.199,3.18,3.163,3.144,3.13,3.122,3.099,3.085,3.085,3.064,3.055,3.032,3.026,3.009,3.007,2.981,2.975,2.961,2.944,2.942,2.921,2.915,2.893,2.889,2.888,2.868,2.855,2.854,2.844,2.829,2.82,2.809,2.799,2.791,2.776,2.769,2.763,2.758,2.747,2.734,2.733,2.719,2.71,2.706,2.698,2.698,2.687,2.681,1.146,1.145,1.143,1.136,1.134,1.134,1.134,2.605,2.605,2.605,2.596,2.592,2.589,2.584,2.571,2.567,2.567,2.564,2.562,2.549,2.546,2.534,2.534,2.533,2.53,2.524,2.519,2.511,2.506,2.502,2.498,2.496,2.493,2.485,2.481,2.478,2.477,2.475,2.467,2.467,2.465,2.464,2.461,2.459,2.459,2.455,2.454,2.452,2.447,2.444,2.443,2.442,2.442,2.441,2.44,2.434,2.433,2.433,2.433,2.433,2.431,2.43,2.43,2.429,2.429,2.429,2.429,2.429,2.428,2.428,2.428,2.432,2.433,2.433,2.433,2.436,2.433,2.436,2.436,2.436,2.444,2.447,2.448,2.448,2.448,2.45,2.451,2.453,2.454,2.464,2.464,2.465,2.473,2.466,2.474,2.475,2.475,2.486,2.486,2.487,2.492,2.495,2.501,2.504,2.505,2.512,2.513,2.517,2.528,2.53,2.53,2.53,1.124,1.12,1.12,1.124,1.129,1.138,1.141,2.577,2.592,2.592,2.592,2.603,2.605,2.61,2.622,2.624,2.626,2.638,2.64,2.649,2.659,2.669,2.678,2.689,2.698,2.703,2.708,2.708,2.726,2.729,2.741,2.745,2.755,2.763,2.765,2.78,2.799,2.804,2.804,2.829,2.83,2.839,2.854,2.871,2.881,2.896,2.902,2.909,2.929,2.929,2.95,2.951,2.969,2.971,2.987,2.997,3.014,3.024,3.044,3.05,3.067,3.073,3.09,3.119,3.12,3.124,3.149,3.168,3.183,3.194,3.212,3.225,3.243,3.254,3.282,3.291,3.304,3.329,3.348,3.372,3.385,3.409,3.43,3.446,3.468,3.489,3.522,3.53,3.556,3.565,3.6,3.615,3.647,3.681,3.699,3.735,3.749,3.788,3.812,3.839,3.867,3.895,3.915,4.009,4.058,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.313,3.305,3.3,3.286,3.281,3.269,3.263,3.258,3.246,3.225,3.222,3.221,3.199,3.195,3.193,3.184,3.173,3.165,3.155,3.147,3.143,3.14,3.131,3.122,3.113,3.107,3.101,3.094,3.092,3.081,3.078,3.075,3.072,3.059,3.056,3.05,3.046,3.046,3.037,3.032,3.029,3.017,3.017,3.016,3.014,3.002,2.997,2.997,2.992,2.992,2.99,2.987,2.986,2.983,2.974,2.974,2.972,2.971,2.972,2.972,2.971,2.97,2.97,2.964,2.964,2.962,2.962,2.962,2.959,2.956,2.956,2.955,2.955,2.955,2.961,2.96,2.96,2.96,2.959,2.955,2.955,2.955,2.955,2.95,2.95,2.95,2.955,2.955,2.958,2.959,2.961,2.963,2.965,2.966,2.969,2.974,2.976,2.982,2.979,2.982,2.984,2.984,2.988,2.991,2.995,2.997,2.999,3.002,3.009,3.009,3.009,3.013,3.021,3.023,3.032,3.034,3.034,3.042,3.044,3.052,3.058,3.062,3.071,3.071,3.073,3.073,3.077,3.077,3.081,3.09,3.091,3.107,3.111,3.116,3.121,3.121,3.123,3.133,3.148,3.148,3.15,3.154,3.157,3.163,3.178,3.193,3.206,3.208,3.218,3.218,3.225,3.228,3.231,3.246,3.756,3.775,3.797,3.797,3.811,3.823,3.824,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 99.75} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.071558}
SEN {Time 99.754} {Type Sonar} {Name Sonar0 Range 1.3716} {Name Sonar1 Range 5.7658} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9972} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.1242} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.0668}
SEN {Time 99.7954} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.722,3.722,3.713,3.713,0.007,0.009,0.009,0.009,0.009,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0.157,0.154,0.153,0.153,0.153,0.152,0.152,0.152,0.153,0.152,0.153,0.153,0.153,0.153,3.091,3.091,3.091,3.089,3.089,3.087,3.087,3.078,0.168,0.164,0.164,0.161,0.16,0.16,0.16,0.16,0.16,3.037,3.039,3.046,3.039,3.037,3.035,3.034,3.031,3.031,3.031,3.029,3.027,3.026,3.026,3.026,3.551,3.563,3.566,3.566,3.566,3.567,3.569,3.569,3.569,3.571,3.569,3.569,3.565,3.565,3.565,3.57,3.57,3.571,3.573,3.573,3.573,3.577,3.577,3.575,3.575,3.575,3.575,3.583,3.585,3.585,3.588,3.592,3.593,3.6,3.601,3.601,3.611,3.611,3.611,3.619,3.622,3.625,3.634,3.642,3.642,3.644,3.649,3.652,3.656,3.667,3.67,3.677,3.682,3.696,3.701,3.702,3.707,3.707,3.729,3.731,3.734,3.741,3.743,3.757,3.761,3.763,3.78,3.782,3.79,3.802,3.814,3.818,3.831,3.837,3.844,3.852,3.859,3.874,3.883,3.89,3.913,3.914,3.92,3.92,3.935,3.951,3.97,3.971,3.99,3.998,4.015,4.026,4.05,4.063,4.076,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0.007,0.016,4.029,3.991,3.976,3.955,3.912,3.88,3.865,3.822,3.806,3.762,3.739,3.718,3.697,3.666,3.645,3.619,3.591,3.567,3.556,3.526,3.509,3.476,3.468,3.432,3.423,3.404,3.386,3.374,3.351,3.338,3.319,3.298,3.277,3.257,3.253,3.222,3.22,3.185,3.183,3.16,3.15,3.131,3.122,3.109,3.098,3.079,3.062,3.045,3.036,3.021,3.004,2.994,2.986,2.983,2.959,2.95,2.937,2.93,2.918,2.906,2.892,2.887,2.867,2.861,2.859,2.837,2.829,2.818,2.812,2.802,2.781,2.776,2.775,2.772,2.763,2.745,2.745,2.725,2.721,2.713,2.699,2.69,2.683,2.683,2.681,2.668,1.16,1.146,1.143,1.14,1.131,1.131,1.131,2.599,2.599,2.599,2.597,2.589,2.584,2.579,2.578,2.567,2.561,2.559,2.549,2.546,2.537,2.532,2.531,2.518,2.517,2.514,2.509,2.506,2.505,2.502,2.497,2.495,2.486,2.485,2.485,2.484,2.479,2.475,2.474,2.466,2.465,2.465,2.464,2.458,2.456,2.452,2.452,2.444,2.444,2.444,2.443,2.443,2.444,2.439,2.439,2.438,2.441,2.44,2.44,2.436,2.436,2.435,2.435,2.434,2.434,2.435,2.438,2.435,2.438,2.438,2.438,2.436,2.44,2.44,2.441,2.442,2.442,2.443,2.446,2.446,2.444,2.448,2.448,2.449,2.449,2.45,2.454,2.454,2.459,2.46,2.463,2.466,2.468,2.472,2.48,2.481,2.482,2.486,2.491,2.492,2.493,2.505,2.505,2.51,2.514,2.515,2.515,2.527,2.528,2.532,2.532,2.532,1.121,1.12,1.12,1.121,1.137,1.138,1.141,2.586,2.595,2.595,2.595,2.602,2.618,2.628,2.635,2.636,2.651,2.654,2.654,2.658,2.668,2.669,2.677,2.684,2.692,2.697,2.716,2.726,2.731,2.734,2.745,2.759,2.771,2.771,2.788,2.796,2.798,2.812,2.827,2.832,2.847,2.855,2.867,2.877,2.887,2.901,2.911,2.915,2.93,2.937,2.959,2.965,2.978,2.994,3.004,3.017,3.025,3.038,3.055,3.069,3.081,3.092,3.111,3.113,3.14,3.148,3.169,3.169,3.195,3.21,3.228,3.245,3.266,3.282,3.295,3.303,3.329,3.341,3.362,3.392,3.4,3.427,3.445,3.46,3.484,3.505,3.531,3.548,3.577,3.594,3.615,3.643,3.668,3.688,3.728,3.753,3.782,3.806,3.832,3.87,3.89,3.924,3.987,4.021,4.05,4.05,0,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.33,3.327,3.31,3.29,3.284,3.282,3.268,3.266,3.242,3.234,3.229,3.228,3.211,3.2,3.189,3.183,3.181,3.178,3.173,3.162,3.147,3.145,3.131,3.129,3.124,3.121,3.112,3.102,3.102,3.092,3.087,3.078,3.07,3.056,3.055,3.054,3.05,3.048,3.044,3.035,3.032,3.032,3.02,3.017,3.013,3.01,3.01,3.01,3.007,2.999,2.997,2.994,2.993,2.991,2.991,2.989,2.981,2.979,2.979,2.979,2.979,2.979,2.973,2.972,2.97,2.972,2.972,2.966,2.965,2.965,2.963,2.96,2.961,2.961,2.959,2.959,2.956,2.956,2.956,2.956,2.956,2.957,2.957,2.963,2.965,2.966,2.966,2.964,2.966,2.966,2.966,2.966,2.974,2.978,2.978,2.978,2.985,2.987,2.988,2.989,2.989,2.989,2.99,2.993,3.002,3.003,3.011,3.014,3.016,3.019,3.022,3.027,3.029,3.03,3.041,3.046,3.049,3.052,3.054,3.06,3.065,3.07,3.081,3.083,3.085,3.085,3.087,3.095,3.103,3.103,3.106,3.106,3.113,3.118,3.122,3.131,3.137,3.139,3.145,3.147,3.163,3.164,3.168,3.173,3.188,3.19,3.195,3.206,3.208,3.216,3.216,3.235,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.02} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.141372}
SEN {Time 100.018} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.4544} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.794} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.1242} {Name Sonar14 Range 6.477} {Name Sonar15 Range 1.0668}
SEN {Time 100.095} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.201,0.201,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,3.719,3.7,3.7,3.7,3.7,0.007,0.009,0.006,0.007,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.154,0.154,0.154,0.153,0.153,0.153,0.147,0.147,0.146,0.147,0.148,0.151,0.151,0.153,0.153,0,0,0,0,0,0,3.158,3.158,0.163,0.163,0.163,0.162,0.162,0.162,0.162,0.162,3.061,3.061,3.062,3.061,3.058,3.058,3.05,3.043,3.043,3.043,3.043,3.042,3.043,3.042,3.04,3.04,3.03,3.03,3.026,3.026,3.027,3.027,3.027,3.027,3.028,3.028,3.031,3.546,3.553,3.554,3.554,3.555,3.557,3.559,3.559,3.559,3.559,3.559,3.559,3.553,3.553,3.553,3.553,3.553,3.553,3.557,3.561,3.561,3.561,3.563,3.563,3.564,3.564,3.568,3.57,3.572,3.575,3.577,3.585,3.585,3.588,3.592,3.595,3.597,3.597,3.597,3.61,3.621,3.626,3.627,3.631,3.632,3.632,3.643,3.65,3.655,3.656,3.664,3.666,3.674,3.682,3.688,3.689,3.698,3.701,3.705,3.708,3.717,3.727,3.733,3.744,3.75,3.753,3.763,3.769,3.772,3.791,3.799,3.806,3.811,3.827,3.829,3.829,3.845,3.852,3.858,3.873,3.891,3.895,3.908,3.915,3.92,3.945,3.962,3.963,3.983,3.996,4.013,4.013,4.031,4.055,4.077,4.078,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.016,0.016,4.066,4.066,4.03,3.993,3.928,3.895,3.895,3.868,3.83,3.783,3.756,3.735,3.717,3.697,3.66,3.639,3.608,3.589,3.579,3.553,3.524,3.504,3.48,3.447,3.446,3.399,3.39,3.375,3.358,3.338,3.338,3.307,3.285,3.259,3.255,3.235,3.224,3.204,3.177,3.165,3.16,3.148,3.121,3.109,3.102,3.091,3.076,3.057,3.04,3.026,3.021,3.005,2.994,2.982,2.972,2.955,2.943,2.928,2.917,2.914,2.894,2.89,2.88,2.867,2.857,2.85,2.836,2.819,2.817,2.804,2.798,2.795,2.782,2.773,2.762,2.759,2.746,2.737,2.725,2.719,2.716,2.714,2.688,2.688,2.684,2.679,2.672,1.151,1.143,1.139,1.139,1.136,1.136,1.136,2.599,2.599,2.599,2.588,2.587,2.573,2.57,2.566,2.565,2.556,2.555,2.552,2.543,2.538,2.53,2.525,2.523,2.519,2.513,2.511,2.508,2.505,2.498,2.497,2.497,2.487,2.484,2.478,2.476,2.475,2.47,2.47,2.468,2.468,2.467,2.461,2.46,2.46,2.456,2.452,2.447,2.447,2.447,2.444,2.443,2.443,2.442,2.442,2.442,2.442,2.441,2.442,2.44,2.44,2.44,2.443,2.438,2.438,2.438,2.438,2.437,2.437,2.437,2.437,2.434,2.44,2.436,2.44,2.44,2.444,2.444,2.448,2.449,2.453,2.453,2.453,2.455,2.457,2.458,2.462,2.463,2.465,2.465,2.467,2.47,2.474,2.477,2.48,2.483,2.486,2.488,2.495,2.504,2.505,2.508,2.508,2.513,2.516,2.519,2.523,2.527,2.541,2.543,2.543,2.541,1.127,1.126,1.126,1.127,1.137,1.14,1.146,2.598,2.599,2.605,2.605,2.608,2.617,2.619,2.63,2.634,2.646,2.651,2.664,2.672,2.673,2.688,2.695,2.702,2.702,2.72,2.733,2.735,2.737,2.754,2.762,2.774,2.776,2.78,2.795,2.798,2.813,2.816,2.832,2.845,2.861,2.875,2.881,2.885,2.897,2.905,2.922,2.927,2.949,2.954,2.965,2.98,2.988,3.004,3.022,3.024,3.047,3.055,3.072,3.08,3.102,3.11,3.118,3.137,3.148,3.171,3.185,3.193,3.207,3.228,3.246,3.254,3.263,3.303,3.306,3.328,3.346,3.354,3.387,3.405,3.419,3.445,3.462,3.483,3.516,3.539,3.558,3.574,3.601,3.618,3.658,3.664,3.702,3.737,3.757,3.77,3.803,3.824,3.868,3.889,3.922,3.941,3.989,4.052,0.016,0.009,0,0.009,0.009,0,0,0,0.007,0,0,0,0,0,0,0,0,0.007,0,4.012,3.35,3.329,3.319,3.308,3.294,3.293,3.27,3.263,3.25,3.242,3.239,3.228,3.224,3.205,3.202,3.19,3.186,3.179,3.171,3.166,3.159,3.153,3.142,3.136,3.121,3.12,3.118,3.11,3.099,3.098,3.092,3.087,3.082,3.071,3.07,3.068,3.06,3.057,3.053,3.042,3.041,3.039,3.038,3.033,3.02,3.018,3.017,3.017,3.008,3.002,3.002,3.002,2.997,2.994,2.993,2.993,2.987,2.985,2.985,2.985,2.985,2.984,2.982,2.982,2.977,2.976,2.974,2.972,2.972,2.972,2.972,2.969,2.969,2.968,2.963,2.963,2.963,2.963,2.971,2.971,2.973,2.973,2.976,2.973,2.973,2.974,2.972,2.972,2.972,2.974,2.974,2.978,2.981,2.986,2.988,2.989,2.992,2.993,2.995,2.995,2.998,3.002,3.002,3.011,3.016,3.017,3.023,3.023,3.025,3.028,3.031,3.036,3.042,3.048,3.049,3.051,3.051,3.062,3.062,3.063,3.064,3.079,3.08,3.08,3.08,3.092,3.092,3.092,3.106,3.109,3.113,3.114,3.117,3.125,3.125,3.131,3.136,3.161,3.163,3.172,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.32} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.157080}
SEN {Time 100.325} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1524} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.1242} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 5.6134}
SEN {Time 100.395} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.93,3.93,0,0,0,0,0,0,0,0,0,0,3.718,3.714,3.68,3.677,3.67,3.66,3.644,3.637,3.618,3.618,3.407,3.397,3.397,3.377,3.377,0.007,0,0,0,0,0,0,0,0,0,0.156,0.155,0.153,0.151,0.151,0.151,0.151,0.15,0.15,0.15,0.15,0.15,0.151,0.154,0.16,0,0,0,0,0,0.007,0,3.148,0.165,0.161,0.161,0.161,0.158,0.158,0.158,0.158,3.066,3.066,3.066,3.066,3.061,3.058,3.053,3.053,3.053,3.042,3.042,3.042,3.042,3.042,3.042,3.038,3.036,3.032,3.03,3.03,3.03,3.03,3.025,3.025,3.025,3.025,3.029,3.03,3.549,3.552,3.555,3.561,3.561,3.561,3.561,3.555,3.555,3.555,3.559,3.554,3.559,3.554,3.559,3.552,3.552,3.552,3.558,3.558,3.559,3.559,3.559,3.559,3.568,3.568,3.57,3.57,3.571,3.576,3.576,3.583,3.585,3.592,3.595,3.592,3.595,3.604,3.61,3.613,3.618,3.629,3.629,3.632,3.635,3.641,3.641,3.652,3.655,3.659,3.662,3.663,3.671,3.681,3.689,3.692,3.7,3.706,3.707,3.721,3.728,3.73,3.732,3.733,3.741,3.757,3.761,3.763,3.772,3.792,3.793,3.799,3.805,3.826,3.831,3.836,3.855,3.86,3.86,3.877,3.899,3.901,3.909,3.931,3.933,3.958,3.962,3.987,3.993,4.003,4.011,4.033,4.037,4.058,4.071,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,4.078,4.002,3.984,3.952,3.913,3.883,3.84,3.822,3.794,3.77,3.738,3.718,3.688,3.663,3.632,3.624,3.611,3.59,3.564,3.538,3.517,3.491,3.466,3.449,3.413,3.401,3.391,3.355,3.337,3.336,3.307,3.292,3.275,3.263,3.246,3.223,3.206,3.198,3.177,3.155,3.149,3.131,3.117,3.098,3.087,3.08,3.062,3.034,3.033,3.027,3.009,3.008,2.977,2.963,2.959,2.948,2.944,2.926,2.92,2.906,2.892,2.884,2.874,2.86,2.853,2.846,2.834,2.82,2.814,2.799,2.787,2.785,2.771,2.769,2.767,2.747,2.747,2.739,2.733,2.716,2.714,2.699,2.698,2.687,2.687,2.682,2.671,1.151,1.149,1.144,1.138,1.133,1.133,1.133,2.592,2.592,2.592,2.583,2.581,2.572,2.571,2.565,2.551,2.551,2.543,2.542,2.537,2.534,2.533,2.524,2.518,2.515,2.514,2.513,2.507,2.5,2.497,2.493,2.491,2.481,2.481,2.479,2.478,2.473,2.472,2.471,2.467,2.463,2.463,2.462,2.459,2.455,2.455,2.455,2.455,2.449,2.446,2.445,2.446,2.444,2.444,2.443,2.443,2.442,2.442,2.439,2.439,2.438,2.438,2.438,2.438,2.439,2.439,2.439,2.439,2.436,2.436,2.436,2.436,2.439,2.44,2.443,2.446,2.446,2.447,2.449,2.45,2.452,2.453,2.455,2.457,2.459,2.462,2.464,2.466,2.468,2.473,2.475,2.477,2.479,2.481,2.483,2.486,2.487,2.49,2.498,2.501,2.504,2.51,2.513,2.513,2.519,2.527,2.531,2.532,2.542,2.542,2.542,1.126,1.126,1.126,1.127,1.135,1.138,1.142,2.599,2.606,2.61,2.61,2.613,2.618,2.628,2.636,2.646,2.653,2.657,2.667,2.671,2.677,2.684,2.685,2.692,2.703,2.717,2.721,2.731,2.74,2.75,2.757,2.765,2.771,2.779,2.786,2.797,2.812,2.823,2.827,2.846,2.855,2.865,2.874,2.883,2.895,2.911,2.918,2.928,2.94,2.948,2.96,2.977,2.986,3.002,3.012,3.029,3.039,3.051,3.064,3.081,3.096,3.107,3.113,3.137,3.147,3.16,3.179,3.191,3.199,3.225,3.228,3.253,3.267,3.29,3.302,3.325,3.348,3.352,3.375,3.401,3.41,3.44,3.453,3.473,3.512,3.528,3.556,3.568,3.605,3.617,3.637,3.667,3.69,3.722,3.731,3.773,3.798,3.822,3.856,3.913,3.939,3.989,3.989,4.011,4.052,0,0,0,0.007,0,0,0.009,0.009,0,0,0,0.007,0,0,0,0.007,0,0,0,3.386,3.327,3.318,3.311,3.3,3.287,3.286,3.268,3.257,3.255,3.247,3.232,3.228,3.219,3.202,3.194,3.189,3.18,3.176,3.167,3.159,3.147,3.144,3.136,3.132,3.128,3.128,3.107,3.101,3.098,3.095,3.092,3.089,3.086,3.071,3.068,3.065,3.061,3.047,3.043,3.04,3.038,3.037,3.033,3.028,3.022,3.021,3.019,3.011,3.009,3.003,3.003,3.003,2.999,2.996,2.995,2.992,2.988,2.988,2.995,2.99,2.99,2.99,2.982,2.979,2.979,2.971,2.97,2.971,2.973,2.973,2.973,2.974,2.974,2.974,2.974,2.974,2.975,2.973,2.963,2.971,2.968,2.968,2.97,2.97,2.97,2.971,2.972,2.979,2.98,2.98,2.981,2.983,2.984,2.983,2.987,2.99,2.987,2.99,2.991,2.994,3.002,3.003,3.009,3.009,3.012,3.012,3.013,3.024,3.027,3.029,3.033,3.036,3.037,3.049,3.053,3.053,3.053,3.066,3.067,3.07,3.078,3.083,3.083,3.087,3.087,3.089,3.089,3.098,3.1,3.107,3.109,3.121,3.127,3.127,3.132,3.14,3.141,3.158,3.174,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.62} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.233874}
SEN {Time 100.624} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1524} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 4.1402} {Name Sonar15 Range 5.6134}
SEN {Time 100.691} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.195,0.195,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,3.912,0,0,0,0,0,0,0,0,0,0,3.72,3.698,3.693,3.674,3.668,3.659,3.649,3.631,3.631,3.631,3.619,3.605,0.155,0.155,0.152,0.149,0.149,0.15,0.15,0.15,0.15,0.15,0.15,0.155,0.155,0.156,0.16,0,0,0,0,0,0,0,0,0.163,0.163,0.16,0.16,0.161,0.16,0.16,0.161,3.12,3.12,3.12,3.111,3.109,3.103,3.098,3.09,3.089,3.085,3.076,3.076,3.071,3.069,3.067,3.066,3.062,3.053,3.047,3.047,3.047,3.044,3.042,3.042,3.042,3.038,3.033,3.027,3.027,3.026,3.024,3.022,3.019,3.018,3.018,3.016,3.015,3.014,3.014,3.014,3.018,3.543,3.546,3.546,3.543,3.543,3.544,3.544,3.546,3.546,3.544,3.546,3.544,3.544,3.55,3.55,3.55,3.55,3.549,3.547,3.547,3.547,3.549,3.552,3.554,3.554,3.562,3.562,3.562,3.562,3.569,3.57,3.57,3.57,3.579,3.579,3.581,3.582,3.593,3.594,3.595,3.598,3.604,3.604,3.605,3.615,3.615,3.618,3.626,3.634,3.635,3.637,3.648,3.654,3.663,3.664,3.673,3.677,3.685,3.689,3.697,3.702,3.703,3.717,3.726,3.73,3.733,3.746,3.752,3.757,3.763,3.77,3.782,3.798,3.814,3.817,3.828,3.837,3.842,3.847,3.848,3.875,3.88,3.885,3.901,3.914,3.934,3.936,3.948,3.965,3.965,3.991,4.002,4.012,4.029,4.041,4.059,4.081,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.007,3.983,3.924,3.877,3.856,3.83,3.809,3.771,3.746,3.71,3.694,3.669,3.646,3.63,3.597,3.579,3.541,3.524,3.495,3.472,3.459,3.436,3.408,3.396,3.382,3.359,3.345,3.329,3.302,3.288,3.266,3.248,3.237,3.223,3.202,3.181,3.174,3.159,3.143,3.129,3.11,3.095,3.085,3.071,3.054,3.041,3.024,3.024,3.009,2.997,2.984,2.963,2.956,2.944,2.943,2.92,2.915,2.915,2.901,2.882,2.882,2.877,2.861,2.843,2.843,2.823,2.808,2.803,2.788,2.772,2.77,2.769,2.758,2.754,2.738,2.724,2.72,2.71,2.694,2.692,2.677,2.67,2.665,2.665,2.659,2.655,1.145,1.138,1.138,1.138,1.136,1.138,1.141,2.588,2.588,2.588,2.583,2.581,2.573,2.572,2.56,2.56,2.551,2.537,2.537,2.535,2.529,2.527,2.525,2.522,2.51,2.507,2.504,2.504,2.496,2.492,2.49,2.49,2.488,2.482,2.476,2.476,2.474,2.467,2.467,2.467,2.467,2.467,2.463,2.459,2.457,2.455,2.455,2.454,2.449,2.449,2.449,2.449,2.447,2.444,2.444,2.443,2.443,2.441,2.439,2.439,2.439,2.439,2.439,2.439,2.439,2.438,2.438,2.439,2.439,2.439,2.44,2.439,2.443,2.443,2.444,2.447,2.448,2.451,2.454,2.455,2.456,2.457,2.461,2.461,2.462,2.465,2.471,2.471,2.472,2.472,2.475,2.477,2.487,2.488,2.488,2.494,2.499,2.501,2.506,2.51,2.515,2.518,2.519,2.531,2.535,2.536,2.536,2.537,2.542,2.542,2.542,1.13,1.129,1.129,1.129,1.135,1.144,1.147,2.6,2.602,2.612,2.612,2.619,2.624,2.629,2.647,2.65,2.657,2.661,2.664,2.678,2.68,2.689,2.697,2.706,2.714,2.721,2.735,2.744,2.747,2.757,2.766,2.773,2.782,2.796,2.804,2.809,2.825,2.826,2.837,2.85,2.856,2.873,2.887,2.893,2.912,2.926,2.931,2.944,2.957,2.963,2.969,2.988,2.996,3.016,3.024,3.043,3.053,3.063,3.084,3.091,3.104,3.124,3.131,3.154,3.157,3.174,3.194,3.206,3.218,3.246,3.26,3.269,3.292,3.309,3.322,3.357,3.369,3.384,3.412,3.429,3.448,3.464,3.493,3.504,3.527,3.562,3.588,3.614,3.628,3.655,3.673,3.709,3.732,3.738,3.768,3.798,3.833,3.85,3.886,3.937,3.951,3.985,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0.007,3.983,3.34,3.336,3.319,3.309,3.298,3.281,3.278,3.273,3.253,3.243,3.239,3.232,3.223,3.211,3.204,3.197,3.19,3.18,3.174,3.166,3.155,3.153,3.14,3.138,3.13,3.127,3.12,3.119,3.114,3.107,3.098,3.095,3.091,3.079,3.075,3.073,3.069,3.052,3.051,3.049,3.047,3.043,3.04,3.034,3.031,3.03,3.021,3.019,3.015,3.013,3.009,3.006,3.006,3.003,3.003,3,3,3,3,3,2.994,2.994,2.993,2.992,2.985,2.983,2.982,2.982,2.979,2.982,2.979,2.979,2.979,2.981,2.981,2.981,2.981,2.981,2.986,2.986,2.986,2.986,2.982,2.982,2.988,2.988,2.988,2.989,2.99,2.992,2.994,2.994,2.996,2.999,2.999,3.001,3.007,3.008,3.01,3.013,3.017,3.021,3.021,3.023,3.024,3.024,3.03,3.034,3.036,3.036,3.037,3.043,3.052,3.055,3.062,3.065,3.07,3.079,3.083,3.085,3.089,3.092,3.092,3.094,3.095,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 100.84} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.244346}
SEN {Time 100.843} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 5.2324} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 4.9276} {Name Sonar15 Range 5.6134}
SEN {Time 100.891} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.2,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.948,3.948,3.924,3.924,3.881,3.881,3.881,0,0,0,0,0,0,0,0,3.715,3.701,3.675,3.669,3.66,3.657,3.637,3.634,3.634,3.622,3.55,0.161,0.156,0.154,0.151,0.151,0.151,0.151,0.151,0.151,0.151,0.152,0.154,0.155,0.16,0.161,3.25,3.25,3.25,3.25,3.232,3.232,0.007,0.188,0.162,0.162,0.161,0.161,0.161,0.161,0.161,0.165,0,0,0,3.117,3.108,3.106,3.092,3.089,3.085,3.085,3.079,3.076,3.076,3.073,3.069,3.066,3.066,3.053,3.051,3.047,3.043,3.04,3.04,3.039,3.039,3.036,3.033,3.027,3.026,3.021,3.024,3.021,3.02,3.019,3.021,3.019,3.012,3.012,3.009,3.007,3.009,3.009,3.514,3.532,3.536,3.537,3.54,3.539,3.537,3.537,3.539,3.539,3.543,3.544,3.544,3.543,3.545,3.545,3.55,3.55,3.55,3.549,3.549,3.549,3.555,3.555,3.555,3.555,3.559,3.559,3.559,3.564,3.564,3.571,3.571,3.571,3.571,3.571,3.587,3.591,3.593,3.595,3.596,3.604,3.611,3.614,3.617,3.62,3.632,3.633,3.634,3.634,3.652,3.652,3.66,3.665,3.674,3.677,3.679,3.68,3.685,3.694,3.699,3.709,3.714,3.729,3.73,3.74,3.749,3.751,3.758,3.773,3.777,3.795,3.795,3.814,3.83,3.831,3.839,3.839,3.859,3.873,3.881,3.889,3.893,3.91,3.923,3.938,3.941,3.946,3.979,3.985,3.991,3.999,4.024,4.047,4.059,4.062,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0.009,0.009,0.009,0.009,0,3.987,3.962,3.962,3.932,3.904,3.844,3.811,3.779,3.751,3.731,3.702,3.663,3.652,3.64,3.593,3.589,3.554,3.529,3.515,3.488,3.463,3.445,3.43,3.398,3.379,3.374,3.353,3.326,3.306,3.297,3.277,3.254,3.237,3.225,3.206,3.19,3.179,3.17,3.151,3.137,3.113,3.105,3.085,3.083,3.059,3.054,3.026,3.025,3.01,2.994,2.985,2.968,2.954,2.95,2.94,2.92,2.912,2.901,2.897,2.882,2.882,2.869,2.859,2.848,2.837,2.828,2.809,2.796,2.791,2.786,2.773,2.77,2.76,2.744,2.736,2.73,2.728,2.714,2.703,2.699,2.688,2.675,2.669,2.669,2.667,2.666,1.153,1.139,1.135,1.135,1.131,1.131,1.135,1.154,2.59,2.59,2.59,2.567,2.566,2.565,2.557,2.553,2.549,2.54,2.533,2.529,2.528,2.524,2.524,2.523,2.507,2.507,2.503,2.498,2.494,2.493,2.484,2.483,2.483,2.483,2.481,2.48,2.473,2.467,2.467,2.467,2.467,2.462,2.462,2.462,2.458,2.456,2.456,2.456,2.453,2.451,2.45,2.447,2.446,2.438,2.437,2.437,2.438,2.44,2.44,2.44,2.44,2.44,2.439,2.439,2.441,2.443,2.443,2.443,2.446,2.442,2.442,2.442,2.445,2.445,2.445,2.446,2.448,2.451,2.451,2.451,2.451,2.452,2.458,2.458,2.458,2.463,2.463,2.471,2.476,2.478,2.478,2.482,2.484,2.485,2.488,2.488,2.496,2.507,2.512,2.515,2.515,2.517,2.52,2.528,2.533,2.533,2.533,2.538,2.538,2.538,2.533,1.135,1.135,1.135,1.135,1.14,1.143,1.151,2.596,2.611,2.613,2.613,2.625,2.633,2.636,2.642,2.65,2.661,2.662,2.67,2.678,2.682,2.688,2.702,2.711,2.716,2.721,2.734,2.735,2.75,2.756,2.756,2.778,2.787,2.793,2.799,2.813,2.831,2.833,2.848,2.862,2.862,2.879,2.889,2.892,2.921,2.926,2.938,2.945,2.951,2.966,2.978,2.995,3.004,3.016,3.017,3.035,3.046,3.068,3.082,3.086,3.107,3.113,3.13,3.146,3.163,3.173,3.19,3.209,3.25,3.263,3.271,3.271,3.303,3.321,3.331,3.354,3.372,3.382,3.403,3.426,3.451,3.461,3.495,3.512,3.548,3.558,3.593,3.598,3.631,3.663,3.68,3.702,3.744,3.752,3.786,3.803,3.833,3.856,3.89,3.93,3.938,3.989,4.033,4.061,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0.007,0,4.018,3.35,3.323,3.313,3.303,3.297,3.282,3.277,3.266,3.26,3.244,3.241,3.239,3.215,3.211,3.201,3.197,3.188,3.187,3.172,3.164,3.162,3.155,3.146,3.138,3.13,3.126,3.122,3.112,3.11,3.1,3.097,3.095,3.092,3.083,3.078,3.067,3.062,3.061,3.058,3.052,3.05,3.047,3.04,3.032,3.031,3.027,3.026,3.026,3.025,3.009,3.008,3.006,3.004,3.002,3.002,3.002,2.999,2.999,3.002,2.999,2.994,2.994,2.986,2.986,2.985,2.986,2.986,2.983,2.981,2.983,2.981,2.981,2.981,2.978,2.978,2.978,2.978,2.981,2.981,2.981,2.984,2.984,2.984,2.984,2.986,2.986,2.99,2.991,2.996,2.996,2.996,2.996,2.994,2.994,3,3.002,3.005,3.008,3.008,3.012,3.018,3.019,3.021,3.023,3.024,3.027,3.03,3.037,3.038,3.04,3.041,3.049,3.058,3.059,3.063,3.064,3.065,3.074,3.079,3.085,3.085,3.088,3.092,3.092,3.098,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 101.04} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.244346}
SEN {Time 101.045} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 5.2324} {Name Sonar3 Range 3.3782} {Name Sonar4 Range 2.7686} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 4.9276} {Name Sonar15 Range 5.1308}
SEN {Time 101.092} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.189,0.189,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.927,3.913,0,0,0,0,0,0,0,0,0,0,3.715,3.696,3.687,3.67,3.661,3.654,3.64,3.623,3.622,3.538,3.368,0.15,0.15,0.15,0.15,0.151,0.151,0.149,0.149,0.151,0.151,0.152,0.153,0.152,0.152,0.154,3.24,0,0.007,0,0,0,0.007,0.182,0.166,0.163,0.16,0.163,0.163,0.163,0.165,0.166,0,0,0,3.116,3.11,3.105,3.098,3.097,3.083,3.081,3.078,3.078,3.075,3.072,3.066,3.064,3.06,3.054,3.049,3.045,3.045,3.043,3.04,3.04,3.039,3.036,3.033,3.028,3.028,3.024,3.023,3.019,3.021,3.017,3.019,3.015,3.015,3.014,3.015,3.008,3.015,3.015,3.514,3.54,3.54,3.54,3.54,3.539,3.539,3.539,3.54,3.542,3.542,3.54,3.54,3.54,3.54,3.541,3.546,3.546,3.546,3.546,3.548,3.546,3.553,3.553,3.562,3.558,3.562,3.562,3.562,3.56,3.563,3.578,3.578,3.578,3.58,3.58,3.587,3.59,3.593,3.593,3.594,3.594,3.6,3.606,3.617,3.619,3.636,3.637,3.638,3.638,3.644,3.65,3.654,3.67,3.67,3.671,3.685,3.689,3.692,3.693,3.694,3.717,3.719,3.721,3.737,3.748,3.75,3.758,3.762,3.772,3.776,3.798,3.804,3.809,3.822,3.834,3.836,3.841,3.862,3.863,3.882,3.885,3.901,3.914,3.93,3.948,3.959,3.961,3.97,3.985,3.989,4.004,4.025,4.028,4.047,4.075,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,4.089,4.061,4.021,4.021,4.001,4.001,0.007,3.902,3.844,3.844,3.804,3.78,3.74,3.698,3.674,3.649,3.64,3.608,3.577,3.564,3.537,3.505,3.483,3.456,3.44,3.417,3.409,3.391,3.369,3.349,3.327,3.3,3.298,3.271,3.267,3.24,3.223,3.208,3.19,3.176,3.176,3.166,3.152,3.12,3.109,3.08,3.077,3.06,3.043,3.023,3.021,3.008,2.995,2.986,2.977,2.961,2.948,2.94,2.92,2.918,2.908,2.9,2.883,2.877,2.864,2.858,2.844,2.842,2.832,2.811,2.807,2.798,2.786,2.779,2.776,2.764,2.756,2.739,2.731,2.727,2.712,2.711,2.691,2.69,2.676,2.669,2.669,2.666,2.653,1.144,1.144,1.14,1.14,1.136,1.136,1.136,1.159,2.583,2.583,2.583,2.576,2.572,2.571,2.558,2.55,2.547,2.541,2.535,2.531,2.522,2.522,2.516,2.51,2.51,2.507,2.501,2.501,2.5,2.492,2.489,2.488,2.487,2.48,2.478,2.478,2.472,2.47,2.466,2.466,2.466,2.466,2.466,2.458,2.452,2.452,2.452,2.452,2.452,2.45,2.444,2.443,2.443,2.438,2.438,2.437,2.438,2.437,2.438,2.438,2.438,2.437,2.436,2.436,2.436,2.443,2.443,2.443,2.443,2.443,2.447,2.447,2.447,2.447,2.447,2.447,2.45,2.45,2.45,2.451,2.451,2.452,2.457,2.457,2.459,2.46,2.47,2.471,2.472,2.472,2.477,2.48,2.485,2.489,2.489,2.493,2.499,2.505,2.508,2.513,2.51,2.513,2.516,2.522,2.525,2.533,2.537,2.539,2.542,2.542,2.542,1.133,1.128,1.128,1.133,1.136,1.147,1.151,2.595,2.613,2.619,2.619,2.627,2.633,2.638,2.642,2.646,2.656,2.657,2.674,2.677,2.69,2.694,2.696,2.708,2.718,2.728,2.732,2.736,2.753,2.762,2.77,2.78,2.788,2.789,2.799,2.81,2.827,2.831,2.843,2.855,2.873,2.879,2.887,2.897,2.923,2.932,2.935,2.939,2.96,2.967,2.97,2.993,2.997,3.009,3.022,3.045,3.051,3.065,3.086,3.095,3.099,3.121,3.131,3.149,3.162,3.17,3.198,3.207,3.228,3.243,3.26,3.282,3.29,3.317,3.33,3.349,3.359,3.379,3.415,3.436,3.456,3.474,3.496,3.51,3.536,3.546,3.592,3.614,3.635,3.653,3.682,3.705,3.734,3.746,3.779,3.812,3.836,3.894,3.924,3.95,3.95,4.066,0,0.007,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.016,0.016,0,0,0,0,0,0.009,0.009,0.006,0,3.337,3.326,3.314,3.308,3.295,3.28,3.262,3.26,3.258,3.247,3.245,3.235,3.207,3.203,3.192,3.189,3.188,3.184,3.173,3.156,3.153,3.149,3.147,3.136,3.13,3.12,3.117,3.113,3.106,3.102,3.098,3.089,3.082,3.077,3.07,3.063,3.057,3.056,3.054,3.048,3.047,3.045,3.033,3.033,3.029,3.027,3.02,3.02,3.019,3.012,3.01,3.009,3.003,3.003,3.001,3.001,3.001,3.001,3.002,3.002,2.994,2.994,2.993,2.993,2.986,2.98,2.986,2.98,2.98,2.98,2.98,2.976,2.976,2.978,2.975,2.978,2.979,2.981,2.981,2.981,2.981,2.981,2.98,2.981,2.981,2.983,2.988,2.996,2.996,2.997,2.997,2.997,2.997,2.998,2.999,3.009,3.009,3.009,3.013,3.013,3.015,3.016,3.018,3.018,3.02,3.027,3.027,3.035,3.038,3.041,3.044,3.047,3.058,3.059,3.061,3.061,3.061,3.069,3.077,3.077,3.091,3.091,3.091,3.091,3.091,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.64} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.242601}
SEN {Time 103.644} {Type Sonar} {Name Sonar0 Range 1.0668} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.9784} {Name Sonar3 Range 3.302} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.2324}
SEN {Time 103.683} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.947,3.947,3.947,3.91,3.908,0,0,0,0,0,0,0,0,0,0,3.703,3.699,3.68,3.667,3.663,3.65,3.642,3.628,3.618,3.534,3.357,0.162,0.155,0.153,0.152,0.152,0.152,0.145,0.145,0.152,0.152,0.153,0.157,0.157,0.157,0.158,3.244,0,0.007,0,0,0.006,0.006,0.006,0.165,0.162,0.162,0.162,0.162,0.162,0.162,0.166,0,0,0,3.113,3.11,3.099,3.095,3.09,3.089,3.076,3.075,3.075,3.075,3.071,3.063,3.059,3.052,3.052,3.052,3.048,3.045,3.045,3.045,3.045,3.039,3.038,3.032,3.028,3.02,3.02,3.02,3.02,3.02,3.015,3.015,3.014,3.013,3.01,3.009,3.009,3.011,3.011,3.516,3.539,3.542,3.543,3.548,3.544,3.547,3.547,3.546,3.544,3.542,3.538,3.538,3.538,3.538,3.545,3.546,3.546,3.547,3.546,3.547,3.546,3.548,3.56,3.56,3.56,3.563,3.564,3.565,3.568,3.568,3.573,3.576,3.577,3.577,3.577,3.59,3.59,3.594,3.596,3.598,3.6,3.604,3.612,3.618,3.62,3.621,3.627,3.631,3.636,3.644,3.653,3.657,3.66,3.661,3.673,3.676,3.677,3.691,3.698,3.7,3.713,3.716,3.726,3.727,3.742,3.746,3.753,3.754,3.764,3.782,3.79,3.791,3.797,3.806,3.833,3.838,3.844,3.851,3.866,3.883,3.884,3.891,3.911,3.916,3.945,3.947,3.955,3.97,3.985,3.994,4,4.018,4.043,4.055,4.062,4.073,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,4.056,4.026,3.958,3.934,3.902,3.902,3.858,3.832,3.799,3.748,3.721,3.701,3.687,3.655,3.636,3.604,3.586,3.565,3.539,3.509,3.493,3.465,3.433,3.426,3.404,3.391,3.363,3.348,3.325,3.299,3.287,3.285,3.262,3.234,3.229,3.218,3.197,3.173,3.161,3.149,3.131,3.119,3.1,3.092,3.08,3.059,3.052,3.035,3.021,3.003,2.999,2.99,2.968,2.96,2.953,2.93,2.925,2.92,2.911,2.9,2.888,2.88,2.862,2.856,2.842,2.835,2.832,2.811,2.799,2.797,2.783,2.774,2.772,2.754,2.744,2.735,2.727,2.726,2.708,2.705,2.698,2.682,2.676,2.67,2.67,2.661,2.657,1.146,1.142,1.138,1.137,1.132,1.132,1.138,2.591,2.591,2.591,2.583,2.581,2.573,2.568,2.56,2.556,2.555,2.546,2.538,2.527,2.527,2.527,2.524,2.519,2.507,2.505,2.497,2.497,2.494,2.494,2.487,2.486,2.482,2.48,2.48,2.475,2.468,2.467,2.467,2.467,2.466,2.463,2.463,2.461,2.461,2.456,2.456,2.455,2.452,2.45,2.45,2.45,2.438,2.438,2.438,2.438,2.439,2.439,2.439,2.44,2.44,2.438,2.438,2.436,2.436,2.438,2.439,2.439,2.443,2.443,2.443,2.442,2.443,2.443,2.446,2.448,2.448,2.448,2.448,2.451,2.453,2.454,2.46,2.461,2.461,2.461,2.471,2.472,2.475,2.476,2.478,2.48,2.484,2.486,2.489,2.493,2.504,2.504,2.506,2.506,2.506,2.522,2.527,2.528,2.53,2.531,2.536,2.542,2.542,2.542,2.542,1.127,1.127,1.127,1.133,1.136,1.143,1.143,2.599,2.609,2.616,2.616,2.619,2.629,2.634,2.641,2.642,2.662,2.664,2.666,2.68,2.69,2.693,2.702,2.711,2.716,2.728,2.731,2.737,2.758,2.759,2.774,2.78,2.785,2.797,2.799,2.804,2.832,2.833,2.85,2.855,2.869,2.871,2.882,2.899,2.914,2.933,2.938,2.939,2.953,2.968,2.977,2.986,3.008,3.009,3.019,3.039,3.047,3.061,3.085,3.095,3.097,3.123,3.135,3.148,3.164,3.168,3.188,3.202,3.227,3.248,3.264,3.278,3.293,3.315,3.317,3.35,3.367,3.387,3.417,3.437,3.449,3.475,3.498,3.518,3.539,3.557,3.588,3.609,3.633,3.655,3.681,3.696,3.728,3.751,3.776,3.813,3.824,3.861,3.889,3.935,3.945,4.032,4.062,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.016,0.016,4.042,4.03,4.011,3.967,3.376,3.351,3.328,3.312,3.305,3.286,3.282,3.269,3.267,3.258,3.252,3.242,3.23,3.215,3.208,3.201,3.191,3.19,3.18,3.17,3.166,3.163,3.153,3.137,3.132,3.125,3.125,3.123,3.108,3.106,3.104,3.103,3.085,3.085,3.078,3.076,3.072,3.064,3.058,3.058,3.051,3.049,3.045,3.042,3.033,3.029,3.029,3.029,3.018,3.018,3.011,3.006,3.003,3.001,3.001,3.001,3,2.999,3,3.003,3,2.995,2.995,2.99,2.99,2.988,2.985,2.984,2.977,2.977,2.979,2.979,2.979,2.98,2.98,2.98,2.98,2.985,2.985,2.981,2.987,2.987,2.983,2.981,2.983,2.983,2.99,2.994,2.994,2.995,2.995,2.994,2.994,2.995,2.995,2.996,3.005,3.009,3.01,3.013,3.014,3.015,3.015,3.018,3.024,3.024,3.024,3.031,3.032,3.038,3.04,3.042,3.045,3.05,3.054,3.06,3.064,3.065,3.073,3.078,3.084,3.091,3.091,3.091,3.094,3.096,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 103.84} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.200713}
SEN {Time 103.839} {Type Sonar} {Name Sonar0 Range 1.3462} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.9784} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.127} {Name Sonar8 Range 2.0066} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.6134}
SEN {Time 103.879} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.651,3.642,3.642,3.631,3.631,0.007,0,0.007,0,0,0,0.152,0.152,0.152,0.152,0.152,0.15,0.144,0.144,0.153,0.147,0.153,0.153,0.155,0.163,0,0,0,0,0.007,0,0,0,0,0.166,0.166,0.161,0.161,0.158,0.155,0.155,0.155,3.095,3.095,3.095,3.092,3.086,3.085,3.075,3.069,3.064,3.064,3.061,3.058,3.054,3.051,3.049,3.048,3.048,3.045,3.039,3.038,3.034,3.035,3.035,3.029,3.029,3.029,3.028,3.022,3.019,3.019,3.018,3.017,3.018,3.017,3.017,3.023,3.549,3.554,3.554,3.549,3.549,3.546,3.546,3.548,3.548,3.548,3.548,3.548,3.548,3.55,3.55,3.555,3.55,3.544,3.544,3.554,3.554,3.554,3.556,3.56,3.56,3.561,3.563,3.564,3.565,3.568,3.572,3.58,3.591,3.591,3.593,3.594,3.594,3.594,3.594,3.609,3.61,3.613,3.616,3.618,3.62,3.627,3.632,3.637,3.647,3.65,3.654,3.656,3.66,3.671,3.675,3.676,3.683,3.698,3.698,3.701,3.703,3.709,3.719,3.732,3.734,3.741,3.745,3.762,3.762,3.779,3.787,3.795,3.799,3.809,3.814,3.827,3.831,3.837,3.861,3.87,3.882,3.888,3.902,3.913,3.917,3.942,3.954,3.975,3.979,3.989,4.014,4.023,4.038,4.04,4.063,4.083,4.083,4.094,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0.016,0.016,0,0,0,0,3.886,3.864,3.829,3.819,3.791,3.76,3.735,3.702,3.683,3.636,3.634,3.6,3.572,3.549,3.522,3.515,3.492,3.459,3.448,3.425,3.392,3.373,3.369,3.34,3.326,3.309,3.278,3.273,3.248,3.242,3.21,3.202,3.192,3.175,3.156,3.14,3.132,3.116,3.102,3.088,3.069,3.055,3.046,3.019,3.017,3.005,2.988,2.981,2.966,2.958,2.948,2.932,2.928,2.912,2.89,2.885,2.863,2.86,2.854,2.843,2.835,2.833,2.814,2.808,2.802,2.794,2.781,2.779,2.763,2.76,2.742,2.73,2.729,2.72,2.718,2.708,2.696,2.68,2.68,2.68,2.671,2.663,1.147,1.138,1.137,1.13,1.126,1.126,1.126,2.595,2.595,2.595,2.584,2.575,2.575,2.573,2.562,2.554,2.547,2.546,2.545,2.532,2.531,2.527,2.519,2.515,2.512,2.501,2.499,2.495,2.495,2.494,2.489,2.481,2.48,2.475,2.475,2.475,2.473,2.473,2.467,2.466,2.46,2.459,2.456,2.455,2.455,2.455,2.455,2.454,2.449,2.449,2.442,2.448,2.442,2.446,2.44,2.439,2.439,2.439,2.439,2.439,2.439,2.439,2.438,2.439,2.438,2.438,2.44,2.44,2.44,2.44,2.443,2.439,2.439,2.44,2.441,2.441,2.443,2.443,2.444,2.447,2.457,2.456,2.457,2.458,2.459,2.462,2.464,2.464,2.468,2.478,2.48,2.481,2.484,2.486,2.486,2.488,2.492,2.493,2.504,2.508,2.514,2.515,2.52,2.528,2.532,2.535,2.537,2.54,2.542,2.54,2.54,1.149,1.134,1.134,1.145,1.149,1.153,1.154,2.6,2.602,2.616,2.616,2.621,2.624,2.631,2.642,2.645,2.65,2.667,2.673,2.674,2.682,2.696,2.697,2.71,2.716,2.721,2.732,2.741,2.755,2.76,2.769,2.772,2.792,2.793,2.794,2.805,2.827,2.837,2.84,2.857,2.858,2.874,2.888,2.891,2.911,2.916,2.937,2.944,2.953,2.967,2.969,2.994,3.01,3.021,3.032,3.045,3.053,3.073,3.086,3.092,3.112,3.118,3.133,3.146,3.171,3.185,3.193,3.208,3.228,3.244,3.261,3.279,3.298,3.316,3.336,3.351,3.376,3.39,3.416,3.442,3.457,3.475,3.501,3.525,3.536,3.565,3.593,3.614,3.639,3.663,3.691,3.715,3.745,3.762,3.799,3.818,3.85,3.867,3.907,3.942,3.981,4.001,4.045,4.067,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,4.014,3.99,3.337,3.325,3.321,3.304,3.299,3.283,3.283,3.268,3.251,3.248,3.244,3.227,3.209,3.201,3.199,3.199,3.192,3.179,3.173,3.171,3.155,3.151,3.14,3.133,3.13,3.128,3.112,3.112,3.108,3.102,3.087,3.086,3.085,3.084,3.068,3.061,3.061,3.061,3.055,3.055,3.042,3.042,3.031,3.029,3.025,3.022,3.02,3.013,3.012,3.009,3.001,3.001,2.999,2.995,2.995,2.994,2.993,2.994,2.994,2.99,2.987,2.986,2.985,2.984,2.976,2.976,2.976,2.976,2.978,2.978,2.978,2.978,2.978,2.977,2.978,2.977,2.977,2.98,2.98,2.973,2.974,2.974,2.973,2.973,2.974,2.975,2.98,2.982,2.982,2.984,2.986,2.987,2.988,2.995,2.999,3,3.001,3.001,3.008,3.008,3.01,3.013,3.015,3.017,3.018,3.03,3.03,3.03,3.031,3.039,3.041,3.041,3.041,3.042,3.058,3.059,3.062,3.066,3.071,3.076,3.08,3.082,3.09,3.092,3.092,3.092,3.106,3.109,3.111,3.113,3.119,3.121,3.131,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.03} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.143117}
SEN {Time 104.034} {Type Sonar} {Name Sonar0 Range 1.3462} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.9784} {Name Sonar3 Range 3.3528} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.4384} {Name Sonar14 Range 5.6642} {Name Sonar15 Range 5.6134}
SEN {Time 104.079} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0.007,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.658,3.65,3.65,3.64,3.64,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0.154,0.154,0.154,0.153,0.151,0.15,0.15,0.147,0.151,0.149,0.149,0.149,0.158,0,0,0,0,0,0,0.007,0.006,3.148,0.161,0.159,0.159,0.157,0.157,0.157,0.162,0.163,3.058,3.06,3.066,3.06,3.058,3.058,3.056,3.055,3.047,3.047,3.046,3.046,3.042,3.042,3.04,3.04,3.03,3.03,3.028,3.028,3.028,3.028,3.027,3.023,3.023,3.023,3.028,3.545,3.55,3.56,3.561,3.56,3.561,3.56,3.56,3.557,3.56,3.56,3.56,3.559,3.559,3.559,3.558,3.556,3.556,3.555,3.555,3.555,3.555,3.555,3.558,3.564,3.57,3.573,3.573,3.579,3.58,3.581,3.581,3.585,3.587,3.587,3.587,3.599,3.605,3.606,3.606,3.614,3.62,3.631,3.633,3.634,3.634,3.641,3.652,3.652,3.654,3.659,3.672,3.675,3.681,3.685,3.687,3.691,3.698,3.706,3.717,3.723,3.727,3.73,3.742,3.748,3.755,3.76,3.768,3.775,3.789,3.797,3.8,3.816,3.817,3.839,3.839,3.841,3.853,3.868,3.873,3.886,3.902,3.912,3.933,3.934,3.951,3.963,3.978,3.989,3.998,4.017,4.033,4.04,4.069,4.073,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.072,4.044,3.998,3.998,3.966,3.95,3.863,3.836,3.816,3.795,3.755,3.733,3.705,3.677,3.653,3.637,3.62,3.597,3.582,3.555,3.54,3.5,3.497,3.472,3.446,3.426,3.398,3.374,3.357,3.335,3.321,3.306,3.283,3.264,3.252,3.236,3.219,3.204,3.183,3.166,3.159,3.133,3.128,3.104,3.094,3.085,3.075,3.056,3.043,3.031,3.018,3.003,2.989,2.987,2.962,2.958,2.943,2.935,2.92,2.906,2.903,2.891,2.881,2.867,2.854,2.839,2.837,2.824,2.817,2.805,2.79,2.772,2.769,2.761,2.755,2.749,2.744,2.728,2.728,2.714,2.701,2.7,2.697,2.687,2.687,2.682,2.667,1.15,1.149,1.147,1.14,1.137,1.137,1.137,2.595,2.595,2.595,2.585,2.585,2.572,2.569,2.565,2.562,2.561,2.543,2.541,2.539,2.537,2.531,2.529,2.521,2.519,2.517,2.507,2.504,2.501,2.501,2.495,2.495,2.487,2.483,2.481,2.474,2.473,2.472,2.467,2.466,2.46,2.455,2.454,2.453,2.453,2.452,2.45,2.45,2.45,2.45,2.45,2.45,2.449,2.445,2.443,2.443,2.443,2.442,2.442,2.442,2.44,2.437,2.436,2.436,2.437,2.437,2.439,2.439,2.439,2.439,2.439,2.439,2.439,2.44,2.443,2.443,2.446,2.446,2.446,2.448,2.449,2.456,2.457,2.457,2.458,2.462,2.465,2.465,2.465,2.468,2.468,2.473,2.479,2.479,2.482,2.484,2.489,2.489,2.503,2.505,2.512,2.513,2.513,2.515,2.519,2.52,2.528,2.535,2.535,2.535,1.132,1.132,1.132,1.131,1.131,1.139,1.139,1.139,2.594,2.598,2.6,2.607,2.613,2.617,2.62,2.633,2.639,2.641,2.656,2.666,2.667,2.674,2.685,2.696,2.705,2.708,2.712,2.736,2.743,2.753,2.754,2.761,2.776,2.777,2.78,2.797,2.802,2.819,2.821,2.835,2.845,2.85,2.865,2.882,2.894,2.902,2.913,2.913,2.942,2.945,2.962,2.969,2.979,2.999,3.011,3.018,3.029,3.05,3.061,3.068,3.086,3.092,3.113,3.139,3.148,3.158,3.175,3.188,3.196,3.221,3.228,3.244,3.262,3.287,3.295,3.312,3.343,3.353,3.373,3.396,3.415,3.433,3.446,3.466,3.489,3.516,3.534,3.565,3.584,3.623,3.641,3.658,3.698,3.714,3.732,3.773,3.792,3.815,3.88,3.901,3.94,3.94,4.007,0.007,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,4.033,4.003,3.329,3.318,3.318,3.309,3.303,3.3,3.27,3.253,3.251,3.232,3.231,3.228,3.212,3.205,3.192,3.186,3.175,3.163,3.161,3.155,3.149,3.135,3.128,3.126,3.121,3.114,3.104,3.102,3.097,3.084,3.078,3.075,3.072,3.066,3.063,3.058,3.057,3.05,3.043,3.035,3.028,3.028,3.027,3.027,3.018,3.018,3.006,3.001,3,2.995,2.994,2.994,2.994,2.992,2.991,2.988,2.987,2.987,2.988,2.988,2.981,2.98,2.979,2.975,2.974,2.973,2.966,2.966,2.966,2.966,2.966,2.967,2.967,2.967,2.968,2.968,2.966,2.965,2.963,2.963,2.965,2.965,2.964,2.972,2.964,2.964,2.973,2.973,2.973,2.98,2.983,2.983,2.983,2.984,2.986,2.986,2.988,2.988,2.989,2.994,3.002,3.002,3.009,3.01,3.018,3.021,3.022,3.026,3.027,3.028,3.034,3.04,3.043,3.051,3.051,3.058,3.059,3.065,3.067,3.072,3.074,3.076,3.084,3.088,3.089,3.089,3.098,3.101,3.102,3.103,3.115,3.119,3.121,3.124,3.135,3.141,3.146,3.156,3.157,3.17,3.186,3.191,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.24} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.078540}
SEN {Time 104.237} {Type Sonar} {Name Sonar0 Range 1.3462} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.6764} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.064} {Name Sonar15 Range 5.6134}
SEN {Time 104.279} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.668,3.652,3.652,3.652,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0.007,0,3.386,0.158,0.156,0.156,0.152,0.152,0.152,0.147,0.147,0.153,0.153,0.153,0.155,0.156,0.156,3.096,3.096,3.096,3.092,3.092,3.09,3.092,3.083,0.165,0.16,0.16,0.157,0.157,0.157,0.156,0.157,0.165,3.042,3.042,3.044,3.042,3.041,3.038,3.031,3.029,3.029,3.031,3.031,3.029,3.029,3.029,3.029,3.558,3.563,3.564,3.564,3.564,3.564,3.565,3.565,3.566,3.567,3.567,3.567,3.566,3.565,3.565,3.566,3.566,3.566,3.566,3.566,3.57,3.571,3.571,3.572,3.574,3.574,3.574,3.575,3.579,3.579,3.582,3.585,3.585,3.587,3.597,3.599,3.606,3.606,3.611,3.612,3.615,3.624,3.627,3.627,3.632,3.634,3.634,3.644,3.652,3.652,3.662,3.665,3.666,3.685,3.686,3.694,3.697,3.704,3.706,3.708,3.72,3.72,3.745,3.748,3.749,3.755,3.764,3.765,3.776,3.785,3.793,3.8,3.808,3.823,3.824,3.84,3.857,3.859,3.876,3.886,3.889,3.901,3.912,3.927,3.933,3.943,3.96,3.968,3.976,3.979,4.002,4.026,4.026,4.041,4.067,4.067,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.061,4.061,4.017,3.98,3.925,3.876,3.873,3.854,3.836,3.793,3.767,3.734,3.72,3.678,3.66,3.63,3.593,3.571,3.558,3.543,3.504,3.486,3.468,3.448,3.432,3.405,3.386,3.376,3.353,3.346,3.328,3.302,3.289,3.268,3.255,3.226,3.212,3.194,3.178,3.169,3.146,3.136,3.124,3.105,3.093,3.072,3.061,3.052,3.042,3.02,3.016,3,2.987,2.982,2.962,2.954,2.937,2.925,2.92,2.904,2.887,2.886,2.874,2.863,2.844,2.842,2.835,2.818,2.808,2.791,2.784,2.778,2.769,2.754,2.748,2.743,2.737,2.725,2.716,2.711,2.707,2.69,2.681,2.681,2.679,2.672,1.152,1.151,1.147,1.142,1.135,1.135,1.135,2.599,2.599,2.599,2.593,2.588,2.575,2.575,2.574,2.566,2.559,2.553,2.545,2.543,2.535,2.531,2.524,2.52,2.516,2.508,2.506,2.504,2.504,2.495,2.494,2.491,2.49,2.486,2.484,2.479,2.478,2.472,2.47,2.467,2.465,2.465,2.462,2.456,2.456,2.456,2.452,2.452,2.448,2.443,2.443,2.44,2.44,2.436,2.436,2.436,2.436,2.436,2.436,2.435,2.435,2.434,2.433,2.431,2.431,2.43,2.43,2.431,2.434,2.435,2.435,2.436,2.437,2.44,2.439,2.439,2.439,2.44,2.442,2.445,2.445,2.445,2.45,2.45,2.452,2.452,2.452,2.459,2.462,2.462,2.462,2.464,2.466,2.477,2.483,2.483,2.486,2.487,2.49,2.491,2.496,2.498,2.501,2.505,2.511,2.513,2.515,2.516,2.525,2.525,2.525,1.13,1.13,1.13,1.132,1.132,1.134,1.143,2.591,2.591,2.595,2.595,2.608,2.612,2.617,2.625,2.643,2.65,2.651,2.654,2.656,2.662,2.675,2.683,2.686,2.693,2.701,2.702,2.721,2.726,2.732,2.742,2.748,2.766,2.769,2.78,2.792,2.8,2.813,2.816,2.836,2.843,2.853,2.863,2.876,2.877,2.9,2.908,2.908,2.937,2.945,2.95,2.968,2.973,3.001,3.014,3.02,3.02,3.038,3.045,3.063,3.082,3.093,3.097,3.119,3.133,3.153,3.156,3.177,3.196,3.208,3.221,3.235,3.265,3.275,3.298,3.315,3.33,3.354,3.372,3.376,3.405,3.42,3.445,3.457,3.483,3.5,3.536,3.557,3.574,3.598,3.615,3.652,3.68,3.701,3.728,3.75,3.775,3.792,3.825,3.871,3.908,3.928,3.96,3.988,4.032,4.057,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,3.32,3.316,3.299,3.293,3.291,3.274,3.267,3.253,3.243,3.239,3.229,3.209,3.209,3.209,3.195,3.186,3.165,3.16,3.16,3.151,3.147,3.139,3.132,3.121,3.117,3.116,3.101,3.1,3.088,3.087,3.083,3.078,3.072,3.065,3.064,3.05,3.049,3.046,3.035,3.032,3.029,3.023,3.017,3.016,3.012,3.007,3.005,3.004,2.998,2.995,2.992,2.988,2.983,2.983,2.981,2.981,2.98,2.98,2.98,2.976,2.977,2.977,2.976,2.973,2.971,2.97,2.967,2.965,2.965,2.962,2.962,2.961,2.961,2.96,2.957,2.957,2.957,2.955,2.955,2.958,2.955,2.958,2.959,2.958,2.959,2.959,2.961,2.963,2.967,2.967,2.967,2.973,2.973,2.971,2.977,2.977,2.977,2.977,2.99,2.991,2.993,2.994,3.001,3.002,3.004,3.004,3.007,3.016,3.017,3.02,3.02,3.022,3.031,3.031,3.034,3.046,3.051,3.053,3.059,3.061,3.068,3.07,3.071,3.079,3.086,3.089,3.092,3.095,3.096,3.098,3.104,3.115,3.12,3.121,3.121,3.121,3.135,3.146,3.153,3.156,3.162,3.173,3.177,3.184,3.195,3.207,3.213,3.214,3.22,3.224,3.226,3.226,3.245,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.43} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.026180}
SEN {Time 104.433} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 4.0386} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 2.9718} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0668}
SEN {Time 104.477} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,3.687,3.664,3.659,3.659,3.652,3.647,3.647,0,3.424,3.409,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0,0.009,0.007,3.36,3.36,0,0,0,0,0,0,0,0,0,0,0,0.154,0.153,0.152,0.15,0.15,0.15,0.15,0.152,0.153,0.153,0.152,0.152,0.152,0.152,3.074,3.074,3.074,3.069,3.069,3.064,3.069,3.069,0.16,0.16,0.16,0.16,0.159,0.16,0.159,0.159,0.162,3.029,3.037,3.038,3.037,3.029,3.037,3.038,3.562,3.569,3.582,3.576,3.576,3.582,3.576,3.576,3.574,3.571,3.569,3.571,3.571,3.575,3.575,3.575,3.575,3.575,3.578,3.578,3.578,3.578,3.574,3.574,3.58,3.584,3.585,3.589,3.59,3.59,3.591,3.594,3.602,3.602,3.602,3.605,3.607,3.608,3.61,3.617,3.624,3.626,3.634,3.636,3.636,3.642,3.652,3.653,3.655,3.662,3.668,3.67,3.684,3.697,3.698,3.703,3.703,3.713,3.729,3.733,3.736,3.738,3.75,3.762,3.766,3.778,3.779,3.782,3.801,3.808,3.812,3.82,3.829,3.837,3.852,3.853,3.856,3.877,3.883,3.89,3.894,3.9,3.925,3.94,3.947,3.97,3.976,3.988,3.991,4,4.031,4.038,4.043,4.05,4.075,4.083,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.045,4.045,4.027,3.987,3.916,3.876,3.87,3.821,3.803,3.776,3.743,3.722,3.704,3.676,3.641,3.63,3.616,3.581,3.562,3.527,3.511,3.494,3.473,3.435,3.416,3.392,3.391,3.358,3.347,3.33,3.317,3.286,3.276,3.259,3.246,3.212,3.211,3.192,3.182,3.163,3.153,3.137,3.113,3.103,3.092,3.074,3.065,3.045,3.032,3.027,3.021,2.997,2.989,2.977,2.965,2.949,2.942,2.928,2.911,2.909,2.887,2.879,2.867,2.855,2.846,2.842,2.837,2.823,2.804,2.795,2.783,2.778,2.77,2.752,2.751,2.745,2.734,2.721,2.712,2.708,2.692,2.683,2.683,2.681,1.145,1.143,1.137,1.137,1.135,1.132,1.132,1.132,2.602,2.602,2.602,2.595,2.59,2.586,2.579,2.568,2.566,2.565,2.559,2.557,2.544,2.543,2.541,2.532,2.529,2.525,2.518,2.511,2.511,2.508,2.5,2.496,2.492,2.486,2.484,2.482,2.48,2.474,2.473,2.47,2.465,2.463,2.463,2.463,2.461,2.461,2.458,2.45,2.449,2.448,2.447,2.444,2.443,2.439,2.438,2.435,2.434,2.432,2.432,2.432,2.434,2.432,2.432,2.432,2.433,2.432,2.433,2.433,2.432,2.43,2.43,2.43,2.433,2.433,2.434,2.439,2.439,2.44,2.441,2.443,2.444,2.447,2.447,2.447,2.448,2.449,2.456,2.457,2.459,2.459,2.462,2.462,2.463,2.465,2.466,2.472,2.476,2.476,2.479,2.487,2.489,2.493,2.494,2.504,2.508,2.512,2.512,2.516,2.518,2.528,2.528,2.528,1.122,1.122,1.122,1.122,1.122,1.128,1.14,2.583,2.591,2.6,2.596,2.6,2.6,2.606,2.611,2.623,2.632,2.633,2.642,2.656,2.664,2.667,2.672,2.692,2.699,2.705,2.717,2.717,2.721,2.731,2.744,2.749,2.753,2.767,2.77,2.782,2.798,2.8,2.811,2.819,2.836,2.84,2.856,2.861,2.881,2.897,2.899,2.91,2.926,2.928,2.947,2.955,2.966,2.984,2.994,3.01,3.019,3.025,3.053,3.06,3.073,3.092,3.096,3.122,3.126,3.143,3.15,3.171,3.189,3.202,3.223,3.235,3.243,3.261,3.282,3.299,3.329,3.343,3.357,3.375,3.392,3.414,3.436,3.469,3.483,3.5,3.527,3.549,3.573,3.59,3.617,3.647,3.665,3.687,3.717,3.739,3.779,3.797,3.816,3.848,3.883,3.914,3.947,4.026,0.007,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.007,3.286,3.279,3.252,3.251,3.251,3.229,3.218,3.216,3.204,3.203,3.186,3.186,3.173,3.169,3.155,3.15,3.137,3.134,3.128,3.127,3.117,3.109,3.102,3.098,3.098,3.09,3.071,3.067,3.063,3.062,3.056,3.054,3.046,3.036,3.03,3.03,3.022,3.018,3.014,3.011,3.01,3.006,2.998,2.998,2.992,2.991,2.988,2.987,2.984,2.982,2.976,2.975,2.974,2.971,2.971,2.974,2.969,2.969,2.962,2.962,2.957,2.957,2.957,2.957,2.956,2.954,2.954,2.954,2.953,2.954,2.954,2.953,2.95,2.952,2.95,2.95,2.948,2.952,2.952,2.952,2.956,2.956,2.956,2.956,2.962,2.963,2.963,2.963,2.964,2.97,2.97,2.971,2.972,2.972,2.972,2.978,2.984,2.984,2.99,2.99,2.994,2.996,3.001,3.004,3.01,3.01,3.015,3.02,3.025,3.025,3.029,3.029,3.037,3.045,3.047,3.053,3.053,3.061,3.067,3.071,3.075,3.078,3.078,3.081,3.087,3.093,3.102,3.11,3.121,3.124,3.127,3.135,3.141,3.149,3.153,3.154,3.166,3.169,3.169,3.175,3.196,3.202,3.208,3.217,3.217,3.22,3.222,3.229,3.241,3.308,3.766,3.779,3.788,3.794,3.804,3.822,3.847,3.855,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.64} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.026180}
SEN {Time 104.636} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.2004} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.127} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0668}
SEN {Time 104.675} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0,3.329,3.329,0.007,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0.009,3.131,3.131,3.131,3.123,3.114,0.153,0.151,0.151,0.148,0.148,0.151,0.148,0.148,0.153,0.153,0.151,0.151,0.151,0.151,3.064,3.064,3.064,3.06,3.06,3.054,3.06,3.06,0.162,0.161,0.162,0.162,0.161,0.161,0.159,0.159,0.159,0.355,3.558,3.566,3.572,3.572,3.57,3.572,3.57,3.57,3.574,3.575,3.575,3.576,3.576,3.577,3.577,3.577,3.584,3.584,3.584,3.584,3.584,3.583,3.585,3.585,3.59,3.591,3.591,3.596,3.596,3.6,3.601,3.609,3.609,3.616,3.62,3.622,3.622,3.634,3.635,3.637,3.644,3.654,3.654,3.654,3.659,3.663,3.666,3.674,3.678,3.68,3.681,3.69,3.697,3.708,3.709,3.718,3.727,3.729,3.741,3.75,3.752,3.759,3.762,3.763,3.786,3.796,3.796,3.807,3.826,3.827,3.831,3.84,3.861,3.862,3.863,3.87,3.886,3.905,3.912,3.912,3.93,3.932,3.943,3.963,3.979,3.981,4.007,4.018,4.027,4.029,4.046,4.052,4.08,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0.007,0,0.007,3.923,3.874,3.836,3.82,3.778,3.749,3.726,3.71,3.684,3.666,3.637,3.614,3.579,3.568,3.535,3.518,3.502,3.482,3.455,3.436,3.423,3.395,3.372,3.353,3.329,3.316,3.303,3.278,3.255,3.24,3.223,3.205,3.183,3.18,3.168,3.143,3.141,3.121,3.107,3.094,3.081,3.074,3.055,3.037,3.036,3.016,3.001,2.992,2.975,2.967,2.955,2.942,2.93,2.916,2.906,2.904,2.891,2.874,2.864,2.862,2.846,2.841,2.822,2.821,2.804,2.797,2.775,2.774,2.764,2.76,2.755,2.742,2.727,2.719,2.714,2.704,2.704,2.701,2.693,1.157,1.155,1.148,1.138,1.137,1.137,1.138,1.162,2.611,2.611,2.611,2.598,2.583,2.583,2.581,2.574,2.571,2.57,2.566,2.558,2.555,2.543,2.541,2.537,2.536,2.527,2.524,2.511,2.51,2.509,2.503,2.503,2.503,2.503,2.495,2.491,2.489,2.486,2.478,2.474,2.471,2.465,2.463,2.465,2.462,2.461,2.46,2.46,2.453,2.452,2.452,2.448,2.446,2.442,2.441,2.441,2.437,2.436,2.436,2.439,2.437,2.437,2.437,2.434,2.434,2.43,2.43,2.43,2.434,2.434,2.434,2.434,2.433,2.433,2.435,2.435,2.433,2.439,2.437,2.437,2.445,2.447,2.447,2.448,2.449,2.451,2.451,2.454,2.455,2.46,2.46,2.461,2.465,2.468,2.476,2.479,2.482,2.483,2.485,2.489,2.49,2.49,2.493,2.503,2.503,2.505,2.518,2.521,2.529,2.529,2.521,1.116,1.116,1.116,1.124,1.126,1.126,1.129,2.578,2.582,2.588,2.588,2.595,2.602,2.604,2.604,2.62,2.621,2.636,2.642,2.648,2.652,2.662,2.663,2.669,2.681,2.691,2.698,2.701,2.717,2.73,2.734,2.735,2.747,2.764,2.766,2.775,2.78,2.788,2.801,2.807,2.825,2.835,2.843,2.851,2.867,2.873,2.887,2.891,2.908,2.913,2.931,2.94,2.949,2.957,2.981,2.989,2.996,3.012,3.027,3.033,3.042,3.07,3.08,3.093,3.103,3.12,3.132,3.148,3.165,3.178,3.198,3.21,3.228,3.24,3.253,3.278,3.297,3.316,3.328,3.354,3.37,3.386,3.409,3.434,3.447,3.465,3.491,3.518,3.537,3.575,3.581,3.618,3.648,3.659,3.686,3.71,3.726,3.758,3.783,3.821,3.843,3.875,3.906,3.925,3.963,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.272,3.271,3.262,3.248,3.241,3.228,3.222,3.216,3.199,3.19,3.181,3.179,3.167,3.159,3.148,3.144,3.143,3.129,3.12,3.119,3.112,3.105,3.091,3.088,3.077,3.077,3.074,3.067,3.057,3.053,3.049,3.048,3.042,3.04,3.031,3.028,3.021,3.018,3.015,3.014,3.012,2.995,2.992,2.99,2.987,2.983,2.981,2.978,2.973,2.969,2.969,2.966,2.965,2.962,2.962,2.962,2.962,2.959,2.959,2.959,2.957,2.957,2.948,2.948,2.948,2.948,2.948,2.948,2.95,2.949,2.95,2.952,2.952,2.949,2.947,2.947,2.946,2.947,2.951,2.953,2.953,2.955,2.955,2.955,2.955,2.955,2.954,2.955,2.958,2.956,2.962,2.962,2.962,2.967,2.969,2.971,2.976,2.978,2.979,2.98,2.986,2.989,2.989,2.995,2.996,3.001,3.002,3.005,3.011,3.023,3.023,3.025,3.029,3.033,3.035,3.038,3.047,3.05,3.057,3.057,3.061,3.068,3.068,3.068,3.082,3.088,3.089,3.092,3.097,3.098,3.109,3.117,3.118,3.127,3.137,3.148,3.151,3.155,3.168,3.179,3.181,3.192,3.197,3.2,3.202,3.218,3.222,3.23,3.23,3.242,3.705,3.765,3.781,3.782,3.797,3.806,3.829,3.844,3.844,3.858,3.879,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 104.83} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.087266}
SEN {Time 104.831} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.207} {Name Sonar15 Range 1.0668}
SEN {Time 104.875} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0.009,0.009,0.009,3.121,3.121,3.117,3.105,3.102,3.099,3.096,3.092,3.092,3.092,3.092,3.092,3.088,0.152,0.152,0.151,0.151,0.152,0.152,0.149,0.152,0.152,0.153,0.151,0.151,0.151,0.153,3.047,3.048,3.048,3.047,3.047,3.049,3.108,3.108,3.108,0.161,0.159,0.159,0.159,0.159,0.162,0.163,0.166,0.377,3.575,3.577,3.582,3.577,3.582,3.592,3.584,3.584,3.592,3.588,3.588,3.595,3.597,3.598,3.6,3.601,3.602,3.602,3.61,3.617,3.617,3.622,3.624,3.627,3.628,3.629,3.634,3.639,3.64,3.64,3.647,3.664,3.664,3.668,3.671,3.673,3.675,3.69,3.69,3.703,3.704,3.705,3.706,3.728,3.73,3.73,3.73,3.73,3.748,3.752,3.755,3.762,3.773,3.781,3.791,3.8,3.807,3.823,3.831,3.835,3.838,3.844,3.866,3.871,3.873,3.893,3.91,3.919,3.926,3.939,3.954,3.955,3.968,3.974,3.995,3.995,4.02,4.024,4.036,4.044,4.063,4.067,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0.007,0,0.009,0.009,0.009,0.009,0.009,0,3.747,3.739,3.699,3.67,3.638,3.633,3.599,3.578,3.559,3.536,3.514,3.487,3.455,3.44,3.427,3.396,3.386,3.356,3.338,3.327,3.309,3.282,3.265,3.258,3.232,3.228,3.198,3.181,3.167,3.166,3.131,3.129,3.11,3.103,3.085,3.069,3.06,3.041,3.037,3.024,3.019,2.99,2.983,2.968,2.959,2.955,2.941,2.934,2.917,2.906,2.896,2.877,2.875,2.859,2.849,2.848,2.829,2.823,2.819,2.8,2.795,2.779,2.776,2.759,2.752,2.746,2.735,2.727,2.723,2.721,2.723,2.707,2.699,1.153,1.149,1.146,1.141,1.134,1.134,1.134,2.616,2.616,2.616,2.603,2.598,2.592,2.59,2.581,2.579,2.568,2.568,2.567,2.567,2.551,2.545,2.544,2.539,2.528,2.524,2.524,2.52,2.515,2.514,2.51,2.502,2.499,2.492,2.49,2.49,2.487,2.484,2.476,2.476,2.475,2.474,2.468,2.464,2.464,2.46,2.459,2.456,2.455,2.455,2.448,2.448,2.446,2.441,2.441,2.441,2.44,2.436,2.433,2.433,2.432,2.433,2.433,2.433,2.43,2.43,2.427,2.425,2.425,2.427,2.432,2.437,2.437,2.437,2.436,2.433,2.433,2.433,2.433,2.433,2.438,2.438,2.438,2.444,2.448,2.448,2.448,2.448,2.454,2.455,2.456,2.457,2.459,2.465,2.465,2.471,2.473,2.474,2.485,2.486,2.487,2.487,2.49,2.49,2.498,2.501,2.505,2.513,2.517,2.517,2.513,1.117,1.116,1.116,1.117,1.125,1.126,1.131,2.574,2.577,2.588,2.588,2.595,2.596,2.607,2.61,2.61,2.611,2.632,2.635,2.636,2.644,2.653,2.662,2.665,2.675,2.68,2.686,2.698,2.699,2.712,2.724,2.73,2.733,2.739,2.755,2.758,2.764,2.782,2.793,2.8,2.815,2.816,2.831,2.856,2.859,2.86,2.868,2.879,2.891,2.91,2.921,2.921,2.946,2.947,2.963,2.975,2.99,2.999,3.014,3.028,3.031,3.048,3.073,3.085,3.096,3.103,3.12,3.121,3.163,3.165,3.186,3.192,3.209,3.221,3.246,3.253,3.278,3.298,3.308,3.329,3.335,3.376,3.378,3.414,3.426,3.446,3.47,3.483,3.521,3.543,3.553,3.583,3.606,3.628,3.661,3.665,3.7,3.739,3.76,3.784,3.81,3.844,3.875,3.903,3.939,3.954,3.999,4.086,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.264,3.258,3.243,3.242,3.227,3.224,3.212,3.2,3.19,3.183,3.178,3.166,3.16,3.159,3.143,3.13,3.128,3.127,3.12,3.114,3.097,3.096,3.088,3.083,3.072,3.071,3.065,3.057,3.057,3.055,3.046,3.039,3.029,3.026,3.026,3.025,3.013,3.013,3.011,3.008,3.005,2.992,2.99,2.987,2.99,2.987,2.983,2.979,2.973,2.972,2.968,2.964,2.96,2.953,2.953,2.953,2.958,2.958,2.958,2.953,2.951,2.947,2.946,2.945,2.945,2.944,2.939,2.944,2.94,2.941,2.94,2.94,2.94,2.934,2.934,2.94,2.94,2.941,2.941,2.947,2.947,2.947,2.948,2.948,2.948,2.952,2.953,2.955,2.955,2.955,2.955,2.955,2.955,2.959,2.96,2.963,2.965,2.968,2.976,2.976,2.978,2.983,2.983,2.983,2.988,2.998,2.999,3.001,3.007,3.008,3.015,3.015,3.02,3.021,3.029,3.039,3.04,3.042,3.046,3.05,3.053,3.053,3.053,3.065,3.07,3.073,3.075,3.087,3.094,3.103,3.106,3.107,3.118,3.124,3.127,3.128,3.132,3.148,3.16,3.161,3.172,3.183,3.192,3.192,3.196,3.197,3.214,3.215,3.215,3.223,3.23,3.75,3.772,3.772,3.785,3.792,3.797,3.831,3.837,3.852,3.862,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.10} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.167552}
SEN {Time 105.104} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 0.1524} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.207} {Name Sonar15 Range 1.0414}
SEN {Time 105.175} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,3.136,3.131,3.122,3.12,3.119,3.119,3.104,3.1,3.095,3.09,3.09,3.086,3.086,3.084,3.083,3.082,3.073,3.073,3.069,3.069,3.068,3.068,3.064,3.063,3.063,3.063,3.056,0.161,0.151,0.149,0.149,0.148,0.148,0.148,0.149,0.15,0.151,0.151,0.151,0.154,0.16,0.286,3.583,3.593,3.593,3.583,3.583,3.597,3.582,3.544,0.164,0.164,0.163,0.163,0.163,0.163,0.163,0.167,0.358,3.604,3.605,3.611,3.616,3.618,3.616,3.616,3.62,3.62,3.632,3.633,3.642,3.644,3.645,3.647,3.652,3.659,3.661,3.676,3.68,3.68,3.684,3.692,3.692,3.699,3.707,3.713,3.714,3.714,3.729,3.733,3.737,3.748,3.755,3.761,3.781,3.781,3.782,3.787,3.793,3.798,3.813,3.816,3.817,3.833,3.842,3.85,3.865,3.87,3.872,3.887,3.896,3.912,3.915,3.92,3.929,3.95,3.964,3.97,3.989,3.994,3.998,4.023,4.038,4.051,4.069,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0.007,0.009,0.009,0.009,0,3.745,3.715,3.7,3.686,3.649,3.628,3.602,3.586,3.555,3.546,3.532,3.509,3.484,3.462,3.435,3.422,3.392,3.369,3.352,3.341,3.312,3.289,3.283,3.254,3.231,3.228,3.202,3.192,3.174,3.155,3.147,3.127,3.112,3.094,3.089,3.089,3.081,3.059,3.041,3.03,3.016,2.997,2.991,2.979,2.964,2.953,2.942,2.923,2.922,2.907,2.898,2.888,2.875,2.865,2.858,2.845,2.841,2.831,2.83,2.811,2.806,2.793,2.786,2.774,2.771,2.757,2.755,2.744,2.729,2.729,2.722,2.721,1.154,1.154,1.153,1.146,1.141,1.141,1.141,2.626,2.627,2.63,2.627,2.626,2.61,2.598,2.596,2.586,2.584,2.577,2.576,2.567,2.561,2.561,2.559,2.546,2.541,2.538,2.533,2.528,2.527,2.527,2.527,2.527,2.511,2.506,2.5,2.494,2.494,2.491,2.489,2.489,2.477,2.475,2.471,2.471,2.467,2.468,2.468,2.464,2.456,2.456,2.455,2.455,2.455,2.451,2.446,2.446,2.446,2.445,2.445,2.445,2.445,2.441,2.435,2.433,2.432,2.431,2.43,2.43,2.43,2.43,2.43,2.43,2.43,2.432,2.434,2.434,2.438,2.438,2.438,2.439,2.442,2.442,2.442,2.442,2.444,2.446,2.451,2.451,2.451,2.451,2.451,2.451,2.451,2.459,2.461,2.466,2.473,2.473,2.475,2.481,2.482,2.484,2.485,2.488,2.493,2.496,2.501,2.507,2.507,2.507,2.507,1.113,1.111,1.111,1.113,1.117,1.122,1.122,1.147,2.568,2.572,2.573,2.578,2.586,2.592,2.595,2.604,2.612,2.616,2.625,2.631,2.635,2.636,2.651,2.658,2.671,2.675,2.677,2.69,2.7,2.7,2.713,2.715,2.724,2.732,2.749,2.75,2.756,2.769,2.773,2.795,2.799,2.8,2.816,2.818,2.841,2.853,2.853,2.86,2.879,2.881,2.901,2.913,2.916,2.933,2.948,2.961,2.968,2.969,2.993,3,3.01,3.029,3.035,3.046,3.078,3.091,3.102,3.104,3.126,3.131,3.149,3.163,3.185,3.205,3.216,3.229,3.254,3.268,3.284,3.297,3.322,3.326,3.349,3.384,3.399,3.419,3.439,3.458,3.487,3.496,3.517,3.539,3.579,3.598,3.62,3.64,3.669,3.686,3.723,3.75,3.763,3.788,3.812,3.844,3.878,3.908,3.944,3.977,4.009,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.273,3.267,3.256,3.236,3.229,3.228,3.206,3.203,3.19,3.186,3.181,3.158,3.157,3.148,3.146,3.135,3.13,3.119,3.115,3.107,3.107,3.098,3.083,3.079,3.075,3.068,3.061,3.056,3.051,3.043,3.042,3.038,3.03,3.028,3.024,3.019,3.011,3.01,3.003,3,2.993,2.993,2.983,2.981,2.979,2.978,2.972,2.972,2.967,2.961,2.956,2.953,2.951,2.951,2.952,2.952,2.954,2.955,2.955,2.955,2.943,2.938,2.936,2.936,2.936,2.935,2.936,2.936,2.934,2.934,2.935,2.935,2.933,2.933,2.935,2.933,2.929,2.921,2.929,2.929,2.935,2.935,2.939,2.939,2.939,2.939,2.939,2.939,2.939,2.939,2.94,2.946,2.952,2.953,2.953,2.954,2.955,2.959,2.959,2.96,2.961,2.97,2.974,2.976,2.977,2.978,2.983,2.989,2.992,2.993,2.994,3.004,3.005,3.009,3.011,3.015,3.028,3.034,3.035,3.042,3.05,3.05,3.045,3.046,3.046,3.046,3.06,3.061,3.075,3.084,3.087,3.092,3.094,3.095,3.103,3.113,3.125,3.128,3.132,3.135,3.141,3.143,3.151,3.181,3.183,3.185,3.191,3.196,3.197,3.204,3.204,3.213,3.23,3.76,3.771,3.772,3.773,3.798,3.802,3.826,3.834,3.85,3.85,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.33} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 105.332} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.794} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 1.0414}
SEN {Time 105.375} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.198,0.198,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.157,3.153,3.153,3.139,3.135,3.132,3.126,3.124,3.116,3.113,3.109,3.1,3.1,3.095,3.093,3.088,3.083,3.083,3.078,3.076,3.075,3.074,3.074,3.069,3.069,3.068,3.067,3.064,3.064,3.064,3.058,3.055,0.15,0.148,0.148,0.148,0.148,0.148,0.151,0.153,0.153,0.151,0.152,0.151,0.151,0.152,0.286,3.569,3.587,3.587,3.587,3.587,3.587,3.585,3.558,0.167,0.167,0.16,0.164,0.164,0.165,0.165,0.166,0.375,3.601,3.602,3.61,3.615,3.618,3.624,3.625,3.625,3.625,3.639,3.641,3.65,3.651,3.653,3.655,3.658,3.663,3.665,3.672,3.676,3.686,3.686,3.693,3.697,3.701,3.707,3.715,3.724,3.725,3.735,3.743,3.745,3.754,3.755,3.765,3.776,3.776,3.789,3.8,3.804,3.807,3.813,3.821,3.838,3.84,3.849,3.854,3.859,3.878,3.89,3.901,3.902,3.908,3.927,3.927,3.945,3.951,3.971,3.977,3.992,4.003,4.021,4.031,4.046,4.053,4.064,4.078,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0,0,0,0,3.927,3.889,3.825,3.788,3.768,3.76,3.721,3.694,3.664,3.647,3.611,3.607,3.58,3.558,3.538,3.511,3.481,3.472,3.447,3.425,3.408,3.38,3.357,3.354,3.315,3.303,3.284,3.272,3.246,3.228,3.221,3.21,3.181,3.174,3.159,3.145,3.118,3.106,3.095,3.09,3.069,3.058,3.043,3.034,3.028,3.015,2.996,2.987,2.967,2.957,2.955,2.935,2.924,2.921,2.905,2.894,2.889,2.884,2.868,2.854,2.845,2.845,2.829,2.821,2.809,2.807,2.793,2.784,2.777,2.767,2.755,2.755,2.738,2.736,2.736,2.729,2.72,1.161,1.155,1.153,1.153,1.151,1.153,1.153,2.631,2.631,2.632,2.631,2.627,2.605,2.604,2.597,2.593,2.586,2.585,2.571,2.567,2.567,2.557,2.552,2.546,2.542,2.528,2.528,2.528,2.525,2.52,2.514,2.513,2.505,2.505,2.496,2.496,2.488,2.485,2.481,2.478,2.477,2.473,2.473,2.472,2.465,2.465,2.465,2.464,2.462,2.461,2.458,2.455,2.447,2.447,2.447,2.446,2.442,2.441,2.441,2.44,2.44,2.441,2.44,2.435,2.439,2.439,2.438,2.435,2.435,2.435,2.435,2.435,2.435,2.435,2.432,2.432,2.437,2.435,2.438,2.44,2.44,2.44,2.44,2.441,2.445,2.446,2.446,2.446,2.452,2.452,2.453,2.455,2.455,2.46,2.463,2.472,2.473,2.474,2.475,2.475,2.475,2.485,2.486,2.491,2.492,2.496,2.503,2.506,2.509,2.506,2.506,1.112,1.112,1.112,1.114,1.118,1.133,1.137,1.145,2.568,2.57,2.575,2.577,2.584,2.585,2.595,2.597,2.604,2.611,2.619,2.631,2.638,2.638,2.65,2.658,2.667,2.674,2.678,2.691,2.693,2.701,2.704,2.718,2.724,2.731,2.747,2.754,2.763,2.772,2.775,2.783,2.797,2.808,2.817,2.827,2.832,2.852,2.858,2.858,2.876,2.888,2.899,2.911,2.922,2.934,2.937,2.953,2.967,2.972,2.991,3.006,3.009,3.014,3.035,3.056,3.073,3.086,3.102,3.112,3.13,3.137,3.15,3.175,3.185,3.196,3.21,3.233,3.255,3.273,3.281,3.302,3.327,3.33,3.358,3.379,3.4,3.41,3.432,3.455,3.483,3.497,3.526,3.545,3.565,3.597,3.603,3.634,3.66,3.693,3.715,3.737,3.758,3.777,3.806,3.84,3.877,3.907,3.926,3.968,4.009,4.064,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.3,3.295,3.291,3.275,3.268,3.252,3.233,3.228,3.228,3.202,3.202,3.189,3.181,3.179,3.17,3.161,3.158,3.157,3.136,3.127,3.118,3.112,3.112,3.105,3.101,3.092,3.086,3.08,3.064,3.057,3.057,3.054,3.051,3.044,3.038,3.033,3.032,3.024,3.02,3.016,3.009,3.004,3.001,2.992,2.989,2.987,2.984,2.98,2.979,2.977,2.97,2.968,2.963,2.961,2.961,2.959,2.954,2.954,2.954,2.958,2.961,2.961,2.961,2.939,2.939,2.939,2.937,2.936,2.934,2.93,2.93,2.929,2.929,2.929,2.931,2.933,2.933,2.933,2.931,2.929,2.927,2.927,2.927,2.929,2.933,2.934,2.94,2.94,2.941,2.941,2.941,2.942,2.942,2.942,2.946,2.946,2.949,2.949,2.949,2.949,2.957,2.957,2.958,2.962,2.966,2.968,2.975,2.976,2.982,2.987,2.988,2.994,2.998,2.998,3,3.005,3.009,3.01,3.016,3.021,3.022,3.033,3.039,3.045,3.049,3.05,3.055,3.055,3.055,3.064,3.067,3.067,3.089,3.089,3.09,3.093,3.101,3.102,3.107,3.129,3.136,3.138,3.141,3.145,3.149,3.153,3.177,3.179,3.182,3.187,3.19,3.201,3.202,3.202,3.216,3.233,3.751,3.761,3.768,3.773,3.781,3.809,3.821,3.832,3.848,3.86,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.53} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 105.534} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.159} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 1.3462}
SEN {Time 105.574} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.167,3.157,3.151,3.148,3.136,3.128,3.126,3.126,3.122,3.12,3.115,3.114,3.107,3.105,3.094,3.094,3.09,3.09,3.083,3.079,3.073,3.072,3.068,3.068,3.071,3.071,3.068,3.068,3.061,3.06,3.06,3.06,3.06,0.153,0.152,0.151,0.151,0.15,0.148,0.145,0.148,0.148,0.145,0.152,0.152,0.152,0.156,0.285,3.575,3.577,3.577,3.577,3.577,3.6,3.6,3.571,0.163,0.163,0.161,0.158,0.158,0.158,0.158,0.163,0.376,3.592,3.605,3.614,3.615,3.617,3.619,3.63,3.63,3.631,3.63,3.63,3.642,3.644,3.648,3.655,3.655,3.658,3.668,3.678,3.68,3.681,3.694,3.697,3.701,3.701,3.712,3.718,3.718,3.726,3.727,3.738,3.738,3.749,3.756,3.756,3.77,3.78,3.789,3.793,3.809,3.809,3.819,3.823,3.832,3.844,3.845,3.861,3.864,3.874,3.883,3.885,3.904,3.922,3.926,3.927,3.95,3.96,3.97,3.975,4.007,4.015,4.025,4.025,4.059,4.059,4.069,4.08,0.016,0.007,0.016,0.016,0,0.016,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,3.918,3.918,3.88,3.852,3.8,3.758,3.746,3.722,3.681,3.662,3.642,3.611,3.61,3.578,3.556,3.519,3.508,3.494,3.467,3.454,3.431,3.411,3.391,3.358,3.344,3.319,3.305,3.288,3.272,3.248,3.232,3.211,3.203,3.189,3.173,3.162,3.134,3.125,3.097,3.095,3.092,3.074,3.06,3.05,3.041,3.019,3.013,3,2.991,2.964,2.959,2.948,2.933,2.928,2.915,2.91,2.889,2.884,2.877,2.858,2.857,2.84,2.837,2.829,2.82,2.812,2.808,2.791,2.787,2.774,2.77,2.754,2.749,2.729,2.728,2.728,2.721,2.714,1.166,1.158,1.157,1.155,1.15,1.15,1.15,2.63,2.63,2.63,2.623,2.618,2.61,2.602,2.602,2.59,2.589,2.573,2.57,2.564,2.561,2.556,2.551,2.545,2.542,2.535,2.533,2.529,2.523,2.52,2.512,2.511,2.509,2.505,2.503,2.492,2.49,2.487,2.484,2.479,2.473,2.473,2.473,2.473,2.468,2.467,2.465,2.464,2.462,2.46,2.457,2.454,2.453,2.448,2.441,2.441,2.441,2.441,2.441,2.441,2.441,2.436,2.436,2.436,2.436,2.436,2.435,2.429,2.429,2.429,2.429,2.427,2.428,2.428,2.428,2.429,2.435,2.435,2.435,2.435,2.439,2.44,2.445,2.445,2.448,2.449,2.449,2.451,2.451,2.449,2.451,2.457,2.459,2.459,2.46,2.467,2.47,2.472,2.474,2.478,2.483,2.487,2.487,2.49,2.498,2.5,2.506,2.507,2.508,2.508,2.508,1.115,1.115,1.115,1.117,1.122,1.13,1.133,1.153,2.567,2.569,2.57,2.579,2.583,2.593,2.595,2.602,2.611,2.621,2.622,2.624,2.643,2.643,2.655,2.658,2.663,2.674,2.683,2.688,2.693,2.703,2.708,2.722,2.723,2.74,2.745,2.751,2.759,2.767,2.772,2.783,2.804,2.807,2.815,2.827,2.837,2.843,2.846,2.855,2.879,2.887,2.897,2.905,2.914,2.936,2.946,2.96,2.964,2.971,2.986,2.998,3.008,3.021,3.035,3.057,3.067,3.092,3.098,3.115,3.13,3.13,3.139,3.168,3.182,3.203,3.215,3.236,3.246,3.265,3.29,3.301,3.321,3.334,3.354,3.375,3.393,3.413,3.43,3.463,3.482,3.492,3.518,3.536,3.574,3.581,3.611,3.64,3.657,3.693,3.703,3.738,3.759,3.792,3.811,3.839,3.874,3.914,3.939,3.968,4.005,4.037,4.068,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.3,3.295,3.29,3.275,3.261,3.258,3.234,3.228,3.224,3.203,3.2,3.189,3.179,3.175,3.166,3.164,3.153,3.148,3.145,3.125,3.122,3.112,3.111,3.1,3.093,3.087,3.083,3.074,3.073,3.07,3.062,3.055,3.049,3.047,3.037,3.035,3.032,3.029,3.029,3.018,3.005,3.004,2.999,2.995,2.985,2.985,2.983,2.98,2.98,2.977,2.97,2.969,2.965,2.964,2.963,2.954,2.949,2.949,2.949,2.951,2.956,2.956,2.956,2.946,2.942,2.94,2.939,2.935,2.935,2.935,2.935,2.935,2.933,2.933,2.933,2.933,2.933,2.933,2.933,2.932,2.931,2.932,2.932,2.93,2.93,2.932,2.932,2.932,2.936,2.939,2.939,2.937,2.937,2.943,2.946,2.949,2.954,2.954,2.955,2.955,2.955,2.96,2.964,2.965,2.967,2.97,2.977,2.978,2.985,2.989,2.99,2.992,2.996,3,3.004,3.005,3.005,3.005,3.008,3.02,3.029,3.035,3.038,3.039,3.043,3.043,3.048,3.048,3.048,3.061,3.07,3.076,3.077,3.084,3.086,3.092,3.101,3.102,3.11,3.114,3.118,3.131,3.137,3.141,3.15,3.153,3.17,3.182,3.186,3.187,3.189,3.201,3.203,3.203,3.219,3.225,3.748,3.766,3.776,3.783,3.797,3.818,3.823,3.842,3.848,3.865,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.73} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 105.726} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 3.5052} {Name Sonar14 Range 5.6388} {Name Sonar15 Range 1.3462}
SEN {Time 105.771} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.158,3.154,3.152,3.145,3.143,3.135,3.129,3.122,3.121,3.117,3.115,3.108,3.101,3.1,3.098,3.092,3.09,3.092,3.088,3.084,3.082,3.073,3.07,3.07,3.07,3.069,3.067,3.065,3.062,3.062,3.062,3.055,3.048,0.155,0.152,0.151,0.151,0.151,0.152,0.149,0.147,0.153,0.15,0.147,0.15,0.151,0.151,0.289,3.579,3.584,3.591,3.591,3.591,3.592,3.591,3.572,0.175,0.16,0.16,0.156,0.156,0.157,0.16,0.162,3.604,3.607,3.613,3.613,3.614,3.617,3.625,3.619,3.625,3.63,3.63,3.633,3.641,3.642,3.651,3.653,3.658,3.66,3.667,3.673,3.684,3.686,3.687,3.691,3.699,3.703,3.71,3.716,3.718,3.73,3.74,3.742,3.749,3.754,3.76,3.764,3.765,3.77,3.785,3.795,3.801,3.815,3.816,3.816,3.844,3.846,3.851,3.856,3.86,3.866,3.881,3.888,3.899,3.911,3.931,3.939,3.947,3.952,3.985,3.986,3.993,3.995,4.025,4.048,4.059,4.084,4.084,4.089,0.016,0,0,0,0.007,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,3.903,3.876,3.861,3.817,3.792,3.78,3.751,3.717,3.696,3.67,3.646,3.628,3.61,3.579,3.551,3.524,3.516,3.489,3.454,3.451,3.418,3.413,3.379,3.365,3.351,3.317,3.308,3.289,3.274,3.255,3.237,3.223,3.195,3.18,3.175,3.158,3.144,3.123,3.103,3.096,3.082,3.076,3.065,3.05,3.035,3.02,3.007,2.992,2.989,2.978,2.959,2.945,2.938,2.924,2.922,2.905,2.891,2.887,2.876,2.861,2.859,2.838,2.837,2.829,2.825,2.81,2.803,2.783,2.782,2.776,2.763,2.753,2.752,2.733,2.731,2.731,2.722,2.716,1.164,1.158,1.157,1.154,1.154,1.154,1.154,2.627,2.627,2.627,2.623,2.617,2.608,2.603,2.597,2.595,2.589,2.574,2.57,2.567,2.56,2.557,2.551,2.545,2.539,2.534,2.533,2.532,2.52,2.518,2.508,2.506,2.505,2.502,2.501,2.5,2.494,2.49,2.488,2.48,2.477,2.471,2.471,2.471,2.468,2.466,2.466,2.46,2.458,2.455,2.455,2.454,2.449,2.441,2.441,2.44,2.44,2.44,2.444,2.441,2.441,2.44,2.438,2.436,2.435,2.433,2.433,2.433,2.434,2.434,2.434,2.435,2.434,2.434,2.434,2.436,2.434,2.436,2.437,2.439,2.437,2.438,2.439,2.439,2.441,2.448,2.451,2.451,2.453,2.451,2.453,2.457,2.457,2.459,2.462,2.467,2.474,2.476,2.479,2.48,2.481,2.481,2.481,2.493,2.495,2.504,2.504,2.51,2.511,2.511,2.51,1.119,1.117,1.114,1.117,1.119,1.119,1.132,1.151,2.562,2.565,2.575,2.576,2.585,2.587,2.587,2.589,2.612,2.616,2.618,2.628,2.635,2.647,2.65,2.663,2.665,2.67,2.682,2.686,2.688,2.706,2.711,2.718,2.731,2.739,2.742,2.751,2.756,2.768,2.783,2.794,2.796,2.803,2.817,2.826,2.842,2.843,2.853,2.858,2.874,2.891,2.896,2.91,2.92,2.935,2.944,2.963,2.968,2.978,2.988,3.006,3.009,3.015,3.031,3.046,3.072,3.088,3.097,3.11,3.133,3.136,3.146,3.171,3.182,3.201,3.216,3.234,3.257,3.262,3.286,3.307,3.325,3.335,3.354,3.376,3.391,3.422,3.432,3.459,3.477,3.495,3.521,3.544,3.568,3.59,3.607,3.646,3.667,3.695,3.719,3.73,3.751,3.792,3.816,3.839,3.859,3.897,3.935,3.961,3.995,4.08,0.007,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.302,3.297,3.283,3.27,3.255,3.247,3.24,3.237,3.223,3.198,3.198,3.196,3.183,3.179,3.174,3.169,3.152,3.151,3.142,3.129,3.123,3.117,3.117,3.104,3.093,3.092,3.081,3.078,3.073,3.064,3.06,3.057,3.044,3.043,3.035,3.035,3.031,3.028,3.02,3.017,3.005,3.002,2.993,2.99,2.989,2.987,2.982,2.979,2.978,2.967,2.967,2.964,2.963,2.958,2.958,2.956,2.95,2.948,2.948,2.95,2.97,2.97,2.992,2.97,2.946,2.938,2.938,2.938,2.937,2.932,2.932,2.931,2.931,2.931,2.934,2.936,2.936,2.938,2.936,2.933,2.929,2.929,2.927,2.929,2.929,2.931,2.931,2.935,2.935,2.931,2.936,2.939,2.939,2.939,2.944,2.947,2.95,2.955,2.957,2.957,2.957,2.957,2.963,2.965,2.966,2.967,2.968,2.974,2.982,2.985,2.991,2.992,2.994,2.995,3.005,3.009,3.012,3.016,3.019,3.027,3.029,3.033,3.037,3.04,3.04,3.046,3.05,3.058,3.059,3.061,3.063,3.067,3.086,3.086,3.089,3.092,3.103,3.104,3.104,3.125,3.126,3.134,3.137,3.144,3.147,3.161,3.176,3.183,3.189,3.194,3.196,3.2,3.213,3.213,3.218,3.229,3.752,3.754,3.765,3.767,3.794,3.81,3.815,3.834,3.848,3.869,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 105.93} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 105.928} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.3274} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7432} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 4.064} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.3462}
SEN {Time 105.971} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.166,3.155,3.152,3.148,3.141,3.137,3.125,3.122,3.119,3.113,3.109,3.108,3.107,3.1,3.099,3.098,3.095,3.087,3.087,3.08,3.076,3.076,3.073,3.065,3.065,3.063,3.062,3.061,3.061,3.061,3.065,3.065,3.065,0.153,0.153,0.151,0.151,0.153,0.154,0.153,0.154,0.154,0.153,0.153,0.153,0.153,0.157,0.286,3.578,3.583,3.583,3.583,3.584,3.586,3.586,3.57,0.16,0.159,0.158,0.158,0.158,0.159,0.161,0.166,0.362,3.592,3.609,3.613,3.615,3.615,3.616,3.617,3.621,3.624,3.628,3.629,3.641,3.649,3.641,3.652,3.659,3.661,3.663,3.676,3.679,3.683,3.684,3.684,3.688,3.691,3.71,3.72,3.726,3.731,3.735,3.743,3.745,3.746,3.753,3.757,3.769,3.774,3.78,3.794,3.799,3.806,3.823,3.828,3.836,3.843,3.851,3.853,3.872,3.877,3.877,3.886,3.891,3.919,3.926,3.93,3.948,3.948,3.978,3.98,3.987,4.003,4.03,4.04,4.063,4.063,4.077,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,3.965,3.92,3.875,3.844,3.832,3.79,3.77,3.736,3.723,3.686,3.666,3.643,3.623,3.596,3.584,3.554,3.53,3.516,3.49,3.474,3.454,3.425,3.401,3.389,3.36,3.331,3.325,3.302,3.292,3.278,3.254,3.234,3.216,3.201,3.189,3.185,3.15,3.14,3.125,3.113,3.096,3.089,3.069,3.054,3.041,3.027,3.027,3.005,2.994,2.987,2.968,2.961,2.952,2.938,2.933,2.921,2.911,2.896,2.885,2.873,2.873,2.85,2.845,2.835,2.827,2.826,2.811,2.806,2.793,2.786,2.775,2.76,2.754,2.746,2.735,2.725,2.725,2.721,2.719,1.161,1.155,1.154,1.151,1.15,1.15,1.15,2.632,2.632,2.632,2.623,2.622,2.616,2.609,2.603,2.586,2.582,2.58,2.57,2.566,2.564,2.556,2.555,2.548,2.546,2.535,2.528,2.527,2.524,2.52,2.515,2.502,2.498,2.497,2.494,2.493,2.492,2.488,2.485,2.483,2.473,2.472,2.467,2.467,2.466,2.465,2.463,2.46,2.46,2.457,2.457,2.452,2.451,2.448,2.442,2.442,2.442,2.442,2.442,2.442,2.441,2.438,2.437,2.437,2.434,2.433,2.433,2.431,2.43,2.428,2.43,2.428,2.43,2.432,2.432,2.432,2.439,2.44,2.441,2.441,2.444,2.445,2.444,2.445,2.445,2.448,2.448,2.449,2.455,2.456,2.456,2.457,2.459,2.462,2.462,2.464,2.465,2.472,2.473,2.473,2.478,2.485,2.485,2.491,2.494,2.499,2.509,2.509,2.511,2.511,2.511,1.119,1.115,1.115,1.118,1.119,1.122,1.133,1.159,2.565,2.567,2.577,2.582,2.59,2.592,2.595,2.599,2.609,2.618,2.622,2.631,2.641,2.643,2.651,2.663,2.668,2.674,2.676,2.693,2.693,2.697,2.718,2.72,2.728,2.738,2.741,2.751,2.76,2.764,2.779,2.784,2.795,2.798,2.811,2.831,2.837,2.85,2.85,2.869,2.87,2.891,2.895,2.913,2.925,2.933,2.937,2.96,2.964,2.977,2.991,3.008,3.013,3.025,3.039,3.055,3.076,3.076,3.11,3.113,3.121,3.138,3.147,3.167,3.187,3.201,3.219,3.228,3.251,3.267,3.285,3.308,3.328,3.334,3.353,3.367,3.392,3.402,3.434,3.455,3.48,3.498,3.525,3.547,3.558,3.594,3.608,3.63,3.652,3.69,3.714,3.74,3.752,3.792,3.814,3.835,3.875,3.905,3.939,3.971,3.985,4.031,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.303,3.293,3.291,3.276,3.256,3.247,3.238,3.231,3.219,3.202,3.202,3.196,3.179,3.177,3.164,3.158,3.157,3.148,3.133,3.132,3.12,3.118,3.11,3.097,3.092,3.09,3.086,3.085,3.075,3.065,3.061,3.057,3.049,3.045,3.04,3.038,3.029,3.019,3.016,3.013,3.007,3.003,2.999,2.997,2.99,2.986,2.984,2.984,2.976,2.968,2.968,2.959,2.96,2.959,2.958,2.952,2.951,2.951,2.951,2.954,2.961,2.961,2.961,2.947,2.943,2.941,2.941,2.94,2.935,2.934,2.933,2.931,2.931,2.93,2.931,2.931,2.93,2.931,2.931,2.93,2.927,2.93,2.93,2.932,2.932,2.935,2.935,2.935,2.935,2.934,2.934,2.934,2.937,2.937,2.939,2.946,2.952,2.952,2.955,2.955,2.955,2.957,2.961,2.968,2.971,2.971,2.977,2.977,2.978,2.978,2.986,2.987,2.992,2.996,3.002,3.003,3.012,3.014,3.015,3.02,3.029,3.031,3.035,3.042,3.043,3.043,3.048,3.051,3.051,3.06,3.063,3.075,3.08,3.087,3.091,3.095,3.102,3.104,3.107,3.121,3.131,3.134,3.142,3.142,3.153,3.156,3.174,3.175,3.182,3.186,3.198,3.199,3.205,3.205,3.222,3.228,3.751,3.764,3.771,3.773,3.791,3.805,3.813,3.835,3.846,3.857,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.13} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 106.13} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.3274} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.794} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 4.064} {Name Sonar14 Range 5.6134} {Name Sonar15 Range 1.3462}
SEN {Time 106.171} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.194,0.194,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.164,3.156,3.151,3.148,3.147,3.142,3.129,3.122,3.117,3.117,3.117,3.117,3.105,3.101,3.098,3.095,3.094,3.092,3.092,3.081,3.079,3.079,3.075,3.075,3.071,3.071,3.07,3.069,3.068,3.063,3.063,3.061,3.056,0.153,0.152,0.15,0.152,0.151,0.152,0.151,0.152,0.151,0.15,0.15,0.153,0.153,0.161,0.281,3.561,3.581,3.582,3.582,3.585,3.592,3.585,3.573,0.169,0.161,0.161,0.161,0.161,0.161,0.164,0.165,0.371,3.604,3.608,3.615,3.615,3.62,3.618,3.618,3.627,3.628,3.64,3.64,3.644,3.648,3.648,3.649,3.652,3.665,3.67,3.673,3.679,3.68,3.69,3.691,3.697,3.701,3.712,3.719,3.72,3.727,3.735,3.739,3.742,3.753,3.756,3.761,3.77,3.777,3.781,3.789,3.795,3.796,3.809,3.816,3.833,3.839,3.85,3.857,3.861,3.87,3.875,3.886,3.907,3.912,3.927,3.934,3.934,3.952,3.976,3.983,3.986,4.003,4.026,4.042,4.042,4.051,4.066,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,3.953,3.953,3.92,3.885,3.835,3.79,3.775,3.745,3.721,3.685,3.663,3.655,3.62,3.592,3.577,3.557,3.535,3.509,3.492,3.466,3.433,3.429,3.409,3.392,3.361,3.345,3.329,3.308,3.291,3.277,3.246,3.241,3.22,3.199,3.181,3.179,3.161,3.149,3.121,3.113,3.099,3.093,3.067,3.067,3.046,3.03,3.029,3.001,2.999,2.98,2.974,2.969,2.954,2.942,2.921,2.911,2.902,2.891,2.884,2.876,2.861,2.857,2.839,2.833,2.829,2.816,2.81,2.803,2.792,2.781,2.77,2.764,2.75,2.748,2.733,2.732,2.732,2.718,2.716,1.162,1.154,1.152,1.15,1.149,1.149,1.149,2.635,2.635,2.635,2.617,2.608,2.608,2.602,2.593,2.589,2.583,2.579,2.567,2.567,2.56,2.551,2.546,2.544,2.537,2.533,2.529,2.523,2.522,2.518,2.514,2.51,2.509,2.5,2.494,2.492,2.491,2.491,2.487,2.481,2.481,2.476,2.475,2.474,2.468,2.464,2.463,2.462,2.46,2.453,2.453,2.452,2.45,2.448,2.446,2.444,2.444,2.444,2.442,2.441,2.439,2.436,2.439,2.436,2.434,2.432,2.428,2.428,2.428,2.428,2.427,2.427,2.432,2.432,2.428,2.432,2.436,2.44,2.44,2.443,2.443,2.446,2.439,2.445,2.445,2.446,2.446,2.449,2.449,2.449,2.449,2.452,2.452,2.458,2.459,2.463,2.465,2.466,2.476,2.481,2.482,2.484,2.484,2.485,2.498,2.501,2.503,2.509,2.512,2.512,2.512,1.109,1.109,1.109,1.114,1.125,1.127,1.132,1.15,2.565,2.568,2.577,2.579,2.583,2.588,2.589,2.594,2.604,2.606,2.618,2.624,2.63,2.634,2.653,2.656,2.665,2.669,2.676,2.689,2.697,2.698,2.707,2.715,2.72,2.729,2.732,2.751,2.755,2.771,2.779,2.788,2.8,2.809,2.817,2.828,2.836,2.849,2.858,2.859,2.869,2.881,2.885,2.911,2.921,2.929,2.94,2.955,2.966,2.969,2.994,3.008,3.01,3.019,3.035,3.052,3.077,3.081,3.107,3.107,3.126,3.132,3.148,3.171,3.182,3.2,3.226,3.226,3.253,3.267,3.283,3.307,3.329,3.331,3.357,3.374,3.392,3.421,3.423,3.444,3.469,3.501,3.53,3.548,3.569,3.586,3.603,3.635,3.658,3.678,3.719,3.747,3.753,3.779,3.819,3.844,3.873,3.908,3.942,3.967,3.999,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.302,3.294,3.28,3.266,3.26,3.251,3.236,3.23,3.225,3.21,3.198,3.197,3.183,3.179,3.165,3.164,3.152,3.149,3.146,3.123,3.122,3.115,3.111,3.102,3.095,3.09,3.085,3.083,3.074,3.064,3.061,3.059,3.045,3.043,3.043,3.039,3.03,3.021,3.017,3.013,3.007,3.005,2.999,2.998,2.986,2.985,2.985,2.98,2.976,2.973,2.968,2.968,2.966,2.965,2.958,2.955,2.948,2.948,2.948,2.952,2.956,2.956,2.956,2.95,2.944,2.938,2.936,2.936,2.936,2.935,2.936,2.928,2.933,2.933,2.934,2.933,2.934,2.937,2.937,2.933,2.933,2.931,2.93,2.931,2.93,2.931,2.938,2.938,2.938,2.938,2.938,2.937,2.938,2.938,2.94,2.942,2.948,2.949,2.952,2.952,2.955,2.959,2.964,2.966,2.969,2.97,2.974,2.98,2.982,2.985,2.985,2.987,2.996,3.003,3.003,3.003,3.006,3.01,3.01,3.025,3.027,3.036,3.041,3.046,3.046,3.047,3.047,3.052,3.052,3.066,3.066,3.07,3.079,3.084,3.086,3.09,3.107,3.11,3.116,3.118,3.125,3.126,3.138,3.142,3.143,3.143,3.167,3.181,3.183,3.185,3.187,3.204,3.205,3.205,3.215,3.223,3.755,3.759,3.768,3.775,3.789,3.81,3.815,3.83,3.844,3.856,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.57} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 106.57} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 5.2324} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.794} {Name Sonar5 Range 3.6576} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4638} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.3462}
SEN {Time 106.667} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.16,3.153,3.148,3.147,3.147,3.131,3.13,3.126,3.115,3.115,3.112,3.112,3.11,3.099,3.097,3.097,3.093,3.087,3.085,3.082,3.08,3.075,3.072,3.07,3.072,3.069,3.064,3.063,3.063,3.061,3.061,3.061,3.059,0.152,0.15,0.149,0.149,0.149,0.149,0.149,0.151,0.151,0.149,0.147,0.149,0.149,0.152,0.268,3.57,3.581,3.581,3.581,3.582,3.588,3.582,3.568,0.159,0.159,0.159,0.159,0.159,0.16,0.16,0.169,0.382,3.603,3.604,3.607,3.611,3.612,3.615,3.616,3.623,3.624,3.628,3.629,3.638,3.643,3.651,3.651,3.654,3.654,3.659,3.669,3.674,3.678,3.681,3.694,3.696,3.703,3.71,3.711,3.719,3.728,3.734,3.736,3.737,3.742,3.75,3.77,3.774,3.777,3.784,3.789,3.791,3.814,3.818,3.821,3.838,3.842,3.853,3.857,3.859,3.875,3.879,3.886,3.894,3.917,3.924,3.935,3.943,3.954,3.981,3.985,3.992,4.004,4.022,4.033,4.049,4.061,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,3.907,3.89,3.847,3.834,3.799,3.772,3.746,3.713,3.682,3.669,3.646,3.624,3.595,3.572,3.566,3.526,3.511,3.496,3.467,3.445,3.431,3.404,3.386,3.365,3.349,3.323,3.307,3.287,3.267,3.244,3.242,3.206,3.201,3.196,3.168,3.152,3.141,3.128,3.102,3.1,3.093,3.075,3.062,3.038,3.035,3.029,3.012,2.999,2.981,2.971,2.966,2.949,2.939,2.916,2.916,2.894,2.894,2.886,2.87,2.863,2.859,2.843,2.842,2.822,2.821,2.818,2.797,2.784,2.781,2.772,2.763,2.75,2.748,2.734,2.721,2.721,2.719,2.712,1.161,1.156,1.154,1.15,1.147,1.147,1.147,2.628,2.628,2.628,2.622,2.616,2.607,2.604,2.594,2.585,2.58,2.578,2.573,2.562,2.559,2.554,2.545,2.543,2.535,2.532,2.531,2.528,2.517,2.508,2.508,2.506,2.504,2.503,2.497,2.497,2.496,2.488,2.483,2.478,2.478,2.477,2.476,2.472,2.47,2.47,2.468,2.459,2.454,2.456,2.455,2.453,2.451,2.451,2.443,2.443,2.442,2.442,2.441,2.439,2.437,2.436,2.436,2.434,2.434,2.43,2.434,2.43,2.43,2.43,2.436,2.43,2.43,2.429,2.429,2.429,2.432,2.438,2.438,2.438,2.44,2.442,2.445,2.446,2.447,2.447,2.449,2.452,2.452,2.45,2.454,2.457,2.457,2.458,2.463,2.467,2.468,2.472,2.472,2.472,2.473,2.485,2.486,2.489,2.491,2.497,2.499,2.501,2.508,2.508,2.508,1.113,1.113,1.113,1.124,1.125,1.126,1.127,1.152,2.562,2.563,2.577,2.58,2.581,2.592,2.594,2.599,2.616,2.616,2.619,2.625,2.633,2.64,2.644,2.655,2.663,2.672,2.681,2.692,2.692,2.7,2.708,2.717,2.725,2.727,2.738,2.753,2.762,2.768,2.777,2.785,2.791,2.804,2.813,2.825,2.838,2.844,2.86,2.86,2.879,2.89,2.891,2.907,2.918,2.934,2.936,2.955,2.969,2.975,2.996,3.004,3.006,3.011,3.027,3.057,3.08,3.09,3.107,3.113,3.123,3.131,3.145,3.177,3.182,3.202,3.217,3.23,3.256,3.266,3.284,3.295,3.322,3.332,3.354,3.38,3.398,3.422,3.426,3.455,3.475,3.504,3.522,3.542,3.569,3.595,3.608,3.636,3.669,3.689,3.725,3.733,3.756,3.791,3.813,3.839,3.869,3.9,3.947,3.968,3.995,4.068,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.297,3.295,3.279,3.27,3.264,3.247,3.244,3.234,3.223,3.198,3.198,3.192,3.181,3.174,3.172,3.165,3.148,3.148,3.143,3.131,3.121,3.117,3.11,3.098,3.098,3.09,3.086,3.076,3.072,3.064,3.063,3.06,3.046,3.043,3.039,3.036,3.035,3.023,3.018,3.017,3.017,3.004,3.001,3.001,2.995,2.995,2.988,2.982,2.976,2.97,2.968,2.967,2.957,2.952,2.95,2.948,2.948,2.945,2.948,2.953,2.964,2.964,2.964,2.94,2.938,2.937,2.937,2.936,2.937,2.933,2.93,2.929,2.929,2.929,2.929,2.932,2.932,2.932,2.932,2.928,2.928,2.928,2.928,2.929,2.929,2.93,2.935,2.935,2.938,2.938,2.939,2.938,2.938,2.938,2.939,2.945,2.951,2.951,2.951,2.953,2.953,2.958,2.96,2.965,2.967,2.968,2.973,2.976,2.985,2.989,2.99,2.99,2.994,2.996,2.999,3.006,3.012,3.012,3.014,3.019,3.027,3.038,3.039,3.044,3.051,3.054,3.056,3.058,3.058,3.061,3.063,3.063,3.086,3.086,3.091,3.093,3.098,3.105,3.106,3.122,3.133,3.138,3.139,3.143,3.145,3.163,3.172,3.175,3.176,3.188,3.193,3.193,3.206,3.206,3.219,3.23,3.743,3.763,3.774,3.779,3.792,3.807,3.821,3.829,3.841,3.867,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 106.82} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 106.825} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.6896} {Name Sonar15 Range 1.3462}
SEN {Time 106.867} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.213,0.213,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.164,3.164,3.147,3.141,3.141,3.14,3.132,3.131,3.121,3.116,3.107,3.107,3.106,3.1,3.098,3.096,3.096,3.084,3.081,3.08,3.08,3.078,3.078,3.074,3.074,3.074,3.073,3.072,3.064,3.062,3.062,3.06,3.058,0.15,0.15,0.15,0.15,0.15,0.154,0.15,0.149,0.154,0.157,0.152,0.155,0.157,0.157,0.291,3.578,3.58,3.589,3.589,3.58,3.595,3.567,3.37,0.161,0.158,0.155,0.155,0.155,0.158,0.158,0.162,0.374,3.605,3.608,3.614,3.614,3.616,3.617,3.619,3.626,3.626,3.628,3.635,3.637,3.65,3.654,3.658,3.662,3.663,3.672,3.672,3.674,3.688,3.691,3.694,3.695,3.705,3.709,3.711,3.731,3.731,3.739,3.739,3.74,3.742,3.759,3.763,3.764,3.782,3.783,3.791,3.792,3.796,3.808,3.818,3.833,3.834,3.849,3.858,3.866,3.866,3.888,3.889,3.904,3.915,3.916,3.931,3.938,3.965,3.967,3.981,3.982,4.011,4.016,4.036,4.06,4.066,4.068,4.068,0.016,0.016,0.016,0.016,0.016,0.007,0.016,0.016,0,0,0,0,0,0,0,0.007,0,4.059,3.95,3.93,3.891,3.855,3.819,3.792,3.773,3.747,3.716,3.693,3.657,3.652,3.63,3.594,3.57,3.56,3.515,3.514,3.486,3.459,3.455,3.427,3.405,3.378,3.362,3.344,3.319,3.305,3.287,3.271,3.253,3.243,3.219,3.202,3.194,3.175,3.159,3.137,3.127,3.109,3.105,3.089,3.077,3.063,3.047,3.038,3.03,3.01,2.999,2.979,2.969,2.962,2.953,2.943,2.934,2.913,2.912,2.896,2.886,2.873,2.862,2.859,2.846,2.834,2.825,2.819,2.81,2.801,2.785,2.781,2.778,2.766,2.755,2.748,2.74,2.727,2.727,2.721,2.715,1.159,1.156,1.152,1.151,1.151,1.151,1.151,2.631,2.631,2.631,2.626,2.616,2.607,2.606,2.593,2.587,2.58,2.579,2.576,2.563,2.563,2.55,2.549,2.541,2.538,2.535,2.534,2.519,2.519,2.513,2.509,2.509,2.505,2.502,2.502,2.495,2.491,2.479,2.479,2.479,2.479,2.476,2.475,2.468,2.467,2.467,2.467,2.466,2.455,2.455,2.452,2.452,2.447,2.447,2.446,2.443,2.442,2.443,2.439,2.435,2.435,2.437,2.435,2.435,2.435,2.433,2.431,2.431,2.427,2.427,2.427,2.427,2.427,2.428,2.428,2.43,2.432,2.436,2.436,2.435,2.435,2.435,2.435,2.437,2.445,2.446,2.446,2.449,2.449,2.452,2.452,2.452,2.457,2.457,2.461,2.467,2.468,2.468,2.47,2.477,2.478,2.485,2.486,2.49,2.491,2.491,2.502,2.507,2.509,2.509,2.509,1.123,1.115,1.115,1.121,1.122,1.122,1.123,1.156,2.562,2.564,2.571,2.579,2.582,2.594,2.599,2.6,2.615,2.617,2.618,2.621,2.637,2.638,2.644,2.654,2.665,2.669,2.672,2.695,2.698,2.705,2.705,2.716,2.723,2.731,2.741,2.747,2.765,2.766,2.778,2.788,2.792,2.797,2.817,2.82,2.835,2.844,2.861,2.861,2.874,2.886,2.898,2.909,2.919,2.934,2.94,2.955,2.961,2.967,2.994,3.008,3.01,3.018,3.031,3.057,3.073,3.083,3.105,3.113,3.131,3.137,3.146,3.164,3.186,3.2,3.219,3.228,3.247,3.262,3.285,3.303,3.326,3.33,3.357,3.381,3.395,3.417,3.442,3.46,3.483,3.506,3.513,3.544,3.573,3.59,3.611,3.641,3.662,3.683,3.718,3.741,3.754,3.781,3.823,3.838,3.883,3.903,3.932,3.965,4.041,4.081,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.291,3.289,3.283,3.28,3.267,3.255,3.232,3.228,3.222,3.207,3.205,3.185,3.184,3.181,3.165,3.161,3.153,3.152,3.136,3.134,3.114,3.114,3.11,3.106,3.097,3.091,3.091,3.086,3.075,3.066,3.061,3.058,3.048,3.047,3.045,3.044,3.033,3.022,3.015,3.014,3.014,3.007,3.001,2.997,2.987,2.987,2.981,2.981,2.979,2.976,2.975,2.971,2.963,2.958,2.957,2.955,2.955,2.949,2.949,2.955,2.96,2.96,2.96,2.941,2.941,2.941,2.94,2.94,2.936,2.936,2.936,2.936,2.935,2.93,2.93,2.93,2.93,2.932,2.932,2.932,2.932,2.93,2.928,2.928,2.928,2.93,2.93,2.935,2.938,2.938,2.94,2.94,2.942,2.942,2.943,2.949,2.951,2.952,2.953,2.953,2.955,2.96,2.965,2.964,2.965,2.969,2.971,2.978,2.98,2.982,2.991,2.991,2.992,2.996,3.001,3.002,3.01,3.012,3.018,3.022,3.024,3.034,3.036,3.044,3.044,3.05,3.05,3.05,3.05,3.058,3.066,3.075,3.087,3.087,3.09,3.091,3.102,3.103,3.12,3.121,3.127,3.132,3.14,3.143,3.144,3.152,3.175,3.176,3.184,3.192,3.201,3.204,3.205,3.205,3.217,3.228,3.752,3.757,3.773,3.773,3.789,3.81,3.813,3.834,3.846,3.85,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.03} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 107.027} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.302} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 3.8608} {Name Sonar14 Range 4.7752} {Name Sonar15 Range 1.3462}
SEN {Time 107.067} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.192,0.192,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.157,3.153,3.151,3.149,3.139,3.139,3.137,3.117,3.117,3.116,3.11,3.106,3.104,3.103,3.103,3.099,3.086,3.086,3.085,3.081,3.079,3.076,3.072,3.071,3.071,3.071,3.07,3.07,3.064,3.061,3.061,3.061,3.061,3.061,0.15,0.15,0.15,0.15,0.15,0.15,0.15,0.15,0.149,0.149,0.152,0.152,0.153,0.289,3.577,3.579,3.583,3.593,3.595,0,0,0,0.168,0.159,0.158,0.158,0.158,0.158,0.16,0.162,0.378,3.596,3.611,3.612,3.617,3.622,3.622,3.625,3.625,3.625,3.631,3.636,3.645,3.645,3.649,3.653,3.659,3.661,3.663,3.677,3.681,3.685,3.687,3.695,3.701,3.703,3.703,3.714,3.715,3.729,3.73,3.737,3.749,3.754,3.755,3.76,3.776,3.78,3.786,3.792,3.799,3.808,3.821,3.822,3.837,3.84,3.844,3.844,3.858,3.861,3.886,3.888,3.895,3.911,3.921,3.924,3.944,3.957,3.974,3.991,3.999,4.001,4.006,4.031,4.05,4.061,4.076,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.009,0.007,0.009,0.016,0,4.022,3.977,3.906,3.878,3.846,3.827,3.794,3.762,3.752,3.702,3.701,3.671,3.641,3.614,3.601,3.576,3.549,3.537,3.517,3.485,3.459,3.444,3.442,3.402,3.389,3.37,3.346,3.334,3.303,3.288,3.27,3.255,3.225,3.219,3.198,3.187,3.18,3.161,3.144,3.122,3.108,3.1,3.087,3.075,3.065,3.043,3.036,3.014,3.012,2.995,2.989,2.979,2.964,2.943,2.943,2.925,2.916,2.911,2.901,2.89,2.876,2.858,2.855,2.841,2.826,2.824,2.814,2.812,2.795,2.791,2.78,2.77,2.765,2.75,2.741,2.733,2.731,2.731,2.721,2.701,1.165,1.156,1.154,1.154,1.152,1.152,1.152,2.628,2.628,2.628,2.622,2.612,2.604,2.6,2.589,2.588,2.585,2.58,2.565,2.563,2.558,2.552,2.55,2.544,2.539,2.527,2.523,2.52,2.518,2.517,2.5,2.5,2.499,2.499,2.498,2.496,2.496,2.489,2.485,2.481,2.474,2.472,2.471,2.471,2.471,2.47,2.463,2.461,2.456,2.456,2.455,2.447,2.447,2.441,2.441,2.44,2.44,2.444,2.444,2.44,2.44,2.439,2.439,2.437,2.433,2.43,2.429,2.429,2.429,2.431,2.432,2.432,2.431,2.431,2.431,2.431,2.435,2.435,2.438,2.439,2.439,2.441,2.439,2.441,2.443,2.445,2.445,2.445,2.447,2.449,2.453,2.453,2.455,2.461,2.464,2.466,2.468,2.468,2.468,2.48,2.481,2.488,2.49,2.492,2.494,2.495,2.495,2.505,2.506,2.506,2.506,1.109,1.109,1.109,1.116,1.118,1.123,1.131,1.15,2.559,2.567,2.573,2.577,2.587,2.588,2.597,2.598,2.612,2.615,2.623,2.625,2.639,2.642,2.649,2.663,2.665,2.671,2.672,2.689,2.694,2.7,2.705,2.714,2.718,2.737,2.748,2.755,2.757,2.76,2.772,2.785,2.796,2.801,2.82,2.82,2.841,2.845,2.859,2.86,2.867,2.886,2.9,2.905,2.929,2.934,2.939,2.961,2.962,2.974,2.994,3.003,3.006,3.021,3.029,3.049,3.072,3.087,3.096,3.111,3.121,3.136,3.148,3.171,3.179,3.209,3.217,3.227,3.246,3.262,3.278,3.3,3.315,3.336,3.344,3.383,3.388,3.419,3.431,3.446,3.477,3.5,3.516,3.545,3.57,3.584,3.613,3.631,3.671,3.684,3.717,3.733,3.747,3.784,3.817,3.839,3.864,3.923,3.935,3.974,4.002,4.037,4.065,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.304,3.298,3.287,3.271,3.266,3.251,3.239,3.237,3.221,3.207,3.202,3.191,3.186,3.175,3.159,3.159,3.155,3.155,3.143,3.136,3.119,3.109,3.104,3.104,3.094,3.091,3.089,3.076,3.073,3.062,3.056,3.054,3.052,3.05,3.037,3.035,3.033,3.019,3.015,3.014,3.01,3.003,2.995,2.995,2.992,2.991,2.986,2.983,2.98,2.978,2.972,2.966,2.963,2.961,2.957,2.946,2.946,2.946,2.946,2.95,2.961,2.961,2.961,2.944,2.941,2.941,2.941,2.937,2.937,2.937,2.932,2.935,2.935,2.935,2.935,2.935,2.928,2.928,2.93,2.93,2.93,2.93,2.93,2.932,2.931,2.931,2.934,2.937,2.933,2.937,2.938,2.938,2.938,2.94,2.944,2.948,2.949,2.954,2.956,2.956,2.957,2.962,2.968,2.966,2.968,2.972,2.977,2.978,2.978,2.985,2.989,2.989,2.998,2.999,3,3,3.001,3.015,3.019,3.022,3.022,3.036,3.038,3.047,3.047,3.048,3.05,3.054,3.054,3.062,3.063,3.072,3.083,3.084,3.092,3.097,3.097,3.105,3.106,3.121,3.131,3.137,3.145,3.146,3.146,3.163,3.169,3.178,3.183,3.184,3.189,3.201,3.205,3.205,3.222,3.227,3.75,3.753,3.758,3.77,3.783,3.809,3.825,3.833,3.853,3.87,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.22} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 107.22} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.302} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.7338} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.4384} {Name Sonar13 Range 3.8608} {Name Sonar14 Range 4.7752} {Name Sonar15 Range 1.3462}
SEN {Time 107.269} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.163,3.156,3.154,3.151,3.138,3.138,3.127,3.122,3.117,3.114,3.112,3.112,3.104,3.098,3.095,3.094,3.09,3.09,3.085,3.083,3.078,3.077,3.072,3.072,3.072,3.072,3.07,3.07,3.059,3.059,3.059,3.059,3.057,0.154,0.153,0.152,0.152,0.152,0.152,0.153,0.156,0.156,0.156,0.156,0.157,0.158,0.159,0.274,3.581,3.583,3.589,3.589,3.59,3.596,3.596,3.546,0.163,0.163,0.16,0.161,0.16,0.16,0.16,0.161,0.391,3.593,3.598,3.608,3.614,3.614,3.614,3.625,3.627,3.629,3.635,3.641,3.642,3.643,3.651,3.651,3.652,3.66,3.66,3.666,3.669,3.677,3.694,3.694,3.697,3.712,3.716,3.716,3.722,3.727,3.728,3.738,3.739,3.75,3.754,3.755,3.771,3.773,3.777,3.786,3.802,3.805,3.814,3.824,3.837,3.838,3.839,3.847,3.864,3.871,3.888,3.893,3.901,3.905,3.92,3.922,3.945,3.947,3.962,3.981,3.996,4.012,4.024,4.038,4.042,4.053,4.072,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0.007,0.016,4.065,4.065,4.065,4.034,4.019,3.909,3.89,3.852,3.829,3.788,3.757,3.739,3.722,3.704,3.662,3.652,3.612,3.611,3.584,3.561,3.541,3.52,3.487,3.459,3.447,3.424,3.411,3.379,3.364,3.354,3.33,3.311,3.285,3.267,3.256,3.23,3.214,3.21,3.189,3.175,3.162,3.149,3.118,3.11,3.104,3.086,3.072,3.064,3.045,3.036,3.022,3.002,2.994,2.99,2.97,2.969,2.949,2.939,2.936,2.924,2.903,2.895,2.892,2.873,2.862,2.861,2.851,2.842,2.826,2.824,2.806,2.8,2.788,2.778,2.777,2.761,2.756,2.748,2.736,2.724,2.724,2.721,2.713,1.158,1.157,1.157,1.154,1.151,1.151,1.151,2.629,2.629,2.629,2.622,2.616,2.611,2.608,2.588,2.585,2.584,2.578,2.569,2.558,2.556,2.554,2.549,2.542,2.542,2.541,2.53,2.528,2.527,2.518,2.508,2.498,2.498,2.498,2.493,2.491,2.489,2.487,2.487,2.48,2.476,2.474,2.471,2.467,2.464,2.463,2.462,2.461,2.456,2.456,2.456,2.456,2.456,2.45,2.45,2.448,2.445,2.445,2.445,2.44,2.439,2.437,2.437,2.436,2.436,2.435,2.432,2.432,2.432,2.432,2.431,2.432,2.432,2.432,2.432,2.432,2.432,2.434,2.436,2.436,2.436,2.436,2.436,2.436,2.444,2.444,2.446,2.448,2.448,2.449,2.455,2.455,2.456,2.456,2.462,2.466,2.467,2.471,2.477,2.478,2.48,2.481,2.485,2.486,2.492,2.496,2.502,2.506,2.507,2.507,2.506,1.12,1.118,1.118,1.12,1.124,1.128,1.132,1.16,2.564,2.574,2.576,2.58,2.588,2.592,2.593,2.596,2.609,2.612,2.618,2.623,2.625,2.638,2.649,2.654,2.666,2.672,2.676,2.689,2.695,2.704,2.704,2.708,2.709,2.737,2.739,2.751,2.755,2.769,2.777,2.785,2.798,2.807,2.81,2.825,2.838,2.848,2.855,2.86,2.873,2.885,2.89,2.898,2.922,2.933,2.937,2.952,2.968,2.977,2.996,3.005,3.008,3.024,3.033,3.058,3.072,3.09,3.105,3.115,3.13,3.134,3.154,3.174,3.192,3.2,3.22,3.226,3.247,3.275,3.286,3.306,3.316,3.331,3.36,3.364,3.388,3.403,3.434,3.46,3.485,3.502,3.526,3.54,3.58,3.593,3.601,3.642,3.659,3.677,3.715,3.741,3.751,3.782,3.818,3.846,3.881,3.899,3.93,3.963,3.988,4.029,4.07,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.288,3.288,3.274,3.266,3.247,3.235,3.228,3.226,3.202,3.202,3.2,3.184,3.184,3.167,3.166,3.162,3.148,3.135,3.13,3.123,3.116,3.111,3.109,3.098,3.092,3.091,3.078,3.071,3.067,3.061,3.047,3.046,3.046,3.043,3.047,0.007,3.032,3.015,3.009,3.008,3.006,3.001,2.994,2.989,2.987,2.985,2.982,2.978,2.968,2.964,2.964,2.964,2.964,2.962,2.955,2.953,2.952,2.952,2.952,2.956,2.956,2.956,2.946,2.943,2.938,2.936,2.934,2.934,2.933,2.931,2.932,2.931,2.931,2.93,2.931,2.931,2.931,2.931,2.931,2.933,2.931,2.931,2.927,2.927,2.927,2.932,2.937,2.937,2.938,2.938,2.938,2.94,2.94,2.94,2.946,2.95,2.95,2.953,2.956,2.957,2.96,2.962,2.968,2.969,2.976,2.98,2.981,2.983,2.983,2.983,2.986,2.989,2.995,2.997,2.998,3.009,3.015,3.017,3.025,3.026,3.03,3.041,3.041,3.048,3.048,3.05,3.051,3.051,3.06,3.064,3.07,3.083,3.085,3.087,3.092,3.101,3.108,3.116,3.127,3.131,3.134,3.134,3.139,3.15,3.166,3.176,3.177,3.18,3.198,3.199,3.201,3.211,3.211,3.222,3.23,3.751,3.759,3.767,3.77,3.791,3.806,3.811,3.825,3.849,3.867,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.42} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 107.422} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.302} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.9624} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 3.8608} {Name Sonar14 Range 4.7752} {Name Sonar15 Range 1.3462}
SEN {Time 107.465} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.161,3.152,3.151,3.149,3.145,3.131,3.131,3.125,3.122,3.121,3.115,3.11,3.108,3.107,3.099,3.097,3.095,3.087,3.085,3.079,3.079,3.079,3.078,3.076,3.076,3.069,3.068,3.068,3.065,3.065,3.065,3.065,3.063,0.151,0.151,0.151,0.151,0.151,0.15,0.15,0.15,0.15,0.147,0.147,0.147,0.147,0.152,0.277,3.57,3.584,3.589,3.589,3.589,3.589,3.584,0.163,0.163,0.159,0.159,0.159,0.159,0.159,0.159,0.161,0.39,3.601,3.609,3.613,3.615,3.617,3.617,3.62,3.621,3.628,3.63,3.637,3.642,3.642,3.644,3.66,3.661,3.661,3.671,3.671,3.677,3.685,3.692,3.697,3.7,3.7,3.708,3.711,3.729,3.729,3.733,3.734,3.737,3.752,3.756,3.771,3.771,3.776,3.777,3.792,3.797,3.808,3.817,3.818,3.837,3.838,3.854,3.857,3.866,3.874,3.885,3.891,3.896,3.909,3.921,3.922,3.939,3.951,3.98,3.985,3.998,4.009,4.016,4.026,4.051,4.057,4.064,4.092,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,3.911,3.89,3.854,3.807,3.798,3.763,3.751,3.722,3.691,3.669,3.657,3.629,3.606,3.589,3.551,3.541,3.51,3.482,3.461,3.438,3.426,3.405,3.393,3.352,3.335,3.33,3.312,3.286,3.271,3.251,3.236,3.212,3.2,3.179,3.177,3.158,3.144,3.123,3.105,3.1,3.083,3.075,3.061,3.046,3.03,3.017,3.01,2.992,2.979,2.975,2.959,2.953,2.945,2.929,2.915,2.913,2.893,2.886,2.875,2.859,2.859,2.843,2.837,2.828,2.82,2.819,2.806,2.79,2.783,2.777,2.767,2.755,2.745,2.738,2.721,2.721,2.713,2.713,1.16,1.155,1.155,1.154,1.148,1.148,1.148,2.624,2.624,2.624,2.621,2.62,2.607,2.605,2.592,2.588,2.586,2.575,2.568,2.567,2.565,2.555,2.553,2.544,2.539,2.534,2.528,2.525,2.519,2.515,2.51,2.504,2.501,2.499,2.497,2.497,2.493,2.49,2.483,2.479,2.478,2.475,2.473,2.461,2.461,2.461,2.46,2.458,2.457,2.457,2.458,2.458,2.454,2.444,2.442,2.442,2.443,2.443,2.442,2.442,2.441,2.436,2.436,2.436,2.432,2.429,2.428,2.428,2.428,2.429,2.434,2.434,2.436,2.432,2.434,2.434,2.435,2.435,2.435,2.437,2.435,2.436,2.436,2.437,2.439,2.439,2.443,2.446,2.446,2.446,2.45,2.45,2.45,2.456,2.462,2.463,2.464,2.464,2.47,2.479,2.48,2.483,2.484,2.488,2.494,2.498,2.504,2.504,2.504,2.504,2.503,1.111,1.111,1.111,1.118,1.128,1.131,1.133,1.151,2.563,2.564,2.573,2.576,2.587,2.588,2.599,2.599,2.612,2.615,2.623,2.631,2.633,2.641,2.647,2.656,2.665,2.667,2.677,2.69,2.693,2.701,2.71,2.712,2.724,2.728,2.738,2.756,2.761,2.765,2.775,2.785,2.793,2.8,2.814,2.828,2.836,2.846,2.859,2.86,2.865,2.893,2.901,2.906,2.924,2.933,2.942,2.961,2.967,2.973,2.991,3.008,3.015,3.019,3.037,3.049,3.068,3.091,3.102,3.116,3.127,3.13,3.153,3.165,3.181,3.205,3.218,3.236,3.253,3.269,3.282,3.303,3.324,3.329,3.348,3.383,3.393,3.423,3.429,3.454,3.479,3.487,3.524,3.539,3.568,3.578,3.599,3.638,3.661,3.681,3.713,3.748,3.764,3.79,3.82,3.837,3.872,3.912,3.937,3.981,4.005,4.075,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.296,3.296,3.282,3.276,3.261,3.258,3.234,3.232,3.23,3.207,3.203,3.193,3.19,3.184,3.168,3.165,3.15,3.148,3.142,3.127,3.123,3.111,3.11,3.102,3.097,3.096,3.088,3.077,3.071,3.066,3.061,3.055,3.051,3.047,3.044,3.039,3.032,3.021,3.017,3.015,3.009,3.006,3.005,3,2.992,2.988,2.988,2.986,2.98,2.968,2.967,2.966,2.962,2.961,2.955,2.951,2.949,2.947,2.949,2.951,2.957,2.957,2.957,2.957,2.942,2.94,2.94,2.934,2.932,2.93,2.93,2.93,2.929,2.929,2.93,2.93,2.93,2.93,2.927,2.926,2.927,2.927,2.928,2.929,2.929,2.931,2.935,2.938,2.934,2.94,2.94,2.94,2.94,2.94,2.942,2.948,2.948,2.952,2.953,2.953,2.955,2.955,2.958,2.963,2.963,2.97,2.971,2.972,2.979,2.986,2.987,2.988,2.995,2.995,2.997,3.006,3.007,3.008,3.012,3.014,3.031,3.04,3.043,3.048,3.048,3.052,3.052,3.052,3.052,3.066,3.07,3.07,3.086,3.086,3.088,3.09,3.097,3.1,3.103,3.127,3.127,3.131,3.139,3.143,3.144,3.157,3.167,3.178,3.179,3.184,3.189,3.205,3.205,3.205,3.223,3.224,3.755,3.758,3.766,3.766,3.792,3.81,3.824,3.834,3.855,3.864,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.62} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 107.623} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.9624} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.7686} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.2324} {Name Sonar15 Range 1.3462}
SEN {Time 107.663} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.168,3.159,3.154,3.152,3.143,3.134,3.131,3.124,3.122,3.121,3.11,3.109,3.105,3.096,3.096,3.092,3.092,3.091,3.088,3.076,3.076,3.075,3.074,3.074,3.072,3.072,3.07,3.068,3.063,3.063,3.063,3.063,3.068,3.068,0.158,0.153,0.153,0.153,0.153,0.152,0.152,0.152,0.151,0.151,0.151,0.153,0.156,0.294,3.581,3.586,3.587,3.587,3.587,3.587,3.572,3.362,0.165,0.158,0.154,0.158,0.158,0.158,0.158,0.165,0.372,3.606,3.616,3.617,3.619,3.62,3.62,3.62,3.62,3.625,3.625,3.633,3.644,3.648,3.65,3.651,3.652,3.656,3.67,3.674,3.674,3.688,3.689,3.692,3.697,3.707,3.712,3.716,3.719,3.727,3.731,3.731,3.731,3.741,3.757,3.762,3.773,3.777,3.782,3.797,3.798,3.803,3.817,3.822,3.836,3.837,3.844,3.847,3.868,3.874,3.876,3.899,3.902,3.907,3.914,3.923,3.932,3.955,3.977,3.986,3.989,4.009,4.012,4.033,4.043,4.061,4.063,4.078,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.009,0.009,0.009,0,0,0,0,0.007,4.043,4.043,3.978,3.957,3.895,3.845,3.832,3.785,3.762,3.756,3.703,3.696,3.664,3.645,3.624,3.599,3.578,3.559,3.527,3.516,3.48,3.462,3.449,3.426,3.412,3.387,3.369,3.337,3.324,3.309,3.295,3.268,3.256,3.237,3.215,3.199,3.182,3.172,3.154,3.137,3.121,3.102,3.1,3.085,3.074,3.057,3.043,3.029,3.029,3.009,2.996,2.99,2.978,2.96,2.953,2.944,2.931,2.918,2.908,2.897,2.884,2.875,2.858,2.854,2.841,2.836,2.824,2.822,2.813,2.798,2.79,2.771,2.769,2.764,2.749,2.746,2.727,2.723,2.723,2.717,2.711,1.163,1.156,1.154,1.153,1.152,1.152,1.152,2.63,2.63,2.63,2.626,2.622,2.606,2.603,2.592,2.587,2.584,2.574,2.569,2.566,2.563,2.557,2.553,2.544,2.54,2.535,2.528,2.527,2.524,2.519,2.508,2.506,2.502,2.5,2.495,2.492,2.487,2.486,2.486,2.485,2.478,2.477,2.475,2.473,2.468,2.465,2.461,2.46,2.458,2.458,2.455,2.452,2.452,2.448,2.443,2.443,2.443,2.443,2.438,2.438,2.439,2.438,2.438,2.438,2.428,2.427,2.427,2.427,2.431,2.431,2.431,2.431,2.431,2.432,2.431,2.432,2.433,2.433,2.435,2.44,2.44,2.442,2.442,2.446,2.446,2.446,2.447,2.449,2.451,2.451,2.451,2.451,2.451,2.462,2.463,2.463,2.471,2.473,2.475,2.478,2.478,2.479,2.481,2.494,2.494,2.498,2.498,2.506,2.507,2.507,2.506,1.12,1.118,1.115,1.118,1.12,1.122,1.133,1.159,2.567,2.569,2.578,2.58,2.584,2.594,2.598,2.6,2.612,2.613,2.615,2.624,2.639,2.647,2.656,2.657,2.661,2.669,2.677,2.689,2.696,2.697,2.707,2.708,2.709,2.728,2.743,2.745,2.755,2.765,2.782,2.789,2.8,2.803,2.814,2.825,2.843,2.844,2.852,2.857,2.879,2.882,2.887,2.907,2.92,2.931,2.944,2.959,2.971,2.981,2.988,3.007,3.008,3.024,3.036,3.056,3.074,3.085,3.105,3.112,3.118,3.13,3.151,3.168,3.196,3.204,3.216,3.224,3.253,3.263,3.278,3.308,3.324,3.338,3.359,3.378,3.403,3.419,3.424,3.456,3.488,3.502,3.516,3.545,3.569,3.583,3.607,3.639,3.668,3.682,3.706,3.732,3.764,3.775,3.819,3.844,3.866,3.905,3.929,3.967,3.997,4.069,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.293,3.292,3.284,3.269,3.264,3.253,3.246,3.238,3.228,3.205,3.203,3.192,3.189,3.175,3.172,3.163,3.162,3.145,3.145,3.132,3.117,3.115,3.111,3.106,3.096,3.092,3.09,3.076,3.075,3.06,3.056,3.056,3.048,3.048,3.043,3.041,3.034,3.028,3.02,3.014,3.014,3.007,3.001,2.994,2.992,2.988,2.983,2.981,2.978,2.972,2.966,2.966,2.961,2.961,2.958,2.958,2.953,2.951,2.951,2.958,2.964,2.964,2.964,2.947,2.942,2.942,2.937,2.937,2.937,2.937,2.935,2.935,2.935,2.931,2.931,2.931,2.928,2.932,2.932,2.932,2.934,2.934,2.934,2.934,2.934,2.931,2.934,2.938,2.936,2.939,2.94,2.939,2.939,2.941,2.944,2.95,2.953,2.95,2.954,2.955,2.955,2.959,2.965,2.965,2.968,2.97,2.977,2.978,2.981,2.987,2.989,2.991,2.996,2.999,3,3.005,3.01,3.013,3.015,3.021,3.025,3.032,3.043,3.044,3.044,3.046,3.046,3.053,3.053,3.063,3.067,3.072,3.085,3.085,3.09,3.09,3.107,3.107,3.122,3.122,3.123,3.133,3.145,3.145,3.148,3.162,3.171,3.179,3.182,3.182,3.193,3.194,3.203,3.203,3.218,3.232,3.751,3.756,3.771,3.774,3.785,3.809,3.818,3.828,3.856,3.866,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 107.89} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.178024}
SEN {Time 107.887} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.3782} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.9624} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 4.0132} {Name Sonar14 Range 5.2324} {Name Sonar15 Range 1.3462}
SEN {Time 107.963} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.2,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.165,3.161,3.153,3.143,3.14,3.138,3.133,3.122,3.118,3.116,3.116,3.106,3.105,3.097,3.097,3.097,3.095,3.09,3.087,3.084,3.081,3.077,3.076,3.076,3.067,3.067,3.063,3.063,3.061,3.063,3.063,3.057,3.053,0.15,0.15,0.15,0.15,0.153,0.153,0.151,0.149,0.151,0.151,0.151,0.153,0.154,0.157,0.276,3.578,3.58,3.585,3.585,3.585,3.585,3.585,3.567,0.161,0.161,0.161,0.161,0.161,0.161,0.164,0.166,0.364,3.607,3.607,3.609,3.609,3.612,3.617,3.623,3.624,3.63,3.63,3.63,3.64,3.645,3.648,3.649,3.654,3.656,3.673,3.679,3.682,3.686,3.686,3.695,3.695,3.7,3.7,3.706,3.709,3.726,3.729,3.731,3.747,3.75,3.763,3.767,3.768,3.781,3.786,3.796,3.799,3.806,3.811,3.823,3.833,3.838,3.847,3.857,3.864,3.871,3.887,3.891,3.907,3.909,3.917,3.93,3.952,3.956,3.978,3.986,3.987,4.002,4.017,4.034,4.042,4.049,4.069,4.088,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0.007,0,0.007,4.086,4.01,3.972,3.948,3.922,3.883,3.836,3.829,3.788,3.768,3.746,3.719,3.684,3.674,3.644,3.619,3.595,3.581,3.55,3.525,3.517,3.481,3.467,3.452,3.425,3.405,3.402,3.367,3.338,3.328,3.308,3.284,3.272,3.247,3.245,3.219,3.204,3.191,3.175,3.151,3.146,3.134,3.112,3.103,3.09,3.09,3.071,3.06,3.036,3.029,3.016,3.002,2.982,2.973,2.968,2.952,2.938,2.924,2.919,2.906,2.888,2.882,2.881,2.859,2.856,2.851,2.841,2.816,2.813,2.81,2.802,2.794,2.776,2.775,2.762,2.752,2.749,2.738,2.729,2.729,2.718,2.708,1.167,1.158,1.157,1.155,1.155,1.155,1.155,2.622,2.624,2.624,2.622,2.621,2.609,2.603,2.587,2.584,2.579,2.575,2.57,2.563,2.56,2.552,2.546,2.541,2.54,2.53,2.527,2.522,2.522,2.509,2.509,2.502,2.499,2.495,2.492,2.492,2.49,2.479,2.478,2.478,2.475,2.475,2.473,2.472,2.47,2.459,2.459,2.457,2.457,2.457,2.455,2.451,2.445,2.445,2.445,2.444,2.444,2.443,2.44,2.437,2.438,2.437,2.435,2.434,2.435,2.432,2.428,2.427,2.427,2.427,2.427,2.427,2.431,2.431,2.432,2.433,2.434,2.434,2.438,2.439,2.439,2.44,2.439,2.439,2.439,2.441,2.442,2.445,2.45,2.453,2.453,2.454,2.456,2.456,2.462,2.464,2.464,2.468,2.472,2.475,2.479,2.482,2.482,2.484,2.486,2.495,2.496,2.502,2.508,2.508,2.502,1.109,1.109,1.109,1.117,1.122,1.124,1.126,1.136,2.561,2.568,2.575,2.582,2.585,2.588,2.589,2.591,2.6,2.608,2.621,2.622,2.629,2.639,2.651,2.658,2.659,2.668,2.673,2.686,2.691,2.692,2.695,2.71,2.715,2.729,2.741,2.742,2.755,2.761,2.778,2.784,2.79,2.806,2.808,2.824,2.844,2.845,2.854,2.855,2.875,2.882,2.885,2.902,2.917,2.931,2.939,2.959,2.967,2.975,2.996,3.003,3.003,3.016,3.035,3.047,3.072,3.082,3.09,3.103,3.125,3.131,3.154,3.16,3.181,3.194,3.22,3.222,3.251,3.262,3.281,3.303,3.318,3.333,3.359,3.385,3.397,3.4,3.424,3.459,3.475,3.498,3.517,3.535,3.567,3.579,3.6,3.624,3.646,3.68,3.716,3.739,3.755,3.777,3.822,3.834,3.86,3.897,3.941,3.996,4.028,4.057,4.057,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.306,3.294,3.285,3.275,3.265,3.252,3.247,3.231,3.231,3.21,3.209,3.2,3.187,3.177,3.169,3.167,3.158,3.15,3.144,3.139,3.13,3.12,3.117,3.11,3.094,3.09,3.086,3.075,3.07,3.068,3.063,3.058,3.051,3.045,3.043,3.039,3.035,3.022,3.016,3.016,3.01,3.009,3.008,3.002,2.99,2.99,2.987,2.987,2.971,2.967,2.967,2.966,2.964,2.964,2.96,2.953,2.95,2.95,2.95,2.95,2.953,2.953,2.948,2.948,2.943,2.942,2.934,2.934,2.934,2.931,2.934,2.931,2.935,2.931,2.935,2.93,2.931,2.931,2.931,2.931,2.931,2.931,2.931,2.933,2.933,2.935,2.935,2.935,2.937,2.937,2.936,2.936,2.94,2.939,2.943,2.944,2.949,2.952,2.956,2.952,2.956,2.96,2.962,2.962,2.966,2.971,2.973,2.975,2.979,2.981,2.987,2.989,2.993,2.995,2.998,3.006,3.008,3.008,3.013,3.019,3.027,3.037,3.038,3.044,3.044,3.048,3.049,3.049,3.049,3.059,3.066,3.071,3.086,3.087,3.087,3.087,3.092,3.102,3.108,3.12,3.127,3.132,3.134,3.136,3.148,3.149,3.165,3.176,3.185,3.185,3.19,3.201,3.208,3.21,3.226,3.235,3.736,3.756,3.76,3.774,3.789,3.8,3.817,3.825,3.843,3.853,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.12} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.130900}
SEN {Time 108.116} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7178} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.8608} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 0.127} {Name Sonar12 Range 2.794} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 5.2324} {Name Sonar15 Range 1.3462}
SEN {Time 108.163} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.203,0.203,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,3.153,3.153,3.147,3.144,3.139,3.13,3.126,3.124,3.115,3.113,3.109,3.102,3.101,3.095,3.091,3.09,3.087,3.086,3.084,3.082,3.08,3.079,3.077,3.072,3.072,3.072,3.07,0.15,0.15,0.15,0.15,0.15,0.154,0.154,0.152,0.154,0.154,0.152,0.158,0.158,0.159,0.276,3.567,3.579,3.581,3.581,3.581,3.586,3.581,3.551,0.165,0.159,0.157,0.157,0.157,0.157,0.165,0.168,0.357,3.583,3.587,3.593,3.593,3.598,3.598,3.599,3.6,3.603,3.603,3.614,3.615,3.616,3.623,3.627,3.63,3.63,3.633,3.642,3.642,3.645,3.654,3.661,3.662,3.664,3.673,3.674,3.676,3.683,3.685,3.686,3.7,3.711,3.714,3.721,3.73,3.734,3.74,3.744,3.747,3.748,3.758,3.759,3.765,3.779,3.78,3.794,3.803,3.809,3.823,3.827,3.832,3.841,3.844,3.867,3.87,3.879,3.89,3.893,3.912,3.93,3.932,3.939,3.962,3.967,3.968,3.994,4.01,4.018,4.031,4.057,4.057,4.064,4.082,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0.016,0,0.007,0.016,0.016,0.016,4.09,4.09,0.007,3.987,3.939,3.893,3.852,3.848,3.817,3.779,3.763,3.75,3.719,3.694,3.67,3.643,3.621,3.61,3.558,3.555,3.532,3.506,3.48,3.449,3.437,3.398,3.394,3.378,3.356,3.328,3.314,3.306,3.287,3.272,3.251,3.228,3.214,3.206,3.183,3.169,3.16,3.149,3.126,3.111,3.099,3.084,3.076,3.054,3.04,3.036,3.028,3.007,2.99,2.979,2.97,2.954,2.948,2.935,2.931,2.913,2.908,2.89,2.888,2.883,2.875,2.85,2.843,2.842,2.819,2.814,2.809,2.789,2.787,2.778,2.767,2.766,2.756,2.741,2.735,2.731,2.716,2.704,2.704,1.15,1.15,1.15,1.148,1.146,1.145,1.145,1.145,2.616,2.616,2.616,2.602,2.601,2.6,2.594,2.586,2.579,2.568,2.563,2.554,2.554,2.551,2.548,2.537,2.534,2.531,2.528,2.523,2.52,2.515,2.504,2.504,2.499,2.495,2.491,2.49,2.489,2.482,2.482,2.48,2.477,2.468,2.468,2.467,2.467,2.463,2.463,2.456,2.45,2.448,2.447,2.447,2.447,2.446,2.446,2.444,2.437,2.437,2.434,2.434,2.433,2.434,2.432,2.432,2.43,2.432,2.427,2.427,2.427,2.427,2.427,2.429,2.427,2.429,2.429,2.427,2.427,2.43,2.434,2.437,2.437,2.437,2.438,2.438,2.44,2.44,2.442,2.446,2.446,2.451,2.451,2.451,2.456,2.457,2.457,2.457,2.459,2.465,2.47,2.472,2.479,2.481,2.484,2.485,2.488,2.495,2.496,2.497,2.498,2.502,2.505,2.505,2.505,1.119,1.119,1.119,1.121,1.125,1.127,1.127,2.564,2.576,2.576,2.576,2.58,2.597,2.599,2.601,2.605,2.606,2.623,2.628,2.633,2.642,2.645,2.648,2.66,2.666,2.667,2.677,2.689,2.704,2.705,2.707,2.718,2.722,2.744,2.745,2.76,2.767,2.771,2.781,2.788,2.804,2.804,2.824,2.836,2.845,2.855,2.86,2.87,2.893,2.905,2.907,2.919,2.924,2.939,2.957,2.97,2.982,2.995,2.999,3.021,3.029,3.04,3.057,3.073,3.085,3.099,3.114,3.119,3.133,3.153,3.177,3.189,3.193,3.209,3.232,3.253,3.27,3.28,3.315,3.323,3.332,3.359,3.378,3.4,3.409,3.432,3.454,3.464,3.488,3.521,3.543,3.548,3.576,3.607,3.633,3.662,3.681,3.705,3.723,3.757,3.787,3.809,3.832,3.865,3.896,3.929,3.95,3.992,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.324,3.295,3.278,3.278,3.264,3.264,3.253,3.247,3.23,3.228,3.217,3.201,3.196,3.192,3.181,3.175,3.168,3.156,3.156,3.142,3.142,3.137,3.118,3.116,3.105,3.097,3.097,3.088,3.087,3.075,3.073,3.063,3.056,3.053,3.045,3.039,3.034,3.029,3.029,3.029,3.014,3.012,3.012,3.003,3,2.995,2.995,2.982,2.979,2.978,2.977,2.977,2.973,2.967,2.961,2.961,2.961,2.957,2.953,2.957,2.957,2.957,2.95,2.95,2.946,2.944,2.944,2.944,2.944,2.944,2.936,2.935,2.935,2.936,2.936,2.936,2.936,2.938,2.941,2.936,2.934,2.937,2.934,2.934,2.934,2.937,2.937,2.937,2.937,2.945,2.945,2.945,2.945,2.945,2.946,2.945,2.95,2.956,2.959,2.961,2.962,2.963,2.964,2.971,2.972,2.979,2.981,2.985,2.987,2.987,2.989,2.995,3.005,3.006,3.014,3.014,3.015,3.02,3.023,3.023,3.024,3.03,3.041,3.048,3.048,3.054,3.057,3.057,3.057,3.057,3.068,3.078,3.082,3.096,3.098,3.098,3.101,3.103,3.122,3.127,3.131,3.14,3.14,3.147,3.153,3.156,3.171,3.189,3.191,3.195,3.195,3.202,3.211,3.217,3.217,3.234,3.235,3.757,3.765,3.779,3.783,3.802,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.32} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.069813}
SEN {Time 108.32} {Type Sonar} {Name Sonar0 Range 1.016} {Name Sonar1 Range 4.2672} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.7178} {Name Sonar5 Range 3.8608} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 2.794} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 1.0414}
SEN {Time 108.363} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,3.154,3.154,3.135,3.135,3.126,3.124,3.119,3.111,3.107,3.107,3.105,3.099,3.092,3.091,3.091,3.09,3.085,0.153,0.151,0.151,0.151,0.15,0.15,0.149,0.145,0.149,0.149,0.151,0.153,0.154,0.156,3.051,3.051,3.051,3.045,3.045,3.045,3.048,3.048,3.048,0.166,0.159,0.158,0.158,0.158,0.159,0.164,0.167,0.366,3.578,3.578,3.578,3.578,3.578,3.581,3.58,3.581,3.582,3.582,3.584,3.592,3.592,3.592,3.595,3.592,3.595,3.596,3.595,3.602,3.605,3.605,3.605,3.613,3.62,3.622,3.625,3.626,3.626,3.637,3.637,3.64,3.646,3.652,3.656,3.66,3.667,3.675,3.675,3.684,3.686,3.693,3.697,3.71,3.713,3.714,3.72,3.723,3.733,3.738,3.747,3.748,3.754,3.758,3.762,3.775,3.784,3.8,3.801,3.824,3.824,3.826,3.837,3.849,3.856,3.864,3.875,3.9,3.904,3.919,3.921,3.936,3.943,3.951,3.952,3.965,3.98,3.995,4.001,4.03,4.033,4.035,4.069,4.079,4.089,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0.016,0.016,4.028,4.028,3.989,3.957,3.891,3.853,3.838,3.804,3.794,3.762,3.729,3.707,3.681,3.657,3.623,3.603,3.577,3.558,3.536,3.505,3.48,3.48,3.435,3.423,3.405,3.381,3.368,3.36,3.34,3.307,3.302,3.279,3.267,3.245,3.234,3.217,3.2,3.188,3.159,3.148,3.134,3.134,3.116,3.089,3.075,3.061,3.048,3.04,3.032,3.017,3.001,2.995,2.982,2.974,2.963,2.941,2.936,2.934,2.912,2.91,2.893,2.875,2.873,2.868,2.849,2.848,2.826,2.82,2.805,2.804,2.792,2.771,2.768,2.759,2.754,2.743,2.735,2.728,2.711,2.706,2.706,2.697,2.693,1.152,1.148,1.147,1.143,1.141,1.141,1.143,2.607,2.607,2.607,2.601,2.601,2.597,2.587,2.583,2.572,2.571,2.566,2.556,2.552,2.537,2.536,2.533,2.533,2.521,2.518,2.516,2.515,2.509,2.509,2.501,2.498,2.495,2.492,2.49,2.487,2.478,2.476,2.476,2.476,2.476,2.473,2.467,2.463,2.461,2.46,2.455,2.452,2.452,2.45,2.443,2.442,2.44,2.44,2.44,2.44,2.434,2.434,2.437,2.434,2.433,2.433,2.433,2.433,2.433,2.428,2.428,2.428,2.428,2.428,2.43,2.43,2.428,2.427,2.428,2.428,2.432,2.432,2.433,2.433,2.434,2.434,2.439,2.439,2.439,2.439,2.439,2.445,2.452,2.453,2.453,2.453,2.453,2.453,2.46,2.467,2.468,2.474,2.479,2.477,2.482,2.484,2.489,2.494,2.497,2.498,2.499,2.499,2.508,2.511,2.511,2.511,1.122,1.122,1.122,1.122,1.123,1.124,1.129,2.569,2.579,2.594,2.594,2.595,2.595,2.595,2.601,2.612,2.62,2.626,2.629,2.633,2.635,2.648,2.655,2.666,2.67,2.687,2.689,2.692,2.695,2.709,2.711,2.712,2.733,2.743,2.749,2.754,2.765,2.777,2.788,2.806,2.812,2.82,2.829,2.841,2.842,2.866,2.88,2.884,2.889,2.904,2.905,2.923,2.939,2.941,2.961,2.971,2.984,2.994,3.009,3.017,3.041,3.047,3.061,3.096,3.103,3.111,3.111,3.129,3.135,3.167,3.176,3.187,3.202,3.226,3.233,3.251,3.284,3.286,3.312,3.325,3.349,3.361,3.378,3.388,3.422,3.434,3.457,3.475,3.494,3.515,3.537,3.562,3.579,3.608,3.636,3.658,3.672,3.716,3.748,3.777,3.787,3.819,3.844,3.873,3.899,3.947,4.001,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.317,3.311,3.292,3.283,3.28,3.27,3.255,3.238,3.227,3.225,3.215,3.208,3.201,3.186,3.186,3.178,3.163,3.16,3.149,3.139,3.139,3.133,3.124,3.112,3.11,3.107,3.09,3.088,3.085,3.082,3.066,3.063,3.056,3.051,3.049,3.049,3.045,3.045,3.039,3.028,3.028,3.02,3.012,3.01,3.007,3,2.994,2.993,2.991,2.989,2.985,2.982,2.977,2.973,2.971,2.964,2.964,2.96,2.964,2.964,2.964,2.964,2.964,2.951,2.951,2.946,2.947,2.947,2.947,2.946,2.947,2.942,2.941,2.941,2.944,2.94,2.94,2.944,2.94,2.94,2.943,2.943,2.942,2.943,2.942,2.941,2.942,2.942,2.942,2.947,2.951,2.956,2.956,2.959,2.961,2.96,2.96,2.961,2.963,2.971,2.971,2.971,2.972,2.976,2.98,2.981,2.989,2.992,2.994,2.994,3.001,3.004,3.013,3.014,3.014,3.018,3.021,3.024,3.034,3.036,3.04,3.049,3.053,3.055,3.057,3.06,3.061,3.061,3.068,3.074,3.085,3.086,3.093,3.097,3.101,3.111,3.112,3.116,3.13,3.142,3.142,3.143,3.147,3.148,3.17,3.17,3.171,3.193,3.197,3.203,3.21,3.221,3.222,3.222,3.234,3.312,3.747,3.757,3.769,3.788,3.801,3.812,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.52} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,0.005236}
SEN {Time 108.524} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.4036} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.667} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 1.397} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.4036} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 1.0414}
SEN {Time 108.563} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.206,0.206,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.294,3.294,3.294,0,0.009,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,3.148,3.137,3.134,3.126,3.126,3.122,3.122,0.157,0.156,0.154,0.154,0.154,0.154,0.143,0.143,0.151,0.151,0.153,0.153,0.153,0.153,3.067,3.067,3.067,3.063,3.058,3.058,3.045,0.168,0.163,0.161,0.162,0.161,0.161,0.155,0.155,0.155,0.155,3.044,3.564,3.575,3.575,3.57,3.57,3.57,3.57,3.57,3.572,3.575,3.575,3.577,3.579,3.577,3.574,3.574,3.574,3.574,3.574,3.582,3.582,3.582,3.58,3.584,3.58,3.584,3.584,3.59,3.585,3.59,3.59,3.596,3.599,3.6,3.612,3.614,3.614,3.615,3.619,3.619,3.619,3.62,3.634,3.634,3.642,3.649,3.653,3.655,3.66,3.664,3.669,3.674,3.683,3.689,3.69,3.698,3.71,3.719,3.722,3.723,3.728,3.742,3.742,3.749,3.761,3.765,3.772,3.786,3.801,3.809,3.812,3.825,3.829,3.835,3.842,3.848,3.862,3.873,3.882,3.887,3.89,3.904,3.909,3.929,3.941,3.951,3.967,3.981,3.985,4.008,4.009,4.017,4.037,4.053,4.073,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0.007,0.016,0.016,4.089,4.089,4.051,4.016,3.962,3.916,3.916,3.899,3.863,3.803,3.756,3.74,3.713,3.701,3.673,3.646,3.619,3.584,3.574,3.566,3.523,3.513,3.483,3.472,3.451,3.427,3.415,3.388,3.378,3.345,3.326,3.315,3.293,3.273,3.257,3.249,3.224,3.206,3.184,3.17,3.165,3.148,3.142,3.125,3.115,3.093,3.091,3.066,3.056,3.043,3.038,3.011,3,2.991,2.974,2.971,2.96,2.947,2.932,2.922,2.905,2.894,2.889,2.873,2.865,2.854,2.854,2.839,2.819,2.817,2.799,2.783,2.777,2.776,2.768,2.759,2.751,2.736,2.729,2.727,2.715,2.707,2.696,2.696,2.685,2.677,1.152,1.142,1.141,1.14,1.135,1.135,1.14,2.599,2.599,2.599,2.596,2.592,2.582,2.581,2.577,2.573,2.561,2.556,2.552,2.544,2.544,2.541,2.536,2.533,2.522,2.519,2.513,2.513,2.513,2.506,2.497,2.495,2.49,2.485,2.484,2.483,2.478,2.472,2.468,2.467,2.465,2.462,2.459,2.458,2.457,2.456,2.454,2.452,2.446,2.443,2.443,2.443,2.441,2.443,2.443,2.438,2.435,2.435,2.435,2.435,2.434,2.435,2.432,2.432,2.432,2.432,2.43,2.427,2.426,2.426,2.427,2.43,2.43,2.43,2.43,2.43,2.432,2.435,2.435,2.438,2.437,2.438,2.443,2.446,2.445,2.446,2.451,2.453,2.453,2.458,2.46,2.461,2.461,2.461,2.463,2.473,2.475,2.478,2.482,2.483,2.483,2.488,2.489,2.49,2.49,2.507,2.508,2.508,2.514,2.517,2.517,2.517,1.118,1.117,1.117,1.118,1.128,1.133,1.137,2.575,2.583,2.585,2.585,2.589,2.603,2.608,2.618,2.619,2.621,2.636,2.638,2.647,2.651,2.662,2.663,2.675,2.685,2.692,2.699,2.712,2.714,2.716,2.74,2.741,2.754,2.754,2.764,2.779,2.783,2.797,2.803,2.807,2.821,2.824,2.841,2.857,2.861,2.88,2.882,2.896,2.913,2.925,2.928,2.938,2.963,2.968,2.976,2.992,2.999,3.018,3.028,3.052,3.058,3.069,3.086,3.092,3.12,3.121,3.142,3.158,3.167,3.175,3.197,3.211,3.232,3.256,3.259,3.277,3.286,3.304,3.329,3.346,3.368,3.392,3.415,3.425,3.445,3.466,3.491,3.516,3.541,3.549,3.584,3.598,3.636,3.669,3.673,3.699,3.725,3.751,3.778,3.811,3.827,3.865,3.906,3.917,3.956,4.01,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.314,3.313,3.283,3.282,3.273,3.271,3.26,3.255,3.231,3.226,3.218,3.207,3.196,3.188,3.175,3.167,3.163,3.16,3.153,3.147,3.136,3.127,3.126,3.118,3.111,3.106,3.103,3.086,3.078,3.074,3.074,3.068,3.058,3.055,3.052,3.049,3.048,3.03,3.029,3.024,3.024,3.017,3.008,3.008,3.007,3.006,2.999,2.995,2.993,2.986,2.985,2.972,2.972,2.972,2.972,2.971,2.968,2.968,2.968,2.976,2.976,2.976,2.971,2.96,2.959,2.956,2.956,2.953,2.951,2.951,2.951,2.95,2.951,2.951,2.952,2.952,2.952,2.957,2.957,2.95,2.949,2.95,2.95,2.955,2.955,2.955,2.955,2.955,2.957,2.958,2.958,2.959,2.959,2.964,2.965,2.97,2.979,2.979,2.982,2.982,2.978,2.978,2.983,2.991,2.992,2.994,2.992,2.994,3.007,3.007,3.008,3.014,3.021,3.023,3.024,3.027,3.035,3.035,3.048,3.054,3.055,3.059,3.059,3.062,3.067,3.075,3.075,3.075,3.086,3.088,3.096,3.101,3.104,3.114,3.119,3.132,3.137,3.15,3.15,3.154,3.156,3.158,3.158,3.168,3.175,3.19,3.199,3.2,3.209,3.217,3.22,3.229,3.229,3.229,3.244,3.766,3.771,3.792,3.797,3.81,3.825,0,0,0,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.72} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.047124}
SEN {Time 108.718} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 2.7686} {Name Sonar4 Range 2.667} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 1.8542} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 5.4356} {Name Sonar15 Range 1.0414}
SEN {Time 108.76} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.196,0.196,0,0,0,0,0,0,0,3.726,3.719,3.719,3.719,0.009,0.009,0.009,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0.007,3.179,0.152,0.152,0.152,0.152,0.152,0.153,0.153,0.153,0.153,0.155,0.155,0.155,0.157,0.157,3.083,3.083,3.083,3.083,3.083,3.078,3.084,3.084,0.165,0.16,0.163,0.16,0.16,0.16,0.157,0.157,0.161,3.03,3.033,3.036,3.033,3.033,3.033,3.029,3.029,3.029,3.03,3.47,3.573,3.573,3.573,3.573,3.573,3.565,3.568,3.568,3.565,3.568,3.57,3.571,3.572,3.575,3.575,3.575,3.569,3.569,3.569,3.574,3.576,3.577,3.577,3.579,3.584,3.584,3.585,3.585,3.589,3.589,3.589,3.594,3.594,3.6,3.602,3.602,3.604,3.613,3.615,3.617,3.617,3.623,3.625,3.634,3.634,3.634,3.653,3.656,3.662,3.668,3.671,3.677,3.684,3.686,3.698,3.699,3.709,3.723,3.726,3.733,3.736,3.743,3.748,3.751,3.764,3.774,3.778,3.783,3.788,3.801,3.813,3.816,3.822,3.848,3.856,3.858,3.861,3.876,3.878,3.898,3.899,3.919,3.922,3.941,3.949,3.951,3.977,3.981,4.007,4.012,4.023,4.027,4.048,4.066,4.07,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0.016,4.061,3.986,3.971,3.944,3.901,3.871,3.853,3.822,3.804,3.768,3.744,3.727,3.692,3.671,3.64,3.62,3.594,3.571,3.555,3.537,3.491,3.489,3.46,3.437,3.42,3.389,3.385,3.363,3.342,3.327,3.306,3.303,3.276,3.259,3.242,3.236,3.211,3.194,3.172,3.165,3.148,3.13,3.115,3.108,3.092,3.074,3.061,3.059,3.035,3.029,3.014,2.994,2.982,2.977,2.963,2.948,2.941,2.93,2.922,2.904,2.891,2.882,2.874,2.861,2.854,2.834,2.83,2.824,2.813,2.796,2.793,2.783,2.768,2.751,2.75,2.749,2.737,2.723,2.72,2.714,2.708,2.695,2.695,2.681,2.681,1.144,1.144,1.143,1.143,1.141,1.141,1.141,1.141,2.603,2.603,2.603,2.593,2.587,2.582,2.575,2.562,2.561,2.56,2.56,2.55,2.547,2.537,2.536,2.53,2.529,2.518,2.509,2.508,2.508,2.498,2.497,2.495,2.489,2.486,2.485,2.484,2.481,2.48,2.477,2.475,2.472,2.471,2.459,2.458,2.458,2.457,2.457,2.45,2.445,2.445,2.444,2.443,2.439,2.436,2.436,2.439,2.436,2.439,2.439,2.436,2.436,2.429,2.429,2.429,2.429,2.431,2.432,2.432,2.432,2.432,2.43,2.43,2.43,2.43,2.432,2.434,2.436,2.438,2.438,2.438,2.44,2.446,2.448,2.446,2.448,2.45,2.45,2.451,2.454,2.454,2.461,2.461,2.467,2.467,2.468,2.471,2.481,2.481,2.485,2.485,2.49,2.491,2.494,2.499,2.5,2.508,2.514,2.516,2.516,2.522,2.523,2.522,2.522,1.122,1.122,1.122,1.13,1.133,1.138,1.14,2.581,2.589,2.589,2.589,2.607,2.609,2.618,2.624,2.625,2.642,2.654,2.659,2.659,2.669,2.671,2.675,2.685,2.695,2.705,2.707,2.717,2.719,2.727,2.744,2.747,2.759,2.769,2.776,2.791,2.796,2.799,2.826,2.83,2.832,2.846,2.855,2.865,2.881,2.89,2.895,2.913,2.921,2.932,2.935,2.959,2.973,2.976,2.996,3.01,3.017,3.037,3.046,3.05,3.073,3.086,3.098,3.118,3.122,3.146,3.16,3.166,3.186,3.2,3.22,3.238,3.252,3.274,3.283,3.303,3.328,3.343,3.358,3.376,3.399,3.409,3.42,3.447,3.47,3.488,3.516,3.549,3.556,3.581,3.601,3.631,3.648,3.681,3.703,3.719,3.749,3.773,3.806,3.824,3.87,3.892,3.991,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.326,3.324,3.302,3.285,3.278,3.273,3.261,3.253,3.247,3.236,3.227,3.21,3.208,3.201,3.194,3.187,3.172,3.162,3.157,3.149,3.148,3.142,3.142,3.125,3.124,3.109,3.108,3.094,3.092,3.086,3.074,3.074,3.071,3.074,3.061,3.058,3.05,3.045,3.043,3.029,3.028,3.026,3.022,3.02,3.01,3.004,3.004,3.004,3,2.995,2.994,2.993,2.982,2.976,2.976,2.972,2.972,2.972,2.972,2.979,2.979,2.975,2.975,2.97,2.966,2.965,2.965,2.965,2.963,2.963,2.959,2.956,2.959,2.961,2.961,2.961,2.961,2.953,2.952,2.952,2.952,2.958,2.958,2.958,2.958,2.96,2.96,2.96,2.965,2.965,2.966,2.966,2.966,2.97,2.972,2.973,2.981,2.982,2.983,2.987,2.988,2.991,2.991,2.994,2.994,2.999,3.005,3.006,3.012,3.018,3.018,3.02,3.025,3.027,3.033,3.04,3.047,3.055,3.057,3.057,3.058,3.064,3.072,3.075,3.083,3.083,3.083,3.083,3.095,3.102,3.106,3.108,3.111,3.119,3.124,3.124,3.129,3.133,3.14,3.151,3.155,3.155,3.162,3.162,3.184,3.2,3.203,3.213,3.216,3.222,3.222,3.231,3.231,3.237,3.242,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 108.92} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.102974}
SEN {Time 108.922} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 6.477} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.667} {Name Sonar5 Range 2.9718} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.9558} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0668}
SEN {Time 108.959} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.745,3.716,3.69,3.69,3.69,3.685,3.684,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.009,0.009,0.009,0.006,0.006,0.007,0.162,0.156,0.151,0.151,0.152,0.152,0.149,0.152,0.152,0.152,0.152,0.153,0.154,3.105,3.105,3.105,3.101,3.101,3.101,3.115,3.115,3.115,0.164,0.164,0.161,0.161,0.164,0.158,0.158,0.168,3.041,3.044,3.045,3.044,3.041,3.038,3.038,3.038,3.038,3.033,3.029,3.027,3.027,3.027,3.024,3.023,3.02,3.02,3.02,3.559,3.56,3.56,3.566,3.566,3.566,3.57,3.57,3.561,3.558,3.555,3.555,3.556,3.558,3.556,3.565,3.565,3.57,3.57,3.57,3.568,3.568,3.566,3.566,3.568,3.571,3.573,3.573,3.573,3.573,3.573,3.585,3.591,3.591,3.591,3.599,3.6,3.606,3.612,3.615,3.618,3.622,3.625,3.626,3.63,3.644,3.653,3.653,3.654,3.657,3.664,3.669,3.68,3.69,3.693,3.694,3.697,3.71,3.713,3.723,3.728,3.733,3.737,3.738,3.744,3.763,3.77,3.77,3.786,3.787,3.802,3.81,3.811,3.826,3.838,3.847,3.852,3.859,3.87,3.875,3.884,3.901,3.915,3.932,3.939,3.947,3.959,3.965,3.98,3.997,4.007,4.03,4.048,4.063,4.077,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.064,4.064,4.039,3.985,3.942,3.887,3.865,3.828,3.806,3.785,3.754,3.725,3.702,3.672,3.655,3.619,3.604,3.571,3.559,3.531,3.516,3.493,3.464,3.462,3.432,3.424,3.4,3.378,3.363,3.335,3.314,3.301,3.287,3.263,3.242,3.238,3.217,3.198,3.175,3.163,3.151,3.136,3.123,3.109,3.096,3.085,3.067,3.055,3.047,3.032,3.012,3.01,2.984,2.975,2.974,2.952,2.941,2.927,2.926,2.911,2.902,2.888,2.871,2.861,2.855,2.84,2.834,2.824,2.814,2.802,2.791,2.777,2.771,2.766,2.76,2.747,2.735,2.724,2.72,2.713,2.703,2.7,2.687,2.684,2.684,2.678,2.677,1.151,1.15,1.146,1.143,1.137,1.137,1.143,2.596,2.598,2.598,2.596,2.583,2.577,2.572,2.566,2.558,2.557,2.544,2.544,2.541,2.536,2.535,2.524,2.523,2.514,2.509,2.504,2.504,2.502,2.5,2.498,2.492,2.488,2.481,2.478,2.475,2.473,2.467,2.464,2.459,2.458,2.458,2.455,2.451,2.451,2.45,2.449,2.449,2.448,2.448,2.448,2.448,2.438,2.438,2.435,2.435,2.435,2.434,2.434,2.431,2.434,2.432,2.432,2.434,2.434,2.44,2.44,2.44,2.434,2.44,2.434,2.434,2.437,2.437,2.437,2.437,2.437,2.437,2.435,2.44,2.44,2.444,2.448,2.45,2.451,2.456,2.457,2.457,2.46,2.466,2.467,2.467,2.467,2.476,2.478,2.481,2.481,2.482,2.488,2.489,2.496,2.498,2.502,2.503,2.51,2.516,2.522,2.522,2.524,2.527,2.524,2.518,1.128,1.127,1.127,1.128,1.134,1.136,1.138,2.6,2.6,2.61,2.61,2.611,2.613,2.62,2.63,2.632,2.641,2.643,2.654,2.655,2.661,2.677,2.678,2.696,2.7,2.703,2.715,2.723,2.729,2.744,2.752,2.761,2.765,2.783,2.789,2.791,2.804,2.818,2.823,2.832,2.846,2.857,2.869,2.88,2.881,2.905,2.912,2.914,2.938,2.946,2.955,2.962,2.979,2.996,3.009,3.02,3.033,3.04,3.051,3.07,3.079,3.096,3.102,3.117,3.134,3.148,3.157,3.189,3.203,3.212,3.225,3.25,3.25,3.272,3.299,3.319,3.329,3.341,3.363,3.377,3.406,3.418,3.445,3.464,3.48,3.512,3.528,3.562,3.567,3.602,3.626,3.648,3.686,3.696,3.733,3.742,3.785,3.809,3.832,3.859,3.89,3.96,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,4.016,3.346,3.32,3.315,3.292,3.289,3.277,3.277,3.257,3.254,3.246,3.228,3.218,3.214,3.213,3.196,3.187,3.182,3.176,3.165,3.164,3.157,3.149,3.135,3.132,3.12,3.12,3.104,3.101,3.095,3.085,3.083,3.074,3.073,3.068,3.06,3.057,3.057,3.055,3.053,3.046,3.035,3.033,3.028,3.027,3.027,3.013,3.012,3.002,3.002,3.001,3.001,2.997,2.996,2.994,2.991,2.99,2.984,2.976,2.976,2.984,2.987,2.987,2.987,2.979,2.976,2.975,2.97,2.967,2.97,2.965,2.964,2.959,2.959,2.959,2.964,2.964,2.964,2.966,2.966,2.966,2.966,2.966,2.965,2.962,2.962,2.964,2.964,2.964,2.968,2.968,2.968,2.969,2.981,2.981,2.981,2.981,2.981,2.988,2.989,2.989,2.993,2.998,2.999,3,3.003,3.012,3.016,3.018,3.022,3.025,3.025,3.029,3.029,3.029,3.035,3.048,3.049,3.058,3.059,3.064,3.069,3.07,3.072,3.079,3.08,3.08,3.089,3.089,3.094,3.095,3.1,3.112,3.115,3.119,3.13,3.132,3.137,3.138,3.146,3.159,3.16,3.17,3.172,3.182,3.182,3.204,3.206,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 109.12} {Type Odometry} {Name Odometry} {Pose 0.008207,1.006984,-0.162316}
SEN {Time 109.116} {Type Sonar} {Name Sonar0 Range 2.3368} {Name Sonar1 Range 1.016} {Name Sonar2 Range 3.7338} {Name Sonar3 Range 3.429} {Name Sonar4 Range 2.6924} {Name Sonar5 Range 2.794} {Name Sonar6 Range 3.3782} {Name Sonar7 Range 0.1016} {Name Sonar8 Range 0.127} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.8194} {Name Sonar12 Range 1.8542} {Name Sonar13 Range 3.0988} {Name Sonar14 Range 4.064} {Name Sonar15 Range 1.0668}
SEN {Time 109.159} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.21,0.21,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0,0,0,0,0,0,0,0,0,0,0,0,3.708,3.708,3.684,3.684,3.684,0.009,0.009,0.009,0.009,0.009,0.009,0.006,0,0,0,0,0,0,0,0,0,0,0,0,0.155,0.155,0.155,0.154,0.153,0.155,0.153,0.153,0.154,0.154,0.154,0.154,0.151,0.151,0.157,0,0,0,0,0,0,0,0,0.159,0.159,0.158,0.154,0.154,0.154,0.154,0.161,3.064,3.068,3.068,3.064,3.059,3.058,3.055,3.053,3.053,3.053,3.049,3.046,3.046,3.041,3.032,3.032,3.032,3.032,3.029,3.028,3.027,3.026,3.023,3.022,3.022,3.019,3.019,3.019,3.026,3.546,3.557,3.557,3.557,3.556,3.556,3.556,3.558,3.558,3.558,3.555,3.555,3.555,3.555,3.557,3.558,3.557,3.558,3.557,3.56,3.555,3.561,3.562,3.562,3.56,3.562,3.569,3.569,3.577,3.579,3.583,3.589,3.589,3.593,3.593,3.594,3.594,3.597,3.604,3.613,3.616,3.62,3.62,3.623,3.634,3.636,3.643,3.646,3.651,3.652,3.658,3.659,3.663,3.666,3.668,3.695,3.701,3.705,3.707,3.709,3.717,3.718,3.723,3.733,3.747,3.751,3.76,3.761,3.778,3.782,3.794,3.814,3.814,3.818,3.818,3.823,3.847,3.86,3.874,3.88,3.881,3.898,3.913,3.931,3.933,3.934,3.958,3.966,3.987,4.003,4.004,4.031,4.043,4.046,4.059,4.083,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0.016,4.088,4.078,4.017,4.012,3.96,3.926,3.888,3.857,3.839,3.81,3.793,3.755,3.739,3.716,3.693,3.668,3.636,3.627,3.595,3.57,3.549,3.526,3.495,3.475,3.459,3.438,3.418,3.401,3.384,3.366,3.342,3.331,3.309,3.294,3.272,3.244,3.241,3.213,3.202,3.18,3.179,3.152,3.135,3.13,3.108,3.106,3.079,3.072,3.054,3.043,3.031,3.02,3.007,3,2.982,2.962,2.961,2.947,2.933,2.915,2.911,2.897,2.889,2.876,2.87,2.865,2.848,2.844,2.829,2.818,2.811,2.799,2.786,2.784,2.78,2.764,2.758,2.752,2.736,2.73,2.728,2.718,2.704,2.694,2.693,2.684,2.684,2.682,2.676,1.145,1.141,1.139,1.139,1.138,1.139,1.139,2.591,2.591,2.591,2.583,2.577,2.566,2.562,2.56,2.559,2.555,2.553,2.551,2.542,2.533,2.532,2.532,2.519,2.515,2.512,2.509,2.508,2.506,2.502,2.492,2.486,2.483,2.483,2.479,2.479,2.477,2.468,2.467,2.463,2.462,2.457,2.456,2.455,2.452,2.452,2.451,2.451,2.451,2.45,2.448,2.442,2.448,2.444,2.442,2.442,2.441,2.441,2.439,2.44,2.44,2.439,2.439,2.439,2.438,2.437,2.437,2.434,2.434,2.434,2.434,2.434,2.431,2.435,2.446,2.446,2.446,2.448,2.448,2.449,2.452,2.455,2.456,2.461,2.461,2.458,2.461,2.461,2.463,2.467,2.468,2.47,2.474,2.481,2.482,2.486,2.491,2.497,2.5,2.503,2.504,2.504,2.507,2.512,2.513,2.52,2.527,2.529,2.541,2.541,2.541,1.134,1.124,1.124,1.124,1.142,1.142,1.143,1.145,2.599,2.599,2.604,2.604,2.615,2.625,2.63,2.638,2.641,2.648,2.659,2.669,2.682,2.684,2.691,2.703,2.707,2.713,2.715,2.73,2.733,2.748,2.758,2.762,2.772,2.78,2.786,2.795,2.813,2.814,2.827,2.838,2.848,2.857,2.865,2.879,2.893,2.909,2.914,2.924,2.934,2.957,2.957,2.973,2.981,2.997,3.008,3.02,3.037,3.044,3.074,3.078,3.085,3.095,3.108,3.122,3.146,3.157,3.17,3.189,3.202,3.206,3.235,3.257,3.258,3.279,3.303,3.315,3.34,3.353,3.372,3.388,3.407,3.425,3.448,3.472,3.513,3.52,3.539,3.569,3.602,3.607,3.627,3.657,3.685,3.704,3.731,3.77,3.787,3.826,3.857,3.886,3.914,3.934,3.977,4.035,0.007,0,0.009,0.007,0.009,0.009,0.009,0,0,0,0,0,0,0,0.016,0,0.007,0,0,0,0,3.334,3.329,3.315,3.315,3.298,3.284,3.278,3.269,3.258,3.252,3.242,3.232,3.216,3.208,3.199,3.197,3.18,3.172,3.168,3.168,3.165,3.158,3.139,3.125,3.124,3.113,3.11,3.107,3.107,3.106,3.088,3.084,3.081,3.077,3.073,3.07,3.059,3.053,3.053,3.049,3.047,3.036,3.031,3.03,3.029,3.028,3.021,3.015,3.015,3.01,3.005,3.004,3.004,2.997,2.997,2.993,2.99,2.989,2.989,2.989,2.982,2.976,2.978,2.976,2.976,2.976,2.976,2.976,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.974,2.971,2.974,2.971,2.971,2.973,2.973,2.973,2.975,2.982,2.983,2.983,2.985,2.983,2.987,2.989,2.994,2.996,2.998,3.005,3.005,3.005,3.005,3.013,3.013,3.015,3.016,3.019,3.023,3.028,3.032,3.032,3.034,3.046,3.046,3.052,3.056,3.058,3.06,3.066,3.067,3.067,3.078,3.085,3.085,3.09,3.09,3.09,3.096,3.107,3.11,3.115,3.115,3.118,3.123,3.133,3.133,3.148,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.10} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 115.097} {Type Sonar} {Name Sonar0 Range 6.0706} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7338} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.3622} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 115.135} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.007,0,0,0.007,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0.555,0.547,0.531,0.531,0.531,0.531,0.533,0.534,0.573,0,0,0,0,0,0,0.153,0.148,0.148,0.148,0.148,0.155,0.155,0.151,0.154,0.154,0.154,0.154,0.155,0.157,0,0,0,0,0,0,0,0,0,0.162,0.161,0.159,0.161,0.161,0.159,0.162,0.163,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.874,3.854,3.853,3.821,3.811,3.811,3.811,0,0,0,0,0,0,0,0,0,3.628,3.62,3.605,3.592,3.592,3.579,3.579,3.561,3.557,3.318,3.318,3.318,3.306,0,0.007,0,0,0,0,0,0,0,0,0,0,3.204,3.197,3.188,3.184,3.171,3.167,3.167,3.167,3.351,0.007,0,0,0,0,0,0.007,0,0,0,3.051,3.047,3.045,3.043,3.04,3.037,3.029,3.027,3.023,3.023,3.021,3.014,3.01,3.007,3.006,2.998,2.993,2.991,2.989,2.989,2.983,2.979,2.977,2.975,2.971,2.97,2.97,2.962,2.96,2.96,2.96,2.96,2.952,2.952,2.947,2.947,2.947,2.943,2.943,2.947,3.494,3.495,3.495,3.495,3.496,3.496,3.495,3.496,3.496,3.501,3.501,3.502,3.502,3.502,3.5,3.504,3.504,3.504,3.509,3.51,3.51,3.51,3.513,3.52,3.52,3.522,3.52,3.522,3.522,3.524,3.524,3.527,3.529,3.53,3.531,3.54,3.546,3.546,3.546,3.547,3.551,3.563,3.568,3.57,3.572,3.58,3.588,3.59,3.592,3.601,3.607,3.609,3.612,3.624,3.627,3.642,3.646,3.647,3.653,3.663,3.666,3.67,3.67,3.676,3.69,3.693,3.698,3.714,3.716,3.731,3.735,3.757,3.763,3.765,3.768,3.785,3.792,3.797,3.812,3.833,3.834,3.85,3.856,3.867,3.878,3.891,3.904,3.924,3.925,3.935,3.947,3.963,3.985,3.988,4.006,4.02,4.039,4.05,4.071,0.016,0.016,0.016,0.016,0,0,0,0.016,4.084,4.044,4.023,3.994,3.955,3.946,3.894,3.865,3.836,3.788,3.778,3.755,3.727,3.703,3.665,3.652,3.619,3.602,3.582,3.552,3.523,3.505,3.493,3.465,3.448,3.433,3.41,3.387,3.375,3.359,3.342,3.326,3.303,3.294,3.275,3.253,3.248,3.221,3.216,3.195,3.173,3.163,3.159,3.147,3.131,3.115,3.095,3.087,3.068,3.061,3.049,3.038,3.018,3.004,2.988,2.984,2.975,2.96,2.943,2.937,2.92,2.91,2.9,2.891,2.879,2.872,2.872,2.857,2.85,2.844,2.834,2.824,2.811,2.805,2.798,2.783,2.777,2.763,2.756,2.749,2.743,2.738,2.726,2.724,2.715,2.71,2.692,2.692,2.684,2.676,2.664,2.661,2.655,2.655,2.654,2.647,1.158,1.157,1.155,1.148,1.147,1.147,1.147,2.576,2.578,2.579,2.578,2.576,2.569,2.568,2.564,2.55,2.549,2.546,2.546,2.536,2.535,2.532,2.529,2.528,2.515,2.513,2.513,2.512,2.51,2.507,2.505,2.505,2.499,2.494,2.493,2.492,2.488,2.488,2.488,2.488,2.484,2.483,2.482,2.483,2.478,2.477,2.478,2.48,2.478,2.477,2.48,2.471,2.471,2.474,2.475,2.474,2.474,2.474,2.475,2.475,2.478,2.478,2.48,2.48,2.479,2.479,2.48,2.48,2.483,2.483,2.483,2.484,2.485,2.485,2.494,2.497,2.497,2.499,2.502,2.504,2.507,2.509,2.511,2.512,2.515,2.518,2.52,2.529,2.529,2.537,2.537,2.543,2.546,2.548,2.55,2.556,2.567,2.57,2.576,2.576,2.581,2.586,2.586,2.604,2.604,2.609,2.609,2.609,1.18,1.18,1.18,1.182,1.182,1.185,1.186,2.673,2.678,2.68,2.692,2.698,2.706,2.709,2.709,2.712,2.741,2.743,2.745,2.753,2.761,2.77,2.777,2.789,2.801,2.806,2.823,2.825,2.833,2.86,2.86,2.87,2.874,2.88,2.899,2.909,2.921,2.932,2.947,2.961,2.968,2.976,2.988,3.003,3.006,3.022,3.035,3.049,3.063,3.073,3.088,3.101,3.121,3.124,3.142,3.143,3.17,3.181,3.203,3.215,3.234,3.247,3.262,3.274,3.304,3.31,3.333,3.357,3.384,3.385,3.422,3.429,3.459,3.473,3.49,3.505,3.556,3.557,3.583,3.601,3.631,3.648,3.671,3.703,3.741,3.753,3.806,0.007,3.892,3.892,3.918,3.918,3.949,3.985,4.044,0.007,0.009,0.009,0.009,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.408,3.408,3.398,3.387,3.361,3.353,3.345,3.338,3.327,3.314,3.309,3.295,3.291,3.276,3.275,3.261,3.255,3.241,3.236,3.225,3.224,3.217,3.21,3.192,3.189,3.182,3.182,3.17,3.168,3.167,3.157,3.149,3.148,3.146,3.137,3.136,3.119,3.116,3.116,3.116,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.29} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 115.288} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.7686} {Name Sonar6 Range 2.3622} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 115.332} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0.557,0.539,0.537,0.533,0.533,0.533,0.533,0.537,0.565,0,0,0,0,0,0,0.151,0.151,0.151,0.151,0.151,0.152,0.145,0.145,0.145,0.145,0.145,0.15,0.151,0.156,0,0,0,0,0,0,0,0,0,0.163,0.156,0.155,0.155,0.155,0.155,0.163,0.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.878,3.861,3.845,3.838,3.817,3.817,3.817,0,0,0,0,0,0,0,0,0,3.64,3.612,3.602,3.596,3.586,3.565,3.565,3.56,3.558,3.324,3.314,3.314,3.303,3.303,0.007,0,0,0,0,0,0,0,0,0,0,3.209,3.207,3.202,3.181,3.168,3.162,3.162,3.162,3.344,0.007,0,0,0,0,0,0.007,0,0,0,3.048,3.048,3.039,3.039,3.036,3.032,3.026,3.018,3.017,3.015,3.01,3.005,3.001,3.001,2.995,2.994,2.993,2.988,2.985,2.982,2.978,2.977,2.976,2.972,2.972,2.967,2.965,2.965,2.957,2.955,2.955,2.955,2.955,2.955,2.946,2.942,2.942,2.942,2.942,2.942,2.949,3.489,3.489,3.489,3.489,3.492,3.494,3.498,3.501,3.503,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.503,3.504,3.505,3.512,3.508,3.508,3.52,3.516,3.508,3.516,3.516,3.516,3.526,3.529,3.526,3.533,3.538,3.542,3.547,3.549,3.554,3.557,3.557,3.558,3.559,3.57,3.575,3.584,3.591,3.594,3.594,3.599,3.602,3.61,3.615,3.628,3.634,3.641,3.648,3.652,3.656,3.659,3.663,3.668,3.67,3.683,3.684,3.695,3.706,3.722,3.726,3.731,3.739,3.747,3.762,3.763,3.766,3.779,3.79,3.797,3.816,3.819,3.825,3.831,3.856,3.857,3.88,3.89,3.894,3.911,3.917,3.934,3.934,3.955,3.982,3.983,4.01,4.018,4.031,4.047,4.059,4.087,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.081,4.047,4.032,3.992,3.958,3.933,3.896,3.875,3.828,3.804,3.775,3.754,3.718,3.696,3.68,3.644,3.623,3.603,3.585,3.553,3.527,3.508,3.491,3.468,3.452,3.436,3.409,3.396,3.38,3.354,3.336,3.326,3.309,3.303,3.267,3.258,3.244,3.225,3.209,3.189,3.181,3.17,3.156,3.146,3.122,3.121,3.097,3.088,3.073,3.054,3.05,3.033,3.02,3.005,2.994,2.983,2.963,2.947,2.939,2.929,2.918,2.915,2.902,2.89,2.878,2.872,2.86,2.855,2.847,2.838,2.834,2.815,2.813,2.803,2.799,2.782,2.769,2.768,2.761,2.745,2.745,2.737,2.731,2.721,2.71,2.706,2.701,2.686,2.679,2.668,2.664,2.664,2.652,2.652,2.649,2.645,1.161,1.156,1.153,1.151,1.144,1.144,1.151,2.584,2.584,2.584,2.58,2.573,2.571,2.565,2.555,2.553,2.551,2.549,2.538,2.536,2.534,2.532,2.522,2.521,2.521,2.519,2.516,2.511,2.508,2.507,2.506,2.503,2.503,2.498,2.498,2.496,2.484,2.484,2.484,2.485,2.485,2.485,2.485,2.484,2.476,2.476,2.476,2.476,2.476,2.473,2.473,2.473,2.47,2.47,2.47,2.47,2.47,2.472,2.476,2.476,2.476,2.476,2.478,2.475,2.475,2.475,2.48,2.48,2.486,2.486,2.486,2.486,2.487,2.489,2.489,2.502,2.502,2.502,2.502,2.505,2.506,2.512,2.512,2.512,2.515,2.52,2.521,2.524,2.531,2.531,2.536,2.545,2.547,2.557,2.56,2.563,2.564,2.564,2.57,2.576,2.584,2.589,2.59,2.596,2.606,2.611,2.611,2.611,1.172,1.172,1.172,1.187,1.187,1.198,2.668,2.668,2.686,2.686,2.695,2.695,2.702,2.713,2.718,2.718,2.744,2.745,2.745,2.751,2.769,2.771,2.771,2.793,2.797,2.807,2.816,2.826,2.842,2.845,2.855,2.866,2.877,2.884,2.902,2.908,2.923,2.93,2.946,2.955,2.958,2.977,2.986,3.005,3.008,3.029,3.038,3.045,3.061,3.075,3.092,3.094,3.115,3.124,3.139,3.162,3.175,3.185,3.212,3.214,3.233,3.246,3.268,3.282,3.302,3.315,3.337,3.349,3.379,3.38,3.418,3.432,3.444,3.469,3.492,3.516,3.529,3.561,3.584,3.609,3.637,3.65,3.662,3.706,3.721,3.748,3.778,3.797,3.836,3.871,3.881,3.956,0.007,0,0.007,0,0,0.007,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0.009,0.009,0.009,3.419,3.405,3.391,3.379,3.367,3.365,3.347,3.331,3.329,3.328,3.305,3.301,3.297,3.282,3.268,3.265,3.264,3.253,3.232,3.231,3.225,3.218,3.211,3.207,3.194,3.187,3.181,3.169,3.167,3.16,3.153,3.153,3.149,3.137,3.134,3.125,3.116,3.114,3.112,3.112,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.49} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 115.491} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.921} {Name Sonar6 Range 2.3622} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 115.531} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0.016,0.016,0.016,0.016,0.016,0,0.007,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0,0,0.553,0.533,0.532,0.533,0.53,0.53,0.535,0.536,0.551,0,0,0,0,0,0,0.153,0.153,0.151,0.151,0.151,0.15,0.15,0.15,0.15,0.15,0.15,0.152,0.152,0.158,0,0,0,0,0,0,0,0,0,0.163,0.155,0.155,0.155,0.157,0.157,0.158,0.158,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.881,3.851,3.843,3.82,3.81,3.81,3.81,0,0,0,0,0,0,0,0,0,3.64,3.619,3.599,3.592,3.588,3.571,3.571,3.564,3.549,3.333,3.321,3.321,3.308,3.321,0.007,0,0,0,0,0,0,0,0,0,3.208,3.202,3.199,3.184,3.182,3.169,3.164,3.164,3.164,3.307,3.356,0,0,0,0,0,0.007,0,0,0,3.057,3.042,3.04,3.038,3.038,3.03,3.028,3.028,3.026,3.019,3.019,3.016,3.005,3.002,2.997,2.996,2.996,2.994,2.987,2.984,2.984,2.98,2.98,2.979,2.979,2.973,2.971,2.969,2.967,2.961,2.96,2.96,2.958,2.953,2.952,2.949,2.949,2.949,2.949,2.949,3.488,3.493,3.493,3.493,3.494,3.494,3.494,3.495,3.496,3.499,3.499,3.499,3.503,3.503,3.505,3.505,3.507,3.505,3.505,3.506,3.513,3.513,3.515,3.515,3.515,3.522,3.519,3.52,3.52,3.52,3.52,3.52,3.521,3.529,3.535,3.538,3.544,3.545,3.546,3.551,3.555,3.561,3.564,3.573,3.576,3.577,3.578,3.584,3.596,3.597,3.603,3.61,3.616,3.619,3.622,3.622,3.623,3.649,3.65,3.653,3.666,3.671,3.68,3.682,3.692,3.695,3.709,3.709,3.714,3.739,3.742,3.749,3.769,3.771,3.771,3.775,3.797,3.801,3.805,3.827,3.834,3.839,3.852,3.864,3.882,3.889,3.894,3.916,3.919,3.937,3.951,3.959,3.978,3.993,3.995,4.027,4.038,4.051,4.069,4.085,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.037,4.013,3.98,3.95,3.916,3.896,3.874,3.83,3.794,3.786,3.764,3.728,3.704,3.681,3.664,3.635,3.596,3.585,3.558,3.529,3.52,3.5,3.479,3.454,3.437,3.406,3.395,3.379,3.347,3.341,3.328,3.303,3.295,3.276,3.262,3.249,3.229,3.208,3.193,3.177,3.169,3.158,3.152,3.123,3.121,3.096,3.084,3.075,3.065,3.049,3.039,3.019,3.009,2.99,2.989,2.979,2.948,2.942,2.936,2.921,2.912,2.899,2.891,2.872,2.871,2.867,2.851,2.847,2.841,2.837,2.811,2.81,2.804,2.791,2.778,2.769,2.768,2.758,2.746,2.739,2.723,2.719,2.718,2.715,2.707,2.696,2.685,2.684,2.677,2.671,2.661,2.653,2.653,2.65,2.644,1.151,1.151,1.15,1.15,1.149,1.149,1.149,2.58,2.583,2.583,2.58,2.572,2.564,2.562,2.554,2.552,2.55,2.55,2.542,2.54,2.536,2.535,2.533,2.527,2.519,2.514,2.512,2.512,2.507,2.505,2.505,2.505,2.501,2.494,2.494,2.493,2.492,2.488,2.488,2.488,2.485,2.484,2.482,2.484,2.482,2.479,2.477,2.476,2.474,2.473,2.473,2.472,2.472,2.473,2.475,2.473,2.473,2.473,2.473,2.473,2.477,2.478,2.478,2.478,2.478,2.478,2.478,2.478,2.48,2.484,2.485,2.486,2.488,2.49,2.492,2.493,2.496,2.496,2.496,2.496,2.5,2.512,2.514,2.514,2.515,2.519,2.519,2.532,2.532,2.536,2.54,2.547,2.547,2.551,2.559,2.562,2.566,2.57,2.574,2.58,2.581,2.581,2.59,2.591,2.596,2.606,2.606,2.606,1.177,1.177,1.177,1.187,1.187,1.192,1.192,2.662,2.668,2.677,2.699,2.699,2.704,2.705,2.717,2.717,2.743,2.744,2.746,2.76,2.767,2.778,2.784,2.798,2.799,2.808,2.821,2.829,2.834,2.852,2.853,2.87,2.873,2.885,2.906,2.911,2.921,2.924,2.94,2.957,2.974,2.975,2.986,3,3.025,3.03,3.058,3.058,3.061,3.081,3.088,3.097,3.119,3.126,3.144,3.155,3.168,3.177,3.198,3.213,3.23,3.257,3.273,3.277,3.301,3.324,3.327,3.355,3.377,3.391,3.403,3.436,3.457,3.465,3.501,3.516,3.539,3.563,3.578,3.593,3.624,3.657,3.678,3.698,3.735,3.758,3.779,3.803,3.846,3.867,3.883,3.917,3.944,4.013,0.007,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0.007,0,0,0.007,4.075,3.419,3.397,3.391,3.385,3.375,3.358,3.338,3.338,3.331,3.321,3.316,3.299,3.297,3.278,3.274,3.263,3.261,3.251,3.247,3.23,3.228,3.209,3.202,3.192,3.192,3.189,3.181,3.177,3.17,3.166,3.155,3.151,3.148,3.138,3.132,3.124,3.123,3.121,3.111,3.111,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.68} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 115.684} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.921} {Name Sonar6 Range 2.5146} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 115.731} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.199,0.199,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0.016,0.016,0.016,0.016,0.016,0,0.007,0,0,0,0,0,0,0,0,0.007,0,0.539,0.537,0.534,0.531,0.531,0.534,0.547,0.571,0,0,0,0,0,0,0.154,0.152,0.146,0.146,0.146,0.146,0.148,0.152,0.152,0.153,0.153,0.153,0.153,0.159,0,0,0,0,0,0,0,0,0,0.161,0.161,0.161,0.161,0.161,0.16,0.164,0.171,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.876,3.849,3.842,3.832,3.827,3.827,3.832,0,0,0,0,0,0,0,0,0,3.626,3.621,3.607,3.59,3.586,3.572,3.572,3.562,3.562,0.007,3.32,3.32,3.311,3.311,0.007,0,0,0,0,0,0,0,0,0,3.206,3.206,3.192,3.185,3.178,3.17,3.164,3.164,3.164,3.358,0.007,0,0,0,0,0,0.007,0,0,0,3.062,3.042,3.039,3.039,3.039,3.037,3.023,3.022,3.02,3.02,3.011,3.007,3.007,3.001,3,2.996,2.993,2.992,2.987,2.986,2.982,2.982,2.974,2.97,2.97,2.97,2.969,2.969,2.964,2.964,2.952,2.951,2.948,2.948,2.946,2.946,2.946,2.946,2.946,2.946,2.946,3.491,3.491,3.491,3.492,3.493,3.496,3.5,3.5,3.502,3.498,3.502,3.502,3.504,3.504,3.504,3.504,3.505,3.506,3.507,3.507,3.507,3.511,3.514,3.518,3.518,3.521,3.521,3.521,3.521,3.524,3.529,3.534,3.534,3.534,3.541,3.543,3.547,3.548,3.554,3.562,3.566,3.567,3.577,3.579,3.579,3.579,3.592,3.594,3.6,3.602,3.612,3.618,3.623,3.624,3.631,3.638,3.641,3.654,3.657,3.666,3.674,3.682,3.683,3.689,3.697,3.7,3.719,3.721,3.726,3.74,3.742,3.752,3.767,3.768,3.784,3.796,3.805,3.817,3.826,3.827,3.84,3.856,3.868,3.879,3.88,3.9,3.915,3.921,3.925,3.946,3.96,3.973,3.998,4.006,4.011,4.04,4.068,4.068,4.091,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.072,4.047,4.031,3.994,3.96,3.932,3.896,3.873,3.836,3.805,3.767,3.747,3.722,3.697,3.678,3.653,3.624,3.609,3.579,3.556,3.523,3.502,3.486,3.473,3.46,3.424,3.415,3.386,3.369,3.363,3.344,3.322,3.296,3.295,3.268,3.254,3.249,3.234,3.216,3.192,3.181,3.173,3.165,3.145,3.124,3.122,3.1,3.081,3.066,3.062,3.05,3.034,3.026,3.003,2.987,2.981,2.963,2.955,2.941,2.937,2.922,2.912,2.904,2.897,2.879,2.87,2.87,2.853,2.851,2.844,2.834,2.822,2.815,2.8,2.794,2.776,2.771,2.77,2.756,2.754,2.737,2.731,2.721,2.716,2.71,2.707,2.698,2.681,2.676,2.671,2.667,2.664,2.654,2.654,2.649,2.641,1.162,1.149,1.149,1.146,1.141,1.141,1.146,2.581,2.581,2.581,2.57,2.569,2.565,2.564,2.562,2.553,2.541,2.541,2.54,2.536,2.535,2.531,2.529,2.524,2.524,2.522,2.521,2.516,2.51,2.505,2.504,2.5,2.499,2.499,2.492,2.492,2.49,2.489,2.486,2.486,2.482,2.48,2.48,2.482,2.48,2.478,2.482,2.478,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.475,2.479,2.479,2.48,2.479,2.477,2.477,2.484,2.484,2.485,2.485,2.487,2.487,2.493,2.494,2.494,2.496,2.496,2.496,2.496,2.5,2.504,2.504,2.506,2.506,2.51,2.518,2.523,2.534,2.538,2.538,2.538,2.551,2.551,2.554,2.56,2.563,2.563,2.563,2.58,2.582,2.588,2.588,2.591,2.598,2.604,2.609,2.609,2.609,1.18,1.18,1.176,1.18,1.18,1.189,1.196,2.675,2.684,2.691,2.691,2.702,2.703,2.708,2.714,2.722,2.739,2.745,2.745,2.747,2.764,2.772,2.779,2.798,2.801,2.805,2.814,2.829,2.838,2.844,2.852,2.872,2.872,2.886,2.89,2.918,2.924,2.93,2.95,2.955,2.97,2.974,2.993,3.003,3.004,3.026,3.029,3.049,3.068,3.082,3.087,3.101,3.115,3.125,3.148,3.154,3.164,3.187,3.201,3.212,3.232,3.252,3.275,3.28,3.303,3.32,3.329,3.358,3.377,3.384,3.404,3.437,3.457,3.477,3.489,3.512,3.544,3.555,3.578,3.603,3.628,3.649,3.674,3.705,3.737,3.753,3.77,3.802,3.839,3.857,3.886,3.957,0.007,0,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.425,3.408,3.392,3.383,3.369,3.353,3.347,3.332,3.33,3.323,3.309,3.302,3.299,3.272,3.267,3.261,3.26,3.243,3.238,3.228,3.224,3.222,3.212,3.197,3.193,3.185,3.179,3.175,3.17,3.169,3.152,3.152,3.149,3.143,3.134,3.126,3.115,3.113,3.113,3.113,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 115.89} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 115.886} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.921} {Name Sonar6 Range 2.5146} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 115.933} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,0,0.007,0,0,0.007,0.016,0.016,0.016,0.016,0.007,0,0,0,0.007,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0.007,0.536,0.533,0.536,0.536,0.534,0.536,0.54,0.565,0,0,0,0,0,0,0.149,0.149,0.149,0.149,0.146,0.146,0.146,0.146,0.146,0.152,0.154,0.154,0.155,0.16,0,0,0,0,0,0,0,0,0,0.163,0.163,0.163,0.163,0.166,0.166,0.166,0.166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.871,3.866,3.85,3.822,3.81,3.81,3.81,0,0,0,0,0,0,0,0,0,0,3.607,3.607,3.598,3.583,3.579,3.579,3.568,3.563,3.316,3.31,3.31,3.31,3.316,0.007,0,0,0,0,0,0,0,0,0,0,3.218,3.212,3.193,3.185,3.171,3.167,3.167,3.167,3.362,0.007,0,0,0,0,0,0.007,0,0,0,3.055,3.047,3.046,3.043,3.037,3.029,3.029,3.028,3.027,3.011,3.009,3.008,3.006,3.003,3.002,3.002,2.998,2.985,2.985,2.984,2.981,2.977,2.977,2.977,2.975,2.973,2.969,2.966,2.966,2.966,2.961,2.957,2.955,2.954,2.947,2.947,2.946,2.944,2.944,2.948,3.494,3.494,3.496,3.494,3.496,3.497,3.497,3.496,3.496,3.496,3.495,3.495,3.5,3.502,3.502,3.503,3.502,3.502,3.502,3.503,3.509,3.51,3.51,3.513,3.513,3.513,3.516,3.523,3.524,3.525,3.525,3.526,3.529,3.53,3.537,3.542,3.546,3.547,3.547,3.555,3.557,3.565,3.574,3.578,3.581,3.582,3.584,3.588,3.589,3.596,3.6,3.616,3.616,3.62,3.632,3.632,3.634,3.646,3.648,3.653,3.664,3.67,3.676,3.677,3.686,3.691,3.702,3.715,3.717,3.737,3.739,3.755,3.755,3.755,3.78,3.78,3.796,3.805,3.814,3.828,3.834,3.837,3.859,3.86,3.876,3.881,3.913,3.913,3.921,3.929,3.943,3.969,3.97,3.979,3.995,4.033,4.036,4.044,4.073,4.083,4.094,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.04,4.011,3.997,3.966,3.906,3.897,3.868,3.829,3.809,3.766,3.756,3.716,3.703,3.683,3.653,3.63,3.602,3.579,3.543,3.534,3.51,3.489,3.479,3.457,3.43,3.42,3.406,3.373,3.352,3.344,3.32,3.32,3.293,3.269,3.257,3.249,3.228,3.214,3.193,3.184,3.175,3.16,3.146,3.125,3.118,3.101,3.08,3.064,3.061,3.043,3.035,3.022,3.006,2.993,2.986,2.97,2.955,2.944,2.939,2.921,2.911,2.904,2.887,2.884,2.876,2.873,2.855,2.848,2.844,2.835,2.81,2.807,2.804,2.803,2.782,2.768,2.767,2.764,2.75,2.74,2.739,2.728,2.721,2.712,2.711,2.696,2.693,2.679,2.676,2.664,2.652,2.652,2.652,2.647,2.642,1.159,1.156,1.154,1.15,1.148,1.148,1.154,2.586,2.586,2.586,2.573,2.569,2.568,2.557,2.555,2.555,2.549,2.547,2.544,2.539,2.536,2.533,2.533,2.527,2.518,2.516,2.512,2.512,2.509,2.509,2.507,2.504,2.5,2.5,2.498,2.495,2.495,2.49,2.49,2.492,2.492,2.482,2.482,2.48,2.48,2.48,2.48,2.476,2.476,2.476,2.476,2.476,2.474,2.474,2.473,2.473,2.473,2.474,2.476,2.478,2.48,2.48,2.48,2.476,2.474,2.474,2.476,2.482,2.482,2.483,2.485,2.488,2.49,2.49,2.49,2.494,2.497,2.498,2.501,2.501,2.502,2.504,2.509,2.51,2.514,2.523,2.524,2.528,2.528,2.537,2.539,2.544,2.544,2.548,2.561,2.563,2.566,2.574,2.575,2.576,2.579,2.583,2.591,2.593,2.607,2.609,2.609,2.609,1.174,1.174,1.174,1.179,1.186,1.186,1.192,2.667,2.674,2.691,2.692,2.712,2.712,2.713,2.714,2.725,2.741,2.743,2.756,2.756,2.758,2.772,2.775,2.797,2.803,2.806,2.823,2.826,2.834,2.853,2.856,2.867,2.872,2.893,2.896,2.909,2.922,2.933,2.936,2.959,2.972,2.976,3,3.005,3.008,3.024,3.034,3.046,3.055,3.081,3.088,3.097,3.122,3.133,3.139,3.152,3.164,3.18,3.209,3.216,3.234,3.254,3.267,3.272,3.303,3.313,3.335,3.354,3.382,3.39,3.415,3.424,3.459,3.477,3.481,3.505,3.537,3.56,3.594,3.606,3.624,3.657,3.676,3.707,3.742,3.746,3.776,3.812,3.83,3.871,3.891,3.93,3.962,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.969,3.422,3.4,3.399,3.386,3.382,3.37,3.346,3.334,3.328,3.309,3.298,3.298,3.288,3.287,3.276,3.266,3.253,3.245,3.232,3.228,3.226,3.215,3.201,3.2,3.198,3.191,3.173,3.172,3.166,3.166,3.157,3.153,3.143,3.14,3.133,3.127,3.123,3.121,3.121,3.121,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.09} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 116.088} {Type Sonar} {Name Sonar0 Range 6.477} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 2.5146} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 3.1242}
SEN {Time 116.131} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,0,0.531,0.536,0.536,0.536,0.54,0.54,0.545,0.562,0,0,0,0,0,0,0.153,0.153,0.153,0.153,0.153,0.153,0.146,0.146,0.145,0.146,0.154,0.154,0.154,0.157,0,0,0,0,0,0,0,0,0.168,0.166,0.166,0.165,0.165,0.165,0.165,0.165,0.169,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.875,3.868,3.838,3.824,3.81,3.81,3.81,0,0,0,0,0,0,0,0,0,0,3.62,3.607,3.601,3.587,3.565,3.565,3.561,3.554,3.321,3.321,3.321,3.31,0,0.007,0,0,0,0,0,0,0,0,0,0,3.218,3.206,3.184,3.183,3.167,3.162,3.162,3.162,3.352,0.007,0,0,0,0,0,0.007,0,0,0,0,3.038,3.037,3.036,3.035,3.03,3.026,3.025,3.022,3.015,3.014,3.009,3.007,3.004,2.995,2.994,2.993,2.993,2.987,2.986,2.985,2.984,2.974,2.974,2.971,2.971,2.971,2.968,2.965,2.958,2.956,2.956,2.955,2.955,2.951,2.951,2.951,2.951,2.951,2.951,3.495,3.499,3.499,3.498,3.495,3.498,3.498,3.495,3.499,3.499,3.499,3.502,3.502,3.503,3.503,3.502,3.502,3.503,3.502,3.507,3.509,3.511,3.511,3.513,3.516,3.522,3.516,3.522,3.522,3.53,3.53,3.534,3.536,3.536,3.537,3.54,3.549,3.55,3.55,3.552,3.559,3.563,3.568,3.57,3.572,3.577,3.584,3.59,3.597,3.598,3.607,3.614,3.617,3.628,3.629,3.63,3.642,3.642,3.65,3.656,3.656,3.673,3.675,3.681,3.69,3.699,3.701,3.71,3.72,3.726,3.733,3.755,3.756,3.76,3.771,3.788,3.797,3.806,3.806,3.826,3.835,3.841,3.845,3.866,3.89,3.897,3.906,3.907,3.932,3.933,3.949,3.958,3.983,3.986,4.012,4.025,4.04,4.057,4.081,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.088,4.045,4.026,4.004,3.956,3.935,3.9,3.868,3.835,3.796,3.786,3.748,3.738,3.693,3.683,3.653,3.621,3.601,3.571,3.548,3.53,3.514,3.487,3.47,3.452,3.427,3.414,3.39,3.372,3.355,3.332,3.331,3.309,3.292,3.268,3.262,3.249,3.224,3.215,3.207,3.179,3.168,3.159,3.148,3.129,3.121,3.097,3.087,3.061,3.061,3.04,3.031,3.012,3.002,2.987,2.984,2.974,2.952,2.942,2.931,2.919,2.917,2.903,2.889,2.877,2.873,2.868,2.859,2.846,2.84,2.833,2.819,2.812,2.806,2.797,2.788,2.768,2.764,2.753,2.75,2.741,2.733,2.729,2.717,2.717,2.704,2.697,2.693,2.688,2.676,2.673,2.663,2.652,2.652,2.647,2.646,1.168,1.154,1.152,1.15,1.144,1.144,1.15,2.583,2.583,2.583,2.581,2.577,2.566,2.562,2.557,2.551,2.544,2.54,2.539,2.538,2.534,2.525,2.524,2.52,2.52,2.516,2.514,2.509,2.512,2.504,2.504,2.503,2.502,2.502,2.496,2.494,2.491,2.491,2.489,2.487,2.487,2.485,2.485,2.478,2.478,2.477,2.477,2.476,2.476,2.473,2.473,2.473,2.472,2.472,2.476,2.475,2.475,2.475,2.475,2.475,2.479,2.479,2.479,2.479,2.475,2.475,2.475,2.479,2.48,2.482,2.482,2.482,2.482,2.485,2.496,2.496,2.498,2.498,2.501,2.498,2.501,2.505,2.507,2.509,2.512,2.52,2.524,2.531,2.536,2.538,2.543,2.545,2.549,2.554,2.56,2.564,2.565,2.567,2.571,2.572,2.579,2.58,2.588,2.597,2.603,2.606,2.606,2.603,1.181,1.181,1.181,1.183,1.185,1.185,1.185,2.673,2.674,2.678,2.693,2.702,2.703,2.705,2.717,2.717,2.738,2.738,2.75,2.763,2.763,2.775,2.783,2.79,2.8,2.808,2.821,2.831,2.84,2.849,2.862,2.865,2.878,2.881,2.894,2.911,2.919,2.945,2.948,2.964,2.964,2.978,2.989,3.008,3.013,3.023,3.024,3.045,3.061,3.076,3.088,3.101,3.115,3.122,3.144,3.153,3.17,3.187,3.203,3.215,3.238,3.249,3.271,3.274,3.306,3.314,3.327,3.36,3.379,3.387,3.422,3.435,3.459,3.473,3.495,3.51,3.533,3.562,3.579,3.613,3.636,3.658,3.678,3.692,3.72,3.749,3.779,3.808,3.835,3.868,3.888,3.96,3.979,4.01,4.01,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.426,3.4,3.395,3.379,3.371,3.353,3.344,3.34,3.33,3.31,3.309,3.303,3.302,3.274,3.273,3.257,3.257,3.242,3.242,3.227,3.226,3.216,3.203,3.192,3.19,3.189,3.179,3.171,3.17,3.164,3.154,3.151,3.148,3.147,3.142,3.128,3.118,3.115,3.115,3.118,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.36} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.774926}
SEN {Time 116.36} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 0.9906} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7084} {Name Sonar5 Range 2.8194} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8796} {Name Sonar14 Range 2.159} {Name Sonar15 Range 5.8166}
SEN {Time 116.427} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.209,0.209,0,0,0,0,0,0,0,0,0,0,0.007,0,0.007,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.542,0.537,0.536,0.536,0.537,0.544,0.576,0,0,0,0,0,0,0.156,0.153,0.152,0.152,0.148,0.148,0.147,0.147,0.148,0.148,0.151,0.153,0.16,0.16,0,0,0,0,0,0,0,0,0,0.164,0.164,0.162,0.162,0.164,0.154,0.154,0.168,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.879,3.852,3.842,3.811,3.808,3.808,3.808,0,0,0,0,0,0,0,0,0,0,3.615,3.601,3.597,3.581,3.565,3.565,3.564,3.546,3.324,3.305,3.305,3.305,3.305,0.007,0,0,0,0,0,0,0,0,0,3.208,3.204,3.202,3.184,3.175,3.167,3.166,3.166,3.166,3.363,0.007,0,0,0,0,0,0.007,0,0,0,3.06,3.045,3.044,3.04,3.036,3.031,3.03,3.029,3.026,3.022,3.013,3.007,3.005,2.998,2.994,2.993,2.992,2.991,2.988,2.983,2.983,2.978,2.977,2.972,2.972,2.969,2.967,2.966,2.961,2.96,2.956,2.955,2.954,2.954,2.951,2.947,2.947,2.947,2.948,2.948,3.488,3.49,3.494,3.494,3.494,3.495,3.496,3.497,3.499,3.501,3.504,3.504,3.505,3.505,3.506,3.506,3.503,3.503,3.503,3.503,3.506,3.507,3.507,3.51,3.516,3.516,3.519,3.519,3.52,3.527,3.525,3.527,3.531,3.531,3.533,3.542,3.544,3.546,3.55,3.555,3.556,3.561,3.568,3.572,3.578,3.578,3.59,3.59,3.591,3.601,3.602,3.614,3.616,3.618,3.628,3.628,3.642,3.652,3.653,3.659,3.661,3.662,3.673,3.688,3.69,3.696,3.703,3.712,3.713,3.732,3.733,3.751,3.753,3.754,3.78,3.794,3.806,3.806,3.811,3.831,3.833,3.846,3.866,3.869,3.878,3.884,3.914,3.921,3.923,3.93,3.954,3.966,3.968,3.984,4.002,4.021,4.026,4.049,4.072,4.092,4.093,0.016,0.016,0.016,0.016,0.016,0.016,4.066,4.041,4.018,3.965,3.962,3.921,3.887,3.854,3.837,3.796,3.783,3.76,3.731,3.709,3.682,3.658,3.633,3.598,3.58,3.558,3.531,3.499,3.49,3.469,3.466,3.422,3.416,3.388,3.378,3.354,3.34,3.323,3.304,3.289,3.269,3.259,3.247,3.228,3.21,3.195,3.173,3.164,3.159,3.142,3.13,3.117,3.103,3.078,3.069,3.061,3.04,3.037,3.016,3.009,2.993,2.985,2.971,2.95,2.935,2.934,2.918,2.91,2.902,2.888,2.877,2.861,2.858,2.853,2.847,2.833,2.831,2.821,2.808,2.799,2.795,2.782,2.769,2.767,2.753,2.752,2.741,2.738,2.726,2.722,2.721,2.706,2.693,2.69,2.687,2.679,2.672,2.662,2.658,2.658,2.658,2.647,1.153,1.153,1.153,1.153,1.153,1.153,1.153,2.581,2.581,2.581,2.574,2.567,2.567,2.559,2.554,2.557,2.548,2.548,2.548,2.542,2.534,2.531,2.525,2.517,2.516,2.515,2.514,2.509,2.504,2.502,2.499,2.497,2.497,2.497,2.493,2.492,2.491,2.486,2.485,2.485,2.486,2.485,2.485,2.482,2.477,2.477,2.477,2.477,2.474,2.474,2.474,2.474,2.474,2.474,2.474,2.473,2.472,2.472,2.472,2.474,2.477,2.477,2.479,2.477,2.477,2.477,2.479,2.479,2.48,2.486,2.488,2.489,2.489,2.492,2.492,2.492,2.492,2.5,2.5,2.502,2.502,2.503,2.503,2.51,2.516,2.521,2.528,2.532,2.537,2.537,2.54,2.544,2.544,2.557,2.558,2.561,2.565,2.571,2.572,2.583,2.587,2.593,2.594,2.6,2.602,2.603,2.603,2.603,1.18,1.18,1.18,1.183,1.189,1.197,2.669,2.676,2.68,2.68,2.695,2.698,2.699,2.715,2.719,2.722,2.739,2.741,2.753,2.762,2.767,2.777,2.785,2.793,2.799,2.817,2.829,2.835,2.836,2.858,2.86,2.873,2.879,2.882,2.907,2.915,2.927,2.931,2.943,2.957,2.966,2.972,2.994,3.013,3.016,3.023,3.032,3.047,3.066,3.078,3.09,3.102,3.126,3.132,3.143,3.155,3.171,3.195,3.213,3.225,3.241,3.253,3.277,3.283,3.31,3.313,3.334,3.365,3.381,3.384,3.415,3.444,3.455,3.473,3.501,3.513,3.548,3.553,3.587,3.612,3.648,3.664,3.683,3.709,3.737,3.762,3.779,3.814,3.84,3.883,3.919,0.007,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0.007,0,0,0,0,3.405,3.396,3.379,3.376,3.361,3.345,3.337,3.328,3.321,3.308,3.3,3.296,3.287,3.28,3.273,3.265,3.258,3.25,3.234,3.232,3.218,3.217,3.198,3.192,3.19,3.185,3.175,3.17,3.163,3.162,3.159,3.152,3.151,3.14,3.129,3.123,3.116,3.114,3.112,3.112,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.65} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.703368}
SEN {Time 116.65} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 1.0414} {Name Sonar4 Range 3.7338} {Name Sonar5 Range 2.794} {Name Sonar6 Range 2.54} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.9652} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.159} {Name Sonar15 Range 5.8166}
SEN {Time 116.727} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.202,0.202,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.552,0.55,0.55,0.552,0.555,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.151,0.151,0.151,0.153,0.153,0.153,0.153,0,0,0,0,0,0,0,0,0,0.159,0.159,0.156,0.159,0.16,0.16,0.16,0.162,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.831,3.831,3.831,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.599,3.583,3.574,3.573,3.533,3.334,3.323,3.323,3.322,3.322,0.007,0,0,0,0,0,0,0,0,0,0,0.007,0,3.203,3.191,3.183,3.173,3.173,3.183,3.363,0.007,0,0,0,0,0,0.007,0,0,0,0.007,0.009,0.009,0.009,3.041,3.04,3.035,3.035,3.029,3.027,3.025,3.019,3.01,3.007,3.005,3.003,2.995,2.995,2.991,2.989,2.985,2.985,2.984,2.984,2.984,2.977,2.975,2.976,2.975,2.975,2.973,2.972,2.965,2.965,2.958,2.958,2.958,2.958,2.958,2.959,3.477,3.49,3.491,3.497,3.497,3.494,3.495,3.494,3.494,3.495,3.497,3.502,3.502,3.502,3.502,3.502,3.5,3.503,3.503,3.512,3.513,3.513,3.513,3.513,3.516,3.516,3.52,3.523,3.524,3.533,3.533,3.534,3.537,3.537,3.545,3.545,3.549,3.552,3.552,3.564,3.564,3.568,3.569,3.569,3.582,3.583,3.587,3.601,3.602,3.608,3.613,3.614,3.619,3.63,3.641,3.643,3.65,3.656,3.66,3.663,3.666,3.673,3.676,3.691,3.701,3.708,3.71,3.71,3.738,3.74,3.743,3.75,3.759,3.763,3.77,3.787,3.792,3.807,3.818,3.828,3.831,3.845,3.848,3.874,3.893,3.905,3.906,3.917,3.935,3.942,3.951,3.97,3.987,3.992,4.009,4.033,4.037,4.056,4.082,4.086,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.09,4.049,4.014,3.986,3.943,3.912,3.868,3.851,3.832,3.797,3.769,3.737,3.724,3.692,3.665,3.646,3.624,3.605,3.582,3.558,3.536,3.511,3.494,3.467,3.452,3.446,3.42,3.391,3.366,3.352,3.338,3.304,3.3,3.277,3.275,3.253,3.234,3.216,3.203,3.19,3.172,3.167,3.144,3.127,3.115,3.1,3.085,3.081,3.069,3.049,3.038,3.031,3.018,2.999,2.997,2.984,2.97,2.954,2.948,2.928,2.919,2.904,2.889,2.885,2.874,2.864,2.856,2.842,2.84,2.82,2.816,2.812,2.795,2.788,2.777,2.77,2.757,2.757,2.744,2.744,2.739,2.734,2.724,2.717,2.713,2.702,2.69,2.685,2.669,2.668,2.667,2.655,2.655,2.653,2.651,1.159,1.158,1.152,1.147,1.144,1.144,1.147,2.577,2.581,2.581,2.577,2.572,2.572,2.566,2.562,2.561,2.546,2.546,2.544,2.542,2.536,2.531,2.529,2.522,2.519,2.517,2.511,2.509,2.509,2.503,2.502,2.501,2.497,2.495,2.493,2.488,2.484,2.484,2.484,2.478,2.478,2.478,2.478,2.476,2.476,2.476,2.474,2.471,2.467,2.467,2.467,2.466,2.466,2.474,2.474,2.468,2.474,2.474,2.473,2.473,2.473,2.472,2.47,2.47,2.47,2.47,2.474,2.474,2.473,2.474,2.479,2.479,2.479,2.488,2.488,2.489,2.489,2.488,2.489,2.49,2.5,2.501,2.501,2.502,2.504,2.512,2.518,2.52,2.524,2.527,2.53,2.532,2.532,2.534,2.542,2.548,2.555,2.556,2.56,2.565,2.571,2.577,2.578,2.583,2.594,2.596,2.596,2.594,1.187,1.172,1.172,1.172,1.179,1.182,1.185,2.666,2.667,2.684,2.684,2.687,2.693,2.698,2.702,2.715,2.718,2.719,2.732,2.74,2.748,2.756,2.77,2.772,2.782,2.792,2.794,2.813,2.814,2.836,2.843,2.855,2.86,2.868,2.88,2.883,2.902,2.911,2.914,2.928,2.934,2.948,2.963,2.975,2.993,2.995,3.009,3.03,3.035,3.053,3.063,3.069,3.088,3.105,3.11,3.137,3.149,3.152,3.166,3.184,3.202,3.214,3.228,3.259,3.264,3.286,3.3,3.32,3.337,3.355,3.378,3.393,3.424,3.441,3.461,3.473,3.496,3.521,3.548,3.564,3.598,3.604,3.632,3.657,3.684,3.714,3.745,3.76,3.8,3.81,3.842,3.866,3.893,3.923,3.966,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.007,4.035,3.397,3.382,3.378,3.367,3.358,3.333,3.329,3.327,3.304,3.303,3.299,3.28,3.276,3.269,3.266,3.252,3.247,3.238,3.231,3.217,3.21,3.202,3.196,3.192,3.186,3.185,3.173,3.172,3.164,3.15,3.146,3.138,3.135,3.125,3.122,3.121,3.117,3.11,3.108,3.103,3.102,3.09,3.09,3.087,3.081,3.073,3.073,3.07,3.061,3.057,3.057,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 116.95} {Type Odometry} {Name Odometry} {Pose 0.008410,1.009516,-0.696386}
SEN {Time 116.949} {Type Sonar} {Name Sonar0 Range 5.2324} {Name Sonar1 Range 1.0414} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 5.2324} {Name Sonar4 Range 3.7338} {Name Sonar5 Range 2.794} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3782} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.286} {Name Sonar12 Range 0.3048} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.9276}
SEN {Time 117.027} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.197,0.197,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.544,0.544,0.544,0.544,0.547,0.555,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.156,0.156,0.145,0.146,0.146,0.152,0.15,0.15,0.15,0.15,0.15,0.15,0.15,0.156,0,0,0,0,0,0,0,0,0,0.164,0.16,0.159,0.16,0.159,0.159,0.159,0.162,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.887,3.872,3.848,3.834,3.82,3.82,3.82,0,0,0,0,0,0,0,0,0,3.647,3.628,3.616,3.607,3.606,3.581,3.581,3.578,3.567,3.345,3.345,3.345,3.329,0,0.007,0,0,0,0,0,0,0,0,0,0,3.23,3.218,3.201,3.199,3.181,3.17,3.17,3.181,3.333,3.385,0,0,0,0,0,0.007,0,0,0,3.063,3.061,3.056,3.056,3.053,3.046,3.039,3.037,3.034,3.02,3.019,3.018,3.016,3.01,3.008,3.005,3.004,2.998,2.993,2.991,2.991,2.985,2.984,2.981,2.977,2.974,2.974,2.974,2.973,2.969,2.962,2.959,2.959,2.956,2.959,2.956,2.956,2.956,2.959,2.959,3.496,3.499,3.502,3.504,3.502,3.502,3.5,3.5,3.5,3.501,3.501,3.504,3.506,3.506,3.506,3.506,3.507,3.505,3.508,3.506,3.508,3.508,3.516,3.517,3.522,3.524,3.525,3.529,3.534,3.537,3.537,3.54,3.54,3.542,3.544,3.548,3.551,3.552,3.557,3.56,3.568,3.572,3.574,3.575,3.584,3.59,3.59,3.592,3.608,3.61,3.611,3.614,3.628,3.629,3.631,3.637,3.655,3.659,3.661,3.661,3.667,3.677,3.681,3.693,3.7,3.706,3.707,3.724,3.741,3.741,3.745,3.745,3.757,3.765,3.779,3.781,3.805,3.818,3.82,3.834,3.84,3.848,3.855,3.879,3.883,3.897,3.909,3.919,3.934,3.95,3.958,3.969,3.981,3.989,4.026,4.03,4.037,4.068,4.077,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.085,4.037,4.005,3.977,3.939,3.905,3.875,3.844,3.819,3.795,3.76,3.728,3.718,3.683,3.671,3.633,3.615,3.606,3.585,3.552,3.536,3.507,3.483,3.467,3.449,3.432,3.405,3.385,3.369,3.338,3.322,3.303,3.298,3.282,3.262,3.238,3.235,3.208,3.201,3.188,3.169,3.16,3.139,3.123,3.11,3.101,3.081,3.08,3.056,3.054,3.043,3.019,3.008,3.005,2.996,2.971,2.965,2.957,2.948,2.932,2.918,2.906,2.899,2.894,2.877,2.865,2.848,2.843,2.83,2.823,2.816,2.804,2.801,2.79,2.781,2.766,2.764,2.755,2.748,2.745,2.732,2.726,2.722,2.713,2.704,2.7,2.69,2.685,2.678,2.662,2.658,2.654,2.654,2.652,2.645,1.164,1.153,1.152,1.151,1.148,1.148,1.148,2.578,2.578,2.578,2.578,2.572,2.568,2.564,2.562,2.562,2.551,2.545,2.538,2.538,2.534,2.533,2.528,2.527,2.516,2.516,2.51,2.506,2.503,2.5,2.5,2.496,2.494,2.494,2.493,2.493,2.49,2.49,2.484,2.478,2.484,2.487,2.482,2.482,2.482,2.477,2.472,2.472,2.467,2.467,2.465,2.465,2.464,2.464,2.463,2.464,2.473,2.474,2.474,2.474,2.474,2.47,2.468,2.468,2.47,2.468,2.47,2.476,2.476,2.48,2.48,2.48,2.48,2.492,2.492,2.494,2.495,2.495,2.495,2.498,2.499,2.502,2.506,2.506,2.512,2.513,2.515,2.518,2.519,2.52,2.527,2.532,2.536,2.541,2.548,2.549,2.551,2.558,2.561,2.576,2.576,2.577,2.586,2.591,2.593,2.595,2.595,2.593,1.171,1.171,1.17,1.171,1.18,1.187,1.215,2.663,2.673,2.674,2.686,2.69,2.691,2.701,2.701,2.718,2.722,2.726,2.728,2.748,2.753,2.764,2.772,2.785,2.785,2.797,2.808,2.819,2.826,2.841,2.848,2.86,2.864,2.866,2.886,2.894,2.908,2.926,2.93,2.947,2.953,2.962,2.974,2.986,3.007,3.009,3.019,3.04,3.048,3.061,3.068,3.086,3.109,3.111,3.128,3.151,3.164,3.167,3.19,3.194,3.219,3.228,3.242,3.257,3.291,3.304,3.314,3.333,3.351,3.372,3.4,3.421,3.434,3.46,3.48,3.494,3.523,3.542,3.566,3.594,3.616,3.637,3.666,3.697,3.713,3.739,3.761,3.792,3.811,3.839,3.863,3.9,3.962,3.998,4.035,4.035,0.016,0.007,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.407,3.391,3.376,3.361,3.354,3.342,3.334,3.326,3.312,3.305,3.303,3.288,3.278,3.273,3.262,3.259,3.253,3.238,3.228,3.221,3.213,3.205,3.202,3.197,3.193,3.182,3.179,3.169,3.165,3.157,3.148,3.145,3.143,3.132,3.123,3.122,3.119,3.114,3.113,3.108,3.099,3.096,3.092,3.085,3.085,3.078,3.078,3.077,3.068,3.063,3.052,3.052,3.052,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.19} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.633555}
SEN {Time 117.188} {Type Sonar} {Name Sonar0 Range 6.1214} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 2.3368} {Name Sonar3 Range 5.2324} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.6924} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.1016} {Name Sonar11 Range 2.286} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.7686} {Name Sonar15 Range 4.9276}
SEN {Time 117.231} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0.007,0.204,0.204,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.007,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.156,0.148,0.148,0.146,0.146,0.151,0.151,0.151,0.153,0.153,0.153,0.153,0.154,0.154,0,0,0,0,0,0,0,0,0,0.167,0.163,0.159,0.16,0.16,0.16,0.16,0.165,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,0.009,3.582,3.582,3.582,0,0,0,0,0,3.32,0,0.007,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.247,3.247,3.247,3.337,0,0,0,0,0,0,0,0,0,0,3.07,3.07,3.07,3.067,3.059,3.053,3.046,3.043,3.031,3.026,3.02,3.019,3.013,3.009,3.008,3.006,3.005,3.003,3,2.995,2.995,2.992,2.989,2.989,2.982,2.982,2.982,2.975,2.975,2.969,2.965,2.965,2.964,2.963,2.963,2.956,2.955,2.956,2.956,3.502,3.502,3.502,3.502,3.505,3.502,3.499,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.504,3.505,3.505,3.505,3.509,3.512,3.511,3.516,3.517,3.516,3.516,3.516,3.52,3.52,3.53,3.533,3.537,3.537,3.539,3.542,3.547,3.547,3.548,3.559,3.564,3.568,3.568,3.573,3.582,3.584,3.585,3.589,3.594,3.6,3.601,3.613,3.615,3.617,3.635,3.636,3.636,3.646,3.657,3.663,3.665,3.668,3.682,3.683,3.688,3.698,3.7,3.709,3.722,3.732,3.743,3.752,3.753,3.758,3.77,3.774,3.789,3.789,3.804,3.806,3.817,3.833,3.838,3.845,3.859,3.872,3.89,3.91,3.916,3.931,3.933,3.952,3.952,3.954,3.99,4,4.024,4.041,4.046,4.051,4.08,4.093,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.04,4.022,3.978,3.952,3.904,3.892,3.85,3.836,3.813,3.76,3.749,3.719,3.693,3.677,3.641,3.62,3.574,3.564,3.548,3.52,3.508,3.481,3.451,3.448,3.434,3.404,3.392,3.379,3.345,3.329,3.317,3.294,3.28,3.264,3.252,3.236,3.209,3.206,3.185,3.167,3.149,3.14,3.124,3.102,3.092,3.083,3.071,3.047,3.028,3.021,3.016,3,2.986,2.985,2.963,2.96,2.946,2.945,2.915,2.906,2.897,2.889,2.883,2.879,2.87,2.852,2.844,2.839,2.821,2.811,2.803,2.788,2.783,2.78,2.769,2.758,2.748,2.74,2.735,2.718,2.711,2.71,2.698,2.696,2.684,2.68,2.669,2.664,2.66,2.648,2.648,2.644,2.638,1.151,1.148,1.147,1.146,1.139,1.139,1.139,2.571,2.571,2.571,2.571,2.569,2.569,2.563,2.551,2.548,2.547,2.541,2.534,2.534,2.532,2.532,2.525,2.516,2.516,2.516,2.516,2.509,2.508,2.501,2.494,2.493,2.491,2.491,2.488,2.485,2.482,2.482,2.482,2.477,2.475,2.474,2.473,2.472,2.472,2.47,2.47,2.466,2.466,2.466,2.458,2.458,2.461,2.461,2.461,2.461,2.461,2.461,2.461,2.461,2.458,2.458,2.462,2.461,2.462,2.463,2.464,2.467,2.467,2.467,2.468,2.472,2.473,2.474,2.475,2.475,2.486,2.487,2.487,2.489,2.492,2.492,2.492,2.495,2.503,2.509,2.509,2.514,2.516,2.514,2.516,2.52,2.527,2.528,2.532,2.539,2.542,2.544,2.558,2.565,2.565,2.566,2.566,2.573,2.584,2.586,2.586,2.586,1.164,1.162,1.162,1.164,1.165,1.17,1.187,2.654,2.662,2.662,2.662,2.679,2.682,2.692,2.698,2.7,2.711,2.724,2.724,2.732,2.747,2.754,2.762,2.772,2.783,2.787,2.787,2.8,2.818,2.819,2.821,2.833,2.85,2.853,2.87,2.881,2.896,2.906,2.913,2.913,2.927,2.95,2.954,2.971,2.976,2.989,2.996,3.014,3.031,3.04,3.06,3.074,3.075,3.091,3.112,3.125,3.126,3.148,3.169,3.185,3.186,3.216,3.226,3.247,3.262,3.28,3.294,3.31,3.339,3.339,3.373,3.384,3.411,3.424,3.451,3.469,3.49,3.497,3.531,3.547,3.57,3.613,3.629,3.645,3.666,3.704,3.732,3.752,3.774,3.805,3.831,3.846,3.894,3.909,3.954,4.01,4.055,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.006,0.007,3.364,3.358,3.342,3.325,3.322,3.311,3.299,3.296,3.279,3.275,3.267,3.26,3.252,3.228,3.228,3.228,3.214,3.209,3.197,3.191,3.185,3.179,3.178,3.176,3.175,3.164,3.161,3.148,3.14,3.133,3.13,3.129,3.121,3.118,3.112,3.108,3.098,3.098,3.09,3.087,3.083,3.079,3.072,3.069,3.062,3.061,3.061,3.053,3.049,3.049,3.049,3.043,3.043,3.042,3.042,3.043,3.042,3.036,3.036,3.032,3.032,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.38} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.577704}
SEN {Time 117.383} {Type Sonar} {Name Sonar0 Range 6.1214} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.413} {Name Sonar4 Range 3.429} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 2.286} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.794} {Name Sonar15 Range 4.9276}
SEN {Time 117.424} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.576,0.563,0.563,0.576,0.582,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.153,0.153,0.153,0.153,0.153,0.153,0.151,0.151,0.152,0.151,0.151,0.151,0.151,0.151,0,0,0,0,0,0,0,0,0,0.164,0.164,0.16,0.16,0.163,0.163,0.163,0.163,0,0.009,0.009,0,0.007,0,0,0,0,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.609,3.589,3.589,3.589,3.579,0,0.007,0,0,0.007,0,0,0.007,0,0,0,0,0,0,0.009,0.009,0.009,0.009,0.009,0,0.009,3.264,3.264,3.366,0,0,0,0,0,0,0.007,0,0,0,0.009,0.009,0.009,0.009,0.009,0.009,3.049,3.043,3.042,3.039,3.037,3.037,3.029,3.021,3.019,3.013,3.012,3.008,3.004,3.002,2.999,2.995,2.993,2.988,2.988,2.988,2.982,2.978,2.978,2.977,2.973,2.972,2.969,2.969,2.969,2.959,2.955,2.959,2.959,2.981,3.493,3.499,3.503,3.509,3.506,3.506,3.506,3.506,3.506,3.512,3.512,3.511,3.511,3.511,3.509,3.509,3.509,3.511,3.511,3.517,3.517,3.517,3.518,3.523,3.523,3.523,3.526,3.527,3.53,3.533,3.537,3.541,3.542,3.546,3.548,3.553,3.553,3.555,3.563,3.569,3.569,3.574,3.589,3.591,3.593,3.6,3.602,3.604,3.61,3.617,3.625,3.635,3.637,3.646,3.662,3.665,3.666,3.67,3.671,3.679,3.684,3.689,3.696,3.701,3.709,3.711,3.731,3.734,3.744,3.761,3.763,3.764,3.779,3.794,3.796,3.811,3.821,3.828,3.844,3.844,3.858,3.863,3.866,3.891,3.907,3.909,3.91,3.931,3.941,3.964,3.979,3.994,3.998,4.02,4.037,4.049,4.069,4.078,4.094,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.093,4.055,3.977,3.961,3.924,3.906,3.886,3.863,3.815,3.782,3.762,3.744,3.705,3.677,3.653,3.627,3.61,3.581,3.567,3.544,3.525,3.496,3.471,3.447,3.44,3.419,3.391,3.369,3.352,3.327,3.315,3.293,3.287,3.264,3.253,3.234,3.218,3.213,3.189,3.178,3.16,3.141,3.136,3.119,3.098,3.098,3.073,3.064,3.042,3.041,3.018,3.005,2.987,2.973,2.965,2.959,2.948,2.932,2.926,2.911,2.894,2.89,2.875,2.866,2.857,2.848,2.844,2.828,2.821,2.811,2.8,2.794,2.783,2.781,2.769,2.753,2.75,2.745,2.741,2.722,2.721,2.714,2.699,2.694,2.687,2.678,2.672,2.658,2.649,2.649,2.641,2.641,1.15,1.148,1.141,1.139,1.138,1.138,1.139,2.58,2.58,2.58,2.574,2.573,2.573,2.558,2.556,2.555,2.549,2.534,2.531,2.531,2.527,2.525,2.522,2.522,2.514,2.511,2.505,2.503,2.501,2.501,2.495,2.495,2.495,2.491,2.491,2.49,2.49,2.488,2.482,2.475,2.474,2.474,2.472,2.472,2.47,2.47,2.467,2.461,2.461,2.46,2.46,2.46,2.457,2.458,2.458,2.458,2.459,2.459,2.459,2.458,2.457,2.457,2.457,2.457,2.458,2.461,2.463,2.464,2.464,2.462,2.464,2.464,2.464,2.466,2.467,2.472,2.478,2.48,2.481,2.481,2.481,2.486,2.489,2.491,2.491,2.493,2.496,2.496,2.496,2.502,2.519,2.522,2.522,2.522,2.522,2.524,2.537,2.538,2.542,2.547,2.55,2.551,2.556,2.564,2.566,2.571,2.571,2.571,2.562,1.16,1.16,1.16,1.16,1.162,1.167,1.167,2.641,2.644,2.653,2.653,2.659,2.675,2.676,2.688,2.692,2.709,2.716,2.719,2.721,2.731,2.74,2.756,2.765,2.769,2.77,2.787,2.789,2.796,2.816,2.822,2.837,2.838,2.86,2.867,2.87,2.878,2.888,2.907,2.921,2.925,2.935,2.955,2.955,2.973,2.982,2.994,3.003,3.013,3.033,3.04,3.062,3.07,3.091,3.097,3.114,3.123,3.131,3.156,3.163,3.181,3.196,3.219,3.232,3.238,3.262,3.287,3.293,3.309,3.339,3.35,3.375,3.392,3.398,3.419,3.478,3.498,3.498,3.522,3.535,3.555,3.576,3.608,3.642,3.655,3.675,3.705,3.728,3.753,3.761,3.822,3.833,3.856,3.894,3.923,3.983,4.029,4.061,4.061,4.092,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0.007,0,0,0,0.007,0,0.007,0,0,0,0,0.009,3.362,3.361,3.329,3.318,3.31,3.298,3.283,3.279,3.273,3.264,3.256,3.233,3.232,3.216,3.216,3.215,3.21,3.195,3.195,3.189,3.177,3.169,3.168,3.16,3.16,3.147,3.141,3.131,3.13,3.125,3.125,3.121,3.116,3.109,3.104,3.097,3.094,3.085,3.084,3.082,3.077,3.076,3.072,3.065,3.063,3.058,3.052,3.051,3.049,3.041,3.04,3.037,3.033,3.033,3.033,3.043,3.043,3.043,3.038,3.027,3.026,3.026,3.018,3.022,3.021,3.021,3.018,3.018,3.018,3.018,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.58} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.525344}
SEN {Time 117.578} {Type Sonar} {Name Sonar0 Range 5.6896} {Name Sonar1 Range 1.0668} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.413} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 2.7178} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 0.127} {Name Sonar8 Range 3.3528} {Name Sonar9 Range 0.1016} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3302} {Name Sonar12 Range 1.6764} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.794} {Name Sonar15 Range 4.0386}
SEN {Time 117.623} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0.007,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.157,0.154,0.151,0.151,0.151,0.151,0.149,0.149,0.151,0.151,0.153,0.154,0.154,0.16,0,0,0,0,0,0,0,0,0,0.163,0.16,0.159,0.159,0.16,0.161,0.162,0.167,0,0,0,0,0,0,0.009,0.009,0.009,0.009,3.608,3.606,3.606,3.584,3.584,0.007,0,3.356,3.322,3.317,3.317,3.322,0,0,0,0,0,0,0,0,0.009,0.009,0.009,3.228,3.203,3.194,3.194,3.195,3.195,3.328,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.054,3.051,3.048,3.045,3.041,3.041,3.034,3.033,3.031,3.029,3.016,3.014,3.014,3.014,3.014,3.011,3.012,3.011,3.001,3.001,3,3,2.998,2.994,2.99,2.987,2.986,2.983,2.979,2.976,2.972,2.973,2.973,2.968,2.973,2.974,3.507,3.51,3.513,3.513,3.513,3.511,3.511,3.511,3.511,3.511,3.51,3.511,3.511,3.513,3.513,3.513,3.513,3.517,3.516,3.516,3.517,3.524,3.523,3.526,3.531,3.53,3.53,3.53,3.536,3.537,3.54,3.54,3.543,3.55,3.55,3.553,3.557,3.563,3.564,3.567,3.575,3.575,3.581,3.581,3.588,3.59,3.598,3.61,3.611,3.622,3.629,3.631,3.651,3.652,3.652,3.661,3.667,3.675,3.676,3.681,3.687,3.702,3.71,3.719,3.719,3.723,3.74,3.745,3.756,3.757,3.772,3.789,3.795,3.8,3.813,3.825,3.828,3.84,3.857,3.859,3.871,3.875,3.881,3.896,3.91,3.927,3.935,3.948,3.963,3.965,3.985,3.991,4.024,4.025,4.042,4.053,4.074,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.094,4.078,4.042,4.011,3.969,3.941,3.902,3.874,3.831,3.803,3.786,3.769,3.725,3.722,3.704,3.659,3.64,3.613,3.593,3.568,3.552,3.544,3.517,3.484,3.462,3.439,3.422,3.407,3.387,3.364,3.343,3.331,3.31,3.293,3.272,3.252,3.228,3.227,3.194,3.192,3.177,3.161,3.137,3.131,3.123,3.112,3.096,3.079,3.067,3.051,3.037,3.026,3.018,2.999,2.988,2.973,2.963,2.949,2.94,2.923,2.908,2.902,2.884,2.883,2.874,2.854,2.853,2.841,2.828,2.82,2.811,2.807,2.801,2.785,2.769,2.763,2.752,2.741,2.734,2.729,2.721,2.714,2.709,2.703,2.697,2.689,2.682,2.673,2.66,2.658,2.658,2.65,2.642,1.149,1.145,1.142,1.139,1.134,1.134,1.134,2.577,2.577,2.577,2.577,2.574,2.558,2.557,2.554,2.551,2.55,2.548,2.541,2.534,2.532,2.53,2.52,2.514,2.511,2.511,2.509,2.505,2.499,2.495,2.493,2.492,2.488,2.487,2.486,2.484,2.478,2.477,2.476,2.475,2.475,2.475,2.466,2.463,2.466,2.466,2.467,2.467,2.467,2.46,2.457,2.456,2.456,2.456,2.456,2.454,2.454,2.453,2.454,2.452,2.455,2.452,2.455,2.452,2.452,2.452,2.457,2.453,2.456,2.457,2.456,2.456,2.461,2.461,2.461,2.471,2.471,2.471,2.474,2.477,2.477,2.477,2.481,2.485,2.486,2.49,2.502,2.502,2.504,2.504,2.505,2.51,2.515,2.519,2.522,2.522,2.525,2.525,2.53,2.54,2.545,2.548,2.549,2.554,2.555,2.569,2.579,2.579,2.579,1.155,1.155,1.152,1.152,1.162,1.166,1.174,2.641,2.643,2.654,2.654,2.655,2.665,2.667,2.673,2.689,2.697,2.697,2.708,2.717,2.729,2.734,2.737,2.755,2.758,2.762,2.772,2.786,2.793,2.802,2.81,2.826,2.834,2.847,2.848,2.866,2.883,2.883,2.886,2.915,2.929,2.929,2.94,2.956,2.959,2.959,2.988,3,3.009,3.018,3.039,3.041,3.057,3.073,3.096,3.105,3.117,3.132,3.141,3.156,3.173,3.187,3.209,3.212,3.221,3.25,3.266,3.277,3.313,3.316,3.342,3.353,3.372,3.397,3.421,3.435,3.454,3.477,3.504,3.528,3.546,3.564,3.595,3.619,3.638,3.652,3.696,3.725,3.733,3.762,3.792,3.83,3.852,3.867,3.903,3.924,3.98,4.001,4.033,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0,0,0,0,0,0,0,0,0,0,0.007,0,0.009,0.007,0.009,0.009,0.009,0.009,3.329,3.309,3.294,3.288,3.288,3.275,3.275,3.256,3.253,3.249,3.234,3.228,3.22,3.204,3.203,3.191,3.188,3.184,3.172,3.168,3.157,3.15,3.148,3.146,3.132,3.132,3.127,3.121,3.114,3.113,3.113,3.103,3.096,3.095,3.087,3.082,3.077,3.073,3.075,3.072,3.067,3.06,3.056,3.055,3.051,3.051,3.046,3.043,3.036,3.035,3.033,3.033,3.033,3.033,3.033,3.033,3.026,3.021,3.02,3.014,3.014,3.013,3.012,3.012,3.01,3.01,3.01,3.01,3.01,3.013,3.01,3.01,3.005,3.005,3.003,3.005,3.013,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.78} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.462512}
SEN {Time 117.782} {Type Sonar} {Name Sonar0 Range 5.6896} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 2.413} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 2.8194} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.3716} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3302} {Name Sonar12 Range 1.7018} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 2.794} {Name Sonar15 Range 4.0386}
SEN {Time 117.823} {Type RangeScanner} {Name LaserScannerURG} {Resolution 0.0061359} {FOV 4.7131392} {Range 0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.159,0.158,0.155,0.155,0.152,0.152,0.151,0.15,0.15,0.15,0.153,0.154,0.156,0.163,0,0,0,0,0,0,0,0,0,0.161,0.161,0.155,0.155,0.155,0.156,0.157,0.169,0.379,3.58,3.596,3.596,3.599,0.007,0,0,0,0,0,0.007,0,0,0,0,0,0,0,3.246,3.246,3.241,3.241,0.007,3.223,3.223,3.256,3.256,3.339,0,0,0,0,0,0,0,0,0,0,0,0.007,0.009,0.009,0.009,3.068,3.058,3.057,3.057,3.047,3.045,3.039,3.037,3.035,3.031,3.025,3.016,3.016,3.016,3.016,3.013,3.013,3.005,3.005,3.005,3.001,2.998,2.998,2.996,2.996,2.991,2.986,2.984,2.984,2.984,2.984,2.984,2.984,2.984,2.985,3.514,3.514,3.519,3.516,3.516,3.516,3.521,3.516,3.513,3.513,3.514,3.514,3.516,3.518,3.52,3.52,3.521,3.523,3.523,3.522,3.523,3.522,3.522,3.521,3.523,3.523,3.53,3.53,3.537,3.536,3.536,3.546,3.546,3.546,3.556,3.559,3.559,3.563,3.565,3.572,3.575,3.577,3.587,3.598,3.598,3.599,3.606,3.607,3.609,3.621,3.628,3.63,3.635,3.644,3.648,3.664,3.664,3.667,3.681,3.685,3.691,3.696,3.707,3.71,3.726,3.729,3.732,3.744,3.751,3.757,3.762,3.767,3.795,3.798,3.812,3.812,3.814,3.83,3.847,3.85,3.862,3.869,3.887,3.899,3.906,3.928,3.929,3.951,3.952,3.98,3.99,3.996,4.026,4.029,4.039,4.043,4.047,4.09,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,4.073,4.043,3.992,3.963,3.932,3.895,3.864,3.84,3.822,3.788,3.764,3.737,3.697,3.684,3.66,3.643,3.618,3.582,3.557,3.537,3.512,3.505,3.477,3.467,3.452,3.409,3.407,3.392,3.374,3.348,3.339,3.314,3.298,3.271,3.27,3.252,3.229,3.223,3.204,3.187,3.16,3.142,3.141,3.109,3.098,3.09,3.066,3.062,3.054,3.039,3.028,3.016,2.994,2.983,2.981,2.96,2.957,2.944,2.941,2.922,2.906,2.888,2.883,2.868,2.864,2.855,2.841,2.83,2.829,2.803,2.796,2.787,2.772,2.77,2.761,2.754,2.742,2.73,2.723,2.723,2.707,2.705,2.698,2.69,2.688,2.675,2.671,2.667,2.649,2.649,2.648,2.644,1.143,1.138,1.138,1.137,1.138,1.138,1.147,2.576,2.576,2.576,2.575,2.565,2.557,2.555,2.552,2.538,2.537,2.535,2.535,2.527,2.527,2.522,2.522,2.519,2.511,2.504,2.501,2.5,2.497,2.497,2.49,2.488,2.487,2.484,2.484,2.479,2.477,2.475,2.475,2.47,2.468,2.468,2.468,2.461,2.461,2.458,2.456,2.455,2.455,2.454,2.455,2.455,2.454,2.453,2.454,2.454,2.452,2.457,2.457,2.457,2.457,2.457,2.456,2.455,2.455,2.455,2.455,2.455,2.456,2.456,2.457,2.46,2.46,2.46,2.46,2.46,2.47,2.47,2.47,2.474,2.474,2.475,2.475,2.48,2.481,2.486,2.486,2.487,2.494,2.496,2.496,2.497,2.501,2.511,2.516,2.522,2.529,2.53,2.532,2.532,2.54,2.55,2.553,2.553,2.564,2.566,2.567,2.567,2.567,1.149,1.145,1.145,1.145,1.155,1.157,1.167,2.63,2.645,2.646,2.645,2.646,2.649,2.667,2.668,2.675,2.685,2.7,2.706,2.711,2.716,2.723,2.725,2.742,2.746,2.762,2.763,2.77,2.779,2.792,2.794,2.817,2.82,2.843,2.847,2.851,2.874,2.878,2.893,2.893,2.911,2.922,2.927,2.933,2.958,2.966,2.979,2.983,2.997,3.011,3.02,3.029,3.054,3.06,3.074,3.076,3.097,3.121,3.123,3.143,3.158,3.169,3.181,3.196,3.222,3.238,3.249,3.273,3.28,3.297,3.321,3.341,3.361,3.379,3.393,3.415,3.441,3.459,3.477,3.48,3.522,3.532,3.571,3.591,3.612,3.641,3.668,3.694,3.704,3.743,3.784,3.795,3.829,3.853,3.89,3.921,3.94,3.976,4.079,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.016,0.007,0,0,0,0,0,0,0,0.007,0,0.009,0.009,0.009,0.009,0.009,3.361,3.351,3.335,3.32,3.307,3.298,3.294,3.274,3.268,3.25,3.25,3.241,3.233,3.221,3.216,3.203,3.202,3.202,3.189,3.172,3.17,3.166,3.161,3.152,3.148,3.141,3.133,3.126,3.123,3.121,3.109,3.108,3.101,3.092,3.09,3.088,3.078,3.071,3.069,3.063,3.061,3.059,3.059,3.057,3.053,3.046,3.044,3.034,3.034,3.034,3.034,3.034,3.03,3.03,3.023,3.023,3.023,3.025,3.025,3.025,3.016,3.013,3.013,3.013,3.013,3.012,3.012,3.01,3.01,3.005,3.004,3.004,3.001,3.001,3.001,3.006,3.006,3.006,3.004,3.006,3.006,3.004,3.004,3.004,3.004,3.002,3.002,3.002,3.005,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019,0.019}
SEN {Time 117.98} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.404916}
SEN {Time 117.977} {Type Sonar} {Name Sonar0 Range 5.6896} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 4.0132} {Name Sonar4 Range 3.2512} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.127} {Name Sonar8 Range 1.3716} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3302} {Name Sonar12 Range 1.7018} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 3.0988} {Name Sonar15 Range 4.0386}
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SEN {Time 118.18} {Type Odometry} {Name Odometry} {Pose 0.010942,1.009312,-0.347321}
SEN {Time 118.181} {Type Sonar} {Name Sonar0 Range 1.0414} {Name Sonar1 Range 2.3368} {Name Sonar2 Range 1.0414} {Name Sonar3 Range 4.0132} {Name Sonar4 Range 5.969} {Name Sonar5 Range 2.6924} {Name Sonar6 Range 0.127} {Name Sonar7 Range 0.127} {Name Sonar8 Range 0.1016} {Name Sonar9 Range 0.127} {Name Sonar10 Range 0.127} {Name Sonar11 Range 0.3048} {Name Sonar12 Range 1.7018} {Name Sonar13 Range 1.8542} {Name Sonar14 Range 3.0988} {Name Sonar15 Range 5.1816}