# This file contains metric planar odometry and landmark observations with covariance.
#  It is derived from the original odometry / image dataset by a circular landmark detection 
#  algorithm. The original dataset as well as calibration and landmark detection code is
#  available upon request.
# 
#  Format:
#  The robot coordinate system is located in the robot's center with -Y pointing forward and X pointing right.
#  STEP <image.ppm> <dX> <dY> <dPhi> <cXX> <cXY> <cYY> <cXPhi> <cYPhi> <cPhiPhi>
#  A single step of movement with odometry information.
#  <image.ppm> is the filename of the image
#  taken AFTER the odometry step. <dX>, <dY>, <dPhi> is the location of the robot after movement
#  in the coordinate system of the robot before moving. Units are meter and radian.
#  {{cXX,cXY,cXPhi},{cXY,cYY,cYPHi},{cXPhi,cYPhi,cPhiPhi}} is the covariance matrix of {dX,dY,dPhi}
#  with corresponding units (meter^2, meter*radian, radian^2).
#  The image is not needed, since the result of the landmark detection is provided but it is included for
#  reference.
# 
#  LANDMARK <pX> <pY> <quality> <cXX> <cXY> <cYY> <ID>
#  Observation of a landmark in the image taken after the previous odometry step.
#  {pX, pY} is the position in robot coordinates (unit meter).
#  {{cXX, cXY}, {cXY, cYY}} is the covariance of {pX, pY}
#  <quality> ranging from 0 (bad) to 1 (good) indicates the confidence of the computer
#  vision landmark detector.
 
STEP largemap240803e.0000.pgm  0.00088 -0.15647  0.01153 0.000016397281 -0.000000002137 0.000014026487 0.000021731727 -0.000000042656 0.000261252446
LANDMARK -0.249545 -3.10353 0.934398 0.0017211 0.000162376 0.00376213 4
LANDMARK 0.398051 -3.05375 0.822336 0.00172804 -0.000203995 0.00366349 6
LANDMARK -0.660749 -2.11665 0.951467 0.00170519 0.000161219 0.00231779 5
LANDMARK 0.508728 -2.08611 0.989923 0.00168004 -0.000104717 0.00228035 1
LANDMARK 1.17968 -1.72129 0.975627 0.0017465 -0.00019293 0.00205644 2
LANDMARK -0.782228 -1.24079 0.986223 0.00166334 7.09189e-05 0.00181023 3
STEP largemap240803e.0001.pgm -0.00470 -0.18707  0.06820 0.000019834605 -0.000000084074 0.000016337711 0.000028153298 -0.000000708950 0.000304450153
LANDMARK 0.254529 -3.36067 0.7294 0.00173244 -0.000161993 0.00442829 7
LANDMARK -0.411773 -2.91275 0.798877 0.00172793 0.000217074 0.0033782 4
LANDMARK 0.229058 -2.89637 0.849479 0.00170166 -9.43628e-05 0.00331787 6
LANDMARK 0.401512 -1.94699 0.988372 0.0016651 -6.88793e-05 0.00216487 1
LANDMARK -0.775408 -1.89416 0.976977 0.00170448 0.00015146 0.00214528 5
LANDMARK 1.07734 -1.60889 0.978098 0.00171785 -0.000151597 0.00198384 2
LANDMARK -0.828533 -1.00547 0.986747 0.00165462 5.51234e-05 0.00174181 3
STEP largemap240803e.0002.pgm -0.00460 -0.18630  0.06608 0.000019825477 -0.000000051551 0.000016250064 0.000028436344 -0.000000490011 0.000302833823
LANDMARK 0.0658033 -3.21052 0.818047 0.00171245 -2.226e-05 0.00400833 7
LANDMARK 0.0619721 -2.72595 0.870606 0.00168611 -1.23143e-05 0.00301153 6
LANDMARK -0.591105 -2.70996 0.956239 0.00174074 0.00025734 0.00304297 4
LANDMARK 0.291976 -1.78932 0.987512 0.0016532 -4.0242e-05 0.00205618 1
LANDMARK -0.872748 -1.66762 0.990249 0.0017005 0.000134499 0.00200431 5
LANDMARK 1.0145 -1.50383 0.975897 0.00170002 -0.000124434 0.0019266 2
STEP largemap240803e.0003.pgm -0.01394 -0.13259  0.08844 0.000013870332 -0.000000111550 0.000012465684 0.000015862517 -0.000001098735 0.000232147433
LANDMARK -0.237414 -3.03902 0.830023 0.00171577 0.000146452 0.00361563 7
LANDMARK -0.190898 -2.56734 0.963839 0.00168526 7.6173e-05 0.00278726 6
LANDMARK -0.836525 -2.497 0.931422 0.00176967 0.000303191 0.00276166 4
LANDMARK 0.134443 -1.6745 0.995136 0.00164518 -1.38883e-05 0.00198831 1
LANDMARK -1.02063 -1.43795 0.99529 0.00170212 0.000123208 0.0018937 5
LANDMARK 0.869698 -1.44969 0.992816 0.00167905 -9.64445e-05 0.00189604 2
STEP largemap240803e.0004.pgm -0.03077 -0.15348 -0.03310 0.000015117136 -0.000000428042 0.000013303408 0.000018806066 -0.000004317347 0.000246141137
LANDMARK -0.0917988 -2.45215 0.933243 0.00167536 3.69392e-05 0.0026355 6
LANDMARK -0.754798 -2.38293 0.961176 0.00174179 0.000243156 0.0026056 4
LANDMARK 0.187597 -1.52857 0.995401 0.00164144 -1.77519e-05 0.00191666 1
LANDMARK -0.961492 -1.32322 0.996817 0.00168601 9.97249e-05 0.00184415 5
LANDMARK 0.928391 -1.28162 0.993488 0.00167456 -8.49282e-05 0.00182985 2
STEP largemap240803e.0005.pgm -0.02191 -0.17360 -0.03746 0.000017501220 -0.000000298340 0.000014800938 0.000023676736 -0.000002370500 0.000275223235
LANDMARK -0.0313024 -2.80547 0.680171 0.00169069 2.64594e-05 0.00314176 7
LANDMARK -0.0110417 -2.32259 0.906812 0.0016682 1.08835e-05 0.00248812 6
LANDMARK -0.685385 -2.27658 0.958902 0.00172087 0.000197394 0.00247751 4
LANDMARK 0.254251 -1.36168 0.99659 0.00163778 -2.07707e-05 0.00184801 1
LANDMARK -0.916873 -1.20705 0.996988 0.00167348 8.13279e-05 0.00180151 5
LANDMARK 0.990225 -1.08235 0.984847 0.00166823 -7.08637e-05 0.00176672 2
STEP largemap240803e.0006.pgm -0.03834 -0.16420 -0.04064 0.000016805565 -0.000000655386 0.000014520598 0.000022261904 -0.000006033216 0.000267357950
LANDMARK 0.124987 -2.62374 0.857069 0.00168251 -3.37164e-05 0.00286081 7
LANDMARK -0.537603 -2.14233 0.951615 0.00169178 0.000133397 0.0023321 4
LANDMARK 0.129463 -2.14487 0.947341 0.0016619 -2.20288e-05 0.00231663 6
LANDMARK 0.343143 -1.19189 0.996768 0.00163504 -2.36339e-05 0.00179061 1
LANDMARK -0.828363 -1.08706 0.995352 0.00165882 6.16997e-05 0.00176339 5
LANDMARK 1.07137 -0.881884 0.983257 0.00166324 -5.89665e-05 0.00171871 2
STEP largemap240803e.0007.pgm -0.03243 -0.19876  0.00673 0.000020399608 -0.000000580875 0.000016470633 0.000030312631 -0.000004180392 0.000305381749
LANDMARK 0.128047 -2.50256 0.836609 0.00167697 -3.09821e-05 0.00269823 7
LANDMARK -0.540028 -1.9772 0.962988 0.00168218 0.000112526 0.00219348 4
LANDMARK 0.140374 -1.98306 0.971199 0.00165594 -2.06484e-05 0.00218479 6
LANDMARK 0.380151 -1.01712 0.994224 0.00163106 -2.10057e-05 0.00174228 1
LANDMARK -0.812447 -0.890598 0.995806 0.00164797 4.57009e-05 0.00171527 5
STEP largemap240803e.0008.pgm -0.03115 -0.18555 -0.01892 0.000018726126 -0.000000597455 0.000015556086 0.000026647687 -0.000004834874 0.000287887281
LANDMARK 0.210064 -2.30429 0.766899 0.00167086 -4.72688e-05 0.00247207 7
LANDMARK -0.474861 -1.80059 0.975701 0.00166717 8.12456e-05 0.00206748 4
LANDMARK 0.202732 -1.79027 0.987588 0.0016504 -2.63153e-05 0.0020552 6
STEP largemap240803e.0009.pgm -0.00516 -0.19484 -0.00374 0.000019382532 -0.000000057514 0.000015693565 0.000028430474 -0.000000398391 0.000292465091
LANDMARK -0.411539 -3.504 0.931927 0.00177514 0.00035954 0.00489242 8
LANDMARK 0.217134 -2.12633 0.951938 0.00166358 -4.09803e-05 0.0023021 7
LANDMARK -0.455848 -1.61351 0.989482 0.00165728 6.29804e-05 0.0019606 4
LANDMARK 0.216082 -1.61931 0.99132 0.00164493 -2.33716e-05 0.00196043 6
STEP largemap240803e.0010.pgm -0.00466 -0.17981 -0.05356 0.000018442746 -0.000000096837 0.000015466193 0.000025195199 -0.000000865258 0.000288186122
LANDMARK -0.276168 -3.34891 0.815337 0.00174096 0.000219924 0.0044 8
LANDMARK 0.306379 -1.94846 0.935164 0.00166001 -5.06491e-05 0.00216274 7
LANDMARK -0.507665 -1.78325 0.764846 0.00166887 8.53238e-05 0.00205778 9
LANDMARK -0.403822 -1.45057 0.994047 0.00164783 4.59829e-05 0.00188397 4
LANDMARK 0.287507 -1.44145 0.99494 0.00164108 -2.63951e-05 0.0018798 6
STEP largemap240803e.0011.pgm -0.00596 -0.17579 -0.07339 0.000018577686 -0.000000110428 0.000015544092 0.000025788907 -0.000000918818 0.000289622555
LANDMARK -0.0170549 -3.24364 0.825606 0.00171471 3.19562e-05 0.0040942 8
LANDMARK 0.453079 -1.75567 0.968529 0.00165991 -6.40247e-05 0.00204009 7
LANDMARK -0.37878 -1.67337 0.794766 0.00165527 5.61137e-05 0.00199044 9
LANDMARK -0.289992 -1.33086 0.998284 0.00163921 2.8847e-05 0.00183603 4
LANDMARK 0.383735 -1.2507 0.995485 0.00163806 -2.89634e-05 0.00180978 6
STEP largemap240803e.0012.pgm  0.00608 -0.19003 -0.01895 0.000019152537 0.000000085474 0.000015605775 0.000027875308 0.000000550007 0.000290802516
LANDMARK 0.0431151 -3.10871 0.766618 0.00170626 -7.0124e-06 0.00375768 8
LANDMARK 0.487382 -1.57247 0.977942 0.00165426 -5.64051e-05 0.001942 7
LANDMARK -0.353306 -1.50254 0.851566 0.00164742 4.29322e-05 0.00190587 9
LANDMARK -0.263834 -1.15867 0.994901 0.00163333 2.12081e-05 0.00177938 4
LANDMARK 0.411078 -1.06786 0.995035 0.00163339 -2.46205e-05 0.00175547 6
STEP largemap240803e.0013.pgm  0.00412 -0.15827  0.00276 0.000014721157 0.000000058290 0.000012751788 0.000018719136 0.000000578899 0.000237624610
LANDMARK 0.056742 -2.95181 0.811072 0.00169755 -1.31274e-05 0.00341316 8
LANDMARK 0.497882 -1.42238 0.983667 0.00164887 -4.83177e-05 0.00187488 7
LANDMARK -0.35225 -1.34951 0.933695 0.00164199 3.55402e-05 0.00184332 9
LANDMARK -0.270365 -1.00647 0.997554 0.00162931 1.76806e-05 0.00173852 4
LANDMARK 0.423428 -0.925356 0.951957 0.00162969 -2.08628e-05 0.00172105 6
STEP largemap240803e.0014.pgm  0.01052 -0.16024  0.02647 0.000015491809 0.000000142752 0.000013386109 0.000019883569 0.000001338252 0.000249299437
LANDMARK -0.0307963 -2.77791 0.952108 0.00168927 2.54186e-05 0.00309548 8
LANDMARK 0.444209 -1.29012 0.984244 0.00164159 -3.59847e-05 0.00182385 7
LANDMARK -0.400199 -1.18962 0.961618 0.00163851 3.28639e-05 0.00178925 9
STEP largemap240803e.0015.pgm  0.00187 -0.15823  0.00650 0.000014812254 0.000000017741 0.000012809039 0.000018947652 0.000000157050 0.000238721002
LANDMARK -0.0669389 -2.64524 0.978842 0.00168366 3.54961e-05 0.0028911 8
LANDMARK 0.431121 -1.14022 0.987684 0.00163623 -2.86465e-05 0.00177574 7
LANDMARK -0.412893 -1.03212 0.97504 0.00163397 2.74536e-05 0.0017452 9
STEP largemap240803e.0016.pgm  0.00063 -0.16059  0.01852 0.000015294531 0.000000011510 0.000013224450 0.000019454901 0.000000125481 0.000246464826
LANDMARK 1.48056 -2.71557 0.72062 0.00200347 -0.000674783 0.00321847 10
LANDMARK -0.0820104 -2.52211 0.926454 0.00167827 3.63653e-05 0.00272266 8
LANDMARK 0.414464 -0.99873 0.986693 0.00163149 -2.2593e-05 0.00173794 7
STEP largemap240803e.0017.pgm  0.00130 -0.16682  0.04295 0.000016664496 0.000000019277 0.000014205642 0.000022106373 0.000000152860 0.000264749767
LANDMARK 1.3625 -2.63204 0.835533 0.00193459 -0.000566809 0.00305231 10
LANDMARK -0.208777 -2.38178 0.922157 0.00167709 6.84944e-05 0.00255698 8
LANDMARK -1.8932 -2.081 0.815626 0.00205334 0.000534085 0.00241204 12
STEP largemap240803e.0018.pgm -0.01184 -0.16531  0.03049 0.000016218303 -0.000000179959 0.000013883011 0.000021360009 -0.000001645533 0.000258482528
LANDMARK 1.30003 -2.52763 0.962473 0.00189149 -0.000487547 0.00287969 10
LANDMARK -0.270707 -2.21277 0.985526 0.00167267 7.31453e-05 0.00238299 8
LANDMARK -1.96142 -1.8778 0.872833 0.00202569 0.000456938 0.00223099 12
STEP largemap240803e.0019.pgm -0.01520 -0.16274  0.02326 0.000015778511 -0.000000201692 0.000013560043 0.000020553273 -0.000001811671 0.000252381007
LANDMARK 1.25371 -2.40575 0.970901 0.00185546 -0.000416893 0.00270397 10
LANDMARK -0.316221 -2.05933 0.994055 0.00166834 7.21261e-05 0.00224843 8
STEP largemap240803e.0020.pgm -0.00136 -0.16560  0.03930 0.000016402433 0.000000015079 0.000014042368 0.000021470297 0.000000230493 0.000261703428
LANDMARK 1.18282 -2.27104 0.857815 0.00181455 -0.000341483 0.00253064 10
LANDMARK -0.369137 -1.88553 0.991866 0.00166379 6.94248e-05 0.00211977 8
STEP largemap240803e.0021.pgm  0.00551 -0.16492  0.06939 0.000017017512 0.000000103986 0.000014596224 0.000022202761 0.000001023452 0.000271946439
LANDMARK 1.02455 -2.19042 0.876472 0.00176587 -0.000264773 0.00242449 10
LANDMARK -0.480881 -1.69584 0.993308 0.00166264 7.31151e-05 0.00200532 8
STEP largemap240803e.0022.pgm  0.00922 -0.16292  0.09323 0.000017318296 0.000000175734 0.000014942683 0.000022212589 0.000001766023 0.000278239650
LANDMARK 0.853569 -2.11554 0.980418 0.00172589 -0.000197156 0.00233391 10
LANDMARK -0.624625 -1.50963 0.995726 0.00166449 7.73353e-05 0.00191417 8
STEP largemap240803e.0023.pgm  0.01095 -0.16179  0.12175 0.000017881248 0.000000195179 0.000015428262 0.000022971167 0.000001914212 0.000287247098
LANDMARK 0.611739 -2.0291 0.933453 0.00168693 -0.000121905 0.0022393 10
LANDMARK -0.784534 -1.27271 0.997492 0.00166527 7.41276e-05 0.00182137 8
STEP largemap240803e.0024.pgm  0.01265 -0.15713  0.18662 0.000018784472 0.000000246070 0.000016382871 0.000023439546 0.000002544555 0.000304853099
LANDMARK 0.255141 -1.96582 0.970822 0.00165855 -4.17814e-05 0.0021741 10
LANDMARK -0.994319 -0.970624 0.994587 0.00166585 6.47643e-05 0.00173575 8
STEP largemap240803e.0025.pgm  0.01185 -0.15915  0.19774 0.000019375663 0.000000258269 0.000016766386 0.000024831968 0.000002624636 0.000311989943
LANDMARK 2.72079 -3.16974 0.812539 0.00325909 -0.00209389 0.00461436 14
LANDMARK 2.14467 -1.81612 0.849687 0.00207174 -0.000474538 0.00220674 15
LANDMARK -0.124149 -1.83214 0.985359 0.00165131 2.45884e-05 0.00208001 10
LANDMARK 1.35059 -0.963295 0.920926 0.00169859 -8.9802e-05 0.00174386 13
STEP largemap240803e.0026.pgm -0.00567 -0.16800  0.14532 0.000019274235 -0.000000067694 0.000016361891 0.000025852986 -0.000000474061 0.000304903212
LANDMARK 2.17935 -3.33935 0.850569 0.00274123 -0.00177774 0.00492174 14
LANDMARK 1.84625 -1.92427 0.964121 0.0019724 -0.000430533 0.00226609 15
LANDMARK -0.372581 -1.63207 0.97807 0.00165328 5.26459e-05 0.00196845 10
LANDMARK 1.19904 -0.997622 0.970195 0.00168349 -8.04973e-05 0.00174844 13
STEP largemap240803e.0027.pgm -0.01004 -0.17124  0.12215 0.000019122120 -0.000000126244 0.000016180444 0.000025809471 -0.000000974716 0.000301448961
LANDMARK 1.7757 -3.43799 0.729853 0.00241244 -0.00148612 0.00508245 14
LANDMARK 1.62513 -1.97223 0.979478 0.00190098 -0.000380972 0.00228451 15
LANDMARK -0.557858 -1.4281 0.993962 0.00165573 6.21899e-05 0.00187694 10
LANDMARK 1.09769 -0.980846 0.99388 0.00167187 -7.01429e-05 0.00174193 13
STEP largemap240803e.0028.pgm -0.01396 -0.17336  0.08891 0.000018689517 -0.000000205799 0.000015711356 0.000025684145 -0.000001671528 0.000292546624
LANDMARK 0.0623067 -3.86288 0.60734 0.001755 -3.30944e-05 0.00620761 16
LANDMARK 1.46377 -3.4202 0.830407 0.00217607 -0.00116837 0.00491139 14
LANDMARK 1.45805 -1.97953 0.966889 0.00184874 -0.000333022 0.00227328 15
LANDMARK -0.657079 -1.19005 0.98065 0.00165163 5.48165e-05 0.0017917 10
LANDMARK 1.02839 -0.910787 0.981451 0.00166137 -5.83935e-05 0.00172418 13
STEP largemap240803e.0029.pgm -0.01605 -0.17360  0.06987 0.000018216113 -0.000000239685 0.000015367621 0.000024797807 -0.000001998098 0.000286032972
LANDMARK -0.194135 -3.71855 0.624199 0.00175779 0.000216206 0.00562754 16
LANDMARK 1.23402 -3.36849 0.874067 0.00202874 -0.000923506 0.00467584 14
LANDMARK 1.33658 -1.91202 0.975916 0.0018048 -0.000277691 0.00220502 15
LANDMARK -0.722132 -0.989848 0.991036 0.00164688 4.6272e-05 0.00173677 10
STEP largemap240803e.0030.pgm -0.01439 -0.17239  0.06447 0.000017927025 -0.000000201861 0.000015148654 0.000024305830 -0.000001658417 0.000282051483
LANDMARK -1.72544 -3.64942 0.668828 0.00249979 0.0017259 0.00579514 17
LANDMARK -0.407702 -3.545 0.640029 0.00177794 0.000368102 0.00502728 16
LANDMARK 1.04016 -3.28358 0.869913 0.00192227 -0.000712653 0.00437366 14
LANDMARK 1.25058 -1.83006 0.982351 0.00177355 -0.000233894 0.00213534 15
STEP largemap240803e.0031.pgm -0.01031 -0.16754  0.04257 0.000016795062 -0.000000136775 0.000014289113 0.000022435963 -0.000001177916 0.000266168726
LANDMARK -1.90117 -3.43548 0.62976 0.00256586 0.00165792 0.00510823 17
LANDMARK -0.567949 -3.38528 0.904353 0.00179901 0.00044456 0.00455259 16
LANDMARK 0.890433 -3.20511 0.77655 0.00185477 -0.000562448 0.00412458 14
LANDMARK 1.18063 -1.7368 0.988558 0.00174835 -0.000196458 0.00206643 15
STEP largemap240803e.0032.pgm -0.00894 -0.16234  0.01688 0.000015543995 -0.000000106675 0.000013351335 0.000020280656 -0.000000937737 0.000248733253
LANDMARK -1.95516 -3.27514 0.766022 0.00254044 0.00152449 0.00463165 17
LANDMARK -0.618271 -3.20147 0.880536 0.00179258 0.000415576 0.00405854 16
LANDMARK 0.845354 -3.03505 0.794656 0.00181897 -0.000460684 0.00370712 14
LANDMARK 1.15658 -1.60382 0.993528 0.00173027 -0.000164882 0.00198529 15
STEP largemap240803e.0033.pgm -0.00799 -0.15746  0.00033 0.000014618159 -0.000000098754 0.000012675118 0.000018565367 -0.000000935879 0.000236134830
LANDMARK -0.633181 -3.06572 0.806938 0.00178228 0.000379314 0.00373621 16
LANDMARK 0.833183 -2.90993 0.822636 0.00180086 -0.000406917 0.00344176 14
LANDMARK 2.57102 -2.81814 0.714866 0.00283839 -0.00149112 0.00368872 18
LANDMARK 1.14885 -1.45543 0.994659 0.00171501 -0.000137478 0.00190935 15
STEP largemap240803e.0034.pgm -0.00415 -0.20074 -0.00138 0.000020173658 -0.000000055290 0.000016144436 0.000030140899 -0.000000360008 0.000300870630
LANDMARK -2.00302 -3.01849 0.812316 0.00246437 0.00129212 0.00396746 17
LANDMARK -0.625374 -2.93916 0.937594 0.00176808 0.000335466 0.00346455 16
LANDMARK 0.866808 -2.73736 0.768791 0.00178989 -0.000365194 0.00313088 14
LANDMARK 2.60569 -2.66406 0.672529 0.00277729 -0.00134375 0.00338572 18
LANDMARK 1.16812 -1.27355 0.985727 0.00170184 -0.000112323 0.00183393 15
LANDMARK -1.01634 -0.908839 0.667366 0.00166394 6.07915e-05 0.00172201 19
STEP largemap240803e.0035.pgm -0.00316 -0.15809 -0.00095 0.000014661105 -0.000000047747 0.000012697878 0.000018661512 -0.000000506844 0.000236629350
LANDMARK -1.99911 -2.88459 0.932312 0.00240287 0.00115998 0.00366303 17
LANDMARK -0.639514 -2.82019 0.877679 0.00175977 0.000308514 0.00323959 16
LANDMARK 0.869268 -2.63021 0.968405 0.00177867 -0.000332283 0.00295793 14
LANDMARK 2.66088 -2.5479 0.707195 0.00275917 -0.00125819 0.00318767 18
LANDMARK 1.19056 -1.12272 0.990028 0.00169228 -9.463e-05 0.00178338 15
STEP largemap240803e.0036.pgm -0.00922 -0.18929 -0.02472 0.000019065744 -0.000000155169 0.000015665378 0.000027192859 -0.000001180751 0.000291825123
LANDMARK -1.97908 -2.75931 0.814522 0.00233633 0.00103504 0.00340341 17
LANDMARK -0.593111 -2.68311 0.875927 0.00173884 0.00025184 0.00300017 16
LANDMARK 0.934057 -2.43269 0.973466 0.00177222 -0.000300254 0.00269026 14
LANDMARK 1.21722 -0.907807 0.97442 0.0016787 -7.22454e-05 0.00172742 15
STEP largemap240803e.0037.pgm -0.00572 -0.18127 -0.06104 0.000018927694 -0.000000124632 0.000015737098 0.000026488466 -0.000001101056 0.000293202131
LANDMARK -1.77728 -2.64739 0.821172 0.0021662 0.000825474 0.00315611 17
LANDMARK -0.429957 -2.488 0.953181 0.00170131 0.00015109 0.00270116 16
LANDMARK 1.04982 -2.18977 0.957089 0.00177138 -0.000272539 0.00242675 14
STEP largemap240803e.0038.pgm -0.00735 -0.17437 -0.08923 0.000018674932 -0.000000154188 0.000015759090 0.000025290588 -0.000001431634 0.000293548952
LANDMARK -3.02231 -3.00898 0.623963 0.00358431 0.00216871 0.00424473 20
LANDMARK -1.55442 -2.62653 0.965577 0.00204131 0.000689505 0.00307671 17
LANDMARK -0.22077 -2.3814 0.898414 0.00167775 7.20208e-05 0.00255709 16
LANDMARK 1.24428 -1.97021 0.972228 0.00178988 -0.00026929 0.00224395 14
STEP largemap240803e.0039.pgm -0.01092 -0.16526 -0.12809 0.000018497732 -0.000000221141 0.000015839547 0.000024345940 -0.000002142415 0.000294855632
LANDMARK -2.63284 -3.19933 0.850475 0.00322152 0.00207966 0.00463935 20
LANDMARK -1.22912 -2.66433 0.938893 0.00190955 0.000541919 0.00307668 17
LANDMARK 0.0583447 -2.24154 0.981673 0.00166481 -6.89072e-06 0.00240584 16
LANDMARK 1.48233 -1.64128 0.988264 0.00180193 -0.000237436 0.00202703 14
STEP largemap240803e.0040.pgm -0.00941 -0.16926 -0.10912 0.000018547317 -0.000000193476 0.000015764813 0.000024795392 -0.000001828108 0.000293555998
LANDMARK -2.30654 -3.35748 0.847612 0.00294 0.00197483 0.00500449 20
LANDMARK -0.953834 -2.64577 0.980137 0.00181664 0.000401552 0.00299755 17
LANDMARK 0.29172 -2.08899 0.986305 0.00166517 -5.56072e-05 0.00227233 16
LANDMARK 1.6572 -1.31316 0.935255 0.00179368 -0.00018816 0.00186979 14
STEP largemap240803e.0041.pgm -0.00921 -0.16962 -0.10712 0.000018543806 -0.000000189980 0.000015751307 0.000024827895 -0.000001790795 0.000293314294
LANDMARK -1.92927 -3.39455 0.726584 0.00257269 0.00163759 0.00498629 20
LANDMARK -0.668797 -2.55229 0.951729 0.00174114 0.000251928 0.00281513 17
LANDMARK 0.505732 -1.86232 0.983324 0.00166838 -8.17628e-05 0.0021097 16
STEP largemap240803e.0042.pgm -0.00903 -0.16963 -0.10493 0.000018493556 -0.000000186123 0.000015707285 0.000024769488 -0.000001755754 0.000292503012
LANDMARK -1.56241 -3.43122 0.874567 0.00228471 0.00132016 0.00497478 20
LANDMARK -0.401649 -2.46558 0.971176 0.00169684 0.000138171 0.00266999 17
LANDMARK 0.69807 -1.64465 0.988813 0.00167349 -9.31341e-05 0.00198575 16
STEP largemap240803e.0043.pgm -0.00890 -0.16885 -0.10398 0.000018370044 -0.000000181551 0.000015625131 0.000024515722 -0.000001721010 0.000290979934
LANDMARK -1.21435 -3.46805 0.60249 0.00207079 0.00102877 0.0049781 20
LANDMARK -0.147739 -2.36186 0.86452 0.00167327 4.958e-05 0.00253246 17
LANDMARK 0.867031 -1.41307 0.995191 0.0016765 -9.19189e-05 0.00188003 16
STEP largemap240803e.0044.pgm -0.00884 -0.17042 -0.10240 0.000018531555 -0.000000183187 0.000015718246 0.000024897277 -0.000001721024 0.000292716809
LANDMARK -0.865303 -3.42487 0.925863 0.00189803 0.00069801 0.00474098 20
LANDMARK -3.04248 -3.0088 0.780729 0.00361313 0.00218795 0.00425059 21
LANDMARK 0.0861663 -2.20223 0.960938 0.00166349 -1.31529e-05 0.00236843 17
LANDMARK 0.993367 -1.16035 0.99472 0.00167336 -7.89803e-05 0.00179016 16
STEP largemap240803e.0045.pgm -0.00843 -0.17246 -0.09407 0.000018601852 -0.000000176224 0.000015710461 0.000025233185 -0.000001629069 0.000292594524
LANDMARK -0.551713 -3.38531 0.732388 0.00179502 0.000432222 0.00454945 20
LANDMARK -2.76572 -3.16059 0.818169 0.00336354 0.00215439 0.004573 21
LANDMARK -2.28942 -2.38461 0.857878 0.0023961 0.000906773 0.00283988 22
LANDMARK 0.283271 -2.05278 0.990213 0.00166324 -5.17405e-05 0.00224214 17
LANDMARK 1.11485 -0.885485 0.930813 0.00166726 -6.2381e-05 0.00172032 16
STEP largemap240803e.0046.pgm -0.00739 -0.17428 -0.08276 0.000018555396 -0.000000154922 0.000015622262 0.000025323004 -0.000001419771 0.000290999041
LANDMARK -0.275221 -3.23971 0.847403 0.00173313 0.000199866 0.00410067 20
LANDMARK -2.45988 -3.1609 0.814068 0.00298618 0.00185545 0.00447295 21
LANDMARK -2.07166 -2.39457 0.871346 0.00225475 0.000802978 0.00281683 22
LANDMARK 0.451284 -1.84788 0.985961 0.00166385 -7.06304e-05 0.00209791 17
STEP largemap240803e.0047.pgm -0.00711 -0.17506 -0.08067 0.000018598468 -0.000000150407 0.000015641016 0.000025434884 -0.000001376476 0.000291358459
LANDMARK -2.24663 -3.23743 0.862158 0.00280187 0.00175344 0.00461942 21
LANDMARK -0.0151888 -3.10747 0.898009 0.00170668 2.7287e-05 0.00375473 20
LANDMARK -1.90458 -2.42749 0.879832 0.00216713 0.000742715 0.00283522 22
LANDMARK 0.59119 -1.63567 0.986054 0.00166399 -7.58665e-05 0.00197707 17
STEP largemap240803e.0048.pgm -0.00719 -0.17578 -0.07999 0.000018679695 -0.000000153109 0.000015685760 0.000025642983 -0.000001392671 0.000292189080
LANDMARK -1.98215 -3.23671 0.842002 0.00254649 0.00150605 0.00453012 21
LANDMARK 0.225202 -2.95579 0.805822 0.00170481 -9.80499e-05 0.00343379 20
LANDMARK -1.71304 -2.38608 0.973093 0.00205424 0.000626638 0.00274633 22
LANDMARK 0.718011 -1.42262 0.990715 0.00166348 -7.409e-05 0.00187981 17
