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%time,field.header.seq,field.header.stamp,field.header.frame_id,field.child_frame_id,field.pose.pose.position.x,field.pose.pose.position.y,field.pose.pose.position.z,field.pose.pose.orientation.x,field.pose.pose.orientation.y,field.pose.pose.orientation.z,field.pose.pose.orientation.w,field.pose.covariance0,field.pose.covariance1,field.pose.covariance2,field.pose.covariance3,field.pose.covariance4,field.pose.covariance5,field.pose.covariance6,field.pose.covariance7,field.pose.covariance8,field.pose.covariance9,field.pose.covariance10,field.pose.covariance11,field.pose.covariance12,field.pose.covariance13,field.pose.covariance14,field.pose.covariance15,field.pose.covariance16,field.pose.covariance17,field.pose.covariance18,field.pose.covariance19,field.pose.covariance20,field.pose.covariance21,field.pose.covariance22,field.pose.covariance23,field.pose.covariance24,field.pose.covariance25,field.pose.covariance26,field.pose.covariance27,field.pose.covariance28,field.pose.covariance29,field.pose.covariance30,field.pose.covariance31,field.pose.covariance32,field.pose.covariance33,field.pose.covariance34,field.pose.covariance35,field.twist.twist.linear.x,field.twist.twist.linear.y,field.twist.twist.linear.z,field.twist.twist.angular.x,field.twist.twist.angular.y,field.twist.twist.angular.z,field.twist.covariance0,field.twist.covariance1,field.twist.covariance2,field.twist.covariance3,field.twist.covariance4,field.twist.covariance5,field.twist.covariance6,field.twist.covariance7,field.twist.covariance8,field.twist.covariance9,field.twist.covariance10,field.twist.covariance11,field.twist.covariance12,field.twist.covariance13,field.twist.covariance14,field.twist.covariance15,field.twist.covariance16,field.twist.covariance17,field.twist.covariance18,field.twist.covariance19,field.twist.covariance20,field.twist.covariance21,field.twist.covariance22,field.twist.covariance23,field.twist.covariance24,field.twist.covariance25,field.twist.covariance26,field.twist.covariance27,field.twist.covariance28,field.twist.covariance29,field.twist.covariance30,field.twist.covariance31,field.twist.covariance32,field.twist.covariance33,field.twist.covariance34,field.twist.covariance35
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664479416000,1989,664479416000,map,base_link,0.0427054017782,0.0967444553971,-0.0149140916765,0.00969673505566,-0.0129605757134,-0.0160865053287,-0.999739576666,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0855951028796,0.17915940467,0.0632039752483,-9.87430103123e-05,0.00331226782873,-0.00433221179992,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664501094000,1990,664501094000,map,base_link,0.0417501926422,0.0948295295238,-0.0182314552367,0.00965159000449,-0.0129406268078,-0.0160015407748,-0.999741635464,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.082498879758,0.176875762917,0.098232607232,0.0030364911072,-0.00219052424654,-0.00645608548075,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664538094000,1991,664538094000,map,base_link,0.0430425554514,0.0980794429779,-0.0162806026638,0.00954335846985,-0.0129345764536,-0.01583371068,-0.999745424919,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0724080065585,0.16515034378,0.135490158543,0.012025394477,-0.0064787408337,-0.00264897802845,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664571094000,1992,664571094000,map,base_link,0.0446130484343,0.10219374299,-0.0123958913609,0.00931507963274,-0.0128172836635,-0.0157688088084,-0.999750114378,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.057650761272,0.146352249805,0.15191861528,-0.00857200846076,0.00438292417675,-0.00129341916181,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664598094000,1993,664598094000,map,base_link,0.0458390377462,0.105726346374,-0.0084552327171,0.00911579673826,-0.0126455122467,-0.0157631554225,-0.999754227899,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0499193870984,0.138727154515,0.160240318405,0.0041199317202,-0.00242405803874,-0.00543673848733,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664618611000,1994,664618611000,map,base_link,0.0475454032421,0.110708028078,-0.00279361498542,0.00901666063873,-0.0125657686253,-0.0157468566506,-0.999756389225,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0496667228485,0.13665519651,0.158418616634,0.00563683081418,-0.00708535406739,-0.000956960953772,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664655611000,1995,664655611000,map,base_link,0.0460845567286,0.108039721847,-0.000745280645788,0.00906783456788,-0.0124806874307,-0.0157387413731,-0.999757119923,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0439898647706,0.123026556292,0.0937553135808,-0.00172580440994,-0.00406986614689,0.00390263041481,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664691611000,1996,664691611000,map,base_link,0.0419928207994,0.0990214794874,-0.00320198293775,0.00888013454266,-0.0123990105259,-0.0156768255229,-0.999760793835,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0374404337636,0.107570593539,0.0300662393098,-0.00614687008783,0.00422031339258,-0.00103546353057,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664710820000,1997,664710820000,map,base_link,0.0410767272115,0.0977089554071,-0.00407324871048,0.00884995531065,-0.0123342290104,-0.0155186053092,-0.999764331218,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0324800852788,0.105321207229,0.0206109478746,0.0116428472102,-0.0087329717353,-0.00769952684641,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664747820000,1998,664747820000,map,base_link,0.0410082899034,0.0991258993745,-0.00490968907252,0.00880971578229,-0.0122678213779,-0.0154101827056,-0.999767180765,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0195177954637,0.0903778463702,-0.0224137738379,0.002927234862,-0.0033541796729,-0.0026743139606,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664773820000,1999,664773820000,map,base_link,0.0409943312407,0.100572809577,-0.00557758426294,0.00868847089007,-0.0121400354954,-0.0154633544851,-0.999768980655,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.00880880361094,0.0756793015695,-0.0155277677613,-0.00522532919422,0.00430442811921,0.00399925140664,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664796626000,2000,664796626000,map,base_link,0.0409062802792,0.10264980793,-0.006065859925,0.00855414024582,-0.0120622318744,-0.0155071448583,-0.999770402495,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.00086135487467,0.0592248130032,-0.00456211832886,0.00602483609691,-0.0013040904887,0.00220168987289,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664833626000,2001,664833626000,map,base_link,0.0370163582265,0.0954158008099,-0.0104180220515,0.00833216890908,-0.0119764543787,-0.0154553290937,-0.999774110639,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0077342233374,0.0388049432595,0.000841725087404,-0.00331717869267,-0.00324406847358,-0.000310643808916,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664866626000,2002,664866626000,map,base_link,0.0316839888692,0.0843576341867,-0.0154443290085,0.00816160869789,-0.0119015075656,-0.0154031194138,-0.999777218271,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0167433016602,0.0181520767904,0.0307578610911,-0.004078397993,-0.00215887301601,0.00320753781125,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664899626000,2003,664899626000,map,base_link,0.0290500950068,0.0798426568508,-0.0167637057602,0.00800597282707,-0.0118415829366,-0.0153574822406,-0.999779890302,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0188250486888,0.0109972519149,0.0105063125022,-0.0074188252911,0.0046792072244,-0.000119874835946,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664921354000,2004,664921354000,map,base_link,0.0274556912482,0.0780340135098,-0.0168733149767,0.00800006968897,-0.0118327268941,-0.015255929044,-0.999781597194,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0191259112722,0.00889076902373,0.0128818918462,-0.0092544760555,-0.00217064516619,0.00215124478564,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664954354000,2005,664954354000,map,base_link,0.0265601724386,0.0775721073151,-0.0171568132937,0.00803478390258,-0.0118032531097,-0.015289670346,-0.999781151775,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0155930549017,0.0109633334563,-0.0213571248061,-0.0115324025974,0.00529560167342,-0.00352254556492,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
664981354000,2006,664981354000,map,base_link,0.026016453281,0.0776285305619,-0.0174041297287,0.00810087133154,-0.0117674256911,-0.0152482976763,-0.999781672664,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0162174820886,0.0134439050842,0.000501595145722,-0.00167743780185,0.00116958096623,-0.00399620551616,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665001977000,2007,665001977000,map,base_link,0.0243378169835,0.0736283957958,-0.0158541556448,0.0081766814483,-0.0117733708783,-0.0152214170445,-0.999781395147,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0158387258694,0.0157868620698,0.000148773116193,-0.00341196544468,0.00297175347805,2.11773440242e-05,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665040977000,2008,665040977000,map,base_link,0.0212991498411,0.0651299580932,-0.0133076068014,0.00816962106385,-0.0117660937951,-0.0152213967107,-0.999781538843,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0224325847865,0.0038444490716,-0.00653619577571,0.00816133618355,-0.0061814780347,0.00213445466943,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665067977000,2009,665067977000,map,base_link,0.0199313126504,0.0624838322401,-0.0126617727801,0.00795657826765,-0.01168320216,-0.0151571134829,-0.999785205712,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0307173146742,-0.0117084783659,-0.0193194520842,-0.000186962832231,0.00219218200073,-0.00165393622592,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665094687000,2010,665094687000,map,base_link,0.0181622896343,0.0600306019187,-0.0128830457106,0.00773536748038,-0.0115777315159,-0.0150545905051,-0.999789717654,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0395832141742,-0.0292668670407,-0.0304199218611,-0.00383201846853,-0.00209608487785,0.00645019952208,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665129687000,2011,665129687000,map,base_link,0.0166104361415,0.058323290199,-0.0136582069099,0.00769700476654,-0.011515901451,-0.0150548901614,-0.999790723308,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0405541059232,-0.033446008916,-0.0368713629005,0.0105751976371,-0.00666989851743,-0.00389823643491,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665162687000,2012,665162687000,map,base_link,0.0152875380591,0.0570186004043,-0.0148178003728,0.00771839709613,-0.0114709114674,-0.015032469617,-0.999791412943,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0358792661645,-0.0293855918859,-0.0522480957981,-0.00920018833131,0.00383460801095,-0.000222464150283,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665199687000,2013,665199687000,map,base_link,0.0146487504244,0.0532557703555,-0.0187091976404,0.00775026140495,-0.0114872816919,-0.0150943322535,-0.99979004643,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0310174191263,-0.0300144024562,-0.0630526682892,-0.0067013814114,0.0082206055522,0.000388694228604,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665221154000,2014,665221154000,map,base_link,0.0139594338834,0.0505852475762,-0.0220094900578,0.00769257966566,-0.0115690735733,-0.0150365691991,-0.999790419209,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0271436451643,-0.0269093867811,-0.0564679762183,-0.0046459371224,0.00762462103739,0.000121055578347,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665254154000,2015,665254154000,map,base_link,0.0131780160591,0.0491231679916,-0.0244061090052,0.00767474561705,-0.0116024564724,-0.0151200218659,-0.999788910832,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0264247289174,-0.0236177910755,-0.084490762716,0.00419563055038,0.00333106936887,0.000873944838531,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665291154000,2016,665291154000,map,base_link,0.0122460443527,0.0479780286551,-0.0269741602242,0.00763343833094,-0.0116668365119,-0.0152025831816,-0.999787225868,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0255862159691,-0.0213861668418,-0.0546718128894,0.00900084525347,-0.00111403083429,0.000782165327109,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665308948000,2017,665308948000,map,base_link,0.0114425625652,0.0472062714398,-0.0278189778328,0.00750105331104,-0.0116883148743,-0.0152894815922,-0.999786651865,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0242503720123,-0.0181483370649,-0.00295002716724,-0.00367064168677,0.00804988481104,-0.00101306953002,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665335948000,2018,665335948000,map,base_link,0.0108864549547,0.0467687472701,-0.0270290747285,0.00762242644256,-0.0118123043649,-0.0153262925442,-0.999783713029,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0209413558643,-0.0146256833904,0.0342647651263,0.00491222925484,-0.00206023035571,-0.00128576275893,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665365948000,2019,665365948000,map,base_link,0.0123099125922,0.0471355170012,-0.0239345356822,0.00759148773885,-0.0118122662237,-0.0153347421992,-0.999783819314,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0212359979143,-0.0158133440904,0.0474689380677,3.16195073538e-05,-0.0118884323165,-0.00295360619202,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665401948000,2020,665401948000,map,base_link,0.0131946802139,0.0471855923533,-0.0210144426674,0.00759329007918,-0.0116867432093,-0.0153047403852,-0.999785740497,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0307983110606,-0.0248035087257,0.0447360016802,0.00281226541847,-0.00899419840425,-0.00324952928349,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665424902000,2021,665424902000,map,base_link,0.0127280838788,0.0464822351933,-0.0182648934424,0.00743121555663,-0.0115916303421,-0.0153584226257,-0.999787242365,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0377523292738,-0.0299446827607,0.0705525180617,-0.00316953472793,0.00642364099622,-8.95919511095e-05,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
665460902000,2022,665460902000,map,base_link,0.0115003827959,0.0452625453472,-0.0149496383965,0.00728888476553,-0.0115356639817,-0.0153278967832,-0.999789405923,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,0.0,0.0,0.0,0.0,0.0,0.0,1e-06,-0.0522394530085,-0.0465430972204,0.0935517469739,0.00199079047889,0.00313713308424,-0.000283044821117,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001,0.0,0.0,0.0,0.0,0.0,0.0,0.0001
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