```python
%matplotlib inline

import numpy as np
import matplotlib as mpl
from utils.datapoint import DataPoint
from utils.tools import get_RMSE, calculate_jacobian, cartesian_to_polar, time_difference
mpl.rcParams['figure.figsize'] = [10, 7]
mpl.rcParams['figure.dpi'] = 72
import matplotlib.pyplot as plt
```

---
## State Dynamics for a Constant Turn Rate and Velocity Vehicle Model (CTRV)
The below equation represent how the vehicle states evolve between time steps in a constant turn rate ($\dot{\psi}$) and velocity ($v_x, v_y$) vehicle model.

\begin{align}
    p_x' &= p_x + v_x * dt \\
    p_y' &= p_y + v_y * dt \\
    v_x' &= v_x \\
    v_y' &= v_y \\
    \psi' &= \psi + \dot{\psi} * dt \\
    \dot{\psi}' &= \dot{\psi}
\end{align}

$$ \begin{pmatrix} p_x' \\ p_y' \\ v_x' \\ v_y' \\ \psi' \\ \dot{\psi}' \end{pmatrix} = \begin{bmatrix} 1 & 0 & dt & 0 & 0 & 0\\ 0 & 1 & 0 & dt & 0 & 0 \\ 0 & 0 & 1 & 0 & 0 & 0\\ 0 & 0 & 0 & 1 & 0 & 0 \\ 0 & 0 & 0 & 0 & 1 & dt \\ 0 & 0 & 0 & 0 & 0 & 1\end{bmatrix} \begin{pmatrix} p_x \\ p_y \\ v_x \\ v_y \\ \psi \\ \dot{\psi} \end{pmatrix} $$

---

**State transition function:**

$$x' = f(x) + \nu = F x + B u + \nu $$

If the motion control input $u =0$, then the state transition function simplifies to:

$$ x' = F x + \nu $$

>where, <br />
$\nu \sim N(0, Q)$ is the process noise which is assumed to be a Gaussian with zero mean and covariance matrix Q.

**Measurement function:**
$$ z = h(x') + \omega = Hx' + \omega $$

>where, <br />
$z$ is the measurement update, <br />
$H$ is the transformation matrix, <br />
$\omega \sim N(0, R)$ is the measurement noise which is assumed to be a Gaussian with zero mean and covariance matrix R.

**State vector:**

$$x = \begin{pmatrix} p_x \\ p_y \\ v_x \\ v_y \\ \psi \\ \dot{\psi} \end{pmatrix}$$


**State prediction function:**
$$ x' = F \times x $$


$$ \begin{pmatrix} p_x' \\ p_y' \\ v_x' \\ v_y' \\ \psi' \\ \dot{\psi}' \end{pmatrix} = \begin{bmatrix} 1 & 0 & dt & 0 & 0 & 0\\ 0 & 1 & 0 & dt & 0 & 0 \\ 0 & 0 & 1 & 0 & 0 & 0\\ 0 & 0 & 0 & 1 & 0 & 0 \\ 0 & 0 & 0 & 0 & 1 & dt \\ 0 & 0 & 0 & 0 & 0 & 1\end{bmatrix} \begin{pmatrix} p_x \\ p_y \\ v_x \\ v_y \\ \psi \\ \dot{\psi} \end{pmatrix} $$

---

### Kalman Filter Algorithm

**Prediction:**
$$ x' = F x + u $$
$$ P = FPF^T + Q $$

**Measurement Update:**
$$ y = z − Hx' $$
$$ S = HP' H^T + R $$
$$ K = P' H^T S^{-1} $$
$$ x = x' + Ky $$
$$ P = (I − KH)P $$

where, 

\begin{align}
x &= \text{state vector} \\
F &= \text{state transition matrix (used to predict x based on time elapsed and assumed dynamic model being tracked)}\\
P &= \text{state covariance matrix} \\
Q &= \text{process noise covariance matrix} \\
z &= \text{measurement vector} \\
H &= \text{transformation matrix (used to map the state vector parameters into the measurement domain)} \\
y &= \text{residual (difference between the actual measurement ($z$) and the predicted measurement ($Hx'$))}\\
R &= \text{measurement covariance matrix (sensor noise)} \\
S &= \text{'innovation' covariance that combines process covariance and measurement covariance
} \\
K &= \text{Kalman gain (contains information on how much weight to place on the current prediction and current observed measurement)} 
\end{align}



### Kalman Filter function


```python
class KalmanFilter:
  """
    A class that predicts the next state of the system given sensor measurements 
    using the Kalman Filter algorithm 
  """

  def __init__(self, n):

    self.n = n
    self.I = np.matrix(np.eye(n))
    self.x = None
    self.P = None
    self.F = None
    self.Q = None
  
  def start(self, x, P, F, Q):

    self.x = x
    self.P = P
    self.F = F
    self.Q = Q
        
  def setQ(self, Q):
    self.Q = Q

  def updateF(self, dt):
    self.F[0, 2], self.F[1, 3], self.F[4,5]= dt, dt, dt
 
  def getx(self):
    # print(self.x)
    return self.x

  def predict(self):
    ''' Prediction '''    
    self.x = self.F * self.x
    
    ''' A Priori covariance '''
    self.P = self.F * self.P * self.F.T + self.Q
    
  def update(self, z, H, Hx, R):
    
    y = z - Hx
    PHt = self.P * H.T
    S = H * PHt + R  
    
    '''Kalman Gain'''
    K = PHt * (S.I)
    
    ''' Measurement update '''
    self.x = self.x + K * y
    
    ''' A posteriori covariance '''
    self.P = (self.I - K * H) * self.P

```

## Extendend Kalman Filter

$$ x' = f(x) + \nu $$

**Prediction:**
$$ P = FPF^T + Q $$

**Measurement Update:**
$$ y = z − h(x') $$
$$ S = H_j P' H_j^T + R $$
$$ K = P' H_j^T S^{-1} $$
$$ x = x' + Ky $$
$$ P = (I − KH_j)P $$

where, $H_j$ = Jacobian matrix

$$ h(x') = \begin{pmatrix} \sqrt{{p_{x}'}^{2} + {p_{y}'}^{2}} \\ \arctan {\frac{p_{y}'}{p_{x}'}} \\ \frac{{p_{x}'}{v_{x}'}+{p_{y}'}{v_{y}'}}{\sqrt{{p_{x}'}^{2} + {p_{y}'}^{2}}} \end{pmatrix} $$

**Measurement functions:**
<br />
Lidar sensors measure positions in cartesian coordinates (2 values) and hence lidar measurements are linear.
$$ z_{lidar} = H_{lidar} \times x' $$ 
<br />
$$H_{lidar} = \begin{bmatrix} 1 & 0 & 0 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 & 0 & 0 \end{bmatrix}$$

<br /> <br />
Radar sensors measure position and velocity in polar coordinates (3 values), and hence radar sensors are non-linear since these measurements need to be converted to cartesian co-ordinates. For radar measurements, a jacobian multiplier is used to compute the state transition matrix H unlike in a simple Kalman filter.

$$ z_{radar} = H_{radar} \times x' $$  
<br />
$$ H_{radar} = H_j = \begin{pmatrix}\frac{p_{x}}{\sqrt{p_{x}^{2} + p_{y}^{2}}} & \frac{p_{y}}{\sqrt{p_{x}^{2} + p_{y}^{2}}} & 0 & 0 & 0 & 0 \\ -\frac{p_{y}}{p_{x}^{2} + p_{y}^{2}} & \frac{p_{x}}{p_{x}^{2} + p_{y}^{2}} & 0 & 0 & 0 & 0 \\ \frac{p_{y}(v_{x}p_{y} - v_{y}p_{x})}{{(p_{x}^{2} + p_{y}^{2})}^{\frac{3}{2}}} & \frac{p_{x}(v_{y}p_{x} - v_{x}p_{y})}{{(p_{x}^{2} + p_{y}^{2})}^{\frac{3}{2}}} & \frac{p_{x}}{\sqrt{p_{x}^{2} + p_{y}^{2}}} & \frac{p_{y}}{\sqrt{p_{x}^{2} + p_{y}^{2}}} & 0 & 0 \end{pmatrix} $$

 <br /> <br />
**Process covariance matrix:** 
$$ Q = \begin{pmatrix} \frac{\Delta t^4 \sigma_{a_x}^2}{4}  & 0 & \frac{\Delta t^3 \sigma_{a_x}^2}{2} & 0 & 0 & 0 \\ 0 & \frac{\Delta t^4 \sigma_{a_y}^2}{4} & 0 & \frac{\Delta t^3 \sigma_{a_y}^2}{2} & 0 & 0 \\ \frac{\Delta t^3 \sigma_{a_y}^2}{2} & 0 & \Delta t^2 \sigma_{a_x}^2 & 0 & 0 & 0 \\ 0 & \frac{\Delta t^3 \sigma_{a_x}^2}{2} & 0 & \Delta t^3 \sigma_{a_y}^2 & 0 & 0 \\ 0 & 0 & 0 & 0 & \frac{\Delta t^4 \sigma_{\dot{\psi}}^2}{4} & \frac{\Delta t^3 \sigma_{\dot{\psi}}^2}{2} \\ 0 & 0 & 0 & 0 & \frac{\Delta t^4 \sigma_{\dot{\psi}}^3}{2} & \Delta t^4 \sigma_{\dot{\psi}}^2 \end{pmatrix} $$

>where:<br />
$\sigma_{a_x}^2 =$ x-acceleration noise <br />
$\sigma_{a_y}^2 =$ y-acceleration noise <br />
$\sigma_{\dot{\psi}}^2 =$ yaw rate noise

Itis ess

### Extendend Kalman Filter function


```python
class Extended_KF:
  """
  A class that predicts the next state of the system given sensor measurements 
  using an extended Kalman filter algorithm

  The 6 state variables considered in this system are the position (px, py), velocity (vx, vy), 
  yaw angle (yaw) and yaw rate (dyaw).
  
  This class gets measurements from both lidar and radar sensors
  """

  def __init__(self, d):
    self.initialized = False
    self.timestamp = 0
    self.n = d['number_of_states']
    self.P = d['initial_process_matrix']
    self.F = d['inital_state_transition_matrix']
    self.Q = d['initial_noise_matrix']
    self.radar_R = d['radar_covariance_matrix']
    self.lidar_R = d['lidar_covariance_matrix']
    self.lidar_H = d['lidar_transition_matrix']
    self.a = (d['acceleration_noise_x'], d['acceleration_noise_y'], d['yawrate_noise'])
    self.kalmanFilter = KalmanFilter(self.n)

  def updateQ(self, dt):
    
    ''' A function to update process noise '''
    
    dt2 = dt * dt
    dt3 = dt * dt2
    dt4 = dt * dt3
    
    ax, ay, yawd = self.a
    std_ax, std_ay, std_yawd = ax**2, ay**2, yawd**2
    
    r11 = dt4 * std_ax / 4
    r13 = dt3 * std_ax / 2
    r22 = dt4 * std_ay / 4
    r24 = dt3 * std_ay /  2
    r31 = dt3 * std_ax / 2 
    r33 = dt2 * std_ax
    r42 = dt3 * std_ay / 2
    r44 = dt2 * std_ay
    r55 = dt4 * std_yawd / 4
    r56 = dt3 * std_yawd / 2
    r65 = dt3 * std_yawd / 2
    r66 = dt2 * std_yawd
    
    Q = np.matrix([[r11, 0, r13, 0, 0, 0],
                  [0, r22, 0, r24, 0, 0],
                  [r31, 0, r33, 0, 0, 0], 
                  [0, r42, 0, r44, 0, 0],
                  [0, 0, 0, 0, r55, r56],
                  [0, 0, 0, 0, r65, r66]])
    
    self.kalmanFilter.setQ(Q)
    
  def update(self, data):
    
    dt = time_difference(self.timestamp, data.get_timestamp())
    self.timestamp = data.get_timestamp()
        
    self.kalmanFilter.updateF(dt)
    self.updateQ(dt)
    self.kalmanFilter.predict()
    
    z = np.matrix(data.get_raw()).T
    x = self.kalmanFilter.getx()
    # print(x)
    
    if data.get_name() == 'radar':        
      
      px, py, vx, vy, yaw, dyaw = x[0, 0], x[1, 0], x[2, 0], x[3, 0], x[4,0], x[5,0]
      rho, phi, drho = cartesian_to_polar(px, py, vx, vy, yaw, dyaw)
      H = calculate_jacobian(px, py, vx, vy, yaw, dyaw)
      Hx = (np.matrix([[rho, phi, drho]])).T
      R = self.radar_R 
         
    elif data.get_name() == 'lidar':
    
      H = self.lidar_H
      Hx = self.lidar_H * x
      R = self.lidar_R

    self.kalmanFilter.update(z, H, Hx, R)

  def start(self, data):
    
    self.timestamp = data.get_timestamp()
    x = np.matrix([data.get()]).T
    x = np.append(x, np.array([[0.], [0]]), 0)
    self.kalmanFilter.start(x, self.P, self.F, self.Q)
    self.initialized = True
    
  def process(self, data):
    
    if self.initialized: 
      self.update(data)
    else:
      self.start(data)

  def get(self):
    return self.kalmanFilter.getx()
```


```python
def parse_data(file_path):
  """
    Args:
        file_path 
            - path to a text file with all data. 
            - each line of data  in the imput file is formatted as follows:
            
                  [SENSOR ID] [SENSOR RAW VALUES] [TIMESTAMP] [GROUND TRUTH VALUES]
                  RADAR data:
                  (R) (r) (phi) (d(r)) (Time) (real X) (real Y) (real vx) (real vy) (yaw) (d(yaw))
                  LIDAR data:
                  (L) (X) (Y) (Time) (real X) (real Y) (real vx) (real vy) (yaw) (d(yaw))

    Returns:
        sensor_data, ground_truths
            - two lists of DataPoint() instances 

  """

  sensor_data = []
  ground_truths = []  

  with open(file_path) as f:
      
    for line in f:
      data = line.split() 
      
      if data[0]  == 'L':
        
        sensor_data_point = DataPoint({ 
                      'timestamp': int(data[3]),
                      'name': 'lidar',
                      'x': float(data[1]), 
                      'y': float(data[2])})
        
        g = {'timestamp': int(data[3]),
             'name': 'state',
             'x': float(data[4]),
             'y': float(data[5]),
             'vx': float(data[6]),
             'vy': float(data[7]),
             'yaw': float(data[8]),
             'dyaw': float(data[9])}
          
        ground_truth_data = DataPoint(g)
                
      elif data[0] == 'R':
          
        sensor_data_point = DataPoint({ 
                      'timestamp': int(data[4]),
                      'name': 'radar',
                      'rho': float(data[1]), 
                      'phi': float(data[2]),
                      'drho': float(data[3])})
       
        g = {'timestamp': int(data[4]),
             'name': 'state',
             'x': float(data[5]),
             'y': float(data[6]),
             'vx': float(data[7]),
             'vy': float(data[8]),
             'yaw': float(data[9]),
             'dyaw': float(data[10])}
        
        ground_truth_data = DataPoint(g)  

      sensor_data.append(sensor_data_point)
      ground_truths.append(ground_truth_data)

  return sensor_data, ground_truths
```


```python
def get_state_estimations(EKF, sensor_data):
  """
  Calculates all state estimations given a FusionEKF instance() and sensor measurements

  Args:
    EKF - an instance of a FusionEKF() class 
    all_sensor_data - a list of sensor measurements as a DataPoint() instance

  Returns:
    all_state_estimations 
      - a list of all state estimations as predicted by the EKF instance
      - each state estimation is wrapped in  DataPoint() instance
  """

  state_estimations = []

  for data in sensor_data:
    
    EKF.process(data)
  
    x = EKF.get()
    
    px, py, vx, vy, yaw, dyaw = x[0, 0], x[1, 0], x[2, 0], x[3, 0], x[4,0], x[5,0]
    
    g = {'timestamp': data.get_timestamp(),
         'name': 'state',
         'x': px,
         'y': py,
         'vx': vx,
         'vy': vy,
         'yaw': yaw,
         'dyaw': dyaw }

    state_estimate = DataPoint(g)
    state_estimations.append(state_estimate)
    
  return state_estimations 
```


```python
def print_EKF_data(sensor_data, ground_truths, state_estimations, RMSE):
  """
  Prints all relevant EKF data in a nice formal

  Args:
    sensor_data - list of sensor measurements as DataPoint() instances
    state_estimations - list of state estimations as DataPoint() instances
    ground_truths - list of ground truths as DataPoint instances
    RMSE - list of the six computed root-mean-square error of the four state variables considered

    Returns: None 
  """

  px, py, vx, vy, yaw, dyaw = RMSE 

  print("-------------------------------------------------------------------------------")
  print('{:10s} | {:8.3f} | {:8.3f} | {:8.3f} | {:8.3f} | {:8.3f} | {:8.3f} |'.format("RMSE:", px, py, vx, vy, yaw, dyaw))
  print("-------------------------------------------------------------------------------")
  print("NUMBER OF DATA POINTS:", len(sensor_data))
  print("-------------------------------------------------------------------------------")

  i = 1
  for s, p, t in zip(sensor_data, state_estimations, ground_truths):
      
    print("-------------------------------------------------------------------------------")
    print("#", i, "TIMESTAMP:", s.get_timestamp())
    print("-------------------------------------------------------------------------------")

    if s.get_name() == 'lidar':
      x, y = s.get_raw()
      print('{:15s} | {:5s} {:8.3f} | {:5s} {:8.3f} |'.format("LIDAR:", "X:", x, "Y:", y))
    else:
      rho, phi, drho = s.get_raw()
      print('{:15s} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} |'.format("RADAR:", "RHO:", rho, "PHI:", phi, "dRHO:", drho))  

    x, y, vx, vy, yaw, dyaw = p.get()
    print('{:15s} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} |'.format("PREDICTION:", "X:", x, "Y:", y, "VX:", vx, "VY:", vy, "YAW:", yaw, "DYAW", dyaw))  

    x, y, vx, vy, yaw, dyaw = t.get()
    print('{:15s} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} | {:5s} {:8.3f} |'.format("TRUTH:", "X:", x, "Y:", y, "VX:", vx, "VY:", vy, "YAW:", yaw, "DYAW", dyaw))  

    i += 1
```


```python
std_lidar = 0.15      # standard deviation of lidar position measurement, applies for x and y [m]
std_radar_r = 0.3     # standard deviation of radius radar measurement [m]
std_radar_phi = 0.1   # standard deviation of angle radar measurement [rad]
std_radar_rdot = 0.2  # standard deviation of angle rate radar measurement [rad/s]


''' Lidar covariance matrix '''
lidar_R = np.matrix([[std_lidar, 0], 
                     [0, std_lidar]])

''' Radar covariance matrix '''
radar_R = np.matrix([[std_radar_r, 0,             0], 
                     [0,           std_radar_phi, 0], 
                     [0,           0,             std_radar_rdot]])

''' Lidar transformantion matrix '''
lidar_H = np.matrix([[1, 0, 0, 0, 0, 0],
                     [0, 1, 0, 0, 0, 0]])

''' P - Iniital state covariance matrix P'''
P = np.matrix([[1, 0, 0, 0, 0, 0],
               [0, 1, 0, 0, 0, 0],
               [0, 0, 1, 0, 0, 0], 
               [0, 0, 0, 1, 0, 0],
               [0, 0, 0, 0, 1, 0],
               [0, 0, 0, 0, 0, 1]])


''' Q - Process noise matrix '''
Q = np.matrix(np.zeros([6, 6]))

F = np.matrix(np.eye(6))

d = {
    'number_of_states': 6, 
    'initial_process_matrix': P,
    'radar_covariance_matrix': radar_R,
    'lidar_covariance_matrix': lidar_R, 
    'lidar_transition_matrix': lidar_H,
    'inital_state_transition_matrix': F,
    'initial_noise_matrix': Q, 
    'acceleration_noise_x': 5,
    'acceleration_noise_y': 5,
    'yawrate_noise': 2
    }

EKF = Extended_KF(d)
```


```python
sensor_data, ground_truths = parse_data("data/data_ekf.txt")
state_estimations = get_state_estimations(EKF, sensor_data)
px, py, vx, vy, yaw, dyaw = get_RMSE(state_estimations, ground_truths)
print_EKF_data(sensor_data, ground_truths, state_estimations, RMSE = [px, py, vx, vy, yaw, dyaw])
```

    -------------------------------------------------------------------------------
    RMSE:      |    0.123 |    0.144 |    0.498 |    0.605 |    1.936 |    0.199 |
    -------------------------------------------------------------------------------
    NUMBER OF DATA POINTS: 500
    -------------------------------------------------------------------------------
    -------------------------------------------------------------------------------
    # 1 TIMESTAMP: 1477010443000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.312 | Y:       0.580 |
    PREDICTION:     | X:       0.312 | Y:       0.580 | VX:      0.000 | VY:      0.000 | YAW:     0.000 | DYAW     0.000 |
    TRUTH:          | X:       0.600 | Y:       0.600 | VX:      5.200 | VY:      0.000 | YAW:     0.000 | DYAW     0.007 |
    -------------------------------------------------------------------------------
    # 2 TIMESTAMP: 1477010443050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     1.015 | PHI:     0.554 | dRHO:    4.893 |
    PREDICTION:     | X:       0.751 | Y:       0.699 | VX:      1.672 | VY:      3.071 | YAW:     1.560 | DYAW     0.078 |
    TRUTH:          | X:       0.860 | Y:       0.600 | VX:      5.200 | VY:      0.002 | YAW:     0.000 | DYAW     0.014 |
    -------------------------------------------------------------------------------
    # 3 TIMESTAMP: 1477010443100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       1.174 | Y:       0.481 |
    PREDICTION:     | X:       0.883 | Y:       0.712 | VX:      1.789 | VY:      2.998 | YAW:     1.573 | DYAW     0.079 |
    TRUTH:          | X:       1.120 | Y:       0.600 | VX:      5.199 | VY:      0.005 | YAW:     0.001 | DYAW     0.021 |
    -------------------------------------------------------------------------------
    # 4 TIMESTAMP: 1477010443150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     1.048 | PHI:     0.389 | dRHO:    4.511 |
    PREDICTION:     | X:       1.008 | Y:       0.772 | VX:      2.620 | VY:      2.901 | YAW:     2.073 | DYAW     0.228 |
    TRUTH:          | X:       1.380 | Y:       0.601 | VX:      5.199 | VY:      0.011 | YAW:     0.002 | DYAW     0.028 |
    -------------------------------------------------------------------------------
    # 5 TIMESTAMP: 1477010443200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       1.651 | Y:       0.625 |
    PREDICTION:     | X:       1.256 | Y:       0.851 | VX:      2.959 | VY:      2.699 | YAW:     2.063 | DYAW     0.221 |
    TRUTH:          | X:       1.640 | Y:       0.601 | VX:      5.198 | VY:      0.018 | YAW:     0.003 | DYAW     0.035 |
    -------------------------------------------------------------------------------
    # 6 TIMESTAMP: 1477010443250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     1.698 | PHI:     0.298 | dRHO:    5.210 |
    PREDICTION:     | X:       1.539 | Y:       0.938 | VX:      3.975 | VY:      2.906 | YAW:     1.458 | DYAW     0.169 |
    TRUTH:          | X:       1.900 | Y:       0.602 | VX:      5.198 | VY:      0.027 | YAW:     0.005 | DYAW     0.041 |
    -------------------------------------------------------------------------------
    # 7 TIMESTAMP: 1477010443300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       2.189 | Y:       0.649 |
    PREDICTION:     | X:       1.850 | Y:       0.964 | VX:      4.322 | VY:      2.541 | YAW:     1.533 | DYAW     0.165 |
    TRUTH:          | X:       2.160 | Y:       0.604 | VX:      5.197 | VY:      0.038 | YAW:     0.007 | DYAW     0.048 |
    -------------------------------------------------------------------------------
    # 8 TIMESTAMP: 1477010443350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     2.044 | PHI:     0.276 | dRHO:    5.044 |
    PREDICTION:     | X:       2.061 | Y:       1.040 | VX:      4.371 | VY:      2.451 | YAW:     1.599 | DYAW     0.176 |
    TRUTH:          | X:       2.420 | Y:       0.606 | VX:      5.196 | VY:      0.050 | YAW:     0.010 | DYAW     0.055 |
    -------------------------------------------------------------------------------
    # 9 TIMESTAMP: 1477010443400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       2.655 | Y:       0.666 |
    PREDICTION:     | X:       2.385 | Y:       1.018 | VX:      4.659 | VY:      2.027 | YAW:     1.639 | DYAW     0.137 |
    TRUTH:          | X:       2.679 | Y:       0.609 | VX:      5.195 | VY:      0.065 | YAW:     0.012 | DYAW     0.062 |
    -------------------------------------------------------------------------------
    # 10 TIMESTAMP: 1477010443450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     2.991 | PHI:     0.218 | dRHO:    5.192 |
    PREDICTION:     | X:       2.655 | Y:       1.090 | VX:      4.777 | VY:      1.948 | YAW:     1.636 | DYAW     0.132 |
    TRUTH:          | X:       2.939 | Y:       0.613 | VX:      5.193 | VY:      0.081 | YAW:     0.016 | DYAW     0.069 |
    -------------------------------------------------------------------------------
    # 11 TIMESTAMP: 1477010443500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       3.012 | Y:       0.637 |
    PREDICTION:     | X:       2.952 | Y:       1.028 | VX:      4.940 | VY:      1.537 | YAW:     1.739 | DYAW     0.121 |
    TRUTH:          | X:       3.199 | Y:       0.617 | VX:      5.191 | VY:      0.099 | YAW:     0.019 | DYAW     0.076 |
    -------------------------------------------------------------------------------
    # 12 TIMESTAMP: 1477010443550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     3.594 | PHI:     0.135 | dRHO:    5.162 |
    PREDICTION:     | X:       3.228 | Y:       1.078 | VX:      4.980 | VY:      1.450 | YAW:     1.731 | DYAW     0.105 |
    TRUTH:          | X:       3.458 | Y:       0.623 | VX:      5.190 | VY:      0.118 | YAW:     0.023 | DYAW     0.083 |
    -------------------------------------------------------------------------------
    # 13 TIMESTAMP: 1477010443600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       3.894 | Y:       0.312 |
    PREDICTION:     | X:       3.608 | Y:       0.874 | VX:      5.245 | VY:      0.739 | YAW:     1.834 | DYAW     0.072 |
    TRUTH:          | X:       3.718 | Y:       0.629 | VX:      5.188 | VY:      0.140 | YAW:     0.027 | DYAW     0.089 |
    -------------------------------------------------------------------------------
    # 14 TIMESTAMP: 1477010443650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     4.256 | PHI:     0.165 | dRHO:    5.433 |
    PREDICTION:     | X:       3.907 | Y:       0.900 | VX:      5.357 | VY:      0.709 | YAW:     1.760 | DYAW     0.028 |
    TRUTH:          | X:       3.977 | Y:       0.637 | VX:      5.185 | VY:      0.163 | YAW:     0.031 | DYAW     0.096 |
    -------------------------------------------------------------------------------
    # 15 TIMESTAMP: 1477010443700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       4.309 | Y:       0.579 |
    PREDICTION:     | X:       4.218 | Y:       0.816 | VX:      5.432 | VY:      0.420 | YAW:     1.821 | DYAW     0.031 |
    TRUTH:          | X:       4.236 | Y:       0.645 | VX:      5.183 | VY:      0.188 | YAW:     0.036 | DYAW     0.103 |
    -------------------------------------------------------------------------------
    # 16 TIMESTAMP: 1477010443750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     4.670 | PHI:     0.148 | dRHO:    5.121 |
    PREDICTION:     | X:       4.477 | Y:       0.836 | VX:      5.280 | VY:      0.398 | YAW:     1.874 | DYAW     0.068 |
    TRUTH:          | X:       4.495 | Y:       0.655 | VX:      5.180 | VY:      0.214 | YAW:     0.041 | DYAW     0.110 |
    -------------------------------------------------------------------------------
    # 17 TIMESTAMP: 1477010443800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       4.351 | Y:       0.899 |
    PREDICTION:     | X:       4.686 | Y:       0.892 | VX:      5.222 | VY:      0.495 | YAW:     1.916 | DYAW     0.084 |
    TRUTH:          | X:       4.754 | Y:       0.667 | VX:      5.176 | VY:      0.243 | YAW:     0.047 | DYAW     0.117 |
    -------------------------------------------------------------------------------
    # 18 TIMESTAMP: 1477010443850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.251 | PHI:     0.127 | dRHO:    4.826 |
    PREDICTION:     | X:       4.936 | Y:       0.906 | VX:      5.034 | VY:      0.445 | YAW:     2.029 | DYAW     0.175 |
    TRUTH:          | X:       5.013 | Y:       0.680 | VX:      5.173 | VY:      0.273 | YAW:     0.053 | DYAW     0.123 |
    -------------------------------------------------------------------------------
    # 19 TIMESTAMP: 1477010443900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       5.519 | Y:       0.648 |
    PREDICTION:     | X:       5.243 | Y:       0.819 | VX:      5.107 | VY:      0.197 | YAW:     2.069 | DYAW     0.191 |
    TRUTH:          | X:       5.272 | Y:       0.694 | VX:      5.169 | VY:      0.304 | YAW:     0.059 | DYAW     0.130 |
    -------------------------------------------------------------------------------
    # 20 TIMESTAMP: 1477010443950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.267 | PHI:     0.122 | dRHO:    5.424 |
    PREDICTION:     | X:       5.501 | Y:       0.829 | VX:      5.236 | VY:      0.206 | YAW:     1.890 | DYAW     0.028 |
    TRUTH:          | X:       5.530 | Y:       0.710 | VX:      5.164 | VY:      0.338 | YAW:     0.065 | DYAW     0.137 |
    -------------------------------------------------------------------------------
    # 21 TIMESTAMP: 1477010444000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       6.022 | Y:       0.709 |
    PREDICTION:     | X:       5.799 | Y:       0.784 | VX:      5.289 | VY:      0.084 | YAW:     1.939 | DYAW     0.067 |
    TRUTH:          | X:       5.788 | Y:       0.728 | VX:      5.159 | VY:      0.373 | YAW:     0.072 | DYAW     0.143 |
    -------------------------------------------------------------------------------
    # 22 TIMESTAMP: 1477010444050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.906 | PHI:     0.063 | dRHO:    4.880 |
    PREDICTION:     | X:       6.032 | Y:       0.783 | VX:      5.084 | VY:      0.061 | YAW:     1.953 | DYAW     0.081 |
    TRUTH:          | X:       6.046 | Y:       0.748 | VX:      5.154 | VY:      0.410 | YAW:     0.079 | DYAW     0.150 |
    -------------------------------------------------------------------------------
    # 23 TIMESTAMP: 1477010444100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       6.342 | Y:       0.949 |
    PREDICTION:     | X:       6.286 | Y:       0.838 | VX:      5.082 | VY:      0.172 | YAW:     1.965 | DYAW     0.096 |
    TRUTH:          | X:       6.304 | Y:       0.769 | VX:      5.148 | VY:      0.448 | YAW:     0.087 | DYAW     0.157 |
    -------------------------------------------------------------------------------
    # 24 TIMESTAMP: 1477010444150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.674 | PHI:     0.126 | dRHO:    5.007 |
    PREDICTION:     | X:       6.542 | Y:       0.846 | VX:      5.062 | VY:      0.170 | YAW:     1.994 | DYAW     0.116 |
    TRUTH:          | X:       6.561 | Y:       0.793 | VX:      5.142 | VY:      0.488 | YAW:     0.095 | DYAW     0.163 |
    -------------------------------------------------------------------------------
    # 25 TIMESTAMP: 1477010444200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       6.782 | Y:       0.714 |
    PREDICTION:     | X:       6.798 | Y:       0.808 | VX:      5.067 | VY:      0.069 | YAW:     1.994 | DYAW     0.108 |
    TRUTH:          | X:       6.818 | Y:       0.818 | VX:      5.135 | VY:      0.530 | YAW:     0.103 | DYAW     0.170 |
    -------------------------------------------------------------------------------
    # 26 TIMESTAMP: 1477010444250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.318 | PHI:     0.086 | dRHO:    4.649 |
    PREDICTION:     | X:       7.050 | Y:       0.810 | VX:      4.912 | VY:      0.057 | YAW:     2.171 | DYAW     0.245 |
    TRUTH:          | X:       7.075 | Y:       0.846 | VX:      5.127 | VY:      0.573 | YAW:     0.111 | DYAW     0.177 |
    -------------------------------------------------------------------------------
    # 27 TIMESTAMP: 1477010444300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       7.137 | Y:       0.957 |
    PREDICTION:     | X:       7.270 | Y:       0.866 | VX:      4.866 | VY:      0.168 | YAW:     2.102 | DYAW     0.189 |
    TRUTH:          | X:       7.331 | Y:       0.875 | VX:      5.119 | VY:      0.618 | YAW:     0.120 | DYAW     0.183 |
    -------------------------------------------------------------------------------
    # 28 TIMESTAMP: 1477010444350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.125 | PHI:     0.101 | dRHO:    5.464 |
    PREDICTION:     | X:       7.565 | Y:       0.878 | VX:      5.170 | VY:      0.196 | YAW:     1.982 | DYAW     0.079 |
    TRUTH:          | X:       7.587 | Y:       0.907 | VX:      5.109 | VY:      0.665 | YAW:     0.129 | DYAW     0.190 |
    -------------------------------------------------------------------------------
    # 29 TIMESTAMP: 1477010444400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       7.805 | Y:       0.719 |
    PREDICTION:     | X:       7.825 | Y:       0.831 | VX:      5.170 | VY:      0.074 | YAW:     1.961 | DYAW     0.063 |
    TRUTH:          | X:       7.842 | Y:       0.942 | VX:      5.100 | VY:      0.712 | YAW:     0.139 | DYAW     0.196 |
    -------------------------------------------------------------------------------
    # 30 TIMESTAMP: 1477010444450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.451 | PHI:     0.105 | dRHO:    4.751 |
    PREDICTION:     | X:       8.086 | Y:       0.838 | VX:      5.006 | VY:      0.068 | YAW:     2.091 | DYAW     0.157 |
    TRUTH:          | X:       8.097 | Y:       0.979 | VX:      5.089 | VY:      0.762 | YAW:     0.149 | DYAW     0.202 |
    -------------------------------------------------------------------------------
    # 31 TIMESTAMP: 1477010444500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       8.248 | Y:       0.840 |
    PREDICTION:     | X:       8.321 | Y:       0.842 | VX:      4.978 | VY:      0.070 | YAW:     2.033 | DYAW     0.116 |
    TRUTH:          | X:       8.351 | Y:       1.018 | VX:      5.078 | VY:      0.813 | YAW:     0.159 | DYAW     0.209 |
    -------------------------------------------------------------------------------
    # 32 TIMESTAMP: 1477010444550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.575 | PHI:     0.165 | dRHO:    5.581 |
    PREDICTION:     | X:       8.583 | Y:       0.849 | VX:      5.240 | VY:      0.096 | YAW:     1.825 | DYAW    -0.040 |
    TRUTH:          | X:       8.605 | Y:       1.060 | VX:      5.065 | VY:      0.865 | YAW:     0.169 | DYAW     0.215 |
    -------------------------------------------------------------------------------
    # 33 TIMESTAMP: 1477010444600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       8.746 | Y:       1.049 |
    PREDICTION:     | X:       8.825 | Y:       0.922 | VX:      5.200 | VY:      0.240 | YAW:     1.760 | DYAW    -0.079 |
    TRUTH:          | X:       8.858 | Y:       1.105 | VX:      5.052 | VY:      0.919 | YAW:     0.180 | DYAW     0.222 |
    -------------------------------------------------------------------------------
    # 34 TIMESTAMP: 1477010444650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.947 | PHI:     0.115 | dRHO:    5.241 |
    PREDICTION:     | X:       9.155 | Y:       0.943 | VX:      5.307 | VY:      0.257 | YAW:     2.062 | DYAW     0.098 |
    TRUTH:          | X:       9.110 | Y:       1.152 | VX:      5.038 | VY:      0.974 | YAW:     0.191 | DYAW     0.228 |
    -------------------------------------------------------------------------------
    # 35 TIMESTAMP: 1477010444700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       9.256 | Y:       1.049 |
    PREDICTION:     | X:       9.392 | Y:       0.990 | VX:      5.267 | VY:      0.332 | YAW:     1.965 | DYAW     0.040 |
    TRUTH:          | X:       9.362 | Y:       1.202 | VX:      5.023 | VY:      1.031 | YAW:     0.202 | DYAW     0.234 |
    -------------------------------------------------------------------------------
    # 36 TIMESTAMP: 1477010444750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.216 | PHI:     0.150 | dRHO:    5.312 |
    PREDICTION:     | X:       9.698 | Y:       1.015 | VX:      5.342 | VY:      0.349 | YAW:     2.131 | DYAW     0.129 |
    TRUTH:          | X:       9.613 | Y:       1.255 | VX:      5.007 | VY:      1.089 | YAW:     0.214 | DYAW     0.240 |
    -------------------------------------------------------------------------------
    # 37 TIMESTAMP: 1477010444800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      10.048 | Y:       1.446 |
    PREDICTION:     | X:       9.971 | Y:       1.172 | VX:      5.345 | VY:      0.646 | YAW:     2.220 | DYAW     0.171 |
    TRUTH:          | X:       9.863 | Y:       1.311 | VX:      4.989 | VY:      1.148 | YAW:     0.226 | DYAW     0.247 |
    -------------------------------------------------------------------------------
    # 38 TIMESTAMP: 1477010444850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.678 | PHI:     0.162 | dRHO:    4.807 |
    PREDICTION:     | X:      10.279 | Y:       1.210 | VX:      5.230 | VY:      0.633 | YAW:     2.719 | DYAW     0.472 |
    TRUTH:          | X:      10.112 | Y:       1.370 | VX:      4.971 | VY:      1.208 | YAW:     0.238 | DYAW     0.253 |
    -------------------------------------------------------------------------------
    # 39 TIMESTAMP: 1477010444900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      10.249 | Y:       1.459 |
    PREDICTION:     | X:      10.487 | Y:       1.321 | VX:      5.123 | VY:      0.803 | YAW:     2.572 | DYAW     0.381 |
    TRUTH:          | X:      10.360 | Y:       1.432 | VX:      4.951 | VY:      1.270 | YAW:     0.251 | DYAW     0.259 |
    -------------------------------------------------------------------------------
    # 40 TIMESTAMP: 1477010444950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    11.041 | PHI:     0.155 | dRHO:    4.564 |
    PREDICTION:     | X:      10.784 | Y:       1.365 | VX:      5.057 | VY:      0.791 | YAW:     3.044 | DYAW     0.662 |
    TRUTH:          | X:      10.607 | Y:       1.497 | VX:      4.930 | VY:      1.333 | YAW:     0.264 | DYAW     0.265 |
    -------------------------------------------------------------------------------
    # 41 TIMESTAMP: 1477010445000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      10.731 | Y:       1.453 |
    PREDICTION:     | X:      10.979 | Y:       1.426 | VX:      4.925 | VY:      0.836 | YAW:     2.905 | DYAW     0.574 |
    TRUTH:          | X:      10.853 | Y:       1.565 | VX:      4.908 | VY:      1.397 | YAW:     0.277 | DYAW     0.271 |
    -------------------------------------------------------------------------------
    # 42 TIMESTAMP: 1477010445050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    11.567 | PHI:     0.124 | dRHO:    5.142 |
    PREDICTION:     | X:      11.246 | Y:       1.471 | VX:      5.015 | VY:      0.849 | YAW:     2.935 | DYAW     0.562 |
    TRUTH:          | X:      11.098 | Y:       1.637 | VX:      4.884 | VY:      1.462 | YAW:     0.291 | DYAW     0.277 |
    -------------------------------------------------------------------------------
    # 43 TIMESTAMP: 1477010445100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      11.587 | Y:       1.615 |
    PREDICTION:     | X:      11.514 | Y:       1.547 | VX:      5.057 | VY:      0.921 | YAW:     3.019 | DYAW     0.589 |
    TRUTH:          | X:      11.342 | Y:       1.712 | VX:      4.859 | VY:      1.528 | YAW:     0.305 | DYAW     0.283 |
    -------------------------------------------------------------------------------
    # 44 TIMESTAMP: 1477010445150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    11.579 | PHI:     0.133 | dRHO:    4.869 |
    PREDICTION:     | X:      11.734 | Y:       1.587 | VX:      4.898 | VY:      0.896 | YAW:     3.039 | DYAW     0.607 |
    TRUTH:          | X:      11.584 | Y:       1.790 | VX:      4.833 | VY:      1.596 | YAW:     0.319 | DYAW     0.289 |
    -------------------------------------------------------------------------------
    # 45 TIMESTAMP: 1477010445200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      11.779 | Y:       1.746 |
    PREDICTION:     | X:      11.932 | Y:       1.674 | VX:      4.788 | VY:      0.984 | YAW:     2.971 | DYAW     0.557 |
    TRUTH:          | X:      11.825 | Y:       1.871 | VX:      4.805 | VY:      1.664 | YAW:     0.333 | DYAW     0.295 |
    -------------------------------------------------------------------------------
    # 46 TIMESTAMP: 1477010445250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.325 | PHI:     0.175 | dRHO:    5.278 |
    PREDICTION:     | X:      12.180 | Y:       1.728 | VX:      4.944 | VY:      1.015 | YAW:     2.933 | DYAW     0.493 |
    TRUTH:          | X:      12.065 | Y:       1.956 | VX:      4.776 | VY:      1.733 | YAW:     0.348 | DYAW     0.301 |
    -------------------------------------------------------------------------------
    # 47 TIMESTAMP: 1477010445300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      12.323 | Y:       1.784 |
    PREDICTION:     | X:      12.402 | Y:       1.782 | VX:      4.889 | VY:      1.022 | YAW:     2.906 | DYAW     0.466 |
    TRUTH:          | X:      12.303 | Y:       2.045 | VX:      4.745 | VY:      1.803 | YAW:     0.363 | DYAW     0.306 |
    -------------------------------------------------------------------------------
    # 48 TIMESTAMP: 1477010445350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.671 | PHI:     0.141 | dRHO:    5.317 |
    PREDICTION:     | X:      12.641 | Y:       1.833 | VX:      4.997 | VY:      1.040 | YAW:     2.854 | DYAW     0.402 |
    TRUTH:          | X:      12.539 | Y:       2.137 | VX:      4.713 | VY:      1.873 | YAW:     0.378 | DYAW     0.312 |
    -------------------------------------------------------------------------------
    # 49 TIMESTAMP: 1477010445400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      12.592 | Y:       2.175 |
    PREDICTION:     | X:      12.814 | Y:       1.989 | VX:      4.838 | VY:      1.262 | YAW:     2.752 | DYAW     0.338 |
    TRUTH:          | X:      12.774 | Y:       2.232 | VX:      4.678 | VY:      1.945 | YAW:     0.394 | DYAW     0.318 |
    -------------------------------------------------------------------------------
    # 50 TIMESTAMP: 1477010445450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.486 | PHI:     0.199 | dRHO:    5.446 |
    PREDICTION:     | X:      13.106 | Y:       2.066 | VX:      5.113 | VY:      1.320 | YAW:     2.792 | DYAW     0.320 |
    TRUTH:          | X:      13.007 | Y:       2.331 | VX:      4.643 | VY:      2.017 | YAW:     0.410 | DYAW     0.323 |
    -------------------------------------------------------------------------------
    # 51 TIMESTAMP: 1477010445500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      13.087 | Y:       2.407 |
    PREDICTION:     | X:      13.292 | Y:       2.231 | VX:      4.975 | VY:      1.532 | YAW:     2.706 | DYAW     0.264 |
    TRUTH:          | X:      13.239 | Y:       2.434 | VX:      4.605 | VY:      2.090 | YAW:     0.426 | DYAW     0.329 |
    -------------------------------------------------------------------------------
    # 52 TIMESTAMP: 1477010445550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.087 | PHI:     0.241 | dRHO:    4.513 |
    PREDICTION:     | X:      13.440 | Y:       2.287 | VX:      4.544 | VY:      1.448 | YAW:     2.632 | DYAW     0.252 |
    TRUTH:          | X:      13.468 | Y:       2.540 | VX:      4.566 | VY:      2.163 | YAW:     0.442 | DYAW     0.334 |
    -------------------------------------------------------------------------------
    # 53 TIMESTAMP: 1477010445600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      13.836 | Y:       2.625 |
    PREDICTION:     | X:      13.700 | Y:       2.447 | VX:      4.596 | VY:      1.631 | YAW:     2.729 | DYAW     0.303 |
    TRUTH:          | X:      13.696 | Y:       2.651 | VX:      4.524 | VY:      2.237 | YAW:     0.459 | DYAW     0.340 |
    -------------------------------------------------------------------------------
    # 54 TIMESTAMP: 1477010445650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.099 | PHI:     0.196 | dRHO:    4.806 |
    PREDICTION:     | X:      13.923 | Y:       2.528 | VX:      4.581 | VY:      1.629 | YAW:     2.732 | DYAW     0.296 |
    TRUTH:          | X:      13.921 | Y:       2.764 | VX:      4.481 | VY:      2.311 | YAW:     0.476 | DYAW     0.345 |
    -------------------------------------------------------------------------------
    # 55 TIMESTAMP: 1477010445700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      14.211 | Y:       2.942 |
    PREDICTION:     | X:      14.157 | Y:       2.722 | VX:      4.578 | VY:      1.866 | YAW:     2.790 | DYAW     0.323 |
    TRUTH:          | X:      14.144 | Y:       2.882 | VX:      4.437 | VY:      2.386 | YAW:     0.493 | DYAW     0.351 |
    -------------------------------------------------------------------------------
    # 56 TIMESTAMP: 1477010445750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.837 | PHI:     0.195 | dRHO:    5.233 |
    PREDICTION:     | X:      14.416 | Y:       2.825 | VX:      4.774 | VY:      1.916 | YAW:     2.794 | DYAW     0.292 |
    TRUTH:          | X:      14.365 | Y:       3.003 | VX:      4.390 | VY:      2.461 | YAW:     0.511 | DYAW     0.356 |
    -------------------------------------------------------------------------------
    # 57 TIMESTAMP: 1477010445800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      14.462 | Y:       2.907 |
    PREDICTION:     | X:      14.613 | Y:       2.921 | VX:      4.701 | VY:      1.919 | YAW:     2.738 | DYAW     0.247 |
    TRUTH:          | X:      14.583 | Y:       3.128 | VX:      4.341 | VY:      2.536 | YAW:     0.529 | DYAW     0.361 |
    -------------------------------------------------------------------------------
    # 58 TIMESTAMP: 1477010445850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.200 | PHI:     0.264 | dRHO:    5.157 |
    PREDICTION:     | X:      14.858 | Y:       3.023 | VX:      4.783 | VY:      1.946 | YAW:     2.742 | DYAW     0.233 |
    TRUTH:          | X:      14.799 | Y:       3.257 | VX:      4.290 | VY:      2.612 | YAW:     0.547 | DYAW     0.366 |
    -------------------------------------------------------------------------------
    # 59 TIMESTAMP: 1477010445900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.026 | Y:       3.507 |
    PREDICTION:     | X:      15.071 | Y:       3.254 | VX:      4.723 | VY:      2.228 | YAW:     2.755 | DYAW     0.235 |
    TRUTH:          | X:      15.012 | Y:       3.389 | VX:      4.237 | VY:      2.687 | YAW:     0.565 | DYAW     0.371 |
    -------------------------------------------------------------------------------
    # 60 TIMESTAMP: 1477010445950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.918 | PHI:     0.264 | dRHO:    4.666 |
    PREDICTION:     | X:      15.321 | Y:       3.365 | VX:      4.580 | VY:      2.187 | YAW:     2.860 | DYAW     0.320 |
    TRUTH:          | X:      15.223 | Y:       3.526 | VX:      4.183 | VY:      2.762 | YAW:     0.584 | DYAW     0.377 |
    -------------------------------------------------------------------------------
    # 61 TIMESTAMP: 1477010446000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.524 | Y:       3.829 |
    PREDICTION:     | X:      15.534 | Y:       3.596 | VX:      4.536 | VY:      2.443 | YAW:     2.893 | DYAW     0.332 |
    TRUTH:          | X:      15.431 | Y:       3.666 | VX:      4.126 | VY:      2.838 | YAW:     0.603 | DYAW     0.382 |
    -------------------------------------------------------------------------------
    # 62 TIMESTAMP: 1477010446050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.089 | PHI:     0.214 | dRHO:    4.786 |
    PREDICTION:     | X:      15.746 | Y:       3.711 | VX:      4.441 | VY:      2.412 | YAW:     2.916 | DYAW     0.348 |
    TRUTH:          | X:      15.636 | Y:       3.810 | VX:      4.067 | VY:      2.913 | YAW:     0.622 | DYAW     0.386 |
    -------------------------------------------------------------------------------
    # 63 TIMESTAMP: 1477010446100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.977 | Y:       4.001 |
    PREDICTION:     | X:      15.965 | Y:       3.889 | VX:      4.427 | VY:      2.531 | YAW:     2.950 | DYAW     0.360 |
    TRUTH:          | X:      15.837 | Y:       3.957 | VX:      4.006 | VY:      2.988 | YAW:     0.641 | DYAW     0.391 |
    -------------------------------------------------------------------------------
    # 64 TIMESTAMP: 1477010446150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.873 | PHI:     0.253 | dRHO:    4.410 |
    PREDICTION:     | X:      16.196 | Y:       4.013 | VX:      4.260 | VY:      2.475 | YAW:     3.071 | DYAW     0.460 |
    TRUTH:          | X:      16.036 | Y:       4.109 | VX:      3.943 | VY:      3.063 | YAW:     0.660 | DYAW     0.396 |
    -------------------------------------------------------------------------------
    # 65 TIMESTAMP: 1477010446200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      16.331 | Y:       4.445 |
    PREDICTION:     | X:      16.382 | Y:       4.243 | VX:      4.198 | VY:      2.701 | YAW:     3.093 | DYAW     0.460 |
    TRUTH:          | X:      16.232 | Y:       4.264 | VX:      3.877 | VY:      3.137 | YAW:     0.680 | DYAW     0.401 |
    -------------------------------------------------------------------------------
    # 66 TIMESTAMP: 1477010446250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.348 | PHI:     0.261 | dRHO:    4.725 |
    PREDICTION:     | X:      16.612 | Y:       4.383 | VX:      4.224 | VY:      2.708 | YAW:     3.154 | DYAW     0.489 |
    TRUTH:          | X:      16.424 | Y:       4.422 | VX:      3.810 | VY:      3.211 | YAW:     0.700 | DYAW     0.406 |
    -------------------------------------------------------------------------------
    # 67 TIMESTAMP: 1477010446300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      16.604 | Y:       4.673 |
    PREDICTION:     | X:      16.770 | Y:       4.578 | VX:      4.119 | VY:      2.835 | YAW:     3.118 | DYAW     0.446 |
    TRUTH:          | X:      16.613 | Y:       4.585 | VX:      3.740 | VY:      3.284 | YAW:     0.721 | DYAW     0.410 |
    -------------------------------------------------------------------------------
    # 68 TIMESTAMP: 1477010446350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.676 | PHI:     0.293 | dRHO:    3.910 |
    PREDICTION:     | X:      16.965 | Y:       4.708 | VX:      3.801 | VY:      2.720 | YAW:     3.256 | DYAW     0.570 |
    TRUTH:          | X:      16.798 | Y:       4.751 | VX:      3.668 | VY:      3.357 | YAW:     0.741 | DYAW     0.415 |
    -------------------------------------------------------------------------------
    # 69 TIMESTAMP: 1477010446400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      16.995 | Y:       5.211 |
    PREDICTION:     | X:      17.107 | Y:       4.973 | VX:      3.696 | VY:      2.992 | YAW:     3.264 | DYAW     0.556 |
    TRUTH:          | X:      16.980 | Y:       4.921 | VX:      3.594 | VY:      3.429 | YAW:     0.762 | DYAW     0.419 |
    -------------------------------------------------------------------------------
    # 70 TIMESTAMP: 1477010446450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.954 | PHI:     0.262 | dRHO:    4.232 |
    PREDICTION:     | X:      17.281 | Y:       5.116 | VX:      3.618 | VY:      2.960 | YAW:     3.298 | DYAW     0.569 |
    TRUTH:          | X:      17.158 | Y:       5.094 | VX:      3.518 | VY:      3.500 | YAW:     0.783 | DYAW     0.424 |
    -------------------------------------------------------------------------------
    # 71 TIMESTAMP: 1477010446500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      17.289 | Y:       5.435 |
    PREDICTION:     | X:      17.417 | Y:       5.328 | VX:      3.526 | VY:      3.096 | YAW:     3.285 | DYAW     0.539 |
    TRUTH:          | X:      17.332 | Y:       5.271 | VX:      3.440 | VY:      3.570 | YAW:     0.804 | DYAW     0.428 |
    -------------------------------------------------------------------------------
    # 72 TIMESTAMP: 1477010446550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.273 | PHI:     0.263 | dRHO:    4.060 |
    PREDICTION:     | X:      17.573 | Y:       5.472 | VX:      3.407 | VY:      3.046 | YAW:     3.311 | DYAW     0.549 |
    TRUTH:          | X:      17.502 | Y:       5.451 | VX:      3.359 | VY:      3.639 | YAW:     0.825 | DYAW     0.432 |
    -------------------------------------------------------------------------------
    # 73 TIMESTAMP: 1477010446600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      17.785 | Y:       5.625 |
    PREDICTION:     | X:      17.753 | Y:       5.623 | VX:      3.425 | VY:      3.043 | YAW:     3.352 | DYAW     0.559 |
    TRUTH:          | X:      17.668 | Y:       5.635 | VX:      3.276 | VY:      3.708 | YAW:     0.847 | DYAW     0.437 |
    -------------------------------------------------------------------------------
    # 74 TIMESTAMP: 1477010446650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.922 | PHI:     0.327 | dRHO:    3.862 |
    PREDICTION:     | X:      17.927 | Y:       5.773 | VX:      3.310 | VY:      2.996 | YAW:     3.436 | DYAW     0.616 |
    TRUTH:          | X:      17.830 | Y:       5.822 | VX:      3.192 | VY:      3.775 | YAW:     0.869 | DYAW     0.441 |
    -------------------------------------------------------------------------------
    # 75 TIMESTAMP: 1477010446700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.126 | Y:       6.170 |
    PREDICTION:     | X:      18.090 | Y:       6.004 | VX:      3.294 | VY:      3.165 | YAW:     3.504 | DYAW     0.643 |
    TRUTH:          | X:      17.987 | Y:       6.013 | VX:      3.105 | VY:      3.840 | YAW:     0.891 | DYAW     0.445 |
    -------------------------------------------------------------------------------
    # 76 TIMESTAMP: 1477010446750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.355 | PHI:     0.358 | dRHO:    4.079 |
    PREDICTION:     | X:      18.262 | Y:       6.165 | VX:      3.288 | VY:      3.163 | YAW:     3.558 | DYAW     0.662 |
    TRUTH:          | X:      18.140 | Y:       6.206 | VX:      3.015 | VY:      3.905 | YAW:     0.913 | DYAW     0.449 |
    -------------------------------------------------------------------------------
    # 77 TIMESTAMP: 1477010446800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.216 | Y:       6.661 |
    PREDICTION:     | X:      18.365 | Y:       6.444 | VX:      3.156 | VY:      3.420 | YAW:     3.560 | DYAW     0.640 |
    TRUTH:          | X:      18.289 | Y:       6.403 | VX:      2.924 | VY:      3.968 | YAW:     0.936 | DYAW     0.453 |
    -------------------------------------------------------------------------------
    # 78 TIMESTAMP: 1477010446850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.697 | PHI:     0.365 | dRHO:    3.876 |
    PREDICTION:     | X:      18.521 | Y:       6.611 | VX:      3.063 | VY:      3.377 | YAW:     3.624 | DYAW     0.675 |
    TRUTH:          | X:      18.433 | Y:       6.603 | VX:      2.831 | VY:      4.029 | YAW:     0.958 | DYAW     0.457 |
    -------------------------------------------------------------------------------
    # 79 TIMESTAMP: 1477010446900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.542 | Y:       6.760 |
    PREDICTION:     | X:      18.645 | Y:       6.779 | VX:      3.010 | VY:      3.377 | YAW:     3.614 | DYAW     0.643 |
    TRUTH:          | X:      18.572 | Y:       6.806 | VX:      2.736 | VY:      4.089 | YAW:     0.981 | DYAW     0.461 |
    -------------------------------------------------------------------------------
    # 80 TIMESTAMP: 1477010446950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.156 | PHI:     0.368 | dRHO:    4.112 |
    PREDICTION:     | X:      18.810 | Y:       6.955 | VX:      3.078 | VY:      3.408 | YAW:     3.655 | DYAW     0.644 |
    TRUTH:          | X:      18.706 | Y:       7.012 | VX:      2.638 | VY:      4.147 | YAW:     1.004 | DYAW     0.464 |
    -------------------------------------------------------------------------------
    # 81 TIMESTAMP: 1477010447000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.144 | Y:       7.183 |
    PREDICTION:     | X:      19.002 | Y:       7.137 | VX:      3.147 | VY:      3.427 | YAW:     3.749 | DYAW     0.689 |
    TRUTH:          | X:      18.836 | Y:       7.221 | VX:      2.539 | VY:      4.203 | YAW:     1.027 | DYAW     0.468 |
    -------------------------------------------------------------------------------
    # 82 TIMESTAMP: 1477010447050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.970 | PHI:     0.380 | dRHO:    3.506 |
    PREDICTION:     | X:      19.087 | Y:       7.274 | VX:      2.783 | VY:      3.267 | YAW:     3.753 | DYAW     0.694 |
    TRUTH:          | X:      18.960 | Y:       7.433 | VX:      2.438 | VY:      4.257 | YAW:     1.051 | DYAW     0.472 |
    -------------------------------------------------------------------------------
    # 83 TIMESTAMP: 1477010447100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.014 | Y:       7.869 |
    PREDICTION:     | X:      19.158 | Y:       7.589 | VX:      2.632 | VY:      3.586 | YAW:     3.772 | DYAW     0.684 |
    TRUTH:          | X:      19.080 | Y:       7.647 | VX:      2.335 | VY:      4.310 | YAW:     1.074 | DYAW     0.475 |
    -------------------------------------------------------------------------------
    # 84 TIMESTAMP: 1477010447150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.778 | PHI:     0.378 | dRHO:    3.786 |
    PREDICTION:     | X:      19.288 | Y:       7.768 | VX:      2.632 | VY:      3.585 | YAW:     3.803 | DYAW     0.681 |
    TRUTH:          | X:      19.194 | Y:       7.864 | VX:      2.229 | VY:      4.360 | YAW:     1.098 | DYAW     0.479 |
    -------------------------------------------------------------------------------
    # 85 TIMESTAMP: 1477010447200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.132 | Y:       8.128 |
    PREDICTION:     | X:      19.345 | Y:       8.020 | VX:      2.484 | VY:      3.744 | YAW:     3.773 | DYAW     0.635 |
    TRUTH:          | X:      19.303 | Y:       8.083 | VX:      2.123 | VY:      4.408 | YAW:     1.122 | DYAW     0.482 |
    -------------------------------------------------------------------------------
    # 86 TIMESTAMP: 1477010447250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.705 | PHI:     0.406 | dRHO:    3.775 |
    PREDICTION:     | X:      19.428 | Y:       8.191 | VX:      2.425 | VY:      3.720 | YAW:     3.729 | DYAW     0.577 |
    TRUTH:          | X:      19.406 | Y:       8.305 | VX:      2.014 | VY:      4.454 | YAW:     1.146 | DYAW     0.485 |
    -------------------------------------------------------------------------------
    # 87 TIMESTAMP: 1477010447300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.347 | Y:       8.307 |
    PREDICTION:     | X:      19.506 | Y:       8.365 | VX:      2.350 | VY:      3.700 | YAW:     3.690 | DYAW     0.528 |
    TRUTH:          | X:      19.504 | Y:       8.529 | VX:      1.904 | VY:      4.498 | YAW:     1.170 | DYAW     0.488 |
    -------------------------------------------------------------------------------
    # 88 TIMESTAMP: 1477010447350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.386 | PHI:     0.402 | dRHO:    3.382 |
    PREDICTION:     | X:      19.617 | Y:       8.543 | VX:      2.250 | VY:      3.646 | YAW:     3.741 | DYAW     0.557 |
    TRUTH:          | X:      19.597 | Y:       8.755 | VX:      1.792 | VY:      4.540 | YAW:     1.195 | DYAW     0.492 |
    -------------------------------------------------------------------------------
    # 89 TIMESTAMP: 1477010447400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.004 | Y:       8.891 |
    PREDICTION:     | X:      19.784 | Y:       8.764 | VX:      2.341 | VY:      3.720 | YAW:     3.868 | DYAW     0.630 |
    TRUTH:          | X:      19.683 | Y:       8.983 | VX:      1.678 | VY:      4.578 | YAW:     1.219 | DYAW     0.495 |
    -------------------------------------------------------------------------------
    # 90 TIMESTAMP: 1477010447450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.781 | PHI:     0.451 | dRHO:    3.224 |
    PREDICTION:     | X:      19.885 | Y:       8.939 | VX:      2.158 | VY:      3.622 | YAW:     3.933 | DYAW     0.671 |
    TRUTH:          | X:      19.765 | Y:       9.213 | VX:      1.563 | VY:      4.615 | YAW:     1.244 | DYAW     0.498 |
    -------------------------------------------------------------------------------
    # 91 TIMESTAMP: 1477010447500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.157 | Y:       9.459 |
    PREDICTION:     | X:      20.012 | Y:       9.220 | VX:      2.173 | VY:      3.824 | YAW:     4.057 | DYAW     0.738 |
    TRUTH:          | X:      19.840 | Y:       9.445 | VX:      1.447 | VY:      4.649 | YAW:     1.269 | DYAW     0.501 |
    -------------------------------------------------------------------------------
    # 92 TIMESTAMP: 1477010447550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.913 | PHI:     0.462 | dRHO:    2.967 |
    PREDICTION:     | X:      20.072 | Y:       9.381 | VX:      1.868 | VY:      3.656 | YAW:     4.088 | DYAW     0.755 |
    TRUTH:          | X:      19.909 | Y:       9.678 | VX:      1.329 | VY:      4.680 | YAW:     1.294 | DYAW     0.503 |
    -------------------------------------------------------------------------------
    # 93 TIMESTAMP: 1477010447600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.157 | Y:       9.909 |
    PREDICTION:     | X:      20.144 | Y:       9.674 | VX:      1.805 | VY:      3.883 | YAW:     4.168 | DYAW     0.787 |
    TRUTH:          | X:      19.973 | Y:       9.913 | VX:      1.210 | VY:      4.708 | YAW:     1.319 | DYAW     0.506 |
    -------------------------------------------------------------------------------
    # 94 TIMESTAMP: 1477010447650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.398 | PHI:     0.542 | dRHO:    3.373 |
    PREDICTION:     | X:      20.224 | Y:       9.867 | VX:      1.806 | VY:      3.892 | YAW:     4.185 | DYAW     0.769 |
    TRUTH:          | X:      20.030 | Y:      10.149 | VX:      1.090 | VY:      4.734 | YAW:     1.345 | DYAW     0.509 |
    -------------------------------------------------------------------------------
    # 95 TIMESTAMP: 1477010447700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.166 | Y:      10.469 |
    PREDICTION:     | X:      20.256 | Y:      10.199 | VX:      1.670 | VY:      4.178 | YAW:     4.236 | DYAW     0.780 |
    TRUTH:          | X:      20.082 | Y:      10.386 | VX:      0.968 | VY:      4.757 | YAW:     1.370 | DYAW     0.511 |
    -------------------------------------------------------------------------------
    # 96 TIMESTAMP: 1477010447750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.448 | PHI:     0.502 | dRHO:    2.777 |
    PREDICTION:     | X:      20.285 | Y:      10.371 | VX:      1.365 | VY:      3.991 | YAW:     4.255 | DYAW     0.784 |
    TRUTH:          | X:      20.127 | Y:      10.625 | VX:      0.846 | VY:      4.777 | YAW:     1.396 | DYAW     0.514 |
    -------------------------------------------------------------------------------
    # 97 TIMESTAMP: 1477010447800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.371 | Y:      11.011 |
    PREDICTION:     | X:      20.330 | Y:      10.707 | VX:      1.287 | VY:      4.268 | YAW:     4.359 | DYAW     0.833 |
    TRUTH:          | X:      20.166 | Y:      10.864 | VX:      0.722 | VY:      4.793 | YAW:     1.421 | DYAW     0.516 |
    -------------------------------------------------------------------------------
    # 98 TIMESTAMP: 1477010447850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.020 | PHI:     0.566 | dRHO:    3.018 |
    PREDICTION:     | X:      20.379 | Y:      10.912 | VX:      1.216 | VY:      4.228 | YAW:     4.390 | DYAW     0.829 |
    TRUTH:          | X:      20.199 | Y:      11.104 | VX:      0.598 | VY:      4.807 | YAW:     1.447 | DYAW     0.519 |
    -------------------------------------------------------------------------------
    # 99 TIMESTAMP: 1477010447900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.316 | Y:      11.348 |
    PREDICTION:     | X:      20.397 | Y:      11.201 | VX:      1.120 | VY:      4.390 | YAW:     4.429 | DYAW     0.828 |
    TRUTH:          | X:      20.226 | Y:      11.345 | VX:      0.473 | VY:      4.818 | YAW:     1.473 | DYAW     0.521 |
    -------------------------------------------------------------------------------
    # 100 TIMESTAMP: 1477010447950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.776 | PHI:     0.567 | dRHO:    2.088 |
    PREDICTION:     | X:      20.365 | Y:      11.355 | VX:      0.622 | VY:      4.056 | YAW:     4.431 | DYAW     0.827 |
    TRUTH:          | X:      20.247 | Y:      11.586 | VX:      0.347 | VY:      4.826 | YAW:     1.499 | DYAW     0.523 |
    -------------------------------------------------------------------------------
    # 101 TIMESTAMP: 1477010448000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.614 | Y:      11.942 |
    PREDICTION:     | X:      20.418 | Y:      11.660 | VX:      0.627 | VY:      4.253 | YAW:     4.586 | DYAW     0.910 |
    TRUTH:          | X:      20.261 | Y:      11.828 | VX:      0.220 | VY:      4.830 | YAW:     1.525 | DYAW     0.525 |
    -------------------------------------------------------------------------------
    # 102 TIMESTAMP: 1477010448050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.279 | PHI:     0.540 | dRHO:    3.009 |
    PREDICTION:     | X:      20.432 | Y:      11.870 | VX:      0.725 | VY:      4.329 | YAW:     4.562 | DYAW     0.853 |
    TRUTH:          | X:      20.269 | Y:      12.069 | VX:      0.093 | VY:      4.832 | YAW:     1.551 | DYAW     0.527 |
    -------------------------------------------------------------------------------
    # 103 TIMESTAMP: 1477010448100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.326 | Y:      12.497 |
    PREDICTION:     | X:      20.406 | Y:      12.220 | VX:      0.575 | VY:      4.604 | YAW:     4.627 | DYAW     0.870 |
    TRUTH:          | X:      20.270 | Y:      12.311 | VX:     -0.034 | VY:      4.830 | YAW:     1.578 | DYAW     0.529 |
    -------------------------------------------------------------------------------
    # 104 TIMESTAMP: 1477010448150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.592 | PHI:     0.558 | dRHO:    1.965 |
    PREDICTION:     | X:      20.380 | Y:      12.398 | VX:      0.171 | VY:      4.299 | YAW:     4.668 | DYAW     0.890 |
    TRUTH:          | X:      20.265 | Y:      12.552 | VX:     -0.162 | VY:      4.825 | YAW:     1.604 | DYAW     0.531 |
    -------------------------------------------------------------------------------
    # 105 TIMESTAMP: 1477010448200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.498 | Y:      12.892 |
    PREDICTION:     | X:      20.391 | Y:      12.687 | VX:      0.148 | VY:      4.442 | YAW:     4.784 | DYAW     0.941 |
    TRUTH:          | X:      20.254 | Y:      12.793 | VX:     -0.289 | VY:      4.816 | YAW:     1.631 | DYAW     0.533 |
    -------------------------------------------------------------------------------
    # 106 TIMESTAMP: 1477010448250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.241 | PHI:     0.530 | dRHO:    2.163 |
    PREDICTION:     | X:      20.393 | Y:      12.898 | VX:      0.018 | VY:      4.336 | YAW:     4.852 | DYAW     0.960 |
    TRUTH:          | X:      20.236 | Y:      13.034 | VX:     -0.417 | VY:      4.804 | YAW:     1.657 | DYAW     0.534 |
    -------------------------------------------------------------------------------
    # 107 TIMESTAMP: 1477010448300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.194 | Y:      13.169 |
    PREDICTION:     | X:      20.345 | Y:      13.147 | VX:     -0.073 | VY:      4.411 | YAW:     4.857 | DYAW     0.930 |
    TRUTH:          | X:      20.212 | Y:      13.274 | VX:     -0.545 | VY:      4.789 | YAW:     1.684 | DYAW     0.536 |
    -------------------------------------------------------------------------------
    # 108 TIMESTAMP: 1477010448350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.026 | PHI:     0.598 | dRHO:    2.138 |
    PREDICTION:     | X:      20.311 | Y:      13.344 | VX:     -0.190 | VY:      4.322 | YAW:     4.859 | DYAW     0.902 |
    TRUTH:          | X:      20.182 | Y:      13.513 | VX:     -0.673 | VY:      4.771 | YAW:     1.711 | DYAW     0.537 |
    -------------------------------------------------------------------------------
    # 109 TIMESTAMP: 1477010448400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.325 | Y:      13.890 |
    PREDICTION:     | X:      20.278 | Y:      13.653 | VX:     -0.268 | VY:      4.501 | YAW:     4.962 | DYAW     0.942 |
    TRUTH:          | X:      20.145 | Y:      13.751 | VX:     -0.801 | VY:      4.749 | YAW:     1.738 | DYAW     0.539 |
    -------------------------------------------------------------------------------
    # 110 TIMESTAMP: 1477010448450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.428 | PHI:     0.587 | dRHO:    1.749 |
    PREDICTION:     | X:      20.233 | Y:      13.845 | VX:     -0.510 | VY:      4.298 | YAW:     4.993 | DYAW     0.935 |
    TRUTH:          | X:      20.102 | Y:      13.988 | VX:     -0.928 | VY:      4.724 | YAW:     1.765 | DYAW     0.540 |
    -------------------------------------------------------------------------------
    # 111 TIMESTAMP: 1477010448500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.122 | Y:      14.337 |
    PREDICTION:     | X:      20.163 | Y:      14.145 | VX:     -0.619 | VY:      4.470 | YAW:     5.061 | DYAW     0.950 |
    TRUTH:          | X:      20.052 | Y:      14.223 | VX:     -1.055 | VY:      4.695 | YAW:     1.792 | DYAW     0.542 |
    -------------------------------------------------------------------------------
    # 112 TIMESTAMP: 1477010448550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.381 | PHI:     0.632 | dRHO:    1.731 |
    PREDICTION:     | X:      20.096 | Y:      14.336 | VX:     -0.786 | VY:      4.328 | YAW:     5.054 | DYAW     0.915 |
    TRUTH:          | X:      19.996 | Y:      14.457 | VX:     -1.181 | VY:      4.663 | YAW:     1.819 | DYAW     0.543 |
    -------------------------------------------------------------------------------
    # 113 TIMESTAMP: 1477010448600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.781 | Y:      14.773 |
    PREDICTION:     | X:      19.977 | Y:      14.640 | VX:     -0.954 | VY:      4.514 | YAW:     5.069 | DYAW     0.895 |
    TRUTH:          | X:      19.934 | Y:      14.690 | VX:     -1.307 | VY:      4.628 | YAW:     1.846 | DYAW     0.544 |
    -------------------------------------------------------------------------------
    # 114 TIMESTAMP: 1477010448650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.517 | PHI:     0.609 | dRHO:    1.713 |
    PREDICTION:     | X:      19.903 | Y:      14.840 | VX:     -1.057 | VY:      4.418 | YAW:     5.073 | DYAW     0.870 |
    TRUTH:          | X:      19.865 | Y:      14.920 | VX:     -1.432 | VY:      4.589 | YAW:     1.873 | DYAW     0.545 |
    -------------------------------------------------------------------------------
    # 115 TIMESTAMP: 1477010448700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      20.021 | Y:      15.205 |
    PREDICTION:     | X:      19.872 | Y:      15.082 | VX:     -1.034 | VY:      4.448 | YAW:     5.179 | DYAW     0.910 |
    TRUTH:          | X:      19.791 | Y:      15.149 | VX:     -1.556 | VY:      4.548 | YAW:     1.900 | DYAW     0.546 |
    -------------------------------------------------------------------------------
    # 116 TIMESTAMP: 1477010448750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.221 | PHI:     0.654 | dRHO:    0.480 |
    PREDICTION:     | X:      19.775 | Y:      15.240 | VX:     -1.577 | VY:      3.934 | YAW:     5.230 | DYAW     0.912 |
    TRUTH:          | X:      19.710 | Y:      15.375 | VX:     -1.679 | VY:      4.502 | YAW:     1.928 | DYAW     0.546 |
    -------------------------------------------------------------------------------
    # 117 TIMESTAMP: 1477010448800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.913 | Y:      15.554 |
    PREDICTION:     | X:      19.730 | Y:      15.444 | VX:     -1.529 | VY:      3.935 | YAW:     5.342 | DYAW     0.953 |
    TRUTH:          | X:      19.623 | Y:      15.599 | VX:     -1.801 | VY:      4.454 | YAW:     1.955 | DYAW     0.547 |
    -------------------------------------------------------------------------------
    # 118 TIMESTAMP: 1477010448850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.003 | PHI:     0.648 | dRHO:    1.140 |
    PREDICTION:     | X:      19.643 | Y:      15.630 | VX:     -1.577 | VY:      3.888 | YAW:     5.363 | DYAW     0.936 |
    TRUTH:          | X:      19.530 | Y:      15.820 | VX:     -1.922 | VY:      4.402 | YAW:     1.982 | DYAW     0.548 |
    -------------------------------------------------------------------------------
    # 119 TIMESTAMP: 1477010448900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.475 | Y:      16.010 |
    PREDICTION:     | X:      19.524 | Y:      15.881 | VX:     -1.670 | VY:      4.003 | YAW:     5.418 | DYAW     0.940 |
    TRUTH:          | X:      19.431 | Y:      16.039 | VX:     -2.041 | VY:      4.347 | YAW:     2.010 | DYAW     0.548 |
    -------------------------------------------------------------------------------
    # 120 TIMESTAMP: 1477010448950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.960 | PHI:     0.696 | dRHO:    1.212 |
    PREDICTION:     | X:      19.427 | Y:      16.069 | VX:     -1.697 | VY:      3.976 | YAW:     5.431 | DYAW     0.920 |
    TRUTH:          | X:      19.326 | Y:      16.255 | VX:     -2.159 | VY:      4.289 | YAW:     2.037 | DYAW     0.549 |
    -------------------------------------------------------------------------------
    # 121 TIMESTAMP: 1477010449000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.238 | Y:      16.272 |
    PREDICTION:     | X:      19.320 | Y:      16.281 | VX:     -1.738 | VY:      4.008 | YAW:     5.461 | DYAW     0.912 |
    TRUTH:          | X:      19.215 | Y:      16.468 | VX:     -2.276 | VY:      4.227 | YAW:     2.065 | DYAW     0.549 |
    -------------------------------------------------------------------------------
    # 122 TIMESTAMP: 1477010449050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.337 | PHI:     0.699 | dRHO:    0.723 |
    PREDICTION:     | X:      19.212 | Y:      16.451 | VX:     -1.944 | VY:      3.792 | YAW:     5.474 | DYAW     0.885 |
    TRUTH:          | X:      19.098 | Y:      16.678 | VX:     -2.391 | VY:      4.163 | YAW:     2.092 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 123 TIMESTAMP: 1477010449100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      19.003 | Y:      16.839 |
    PREDICTION:     | X:      19.068 | Y:      16.702 | VX:     -2.053 | VY:      3.914 | YAW:     5.521 | DYAW     0.885 |
    TRUTH:          | X:      18.976 | Y:      16.884 | VX:     -2.504 | VY:      4.095 | YAW:     2.120 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 124 TIMESTAMP: 1477010449150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.856 | PHI:     0.755 | dRHO:   -0.061 |
    PREDICTION:     | X:      18.942 | Y:      16.851 | VX:     -2.443 | VY:      3.486 | YAW:     5.509 | DYAW     0.830 |
    TRUTH:          | X:      18.848 | Y:      17.087 | VX:     -2.616 | VY:      4.025 | YAW:     2.147 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 125 TIMESTAMP: 1477010449200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.615 | Y:      17.383 |
    PREDICTION:     | X:      18.732 | Y:      17.134 | VX:     -2.644 | VY:      3.704 | YAW:     5.553 | DYAW     0.829 |
    TRUTH:          | X:      18.714 | Y:      17.287 | VX:     -2.725 | VY:      3.951 | YAW:     2.175 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 126 TIMESTAMP: 1477010449250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.381 | PHI:     0.736 | dRHO:    1.064 |
    PREDICTION:     | X:      18.614 | Y:      17.344 | VX:     -2.482 | VY:      3.893 | YAW:     5.618 | DYAW     0.849 |
    TRUTH:          | X:      18.575 | Y:      17.482 | VX:     -2.833 | VY:      3.875 | YAW:     2.202 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 127 TIMESTAMP: 1477010449300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.102 | Y:      17.553 |
    PREDICTION:     | X:      18.406 | Y:      17.591 | VX:     -2.647 | VY:      4.013 | YAW:     5.646 | DYAW     0.847 |
    TRUTH:          | X:      18.431 | Y:      17.674 | VX:     -2.939 | VY:      3.796 | YAW:     2.230 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 128 TIMESTAMP: 1477010449350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.294 | PHI:     0.763 | dRHO:    0.672 |
    PREDICTION:     | X:      18.260 | Y:      17.772 | VX:     -2.726 | VY:      3.915 | YAW:     5.655 | DYAW     0.826 |
    TRUTH:          | X:      18.281 | Y:      17.862 | VX:     -3.042 | VY:      3.714 | YAW:     2.257 | DYAW     0.550 |
    -------------------------------------------------------------------------------
    # 129 TIMESTAMP: 1477010449400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      18.209 | Y:      18.046 |
    PREDICTION:     | X:      18.132 | Y:      17.974 | VX:     -2.714 | VY:      3.923 | YAW:     5.691 | DYAW     0.820 |
    TRUTH:          | X:      18.127 | Y:      18.045 | VX:     -3.143 | VY:      3.629 | YAW:     2.285 | DYAW     0.549 |
    -------------------------------------------------------------------------------
    # 130 TIMESTAMP: 1477010449450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.321 | PHI:     0.763 | dRHO:   -0.093 |
    PREDICTION:     | X:      17.962 | Y:      18.110 | VX:     -3.024 | VY:      3.527 | YAW:     5.603 | DYAW     0.732 |
    TRUTH:          | X:      17.967 | Y:      18.225 | VX:     -3.242 | VY:      3.542 | YAW:     2.312 | DYAW     0.549 |
    -------------------------------------------------------------------------------
    # 131 TIMESTAMP: 1477010449500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      17.902 | Y:      18.218 |
    PREDICTION:     | X:      17.840 | Y:      18.260 | VX:     -2.962 | VY:      3.473 | YAW:     5.639 | DYAW     0.731 |
    TRUTH:          | X:      17.803 | Y:      18.399 | VX:     -3.338 | VY:      3.452 | YAW:     2.339 | DYAW     0.548 |
    -------------------------------------------------------------------------------
    # 132 TIMESTAMP: 1477010449550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.162 | PHI:     0.766 | dRHO:    0.152 |
    PREDICTION:     | X:      17.704 | Y:      18.437 | VX:     -3.037 | VY:      3.368 | YAW:     5.628 | DYAW     0.695 |
    TRUTH:          | X:      17.633 | Y:      18.570 | VX:     -3.432 | VY:      3.360 | YAW:     2.367 | DYAW     0.548 |
    -------------------------------------------------------------------------------
    # 133 TIMESTAMP: 1477010449600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      17.384 | Y:      18.704 |
    PREDICTION:     | X:      17.502 | Y:      18.648 | VX:     -3.147 | VY:      3.454 | YAW:     5.672 | DYAW     0.701 |
    TRUTH:          | X:      17.459 | Y:      18.735 | VX:     -3.524 | VY:      3.265 | YAW:     2.394 | DYAW     0.547 |
    -------------------------------------------------------------------------------
    # 134 TIMESTAMP: 1477010449650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.368 | PHI:     0.793 | dRHO:   -0.253 |
    PREDICTION:     | X:      17.320 | Y:      18.775 | VX:     -3.360 | VY:      3.163 | YAW:     5.703 | DYAW     0.693 |
    TRUTH:          | X:      17.281 | Y:      18.896 | VX:     -3.613 | VY:      3.168 | YAW:     2.422 | DYAW     0.546 |
    -------------------------------------------------------------------------------
    # 135 TIMESTAMP: 1477010449700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      17.176 | Y:      18.886 |
    PREDICTION:     | X:      17.163 | Y:      18.920 | VX:     -3.334 | VY:      3.138 | YAW:     5.743 | DYAW     0.696 |
    TRUTH:          | X:      17.098 | Y:      19.052 | VX:     -3.699 | VY:      3.069 | YAW:     2.449 | DYAW     0.546 |
    -------------------------------------------------------------------------------
    # 136 TIMESTAMP: 1477010449750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.005 | PHI:     0.861 | dRHO:   -0.164 |
    PREDICTION:     | X:      17.007 | Y:      19.082 | VX:     -3.395 | VY:      3.046 | YAW:     5.639 | DYAW     0.615 |
    TRUTH:          | X:      16.911 | Y:      19.203 | VX:     -3.782 | VY:      2.968 | YAW:     2.476 | DYAW     0.545 |
    -------------------------------------------------------------------------------
    # 137 TIMESTAMP: 1477010449800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      16.573 | Y:      19.052 |
    PREDICTION:     | X:      16.794 | Y:      19.226 | VX:     -3.477 | VY:      3.039 | YAW:     5.789 | DYAW     0.681 |
    TRUTH:          | X:      16.720 | Y:      19.349 | VX:     -3.863 | VY:      2.865 | YAW:     2.504 | DYAW     0.544 |
    -------------------------------------------------------------------------------
    # 138 TIMESTAMP: 1477010449850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.889 | PHI:     0.896 | dRHO:   -0.530 |
    PREDICTION:     | X:      16.624 | Y:      19.367 | VX:     -3.614 | VY:      2.832 | YAW:     5.614 | DYAW     0.561 |
    TRUTH:          | X:      16.525 | Y:      19.489 | VX:     -3.940 | VY:      2.759 | YAW:     2.531 | DYAW     0.543 |
    -------------------------------------------------------------------------------
    # 139 TIMESTAMP: 1477010449900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      16.234 | Y:      19.617 |
    PREDICTION:     | X:      16.378 | Y:      19.555 | VX:     -3.754 | VY:      2.926 | YAW:     5.668 | DYAW     0.574 |
    TRUTH:          | X:      16.326 | Y:      19.625 | VX:     -4.015 | VY:      2.652 | YAW:     2.558 | DYAW     0.542 |
    -------------------------------------------------------------------------------
    # 140 TIMESTAMP: 1477010449950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.579 | PHI:     0.838 | dRHO:   -0.868 |
    PREDICTION:     | X:      16.131 | Y:      19.608 | VX:     -4.028 | VY:      2.525 | YAW:     6.074 | DYAW     0.764 |
    TRUTH:          | X:      16.124 | Y:      19.755 | VX:     -4.087 | VY:      2.544 | YAW:     2.585 | DYAW     0.540 |
    -------------------------------------------------------------------------------
    # 141 TIMESTAMP: 1477010450000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.924 | Y:      19.870 |
    PREDICTION:     | X:      15.913 | Y:      19.763 | VX:     -4.070 | VY:      2.578 | YAW:     6.064 | DYAW     0.740 |
    TRUTH:          | X:      15.918 | Y:      19.879 | VX:     -4.156 | VY:      2.433 | YAW:     2.612 | DYAW     0.539 |
    -------------------------------------------------------------------------------
    # 142 TIMESTAMP: 1477010450050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.155 | PHI:     0.869 | dRHO:   -0.422 |
    PREDICTION:     | X:      15.701 | Y:      19.882 | VX:     -4.071 | VY:      2.580 | YAW:     6.205 | DYAW     0.793 |
    TRUTH:          | X:      15.708 | Y:      19.998 | VX:     -4.222 | VY:      2.321 | YAW:     2.639 | DYAW     0.537 |
    -------------------------------------------------------------------------------
    # 143 TIMESTAMP: 1477010450100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.433 | Y:      20.184 |
    PREDICTION:     | X:      15.463 | Y:      20.055 | VX:     -4.149 | VY:      2.668 | YAW:     6.193 | DYAW     0.767 |
    TRUTH:          | X:      15.496 | Y:      20.111 | VX:     -4.285 | VY:      2.208 | YAW:     2.666 | DYAW     0.536 |
    -------------------------------------------------------------------------------
    # 144 TIMESTAMP: 1477010450150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.726 | PHI:     0.978 | dRHO:   -0.746 |
    PREDICTION:     | X:      15.279 | Y:      20.211 | VX:     -4.166 | VY:      2.622 | YAW:     5.914 | DYAW     0.606 |
    TRUTH:          | X:      15.280 | Y:      20.219 | VX:     -4.344 | VY:      2.093 | YAW:     2.693 | DYAW     0.534 |
    -------------------------------------------------------------------------------
    # 145 TIMESTAMP: 1477010450200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      15.202 | Y:      20.439 |
    PREDICTION:     | X:      15.098 | Y:      20.353 | VX:     -4.106 | VY:      2.647 | YAW:     5.853 | DYAW     0.564 |
    TRUTH:          | X:      15.061 | Y:      20.320 | VX:     -4.401 | VY:      1.978 | YAW:     2.719 | DYAW     0.533 |
    -------------------------------------------------------------------------------
    # 146 TIMESTAMP: 1477010450250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.815 | PHI:     0.934 | dRHO:   -1.045 |
    PREDICTION:     | X:      14.839 | Y:      20.387 | VX:     -4.382 | VY:      2.191 | YAW:     6.224 | DYAW     0.718 |
    TRUTH:          | X:      14.840 | Y:      20.416 | VX:     -4.454 | VY:      1.861 | YAW:     2.746 | DYAW     0.531 |
    -------------------------------------------------------------------------------
    # 147 TIMESTAMP: 1477010450300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      14.666 | Y:      20.609 |
    PREDICTION:     | X:      14.623 | Y:      20.517 | VX:     -4.381 | VY:      2.228 | YAW:     6.195 | DYAW     0.688 |
    TRUTH:          | X:      14.616 | Y:      20.506 | VX:     -4.504 | VY:      1.743 | YAW:     2.772 | DYAW     0.529 |
    -------------------------------------------------------------------------------
    # 148 TIMESTAMP: 1477010450350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.154 | PHI:     0.988 | dRHO:   -1.296 |
    PREDICTION:     | X:      14.411 | Y:      20.620 | VX:     -4.483 | VY:      2.022 | YAW:     5.981 | DYAW     0.553 |
    TRUTH:          | X:      14.390 | Y:      20.590 | VX:     -4.551 | VY:      1.624 | YAW:     2.799 | DYAW     0.527 |
    -------------------------------------------------------------------------------
    # 149 TIMESTAMP: 1477010450400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      14.052 | Y:      20.592 |
    PREDICTION:     | X:      14.158 | Y:      20.703 | VX:     -4.540 | VY:      1.988 | YAW:     6.112 | DYAW     0.598 |
    TRUTH:          | X:      14.161 | Y:      20.669 | VX:     -4.595 | VY:      1.504 | YAW:     2.825 | DYAW     0.525 |
    -------------------------------------------------------------------------------
    # 150 TIMESTAMP: 1477010450450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.024 | PHI:     0.986 | dRHO:   -1.500 |
    PREDICTION:     | X:      13.925 | Y:      20.772 | VX:     -4.677 | VY:      1.715 | YAW:     6.069 | DYAW     0.549 |
    TRUTH:          | X:      13.930 | Y:      20.741 | VX:     -4.636 | VY:      1.384 | YAW:     2.852 | DYAW     0.523 |
    -------------------------------------------------------------------------------
    # 151 TIMESTAMP: 1477010450500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      13.469 | Y:      20.725 |
    PREDICTION:     | X:      13.635 | Y:      20.845 | VX:     -4.790 | VY:      1.693 | YAW:     6.232 | DYAW     0.608 |
    TRUTH:          | X:      13.698 | Y:      20.807 | VX:     -4.674 | VY:      1.263 | YAW:     2.878 | DYAW     0.521 |
    -------------------------------------------------------------------------------
    # 152 TIMESTAMP: 1477010450550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.666 | PHI:     0.976 | dRHO:   -2.009 |
    PREDICTION:     | X:      13.391 | Y:      20.889 | VX:     -4.958 | VY:      1.330 | YAW:     6.118 | DYAW     0.513 |
    TRUTH:          | X:      13.463 | Y:      20.867 | VX:     -4.708 | VY:      1.142 | YAW:     2.904 | DYAW     0.519 |
    -------------------------------------------------------------------------------
    # 153 TIMESTAMP: 1477010450600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      13.107 | Y:      20.829 |
    PREDICTION:     | X:      13.141 | Y:      20.929 | VX:     -4.957 | VY:      1.279 | YAW:     6.216 | DYAW     0.545 |
    TRUTH:          | X:      13.227 | Y:      20.921 | VX:     -4.739 | VY:      1.020 | YAW:     2.930 | DYAW     0.516 |
    -------------------------------------------------------------------------------
    # 154 TIMESTAMP: 1477010450650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.973 | PHI:     1.011 | dRHO:   -1.834 |
    PREDICTION:     | X:      12.910 | Y:      21.008 | VX:     -4.990 | VY:      1.186 | YAW:     6.096 | DYAW     0.469 |
    TRUTH:          | X:      12.990 | Y:      20.969 | VX:     -4.767 | VY:      0.898 | YAW:     2.955 | DYAW     0.514 |
    -------------------------------------------------------------------------------
    # 155 TIMESTAMP: 1477010450700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      12.873 | Y:      21.059 |
    PREDICTION:     | X:      12.726 | Y:      21.051 | VX:     -4.852 | VY:      1.152 | YAW:     6.061 | DYAW     0.444 |
    TRUTH:          | X:      12.751 | Y:      21.011 | VX:     -4.792 | VY:      0.775 | YAW:     2.981 | DYAW     0.511 |
    -------------------------------------------------------------------------------
    # 156 TIMESTAMP: 1477010450750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.543 | PHI:     1.082 | dRHO:   -2.031 |
    PREDICTION:     | X:      12.472 | Y:      21.072 | VX:     -4.980 | VY:      0.879 | YAW:     6.105 | DYAW     0.446 |
    TRUTH:          | X:      12.511 | Y:      21.047 | VX:     -4.814 | VY:      0.653 | YAW:     3.007 | DYAW     0.509 |
    -------------------------------------------------------------------------------
    # 157 TIMESTAMP: 1477010450800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      12.206 | Y:      21.110 |
    PREDICTION:     | X:      12.218 | Y:      21.116 | VX:     -4.990 | VY:      0.880 | YAW:     6.135 | DYAW     0.450 |
    TRUTH:          | X:      12.269 | Y:      21.076 | VX:     -4.832 | VY:      0.531 | YAW:     3.032 | DYAW     0.506 |
    -------------------------------------------------------------------------------
    # 158 TIMESTAMP: 1477010450850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.472 | PHI:     1.040 | dRHO:   -2.242 |
    PREDICTION:     | X:      11.974 | Y:      21.146 | VX:     -5.084 | VY:      0.643 | YAW:     6.061 | DYAW     0.391 |
    TRUTH:          | X:      12.028 | Y:      21.100 | VX:     -4.848 | VY:      0.409 | YAW:     3.057 | DYAW     0.503 |
    -------------------------------------------------------------------------------
    # 159 TIMESTAMP: 1477010450900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      11.681 | Y:      20.865 |
    PREDICTION:     | X:      11.730 | Y:      21.114 | VX:     -5.044 | VY:      0.536 | YAW:     6.225 | DYAW     0.456 |
    TRUTH:          | X:      11.785 | Y:      21.117 | VX:     -4.860 | VY:      0.287 | YAW:     3.083 | DYAW     0.501 |
    -------------------------------------------------------------------------------
    # 160 TIMESTAMP: 1477010450950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.671 | PHI:     1.062 | dRHO:   -2.415 |
    PREDICTION:     | X:      11.461 | Y:      21.092 | VX:     -5.151 | VY:      0.280 | YAW:     6.265 | DYAW     0.446 |
    TRUTH:          | X:      11.542 | Y:      21.128 | VX:     -4.870 | VY:      0.165 | YAW:     3.108 | DYAW     0.498 |
    -------------------------------------------------------------------------------
    # 161 TIMESTAMP: 1477010451000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      11.363 | Y:      21.069 |
    PREDICTION:     | X:      11.255 | Y:      21.087 | VX:     -5.040 | VY:      0.241 | YAW:     6.267 | DYAW     0.437 |
    TRUTH:          | X:      11.298 | Y:      21.134 | VX:     -4.876 | VY:      0.044 | YAW:     3.133 | DYAW     0.495 |
    -------------------------------------------------------------------------------
    # 162 TIMESTAMP: 1477010451050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.109 | PHI:     1.096 | dRHO:   -2.608 |
    PREDICTION:     | X:      10.972 | Y:      21.025 | VX:     -5.166 | VY:     -0.061 | YAW:     6.384 | DYAW     0.463 |
    TRUTH:          | X:      11.054 | Y:      21.133 | VX:     -4.880 | VY:     -0.077 | YAW:     3.157 | DYAW     0.492 |
    -------------------------------------------------------------------------------
    # 163 TIMESTAMP: 1477010451100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      10.890 | Y:      20.927 |
    PREDICTION:     | X:      10.776 | Y:      20.990 | VX:     -5.033 | VY:     -0.122 | YAW:     6.409 | DYAW     0.465 |
    TRUTH:          | X:      10.810 | Y:      21.126 | VX:     -4.881 | VY:     -0.197 | YAW:     3.182 | DYAW     0.488 |
    -------------------------------------------------------------------------------
    # 164 TIMESTAMP: 1477010451150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.326 | PHI:     1.160 | dRHO:   -2.319 |
    PREDICTION:     | X:      10.516 | Y:      20.973 | VX:     -5.039 | VY:     -0.123 | YAW:     6.480 | DYAW     0.489 |
    TRUTH:          | X:      10.567 | Y:      21.113 | VX:     -4.878 | VY:     -0.316 | YAW:     3.206 | DYAW     0.485 |
    -------------------------------------------------------------------------------
    # 165 TIMESTAMP: 1477010451200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      10.189 | Y:      21.209 |
    PREDICTION:     | X:      10.225 | Y:      21.023 | VX:     -5.132 | VY:     -0.020 | YAW:     6.418 | DYAW     0.447 |
    TRUTH:          | X:      10.323 | Y:      21.094 | VX:     -4.873 | VY:     -0.435 | YAW:     3.231 | DYAW     0.482 |
    -------------------------------------------------------------------------------
    # 166 TIMESTAMP: 1477010451250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.516 | PHI:     1.133 | dRHO:   -2.698 |
    PREDICTION:     | X:       9.981 | Y:      21.026 | VX:     -5.183 | VY:     -0.194 | YAW:     6.306 | DYAW     0.361 |
    TRUTH:          | X:      10.080 | Y:      21.070 | VX:     -4.866 | VY:     -0.552 | YAW:     3.255 | DYAW     0.479 |
    -------------------------------------------------------------------------------
    # 167 TIMESTAMP: 1477010451300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       9.996 | Y:      20.980 |
    PREDICTION:     | X:       9.811 | Y:      20.992 | VX:     -4.992 | VY:     -0.244 | YAW:     6.287 | DYAW     0.344 |
    TRUTH:          | X:       9.837 | Y:      21.039 | VX:     -4.856 | VY:     -0.669 | YAW:     3.279 | DYAW     0.475 |
    -------------------------------------------------------------------------------
    # 168 TIMESTAMP: 1477010451350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.102 | PHI:     1.153 | dRHO:   -2.350 |
    PREDICTION:     | X:       9.563 | Y:      20.981 | VX:     -5.000 | VY:     -0.266 | YAW:     6.292 | DYAW     0.337 |
    TRUTH:          | X:       9.594 | Y:      21.003 | VX:     -4.843 | VY:     -0.785 | YAW:     3.302 | DYAW     0.472 |
    -------------------------------------------------------------------------------
    # 169 TIMESTAMP: 1477010451400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       9.539 | Y:      20.876 |
    PREDICTION:     | X:       9.391 | Y:      20.935 | VX:     -4.832 | VY:     -0.328 | YAW:     6.305 | DYAW     0.336 |
    TRUTH:          | X:       9.353 | Y:      20.961 | VX:     -4.827 | VY:     -0.900 | YAW:     3.326 | DYAW     0.468 |
    -------------------------------------------------------------------------------
    # 170 TIMESTAMP: 1477010451450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.079 | PHI:     1.140 | dRHO:   -2.849 |
    PREDICTION:     | X:       9.157 | Y:      20.909 | VX:     -4.910 | VY:     -0.593 | YAW:     6.220 | DYAW     0.266 |
    TRUTH:          | X:       9.112 | Y:      20.913 | VX:     -4.809 | VY:     -1.014 | YAW:     3.349 | DYAW     0.464 |
    -------------------------------------------------------------------------------
    # 171 TIMESTAMP: 1477010451500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       8.703 | Y:      20.822 |
    PREDICTION:     | X:       8.848 | Y:      20.880 | VX:     -5.040 | VY:     -0.584 | YAW:     6.292 | DYAW     0.296 |
    TRUTH:          | X:       8.872 | Y:      20.859 | VX:     -4.789 | VY:     -1.126 | YAW:     3.373 | DYAW     0.461 |
    -------------------------------------------------------------------------------
    # 172 TIMESTAMP: 1477010451550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.300 | PHI:     1.113 | dRHO:   -2.998 |
    PREDICTION:     | X:       8.588 | Y:      20.800 | VX:     -5.121 | VY:     -0.878 | YAW:     6.329 | DYAW     0.295 |
    TRUTH:          | X:       8.633 | Y:      20.800 | VX:     -4.766 | VY:     -1.237 | YAW:     3.396 | DYAW     0.457 |
    -------------------------------------------------------------------------------
    # 173 TIMESTAMP: 1477010451600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       8.223 | Y:      20.484 |
    PREDICTION:     | X:       8.312 | Y:      20.709 | VX:     -5.149 | VY:     -0.948 | YAW:     6.467 | DYAW     0.360 |
    TRUTH:          | X:       8.396 | Y:      20.736 | VX:     -4.741 | VY:     -1.347 | YAW:     3.418 | DYAW     0.453 |
    -------------------------------------------------------------------------------
    # 174 TIMESTAMP: 1477010451650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.113 | PHI:     1.186 | dRHO:   -3.204 |
    PREDICTION:     | X:       8.058 | Y:      20.643 | VX:     -5.198 | VY:     -1.153 | YAW:     6.409 | DYAW     0.298 |
    TRUTH:          | X:       8.159 | Y:      20.666 | VX:     -4.714 | VY:     -1.455 | YAW:     3.441 | DYAW     0.449 |
    -------------------------------------------------------------------------------
    # 175 TIMESTAMP: 1477010451700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       7.886 | Y:      20.450 |
    PREDICTION:     | X:       7.834 | Y:      20.554 | VX:     -5.115 | VY:     -1.207 | YAW:     6.464 | DYAW     0.320 |
    TRUTH:          | X:       7.924 | Y:      20.590 | VX:     -4.685 | VY:     -1.562 | YAW:     3.464 | DYAW     0.445 |
    -------------------------------------------------------------------------------
    # 176 TIMESTAMP: 1477010451750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.258 | PHI:     1.189 | dRHO:   -3.512 |
    PREDICTION:     | X:       7.596 | Y:      20.504 | VX:     -5.159 | VY:     -1.433 | YAW:     6.307 | DYAW     0.202 |
    TRUTH:          | X:       7.691 | Y:      20.510 | VX:     -4.653 | VY:     -1.668 | YAW:     3.486 | DYAW     0.441 |
    -------------------------------------------------------------------------------
    # 177 TIMESTAMP: 1477010451800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       7.180 | Y:      20.392 |
    PREDICTION:     | X:       7.288 | Y:      20.433 | VX:     -5.262 | VY:     -1.429 | YAW:     6.355 | DYAW     0.223 |
    TRUTH:          | X:       7.459 | Y:      20.424 | VX:     -4.620 | VY:     -1.772 | YAW:     3.508 | DYAW     0.437 |
    -------------------------------------------------------------------------------
    # 178 TIMESTAMP: 1477010451850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.333 | PHI:     1.232 | dRHO:   -3.326 |
    PREDICTION:     | X:       7.019 | Y:      20.328 | VX:     -5.298 | VY:     -1.586 | YAW:     6.406 | DYAW     0.241 |
    TRUTH:          | X:       7.229 | Y:      20.333 | VX:     -4.584 | VY:     -1.874 | YAW:     3.530 | DYAW     0.432 |
    -------------------------------------------------------------------------------
    # 179 TIMESTAMP: 1477010451900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       6.815 | Y:      20.186 |
    PREDICTION:     | X:       6.778 | Y:      20.234 | VX:     -5.246 | VY:     -1.612 | YAW:     6.434 | DYAW     0.250 |
    TRUTH:          | X:       7.001 | Y:      20.236 | VX:     -4.547 | VY:     -1.975 | YAW:     3.551 | DYAW     0.428 |
    -------------------------------------------------------------------------------
    # 180 TIMESTAMP: 1477010451950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.300 | PHI:     1.241 | dRHO:   -3.359 |
    PREDICTION:     | X:       6.521 | Y:      20.154 | VX:     -5.259 | VY:     -1.699 | YAW:     6.396 | DYAW     0.215 |
    TRUTH:          | X:       6.775 | Y:      20.135 | VX:     -4.509 | VY:     -2.074 | YAW:     3.573 | DYAW     0.424 |
    -------------------------------------------------------------------------------
    # 181 TIMESTAMP: 1477010452000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       6.389 | Y:      20.014 |
    PREDICTION:     | X:       6.304 | Y:      20.053 | VX:     -5.159 | VY:     -1.728 | YAW:     6.412 | DYAW     0.218 |
    TRUTH:          | X:       6.551 | Y:      20.029 | VX:     -4.468 | VY:     -2.171 | YAW:     3.594 | DYAW     0.419 |
    -------------------------------------------------------------------------------
    # 182 TIMESTAMP: 1477010452050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.288 | PHI:     1.252 | dRHO:   -3.502 |
    PREDICTION:     | X:       6.061 | Y:      19.984 | VX:     -5.171 | VY:     -1.853 | YAW:     6.301 | DYAW     0.140 |
    TRUTH:          | X:       6.328 | Y:      19.918 | VX:     -4.426 | VY:     -2.266 | YAW:     3.615 | DYAW     0.415 |
    -------------------------------------------------------------------------------
    # 183 TIMESTAMP: 1477010452100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       5.861 | Y:      19.831 |
    PREDICTION:     | X:       5.825 | Y:      19.878 | VX:     -5.122 | VY:     -1.876 | YAW:     6.325 | DYAW     0.150 |
    TRUTH:          | X:       6.108 | Y:      19.803 | VX:     -4.382 | VY:     -2.360 | YAW:     3.636 | DYAW     0.410 |
    -------------------------------------------------------------------------------
    # 184 TIMESTAMP: 1477010452150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.206 | PHI:     1.306 | dRHO:   -3.869 |
    PREDICTION:     | X:       5.562 | Y:      19.713 | VX:     -5.188 | VY:     -2.266 | YAW:     6.402 | DYAW     0.183 |
    TRUTH:          | X:       5.890 | Y:      19.682 | VX:     -4.337 | VY:     -2.452 | YAW:     3.656 | DYAW     0.406 |
    -------------------------------------------------------------------------------
    # 185 TIMESTAMP: 1477010452200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       5.691 | Y:      19.576 |
    PREDICTION:     | X:       5.433 | Y:      19.579 | VX:     -4.909 | VY:     -2.307 | YAW:     6.377 | DYAW     0.164 |
    TRUTH:          | X:       5.675 | Y:      19.558 | VX:     -4.291 | VY:     -2.542 | YAW:     3.676 | DYAW     0.401 |
    -------------------------------------------------------------------------------
    # 186 TIMESTAMP: 1477010452250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.897 | PHI:     1.267 | dRHO:   -3.803 |
    PREDICTION:     | X:       5.185 | Y:      19.428 | VX:     -4.937 | VY:     -2.487 | YAW:     6.410 | DYAW     0.171 |
    TRUTH:          | X:       5.461 | Y:      19.428 | VX:     -4.244 | VY:     -2.630 | YAW:     3.696 | DYAW     0.396 |
    -------------------------------------------------------------------------------
    # 187 TIMESTAMP: 1477010452300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       5.170 | Y:      19.440 |
    PREDICTION:     | X:       5.010 | Y:      19.318 | VX:     -4.788 | VY:     -2.473 | YAW:     6.342 | DYAW     0.127 |
    TRUTH:          | X:       5.251 | Y:      19.295 | VX:     -4.195 | VY:     -2.716 | YAW:     3.716 | DYAW     0.391 |
    -------------------------------------------------------------------------------
    # 188 TIMESTAMP: 1477010452350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.175 | PHI:     1.275 | dRHO:   -3.513 |
    PREDICTION:     | X:       4.782 | Y:      19.227 | VX:     -4.772 | VY:     -2.413 | YAW:     6.267 | DYAW     0.081 |
    TRUTH:          | X:       5.042 | Y:      19.157 | VX:     -4.145 | VY:     -2.801 | YAW:     3.736 | DYAW     0.386 |
    -------------------------------------------------------------------------------
    # 189 TIMESTAMP: 1477010452400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       4.891 | Y:      18.982 |
    PREDICTION:     | X:       4.665 | Y:      19.072 | VX:     -4.508 | VY:     -2.470 | YAW:     6.285 | DYAW     0.090 |
    TRUTH:          | X:       4.836 | Y:      19.015 | VX:     -4.094 | VY:     -2.883 | YAW:     3.755 | DYAW     0.382 |
    -------------------------------------------------------------------------------
    # 190 TIMESTAMP: 1477010452450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.458 | PHI:     1.364 | dRHO:   -3.991 |
    PREDICTION:     | X:       4.440 | Y:      18.914 | VX:     -4.547 | VY:     -2.764 | YAW:     6.287 | DYAW     0.085 |
    TRUTH:          | X:       4.633 | Y:      18.869 | VX:     -4.043 | VY:     -2.964 | YAW:     3.774 | DYAW     0.377 |
    -------------------------------------------------------------------------------
    # 191 TIMESTAMP: 1477010452500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       4.468 | Y:      18.834 |
    PREDICTION:     | X:       4.297 | Y:      18.775 | VX:     -4.371 | VY:     -2.771 | YAW:     6.246 | DYAW     0.060 |
    TRUTH:          | X:       4.432 | Y:      18.719 | VX:     -3.990 | VY:     -3.042 | YAW:     3.793 | DYAW     0.371 |
    -------------------------------------------------------------------------------
    # 192 TIMESTAMP: 1477010452550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.050 | PHI:     1.322 | dRHO:   -3.639 |
    PREDICTION:     | X:       4.079 | Y:      18.635 | VX:     -4.369 | VY:     -2.772 | YAW:     6.255 | DYAW     0.063 |
    TRUTH:          | X:       4.234 | Y:      18.565 | VX:     -3.937 | VY:     -3.119 | YAW:     3.812 | DYAW     0.366 |
    -------------------------------------------------------------------------------
    # 193 TIMESTAMP: 1477010452600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       4.263 | Y:      18.481 |
    PREDICTION:     | X:       3.997 | Y:      18.479 | VX:     -4.079 | VY:     -2.806 | YAW:     6.230 | DYAW     0.048 |
    TRUTH:          | X:       4.039 | Y:      18.407 | VX:     -3.883 | VY:     -3.194 | YAW:     3.830 | DYAW     0.361 |
    -------------------------------------------------------------------------------
    # 194 TIMESTAMP: 1477010452650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.144 | PHI:     1.391 | dRHO:   -4.536 |
    PREDICTION:     | X:       3.803 | Y:      18.309 | VX:     -4.131 | VY:     -3.285 | YAW:     6.145 | DYAW    -0.004 |
    TRUTH:          | X:       3.846 | Y:      18.246 | VX:     -3.828 | VY:     -3.266 | YAW:     3.848 | DYAW     0.356 |
    -------------------------------------------------------------------------------
    # 195 TIMESTAMP: 1477010452700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       3.459 | Y:      18.167 |
    PREDICTION:     | X:       3.549 | Y:      18.153 | VX:     -4.232 | VY:     -3.271 | YAW:     6.147 | DYAW    -0.003 |
    TRUTH:          | X:       3.656 | Y:      18.081 | VX:     -3.773 | VY:     -3.337 | YAW:     3.866 | DYAW     0.351 |
    -------------------------------------------------------------------------------
    # 196 TIMESTAMP: 1477010452750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.436 | PHI:     1.335 | dRHO:   -3.745 |
    PREDICTION:     | X:       3.340 | Y:      18.015 | VX:     -4.217 | VY:     -3.133 | YAW:     6.102 | DYAW    -0.030 |
    TRUTH:          | X:       3.469 | Y:      17.912 | VX:     -3.718 | VY:     -3.406 | YAW:     3.883 | DYAW     0.345 |
    -------------------------------------------------------------------------------
    # 197 TIMESTAMP: 1477010452800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       3.125 | Y:      17.749 |
    PREDICTION:     | X:       3.131 | Y:      17.844 | VX:     -4.208 | VY:     -3.149 | YAW:     6.135 | DYAW    -0.012 |
    TRUTH:          | X:       3.284 | Y:      17.740 | VX:     -3.662 | VY:     -3.473 | YAW:     3.901 | DYAW     0.340 |
    -------------------------------------------------------------------------------
    # 198 TIMESTAMP: 1477010452850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.084 | PHI:     1.423 | dRHO:   -4.421 |
    PREDICTION:     | X:       2.928 | Y:      17.654 | VX:     -4.223 | VY:     -3.477 | YAW:     6.144 | DYAW    -0.000 |
    TRUTH:          | X:       3.103 | Y:      17.565 | VX:     -3.606 | VY:     -3.538 | YAW:     3.918 | DYAW     0.334 |
    -------------------------------------------------------------------------------
    # 199 TIMESTAMP: 1477010452900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       2.945 | Y:      17.815 |
    PREDICTION:     | X:       2.784 | Y:      17.513 | VX:     -4.092 | VY:     -3.446 | YAW:     6.035 | DYAW    -0.055 |
    TRUTH:          | X:       2.924 | Y:      17.387 | VX:     -3.550 | VY:     -3.602 | YAW:     3.934 | DYAW     0.329 |
    -------------------------------------------------------------------------------
    # 200 TIMESTAMP: 1477010452950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.399 | PHI:     1.382 | dRHO:   -4.602 |
    PREDICTION:     | X:       2.584 | Y:      17.291 | VX:     -4.102 | VY:     -3.760 | YAW:     6.152 | DYAW     0.023 |
    TRUTH:          | X:       2.748 | Y:      17.205 | VX:     -3.493 | VY:     -3.663 | YAW:     3.951 | DYAW     0.323 |
    -------------------------------------------------------------------------------
    # 201 TIMESTAMP: 1477010453000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       2.554 | Y:      17.085 |
    PREDICTION:     | X:       2.439 | Y:      17.096 | VX:     -3.973 | VY:     -3.771 | YAW:     6.148 | DYAW     0.020 |
    TRUTH:          | X:       2.575 | Y:      17.021 | VX:     -3.437 | VY:     -3.723 | YAW:     3.967 | DYAW     0.318 |
    -------------------------------------------------------------------------------
    # 202 TIMESTAMP: 1477010453050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.080 | PHI:     1.421 | dRHO:   -3.825 |
    PREDICTION:     | X:       2.237 | Y:      16.934 | VX:     -3.966 | VY:     -3.538 | YAW:     6.182 | DYAW     0.040 |
    TRUTH:          | X:       2.404 | Y:      16.833 | VX:     -3.381 | VY:     -3.780 | YAW:     3.983 | DYAW     0.312 |
    -------------------------------------------------------------------------------
    # 203 TIMESTAMP: 1477010453100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       2.254 | Y:      16.833 |
    PREDICTION:     | X:       2.110 | Y:      16.759 | VX:     -3.815 | VY:     -3.538 | YAW:     6.162 | DYAW     0.030 |
    TRUTH:          | X:       2.237 | Y:      16.643 | VX:     -3.324 | VY:     -3.836 | YAW:     3.998 | DYAW     0.306 |
    -------------------------------------------------------------------------------
    # 204 TIMESTAMP: 1477010453150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.126 | PHI:     1.473 | dRHO:   -3.955 |
    PREDICTION:     | X:       1.914 | Y:      16.555 | VX:     -3.820 | VY:     -3.560 | YAW:     6.215 | DYAW     0.051 |
    TRUTH:          | X:       2.072 | Y:      16.450 | VX:     -3.268 | VY:     -3.890 | YAW:     4.014 | DYAW     0.301 |
    -------------------------------------------------------------------------------
    # 205 TIMESTAMP: 1477010453200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       1.890 | Y:      16.105 |
    PREDICTION:     | X:       1.786 | Y:      16.346 | VX:     -3.678 | VY:     -3.596 | YAW:     6.257 | DYAW     0.067 |
    TRUTH:          | X:       1.910 | Y:      16.254 | VX:     -3.212 | VY:     -3.942 | YAW:     4.029 | DYAW     0.295 |
    -------------------------------------------------------------------------------
    # 206 TIMESTAMP: 1477010453250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.362 | PHI:     1.464 | dRHO:   -4.003 |
    PREDICTION:     | X:       1.604 | Y:      16.168 | VX:     -3.677 | VY:     -3.624 | YAW:     6.238 | DYAW     0.055 |
    TRUTH:          | X:       1.751 | Y:      16.056 | VX:     -3.157 | VY:     -3.993 | YAW:     4.043 | DYAW     0.289 |
    -------------------------------------------------------------------------------
    # 207 TIMESTAMP: 1477010453300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       1.447 | Y:      16.085 |
    PREDICTION:     | X:       1.428 | Y:      15.996 | VX:     -3.663 | VY:     -3.612 | YAW:     6.223 | DYAW     0.048 |
    TRUTH:          | X:       1.595 | Y:      15.855 | VX:     -3.101 | VY:     -4.041 | YAW:     4.058 | DYAW     0.283 |
    -------------------------------------------------------------------------------
    # 208 TIMESTAMP: 1477010453350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.636 | PHI:     1.468 | dRHO:   -4.662 |
    PREDICTION:     | X:       1.257 | Y:      15.757 | VX:     -3.644 | VY:     -4.034 | YAW:     6.249 | DYAW     0.062 |
    TRUTH:          | X:       1.441 | Y:      15.652 | VX:     -3.046 | VY:     -4.088 | YAW:     4.072 | DYAW     0.277 |
    -------------------------------------------------------------------------------
    # 209 TIMESTAMP: 1477010453400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       1.184 | Y:      15.428 |
    PREDICTION:     | X:       1.114 | Y:      15.541 | VX:     -3.558 | VY:     -4.049 | YAW:     6.273 | DYAW     0.070 |
    TRUTH:          | X:       1.290 | Y:      15.446 | VX:     -2.992 | VY:     -4.134 | YAW:     4.086 | DYAW     0.271 |
    -------------------------------------------------------------------------------
    # 210 TIMESTAMP: 1477010453450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.550 | PHI:     1.517 | dRHO:   -4.274 |
    PREDICTION:     | X:       0.937 | Y:      15.347 | VX:     -3.558 | VY:     -4.049 | YAW:     6.258 | DYAW     0.062 |
    TRUTH:          | X:       1.142 | Y:      15.239 | VX:     -2.938 | VY:     -4.177 | YAW:     4.099 | DYAW     0.265 |
    -------------------------------------------------------------------------------
    # 211 TIMESTAMP: 1477010453500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.723 | Y:      15.008 |
    PREDICTION:     | X:       0.748 | Y:      15.131 | VX:     -3.579 | VY:     -4.066 | YAW:     6.286 | DYAW     0.073 |
    TRUTH:          | X:       0.996 | Y:      15.029 | VX:     -2.885 | VY:     -4.219 | YAW:     4.113 | DYAW     0.259 |
    -------------------------------------------------------------------------------
    # 212 TIMESTAMP: 1477010453550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.248 | PHI:     1.503 | dRHO:   -4.044 |
    PREDICTION:     | X:       0.568 | Y:      14.952 | VX:     -3.584 | VY:     -3.970 | YAW:     6.266 | DYAW     0.063 |
    TRUTH:          | X:       0.854 | Y:      14.817 | VX:     -2.832 | VY:     -4.260 | YAW:     4.126 | DYAW     0.253 |
    -------------------------------------------------------------------------------
    # 213 TIMESTAMP: 1477010453600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.737 | Y:      14.705 |
    PREDICTION:     | X:       0.509 | Y:      14.747 | VX:     -3.328 | VY:     -3.968 | YAW:     6.280 | DYAW     0.068 |
    TRUTH:          | X:       0.713 | Y:      14.603 | VX:     -2.781 | VY:     -4.299 | YAW:     4.138 | DYAW     0.247 |
    -------------------------------------------------------------------------------
    # 214 TIMESTAMP: 1477010453650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.263 | PHI:     1.520 | dRHO:   -4.698 |
    PREDICTION:     | X:       0.355 | Y:      14.495 | VX:     -3.294 | VY:     -4.327 | YAW:     6.327 | DYAW     0.089 |
    TRUTH:          | X:       0.576 | Y:      14.387 | VX:     -2.730 | VY:     -4.336 | YAW:     4.151 | DYAW     0.240 |
    -------------------------------------------------------------------------------
    # 215 TIMESTAMP: 1477010453700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.253 | Y:      14.203 |
    PREDICTION:     | X:       0.212 | Y:      14.271 | VX:     -3.246 | VY:     -4.334 | YAW:     6.346 | DYAW     0.095 |
    TRUTH:          | X:       0.440 | Y:      14.170 | VX:     -2.679 | VY:     -4.372 | YAW:     4.163 | DYAW     0.234 |
    -------------------------------------------------------------------------------
    # 216 TIMESTAMP: 1477010453750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.960 | PHI:     1.573 | dRHO:   -5.032 |
    PREDICTION:     | X:       0.064 | Y:      14.012 | VX:     -3.203 | VY:     -4.696 | YAW:     6.246 | DYAW     0.040 |
    TRUTH:          | X:       0.308 | Y:      13.950 | VX:     -2.630 | VY:     -4.406 | YAW:     4.174 | DYAW     0.228 |
    -------------------------------------------------------------------------------
    # 217 TIMESTAMP: 1477010453800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.459 | Y:      13.686 |
    PREDICTION:     | X:       0.094 | Y:      13.770 | VX:     -2.796 | VY:     -4.682 | YAW:     6.276 | DYAW     0.053 |
    TRUTH:          | X:       0.178 | Y:      13.729 | VX:     -2.581 | VY:     -4.439 | YAW:     4.186 | DYAW     0.222 |
    -------------------------------------------------------------------------------
    # 218 TIMESTAMP: 1477010453850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.638 | PHI:     1.567 | dRHO:   -4.991 |
    PREDICTION:     | X:      -0.040 | Y:      13.521 | VX:     -2.778 | VY:     -4.847 | YAW:     6.324 | DYAW     0.077 |
    TRUTH:          | X:       0.050 | Y:      13.507 | VX:     -2.534 | VY:     -4.471 | YAW:     4.197 | DYAW     0.215 |
    -------------------------------------------------------------------------------
    # 219 TIMESTAMP: 1477010453900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -0.190 | Y:      13.286 |
    PREDICTION:     | X:      -0.183 | Y:      13.279 | VX:     -2.787 | VY:     -4.847 | YAW:     6.327 | DYAW     0.076 |
    TRUTH:          | X:      -0.076 | Y:      13.282 | VX:     -2.487 | VY:     -4.501 | YAW:     4.208 | DYAW     0.209 |
    -------------------------------------------------------------------------------
    # 220 TIMESTAMP: 1477010453950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.149 | PHI:     1.592 | dRHO:   -4.456 |
    PREDICTION:     | X:      -0.329 | Y:      13.061 | VX:     -2.811 | VY:     -4.674 | YAW:     6.335 | DYAW     0.079 |
    TRUTH:          | X:      -0.199 | Y:      13.057 | VX:     -2.442 | VY:     -4.530 | YAW:     4.218 | DYAW     0.202 |
    -------------------------------------------------------------------------------
    # 221 TIMESTAMP: 1477010454000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:       0.046 | Y:      12.930 |
    PREDICTION:     | X:      -0.291 | Y:      12.843 | VX:     -2.433 | VY:     -4.629 | YAW:     6.324 | DYAW     0.073 |
    TRUTH:          | X:      -0.320 | Y:      12.830 | VX:     -2.397 | VY:     -4.557 | YAW:     4.228 | DYAW     0.196 |
    -------------------------------------------------------------------------------
    # 222 TIMESTAMP: 1477010454050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.375 | PHI:     1.626 | dRHO:   -4.328 |
    PREDICTION:     | X:      -0.418 | Y:      12.613 | VX:     -2.451 | VY:     -4.524 | YAW:     6.352 | DYAW     0.082 |
    TRUTH:          | X:      -0.439 | Y:      12.601 | VX:     -2.354 | VY:     -4.583 | YAW:     4.238 | DYAW     0.190 |
    -------------------------------------------------------------------------------
    # 223 TIMESTAMP: 1477010454100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -0.476 | Y:      12.363 |
    PREDICTION:     | X:      -0.519 | Y:      12.386 | VX:     -2.405 | VY:     -4.523 | YAW:     6.361 | DYAW     0.084 |
    TRUTH:          | X:      -0.555 | Y:      12.371 | VX:     -2.312 | VY:     -4.608 | YAW:     4.247 | DYAW     0.183 |
    -------------------------------------------------------------------------------
    # 224 TIMESTAMP: 1477010454150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.558 | PHI:     1.648 | dRHO:   -4.432 |
    PREDICTION:     | X:      -0.639 | Y:      12.175 | VX:     -2.404 | VY:     -4.529 | YAW:     6.320 | DYAW     0.066 |
    TRUTH:          | X:      -0.670 | Y:      12.140 | VX:     -2.271 | VY:     -4.632 | YAW:     4.257 | DYAW     0.177 |
    -------------------------------------------------------------------------------
    # 225 TIMESTAMP: 1477010454200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -0.583 | Y:      12.039 |
    PREDICTION:     | X:      -0.697 | Y:      11.961 | VX:     -2.273 | VY:     -4.504 | YAW:     6.308 | DYAW     0.060 |
    TRUTH:          | X:      -0.782 | Y:      11.908 | VX:     -2.231 | VY:     -4.655 | YAW:     4.265 | DYAW     0.170 |
    -------------------------------------------------------------------------------
    # 226 TIMESTAMP: 1477010454250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    11.718 | PHI:     1.679 | dRHO:   -4.460 |
    PREDICTION:     | X:      -0.810 | Y:      11.726 | VX:     -2.265 | VY:     -4.570 | YAW:     6.351 | DYAW     0.078 |
    TRUTH:          | X:      -0.893 | Y:      11.675 | VX:     -2.193 | VY:     -4.676 | YAW:     4.274 | DYAW     0.163 |
    -------------------------------------------------------------------------------
    # 227 TIMESTAMP: 1477010454300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.172 | Y:      11.399 |
    PREDICTION:     | X:      -1.011 | Y:      11.482 | VX:     -2.450 | VY:     -4.604 | YAW:     6.368 | DYAW     0.083 |
    TRUTH:          | X:      -1.002 | Y:      11.441 | VX:     -2.156 | VY:     -4.696 | YAW:     4.282 | DYAW     0.157 |
    -------------------------------------------------------------------------------
    # 228 TIMESTAMP: 1477010454350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.995 | PHI:     1.652 | dRHO:   -4.103 |
    PREDICTION:     | X:      -1.139 | Y:      11.251 | VX:     -2.478 | VY:     -4.496 | YAW:     6.397 | DYAW     0.091 |
    TRUTH:          | X:      -1.109 | Y:      11.206 | VX:     -2.120 | VY:     -4.715 | YAW:     4.290 | DYAW     0.150 |
    -------------------------------------------------------------------------------
    # 229 TIMESTAMP: 1477010454400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.393 | Y:      11.042 |
    PREDICTION:     | X:      -1.307 | Y:      11.024 | VX:     -2.570 | VY:     -4.508 | YAW:     6.400 | DYAW     0.091 |
    TRUTH:          | X:      -1.214 | Y:      10.969 | VX:     -2.086 | VY:     -4.734 | YAW:     4.297 | DYAW     0.143 |
    -------------------------------------------------------------------------------
    # 230 TIMESTAMP: 1477010454450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.978 | PHI:     1.689 | dRHO:   -4.762 |
    PREDICTION:     | X:      -1.410 | Y:      10.767 | VX:     -2.466 | VY:     -4.826 | YAW:     6.388 | DYAW     0.086 |
    TRUTH:          | X:      -1.317 | Y:      10.732 | VX:     -2.053 | VY:     -4.751 | YAW:     4.305 | DYAW     0.137 |
    -------------------------------------------------------------------------------
    # 231 TIMESTAMP: 1477010454500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.497 | Y:      10.420 |
    PREDICTION:     | X:      -1.525 | Y:      10.517 | VX:     -2.449 | VY:     -4.835 | YAW:     6.400 | DYAW     0.088 |
    TRUTH:          | X:      -1.419 | Y:      10.495 | VX:     -2.021 | VY:     -4.767 | YAW:     4.311 | DYAW     0.130 |
    -------------------------------------------------------------------------------
    # 232 TIMESTAMP: 1477010454550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.147 | PHI:     1.728 | dRHO:   -4.757 |
    PREDICTION:     | X:      -1.631 | Y:      10.243 | VX:     -2.382 | VY:     -5.031 | YAW:     6.469 | DYAW     0.115 |
    TRUTH:          | X:      -1.519 | Y:      10.256 | VX:     -1.991 | VY:     -4.782 | YAW:     4.318 | DYAW     0.123 |
    -------------------------------------------------------------------------------
    # 233 TIMESTAMP: 1477010454600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.619 | Y:      10.237 |
    PREDICTION:     | X:      -1.695 | Y:      10.022 | VX:     -2.267 | VY:     -4.976 | YAW:     6.470 | DYAW     0.114 |
    TRUTH:          | X:      -1.618 | Y:      10.016 | VX:     -1.962 | VY:     -4.796 | YAW:     4.324 | DYAW     0.117 |
    -------------------------------------------------------------------------------
    # 234 TIMESTAMP: 1477010454650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.093 | PHI:     1.730 | dRHO:   -4.344 |
    PREDICTION:     | X:      -1.813 | Y:       9.787 | VX:     -2.290 | VY:     -4.900 | YAW:     6.507 | DYAW     0.127 |
    TRUTH:          | X:      -1.715 | Y:       9.776 | VX:     -1.935 | VY:     -4.809 | YAW:     4.330 | DYAW     0.110 |
    -------------------------------------------------------------------------------
    # 235 TIMESTAMP: 1477010454700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.734 | Y:       9.713 |
    PREDICTION:     | X:      -1.855 | Y:       9.570 | VX:     -2.136 | VY:     -4.841 | YAW:     6.513 | DYAW     0.128 |
    TRUTH:          | X:      -1.811 | Y:       9.536 | VX:     -1.909 | VY:     -4.822 | YAW:     4.335 | DYAW     0.103 |
    -------------------------------------------------------------------------------
    # 236 TIMESTAMP: 1477010454750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.645 | PHI:     1.809 | dRHO:   -4.639 |
    PREDICTION:     | X:      -1.951 | Y:       9.314 | VX:     -2.075 | VY:     -5.006 | YAW:     6.425 | DYAW     0.092 |
    TRUTH:          | X:      -1.906 | Y:       9.294 | VX:     -1.885 | VY:     -4.833 | YAW:     4.341 | DYAW     0.096 |
    -------------------------------------------------------------------------------
    # 237 TIMESTAMP: 1477010454800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -1.938 | Y:       8.770 |
    PREDICTION:     | X:      -2.033 | Y:       9.040 | VX:     -2.031 | VY:     -5.031 | YAW:     6.451 | DYAW     0.098 |
    TRUTH:          | X:      -2.000 | Y:       9.052 | VX:     -1.862 | VY:     -4.844 | YAW:     4.345 | DYAW     0.089 |
    -------------------------------------------------------------------------------
    # 238 TIMESTAMP: 1477010454850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.342 | PHI:     1.783 | dRHO:   -4.203 |
    PREDICTION:     | X:      -2.145 | Y:       8.812 | VX:     -2.075 | VY:     -4.921 | YAW:     6.337 | DYAW     0.053 |
    TRUTH:          | X:      -2.093 | Y:       8.810 | VX:     -1.841 | VY:     -4.853 | YAW:     4.350 | DYAW     0.083 |
    -------------------------------------------------------------------------------
    # 239 TIMESTAMP: 1477010454900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.177 | Y:       8.541 |
    PREDICTION:     | X:      -2.227 | Y:       8.568 | VX:     -2.030 | VY:     -4.910 | YAW:     6.335 | DYAW     0.051 |
    TRUTH:          | X:      -2.184 | Y:       8.567 | VX:     -1.822 | VY:     -4.862 | YAW:     4.354 | DYAW     0.076 |
    -------------------------------------------------------------------------------
    # 240 TIMESTAMP: 1477010454950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.615 | PHI:     1.885 | dRHO:   -4.312 |
    PREDICTION:     | X:      -2.326 | Y:       8.316 | VX:     -2.012 | VY:     -4.957 | YAW:     6.494 | DYAW     0.110 |
    TRUTH:          | X:      -2.275 | Y:       8.324 | VX:     -1.804 | VY:     -4.870 | YAW:     4.358 | DYAW     0.069 |
    -------------------------------------------------------------------------------
    # 241 TIMESTAMP: 1477010455000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.219 | Y:       8.153 |
    PREDICTION:     | X:      -2.355 | Y:       8.093 | VX:     -1.861 | VY:     -4.897 | YAW:     6.483 | DYAW     0.104 |
    TRUTH:          | X:      -2.365 | Y:       8.080 | VX:     -1.787 | VY:     -4.878 | YAW:     4.361 | DYAW     0.062 |
    -------------------------------------------------------------------------------
    # 242 TIMESTAMP: 1477010455050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.821 | PHI:     1.831 | dRHO:   -4.169 |
    PREDICTION:     | X:      -2.449 | Y:       7.876 | VX:     -1.853 | VY:     -4.880 | YAW:     6.612 | DYAW     0.151 |
    TRUTH:          | X:      -2.453 | Y:       7.836 | VX:     -1.772 | VY:     -4.884 | YAW:     4.364 | DYAW     0.055 |
    -------------------------------------------------------------------------------
    # 243 TIMESTAMP: 1477010455100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.597 | Y:       7.603 |
    PREDICTION:     | X:      -2.561 | Y:       7.624 | VX:     -1.893 | VY:     -4.899 | YAW:     6.619 | DYAW     0.151 |
    TRUTH:          | X:      -2.542 | Y:       7.592 | VX:     -1.759 | VY:     -4.890 | YAW:     4.367 | DYAW     0.048 |
    -------------------------------------------------------------------------------
    # 244 TIMESTAMP: 1477010455150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.006 | PHI:     1.966 | dRHO:   -3.626 |
    PREDICTION:     | X:      -2.684 | Y:       7.404 | VX:     -2.007 | VY:     -4.732 | YAW:     6.885 | DYAW     0.242 |
    TRUTH:          | X:      -2.629 | Y:       7.347 | VX:     -1.748 | VY:     -4.895 | YAW:     4.369 | DYAW     0.041 |
    -------------------------------------------------------------------------------
    # 245 TIMESTAMP: 1477010455200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.799 | Y:       7.064 |
    PREDICTION:     | X:      -2.797 | Y:       7.153 | VX:     -2.035 | VY:     -4.759 | YAW:     6.856 | DYAW     0.228 |
    TRUTH:          | X:      -2.717 | Y:       7.102 | VX:     -1.738 | VY:     -4.899 | YAW:     4.372 | DYAW     0.035 |
    -------------------------------------------------------------------------------
    # 246 TIMESTAMP: 1477010455250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.731 | PHI:     1.941 | dRHO:   -4.034 |
    PREDICTION:     | X:      -2.874 | Y:       6.904 | VX:     -1.923 | VY:     -4.903 | YAW:     6.378 | DYAW     0.053 |
    TRUTH:          | X:      -2.803 | Y:       6.857 | VX:     -1.730 | VY:     -4.903 | YAW:     4.373 | DYAW     0.028 |
    -------------------------------------------------------------------------------
    # 247 TIMESTAMP: 1477010455300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.747 | Y:       6.869 |
    PREDICTION:     | X:      -2.885 | Y:       6.708 | VX:     -1.745 | VY:     -4.790 | YAW:     6.437 | DYAW     0.072 |
    TRUTH:          | X:      -2.890 | Y:       6.612 | VX:     -1.723 | VY:     -4.906 | YAW:     4.375 | DYAW     0.021 |
    -------------------------------------------------------------------------------
    # 248 TIMESTAMP: 1477010455350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.869 | PHI:     1.955 | dRHO:   -3.357 |
    PREDICTION:     | X:      -2.979 | Y:       6.463 | VX:     -1.806 | VY:     -4.715 | YAW:     6.103 | DYAW    -0.048 |
    TRUTH:          | X:      -2.976 | Y:       6.367 | VX:     -1.718 | VY:     -4.908 | YAW:     4.376 | DYAW     0.014 |
    -------------------------------------------------------------------------------
    # 249 TIMESTAMP: 1477010455400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -2.902 | Y:       6.230 |
    PREDICTION:     | X:      -3.021 | Y:       6.244 | VX:     -1.709 | VY:     -4.664 | YAW:     6.080 | DYAW    -0.055 |
    TRUTH:          | X:      -3.061 | Y:       6.121 | VX:     -1.715 | VY:     -4.909 | YAW:     4.376 | DYAW     0.007 |
    -------------------------------------------------------------------------------
    # 250 TIMESTAMP: 1477010455450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.041 | PHI:     2.091 | dRHO:   -3.618 |
    PREDICTION:     | X:      -3.111 | Y:       6.023 | VX:     -1.695 | VY:     -4.677 | YAW:     6.363 | DYAW     0.047 |
    TRUTH:          | X:      -3.147 | Y:       5.876 | VX:     -1.713 | VY:     -4.910 | YAW:     4.377 | DYAW    -0.000 |
    -------------------------------------------------------------------------------
    # 251 TIMESTAMP: 1477010455500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -3.178 | Y:       5.531 |
    PREDICTION:     | X:      -3.214 | Y:       5.749 | VX:     -1.727 | VY:     -4.767 | YAW:     6.293 | DYAW     0.023 |
    TRUTH:          | X:      -3.233 | Y:       5.630 | VX:     -1.713 | VY:     -4.910 | YAW:     4.377 | DYAW    -0.007 |
    -------------------------------------------------------------------------------
    # 252 TIMESTAMP: 1477010455550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.097 | PHI:     2.123 | dRHO:   -2.991 |
    PREDICTION:     | X:      -3.304 | Y:       5.492 | VX:     -1.775 | VY:     -4.750 | YAW:     6.168 | DYAW    -0.025 |
    TRUTH:          | X:      -3.318 | Y:       5.385 | VX:     -1.715 | VY:     -4.909 | YAW:     4.376 | DYAW    -0.014 |
    -------------------------------------------------------------------------------
    # 253 TIMESTAMP: 1477010455600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -3.430 | Y:       5.105 |
    PREDICTION:     | X:      -3.416 | Y:       5.223 | VX:     -1.818 | VY:     -4.825 | YAW:     6.125 | DYAW    -0.039 |
    TRUTH:          | X:      -3.404 | Y:       5.140 | VX:     -1.718 | VY:     -4.907 | YAW:     4.376 | DYAW    -0.021 |
    -------------------------------------------------------------------------------
    # 254 TIMESTAMP: 1477010455650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.018 | PHI:     2.177 | dRHO:   -3.191 |
    PREDICTION:     | X:      -3.489 | Y:       4.986 | VX:     -1.720 | VY:     -4.869 | YAW:     6.229 | DYAW     0.011 |
    TRUTH:          | X:      -3.490 | Y:       4.894 | VX:     -1.723 | VY:     -4.905 | YAW:     4.375 | DYAW    -0.028 |
    -------------------------------------------------------------------------------
    # 255 TIMESTAMP: 1477010455700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -3.694 | Y:       4.522 |
    PREDICTION:     | X:      -3.624 | Y:       4.686 | VX:     -1.810 | VY:     -5.009 | YAW:     6.191 | DYAW     0.000 |
    TRUTH:          | X:      -3.577 | Y:       4.649 | VX:     -1.729 | VY:     -4.902 | YAW:     4.373 | DYAW    -0.035 |
    -------------------------------------------------------------------------------
    # 256 TIMESTAMP: 1477010455750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.452 | PHI:     2.269 | dRHO:   -2.363 |
    PREDICTION:     | X:      -3.712 | Y:       4.401 | VX:     -1.879 | VY:     -5.027 | YAW:     6.002 | DYAW    -0.080 |
    TRUTH:          | X:      -3.663 | Y:       4.404 | VX:     -1.738 | VY:     -4.899 | YAW:     4.372 | DYAW    -0.041 |
    -------------------------------------------------------------------------------
    # 257 TIMESTAMP: 1477010455800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.002 | Y:       4.047 |
    PREDICTION:     | X:      -3.866 | Y:       4.113 | VX:     -1.994 | VY:     -5.121 | YAW:     6.046 | DYAW    -0.060 |
    TRUTH:          | X:      -3.750 | Y:       4.159 | VX:     -1.747 | VY:     -4.894 | YAW:     4.369 | DYAW    -0.048 |
    -------------------------------------------------------------------------------
    # 258 TIMESTAMP: 1477010455850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.780 | PHI:     2.351 | dRHO:   -2.409 |
    PREDICTION:     | X:      -3.973 | Y:       3.893 | VX:     -1.945 | VY:     -5.077 | YAW:     6.209 | DYAW     0.014 |
    TRUTH:          | X:      -3.838 | Y:       3.915 | VX:     -1.759 | VY:     -4.889 | YAW:     4.367 | DYAW    -0.055 |
    -------------------------------------------------------------------------------
    # 259 TIMESTAMP: 1477010455900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -3.881 | Y:       3.752 |
    PREDICTION:     | X:      -4.014 | Y:       3.677 | VX:     -1.841 | VY:     -4.978 | YAW:     6.160 | DYAW    -0.009 |
    TRUTH:          | X:      -3.926 | Y:       3.670 | VX:     -1.772 | VY:     -4.883 | YAW:     4.364 | DYAW    -0.062 |
    -------------------------------------------------------------------------------
    # 260 TIMESTAMP: 1477010455950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.751 | PHI:     2.399 | dRHO:   -1.550 |
    PREDICTION:     | X:      -4.154 | Y:       3.453 | VX:     -2.017 | VY:     -4.890 | YAW:     6.240 | DYAW     0.005 |
    TRUTH:          | X:      -4.015 | Y:       3.426 | VX:     -1.787 | VY:     -4.877 | YAW:     4.361 | DYAW    -0.069 |
    -------------------------------------------------------------------------------
    # 261 TIMESTAMP: 1477010456000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.151 | Y:       3.220 |
    PREDICTION:     | X:      -4.227 | Y:       3.215 | VX:     -1.965 | VY:     -4.868 | YAW:     6.197 | DYAW    -0.013 |
    TRUTH:          | X:      -4.105 | Y:       3.182 | VX:     -1.803 | VY:     -4.869 | YAW:     4.358 | DYAW    -0.076 |
    -------------------------------------------------------------------------------
    # 262 TIMESTAMP: 1477010456050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.155 | PHI:     2.548 | dRHO:   -1.027 |
    PREDICTION:     | X:      -4.322 | Y:       2.958 | VX:     -1.994 | VY:     -4.885 | YAW:     6.151 | DYAW    -0.037 |
    TRUTH:          | X:      -4.196 | Y:       2.939 | VX:     -1.821 | VY:     -4.861 | YAW:     4.354 | DYAW    -0.083 |
    -------------------------------------------------------------------------------
    # 263 TIMESTAMP: 1477010456100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.325 | Y:       2.550 |
    PREDICTION:     | X:      -4.403 | Y:       2.669 | VX:     -1.946 | VY:     -4.984 | YAW:     6.064 | DYAW    -0.067 |
    TRUTH:          | X:      -4.287 | Y:       2.696 | VX:     -1.841 | VY:     -4.852 | YAW:     4.350 | DYAW    -0.089 |
    -------------------------------------------------------------------------------
    # 264 TIMESTAMP: 1477010456150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     4.999 | PHI:     2.641 | dRHO:   -0.776 |
    PREDICTION:     | X:      -4.482 | Y:       2.423 | VX:     -1.868 | VY:     -4.985 | YAW:     6.058 | DYAW    -0.058 |
    TRUTH:          | X:      -4.380 | Y:       2.454 | VX:     -1.862 | VY:     -4.842 | YAW:     4.345 | DYAW    -0.096 |
    -------------------------------------------------------------------------------
    # 265 TIMESTAMP: 1477010456200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.612 | Y:       2.092 |
    PREDICTION:     | X:      -4.586 | Y:       2.148 | VX:     -1.880 | VY:     -5.045 | YAW:     6.055 | DYAW    -0.055 |
    TRUTH:          | X:      -4.474 | Y:       2.212 | VX:     -1.884 | VY:     -4.831 | YAW:     4.341 | DYAW    -0.103 |
    -------------------------------------------------------------------------------
    # 266 TIMESTAMP: 1477010456250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     4.706 | PHI:     2.719 | dRHO:    0.364 |
    PREDICTION:     | X:      -4.661 | Y:       1.844 | VX:     -2.020 | VY:     -5.129 | YAW:     5.889 | DYAW    -0.163 |
    TRUTH:          | X:      -4.568 | Y:       1.971 | VX:     -1.909 | VY:     -4.820 | YAW:     4.335 | DYAW    -0.110 |
    -------------------------------------------------------------------------------
    # 267 TIMESTAMP: 1477010456300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.868 | Y:       1.534 |
    PREDICTION:     | X:      -4.788 | Y:       1.570 | VX:     -2.060 | VY:     -5.175 | YAW:     5.916 | DYAW    -0.143 |
    TRUTH:          | X:      -4.664 | Y:       1.730 | VX:     -1.934 | VY:     -4.808 | YAW:     4.330 | DYAW    -0.117 |
    -------------------------------------------------------------------------------
    # 268 TIMESTAMP: 1477010456350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.185 | PHI:     2.861 | dRHO:    0.871 |
    PREDICTION:     | X:      -4.913 | Y:       1.300 | VX:     -2.180 | VY:     -5.203 | YAW:     5.904 | DYAW    -0.161 |
    TRUTH:          | X:      -4.762 | Y:       1.490 | VX:     -1.961 | VY:     -4.794 | YAW:     4.324 | DYAW    -0.123 |
    -------------------------------------------------------------------------------
    # 269 TIMESTAMP: 1477010456400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.668 | Y:       1.286 |
    PREDICTION:     | X:      -4.941 | Y:       1.117 | VX:     -2.066 | VY:     -5.013 | YAW:     5.782 | DYAW    -0.234 |
    TRUTH:          | X:      -4.861 | Y:       1.250 | VX:     -1.990 | VY:     -4.780 | YAW:     4.318 | DYAW    -0.130 |
    -------------------------------------------------------------------------------
    # 270 TIMESTAMP: 1477010456450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.108 | PHI:     2.923 | dRHO:    1.072 |
    PREDICTION:     | X:      -5.038 | Y:       0.879 | VX:     -2.015 | VY:     -4.981 | YAW:     5.780 | DYAW    -0.223 |
    TRUTH:          | X:      -4.961 | Y:       1.012 | VX:     -2.020 | VY:     -4.765 | YAW:     4.311 | DYAW    -0.137 |
    -------------------------------------------------------------------------------
    # 271 TIMESTAMP: 1477010456500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -4.855 | Y:       0.826 |
    PREDICTION:     | X:      -5.077 | Y:       0.689 | VX:     -1.934 | VY:     -4.837 | YAW:     5.675 | DYAW    -0.285 |
    TRUTH:          | X:      -5.063 | Y:       0.774 | VX:     -2.052 | VY:     -4.748 | YAW:     4.305 | DYAW    -0.143 |
    -------------------------------------------------------------------------------
    # 272 TIMESTAMP: 1477010456550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     4.851 | PHI:     3.104 | dRHO:    1.756 |
    PREDICTION:     | X:      -5.145 | Y:       0.419 | VX:     -1.975 | VY:     -4.905 | YAW:     5.576 | DYAW    -0.347 |
    TRUTH:          | X:      -5.166 | Y:       0.537 | VX:     -2.085 | VY:     -4.731 | YAW:     4.297 | DYAW    -0.150 |
    -------------------------------------------------------------------------------
    # 273 TIMESTAMP: 1477010456600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -5.123 | Y:       0.257 |
    PREDICTION:     | X:      -5.220 | Y:       0.198 | VX:     -1.944 | VY:     -4.847 | YAW:     5.518 | DYAW    -0.375 |
    TRUTH:          | X:      -5.271 | Y:       0.301 | VX:     -2.119 | VY:     -4.713 | YAW:     4.290 | DYAW    -0.157 |
    -------------------------------------------------------------------------------
    # 274 TIMESTAMP: 1477010456650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.005 | PHI:     3.190 | dRHO:    1.776 |
    PREDICTION:     | X:      -5.331 | Y:      -0.672 | VX:     -1.516 | VY:     -6.191 | YAW:     5.620 | DYAW    -0.214 |
    TRUTH:          | X:      -5.378 | Y:       0.065 | VX:     -2.155 | VY:     -4.694 | YAW:     4.282 | DYAW    -0.163 |
    -------------------------------------------------------------------------------
    # 275 TIMESTAMP: 1477010456700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -5.300 | Y:      -0.213 |
    PREDICTION:     | X:      -5.402 | Y:      -0.745 | VX:     -1.617 | VY:     -5.680 | YAW:     5.569 | DYAW    -0.263 |
    TRUTH:          | X:      -5.487 | Y:      -0.169 | VX:     -2.192 | VY:     -4.673 | YAW:     4.274 | DYAW    -0.170 |
    -------------------------------------------------------------------------------
    # 276 TIMESTAMP: 1477010456750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.646 | PHI:    -3.116 | dRHO:    2.506 |
    PREDICTION:     | X:      -5.490 | Y:      -1.002 | VX:     -1.591 | VY:     -5.602 | YAW:     5.577 | DYAW    -0.247 |
    TRUTH:          | X:      -5.597 | Y:      -0.402 | VX:     -2.230 | VY:     -4.652 | YAW:     4.265 | DYAW    -0.177 |
    -------------------------------------------------------------------------------
    # 277 TIMESTAMP: 1477010456800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -5.854 | Y:      -0.446 |
    PREDICTION:     | X:      -5.657 | Y:      -1.024 | VX:     -1.883 | VY:     -5.076 | YAW:     5.630 | DYAW    -0.225 |
    TRUTH:          | X:      -5.710 | Y:      -0.634 | VX:     -2.270 | VY:     -4.629 | YAW:     4.257 | DYAW    -0.183 |
    -------------------------------------------------------------------------------
    # 278 TIMESTAMP: 1477010456850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.359 | PHI:    -3.006 | dRHO:    3.304 |
    PREDICTION:     | X:      -5.711 | Y:      -1.286 | VX:     -1.966 | VY:     -5.149 | YAW:     5.495 | DYAW    -0.327 |
    TRUTH:          | X:      -5.825 | Y:      -0.865 | VX:     -2.311 | VY:     -4.605 | YAW:     4.247 | DYAW    -0.190 |
    -------------------------------------------------------------------------------
    # 279 TIMESTAMP: 1477010456900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -5.878 | Y:      -1.269 |
    PREDICTION:     | X:      -5.836 | Y:      -1.459 | VX:     -2.055 | VY:     -4.975 | YAW:     5.485 | DYAW    -0.328 |
    TRUTH:          | X:      -5.941 | Y:      -1.095 | VX:     -2.353 | VY:     -4.580 | YAW:     4.238 | DYAW    -0.196 |
    -------------------------------------------------------------------------------
    # 280 TIMESTAMP: 1477010456950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     5.883 | PHI:    -2.879 | dRHO:    3.255 |
    PREDICTION:     | X:      -5.908 | Y:      -1.696 | VX:     -1.980 | VY:     -4.936 | YAW:     5.422 | DYAW    -0.360 |
    TRUTH:          | X:      -6.060 | Y:      -1.323 | VX:     -2.396 | VY:     -4.554 | YAW:     4.228 | DYAW    -0.202 |
    -------------------------------------------------------------------------------
    # 281 TIMESTAMP: 1477010457000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -6.273 | Y:      -1.509 |
    PREDICTION:     | X:      -6.084 | Y:      -1.799 | VX:     -2.177 | VY:     -4.642 | YAW:     5.454 | DYAW    -0.331 |
    TRUTH:          | X:      -6.181 | Y:      -1.550 | VX:     -2.440 | VY:     -4.526 | YAW:     4.218 | DYAW    -0.209 |
    -------------------------------------------------------------------------------
    # 282 TIMESTAMP: 1477010457050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     6.362 | PHI:    -2.861 | dRHO:    4.187 |
    PREDICTION:     | X:      -6.208 | Y:      -2.060 | VX:     -2.462 | VY:     -4.823 | YAW:     5.395 | DYAW    -0.373 |
    TRUTH:          | X:      -6.304 | Y:      -1.776 | VX:     -2.486 | VY:     -4.498 | YAW:     4.208 | DYAW    -0.215 |
    -------------------------------------------------------------------------------
    # 283 TIMESTAMP: 1477010457100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -6.340 | Y:      -2.137 |
    PREDICTION:     | X:      -6.344 | Y:      -2.252 | VX:     -2.507 | VY:     -4.722 | YAW:     5.365 | DYAW    -0.382 |
    TRUTH:          | X:      -6.430 | Y:      -2.000 | VX:     -2.532 | VY:     -4.467 | YAW:     4.197 | DYAW    -0.222 |
    -------------------------------------------------------------------------------
    # 284 TIMESTAMP: 1477010457150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.324 | PHI:    -2.840 | dRHO:    3.856 |
    PREDICTION:     | X:      -6.494 | Y:      -2.480 | VX:     -2.468 | VY:     -4.666 | YAW:     5.405 | DYAW    -0.340 |
    TRUTH:          | X:      -6.557 | Y:      -2.223 | VX:     -2.579 | VY:     -4.436 | YAW:     4.186 | DYAW    -0.228 |
    -------------------------------------------------------------------------------
    # 285 TIMESTAMP: 1477010457200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -6.793 | Y:      -2.446 |
    PREDICTION:     | X:      -6.670 | Y:      -2.622 | VX:     -2.593 | VY:     -4.476 | YAW:     5.414 | DYAW    -0.323 |
    TRUTH:          | X:      -6.688 | Y:      -2.444 | VX:     -2.628 | VY:     -4.403 | YAW:     4.174 | DYAW    -0.234 |
    -------------------------------------------------------------------------------
    # 286 TIMESTAMP: 1477010457250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.629 | PHI:    -2.783 | dRHO:    4.248 |
    PREDICTION:     | X:      -6.825 | Y:      -2.854 | VX:     -2.672 | VY:     -4.515 | YAW:     5.432 | DYAW    -0.301 |
    TRUTH:          | X:      -6.820 | Y:      -2.663 | VX:     -2.677 | VY:     -4.368 | YAW:     4.163 | DYAW    -0.240 |
    -------------------------------------------------------------------------------
    # 287 TIMESTAMP: 1477010457300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -6.800 | Y:      -3.101 |
    PREDICTION:     | X:      -6.928 | Y:      -3.098 | VX:     -2.619 | VY:     -4.556 | YAW:     5.375 | DYAW    -0.330 |
    TRUTH:          | X:      -6.955 | Y:      -2.881 | VX:     -2.727 | VY:     -4.333 | YAW:     4.151 | DYAW    -0.247 |
    -------------------------------------------------------------------------------
    # 288 TIMESTAMP: 1477010457350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     7.832 | PHI:    -2.718 | dRHO:    4.173 |
    PREDICTION:     | X:      -7.055 | Y:      -3.318 | VX:     -2.563 | VY:     -4.510 | YAW:     5.364 | DYAW    -0.326 |
    TRUTH:          | X:      -7.093 | Y:      -3.097 | VX:     -2.778 | VY:     -4.295 | YAW:     4.138 | DYAW    -0.253 |
    -------------------------------------------------------------------------------
    # 289 TIMESTAMP: 1477010457400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -7.121 | Y:      -3.264 |
    PREDICTION:     | X:      -7.196 | Y:      -3.468 | VX:     -2.623 | VY:     -4.359 | YAW:     5.302 | DYAW    -0.357 |
    TRUTH:          | X:      -7.233 | Y:      -3.311 | VX:     -2.830 | VY:     -4.256 | YAW:     4.126 | DYAW    -0.259 |
    -------------------------------------------------------------------------------
    # 290 TIMESTAMP: 1477010457450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.782 | PHI:    -2.657 | dRHO:    4.418 |
    PREDICTION:     | X:      -7.368 | Y:      -3.707 | VX:     -2.704 | VY:     -4.413 | YAW:     5.372 | DYAW    -0.297 |
    TRUTH:          | X:      -7.376 | Y:      -3.522 | VX:     -2.883 | VY:     -4.216 | YAW:     4.113 | DYAW    -0.265 |
    -------------------------------------------------------------------------------
    # 291 TIMESTAMP: 1477010457500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -7.490 | Y:      -3.491 |
    PREDICTION:     | X:      -7.541 | Y:      -3.804 | VX:     -2.827 | VY:     -4.165 | YAW:     5.310 | DYAW    -0.328 |
    TRUTH:          | X:      -7.522 | Y:      -3.732 | VX:     -2.936 | VY:     -4.174 | YAW:     4.099 | DYAW    -0.271 |
    -------------------------------------------------------------------------------
    # 292 TIMESTAMP: 1477010457550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     8.466 | PHI:    -2.665 | dRHO:    4.645 |
    PREDICTION:     | X:      -7.680 | Y:      -4.016 | VX:     -2.910 | VY:     -4.223 | YAW:     5.264 | DYAW    -0.346 |
    TRUTH:          | X:      -7.670 | Y:      -3.940 | VX:     -2.990 | VY:     -4.130 | YAW:     4.086 | DYAW    -0.277 |
    -------------------------------------------------------------------------------
    # 293 TIMESTAMP: 1477010457600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -7.880 | Y:      -4.298 |
    PREDICTION:     | X:      -7.828 | Y:      -4.242 | VX:     -2.906 | VY:     -4.251 | YAW:     5.268 | DYAW    -0.333 |
    TRUTH:          | X:      -7.821 | Y:      -4.145 | VX:     -3.044 | VY:     -4.085 | YAW:     4.072 | DYAW    -0.283 |
    -------------------------------------------------------------------------------
    # 294 TIMESTAMP: 1477010457650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.292 | PHI:    -2.626 | dRHO:    4.653 |
    PREDICTION:     | X:      -7.984 | Y:      -4.461 | VX:     -2.930 | VY:     -4.270 | YAW:     5.273 | DYAW    -0.319 |
    TRUTH:          | X:      -7.975 | Y:      -4.349 | VX:     -3.099 | VY:     -4.038 | YAW:     4.058 | DYAW    -0.289 |
    -------------------------------------------------------------------------------
    # 295 TIMESTAMP: 1477010457700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -8.225 | Y:      -4.798 |
    PREDICTION:     | X:      -8.135 | Y:      -4.699 | VX:     -2.920 | VY:     -4.317 | YAW:     5.291 | DYAW    -0.300 |
    TRUTH:          | X:      -8.131 | Y:      -4.549 | VX:     -3.154 | VY:     -3.989 | YAW:     4.043 | DYAW    -0.295 |
    -------------------------------------------------------------------------------
    # 296 TIMESTAMP: 1477010457750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.799 | PHI:    -2.611 | dRHO:    4.322 |
    PREDICTION:     | X:      -8.273 | Y:      -4.900 | VX:     -2.762 | VY:     -4.191 | YAW:     5.295 | DYAW    -0.289 |
    TRUTH:          | X:      -8.290 | Y:      -4.748 | VX:     -3.209 | VY:     -3.939 | YAW:     4.029 | DYAW    -0.301 |
    -------------------------------------------------------------------------------
    # 297 TIMESTAMP: 1477010457800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -8.336 | Y:      -5.106 |
    PREDICTION:     | X:      -8.398 | Y:      -5.117 | VX:     -2.741 | VY:     -4.207 | YAW:     5.265 | DYAW    -0.299 |
    TRUTH:          | X:      -8.452 | Y:      -4.943 | VX:     -3.265 | VY:     -3.886 | YAW:     4.014 | DYAW    -0.306 |
    -------------------------------------------------------------------------------
    # 298 TIMESTAMP: 1477010457850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:     9.802 | PHI:    -2.631 | dRHO:    4.405 |
    PREDICTION:     | X:      -8.519 | Y:      -5.311 | VX:     -2.675 | VY:     -4.146 | YAW:     5.216 | DYAW    -0.319 |
    TRUTH:          | X:      -8.617 | Y:      -5.136 | VX:     -3.321 | VY:     -3.832 | YAW:     3.998 | DYAW    -0.312 |
    -------------------------------------------------------------------------------
    # 299 TIMESTAMP: 1477010457900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -8.915 | Y:      -5.518 |
    PREDICTION:     | X:      -8.698 | Y:      -5.489 | VX:     -2.754 | VY:     -4.078 | YAW:     5.247 | DYAW    -0.294 |
    TRUTH:          | X:      -8.784 | Y:      -5.327 | VX:     -3.377 | VY:     -3.777 | YAW:     3.983 | DYAW    -0.318 |
    -------------------------------------------------------------------------------
    # 300 TIMESTAMP: 1477010457950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.685 | PHI:    -2.580 | dRHO:    4.696 |
    PREDICTION:     | X:      -8.852 | Y:      -5.705 | VX:     -2.832 | VY:     -4.138 | YAW:     5.258 | DYAW    -0.278 |
    TRUTH:          | X:      -8.955 | Y:      -5.514 | VX:     -3.434 | VY:     -3.719 | YAW:     3.967 | DYAW    -0.323 |
    -------------------------------------------------------------------------------
    # 301 TIMESTAMP: 1477010458000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -9.034 | Y:      -5.803 |
    PREDICTION:     | X:      -9.013 | Y:      -5.878 | VX:     -2.879 | VY:     -4.069 | YAW:     5.243 | DYAW    -0.278 |
    TRUTH:          | X:      -9.128 | Y:      -5.699 | VX:     -3.490 | VY:     -3.660 | YAW:     3.951 | DYAW    -0.329 |
    -------------------------------------------------------------------------------
    # 302 TIMESTAMP: 1477010458050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    10.394 | PHI:    -2.593 | dRHO:    4.474 |
    PREDICTION:     | X:      -9.125 | Y:      -6.057 | VX:     -2.792 | VY:     -3.994 | YAW:     5.180 | DYAW    -0.303 |
    TRUTH:          | X:      -9.304 | Y:      -5.880 | VX:     -3.546 | VY:     -3.598 | YAW:     3.934 | DYAW    -0.334 |
    -------------------------------------------------------------------------------
    # 303 TIMESTAMP: 1477010458100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -9.308 | Y:      -5.824 |
    PREDICTION:     | X:      -9.323 | Y:      -6.137 | VX:     -2.941 | VY:     -3.755 | YAW:     5.150 | DYAW    -0.307 |
    TRUTH:          | X:      -9.483 | Y:      -6.059 | VX:     -3.603 | VY:     -3.535 | YAW:     3.918 | DYAW    -0.340 |
    -------------------------------------------------------------------------------
    # 304 TIMESTAMP: 1477010458150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    11.717 | PHI:    -2.563 | dRHO:    4.727 |
    PREDICTION:     | X:      -9.493 | Y:      -6.340 | VX:     -3.031 | VY:     -3.820 | YAW:     5.186 | DYAW    -0.277 |
    TRUTH:          | X:      -9.664 | Y:      -6.234 | VX:     -3.659 | VY:     -3.470 | YAW:     3.901 | DYAW    -0.345 |
    -------------------------------------------------------------------------------
    # 305 TIMESTAMP: 1477010458200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -9.625 | Y:      -6.560 |
    PREDICTION:     | X:      -9.638 | Y:      -6.541 | VX:     -3.017 | VY:     -3.840 | YAW:     5.172 | DYAW    -0.277 |
    TRUTH:          | X:      -9.849 | Y:      -6.406 | VX:     -3.714 | VY:     -3.403 | YAW:     3.883 | DYAW    -0.351 |
    -------------------------------------------------------------------------------
    # 306 TIMESTAMP: 1477010458250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.418 | PHI:    -2.604 | dRHO:    5.088 |
    PREDICTION:     | X:      -9.830 | Y:      -6.761 | VX:     -3.213 | VY:     -3.984 | YAW:     5.196 | DYAW    -0.257 |
    TRUTH:          | X:     -10.036 | Y:      -6.574 | VX:     -3.770 | VY:     -3.334 | YAW:     3.866 | DYAW    -0.356 |
    -------------------------------------------------------------------------------
    # 307 TIMESTAMP: 1477010458300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -10.225 | Y:      -6.834 |
    PREDICTION:     | X:     -10.047 | Y:      -6.899 | VX:     -3.328 | VY:     -3.854 | YAW:     5.177 | DYAW    -0.262 |
    TRUTH:          | X:     -10.226 | Y:      -6.739 | VX:     -3.825 | VY:     -3.263 | YAW:     3.848 | DYAW    -0.361 |
    -------------------------------------------------------------------------------
    # 308 TIMESTAMP: 1477010458350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.227 | PHI:    -2.561 | dRHO:    5.055 |
    PREDICTION:     | X:     -10.211 | Y:      -7.090 | VX:     -3.372 | VY:     -3.885 | YAW:     5.188 | DYAW    -0.245 |
    TRUTH:          | X:     -10.419 | Y:      -6.901 | VX:     -3.879 | VY:     -3.190 | YAW:     3.830 | DYAW    -0.366 |
    -------------------------------------------------------------------------------
    # 309 TIMESTAMP: 1477010458400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -10.762 | Y:      -7.292 |
    PREDICTION:     | X:     -10.448 | Y:      -7.241 | VX:     -3.501 | VY:     -3.785 | YAW:     5.123 | DYAW    -0.279 |
    TRUTH:          | X:     -10.614 | Y:      -7.058 | VX:     -3.933 | VY:     -3.116 | YAW:     3.812 | DYAW    -0.371 |
    -------------------------------------------------------------------------------
    # 310 TIMESTAMP: 1477010458450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.860 | PHI:    -2.581 | dRHO:    5.086 |
    PREDICTION:     | X:     -10.622 | Y:      -7.428 | VX:     -3.518 | VY:     -3.791 | YAW:     5.134 | DYAW    -0.264 |
    TRUTH:          | X:     -10.812 | Y:      -7.212 | VX:     -3.986 | VY:     -3.039 | YAW:     3.793 | DYAW    -0.377 |
    -------------------------------------------------------------------------------
    # 311 TIMESTAMP: 1477010458500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -11.222 | Y:      -7.570 |
    PREDICTION:     | X:     -10.882 | Y:      -7.556 | VX:     -3.684 | VY:     -3.655 | YAW:     5.028 | DYAW    -0.318 |
    TRUTH:          | X:     -11.013 | Y:      -7.363 | VX:     -4.039 | VY:     -2.961 | YAW:     3.774 | DYAW    -0.382 |
    -------------------------------------------------------------------------------
    # 312 TIMESTAMP: 1477010458550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.229 | PHI:    -2.551 | dRHO:    4.904 |
    PREDICTION:     | X:     -11.047 | Y:      -7.725 | VX:     -3.593 | VY:     -3.586 | YAW:     4.978 | DYAW    -0.338 |
    TRUTH:          | X:     -11.216 | Y:      -7.509 | VX:     -4.090 | VY:     -2.880 | YAW:     3.755 | DYAW    -0.386 |
    -------------------------------------------------------------------------------
    # 313 TIMESTAMP: 1477010458600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -11.093 | Y:      -7.678 |
    PREDICTION:     | X:     -11.226 | Y:      -7.858 | VX:     -3.598 | VY:     -3.492 | YAW:     5.070 | DYAW    -0.279 |
    TRUTH:          | X:     -11.422 | Y:      -7.651 | VX:     -4.141 | VY:     -2.798 | YAW:     3.736 | DYAW    -0.391 |
    -------------------------------------------------------------------------------
    # 314 TIMESTAMP: 1477010458650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.642 | PHI:    -2.563 | dRHO:    4.893 |
    PREDICTION:     | X:     -11.388 | Y:      -8.019 | VX:     -3.549 | VY:     -3.454 | YAW:     5.130 | DYAW    -0.240 |
    TRUTH:          | X:     -11.630 | Y:      -7.788 | VX:     -4.191 | VY:     -2.713 | YAW:     3.716 | DYAW    -0.396 |
    -------------------------------------------------------------------------------
    # 315 TIMESTAMP: 1477010458700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -11.527 | Y:      -7.822 |
    PREDICTION:     | X:     -11.596 | Y:      -8.095 | VX:     -3.622 | VY:     -3.253 | YAW:     5.262 | DYAW    -0.166 |
    TRUTH:          | X:     -11.841 | Y:      -7.922 | VX:     -4.239 | VY:     -2.627 | YAW:     3.696 | DYAW    -0.401 |
    -------------------------------------------------------------------------------
    # 316 TIMESTAMP: 1477010458750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.309 | PHI:    -2.558 | dRHO:    4.497 |
    PREDICTION:     | X:     -11.750 | Y:      -8.237 | VX:     -3.457 | VY:     -3.133 | YAW:     5.414 | DYAW    -0.088 |
    TRUTH:          | X:     -12.055 | Y:      -8.051 | VX:     -4.287 | VY:     -2.539 | YAW:     3.676 | DYAW    -0.406 |
    -------------------------------------------------------------------------------
    # 317 TIMESTAMP: 1477010458800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -12.090 | Y:      -8.088 |
    PREDICTION:     | X:     -11.988 | Y:      -8.294 | VX:     -3.601 | VY:     -2.923 | YAW:     5.432 | DYAW    -0.077 |
    TRUTH:          | X:     -12.270 | Y:      -8.176 | VX:     -4.333 | VY:     -2.449 | YAW:     3.656 | DYAW    -0.410 |
    -------------------------------------------------------------------------------
    # 318 TIMESTAMP: 1477010458850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.807 | PHI:    -2.569 | dRHO:    5.277 |
    PREDICTION:     | X:     -12.218 | Y:      -8.472 | VX:     -3.888 | VY:     -3.115 | YAW:     5.039 | DYAW    -0.267 |
    TRUTH:          | X:     -12.488 | Y:      -8.296 | VX:     -4.378 | VY:     -2.358 | YAW:     3.636 | DYAW    -0.415 |
    -------------------------------------------------------------------------------
    # 319 TIMESTAMP: 1477010458900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -12.423 | Y:      -8.260 |
    PREDICTION:     | X:     -12.456 | Y:      -8.529 | VX:     -4.000 | VY:     -2.918 | YAW:     5.098 | DYAW    -0.234 |
    TRUTH:          | X:     -12.708 | Y:      -8.412 | VX:     -4.422 | VY:     -2.264 | YAW:     3.615 | DYAW    -0.419 |
    -------------------------------------------------------------------------------
    # 320 TIMESTAMP: 1477010458950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.153 | PHI:    -2.570 | dRHO:    4.470 |
    PREDICTION:     | X:     -12.635 | Y:      -8.662 | VX:     -3.807 | VY:     -2.785 | YAW:     4.842 | DYAW    -0.357 |
    TRUTH:          | X:     -12.930 | Y:      -8.523 | VX:     -4.464 | VY:     -2.169 | YAW:     3.594 | DYAW    -0.424 |
    -------------------------------------------------------------------------------
    # 321 TIMESTAMP: 1477010459000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -13.291 | Y:      -8.646 |
    PREDICTION:     | X:     -12.931 | Y:      -8.708 | VX:     -4.009 | VY:     -2.575 | YAW:     4.711 | DYAW    -0.407 |
    TRUTH:          | X:     -13.155 | Y:      -8.629 | VX:     -4.504 | VY:     -2.072 | YAW:     3.573 | DYAW    -0.428 |
    -------------------------------------------------------------------------------
    # 322 TIMESTAMP: 1477010459050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.187 | PHI:    -2.591 | dRHO:    5.019 |
    PREDICTION:     | X:     -13.151 | Y:      -8.845 | VX:     -4.099 | VY:     -2.627 | YAW:     4.821 | DYAW    -0.340 |
    TRUTH:          | X:     -13.381 | Y:      -8.730 | VX:     -4.543 | VY:     -1.973 | YAW:     3.551 | DYAW    -0.432 |
    -------------------------------------------------------------------------------
    # 323 TIMESTAMP: 1477010459100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -13.384 | Y:      -8.576 |
    PREDICTION:     | X:     -13.402 | Y:      -8.864 | VX:     -4.201 | VY:     -2.388 | YAW:     4.887 | DYAW    -0.304 |
    TRUTH:          | X:     -13.609 | Y:      -8.826 | VX:     -4.580 | VY:     -1.872 | YAW:     3.530 | DYAW    -0.437 |
    -------------------------------------------------------------------------------
    # 324 TIMESTAMP: 1477010459150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.946 | PHI:    -2.597 | dRHO:    4.288 |
    PREDICTION:     | X:     -13.570 | Y:      -8.958 | VX:     -3.947 | VY:     -2.228 | YAW:     4.874 | DYAW    -0.314 |
    TRUTH:          | X:     -13.839 | Y:      -8.917 | VX:     -4.615 | VY:     -1.770 | YAW:     3.508 | DYAW    -0.441 |
    -------------------------------------------------------------------------------
    # 325 TIMESTAMP: 1477010459200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -13.996 | Y:      -8.993 |
    PREDICTION:     | X:     -13.822 | Y:      -9.027 | VX:     -4.060 | VY:     -2.135 | YAW:     4.784 | DYAW    -0.346 |
    TRUTH:          | X:     -14.071 | Y:      -9.003 | VX:     -4.649 | VY:     -1.666 | YAW:     3.486 | DYAW    -0.445 |
    -------------------------------------------------------------------------------
    # 326 TIMESTAMP: 1477010459250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.937 | PHI:    -2.596 | dRHO:    5.129 |
    PREDICTION:     | X:     -14.054 | Y:      -9.146 | VX:     -4.288 | VY:     -2.271 | YAW:     4.865 | DYAW    -0.286 |
    TRUTH:          | X:     -14.304 | Y:      -9.084 | VX:     -4.680 | VY:     -1.561 | YAW:     3.464 | DYAW    -0.449 |
    -------------------------------------------------------------------------------
    # 327 TIMESTAMP: 1477010459300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -14.427 | Y:      -9.188 |
    PREDICTION:     | X:     -14.309 | Y:      -9.226 | VX:     -4.374 | VY:     -2.197 | YAW:     4.798 | DYAW    -0.309 |
    TRUTH:          | X:     -14.539 | Y:      -9.159 | VX:     -4.709 | VY:     -1.454 | YAW:     3.441 | DYAW    -0.453 |
    -------------------------------------------------------------------------------
    # 328 TIMESTAMP: 1477010459350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.304 | PHI:    -2.572 | dRHO:    4.587 |
    PREDICTION:     | X:     -14.521 | Y:      -9.333 | VX:     -4.269 | VY:     -2.133 | YAW:     4.724 | DYAW    -0.342 |
    TRUTH:          | X:     -14.775 | Y:      -9.229 | VX:     -4.737 | VY:     -1.346 | YAW:     3.418 | DYAW    -0.457 |
    -------------------------------------------------------------------------------
    # 329 TIMESTAMP: 1477010459400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -15.062 | Y:      -9.044 |
    PREDICTION:     | X:     -14.840 | Y:      -9.297 | VX:     -4.487 | VY:     -1.828 | YAW:     4.671 | DYAW    -0.358 |
    TRUTH:          | X:     -15.013 | Y:      -9.294 | VX:     -4.762 | VY:     -1.236 | YAW:     3.396 | DYAW    -0.461 |
    -------------------------------------------------------------------------------
    # 330 TIMESTAMP: 1477010459450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.382 | PHI:    -2.586 | dRHO:    4.685 |
    PREDICTION:     | X:     -15.117 | Y:      -9.421 | VX:     -4.561 | VY:     -1.874 | YAW:     4.428 | DYAW    -0.458 |
    TRUTH:          | X:     -15.252 | Y:      -9.353 | VX:     -4.784 | VY:     -1.125 | YAW:     3.373 | DYAW    -0.464 |
    -------------------------------------------------------------------------------
    # 331 TIMESTAMP: 1477010459500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -15.668 | Y:      -9.567 |
    PREDICTION:     | X:     -15.418 | Y:      -9.508 | VX:     -4.709 | VY:     -1.856 | YAW:     4.224 | DYAW    -0.536 |
    TRUTH:          | X:     -15.492 | Y:      -9.406 | VX:     -4.805 | VY:     -1.013 | YAW:     3.349 | DYAW    -0.468 |
    -------------------------------------------------------------------------------
    # 332 TIMESTAMP: 1477010459550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.482 | PHI:    -2.611 | dRHO:    4.287 |
    PREDICTION:     | X:     -15.680 | Y:      -9.621 | VX:     -4.588 | VY:     -1.794 | YAW:     3.848 | DYAW    -0.727 |
    TRUTH:          | X:     -15.732 | Y:      -9.454 | VX:     -4.823 | VY:     -0.899 | YAW:     3.326 | DYAW    -0.472 |
    -------------------------------------------------------------------------------
    # 333 TIMESTAMP: 1477010459600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -16.086 | Y:      -9.598 |
    PREDICTION:     | X:     -15.960 | Y:      -9.665 | VX:     -4.695 | VY:     -1.696 | YAW:     3.762 | DYAW    -0.748 |
    TRUTH:          | X:     -15.974 | Y:      -9.496 | VX:     -4.838 | VY:     -0.784 | YAW:     3.302 | DYAW    -0.475 |
    -------------------------------------------------------------------------------
    # 334 TIMESTAMP: 1477010459650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.817 | PHI:    -2.652 | dRHO:    4.379 |
    PREDICTION:     | X:     -16.193 | Y:      -9.751 | VX:     -4.553 | VY:     -1.617 | YAW:     3.579 | DYAW    -0.846 |
    TRUTH:          | X:     -16.216 | Y:      -9.533 | VX:     -4.851 | VY:     -0.669 | YAW:     3.279 | DYAW    -0.479 |
    -------------------------------------------------------------------------------
    # 335 TIMESTAMP: 1477010459700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -16.423 | Y:      -9.370 |
    PREDICTION:     | X:     -16.447 | Y:      -9.688 | VX:     -4.600 | VY:     -1.306 | YAW:     3.655 | DYAW    -0.798 |
    TRUTH:          | X:     -16.459 | Y:      -9.563 | VX:     -4.862 | VY:     -0.552 | YAW:     3.255 | DYAW    -0.482 |
    -------------------------------------------------------------------------------
    # 336 TIMESTAMP: 1477010459750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.534 | PHI:    -2.614 | dRHO:    4.252 |
    PREDICTION:     | X:     -16.590 | Y:      -9.707 | VX:     -4.294 | VY:     -1.141 | YAW:     3.746 | DYAW    -0.768 |
    TRUTH:          | X:     -16.703 | Y:      -9.588 | VX:     -4.869 | VY:     -0.434 | YAW:     3.231 | DYAW    -0.485 |
    -------------------------------------------------------------------------------
    # 337 TIMESTAMP: 1477010459800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -17.113 | Y:      -9.430 |
    PREDICTION:     | X:     -16.902 | Y:      -9.643 | VX:     -4.497 | VY:     -0.881 | YAW:     3.661 | DYAW    -0.789 |
    TRUTH:          | X:     -16.946 | Y:      -9.607 | VX:     -4.874 | VY:     -0.316 | YAW:     3.206 | DYAW    -0.488 |
    -------------------------------------------------------------------------------
    # 338 TIMESTAMP: 1477010459850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.108 | PHI:    -2.571 | dRHO:    4.579 |
    PREDICTION:     | X:     -17.178 | Y:      -9.715 | VX:     -4.678 | VY:     -0.978 | YAW:     3.550 | DYAW    -0.805 |
    TRUTH:          | X:     -17.190 | Y:      -9.620 | VX:     -4.876 | VY:     -0.196 | YAW:     3.182 | DYAW    -0.492 |
    -------------------------------------------------------------------------------
    # 339 TIMESTAMP: 1477010459900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -17.545 | Y:      -9.575 |
    PREDICTION:     | X:     -17.456 | Y:      -9.697 | VX:     -4.767 | VY:     -0.835 | YAW:     3.500 | DYAW    -0.810 |
    TRUTH:          | X:     -17.434 | Y:      -9.626 | VX:     -4.876 | VY:     -0.077 | YAW:     3.157 | DYAW    -0.495 |
    -------------------------------------------------------------------------------
    # 340 TIMESTAMP: 1477010459950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.424 | PHI:    -2.664 | dRHO:    4.177 |
    PREDICTION:     | X:     -17.708 | Y:      -9.750 | VX:     -4.659 | VY:     -0.786 | YAW:     3.361 | DYAW    -0.885 |
    TRUTH:          | X:     -17.678 | Y:      -9.627 | VX:     -4.872 | VY:      0.044 | YAW:     3.133 | DYAW    -0.498 |
    -------------------------------------------------------------------------------
    # 341 TIMESTAMP: 1477010460000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -17.972 | Y:      -9.423 |
    PREDICTION:     | X:     -17.967 | Y:      -9.671 | VX:     -4.715 | VY:     -0.535 | YAW:     3.378 | DYAW    -0.856 |
    TRUTH:          | X:     -17.922 | Y:      -9.622 | VX:     -4.866 | VY:      0.165 | YAW:     3.108 | DYAW    -0.501 |
    -------------------------------------------------------------------------------
    # 342 TIMESTAMP: 1477010460050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.484 | PHI:    -2.676 | dRHO:    3.996 |
    PREDICTION:     | X:     -18.174 | Y:      -9.687 | VX:     -4.517 | VY:     -0.444 | YAW:     3.323 | DYAW    -0.889 |
    TRUTH:          | X:     -18.165 | Y:      -9.611 | VX:     -4.856 | VY:      0.287 | YAW:     3.083 | DYAW    -0.503 |
    -------------------------------------------------------------------------------
    # 343 TIMESTAMP: 1477010460100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -18.276 | Y:      -9.610 |
    PREDICTION:     | X:     -18.374 | Y:      -9.683 | VX:     -4.469 | VY:     -0.394 | YAW:     3.337 | DYAW    -0.859 |
    TRUTH:          | X:     -18.407 | Y:      -9.593 | VX:     -4.844 | VY:      0.408 | YAW:     3.057 | DYAW    -0.506 |
    -------------------------------------------------------------------------------
    # 344 TIMESTAMP: 1477010460150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.609 | PHI:    -2.658 | dRHO:    4.303 |
    PREDICTION:     | X:     -18.564 | Y:      -9.684 | VX:     -4.467 | VY:     -0.389 | YAW:     3.382 | DYAW    -0.801 |
    TRUTH:          | X:     -18.649 | Y:      -9.570 | VX:     -4.829 | VY:      0.531 | YAW:     3.032 | DYAW    -0.509 |
    -------------------------------------------------------------------------------
    # 345 TIMESTAMP: 1477010460200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -18.954 | Y:      -9.515 |
    PREDICTION:     | X:     -18.838 | Y:      -9.634 | VX:     -4.567 | VY:     -0.239 | YAW:     3.321 | DYAW    -0.814 |
    TRUTH:          | X:     -18.890 | Y:      -9.540 | VX:     -4.810 | VY:      0.653 | YAW:     3.007 | DYAW    -0.511 |
    -------------------------------------------------------------------------------
    # 346 TIMESTAMP: 1477010460250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.764 | PHI:    -2.692 | dRHO:    4.208 |
    PREDICTION:     | X:     -19.005 | Y:      -9.614 | VX:     -4.473 | VY:     -0.189 | YAW:     3.394 | DYAW    -0.745 |
    TRUTH:          | X:     -19.130 | Y:      -9.504 | VX:     -4.789 | VY:      0.775 | YAW:     2.981 | DYAW    -0.514 |
    -------------------------------------------------------------------------------
    # 347 TIMESTAMP: 1477010460300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -19.298 | Y:      -9.099 |
    PREDICTION:     | X:     -19.273 | Y:      -9.452 | VX:     -4.572 | VY:      0.173 | YAW:     3.417 | DYAW    -0.711 |
    TRUTH:          | X:     -19.369 | Y:      -9.463 | VX:     -4.764 | VY:      0.897 | YAW:     2.955 | DYAW    -0.516 |
    -------------------------------------------------------------------------------
    # 348 TIMESTAMP: 1477010460350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.579 | PHI:    -2.722 | dRHO:    3.647 |
    PREDICTION:     | X:     -19.481 | Y:      -9.438 | VX:     -4.397 | VY:      0.242 | YAW:     3.352 | DYAW    -0.754 |
    TRUTH:          | X:     -19.607 | Y:      -9.415 | VX:     -4.736 | VY:      1.019 | YAW:     2.930 | DYAW    -0.519 |
    -------------------------------------------------------------------------------
    # 349 TIMESTAMP: 1477010460400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -19.873 | Y:      -8.964 |
    PREDICTION:     | X:     -19.766 | Y:      -9.269 | VX:     -4.530 | VY:      0.578 | YAW:     3.330 | DYAW    -0.746 |
    TRUTH:          | X:     -19.843 | Y:      -9.361 | VX:     -4.705 | VY:      1.141 | YAW:     2.904 | DYAW    -0.521 |
    -------------------------------------------------------------------------------
    # 350 TIMESTAMP: 1477010460450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.779 | PHI:    -2.781 | dRHO:    3.682 |
    PREDICTION:     | X:     -19.962 | Y:      -9.226 | VX:     -4.411 | VY:      0.629 | YAW:     3.316 | DYAW    -0.742 |
    TRUTH:          | X:     -20.078 | Y:      -9.301 | VX:     -4.671 | VY:      1.262 | YAW:     2.878 | DYAW    -0.523 |
    -------------------------------------------------------------------------------
    # 351 TIMESTAMP: 1477010460500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -20.161 | Y:      -9.597 |
    PREDICTION:     | X:     -20.157 | Y:      -9.326 | VX:     -4.352 | VY:      0.354 | YAW:     3.230 | DYAW    -0.773 |
    TRUTH:          | X:     -20.310 | Y:      -9.234 | VX:     -4.633 | VY:      1.383 | YAW:     2.852 | DYAW    -0.525 |
    -------------------------------------------------------------------------------
    # 352 TIMESTAMP: 1477010460550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.661 | PHI:    -2.697 | dRHO:    3.795 |
    PREDICTION:     | X:     -20.400 | Y:      -9.320 | VX:     -4.387 | VY:      0.336 | YAW:     3.145 | DYAW    -0.805 |
    TRUTH:          | X:     -20.541 | Y:      -9.162 | VX:     -4.593 | VY:      1.503 | YAW:     2.825 | DYAW    -0.527 |
    -------------------------------------------------------------------------------
    # 353 TIMESTAMP: 1477010460600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -20.660 | Y:      -8.915 |
    PREDICTION:     | X:     -20.648 | Y:      -9.176 | VX:     -4.453 | VY:      0.605 | YAW:     3.145 | DYAW    -0.779 |
    TRUTH:          | X:     -20.770 | Y:      -9.084 | VX:     -4.549 | VY:      1.623 | YAW:     2.799 | DYAW    -0.529 |
    -------------------------------------------------------------------------------
    # 354 TIMESTAMP: 1477010460650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.172 | PHI:    -2.766 | dRHO:    3.506 |
    PREDICTION:     | X:     -20.897 | Y:      -9.160 | VX:     -4.373 | VY:      0.630 | YAW:     3.010 | DYAW    -0.863 |
    TRUTH:          | X:     -20.996 | Y:      -9.000 | VX:     -4.502 | VY:      1.742 | YAW:     2.772 | DYAW    -0.531 |
    -------------------------------------------------------------------------------
    # 355 TIMESTAMP: 1477010460700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.020 | Y:      -8.851 |
    PREDICTION:     | X:     -21.109 | Y:      -9.044 | VX:     -4.369 | VY:      0.805 | YAW:     3.031 | DYAW    -0.818 |
    TRUTH:          | X:     -21.220 | Y:      -8.910 | VX:     -4.452 | VY:      1.860 | YAW:     2.746 | DYAW    -0.533 |
    -------------------------------------------------------------------------------
    # 356 TIMESTAMP: 1477010460750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.509 | PHI:    -2.765 | dRHO:    3.333 |
    PREDICTION:     | X:     -21.347 | Y:      -9.016 | VX:     -4.256 | VY:      0.839 | YAW:     2.898 | DYAW    -0.901 |
    TRUTH:          | X:     -21.441 | Y:      -8.814 | VX:     -4.399 | VY:      1.977 | YAW:     2.719 | DYAW    -0.534 |
    -------------------------------------------------------------------------------
    # 357 TIMESTAMP: 1477010460800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.503 | Y:      -8.872 |
    PREDICTION:     | X:     -21.553 | Y:      -8.944 | VX:     -4.247 | VY:      0.900 | YAW:     2.882 | DYAW    -0.880 |
    TRUTH:          | X:     -21.660 | Y:      -8.712 | VX:     -4.342 | VY:      2.092 | YAW:     2.693 | DYAW    -0.536 |
    -------------------------------------------------------------------------------
    # 358 TIMESTAMP: 1477010460850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.169 | PHI:    -2.816 | dRHO:    2.775 |
    PREDICTION:     | X:     -21.696 | Y:      -8.878 | VX:     -3.819 | VY:      1.049 | YAW:     2.845 | DYAW    -0.902 |
    TRUTH:          | X:     -21.875 | Y:      -8.605 | VX:     -4.283 | VY:      2.207 | YAW:     2.666 | DYAW    -0.537 |
    -------------------------------------------------------------------------------
    # 359 TIMESTAMP: 1477010460900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.979 | Y:      -8.571 |
    PREDICTION:     | X:     -21.920 | Y:      -8.738 | VX:     -3.885 | VY:      1.237 | YAW:     2.804 | DYAW    -0.899 |
    TRUTH:          | X:     -22.088 | Y:      -8.491 | VX:     -4.220 | VY:      2.320 | YAW:     2.639 | DYAW    -0.539 |
    -------------------------------------------------------------------------------
    # 360 TIMESTAMP: 1477010460950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.491 | PHI:    -2.807 | dRHO:    3.305 |
    PREDICTION:     | X:     -22.096 | Y:      -8.666 | VX:     -3.914 | VY:      1.234 | YAW:     2.814 | DYAW    -0.854 |
    TRUTH:          | X:     -22.297 | Y:      -8.373 | VX:     -4.154 | VY:      2.432 | YAW:     2.612 | DYAW    -0.540 |
    -------------------------------------------------------------------------------
    # 361 TIMESTAMP: 1477010461000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -22.584 | Y:      -8.353 |
    PREDICTION:     | X:     -22.366 | Y:      -8.507 | VX:     -4.049 | VY:      1.450 | YAW:     2.715 | DYAW    -0.897 |
    TRUTH:          | X:     -22.504 | Y:      -8.248 | VX:     -4.086 | VY:      2.543 | YAW:     2.585 | DYAW    -0.542 |
    -------------------------------------------------------------------------------
    # 362 TIMESTAMP: 1477010461050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.909 | PHI:    -2.775 | dRHO:    2.905 |
    PREDICTION:     | X:     -22.534 | Y:      -8.427 | VX:     -3.843 | VY:      1.509 | YAW:     2.676 | DYAW    -0.903 |
    TRUTH:          | X:     -22.706 | Y:      -8.118 | VX:     -4.014 | VY:      2.651 | YAW:     2.558 | DYAW    -0.543 |
    -------------------------------------------------------------------------------
    # 363 TIMESTAMP: 1477010461100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -22.986 | Y:      -7.672 |
    PREDICTION:     | X:     -22.814 | Y:      -8.116 | VX:     -4.015 | VY:      2.015 | YAW:     2.632 | DYAW    -0.903 |
    TRUTH:          | X:     -22.905 | Y:      -7.983 | VX:     -3.939 | VY:      2.758 | YAW:     2.531 | DYAW    -0.544 |
    -------------------------------------------------------------------------------
    # 364 TIMESTAMP: 1477010461150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.712 | PHI:    -2.798 | dRHO:    2.376 |
    PREDICTION:     | X:     -23.009 | Y:      -8.027 | VX:     -3.695 | VY:      2.085 | YAW:     2.481 | DYAW    -1.002 |
    TRUTH:          | X:     -23.100 | Y:      -7.842 | VX:     -3.862 | VY:      2.864 | YAW:     2.504 | DYAW    -0.545 |
    -------------------------------------------------------------------------------
    # 365 TIMESTAMP: 1477010461200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.478 | Y:      -7.566 |
    PREDICTION:     | X:     -23.268 | Y:      -7.791 | VX:     -3.828 | VY:      2.374 | YAW:     2.385 | DYAW    -1.037 |
    TRUTH:          | X:     -23.291 | Y:      -7.697 | VX:     -3.781 | VY:      2.967 | YAW:     2.476 | DYAW    -0.546 |
    -------------------------------------------------------------------------------
    # 366 TIMESTAMP: 1477010461250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.501 | PHI:    -2.851 | dRHO:    2.957 |
    PREDICTION:     | X:     -23.448 | Y:      -7.667 | VX:     -3.838 | VY:      2.375 | YAW:     2.363 | DYAW    -1.015 |
    TRUTH:          | X:     -23.478 | Y:      -7.546 | VX:     -3.698 | VY:      3.068 | YAW:     2.449 | DYAW    -0.546 |
    -------------------------------------------------------------------------------
    # 367 TIMESTAMP: 1477010461300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.541 | Y:      -7.361 |
    PREDICTION:     | X:     -23.631 | Y:      -7.491 | VX:     -3.833 | VY:      2.491 | YAW:     2.361 | DYAW    -0.980 |
    TRUTH:          | X:     -23.661 | Y:      -7.390 | VX:     -3.612 | VY:      3.167 | YAW:     2.422 | DYAW    -0.547 |
    -------------------------------------------------------------------------------
    # 368 TIMESTAMP: 1477010461350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.932 | PHI:    -2.875 | dRHO:    2.637 |
    PREDICTION:     | X:     -23.806 | Y:      -7.366 | VX:     -3.686 | VY:      2.523 | YAW:     2.302 | DYAW    -0.992 |
    TRUTH:          | X:     -23.839 | Y:      -7.229 | VX:     -3.523 | VY:      3.264 | YAW:     2.394 | DYAW    -0.548 |
    -------------------------------------------------------------------------------
    # 369 TIMESTAMP: 1477010461400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.938 | Y:      -7.262 |
    PREDICTION:     | X:     -23.980 | Y:      -7.249 | VX:     -3.670 | VY:      2.500 | YAW:     2.265 | DYAW    -0.982 |
    TRUTH:          | X:     -24.013 | Y:      -7.063 | VX:     -3.432 | VY:      3.359 | YAW:     2.367 | DYAW    -0.548 |
    -------------------------------------------------------------------------------
    # 370 TIMESTAMP: 1477010461450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.072 | PHI:    -2.902 | dRHO:    2.270 |
    PREDICTION:     | X:     -24.123 | Y:      -7.119 | VX:     -3.380 | VY:      2.564 | YAW:     2.225 | DYAW    -0.982 |
    TRUTH:          | X:     -24.182 | Y:      -6.893 | VX:     -3.338 | VY:      3.451 | YAW:     2.339 | DYAW    -0.549 |
    -------------------------------------------------------------------------------
    # 371 TIMESTAMP: 1477010461500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -24.257 | Y:      -6.435 |
    PREDICTION:     | X:     -24.313 | Y:      -6.807 | VX:     -3.436 | VY:      2.948 | YAW:     2.239 | DYAW    -0.938 |
    TRUTH:          | X:     -24.347 | Y:      -6.718 | VX:     -3.242 | VY:      3.541 | YAW:     2.312 | DYAW    -0.549 |
    -------------------------------------------------------------------------------
    # 372 TIMESTAMP: 1477010461550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.808 | PHI:    -2.860 | dRHO:    1.933 |
    PREDICTION:     | X:     -24.485 | Y:      -6.672 | VX:     -3.163 | VY:      2.989 | YAW:     2.091 | DYAW    -1.018 |
    TRUTH:          | X:     -24.507 | Y:      -6.539 | VX:     -3.143 | VY:      3.629 | YAW:     2.285 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 373 TIMESTAMP: 1477010461600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -24.301 | Y:      -6.438 |
    PREDICTION:     | X:     -24.591 | Y:      -6.510 | VX:     -3.094 | VY:      3.000 | YAW:     2.148 | DYAW    -0.943 |
    TRUTH:          | X:     -24.661 | Y:      -6.355 | VX:     -3.042 | VY:      3.713 | YAW:     2.257 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 374 TIMESTAMP: 1477010461650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.334 | PHI:    -2.902 | dRHO:    1.890 |
    PREDICTION:     | X:     -24.709 | Y:      -6.355 | VX:     -2.889 | VY:      3.037 | YAW:     2.129 | DYAW    -0.927 |
    TRUTH:          | X:     -24.811 | Y:      -6.168 | VX:     -2.938 | VY:      3.796 | YAW:     2.230 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 375 TIMESTAMP: 1477010461700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.146 | Y:      -5.919 |
    PREDICTION:     | X:     -24.912 | Y:      -6.095 | VX:     -2.981 | VY:      3.278 | YAW:     2.021 | DYAW    -0.969 |
    TRUTH:          | X:     -24.955 | Y:      -5.976 | VX:     -2.833 | VY:      3.875 | YAW:     2.202 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 376 TIMESTAMP: 1477010461750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.399 | PHI:    -2.943 | dRHO:    1.814 |
    PREDICTION:     | X:     -25.015 | Y:      -5.924 | VX:     -2.780 | VY:      3.309 | YAW:     2.038 | DYAW    -0.925 |
    TRUTH:          | X:     -25.094 | Y:      -5.780 | VX:     -2.725 | VY:      3.951 | YAW:     2.175 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 377 TIMESTAMP: 1477010461800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.194 | Y:      -5.644 |
    PREDICTION:     | X:     -25.165 | Y:      -5.718 | VX:     -2.799 | VY:      3.396 | YAW:     1.989 | DYAW    -0.927 |
    TRUTH:          | X:     -25.228 | Y:      -5.581 | VX:     -2.616 | VY:      4.025 | YAW:     2.147 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 378 TIMESTAMP: 1477010461850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.106 | PHI:    -2.932 | dRHO:    1.921 |
    PREDICTION:     | X:     -25.313 | Y:      -5.552 | VX:     -2.766 | VY:      3.400 | YAW:     1.912 | DYAW    -0.947 |
    TRUTH:          | X:     -25.356 | Y:      -5.378 | VX:     -2.504 | VY:      4.096 | YAW:     2.120 | DYAW    -0.550 |
    -------------------------------------------------------------------------------
    # 379 TIMESTAMP: 1477010461900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.571 | Y:      -5.102 |
    PREDICTION:     | X:     -25.480 | Y:      -5.282 | VX:     -2.813 | VY:      3.614 | YAW:     1.851 | DYAW    -0.955 |
    TRUTH:          | X:     -25.478 | Y:      -5.171 | VX:     -2.391 | VY:      4.163 | YAW:     2.092 | DYAW    -0.549 |
    -------------------------------------------------------------------------------
    # 380 TIMESTAMP: 1477010461950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.863 | PHI:    -2.885 | dRHO:    1.927 |
    PREDICTION:     | X:     -25.595 | Y:      -5.100 | VX:     -2.732 | VY:      3.620 | YAW:     1.848 | DYAW    -0.926 |
    TRUTH:          | X:     -25.595 | Y:      -4.962 | VX:     -2.276 | VY:      4.228 | YAW:     2.065 | DYAW    -0.549 |
    -------------------------------------------------------------------------------
    # 381 TIMESTAMP: 1477010462000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.695 | Y:      -4.900 |
    PREDICTION:     | X:     -25.728 | Y:      -4.914 | VX:     -2.728 | VY:      3.629 | YAW:     1.812 | DYAW    -0.920 |
    TRUTH:          | X:     -25.706 | Y:      -4.749 | VX:     -2.160 | VY:      4.289 | YAW:     2.037 | DYAW    -0.548 |
    -------------------------------------------------------------------------------
    # 382 TIMESTAMP: 1477010462050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.190 | PHI:    -2.973 | dRHO:    1.633 |
    PREDICTION:     | X:     -25.833 | Y:      -4.733 | VX:     -2.513 | VY:      3.650 | YAW:     1.793 | DYAW    -0.901 |
    TRUTH:          | X:     -25.811 | Y:      -4.533 | VX:     -2.041 | VY:      4.348 | YAW:     2.010 | DYAW    -0.548 |
    -------------------------------------------------------------------------------
    # 383 TIMESTAMP: 1477010462100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.952 | Y:      -4.267 |
    PREDICTION:     | X:     -25.969 | Y:      -4.454 | VX:     -2.534 | VY:      3.853 | YAW:     1.766 | DYAW    -0.891 |
    TRUTH:          | X:     -25.910 | Y:      -4.314 | VX:     -1.922 | VY:      4.403 | YAW:     1.982 | DYAW    -0.547 |
    -------------------------------------------------------------------------------
    # 384 TIMESTAMP: 1477010462150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    27.259 | PHI:    -2.978 | dRHO:    0.843 |
    PREDICTION:     | X:     -26.073 | Y:      -4.276 | VX:     -2.015 | VY:      3.883 | YAW:     1.660 | DYAW    -0.916 |
    TRUTH:          | X:     -26.003 | Y:      -4.092 | VX:     -1.801 | VY:      4.455 | YAW:     1.955 | DYAW    -0.546 |
    -------------------------------------------------------------------------------
    # 385 TIMESTAMP: 1477010462200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.120 | Y:      -3.677 |
    PREDICTION:     | X:     -26.182 | Y:      -3.946 | VX:     -2.036 | VY:      4.170 | YAW:     1.643 | DYAW    -0.900 |
    TRUTH:          | X:     -26.090 | Y:      -3.869 | VX:     -1.679 | VY:      4.503 | YAW:     1.928 | DYAW    -0.546 |
    -------------------------------------------------------------------------------
    # 386 TIMESTAMP: 1477010462250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.844 | PHI:    -2.997 | dRHO:    0.594 |
    PREDICTION:     | X:     -26.243 | Y:      -3.747 | VX:     -1.609 | VY:      4.184 | YAW:     1.684 | DYAW    -0.830 |
    TRUTH:          | X:     -26.171 | Y:      -3.642 | VX:     -1.556 | VY:      4.549 | YAW:     1.900 | DYAW    -0.545 |
    -------------------------------------------------------------------------------
    # 387 TIMESTAMP: 1477010462300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.997 | Y:      -3.247 |
    PREDICTION:     | X:     -26.299 | Y:      -3.449 | VX:     -1.589 | VY:      4.365 | YAW:     1.700 | DYAW    -0.803 |
    TRUTH:          | X:     -26.245 | Y:      -3.414 | VX:     -1.432 | VY:      4.591 | YAW:     1.873 | DYAW    -0.544 |
    -------------------------------------------------------------------------------
    # 388 TIMESTAMP: 1477010462350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.469 | PHI:    -3.028 | dRHO:    0.431 |
    PREDICTION:     | X:     -26.336 | Y:      -3.237 | VX:     -1.256 | VY:      4.372 | YAW:     1.634 | DYAW    -0.818 |
    TRUTH:          | X:     -26.314 | Y:      -3.183 | VX:     -1.307 | VY:      4.630 | YAW:     1.846 | DYAW    -0.543 |
    -------------------------------------------------------------------------------
    # 389 TIMESTAMP: 1477010462400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.174 | Y:      -2.879 |
    PREDICTION:     | X:     -26.380 | Y:      -2.977 | VX:     -1.236 | VY:      4.455 | YAW:     1.623 | DYAW    -0.806 |
    TRUTH:          | X:     -26.376 | Y:      -2.951 | VX:     -1.182 | VY:      4.665 | YAW:     1.819 | DYAW    -0.542 |
    -------------------------------------------------------------------------------
    # 390 TIMESTAMP: 1477010462450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.692 | PHI:    -3.012 | dRHO:    0.454 |
    PREDICTION:     | X:     -26.427 | Y:      -2.759 | VX:     -1.074 | VY:      4.454 | YAW:     1.599 | DYAW    -0.792 |
    TRUTH:          | X:     -26.432 | Y:      -2.717 | VX:     -1.055 | VY:      4.697 | YAW:     1.792 | DYAW    -0.540 |
    -------------------------------------------------------------------------------
    # 391 TIMESTAMP: 1477010462500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.674 | Y:      -2.739 |
    PREDICTION:     | X:     -26.495 | Y:      -2.601 | VX:     -1.090 | VY:      4.318 | YAW:     1.544 | DYAW    -0.797 |
    TRUTH:          | X:     -26.482 | Y:      -2.481 | VX:     -0.928 | VY:      4.726 | YAW:     1.765 | DYAW    -0.539 |
    -------------------------------------------------------------------------------
    # 392 TIMESTAMP: 1477010462550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.713 | PHI:    -3.077 | dRHO:    0.497 |
    PREDICTION:     | X:     -26.539 | Y:      -2.387 | VX:     -0.988 | VY:      4.319 | YAW:     1.536 | DYAW    -0.774 |
    TRUTH:          | X:     -26.525 | Y:      -2.245 | VX:     -0.801 | VY:      4.751 | YAW:     1.738 | DYAW    -0.537 |
    -------------------------------------------------------------------------------
    # 393 TIMESTAMP: 1477010462600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.669 | Y:      -2.173 |
    PREDICTION:     | X:     -26.596 | Y:      -2.170 | VX:     -0.998 | VY:      4.321 | YAW:     1.499 | DYAW    -0.772 |
    TRUTH:          | X:     -26.562 | Y:      -2.007 | VX:     -0.673 | VY:      4.773 | YAW:     1.711 | DYAW    -0.536 |
    -------------------------------------------------------------------------------
    # 394 TIMESTAMP: 1477010462650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.358 | PHI:    -3.091 | dRHO:    0.423 |
    PREDICTION:     | X:     -26.615 | Y:      -1.955 | VX:     -0.851 | VY:      4.320 | YAW:     1.488 | DYAW    -0.757 |
    TRUTH:          | X:     -26.592 | Y:      -1.767 | VX:     -0.546 | VY:      4.791 | YAW:     1.684 | DYAW    -0.534 |
    -------------------------------------------------------------------------------
    # 395 TIMESTAMP: 1477010462700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.467 | Y:      -1.532 |
    PREDICTION:     | X:     -26.643 | Y:      -1.670 | VX:     -0.829 | VY:      4.463 | YAW:     1.430 | DYAW    -0.772 |
    TRUTH:          | X:     -26.616 | Y:      -1.528 | VX:     -0.418 | VY:      4.807 | YAW:     1.657 | DYAW    -0.533 |
    -------------------------------------------------------------------------------
    # 396 TIMESTAMP: 1477010462750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.591 | PHI:    -3.059 | dRHO:   -0.250 |
    PREDICTION:     | X:     -26.632 | Y:      -1.459 | VX:     -0.411 | VY:      4.439 | YAW:     1.567 | DYAW    -0.663 |
    TRUTH:          | X:     -26.634 | Y:      -1.287 | VX:     -0.290 | VY:      4.819 | YAW:     1.631 | DYAW    -0.531 |
    -------------------------------------------------------------------------------
    # 397 TIMESTAMP: 1477010462800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.600 | Y:      -1.143 |
    PREDICTION:     | X:     -26.648 | Y:      -1.205 | VX:     -0.403 | VY:      4.506 | YAW:     1.522 | DYAW    -0.671 |
    TRUTH:          | X:     -26.645 | Y:      -1.046 | VX:     -0.162 | VY:      4.827 | YAW:     1.604 | DYAW    -0.529 |
    -------------------------------------------------------------------------------
    # 398 TIMESTAMP: 1477010462850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    27.252 | PHI:    -3.080 | dRHO:   -0.162 |
    PREDICTION:     | X:     -26.671 | Y:      -0.988 | VX:     -0.217 | VY:      4.491 | YAW:     1.513 | DYAW    -0.651 |
    TRUTH:          | X:     -26.650 | Y:      -0.804 | VX:     -0.034 | VY:      4.832 | YAW:     1.578 | DYAW    -0.527 |
    -------------------------------------------------------------------------------
    # 399 TIMESTAMP: 1477010462900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.735 | Y:      -0.595 |
    PREDICTION:     | X:     -26.688 | Y:      -0.705 | VX:     -0.223 | VY:      4.615 | YAW:     1.494 | DYAW    -0.643 |
    TRUTH:          | X:     -26.648 | Y:      -0.563 | VX:      0.094 | VY:      4.834 | YAW:     1.551 | DYAW    -0.525 |
    -------------------------------------------------------------------------------
    # 400 TIMESTAMP: 1477010462950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.989 | PHI:    -3.143 | dRHO:   -0.612 |
    PREDICTION:     | X:     -26.669 | Y:      -0.487 | VX:      0.158 | VY:      4.580 | YAW:     1.512 | DYAW    -0.608 |
    TRUTH:          | X:     -26.641 | Y:      -0.321 | VX:      0.221 | VY:      4.833 | YAW:     1.525 | DYAW    -0.523 |
    -------------------------------------------------------------------------------
    # 401 TIMESTAMP: 1477010463000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.455 | Y:       0.060 |
    PREDICTION:     | X:     -26.640 | Y:      -0.148 | VX:      0.199 | VY:      4.812 | YAW:     1.405 | DYAW    -0.649 |
    TRUTH:          | X:     -26.626 | Y:      -0.080 | VX:      0.347 | VY:      4.829 | YAW:     1.499 | DYAW    -0.521 |
    -------------------------------------------------------------------------------
    # 402 TIMESTAMP: 1477010463050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.954 | PHI:     3.137 | dRHO:   -0.730 |
    PREDICTION:     | X:     -26.621 | Y:       0.082 | VX:      0.444 | VY:      4.778 | YAW:     1.577 | DYAW    -0.537 |
    TRUTH:          | X:     -26.606 | Y:       0.161 | VX:      0.473 | VY:      4.821 | YAW:     1.473 | DYAW    -0.519 |
    -------------------------------------------------------------------------------
    # 403 TIMESTAMP: 1477010463100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.620 | Y:       0.576 |
    PREDICTION:     | X:     -26.601 | Y:       0.409 | VX:      0.450 | VY:      4.965 | YAW:     1.558 | DYAW    -0.532 |
    TRUTH:          | X:     -26.579 | Y:       0.402 | VX:      0.598 | VY:      4.810 | YAW:     1.447 | DYAW    -0.516 |
    -------------------------------------------------------------------------------
    # 404 TIMESTAMP: 1477010463150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.827 | PHI:     3.127 | dRHO:   -0.525 |
    PREDICTION:     | X:     -26.576 | Y:       0.653 | VX:      0.547 | VY:      4.951 | YAW:     1.508 | DYAW    -0.543 |
    TRUTH:          | X:     -26.546 | Y:       0.642 | VX:      0.723 | VY:      4.797 | YAW:     1.421 | DYAW    -0.514 |
    -------------------------------------------------------------------------------
    # 405 TIMESTAMP: 1477010463200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.729 | Y:       1.061 |
    PREDICTION:     | X:     -26.567 | Y:       0.954 | VX:      0.530 | VY:      5.065 | YAW:     1.549 | DYAW    -0.510 |
    TRUTH:          | X:     -26.507 | Y:       0.882 | VX:      0.846 | VY:      4.780 | YAW:     1.396 | DYAW    -0.511 |
    -------------------------------------------------------------------------------
    # 406 TIMESTAMP: 1477010463250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.086 | PHI:     3.042 | dRHO:   -0.380 |
    PREDICTION:     | X:     -26.510 | Y:       1.207 | VX:      0.595 | VY:      5.061 | YAW:     1.420 | DYAW    -0.559 |
    TRUTH:          | X:     -26.462 | Y:       1.120 | VX:      0.969 | VY:      4.760 | YAW:     1.370 | DYAW    -0.509 |
    -------------------------------------------------------------------------------
    # 407 TIMESTAMP: 1477010463300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.399 | Y:       1.422 |
    PREDICTION:     | X:     -26.472 | Y:       1.448 | VX:      0.603 | VY:      5.036 | YAW:     1.364 | DYAW    -0.572 |
    TRUTH:          | X:     -26.410 | Y:       1.357 | VX:      1.091 | VY:      4.737 | YAW:     1.345 | DYAW    -0.506 |
    -------------------------------------------------------------------------------
    # 408 TIMESTAMP: 1477010463350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.513 | PHI:     3.163 | dRHO:   -0.675 |
    PREDICTION:     | X:     -26.428 | Y:       1.689 | VX:      0.790 | VY:      4.996 | YAW:     1.533 | DYAW    -0.475 |
    TRUTH:          | X:     -26.353 | Y:       1.594 | VX:      1.211 | VY:      4.712 | YAW:     1.319 | DYAW    -0.503 |
    -------------------------------------------------------------------------------
    # 409 TIMESTAMP: 1477010463400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.359 | Y:       1.793 |
    PREDICTION:     | X:     -26.388 | Y:       1.889 | VX:      0.783 | VY:      4.891 | YAW:     1.495 | DYAW    -0.482 |
    TRUTH:          | X:     -26.289 | Y:       1.828 | VX:      1.330 | VY:      4.683 | YAW:     1.294 | DYAW    -0.501 |
    -------------------------------------------------------------------------------
    # 410 TIMESTAMP: 1477010463450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.411 | PHI:     3.072 | dRHO:   -1.062 |
    PREDICTION:     | X:     -26.302 | Y:       2.118 | VX:      1.146 | VY:      4.824 | YAW:     1.315 | DYAW    -0.553 |
    TRUTH:          | X:     -26.220 | Y:       2.062 | VX:      1.448 | VY:      4.652 | YAW:     1.269 | DYAW    -0.498 |
    -------------------------------------------------------------------------------
    # 411 TIMESTAMP: 1477010463500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.250 | Y:       2.185 |
    PREDICTION:     | X:     -26.249 | Y:       2.299 | VX:      1.129 | VY:      4.697 | YAW:     1.288 | DYAW    -0.554 |
    TRUTH:          | X:     -26.144 | Y:       2.293 | VX:      1.565 | VY:      4.619 | YAW:     1.244 | DYAW    -0.495 |
    -------------------------------------------------------------------------------
    # 412 TIMESTAMP: 1477010463550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.168 | PHI:     3.054 | dRHO:   -0.856 |
    PREDICTION:     | X:     -26.179 | Y:       2.530 | VX:      1.222 | VY:      4.678 | YAW:     1.332 | DYAW    -0.519 |
    TRUTH:          | X:     -26.063 | Y:       2.523 | VX:      1.680 | VY:      4.582 | YAW:     1.219 | DYAW    -0.492 |
    -------------------------------------------------------------------------------
    # 413 TIMESTAMP: 1477010463600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -26.064 | Y:       2.807 |
    PREDICTION:     | X:     -26.110 | Y:       2.780 | VX:      1.236 | VY:      4.712 | YAW:     1.283 | DYAW    -0.528 |
    TRUTH:          | X:     -25.976 | Y:       2.751 | VX:      1.793 | VY:      4.543 | YAW:     1.195 | DYAW    -0.488 |
    -------------------------------------------------------------------------------
    # 414 TIMESTAMP: 1477010463650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.497 | PHI:     3.027 | dRHO:   -1.608 |
    PREDICTION:     | X:     -26.026 | Y:       2.996 | VX:      1.652 | VY:      4.614 | YAW:     1.587 | DYAW    -0.376 |
    TRUTH:          | X:     -25.884 | Y:       2.977 | VX:      1.905 | VY:      4.502 | YAW:     1.170 | DYAW    -0.485 |
    -------------------------------------------------------------------------------
    # 415 TIMESTAMP: 1477010463700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.834 | Y:       3.420 |
    PREDICTION:     | X:     -25.924 | Y:       3.296 | VX:      1.693 | VY:      4.760 | YAW:     1.523 | DYAW    -0.394 |
    TRUTH:          | X:     -25.786 | Y:       3.201 | VX:      2.016 | VY:      4.458 | YAW:     1.146 | DYAW    -0.482 |
    -------------------------------------------------------------------------------
    # 416 TIMESTAMP: 1477010463750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    26.447 | PHI:     3.000 | dRHO:   -1.436 |
    PREDICTION:     | X:     -25.824 | Y:       3.524 | VX:      1.892 | VY:      4.710 | YAW:     1.323 | DYAW    -0.477 |
    TRUTH:          | X:     -25.683 | Y:       3.423 | VX:      2.125 | VY:      4.412 | YAW:     1.122 | DYAW    -0.479 |
    -------------------------------------------------------------------------------
    # 417 TIMESTAMP: 1477010463800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.667 | Y:       3.635 |
    PREDICTION:     | X:     -25.727 | Y:       3.720 | VX:      1.886 | VY:      4.626 | YAW:     1.272 | DYAW    -0.488 |
    TRUTH:          | X:     -25.574 | Y:       3.642 | VX:      2.231 | VY:      4.364 | YAW:     1.098 | DYAW    -0.475 |
    -------------------------------------------------------------------------------
    # 418 TIMESTAMP: 1477010463850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.768 | PHI:     3.020 | dRHO:   -1.632 |
    PREDICTION:     | X:     -25.607 | Y:       3.938 | VX:      2.118 | VY:      4.561 | YAW:     1.428 | DYAW    -0.404 |
    TRUTH:          | X:     -25.460 | Y:       3.859 | VX:      2.337 | VY:      4.314 | YAW:     1.074 | DYAW    -0.472 |
    -------------------------------------------------------------------------------
    # 419 TIMESTAMP: 1477010463900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.749 | Y:       4.000 |
    PREDICTION:     | X:     -25.537 | Y:       4.100 | VX:      2.054 | VY:      4.421 | YAW:     1.502 | DYAW    -0.368 |
    TRUTH:          | X:     -25.340 | Y:       4.074 | VX:      2.440 | VY:      4.261 | YAW:     1.051 | DYAW    -0.468 |
    -------------------------------------------------------------------------------
    # 420 TIMESTAMP: 1477010463950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.628 | PHI:     2.994 | dRHO:   -1.706 |
    PREDICTION:     | X:     -25.394 | Y:       4.308 | VX:      2.276 | VY:      4.362 | YAW:     1.252 | DYAW    -0.467 |
    TRUTH:          | X:     -25.216 | Y:       4.285 | VX:      2.541 | VY:      4.207 | YAW:     1.027 | DYAW    -0.464 |
    -------------------------------------------------------------------------------
    # 421 TIMESTAMP: 1477010464000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.021 | Y:       4.528 |
    PREDICTION:     | X:     -25.252 | Y:       4.538 | VX:      2.312 | VY:      4.390 | YAW:     1.152 | DYAW    -0.494 |
    TRUTH:          | X:     -25.086 | Y:       4.494 | VX:      2.641 | VY:      4.151 | YAW:     1.004 | DYAW    -0.461 |
    -------------------------------------------------------------------------------
    # 422 TIMESTAMP: 1477010464050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.651 | PHI:     2.966 | dRHO:   -1.642 |
    PREDICTION:     | X:     -25.083 | Y:       4.745 | VX:      2.448 | VY:      4.353 | YAW:     1.092 | DYAW    -0.499 |
    TRUTH:          | X:     -24.952 | Y:       4.700 | VX:      2.738 | VY:      4.093 | YAW:     0.981 | DYAW    -0.457 |
    -------------------------------------------------------------------------------
    # 423 TIMESTAMP: 1477010464100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -25.036 | Y:       4.885 |
    PREDICTION:     | X:     -24.973 | Y:       4.933 | VX:      2.423 | VY:      4.290 | YAW:     1.088 | DYAW    -0.491 |
    TRUTH:          | X:     -24.813 | Y:       4.903 | VX:      2.834 | VY:      4.033 | YAW:     0.958 | DYAW    -0.453 |
    -------------------------------------------------------------------------------
    # 424 TIMESTAMP: 1477010464150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.861 | PHI:     2.941 | dRHO:   -1.974 |
    PREDICTION:     | X:     -24.809 | Y:       5.131 | VX:      2.662 | VY:      4.215 | YAW:     1.168 | DYAW    -0.437 |
    TRUTH:          | X:     -24.669 | Y:       5.103 | VX:      2.927 | VY:      3.971 | YAW:     0.936 | DYAW    -0.449 |
    -------------------------------------------------------------------------------
    # 425 TIMESTAMP: 1477010464200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -24.504 | Y:       5.353 |
    PREDICTION:     | X:     -24.653 | Y:       5.354 | VX:      2.703 | VY:      4.240 | YAW:     1.072 | DYAW    -0.465 |
    TRUTH:          | X:     -24.520 | Y:       5.300 | VX:      3.018 | VY:      3.908 | YAW:     0.913 | DYAW    -0.445 |
    -------------------------------------------------------------------------------
    # 426 TIMESTAMP: 1477010464250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.995 | PHI:     2.930 | dRHO:   -2.493 |
    PREDICTION:     | X:     -24.480 | Y:       5.543 | VX:      3.068 | VY:      4.111 | YAW:     1.222 | DYAW    -0.381 |
    TRUTH:          | X:     -24.367 | Y:       5.494 | VX:      3.108 | VY:      3.844 | YAW:     0.891 | DYAW    -0.441 |
    -------------------------------------------------------------------------------
    # 427 TIMESTAMP: 1477010464300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -24.116 | Y:       5.612 |
    PREDICTION:     | X:     -24.302 | Y:       5.712 | VX:      3.107 | VY:      4.036 | YAW:     1.070 | DYAW    -0.432 |
    TRUTH:          | X:     -24.210 | Y:       5.684 | VX:      3.195 | VY:      3.778 | YAW:     0.869 | DYAW    -0.437 |
    -------------------------------------------------------------------------------
    # 428 TIMESTAMP: 1477010464350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    25.020 | PHI:     2.950 | dRHO:   -2.652 |
    PREDICTION:     | X:     -24.134 | Y:       5.899 | VX:      3.364 | VY:      3.936 | YAW:     1.190 | DYAW    -0.365 |
    TRUTH:          | X:     -24.048 | Y:       5.871 | VX:      3.280 | VY:      3.711 | YAW:     0.847 | DYAW    -0.432 |
    -------------------------------------------------------------------------------
    # 429 TIMESTAMP: 1477010464400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.915 | Y:       5.944 |
    PREDICTION:     | X:     -23.965 | Y:       6.047 | VX:      3.357 | VY:      3.835 | YAW:     1.116 | DYAW    -0.387 |
    TRUTH:          | X:     -23.882 | Y:       6.055 | VX:      3.362 | VY:      3.643 | YAW:     0.825 | DYAW    -0.428 |
    -------------------------------------------------------------------------------
    # 430 TIMESTAMP: 1477010464450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.415 | PHI:     2.874 | dRHO:   -1.955 |
    PREDICTION:     | X:     -23.801 | Y:       6.246 | VX:      3.217 | VY:      3.891 | YAW:     1.038 | DYAW    -0.413 |
    TRUTH:          | X:     -23.712 | Y:       6.235 | VX:      3.443 | VY:      3.574 | YAW:     0.804 | DYAW    -0.424 |
    -------------------------------------------------------------------------------
    # 431 TIMESTAMP: 1477010464500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.647 | Y:       6.291 |
    PREDICTION:     | X:     -23.649 | Y:       6.391 | VX:      3.192 | VY:      3.786 | YAW:     0.996 | DYAW    -0.422 |
    TRUTH:          | X:     -23.538 | Y:       6.412 | VX:      3.521 | VY:      3.504 | YAW:     0.783 | DYAW    -0.419 |
    -------------------------------------------------------------------------------
    # 432 TIMESTAMP: 1477010464550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    24.638 | PHI:     2.873 | dRHO:   -2.306 |
    PREDICTION:     | X:     -23.502 | Y:       6.579 | VX:      3.268 | VY:      3.750 | YAW:     1.138 | DYAW    -0.351 |
    TRUTH:          | X:     -23.360 | Y:       6.586 | VX:      3.598 | VY:      3.432 | YAW:     0.762 | DYAW    -0.415 |
    -------------------------------------------------------------------------------
    # 433 TIMESTAMP: 1477010464600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -23.010 | Y:       6.862 |
    PREDICTION:     | X:     -23.277 | Y:       6.815 | VX:      3.387 | VY:      3.855 | YAW:     0.929 | DYAW    -0.424 |
    TRUTH:          | X:     -23.178 | Y:       6.755 | VX:      3.672 | VY:      3.360 | YAW:     0.741 | DYAW    -0.410 |
    -------------------------------------------------------------------------------
    # 434 TIMESTAMP: 1477010464650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.498 | PHI:     2.895 | dRHO:   -2.544 |
    PREDICTION:     | X:     -23.046 | Y:       6.980 | VX:      3.646 | VY:      3.745 | YAW:     0.806 | DYAW    -0.449 |
    TRUTH:          | X:     -22.993 | Y:       6.921 | VX:      3.744 | VY:      3.288 | YAW:     0.721 | DYAW    -0.406 |
    -------------------------------------------------------------------------------
    # 435 TIMESTAMP: 1477010464700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -22.699 | Y:       7.063 |
    PREDICTION:     | X:     -22.838 | Y:       7.141 | VX:      3.688 | VY:      3.692 | YAW:     0.654 | DYAW    -0.499 |
    TRUTH:          | X:     -22.804 | Y:       7.084 | VX:      3.813 | VY:      3.214 | YAW:     0.700 | DYAW    -0.401 |
    -------------------------------------------------------------------------------
    # 436 TIMESTAMP: 1477010464750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.415 | PHI:     2.849 | dRHO:   -2.970 |
    PREDICTION:     | X:     -22.633 | Y:       7.308 | VX:      3.907 | VY:      3.586 | YAW:     0.839 | DYAW    -0.383 |
    TRUTH:          | X:     -22.612 | Y:       7.243 | VX:      3.881 | VY:      3.140 | YAW:     0.680 | DYAW    -0.396 |
    -------------------------------------------------------------------------------
    # 437 TIMESTAMP: 1477010464800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -22.508 | Y:       7.315 |
    PREDICTION:     | X:     -22.460 | Y:       7.427 | VX:      3.854 | VY:      3.460 | YAW:     0.825 | DYAW    -0.382 |
    TRUTH:          | X:     -22.416 | Y:       7.398 | VX:      3.946 | VY:      3.066 | YAW:     0.660 | DYAW    -0.391 |
    -------------------------------------------------------------------------------
    # 438 TIMESTAMP: 1477010464850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.411 | PHI:     2.799 | dRHO:   -3.477 |
    PREDICTION:     | X:     -22.215 | Y:       7.565 | VX:      4.308 | VY:      3.250 | YAW:     0.828 | DYAW    -0.348 |
    TRUTH:          | X:     -22.217 | Y:       7.549 | VX:      4.010 | VY:      2.991 | YAW:     0.641 | DYAW    -0.386 |
    -------------------------------------------------------------------------------
    # 439 TIMESTAMP: 1477010464900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -22.195 | Y:       7.695 |
    PREDICTION:     | X:     -22.042 | Y:       7.707 | VX:      4.224 | VY:      3.206 | YAW:     0.922 | DYAW    -0.305 |
    TRUTH:          | X:     -22.015 | Y:       7.697 | VX:      4.071 | VY:      2.916 | YAW:     0.622 | DYAW    -0.382 |
    -------------------------------------------------------------------------------
    # 440 TIMESTAMP: 1477010464950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.430 | PHI:     2.746 | dRHO:   -2.708 |
    PREDICTION:     | X:     -21.862 | Y:       7.883 | VX:      4.104 | VY:      3.262 | YAW:     0.990 | DYAW    -0.275 |
    TRUTH:          | X:     -21.810 | Y:       7.841 | VX:      4.130 | VY:      2.841 | YAW:     0.603 | DYAW    -0.377 |
    -------------------------------------------------------------------------------
    # 441 TIMESTAMP: 1477010465000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.647 | Y:       7.940 |
    PREDICTION:     | X:     -21.660 | Y:       8.012 | VX:      4.089 | VY:      3.192 | YAW:     0.949 | DYAW    -0.286 |
    TRUTH:          | X:     -21.603 | Y:       7.981 | VX:      4.187 | VY:      2.765 | YAW:     0.584 | DYAW    -0.371 |
    -------------------------------------------------------------------------------
    # 442 TIMESTAMP: 1477010465050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    23.209 | PHI:     2.799 | dRHO:   -2.950 |
    PREDICTION:     | X:     -21.464 | Y:       8.168 | VX:      4.186 | VY:      3.137 | YAW:     1.006 | DYAW    -0.253 |
    TRUTH:          | X:     -21.392 | Y:       8.117 | VX:      4.242 | VY:      2.690 | YAW:     0.565 | DYAW    -0.366 |
    -------------------------------------------------------------------------------
    # 443 TIMESTAMP: 1477010465100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.085 | Y:       7.832 |
    PREDICTION:     | X:     -21.250 | Y:       8.177 | VX:      4.146 | VY:      2.839 | YAW:     0.809 | DYAW    -0.328 |
    TRUTH:          | X:     -21.179 | Y:       8.250 | VX:      4.294 | VY:      2.614 | YAW:     0.547 | DYAW    -0.361 |
    -------------------------------------------------------------------------------
    # 444 TIMESTAMP: 1477010465150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.551 | PHI:     2.717 | dRHO:   -2.605 |
    PREDICTION:     | X:     -21.040 | Y:       8.323 | VX:      4.072 | VY:      2.883 | YAW:     0.725 | DYAW    -0.365 |
    TRUTH:          | X:     -20.963 | Y:       8.378 | VX:      4.345 | VY:      2.539 | YAW:     0.529 | DYAW    -0.356 |
    -------------------------------------------------------------------------------
    # 445 TIMESTAMP: 1477010465200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -21.052 | Y:       8.510 |
    PREDICTION:     | X:     -20.877 | Y:       8.468 | VX:      4.005 | VY:      2.878 | YAW:     0.823 | DYAW    -0.317 |
    TRUTH:          | X:     -20.744 | Y:       8.503 | VX:      4.394 | VY:      2.463 | YAW:     0.511 | DYAW    -0.351 |
    -------------------------------------------------------------------------------
    # 446 TIMESTAMP: 1477010465250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.036 | PHI:     2.700 | dRHO:   -3.401 |
    PREDICTION:     | X:     -20.620 | Y:       8.575 | VX:      4.399 | VY:      2.668 | YAW:     0.806 | DYAW    -0.293 |
    TRUTH:          | X:     -20.524 | Y:       8.625 | VX:      4.441 | VY:      2.388 | YAW:     0.493 | DYAW    -0.345 |
    -------------------------------------------------------------------------------
    # 447 TIMESTAMP: 1477010465300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -20.210 | Y:       8.689 |
    PREDICTION:     | X:     -20.363 | Y:       8.714 | VX:      4.462 | VY:      2.686 | YAW:     0.696 | DYAW    -0.333 |
    TRUTH:          | X:     -20.301 | Y:       8.742 | VX:      4.486 | VY:      2.314 | YAW:     0.476 | DYAW    -0.340 |
    -------------------------------------------------------------------------------
    # 448 TIMESTAMP: 1477010465350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    22.080 | PHI:     2.729 | dRHO:   -2.811 |
    PREDICTION:     | X:     -20.149 | Y:       8.857 | VX:      4.377 | VY:      2.736 | YAW:     0.656 | DYAW    -0.352 |
    TRUTH:          | X:     -20.075 | Y:       8.856 | VX:      4.529 | VY:      2.239 | YAW:     0.459 | DYAW    -0.334 |
    -------------------------------------------------------------------------------
    # 449 TIMESTAMP: 1477010465400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -20.063 | Y:       8.867 |
    PREDICTION:     | X:     -19.966 | Y:       8.945 | VX:      4.303 | VY:      2.633 | YAW:     0.674 | DYAW    -0.337 |
    TRUTH:          | X:     -19.848 | Y:       8.966 | VX:      4.570 | VY:      2.165 | YAW:     0.442 | DYAW    -0.329 |
    -------------------------------------------------------------------------------
    # 450 TIMESTAMP: 1477010465450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.776 | PHI:     2.726 | dRHO:   -2.800 |
    PREDICTION:     | X:     -19.755 | Y:       9.078 | VX:      4.293 | VY:      2.637 | YAW:     0.666 | DYAW    -0.334 |
    TRUTH:          | X:     -19.619 | Y:       9.072 | VX:      4.609 | VY:      2.092 | YAW:     0.426 | DYAW    -0.323 |
    -------------------------------------------------------------------------------
    # 451 TIMESTAMP: 1477010465500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -19.486 | Y:       8.967 |
    PREDICTION:     | X:     -19.544 | Y:       9.137 | VX:      4.267 | VY:      2.489 | YAW:     0.571 | DYAW    -0.370 |
    TRUTH:          | X:     -19.387 | Y:       9.175 | VX:      4.647 | VY:      2.019 | YAW:     0.410 | DYAW    -0.318 |
    -------------------------------------------------------------------------------
    # 452 TIMESTAMP: 1477010465550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.192 | PHI:     2.639 | dRHO:   -3.307 |
    PREDICTION:     | X:     -19.302 | Y:       9.240 | VX:      4.498 | VY:      2.350 | YAW:     0.607 | DYAW    -0.317 |
    TRUTH:          | X:     -19.154 | Y:       9.274 | VX:      4.683 | VY:      1.947 | YAW:     0.394 | DYAW    -0.312 |
    -------------------------------------------------------------------------------
    # 453 TIMESTAMP: 1477010465600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -18.679 | Y:       9.192 |
    PREDICTION:     | X:     -19.001 | Y:       9.331 | VX:      4.632 | VY:      2.303 | YAW:     0.373 | DYAW    -0.420 |
    TRUTH:          | X:     -18.919 | Y:       9.370 | VX:      4.717 | VY:      1.875 | YAW:     0.378 | DYAW    -0.306 |
    -------------------------------------------------------------------------------
    # 454 TIMESTAMP: 1477010465650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    21.272 | PHI:     2.706 | dRHO:   -3.383 |
    PREDICTION:     | X:     -18.794 | Y:       9.452 | VX:      4.675 | VY:      2.263 | YAW:     0.503 | DYAW    -0.329 |
    TRUTH:          | X:     -18.683 | Y:       9.462 | VX:      4.749 | VY:      1.804 | YAW:     0.363 | DYAW    -0.301 |
    -------------------------------------------------------------------------------
    # 455 TIMESTAMP: 1477010465700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -18.424 | Y:       9.469 |
    PREDICTION:     | X:     -18.536 | Y:       9.543 | VX:      4.720 | VY:      2.219 | YAW:     0.404 | DYAW    -0.369 |
    TRUTH:          | X:     -18.445 | Y:       9.550 | VX:      4.780 | VY:      1.734 | YAW:     0.348 | DYAW    -0.295 |
    -------------------------------------------------------------------------------
    # 456 TIMESTAMP: 1477010465750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    20.150 | PHI:     2.694 | dRHO:   -3.971 |
    PREDICTION:     | X:     -18.237 | Y:       9.602 | VX:      5.107 | VY:      1.954 | YAW:     0.379 | DYAW    -0.332 |
    TRUTH:          | X:     -18.205 | Y:       9.635 | VX:      4.810 | VY:      1.665 | YAW:     0.333 | DYAW    -0.289 |
    -------------------------------------------------------------------------------
    # 457 TIMESTAMP: 1477010465800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -17.774 | Y:       9.725 |
    PREDICTION:     | X:     -17.932 | Y:       9.720 | VX:      5.208 | VY:      1.998 | YAW:     0.279 | DYAW    -0.374 |
    TRUTH:          | X:     -17.964 | Y:       9.716 | VX:      4.837 | VY:      1.597 | YAW:     0.319 | DYAW    -0.283 |
    -------------------------------------------------------------------------------
    # 458 TIMESTAMP: 1477010465850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.910 | PHI:     2.617 | dRHO:   -3.295 |
    PREDICTION:     | X:     -17.644 | Y:       9.813 | VX:      5.168 | VY:      2.042 | YAW:     0.123 | DYAW    -0.460 |
    TRUTH:          | X:     -17.721 | Y:       9.795 | VX:      4.864 | VY:      1.530 | YAW:     0.305 | DYAW    -0.277 |
    -------------------------------------------------------------------------------
    # 459 TIMESTAMP: 1477010465900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -17.344 | Y:       9.881 |
    PREDICTION:     | X:     -17.377 | Y:       9.907 | VX:      5.183 | VY:      2.026 | YAW:     0.074 | DYAW    -0.473 |
    TRUTH:          | X:     -17.478 | Y:       9.869 | VX:      4.889 | VY:      1.463 | YAW:     0.291 | DYAW    -0.271 |
    -------------------------------------------------------------------------------
    # 460 TIMESTAMP: 1477010465950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.965 | PHI:     2.605 | dRHO:   -3.664 |
    PREDICTION:     | X:     -17.132 | Y:      10.011 | VX:      5.219 | VY:      1.990 | YAW:     0.135 | DYAW    -0.415 |
    TRUTH:          | X:     -17.233 | Y:       9.941 | VX:      4.912 | VY:      1.398 | YAW:     0.277 | DYAW    -0.265 |
    -------------------------------------------------------------------------------
    # 461 TIMESTAMP: 1477010466000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -16.888 | Y:      10.145 |
    PREDICTION:     | X:     -16.873 | Y:      10.121 | VX:      5.216 | VY:      2.010 | YAW:     0.129 | DYAW    -0.407 |
    TRUTH:          | X:     -16.987 | Y:      10.009 | VX:      4.934 | VY:      1.334 | YAW:     0.264 | DYAW    -0.259 |
    -------------------------------------------------------------------------------
    # 462 TIMESTAMP: 1477010466050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.432 | PHI:     2.595 | dRHO:   -3.651 |
    PREDICTION:     | X:     -16.602 | Y:      10.208 | VX:      5.316 | VY:      1.926 | YAW:     0.127 | DYAW    -0.383 |
    TRUTH:          | X:     -16.740 | Y:      10.074 | VX:      4.955 | VY:      1.271 | YAW:     0.251 | DYAW    -0.253 |
    -------------------------------------------------------------------------------
    # 463 TIMESTAMP: 1477010466100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -16.515 | Y:      10.309 |
    PREDICTION:     | X:     -16.381 | Y:      10.295 | VX:      5.225 | VY:      1.906 | YAW:     0.177 | DYAW    -0.346 |
    TRUTH:          | X:     -16.491 | Y:      10.136 | VX:      4.975 | VY:      1.209 | YAW:     0.238 | DYAW    -0.247 |
    -------------------------------------------------------------------------------
    # 464 TIMESTAMP: 1477010466150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    19.258 | PHI:     2.560 | dRHO:   -3.716 |
    PREDICTION:     | X:     -16.121 | Y:      10.382 | VX:      5.337 | VY:      1.805 | YAW:     0.215 | DYAW    -0.298 |
    TRUTH:          | X:     -16.242 | Y:      10.195 | VX:      4.993 | VY:      1.149 | YAW:     0.226 | DYAW    -0.240 |
    -------------------------------------------------------------------------------
    # 465 TIMESTAMP: 1477010466200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -16.006 | Y:      10.184 |
    PREDICTION:     | X:     -15.910 | Y:      10.376 | VX:      5.205 | VY:      1.607 | YAW:     0.186 | DYAW    -0.308 |
    TRUTH:          | X:     -15.992 | Y:      10.251 | VX:      5.010 | VY:      1.090 | YAW:     0.214 | DYAW    -0.234 |
    -------------------------------------------------------------------------------
    # 466 TIMESTAMP: 1477010466250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    18.857 | PHI:     2.557 | dRHO:   -3.531 |
    PREDICTION:     | X:     -15.652 | Y:      10.454 | VX:      5.233 | VY:      1.581 | YAW:     0.188 | DYAW    -0.293 |
    TRUTH:          | X:     -15.742 | Y:      10.304 | VX:      5.027 | VY:      1.032 | YAW:     0.202 | DYAW    -0.228 |
    -------------------------------------------------------------------------------
    # 467 TIMESTAMP: 1477010466300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -15.570 | Y:      10.190 |
    PREDICTION:     | X:     -15.458 | Y:      10.419 | VX:      5.075 | VY:      1.348 | YAW:     0.154 | DYAW    -0.306 |
    TRUTH:          | X:     -15.490 | Y:      10.354 | VX:      5.042 | VY:      0.975 | YAW:     0.191 | DYAW    -0.222 |
    -------------------------------------------------------------------------------
    # 468 TIMESTAMP: 1477010466350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.938 | PHI:     2.488 | dRHO:   -4.223 |
    PREDICTION:     | X:     -15.141 | Y:      10.430 | VX:      5.434 | VY:      1.048 | YAW:     0.117 | DYAW    -0.281 |
    TRUTH:          | X:     -15.238 | Y:      10.402 | VX:      5.056 | VY:      0.920 | YAW:     0.180 | DYAW    -0.215 |
    -------------------------------------------------------------------------------
    # 469 TIMESTAMP: 1477010466400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -14.936 | Y:      10.472 |
    PREDICTION:     | X:     -14.887 | Y:      10.475 | VX:      5.399 | VY:      1.031 | YAW:     0.123 | DYAW    -0.269 |
    TRUTH:          | X:     -14.985 | Y:      10.446 | VX:      5.069 | VY:      0.866 | YAW:     0.169 | DYAW    -0.209 |
    -------------------------------------------------------------------------------
    # 470 TIMESTAMP: 1477010466450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.596 | PHI:     2.562 | dRHO:   -3.318 |
    PREDICTION:     | X:     -14.587 | Y:      10.516 | VX:      5.305 | VY:      1.132 | YAW:    -0.033 | DYAW    -0.379 |
    TRUTH:          | X:     -14.731 | Y:      10.488 | VX:      5.081 | VY:      0.813 | YAW:     0.159 | DYAW    -0.202 |
    -------------------------------------------------------------------------------
    # 471 TIMESTAMP: 1477010466500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -14.409 | Y:      10.222 |
    PREDICTION:     | X:     -14.368 | Y:      10.464 | VX:      5.188 | VY:      0.915 | YAW:    -0.106 | DYAW    -0.414 |
    TRUTH:          | X:     -14.477 | Y:      10.528 | VX:      5.092 | VY:      0.762 | YAW:     0.149 | DYAW    -0.196 |
    -------------------------------------------------------------------------------
    # 472 TIMESTAMP: 1477010466550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.435 | PHI:     2.494 | dRHO:   -3.803 |
    PREDICTION:     | X:     -14.095 | Y:      10.496 | VX:      5.266 | VY:      0.843 | YAW:    -0.126 | DYAW    -0.402 |
    TRUTH:          | X:     -14.222 | Y:      10.564 | VX:      5.103 | VY:      0.713 | YAW:     0.139 | DYAW    -0.190 |
    -------------------------------------------------------------------------------
    # 473 TIMESTAMP: 1477010466600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -13.805 | Y:      10.938 |
    PREDICTION:     | X:     -13.797 | Y:      10.656 | VX:      5.361 | VY:      1.081 | YAW:    -0.060 | DYAW    -0.346 |
    TRUTH:          | X:     -13.967 | Y:      10.599 | VX:      5.113 | VY:      0.665 | YAW:     0.129 | DYAW    -0.183 |
    -------------------------------------------------------------------------------
    # 474 TIMESTAMP: 1477010466650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    17.198 | PHI:     2.464 | dRHO:   -3.314 |
    PREDICTION:     | X:     -13.526 | Y:      10.715 | VX:      5.305 | VY:      1.148 | YAW:    -0.116 | DYAW    -0.381 |
    TRUTH:          | X:     -13.711 | Y:      10.631 | VX:      5.122 | VY:      0.618 | YAW:     0.120 | DYAW    -0.177 |
    -------------------------------------------------------------------------------
    # 475 TIMESTAMP: 1477010466700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -13.356 | Y:      10.552 |
    PREDICTION:     | X:     -13.300 | Y:      10.702 | VX:      5.209 | VY:      1.007 | YAW:    -0.159 | DYAW    -0.398 |
    TRUTH:          | X:     -13.455 | Y:      10.661 | VX:      5.130 | VY:      0.574 | YAW:     0.111 | DYAW    -0.170 |
    -------------------------------------------------------------------------------
    # 476 TIMESTAMP: 1477010466750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.862 | PHI:     2.445 | dRHO:   -3.744 |
    PREDICTION:     | X:     -13.035 | Y:      10.738 | VX:      5.319 | VY:      0.883 | YAW:    -0.137 | DYAW    -0.352 |
    TRUTH:          | X:     -13.198 | Y:      10.688 | VX:      5.137 | VY:      0.530 | YAW:     0.103 | DYAW    -0.163 |
    -------------------------------------------------------------------------------
    # 477 TIMESTAMP: 1477010466800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -12.959 | Y:      11.010 |
    PREDICTION:     | X:     -12.804 | Y:      10.834 | VX:      5.263 | VY:      0.981 | YAW:    -0.046 | DYAW    -0.280 |
    TRUTH:          | X:     -12.941 | Y:      10.714 | VX:      5.144 | VY:      0.489 | YAW:     0.095 | DYAW    -0.157 |
    -------------------------------------------------------------------------------
    # 478 TIMESTAMP: 1477010466850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.633 | PHI:     2.399 | dRHO:   -3.455 |
    PREDICTION:     | X:     -12.541 | Y:      10.881 | VX:      5.298 | VY:      0.941 | YAW:    -0.044 | DYAW    -0.264 |
    TRUTH:          | X:     -12.684 | Y:      10.737 | VX:      5.151 | VY:      0.448 | YAW:     0.087 | DYAW    -0.150 |
    -------------------------------------------------------------------------------
    # 479 TIMESTAMP: 1477010466900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -12.371 | Y:      10.609 |
    PREDICTION:     | X:     -12.324 | Y:      10.832 | VX:      5.179 | VY:      0.752 | YAW:    -0.109 | DYAW    -0.300 |
    TRUTH:          | X:     -12.426 | Y:      10.759 | VX:      5.157 | VY:      0.410 | YAW:     0.079 | DYAW    -0.143 |
    -------------------------------------------------------------------------------
    # 480 TIMESTAMP: 1477010466950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    16.174 | PHI:     2.401 | dRHO:   -3.361 |
    PREDICTION:     | X:     -12.059 | Y:      10.865 | VX:      5.193 | VY:      0.739 | YAW:    -0.134 | DYAW    -0.307 |
    TRUTH:          | X:     -12.168 | Y:      10.778 | VX:      5.162 | VY:      0.373 | YAW:     0.072 | DYAW    -0.137 |
    -------------------------------------------------------------------------------
    # 481 TIMESTAMP: 1477010467000000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -11.945 | Y:      11.052 |
    PREDICTION:     | X:     -11.828 | Y:      10.933 | VX:      5.145 | VY:      0.794 | YAW:    -0.074 | DYAW    -0.256 |
    TRUTH:          | X:     -11.910 | Y:      10.796 | VX:      5.167 | VY:      0.338 | YAW:     0.065 | DYAW    -0.130 |
    -------------------------------------------------------------------------------
    # 482 TIMESTAMP: 1477010467050000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.512 | PHI:     2.356 | dRHO:   -3.457 |
    PREDICTION:     | X:     -11.534 | Y:      10.931 | VX:      5.278 | VY:      0.643 | YAW:    -0.145 | DYAW    -0.285 |
    TRUTH:          | X:     -11.652 | Y:      10.812 | VX:      5.171 | VY:      0.305 | YAW:     0.059 | DYAW    -0.123 |
    -------------------------------------------------------------------------------
    # 483 TIMESTAMP: 1477010467100000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -11.455 | Y:      10.941 |
    PREDICTION:     | X:     -11.322 | Y:      10.944 | VX:      5.171 | VY:      0.600 | YAW:    -0.117 | DYAW    -0.257 |
    TRUTH:          | X:     -11.393 | Y:      10.827 | VX:      5.175 | VY:      0.273 | YAW:     0.053 | DYAW    -0.117 |
    -------------------------------------------------------------------------------
    # 484 TIMESTAMP: 1477010467150000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.467 | PHI:     2.394 | dRHO:   -4.450 |
    PREDICTION:     | X:     -11.049 | Y:      10.917 | VX:      5.504 | VY:      0.135 | YAW:    -0.021 | DYAW    -0.133 |
    TRUTH:          | X:     -11.134 | Y:      10.839 | VX:      5.178 | VY:      0.243 | YAW:     0.047 | DYAW    -0.110 |
    -------------------------------------------------------------------------------
    # 485 TIMESTAMP: 1477010467200000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -10.601 | Y:      10.682 |
    PREDICTION:     | X:     -10.744 | Y:      10.872 | VX:      5.548 | VY:      0.042 | YAW:    -0.132 | DYAW    -0.205 |
    TRUTH:          | X:     -10.875 | Y:      10.851 | VX:      5.182 | VY:      0.214 | YAW:     0.041 | DYAW    -0.103 |
    -------------------------------------------------------------------------------
    # 486 TIMESTAMP: 1477010467250000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    15.198 | PHI:     2.348 | dRHO:   -3.728 |
    PREDICTION:     | X:     -10.475 | Y:      10.885 | VX:      5.511 | VY:      0.088 | YAW:    -0.132 | DYAW    -0.201 |
    TRUTH:          | X:     -10.616 | Y:      10.861 | VX:      5.184 | VY:      0.188 | YAW:     0.036 | DYAW    -0.096 |
    -------------------------------------------------------------------------------
    # 487 TIMESTAMP: 1477010467300000
    -------------------------------------------------------------------------------
    LIDAR:          | X:     -10.414 | Y:      10.875 |
    PREDICTION:     | X:     -10.260 | Y:      10.870 | VX:      5.386 | VY:      0.044 | YAW:    -0.094 | DYAW    -0.169 |
    TRUTH:          | X:     -10.357 | Y:      10.870 | VX:      5.187 | VY:      0.163 | YAW:     0.031 | DYAW    -0.089 |
    -------------------------------------------------------------------------------
    # 488 TIMESTAMP: 1477010467350000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.970 | PHI:     2.294 | dRHO:   -2.909 |
    PREDICTION:     | X:     -10.010 | Y:      10.919 | VX:      5.182 | VY:      0.351 | YAW:    -0.126 | DYAW    -0.210 |
    TRUTH:          | X:     -10.098 | Y:      10.877 | VX:      5.189 | VY:      0.140 | YAW:     0.027 | DYAW    -0.083 |
    -------------------------------------------------------------------------------
    # 489 TIMESTAMP: 1477010467400000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -9.834 | Y:      11.103 |
    PREDICTION:     | X:      -9.762 | Y:      10.973 | VX:      5.172 | VY:      0.417 | YAW:    -0.074 | DYAW    -0.166 |
    TRUTH:          | X:      -9.838 | Y:      10.884 | VX:      5.191 | VY:      0.118 | YAW:     0.023 | DYAW    -0.076 |
    -------------------------------------------------------------------------------
    # 490 TIMESTAMP: 1477010467450000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    14.528 | PHI:     2.349 | dRHO:   -3.349 |
    PREDICTION:     | X:      -9.504 | Y:      10.978 | VX:      5.235 | VY:      0.295 | YAW:    -0.060 | DYAW    -0.141 |
    TRUTH:          | X:      -9.579 | Y:      10.889 | VX:      5.193 | VY:      0.099 | YAW:     0.019 | DYAW    -0.069 |
    -------------------------------------------------------------------------------
    # 491 TIMESTAMP: 1477010467500000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -9.307 | Y:      11.035 |
    PREDICTION:     | X:      -9.258 | Y:      10.999 | VX:      5.208 | VY:      0.303 | YAW:    -0.041 | DYAW    -0.124 |
    TRUTH:          | X:      -9.319 | Y:      10.894 | VX:      5.194 | VY:      0.081 | YAW:     0.016 | DYAW    -0.062 |
    -------------------------------------------------------------------------------
    # 492 TIMESTAMP: 1477010467550000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.865 | PHI:     2.299 | dRHO:   -3.203 |
    PREDICTION:     | X:      -8.975 | Y:      10.979 | VX:      5.273 | VY:      0.197 | YAW:    -0.103 | DYAW    -0.158 |
    TRUTH:          | X:      -9.059 | Y:      10.897 | VX:      5.196 | VY:      0.065 | YAW:     0.012 | DYAW    -0.055 |
    -------------------------------------------------------------------------------
    # 493 TIMESTAMP: 1477010467600000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -8.789 | Y:      11.071 |
    PREDICTION:     | X:      -8.727 | Y:      11.003 | VX:      5.246 | VY:      0.220 | YAW:    -0.072 | DYAW    -0.131 |
    TRUTH:          | X:      -8.799 | Y:      10.900 | VX:      5.197 | VY:      0.050 | YAW:     0.010 | DYAW    -0.048 |
    -------------------------------------------------------------------------------
    # 494 TIMESTAMP: 1477010467650000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.370 | PHI:     2.293 | dRHO:   -3.216 |
    PREDICTION:     | X:      -8.435 | Y:      10.963 | VX:      5.330 | VY:      0.072 | YAW:    -0.156 | DYAW    -0.179 |
    TRUTH:          | X:      -8.540 | Y:      10.902 | VX:      5.198 | VY:      0.038 | YAW:     0.007 | DYAW    -0.041 |
    -------------------------------------------------------------------------------
    # 495 TIMESTAMP: 1477010467700000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -8.620 | Y:      10.658 |
    PREDICTION:     | X:      -8.323 | Y:      10.860 | VX:      4.988 | VY:     -0.136 | YAW:    -0.155 | DYAW    -0.175 |
    TRUTH:          | X:      -8.280 | Y:      10.904 | VX:      5.198 | VY:      0.027 | YAW:     0.005 | DYAW    -0.035 |
    -------------------------------------------------------------------------------
    # 496 TIMESTAMP: 1477010467750000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.646 | PHI:     2.190 | dRHO:   -2.987 |
    PREDICTION:     | X:      -8.080 | Y:      10.866 | VX:      4.958 | VY:     -0.080 | YAW:    -0.154 | DYAW    -0.172 |
    TRUTH:          | X:      -8.020 | Y:      10.905 | VX:      5.199 | VY:      0.018 | YAW:     0.003 | DYAW    -0.028 |
    -------------------------------------------------------------------------------
    # 497 TIMESTAMP: 1477010467800000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -7.520 | Y:      11.000 |
    PREDICTION:     | X:      -7.730 | Y:      10.918 | VX:      5.179 | VY:      0.030 | YAW:    -0.186 | DYAW    -0.187 |
    TRUTH:          | X:      -7.760 | Y:      10.906 | VX:      5.199 | VY:      0.011 | YAW:     0.002 | DYAW    -0.021 |
    -------------------------------------------------------------------------------
    # 498 TIMESTAMP: 1477010467850000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    12.886 | PHI:     2.169 | dRHO:   -2.779 |
    PREDICTION:     | X:      -7.450 | Y:      10.897 | VX:      5.188 | VY:      0.038 | YAW:    -0.273 | DYAW    -0.244 |
    TRUTH:          | X:      -7.500 | Y:      10.906 | VX:      5.200 | VY:      0.005 | YAW:     0.001 | DYAW    -0.014 |
    -------------------------------------------------------------------------------
    # 499 TIMESTAMP: 1477010467900000
    -------------------------------------------------------------------------------
    LIDAR:          | X:      -7.156 | Y:      10.815 |
    PREDICTION:     | X:      -7.187 | Y:      10.882 | VX:      5.191 | VY:      0.009 | YAW:    -0.316 | DYAW    -0.266 |
    TRUTH:          | X:      -7.240 | Y:      10.906 | VX:      5.200 | VY:      0.002 | YAW:     0.000 | DYAW    -0.007 |
    -------------------------------------------------------------------------------
    # 500 TIMESTAMP: 1477010467950000
    -------------------------------------------------------------------------------
    RADAR:          | RHO:    13.269 | PHI:     2.162 | dRHO:   -2.406 |
    PREDICTION:     | X:      -6.943 | Y:      10.927 | VX:      5.103 | VY:      0.217 | YAW:    -0.313 | DYAW    -0.269 |
    TRUTH:          | X:      -6.980 | Y:      10.906 | VX:      5.200 | VY:     -0.000 | YAW:    -0.000 | DYAW     0.000 |



```python
x_sensor, y_sensor, vx_sensor, vy_sensor = [], [], [], []
x_pred, y_pred, vx_pred, vy_pred, yaw_pred, dyaw_pred, t_pred = [], [], [], [], [], [], []
x_true, y_true, vx_true, vy_true, yaw_true, dyaw_true, t_true = [], [], [], [], [], [], []

radar_r_sensor=[]
radar_p_sensor=[]
radar_d_sensor=[]

i=0
for s, p, t in zip(sensor_data, state_estimations, ground_truths):
    if s.get_name() == 'lidar':
        x_s, y_s, _, _ = s.get()
        x_sensor.append(x_s)
        y_sensor.append(y_s)
        try:
            vx_sensor.append(vx_s)
            vy_sensor.append(vy_s)
        except:
            vx_sensor.append(0)
            vy_sensor.append(0)


    else:
        x_s, y_s, vx_s, vy_s = s.get()
        x_sensor.append(x_s)
        y_sensor.append(y_s)
        vx_sensor.append(vx_s)
        vy_sensor.append(vy_s)
        
    x_p, y_p, vx_p, vy_p, yaw_p, dyaw_p = p.get()
    time_p = p.get_timestamp()
    x_pred.append(x_p)
    y_pred.append(y_p)
    vx_pred.append(vx_p)
    vy_pred.append(vy_p)
    yaw_pred.append(yaw_p)
    dyaw_pred.append(dyaw_p)
    t_pred.append(time_p)
    

    x_t ,y_t , vx_t, vy_t, yaw_t, dyaw_t = t.get()
    time_t = t.get_timestamp()
    x_true.append(x_t)
    y_true.append(y_t)
    vx_true.append(vx_t)
    vy_true.append(vy_t)
    yaw_true.append(yaw_t)
    dyaw_true.append(dyaw_t)
    t_true.append(time_t)

plt.scatter(x_sensor,y_sensor,label="sensor data",marker="o")
plt.scatter(x_true,y_true,label="ground truth",marker="*")
plt.scatter(x_pred,y_pred,label="predicted",marker=".")

plt.xlabel('$p_x$', fontsize=14)
plt.ylabel('$p_y$', fontsize=14)

plt.legend()
plt.tight_layout()
plt.title('Vehicle position estimates', fontsize=16)
plt.show()
```

### Plot of position $p_x$, $p_y$


```python
fig1, ax = plt.subplots(2)
ax[0].plot(x_true, label="True $p_x$")
ax[0].plot(x_sensor, label="Measured $p_x$")
ax[0].plot(x_pred, label="Predicted $p_x$")
ax[0].legend(loc='upper right')

ax[1].plot(y_true, label="True $p_y$")
ax[1].plot(y_sensor, label="Measured $p_y$")
ax[1].plot(y_pred, label="Predicted $p_y$")
ax[1].legend(loc='upper left')
ax[1].set_xlabel('measurement')

fig1.tight_layout()
plt.show()
```

### Plot of velocity $v_x$, $v_y$


```python
fig2, ax = plt.subplots(2)

ax[0].plot(vx_true, label="True $v_x$")
ax[0].plot(vx_sensor, label="Measured $v_x$")
ax[0].plot(vx_pred, label="Predicted $v_x$")
ax[0].legend(loc='lower left')

ax[1].plot(vy_true, label="True $v_y$")
ax[1].plot(vy_sensor, label="Measured $v_y$")
ax[1].plot(vy_pred, label="Predicted $v_y$")
ax[1].legend(loc='lower left')
ax[1].set_xlabel('measurement')

fig2.tight_layout()
plt.show()
```

### Plot of yaw and yaw rate $\psi$, $\dot{\psi}$


```python
fig3, ax = plt.subplots(2)

ax[0].plot(yaw_true, label="True $\psi$")
ax[0].plot(yaw_pred, label="Predicted $\psi$")
ax[0].legend(loc='upper right')

ax[1].plot(dyaw_true, label="True $\dot{\psi}$")
ax[1].plot(dyaw_pred, label="Predicted $\dot{\psi}$")
ax[1].legend(loc='upper right')
ax[1].set_xlabel('measurement')

fig3.tight_layout()
plt.show()
```

## References:

- E. A. Wan and R. Van Der Merwe, "The unscented Kalman filter for nonlinear estimation," Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373), Lake Louise, AB, Canada, 2000, pp. 153-158, doi: 10.1109/ASSPCC.2000.882463.

- https://winfriedauner.de/projects/unscented/ctrv/

- Helper functions [tools.py](./utils/tools.py) and [datapoint.py](./utils/datapoint.py) from https://github.com/mithi/fusion-ekf-python


```python

```

6e91e15fa6ccfd66d2a17e03c3d9dd034a9586d1
ipynb
Jupyter Notebook
ekf_sensor_fusion/EKF.ipynb
nykabhishek/robotic_perception
3a1018a517dcac8c504377efa980446db57938eb
MIT
ekf_sensor_fusion/EKF.ipynb
nykabhishek/robotic_perception
3a1018a517dcac8c504377efa980446db57938eb
MIT
ekf_sensor_fusion/EKF.ipynb
nykabhishek/robotic_perception
3a1018a517dcac8c504377efa980446db57938eb
MIT
Qwen/Qwen-72B
1. YES
2. YES