Vehicle_HealthCheck:
  diagnostics_check: true
  mqtt_reconnect_delay: 2500
  num_mqtt_reconnects: -1
agent_name: NRC_Leaf_Sierra
can_com_controller:
  ARS300Consumer: false
  ARS300ConsumerCh: 0
  Can1Consumer: false
  Can1ConsumerCh: 0
  Can1Writer: false
  Can1WriterCh: 0
  Can1WriterFS_CTRL: false
  Can1WriterFS_CTRLCh: 0
  Can1WriterHD_CTRL: false
  Can1WriterHD_CTRLCh: 0
  Can2Consumer: false
  Can2ConsumerCh: 0
  CanAdasConsumer: false
  CanAdasConsumerCh: 0
  CanAdasWriterXH0: true
  CanAdasWriterXH0Ch: 1
  CanAriyaITS6Writer: false
  CanAriyaITS6WriterCh: 0
  CanAriyaSvITS1Consumer: false
  CanAriyaSvITS1ConsumerCh: 0
  CanAriyaSvITS2Consumer: false
  CanAriyaSvITS2ConsumerCh: 0
  CanAriyaSvITS3Consumer: false
  CanAriyaSvITS3ConsumerCh: 0
  CanAriyaSvITS4Consumer: false
  CanAriyaSvITS4ConsumerCh: 0
  CanAriyaSvITS5Consumer: false
  CanAriyaSvITS5ConsumerCh: 0
  CanAriyaSvITS6Consumer: false
  CanAriyaSvITS6ConsumerCh: 0
  CanAriyaSvWriter: false
  CanAriyaSvWriterCh: 0
  CanIcConsumer: false
  CanIcConsumerCh: 0
  CanIntelPedalWriter: false
  CanIntelPedalWriterCh: 0
  CanLimaITS4Consumer: false
  CanLimaITS4ConsumerCh: 0
  CanProPILOTTransceiver: false
  CanProPILOTTransceiverCh: 0
  CanSerenaEvCanConsumer: false
  CanSerenaEvCanConsumerCh: 0
  CanSerenaItsCanConsumer: false
  CanSerenaItsCanConsumerCh: 0
  CanSerenaNaviCanConsumer: false
  CanSerenaNaviCanConsumerCh: 0
  CanSerenaVcanConsumer: false
  CanSerenaVcanConsumerCh: 0
  CanVConsumer: true
  CanVConsumerCh: 0
  CanZe1SvConsumer: false
  CanZe1SvConsumerCh: 0
  CanZe1SvWriter: false
  CanZe1SvWriterCh: 0
  ContiRadar: false
  ContiRadarCh: 0
  Eyeq2: false
  Eyeq2Ch: 0
  Eyeq3: false
  Eyeq3Ch: 0
  Eyeq3Prod: false
  Eyeq3ProdCh: 0
  Eyeq4Dev: false
  Eyeq4DevCh: 0
  Eyeq4DevFS: false
  Eyeq4DevFSCh: 0
  Eyeq4DevWrite: false
  Eyeq4DevWriteCh: 0
  Eyeq5DevCh0: false
  Eyeq5DevCh0Ch: 0
  Eyeq5DevCh1: false
  Eyeq5DevCh1Ch: 0
  Eyeq5DevWrite: false
  Eyeq5DevWriteCh: 0
  Eyeq6DevWrite: false
  Eyeq6DevWriteCh: 0
  FAVISConsumer: false
  FAVISConsumerCh: 0
  LeafUdpCom: false
  MeterInfoConsumer: false
  MeterInfoConsumerCh: 0
  StereoCameraConsumer: false
  StereoCameraConsumerCh: 0
  adCan2Channel: 1
  controlMode: FS_CTRL
  evCanChannel: 1
  leafLimits:
    maxCurvature: 0.2
    maxForwardAccForce: 30000.0
    maxForwardDecForce: -30000.0
    maxForwardSpeed: 30.0
    maxReverseAccForce: 20000.0
    maxReverseDecForce: -20000.0
    maxReverseSpeed: 10.0
    maxSteeringWheelAngle: 9.42477796076938
  mEye3Can1Channel: 0
  mEye3Can2Channel: 0
  modular: true
  numChannels: 2
  useCanMessageTime: true
  vBoxInstance: false
  vCanChannel: 0
  vehicleType: LEAF_GEN2
cpu_monitor:
  clock_error_threshold: 0.2
  clock_warning_threshold: 0.1
  cpu_error_threshold: 90.0
  cpu_warning_threshold: 80.0
  temp_error_threshold: 95.0
  temp_warning_threshold: 85.0
  update_rate: 0.5
dabp_from_zed_node:
  boundary:
    max_height: 2.5
    max_radius: 18.0
    min_height: 0.3
    min_radius: 3.0
    num_angular_bins: 1200
  diagnostics:
    max_latency_sec: 0.5
    min_frequency_hz: 5.0
    msg_timeout_error_sec: 5.0
    msg_timeout_warn_sec: 2.0
  filter:
    max_x: 20.0
    max_y: 5.0
    max_z: -0.5
    min_x: 3.7
    min_y: -5.0
    min_z: -2.0
  filtered_cloud_topic: /obstacle/filtered_point_cloud
  fixed_dabp_z_level: -1.2
  ground_plane:
    enable_fallback: true
    max_failure_frames: 5
    normal_x: 0.0
    normal_y: -1.0
    normal_z: 0.0
  in_topic: zed2i/zed_node/point_cloud/cloud_registered
  out_filtered_topic_approach: /obstacle/dab_in_path/approach
  out_filtered_topic_scooch: /obstacle/dab_in_path/scooch
  out_topic: /obstacle/dab
  path_topic: /vehicle_trajectory_control
  pose_topic: /dynamic_global_pose
  pub_ground_plane: true
  ransac:
    distance_threshold: 0.03
    eps_angle_deg: 15.0
    max_iterations: 1000
  relevant_pc:
    threshold_distance_approach: 3.7
    threshold_distance_scooch: 2.7
  source_frame: zed2i_left_camera_frame
  sub_sampled_topic: /obstacle/subsampled_point_cloud
  subsampling:
    enable_random_sampling: true
    random_sample_size: 0.05
  target_frame: car
  use_full_transform: false
  voxel_resolution_m: 0.03
devname: /dev/gps/ublox/F9R
diagnostic_aggregator:
  analyzers:
    camera:
      path: Camera
      regex: Camera/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    clock:
      contains:
      - Clock
      path: System/Clock
      timeout: 60.0
      type: diagnostic_aggregator/GenericAnalyzer
    cpu:
      path: System/CPU
      regex: CPU.*
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    health:
      contains:
      - vehicle HM diagnostic
      path: Health
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_all:
      path: Latency
      regex: latency_.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_pointcloud:
      path: Latency/Sensors
      regex: latency_.*point_cloud.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    memory:
      contains:
      - Memory
      path: System/Memory
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    perception:
      path: Perception
      regex: Perception/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    pose:
      path: Pose
      regex: Pose/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
dynamicPoseTopic_f9r: /dynamic_global_pose_F9R
f9rRTCM_devname: /dev/gps/ublox/F9R_RTCM
f9r_devname: /dev/gps/ublox/F9R
fvla_data_fetcher:
  agent_name: NRC_Leaf_Sierra
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_sierra_pass
  fvla_service_jwt_username: NRC_Leaf_Sierra
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Sierra
fvla_recorder:
  dashboard_uri: ''
  fvla_component_type: ''
  fvla_recorder_timeout: 300
  fvla_service_jwt_password: fvla.natcsv.com
  fvla_service_jwt_username: fvla
  fvla_service_login_method: get
  fvla_service_login_path: /login
  fvla_service_url: http://fvla.nrcsv.com:8000
  log_level: info
  mqtt_password: yg#eo5cbAksD82qt
  mqtt_port: 8883
  mqtt_server: mqtt-broker-ncal.nrcsv.com
  mqtt_tls: true
  mqtt_user: sam-teleop
  recorder_limit_rate: 1M
  topics_to_record:
  - /control_inputs
  - /controller_state
  - /driver_input
  - /dynamic_global_pose
  - /dynamic_global_pose_swiftnav
  - /gps_state
  - /gps_state_swiftnav
  - /hm_drive_state
  - /vehicle_trajectory_control
  - /tf
  - /tf_static
  - /diagnostics
  - /ss_mode
  - /safety_shield_status
  - /rosout
  - /obstacle/dab
  - /recorded_vehicle_trajectory
  - (.*)diagnostics(.*)
  - (.*)occupancy(.*)
  - (.*)objects(.*)
  - /route/(.*)
  - /piksi/(.*)
  vehicle_id: ''
gps_stateTopic_f9r: /gps_state
health_indicator_node:
  drive_state_topic: /hm_drive_state
  serial_port: /dev/vpod/led
hm_config_file: /root/projects/fvla-vehiclepod/src/configs/health-monitor/Vehicle_HealthCheck.yaml
infrapod_data_file: ''
latency_monitor:
  topic_configs:
    topics:
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /sub_sampled_point_cloud
      update_rate: 0.5
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /drivable_area_boundary
      update_rate: 0.5
piksi:
  altitude0: 0
  base_station_ip_for_latency_estimation: 192.168.0.1
  base_station_mode: false
  baud_rate: 230400
  broadcast_addr: 192.168.0.255
  broadcast_port: 26078
  debug_mode: false
  driver_verbose: true
  interface: tcp
  latitude0_deg: 37.39718695686429
  longitude0_deg: -122.04398000000006
  navsatfix_frame_id: base_link
  publish_raw_imu_and_mag: false
  serial_port: /dev/ttyUSB0
  tcp_addr: 192.168.0.147
  tcp_port: 55555
  use_gps_time: false
  var_rtk_fix:
  - 0.0049
  - 0.0049
  - 0.01
  var_rtk_float:
  - 25.0
  - 25.0
  - 64.0
  var_spp:
  - 25.0
  - 25.0
  - 64.0
  var_spp_sbas:
  - 1.0
  - 1.0
  - 1.0
pose_estimator_cpp_node:
  ar_tag_map: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/maps/Franklin_Nov2024.yaml
  ekf:
    lag: 0.1
    state_dims: 3
  fusion_config: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/modes/swiftnav/fusion_config.yaml
  max_dead_reckon: 0.5
  nrc_pose:
    frame_id: site
    hz: 50
    publish: true
    topic_name: /dynamic_global_pose
  odometry:
    frame_id: site
    hz: 20
    publish: true
    topic_name: kbm_odom
  retry_init: 0.1
  reverse_support:
    enable: true
    gear_info_topic: /driver_input
  std_pose:
    covariance_scale: 100.0
    frame_id: site
    publish: true
    topic_name: /pose
  tf:
    base_frame: car
    enabled: true
    hz: 10
    parent_name: site
    publish: false
    source_frames:
      swiftnav: gps_antenna
      tags_zed_left_cam: zed2i_left_camera_frame
    timeout: 5.0
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"fvla\">\n  <!-- Top-level configuration parameters -->\n  <!--\
  \ *********************************** -->\n  <!-- Site frames macro -->\n  <!--\
  \ ***************** -->\n  <link name=\"site\"/>\n  <link name=\"map\"/>\n  <joint\
  \ name=\"site_to_map\" type=\"fixed\">\n    <parent link=\"site\"/>\n    <child\
  \ link=\"map\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <link\
  \ name=\"enu\"/>\n  <joint name=\"site_to_enu\" type=\"fixed\">\n    <parent link=\"\
  site\"/>\n    <child link=\"enu\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
  \  </joint>\n  <!-- Define local frame as child of site -->\n  <link name=\"local\"\
  />\n  <joint name=\"site_to_local\" type=\"fixed\">\n    <parent link=\"site\"/>\n\
  \    <child link=\"local\"/>\n    <origin rpy=\"0 0 0\" xyz=\"4850 -2220 0\"/>\n\
  \  </joint>\n  <!-- Sierra vehicle configuration -->\n  <!-- ****************************\
  \ -->\n  <!-- Nissan Leaf 2019 Vehicle Specifications -->\n  <!-- ***************************************\
  \ -->\n  <!-- car link -->\n  <link name=\"car\"/>\n  <!-- floating joint to parent\
  \ -->\n  <joint name=\"site_to_car\" type=\"fixed\">\n    <parent link=\"site\"\
  />\n    <child link=\"car\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- fixed frames and joints -->\n  <link name=\"car_center\">\n    <visual>\n\
  \      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_red.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!--\
  \ fixed frames and joints -->\n  <link name=\"car_ground\"/>\n  <joint name=\"car_to_car_ground\"\
  \ type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"car_ground\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 -0.26\"/>\n  </joint>\n  <joint name=\"\
  car_to_car_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  car_center\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.0 0.0\"/>\n  </joint>\n\
  \  <link name=\"front_bumper\"/>\n  <joint name=\"car_to_front_bumper\" type=\"\
  fixed\">\n    <parent link=\"car\"/>\n    <child link=\"front_bumper\"/>\n    <origin\
  \ rpy=\"0 0 0\" xyz=\"3.2 0 0\"/>\n  </joint>\n  <link name=\"rsu_centroid\"/>\n\
  \  <joint name=\"car_to_rsu_centroid\" type=\"fixed\">\n    <parent link=\"car\"\
  />\n    <child link=\"rsu_centroid\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.53 0.0\
  \ 0.7\"/>\n  </joint>\n  <!-- Tire visual elements at wheel positions -->\n  <link\
  \ name=\"front_left_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"\
  package://fvla_scripts/xacro/mesh/leaf_tire.dae\" scale=\"0.95 0.95 0.95\"/>\n \
  \     </geometry>\n    </visual>\n  </link>\n  <joint name=\"car_center_to_front_left_tire\"\
  \ type=\"fixed\">\n    <parent link=\"car_center\"/>\n    <child link=\"front_left_tire\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.725 0\"/>\n  </joint>\n  <link name=\"\
  front_right_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_front_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"front_right_tire\"/>\n    <origin rpy=\"3.141592653589793\
  \ 0 0\" xyz=\"1.275 -0.725 0\"/>\n  </joint>\n  <link name=\"rear_left_tire\">\n\
  \    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_left_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_left_tire\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-1.275\
  \ 0.725 0\"/>\n  </joint>\n  <link name=\"rear_right_tire\">\n    <visual>\n   \
  \   <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_right_tire\"/>\n    <origin rpy=\"3.141592653589793 0\
  \ 0\" xyz=\"-1.275 -0.725 0\"/>\n  </joint>\n  <!-- GPS sensor macro -->\n  <!--\
  \ **************** -->\n  <!-- GPS antenna frame -->\n  <link name=\"gps_antenna\"\
  />\n  <joint name=\"car_to_gps_antenna_frame\" type=\"fixed\">\n    <parent link=\"\
  car\"/>\n    <child link=\"gps_antenna\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.63737\
  \ 0.0 1.17526\"/>\n  </joint>\n  <!-- SwiftNav frame (identical to gps_antenna_frame)\
  \ -->\n  <link name=\"swiftnav\"/>\n  <joint name=\"gps_antenna_to_swiftnav\" type=\"\
  fixed\">\n    <parent link=\"gps_antenna\"/>\n    <child link=\"swiftnav\"/>\n \
  \   <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n  </joint>\n  <!-- ZED camera macro\
  \ -->\n  <!-- **************** -->\n  <material name=\"zed_mat\">\n    <color rgba=\"\
  0.8 0.8 0.8 0.8\"/>\n  </material>\n  <material name=\"zedm_mat\">\n    <color rgba=\"\
  0 0 0 0.9\"/>\n  </material>\n  <material name=\"zed2_mat\">\n    <color rgba=\"\
  0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zed2i_mat\">\n    <color\
  \ rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedx_mat\">\n\
  \    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedxm_mat\"\
  >\n    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <!-- Create dongle_center\
  \ frame (base for ZED camera) -->\n  <link name=\"dongle_center\"/>\n  <joint name=\"\
  car_to_dongle_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  dongle_center\"/>\n    <origin rpy=\"0.0 0.06981317007977318 0.0\" xyz=\"2.28425\
  \ 0.0 0.89\"/>\n  </joint>\n  <!-- Camera mounting point (the threaded screw hole\
  \ in the bottom) -->\n  <link name=\"zed2i_base_link\"/>\n  <joint name=\"zed2i_base_joint\"\
  \ type=\"fixed\">\n    <parent link=\"dongle_center\"/>\n    <child link=\"zed2i_base_link\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <!-- Camera Center\
  \ -->\n  <link name=\"zed2i_camera_center\">\n    <visual>\n      <origin rpy=\"\
  -1.5707963267948966 0 0\" xyz=\"-0.01 0 0.0\"/>\n      <geometry>\n        <mesh\
  \ filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n      </geometry>\n\
  \      <material name=\"zed2i_mat\"/>\n    </visual>\n    <collision>\n      <geometry>\n\
  \        <mesh filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n    \
  \  </geometry>\n    </collision>\n  </link>\n  <joint name=\"zed2i_camera_center_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_base_link\"/>\n    <child link=\"zed2i_camera_center\"\
  />\n    <origin rpy=\"0 0.0 0\" xyz=\"0 0 0.015\"/>\n  </joint>\n  <!-- Left Camera\
  \ -->\n  <link name=\"zed2i_left_camera_frame\"/>\n  <joint name=\"zed2i_left_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_left_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_left_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_left_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_left_camera_frame\"\
  />\n    <child link=\"zed2i_left_camera_optical_frame\"/>\n  </joint>\n  <!-- Right\
  \ Camera -->\n  <link name=\"zed2i_right_camera_frame\"/>\n  <joint name=\"zed2i_right_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_right_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 -0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_right_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_right_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_right_camera_frame\"\
  />\n    <child link=\"zed2i_right_camera_optical_frame\"/>\n  </joint>\n  <!-- Proximity\
  \ sensor macro -->\n  <!-- ********************** -->\n  <!-- Proximity sensor configuration\
  \ for sierra (dongle) -->\n  <!-- ***************************************************\
  \ -->\n  <!-- 2. Create proximity_sensor frame (attached to front_parent from config)\
  \ -->\n  <link name=\"proximity_sensor\">\n    <!-- 3. Create single collision element\
  \ with configured dimensions -->\n    <collision>\n      <geometry>\n        <box\
  \ size=\"1.0 2.0 1.0\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"\
  0 0 0\"/>\n    </collision>\n  </link>\n  <joint name=\"zed2i_left_camera_frame_to_proximity_sensor\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_left_camera_frame\"/>\n    <child link=\"\
  proximity_sensor\"/>\n    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.986 -0.06 -0.839\"\
  />\n  </joint>\n</robot>\n\n"
robot_state_publisher:
  publish_frequency: 0.1
ros_mqtt_parser:
  dynamic_subscription: true
  log_level: info
  mqtt_host: mqtts.fvla.natcsv.com
  mqtt_password: nrc_leaf_sierra_pass
  mqtt_port: 8883
  mqtt_qos: 0
  mqtt_tls: true
  mqtt_to_ros:
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/dispatch
    ros_topic: /cmd/dispatch
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/safe_mode
    ros_topic: /cmd/safe_mode
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/active_mode
    ros_topic: /cmd/active_mode
    useJsonFormat: false
    use_compression: false
  mqtt_user: NRC_Leaf_Sierra
  ros_to_mqtt:
  - message_type: std_msgs.msg.Byte
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/safety_shield/status
    ros_topic: /safety_shield_status
    useJsonFormat: true
    use_compression: false
  - message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/telemetry
    ros_topic: /vehicle_telemetry
    useJsonFormat: true
    use_compression: false
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/drive_state
    ros_topic: /hm_drive_state_json
    useJsonFormat: false
    use_compression: false
rosdistro: 'noetic

  '
roslaunch:
  uris:
    host_sierra_mist_halibut_ts_net__32797: http://sierra.mist-halibut.ts.net:32797/
    host_sierra_mist_halibut_ts_net__32961: http://sierra.mist-halibut.ts.net:32961/
    host_sierra_mist_halibut_ts_net__33133: http://sierra.mist-halibut.ts.net:33133/
    host_sierra_mist_halibut_ts_net__33519: http://sierra.mist-halibut.ts.net:33519/
    host_sierra_mist_halibut_ts_net__33941: http://sierra.mist-halibut.ts.net:33941/
    host_sierra_mist_halibut_ts_net__36249: http://sierra.mist-halibut.ts.net:36249/
    host_sierra_mist_halibut_ts_net__39089: http://sierra.mist-halibut.ts.net:39089/
    host_sierra_mist_halibut_ts_net__39467: http://sierra.mist-halibut.ts.net:39467/
    host_sierra_mist_halibut_ts_net__43227: http://sierra.mist-halibut.ts.net:43227/
    host_sierra_mist_halibut_ts_net__43757: http://sierra.mist-halibut.ts.net:43757/
    host_sierra_mist_halibut_ts_net__44185: http://sierra.mist-halibut.ts.net:44185/
    host_sierra_mist_halibut_ts_net__44801: http://sierra.mist-halibut.ts.net:44801/
    host_sierra_mist_halibut_ts_net__44807: http://sierra.mist-halibut.ts.net:44807/
    host_sierra_mist_halibut_ts_net__46351: http://sierra.mist-halibut.ts.net:46351/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.98912068836376,\n   \
  \ \"lat\": 37.377163660428856,\n    \"yaw\": -3.094171114474515\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"691cf2f93fe3cc32ba87d573\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lon\": -121.98909020947048,\n    \"lat\": 37.377164995429915,\n\
  \    \"id\": \"rooftop_parking_exit_bay_back\"\n  },\n  \"end_junction\": {\n  \
  \  \"_id\": \"691cf32e3fe3cc32ba87d576\",\n    \"site_id\": \"natcsv\",\n    \"\
  type\": \"end\",\n    \"lon\": -121.98919568018943,\n    \"lat\": 37.37716494475881,\n\
  \    \"id\": \"rooftop_2\"\n  },\n  \"path_summary\": [\n    \"rooftop_parking_exit_bay_back\"\
  ,\n    \"departure_segment_rooftop_back\",\n    \"rooftop_parking_exit\",\n    \"\
  driving_segment_rooftop\",\n    \"rooftop_bays_entrance\",\n    \"parking_segment_rooftop_2\"\
  ,\n    \"rooftop_2\"\n  ],\n  \"decision_points\": [\n    {\n      \"id\": \"r_ex_1_back\"\
  ,\n      \"lat\": 37.37728959403172,\n      \"lon\": -121.98964237319102,\n    \
  \  \"roi_ids\": [\n        \"multi_roi_route1_roi_1\"\n      ]\n    },\n    {\n\
  \      \"id\": \"r_ln_1\",\n      \"lat\": 37.37728953664049,\n      \"lon\": -121.98944057248589,\n\
  \      \"roi_ids\": [\n        \"multi_roi_route1_roi_2\"\n      ]\n    },\n   \
  \ {\n      \"id\": \"r_ln_2\",\n      \"lat\": 37.37728953664049,\n      \"lon\"\
  : -121.98924373398478,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_3\"\
  \n      ]\n    },\n    {\n      \"id\": \"r_ln_3\",\n      \"lat\": 37.37729049626478,\n\
  \      \"lon\": -121.98898893077163,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_4\"\
  \n      ]\n    },\n    {\n      \"id\": \"r_ln_4\",\n      \"lat\": 37.37726916500675,\n\
  \      \"lon\": -121.98842343689162,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_6\"\
  \n      ]\n    },\n    {\n      \"id\": \"r_ln_5\",\n      \"lat\": 37.377212111216195,\n\
  \      \"lon\": -121.98832982155719,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_7\"\
  ,\n        \"multi_roi_route1_roi_8p\"\n      ]\n    }\n  ],\n  \"traj\": [\n  \
  \  {\n      \"timestamp\": 1763409883.5594015,\n      \"lon\": -121.98909020947048,\n\
  \      \"lat\": 37.377164995429915,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.00806225774829855,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409883.6663573,\n      \"lon\": -121.98909020242786,\n      \"lat\": 37.377164995772276,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.00806225774829855,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409883.7658463,\n  \
  \    \"lon\": -121.98909020282544,\n      \"lat\": 37.377164987959105,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.009486832980505138,\n  \
  \    \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409883.8665993,\n  \
  \    \"lon\": -121.98909020015329,\n      \"lat\": 37.37716499990096,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.014,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409883.9614844,\n      \"lon\": -121.98909020401653,\n\
  \      \"lat\": 37.37716499368677,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.01341640786499874,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409884.0639026,\n      \"lon\": -121.98909019766985,\n      \"lat\": 37.37716498121193,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.009486832980505138,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409884.1759057,\n  \
  \    \"lon\": -121.98909019662422,\n      \"lat\": 37.377164980784556,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.021,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409884.2721586,\n      \"lon\": -121.98909021325805,\n\
  \      \"lat\": 37.377164983733074,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.01104536101718726,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409884.362425,\n      \"lon\": -121.9890902090585,\n      \"lat\": 37.37716498261197,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.005385164807134504,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409884.4597518,\n  \
  \    \"lon\": -121.9890902083183,\n      \"lat\": 37.37716498113851,\n      \"yaw_radians\"\
  : -3.1380548416207006,\n      \"speed\": 0.007280109889280519,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409884.5656881,\n      \"lon\": -121.98909021275166,\n\
  \      \"lat\": 37.377164974691375,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.009486832980505138,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409884.6672494,\n      \"lon\": -121.98909021095061,\n      \"lat\": 37.37716498623471,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.00806225774829855,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409884.764671,\n   \
  \   \"lon\": -121.98909021533753,\n      \"lat\": 37.377164977520735,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.00608276253029822,\n   \
  \   \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409884.8655808,\n  \
  \    \"lon\": -121.9890902156903,\n      \"lat\": 37.37716496750268,\n      \"yaw_radians\"\
  : -3.1380548416207006,\n      \"speed\": 0.012529964086141668,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409884.9688246,\n      \"lon\": -121.98909019308485,\n\
  \      \"lat\": 37.37716497729016,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.01341640786499874,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409885.0682201,\n      \"lon\": -121.98909021455255,\n      \"lat\": 37.37716496686717,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.0078102496759066544,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.1783698,\n  \
  \    \"lon\": -121.98909021738794,\n      \"lat\": 37.37716496987862,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.012083045973594572,\n  \
  \    \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.2722986,\n  \
  \    \"lon\": -121.9890902483425,\n      \"lat\": 37.37716500560061,\n      \"yaw_radians\"\
  : -3.1380548416207006,\n      \"speed\": 0.012206555615733704,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409885.362515,\n      \"lon\": -121.98909032886428,\n\
  \      \"lat\": 37.37716500449411,\n      \"yaw_radians\": -3.1380548416207006,\n\
  \      \"speed\": 0.029120439557122076,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409885.462591,\n      \"lon\": -121.98909054053075,\n      \"lat\": 37.377165012313526,\n\
  \      \"yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.09257429448826493,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.5600889,\n  \
  \    \"lon\": -121.98909086213243,\n      \"lat\": 37.37716498835046,\n      \"\
  yaw_radians\": -3.1380548416207006,\n      \"speed\": 0.18806647760831807,\n   \
  \   \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.6721127,\n  \
  \    \"lon\": -121.98909126571813,\n      \"lat\": 37.37716497981225,\n      \"\
  yaw_radians\": -3.1146926431272384,\n      \"speed\": 0.27540878707840827,\n   \
  \   \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.7635658,\n  \
  \    \"lon\": -121.98909174634905,\n      \"lat\": 37.377164982303526,\n      \"\
  yaw_radians\": -3.1102065974734683,\n      \"speed\": 0.4414091072916371,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.8620956,\n  \
  \    \"lon\": -121.98909233073722,\n      \"lat\": 37.37716495024744,\n      \"\
  yaw_radians\": -3.1089494155168627,\n      \"speed\": 0.5218064775374104,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409885.9629364,\n  \
  \    \"lon\": -121.98909305055302,\n      \"lat\": 37.37716491009714,\n      \"\
  yaw_radians\": -3.108504069223659,\n      \"speed\": 0.5218064775374104,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409886.0703018,\n      \"\
  lon\": -121.98909388010208,\n      \"lat\": 37.37716491480609,\n      \"yaw_radians\"\
  : -3.1232049141254583,\n      \"speed\": 0.6230128409591571,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409886.1677568,\n      \"lon\": -121.98909478683173,\n\
  \      \"lat\": 37.37716490642672,\n      \"yaw_radians\": -3.134052662221996,\n\
  \      \"speed\": 0.7280006868128629,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409886.261631,\n      \"lon\": -121.98909583373086,\n      \"lat\": 37.37716487632222,\n\
  \      \"yaw_radians\": -3.1376949848687956,\n      \"speed\": 0.8113550394247885,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409886.3645766,\n  \
  \    \"lon\": -121.9890969534373,\n      \"lat\": 37.37716484440911,\n      \"yaw_radians\"\
  : -3.124614928882816,\n      \"speed\": 1.011236866416568,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409886.4655259,\n      \"lon\": -121.98909819982279,\n\
  \      \"lat\": 37.377164821358726,\n      \"yaw_radians\": -3.105378722463775,\n\
  \      \"speed\": 1.093439527363082,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409886.5635004,\n      \"lon\": -121.98909953129179,\n      \"lat\": 37.377164771690786,\n\
  \      \"yaw_radians\": -3.1058706440916106,\n      \"speed\": 1.093439527363082,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409886.6670594,\n  \
  \    \"lon\": -121.98910097850546,\n      \"lat\": 37.37716473916872,\n      \"\
  yaw_radians\": -3.11126567903587,\n      \"speed\": 1.1691710738809784,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409886.7645974,\n      \"lon\": -121.98910255055104,\n\
  \      \"lat\": 37.37716471342832,\n      \"yaw_radians\": -3.1178581633354603,\n\
  \      \"speed\": 1.2835049668778067,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409886.8633406,\n      \"lon\": -121.98910421477962,\n      \"lat\": 37.37716468037634,\n\
  \      \"yaw_radians\": -3.1203228850687945,\n      \"speed\": 1.3881905488800879,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409886.9640012,\n  \
  \    \"lon\": -121.98910597617935,\n      \"lat\": 37.37716469364476,\n      \"\
  yaw_radians\": -3.118780827116556,\n      \"speed\": 1.4755155031378018,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409887.0693076,\n      \"\
  lon\": -121.98910785687792,\n      \"lat\": 37.3771646078866,\n      \"yaw_radians\"\
  : -3.1243993235567435,\n      \"speed\": 1.5730537180910258,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409887.1827264,\n      \"lon\": -121.98910986416158,\n\
  \      \"lat\": 37.37716453927321,\n      \"yaw_radians\": -3.119215347944126,\n\
  \      \"speed\": 1.6715086000377024,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409887.2623293,\n      \"lon\": -121.98911195713352,\n      \"lat\": 37.377164534438904,\n\
  \      \"yaw_radians\": -3.111451595945748,\n      \"speed\": 1.7691404692674915,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409887.3564544,\n  \
  \    \"lon\": -121.98911412890679,\n      \"lat\": 37.37716444987429,\n      \"\
  yaw_radians\": -3.113366551913637,\n      \"speed\": 1.8202472359545008,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409887.462206,\n      \"\
  lon\": -121.98911633011377,\n      \"lat\": 37.37716443026228,\n      \"yaw_radians\"\
  : -3.1140027329984465,\n      \"speed\": 1.9084742597163842,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409887.563088,\n      \"lon\": -121.98911860431286,\n\
  \      \"lat\": 37.37716436511697,\n      \"yaw_radians\": -3.1160065074050327,\n\
  \      \"speed\": 2.02715194299786,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409887.663717,\n      \"lon\": -121.98912086355347,\n      \"lat\": 37.37716431630172,\n\
  \      \"yaw_radians\": -3.1002900486291387,\n      \"speed\": 2.02715194299786,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409887.764089,\n   \
  \   \"lon\": -121.9891231947736,\n      \"lat\": 37.37716426496616,\n      \"yaw_radians\"\
  : -3.1026543971428437,\n      \"speed\": 1.996121238802894,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409887.8629632,\n      \"lon\": -121.9891255124331,\n\
  \      \"lat\": 37.37716424498286,\n      \"yaw_radians\": -3.1076696694872545,\n\
  \      \"speed\": 2.0405646277439975,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409887.9653535,\n      \"lon\": -121.9891278531693,\n      \"lat\": 37.37716420605134,\n\
  \      \"yaw_radians\": -3.1277924937056145,\n      \"speed\": 2.0500548773142637,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409888.0658915,\n  \
  \    \"lon\": -121.98913016278317,\n      \"lat\": 37.37716413606852,\n      \"\
  yaw_radians\": -3.125705973011229,\n      \"speed\": 2.0878623038888366,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409888.172744,\n      \"\
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  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
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  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
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  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
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  yaw_radians\": -3.1190679580575247,\n      \"speed\": 2.120226638828972,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  \    },\n    {\n      \"timestamp\": 1763409891.6630135,\n      \"lon\": -121.98921088835542,\n\
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  yaw_radians\": -3.1337511737582755,\n      \"speed\": 2.1260150516870757,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
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  yaw_radians\": -3.132388971856502,\n      \"speed\": 2.1260150516870757,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  yaw_radians\": -3.128965711014136,\n      \"speed\": 2.1721015169646196,\n     \
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  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  yaw_radians\": -3.1379758133588442,\n      \"speed\": 2.2300181613610235,\n    \
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  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  yaw_radians\": -3.1363682317979755,\n      \"speed\": 2.3462048077693476,\n    \
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  : 1763409896.2631145,\n      \"lon\": -121.98932656364411,\n      \"lat\": 37.3771616570092,\n\
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  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409896.3576696,\n  \
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  yaw_radians\": -3.134693960718591,\n      \"speed\": 2.3923018204231674,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409896.865193,\n      \"lon\": -121.98934322392155,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409897.0672312,\n  \
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  \    },\n    {\n      \"timestamp\": 1763409897.175565,\n      \"lon\": -121.9893517794432,\n\
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  : 1763409897.561096,\n      \"lon\": -121.98936341861612,\n      \"lat\": 37.37716139383291,\n\
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  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409897.6653063,\n  \
  \    \"lon\": -121.98936633262524,\n      \"lat\": 37.37716137080503,\n      \"\
  yaw_radians\": -3.1314314182751475,\n      \"speed\": 2.5830853644430727,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409897.7627008,\n  \
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  yaw_radians\": -3.1333677177517965,\n      \"speed\": 2.584151698333517,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  \    },\n    {\n      \"timestamp\": 1763409897.9634552,\n      \"lon\": -121.98937518070488,\n\
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  yaw_radians\": -3.130587473114792,\n      \"speed\": 2.6080927897603643,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  yaw_radians\": -3.1131749398647015,\n      \"speed\": 2.578652361215059,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  : 1763409900.7649896,\n      \"lon\": -121.98945397544698,\n      \"lat\": 37.37716000099628,\n\
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  : 1763409901.6593091,\n      \"lon\": -121.98947672676306,\n      \"lat\": 37.37715972608481,\n\
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  \   \"lon\": -121.9894792238572,\n      \"lat\": 37.37715972834806,\n      \"yaw_radians\"\
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  \   \"lon\": -121.98948679746302,\n      \"lat\": 37.37715968110599,\n      \"yaw_radians\"\
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  \    },\n    {\n      \"timestamp\": 1763409902.1667573,\n      \"lon\": -121.98948931048736,\n\
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  : 1763409902.260163,\n      \"lon\": -121.98949185826842,\n      \"lat\": 37.377159615383675,\n\
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  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409902.368289,\n   \
  \   \"lon\": -121.98949433591187,\n      \"lat\": 37.37715960048045,\n      \"yaw_radians\"\
  : -3.129775537780457,\n      \"speed\": 2.240162717304259,\n      \"segment_id\"\
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  \    },\n    {\n      \"timestamp\": 1763409902.461489,\n      \"lon\": -121.98949685808613,\n\
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  : 1763409902.564148,\n      \"lon\": -121.98949936820323,\n      \"lat\": 37.377159542584494,\n\
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  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409902.6615705,\n  \
  \    \"lon\": -121.98950186479284,\n      \"lat\": 37.37715948778607,\n      \"\
  yaw_radians\": -3.122906706021991,\n      \"speed\": 2.2386513797373633,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  lon\": -121.98950438003017,\n      \"lat\": 37.377159459496575,\n      \"yaw_radians\"\
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  \    },\n    {\n      \"timestamp\": 1763409902.8615594,\n      \"lon\": -121.98950687131143,\n\
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  : 1763409902.962222,\n      \"lon\": -121.98950936470294,\n      \"lat\": 37.377159376824125,\n\
  \      \"yaw_radians\": -3.1203034818326443,\n      \"speed\": 2.206487253532184,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409903.0688088,\n  \
  \    \"lon\": -121.98951187747907,\n      \"lat\": 37.37715927629147,\n      \"\
  yaw_radians\": -3.113350183232592,\n      \"speed\": 2.2104481446077853,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  lon\": -121.98951433656379,\n      \"lat\": 37.377159273608385,\n      \"yaw_radians\"\
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  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409903.2649674,\n      \"lon\": -121.98951685238926,\n\
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  : 1763409903.377021,\n      \"lon\": -121.98951935052361,\n      \"lat\": 37.37715913449931,\n\
  \      \"yaw_radians\": -3.116500866224047,\n      \"speed\": 2.222189235866289,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409903.466273,\n   \
  \   \"lon\": -121.98952186362948,\n      \"lat\": 37.37715907765421,\n      \"yaw_radians\"\
  : -3.12200329020457,\n      \"speed\": 2.1864839354543633,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409903.5720289,\n      \"lon\": -121.98952430033962,\n\
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  : 1763409903.6636543,\n      \"lon\": -121.98952676994611,\n      \"lat\": 37.37715896726339,\n\
  \      \"yaw_radians\": -3.1091033687612106,\n      \"speed\": 2.163670261384576,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409903.7640686,\n  \
  \    \"lon\": -121.989529272679,\n      \"lat\": 37.37715893083469,\n      \"yaw_radians\"\
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  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409903.861204,\n      \"lon\": -121.9895317834482,\n\
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  : 1763409903.9620664,\n      \"lon\": -121.9895342496545,\n      \"lat\": 37.37715881374502,\n\
  \      \"yaw_radians\": -3.1195727499850543,\n      \"speed\": 2.1969617657119116,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409904.0671902,\n  \
  \    \"lon\": -121.98953672020677,\n      \"lat\": 37.377158765471734,\n      \"\
  yaw_radians\": -3.1141732660671866,\n      \"speed\": 2.205275719723047,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  lon\": -121.98953920656838,\n      \"lat\": 37.37715873196228,\n      \"yaw_radians\"\
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  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409904.2613604,\n      \"lon\": -121.98954176485802,\n\
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  \      \"yaw_radians\": -3.1128532777027202,\n      \"speed\": 2.239808920421561,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409904.4649816,\n  \
  \    \"lon\": -121.98954675442481,\n      \"lat\": 37.377158454052946,\n      \"\
  yaw_radians\": -3.104318681525566,\n      \"speed\": 2.211041835877377,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409904.5652926,\n      \"lon\": -121.98954921123432,\n\
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  : 1763409904.6716504,\n      \"lon\": -121.98955172481497,\n      \"lat\": 37.377158388652454,\n\
  \      \"yaw_radians\": -3.1086472273177117,\n      \"speed\": 2.1941916506996377,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409904.7671838,\n  \
  \    \"lon\": -121.98955421245371,\n      \"lat\": 37.377158309096174,\n      \"\
  yaw_radians\": -3.116541242782124,\n      \"speed\": 2.241221988112735,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409904.8644736,\n      \"lon\": -121.98955670913547,\n\
  \      \"lat\": 37.377158251798555,\n      \"yaw_radians\": -3.1071104961764693,\n\
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  : 1763409904.9633229,\n      \"lon\": -121.98955918304696,\n      \"lat\": 37.37715818275216,\n\
  \      \"yaw_radians\": -3.1041918852447994,\n      \"speed\": 2.2030190648289905,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409905.0665257,\n  \
  \    \"lon\": -121.98956165978201,\n      \"lat\": 37.37715812725217,\n      \"\
  yaw_radians\": -3.1083768332686774,\n      \"speed\": 2.1819388167407445,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409905.1763427,\n  \
  \    \"lon\": -121.98956415886622,\n      \"lat\": 37.37715809302999,\n      \"\
  yaw_radians\": -3.1150489969158657,\n      \"speed\": 2.2166824310216384,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409905.2610962,\n  \
  \    \"lon\": -121.98956661837096,\n      \"lat\": 37.37715803861897,\n      \"\
  yaw_radians\": -3.1196109576333777,\n      \"speed\": 2.2166824310216384,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409905.3646114,\n  \
  \    \"lon\": -121.98956904597239,\n      \"lat\": 37.37715799841199,\n      \"\
  yaw_radians\": -3.114257073208372,\n      \"speed\": 2.1944953861879046,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  lon\": -121.98957149828937,\n      \"lat\": 37.37715797733763,\n      \"yaw_radians\"\
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  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
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  : 1763409905.6629753,\n      \"lon\": -121.98957638794968,\n      \"lat\": 37.3771578836483,\n\
  \      \"yaw_radians\": -3.1171376132737354,\n      \"speed\": 2.1707749768227935,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409905.7640233,\n  \
  \    \"lon\": -121.98957887217105,\n      \"lat\": 37.377157853329265,\n      \"\
  yaw_radians\": -3.111026965584344,\n      \"speed\": 2.175645651295265,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409905.8675086,\n      \"lon\": -121.98958129717336,\n\
  \      \"lat\": 37.37715786626872,\n      \"yaw_radians\": -3.1191477974232527,\n\
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  : 1763409905.9645019,\n      \"lon\": -121.98958375923644,\n      \"lat\": 37.37715788720768,\n\
  \      \"yaw_radians\": -3.128755369212312,\n      \"speed\": 2.151023244876726,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409906.065953,\n   \
  \   \"lon\": -121.98958618614327,\n      \"lat\": 37.37715793886867,\n      \"yaw_radians\"\
  : -3.1390659775738166,\n      \"speed\": 2.195003644643899,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409906.1604362,\n      \"lon\": -121.98958864748421,\n\
  \      \"lat\": 37.37715795320414,\n      \"yaw_radians\": 3.121462683785703,\n\
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  : 1763409906.2604308,\n      \"lon\": -121.98959112722527,\n      \"lat\": 37.37715798914615,\n\
  \      \"yaw_radians\": 3.118813112414526,\n      \"speed\": 2.160833172644293,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409906.376612,\n   \
  \   \"lon\": -121.98959353500209,\n      \"lat\": 37.37715815408568,\n      \"yaw_radians\"\
  : 3.1158371268168996,\n      \"speed\": 2.160833172644293,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409906.4613817,\n      \"lon\": -121.9895959389065,\n\
  \      \"lat\": 37.377158279974935,\n      \"yaw_radians\": 3.0962258916626326,\n\
  \      \"speed\": 2.1533309081513687,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409906.5630682,\n      \"lon\": -121.98959834305069,\n      \"lat\": 37.37715844303908,\n\
  \      \"yaw_radians\": 3.074849663418274,\n      \"speed\": 2.161603571425621,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409906.6677086,\n  \
  \    \"lon\": -121.98960076490881,\n      \"lat\": 37.377158617005094,\n      \"\
  yaw_radians\": 3.069635481398807,\n      \"speed\": 2.14918147209583,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409906.765095,\n      \"lon\": -121.9896031593219,\n\
  \      \"lat\": 37.37715883854676,\n      \"yaw_radians\": 3.0611912967928165,\n\
  \      \"speed\": 2.1364166260352873,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409906.8650277,\n      \"lon\": -121.9896055516907,\n      \"lat\": 37.37715909720579,\n\
  \      \"yaw_radians\": 3.0309442906804254,\n      \"speed\": 2.1234417816365956,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409906.9677486,\n  \
  \    \"lon\": -121.98960788314533,\n      \"lat\": 37.37715942258557,\n      \"\
  yaw_radians\": 3.0155555045569993,\n      \"speed\": 2.1234417816365956,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  lon\": -121.98961021704046,\n      \"lat\": 37.37715975294539,\n      \"yaw_radians\"\
  : 2.98705991325208,\n      \"speed\": 2.09730231487976,\n      \"segment_id\": \"\
  departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1763409907.1804264,\n      \"lon\": -121.98961251452455,\n\
  \      \"lat\": 37.37716012656666,\n      \"yaw_radians\": 2.972111684337845,\n\
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  : 1763409907.2652774,\n      \"lon\": -121.98961480292624,\n      \"lat\": 37.37716059077872,\n\
  \      \"yaw_radians\": 2.948580918060231,\n      \"speed\": 2.09078095457176,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409907.3666952,\n  \
  \    \"lon\": -121.98961703922757,\n      \"lat\": 37.37716106903307,\n      \"\
  yaw_radians\": 2.92894267235544,\n      \"speed\": 2.067285418126873,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409907.4618592,\n      \"lon\": -121.98961924831544,\n\
  \      \"lat\": 37.377161590847116,\n      \"yaw_radians\": 2.9096341562596275,\n\
  \      \"speed\": 2.03705866385826,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
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  : 1763409907.5642784,\n      \"lon\": -121.98962142263007,\n      \"lat\": 37.377162122388356,\n\
  \      \"yaw_radians\": 2.8850711434003036,\n      \"speed\": 2.03705866385826,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409907.6631851,\n  \
  \    \"lon\": -121.98962357155678,\n      \"lat\": 37.377162697686494,\n      \"\
  yaw_radians\": 2.855351565739125,\n      \"speed\": 2.013109535022871,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409907.7653809,\n      \"lon\": -121.98962564611588,\n\
  \      \"lat\": 37.37716333549118,\n      \"yaw_radians\": 2.834712933326232,\n\
  \      \"speed\": 2.003812366465483,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
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  : 1763409907.8634703,\n      \"lon\": -121.98962774752087,\n      \"lat\": 37.37716396623871,\n\
  \      \"yaw_radians\": 2.8033522113855396,\n      \"speed\": 1.979815395434635,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409907.9659617,\n  \
  \    \"lon\": -121.98962978545653,\n      \"lat\": 37.37716461595919,\n      \"\
  yaw_radians\": 2.7941861467822973,\n      \"speed\": 1.9938437752241274,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409908.0665967,\n      \"\
  lon\": -121.98963180250574,\n      \"lat\": 37.3771653093221,\n      \"yaw_radians\"\
  : 2.775932848065981,\n      \"speed\": 1.9524080003933604,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409908.162665,\n      \"lon\": -121.98963376081903,\n\
  \      \"lat\": 37.37716610608947,\n      \"yaw_radians\": 2.7593093965435167,\n\
  \      \"speed\": 1.9524080003933604,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409908.2641828,\n      \"lon\": -121.9896357184418,\n      \"lat\": 37.37716685891033,\n\
  \      \"yaw_radians\": 2.7152425521969534,\n      \"speed\": 1.9397572013012352,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409908.3713808,\n  \
  \    \"lon\": -121.98963760150556,\n      \"lat\": 37.377167670512975,\n      \"\
  yaw_radians\": 2.695024417331312,\n      \"speed\": 1.9169269678315866,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409908.4628093,\n      \"lon\": -121.98963946176784,\n\
  \      \"lat\": 37.37716850195037,\n      \"yaw_radians\": 2.6696675341874094,\n\
  \      \"speed\": 1.8910158645553454,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409908.5647497,\n      \"lon\": -121.98964127033626,\n      \"lat\": 37.37716939109183,\n\
  \      \"yaw_radians\": 2.655387308109691,\n      \"speed\": 1.8804938181233142,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409908.6659143,\n  \
  \    \"lon\": -121.98964301589085,\n      \"lat\": 37.37717034755311,\n      \"\
  yaw_radians\": 2.6298423180338815,\n      \"speed\": 1.8759970682279863,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409908.7651484,\n      \"\
  lon\": -121.98964470903651,\n      \"lat\": 37.377171313303336,\n      \"yaw_radians\"\
  : 2.5862829545149655,\n      \"speed\": 1.8759970682279863,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409908.8625326,\n      \"lon\": -121.9896463054982,\n\
  \      \"lat\": 37.37717238170515,\n      \"yaw_radians\": 2.5474893185225307,\n\
  \      \"speed\": 1.8514280974426203,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409908.9653583,\n      \"lon\": -121.98964784975838,\n      \"lat\": 37.377173446819725,\n\
  \      \"yaw_radians\": 2.4986058759484395,\n      \"speed\": 1.8037056300849093,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.0649884,\n  \
  \    \"lon\": -121.98964936017788,\n      \"lat\": 37.37717452053535,\n      \"\
  yaw_radians\": 2.4649302052479425,\n      \"speed\": 1.8037056300849093,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.1831257,\n      \"\
  lon\": -121.98965076039303,\n      \"lat\": 37.37717571252174,\n      \"yaw_radians\"\
  : 2.4484850575762738,\n      \"speed\": 1.7894828861992507,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409909.2645786,\n      \"lon\": -121.98965215377254,\n\
  \      \"lat\": 37.37717684060752,\n      \"yaw_radians\": 2.411224576765095,\n\
  \      \"speed\": 1.7896874028723564,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409909.3715622,\n      \"lon\": -121.98965347653616,\n      \"lat\": 37.37717805809125,\n\
  \      \"yaw_radians\": 2.370110754724824,\n      \"speed\": 1.7889639459754352,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.4675915,\n  \
  \    \"lon\": -121.98965470884465,\n      \"lat\": 37.377179289928286,\n      \"\
  yaw_radians\": 2.3072091950271814,\n      \"speed\": 1.7449521483410368,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.562521,\n      \"\
  lon\": -121.98965596473681,\n      \"lat\": 37.37718051875517,\n      \"yaw_radians\"\
  : 2.286018026946954,\n      \"speed\": 1.7677627103205906,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409909.6654584,\n      \"lon\": -121.98965710516511,\n\
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  \      \"speed\": 1.7677627103205906,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1763409909.7638264,\n      \"lon\": -121.98965819248423,\n      \"lat\": 37.377183094861856,\n\
  \      \"yaw_radians\": 2.23442797600941,\n      \"speed\": 1.7152343863157595,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.8624668,\n  \
  \    \"lon\": -121.98965922042088,\n      \"lat\": 37.37718442956447,\n      \"\
  yaw_radians\": 2.1843479314486145,\n      \"speed\": 1.7557049866079437,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409909.9628484,\n      \"\
  lon\": -121.98966021681754,\n      \"lat\": 37.377185749974544,\n      \"yaw_radians\"\
  : 2.1516684271740436,\n      \"speed\": 1.7420186566165128,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409910.05677,\n      \"lon\": -121.98966114130826,\n\
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  \      \"speed\": 1.7277233574852198,\n      \"segment_id\": \"departure_segment_rooftop_back\"\
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  : 1763409910.1535606,\n      \"lon\": -121.98966203516837,\n      \"lat\": 37.377188542632375,\n\
  \      \"yaw_radians\": 2.0948456989906634,\n      \"speed\": 1.7289086152830633,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409910.2667322,\n  \
  \    \"lon\": -121.98966281933865,\n      \"lat\": 37.377189947165284,\n      \"\
  yaw_radians\": 2.074537452796221,\n      \"speed\": 1.7602363477669698,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409910.3650274,\n      \"lon\": -121.98966367661939,\n\
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  : 1763409910.4615552,\n      \"lon\": -121.98966447284101,\n      \"lat\": 37.37719265590502,\n\
  \      \"yaw_radians\": 2.0082744902095775,\n      \"speed\": 1.6863599852937685,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409910.5646331,\n  \
  \    \"lon\": -121.98966518236998,\n      \"lat\": 37.37719406995347,\n      \"\
  yaw_radians\": 1.9975971407806157,\n      \"speed\": 1.682734084756115,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409910.6689858,\n      \"lon\": -121.98966584262139,\n\
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  : 1763409910.766692,\n      \"lon\": -121.98966649009941,\n      \"lat\": 37.377196937389705,\n\
  \      \"yaw_radians\": 1.9510700130477914,\n      \"speed\": 1.680436252881971,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409910.864144,\n   \
  \   \"lon\": -121.98966711825437,\n      \"lat\": 37.37719830563322,\n      \"yaw_radians\"\
  : 1.9247471912901202,\n      \"speed\": 1.6560884638206983,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409910.9645088,\n      \"lon\": -121.98966770905088,\n\
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  : 1763409911.0651238,\n      \"lon\": -121.98966827756867,\n      \"lat\": 37.37720129153534,\n\
  \      \"yaw_radians\": 1.893880848449617,\n      \"speed\": 1.7161681153080546,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409911.1732624,\n  \
  \    \"lon\": -121.98966876182554,\n      \"lat\": 37.377202773418446,\n      \"\
  yaw_radians\": 1.8821890902207328,\n      \"speed\": 1.725341125690801,\n      \"\
  segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1763409911.25772,\n      \"lon\": -121.98966926331325,\n\
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  : 1763409911.3713977,\n      \"lon\": -121.98966977907008,\n      \"lat\": 37.377205812355605,\n\
  \      \"yaw_radians\": 1.8472888243016468,\n      \"speed\": 1.7561554600888842,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409911.4633074,\n  \
  \    \"lon\": -121.9896703028074,\n      \"lat\": 37.37720732693528,\n      \"yaw_radians\"\
  : 1.8438525993621113,\n      \"speed\": 1.7561554600888842,\n      \"segment_id\"\
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  \    },\n    {\n      \"timestamp\": 1763409911.563788,\n      \"lon\": -121.98967078589627,\n\
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  : 1763409911.6621428,\n      \"lon\": -121.98967127862811,\n      \"lat\": 37.37721042019465,\n\
  \      \"yaw_radians\": 1.836454531912296,\n      \"speed\": 1.7958051119205558,\n\
  \      \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409911.7651107,\n  \
  \    \"lon\": -121.98967171757735,\n      \"lat\": 37.37721204272976,\n      \"\
  yaw_radians\": 1.8199041148579538,\n      \"speed\": 1.7958051119205558,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
  parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409911.8633878,\n      \"\
  lon\": -121.98967215770153,\n      \"lat\": 37.37721364158219,\n      \"yaw_radians\"\
  : 1.8032464900456882,\n      \"speed\": 1.8235385929560142,\n      \"segment_id\"\
  : \"departure_segment_rooftop_back\",\n      \"segment_type\": \"parking_exit\"\n\
  \    },\n    {\n      \"timestamp\": 1763409911.9636238,\n      \"lon\": -121.98967261362678,\n\
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  yaw_radians\": 1.6009504361579194,\n      \"speed\": 1.8890518785888333,\n     \
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  yaw_radians\": 1.4694735296306094,\n      \"speed\": 1.8408348649457942,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98964576461037,\n      \"lat\": 37.37727987254054,\n      \"\
  yaw_radians\": 0.6181563485600594,\n      \"speed\": 2.1902661938677683,\n     \
  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  \ \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98957082589028,\n      \"lat\": 37.37729090420284,\n      \"\
  yaw_radians\": 0.04155716772766136,\n      \"speed\": 2.2622707618673763,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
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  \   \"lon\": -121.98956057164291,\n      \"lat\": 37.3772911603406,\n      \"yaw_radians\"\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409919.8608544,\n  \
  \    \"lon\": -121.98955293501957,\n      \"lat\": 37.377291447224366,\n      \"\
  yaw_radians\": 0.039583140557856625,\n      \"speed\": 2.2636342460742194,\n   \
  \   \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409919.9589245,\n  \
  \    \"lon\": -121.98955038339687,\n      \"lat\": 37.377291491675166,\n      \"\
  yaw_radians\": 0.036939419622046034,\n      \"speed\": 2.2757576760279203,\n   \
  \   \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409920.0699468,\n  \
  \    \"lon\": -121.98954790516724,\n      \"lat\": 37.37729155575525,\n      \"\
  yaw_radians\": 0.03722443530633066,\n      \"speed\": 2.2757576760279203,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
  \ \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1763409920.1620922,\n  \
  \    \"lon\": -121.98954541544627,\n      \"lat\": 37.377291630183585,\n      \"\
  yaw_radians\": 0.03735640150016181,\n      \"speed\": 2.1878228904552577,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
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  yaw_radians\": 0.027754559215898707,\n      \"speed\": 2.1913295051178405,\n   \
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  yaw_radians\": 0.02643871718250965,\n      \"speed\": 2.1809837230020768,\n    \
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  \   \"lon\": -121.98953588178554,\n      \"lat\": 37.377291917540504,\n      \"\
  yaw_radians\": 0.04236463168847408,\n      \"speed\": 2.0766263505984894,\n    \
  \  \"segment_id\": \"departure_segment_rooftop_back\",\n      \"segment_type\":\
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  yaw_radians\": 0.024349930040343602,\n      \"speed\": 2.0321190909983597,\n   \
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  : 1763409920.9589133,\n      \"lon\": -121.98952715289911,\n      \"lat\": 37.37729205477537,\n\
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  yaw_radians\": 0.008578986897479855,\n      \"speed\": 1.6933658789523307,\n   \
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  \ \"yaw_radians\": 3.1159546554667443,\n      \"speed\": 3.794067606145152,\n  \
  \    \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409949.0627825,\n      \"lon\": -121.98857776735125,\n\
  \      \"lat\": 37.377161957167765,\n      \"yaw_radians\": 3.1164234248046934,\n\
  \      \"speed\": 3.794067606145152,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409949.1764724,\n\
  \      \"lon\": -121.98858198366,\n      \"lat\": 37.377162015721545,\n      \"\
  yaw_radians\": 3.1220180935561745,\n      \"speed\": 3.735034270257771,\n      \"\
  segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\n \
  \   },\n    {\n      \"timestamp\": 1763409949.286972,\n      \"lon\": -121.9885862207828,\n\
  \      \"lat\": 37.37716203878401,\n      \"yaw_radians\": 3.129967944336165,\n\
  \      \"speed\": 3.7540191794928273,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409949.3668864,\n\
  \      \"lon\": -121.98859046971815,\n      \"lat\": 37.3771620530779,\n      \"\
  yaw_radians\": 3.1360988599452226,\n      \"speed\": 3.7513466915229254,\n     \
  \ \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409949.4636798,\n      \"lon\": -121.9885946719622,\n\
  \      \"lat\": 37.37716207447792,\n      \"yaw_radians\": 3.132408113719077,\n\
  \      \"speed\": 3.728283787481849,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409949.565562,\n\
  \      \"lon\": -121.98859885405892,\n      \"lat\": 37.377162105787114,\n     \
  \ \"yaw_radians\": 3.132073225022623,\n      \"speed\": 3.7460341696252586,\n  \
  \    \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409949.6640043,\n      \"lon\": -121.98860303042248,\n\
  \      \"lat\": 37.37716207488594,\n      \"yaw_radians\": 3.135644508871915,\n\
  \      \"speed\": 3.700311338252499,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409949.7636359,\n\
  \      \"lon\": -121.98860708853098,\n      \"lat\": 37.37716204697455,\n      \"\
  yaw_radians\": 3.140287473688637,\n      \"speed\": 3.697106030397289,\n      \"\
  segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\n \
  \   },\n    {\n      \"timestamp\": 1763409949.8655097,\n      \"lon\": -121.9886110593436,\n\
  \      \"lat\": 37.37716202040936,\n      \"yaw_radians\": -3.1415830599444847,\n\
  \      \"speed\": 3.5962114787648405,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409949.9633415,\n\
  \      \"lon\": -121.98861503826105,\n      \"lat\": 37.377161996533886,\n     \
  \ \"yaw_radians\": -3.133141089802091,\n      \"speed\": 3.505051497481884,\n  \
  \    \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409950.062995,\n      \"lon\": -121.98861892187566,\n\
  \      \"lat\": 37.3771619844274,\n      \"yaw_radians\": -3.1374826929533643,\n\
  \      \"speed\": 3.5190005683432335,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409950.1764114,\n\
  \      \"lon\": -121.98862268515373,\n      \"lat\": 37.377161908976404,\n     \
  \ \"yaw_radians\": -3.139069610280932,\n      \"speed\": 3.4360145517736096,\n \
  \     \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409950.2709064,\n      \"lon\": -121.98862633855829,\n\
  \      \"lat\": 37.37716187177903,\n      \"yaw_radians\": -3.137946831504212,\n\
  \      \"speed\": 3.322304772292873,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409950.3707302,\n\
  \      \"lon\": -121.98862985902555,\n      \"lat\": 37.37716184018218,\n      \"\
  yaw_radians\": -3.132533759432976,\n      \"speed\": 3.230247668523267,\n      \"\
  segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\n \
  \   },\n    {\n      \"timestamp\": 1763409950.4647655,\n      \"lon\": -121.9886332902974,\n\
  \      \"lat\": 37.377161807359975,\n      \"yaw_radians\": -3.126043418382325,\n\
  \      \"speed\": 3.1290485774433097,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409950.5649955,\n\
  \      \"lon\": -121.98863660126223,\n      \"lat\": 37.3771617969621,\n      \"\
  yaw_radians\": -3.1283643623040454,\n      \"speed\": 2.9350061328726387,\n    \
  \  \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409950.6698415,\n      \"lon\": -121.98863975910483,\n\
  \      \"lat\": 37.377161757968736,\n      \"yaw_radians\": -3.1352013888288646,\n\
  \      \"speed\": 2.9350061328726387,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409950.767541,\n\
  \      \"lon\": -121.98864275215021,\n      \"lat\": 37.377161736141645,\n     \
  \ \"yaw_radians\": -3.135748738847684,\n      \"speed\": 2.8077524819684516,\n \
  \     \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409950.8721755,\n      \"lon\": -121.9886456038103,\n\
  \      \"lat\": 37.37716171430253,\n      \"yaw_radians\": -3.1265137169031627,\n\
  \      \"speed\": 2.662243414866492,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409950.9726226,\n\
  \      \"lon\": -121.9886482674441,\n      \"lat\": 37.377161683068884,\n      \"\
  yaw_radians\": -3.123052636998708,\n      \"speed\": 2.5324740867381053,\n     \
  \ \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409951.0651317,\n      \"lon\": -121.98865068926592,\n\
  \      \"lat\": 37.37716163196595,\n      \"yaw_radians\": -3.1284435067450747,\n\
  \      \"speed\": 2.346,\n      \"segment_id\": \"driving_segment_rooftop\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409951.1788704,\n\
  \      \"lon\": -121.98865295002261,\n      \"lat\": 37.37716159093198,\n      \"\
  yaw_radians\": -3.1282360079225504,\n      \"speed\": 2.1506047986554853,\n    \
  \  \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409951.2853537,\n      \"lon\": -121.98865500693462,\n\
  \      \"lat\": 37.377161560504675,\n      \"yaw_radians\": -3.128102508248441,\n\
  \      \"speed\": 1.9984003602881981,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409951.367661,\n\
  \      \"lon\": -121.98865683603569,\n      \"lat\": 37.377161538484174,\n     \
  \ \"yaw_radians\": -3.1202449741959652,\n      \"speed\": 1.816337248420568,\n \
  \     \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409951.4683824,\n      \"lon\": -121.9886584314322,\n\
  \      \"lat\": 37.377161508563624,\n      \"yaw_radians\": -3.1120553151219648,\n\
  \      \"speed\": 1.6386268641762225,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409951.5677328,\n\
  \      \"lon\": -121.98865986729712,\n      \"lat\": 37.37716148176443,\n      \"\
  yaw_radians\": -3.1154093085902614,\n      \"speed\": 1.421090074555445,\n     \
  \ \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409951.6637292,\n      \"lon\": -121.9886611227816,\n\
  \      \"lat\": 37.3771614519733,\n      \"yaw_radians\": -3.119345034188794,\n\
  \      \"speed\": 1.2683091105877935,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409951.763592,\n\
  \      \"lon\": -121.98866215402522,\n      \"lat\": 37.37716143995883,\n      \"\
  yaw_radians\": -3.1248406664071693,\n      \"speed\": 1.1121623082985685,\n    \
  \  \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409951.8664763,\n      \"lon\": -121.98866304932666,\n\
  \      \"lat\": 37.377161418150976,\n      \"yaw_radians\": -3.124602901570217,\n\
  \      \"speed\": 0.9060198673318373,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409951.965565,\n\
  \      \"lon\": -121.98866376832275,\n      \"lat\": 37.377161386456706,\n     \
  \ \"yaw_radians\": -3.1234092633792514,\n      \"speed\": 0.7923635529225206,\n\
  \      \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1763409952.065687,\n      \"lon\": -121.98866435098233,\n\
  \      \"lat\": 37.37716139394477,\n      \"yaw_radians\": -3.1189214262632117,\n\
  \      \"speed\": 0.6501730538864249,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409952.1766543,\n\
  \      \"lon\": -121.98866478107736,\n      \"lat\": 37.377161409733084,\n     \
  \ \"yaw_radians\": 3.141474346976099,\n      \"speed\": 0.4933659899101275,\n  \
  \    \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409952.2647169,\n      \"lon\": -121.98866508923324,\n\
  \      \"lat\": 37.37716140115306,\n      \"yaw_radians\": 3.129758147900275,\n\
  \      \"speed\": 0.38915549591390847,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409952.3665786,\n\
  \      \"lon\": -121.98866534766705,\n      \"lat\": 37.377161423946475,\n     \
  \ \"yaw_radians\": -3.129596162693851,\n      \"speed\": 0.29689223634174067,\n\
  \      \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1763409952.4625728,\n      \"lon\":\
  \ -121.98866553710954,\n      \"lat\": 37.377161413882924,\n      \"yaw_radians\"\
  : -3.129596162693851,\n      \"speed\": 0.20511947737842937,\n      \"segment_id\"\
  : \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\n    },\n    {\n\
  \      \"timestamp\": 1763409952.5678792,\n      \"lon\": -121.98866567003441,\n\
  \      \"lat\": 37.37716142885651,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.16304907236779975,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409952.6633909,\n\
  \      \"lon\": -121.98866575798931,\n      \"lat\": 37.37716142083272,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.11344161493913951,\n    \
  \  \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409952.7607956,\n      \"lon\": -121.98866582467623,\n\
  \      \"lat\": 37.37716143480861,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.08856635930193811,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409952.8650203,\n\
  \      \"lon\": -121.98866589183065,\n      \"lat\": 37.377161429813974,\n     \
  \ \"yaw_radians\": -3.129596162693851,\n      \"speed\": 0.05854912467321779,\n\
  \      \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1763409952.9650729,\n      \"lon\":\
  \ -121.98866593410317,\n      \"lat\": 37.377161445314954,\n      \"yaw_radians\"\
  : -3.129596162693851,\n      \"speed\": 0.06606814663663572,\n      \"segment_id\"\
  : \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\n    },\n    {\n\
  \      \"timestamp\": 1763409953.0644395,\n      \"lon\": -121.98866598305872,\n\
  \      \"lat\": 37.37716143382935,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.04244997055358225,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409953.176931,\n\
  \      \"lon\": -121.98866598580912,\n      \"lat\": 37.37716144153882,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.03313608305156178,\n    \
  \  \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409953.276641,\n      \"lon\": -121.98866597864577,\n\
  \      \"lat\": 37.37716143190282,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.018788294228055936,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409953.3646362,\n\
  \      \"lon\": -121.98866597010357,\n      \"lat\": 37.37716146415391,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.013000000000000001,\n   \
  \   \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409953.467901,\n      \"lon\": -121.98866597766369,\n\
  \      \"lat\": 37.37716147552534,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.013038404810405297,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409953.565327,\n\
  \      \"lon\": -121.98866598416014,\n      \"lat\": 37.37716147464127,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.013038404810405297,\n   \
  \   \"segment_id\": \"driving_segment_rooftop\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1763409953.6653454,\n      \"lon\": -121.9886659718829,\n\
  \      \"lat\": 37.37716147087709,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.01341640786499874,\n      \"segment_id\": \"driving_segment_rooftop\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1763409973.6619809,\n\
  \      \"lon\": -121.98866600262768,\n      \"lat\": 37.37716145726584,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.002,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409973.7646723,\n      \"lon\": -121.98866607186278,\n\
  \      \"lat\": 37.37716146064815,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.018248287590894658,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409973.8656995,\n      \"lon\": -121.98866619350173,\n      \"lat\": 37.37716146048787,\n\
  \      \"yaw_radians\": -3.129596162693851,\n      \"speed\": 0.07034912934784623,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409973.9649107,\n  \
  \    \"lon\": -121.98866640609252,\n      \"lat\": 37.37716147615222,\n      \"\
  yaw_radians\": -3.129596162693851,\n      \"speed\": 0.10304368005850723,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409974.0663555,\n      \"lon\": -121.98866666750767,\n\
  \      \"lat\": 37.37716146400834,\n      \"yaw_radians\": -3.129596162693851,\n\
  \      \"speed\": 0.18859745491389857,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409974.1790776,\n      \"lon\": -121.98866699622343,\n      \"lat\": 37.377161453391686,\n\
  \      \"yaw_radians\": -3.129596162693851,\n      \"speed\": 0.22726636354727026,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409974.2725635,\n  \
  \    \"lon\": -121.98866740068658,\n      \"lat\": 37.37716143586389,\n      \"\
  yaw_radians\": -3.1005431909844248,\n      \"speed\": 0.29904180309782774,\n   \
  \   \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409974.3690202,\n      \"lon\": -121.988667804152,\n\
  \      \"lat\": 37.377161447272464,\n      \"yaw_radians\": -3.140860281967878,\n\
  \      \"speed\": 0.34409301068170506,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409974.4655573,\n      \"lon\": -121.98866824313536,\n      \"lat\": 37.37716146960698,\n\
  \      \"yaw_radians\": 3.133994697687756,\n      \"speed\": 0.3611121709386157,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409974.5675976,\n  \
  \    \"lon\": -121.98866876322411,\n      \"lat\": 37.3771614625626,\n      \"yaw_radians\"\
  : 3.1237811056535723,\n      \"speed\": 0.41101094875927574,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409974.6630669,\n      \"lon\": -121.98866932438806,\n\
  \      \"lat\": 37.37716145186485,\n      \"yaw_radians\": 3.134542247997317,\n\
  \      \"speed\": 0.456,\n      \"segment_id\": \"parking_segment_rooftop_2\",\n\
  \      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409974.768226,\n      \"lon\": -121.98866993010785,\n      \"lat\": 37.37716145935627,\n\
  \      \"yaw_radians\": -3.1334950241973045,\n      \"speed\": 0.5021682984816943,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409974.867777,\n   \
  \   \"lon\": -121.98867056264501,\n      \"lat\": 37.37716147913299,\n      \"yaw_radians\"\
  : 3.1406737636222717,\n      \"speed\": 0.5322114241539729,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409974.9655194,\n      \"lon\": -121.98867129532833,\n\
  \      \"lat\": 37.37716150273896,\n      \"yaw_radians\": 3.103869189579352,\n\
  \      \"speed\": 0.6390719834259675,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409975.066402,\n      \"lon\": -121.9886720912133,\n      \"lat\": 37.37716151464365,\n\
  \      \"yaw_radians\": 3.087107504159058,\n      \"speed\": 0.6390719834259675,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409975.1758223,\n  \
  \    \"lon\": -121.98867291462248,\n      \"lat\": 37.37716156128695,\n      \"\
  yaw_radians\": 3.091365250005005,\n      \"speed\": 0.7353176184479738,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409975.2810113,\n      \"lon\": -121.98867380196202,\n\
  \      \"lat\": 37.37716160440738,\n      \"yaw_radians\": 3.090976253823535,\n\
  \      \"speed\": 0.7353176184479738,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409975.3671625,\n      \"lon\": -121.9886747505808,\n      \"lat\": 37.37716165960095,\n\
  \      \"yaw_radians\": 3.094350322496871,\n      \"speed\": 0.7992759223196957,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409975.4663708,\n  \
  \    \"lon\": -121.9886758177729,\n      \"lat\": 37.377161692176045,\n      \"\
  yaw_radians\": 3.0909181982574307,\n      \"speed\": 0.8521150157109074,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409975.5666432,\n      \"lon\": -121.98867691281602,\n\
  \      \"lat\": 37.37716174651811,\n      \"yaw_radians\": 3.0858846889290907,\n\
  \      \"speed\": 0.9183185721741667,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409975.6682324,\n      \"lon\": -121.98867812036495,\n      \"lat\": 37.3771617796214,\n\
  \      \"yaw_radians\": 3.0681293415040813,\n      \"speed\": 0.9775484642717208,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409975.7643995,\n  \
  \    \"lon\": -121.98867938692955,\n      \"lat\": 37.3771618619566,\n      \"yaw_radians\"\
  : 3.072387068808846,\n      \"speed\": 1.058123338746481,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409975.8668294,\n      \"lon\": -121.9886807078977,\n\
  \      \"lat\": 37.37716193854079,\n      \"yaw_radians\": 3.0804288236811797,\n\
  \      \"speed\": 1.1284950154963025,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409975.9652157,\n      \"lon\": -121.98868212083924,\n      \"lat\": 37.37716200363188,\n\
  \      \"yaw_radians\": 3.0732645365205222,\n      \"speed\": 1.1851244660372175,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409976.066638,\n   \
  \   \"lon\": -121.988683657344,\n      \"lat\": 37.37716208388776,\n      \"yaw_radians\"\
  : 3.069546326211308,\n      \"speed\": 1.3602382144315754,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409976.167815,\n      \"lon\": -121.98868526740604,\n\
  \      \"lat\": 37.37716214718573,\n      \"yaw_radians\": 3.068284388531841,\n\
  \      \"speed\": 1.3602382144315754,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409976.2632096,\n      \"lon\": -121.98868693443335,\n      \"lat\": 37.3771622627624,\n\
  \      \"yaw_radians\": 3.0725618473522287,\n      \"speed\": 1.4158986545653611,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409976.3563025,\n  \
  \    \"lon\": -121.98868876415533,\n      \"lat\": 37.37716235964281,\n      \"\
  yaw_radians\": 3.07689473445806,\n      \"speed\": 1.4937138280139208,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409976.4663756,\n      \"lon\": -121.98869062931367,\n\
  \      \"lat\": 37.37716244445563,\n      \"yaw_radians\": 3.07268095661137,\n \
  \     \"speed\": 1.60357163856187,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409976.5680096,\n      \"lon\": -121.98869259473895,\n      \"lat\": 37.377162482525776,\n\
  \      \"yaw_radians\": 3.090413105398992,\n      \"speed\": 1.6727474405898817,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409976.6674907,\n  \
  \    \"lon\": -121.9886946155212,\n      \"lat\": 37.377162587260806,\n      \"\
  yaw_radians\": 3.0971608569188325,\n      \"speed\": 1.7217912184698818,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409976.775045,\n      \"lon\": -121.98869671182224,\n\
  \      \"lat\": 37.37716270669626,\n      \"yaw_radians\": 3.094637774263365,\n\
  \      \"speed\": 1.7971288212034215,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409976.8681753,\n      \"lon\": -121.98869892020593,\n      \"lat\": 37.37716275757268,\n\
  \      \"yaw_radians\": 3.086698967982602,\n      \"speed\": 1.8785379953570276,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409976.966157,\n   \
  \   \"lon\": -121.98870120209415,\n      \"lat\": 37.377162816299595,\n      \"\
  yaw_radians\": 3.0933803529163892,\n      \"speed\": 1.9487259940792088,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409977.067564,\n      \"lon\": -121.98870354967967,\n\
  \      \"lat\": 37.37716286891183,\n      \"yaw_radians\": 3.102347523039799,\n\
  \      \"speed\": 2.022354321082238,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409977.168735,\n      \"lon\": -121.98870593704274,\n      \"lat\": 37.37716294603398,\n\
  \      \"yaw_radians\": 3.108719568235484,\n      \"speed\": 2.0786257479402104,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409977.2799757,\n  \
  \    \"lon\": -121.9887084412883,\n      \"lat\": 37.3771630127332,\n      \"yaw_radians\"\
  : 3.109441222935394,\n      \"speed\": 2.1315018179677914,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409977.3628786,\n      \"lon\": -121.98871101266722,\n\
  \      \"lat\": 37.37716307273615,\n      \"yaw_radians\": 3.1110117288466697,\n\
  \      \"speed\": 2.223275511491997,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409977.4669113,\n      \"lon\": -121.98871362597481,\n      \"lat\": 37.377163139873986,\n\
  \      \"yaw_radians\": 3.1115156704726936,\n      \"speed\": 2.260169241450737,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409977.567124,\n   \
  \   \"lon\": -121.9887162799148,\n      \"lat\": 37.37716317727703,\n      \"yaw_radians\"\
  : 3.113030601472005,\n      \"speed\": 2.321651567311512,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409977.6652048,\n      \"lon\": -121.98871895261077,\n\
  \      \"lat\": 37.377163267482814,\n      \"yaw_radians\": 3.1060401645040425,\n\
  \      \"speed\": 2.3401376027917675,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409977.7650611,\n      \"lon\": -121.98872163267042,\n      \"lat\": 37.37716331753029,\n\
  \      \"yaw_radians\": 3.1096157672850295,\n      \"speed\": 2.3698643421090586,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409977.8683395,\n  \
  \    \"lon\": -121.98872430833067,\n      \"lat\": 37.37716339239661,\n      \"\
  yaw_radians\": 3.109537748107141,\n      \"speed\": 2.3621909321644603,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409977.964048,\n      \"lon\": -121.98872700423708,\n\
  \      \"lat\": 37.3771634341612,\n      \"yaw_radians\": 3.113563087103507,\n \
  \     \"speed\": 2.3876107304164975,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409978.0639462,\n      \"lon\": -121.98872964811919,\n      \"lat\": 37.377163507916144,\n\
  \      \"yaw_radians\": 3.1149984776990607,\n      \"speed\": 2.32007068857826,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409978.1700065,\n  \
  \    \"lon\": -121.98873224143603,\n      \"lat\": 37.37716354550565,\n      \"\
  yaw_radians\": 3.1104789034769,\n      \"speed\": 2.32007068857826,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409978.2611072,\n      \"lon\": -121.98873479421718,\n\
  \      \"lat\": 37.37716362149839,\n      \"yaw_radians\": 3.1097447491159778,\n\
  \      \"speed\": 2.296732461563601,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409978.3586419,\n      \"lon\": -121.98873736516558,\n      \"lat\": 37.37716365389142,\n\
  \      \"yaw_radians\": 3.1174433812433064,\n      \"speed\": 2.287223863114409,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409978.4678824,\n  \
  \    \"lon\": -121.9887398916704,\n      \"lat\": 37.37716370454533,\n      \"yaw_radians\"\
  : 3.11808462333752,\n      \"speed\": 2.2325160693710586,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409978.5704663,\n      \"lon\": -121.98874241807319,\n\
  \      \"lat\": 37.37716376432838,\n      \"yaw_radians\": 3.1145751555996926,\n\
  \      \"speed\": 2.2325160693710586,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409978.667275,\n      \"lon\": -121.98874486394747,\n      \"lat\": 37.37716382577328,\n\
  \      \"yaw_radians\": 3.110944129205184,\n      \"speed\": 2.2401573605441203,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409978.7677543,\n  \
  \    \"lon\": -121.98874729679996,\n      \"lat\": 37.37716391928088,\n      \"\
  yaw_radians\": 3.104985709086979,\n      \"speed\": 2.1570057950779824,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409978.8673785,\n      \"lon\": -121.98874977341227,\n\
  \      \"lat\": 37.37716393129288,\n      \"yaw_radians\": 3.1046765398840583,\n\
  \      \"speed\": 2.1695762259021922,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409978.967029,\n      \"lon\": -121.9887522099948,\n      \"lat\": 37.37716395012544,\n\
  \      \"yaw_radians\": 3.123929443984827,\n      \"speed\": 2.20300022696322,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409979.0648549,\n  \
  \    \"lon\": -121.9887546270615,\n      \"lat\": 37.3771640267087,\n      \"yaw_radians\"\
  : 3.128353862557097,\n      \"speed\": 2.1326157647358794,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409979.1688025,\n      \"lon\": -121.98875704746682,\n\
  \      \"lat\": 37.3771641111573,\n      \"yaw_radians\": 3.108867699735696,\n \
  \     \"speed\": 2.1519165876027815,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409979.2803357,\n      \"lon\": -121.9887594386406,\n      \"lat\": 37.37716418519018,\n\
  \      \"yaw_radians\": 3.101128945835176,\n      \"speed\": 2.118549031766789,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409979.3665588,\n  \
  \    \"lon\": -121.9887618680778,\n      \"lat\": 37.37716424199264,\n      \"yaw_radians\"\
  : 3.0978187915732205,\n      \"speed\": 2.118549031766789,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409979.4693503,\n      \"lon\": -121.98876426644532,\n\
  \      \"lat\": 37.37716428644631,\n      \"yaw_radians\": 3.113442535972658,\n\
  \      \"speed\": 2.1521821484251746,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409979.5706654,\n      \"lon\": -121.98876668985959,\n      \"lat\": 37.37716435063698,\n\
  \      \"yaw_radians\": 3.113290317717466,\n      \"speed\": 2.1235837633585355,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409979.667179,\n   \
  \   \"lon\": -121.98876908193023,\n      \"lat\": 37.377164374093695,\n      \"\
  yaw_radians\": 3.114356211620891,\n      \"speed\": 2.1271520867112437,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409979.765443,\n      \"lon\": -121.9887714698767,\n\
  \      \"lat\": 37.37716444422851,\n      \"yaw_radians\": 3.1138977576811695,\n\
  \      \"speed\": 2.116306216028295,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409979.8663502,\n      \"lon\": -121.98877390270435,\n      \"lat\": 37.37716452092062,\n\
  \      \"yaw_radians\": 3.1108084411913217,\n      \"speed\": 2.116000945179373,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409979.9637637,\n  \
  \    \"lon\": -121.98877631769093,\n      \"lat\": 37.37716454756207,\n      \"\
  yaw_radians\": 3.1114395125981615,\n      \"speed\": 2.15095234721739,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409980.0676742,\n      \"lon\": -121.98877870960943,\n\
  \      \"lat\": 37.37716461809966,\n      \"yaw_radians\": 3.104896966270076,\n\
  \      \"speed\": 2.128184672437991,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409980.168057,\n      \"lon\": -121.98878112761271,\n      \"lat\": 37.377164684357766,\n\
  \      \"yaw_radians\": 3.116691822880082,\n      \"speed\": 2.1422100737322656,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409980.26371,\n    \
  \  \"lon\": -121.98878350375558,\n      \"lat\": 37.37716474995559,\n      \"yaw_radians\"\
  : 3.1039488815214593,\n      \"speed\": 2.1170179498530475,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409980.359392,\n      \"lon\": -121.98878593780289,\n\
  \      \"lat\": 37.377164798405225,\n      \"yaw_radians\": 3.101246355995225,\n\
  \      \"speed\": 2.1194567700238665,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409980.4703712,\n      \"lon\": -121.98878835782354,\n      \"lat\": 37.37716488589361,\n\
  \      \"yaw_radians\": 3.105842976108405,\n      \"speed\": 2.13698876927325,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409980.5676641,\n  \
  \    \"lon\": -121.98879074182392,\n      \"lat\": 37.377164916395664,\n      \"\
  yaw_radians\": 3.114778347293194,\n      \"speed\": 2.145078087156736,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409980.6654475,\n      \"lon\": -121.98879315802716,\n\
  \      \"lat\": 37.37716497542566,\n      \"yaw_radians\": 3.1077911833722274,\n\
  \      \"speed\": 2.1011037575522065,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409980.7676892,\n      \"lon\": -121.988795531223,\n      \"lat\": 37.37716504629725,\n\
  \      \"yaw_radians\": 3.10910392166083,\n      \"speed\": 2.1344535600476293,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409980.8670156,\n  \
  \    \"lon\": -121.98879792827485,\n      \"lat\": 37.37716509663947,\n      \"\
  yaw_radians\": 3.1099644580670787,\n      \"speed\": 2.1167947467810855,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409980.9659152,\n      \"lon\": -121.98880037687375,\n\
  \      \"lat\": 37.37716513006424,\n      \"yaw_radians\": 3.1169352797339878,\n\
  \      \"speed\": 2.1287902667947356,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409981.0739515,\n      \"lon\": -121.98880275515214,\n      \"lat\": 37.377165171217655,\n\
  \      \"yaw_radians\": 3.115471166908781,\n      \"speed\": 2.1594899860846772,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409981.1719913,\n  \
  \    \"lon\": -121.98880515928722,\n      \"lat\": 37.37716524706534,\n      \"\
  yaw_radians\": 3.121363325586526,\n      \"speed\": 2.1092581634309253,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409981.2905896,\n      \"lon\": -121.98880757376088,\n\
  \      \"lat\": 37.3771653017868,\n      \"yaw_radians\": 3.1188099832698257,\n\
  \      \"speed\": 2.1247009201297016,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409981.3679407,\n      \"lon\": -121.98880995547356,\n      \"lat\": 37.37716535407372,\n\
  \      \"yaw_radians\": 3.1119132111092727,\n      \"speed\": 2.131464519995583,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409981.4674506,\n  \
  \    \"lon\": -121.98881235076998,\n      \"lat\": 37.377165367546404,\n      \"\
  yaw_radians\": 3.105495275538376,\n      \"speed\": 2.1287367145797997,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409981.5652022,\n      \"lon\": -121.98881476934977,\n\
  \      \"lat\": 37.377165401611805,\n      \"yaw_radians\": 3.1153419015963153,\n\
  \      \"speed\": 2.1174572014565016,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409981.6636791,\n      \"lon\": -121.98881717392851,\n      \"lat\": 37.37716544171312,\n\
  \      \"yaw_radians\": 3.1220707423300795,\n      \"speed\": 2.15223790506533,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409981.76771,\n    \
  \  \"lon\": -121.98881955168409,\n      \"lat\": 37.37716550192561,\n      \"yaw_radians\"\
  : 3.120925327602509,\n      \"speed\": 2.1207394936672443,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409981.8652053,\n      \"lon\": -121.98882195798802,\n\
  \      \"lat\": 37.37716552629994,\n      \"yaw_radians\": 3.118918385409701,\n\
  \      \"speed\": 2.1015482387991953,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409981.965311,\n      \"lon\": -121.98882434893636,\n      \"lat\": 37.37716555556778,\n\
  \      \"yaw_radians\": 3.118055470939795,\n      \"speed\": 2.1373932721892803,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409982.0654979,\n  \
  \    \"lon\": -121.98882674739359,\n      \"lat\": 37.37716561026831,\n      \"\
  yaw_radians\": 3.1236502520367666,\n      \"speed\": 2.1200339619921187,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409982.16984,\n      \"lon\": -121.98882911981296,\n\
  \      \"lat\": 37.37716562448079,\n      \"yaw_radians\": 3.1235465873436485,\n\
  \      \"speed\": 2.1099407574621614,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409982.2681525,\n      \"lon\": -121.98883150414449,\n      \"lat\": 37.37716569352844,\n\
  \      \"yaw_radians\": 3.1207582023371025,\n      \"speed\": 2.113909411493312,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409982.3659554,\n  \
  \    \"lon\": -121.98883390254335,\n      \"lat\": 37.37716571704864,\n      \"\
  yaw_radians\": 3.116023480873222,\n      \"speed\": 2.11211458022523,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409982.464393,\n      \"lon\": -121.98883629273527,\n\
  \      \"lat\": 37.37716570969693,\n      \"yaw_radians\": 3.1200187831454165,\n\
  \      \"speed\": 2.11211458022523,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409982.5643384,\n      \"lon\": -121.98883868800093,\n      \"lat\": 37.37716576265017,\n\
  \      \"yaw_radians\": 3.1229518284103306,\n      \"speed\": 2.1161987146768615,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409982.6642468,\n  \
  \    \"lon\": -121.98884102749153,\n      \"lat\": 37.37716577193353,\n      \"\
  yaw_radians\": 3.1230456305867977,\n      \"speed\": 2.1127962514165914,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409982.7649508,\n      \"lon\": -121.98884340909866,\n\
  \      \"lat\": 37.377165808493494,\n      \"yaw_radians\": 3.1280616513170303,\n\
  \      \"speed\": 2.084000239923211,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409982.867724,\n      \"lon\": -121.98884578182027,\n      \"lat\": 37.37716583868973,\n\
  \      \"yaw_radians\": 3.1307989279621493,\n      \"speed\": 2.111199185297304,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409982.9665515,\n  \
  \    \"lon\": -121.98884817786315,\n      \"lat\": 37.377165841773675,\n      \"\
  yaw_radians\": 3.13219718065531,\n      \"speed\": 2.1014399824881984,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409983.067307,\n      \"lon\": -121.98885055101601,\n\
  \      \"lat\": 37.37716583439112,\n      \"yaw_radians\": 3.124790749448397,\n\
  \      \"speed\": 2.1142575529012544,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409983.1704137,\n      \"lon\": -121.98885290731242,\n      \"lat\": 37.377165899200534,\n\
  \      \"yaw_radians\": 3.1283117474498527,\n      \"speed\": 2.0900344494768497,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409983.281699,\n   \
  \   \"lon\": -121.98885526745778,\n      \"lat\": 37.377165933031264,\n      \"\
  yaw_radians\": 3.1336688677443623,\n      \"speed\": 2.112417572356375,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409983.366209,\n      \"lon\": -121.98885766135352,\n\
  \      \"lat\": 37.377165934503616,\n      \"yaw_radians\": 3.130009730364588,\n\
  \      \"speed\": 2.0931493018893805,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409983.4671886,\n      \"lon\": -121.98886005985207,\n      \"lat\": 37.377165950146136,\n\
  \      \"yaw_radians\": 3.126004606279937,\n      \"speed\": 2.1002142747824566,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409983.5658243,\n  \
  \    \"lon\": -121.98886244467553,\n      \"lat\": 37.37716597863306,\n      \"\
  yaw_radians\": 3.1237039534287034,\n      \"speed\": 2.1066921939381653,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409983.6656654,\n      \"lon\": -121.98886482884065,\n\
  \      \"lat\": 37.37716601635247,\n      \"yaw_radians\": 3.123919458367642,\n\
  \      \"speed\": 2.123008478551134,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409983.765909,\n      \"lon\": -121.98886723811007,\n      \"lat\": 37.37716602910462,\n\
  \      \"yaw_radians\": 3.1278447998662124,\n      \"speed\": 2.121124701661833,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409983.8670137,\n  \
  \    \"lon\": -121.98886961764639,\n      \"lat\": 37.377166020529685,\n      \"\
  yaw_radians\": 3.1337617610190365,\n      \"speed\": 2.121124701661833,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409983.9647858,\n      \"lon\": -121.98887203125474,\n\
  \      \"lat\": 37.377166052338914,\n      \"yaw_radians\": 3.133378771897053,\n\
  \      \"speed\": 2.1080192124361674,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409984.0670905,\n      \"lon\": -121.98887443333174,\n      \"lat\": 37.3771660853867,\n\
  \      \"yaw_radians\": 3.1324754854106542,\n      \"speed\": 2.1371834268494596,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409984.1680422,\n  \
  \    \"lon\": -121.98887682369967,\n      \"lat\": 37.37716611935158,\n      \"\
  yaw_radians\": 3.133797143694381,\n      \"speed\": 2.1250190587380624,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409984.267076,\n      \"lon\": -121.98887922954968,\n\
  \      \"lat\": 37.377166113206805,\n      \"yaw_radians\": 3.1289075332922254,\n\
  \      \"speed\": 2.1210285240891977,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409984.3777852,\n      \"lon\": -121.98888164803391,\n      \"lat\": 37.377166136704275,\n\
  \      \"yaw_radians\": 3.1271703963570965,\n      \"speed\": 2.1210285240891977,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409984.4749856,\n  \
  \    \"lon\": -121.98888410706152,\n      \"lat\": 37.37716619405609,\n      \"\
  yaw_radians\": 3.129657813900984,\n      \"speed\": 2.1411130283102757,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409984.5649488,\n      \"lon\": -121.98888651492712,\n\
  \      \"lat\": 37.37716622051392,\n      \"yaw_radians\": 3.1346087989803664,\n\
  \      \"speed\": 2.1780229567201537,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409984.6667936,\n      \"lon\": -121.98888891006293,\n      \"lat\": 37.37716622392058,\n\
  \      \"yaw_radians\": 3.130081556048332,\n      \"speed\": 2.1208208316592896,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409984.7698922,\n  \
  \    \"lon\": -121.98889133703881,\n      \"lat\": 37.377166231905555,\n      \"\
  yaw_radians\": 3.127289659269439,\n      \"speed\": 2.1280338343174905,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409984.868625,\n      \"lon\": -121.98889376267907,\n\
  \      \"lat\": 37.377166232100556,\n      \"yaw_radians\": 3.1317232644389557,\n\
  \      \"speed\": 2.147028178669297,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409984.9659858,\n      \"lon\": -121.9888961854443,\n      \"lat\": 37.37716626201751,\n\
  \      \"yaw_radians\": 3.133812252305732,\n      \"speed\": 2.1293214881741087,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409985.0666673,\n  \
  \    \"lon\": -121.98889863632499,\n      \"lat\": 37.37716631296032,\n      \"\
  yaw_radians\": 3.1319488714009567,\n      \"speed\": 2.1801433439111295,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409985.1713524,\n      \"lon\": -121.98890105992157,\n\
  \      \"lat\": 37.377166253014025,\n      \"yaw_radians\": 3.131862040490573,\n\
  \      \"speed\": 2.1801433439111295,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409985.2823977,\n      \"lon\": -121.98890348896502,\n      \"lat\": 37.377166266555754,\n\
  \      \"yaw_radians\": 3.1405571681206346,\n      \"speed\": 2.1457308778129653,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409985.3623316,\n  \
  \    \"lon\": -121.98890589121329,\n      \"lat\": 37.37716629407818,\n      \"\
  yaw_radians\": 3.1390923799157213,\n      \"speed\": 2.1417586231879633,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409985.467754,\n      \"lon\": -121.9889083156136,\n\
  \      \"lat\": 37.377166350649034,\n      \"yaw_radians\": 3.1398083474147276,\n\
  \      \"speed\": 2.1550670523211104,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409985.5658975,\n      \"lon\": -121.98891074966123,\n      \"lat\": 37.37716635424904,\n\
  \      \"yaw_radians\": 3.1336657970886446,\n      \"speed\": 2.175002068964533,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409985.6643236,\n  \
  \    \"lon\": -121.98891317381968,\n      \"lat\": 37.37716633561579,\n      \"\
  yaw_radians\": 3.1315962549886405,\n      \"speed\": 2.1405382500670247,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409985.7662864,\n      \"lon\": -121.9889155970007,\n\
  \      \"lat\": 37.37716633895382,\n      \"yaw_radians\": 3.135302570864745,\n\
  \      \"speed\": 2.161122393572377,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409985.864914,\n      \"lon\": -121.98891800745791,\n      \"lat\": 37.377166372365046,\n\
  \      \"yaw_radians\": 3.137438420145754,\n      \"speed\": 2.147008383774968,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409985.963243,\n   \
  \   \"lon\": -121.98892043201744,\n      \"lat\": 37.377166405830856,\n      \"\
  yaw_radians\": -3.140955732503507,\n      \"speed\": 2.146045665870137,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409986.064514,\n      \"lon\": -121.98892288008,\n\
  \      \"lat\": 37.37716639892564,\n      \"yaw_radians\": 3.1237536957762453,\n\
  \      \"speed\": 2.128658027960339,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409986.165926,\n      \"lon\": -121.9889252667952,\n      \"lat\": 37.37716643112572,\n\
  \      \"yaw_radians\": 3.1250303108501027,\n      \"speed\": 2.1790917832895427,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409986.2732048,\n  \
  \    \"lon\": -121.98892763725601,\n      \"lat\": 37.377166416882154,\n      \"\
  yaw_radians\": 3.12120037238402,\n      \"speed\": 2.1122736565132842,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409986.3581665,\n      \"lon\": -121.98893005837913,\n\
  \      \"lat\": 37.37716640175997,\n      \"yaw_radians\": 3.1372344051100782,\n\
  \      \"speed\": 2.113185510077144,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409986.4644053,\n      \"lon\": -121.98893239287351,\n      \"lat\": 37.37716640647221,\n\
  \      \"yaw_radians\": 3.139125684879589,\n      \"speed\": 2.1080464890509414,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409986.5667686,\n  \
  \    \"lon\": -121.98893469583652,\n      \"lat\": 37.377166391149004,\n      \"\
  yaw_radians\": -3.1392678517682824,\n      \"speed\": 2.0590349681343443,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409986.670931,\n      \"lon\": -121.98893697850073,\n\
  \      \"lat\": 37.37716639332808,\n      \"yaw_radians\": -3.134917662931856,\n\
  \      \"speed\": 2.0452056131352663,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409986.7695634,\n      \"lon\": -121.9889392154492,\n      \"lat\": 37.37716637684745,\n\
  \      \"yaw_radians\": -3.1342814782743322,\n      \"speed\": 2.0230121106903933,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409986.869195,\n   \
  \   \"lon\": -121.98894143030924,\n      \"lat\": 37.37716636286024,\n      \"yaw_radians\"\
  : 3.1406005038738707,\n      \"speed\": 1.9640366595356615,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409986.9658263,\n      \"lon\": -121.98894365561456,\n\
  \      \"lat\": 37.37716637065035,\n      \"yaw_radians\": 3.139187329572146,\n\
  \      \"speed\": 1.9680497961179741,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409987.0651762,\n      \"lon\": -121.98894585733284,\n      \"lat\": 37.37716636765067,\n\
  \      \"yaw_radians\": 3.1407690545523623,\n      \"speed\": 1.947012583421073,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409987.1672835,\n  \
  \    \"lon\": -121.98894803747554,\n      \"lat\": 37.37716634044971,\n      \"\
  yaw_radians\": 3.1412688698829005,\n      \"speed\": 1.9262336306896939,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409987.282494,\n      \"lon\": -121.98895021435001,\n\
  \      \"lat\": 37.377166334196936,\n      \"yaw_radians\": -3.138025891654566,\n\
  \      \"speed\": 1.9262336306896939,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409987.3698554,\n      \"lon\": -121.98895240362822,\n      \"lat\": 37.37716638206853,\n\
  \      \"yaw_radians\": 3.141303856751234,\n      \"speed\": 1.9312029929554273,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409987.4651508,\n  \
  \    \"lon\": -121.98895459868619,\n      \"lat\": 37.37716643351549,\n      \"\
  yaw_radians\": -3.1392014485387962,\n      \"speed\": 1.9380931350169939,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409987.564213,\n      \"lon\": -121.98895678835841,\n\
  \      \"lat\": 37.377166418847935,\n      \"yaw_radians\": 3.138541001613555,\n\
  \      \"speed\": 1.964101830354017,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409987.664654,\n      \"lon\": -121.98895898309463,\n      \"lat\": 37.37716641259084,\n\
  \      \"yaw_radians\": -3.140298081028783,\n      \"speed\": 1.9360506191729594,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409987.7655046,\n  \
  \    \"lon\": -121.98896120719829,\n      \"lat\": 37.37716637569598,\n      \"\
  yaw_radians\": 3.1366964942459323,\n      \"speed\": 1.9390312013992967,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409987.868,\n      \"lon\": -121.98896344094005,\n\
  \      \"lat\": 37.37716637397176,\n      \"yaw_radians\": 3.1405534755202953,\n\
  \      \"speed\": 1.9600206631563861,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409987.962377,\n      \"lon\": -121.9889656296992,\n      \"lat\": 37.377166384858725,\n\
  \      \"yaw_radians\": -3.1412158076595516,\n      \"speed\": 1.9770161860743578,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409988.0634382,\n  \
  \    \"lon\": -121.98896779323574,\n      \"lat\": 37.377166389963584,\n      \"\
  yaw_radians\": -3.1403066072654844,\n      \"speed\": 1.936113891278093,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409988.1658158,\n      \"lon\": -121.98896990715026,\n\
  \      \"lat\": 37.37716639237151,\n      \"yaw_radians\": 3.1344731066412677,\n\
  \      \"speed\": 1.9094619661045884,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409988.273647,\n      \"lon\": -121.98897205468498,\n      \"lat\": 37.37716634246772,\n\
  \      \"yaw_radians\": 3.131617150566409,\n      \"speed\": 1.8972372018279633,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409988.3657086,\n  \
  \    \"lon\": -121.98897412420298,\n      \"lat\": 37.377166362751865,\n      \"\
  yaw_radians\": -3.1412957950830984,\n      \"speed\": 1.8771800659499875,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409988.4660401,\n      \"lon\": -121.98897615727043,\n\
  \      \"lat\": 37.37716637299649,\n      \"yaw_radians\": -3.1296178448372376,\n\
  \      \"speed\": 1.8330002727768482,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409988.5672402,\n      \"lon\": -121.98897814570823,\n      \"lat\": 37.37716631967947,\n\
  \      \"yaw_radians\": -3.135962562130515,\n      \"speed\": 1.8170396253246652,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409988.6657653,\n  \
  \    \"lon\": -121.98898007726542,\n      \"lat\": 37.37716633155815,\n      \"\
  yaw_radians\": -3.1331083081166247,\n      \"speed\": 1.7441791765756176,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409988.7638247,\n      \"lon\": -121.98898202627544,\n\
  \      \"lat\": 37.37716636314116,\n      \"yaw_radians\": -3.1356689780105174,\n\
  \      \"speed\": 1.7131287167051985,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409988.8686793,\n      \"lon\": -121.98898394266169,\n      \"lat\": 37.377166412631325,\n\
  \      \"yaw_radians\": 3.13560873871148,\n      \"speed\": 1.732005196297055,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409988.9662263,\n  \
  \    \"lon\": -121.98898581010295,\n      \"lat\": 37.37716644038966,\n      \"\
  yaw_radians\": 3.1256400393331543,\n      \"speed\": 1.7000952914469234,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409989.065059,\n      \"lon\": -121.9889877041502,\n\
  \      \"lat\": 37.377166375704626,\n      \"yaw_radians\": 3.126150569814052,\n\
  \      \"speed\": 1.6701080803349224,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409989.1677537,\n      \"lon\": -121.9889895898846,\n      \"lat\": 37.37716640176498,\n\
  \      \"yaw_radians\": 3.139432366765088,\n      \"speed\": 1.6550978823018294,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409989.2851298,\n  \
  \    \"lon\": -121.98899147817838,\n      \"lat\": 37.37716640715926,\n      \"\
  yaw_radians\": -3.1371036679304716,\n      \"speed\": 1.6750011940294252,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409989.3647876,\n      \"lon\": -121.98899337321335,\n\
  \      \"lat\": 37.37716646601125,\n      \"yaw_radians\": 3.135703762492196,\n\
  \      \"speed\": 1.662159137988899,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409989.4637172,\n      \"lon\": -121.98899519897509,\n      \"lat\": 37.37716652637427,\n\
  \      \"yaw_radians\": 3.1198657814797723,\n      \"speed\": 1.6689397832156796,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409989.5661497,\n  \
  \    \"lon\": -121.98899708672357,\n      \"lat\": 37.377166448365216,\n      \"\
  yaw_radians\": 3.123365775684527,\n      \"speed\": 1.6430076080164693,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409989.6653523,\n      \"lon\": -121.98899883724847,\n\
  \      \"lat\": 37.377166491929394,\n      \"yaw_radians\": 3.1302426804223096,\n\
  \      \"speed\": 1.5680051020325159,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409989.7679558,\n      \"lon\": -121.98900057853217,\n      \"lat\": 37.3771664797895,\n\
  \      \"yaw_radians\": -3.1406631788875026,\n      \"speed\": 1.5680051020325159,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409989.8658702,\n  \
  \    \"lon\": -121.9890022869358,\n      \"lat\": 37.37716649382591,\n      \"yaw_radians\"\
  : 3.1400968665367963,\n      \"speed\": 1.536055012035702,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409989.9671338,\n      \"lon\": -121.98900404973314,\n\
  \      \"lat\": 37.37716648162125,\n      \"yaw_radians\": 3.1363927409518917,\n\
  \      \"speed\": 1.5110119125936763,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409990.0651028,\n      \"lon\": -121.98900578507589,\n      \"lat\": 37.37716642254451,\n\
  \      \"yaw_radians\": 3.140336260361691,\n      \"speed\": 1.5602695279982879,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409990.169463,\n   \
  \   \"lon\": -121.98900749537141,\n      \"lat\": 37.377166453190576,\n      \"\
  yaw_radians\": -3.1276225813130676,\n      \"speed\": 1.5480390821939864,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409990.2761185,\n      \"lon\": -121.98900924543217,\n\
  \      \"lat\": 37.377166481366636,\n      \"yaw_radians\": -3.127703769440728,\n\
  \      \"speed\": 1.5480390821939864,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409990.3671794,\n      \"lon\": -121.98901098389454,\n      \"lat\": 37.37716651034231,\n\
  \      \"yaw_radians\": -3.1371476816145654,\n      \"speed\": 1.5520206184197427,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409990.4650614,\n  \
  \    \"lon\": -121.98901270339125,\n      \"lat\": 37.37716651433491,\n      \"\
  yaw_radians\": 3.138679693304385,\n      \"speed\": 1.5162585531498247,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409990.5670838,\n      \"lon\": -121.98901445700518,\n\
  \      \"lat\": 37.37716649218449,\n      \"yaw_radians\": 3.1314897936828636,\n\
  \      \"speed\": 1.5290081752561036,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409990.6658065,\n      \"lon\": -121.98901616615345,\n      \"lat\": 37.377166505925615,\n\
  \      \"yaw_radians\": 3.127609746555623,\n      \"speed\": 1.514381722023876,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409990.7716906,\n  \
  \    \"lon\": -121.98901787052678,\n      \"lat\": 37.37716645499937,\n      \"\
  yaw_radians\": 3.1335280688814717,\n      \"speed\": 1.5280117800593032,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409990.8669236,\n      \"lon\": -121.9890196144802,\n\
  \      \"lat\": 37.37716648705004,\n      \"yaw_radians\": 3.1415462647790253,\n\
  \      \"speed\": 1.5232573649912216,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409990.9662735,\n      \"lon\": -121.98902129127005,\n      \"lat\": 37.377166566825,\n\
  \      \"yaw_radians\": 3.137897796823901,\n      \"speed\": 1.5232573649912216,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409991.0709572,\n  \
  \    \"lon\": -121.98902294894438,\n      \"lat\": 37.37716658988049,\n      \"\
  yaw_radians\": 3.129020273878738,\n      \"speed\": 1.5082340667151102,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409991.166043,\n      \"lon\": -121.98902462753692,\n\
  \      \"lat\": 37.37716656879909,\n      \"yaw_radians\": 3.123709718250174,\n\
  \      \"speed\": 1.461041409406318,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409991.2859056,\n      \"lon\": -121.9890262705358,\n      \"lat\": 37.37716653620434,\n\
  \      \"yaw_radians\": 3.1349225834079277,\n      \"speed\": 1.461041409406318,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409991.3667638,\n  \
  \    \"lon\": -121.9890278331174,\n      \"lat\": 37.37716655098743,\n      \"yaw_radians\"\
  : 3.137531871016348,\n      \"speed\": 1.4390347459321475,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409991.464914,\n      \"lon\": -121.98902938391949,\n\
  \      \"lat\": 37.37716661255736,\n      \"yaw_radians\": 3.1400814158077752,\n\
  \      \"speed\": 1.407028784353753,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409991.5672095,\n      \"lon\": -121.98903091496426,\n      \"lat\": 37.37716661671329,\n\
  \      \"yaw_radians\": 3.125680180298464,\n      \"speed\": 1.3839400276023526,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409991.6642377,\n  \
  \    \"lon\": -121.98903238700387,\n      \"lat\": 37.37716658604893,\n      \"\
  yaw_radians\": 3.1265090822103168,\n      \"speed\": 1.3520832074987101,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409991.7653127,\n      \"lon\": -121.98903383358378,\n\
  \      \"lat\": 37.377166608198856,\n      \"yaw_radians\": -3.1393145936303437,\n\
  \      \"speed\": 1.3051107232721673,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409991.867322,\n      \"lon\": -121.98903527130638,\n      \"lat\": 37.37716661239007,\n\
  \      \"yaw_radians\": -3.12798148834827,\n      \"speed\": 1.2941545502759708,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409991.964795,\n   \
  \   \"lon\": -121.98903662792961,\n      \"lat\": 37.37716664880663,\n      \"yaw_radians\"\
  : 3.1322842151559556,\n      \"speed\": 1.2602896492473465,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409992.0651138,\n      \"lon\": -121.98903803444905,\n\
  \      \"lat\": 37.377166675475905,\n      \"yaw_radians\": 3.129519139038373,\n\
  \      \"speed\": 1.228032980013159,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409992.1705253,\n      \"lon\": -121.9890394846327,\n      \"lat\": 37.37716664410469,\n\
  \      \"yaw_radians\": 3.125461517114861,\n      \"speed\": 1.2383880651879684,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409992.279727,\n   \
  \   \"lon\": -121.98904087924284,\n      \"lat\": 37.37716664146938,\n      \"yaw_radians\"\
  : 3.134609508432235,\n      \"speed\": 1.2780097808702404,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409992.367262,\n      \"lon\": -121.98904228938257,\n\
  \      \"lat\": 37.377166672526315,\n      \"yaw_radians\": 3.1315280960394007,\n\
  \      \"speed\": 1.2380403870633623,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409992.4657204,\n      \"lon\": -121.98904361448793,\n      \"lat\": 37.37716669269258,\n\
  \      \"yaw_radians\": 3.13926657624738,\n      \"speed\": 1.2120066006420922,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409992.568663,\n   \
  \   \"lon\": -121.98904498041813,\n      \"lat\": 37.377166656361474,\n      \"\
  yaw_radians\": -3.141160195726338,\n      \"speed\": 1.1922835233282392,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409992.6670306,\n      \"lon\": -121.98904632537732,\n\
  \      \"lat\": 37.3771666472106,\n      \"yaw_radians\": -3.1351828344843105,\n\
  \      \"speed\": 1.1951355571649602,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409992.766005,\n      \"lon\": -121.98904762918328,\n      \"lat\": 37.37716661058975,\n\
  \      \"yaw_radians\": -3.1345317281337652,\n      \"speed\": 1.1191291257044471,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409992.8694634,\n  \
  \    \"lon\": -121.98904889354108,\n      \"lat\": 37.377166657626965,\n      \"\
  yaw_radians\": 3.1338525359699476,\n      \"speed\": 1.1191291257044471,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409992.9670804,\n      \"lon\": -121.9890501254783,\n\
  \      \"lat\": 37.37716666534511,\n      \"yaw_radians\": 3.1263172811211923,\n\
  \      \"speed\": 1.1341428481456821,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409993.0682914,\n      \"lon\": -121.98905138636911,\n      \"lat\": 37.37716663516132,\n\
  \      \"yaw_radians\": 3.121169043685651,\n      \"speed\": 1.0874139046379716,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409993.167648,\n   \
  \   \"lon\": -121.98905262286819,\n      \"lat\": 37.3771666311818,\n      \"yaw_radians\"\
  : 3.1272583431028047,\n      \"speed\": 1.1141297051959436,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409993.292184,\n      \"lon\": -121.98905383040831,\n\
  \      \"lat\": 37.37716665951625,\n      \"yaw_radians\": -3.1405378603331404,\n\
  \      \"speed\": 1.0743146652633948,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
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  : 1763409993.3663504,\n      \"lon\": -121.98905505594918,\n      \"lat\": 37.377166704133124,\n\
  \      \"yaw_radians\": -3.1362470221484893,\n      \"speed\": 1.0743146652633948,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409993.4688747,\n  \
  \    \"lon\": -121.98905622452213,\n      \"lat\": 37.37716671551781,\n      \"\
  yaw_radians\": 3.141096928052094,\n      \"speed\": 1.0761045488241372,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409993.5745623,\n      \"lon\": -121.98905746203101,\n\
  \      \"lat\": 37.37716667839386,\n      \"yaw_radians\": 3.132705659593094,\n\
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  : 1763409993.6650598,\n      \"lon\": -121.98905867991517,\n      \"lat\": 37.37716666266446,\n\
  \      \"yaw_radians\": -3.1403031036759512,\n      \"speed\": 1.0823123393919152,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409993.7660909,\n  \
  \    \"lon\": -121.98905986712171,\n      \"lat\": 37.37716671132131,\n      \"\
  yaw_radians\": -3.1357477720602764,\n      \"speed\": 1.0560681796172064,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409993.8647492,\n      \"lon\": -121.98906109515843,\n\
  \      \"lat\": 37.377166697487,\n      \"yaw_radians\": 3.140853225334085,\n  \
  \    \"speed\": 1.0560681796172064,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409993.9653897,\n      \"lon\": -121.98906230302659,\n      \"lat\": 37.37716669434064,\n\
  \      \"yaw_radians\": 3.136798838164321,\n      \"speed\": 1.07910425816971,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409994.0656805,\n  \
  \    \"lon\": -121.98906352189583,\n      \"lat\": 37.37716668866142,\n      \"\
  yaw_radians\": -3.1332892453921652,\n      \"speed\": 1.0782671283128313,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409994.1596081,\n      \"lon\": -121.98906470037201,\n\
  \      \"lat\": 37.37716669950776,\n      \"yaw_radians\": -3.1323105176648025,\n\
  \      \"speed\": 1.0820226430163096,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409994.275144,\n      \"lon\": -121.9890659285413,\n      \"lat\": 37.377166702031985,\n\
  \      \"yaw_radians\": 3.1404117817953923,\n      \"speed\": 1.0510304467521385,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409994.3687792,\n  \
  \    \"lon\": -121.98906713968418,\n      \"lat\": 37.37716668456449,\n      \"\
  yaw_radians\": 3.1248171349194847,\n      \"speed\": 1.0615130710452885,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409994.4793077,\n      \"lon\": -121.98906835769803,\n\
  \      \"lat\": 37.37716667455545,\n      \"yaw_radians\": 3.135129947231258,\n\
  \      \"speed\": 1.0671874249633941,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409994.5814822,\n      \"lon\": -121.98906953112477,\n      \"lat\": 37.37716666904762,\n\
  \      \"yaw_radians\": 3.138930076003917,\n      \"speed\": 1.0540683089819178,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409994.663365,\n   \
  \   \"lon\": -121.98907070978063,\n      \"lat\": 37.37716669415663,\n      \"yaw_radians\"\
  : -3.127207200928189,\n      \"speed\": 1.0521216659683423,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409994.7556717,\n      \"lon\": -121.98907189757708,\n\
  \      \"lat\": 37.37716670087392,\n      \"yaw_radians\": 3.1328218451429395,\n\
  \      \"speed\": 1.0509638433362016,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409994.8650656,\n      \"lon\": -121.98907308698573,\n      \"lat\": 37.377166675041806,\n\
  \      \"yaw_radians\": 3.1338640215598326,\n      \"speed\": 1.0691351645138232,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409994.967156,\n   \
  \   \"lon\": -121.98907424109747,\n      \"lat\": 37.37716664919144,\n      \"yaw_radians\"\
  : 3.136164804847086,\n      \"speed\": 1.0483739790742614,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409995.0662844,\n      \"lon\": -121.98907543863142,\n\
  \      \"lat\": 37.377166668764986,\n      \"yaw_radians\": -3.124202046206882,\n\
  \      \"speed\": 1.0210396662226202,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409995.1607428,\n      \"lon\": -121.98907660511564,\n      \"lat\": 37.37716664574787,\n\
  \      \"yaw_radians\": -3.1275708253355643,\n      \"speed\": 1.0341934055098205,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409995.2959015,\n  \
  \    \"lon\": -121.98907781691925,\n      \"lat\": 37.37716664030711,\n      \"\
  yaw_radians\": -3.1345758322025294,\n      \"speed\": 1.0341934055098205,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409995.3679724,\n      \"lon\": -121.98907898822544,\n\
  \      \"lat\": 37.377166652829125,\n      \"yaw_radians\": -3.1336766239714726,\n\
  \      \"speed\": 1.0770041782648756,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409995.4697857,\n      \"lon\": -121.98908018883245,\n      \"lat\": 37.377166617688914,\n\
  \      \"yaw_radians\": -3.1308856522152197,\n      \"speed\": 1.0481073418309788,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409995.5697172,\n  \
  \    \"lon\": -121.98908133389676,\n      \"lat\": 37.377166641157736,\n      \"\
  yaw_radians\": -3.1269309864851227,\n      \"speed\": 1.0142839839019444,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409995.6676135,\n      \"lon\": -121.98908250907004,\n\
  \      \"lat\": 37.37716661318038,\n      \"yaw_radians\": -3.1276920363008576,\n\
  \      \"speed\": 1.0557206069789489,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409995.764898,\n      \"lon\": -121.98908370483304,\n      \"lat\": 37.37716660117408,\n\
  \      \"yaw_radians\": -3.123163710429408,\n      \"speed\": 1.0557206069789489,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409995.864518,\n   \
  \   \"lon\": -121.98908487813009,\n      \"lat\": 37.3771665986754,\n      \"yaw_radians\"\
  : -3.122816357634756,\n      \"speed\": 1.0231099647642963,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409995.9673207,\n      \"lon\": -121.98908603533526,\n\
  \      \"lat\": 37.37716659760073,\n      \"yaw_radians\": 3.1415213728664133,\n\
  \      \"speed\": 1.0231099647642963,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409996.0664477,\n      \"lon\": -121.98908719248557,\n      \"lat\": 37.377166577765145,\n\
  \      \"yaw_radians\": 3.1375870738651632,\n      \"speed\": 1.0200397051095609,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409996.167508,\n   \
  \   \"lon\": -121.9890883596942,\n      \"lat\": 37.377166567774985,\n      \"yaw_radians\"\
  : -3.1387834276421613,\n      \"speed\": 1.0200397051095609,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409996.2657826,\n      \"lon\": -121.98908954062591,\n\
  \      \"lat\": 37.37716655543873,\n      \"yaw_radians\": -3.136920890894647,\n\
  \      \"speed\": 1.0380173408956133,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409996.3670127,\n      \"lon\": -121.98909072710661,\n      \"lat\": 37.377166566313065,\n\
  \      \"yaw_radians\": -3.136817191982513,\n      \"speed\": 1.052093151769367,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409996.470922,\n   \
  \   \"lon\": -121.98909193041844,\n      \"lat\": 37.37716656371953,\n      \"yaw_radians\"\
  : -3.1359797484831735,\n      \"speed\": 1.0760910742125873,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409996.5720885,\n      \"lon\": -121.98909316337242,\n\
  \      \"lat\": 37.37716656772272,\n      \"yaw_radians\": -3.1321986322341484,\n\
  \      \"speed\": 1.059016997030737,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409996.6665623,\n      \"lon\": -121.98909445248057,\n      \"lat\": 37.377166550209786,\n\
  \      \"yaw_radians\": -3.140462802741241,\n      \"speed\": 1.0880294113671745,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409996.7666788,\n  \
  \    \"lon\": -121.98909574753903,\n      \"lat\": 37.3771665492172,\n      \"yaw_radians\"\
  : 3.1414135684888755,\n      \"speed\": 1.1491113958185255,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409996.8651528,\n      \"lon\": -121.98909707293525,\n\
  \      \"lat\": 37.377166540675844,\n      \"yaw_radians\": -3.1332607519407474,\n\
  \      \"speed\": 1.1491113958185255,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409996.9641895,\n      \"lon\": -121.98909840289464,\n      \"lat\": 37.3771665482703,\n\
  \      \"yaw_radians\": -3.139385597483476,\n      \"speed\": 1.1681095839004147,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409997.0637038,\n  \
  \    \"lon\": -121.98909974483183,\n      \"lat\": 37.37716652830835,\n      \"\
  yaw_radians\": -3.140481588550943,\n      \"speed\": 1.1760153060228424,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409997.1697426,\n      \"lon\": -121.9891011443907,\n\
  \      \"lat\": 37.37716652066565,\n      \"yaw_radians\": -3.137976076145245,\n\
  \      \"speed\": 1.2050701224410139,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409997.2894945,\n      \"lon\": -121.98910252862893,\n      \"lat\": 37.377166482141746,\n\
  \      \"yaw_radians\": -3.1344243280388064,\n      \"speed\": 1.2303418224217204,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409997.3631904,\n  \
  \    \"lon\": -121.98910395826942,\n      \"lat\": 37.377166498370414,\n      \"\
  yaw_radians\": -3.128381249739942,\n      \"speed\": 1.2303418224217204,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409997.4663029,\n      \"lon\": -121.98910534968239,\n\
  \      \"lat\": 37.377166458735736,\n      \"yaw_radians\": -3.131344662113625,\n\
  \      \"speed\": 1.2410100724812834,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409997.5663185,\n      \"lon\": -121.98910674675594,\n      \"lat\": 37.37716645060346,\n\
  \      \"yaw_radians\": -3.131666435687321,\n      \"speed\": 1.2416770916788311,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409997.6571,\n     \
  \ \"lon\": -121.98910813351628,\n      \"lat\": 37.3771664328194,\n      \"yaw_radians\"\
  : -3.1204739993900645,\n      \"speed\": 1.2290004068347578,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409997.7653637,\n      \"lon\": -121.9891095642715,\n\
  \      \"lat\": 37.377166421449516,\n      \"yaw_radians\": -3.122891918132025,\n\
  \      \"speed\": 1.252025558844547,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409997.8649793,\n      \"lon\": -121.98911099545928,\n      \"lat\": 37.377166406487284,\n\
  \      \"yaw_radians\": -3.1386593882503107,\n      \"speed\": 1.252025558844547,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409997.9666822,\n  \
  \    \"lon\": -121.98911240577551,\n      \"lat\": 37.377166360883095,\n      \"\
  yaw_radians\": -3.1399769621909637,\n      \"speed\": 1.2484362218391454,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409998.0647748,\n      \"lon\": -121.98911382193772,\n\
  \      \"lat\": 37.37716634734019,\n      \"yaw_radians\": -3.1217211075094857,\n\
  \      \"speed\": 1.2484362218391454,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409998.1698937,\n      \"lon\": -121.98911526901274,\n      \"lat\": 37.37716632580568,\n\
  \      \"yaw_radians\": -3.1156977908480905,\n      \"speed\": 1.2643559625358676,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409998.26639,\n    \
  \  \"lon\": -121.98911667650822,\n      \"lat\": 37.37716630717747,\n      \"yaw_radians\"\
  : -3.123649912323626,\n      \"speed\": 1.2360258896964902,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409998.3673532,\n      \"lon\": -121.98911812453561,\n\
  \      \"lat\": 37.37716630688077,\n      \"yaw_radians\": -3.127642730891297,\n\
  \      \"speed\": 1.2360258896964902,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409998.4652548,\n      \"lon\": -121.9891194935591,\n      \"lat\": 37.377166274386,\n\
  \      \"yaw_radians\": -3.13393085854926,\n      \"speed\": 1.2131191202845664,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409998.5649552,\n  \
  \    \"lon\": -121.98912080895273,\n      \"lat\": 37.377166264539355,\n      \"\
  yaw_radians\": -3.1314888751810472,\n      \"speed\": 1.2131191202845664,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409998.6669326,\n      \"lon\": -121.98912208294541,\n\
  \      \"lat\": 37.37716624302593,\n      \"yaw_radians\": -3.1228840553477117,\n\
  \      \"speed\": 1.1920490761709437,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409998.7702227,\n      \"lon\": -121.98912331407861,\n      \"lat\": 37.37716624659914,\n\
  \      \"yaw_radians\": -3.1200971398339217,\n      \"speed\": 1.1200111606586785,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409998.8647077,\n  \
  \    \"lon\": -121.98912452840551,\n      \"lat\": 37.37716621976561,\n      \"\
  yaw_radians\": -3.1251282041214563,\n      \"speed\": 1.090029357402818,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409998.9645538,\n      \"lon\": -121.98912572303104,\n\
  \      \"lat\": 37.37716618817233,\n      \"yaw_radians\": -3.137253414256767,\n\
  \      \"speed\": 1.0661355448534675,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409999.064567,\n      \"lon\": -121.9891269220214,\n      \"lat\": 37.37716615517208,\n\
  \      \"yaw_radians\": -3.127755222633745,\n      \"speed\": 1.0612714073223681,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409999.164812,\n   \
  \   \"lon\": -121.98912810152545,\n      \"lat\": 37.37716617400166,\n      \"yaw_radians\"\
  : -3.1132138080616207,\n      \"speed\": 1.0760269513353278,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763409999.282676,\n      \"lon\": -121.98912929104873,\n\
  \      \"lat\": 37.3771661628233,\n      \"yaw_radians\": -3.122388513397447,\n\
  \      \"speed\": 1.042004318609093,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409999.368437,\n      \"lon\": -121.98913050229098,\n      \"lat\": 37.3771661388858,\n\
  \      \"yaw_radians\": -3.141374635587996,\n      \"speed\": 1.0600075471429438,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409999.4682004,\n  \
  \    \"lon\": -121.98913165254005,\n      \"lat\": 37.37716609216843,\n      \"\
  yaw_radians\": -3.1261394398098528,\n      \"speed\": 1.049880945631456,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409999.568432,\n      \"lon\": -121.98913278922052,\n\
  \      \"lat\": 37.3771661075203,\n      \"yaw_radians\": -3.114883913253678,\n\
  \      \"speed\": 1.011387660593108,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409999.6664839,\n      \"lon\": -121.98913392006564,\n      \"lat\": 37.37716609524501,\n\
  \      \"yaw_radians\": -3.1227149197438884,\n      \"speed\": 1.0220004892366734,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763409999.767451,\n   \
  \   \"lon\": -121.98913502095712,\n      \"lat\": 37.377166090331045,\n      \"\
  yaw_radians\": -3.1336716183818787,\n      \"speed\": 1.0090242811746404,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763409999.869772,\n      \"lon\": -121.98913612279243,\n\
  \      \"lat\": 37.37716604908974,\n      \"yaw_radians\": -3.140253038886806,\n\
  \      \"speed\": 0.9680046487491679,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763409999.9654553,\n      \"lon\": -121.98913715527327,\n      \"lat\": 37.37716601457337,\n\
  \      \"yaw_radians\": -3.1168063486278097,\n      \"speed\": 0.9908794073952693,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410000.0646832,\n  \
  \    \"lon\": -121.9891382334835,\n      \"lat\": 37.3771659877178,\n      \"yaw_radians\"\
  : -3.1105698363523344,\n      \"speed\": 0.9186669690372024,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410000.1692324,\n      \"lon\": -121.98913925537961,\n\
  \      \"lat\": 37.37716598975309,\n      \"yaw_radians\": -3.121752601329279,\n\
  \      \"speed\": 0.9321738035366581,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410000.2646036,\n      \"lon\": -121.98914024874139,\n      \"lat\": 37.377165948023105,\n\
  \      \"yaw_radians\": 3.131220758457776,\n      \"speed\": 0.8962951522796495,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410000.3601673,\n  \
  \    \"lon\": -121.98914122945176,\n      \"lat\": 37.37716600950698,\n      \"\
  yaw_radians\": -3.1232221178061508,\n      \"speed\": 0.8869272799953782,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410000.4652205,\n      \"lon\": -121.98914217554992,\n\
  \      \"lat\": 37.37716597920572,\n      \"yaw_radians\": -3.1160837374291885,\n\
  \      \"speed\": 0.8600093022752718,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410000.5652459,\n      \"lon\": -121.98914315745712,\n      \"lat\": 37.37716596425679,\n\
  \      \"yaw_radians\": -3.1032939158894965,\n      \"speed\": 0.8366122160236485,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410000.6709347,\n  \
  \    \"lon\": -121.98914409144338,\n      \"lat\": 37.377165985737015,\n      \"\
  yaw_radians\": -3.1281405018345776,\n      \"speed\": 0.8690023014929247,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410000.769609,\n      \"lon\": -121.98914505569518,\n\
  \      \"lat\": 37.37716593834761,\n      \"yaw_radians\": -3.1415449847932737,\n\
  \      \"speed\": 0.8381169369485382,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410000.870032,\n      \"lon\": -121.98914599801668,\n      \"lat\": 37.37716592622109,\n\
  \      \"yaw_radians\": 3.1414193011904366,\n      \"speed\": 0.8345759402235365,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410000.9702244,\n  \
  \    \"lon\": -121.98914693663507,\n      \"lat\": 37.3771659271761,\n      \"yaw_radians\"\
  : -3.1211312793332895,\n      \"speed\": 0.8502123264220531,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410001.0657442,\n      \"lon\": -121.98914788157143,\n\
  \      \"lat\": 37.3771659105821,\n      \"yaw_radians\": -3.1383230853051436,\n\
  \      \"speed\": 0.8244422356963524,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410001.176181,\n      \"lon\": -121.98914883053548,\n      \"lat\": 37.37716588619424,\n\
  \      \"yaw_radians\": -3.137937849849674,\n      \"speed\": 0.8446448957994123,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410001.285701,\n   \
  \   \"lon\": -121.98914978744706,\n      \"lat\": 37.37716587314502,\n      \"yaw_radians\"\
  : -3.133102754312874,\n      \"speed\": 0.8393723845826713,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410001.3611014,\n      \"lon\": -121.98915072987562,\n\
  \      \"lat\": 37.37716583166108,\n      \"yaw_radians\": -3.097068881604835,\n\
  \      \"speed\": 0.8556430330459075,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410001.464158,\n      \"lon\": -121.989151702982,\n      \"lat\": 37.37716580811728,\n\
  \      \"yaw_radians\": -3.1108424745852674,\n      \"speed\": 0.83,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410001.563754,\n      \"lon\": -121.98915268666578,\n\
  \      \"lat\": 37.377165765054315,\n      \"yaw_radians\": -3.1121503577770615,\n\
  \      \"speed\": 0.8602325267042626,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410001.6669075,\n      \"lon\": -121.98915364205509,\n      \"lat\": 37.37716577905481,\n\
  \      \"yaw_radians\": -3.1275590580504473,\n      \"speed\": 0.8452366532516203,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410001.7633202,\n  \
  \    \"lon\": -121.98915464790534,\n      \"lat\": 37.37716572822042,\n      \"\
  yaw_radians\": -3.115041077455749,\n      \"speed\": 0.8736618338922675,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410001.8663387,\n      \"lon\": -121.98915566448949,\n\
  \      \"lat\": 37.377165714109964,\n      \"yaw_radians\": -3.1069455502869756,\n\
  \      \"speed\": 0.8925738064720474,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410001.964268,\n      \"lon\": -121.98915674413094,\n      \"lat\": 37.377165683304526,\n\
  \      \"yaw_radians\": -3.1117506666307504,\n      \"speed\": 0.9557960033396248,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410002.0669684,\n  \
  \    \"lon\": -121.98915782311892,\n      \"lat\": 37.37716564199841,\n      \"\
  yaw_radians\": -3.1103816312009553,\n      \"speed\": 0.9557960033396248,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410002.1646993,\n      \"lon\": -121.9891589767459,\n\
  \      \"lat\": 37.377165637050275,\n      \"yaw_radians\": -3.1022150141598135,\n\
  \      \"speed\": 0.9919158230414514,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410002.2622993,\n      \"lon\": -121.98916014175234,\n      \"lat\": 37.37716561281513,\n\
  \      \"yaw_radians\": -3.0898701405587183,\n      \"speed\": 1.0241762543625,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410002.359011,\n   \
  \   \"lon\": -121.98916135536099,\n      \"lat\": 37.37716560137422,\n      \"yaw_radians\"\
  : -3.124240882310506,\n      \"speed\": 1.0241762543625,\n      \"segment_id\":\
  \ \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410002.4628696,\n      \"lon\": -121.98916252408421,\n\
  \      \"lat\": 37.37716557938364,\n      \"yaw_radians\": -3.1287124734600322,\n\
  \      \"speed\": 1.0511898020814319,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410002.5652118,\n      \"lon\": -121.98916372307666,\n      \"lat\": 37.37716555491373,\n\
  \      \"yaw_radians\": -3.1239139514245005,\n      \"speed\": 1.0511898020814319,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410002.6664019,\n  \
  \    \"lon\": -121.98916493840576,\n      \"lat\": 37.37716552774295,\n      \"\
  yaw_radians\": -3.0985793820513448,\n      \"speed\": 1.0720750906536352,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410002.7663734,\n      \"lon\": -121.98916613456821,\n\
  \      \"lat\": 37.37716547512774,\n      \"yaw_radians\": -3.130736951515476,\n\
  \      \"speed\": 1.0494045930907678,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410002.8663816,\n      \"lon\": -121.98916729194671,\n      \"lat\": 37.37716545160397,\n\
  \      \"yaw_radians\": -3.1215666453401214,\n      \"speed\": 1.0494045930907678,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410002.968236,\n   \
  \   \"lon\": -121.98916848460851,\n      \"lat\": 37.37716539956672,\n      \"yaw_radians\"\
  : -3.119380093819359,\n      \"speed\": 1.041616052103653,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410003.0663025,\n      \"lon\": -121.98916961069193,\n\
  \      \"lat\": 37.37716536663216,\n      \"yaw_radians\": -3.082374617754672,\n\
  \      \"speed\": 1.0608133671857647,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410003.1741898,\n      \"lon\": -121.98917073547739,\n      \"lat\": 37.377165334276235,\n\
  \      \"yaw_radians\": -3.1099078542827905,\n      \"speed\": 0.9820249487665779,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410003.2823732,\n  \
  \    \"lon\": -121.98917180623489,\n      \"lat\": 37.37716534328205,\n      \"\
  yaw_radians\": -3.12398585464676,\n      \"speed\": 1.0042410069301093,\n      \"\
  segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410003.3654423,\n      \"lon\": -121.98917285872689,\n\
  \      \"lat\": 37.37716530698129,\n      \"yaw_radians\": -3.117751616472211,\n\
  \      \"speed\": 0.969825241989504,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410003.4655945,\n      \"lon\": -121.98917388679924,\n      \"lat\": 37.37716531432224,\n\
  \      \"yaw_radians\": -3.1106821038698054,\n      \"speed\": 0.9213669193106512,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410003.565274,\n   \
  \   \"lon\": -121.98917489410852,\n      \"lat\": 37.37716530611722,\n      \"yaw_radians\"\
  : -3.127378878996834,\n      \"speed\": 0.9010799076663513,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410003.6754375,\n      \"lon\": -121.98917584604216,\n\
  \      \"lat\": 37.377165268129914,\n      \"yaw_radians\": -3.1363097614426483,\n\
  \      \"speed\": 0.8596336428967866,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410003.765192,\n      \"lon\": -121.9891767989831,\n      \"lat\": 37.37716527652368,\n\
  \      \"yaw_radians\": -3.1302551197168182,\n      \"speed\": 0.8596336428967866,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410003.865725,\n   \
  \   \"lon\": -121.98917781066051,\n      \"lat\": 37.377165228651684,\n      \"\
  yaw_radians\": -3.122415363600576,\n      \"speed\": 0.8502846582174701,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410003.9657269,\n      \"lon\": -121.98917880527426,\n\
  \      \"lat\": 37.37716524424191,\n      \"yaw_radians\": -3.1121630465544006,\n\
  \      \"speed\": 0.8711658854661378,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410004.0687025,\n      \"lon\": -121.98917975275239,\n      \"lat\": 37.37716521247804,\n\
  \      \"yaw_radians\": -3.123744041770461,\n      \"speed\": 0.8711658854661378,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410004.1697621,\n  \
  \    \"lon\": -121.98918075285461,\n      \"lat\": 37.377165176038005,\n      \"\
  yaw_radians\": -3.1261242131767495,\n      \"speed\": 0.8531693852922759,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410004.2698543,\n      \"lon\": -121.98918177479234,\n\
  \      \"lat\": 37.37716513876342,\n      \"yaw_radians\": -3.104159633652134,\n\
  \      \"speed\": 0.8760559342873033,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410004.3642647,\n      \"lon\": -121.9891827757369,\n      \"lat\": 37.37716515574589,\n\
  \      \"yaw_radians\": -3.10957231707785,\n      \"speed\": 0.8665194746801712,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410004.4660602,\n  \
  \    \"lon\": -121.98918380038637,\n      \"lat\": 37.37716515898701,\n      \"\
  yaw_radians\": 3.1401065648234643,\n      \"speed\": 0.8665194746801712,\n     \
  \ \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410004.567603,\n      \"lon\": -121.98918483409736,\n\
  \      \"lat\": 37.37716510076245,\n      \"yaw_radians\": 3.1346007427949654,\n\
  \      \"speed\": 0.9285515602270022,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410004.679317,\n      \"lon\": -121.98918587549015,\n      \"lat\": 37.37716509249834,\n\
  \      \"yaw_radians\": -3.1291976953354435,\n      \"speed\": 0.9157756275420306,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410004.7658157,\n  \
  \    \"lon\": -121.9891869181533,\n      \"lat\": 37.37716509382374,\n      \"yaw_radians\"\
  : -3.1061742040588687,\n      \"speed\": 0.9131232118394539,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410004.8660543,\n      \"lon\": -121.98918794218501,\n\
  \      \"lat\": 37.37716508300533,\n      \"yaw_radians\": -3.1198072529982257,\n\
  \      \"speed\": 0.9291377723459531,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410004.9646444,\n      \"lon\": -121.98918895209326,\n      \"lat\": 37.37716503305203,\n\
  \      \"yaw_radians\": -3.1364087381020282,\n      \"speed\": 0.904267659490264,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410005.065536,\n   \
  \   \"lon\": -121.9891899323366,\n      \"lat\": 37.37716503497735,\n      \"yaw_radians\"\
  : -3.1339707132965904,\n      \"speed\": 0.8640833293149451,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410005.1690514,\n      \"lon\": -121.989190862629,\n\
  \      \"lat\": 37.37716500667775,\n      \"yaw_radians\": -3.140193305649289,\n\
  \      \"speed\": 0.8640833293149451,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1763410005.2850432,\n      \"lon\": -121.98919172707157,\n      \"lat\": 37.37716501122152,\n\
  \      \"yaw_radians\": 3.132693220622437,\n      \"speed\": 0.8140497527792757,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98919259489513,\n      \"lat\": 37.37716497648658,\n      \"\
  yaw_radians\": -3.1350668466897003,\n      \"speed\": 0.7835745018822396,\n    \
  \  \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410005.4660647,\n      \"lon\": -121.9891933532885,\n\
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  \      \"yaw_radians\": -3.1275829961887296,\n      \"speed\": 0.6850007299266184,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
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  \   \"lon\": -121.98919454582368,\n      \"lat\": 37.37716493129165,\n      \"yaw_radians\"\
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  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1763410005.7639494,\n      \"lon\": -121.9891949589918,\n\
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  \      \"speed\": 0.46043457732885357,\n      \"segment_id\": \"parking_segment_rooftop_2\"\
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  \      \"yaw_radians\": -3.1085672979389374,\n      \"speed\": 0.37925848705071846,\n\
  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98919547118352,\n      \"lat\": 37.37716492304125,\n      \"\
  yaw_radians\": -3.1274289486745324,\n      \"speed\": 0.26409278672466613,\n   \
  \   \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1763410006.0650136,\n      \"lon\": -121.98919558481418,\n\
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  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
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  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
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  yaw_radians\": -3.1274289486745324,\n      \"speed\": 0.00412310562561766,\n   \
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  : 1763410007.5688424,\n      \"lon\": -121.9891956857873,\n      \"lat\": 37.377164941553524,\n\
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  \      \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410007.6709073,\n  \
  \    \"lon\": -121.98919568272531,\n      \"lat\": 37.37716495824916,\n      \"\
  yaw_radians\": -3.1274289486745324,\n      \"speed\": 0.009433981132056603,\n  \
  \    \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410007.7681875,\n  \
  \    \"lon\": -121.98919567969222,\n      \"lat\": 37.377164960625606,\n      \"\
  yaw_radians\": -3.1274289486745324,\n      \"speed\": 0.0022360679774997894,\n \
  \     \"segment_id\": \"parking_segment_rooftop_2\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1763410007.866136,\n   \
  \   \"lon\": -121.98919568018943,\n      \"lat\": 37.37716494475881,\n      \"yaw_radians\"\
  : -3.1274289486745324,\n      \"speed\": 0.02102379604162864,\n      \"segment_id\"\
  : \"parking_segment_rooftop_2\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    }\n  ]\n}"
run_id: 1ffc0c8e-f881-11f0-9a65-48b02d7ddada
safety_shield:
  arrow_head_length: 0.2
  arrow_head_width: 0.3
  arrow_shaft_width: 0.1
  arrow_skip: 5
  arrow_speed_scale: 0.5
  boundary_topic: /obstacle/dab
  boundary_viz_topic: ~boundary
  car_frame: car
  car_frame_path_viz_topic: ~car_frame_path_viz
  car_frame_traj_topic: ~car_frame_traj
  collision_points_topic: ~collision_points
  default_mode: 2
  input_path_viz_topic: ~input_path_viz
  input_traj_topic: ~input_traj
  min_arrow_length: 0.3
  modes:
    Approach:
      collision_check_skip: 2
      deceleration: 1.5
      forward_margin: 3.8
      mode_num: 1
      safety_margin: 1.2
      stopping_distance: 2.0
    Disabled:
      collision_check_skip: 1
      deceleration: .nan
      forward_margin: .nan
      mode_num: 0
      safety_margin: .nan
      stopping_distance: .nan
    Scooch:
      collision_check_skip: 2
      deceleration: 2.0
      forward_margin: 3.8
      mode_num: 2
      safety_margin: 0.75
      stopping_distance: 0.3
  moving_color:
  - 0.0
  - 1.0
  - 0.0
  - 1.0
  output_path_viz_topic: ~output_path_viz
  output_traj_topic: /vehicle_trajectory_control
  rect_markers_topic: ~collision_rects
  site_frame: site
  speed_profile_dist_topic: ~speed_profile_dist
  speed_profile_speed_topic: ~speed_profile_speed
  stopped_color:
  - 1.0
  - 0.0
  - 0.0
  - 1.0
  stopped_speed_threshold: 0.1
  trajectory_input_topic: /recorded_vehicle_trajectory
simulation_mode: false
site_data_file: /var/tmp/site_data.json
site_data_json: "{\n  \"_id\": \"69024cb6849867189cce87b4\",\n  \"id\": \"natcsv\"\
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  : -121.98838515735869\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_7\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
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  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_8p\",\n      \"search_type\": \"specific\",\n\
  \      \"search_type_categories\": [\n        \"pedestrian\"\n      ],\n      \"\
  coordinates\": [\n        {\n          \"lat\": 37.37720186708479,\n          \"\
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  : -121.98871836338732\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_9\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
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  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
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  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_11\"\
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  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_20\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
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  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_21p\",\n      \"search_type\"\
  : \"specific\",\n      \"search_type_categories\": [\n        \"pedestrian\"\n \
  \     ],\n      \"coordinates\": [\n        {\n          \"lat\": 37.37720352302132,\n\
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tf_publisher:
  pose_topic: /dynamic_global_pose
  robot_description_file: /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro
  target_frame: car
use_sim_time: false
vehicle:
  can_odom:
    description: defined for Nissan Leaf (NRC_Leaf_Hotel)
    hz: 50
    odom_factor: 1.033
    steering_factor: 0.86
    steering_ratio: 18.1
    wheel_base: 2.7
  swiftnav:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 1.63737
    - 0.0
    - 0.0
  tags_zed_left_cam:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 2.275320706603564
    - 0.06000000000000001
    - 0.0
vehicleFeeder:
  dynamicPoseTopicName: /dynamic_global_pose
  sourceMode: MODE_DYNAMIC_POSE
vehicleParameters:
  aeroDragCoeff: 0.31
  airDensity: 1.225
  controlPointToFront: 3.7
  controlPointToRear: 0.75
  fAxleCorneringStiffness: 62968.0
  frontalArea: 2.0
  gravity: 9.80665
  massFront: 980.0
  massRear: 815.0
  maxCurvature: 0.19
  maxLateralAcceleration: 3.0
  motorLatency: 0.03
  rAxleCorneringStiffness: 80190.0
  rollingResistanceCoef: 0.01
  steerRatio: 18.3
  steeringLatency: 0.03
  wheelBase: 2.7
  wheelRadius: 0.37
  width: 1.77
vehicle_data_file: /var/tmp/vehicle_data.json
vehicle_data_json: "{\n  \"_id\": \"68bb4a8b75833b9f9019c174\",\n  \"vin\": \"NRC_Leaf_Sierra\"\
  ,\n  \"description\": {\n    \"year\": 2024.0,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"gray\"\n  }\n}"
vehicle_id: NRC_Leaf_Sierra
vtc_gen_node:
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  max_traj_start_dist_meters: 10
  next_dest_topic: /destination
  publish_dp_viz_markers: true
  reached_dp_dist_tol_meters: 2.0
  reached_goal_dist_tol_meters: 0.5
  roi_latency_tol_secs: 5.0
  safety_shield_mode_topic: /ss_mode
  sim_mode: false
  stop_distance_offset: 4.7
  traj_start_idx: 0
  traj_switch_sleep_secs: 0.0
  veh_dest_topic: /destination_state
  vtc_boundary_dist_m: 5.0
  vtc_horizon_secs: 6
  vtc_num_steps: 25
  vtc_pub_hz: 10
  vtc_pub_topic: /recorded_vehicle_trajectory
  vtc_time_diff: 0.24
  zero_speed_meters_per_sec: 0.05
zed2i:
  zed_node:
    auto_exposure_gain: true
    auto_whitebalance: true
    brightness: 4
    contrast: 4
    depth:
      depth_mode: NEURAL_PLUS
      depth_registered:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      depth_stabilization: 10
      max_depth: 15.0
      min_depth: 0.3
      openni_depth_mode: false
    depth_confidence: 50
    depth_texture_conf: 100
    exposure: 100
    gain: 100
    gamma: 8
    general:
      base_frame: dongle_center
      camera_flip: AUTO
      camera_model: zed2i
      camera_name: zed2i
      gpu_id: -1
      grab_frame_rate: 30
      grab_resolution: HD720
      pub_downscale_factor: 2.0
      pub_frame_rate: 30.0
      pub_resolution: NATIVE
      region_of_interest: '[]'
      sdk_verbose: 1
      self_calib: true
      serial_number: 0
      svo_compression: 2
      svo_realtime: true
      zed_id: 0
    hue: 0
    left:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
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          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
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    mapping:
      clicked_point_topic: /clicked_point
      fused_pointcloud_freq: 1.0
      mapping_enabled: false
      max_mapping_range: -1
      resolution: 0.05
    object_detection:
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      max_range: 15.0
      mc_animal: true
      mc_bag: true
      mc_electronics: true
      mc_fruit_vegetable: true
      mc_people: true
      mc_sport: true
      mc_vehicle: true
      model: MULTI_CLASS_BOX_ACCURATE
      object_tracking_enabled: true
      od_enabled: false
      prediction_timeout: 0.5
    point_cloud_freq: 10.0
    pos_tracking:
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      area_memory_db_path: ''
      depth_min_range: 0.0
      fixed_z_value: 0.0
      floor_alignment: false
      imu_fusion: true
      init_odom_with_first_valid_pose: true
      initial_base_pose:
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      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      map_frame: map
      odometry_frame: odom
      path_max_count: -1
      path_pub_rate: 2.0
      pos_tracking_enabled: false
      pos_tracking_mode: GEN_2
      publish_map_tf: true
      publish_tf: true
      save_area_memory_db_on_exit: false
      set_as_static: false
      set_gravity_as_origin: true
      two_d_mode: false
    rgb:
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          jpeg_optimize: false
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    right_raw:
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          jpeg_optimize: false
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          jpeg_quality: 80
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    saturation: 4
    sensors:
      max_pub_rate: 200.0
      publish_imu_tf: true
      sensors_timestamp_sync: false
    sharpness: 4
    stereo:
      image_rect_color:
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          format: jpeg
          jpeg_optimize: false
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          jpeg_quality: 80
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    stream: ''
    svo_file: ''
    whitebalance_temperature: 0
