diff --git a/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt b/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt
index 4a2291057d0d3df9da3ee993a355989a10a00b05..597c19da9d9fa39839d49dbe86d092cf81d797dc 100644
--- a/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt
+++ b/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt
@@ -1,337 +1,314 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt~ b/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..4a2291057d0d3df9da3ee993a355989a10a00b05 100644
--- a/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt~
+++ b/MobileRobot/docking_data/CAM_PID_.266_.0003_.014.txt~
@@ -0,0 +1,337 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt b/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt
index 9978488187d24a9d0adde60730e9980adb323c59..53e8aa6007d066c976b14fbdba458b2cd6ecd438 100644
--- a/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt
+++ b/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt
@@ -1,373 +1,344 @@
 %time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
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diff --git a/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt~ b/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt~
index 9bfb01be099a4b3de5415694481c6f84745ca300..9978488187d24a9d0adde60730e9980adb323c59 100644
--- a/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt~
+++ b/MobileRobot/docking_data/CAM_PID_.28_0_.006.txt~
@@ -1,308 +1,373 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt b/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt
index d92737f4008b1b160308c1a1354f4ba45bbabc28..e858eb7c10c5792fa3826c0aa23a6562e8b7d4ed 100644
--- a/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt
+++ b/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt
@@ -1,301 +1,339 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt~ b/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..d92737f4008b1b160308c1a1354f4ba45bbabc28 100644
--- a/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt~
+++ b/MobileRobot/docking_data/CAM_PID_.29_.00026_.015.txt~
@@ -0,0 +1,301 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt b/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt
index 53eba4e8dad1afb69d869efadbf4e46deef09746..fac7e5c94d90c3d13b95c91595cc77a7ddbb6671 100644
--- a/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt
+++ b/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt
@@ -1,309 +1,707 @@
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diff --git a/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt~ b/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..53eba4e8dad1afb69d869efadbf4e46deef09746 100644
--- a/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt~
+++ b/MobileRobot/docking_data/CAM_PID_.3_.0004_.02.txt~
@@ -0,0 +1,309 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.266_.0003_.014.txt b/MobileRobot/docking_data/Trans_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb531c404044a8a39c8f4617e7dd7e0099f4018
--- /dev/null
+++ b/MobileRobot/docking_data/Trans_PID_.266_.0003_.014.txt
@@ -0,0 +1,314 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.266_.0003_.014.txt~ b/MobileRobot/docking_data/Trans_PID_.266_.0003_.014.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt b/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt
index da5da296043eceed02aa039e32029be24c8c260a..fcb3200331c9984255ad65c8ee3f4c4c97d9799d 100644
--- a/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt
+++ b/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt
@@ -1,373 +1,344 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt~ b/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt~
index db0658eafc40f04d5602fb0d0a15c5ae22f81367..da5da296043eceed02aa039e32029be24c8c260a 100644
--- a/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt~
+++ b/MobileRobot/docking_data/Trans_PID_.28_0_.006.txt~
@@ -1,308 +1,373 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.29_.00026_.015.txt b/MobileRobot/docking_data/Trans_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7cc64743fdf7e96d470607d60aab8dd9dcbcbd5
--- /dev/null
+++ b/MobileRobot/docking_data/Trans_PID_.29_.00026_.015.txt
@@ -0,0 +1,339 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.29_.00026_.015.txt~ b/MobileRobot/docking_data/Trans_PID_.29_.00026_.015.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/MobileRobot/docking_data/Trans_PID_.3_.0004_.02.txt b/MobileRobot/docking_data/Trans_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ba1745f2527145bf621b66d5cd64d02a8aa56e2
--- /dev/null
+++ b/MobileRobot/docking_data/Trans_PID_.3_.0004_.02.txt
@@ -0,0 +1,707 @@
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diff --git a/MobileRobot/docking_data/Trans_PID_.3_.0004_.02.txt~ b/MobileRobot/docking_data/Trans_PID_.3_.0004_.02.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt b/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt
index 938bf50843890a8e907ccabddf3a4ce5d74d76b2..266984f734fd3f7d7cb8f5ef105f9fb744176b1d 100644
--- a/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt
+++ b/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt
@@ -1,336 +1,313 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt~ b/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..938bf50843890a8e907ccabddf3a4ce5d74d76b2 100644
--- a/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt~
+++ b/MobileRobot/docking_data/vel_PID_.266_.0003_.014.txt~
@@ -0,0 +1,336 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.28_0_.006.txt b/MobileRobot/docking_data/vel_PID_.28_0_.006.txt
index 736eef24ed1870b8b7fc1baca84a51e5992d2923..6dd8e04ddf9343965e4956bfb53c82f4505416f2 100644
--- a/MobileRobot/docking_data/vel_PID_.28_0_.006.txt
+++ b/MobileRobot/docking_data/vel_PID_.28_0_.006.txt
@@ -1,372 +1,343 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.28_0_.006.txt~ b/MobileRobot/docking_data/vel_PID_.28_0_.006.txt~
index 82f7cdc0037d8ed300332b916ba9f53d71056274..736eef24ed1870b8b7fc1baca84a51e5992d2923 100644
--- a/MobileRobot/docking_data/vel_PID_.28_0_.006.txt~
+++ b/MobileRobot/docking_data/vel_PID_.28_0_.006.txt~
@@ -1,307 +1,372 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt b/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt
index 7e47b4937563ec9ebacf27dadbec053afa914340..d421d576b2aa7498a8cea001e83d51f0fad24623 100644
--- a/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt
+++ b/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt
@@ -1,300 +1,338 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt~ b/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..7e47b4937563ec9ebacf27dadbec053afa914340 100644
--- a/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt~
+++ b/MobileRobot/docking_data/vel_PID_.29_.00026_.015.txt~
@@ -0,0 +1,300 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt b/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt
index 7d7903a6aaa66abc83bebe363089df87d3436097..2a2f9672d8431d0da95a47e1b4db61a15560bdec 100644
--- a/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt
+++ b/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt
@@ -1,308 +1,706 @@
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diff --git a/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt~ b/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt~
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..7d7903a6aaa66abc83bebe363089df87d3436097 100644
--- a/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt~
+++ b/MobileRobot/docking_data/vel_PID_.3_.0004_.02.txt~
@@ -0,0 +1,308 @@
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