function timeGeo=read_timeGeo_file(file_,ref_nr,cnt_id)
    %
    % Read the timeGeo file and return the data in a struct
    fn=fullfile(file_.folder,file_.name);
    con=fileread(fn);
    data=str2num(con);
    timeGeo.path=file_.folder;
    [~,timeGeo.id,~]=fileparts(file_.name);

    timeGeo.ref_nr=ref_nr;
    timeGeo.cnt_id=cnt_id;
    timeGeo.perc=data(:,1);
    timeGeo.time=data(:,2);
    timeGeo.lat=data(:,3);
    timeGeo.lon=data(:,4);
    timeGeo.altitude=data(:,5);
    timeGeo.yaw=data(:,6);
    timeGeo.speed=data(:,7);
    timeGeo.angv_x=data(:,8);
    timeGeo.angv_y=data(:,9);
    timeGeo.angv_z=data(:,10);
    rota=find(abs(timeGeo.angv_z)>0.1);
    notrota=setdiff(1:size(data,1),rota);
    r=strsplit(file_.name,"_");
    timeGeo.range=str2num(r{6})/10;
    [timeGeo.LaA,timeGeo.LoA,...
        timeGeo.LaB,timeGeo.LoB]=get_circumference3(timeGeo.lat,...
                                                    timeGeo.lon,...
                                                    timeGeo.yaw,...
                                                    timeGeo.altitude,...
                                                    timeGeo.range);
    %[LaA,LoA,LaB,LoB]=get_circumference_rota(timeGeo.lat,...
    %                                         timeGeo.lon,...
    %                                         timeGeo.yaw,...
    %                                         timeGeo.altitude,...
    %                                         timeGeo.range,...
    %                                         rota);
    points=[[timeGeo.LaA,timeGeo.LaB(end:-1:1)]',...
            [timeGeo.LoA,timeGeo.LoB(end:-1:1)]'];
    timeGeo.hull=convhull(points);
    cv=points([timeGeo.hull],:);
    timeGeo.aabb=[min(cv),max(cv)];
    timeGeo.latc=mean(cv(:,1));
    timeGeo.lonc=mean(cv(:,2));
    timeGeo.yawc=mean(data(notrota,6));
    timeGeo.path_id=-1;
    timeGeo.rota=rota;
end
%[LaA,LoA,LaB,LoB]=get_circumference_rota(timeGeo.lat,...
%                                         timeGeo.lon,...
%                                         timeGeo.yaw,...
%                                         timeGeo.altitude,...
%                                         timeGeo.range,...
%                                         rota);
%points=[[LaA,LaB(end:-1:1)]',[LoA,LoB(end:-1:1)]'];
%timeGeo.hull=convhull(points);
%cv=points([timeGeo.hull],:);
%timeGeo.aabb=[min(cv),max(cv)];
%timeGeo.latc=mean(cv(:,1));
%timeGeo.lonc=mean(cv(:,2));
%timeGeo.yawc=mean(data(notrota,6));
%timeGeo.path_id=-1;
%timeGeo.rota=rota;