In the qualification circuit is fire extinguisher placed at
<pose>158.000000 140.000000 -15.000000 0 0 0.000000</pose>
If you send this coordinates to Base Station you will get 0 score due to limit 4m (newer rules accept 5m). Extra debug output showed 4.5m distance error, so probably offset of the entrance to the tunnel. But according to "SubT_Challenge_Competition_Rules_Tunnel_Circuit.pdf" is X coordinate to the right and Y straight, so the coordinates should be X=-140 and Y=158? Then it would not report such a small distance.