2026-04-21T01:19:46 - INFO: MSIP3D 0.2.5
2026-04-21T01:19:46 - INFO: P3D files will be output to /working/c003350b-88ae-46da-91a2-e3088e40dd04/c003350b-88ae-46da-91a2-e3088e40dd04
2026-04-21T01:19:46 - INFO: Found 10 TFD dictionary entries
2026-04-21T01:19:46 - INFO: Found TFD mission for 2358889
2026-04-21T01:19:46 - WARNING: Unknown equipment type "SuperMD Single Camera", defaulting to SMD
2026-04-21T01:19:46 - INFO: Recording will be processed as SMD
2026-04-21T01:19:46 - INFO: Copying assets JSON to output directory...
2026-04-21T01:19:46 - INFO: Preparing counter data...
2026-04-21T01:19:46 - INFO: Interpreting counter as metric
2026-04-21T01:19:46 - INFO: Preparing size track from assets JSON...
2026-04-21T01:19:46 - INFO: Preparing shape track from assets JSON...
2026-04-21T01:19:46 - INFO: Preparing material track from assets JSON...
2026-04-21T01:19:46 - INFO: Prepared counter data in 0.0828 s
2026-04-21T01:19:46 - INFO: Extracting sonar data...
TFD path: /working/c003350b-88ae-46da-91a2-e3088e40dd04/tfd/2358889.tfd
TFD path: /working/c003350b-88ae-46da-91a2-e3088e40dd04/tfd/output
Name: LASER, Tag: 4855215961321851468
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215961321851459
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1921
21 / 1921 [>___________________________________________________________________________] 1.09% ? p/s45 / 1921 [->__________________________________________________________________________] 2.34% ? p/s67 / 1921 [-->_________________________________________________________________________] 3.49% ? p/s90 / 1921 [--->______________________________________________________________________] 4.69% 115 p/s113 / 1921 [---->____________________________________________________________________] 5.88% 115 p/s136 / 1921 [----->___________________________________________________________________] 7.08% 115 p/s159 / 1921 [------>__________________________________________________________________] 8.28% 115 p/s182 / 1921 [------>__________________________________________________________________] 9.47% 115 p/s204 / 1921 [------->________________________________________________________________] 10.62% 115 p/s227 / 1921 [-------->_______________________________________________________________] 11.82% 115 p/s249 / 1921 [--------->______________________________________________________________] 12.96% 115 p/s271 / 1921 [---------->_____________________________________________________________] 14.11% 115 p/s294 / 1921 [----------->____________________________________________________________] 15.30% 115 p/s317 / 1921 [----------->____________________________________________________________] 16.50% 115 p/s339 / 1921 [------------>___________________________________________________________] 17.65% 115 p/s362 / 1921 [------------->__________________________________________________________] 18.84% 115 p/s384 / 1921 [-------------->_________________________________________________________] 19.99% 115 p/s407 / 1921 [--------------->________________________________________________________] 21.19% 115 p/s430 / 1921 [---------------->_______________________________________________________] 22.38% 115 p/s453 / 1921 [---------------->_______________________________________________________] 23.58% 115 p/s475 / 1921 [----------------->______________________________________________________] 24.73% 115 p/s498 / 1921 [------------------>_____________________________________________________] 25.92% 114 p/s520 / 1921 [------------------->____________________________________________________] 27.07% 114 p/s542 / 1921 [-------------------->___________________________________________________] 28.21% 114 p/s565 / 1921 [--------------------->__________________________________________________] 29.41% 114 p/s587 / 1921 [---------------------->_________________________________________________] 30.56% 114 p/s610 / 1921 [---------------------->_________________________________________________] 31.75% 114 p/s633 / 1921 [----------------------->________________________________________________] 32.95% 114 p/s656 / 1921 [------------------------>_______________________________________________] 34.15% 114 p/s678 / 1921 [------------------------->______________________________________________] 35.29% 114 p/s701 / 1921 [-------------------------->_____________________________________________] 36.49% 114 p/s723 / 1921 [--------------------------->____________________________________________] 37.64% 114 p/s746 / 1921 [--------------------------->____________________________________________] 38.83% 114 p/s768 / 1921 [---------------------------->___________________________________________] 39.98% 114 p/s791 / 1921 [----------------------------->__________________________________________] 41.18% 114 p/s814 / 1921 [------------------------------>_________________________________________] 42.37% 114 p/s836 / 1921 [------------------------------->________________________________________] 43.52% 114 p/s859 / 1921 [-------------------------------->_______________________________________] 44.72% 114 p/s881 / 1921 [--------------------------------->______________________________________] 45.86% 114 p/s904 / 1921 [--------------------------------->______________________________________] 47.06% 114 p/s927 / 1921 [---------------------------------->_____________________________________] 48.26% 114 p/s949 / 1921 [----------------------------------->____________________________________] 49.40% 114 p/s972 / 1921 [------------------------------------>___________________________________] 50.60% 114 p/s994 / 1921 [------------------------------------->__________________________________] 51.74% 114 p/s1016 / 1921 [------------------------------------->_________________________________] 52.89% 114 p/s1039 / 1921 [-------------------------------------->________________________________] 54.09% 114 p/s1061 / 1921 [--------------------------------------->_______________________________] 55.23% 114 p/s1084 / 1921 [---------------------------------------->______________________________] 56.43% 114 p/s1106 / 1921 [---------------------------------------->______________________________] 57.57% 114 p/s1129 / 1921 [----------------------------------------->_____________________________] 58.77% 114 p/s1151 / 1921 [------------------------------------------>____________________________] 59.92% 114 p/s1174 / 1921 [------------------------------------------->___________________________] 61.11% 114 p/s1196 / 1921 [-------------------------------------------->__________________________] 62.26% 114 p/s1219 / 1921 [--------------------------------------------->_________________________] 63.46% 114 p/s1241 / 1921 [--------------------------------------------->_________________________] 64.60% 113 p/s1264 / 1921 [---------------------------------------------->________________________] 65.80% 113 p/s1287 / 1921 [----------------------------------------------->_______________________] 67.00% 113 p/s1310 / 1921 [------------------------------------------------>______________________] 68.19% 114 p/s1332 / 1921 [------------------------------------------------->_____________________] 69.34% 114 p/s1355 / 1921 [-------------------------------------------------->____________________] 70.54% 114 p/s1378 / 1921 [-------------------------------------------------->____________________] 71.73% 114 p/s1400 / 1921 [--------------------------------------------------->___________________] 72.88% 114 p/s1423 / 1921 [---------------------------------------------------->__________________] 74.08% 114 p/s1445 / 1921 [----------------------------------------------------->_________________] 75.22% 113 p/s1468 / 1921 [------------------------------------------------------>________________] 76.42% 113 p/s1491 / 1921 [------------------------------------------------------->_______________] 77.62% 113 p/s1514 / 1921 [------------------------------------------------------->_______________] 78.81% 114 p/s1536 / 1921 [-------------------------------------------------------->______________] 79.96% 114 p/s1558 / 1921 [--------------------------------------------------------->_____________] 81.10% 114 p/s1581 / 1921 [---------------------------------------------------------->____________] 82.30% 113 p/s1604 / 1921 [----------------------------------------------------------->___________] 83.50% 113 p/s1626 / 1921 [------------------------------------------------------------>__________] 84.64% 113 p/s1649 / 1921 [------------------------------------------------------------>__________] 85.84% 113 p/s1672 / 1921 [------------------------------------------------------------->_________] 87.04% 113 p/s1695 / 1921 [-------------------------------------------------------------->________] 88.24% 113 p/s1717 / 1921 [--------------------------------------------------------------->_______] 89.38% 113 p/s1740 / 1921 [---------------------------------------------------------------->______] 90.58% 113 p/s1763 / 1921 [----------------------------------------------------------------->_____] 91.78% 113 p/s1785 / 1921 [----------------------------------------------------------------->_____] 92.92% 113 p/s1808 / 1921 [------------------------------------------------------------------>____] 94.12% 113 p/s1830 / 1921 [------------------------------------------------------------------->___] 95.26% 113 p/s1853 / 1921 [-------------------------------------------------------------------->__] 96.46% 113 p/s1875 / 1921 [--------------------------------------------------------------------->_] 97.61% 113 p/s1898 / 1921 [---------------------------------------------------------------------->] 98.80% 113 p/s1921 / 1921 [----------------------------------------------------------------------] 100.00% 114 p/s2026-04-21T01:20:03 - INFO: Parsing 1921 sonar sweeps from /working/c003350b-88ae-46da-91a2-e3088e40dd04/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1921 [00:00<?, ?it/s]
  0%|          | 3/1921 [00:00<01:10, 27.16it/s]
  0%|          | 6/1921 [00:00<01:08, 27.75it/s]
  0%|          | 9/1921 [00:00<01:10, 27.29it/s]
  1%|          | 12/1921 [00:00<01:09, 27.66it/s]
  1%|          | 15/1921 [00:00<01:08, 27.84it/s]
  1%|          | 18/1921 [00:00<01:08, 27.96it/s]
  1%|          | 21/1921 [00:00<01:07, 28.02it/s]
  1%|          | 24/1921 [00:00<01:07, 28.04it/s]
  1%|▏         | 27/1921 [00:00<01:07, 28.13it/s]
  2%|▏         | 30/1921 [00:01<01:07, 28.15it/s]
  2%|▏         | 33/1921 [00:01<01:07, 28.15it/s]
  2%|▏         | 36/1921 [00:01<01:06, 28.14it/s]
  2%|▏         | 39/1921 [00:01<01:06, 28.18it/s]
  2%|▏         | 42/1921 [00:01<01:06, 28.11it/s]
  2%|▏         | 45/1921 [00:01<01:06, 28.07it/s]
  2%|▏         | 48/1921 [00:01<01:06, 28.07it/s]
  3%|▎         | 51/1921 [00:01<01:06, 28.06it/s]
  3%|▎         | 54/1921 [00:01<01:06, 28.04it/s]
  3%|▎         | 57/1921 [00:02<01:06, 27.95it/s]
  3%|▎         | 60/1921 [00:02<01:07, 27.62it/s]
  3%|▎         | 63/1921 [00:02<01:07, 27.55it/s]
  3%|▎         | 66/1921 [00:02<01:06, 27.75it/s]
  4%|▎         | 69/1921 [00:02<01:06, 27.94it/s]
  4%|▎         | 72/1921 [00:02<01:06, 28.01it/s]
  4%|▍         | 75/1921 [00:02<01:05, 28.07it/s]
  4%|▍         | 78/1921 [00:02<01:05, 28.04it/s]
  4%|▍         | 81/1921 [00:02<01:23, 21.92it/s]
  4%|▍         | 84/1921 [00:03<01:18, 23.43it/s]
  5%|▍         | 87/1921 [00:03<01:14, 24.67it/s]
  5%|▍         | 90/1921 [00:03<01:11, 25.59it/s]
  5%|▍         | 93/1921 [00:03<01:09, 26.28it/s]
  5%|▍         | 96/1921 [00:03<01:08, 26.82it/s]
  5%|▌         | 99/1921 [00:03<01:07, 27.18it/s]
  5%|▌         | 102/1921 [00:03<01:06, 27.24it/s]
  5%|▌         | 105/1921 [00:03<01:06, 27.45it/s]
  6%|▌         | 108/1921 [00:03<01:05, 27.66it/s]
  6%|▌         | 111/1921 [00:04<01:05, 27.80it/s]
  6%|▌         | 114/1921 [00:04<01:04, 27.95it/s]
  6%|▌         | 117/1921 [00:04<01:04, 27.97it/s]
  6%|▌         | 120/1921 [00:04<01:05, 27.68it/s]
  6%|▋         | 123/1921 [00:04<01:04, 27.79it/s]
  7%|▋         | 126/1921 [00:04<01:04, 27.85it/s]
  7%|▋         | 129/1921 [00:04<01:04, 27.82it/s]
  7%|▋         | 132/1921 [00:04<01:04, 27.87it/s]
  7%|▋         | 135/1921 [00:04<01:03, 27.94it/s]
  7%|▋         | 138/1921 [00:05<01:03, 27.98it/s]
  7%|▋         | 141/1921 [00:05<01:03, 28.00it/s]
  7%|▋         | 144/1921 [00:05<01:05, 26.94it/s]
  8%|▊         | 147/1921 [00:05<01:05, 27.10it/s]
  8%|▊         | 150/1921 [00:05<01:04, 27.32it/s]
  8%|▊         | 153/1921 [00:05<01:04, 27.52it/s]
  8%|▊         | 156/1921 [00:05<01:04, 27.36it/s]
  8%|▊         | 159/1921 [00:05<01:04, 27.49it/s]
  8%|▊         | 162/1921 [00:05<01:03, 27.64it/s]
  9%|▊         | 165/1921 [00:06<01:03, 27.63it/s]
  9%|▊         | 168/1921 [00:06<01:03, 27.65it/s]
  9%|▉         | 171/1921 [00:06<01:03, 27.65it/s]
  9%|▉         | 174/1921 [00:06<01:03, 27.69it/s]
  9%|▉         | 177/1921 [00:06<01:02, 27.76it/s]
  9%|▉         | 180/1921 [00:06<01:02, 27.71it/s]
 10%|▉         | 183/1921 [00:06<01:02, 27.72it/s]
 10%|▉         | 186/1921 [00:06<01:02, 27.70it/s]
 10%|▉         | 189/1921 [00:06<01:02, 27.66it/s]
 10%|▉         | 192/1921 [00:06<01:02, 27.49it/s]
 10%|█         | 195/1921 [00:07<01:02, 27.51it/s]
 10%|█         | 198/1921 [00:07<01:02, 27.35it/s]
 10%|█         | 201/1921 [00:07<01:02, 27.46it/s]
 11%|█         | 204/1921 [00:07<01:02, 27.51it/s]
 11%|█         | 207/1921 [00:07<01:02, 27.63it/s]
 11%|█         | 210/1921 [00:07<01:01, 27.69it/s]
 11%|█         | 213/1921 [00:07<01:02, 27.53it/s]
 11%|█         | 216/1921 [00:07<01:01, 27.53it/s]
 11%|█▏        | 219/1921 [00:07<01:02, 27.44it/s]
 12%|█▏        | 222/1921 [00:08<01:01, 27.49it/s]
 12%|█▏        | 225/1921 [00:08<01:01, 27.50it/s]
 12%|█▏        | 228/1921 [00:08<01:01, 27.49it/s]
 12%|█▏        | 231/1921 [00:08<01:01, 27.54it/s]
 12%|█▏        | 234/1921 [00:08<01:01, 27.56it/s]
 12%|█▏        | 237/1921 [00:08<01:01, 27.56it/s]
 12%|█▏        | 240/1921 [00:08<01:01, 27.54it/s]
 13%|█▎        | 243/1921 [00:08<01:00, 27.61it/s]
 13%|█▎        | 246/1921 [00:08<01:00, 27.62it/s]
 13%|█▎        | 249/1921 [00:09<01:00, 27.64it/s]
 13%|█▎        | 252/1921 [00:09<01:00, 27.61it/s]
 13%|█▎        | 255/1921 [00:09<01:00, 27.59it/s]
 13%|█▎        | 258/1921 [00:09<01:00, 27.61it/s]
 14%|█▎        | 261/1921 [00:09<01:00, 27.60it/s]
 14%|█▎        | 264/1921 [00:09<01:00, 27.61it/s]
 14%|█▍        | 267/1921 [00:09<00:59, 27.64it/s]
 14%|█▍        | 270/1921 [00:09<01:00, 27.46it/s]
 14%|█▍        | 273/1921 [00:09<00:59, 27.54it/s]
 14%|█▍        | 276/1921 [00:10<01:02, 26.26it/s]
 15%|█▍        | 279/1921 [00:10<01:01, 26.69it/s]
 15%|█▍        | 282/1921 [00:10<01:00, 26.94it/s]
 15%|█▍        | 285/1921 [00:10<01:00, 27.17it/s]
 15%|█▍        | 288/1921 [00:10<01:00, 27.05it/s]
 15%|█▌        | 291/1921 [00:10<01:00, 27.16it/s]
 15%|█▌        | 294/1921 [00:10<01:00, 26.93it/s]
 15%|█▌        | 297/1921 [00:10<00:59, 27.18it/s]
 16%|█▌        | 300/1921 [00:10<00:59, 27.31it/s]
 16%|█▌        | 303/1921 [00:11<00:58, 27.44it/s]
 16%|█▌        | 306/1921 [00:11<00:58, 27.49it/s]
 16%|█▌        | 309/1921 [00:11<00:58, 27.53it/s]
 16%|█▌        | 312/1921 [00:11<00:58, 27.59it/s]
 16%|█▋        | 315/1921 [00:11<00:58, 27.59it/s]
 17%|█▋        | 318/1921 [00:11<00:57, 27.67it/s]
 17%|█▋        | 321/1921 [00:11<00:57, 27.70it/s]
 17%|█▋        | 324/1921 [00:11<00:57, 27.66it/s]
 17%|█▋        | 327/1921 [00:11<00:57, 27.66it/s]
 17%|█▋        | 330/1921 [00:12<00:57, 27.68it/s]
 17%|█▋        | 333/1921 [00:12<00:57, 27.76it/s]
 17%|█▋        | 336/1921 [00:12<00:57, 27.78it/s]
 18%|█▊        | 339/1921 [00:12<00:56, 27.76it/s]
 18%|█▊        | 342/1921 [00:12<00:56, 27.76it/s]
 18%|█▊        | 345/1921 [00:12<00:56, 27.79it/s]
 18%|█▊        | 348/1921 [00:12<00:56, 27.77it/s]
 18%|█▊        | 351/1921 [00:12<00:56, 27.71it/s]
 18%|█▊        | 354/1921 [00:12<00:57, 27.45it/s]
 19%|█▊        | 357/1921 [00:13<00:57, 27.42it/s]
 19%|█▊        | 360/1921 [00:13<00:56, 27.47it/s]
 19%|█▉        | 363/1921 [00:13<00:57, 26.96it/s]
 19%|█▉        | 366/1921 [00:13<00:57, 27.06it/s]
 19%|█▉        | 369/1921 [00:13<00:56, 27.30it/s]
 19%|█▉        | 372/1921 [00:13<00:56, 27.37it/s]
 20%|█▉        | 375/1921 [00:13<00:56, 27.52it/s]
 20%|█▉        | 378/1921 [00:13<00:55, 27.57it/s]
 20%|█▉        | 381/1921 [00:13<00:56, 27.27it/s]
 20%|█▉        | 384/1921 [00:13<00:56, 27.20it/s]
 20%|██        | 387/1921 [00:14<00:56, 27.30it/s]
 20%|██        | 390/1921 [00:14<00:55, 27.37it/s]
 20%|██        | 393/1921 [00:14<00:55, 27.48it/s]
 21%|██        | 396/1921 [00:14<00:55, 27.53it/s]
 21%|██        | 399/1921 [00:14<00:55, 27.55it/s]
 21%|██        | 402/1921 [00:14<00:54, 27.62it/s]
 21%|██        | 405/1921 [00:14<00:54, 27.70it/s]
 21%|██        | 408/1921 [00:14<00:57, 26.17it/s]
 21%|██▏       | 411/1921 [00:14<00:57, 26.49it/s]
 22%|██▏       | 414/1921 [00:15<00:56, 26.90it/s]
 22%|██▏       | 417/1921 [00:15<00:55, 27.20it/s]
 22%|██▏       | 420/1921 [00:15<00:54, 27.40it/s]
 22%|██▏       | 423/1921 [00:15<00:54, 27.50it/s]
 22%|██▏       | 426/1921 [00:15<00:54, 27.63it/s]
 22%|██▏       | 429/1921 [00:15<00:53, 27.69it/s]
 22%|██▏       | 432/1921 [00:15<00:53, 27.69it/s]
 23%|██▎       | 435/1921 [00:15<00:53, 27.71it/s]
 23%|██▎       | 438/1921 [00:15<00:53, 27.67it/s]
 23%|██▎       | 441/1921 [00:16<00:53, 27.66it/s]
 23%|██▎       | 444/1921 [00:16<00:53, 27.70it/s]
 23%|██▎       | 447/1921 [00:16<00:53, 27.73it/s]
 23%|██▎       | 450/1921 [00:16<00:52, 27.76it/s]
 24%|██▎       | 453/1921 [00:16<00:52, 27.87it/s]
 24%|██▎       | 456/1921 [00:16<00:52, 27.86it/s]
 24%|██▍       | 459/1921 [00:16<00:52, 27.83it/s]
 24%|██▍       | 462/1921 [00:16<00:52, 27.85it/s]
 24%|██▍       | 465/1921 [00:16<00:52, 27.84it/s]
 24%|██▍       | 468/1921 [00:17<00:52, 27.80it/s]
 25%|██▍       | 471/1921 [00:17<00:52, 27.81it/s]
 25%|██▍       | 474/1921 [00:17<00:51, 27.83it/s]
 25%|██▍       | 477/1921 [00:17<00:51, 27.84it/s]
 25%|██▍       | 480/1921 [00:17<00:51, 27.84it/s]
 25%|██▌       | 483/1921 [00:17<00:51, 27.82it/s]
 25%|██▌       | 486/1921 [00:17<00:51, 27.85it/s]
 25%|██▌       | 489/1921 [00:17<00:51, 27.87it/s]
 26%|██▌       | 492/1921 [00:17<00:51, 27.84it/s]
 26%|██▌       | 495/1921 [00:18<00:51, 27.58it/s]
 26%|██▌       | 498/1921 [00:18<00:51, 27.57it/s]
 26%|██▌       | 501/1921 [00:18<00:51, 27.59it/s]
 26%|██▌       | 504/1921 [00:18<00:51, 27.63it/s]
 26%|██▋       | 507/1921 [00:18<00:51, 27.65it/s]
 27%|██▋       | 510/1921 [00:18<00:50, 27.74it/s]
 27%|██▋       | 513/1921 [00:18<00:50, 27.75it/s]
 27%|██▋       | 516/1921 [00:18<00:50, 27.76it/s]
 27%|██▋       | 519/1921 [00:18<00:50, 27.82it/s]
 27%|██▋       | 522/1921 [00:18<00:50, 27.80it/s]
 27%|██▋       | 525/1921 [00:19<00:50, 27.77it/s]
 27%|██▋       | 528/1921 [00:19<00:50, 27.78it/s]
 28%|██▊       | 531/1921 [00:19<00:49, 27.82it/s]
 28%|██▊       | 534/1921 [00:19<00:49, 27.83it/s]
 28%|██▊       | 537/1921 [00:19<00:49, 27.85it/s]
 28%|██▊       | 540/1921 [00:19<00:49, 27.78it/s]
 28%|██▊       | 543/1921 [00:19<00:53, 25.77it/s]
 28%|██▊       | 546/1921 [00:19<00:52, 26.35it/s]
 29%|██▊       | 549/1921 [00:19<00:51, 26.79it/s]
 29%|██▊       | 552/1921 [00:20<00:50, 27.04it/s]
 29%|██▉       | 555/1921 [00:20<00:50, 27.24it/s]
 29%|██▉       | 558/1921 [00:20<00:49, 27.45it/s]
 29%|██▉       | 561/1921 [00:20<00:49, 27.52it/s]
 29%|██▉       | 564/1921 [00:20<00:49, 27.55it/s]
 30%|██▉       | 567/1921 [00:20<00:49, 27.55it/s]
 30%|██▉       | 570/1921 [00:20<00:48, 27.58it/s]
 30%|██▉       | 573/1921 [00:20<00:48, 27.60it/s]
 30%|██▉       | 576/1921 [00:20<00:48, 27.62it/s]
 30%|███       | 579/1921 [00:21<00:48, 27.63it/s]
 30%|███       | 582/1921 [00:21<00:48, 27.62it/s]
 30%|███       | 585/1921 [00:21<00:48, 27.65it/s]
 31%|███       | 588/1921 [00:21<00:48, 27.71it/s]
 31%|███       | 591/1921 [00:21<00:47, 27.74it/s]
 31%|███       | 594/1921 [00:21<00:47, 27.77it/s]
 31%|███       | 597/1921 [00:21<00:47, 27.65it/s]
 31%|███       | 600/1921 [00:21<00:47, 27.69it/s]
 31%|███▏      | 603/1921 [00:21<00:47, 27.63it/s]
 32%|███▏      | 606/1921 [00:22<00:47, 27.66it/s]
 32%|███▏      | 609/1921 [00:22<00:47, 27.70it/s]
 32%|███▏      | 612/1921 [00:22<00:47, 27.68it/s]
 32%|███▏      | 615/1921 [00:22<00:47, 27.61it/s]
 32%|███▏      | 618/1921 [00:22<00:47, 27.53it/s]
 32%|███▏      | 621/1921 [00:22<00:47, 27.55it/s]
 32%|███▏      | 624/1921 [00:22<00:47, 27.58it/s]
 33%|███▎      | 627/1921 [00:22<00:46, 27.68it/s]
 33%|███▎      | 630/1921 [00:22<00:46, 27.66it/s]
 33%|███▎      | 633/1921 [00:23<00:49, 25.80it/s]
 33%|███▎      | 636/1921 [00:23<00:48, 26.31it/s]
 33%|███▎      | 639/1921 [00:23<00:48, 26.71it/s]
 33%|███▎      | 642/1921 [00:23<00:48, 26.36it/s]
 34%|███▎      | 645/1921 [00:23<00:47, 26.69it/s]
 34%|███▎      | 648/1921 [00:23<00:47, 26.96it/s]
 34%|███▍      | 651/1921 [00:23<00:46, 27.04it/s]
 34%|███▍      | 654/1921 [00:23<00:46, 27.27it/s]
 34%|███▍      | 657/1921 [00:23<00:46, 27.33it/s]
 34%|███▍      | 660/1921 [00:24<00:45, 27.46it/s]
 35%|███▍      | 663/1921 [00:24<00:45, 27.46it/s]
 35%|███▍      | 666/1921 [00:24<00:45, 27.46it/s]
 35%|███▍      | 669/1921 [00:24<00:45, 27.48it/s]
 35%|███▍      | 672/1921 [00:24<00:45, 27.51it/s]
 35%|███▌      | 675/1921 [00:24<00:45, 27.55it/s]
 35%|███▌      | 678/1921 [00:24<00:45, 27.56it/s]
 35%|███▌      | 681/1921 [00:24<00:45, 27.55it/s]
 36%|███▌      | 684/1921 [00:24<00:44, 27.59it/s]
 36%|███▌      | 687/1921 [00:25<00:44, 27.61it/s]
 36%|███▌      | 690/1921 [00:25<00:44, 27.62it/s]
 36%|███▌      | 693/1921 [00:25<00:44, 27.54it/s]
 36%|███▌      | 696/1921 [00:25<00:44, 27.56it/s]
 36%|███▋      | 699/1921 [00:25<00:44, 27.54it/s]
 37%|███▋      | 702/1921 [00:25<00:44, 27.58it/s]
 37%|███▋      | 705/1921 [00:25<00:44, 27.59it/s]
 37%|███▋      | 708/1921 [00:25<00:43, 27.58it/s]
 37%|███▋      | 711/1921 [00:25<00:48, 24.93it/s]
 37%|███▋      | 714/1921 [00:26<00:47, 25.65it/s]
 37%|███▋      | 717/1921 [00:26<00:45, 26.25it/s]
 37%|███▋      | 720/1921 [00:26<00:45, 26.61it/s]
 38%|███▊      | 723/1921 [00:26<00:44, 26.93it/s]
 38%|███▊      | 726/1921 [00:26<00:43, 27.16it/s]
 38%|███▊      | 729/1921 [00:26<00:43, 27.30it/s]
 38%|███▊      | 732/1921 [00:26<00:43, 27.38it/s]
 38%|███▊      | 735/1921 [00:26<00:43, 27.42it/s]
 38%|███▊      | 738/1921 [00:26<00:43, 27.47it/s]
 39%|███▊      | 741/1921 [00:27<00:42, 27.50it/s]
 39%|███▊      | 744/1921 [00:27<00:42, 27.49it/s]
 39%|███▉      | 747/1921 [00:27<00:42, 27.51it/s]
 39%|███▉      | 750/1921 [00:27<00:42, 27.50it/s]
 39%|███▉      | 753/1921 [00:27<00:42, 27.51it/s]
 39%|███▉      | 756/1921 [00:27<00:42, 27.54it/s]
 40%|███▉      | 759/1921 [00:27<00:42, 27.58it/s]
 40%|███▉      | 762/1921 [00:27<00:41, 27.62it/s]
 40%|███▉      | 765/1921 [00:27<00:41, 27.60it/s]
 40%|███▉      | 768/1921 [00:27<00:41, 27.50it/s]
 40%|████      | 771/1921 [00:28<00:47, 24.13it/s]
 40%|████      | 774/1921 [00:28<00:45, 25.03it/s]
 40%|████      | 777/1921 [00:28<00:44, 25.74it/s]
 41%|████      | 780/1921 [00:28<00:43, 26.28it/s]
 41%|████      | 783/1921 [00:28<00:42, 26.75it/s]
 41%|████      | 786/1921 [00:28<00:42, 27.01it/s]
 41%|████      | 789/1921 [00:28<00:41, 27.16it/s]
 41%|████      | 792/1921 [00:28<00:41, 27.27it/s]
 41%|████▏     | 795/1921 [00:29<00:41, 27.39it/s]
 42%|████▏     | 798/1921 [00:29<00:40, 27.51it/s]
 42%|████▏     | 801/1921 [00:29<00:40, 27.63it/s]
 42%|████▏     | 804/1921 [00:29<00:40, 27.70it/s]
 42%|████▏     | 807/1921 [00:29<00:40, 27.72it/s]
 42%|████▏     | 810/1921 [00:29<00:40, 27.77it/s]
 42%|████▏     | 813/1921 [00:29<00:39, 27.79it/s]
 42%|████▏     | 816/1921 [00:29<00:39, 27.69it/s]
 43%|████▎     | 819/1921 [00:29<00:39, 27.70it/s]
 43%|████▎     | 822/1921 [00:29<00:39, 27.68it/s]
 43%|████▎     | 825/1921 [00:30<00:39, 27.64it/s]
 43%|████▎     | 828/1921 [00:30<00:39, 27.65it/s]
 43%|████▎     | 831/1921 [00:30<00:39, 27.69it/s]
 43%|████▎     | 834/1921 [00:30<00:39, 27.70it/s]
 44%|████▎     | 837/1921 [00:30<00:39, 27.71it/s]
 44%|████▎     | 840/1921 [00:30<00:38, 27.72it/s]
 44%|████▍     | 843/1921 [00:30<00:38, 27.70it/s]
 44%|████▍     | 846/1921 [00:30<00:38, 27.67it/s]
 44%|████▍     | 849/1921 [00:30<00:38, 27.65it/s]
 44%|████▍     | 852/1921 [00:31<00:38, 27.66it/s]
 45%|████▍     | 855/1921 [00:31<00:38, 27.65it/s]
 45%|████▍     | 858/1921 [00:31<00:38, 27.66it/s]
 45%|████▍     | 861/1921 [00:31<00:38, 27.68it/s]
 45%|████▍     | 864/1921 [00:31<00:38, 27.70it/s]
 45%|████▌     | 867/1921 [00:31<00:38, 27.64it/s]
 45%|████▌     | 870/1921 [00:31<00:37, 27.66it/s]
 45%|████▌     | 873/1921 [00:31<00:37, 27.67it/s]
 46%|████▌     | 876/1921 [00:31<00:37, 27.67it/s]
 46%|████▌     | 879/1921 [00:32<00:37, 27.65it/s]
 46%|████▌     | 882/1921 [00:32<00:37, 27.63it/s]
 46%|████▌     | 885/1921 [00:32<00:37, 27.67it/s]
 46%|████▌     | 888/1921 [00:32<00:37, 27.68it/s]
 46%|████▋     | 891/1921 [00:32<00:37, 27.64it/s]
 47%|████▋     | 894/1921 [00:32<00:37, 27.58it/s]
 47%|████▋     | 897/1921 [00:32<00:37, 27.62it/s]
 47%|████▋     | 900/1921 [00:32<00:36, 27.69it/s]
 47%|████▋     | 903/1921 [00:32<00:36, 27.70it/s]
 47%|████▋     | 906/1921 [00:33<00:36, 27.74it/s]
 47%|████▋     | 909/1921 [00:33<00:40, 24.87it/s]
 47%|████▋     | 912/1921 [00:33<00:39, 25.58it/s]
 48%|████▊     | 915/1921 [00:33<00:38, 26.11it/s]
 48%|████▊     | 918/1921 [00:33<00:37, 26.56it/s]
 48%|████▊     | 921/1921 [00:33<00:37, 26.88it/s]
 48%|████▊     | 924/1921 [00:33<00:36, 27.08it/s]
 48%|████▊     | 927/1921 [00:33<00:41, 24.22it/s]
 48%|████▊     | 930/1921 [00:33<00:39, 25.09it/s]
 49%|████▊     | 933/1921 [00:34<00:38, 25.81it/s]
 49%|████▊     | 936/1921 [00:34<00:37, 26.37it/s]
 49%|████▉     | 939/1921 [00:34<00:36, 26.74it/s]
 49%|████▉     | 942/1921 [00:34<00:36, 26.99it/s]
 49%|████▉     | 945/1921 [00:34<00:35, 27.18it/s]
 49%|████▉     | 948/1921 [00:34<00:35, 27.30it/s]
 50%|████▉     | 951/1921 [00:34<00:35, 27.35it/s]
 50%|████▉     | 954/1921 [00:34<00:35, 27.41it/s]
 50%|████▉     | 957/1921 [00:34<00:35, 27.42it/s]
 50%|████▉     | 960/1921 [00:35<00:34, 27.48it/s]
 50%|█████     | 963/1921 [00:35<00:34, 27.50it/s]
 50%|█████     | 966/1921 [00:35<00:34, 27.55it/s]
 50%|█████     | 969/1921 [00:35<00:34, 27.56it/s]
 51%|█████     | 972/1921 [00:35<00:34, 27.57it/s]
 51%|█████     | 975/1921 [00:35<00:34, 27.56it/s]
 51%|█████     | 978/1921 [00:35<00:34, 27.59it/s]
 51%|█████     | 981/1921 [00:35<00:34, 27.64it/s]
 51%|█████     | 984/1921 [00:35<00:33, 27.66it/s]
 51%|█████▏    | 987/1921 [00:36<00:33, 27.59it/s]
 52%|█████▏    | 990/1921 [00:36<00:33, 27.59it/s]
 52%|█████▏    | 993/1921 [00:36<00:33, 27.62it/s]
 52%|█████▏    | 996/1921 [00:36<00:33, 27.62it/s]
 52%|█████▏    | 999/1921 [00:36<00:33, 27.63it/s]
 52%|█████▏    | 1002/1921 [00:36<00:33, 27.67it/s]
 52%|█████▏    | 1005/1921 [00:36<00:33, 27.68it/s]
 52%|█████▏    | 1008/1921 [00:36<00:32, 27.70it/s]
 53%|█████▎    | 1011/1921 [00:36<00:32, 27.71it/s]
 53%|█████▎    | 1014/1921 [00:37<00:32, 27.68it/s]
 53%|█████▎    | 1017/1921 [00:37<00:32, 27.70it/s]
 53%|█████▎    | 1020/1921 [00:37<00:32, 27.74it/s]
 53%|█████▎    | 1023/1921 [00:37<00:32, 27.72it/s]
 53%|█████▎    | 1026/1921 [00:37<00:32, 27.73it/s]
 54%|█████▎    | 1029/1921 [00:37<00:32, 27.74it/s]
 54%|█████▎    | 1032/1921 [00:37<00:32, 27.70it/s]
 54%|█████▍    | 1035/1921 [00:37<00:32, 27.13it/s]
 54%|█████▍    | 1038/1921 [00:37<00:32, 27.37it/s]
 54%|█████▍    | 1041/1921 [00:38<00:32, 27.35it/s]
 54%|█████▍    | 1044/1921 [00:38<00:32, 27.40it/s]
 55%|█████▍    | 1047/1921 [00:38<00:39, 21.91it/s]
 55%|█████▍    | 1050/1921 [00:38<00:37, 23.40it/s]
 55%|█████▍    | 1053/1921 [00:38<00:35, 24.54it/s]
 55%|█████▍    | 1056/1921 [00:38<00:34, 25.39it/s]
 55%|█████▌    | 1059/1921 [00:38<00:33, 26.01it/s]
 55%|█████▌    | 1062/1921 [00:38<00:32, 26.43it/s]
 55%|█████▌    | 1065/1921 [00:38<00:31, 26.80it/s]
 56%|█████▌    | 1068/1921 [00:39<00:31, 27.09it/s]
 56%|█████▌    | 1071/1921 [00:39<00:31, 27.31it/s]
 56%|█████▌    | 1074/1921 [00:39<00:30, 27.39it/s]
 56%|█████▌    | 1077/1921 [00:39<00:30, 27.45it/s]
 56%|█████▌    | 1080/1921 [00:39<00:30, 27.47it/s]
 56%|█████▋    | 1083/1921 [00:39<00:30, 27.49it/s]
 57%|█████▋    | 1086/1921 [00:39<00:30, 27.50it/s]
 57%|█████▋    | 1089/1921 [00:39<00:30, 27.53it/s]
 57%|█████▋    | 1092/1921 [00:39<00:30, 27.55it/s]
 57%|█████▋    | 1095/1921 [00:40<00:29, 27.54it/s]
 57%|█████▋    | 1098/1921 [00:40<00:29, 27.53it/s]
 57%|█████▋    | 1101/1921 [00:40<00:29, 27.54it/s]
 57%|█████▋    | 1104/1921 [00:40<00:29, 27.53it/s]
 58%|█████▊    | 1107/1921 [00:40<00:29, 27.58it/s]
 58%|█████▊    | 1110/1921 [00:40<00:29, 27.53it/s]
 58%|█████▊    | 1113/1921 [00:40<00:29, 27.51it/s]
 58%|█████▊    | 1116/1921 [00:40<00:29, 27.52it/s]
 58%|█████▊    | 1119/1921 [00:40<00:29, 27.52it/s]
 58%|█████▊    | 1122/1921 [00:41<00:29, 27.54it/s]
 59%|█████▊    | 1125/1921 [00:41<00:28, 27.52it/s]
 59%|█████▊    | 1128/1921 [00:41<00:28, 27.53it/s]
 59%|█████▉    | 1131/1921 [00:41<00:28, 27.55it/s]
 59%|█████▉    | 1134/1921 [00:41<00:28, 27.56it/s]
 59%|█████▉    | 1137/1921 [00:41<00:28, 27.55it/s]
 59%|█████▉    | 1140/1921 [00:41<00:28, 27.49it/s]
 60%|█████▉    | 1143/1921 [00:41<00:28, 27.48it/s]
 60%|█████▉    | 1146/1921 [00:41<00:28, 27.47it/s]
 60%|█████▉    | 1149/1921 [00:42<00:28, 27.49it/s]
 60%|█████▉    | 1152/1921 [00:42<00:28, 27.40it/s]
 60%|██████    | 1155/1921 [00:42<00:27, 27.41it/s]
 60%|██████    | 1158/1921 [00:42<00:27, 27.48it/s]
 60%|██████    | 1161/1921 [00:42<00:27, 27.56it/s]
 61%|██████    | 1164/1921 [00:42<00:27, 27.60it/s]
 61%|██████    | 1167/1921 [00:42<00:27, 27.62it/s]
 61%|██████    | 1170/1921 [00:42<00:27, 27.61it/s]
 61%|██████    | 1173/1921 [00:42<00:27, 27.60it/s]
 61%|██████    | 1176/1921 [00:43<00:26, 27.62it/s]
 61%|██████▏   | 1179/1921 [00:43<00:26, 27.57it/s]
 62%|██████▏   | 1182/1921 [00:43<00:30, 23.99it/s]
 62%|██████▏   | 1185/1921 [00:43<00:29, 24.94it/s]
 62%|██████▏   | 1188/1921 [00:43<00:28, 25.62it/s]
 62%|██████▏   | 1191/1921 [00:43<00:27, 26.19it/s]
 62%|██████▏   | 1194/1921 [00:43<00:31, 22.78it/s]
 62%|██████▏   | 1197/1921 [00:43<00:30, 24.00it/s]
 62%|██████▏   | 1200/1921 [00:43<00:28, 24.99it/s]
 63%|██████▎   | 1203/1921 [00:44<00:27, 25.70it/s]
 63%|██████▎   | 1206/1921 [00:44<00:27, 26.23it/s]
 63%|██████▎   | 1209/1921 [00:44<00:26, 26.62it/s]
 63%|██████▎   | 1212/1921 [00:44<00:26, 26.96it/s]
 63%|██████▎   | 1215/1921 [00:44<00:25, 27.16it/s]
 63%|██████▎   | 1218/1921 [00:44<00:25, 27.23it/s]
 64%|██████▎   | 1221/1921 [00:44<00:25, 27.34it/s]
 64%|██████▎   | 1224/1921 [00:44<00:25, 27.36it/s]
 64%|██████▍   | 1227/1921 [00:44<00:25, 27.41it/s]
 64%|██████▍   | 1230/1921 [00:45<00:25, 27.38it/s]
 64%|██████▍   | 1233/1921 [00:45<00:25, 27.41it/s]
 64%|██████▍   | 1236/1921 [00:45<00:24, 27.48it/s]
 64%|██████▍   | 1239/1921 [00:45<00:24, 27.58it/s]
 65%|██████▍   | 1242/1921 [00:45<00:24, 27.60it/s]
 65%|██████▍   | 1245/1921 [00:45<00:24, 27.59it/s]
 65%|██████▍   | 1248/1921 [00:45<00:24, 27.64it/s]
 65%|██████▌   | 1251/1921 [00:45<00:24, 27.65it/s]
 65%|██████▌   | 1254/1921 [00:45<00:24, 27.66it/s]
 65%|██████▌   | 1257/1921 [00:46<00:24, 27.61it/s]
 66%|██████▌   | 1260/1921 [00:46<00:23, 27.60it/s]
 66%|██████▌   | 1263/1921 [00:46<00:23, 27.60it/s]
 66%|██████▌   | 1266/1921 [00:46<00:23, 27.62it/s]
 66%|██████▌   | 1269/1921 [00:46<00:23, 27.68it/s]
 66%|██████▌   | 1272/1921 [00:46<00:23, 27.62it/s]
 66%|██████▋   | 1275/1921 [00:46<00:23, 27.63it/s]
 67%|██████▋   | 1278/1921 [00:46<00:23, 27.62it/s]
 67%|██████▋   | 1281/1921 [00:46<00:23, 27.63it/s]
 67%|██████▋   | 1284/1921 [00:47<00:23, 27.64it/s]
 67%|██████▋   | 1287/1921 [00:47<00:22, 27.60it/s]
 67%|██████▋   | 1290/1921 [00:47<00:22, 27.56it/s]
 67%|██████▋   | 1293/1921 [00:47<00:22, 27.59it/s]
 67%|██████▋   | 1296/1921 [00:47<00:22, 27.68it/s]
 68%|██████▊   | 1299/1921 [00:47<00:22, 27.71it/s]
 68%|██████▊   | 1302/1921 [00:47<00:22, 27.70it/s]
 68%|██████▊   | 1305/1921 [00:47<00:22, 27.66it/s]
 68%|██████▊   | 1308/1921 [00:47<00:22, 27.68it/s]
 68%|██████▊   | 1311/1921 [00:48<00:22, 27.59it/s]
 68%|██████▊   | 1314/1921 [00:48<00:22, 27.50it/s]
 69%|██████▊   | 1317/1921 [00:48<00:22, 27.37it/s]
 69%|██████▊   | 1320/1921 [00:48<00:21, 27.42it/s]
 69%|██████▉   | 1323/1921 [00:48<00:21, 27.45it/s]
 69%|██████▉   | 1326/1921 [00:48<00:21, 27.43it/s]
 69%|██████▉   | 1329/1921 [00:48<00:21, 27.45it/s]
 69%|██████▉   | 1332/1921 [00:48<00:21, 27.47it/s]
 69%|██████▉   | 1335/1921 [00:48<00:21, 27.43it/s]
 70%|██████▉   | 1338/1921 [00:48<00:21, 27.48it/s]
 70%|██████▉   | 1341/1921 [00:49<00:21, 27.52it/s]
 70%|██████▉   | 1344/1921 [00:49<00:20, 27.55it/s]
 70%|███████   | 1347/1921 [00:49<00:20, 27.58it/s]
 70%|███████   | 1350/1921 [00:49<00:20, 27.55it/s]
 70%|███████   | 1353/1921 [00:49<00:20, 27.57it/s]
 71%|███████   | 1356/1921 [00:49<00:20, 27.59it/s]
 71%|███████   | 1359/1921 [00:49<00:20, 27.58it/s]
 71%|███████   | 1362/1921 [00:49<00:20, 27.56it/s]
 71%|███████   | 1365/1921 [00:49<00:20, 27.51it/s]
 71%|███████   | 1368/1921 [00:50<00:20, 27.52it/s]
 71%|███████▏  | 1371/1921 [00:50<00:19, 27.54it/s]
 72%|███████▏  | 1374/1921 [00:50<00:19, 27.57it/s]
 72%|███████▏  | 1377/1921 [00:50<00:19, 27.60it/s]
 72%|███████▏  | 1380/1921 [00:50<00:19, 27.61it/s]
 72%|███████▏  | 1383/1921 [00:50<00:19, 27.57it/s]
 72%|███████▏  | 1386/1921 [00:50<00:19, 27.54it/s]
 72%|███████▏  | 1389/1921 [00:50<00:19, 27.57it/s]
 72%|███████▏  | 1392/1921 [00:50<00:19, 27.67it/s]
 73%|███████▎  | 1395/1921 [00:51<00:19, 27.67it/s]
 73%|███████▎  | 1398/1921 [00:51<00:18, 27.58it/s]
 73%|███████▎  | 1401/1921 [00:51<00:18, 27.58it/s]
 73%|███████▎  | 1404/1921 [00:51<00:18, 27.56it/s]
 73%|███████▎  | 1407/1921 [00:51<00:18, 27.55it/s]
 73%|███████▎  | 1410/1921 [00:51<00:18, 27.54it/s]
 74%|███████▎  | 1413/1921 [00:51<00:18, 27.39it/s]
 74%|███████▎  | 1416/1921 [00:51<00:18, 27.44it/s]
 74%|███████▍  | 1419/1921 [00:51<00:18, 27.45it/s]
 74%|███████▍  | 1422/1921 [00:52<00:18, 27.55it/s]
 74%|███████▍  | 1425/1921 [00:52<00:18, 27.55it/s]
 74%|███████▍  | 1428/1921 [00:52<00:17, 27.57it/s]
 74%|███████▍  | 1431/1921 [00:52<00:17, 27.54it/s]
 75%|███████▍  | 1434/1921 [00:52<00:17, 27.47it/s]
 75%|███████▍  | 1437/1921 [00:52<00:17, 27.48it/s]
 75%|███████▍  | 1440/1921 [00:52<00:17, 27.53it/s]
 75%|███████▌  | 1443/1921 [00:52<00:17, 27.57it/s]
 75%|███████▌  | 1446/1921 [00:52<00:17, 27.60it/s]
 75%|███████▌  | 1449/1921 [00:53<00:17, 27.61it/s]
 76%|███████▌  | 1452/1921 [00:53<00:16, 27.62it/s]
 76%|███████▌  | 1455/1921 [00:53<00:16, 27.61it/s]
 76%|███████▌  | 1458/1921 [00:53<00:18, 24.69it/s]
 76%|███████▌  | 1461/1921 [00:53<00:17, 25.56it/s]
 76%|███████▌  | 1464/1921 [00:53<00:17, 26.19it/s]
 76%|███████▋  | 1467/1921 [00:53<00:17, 26.39it/s]
 77%|███████▋  | 1470/1921 [00:53<00:16, 26.77it/s]
 77%|███████▋  | 1473/1921 [00:53<00:16, 27.08it/s]
 77%|███████▋  | 1476/1921 [00:54<00:16, 27.32it/s]
 77%|███████▋  | 1479/1921 [00:54<00:16, 27.47it/s]
 77%|███████▋  | 1482/1921 [00:54<00:15, 27.53it/s]
 77%|███████▋  | 1485/1921 [00:54<00:15, 27.69it/s]
 77%|███████▋  | 1488/1921 [00:54<00:15, 27.69it/s]
 78%|███████▊  | 1491/1921 [00:54<00:15, 27.63it/s]
 78%|███████▊  | 1494/1921 [00:54<00:15, 27.63it/s]
 78%|███████▊  | 1497/1921 [00:54<00:15, 27.58it/s]
 78%|███████▊  | 1500/1921 [00:54<00:15, 27.57it/s]
 78%|███████▊  | 1503/1921 [00:55<00:15, 27.51it/s]
 78%|███████▊  | 1506/1921 [00:55<00:15, 27.52it/s]
 79%|███████▊  | 1509/1921 [00:55<00:14, 27.53it/s]
 79%|███████▊  | 1512/1921 [00:55<00:14, 27.53it/s]
 79%|███████▉  | 1515/1921 [00:55<00:14, 27.51it/s]
 79%|███████▉  | 1518/1921 [00:55<00:14, 27.48it/s]
 79%|███████▉  | 1521/1921 [00:55<00:14, 27.53it/s]
 79%|███████▉  | 1524/1921 [00:55<00:14, 27.52it/s]
 79%|███████▉  | 1527/1921 [00:55<00:14, 27.58it/s]
 80%|███████▉  | 1530/1921 [00:56<00:17, 22.69it/s]
 80%|███████▉  | 1533/1921 [00:56<00:16, 23.97it/s]
 80%|███████▉  | 1536/1921 [00:56<00:15, 24.96it/s]
 80%|████████  | 1539/1921 [00:56<00:14, 25.71it/s]
 80%|████████  | 1542/1921 [00:56<00:14, 26.26it/s]
 80%|████████  | 1545/1921 [00:56<00:14, 26.66it/s]
 81%|████████  | 1548/1921 [00:56<00:13, 26.94it/s]
 81%|████████  | 1551/1921 [00:56<00:13, 27.15it/s]
 81%|████████  | 1554/1921 [00:56<00:13, 27.24it/s]
 81%|████████  | 1557/1921 [00:57<00:13, 27.31it/s]
 81%|████████  | 1560/1921 [00:57<00:13, 27.33it/s]
 81%|████████▏ | 1563/1921 [00:57<00:13, 27.37it/s]
 82%|████████▏ | 1566/1921 [00:57<00:12, 27.43it/s]
 82%|████████▏ | 1569/1921 [00:57<00:12, 27.47it/s]
 82%|████████▏ | 1572/1921 [00:57<00:12, 27.49it/s]
 82%|████████▏ | 1575/1921 [00:57<00:12, 27.54it/s]
 82%|████████▏ | 1578/1921 [00:57<00:12, 27.48it/s]
 82%|████████▏ | 1581/1921 [00:57<00:12, 27.50it/s]
 82%|████████▏ | 1584/1921 [00:58<00:12, 27.48it/s]
 83%|████████▎ | 1587/1921 [00:58<00:12, 27.47it/s]
 83%|████████▎ | 1590/1921 [00:58<00:12, 27.33it/s]
 83%|████████▎ | 1593/1921 [00:58<00:11, 27.37it/s]
 83%|████████▎ | 1596/1921 [00:58<00:11, 27.44it/s]
 83%|████████▎ | 1599/1921 [00:58<00:11, 27.47it/s]
 83%|████████▎ | 1602/1921 [00:58<00:11, 27.54it/s]
 84%|████████▎ | 1605/1921 [00:58<00:11, 27.57it/s]
 84%|████████▎ | 1608/1921 [00:58<00:11, 27.60it/s]
 84%|████████▍ | 1611/1921 [00:59<00:11, 27.58it/s]
 84%|████████▍ | 1614/1921 [00:59<00:11, 27.55it/s]
 84%|████████▍ | 1617/1921 [00:59<00:11, 27.57it/s]
 84%|████████▍ | 1620/1921 [00:59<00:10, 27.61it/s]
 84%|████████▍ | 1623/1921 [00:59<00:10, 27.68it/s]
 85%|████████▍ | 1626/1921 [00:59<00:10, 27.63it/s]
 85%|████████▍ | 1629/1921 [00:59<00:10, 27.64it/s]
 85%|████████▍ | 1632/1921 [00:59<00:10, 27.69it/s]
 85%|████████▌ | 1635/1921 [00:59<00:10, 27.71it/s]
 85%|████████▌ | 1638/1921 [01:00<00:11, 23.62it/s]
 85%|████████▌ | 1641/1921 [01:00<00:11, 24.67it/s]
 86%|████████▌ | 1644/1921 [01:00<00:10, 25.48it/s]
 86%|████████▌ | 1647/1921 [01:00<00:10, 26.11it/s]
 86%|████████▌ | 1650/1921 [01:00<00:10, 26.54it/s]
 86%|████████▌ | 1653/1921 [01:00<00:09, 26.84it/s]
 86%|████████▌ | 1656/1921 [01:00<00:09, 27.11it/s]
 86%|████████▋ | 1659/1921 [01:00<00:09, 27.22it/s]
 87%|████████▋ | 1662/1921 [01:00<00:09, 27.33it/s]
 87%|████████▋ | 1665/1921 [01:01<00:09, 27.43it/s]
 87%|████████▋ | 1668/1921 [01:01<00:09, 27.48it/s]
 87%|████████▋ | 1671/1921 [01:01<00:09, 27.53it/s]
 87%|████████▋ | 1674/1921 [01:01<00:08, 27.56it/s]
 87%|████████▋ | 1677/1921 [01:01<00:08, 27.62it/s]
 87%|████████▋ | 1680/1921 [01:01<00:08, 27.66it/s]
 88%|████████▊ | 1683/1921 [01:01<00:08, 27.66it/s]
 88%|████████▊ | 1686/1921 [01:01<00:08, 27.62it/s]
 88%|████████▊ | 1689/1921 [01:01<00:08, 27.64it/s]
 88%|████████▊ | 1692/1921 [01:02<00:08, 27.67it/s]
 88%|████████▊ | 1695/1921 [01:02<00:08, 27.68it/s]
 88%|████████▊ | 1698/1921 [01:02<00:08, 27.63it/s]
 89%|████████▊ | 1701/1921 [01:02<00:07, 27.61it/s]
 89%|████████▊ | 1704/1921 [01:02<00:07, 27.66it/s]
 89%|████████▉ | 1707/1921 [01:02<00:11, 18.93it/s]
 89%|████████▉ | 1710/1921 [01:02<00:10, 20.90it/s]
 89%|████████▉ | 1713/1921 [01:02<00:09, 22.54it/s]
 89%|████████▉ | 1716/1921 [01:03<00:08, 23.89it/s]
 89%|████████▉ | 1719/1921 [01:03<00:08, 24.90it/s]
 90%|████████▉ | 1722/1921 [01:03<00:07, 25.63it/s]
 90%|████████▉ | 1725/1921 [01:03<00:07, 26.20it/s]
 90%|████████▉ | 1728/1921 [01:03<00:07, 26.57it/s]
 90%|█████████ | 1731/1921 [01:03<00:07, 26.85it/s]
 90%|█████████ | 1734/1921 [01:03<00:06, 27.06it/s]
 90%|█████████ | 1737/1921 [01:03<00:06, 27.20it/s]
 91%|█████████ | 1740/1921 [01:03<00:06, 27.29it/s]
 91%|█████████ | 1743/1921 [01:04<00:06, 27.37it/s]
 91%|█████████ | 1746/1921 [01:04<00:06, 27.36it/s]
 91%|█████████ | 1749/1921 [01:04<00:06, 27.41it/s]
 91%|█████████ | 1752/1921 [01:04<00:06, 27.45it/s]
 91%|█████████▏| 1755/1921 [01:04<00:06, 27.48it/s]
 92%|█████████▏| 1758/1921 [01:04<00:05, 27.54it/s]
 92%|█████████▏| 1761/1921 [01:04<00:05, 27.55it/s]
 92%|█████████▏| 1764/1921 [01:04<00:05, 27.58it/s]
 92%|█████████▏| 1767/1921 [01:04<00:05, 27.61it/s]
 92%|█████████▏| 1770/1921 [01:05<00:05, 27.60it/s]
 92%|█████████▏| 1773/1921 [01:05<00:05, 27.59it/s]
 92%|█████████▏| 1776/1921 [01:05<00:05, 27.55it/s]
 93%|█████████▎| 1779/1921 [01:05<00:05, 27.56it/s]
 93%|█████████▎| 1782/1921 [01:05<00:05, 27.57it/s]
 93%|█████████▎| 1785/1921 [01:05<00:04, 27.56it/s]
 93%|█████████▎| 1788/1921 [01:05<00:05, 25.56it/s]
 93%|█████████▎| 1791/1921 [01:05<00:04, 26.15it/s]
 93%|█████████▎| 1794/1921 [01:05<00:04, 26.53it/s]
 94%|█████████▎| 1797/1921 [01:06<00:04, 26.81it/s]
 94%|█████████▎| 1800/1921 [01:06<00:04, 27.10it/s]
 94%|█████████▍| 1803/1921 [01:06<00:04, 27.20it/s]
 94%|█████████▍| 1806/1921 [01:06<00:04, 27.31it/s]
 94%|█████████▍| 1809/1921 [01:06<00:04, 27.38it/s]
 94%|█████████▍| 1812/1921 [01:06<00:03, 27.40it/s]
 94%|█████████▍| 1815/1921 [01:06<00:03, 27.48it/s]
 95%|█████████▍| 1818/1921 [01:06<00:03, 27.49it/s]
 95%|█████████▍| 1821/1921 [01:06<00:03, 27.49it/s]
 95%|█████████▍| 1824/1921 [01:06<00:03, 27.53it/s]
 95%|█████████▌| 1827/1921 [01:07<00:03, 27.54it/s]
 95%|█████████▌| 1830/1921 [01:07<00:03, 27.49it/s]
 95%|█████████▌| 1833/1921 [01:07<00:03, 27.49it/s]
 96%|█████████▌| 1836/1921 [01:07<00:03, 27.46it/s]
 96%|█████████▌| 1839/1921 [01:07<00:02, 27.51it/s]
 96%|█████████▌| 1842/1921 [01:07<00:02, 27.55it/s]
 96%|█████████▌| 1845/1921 [01:07<00:02, 27.31it/s]
 96%|█████████▌| 1848/1921 [01:07<00:02, 27.40it/s]
 96%|█████████▋| 1851/1921 [01:07<00:02, 27.33it/s]
 97%|█████████▋| 1854/1921 [01:08<00:02, 27.39it/s]
 97%|█████████▋| 1857/1921 [01:08<00:02, 27.45it/s]
 97%|█████████▋| 1860/1921 [01:08<00:02, 27.23it/s]
 97%|█████████▋| 1863/1921 [01:08<00:02, 27.21it/s]
 97%|█████████▋| 1866/1921 [01:08<00:02, 27.30it/s]
 97%|█████████▋| 1869/1921 [01:08<00:01, 27.37it/s]
 97%|█████████▋| 1872/1921 [01:08<00:01, 27.36it/s]
 98%|█████████▊| 1875/1921 [01:08<00:01, 27.40it/s]
 98%|█████████▊| 1878/1921 [01:08<00:01, 27.43it/s]
 98%|█████████▊| 1881/1921 [01:09<00:01, 27.50it/s]
 98%|█████████▊| 1884/1921 [01:09<00:01, 27.52it/s]
 98%|█████████▊| 1887/1921 [01:09<00:01, 27.51it/s]
 98%|█████████▊| 1890/1921 [01:09<00:01, 27.52it/s]
 99%|█████████▊| 1893/1921 [01:09<00:01, 27.54it/s]
 99%|█████████▊| 1896/1921 [01:09<00:00, 27.54it/s]
 99%|█████████▉| 1899/1921 [01:09<00:00, 27.56it/s]
 99%|█████████▉| 1902/1921 [01:09<00:00, 27.57it/s]
 99%|█████████▉| 1905/1921 [01:09<00:00, 27.63it/s]
 99%|█████████▉| 1908/1921 [01:10<00:00, 27.67it/s]
 99%|█████████▉| 1911/1921 [01:10<00:00, 27.70it/s]
100%|█████████▉| 1914/1921 [01:10<00:00, 27.63it/s]
100%|█████████▉| 1917/1921 [01:10<00:00, 27.58it/s]
100%|█████████▉| 1920/1921 [01:10<00:00, 27.60it/s]
100%|██████████| 1921/1921 [01:10<00:00, 27.24it/s]
2026-04-21T01:21:14 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-sample-offset -1 /working/c003350b-88ae-46da-91a2-e3088e40dd04/c003350b-88ae-46da-91a2-e3088e40dd04"
2026-04-21T01:21:16 - INFO: DataPrep 0.14.4
2026-04-21T01:21:16 - INFO: Prepared data will be output to /working/c003350b-88ae-46da-91a2-e3088e40dd04/c003350b-88ae-46da-91a2-e3088e40dd04/processing/data
2026-04-21T01:21:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-21T01:21:16 - deployment - INFO: Detected P3D version: P3D_1
2026-04-21T01:21:16 - INFO: Recording GUID: c003350b-88ae-46da-91a2-e3088e40dd04
2026-04-21T01:21:16 - INFO: Preparing sonar data...
2026-04-21T01:21:16 - INFO: /working/c003350b-88ae-46da-91a2-e3088e40dd04/c003350b-88ae-46da-91a2-e3088e40dd04/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-21T01:21:18 - INFO: Sonar epoch is 2026-03-12 00:48:01.029354+00:00 (1773276481029353896)
2026-04-21T01:21:18 - INFO: Creating sonar sensor alignment track...
2026-04-21T01:21:18 - INFO: Using sonar rotation of -0.104720 radians for wedge mask
2026-04-21T01:21:18 - INFO: Sensor speed of sound is 1500 m/s
2026-04-21T01:21:18 - INFO: Sensor range is 1.661520 m
2026-04-21T01:21:18 - INFO: Sensor micrometres per sample is 5520.000014
2026-04-21T01:21:18 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-04-21T01:21:18 - INFO: Scaled range is 1.655415 m
2026-04-21T01:21:18 - INFO: Scaled micrometres per sample is 5499.718021
2026-04-21T01:21:18 - INFO: Processing 1921 sweeps...

  0%|          | 0/1921 [00:00<?, ?sw/s]
  2%|▏         | 46/1921 [00:00<00:04, 459.76sw/s]
  5%|▌         | 97/1921 [00:00<00:03, 488.31sw/s]
  8%|▊         | 149/1921 [00:00<00:03, 498.53sw/s]
 10%|█         | 199/1921 [00:00<00:04, 408.02sw/s]
 13%|█▎        | 249/1921 [00:00<00:03, 426.82sw/s]
 16%|█▌        | 298/1921 [00:00<00:03, 433.32sw/s]
 18%|█▊        | 344/1921 [00:00<00:03, 438.61sw/s]
 20%|██        | 389/1921 [00:00<00:03, 429.36sw/s]
 23%|██▎       | 435/1921 [00:00<00:03, 431.75sw/s]
 25%|██▌       | 487/1921 [00:01<00:03, 450.42sw/s]
 28%|██▊       | 533/1921 [00:01<00:03, 438.89sw/s]
 30%|███       | 581/1921 [00:01<00:02, 449.55sw/s]
 33%|███▎      | 628/1921 [00:01<00:02, 454.11sw/s]
 35%|███▌      | 677/1921 [00:01<00:02, 450.40sw/s]
 38%|███▊      | 728/1921 [00:01<00:02, 467.22sw/s]
 41%|████      | 779/1921 [00:01<00:02, 477.09sw/s]
 43%|████▎     | 827/1921 [00:02<00:03, 311.69sw/s]
 45%|████▌     | 870/1921 [00:02<00:03, 334.80sw/s]
 48%|████▊     | 923/1921 [00:02<00:02, 375.65sw/s]
 50%|█████     | 966/1921 [00:02<00:02, 383.74sw/s]
 53%|█████▎    | 1015/1921 [00:02<00:02, 410.65sw/s]
 55%|█████▌    | 1064/1921 [00:02<00:02, 423.32sw/s]
 58%|█████▊    | 1109/1921 [00:02<00:01, 413.53sw/s]
 60%|█████▉    | 1152/1921 [00:02<00:01, 416.82sw/s]
 63%|██████▎   | 1202/1921 [00:02<00:01, 430.72sw/s]
 65%|██████▍   | 1247/1921 [00:02<00:01, 431.29sw/s]
 67%|██████▋   | 1291/1921 [00:03<00:01, 415.14sw/s]
 70%|██████▉   | 1337/1921 [00:03<00:01, 413.97sw/s]
 72%|███████▏  | 1387/1921 [00:03<00:01, 434.39sw/s]
 75%|███████▍  | 1434/1921 [00:03<00:01, 443.60sw/s]
 77%|███████▋  | 1479/1921 [00:03<00:00, 443.94sw/s]
 79%|███████▉  | 1526/1921 [00:03<00:00, 450.75sw/s]
 82%|████████▏ | 1576/1921 [00:03<00:00, 465.11sw/s]
 85%|████████▍ | 1628/1921 [00:03<00:00, 471.06sw/s]
 87%|████████▋ | 1676/1921 [00:03<00:00, 456.84sw/s]
 90%|████████▉ | 1727/1921 [00:04<00:00, 471.98sw/s]
 93%|█████████▎| 1777/1921 [00:04<00:00, 478.39sw/s]
 95%|█████████▌| 1825/1921 [00:04<00:00, 323.25sw/s]
 97%|█████████▋| 1869/1921 [00:04<00:00, 348.53sw/s]
100%|██████████| 1921/1921 [00:04<00:00, 421.49sw/s]
2026-04-21T01:21:25 - INFO: Prepared sonar data in 9.2337 s
2026-04-21T01:21:25 - INFO: No IMU data found
2026-04-21T01:21:25 - INFO: DataPrep took 0:00:09.512811
2026-04-21T01:21:26 - INFO: Extracted sonar data in 0:01:39.630821
2026-04-21T01:21:26 - INFO: MSIP3D took 0:01:39.874363