2026-05-27T20:20:42 - INFO: MSIP3D 0.2.6
2026-05-27T20:20:42 - INFO: P3D files will be output to /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0
2026-05-27T20:20:42 - INFO: Found 11 TFD dictionary entries
2026-05-27T20:20:42 - INFO: Found TFD mission for SJ502581 Dep 1
2026-05-27T20:20:42 - INFO: Recording will be processed as SMD
2026-05-27T20:20:42 - INFO: Copying assets JSON to output directory...
2026-05-27T20:20:42 - INFO: Preparing counter data...
2026-05-27T20:20:42 - INFO: Interpreting counter as imperial
2026-05-27T20:20:42 - INFO: Preparing size track from assets JSON...
2026-05-27T20:20:42 - INFO: Preparing shape track from assets JSON...
2026-05-27T20:20:42 - INFO: Preparing material track from assets JSON...
2026-05-27T20:20:42 - INFO: Prepared counter data in 0.0529 s
2026-05-27T20:20:42 - INFO: Extracting sonar data...
TFD path: /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/tfd/SJ502581_Dep_1.tfd
TFD path: /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 961
18 / 961 [->___________________________________________________________________________] 1.87% ? p/s38 / 961 [--->_________________________________________________________________________] 3.95% ? p/s56 / 961 [---->________________________________________________________________________] 5.83% ? p/s76 / 961 [------>_____________________________________________________________________] 7.91% 97 p/s96 / 961 [------->____________________________________________________________________] 9.99% 97 p/s115 / 961 [-------->_________________________________________________________________] 11.97% 97 p/s134 / 961 [---------->_______________________________________________________________] 13.94% 97 p/s153 / 961 [----------->______________________________________________________________] 15.92% 97 p/s173 / 961 [------------->____________________________________________________________] 18.00% 97 p/s192 / 961 [-------------->___________________________________________________________] 19.98% 97 p/s211 / 961 [---------------->_________________________________________________________] 21.96% 97 p/s231 / 961 [----------------->________________________________________________________] 24.04% 97 p/s250 / 961 [------------------->______________________________________________________] 26.01% 97 p/s269 / 961 [-------------------->_____________________________________________________] 27.99% 97 p/s288 / 961 [---------------------->___________________________________________________] 29.97% 97 p/s308 / 961 [----------------------->__________________________________________________] 32.05% 97 p/s327 / 961 [------------------------->________________________________________________] 34.03% 97 p/s346 / 961 [-------------------------->_______________________________________________] 36.00% 97 p/s365 / 961 [---------------------------->_____________________________________________] 37.98% 97 p/s385 / 961 [----------------------------->____________________________________________] 40.06% 97 p/s404 / 961 [------------------------------->__________________________________________] 42.04% 97 p/s423 / 961 [-------------------------------->_________________________________________] 44.02% 97 p/s443 / 961 [---------------------------------->_______________________________________] 46.10% 97 p/s462 / 961 [----------------------------------->______________________________________] 48.07% 97 p/s481 / 961 [------------------------------------->____________________________________] 50.05% 97 p/s501 / 961 [-------------------------------------->___________________________________] 52.13% 97 p/s519 / 961 [--------------------------------------->__________________________________] 54.01% 97 p/s539 / 961 [----------------------------------------->________________________________] 56.09% 97 p/s558 / 961 [------------------------------------------>_______________________________] 58.06% 97 p/s577 / 961 [-------------------------------------------->_____________________________] 60.04% 97 p/s597 / 961 [--------------------------------------------->____________________________] 62.12% 97 p/s616 / 961 [----------------------------------------------->__________________________] 64.10% 97 p/s636 / 961 [------------------------------------------------>_________________________] 66.18% 97 p/s655 / 961 [-------------------------------------------------->_______________________] 68.16% 97 p/s674 / 961 [--------------------------------------------------->______________________] 70.14% 97 p/s694 / 961 [----------------------------------------------------->____________________] 72.22% 97 p/s713 / 961 [------------------------------------------------------>___________________] 74.19% 97 p/s732 / 961 [-------------------------------------------------------->_________________] 76.17% 97 p/s752 / 961 [--------------------------------------------------------->________________] 78.25% 97 p/s771 / 961 [----------------------------------------------------------->______________] 80.23% 97 p/s790 / 961 [------------------------------------------------------------>_____________] 82.21% 97 p/s810 / 961 [-------------------------------------------------------------->___________] 84.29% 97 p/s829 / 961 [--------------------------------------------------------------->__________] 86.26% 97 p/s848 / 961 [----------------------------------------------------------------->________] 88.24% 97 p/s868 / 961 [------------------------------------------------------------------>_______] 90.32% 97 p/s887 / 961 [-------------------------------------------------------------------->_____] 92.30% 97 p/s906 / 961 [--------------------------------------------------------------------->____] 94.28% 97 p/s926 / 961 [----------------------------------------------------------------------->__] 96.36% 97 p/s945 / 961 [------------------------------------------------------------------------>_] 98.34% 97 p/s961 / 961 [-------------------------------------------------------------------------] 100.00% 98 p/s2026-05-27T20:20:52 - INFO: Parsing 961 sonar sweeps from /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/961 [00:00<?, ?it/s]
  0%|          | 3/961 [00:00<00:38, 25.02it/s]
  1%|          | 6/961 [00:00<00:37, 25.56it/s]
  1%|          | 9/961 [00:00<00:36, 26.00it/s]
  1%|          | 12/961 [00:00<00:36, 26.15it/s]
  2%|▏         | 15/961 [00:00<00:36, 26.27it/s]
  2%|▏         | 18/961 [00:00<00:35, 26.41it/s]
  2%|▏         | 21/961 [00:00<00:35, 26.44it/s]
  2%|▏         | 24/961 [00:00<00:35, 26.54it/s]
  3%|▎         | 27/961 [00:01<00:35, 26.08it/s]
  3%|▎         | 30/961 [00:01<00:35, 26.29it/s]
  3%|▎         | 33/961 [00:01<00:35, 26.47it/s]
  4%|▎         | 36/961 [00:01<00:34, 26.64it/s]
  4%|▍         | 39/961 [00:01<00:34, 26.73it/s]
  4%|▍         | 42/961 [00:01<00:34, 26.81it/s]
  5%|▍         | 45/961 [00:01<00:34, 26.88it/s]
  5%|▍         | 48/961 [00:01<00:33, 26.97it/s]
  5%|▌         | 51/961 [00:01<00:33, 26.83it/s]
  6%|▌         | 54/961 [00:02<00:33, 26.86it/s]
  6%|▌         | 57/961 [00:02<00:33, 26.82it/s]
  6%|▌         | 60/961 [00:02<00:33, 26.75it/s]
  7%|▋         | 63/961 [00:02<00:33, 26.73it/s]
  7%|▋         | 66/961 [00:02<00:33, 26.82it/s]
  7%|▋         | 69/961 [00:02<00:33, 26.87it/s]
  7%|▋         | 72/961 [00:02<00:33, 26.87it/s]
  8%|▊         | 75/961 [00:02<00:32, 26.94it/s]
  8%|▊         | 78/961 [00:02<00:32, 26.90it/s]
  8%|▊         | 81/961 [00:03<00:32, 26.93it/s]
  9%|▊         | 84/961 [00:03<00:32, 27.03it/s]
  9%|▉         | 87/961 [00:03<00:32, 26.67it/s]
  9%|▉         | 90/961 [00:03<00:32, 26.76it/s]
 10%|▉         | 93/961 [00:03<00:32, 26.81it/s]
 10%|▉         | 96/961 [00:03<00:32, 26.89it/s]
 10%|█         | 99/961 [00:03<00:31, 26.99it/s]
 11%|█         | 102/961 [00:03<00:31, 27.00it/s]
 11%|█         | 105/961 [00:03<00:31, 26.87it/s]
 11%|█         | 108/961 [00:04<00:31, 26.93it/s]
 12%|█▏        | 111/961 [00:04<00:31, 26.96it/s]
 12%|█▏        | 114/961 [00:04<00:31, 26.94it/s]
 12%|█▏        | 117/961 [00:04<00:31, 26.98it/s]
 12%|█▏        | 120/961 [00:04<00:31, 26.88it/s]
 13%|█▎        | 123/961 [00:04<00:31, 26.96it/s]
 13%|█▎        | 126/961 [00:04<00:30, 26.99it/s]
 13%|█▎        | 129/961 [00:04<00:30, 27.01it/s]
 14%|█▎        | 132/961 [00:04<00:30, 27.06it/s]
 14%|█▍        | 135/961 [00:05<00:30, 27.04it/s]
 14%|█▍        | 138/961 [00:05<00:30, 26.98it/s]
 15%|█▍        | 141/961 [00:05<00:30, 27.01it/s]
 15%|█▍        | 144/961 [00:05<00:30, 27.05it/s]
 15%|█▌        | 147/961 [00:05<00:30, 26.98it/s]
 16%|█▌        | 150/961 [00:05<00:30, 27.02it/s]
 16%|█▌        | 153/961 [00:05<00:29, 27.00it/s]
 16%|█▌        | 156/961 [00:05<00:29, 27.06it/s]
 17%|█▋        | 159/961 [00:05<00:29, 27.05it/s]
 17%|█▋        | 162/961 [00:06<00:30, 26.11it/s]
 17%|█▋        | 165/961 [00:06<00:30, 26.41it/s]
 17%|█▋        | 168/961 [00:06<00:29, 26.62it/s]
 18%|█▊        | 171/961 [00:06<00:29, 26.44it/s]
 18%|█▊        | 174/961 [00:06<00:29, 26.29it/s]
 18%|█▊        | 177/961 [00:06<00:29, 26.32it/s]
 19%|█▊        | 180/961 [00:06<00:29, 26.58it/s]
 19%|█▉        | 183/961 [00:06<00:29, 26.69it/s]
 19%|█▉        | 186/961 [00:06<00:29, 26.64it/s]
 20%|█▉        | 189/961 [00:07<00:28, 26.74it/s]
 20%|█▉        | 192/961 [00:07<00:28, 26.82it/s]
 20%|██        | 195/961 [00:07<00:28, 26.92it/s]
 21%|██        | 198/961 [00:07<00:28, 26.91it/s]
 21%|██        | 201/961 [00:07<00:28, 27.04it/s]
 21%|██        | 204/961 [00:07<00:27, 27.09it/s]
 22%|██▏       | 207/961 [00:07<00:27, 27.12it/s]
 22%|██▏       | 210/961 [00:07<00:27, 27.09it/s]
 22%|██▏       | 213/961 [00:07<00:27, 26.98it/s]
 22%|██▏       | 216/961 [00:08<00:27, 27.02it/s]
 23%|██▎       | 219/961 [00:08<00:27, 27.08it/s]
 23%|██▎       | 222/961 [00:08<00:27, 27.05it/s]
 23%|██▎       | 225/961 [00:08<00:27, 26.94it/s]
 24%|██▎       | 228/961 [00:08<00:27, 26.96it/s]
 24%|██▍       | 231/961 [00:08<00:27, 26.96it/s]
 24%|██▍       | 234/961 [00:08<00:27, 26.80it/s]
 25%|██▍       | 237/961 [00:08<00:27, 26.79it/s]
 25%|██▍       | 240/961 [00:08<00:26, 26.81it/s]
 25%|██▌       | 243/961 [00:09<00:26, 26.70it/s]
 26%|██▌       | 246/961 [00:09<00:26, 26.78it/s]
 26%|██▌       | 249/961 [00:09<00:26, 26.79it/s]
 26%|██▌       | 252/961 [00:09<00:26, 26.87it/s]
 27%|██▋       | 255/961 [00:09<00:26, 26.92it/s]
 27%|██▋       | 258/961 [00:09<00:26, 26.97it/s]
 27%|██▋       | 261/961 [00:09<00:25, 26.98it/s]
 27%|██▋       | 264/961 [00:09<00:25, 26.97it/s]
 28%|██▊       | 267/961 [00:09<00:25, 27.05it/s]
 28%|██▊       | 270/961 [00:10<00:31, 21.69it/s]
 28%|██▊       | 273/961 [00:10<00:29, 23.05it/s]
 29%|██▊       | 276/961 [00:10<00:28, 24.08it/s]
 29%|██▉       | 279/961 [00:10<00:27, 24.92it/s]
 29%|██▉       | 282/961 [00:10<00:26, 25.53it/s]
 30%|██▉       | 285/961 [00:10<00:25, 26.03it/s]
 30%|██▉       | 288/961 [00:10<00:25, 26.27it/s]
 30%|███       | 291/961 [00:10<00:26, 25.74it/s]
 31%|███       | 294/961 [00:11<00:27, 24.59it/s]
 31%|███       | 297/961 [00:11<00:26, 25.28it/s]
 31%|███       | 300/961 [00:11<00:25, 25.81it/s]
 32%|███▏      | 303/961 [00:11<00:25, 26.14it/s]
 32%|███▏      | 306/961 [00:11<00:24, 26.42it/s]
 32%|███▏      | 309/961 [00:11<00:24, 26.62it/s]
 32%|███▏      | 312/961 [00:11<00:24, 26.74it/s]
 33%|███▎      | 315/961 [00:11<00:24, 26.82it/s]
 33%|███▎      | 318/961 [00:11<00:23, 26.87it/s]
 33%|███▎      | 321/961 [00:12<00:23, 26.84it/s]
 34%|███▎      | 324/961 [00:12<00:23, 26.87it/s]
 34%|███▍      | 327/961 [00:12<00:23, 26.57it/s]
 34%|███▍      | 330/961 [00:12<00:23, 26.50it/s]
 35%|███▍      | 333/961 [00:12<00:24, 26.15it/s]
 35%|███▍      | 336/961 [00:12<00:24, 25.86it/s]
 35%|███▌      | 339/961 [00:12<00:23, 25.98it/s]
 36%|███▌      | 342/961 [00:12<00:23, 26.14it/s]
 36%|███▌      | 345/961 [00:13<00:23, 26.31it/s]
 36%|███▌      | 348/961 [00:13<00:23, 26.50it/s]
 37%|███▋      | 351/961 [00:13<00:22, 26.65it/s]
 37%|███▋      | 354/961 [00:13<00:22, 26.66it/s]
 37%|███▋      | 357/961 [00:13<00:22, 26.74it/s]
 37%|███▋      | 360/961 [00:13<00:22, 26.81it/s]
 38%|███▊      | 363/961 [00:13<00:22, 26.91it/s]
 38%|███▊      | 366/961 [00:13<00:22, 26.92it/s]
 38%|███▊      | 369/961 [00:13<00:21, 26.95it/s]
 39%|███▊      | 372/961 [00:14<00:21, 26.93it/s]
 39%|███▉      | 375/961 [00:14<00:21, 26.93it/s]
 39%|███▉      | 378/961 [00:14<00:21, 26.98it/s]
 40%|███▉      | 381/961 [00:14<00:21, 27.00it/s]
 40%|███▉      | 384/961 [00:14<00:21, 26.99it/s]
 40%|████      | 387/961 [00:14<00:21, 26.85it/s]
 41%|████      | 390/961 [00:14<00:21, 26.80it/s]
 41%|████      | 393/961 [00:14<00:21, 26.86it/s]
 41%|████      | 396/961 [00:14<00:20, 26.98it/s]
 42%|████▏     | 399/961 [00:15<00:20, 27.06it/s]
 42%|████▏     | 402/961 [00:15<00:20, 27.12it/s]
 42%|████▏     | 405/961 [00:15<00:20, 27.17it/s]
 42%|████▏     | 408/961 [00:15<00:20, 27.20it/s]
 43%|████▎     | 411/961 [00:15<00:20, 27.18it/s]
 43%|████▎     | 414/961 [00:15<00:20, 27.21it/s]
 43%|████▎     | 417/961 [00:15<00:19, 27.27it/s]
 44%|████▎     | 420/961 [00:15<00:19, 27.18it/s]
 44%|████▍     | 423/961 [00:15<00:19, 27.19it/s]
 44%|████▍     | 426/961 [00:16<00:20, 25.70it/s]
 45%|████▍     | 429/961 [00:16<00:20, 26.05it/s]
 45%|████▍     | 432/961 [00:16<00:20, 26.01it/s]
 45%|████▌     | 435/961 [00:16<00:19, 26.40it/s]
 46%|████▌     | 438/961 [00:16<00:19, 26.62it/s]
 46%|████▌     | 441/961 [00:16<00:19, 26.77it/s]
 46%|████▌     | 444/961 [00:16<00:19, 26.90it/s]
 47%|████▋     | 447/961 [00:16<00:19, 26.74it/s]
 47%|████▋     | 450/961 [00:16<00:19, 26.79it/s]
 47%|████▋     | 453/961 [00:17<00:18, 26.88it/s]
 47%|████▋     | 456/961 [00:17<00:18, 26.97it/s]
 48%|████▊     | 459/961 [00:17<00:18, 26.99it/s]
 48%|████▊     | 462/961 [00:17<00:18, 27.00it/s]
 48%|████▊     | 465/961 [00:17<00:18, 27.01it/s]
 49%|████▊     | 468/961 [00:17<00:18, 27.04it/s]
 49%|████▉     | 471/961 [00:17<00:18, 27.03it/s]
 49%|████▉     | 474/961 [00:17<00:18, 26.88it/s]
 50%|████▉     | 477/961 [00:17<00:17, 26.94it/s]
 50%|████▉     | 480/961 [00:18<00:17, 27.01it/s]
 50%|█████     | 483/961 [00:18<00:17, 27.10it/s]
 51%|█████     | 486/961 [00:18<00:17, 26.85it/s]
 51%|█████     | 489/961 [00:18<00:17, 26.93it/s]
 51%|█████     | 492/961 [00:18<00:17, 27.05it/s]
 52%|█████▏    | 495/961 [00:18<00:17, 27.13it/s]
 52%|█████▏    | 498/961 [00:18<00:17, 27.16it/s]
 52%|█████▏    | 501/961 [00:18<00:16, 27.13it/s]
 52%|█████▏    | 504/961 [00:18<00:16, 27.12it/s]
 53%|█████▎    | 507/961 [00:19<00:16, 27.18it/s]
 53%|█████▎    | 510/961 [00:19<00:16, 27.26it/s]
 53%|█████▎    | 513/961 [00:19<00:16, 27.09it/s]
 54%|█████▎    | 516/961 [00:19<00:16, 27.16it/s]
 54%|█████▍    | 519/961 [00:19<00:16, 27.19it/s]
 54%|█████▍    | 522/961 [00:19<00:16, 27.02it/s]
 55%|█████▍    | 525/961 [00:19<00:16, 27.08it/s]
 55%|█████▍    | 528/961 [00:19<00:15, 27.11it/s]
 55%|█████▌    | 531/961 [00:19<00:15, 27.18it/s]
 56%|█████▌    | 534/961 [00:20<00:15, 27.20it/s]
 56%|█████▌    | 537/961 [00:20<00:15, 27.28it/s]
 56%|█████▌    | 540/961 [00:20<00:15, 27.11it/s]
 57%|█████▋    | 543/961 [00:20<00:15, 27.19it/s]
 57%|█████▋    | 546/961 [00:20<00:15, 27.20it/s]
 57%|█████▋    | 549/961 [00:20<00:15, 27.20it/s]
 57%|█████▋    | 552/961 [00:20<00:15, 27.25it/s]
 58%|█████▊    | 555/961 [00:20<00:14, 27.23it/s]
 58%|█████▊    | 558/961 [00:20<00:14, 27.21it/s]
 58%|█████▊    | 561/961 [00:21<00:15, 25.44it/s]
 59%|█████▊    | 564/961 [00:21<00:15, 25.93it/s]
 59%|█████▉    | 567/961 [00:21<00:15, 26.18it/s]
 59%|█████▉    | 570/961 [00:21<00:14, 26.51it/s]
 60%|█████▉    | 573/961 [00:21<00:14, 26.68it/s]
 60%|█████▉    | 576/961 [00:21<00:14, 26.71it/s]
 60%|██████    | 579/961 [00:21<00:14, 26.84it/s]
 61%|██████    | 582/961 [00:21<00:14, 26.95it/s]
 61%|██████    | 585/961 [00:21<00:13, 26.98it/s]
 61%|██████    | 588/961 [00:22<00:13, 27.06it/s]
 61%|██████▏   | 591/961 [00:22<00:13, 27.09it/s]
 62%|██████▏   | 594/961 [00:22<00:13, 27.12it/s]
 62%|██████▏   | 597/961 [00:22<00:13, 27.07it/s]
 62%|██████▏   | 600/961 [00:22<00:13, 27.11it/s]
 63%|██████▎   | 603/961 [00:22<00:13, 27.16it/s]
 63%|██████▎   | 606/961 [00:22<00:13, 27.18it/s]
 63%|██████▎   | 609/961 [00:22<00:12, 27.13it/s]
 64%|██████▎   | 612/961 [00:22<00:12, 27.15it/s]
 64%|██████▍   | 615/961 [00:23<00:12, 27.17it/s]
 64%|██████▍   | 618/961 [00:23<00:12, 27.18it/s]
 65%|██████▍   | 621/961 [00:23<00:12, 27.13it/s]
 65%|██████▍   | 624/961 [00:23<00:12, 27.10it/s]
 65%|██████▌   | 627/961 [00:23<00:12, 27.13it/s]
 66%|██████▌   | 630/961 [00:23<00:12, 27.07it/s]
 66%|██████▌   | 633/961 [00:23<00:12, 27.07it/s]
 66%|██████▌   | 636/961 [00:23<00:11, 27.10it/s]
 66%|██████▋   | 639/961 [00:23<00:11, 26.99it/s]
 67%|██████▋   | 642/961 [00:24<00:11, 27.01it/s]
 67%|██████▋   | 645/961 [00:24<00:11, 27.01it/s]
 67%|██████▋   | 648/961 [00:24<00:11, 27.00it/s]
 68%|██████▊   | 651/961 [00:24<00:11, 27.07it/s]
 68%|██████▊   | 654/961 [00:24<00:11, 26.98it/s]
 68%|██████▊   | 657/961 [00:24<00:11, 26.41it/s]
 69%|██████▊   | 660/961 [00:24<00:11, 26.59it/s]
 69%|██████▉   | 663/961 [00:24<00:11, 26.77it/s]
 69%|██████▉   | 666/961 [00:24<00:10, 26.83it/s]
 70%|██████▉   | 669/961 [00:25<00:10, 26.67it/s]
 70%|██████▉   | 672/961 [00:25<00:12, 23.65it/s]
 70%|███████   | 675/961 [00:25<00:11, 24.59it/s]
 71%|███████   | 678/961 [00:25<00:11, 25.29it/s]
 71%|███████   | 681/961 [00:25<00:10, 25.81it/s]
 71%|███████   | 684/961 [00:25<00:10, 26.17it/s]
 71%|███████▏  | 687/961 [00:25<00:10, 26.38it/s]
 72%|███████▏  | 690/961 [00:25<00:10, 26.58it/s]
 72%|███████▏  | 693/961 [00:25<00:10, 26.62it/s]
 72%|███████▏  | 696/961 [00:26<00:09, 26.71it/s]
 73%|███████▎  | 699/961 [00:26<00:09, 26.82it/s]
 73%|███████▎  | 702/961 [00:26<00:09, 26.92it/s]
 73%|███████▎  | 705/961 [00:26<00:09, 26.96it/s]
 74%|███████▎  | 708/961 [00:26<00:09, 27.03it/s]
 74%|███████▍  | 711/961 [00:26<00:09, 27.00it/s]
 74%|███████▍  | 714/961 [00:26<00:09, 27.03it/s]
 75%|███████▍  | 717/961 [00:26<00:09, 26.90it/s]
 75%|███████▍  | 720/961 [00:26<00:08, 26.96it/s]
 75%|███████▌  | 723/961 [00:27<00:08, 27.09it/s]
 76%|███████▌  | 726/961 [00:27<00:08, 27.10it/s]
 76%|███████▌  | 729/961 [00:27<00:09, 24.93it/s]
 76%|███████▌  | 732/961 [00:27<00:08, 25.54it/s]
 76%|███████▋  | 735/961 [00:27<00:08, 25.96it/s]
 77%|███████▋  | 738/961 [00:27<00:08, 26.31it/s]
 77%|███████▋  | 741/961 [00:27<00:08, 26.49it/s]
 77%|███████▋  | 744/961 [00:27<00:08, 26.64it/s]
 78%|███████▊  | 747/961 [00:27<00:07, 26.78it/s]
 78%|███████▊  | 750/961 [00:28<00:07, 26.90it/s]
 78%|███████▊  | 753/961 [00:28<00:07, 26.93it/s]
 79%|███████▊  | 756/961 [00:28<00:07, 26.96it/s]
 79%|███████▉  | 759/961 [00:28<00:07, 27.02it/s]
 79%|███████▉  | 762/961 [00:28<00:07, 27.08it/s]
 80%|███████▉  | 765/961 [00:28<00:07, 27.05it/s]
 80%|███████▉  | 768/961 [00:28<00:07, 27.11it/s]
 80%|████████  | 771/961 [00:28<00:07, 27.13it/s]
 81%|████████  | 774/961 [00:28<00:06, 27.18it/s]
 81%|████████  | 777/961 [00:29<00:06, 27.13it/s]
 81%|████████  | 780/961 [00:29<00:06, 27.01it/s]
 81%|████████▏ | 783/961 [00:29<00:06, 26.86it/s]
 82%|████████▏ | 786/961 [00:29<00:06, 26.92it/s]
 82%|████████▏ | 789/961 [00:29<00:06, 26.96it/s]
 82%|████████▏ | 792/961 [00:29<00:06, 26.89it/s]
 83%|████████▎ | 795/961 [00:29<00:06, 26.98it/s]
 83%|████████▎ | 798/961 [00:29<00:06, 26.77it/s]
 83%|████████▎ | 801/961 [00:29<00:05, 26.74it/s]
 84%|████████▎ | 804/961 [00:30<00:05, 26.79it/s]
 84%|████████▍ | 807/961 [00:30<00:06, 25.03it/s]
 84%|████████▍ | 810/961 [00:30<00:05, 25.58it/s]
 85%|████████▍ | 813/961 [00:30<00:05, 25.97it/s]
 85%|████████▍ | 816/961 [00:30<00:05, 26.28it/s]
 85%|████████▌ | 819/961 [00:30<00:05, 26.58it/s]
 86%|████████▌ | 822/961 [00:30<00:05, 26.76it/s]
 86%|████████▌ | 825/961 [00:30<00:05, 26.85it/s]
 86%|████████▌ | 828/961 [00:31<00:04, 26.96it/s]
 86%|████████▋ | 831/961 [00:31<00:04, 27.06it/s]
 87%|████████▋ | 834/961 [00:31<00:04, 27.12it/s]
 87%|████████▋ | 837/961 [00:31<00:04, 27.10it/s]
 87%|████████▋ | 840/961 [00:31<00:04, 27.17it/s]
 88%|████████▊ | 843/961 [00:31<00:04, 27.16it/s]
 88%|████████▊ | 846/961 [00:31<00:04, 27.15it/s]
 88%|████████▊ | 849/961 [00:31<00:04, 27.04it/s]
 89%|████████▊ | 852/961 [00:31<00:04, 27.00it/s]
 89%|████████▉ | 855/961 [00:32<00:03, 27.04it/s]
 89%|████████▉ | 858/961 [00:32<00:03, 27.11it/s]
 90%|████████▉ | 861/961 [00:32<00:03, 27.11it/s]
 90%|████████▉ | 864/961 [00:32<00:03, 27.09it/s]
 90%|█████████ | 867/961 [00:32<00:03, 27.09it/s]
 91%|█████████ | 870/961 [00:32<00:03, 26.91it/s]
 91%|█████████ | 873/961 [00:32<00:03, 26.86it/s]
 91%|█████████ | 876/961 [00:32<00:03, 26.94it/s]
 91%|█████████▏| 879/961 [00:32<00:03, 26.97it/s]
 92%|█████████▏| 882/961 [00:33<00:02, 27.02it/s]
 92%|█████████▏| 885/961 [00:33<00:02, 26.99it/s]
 92%|█████████▏| 888/961 [00:33<00:02, 26.85it/s]
 93%|█████████▎| 891/961 [00:33<00:02, 26.94it/s]
 93%|█████████▎| 894/961 [00:33<00:02, 27.07it/s]
 93%|█████████▎| 897/961 [00:33<00:02, 27.05it/s]
 94%|█████████▎| 900/961 [00:33<00:02, 27.15it/s]
 94%|█████████▍| 903/961 [00:33<00:02, 27.19it/s]
 94%|█████████▍| 906/961 [00:33<00:02, 27.18it/s]
 95%|█████████▍| 909/961 [00:34<00:01, 27.20it/s]
 95%|█████████▍| 912/961 [00:34<00:01, 27.24it/s]
 95%|█████████▌| 915/961 [00:34<00:01, 27.21it/s]
 96%|█████████▌| 918/961 [00:34<00:01, 27.20it/s]
 96%|█████████▌| 921/961 [00:34<00:01, 27.23it/s]
 96%|█████████▌| 924/961 [00:34<00:01, 27.26it/s]
 96%|█████████▋| 927/961 [00:34<00:01, 27.32it/s]
 97%|█████████▋| 930/961 [00:34<00:01, 27.22it/s]
 97%|█████████▋| 933/961 [00:34<00:01, 26.92it/s]
 97%|█████████▋| 936/961 [00:35<00:00, 26.94it/s]
 98%|█████████▊| 939/961 [00:35<00:00, 26.98it/s]
 98%|█████████▊| 942/961 [00:35<00:00, 27.05it/s]
 98%|█████████▊| 945/961 [00:35<00:00, 24.42it/s]
 99%|█████████▊| 948/961 [00:35<00:00, 25.15it/s]
 99%|█████████▉| 951/961 [00:35<00:00, 25.50it/s]
 99%|█████████▉| 954/961 [00:35<00:00, 25.84it/s]
100%|█████████▉| 957/961 [00:35<00:00, 26.19it/s]
100%|█████████▉| 960/961 [00:35<00:00, 26.42it/s]
100%|██████████| 961/961 [00:35<00:00, 26.71it/s]
2026-05-27T20:21:29 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0"
2026-05-27T20:21:30 - INFO: DataPrep 0.14.6
2026-05-27T20:21:30 - INFO: Prepared data will be output to /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/processing/data
2026-05-27T20:21:30 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-27T20:21:30 - deployment - INFO: Detected P3D version: P3D_1
2026-05-27T20:21:30 - INFO: Recording GUID: fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0
2026-05-27T20:21:30 - INFO: Preparing sonar data...
2026-05-27T20:21:30 - INFO: /working/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/fe3aa8d5-4d20-9d61-acad-1dc2e73ccda0/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-27T20:21:31 - INFO: Sonar epoch is 2026-04-15 13:11:06.896291+00:00 (1776258666896291703)
2026-05-27T20:21:31 - INFO: Creating sonar sensor alignment track...
2026-05-27T20:21:31 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-05-27T20:21:31 - INFO: Sensor speed of sound is 1500 m/s
2026-05-27T20:21:31 - INFO: Sensor range is 1.878240 m
2026-05-27T20:21:31 - INFO: Sensor micrometres per sample is 6239.999964
2026-05-27T20:21:31 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-27T20:21:31 - INFO: Scaled range is 1.871339 m
2026-05-27T20:21:31 - INFO: Scaled micrometres per sample is 6217.072493
2026-05-27T20:21:31 - INFO: Processing 961 sweeps...

  0%|          | 0/961 [00:00<?, ?sw/s]
  2%|▏         | 24/961 [00:00<00:04, 229.92sw/s]
  7%|▋         | 66/961 [00:00<00:02, 330.15sw/s]
 11%|█         | 107/961 [00:00<00:02, 361.65sw/s]
 15%|█▌        | 148/961 [00:00<00:02, 375.66sw/s]
 20%|██        | 194/961 [00:00<00:01, 395.32sw/s]
 24%|██▍       | 234/961 [00:00<00:02, 304.42sw/s]
 29%|██▊       | 276/961 [00:00<00:02, 332.67sw/s]
 33%|███▎      | 321/961 [00:00<00:01, 359.76sw/s]
 39%|███▉      | 376/961 [00:01<00:01, 411.42sw/s]
 44%|████▍     | 422/961 [00:01<00:01, 420.21sw/s]
 50%|█████     | 482/961 [00:01<00:01, 469.58sw/s]
 57%|█████▋    | 543/961 [00:01<00:00, 508.58sw/s]
 62%|██████▏   | 600/961 [00:01<00:00, 519.10sw/s]
 69%|██████▉   | 664/961 [00:01<00:00, 552.56sw/s]
 75%|███████▍  | 720/961 [00:01<00:00, 542.75sw/s]
 81%|████████  | 775/961 [00:01<00:00, 543.99sw/s]
 86%|████████▋ | 831/961 [00:01<00:00, 546.99sw/s]
 93%|█████████▎| 893/961 [00:01<00:00, 557.46sw/s]
 99%|█████████▉| 951/961 [00:02<00:00, 558.59sw/s]
100%|██████████| 961/961 [00:02<00:00, 463.70sw/s]
2026-05-27T20:21:34 - INFO: Prepared sonar data in 3.6742 s
2026-05-27T20:21:34 - INFO: No IMU data found
2026-05-27T20:21:34 - INFO: DataPrep took 0:00:03.797532
2026-05-27T20:21:34 - INFO: Extracted sonar data in 0:00:51.853695
2026-05-27T20:21:34 - INFO: MSIP3D took 0:00:51.988021