2026-03-11T02:54:49 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:54:49 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-11T02:54:49 - INFO: Found 10 TFD dictionary entries
2026-03-11T02:54:49 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-11T02:54:49 - INFO: Recording will be processed as MD
2026-03-11T02:54:49 - INFO: Copying assets JSON to output directory...
2026-03-11T02:54:49 - INFO: Preparing counter data...
2026-03-11T02:54:49 - INFO: Interpreting counter as imperial
2026-03-11T02:54:49 - INFO: Preparing size track from assets JSON...
2026-03-11T02:54:49 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:54:49 - INFO: Preparing material track from assets JSON...
2026-03-11T02:54:49 - INFO: Prepared counter data in 0.1080 s
2026-03-11T02:54:49 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4914
22 / 4914 [>___________________________________________________________________________] 0.45% ? p/s45 / 4914 [>___________________________________________________________________________] 0.92% ? p/s67 / 4914 [->__________________________________________________________________________] 1.36% ? p/s90 / 4914 [->________________________________________________________________________] 1.83% 113 p/s113 / 4914 [->_______________________________________________________________________] 2.30% 113 p/s135 / 4914 [-->______________________________________________________________________] 2.75% 113 p/s157 / 4914 [-->______________________________________________________________________] 3.19% 113 p/s180 / 4914 [-->______________________________________________________________________] 3.66% 113 p/s203 / 4914 [--->_____________________________________________________________________] 4.13% 113 p/s225 / 4914 [--->_____________________________________________________________________] 4.58% 113 p/s248 / 4914 [--->_____________________________________________________________________] 5.05% 113 p/s270 / 4914 [---->____________________________________________________________________] 5.49% 113 p/s293 / 4914 [---->____________________________________________________________________] 5.96% 113 p/s315 / 4914 [---->____________________________________________________________________] 6.41% 113 p/s338 / 4914 [----->___________________________________________________________________] 6.88% 113 p/s361 / 4914 [----->___________________________________________________________________] 7.35% 113 p/s384 / 4914 [----->___________________________________________________________________] 7.81% 113 p/s406 / 4914 [------>__________________________________________________________________] 8.26% 113 p/s430 / 4914 [------>__________________________________________________________________] 8.75% 113 p/s452 / 4914 [------>__________________________________________________________________] 9.20% 113 p/s475 / 4914 [------->_________________________________________________________________] 9.67% 113 p/s498 / 4914 [------->________________________________________________________________] 10.13% 113 p/s520 / 4914 [------->________________________________________________________________] 10.58% 113 p/s543 / 4914 [------->________________________________________________________________] 11.05% 113 p/s566 / 4914 [-------->_______________________________________________________________] 11.52% 113 p/s587 / 4914 [-------->_______________________________________________________________] 11.95% 113 p/s610 / 4914 [-------->_______________________________________________________________] 12.41% 113 p/s633 / 4914 [--------->______________________________________________________________] 12.88% 113 p/s656 / 4914 [--------->______________________________________________________________] 13.35% 113 p/s679 / 4914 [--------->______________________________________________________________] 13.82% 113 p/s701 / 4914 [---------->_____________________________________________________________] 14.27% 113 p/s724 / 4914 [---------->_____________________________________________________________] 14.73% 113 p/s746 / 4914 [---------->_____________________________________________________________] 15.18% 113 p/s769 / 4914 [----------->____________________________________________________________] 15.65% 113 p/s791 / 4914 [----------->____________________________________________________________] 16.10% 113 p/s815 / 4914 [----------->____________________________________________________________] 16.59% 113 p/s837 / 4914 [------------>___________________________________________________________] 17.03% 113 p/s860 / 4914 [------------>___________________________________________________________] 17.50% 113 p/s882 / 4914 [------------>___________________________________________________________] 17.95% 113 p/s905 / 4914 [------------->__________________________________________________________] 18.42% 113 p/s929 / 4914 [------------->__________________________________________________________] 18.91% 113 p/s951 / 4914 [------------->__________________________________________________________] 19.35% 113 p/s974 / 4914 [-------------->_________________________________________________________] 19.82% 113 p/s997 / 4914 [-------------->_________________________________________________________] 20.29% 113 p/s1020 / 4914 [-------------->________________________________________________________] 20.76% 113 p/s1042 / 4914 [--------------->_______________________________________________________] 21.20% 113 p/s1065 / 4914 [--------------->_______________________________________________________] 21.67% 113 p/s1088 / 4914 [--------------->_______________________________________________________] 22.14% 113 p/s1111 / 4914 [---------------->______________________________________________________] 22.61% 113 p/s1134 / 4914 [---------------->______________________________________________________] 23.08% 113 p/s1156 / 4914 [---------------->______________________________________________________] 23.52% 113 p/s1178 / 4914 [----------------->_____________________________________________________] 23.97% 113 p/s1201 / 4914 [----------------->_____________________________________________________] 24.44% 113 p/s1223 / 4914 [----------------->_____________________________________________________] 24.89% 113 p/s1246 / 4914 [------------------>____________________________________________________] 25.36% 113 p/s1268 / 4914 [------------------>____________________________________________________] 25.80% 113 p/s1291 / 4914 [------------------>____________________________________________________] 26.27% 113 p/s1313 / 4914 [------------------>____________________________________________________] 26.72% 113 p/s1336 / 4914 [------------------->___________________________________________________] 27.19% 113 p/s1356 / 4914 [------------------->___________________________________________________] 27.59% 113 p/s1379 / 4914 [------------------->___________________________________________________] 28.06% 113 p/s1402 / 4914 [-------------------->__________________________________________________] 28.53% 113 p/s1425 / 4914 [-------------------->__________________________________________________] 29.00% 113 p/s1448 / 4914 [-------------------->__________________________________________________] 29.47% 113 p/s1471 / 4914 [--------------------->_________________________________________________] 29.93% 113 p/s1494 / 4914 [--------------------->_________________________________________________] 30.40% 113 p/s1516 / 4914 [--------------------->_________________________________________________] 30.85% 113 p/s1539 / 4914 [---------------------->________________________________________________] 31.32% 113 p/s1562 / 4914 [---------------------->________________________________________________] 31.79% 113 p/s1584 / 4914 [---------------------->________________________________________________] 32.23% 113 p/s1607 / 4914 [----------------------->_______________________________________________] 32.70% 113 p/s1629 / 4914 [----------------------->_______________________________________________] 33.15% 113 p/s1652 / 4914 [----------------------->_______________________________________________] 33.62% 113 p/s1674 / 4914 [------------------------>______________________________________________] 34.07% 113 p/s1697 / 4914 [------------------------>______________________________________________] 34.53% 113 p/s1719 / 4914 [------------------------>______________________________________________] 34.98% 113 p/s1742 / 4914 [------------------------->_____________________________________________] 35.45% 113 p/s1765 / 4914 [------------------------->_____________________________________________] 35.92% 113 p/s1788 / 4914 [------------------------->_____________________________________________] 36.39% 113 p/s1811 / 4914 [-------------------------->____________________________________________] 36.85% 113 p/s1834 / 4914 [-------------------------->____________________________________________] 37.32% 113 p/s1856 / 4914 [-------------------------->____________________________________________] 37.77% 113 p/s1878 / 4914 [--------------------------->___________________________________________] 38.22% 113 p/s1900 / 4914 [--------------------------->___________________________________________] 38.67% 113 p/s1923 / 4914 [--------------------------->___________________________________________] 39.13% 113 p/s1946 / 4914 [---------------------------->__________________________________________] 39.60% 113 p/s1969 / 4914 [---------------------------->__________________________________________] 40.07% 113 p/s1992 / 4914 [---------------------------->__________________________________________] 40.54% 113 p/s2015 / 4914 [----------------------------->_________________________________________] 41.01% 113 p/s2038 / 4914 [----------------------------->_________________________________________] 41.47% 113 p/s2060 / 4914 [----------------------------->_________________________________________] 41.92% 113 p/s2083 / 4914 [------------------------------>________________________________________] 42.39% 113 p/s2106 / 4914 [------------------------------>________________________________________] 42.86% 113 p/s2128 / 4914 [------------------------------>________________________________________] 43.30% 113 p/s2151 / 4914 [------------------------------->_______________________________________] 43.77% 113 p/s2174 / 4914 [------------------------------->_______________________________________] 44.24% 113 p/s2197 / 4914 [------------------------------->_______________________________________] 44.71% 113 p/s2219 / 4914 [-------------------------------->______________________________________] 45.16% 113 p/s2242 / 4914 [-------------------------------->______________________________________] 45.62% 113 p/s2262 / 4914 [-------------------------------->______________________________________] 46.03% 113 p/s2284 / 4914 [--------------------------------->_____________________________________] 46.48% 113 p/s2307 / 4914 [--------------------------------->_____________________________________] 46.95% 113 p/s2329 / 4914 [--------------------------------->_____________________________________] 47.40% 113 p/s2352 / 4914 [--------------------------------->_____________________________________] 47.86% 113 p/s2375 / 4914 [---------------------------------->____________________________________] 48.33% 113 p/s2398 / 4914 [---------------------------------->____________________________________] 48.80% 113 p/s2421 / 4914 [---------------------------------->____________________________________] 49.27% 113 p/s2444 / 4914 [----------------------------------->___________________________________] 49.74% 113 p/s2467 / 4914 [----------------------------------->___________________________________] 50.20% 113 p/s2489 / 4914 [----------------------------------->___________________________________] 50.65% 113 p/s2512 / 4914 [------------------------------------>__________________________________] 51.12% 113 p/s2534 / 4914 [------------------------------------>__________________________________] 51.57% 113 p/s2556 / 4914 [------------------------------------>__________________________________] 52.01% 113 p/s2579 / 4914 [------------------------------------->_________________________________] 52.48% 113 p/s2602 / 4914 [------------------------------------->_________________________________] 52.95% 113 p/s2625 / 4914 [------------------------------------->_________________________________] 53.42% 113 p/s2648 / 4914 [-------------------------------------->________________________________] 53.89% 113 p/s2670 / 4914 [-------------------------------------->________________________________] 54.33% 113 p/s2692 / 4914 [-------------------------------------->________________________________] 54.78% 113 p/s2714 / 4914 [--------------------------------------->_______________________________] 55.23% 113 p/s2737 / 4914 [--------------------------------------->_______________________________] 55.70% 113 p/s2760 / 4914 [--------------------------------------->_______________________________] 56.17% 113 p/s2782 / 4914 [---------------------------------------->______________________________] 56.61% 113 p/s2804 / 4914 [---------------------------------------->______________________________] 57.06% 113 p/s2827 / 4914 [---------------------------------------->______________________________] 57.53% 113 p/s2848 / 4914 [----------------------------------------->_____________________________] 57.96% 113 p/s2871 / 4914 [----------------------------------------->_____________________________] 58.42% 113 p/s2894 / 4914 [----------------------------------------->_____________________________] 58.89% 113 p/s2917 / 4914 [------------------------------------------>____________________________] 59.36% 113 p/s2939 / 4914 [------------------------------------------>____________________________] 59.81% 113 p/s2962 / 4914 [------------------------------------------>____________________________] 60.28% 113 p/s2985 / 4914 [------------------------------------------->___________________________] 60.74% 113 p/s3007 / 4914 [------------------------------------------->___________________________] 61.19% 113 p/s3030 / 4914 [------------------------------------------->___________________________] 61.66% 113 p/s3053 / 4914 [-------------------------------------------->__________________________] 62.13% 113 p/s3076 / 4914 [-------------------------------------------->__________________________] 62.60% 113 p/s3099 / 4914 [-------------------------------------------->__________________________] 63.06% 113 p/s3121 / 4914 [--------------------------------------------->_________________________] 63.51% 113 p/s3144 / 4914 [--------------------------------------------->_________________________] 63.98% 113 p/s3167 / 4914 [--------------------------------------------->_________________________] 64.45% 113 p/s3190 / 4914 [---------------------------------------------->________________________] 64.92% 113 p/s3212 / 4914 [---------------------------------------------->________________________] 65.36% 113 p/s3234 / 4914 [---------------------------------------------->________________________] 65.81% 113 p/s3255 / 4914 [----------------------------------------------->_______________________] 66.24% 113 p/s3277 / 4914 [----------------------------------------------->_______________________] 66.69% 113 p/s3299 / 4914 [----------------------------------------------->_______________________] 67.13% 113 p/s3322 / 4914 [----------------------------------------------->_______________________] 67.60% 113 p/s3343 / 4914 [------------------------------------------------>______________________] 68.03% 113 p/s3364 / 4914 [------------------------------------------------>______________________] 68.46% 113 p/s3387 / 4914 [------------------------------------------------>______________________] 68.93% 113 p/s3409 / 4914 [------------------------------------------------->_____________________] 69.37% 112 p/s3432 / 4914 [------------------------------------------------->_____________________] 69.84% 112 p/s3455 / 4914 [------------------------------------------------->_____________________] 70.31% 112 p/s3477 / 4914 [-------------------------------------------------->____________________] 70.76% 113 p/s3499 / 4914 [-------------------------------------------------->____________________] 71.20% 113 p/s3521 / 4914 [-------------------------------------------------->____________________] 71.65% 113 p/s3544 / 4914 [--------------------------------------------------->___________________] 72.12% 112 p/s3566 / 4914 [--------------------------------------------------->___________________] 72.57% 112 p/s3589 / 4914 [--------------------------------------------------->___________________] 73.04% 112 p/s3611 / 4914 [---------------------------------------------------->__________________] 73.48% 112 p/s3634 / 4914 [---------------------------------------------------->__________________] 73.95% 112 p/s3656 / 4914 [---------------------------------------------------->__________________] 74.40% 112 p/s3679 / 4914 [----------------------------------------------------->_________________] 74.87% 112 p/s3701 / 4914 [----------------------------------------------------->_________________] 75.32% 112 p/s3724 / 4914 [----------------------------------------------------->_________________] 75.78% 112 p/s3746 / 4914 [------------------------------------------------------>________________] 76.23% 112 p/s3768 / 4914 [------------------------------------------------------>________________] 76.68% 112 p/s3790 / 4914 [------------------------------------------------------>________________] 77.13% 112 p/s3812 / 4914 [------------------------------------------------------->_______________] 77.57% 112 p/s3834 / 4914 [------------------------------------------------------->_______________] 78.02% 112 p/s3857 / 4914 [------------------------------------------------------->_______________] 78.49% 112 p/s3879 / 4914 [-------------------------------------------------------->______________] 78.94% 112 p/s3902 / 4914 [-------------------------------------------------------->______________] 79.41% 112 p/s3924 / 4914 [-------------------------------------------------------->______________] 79.85% 112 p/s3947 / 4914 [--------------------------------------------------------->_____________] 80.32% 112 p/s3969 / 4914 [--------------------------------------------------------->_____________] 80.77% 112 p/s3992 / 4914 [--------------------------------------------------------->_____________] 81.24% 112 p/s4013 / 4914 [--------------------------------------------------------->_____________] 81.66% 112 p/s4035 / 4914 [---------------------------------------------------------->____________] 82.11% 112 p/s4057 / 4914 [---------------------------------------------------------->____________] 82.56% 112 p/s4080 / 4914 [---------------------------------------------------------->____________] 83.03% 112 p/s4102 / 4914 [----------------------------------------------------------->___________] 83.48% 112 p/s4125 / 4914 [----------------------------------------------------------->___________] 83.94% 112 p/s4148 / 4914 [----------------------------------------------------------->___________] 84.41% 112 p/s4170 / 4914 [------------------------------------------------------------>__________] 84.86% 112 p/s4193 / 4914 [------------------------------------------------------------>__________] 85.33% 112 p/s4214 / 4914 [------------------------------------------------------------>__________] 85.75% 112 p/s4236 / 4914 [------------------------------------------------------------->_________] 86.20% 112 p/s4259 / 4914 [------------------------------------------------------------->_________] 86.67% 112 p/s4281 / 4914 [------------------------------------------------------------->_________] 87.12% 112 p/s4303 / 4914 [-------------------------------------------------------------->________] 87.57% 112 p/s4325 / 4914 [-------------------------------------------------------------->________] 88.01% 112 p/s4348 / 4914 [-------------------------------------------------------------->________] 88.48% 112 p/s4370 / 4914 [--------------------------------------------------------------->_______] 88.93% 112 p/s4393 / 4914 [--------------------------------------------------------------->_______] 89.40% 112 p/s4414 / 4914 [--------------------------------------------------------------->_______] 89.82% 112 p/s4437 / 4914 [---------------------------------------------------------------->______] 90.29% 112 p/s4459 / 4914 [---------------------------------------------------------------->______] 90.74% 112 p/s4482 / 4914 [---------------------------------------------------------------->______] 91.21% 112 p/s4504 / 4914 [----------------------------------------------------------------->_____] 91.66% 112 p/s4527 / 4914 [----------------------------------------------------------------->_____] 92.12% 112 p/s4549 / 4914 [----------------------------------------------------------------->_____] 92.57% 112 p/s4572 / 4914 [------------------------------------------------------------------>____] 93.04% 112 p/s4595 / 4914 [------------------------------------------------------------------>____] 93.51% 112 p/s4617 / 4914 [------------------------------------------------------------------>____] 93.96% 112 p/s4638 / 4914 [------------------------------------------------------------------->___] 94.38% 112 p/s4660 / 4914 [------------------------------------------------------------------->___] 94.83% 112 p/s4683 / 4914 [------------------------------------------------------------------->___] 95.30% 112 p/s4705 / 4914 [------------------------------------------------------------------->___] 95.75% 112 p/s4727 / 4914 [-------------------------------------------------------------------->__] 96.19% 112 p/s4750 / 4914 [-------------------------------------------------------------------->__] 96.66% 112 p/s4772 / 4914 [-------------------------------------------------------------------->__] 97.11% 112 p/s4794 / 4914 [--------------------------------------------------------------------->_] 97.56% 112 p/s4816 / 4914 [--------------------------------------------------------------------->_] 98.01% 112 p/s4838 / 4914 [--------------------------------------------------------------------->_] 98.45% 112 p/s4860 / 4914 [---------------------------------------------------------------------->] 98.90% 112 p/s4882 / 4914 [---------------------------------------------------------------------->] 99.35% 112 p/s4904 / 4914 [---------------------------------------------------------------------->] 99.80% 112 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-11T02:55:33 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4914 [00:00<?, ?it/s]
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2026-03-11T02:58:36 - 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-flip /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-03-11T02:58:38 - INFO: DataPrep 0.14.0a7
2026-03-11T02:58:38 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-11T02:58:38 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T02:58:38 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T02:58:38 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-11T02:58:38 - INFO: Preparing sonar data...
2026-03-11T02:58:38 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T02:58:42 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-11T02:58:42 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T02:58:42 - INFO: Sonar range is 0.939120 m
2026-03-11T02:58:42 - INFO: Speed of sound is 1494 m/s
2026-03-11T02:58:42 - INFO: Processing 4914 sweeps...

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2026-03-11T02:58:55 - INFO: Creating sonar sensor alignment track...
2026-03-11T02:58:58 - INFO: Prepared sonar data in 20.0688 s
2026-03-11T02:58:58 - INFO: No IMU data found
2026-03-11T02:58:58 - INFO: DataPrep took 0:00:20.685136
2026-03-11T02:58:59 - INFO: Extracted sonar data in 0:04:09.489316
2026-03-11T02:58:59 - INFO: MSIP3D took 0:04:10.047466