2026-03-11T03:01:07 - INFO: MSIP3D 0.2.0a11
2026-03-11T03:01:07 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-11T03:01:07 - INFO: Found 11 TFD dictionary entries
2026-03-11T03:01:07 - INFO: Found TFD mission for SJ502828 DEP 512
2026-03-11T03:01:07 - INFO: Recording will be processed as SMD
2026-03-11T03:01:07 - INFO: Copying assets JSON to output directory...
2026-03-11T03:01:07 - INFO: Preparing counter data...
2026-03-11T03:01:07 - INFO: Interpreting counter as imperial
2026-03-11T03:01:07 - INFO: Preparing size track from assets JSON...
2026-03-11T03:01:07 - INFO: Preparing shape track from assets JSON...
2026-03-11T03:01:07 - INFO: Preparing material track from assets JSON...
2026-03-11T03:01:07 - INFO: Prepared counter data in 0.2004 s
2026-03-11T03:01:07 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 3195
18 / 3195 [>___________________________________________________________________________] 0.56% ? p/s37 / 3195 [>___________________________________________________________________________] 1.16% ? p/s56 / 3195 [->__________________________________________________________________________] 1.75% ? p/s75 / 3195 [->_________________________________________________________________________] 2.35% 95 p/s95 / 3195 [-->________________________________________________________________________] 2.97% 95 p/s114 / 3195 [-->_______________________________________________________________________] 3.57% 95 p/s133 / 3195 [--->______________________________________________________________________] 4.16% 95 p/s152 / 3195 [--->______________________________________________________________________] 4.76% 95 p/s172 / 3195 [--->______________________________________________________________________] 5.38% 95 p/s191 / 3195 [---->_____________________________________________________________________] 5.98% 95 p/s211 / 3195 [---->_____________________________________________________________________] 6.60% 95 p/s230 / 3195 [----->____________________________________________________________________] 7.20% 95 p/s248 / 3195 [----->____________________________________________________________________] 7.76% 95 p/s268 / 3195 [------>___________________________________________________________________] 8.39% 95 p/s287 / 3195 [------>___________________________________________________________________] 8.98% 95 p/s307 / 3195 [------->__________________________________________________________________] 9.61% 95 p/s326 / 3195 [------->_________________________________________________________________] 10.20% 95 p/s346 / 3195 [------->_________________________________________________________________] 10.83% 95 p/s365 / 3195 [-------->________________________________________________________________] 11.42% 95 p/s385 / 3195 [-------->________________________________________________________________] 12.05% 95 p/s405 / 3195 [--------->_______________________________________________________________] 12.68% 95 p/s424 / 3195 [--------->_______________________________________________________________] 13.27% 96 p/s444 / 3195 [---------->______________________________________________________________] 13.90% 96 p/s463 / 3195 [---------->______________________________________________________________] 14.49% 96 p/s483 / 3195 [----------->_____________________________________________________________] 15.12% 96 p/s502 / 3195 [----------->_____________________________________________________________] 15.71% 96 p/s522 / 3195 [----------->_____________________________________________________________] 16.34% 96 p/s541 / 3195 [------------>____________________________________________________________] 16.93% 96 p/s561 / 3195 [------------>____________________________________________________________] 17.56% 96 p/s581 / 3195 [------------->___________________________________________________________] 18.18% 96 p/s600 / 3195 [------------->___________________________________________________________] 18.78% 96 p/s619 / 3195 [-------------->__________________________________________________________] 19.37% 96 p/s639 / 3195 [-------------->__________________________________________________________] 20.00% 96 p/s658 / 3195 [--------------->_________________________________________________________] 20.59% 96 p/s678 / 3195 [--------------->_________________________________________________________] 21.22% 96 p/s697 / 3195 [--------------->_________________________________________________________] 21.82% 96 p/s717 / 3195 [---------------->________________________________________________________] 22.44% 96 p/s736 / 3195 [---------------->________________________________________________________] 23.04% 96 p/s756 / 3195 [----------------->_______________________________________________________] 23.66% 96 p/s775 / 3195 [----------------->_______________________________________________________] 24.26% 96 p/s795 / 3195 [------------------>______________________________________________________] 24.88% 96 p/s814 / 3195 [------------------>______________________________________________________] 25.48% 96 p/s833 / 3195 [------------------->_____________________________________________________] 26.07% 96 p/s852 / 3195 [------------------->_____________________________________________________] 26.67% 96 p/s871 / 3195 [------------------->_____________________________________________________] 27.26% 96 p/s891 / 3195 [-------------------->____________________________________________________] 27.89% 96 p/s911 / 3195 [-------------------->____________________________________________________] 28.51% 96 p/s930 / 3195 [--------------------->___________________________________________________] 29.11% 96 p/s950 / 3195 [--------------------->___________________________________________________] 29.73% 96 p/s969 / 3195 [---------------------->__________________________________________________] 30.33% 96 p/s988 / 3195 [---------------------->__________________________________________________] 30.92% 96 p/s1008 / 3195 [---------------------->_________________________________________________] 31.55% 96 p/s1026 / 3195 [----------------------->________________________________________________] 32.11% 96 p/s1046 / 3195 [----------------------->________________________________________________] 32.74% 96 p/s1065 / 3195 [----------------------->________________________________________________] 33.33% 96 p/s1085 / 3195 [------------------------>_______________________________________________] 33.96% 96 p/s1104 / 3195 [------------------------>_______________________________________________] 34.55% 96 p/s1124 / 3195 [------------------------->______________________________________________] 35.18% 96 p/s1143 / 3195 [------------------------->______________________________________________] 35.77% 96 p/s1162 / 3195 [-------------------------->_____________________________________________] 36.37% 96 p/s1182 / 3195 [-------------------------->_____________________________________________] 37.00% 97 p/s1201 / 3195 [--------------------------->____________________________________________] 37.59% 97 p/s1221 / 3195 [--------------------------->____________________________________________] 38.22% 97 p/s1240 / 3195 [--------------------------->____________________________________________] 38.81% 97 p/s1260 / 3195 [---------------------------->___________________________________________] 39.44% 97 p/s1279 / 3195 [---------------------------->___________________________________________] 40.03% 97 p/s1299 / 3195 [----------------------------->__________________________________________] 40.66% 97 p/s1317 / 3195 [----------------------------->__________________________________________] 41.22% 97 p/s1335 / 3195 [------------------------------>_________________________________________] 41.78% 97 p/s1355 / 3195 [------------------------------>_________________________________________] 42.41% 96 p/s1374 / 3195 [------------------------------>_________________________________________] 43.00% 96 p/s1393 / 3195 [------------------------------->________________________________________] 43.60% 96 p/s1412 / 3195 [------------------------------->________________________________________] 44.19% 96 p/s1432 / 3195 [-------------------------------->_______________________________________] 44.82% 96 p/s1451 / 3195 [-------------------------------->_______________________________________] 45.41% 96 p/s1471 / 3195 [--------------------------------->______________________________________] 46.04% 96 p/s1490 / 3195 [--------------------------------->______________________________________] 46.64% 96 p/s1510 / 3195 [---------------------------------->_____________________________________] 47.26% 96 p/s1529 / 3195 [---------------------------------->_____________________________________] 47.86% 96 p/s1549 / 3195 [---------------------------------->_____________________________________] 48.48% 96 p/s1569 / 3195 [----------------------------------->____________________________________] 49.11% 96 p/s1588 / 3195 [----------------------------------->____________________________________] 49.70% 97 p/s1608 / 3195 [------------------------------------>___________________________________] 50.33% 97 p/s1626 / 3195 [------------------------------------>___________________________________] 50.89% 97 p/s1646 / 3195 [------------------------------------->__________________________________] 51.52% 97 p/s1665 / 3195 [------------------------------------->__________________________________] 52.11% 97 p/s1685 / 3195 [------------------------------------->__________________________________] 52.74% 97 p/s1704 / 3195 [-------------------------------------->_________________________________] 53.33% 97 p/s1724 / 3195 [-------------------------------------->_________________________________] 53.96% 97 p/s1744 / 3195 [--------------------------------------->________________________________] 54.59% 97 p/s1763 / 3195 [--------------------------------------->________________________________] 55.18% 97 p/s1782 / 3195 [---------------------------------------->_______________________________] 55.77% 97 p/s1801 / 3195 [---------------------------------------->_______________________________] 56.37% 97 p/s1821 / 3195 [----------------------------------------->______________________________] 57.00% 97 p/s1840 / 3195 [----------------------------------------->______________________________] 57.59% 97 p/s1860 / 3195 [----------------------------------------->______________________________] 58.22% 97 p/s1879 / 3195 [------------------------------------------>_____________________________] 58.81% 97 p/s1899 / 3195 [------------------------------------------>_____________________________] 59.44% 97 p/s1918 / 3195 [------------------------------------------->____________________________] 60.03% 97 p/s1938 / 3195 [------------------------------------------->____________________________] 60.66% 97 p/s1957 / 3195 [-------------------------------------------->___________________________] 61.25% 97 p/s1976 / 3195 [-------------------------------------------->___________________________] 61.85% 97 p/s1996 / 3195 [-------------------------------------------->___________________________] 62.47% 97 p/s2015 / 3195 [--------------------------------------------->__________________________] 63.07% 97 p/s2035 / 3195 [--------------------------------------------->__________________________] 63.69% 97 p/s2054 / 3195 [---------------------------------------------->_________________________] 64.29% 97 p/s2073 / 3195 [---------------------------------------------->_________________________] 64.88% 97 p/s2092 / 3195 [----------------------------------------------->________________________] 65.48% 97 p/s2111 / 3195 [----------------------------------------------->________________________] 66.07% 97 p/s2131 / 3195 [------------------------------------------------>_______________________] 66.70% 97 p/s2150 / 3195 [------------------------------------------------>_______________________] 67.29% 97 p/s2170 / 3195 [------------------------------------------------>_______________________] 67.92% 97 p/s2189 / 3195 [------------------------------------------------->______________________] 68.51% 97 p/s2208 / 3195 [------------------------------------------------->______________________] 69.11% 97 p/s2226 / 3195 [-------------------------------------------------->_____________________] 69.67% 97 p/s2246 / 3195 [-------------------------------------------------->_____________________] 70.30% 97 p/s2265 / 3195 [--------------------------------------------------->____________________] 70.89% 97 p/s2285 / 3195 [--------------------------------------------------->____________________] 71.52% 97 p/s2304 / 3195 [--------------------------------------------------->____________________] 72.11% 97 p/s2324 / 3195 [---------------------------------------------------->___________________] 72.74% 97 p/s2343 / 3195 [---------------------------------------------------->___________________] 73.33% 97 p/s2363 / 3195 [----------------------------------------------------->__________________] 73.96% 97 p/s2382 / 3195 [----------------------------------------------------->__________________] 74.55% 97 p/s2402 / 3195 [------------------------------------------------------>_________________] 75.18% 97 p/s2421 / 3195 [------------------------------------------------------>_________________] 75.77% 97 p/s2441 / 3195 [------------------------------------------------------->________________] 76.40% 97 p/s2461 / 3195 [------------------------------------------------------->________________] 77.03% 97 p/s2480 / 3195 [------------------------------------------------------->________________] 77.62% 97 p/s2500 / 3195 [-------------------------------------------------------->_______________] 78.25% 97 p/s2518 / 3195 [-------------------------------------------------------->_______________] 78.81% 97 p/s2538 / 3195 [--------------------------------------------------------->______________] 79.44% 97 p/s2557 / 3195 [--------------------------------------------------------->______________] 80.03% 97 p/s2577 / 3195 [---------------------------------------------------------->_____________] 80.66% 97 p/s2596 / 3195 [---------------------------------------------------------->_____________] 81.25% 97 p/s2616 / 3195 [---------------------------------------------------------->_____________] 81.88% 97 p/s2636 / 3195 [----------------------------------------------------------->____________] 82.50% 97 p/s2655 / 3195 [----------------------------------------------------------->____________] 83.10% 97 p/s2674 / 3195 [------------------------------------------------------------>___________] 83.69% 97 p/s2694 / 3195 [------------------------------------------------------------>___________] 84.32% 97 p/s2713 / 3195 [------------------------------------------------------------->__________] 84.91% 97 p/s2733 / 3195 [------------------------------------------------------------->__________] 85.54% 97 p/s2752 / 3195 [-------------------------------------------------------------->_________] 86.13% 97 p/s2772 / 3195 [-------------------------------------------------------------->_________] 86.76% 97 p/s2790 / 3195 [-------------------------------------------------------------->_________] 87.32% 97 p/s2809 / 3195 [--------------------------------------------------------------->________] 87.92% 97 p/s2829 / 3195 [--------------------------------------------------------------->________] 88.54% 97 p/s2848 / 3195 [---------------------------------------------------------------->_______] 89.14% 97 p/s2867 / 3195 [---------------------------------------------------------------->_______] 89.73% 97 p/s2886 / 3195 [----------------------------------------------------------------->______] 90.33% 97 p/s2906 / 3195 [----------------------------------------------------------------->______] 90.95% 97 p/s2925 / 3195 [----------------------------------------------------------------->______] 91.55% 97 p/s2945 / 3195 [------------------------------------------------------------------>_____] 92.18% 97 p/s2965 / 3195 [------------------------------------------------------------------>_____] 92.80% 97 p/s2984 / 3195 [------------------------------------------------------------------->____] 93.40% 97 p/s3003 / 3195 [------------------------------------------------------------------->____] 93.99% 97 p/s3023 / 3195 [-------------------------------------------------------------------->___] 94.62% 97 p/s3042 / 3195 [-------------------------------------------------------------------->___] 95.21% 97 p/s3062 / 3195 [--------------------------------------------------------------------->__] 95.84% 97 p/s3081 / 3195 [--------------------------------------------------------------------->__] 96.43% 97 p/s3100 / 3195 [--------------------------------------------------------------------->__] 97.03% 97 p/s3119 / 3195 [---------------------------------------------------------------------->_] 97.62% 97 p/s3139 / 3195 [---------------------------------------------------------------------->_] 98.25% 97 p/s3159 / 3195 [----------------------------------------------------------------------->] 98.87% 97 p/s3178 / 3195 [----------------------------------------------------------------------->] 99.47% 97 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-11T03:01:41 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3195 [00:00<?, ?it/s]
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2026-03-11T03:03:47 - 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 /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-03-11T03:03:49 - INFO: DataPrep 0.14.0a7
2026-03-11T03:03:49 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-03-11T03:03:49 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T03:03:49 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T03:03:49 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-11T03:03:49 - INFO: Preparing sonar data...
2026-03-11T03:03:49 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T03:03:51 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-03-11T03:03:51 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T03:03:51 - INFO: Sonar range is 1.878240 m
2026-03-11T03:03:51 - INFO: Speed of sound is 1494 m/s
2026-03-11T03:03:51 - INFO: Processing 3195 sweeps...

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2026-03-11T03:04:00 - INFO: Creating sonar sensor alignment track...
2026-03-11T03:04:03 - INFO: Prepared sonar data in 14.7229 s
2026-03-11T03:04:03 - INFO: No IMU data found
2026-03-11T03:04:04 - INFO: DataPrep took 0:00:15.191365
2026-03-11T03:04:04 - INFO: Extracted sonar data in 0:02:56.387030
2026-03-11T03:04:04 - INFO: MSIP3D took 0:02:56.869460