2026-03-12T07:46:30 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:46:31 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-12T07:46:31 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:46:31 - INFO: Found TFD mission for SJ502795 Dep 8
2026-03-12T07:46:31 - INFO: Recording will be processed as MD
2026-03-12T07:46:31 - INFO: Copying assets JSON to output directory...
2026-03-12T07:46:31 - INFO: Preparing counter data...
2026-03-12T07:46:31 - INFO: Interpreting counter as imperial
2026-03-12T07:46:31 - INFO: Preparing size track from assets JSON...
2026-03-12T07:46:31 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:46:31 - INFO: Preparing material track from assets JSON...
2026-03-12T07:46:31 - INFO: Prepared counter data in 0.1175 s
2026-03-12T07:46:31 - INFO: Extracting sonar data...
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/SJ502795_Dep_8.tfd
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 4266
22 / 4266 [>___________________________________________________________________________] 0.52% ? p/s45 / 4266 [>___________________________________________________________________________] 1.05% ? p/s68 / 4266 [->__________________________________________________________________________] 1.59% ? p/s90 / 4266 [->________________________________________________________________________] 2.11% 113 p/s113 / 4266 [->_______________________________________________________________________] 2.65% 113 p/s135 / 4266 [-->______________________________________________________________________] 3.16% 113 p/s158 / 4266 [-->______________________________________________________________________] 3.70% 113 p/s181 / 4266 [--->_____________________________________________________________________] 4.24% 113 p/s204 / 4266 [--->_____________________________________________________________________] 4.78% 113 p/s227 / 4266 [--->_____________________________________________________________________] 5.32% 113 p/s249 / 4266 [---->____________________________________________________________________] 5.84% 113 p/s271 / 4266 [---->____________________________________________________________________] 6.35% 113 p/s294 / 4266 [----->___________________________________________________________________] 6.89% 113 p/s316 / 4266 [----->___________________________________________________________________] 7.41% 113 p/s339 / 4266 [----->___________________________________________________________________] 7.95% 113 p/s361 / 4266 [------>__________________________________________________________________] 8.46% 113 p/s384 / 4266 [------>__________________________________________________________________] 9.00% 113 p/s407 / 4266 [------>__________________________________________________________________] 9.54% 113 p/s430 / 4266 [------->________________________________________________________________] 10.08% 113 p/s453 / 4266 [------->________________________________________________________________] 10.62% 113 p/s475 / 4266 [-------->_______________________________________________________________] 11.13% 113 p/s498 / 4266 [-------->_______________________________________________________________] 11.67% 113 p/s520 / 4266 [-------->_______________________________________________________________] 12.19% 113 p/s542 / 4266 [--------->______________________________________________________________] 12.71% 113 p/s566 / 4266 [--------->______________________________________________________________] 13.27% 113 p/s588 / 4266 [--------->______________________________________________________________] 13.78% 113 p/s611 / 4266 [---------->_____________________________________________________________] 14.32% 113 p/s634 / 4266 [---------->_____________________________________________________________] 14.86% 113 p/s657 / 4266 [----------->____________________________________________________________] 15.40% 113 p/s680 / 4266 [----------->____________________________________________________________] 15.94% 113 p/s703 / 4266 [----------->____________________________________________________________] 16.48% 113 p/s726 / 4266 [------------>___________________________________________________________] 17.02% 113 p/s749 / 4266 [------------>___________________________________________________________] 17.56% 113 p/s772 / 4266 [------------->__________________________________________________________] 18.10% 114 p/s795 / 4266 [------------->__________________________________________________________] 18.64% 114 p/s819 / 4266 [------------->__________________________________________________________] 19.20% 114 p/s841 / 4266 [-------------->_________________________________________________________] 19.71% 114 p/s864 / 4266 [-------------->_________________________________________________________] 20.25% 114 p/s887 / 4266 [-------------->_________________________________________________________] 20.79% 114 p/s910 / 4266 [--------------->________________________________________________________] 21.33% 114 p/s933 / 4266 [--------------->________________________________________________________] 21.87% 114 p/s956 / 4266 [---------------->_______________________________________________________] 22.41% 114 p/s979 / 4266 [---------------->_______________________________________________________] 22.95% 114 p/s1002 / 4266 [---------------->______________________________________________________] 23.49% 114 p/s1024 / 4266 [----------------->_____________________________________________________] 24.00% 114 p/s1047 / 4266 [----------------->_____________________________________________________] 24.54% 114 p/s1069 / 4266 [----------------->_____________________________________________________] 25.06% 114 p/s1092 / 4266 [------------------>____________________________________________________] 25.60% 114 p/s1114 / 4266 [------------------>____________________________________________________] 26.11% 114 p/s1137 / 4266 [------------------>____________________________________________________] 26.65% 114 p/s1160 / 4266 [------------------->___________________________________________________] 27.19% 114 p/s1183 / 4266 [------------------->___________________________________________________] 27.73% 114 p/s1206 / 4266 [-------------------->__________________________________________________] 28.27% 114 p/s1229 / 4266 [-------------------->__________________________________________________] 28.81% 114 p/s1251 / 4266 [-------------------->__________________________________________________] 29.32% 114 p/s1275 / 4266 [--------------------->_________________________________________________] 29.89% 114 p/s1298 / 4266 [--------------------->_________________________________________________] 30.43% 114 p/s1321 / 4266 [--------------------->_________________________________________________] 30.97% 114 p/s1344 / 4266 [---------------------->________________________________________________] 31.50% 114 p/s1366 / 4266 [---------------------->________________________________________________] 32.02% 114 p/s1390 / 4266 [----------------------->_______________________________________________] 32.58% 114 p/s1413 / 4266 [----------------------->_______________________________________________] 33.12% 114 p/s1436 / 4266 [----------------------->_______________________________________________] 33.66% 114 p/s1459 / 4266 [------------------------>______________________________________________] 34.20% 114 p/s1482 / 4266 [------------------------>______________________________________________] 34.74% 114 p/s1505 / 4266 [------------------------->_____________________________________________] 35.28% 114 p/s1528 / 4266 [------------------------->_____________________________________________] 35.82% 114 p/s1551 / 4266 [------------------------->_____________________________________________] 36.36% 114 p/s1574 / 4266 [-------------------------->____________________________________________] 36.90% 114 p/s1597 / 4266 [-------------------------->____________________________________________] 37.44% 114 p/s1620 / 4266 [-------------------------->____________________________________________] 37.97% 114 p/s1643 / 4266 [--------------------------->___________________________________________] 38.51% 114 p/s1662 / 4266 [--------------------------->___________________________________________] 38.96% 114 p/s1684 / 4266 [---------------------------->__________________________________________] 39.47% 114 p/s1707 / 4266 [---------------------------->__________________________________________] 40.01% 114 p/s1727 / 4266 [---------------------------->__________________________________________] 40.48% 113 p/s1750 / 4266 [----------------------------->_________________________________________] 41.02% 113 p/s1773 / 4266 [----------------------------->_________________________________________] 41.56% 113 p/s1796 / 4266 [----------------------------->_________________________________________] 42.10% 114 p/s1819 / 4266 [------------------------------>________________________________________] 42.64% 114 p/s1842 / 4266 [------------------------------>________________________________________] 43.18% 114 p/s1865 / 4266 [------------------------------->_______________________________________] 43.72% 114 p/s1888 / 4266 [------------------------------->_______________________________________] 44.26% 114 p/s1911 / 4266 [------------------------------->_______________________________________] 44.80% 114 p/s1933 / 4266 [-------------------------------->______________________________________] 45.31% 114 p/s1956 / 4266 [-------------------------------->______________________________________] 45.85% 114 p/s1979 / 4266 [-------------------------------->______________________________________] 46.39% 114 p/s2001 / 4266 [--------------------------------->_____________________________________] 46.91% 114 p/s2017 / 4266 [--------------------------------->_____________________________________] 47.28% 114 p/s2035 / 4266 [--------------------------------->_____________________________________] 47.70% 114 p/s2056 / 4266 [---------------------------------->____________________________________] 48.20% 112 p/s2077 / 4266 [---------------------------------->____________________________________] 48.69% 112 p/s2092 / 4266 [---------------------------------->____________________________________] 49.04% 112 p/s2107 / 4266 [----------------------------------->___________________________________] 49.39% 110 p/s2121 / 4266 [----------------------------------->___________________________________] 49.72% 110 p/s2136 / 4266 [----------------------------------->___________________________________] 50.07% 110 p/s2154 / 4266 [----------------------------------->___________________________________] 50.49% 108 p/s2169 / 4266 [------------------------------------>__________________________________] 50.84% 108 p/s2183 / 4266 [------------------------------------>__________________________________] 51.17% 108 p/s2201 / 4266 [------------------------------------>__________________________________] 51.59% 106 p/s2219 / 4266 [------------------------------------>__________________________________] 52.02% 106 p/s2235 / 4266 [------------------------------------->_________________________________] 52.39% 106 p/s2252 / 4266 [------------------------------------->_________________________________] 52.79% 105 p/s2270 / 4266 [------------------------------------->_________________________________] 53.21% 105 p/s2287 / 4266 [-------------------------------------->________________________________] 53.61% 105 p/s2302 / 4266 [-------------------------------------->________________________________] 53.96% 104 p/s2318 / 4266 [-------------------------------------->________________________________] 54.34% 104 p/s2334 / 4266 [-------------------------------------->________________________________] 54.71% 104 p/s2356 / 4266 [--------------------------------------->_______________________________] 55.23% 103 p/s2378 / 4266 [--------------------------------------->_______________________________] 55.74% 103 p/s2401 / 4266 [--------------------------------------->_______________________________] 56.28% 103 p/s2423 / 4266 [---------------------------------------->______________________________] 56.80% 103 p/s2446 / 4266 [---------------------------------------->______________________________] 57.34% 103 p/s2469 / 4266 [----------------------------------------->_____________________________] 57.88% 103 p/s2492 / 4266 [----------------------------------------->_____________________________] 58.42% 104 p/s2514 / 4266 [----------------------------------------->_____________________________] 58.93% 104 p/s2537 / 4266 [------------------------------------------>____________________________] 59.47% 104 p/s2559 / 4266 [------------------------------------------>____________________________] 59.99% 105 p/s2582 / 4266 [------------------------------------------>____________________________] 60.53% 105 p/s2605 / 4266 [------------------------------------------->___________________________] 61.06% 105 p/s2628 / 4266 [------------------------------------------->___________________________] 61.60% 105 p/s2651 / 4266 [-------------------------------------------->__________________________] 62.14% 105 p/s2674 / 4266 [-------------------------------------------->__________________________] 62.68% 105 p/s2696 / 4266 [-------------------------------------------->__________________________] 63.20% 106 p/s2719 / 4266 [--------------------------------------------->_________________________] 63.74% 106 p/s2741 / 4266 [--------------------------------------------->_________________________] 64.25% 106 p/s2764 / 4266 [---------------------------------------------->________________________] 64.79% 106 p/s2787 / 4266 [---------------------------------------------->________________________] 65.33% 106 p/s2809 / 4266 [---------------------------------------------->________________________] 65.85% 106 p/s2832 / 4266 [----------------------------------------------->_______________________] 66.39% 107 p/s2855 / 4266 [----------------------------------------------->_______________________] 66.92% 107 p/s2878 / 4266 [----------------------------------------------->_______________________] 67.46% 107 p/s2901 / 4266 [------------------------------------------------>______________________] 68.00% 107 p/s2923 / 4266 [------------------------------------------------>______________________] 68.52% 107 p/s2946 / 4266 [------------------------------------------------->_____________________] 69.06% 107 p/s2969 / 4266 [------------------------------------------------->_____________________] 69.60% 108 p/s2992 / 4266 [------------------------------------------------->_____________________] 70.14% 108 p/s3015 / 4266 [-------------------------------------------------->____________________] 70.68% 108 p/s3037 / 4266 [-------------------------------------------------->____________________] 71.19% 108 p/s3060 / 4266 [-------------------------------------------------->____________________] 71.73% 108 p/s3083 / 4266 [--------------------------------------------------->___________________] 72.27% 108 p/s3106 / 4266 [--------------------------------------------------->___________________] 72.81% 108 p/s3129 / 4266 [---------------------------------------------------->__________________] 73.35% 108 p/s3152 / 4266 [---------------------------------------------------->__________________] 73.89% 108 p/s3174 / 4266 [---------------------------------------------------->__________________] 74.40% 109 p/s3197 / 4266 [----------------------------------------------------->_________________] 74.94% 109 p/s3220 / 4266 [----------------------------------------------------->_________________] 75.48% 109 p/s3242 / 4266 [----------------------------------------------------->_________________] 76.00% 109 p/s3265 / 4266 [------------------------------------------------------>________________] 76.54% 109 p/s3287 / 4266 [------------------------------------------------------>________________] 77.05% 109 p/s3310 / 4266 [------------------------------------------------------->_______________] 77.59% 109 p/s3332 / 4266 [------------------------------------------------------->_______________] 78.11% 109 p/s3354 / 4266 [------------------------------------------------------->_______________] 78.62% 109 p/s3377 / 4266 [-------------------------------------------------------->______________] 79.16% 109 p/s3400 / 4266 [-------------------------------------------------------->______________] 79.70% 109 p/s3423 / 4266 [-------------------------------------------------------->______________] 80.24% 109 p/s3446 / 4266 [--------------------------------------------------------->_____________] 80.78% 110 p/s3468 / 4266 [--------------------------------------------------------->_____________] 81.29% 110 p/s3491 / 4266 [---------------------------------------------------------->____________] 81.83% 110 p/s3514 / 4266 [---------------------------------------------------------->____________] 82.37% 110 p/s3536 / 4266 [---------------------------------------------------------->____________] 82.89% 110 p/s3559 / 4266 [----------------------------------------------------------->___________] 83.43% 110 p/s3581 / 4266 [----------------------------------------------------------->___________] 83.94% 110 p/s3604 / 4266 [----------------------------------------------------------->___________] 84.48% 110 p/s3626 / 4266 [------------------------------------------------------------>__________] 85.00% 110 p/s3649 / 4266 [------------------------------------------------------------>__________] 85.54% 110 p/s3671 / 4266 [------------------------------------------------------------->_________] 86.05% 110 p/s3694 / 4266 [------------------------------------------------------------->_________] 86.59% 110 p/s3717 / 4266 [------------------------------------------------------------->_________] 87.13% 111 p/s3740 / 4266 [-------------------------------------------------------------->________] 87.67% 111 p/s3762 / 4266 [-------------------------------------------------------------->________] 88.19% 111 p/s3785 / 4266 [-------------------------------------------------------------->________] 88.72% 111 p/s3808 / 4266 [--------------------------------------------------------------->_______] 89.26% 111 p/s3830 / 4266 [--------------------------------------------------------------->_______] 89.78% 111 p/s3853 / 4266 [---------------------------------------------------------------->______] 90.32% 111 p/s3876 / 4266 [---------------------------------------------------------------->______] 90.86% 111 p/s3898 / 4266 [---------------------------------------------------------------->______] 91.37% 111 p/s3921 / 4266 [----------------------------------------------------------------->_____] 91.91% 111 p/s3943 / 4266 [----------------------------------------------------------------->_____] 92.43% 111 p/s3966 / 4266 [------------------------------------------------------------------>____] 92.97% 111 p/s3989 / 4266 [------------------------------------------------------------------>____] 93.51% 111 p/s4011 / 4266 [------------------------------------------------------------------>____] 94.02% 111 p/s4034 / 4266 [------------------------------------------------------------------->___] 94.56% 111 p/s4056 / 4266 [------------------------------------------------------------------->___] 95.08% 111 p/s4079 / 4266 [------------------------------------------------------------------->___] 95.62% 111 p/s4101 / 4266 [-------------------------------------------------------------------->__] 96.13% 111 p/s4123 / 4266 [-------------------------------------------------------------------->__] 96.65% 111 p/s4146 / 4266 [--------------------------------------------------------------------->_] 97.19% 111 p/s4169 / 4266 [--------------------------------------------------------------------->_] 97.73% 111 p/s4191 / 4266 [--------------------------------------------------------------------->_] 98.24% 111 p/s4214 / 4266 [---------------------------------------------------------------------->] 98.78% 111 p/s4238 / 4266 [---------------------------------------------------------------------->] 99.34% 111 p/s4258 / 4266 [---------------------------------------------------------------------->] 99.81% 110 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-12T07:47:10 - INFO: Parsing 4266 sonar sweeps from /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4266 [00:00<?, ?it/s]
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  1%|▏         | 54/4266 [00:01<02:34, 27.18it/s]
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  1%|▏         | 63/4266 [00:02<02:34, 27.22it/s]
  2%|▏         | 66/4266 [00:02<02:34, 27.19it/s]
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  2%|▏         | 72/4266 [00:02<02:33, 27.26it/s]
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  2%|▏         | 78/4266 [00:02<02:33, 27.28it/s]
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  2%|▏         | 84/4266 [00:03<02:33, 27.20it/s]
  2%|▏         | 87/4266 [00:03<02:33, 27.21it/s]
  2%|▏         | 90/4266 [00:03<02:33, 27.22it/s]
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  2%|▏         | 96/4266 [00:03<02:33, 27.16it/s]
  2%|▏         | 99/4266 [00:03<02:33, 27.16it/s]
  2%|▏         | 102/4266 [00:03<02:33, 27.12it/s]
  2%|▏         | 105/4266 [00:03<02:33, 27.14it/s]
  3%|▎         | 108/4266 [00:03<02:33, 27.13it/s]
  3%|▎         | 111/4266 [00:04<02:33, 27.15it/s]
  3%|▎         | 114/4266 [00:04<02:32, 27.14it/s]
  3%|▎         | 117/4266 [00:04<02:32, 27.12it/s]
  3%|▎         | 120/4266 [00:04<02:33, 27.07it/s]
  3%|▎         | 123/4266 [00:04<02:33, 27.04it/s]
  3%|▎         | 126/4266 [00:04<02:32, 27.11it/s]
  3%|▎         | 129/4266 [00:04<02:36, 26.39it/s]
  3%|▎         | 132/4266 [00:04<02:35, 26.51it/s]
  3%|▎         | 135/4266 [00:04<02:34, 26.66it/s]
  3%|▎         | 138/4266 [00:05<02:35, 26.51it/s]
  3%|▎         | 141/4266 [00:05<02:34, 26.68it/s]
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  3%|▎         | 147/4266 [00:05<02:32, 26.94it/s]
  4%|▎         | 150/4266 [00:05<02:31, 27.08it/s]
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  4%|▍         | 168/4266 [00:06<02:29, 27.38it/s]
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  4%|▍         | 174/4266 [00:06<02:29, 27.42it/s]
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  5%|▍         | 192/4266 [00:07<02:28, 27.37it/s]
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2026-03-12T07:49:50 - 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/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b"
2026-03-12T07:49:51 - INFO: DataPrep 0.14.0a7
2026-03-12T07:49:51 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-03-12T07:49:51 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:49:51 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:49:51 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-12T07:49:51 - INFO: Preparing sonar data...
2026-03-12T07:49:51 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:49:55 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-03-12T07:49:55 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:49:55 - INFO: Sonar range is 0.939120 m
2026-03-12T07:49:55 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:49:55 - INFO: Processing 4266 sweeps...

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2026-03-12T07:50:05 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:50:06 - INFO: Prepared sonar data in 14.2574 s
2026-03-12T07:50:06 - INFO: No IMU data found
2026-03-12T07:50:06 - INFO: DataPrep took 0:00:14.700453
2026-03-12T07:50:06 - INFO: Extracted sonar data in 0:03:35.407848
2026-03-12T07:50:07 - INFO: MSIP3D took 0:03:35.871187