2026-03-12T07:48:15 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:48:15 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-12T07:48:15 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:48:15 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-12T07:48:15 - INFO: Recording will be processed as MD
2026-03-12T07:48:15 - INFO: Copying assets JSON to output directory...
2026-03-12T07:48:15 - INFO: Preparing counter data...
2026-03-12T07:48:15 - INFO: Interpreting counter as imperial
2026-03-12T07:48:15 - INFO: Preparing size track from assets JSON...
2026-03-12T07:48:15 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:48:15 - INFO: Preparing material track from assets JSON...
2026-03-12T07:48:15 - INFO: Prepared counter data in 0.1029 s
2026-03-12T07:48:15 - 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: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s64 / 4914 [>___________________________________________________________________________] 1.30% ? p/s87 / 4914 [->________________________________________________________________________] 1.77% 110 p/s110 / 4914 [->_______________________________________________________________________] 2.24% 110 p/s133 / 4914 [->_______________________________________________________________________] 2.71% 110 p/s156 / 4914 [-->______________________________________________________________________] 3.17% 110 p/s179 / 4914 [-->______________________________________________________________________] 3.64% 110 p/s202 / 4914 [--->_____________________________________________________________________] 4.11% 110 p/s225 / 4914 [--->_____________________________________________________________________] 4.58% 111 p/s247 / 4914 [--->_____________________________________________________________________] 5.03% 111 p/s270 / 4914 [---->____________________________________________________________________] 5.49% 111 p/s293 / 4914 [---->____________________________________________________________________] 5.96% 111 p/s316 / 4914 [---->____________________________________________________________________] 6.43% 111 p/s339 / 4914 [----->___________________________________________________________________] 6.90% 111 p/s362 / 4914 [----->___________________________________________________________________] 7.37% 111 p/s385 / 4914 [----->___________________________________________________________________] 7.83% 111 p/s408 / 4914 [------>__________________________________________________________________] 8.30% 111 p/s431 / 4914 [------>__________________________________________________________________] 8.77% 111 p/s454 / 4914 [------>__________________________________________________________________] 9.24% 111 p/s477 / 4914 [------->_________________________________________________________________] 9.71% 111 p/s500 / 4914 [------->________________________________________________________________] 10.18% 112 p/s522 / 4914 [------->________________________________________________________________] 10.62% 112 p/s544 / 4914 [------->________________________________________________________________] 11.07% 112 p/s566 / 4914 [-------->_______________________________________________________________] 11.52% 111 p/s589 / 4914 [-------->_______________________________________________________________] 11.99% 111 p/s612 / 4914 [-------->_______________________________________________________________] 12.45% 111 p/s635 / 4914 [--------->______________________________________________________________] 12.92% 112 p/s658 / 4914 [--------->______________________________________________________________] 13.39% 112 p/s681 / 4914 [--------->______________________________________________________________] 13.86% 112 p/s704 / 4914 [---------->_____________________________________________________________] 14.33% 112 p/s727 / 4914 [---------->_____________________________________________________________] 14.79% 112 p/s750 / 4914 [---------->_____________________________________________________________] 15.26% 112 p/s772 / 4914 [----------->____________________________________________________________] 15.71% 112 p/s795 / 4914 [----------->____________________________________________________________] 16.18% 112 p/s818 / 4914 [----------->____________________________________________________________] 16.65% 112 p/s841 / 4914 [------------>___________________________________________________________] 17.11% 112 p/s864 / 4914 [------------>___________________________________________________________] 17.58% 112 p/s886 / 4914 [------------>___________________________________________________________] 18.03% 112 p/s910 / 4914 [------------->__________________________________________________________] 18.52% 112 p/s933 / 4914 [------------->__________________________________________________________] 18.99% 112 p/s956 / 4914 [-------------->_________________________________________________________] 19.45% 112 p/s979 / 4914 [-------------->_________________________________________________________] 19.92% 113 p/s1002 / 4914 [-------------->________________________________________________________] 20.39% 113 p/s1024 / 4914 [-------------->________________________________________________________] 20.84% 113 p/s1047 / 4914 [--------------->_______________________________________________________] 21.31% 113 p/s1070 / 4914 [--------------->_______________________________________________________] 21.77% 113 p/s1093 / 4914 [--------------->_______________________________________________________] 22.24% 113 p/s1115 / 4914 [---------------->______________________________________________________] 22.69% 113 p/s1138 / 4914 [---------------->______________________________________________________] 23.16% 113 p/s1161 / 4914 [---------------->______________________________________________________] 23.63% 113 p/s1184 / 4914 [----------------->_____________________________________________________] 24.09% 113 p/s1207 / 4914 [----------------->_____________________________________________________] 24.56% 113 p/s1230 / 4914 [----------------->_____________________________________________________] 25.03% 113 p/s1253 / 4914 [------------------>____________________________________________________] 25.50% 113 p/s1276 / 4914 [------------------>____________________________________________________] 25.97% 113 p/s1299 / 4914 [------------------>____________________________________________________] 26.43% 113 p/s1322 / 4914 [------------------->___________________________________________________] 26.90% 113 p/s1345 / 4914 [------------------->___________________________________________________] 27.37% 113 p/s1368 / 4914 [------------------->___________________________________________________] 27.84% 113 p/s1391 / 4914 [-------------------->__________________________________________________] 28.31% 113 p/s1414 / 4914 [-------------------->__________________________________________________] 28.77% 113 p/s1437 / 4914 [-------------------->__________________________________________________] 29.24% 113 p/s1460 / 4914 [--------------------->_________________________________________________] 29.71% 113 p/s1483 / 4914 [--------------------->_________________________________________________] 30.18% 113 p/s1505 / 4914 [--------------------->_________________________________________________] 30.63% 113 p/s1528 / 4914 [---------------------->________________________________________________] 31.09% 113 p/s1551 / 4914 [---------------------->________________________________________________] 31.56% 113 p/s1574 / 4914 [---------------------->________________________________________________] 32.03% 113 p/s1597 / 4914 [----------------------->_______________________________________________] 32.50% 113 p/s1620 / 4914 [----------------------->_______________________________________________] 32.97% 113 p/s1643 / 4914 [----------------------->_______________________________________________] 33.44% 113 p/s1665 / 4914 [------------------------>______________________________________________] 33.88% 113 p/s1688 / 4914 [------------------------>______________________________________________] 34.35% 113 p/s1711 / 4914 [------------------------>______________________________________________] 34.82% 113 p/s1734 / 4914 [------------------------->_____________________________________________] 35.29% 114 p/s1757 / 4914 [------------------------->_____________________________________________] 35.75% 114 p/s1780 / 4914 [------------------------->_____________________________________________] 36.22% 114 p/s1802 / 4914 [-------------------------->____________________________________________] 36.67% 114 p/s1825 / 4914 [-------------------------->____________________________________________] 37.14% 114 p/s1848 / 4914 [-------------------------->____________________________________________] 37.61% 114 p/s1871 / 4914 [--------------------------->___________________________________________] 38.07% 114 p/s1894 / 4914 [--------------------------->___________________________________________] 38.54% 114 p/s1917 / 4914 [--------------------------->___________________________________________] 39.01% 114 p/s1940 / 4914 [---------------------------->__________________________________________] 39.48% 114 p/s1963 / 4914 [---------------------------->__________________________________________] 39.95% 114 p/s1986 / 4914 [---------------------------->__________________________________________] 40.42% 114 p/s2008 / 4914 [----------------------------->_________________________________________] 40.86% 114 p/s2031 / 4914 [----------------------------->_________________________________________] 41.33% 114 p/s2054 / 4914 [----------------------------->_________________________________________] 41.80% 114 p/s2077 / 4914 [------------------------------>________________________________________] 42.27% 114 p/s2099 / 4914 [------------------------------>________________________________________] 42.71% 114 p/s2122 / 4914 [------------------------------>________________________________________] 43.18% 114 p/s2145 / 4914 [------------------------------>________________________________________] 43.65% 114 p/s2168 / 4914 [------------------------------->_______________________________________] 44.12% 114 p/s2191 / 4914 [------------------------------->_______________________________________] 44.59% 114 p/s2213 / 4914 [------------------------------->_______________________________________] 45.03% 114 p/s2236 / 4914 [-------------------------------->______________________________________] 45.50% 114 p/s2259 / 4914 [-------------------------------->______________________________________] 45.97% 114 p/s2283 / 4914 [-------------------------------->______________________________________] 46.46% 114 p/s2306 / 4914 [--------------------------------->_____________________________________] 46.93% 114 p/s2329 / 4914 [--------------------------------->_____________________________________] 47.40% 114 p/s2352 / 4914 [--------------------------------->_____________________________________] 47.86% 114 p/s2375 / 4914 [---------------------------------->____________________________________] 48.33% 114 p/s2398 / 4914 [---------------------------------->____________________________________] 48.80% 114 p/s2421 / 4914 [---------------------------------->____________________________________] 49.27% 114 p/s2444 / 4914 [----------------------------------->___________________________________] 49.74% 114 p/s2467 / 4914 [----------------------------------->___________________________________] 50.20% 114 p/s2490 / 4914 [----------------------------------->___________________________________] 50.67% 114 p/s2513 / 4914 [------------------------------------>__________________________________] 51.14% 114 p/s2536 / 4914 [------------------------------------>__________________________________] 51.61% 114 p/s2559 / 4914 [------------------------------------>__________________________________] 52.08% 114 p/s2582 / 4914 [------------------------------------->_________________________________] 52.54% 114 p/s2605 / 4914 [------------------------------------->_________________________________] 53.01% 114 p/s2628 / 4914 [------------------------------------->_________________________________] 53.48% 114 p/s2651 / 4914 [-------------------------------------->________________________________] 53.95% 114 p/s2674 / 4914 [-------------------------------------->________________________________] 54.42% 114 p/s2696 / 4914 [-------------------------------------->________________________________] 54.86% 114 p/s2719 / 4914 [--------------------------------------->_______________________________] 55.33% 114 p/s2742 / 4914 [--------------------------------------->_______________________________] 55.80% 114 p/s2765 / 4914 [--------------------------------------->_______________________________] 56.27% 114 p/s2788 / 4914 [---------------------------------------->______________________________] 56.74% 114 p/s2811 / 4914 [---------------------------------------->______________________________] 57.20% 114 p/s2834 / 4914 [---------------------------------------->______________________________] 57.67% 114 p/s2855 / 4914 [----------------------------------------->_____________________________] 58.10% 114 p/s2878 / 4914 [----------------------------------------->_____________________________] 58.57% 114 p/s2899 / 4914 [----------------------------------------->_____________________________] 58.99% 114 p/s2922 / 4914 [------------------------------------------>____________________________] 59.46% 114 p/s2944 / 4914 [------------------------------------------>____________________________] 59.91% 114 p/s2966 / 4914 [------------------------------------------>____________________________] 60.36% 114 p/s2989 / 4914 [------------------------------------------->___________________________] 60.83% 114 p/s3012 / 4914 [------------------------------------------->___________________________] 61.29% 114 p/s3035 / 4914 [------------------------------------------->___________________________] 61.76% 114 p/s3058 / 4914 [-------------------------------------------->__________________________] 62.23% 114 p/s3081 / 4914 [-------------------------------------------->__________________________] 62.70% 114 p/s3103 / 4914 [-------------------------------------------->__________________________] 63.15% 114 p/s3125 / 4914 [--------------------------------------------->_________________________] 63.59% 114 p/s3148 / 4914 [--------------------------------------------->_________________________] 64.06% 114 p/s3171 / 4914 [--------------------------------------------->_________________________] 64.53% 114 p/s3194 / 4914 [---------------------------------------------->________________________] 65.00% 114 p/s3217 / 4914 [---------------------------------------------->________________________] 65.47% 114 p/s3239 / 4914 [---------------------------------------------->________________________] 65.91% 114 p/s3262 / 4914 [----------------------------------------------->_______________________] 66.38% 114 p/s3285 / 4914 [----------------------------------------------->_______________________] 66.85% 114 p/s3308 / 4914 [----------------------------------------------->_______________________] 67.32% 114 p/s3329 / 4914 [------------------------------------------------>______________________] 67.75% 114 p/s3352 / 4914 [------------------------------------------------>______________________] 68.21% 114 p/s3375 / 4914 [------------------------------------------------>______________________] 68.68% 114 p/s3397 / 4914 [------------------------------------------------->_____________________] 69.13% 114 p/s3420 / 4914 [------------------------------------------------->_____________________] 69.60% 114 p/s3442 / 4914 [------------------------------------------------->_____________________] 70.04% 114 p/s3465 / 4914 [-------------------------------------------------->____________________] 70.51% 114 p/s3488 / 4914 [-------------------------------------------------->____________________] 70.98% 114 p/s3511 / 4914 [-------------------------------------------------->____________________] 71.45% 114 p/s3533 / 4914 [--------------------------------------------------->___________________] 71.90% 114 p/s3556 / 4914 [--------------------------------------------------->___________________] 72.36% 114 p/s3578 / 4914 [--------------------------------------------------->___________________] 72.81% 114 p/s3601 / 4914 [---------------------------------------------------->__________________] 73.28% 114 p/s3623 / 4914 [---------------------------------------------------->__________________] 73.73% 114 p/s3645 / 4914 [---------------------------------------------------->__________________] 74.18% 113 p/s3668 / 4914 [---------------------------------------------------->__________________] 74.64% 113 p/s3690 / 4914 [----------------------------------------------------->_________________] 75.09% 113 p/s3711 / 4914 [----------------------------------------------------->_________________] 75.52% 113 p/s3733 / 4914 [----------------------------------------------------->_________________] 75.97% 113 p/s3756 / 4914 [------------------------------------------------------>________________] 76.43% 113 p/s3779 / 4914 [------------------------------------------------------>________________] 76.90% 113 p/s3801 / 4914 [------------------------------------------------------>________________] 77.35% 113 p/s3824 / 4914 [------------------------------------------------------->_______________] 77.82% 113 p/s3847 / 4914 [------------------------------------------------------->_______________] 78.29% 113 p/s3869 / 4914 [------------------------------------------------------->_______________] 78.73% 113 p/s3889 / 4914 [-------------------------------------------------------->______________] 79.14% 113 p/s3912 / 4914 [-------------------------------------------------------->______________] 79.61% 113 p/s3935 / 4914 [-------------------------------------------------------->______________] 80.08% 113 p/s3957 / 4914 [--------------------------------------------------------->_____________] 80.53% 113 p/s3980 / 4914 [--------------------------------------------------------->_____________] 80.99% 113 p/s4002 / 4914 [--------------------------------------------------------->_____________] 81.44% 113 p/s4025 / 4914 [---------------------------------------------------------->____________] 81.91% 113 p/s4047 / 4914 [---------------------------------------------------------->____________] 82.36% 113 p/s4070 / 4914 [---------------------------------------------------------->____________] 82.82% 113 p/s4092 / 4914 [----------------------------------------------------------->___________] 83.27% 113 p/s4114 / 4914 [----------------------------------------------------------->___________] 83.72% 113 p/s4137 / 4914 [----------------------------------------------------------->___________] 84.19% 113 p/s4160 / 4914 [------------------------------------------------------------>__________] 84.66% 113 p/s4182 / 4914 [------------------------------------------------------------>__________] 85.10% 113 p/s4205 / 4914 [------------------------------------------------------------>__________] 85.57% 113 p/s4228 / 4914 [------------------------------------------------------------->_________] 86.04% 113 p/s4251 / 4914 [------------------------------------------------------------->_________] 86.51% 113 p/s4273 / 4914 [------------------------------------------------------------->_________] 86.96% 113 p/s4296 / 4914 [-------------------------------------------------------------->________] 87.42% 113 p/s4319 / 4914 [-------------------------------------------------------------->________] 87.89% 113 p/s4342 / 4914 [-------------------------------------------------------------->________] 88.36% 113 p/s4365 / 4914 [--------------------------------------------------------------->_______] 88.83% 113 p/s4387 / 4914 [--------------------------------------------------------------->_______] 89.28% 113 p/s4410 / 4914 [--------------------------------------------------------------->_______] 89.74% 113 p/s4433 / 4914 [---------------------------------------------------------------->______] 90.21% 113 p/s4456 / 4914 [---------------------------------------------------------------->______] 90.68% 113 p/s4479 / 4914 [---------------------------------------------------------------->______] 91.15% 113 p/s4501 / 4914 [----------------------------------------------------------------->_____] 91.60% 113 p/s4524 / 4914 [----------------------------------------------------------------->_____] 92.06% 113 p/s4546 / 4914 [----------------------------------------------------------------->_____] 92.51% 113 p/s4568 / 4914 [------------------------------------------------------------------>____] 92.96% 113 p/s4591 / 4914 [------------------------------------------------------------------>____] 93.43% 113 p/s4613 / 4914 [------------------------------------------------------------------>____] 93.87% 113 p/s4636 / 4914 [------------------------------------------------------------------>____] 94.34% 113 p/s4659 / 4914 [------------------------------------------------------------------->___] 94.81% 113 p/s4682 / 4914 [------------------------------------------------------------------->___] 95.28% 113 p/s4703 / 4914 [------------------------------------------------------------------->___] 95.71% 113 p/s4724 / 4914 [-------------------------------------------------------------------->__] 96.13% 113 p/s4746 / 4914 [-------------------------------------------------------------------->__] 96.58% 113 p/s4769 / 4914 [-------------------------------------------------------------------->__] 97.05% 113 p/s4792 / 4914 [--------------------------------------------------------------------->_] 97.52% 113 p/s4814 / 4914 [--------------------------------------------------------------------->_] 97.96% 113 p/s4837 / 4914 [--------------------------------------------------------------------->_] 98.43% 113 p/s4859 / 4914 [---------------------------------------------------------------------->] 98.88% 113 p/s4882 / 4914 [---------------------------------------------------------------------->] 99.35% 113 p/s4904 / 4914 [---------------------------------------------------------------------->] 99.80% 113 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-12T07:48:58 - 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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  1%|▏         | 63/4914 [00:02<02:59, 26.98it/s]
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2026-03-12T07:52:06 - 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"
2026-03-12T07:52:07 - INFO: DataPrep 0.14.0a7
2026-03-12T07:52:07 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-12T07:52:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:52:07 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:52:07 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-12T07:52:07 - INFO: Preparing sonar data...
2026-03-12T07:52:07 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:52:12 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-12T07:52:12 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:52:12 - INFO: Sonar range is 0.939120 m
2026-03-12T07:52:12 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:52:12 - INFO: Processing 4914 sweeps...

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2026-03-12T07:52:24 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:52:27 - INFO: Prepared sonar data in 19.7166 s
2026-03-12T07:52:27 - INFO: No IMU data found
2026-03-12T07:52:28 - INFO: DataPrep took 0:00:20.340271
2026-03-12T07:52:28 - INFO: Extracted sonar data in 0:04:12.572746
2026-03-12T07:52:28 - INFO: MSIP3D took 0:04:13.143611