2026-03-12T07:52:28 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:52:28 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-12T07:52:28 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:52:28 - INFO: Found TFD mission for SJ502828 DEP 513
2026-03-12T07:52:28 - INFO: Recording will be processed as SMD
2026-03-12T07:52:28 - INFO: Copying assets JSON to output directory...
2026-03-12T07:52:28 - INFO: Preparing counter data...
2026-03-12T07:52:28 - INFO: Interpreting counter as imperial
2026-03-12T07:52:29 - INFO: Preparing size track from assets JSON...
2026-03-12T07:52:29 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:52:29 - INFO: Preparing material track from assets JSON...
2026-03-12T07:52:29 - INFO: Prepared counter data in 0.1592 s
2026-03-12T07:52:29 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2126
17 / 2126 [>___________________________________________________________________________] 0.80% ? p/s36 / 2126 [->__________________________________________________________________________] 1.69% ? p/s56 / 2126 [-->_________________________________________________________________________] 2.63% ? p/s75 / 2126 [-->________________________________________________________________________] 3.53% 97 p/s94 / 2126 [--->_______________________________________________________________________] 4.42% 97 p/s113 / 2126 [--->______________________________________________________________________] 5.32% 97 p/s132 / 2126 [---->_____________________________________________________________________] 6.21% 97 p/s152 / 2126 [----->____________________________________________________________________] 7.15% 97 p/s170 / 2126 [----->____________________________________________________________________] 8.00% 97 p/s190 / 2126 [------>___________________________________________________________________] 8.94% 97 p/s210 / 2126 [------->__________________________________________________________________] 9.88% 97 p/s229 / 2126 [------->_________________________________________________________________] 10.77% 97 p/s248 / 2126 [-------->________________________________________________________________] 11.67% 97 p/s268 / 2126 [--------->_______________________________________________________________] 12.61% 97 p/s286 / 2126 [--------->_______________________________________________________________] 13.45% 97 p/s306 / 2126 [---------->______________________________________________________________] 14.39% 97 p/s326 / 2126 [----------->_____________________________________________________________] 15.33% 97 p/s346 / 2126 [----------->_____________________________________________________________] 16.27% 97 p/s365 / 2126 [------------>____________________________________________________________] 17.17% 97 p/s385 / 2126 [------------->___________________________________________________________] 18.11% 97 p/s405 / 2126 [------------->___________________________________________________________] 19.05% 97 p/s424 / 2126 [-------------->__________________________________________________________] 19.94% 97 p/s444 / 2126 [--------------->_________________________________________________________] 20.88% 97 p/s463 / 2126 [--------------->_________________________________________________________] 21.78% 97 p/s483 / 2126 [---------------->________________________________________________________] 22.72% 97 p/s503 / 2126 [----------------->_______________________________________________________] 23.66% 97 p/s522 / 2126 [----------------->_______________________________________________________] 24.55% 97 p/s541 / 2126 [------------------>______________________________________________________] 25.45% 97 p/s561 / 2126 [------------------->_____________________________________________________] 26.39% 97 p/s580 / 2126 [------------------->_____________________________________________________] 27.28% 97 p/s600 / 2126 [-------------------->____________________________________________________] 28.22% 97 p/s619 / 2126 [--------------------->___________________________________________________] 29.12% 97 p/s639 / 2126 [--------------------->___________________________________________________] 30.06% 97 p/s659 / 2126 [---------------------->__________________________________________________] 31.00% 97 p/s678 / 2126 [----------------------->_________________________________________________] 31.89% 97 p/s698 / 2126 [----------------------->_________________________________________________] 32.83% 97 p/s718 / 2126 [------------------------>________________________________________________] 33.77% 97 p/s737 / 2126 [------------------------->_______________________________________________] 34.67% 97 p/s757 / 2126 [------------------------->_______________________________________________] 35.61% 97 p/s777 / 2126 [-------------------------->______________________________________________] 36.55% 97 p/s796 / 2126 [--------------------------->_____________________________________________] 37.44% 97 p/s816 / 2126 [---------------------------->____________________________________________] 38.38% 97 p/s835 / 2126 [---------------------------->____________________________________________] 39.28% 97 p/s855 / 2126 [----------------------------->___________________________________________] 40.22% 97 p/s875 / 2126 [------------------------------>__________________________________________] 41.16% 97 p/s894 / 2126 [------------------------------>__________________________________________] 42.05% 97 p/s914 / 2126 [------------------------------->_________________________________________] 42.99% 97 p/s933 / 2126 [-------------------------------->________________________________________] 43.89% 97 p/s953 / 2126 [-------------------------------->________________________________________] 44.83% 97 p/s972 / 2126 [--------------------------------->_______________________________________] 45.72% 97 p/s992 / 2126 [---------------------------------->______________________________________] 46.66% 97 p/s1012 / 2126 [---------------------------------->_____________________________________] 47.60% 97 p/s1030 / 2126 [---------------------------------->_____________________________________] 48.45% 97 p/s1050 / 2126 [----------------------------------->____________________________________] 49.39% 97 p/s1069 / 2126 [------------------------------------>___________________________________] 50.28% 97 p/s1089 / 2126 [------------------------------------>___________________________________] 51.22% 97 p/s1108 / 2126 [------------------------------------->__________________________________] 52.12% 97 p/s1128 / 2126 [-------------------------------------->_________________________________] 53.06% 97 p/s1147 / 2126 [-------------------------------------->_________________________________] 53.95% 97 p/s1167 / 2126 [--------------------------------------->________________________________] 54.89% 97 p/s1186 / 2126 [---------------------------------------->_______________________________] 55.79% 97 p/s1206 / 2126 [---------------------------------------->_______________________________] 56.73% 97 p/s1226 / 2126 [----------------------------------------->______________________________] 57.67% 97 p/s1245 / 2126 [------------------------------------------>_____________________________] 58.56% 97 p/s1265 / 2126 [------------------------------------------>_____________________________] 59.50% 97 p/s1284 / 2126 [------------------------------------------->____________________________] 60.40% 97 p/s1304 / 2126 [-------------------------------------------->___________________________] 61.34% 97 p/s1323 / 2126 [-------------------------------------------->___________________________] 62.23% 97 p/s1343 / 2126 [--------------------------------------------->__________________________] 63.17% 97 p/s1362 / 2126 [---------------------------------------------->_________________________] 64.06% 97 p/s1382 / 2126 [---------------------------------------------->_________________________] 65.00% 97 p/s1402 / 2126 [----------------------------------------------->________________________] 65.95% 97 p/s1421 / 2126 [------------------------------------------------>_______________________] 66.84% 97 p/s1441 / 2126 [------------------------------------------------>_______________________] 67.78% 97 p/s1460 / 2126 [------------------------------------------------->______________________] 68.67% 97 p/s1480 / 2126 [-------------------------------------------------->_____________________] 69.61% 97 p/s1499 / 2126 [-------------------------------------------------->_____________________] 70.51% 97 p/s1519 / 2126 [--------------------------------------------------->____________________] 71.45% 97 p/s1539 / 2126 [---------------------------------------------------->___________________] 72.39% 98 p/s1558 / 2126 [---------------------------------------------------->___________________] 73.28% 98 p/s1578 / 2126 [----------------------------------------------------->__________________] 74.22% 98 p/s1597 / 2126 [------------------------------------------------------>_________________] 75.12% 97 p/s1617 / 2126 [------------------------------------------------------>_________________] 76.06% 97 p/s1637 / 2126 [------------------------------------------------------->________________] 77.00% 97 p/s1656 / 2126 [-------------------------------------------------------->_______________] 77.89% 98 p/s1676 / 2126 [-------------------------------------------------------->_______________] 78.83% 98 p/s1695 / 2126 [--------------------------------------------------------->______________] 79.73% 98 p/s1715 / 2126 [---------------------------------------------------------->_____________] 80.67% 98 p/s1734 / 2126 [---------------------------------------------------------->_____________] 81.56% 98 p/s1754 / 2126 [----------------------------------------------------------->____________] 82.50% 98 p/s1773 / 2126 [------------------------------------------------------------>___________] 83.40% 98 p/s1793 / 2126 [------------------------------------------------------------>___________] 84.34% 98 p/s1806 / 2126 [------------------------------------------------------------->__________] 84.95% 98 p/s1818 / 2126 [------------------------------------------------------------->__________] 85.51% 96 p/s1837 / 2126 [-------------------------------------------------------------->_________] 86.41% 96 p/s1857 / 2126 [-------------------------------------------------------------->_________] 87.35% 96 p/s1877 / 2126 [--------------------------------------------------------------->________] 88.29% 96 p/s1896 / 2126 [---------------------------------------------------------------->_______] 89.18% 96 p/s1916 / 2126 [---------------------------------------------------------------->_______] 90.12% 96 p/s1935 / 2126 [----------------------------------------------------------------->______] 91.02% 96 p/s1955 / 2126 [------------------------------------------------------------------>_____] 91.96% 96 p/s1975 / 2126 [------------------------------------------------------------------>_____] 92.90% 96 p/s1994 / 2126 [------------------------------------------------------------------->____] 93.79% 96 p/s2014 / 2126 [-------------------------------------------------------------------->___] 94.73% 96 p/s2034 / 2126 [-------------------------------------------------------------------->___] 95.67% 96 p/s2052 / 2126 [--------------------------------------------------------------------->__] 96.52% 96 p/s2071 / 2126 [---------------------------------------------------------------------->_] 97.41% 96 p/s2091 / 2126 [---------------------------------------------------------------------->_] 98.35% 96 p/s2111 / 2126 [----------------------------------------------------------------------->] 99.29% 97 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-12T07:52:51 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2126 [00:00<?, ?it/s]
  0%|          | 3/2126 [00:00<01:29, 23.74it/s]
  0%|          | 6/2126 [00:00<01:26, 24.47it/s]
  0%|          | 9/2126 [00:00<01:24, 25.01it/s]
  1%|          | 12/2126 [00:00<01:23, 25.26it/s]
  1%|          | 15/2126 [00:00<01:22, 25.46it/s]
  1%|          | 18/2126 [00:00<01:22, 25.59it/s]
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  1%|          | 24/2126 [00:00<01:21, 25.66it/s]
  1%|▏         | 27/2126 [00:01<01:21, 25.74it/s]
  1%|▏         | 30/2126 [00:01<01:21, 25.79it/s]
  2%|▏         | 33/2126 [00:01<01:21, 25.79it/s]
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  3%|▎         | 54/2126 [00:02<01:20, 25.79it/s]
  3%|▎         | 57/2126 [00:02<01:20, 25.73it/s]
  3%|▎         | 60/2126 [00:02<01:20, 25.80it/s]
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  3%|▎         | 69/2126 [00:02<01:19, 25.80it/s]
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  4%|▎         | 78/2126 [00:03<01:19, 25.81it/s]
  4%|▍         | 81/2126 [00:03<01:19, 25.81it/s]
  4%|▍         | 84/2126 [00:03<01:19, 25.82it/s]
  4%|▍         | 87/2126 [00:03<01:18, 25.84it/s]
  4%|▍         | 90/2126 [00:03<01:18, 25.86it/s]
  4%|▍         | 93/2126 [00:03<01:18, 25.86it/s]
  5%|▍         | 96/2126 [00:03<01:18, 25.82it/s]
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  5%|▍         | 102/2126 [00:03<01:20, 25.17it/s]
  5%|▍         | 105/2126 [00:04<01:19, 25.33it/s]
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  5%|▌         | 111/2126 [00:04<01:18, 25.62it/s]
  5%|▌         | 114/2126 [00:04<01:18, 25.73it/s]
  6%|▌         | 117/2126 [00:04<01:17, 25.79it/s]
  6%|▌         | 120/2126 [00:04<01:17, 25.85it/s]
  6%|▌         | 123/2126 [00:04<01:17, 25.87it/s]
  6%|▌         | 126/2126 [00:04<01:17, 25.90it/s]
  6%|▌         | 129/2126 [00:05<01:17, 25.93it/s]
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  6%|▋         | 135/2126 [00:05<01:16, 25.91it/s]
  6%|▋         | 138/2126 [00:05<01:16, 25.85it/s]
  7%|▋         | 141/2126 [00:05<01:16, 25.83it/s]
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 11%|█         | 225/2126 [00:08<01:13, 25.75it/s]
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 12%|█▏        | 261/2126 [00:10<01:11, 25.94it/s]
 12%|█▏        | 264/2126 [00:10<01:11, 25.96it/s]
 13%|█▎        | 267/2126 [00:10<01:11, 26.02it/s]
 13%|█▎        | 270/2126 [00:10<01:11, 25.99it/s]
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 13%|█▎        | 276/2126 [00:10<01:11, 25.70it/s]
 13%|█▎        | 279/2126 [00:10<01:12, 25.42it/s]
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 13%|█▎        | 285/2126 [00:11<01:11, 25.65it/s]
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2026-03-12T07:54:14 - 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/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-03-12T07:54:16 - INFO: DataPrep 0.14.0a7
2026-03-12T07:54:16 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-03-12T07:54:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:54:16 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:54:16 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-12T07:54:16 - INFO: Preparing sonar data...
2026-03-12T07:54:16 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:54:18 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-03-12T07:54:18 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:54:18 - INFO: Sonar range is 1.878240 m
2026-03-12T07:54:18 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:54:18 - INFO: Processing 2125 sweeps...

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2026-03-12T07:54:24 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:54:26 - INFO: Prepared sonar data in 10.3917 s
2026-03-12T07:54:26 - INFO: No IMU data found
2026-03-12T07:54:27 - INFO: DataPrep took 0:00:10.703395
2026-03-12T07:54:27 - INFO: Extracted sonar data in 0:01:58.103094
2026-03-12T07:54:27 - INFO: MSIP3D took 0:01:58.442831