2026-03-18T10:07:11 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:07:11 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-18T10:07:11 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:07:11 - INFO: Found TFD mission for SJ502795 Dep 8
2026-03-18T10:07:11 - INFO: Recording will be processed as MD
2026-03-18T10:07:11 - INFO: Copying assets JSON to output directory...
2026-03-18T10:07:11 - INFO: Preparing counter data...
2026-03-18T10:07:11 - INFO: Interpreting counter as imperial
2026-03-18T10:07:11 - INFO: Preparing size track from assets JSON...
2026-03-18T10:07:11 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:07:11 - INFO: Preparing material track from assets JSON...
2026-03-18T10:07:11 - INFO: Prepared counter data in 0.1205 s
2026-03-18T10:07:11 - 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: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 4266
21 / 4266 [>___________________________________________________________________________] 0.49% ? p/s44 / 4266 [>___________________________________________________________________________] 1.03% ? p/s66 / 4266 [->__________________________________________________________________________] 1.55% ? p/s88 / 4266 [->________________________________________________________________________] 2.06% 112 p/s110 / 4266 [->_______________________________________________________________________] 2.58% 112 p/s131 / 4266 [-->______________________________________________________________________] 3.07% 112 p/s154 / 4266 [-->______________________________________________________________________] 3.61% 112 p/s175 / 4266 [-->______________________________________________________________________] 4.10% 112 p/s197 / 4266 [--->_____________________________________________________________________] 4.62% 112 p/s220 / 4266 [--->_____________________________________________________________________] 5.16% 111 p/s243 / 4266 [---->____________________________________________________________________] 5.70% 111 p/s264 / 4266 [---->____________________________________________________________________] 6.19% 111 p/s286 / 4266 [---->____________________________________________________________________] 6.70% 111 p/s308 / 4266 [----->___________________________________________________________________] 7.22% 111 p/s330 / 4266 [----->___________________________________________________________________] 7.74% 111 p/s352 / 4266 [------>__________________________________________________________________] 8.25% 111 p/s375 / 4266 [------>__________________________________________________________________] 8.79% 111 p/s397 / 4266 [------>__________________________________________________________________] 9.31% 111 p/s419 / 4266 [------->_________________________________________________________________] 9.82% 111 p/s442 / 4266 [------->________________________________________________________________] 10.36% 111 p/s464 / 4266 [------->________________________________________________________________] 10.88% 111 p/s487 / 4266 [-------->_______________________________________________________________] 11.42% 111 p/s507 / 4266 [-------->_______________________________________________________________] 11.88% 111 p/s530 / 4266 [-------->_______________________________________________________________] 12.42% 111 p/s552 / 4266 [--------->______________________________________________________________] 12.94% 111 p/s575 / 4266 [--------->______________________________________________________________] 13.48% 111 p/s597 / 4266 [---------->_____________________________________________________________] 13.99% 111 p/s620 / 4266 [---------->_____________________________________________________________] 14.53% 111 p/s643 / 4266 [---------->_____________________________________________________________] 15.07% 111 p/s665 / 4266 [----------->____________________________________________________________] 15.59% 111 p/s687 / 4266 [----------->____________________________________________________________] 16.10% 111 p/s710 / 4266 [----------->____________________________________________________________] 16.64% 111 p/s733 / 4266 [------------>___________________________________________________________] 17.18% 111 p/s755 / 4266 [------------>___________________________________________________________] 17.70% 112 p/s778 / 4266 [------------->__________________________________________________________] 18.24% 112 p/s800 / 4266 [------------->__________________________________________________________] 18.75% 112 p/s822 / 4266 [------------->__________________________________________________________] 19.27% 112 p/s845 / 4266 [-------------->_________________________________________________________] 19.81% 112 p/s867 / 4266 [-------------->_________________________________________________________] 20.32% 112 p/s890 / 4266 [--------------->________________________________________________________] 20.86% 112 p/s911 / 4266 [--------------->________________________________________________________] 21.35% 112 p/s934 / 4266 [--------------->________________________________________________________] 21.89% 112 p/s955 / 4266 [---------------->_______________________________________________________] 22.39% 111 p/s977 / 4266 [---------------->_______________________________________________________] 22.90% 111 p/s1000 / 4266 [---------------->______________________________________________________] 23.44% 111 p/s1022 / 4266 [----------------->_____________________________________________________] 23.96% 111 p/s1044 / 4266 [----------------->_____________________________________________________] 24.47% 111 p/s1067 / 4266 [----------------->_____________________________________________________] 25.01% 111 p/s1089 / 4266 [------------------>____________________________________________________] 25.53% 111 p/s1111 / 4266 [------------------>____________________________________________________] 26.04% 111 p/s1133 / 4266 [------------------>____________________________________________________] 26.56% 111 p/s1155 / 4266 [------------------->___________________________________________________] 27.07% 111 p/s1178 / 4266 [------------------->___________________________________________________] 27.61% 111 p/s1200 / 4266 [------------------->___________________________________________________] 28.13% 111 p/s1223 / 4266 [-------------------->__________________________________________________] 28.67% 112 p/s1245 / 4266 [-------------------->__________________________________________________] 29.18% 112 p/s1268 / 4266 [--------------------->_________________________________________________] 29.72% 112 p/s1290 / 4266 [--------------------->_________________________________________________] 30.24% 112 p/s1313 / 4266 [--------------------->_________________________________________________] 30.78% 112 p/s1334 / 4266 [---------------------->________________________________________________] 31.27% 112 p/s1357 / 4266 [---------------------->________________________________________________] 31.81% 112 p/s1379 / 4266 [---------------------->________________________________________________] 32.33% 112 p/s1402 / 4266 [----------------------->_______________________________________________] 32.86% 112 p/s1425 / 4266 [----------------------->_______________________________________________] 33.40% 112 p/s1446 / 4266 [------------------------>______________________________________________] 33.90% 112 p/s1468 / 4266 [------------------------>______________________________________________] 34.41% 112 p/s1491 / 4266 [------------------------>______________________________________________] 34.95% 112 p/s1514 / 4266 [------------------------->_____________________________________________] 35.49% 112 p/s1537 / 4266 [------------------------->_____________________________________________] 36.03% 112 p/s1559 / 4266 [------------------------->_____________________________________________] 36.54% 112 p/s1582 / 4266 [-------------------------->____________________________________________] 37.08% 112 p/s1605 / 4266 [-------------------------->____________________________________________] 37.62% 112 p/s1627 / 4266 [--------------------------->___________________________________________] 38.14% 112 p/s1650 / 4266 [--------------------------->___________________________________________] 38.68% 112 p/s1673 / 4266 [--------------------------->___________________________________________] 39.22% 112 p/s1695 / 4266 [---------------------------->__________________________________________] 39.73% 112 p/s1718 / 4266 [---------------------------->__________________________________________] 40.27% 112 p/s1741 / 4266 [---------------------------->__________________________________________] 40.81% 112 p/s1764 / 4266 [----------------------------->_________________________________________] 41.35% 112 p/s1787 / 4266 [----------------------------->_________________________________________] 41.89% 112 p/s1809 / 4266 [------------------------------>________________________________________] 42.41% 112 p/s1832 / 4266 [------------------------------>________________________________________] 42.94% 112 p/s1855 / 4266 [------------------------------>________________________________________] 43.48% 112 p/s1877 / 4266 [------------------------------->_______________________________________] 44.00% 112 p/s1898 / 4266 [------------------------------->_______________________________________] 44.49% 112 p/s1921 / 4266 [------------------------------->_______________________________________] 45.03% 112 p/s1943 / 4266 [-------------------------------->______________________________________] 45.55% 112 p/s1966 / 4266 [-------------------------------->______________________________________] 46.09% 112 p/s1988 / 4266 [--------------------------------->_____________________________________] 46.60% 112 p/s2011 / 4266 [--------------------------------->_____________________________________] 47.14% 112 p/s2033 / 4266 [--------------------------------->_____________________________________] 47.66% 112 p/s2055 / 4266 [---------------------------------->____________________________________] 48.17% 112 p/s2077 / 4266 [---------------------------------->____________________________________] 48.69% 112 p/s2100 / 4266 [---------------------------------->____________________________________] 49.23% 112 p/s2122 / 4266 [----------------------------------->___________________________________] 49.74% 112 p/s2144 / 4266 [----------------------------------->___________________________________] 50.26% 112 p/s2166 / 4266 [------------------------------------>__________________________________] 50.77% 112 p/s2189 / 4266 [------------------------------------>__________________________________] 51.31% 112 p/s2210 / 4266 [------------------------------------>__________________________________] 51.80% 112 p/s2233 / 4266 [------------------------------------->_________________________________] 52.34% 112 p/s2255 / 4266 [------------------------------------->_________________________________] 52.86% 112 p/s2277 / 4266 [------------------------------------->_________________________________] 53.38% 112 p/s2299 / 4266 [-------------------------------------->________________________________] 53.89% 112 p/s2322 / 4266 [-------------------------------------->________________________________] 54.43% 112 p/s2344 / 4266 [--------------------------------------->_______________________________] 54.95% 112 p/s2367 / 4266 [--------------------------------------->_______________________________] 55.49% 112 p/s2389 / 4266 [--------------------------------------->_______________________________] 56.00% 112 p/s2412 / 4266 [---------------------------------------->______________________________] 56.54% 112 p/s2434 / 4266 [---------------------------------------->______________________________] 57.06% 112 p/s2457 / 4266 [---------------------------------------->______________________________] 57.59% 112 p/s2479 / 4266 [----------------------------------------->_____________________________] 58.11% 112 p/s2501 / 4266 [----------------------------------------->_____________________________] 58.63% 112 p/s2523 / 4266 [----------------------------------------->_____________________________] 59.14% 112 p/s2543 / 4266 [------------------------------------------>____________________________] 59.61% 112 p/s2566 / 4266 [------------------------------------------>____________________________] 60.15% 112 p/s2588 / 4266 [------------------------------------------->___________________________] 60.67% 112 p/s2611 / 4266 [------------------------------------------->___________________________] 61.20% 112 p/s2632 / 4266 [------------------------------------------->___________________________] 61.70% 112 p/s2655 / 4266 [-------------------------------------------->__________________________] 62.24% 112 p/s2677 / 4266 [-------------------------------------------->__________________________] 62.75% 112 p/s2699 / 4266 [-------------------------------------------->__________________________] 63.27% 112 p/s2720 / 4266 [--------------------------------------------->_________________________] 63.76% 112 p/s2742 / 4266 [--------------------------------------------->_________________________] 64.28% 112 p/s2764 / 4266 [---------------------------------------------->________________________] 64.79% 111 p/s2787 / 4266 [---------------------------------------------->________________________] 65.33% 111 p/s2809 / 4266 [---------------------------------------------->________________________] 65.85% 111 p/s2831 / 4266 [----------------------------------------------->_______________________] 66.36% 111 p/s2854 / 4266 [----------------------------------------------->_______________________] 66.90% 111 p/s2876 / 4266 [----------------------------------------------->_______________________] 67.42% 111 p/s2899 / 4266 [------------------------------------------------>______________________] 67.96% 111 p/s2921 / 4266 [------------------------------------------------>______________________] 68.47% 111 p/s2944 / 4266 [------------------------------------------------>______________________] 69.01% 111 p/s2967 / 4266 [------------------------------------------------->_____________________] 69.55% 112 p/s2989 / 4266 [------------------------------------------------->_____________________] 70.07% 112 p/s3012 / 4266 [-------------------------------------------------->____________________] 70.60% 112 p/s3035 / 4266 [-------------------------------------------------->____________________] 71.14% 112 p/s3057 / 4266 [-------------------------------------------------->____________________] 71.66% 112 p/s3079 / 4266 [--------------------------------------------------->___________________] 72.18% 112 p/s3101 / 4266 [--------------------------------------------------->___________________] 72.69% 112 p/s3124 / 4266 [--------------------------------------------------->___________________] 73.23% 112 p/s3146 / 4266 [---------------------------------------------------->__________________] 73.75% 112 p/s3168 / 4266 [---------------------------------------------------->__________________] 74.26% 112 p/s3191 / 4266 [----------------------------------------------------->_________________] 74.80% 112 p/s3213 / 4266 [----------------------------------------------------->_________________] 75.32% 112 p/s3236 / 4266 [----------------------------------------------------->_________________] 75.86% 112 p/s3258 / 4266 [------------------------------------------------------>________________] 76.37% 112 p/s3280 / 4266 [------------------------------------------------------>________________] 76.89% 112 p/s3302 / 4266 [------------------------------------------------------>________________] 77.40% 112 p/s3318 / 4266 [------------------------------------------------------->_______________] 77.78% 112 p/s3340 / 4266 [------------------------------------------------------->_______________] 78.29% 112 p/s3362 / 4266 [------------------------------------------------------->_______________] 78.81% 111 p/s3385 / 4266 [-------------------------------------------------------->______________] 79.35% 111 p/s3406 / 4266 [-------------------------------------------------------->______________] 79.84% 111 p/s3428 / 4266 [--------------------------------------------------------->_____________] 80.36% 111 p/s3450 / 4266 [--------------------------------------------------------->_____________] 80.87% 111 p/s3473 / 4266 [--------------------------------------------------------->_____________] 81.41% 111 p/s3495 / 4266 [---------------------------------------------------------->____________] 81.93% 111 p/s3518 / 4266 [---------------------------------------------------------->____________] 82.47% 111 p/s3540 / 4266 [---------------------------------------------------------->____________] 82.98% 111 p/s3563 / 4266 [----------------------------------------------------------->___________] 83.52% 111 p/s3585 / 4266 [----------------------------------------------------------->___________] 84.04% 111 p/s3607 / 4266 [------------------------------------------------------------>__________] 84.55% 111 p/s3629 / 4266 [------------------------------------------------------------>__________] 85.07% 111 p/s3652 / 4266 [------------------------------------------------------------>__________] 85.61% 111 p/s3675 / 4266 [------------------------------------------------------------->_________] 86.15% 111 p/s3697 / 4266 [------------------------------------------------------------->_________] 86.66% 111 p/s3719 / 4266 [------------------------------------------------------------->_________] 87.18% 111 p/s3740 / 4266 [-------------------------------------------------------------->________] 87.67% 111 p/s3762 / 4266 [-------------------------------------------------------------->________] 88.19% 111 p/s3785 / 4266 [-------------------------------------------------------------->________] 88.72% 111 p/s3807 / 4266 [--------------------------------------------------------------->_______] 89.24% 111 p/s3830 / 4266 [--------------------------------------------------------------->_______] 89.78% 111 p/s3853 / 4266 [---------------------------------------------------------------->______] 90.32% 111 p/s3875 / 4266 [---------------------------------------------------------------->______] 90.83% 111 p/s3897 / 4266 [---------------------------------------------------------------->______] 91.35% 111 p/s3920 / 4266 [----------------------------------------------------------------->_____] 91.89% 111 p/s3942 / 4266 [----------------------------------------------------------------->_____] 92.41% 111 p/s3964 / 4266 [----------------------------------------------------------------->_____] 92.92% 111 p/s3986 / 4266 [------------------------------------------------------------------>____] 93.44% 111 p/s4009 / 4266 [------------------------------------------------------------------>____] 93.98% 111 p/s4031 / 4266 [------------------------------------------------------------------->___] 94.49% 111 p/s4053 / 4266 [------------------------------------------------------------------->___] 95.01% 111 p/s4075 / 4266 [------------------------------------------------------------------->___] 95.52% 111 p/s4097 / 4266 [-------------------------------------------------------------------->__] 96.04% 111 p/s4120 / 4266 [-------------------------------------------------------------------->__] 96.58% 111 p/s4142 / 4266 [-------------------------------------------------------------------->__] 97.09% 111 p/s4165 / 4266 [--------------------------------------------------------------------->_] 97.63% 111 p/s4187 / 4266 [--------------------------------------------------------------------->_] 98.15% 111 p/s4210 / 4266 [---------------------------------------------------------------------->] 98.69% 111 p/s4232 / 4266 [---------------------------------------------------------------------->] 99.20% 111 p/s4255 / 4266 [---------------------------------------------------------------------->] 99.74% 111 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-18T10:07:49 - 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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  0%|          | 6/4266 [00:00<02:32, 27.89it/s]
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  1%|          | 24/4266 [00:00<02:32, 27.77it/s]
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  1%|          | 51/4266 [00:01<02:30, 27.96it/s]
  1%|▏         | 54/4266 [00:01<02:30, 28.02it/s]
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  1%|▏         | 63/4266 [00:02<02:29, 28.06it/s]
  2%|▏         | 66/4266 [00:02<02:29, 28.02it/s]
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  2%|▏         | 78/4266 [00:02<02:30, 27.91it/s]
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  2%|▏         | 84/4266 [00:03<02:30, 27.82it/s]
  2%|▏         | 87/4266 [00:03<02:30, 27.70it/s]
  2%|▏         | 90/4266 [00:03<02:31, 27.64it/s]
  2%|▏         | 93/4266 [00:03<02:32, 27.35it/s]
  2%|▏         | 96/4266 [00:03<02:32, 27.33it/s]
  2%|▏         | 99/4266 [00:03<02:31, 27.44it/s]
  2%|▏         | 102/4266 [00:03<02:31, 27.54it/s]
  2%|▏         | 105/4266 [00:03<02:30, 27.59it/s]
  3%|▎         | 108/4266 [00:03<02:30, 27.62it/s]
  3%|▎         | 111/4266 [00:03<02:30, 27.69it/s]
  3%|▎         | 114/4266 [00:04<02:30, 27.62it/s]
  3%|▎         | 117/4266 [00:04<02:30, 27.63it/s]
  3%|▎         | 120/4266 [00:04<02:29, 27.74it/s]
  3%|▎         | 123/4266 [00:04<02:29, 27.76it/s]
  3%|▎         | 126/4266 [00:04<02:29, 27.75it/s]
  3%|▎         | 129/4266 [00:04<02:33, 27.00it/s]
  3%|▎         | 132/4266 [00:04<02:32, 27.19it/s]
  3%|▎         | 135/4266 [00:04<02:30, 27.38it/s]
  3%|▎         | 138/4266 [00:04<02:29, 27.56it/s]
  3%|▎         | 141/4266 [00:05<02:29, 27.56it/s]
  3%|▎         | 144/4266 [00:05<02:28, 27.71it/s]
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  4%|▎         | 150/4266 [00:05<02:28, 27.74it/s]
  4%|▎         | 153/4266 [00:05<02:27, 27.80it/s]
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  4%|▍         | 162/4266 [00:05<02:27, 27.82it/s]
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  4%|▍         | 171/4266 [00:06<02:27, 27.74it/s]
  4%|▍         | 174/4266 [00:06<02:27, 27.75it/s]
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  4%|▍         | 189/4266 [00:06<02:28, 27.43it/s]
  5%|▍         | 192/4266 [00:06<02:28, 27.37it/s]
  5%|▍         | 195/4266 [00:07<02:27, 27.51it/s]
  5%|▍         | 198/4266 [00:07<02:27, 27.61it/s]
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2026-03-18T10:10:30 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b"
2026-03-18T10:10:31 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:10:31 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-03-18T10:10:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:10:31 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:10:31 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-18T10:10:31 - INFO: Preparing sonar data...
2026-03-18T10:10:31 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:10:35 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-03-18T10:10:35 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:10:35 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-18T10:10:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:10:35 - INFO: Sonar range is 0.939120 m
2026-03-18T10:10:35 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:10:35 - INFO: Processing 4266 sweeps...

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2026-03-18T10:10:46 - INFO: Prepared sonar data in 14.1944 s
2026-03-18T10:10:46 - INFO: No IMU data found
2026-03-18T10:10:46 - INFO: DataPrep took 0:00:14.634803
2026-03-18T10:10:46 - INFO: Extracted sonar data in 0:03:35.078046
2026-03-18T10:10:47 - INFO: MSIP3D took 0:03:35.584101