2026-02-22T22:56:13 - INFO: MSIP3D 0.2.0a4
2026-02-22T22:56:13 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-02-22T22:56:13 - INFO: Found 11 TFD dictionary entries
2026-02-22T22:56:13 - INFO: Found TFD mission for SJ502828 DEP 512
2026-02-22T22:56:13 - INFO: Recording will be processed as SMD
2026-02-22T22:56:13 - INFO: Copying assets JSON to output directory...
2026-02-22T22:56:13 - INFO: Preparing counter data...
2026-02-22T22:56:13 - INFO: Interpreting counter as imperial
2026-02-22T22:56:14 - INFO: Prepared counter data in 0.1963 s
2026-02-22T22:56:14 - 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: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720644
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 3195
18 / 3195 [>___________________________________________________________________________] 0.56% ? p/s37 / 3195 [>___________________________________________________________________________] 1.16% ? p/s57 / 3195 [->__________________________________________________________________________] 1.78% ? p/s76 / 3195 [->_________________________________________________________________________] 2.38% 97 p/s96 / 3195 [-->________________________________________________________________________] 3.00% 97 p/s116 / 3195 [-->_______________________________________________________________________] 3.63% 97 p/s135 / 3195 [--->______________________________________________________________________] 4.23% 97 p/s154 / 3195 [--->______________________________________________________________________] 4.82% 97 p/s174 / 3195 [---->_____________________________________________________________________] 5.45% 97 p/s194 / 3195 [---->_____________________________________________________________________] 6.07% 97 p/s214 / 3195 [---->_____________________________________________________________________] 6.70% 97 p/s233 / 3195 [----->____________________________________________________________________] 7.29% 97 p/s253 / 3195 [----->____________________________________________________________________] 7.92% 97 p/s273 / 3195 [------>___________________________________________________________________] 8.54% 97 p/s293 / 3195 [------>___________________________________________________________________] 9.17% 97 p/s312 / 3195 [------->__________________________________________________________________] 9.77% 97 p/s332 / 3195 [------->_________________________________________________________________] 10.39% 97 p/s351 / 3195 [-------->________________________________________________________________] 10.99% 97 p/s371 / 3195 [-------->________________________________________________________________] 11.61% 97 p/s390 / 3195 [-------->________________________________________________________________] 12.21% 97 p/s410 / 3195 [--------->_______________________________________________________________] 12.83% 97 p/s430 / 3195 [--------->_______________________________________________________________] 13.46% 97 p/s449 / 3195 [---------->______________________________________________________________] 14.05% 97 p/s469 / 3195 [---------->______________________________________________________________] 14.68% 97 p/s489 / 3195 [----------->_____________________________________________________________] 15.31% 97 p/s508 / 3195 [----------->_____________________________________________________________] 15.90% 97 p/s528 / 3195 [------------>____________________________________________________________] 16.53% 97 p/s548 / 3195 [------------>____________________________________________________________] 17.15% 97 p/s568 / 3195 [------------>____________________________________________________________] 17.78% 97 p/s587 / 3195 [------------->___________________________________________________________] 18.37% 97 p/s607 / 3195 [------------->___________________________________________________________] 19.00% 97 p/s627 / 3195 [-------------->__________________________________________________________] 19.62% 97 p/s647 / 3195 [-------------->__________________________________________________________] 20.25% 97 p/s667 / 3195 [--------------->_________________________________________________________] 20.88% 98 p/s687 / 3195 [--------------->_________________________________________________________] 21.50% 98 p/s707 / 3195 [---------------->________________________________________________________] 22.13% 98 p/s727 / 3195 [---------------->________________________________________________________] 22.75% 98 p/s746 / 3195 [----------------->_______________________________________________________] 23.35% 98 p/s766 / 3195 [----------------->_______________________________________________________] 23.97% 98 p/s786 / 3195 [----------------->_______________________________________________________] 24.60% 98 p/s806 / 3195 [------------------>______________________________________________________] 25.23% 98 p/s826 / 3195 [------------------>______________________________________________________] 25.85% 98 p/s845 / 3195 [------------------->_____________________________________________________] 26.45% 98 p/s865 / 3195 [------------------->_____________________________________________________] 27.07% 98 p/s885 / 3195 [-------------------->____________________________________________________] 27.70% 98 p/s905 / 3195 [-------------------->____________________________________________________] 28.33% 98 p/s925 / 3195 [--------------------->___________________________________________________] 28.95% 98 p/s944 / 3195 [--------------------->___________________________________________________] 29.55% 98 p/s964 / 3195 [---------------------->__________________________________________________] 30.17% 98 p/s983 / 3195 [---------------------->__________________________________________________] 30.77% 98 p/s1003 / 3195 [---------------------->_________________________________________________] 31.39% 98 p/s1022 / 3195 [----------------------->________________________________________________] 31.99% 98 p/s1041 / 3195 [----------------------->________________________________________________] 32.58% 98 p/s1061 / 3195 [----------------------->________________________________________________] 33.21% 98 p/s1081 / 3195 [------------------------>_______________________________________________] 33.83% 98 p/s1101 / 3195 [------------------------>_______________________________________________] 34.46% 98 p/s1121 / 3195 [------------------------->______________________________________________] 35.09% 98 p/s1141 / 3195 [------------------------->______________________________________________] 35.71% 98 p/s1161 / 3195 [-------------------------->_____________________________________________] 36.34% 98 p/s1180 / 3195 [-------------------------->_____________________________________________] 36.93% 98 p/s1200 / 3195 [--------------------------->____________________________________________] 37.56% 98 p/s1220 / 3195 [--------------------------->____________________________________________] 38.18% 98 p/s1240 / 3195 [--------------------------->____________________________________________] 38.81% 98 p/s1259 / 3195 [---------------------------->___________________________________________] 39.41% 98 p/s1279 / 3195 [---------------------------->___________________________________________] 40.03% 98 p/s1299 / 3195 [----------------------------->__________________________________________] 40.66% 98 p/s1318 / 3195 [----------------------------->__________________________________________] 41.25% 98 p/s1338 / 3195 [------------------------------>_________________________________________] 41.88% 98 p/s1358 / 3195 [------------------------------>_________________________________________] 42.50% 98 p/s1378 / 3195 [------------------------------->________________________________________] 43.13% 98 p/s1397 / 3195 [------------------------------->________________________________________] 43.72% 98 p/s1417 / 3195 [------------------------------->________________________________________] 44.35% 98 p/s1437 / 3195 [-------------------------------->_______________________________________] 44.98% 98 p/s1456 / 3195 [-------------------------------->_______________________________________] 45.57% 98 p/s1476 / 3195 [--------------------------------->______________________________________] 46.20% 98 p/s1496 / 3195 [--------------------------------->______________________________________] 46.82% 98 p/s1516 / 3195 [---------------------------------->_____________________________________] 47.45% 98 p/s1535 / 3195 [---------------------------------->_____________________________________] 48.04% 98 p/s1555 / 3195 [----------------------------------->____________________________________] 48.67% 98 p/s1575 / 3195 [----------------------------------->____________________________________] 49.30% 98 p/s1595 / 3195 [----------------------------------->____________________________________] 49.92% 98 p/s1615 / 3195 [------------------------------------>___________________________________] 50.55% 98 p/s1634 / 3195 [------------------------------------>___________________________________] 51.14% 98 p/s1654 / 3195 [------------------------------------->__________________________________] 51.77% 98 p/s1674 / 3195 [------------------------------------->__________________________________] 52.39% 98 p/s1694 / 3195 [-------------------------------------->_________________________________] 53.02% 98 p/s1713 / 3195 [-------------------------------------->_________________________________] 53.62% 98 p/s1733 / 3195 [--------------------------------------->________________________________] 54.24% 98 p/s1753 / 3195 [--------------------------------------->________________________________] 54.87% 98 p/s1772 / 3195 [--------------------------------------->________________________________] 55.46% 98 p/s1792 / 3195 [---------------------------------------->_______________________________] 56.09% 98 p/s1812 / 3195 [---------------------------------------->_______________________________] 56.71% 98 p/s1832 / 3195 [----------------------------------------->______________________________] 57.34% 98 p/s1852 / 3195 [----------------------------------------->______________________________] 57.97% 98 p/s1871 / 3195 [------------------------------------------>_____________________________] 58.56% 98 p/s1891 / 3195 [------------------------------------------>_____________________________] 59.19% 98 p/s1911 / 3195 [------------------------------------------->____________________________] 59.81% 98 p/s1931 / 3195 [------------------------------------------->____________________________] 60.44% 98 p/s1950 / 3195 [------------------------------------------->____________________________] 61.03% 98 p/s1970 / 3195 [-------------------------------------------->___________________________] 61.66% 98 p/s1990 / 3195 [-------------------------------------------->___________________________] 62.28% 98 p/s2010 / 3195 [--------------------------------------------->__________________________] 62.91% 98 p/s2030 / 3195 [--------------------------------------------->__________________________] 63.54% 99 p/s2049 / 3195 [---------------------------------------------->_________________________] 64.13% 99 p/s2068 / 3195 [---------------------------------------------->_________________________] 64.73% 99 p/s2088 / 3195 [----------------------------------------------->________________________] 65.35% 98 p/s2108 / 3195 [----------------------------------------------->________________________] 65.98% 98 p/s2128 / 3195 [----------------------------------------------->________________________] 66.60% 98 p/s2147 / 3195 [------------------------------------------------>_______________________] 67.20% 98 p/s2167 / 3195 [------------------------------------------------>_______________________] 67.82% 98 p/s2187 / 3195 [------------------------------------------------->______________________] 68.45% 98 p/s2207 / 3195 [------------------------------------------------->______________________] 69.08% 99 p/s2226 / 3195 [-------------------------------------------------->_____________________] 69.67% 99 p/s2246 / 3195 [-------------------------------------------------->_____________________] 70.30% 99 p/s2266 / 3195 [--------------------------------------------------->____________________] 70.92% 99 p/s2286 / 3195 [--------------------------------------------------->____________________] 71.55% 99 p/s2305 / 3195 [--------------------------------------------------->____________________] 72.14% 99 p/s2325 / 3195 [---------------------------------------------------->___________________] 72.77% 98 p/s2345 / 3195 [---------------------------------------------------->___________________] 73.40% 98 p/s2365 / 3195 [----------------------------------------------------->__________________] 74.02% 98 p/s2385 / 3195 [----------------------------------------------------->__________________] 74.65% 99 p/s2405 / 3195 [------------------------------------------------------>_________________] 75.27% 99 p/s2424 / 3195 [------------------------------------------------------>_________________] 75.87% 99 p/s2444 / 3195 [------------------------------------------------------->________________] 76.49% 99 p/s2464 / 3195 [------------------------------------------------------->________________] 77.12% 99 p/s2483 / 3195 [------------------------------------------------------->________________] 77.72% 99 p/s2503 / 3195 [-------------------------------------------------------->_______________] 78.34% 99 p/s2523 / 3195 [-------------------------------------------------------->_______________] 78.97% 99 p/s2542 / 3195 [--------------------------------------------------------->______________] 79.56% 99 p/s2562 / 3195 [--------------------------------------------------------->______________] 80.19% 99 p/s2582 / 3195 [---------------------------------------------------------->_____________] 80.81% 99 p/s2602 / 3195 [---------------------------------------------------------->_____________] 81.44% 99 p/s2621 / 3195 [----------------------------------------------------------->____________] 82.03% 99 p/s2641 / 3195 [----------------------------------------------------------->____________] 82.66% 99 p/s2661 / 3195 [----------------------------------------------------------->____________] 83.29% 99 p/s2681 / 3195 [------------------------------------------------------------>___________] 83.91% 99 p/s2700 / 3195 [------------------------------------------------------------>___________] 84.51% 99 p/s2720 / 3195 [------------------------------------------------------------->__________] 85.13% 99 p/s2740 / 3195 [------------------------------------------------------------->__________] 85.76% 99 p/s2760 / 3195 [-------------------------------------------------------------->_________] 86.38% 99 p/s2779 / 3195 [-------------------------------------------------------------->_________] 86.98% 99 p/s2799 / 3195 [--------------------------------------------------------------->________] 87.61% 99 p/s2819 / 3195 [--------------------------------------------------------------->________] 88.23% 99 p/s2839 / 3195 [--------------------------------------------------------------->________] 88.86% 99 p/s2859 / 3195 [---------------------------------------------------------------->_______] 89.48% 99 p/s2878 / 3195 [---------------------------------------------------------------->_______] 90.08% 99 p/s2898 / 3195 [----------------------------------------------------------------->______] 90.70% 99 p/s2918 / 3195 [----------------------------------------------------------------->______] 91.33% 99 p/s2938 / 3195 [------------------------------------------------------------------>_____] 91.96% 99 p/s2957 / 3195 [------------------------------------------------------------------>_____] 92.55% 99 p/s2977 / 3195 [------------------------------------------------------------------->____] 93.18% 99 p/s2997 / 3195 [------------------------------------------------------------------->____] 93.80% 99 p/s3017 / 3195 [------------------------------------------------------------------->____] 94.43% 99 p/s3037 / 3195 [-------------------------------------------------------------------->___] 95.05% 99 p/s3056 / 3195 [-------------------------------------------------------------------->___] 95.65% 99 p/s3076 / 3195 [--------------------------------------------------------------------->__] 96.28% 99 p/s3096 / 3195 [--------------------------------------------------------------------->__] 96.90% 99 p/s3115 / 3195 [---------------------------------------------------------------------->_] 97.50% 99 p/s3135 / 3195 [---------------------------------------------------------------------->_] 98.12% 99 p/s3155 / 3195 [----------------------------------------------------------------------->] 98.75% 99 p/s3174 / 3195 [----------------------------------------------------------------------->] 99.34% 99 p/s3194 / 3195 [----------------------------------------------------------------------->] 99.97% 99 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-02-22T22:56:46 - 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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2026-02-22T22:58:49 - 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-sample-distance 150 --sonar-mask-angle 120 --sonar-despike /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-02-22T22:58:50 - INFO: DataPrep 0.14.0a3
2026-02-22T22:58:50 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-02-22T22:58:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-22T22:58:50 - deployment - INFO: Detected P3D version: P3D_1
2026-02-22T22:58:50 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-02-22T22:58:50 - INFO: Preparing sonar data...
2026-02-22T22:58:50 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-22T22:58:53 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-02-22T22:58:53 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-22T22:58:53 - INFO: Sonar range is 1.878240 m
2026-02-22T22:58:53 - INFO: Speed of sound is 1494 m/s
2026-02-22T22:58:53 - INFO: Processing 3195 sweeps...

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2026-02-22T22:59:01 - INFO: Creating sonar sensor alignment track...
2026-02-22T22:59:05 - INFO: Prepared sonar data in 14.7461 s
2026-02-22T22:59:05 - INFO: No IMU data found
2026-02-22T22:59:05 - INFO: DataPrep took 0:00:15.202245
2026-02-22T22:59:06 - INFO: Extracted sonar data in 0:02:51.997198
2026-02-22T22:59:06 - INFO: MSIP3D took 0:02:52.478818