2026-02-22T22:58:19 - INFO: MSIP3D 0.2.0a4
2026-02-22T22:58:19 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-22T22:58:19 - INFO: Found 11 TFD dictionary entries
2026-02-22T22:58:19 - INFO: Found TFD mission for SJ502828 DEP 513
2026-02-22T22:58:19 - INFO: Recording will be processed as SMD
2026-02-22T22:58:19 - INFO: Copying assets JSON to output directory...
2026-02-22T22:58:19 - INFO: Preparing counter data...
2026-02-22T22:58:19 - INFO: Interpreting counter as imperial
2026-02-22T22:58:20 - INFO: Prepared counter data in 0.2626 s
2026-02-22T22:58:20 - 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: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2126
11 / 2126 [>___________________________________________________________________________] 0.52% ? p/s25 / 2126 [>___________________________________________________________________________] 1.18% ? p/s35 / 2126 [->__________________________________________________________________________] 1.65% ? p/s47 / 2126 [->_________________________________________________________________________] 2.21% 60 p/s58 / 2126 [-->________________________________________________________________________] 2.73% 60 p/s69 / 2126 [-->________________________________________________________________________] 3.25% 60 p/s81 / 2126 [-->________________________________________________________________________] 3.81% 60 p/s93 / 2126 [--->_______________________________________________________________________] 4.37% 60 p/s104 / 2126 [--->______________________________________________________________________] 4.89% 60 p/s116 / 2126 [---->_____________________________________________________________________] 5.46% 60 p/s127 / 2126 [---->_____________________________________________________________________] 5.97% 60 p/s138 / 2126 [---->_____________________________________________________________________] 6.49% 60 p/s150 / 2126 [----->____________________________________________________________________] 7.06% 60 p/s161 / 2126 [----->____________________________________________________________________] 7.57% 60 p/s173 / 2126 [------>___________________________________________________________________] 8.14% 60 p/s185 / 2126 [------>___________________________________________________________________] 8.70% 59 p/s196 / 2126 [------>___________________________________________________________________] 9.22% 59 p/s207 / 2126 [------->__________________________________________________________________] 9.74% 59 p/s220 / 2126 [------->_________________________________________________________________] 10.35% 59 p/s230 / 2126 [------->_________________________________________________________________] 10.82% 59 p/s242 / 2126 [-------->________________________________________________________________] 11.38% 59 p/s253 / 2126 [-------->________________________________________________________________] 11.90% 59 p/s264 / 2126 [--------->_______________________________________________________________] 12.42% 59 p/s276 / 2126 [--------->_______________________________________________________________] 12.98% 59 p/s291 / 2126 [--------->_______________________________________________________________] 13.69% 59 p/s302 / 2126 [---------->______________________________________________________________] 14.21% 59 p/s314 / 2126 [---------->______________________________________________________________] 14.77% 59 p/s326 / 2126 [----------->_____________________________________________________________] 15.33% 59 p/s337 / 2126 [----------->_____________________________________________________________] 15.85% 59 p/s349 / 2126 [----------->_____________________________________________________________] 16.42% 59 p/s361 / 2126 [------------>____________________________________________________________] 16.98% 59 p/s372 / 2126 [------------>____________________________________________________________] 17.50% 59 p/s388 / 2126 [------------->___________________________________________________________] 18.25% 59 p/s403 / 2126 [------------->___________________________________________________________] 18.96% 60 p/s420 / 2126 [-------------->__________________________________________________________] 19.76% 60 p/s433 / 2126 [-------------->__________________________________________________________] 20.37% 60 p/s449 / 2126 [--------------->_________________________________________________________] 21.12% 61 p/s461 / 2126 [--------------->_________________________________________________________] 21.68% 61 p/s474 / 2126 [---------------->________________________________________________________] 22.30% 61 p/s487 / 2126 [---------------->________________________________________________________] 22.91% 61 p/s497 / 2126 [----------------->_______________________________________________________] 23.38% 61 p/s508 / 2126 [----------------->_______________________________________________________] 23.89% 61 p/s520 / 2126 [----------------->_______________________________________________________] 24.46% 61 p/s531 / 2126 [------------------>______________________________________________________] 24.98% 61 p/s547 / 2126 [------------------>______________________________________________________] 25.73% 61 p/s562 / 2126 [------------------->_____________________________________________________] 26.43% 61 p/s577 / 2126 [------------------->_____________________________________________________] 27.14% 61 p/s593 / 2126 [-------------------->____________________________________________________] 27.89% 61 p/s607 / 2126 [-------------------->____________________________________________________] 28.55% 62 p/s624 / 2126 [--------------------->___________________________________________________] 29.35% 62 p/s637 / 2126 [--------------------->___________________________________________________] 29.96% 62 p/s650 / 2126 [---------------------->__________________________________________________] 30.57% 63 p/s667 / 2126 [---------------------->__________________________________________________] 31.37% 63 p/s681 / 2126 [----------------------->_________________________________________________] 32.03% 63 p/s693 / 2126 [----------------------->_________________________________________________] 32.60% 63 p/s709 / 2126 [------------------------>________________________________________________] 33.35% 63 p/s726 / 2126 [------------------------>________________________________________________] 34.15% 63 p/s740 / 2126 [------------------------->_______________________________________________] 34.81% 64 p/s754 / 2126 [------------------------->_______________________________________________] 35.47% 64 p/s770 / 2126 [-------------------------->______________________________________________] 36.22% 64 p/s781 / 2126 [-------------------------->______________________________________________] 36.74% 65 p/s793 / 2126 [--------------------------->_____________________________________________] 37.30% 65 p/s805 / 2126 [--------------------------->_____________________________________________] 37.86% 65 p/s816 / 2126 [---------------------------->____________________________________________] 38.38% 64 p/s827 / 2126 [---------------------------->____________________________________________] 38.90% 64 p/s840 / 2126 [---------------------------->____________________________________________] 39.51% 64 p/s851 / 2126 [----------------------------->___________________________________________] 40.03% 64 p/s863 / 2126 [----------------------------->___________________________________________] 40.59% 64 p/s874 / 2126 [------------------------------>__________________________________________] 41.11% 64 p/s885 / 2126 [------------------------------>__________________________________________] 41.63% 63 p/s897 / 2126 [------------------------------>__________________________________________] 42.19% 63 p/s909 / 2126 [------------------------------->_________________________________________] 42.76% 63 p/s920 / 2126 [------------------------------->_________________________________________] 43.27% 63 p/s931 / 2126 [------------------------------->_________________________________________] 43.79% 63 p/s943 / 2126 [-------------------------------->________________________________________] 44.36% 63 p/s954 / 2126 [-------------------------------->________________________________________] 44.87% 63 p/s967 / 2126 [--------------------------------->_______________________________________] 45.48% 63 p/s980 / 2126 [--------------------------------->_______________________________________] 46.10% 63 p/s991 / 2126 [---------------------------------->______________________________________] 46.61% 63 p/s1002 / 2126 [--------------------------------->______________________________________] 47.13% 63 p/s1014 / 2126 [---------------------------------->_____________________________________] 47.70% 63 p/s1025 / 2126 [---------------------------------->_____________________________________] 48.21% 62 p/s1037 / 2126 [----------------------------------->____________________________________] 48.78% 62 p/s1049 / 2126 [----------------------------------->____________________________________] 49.34% 62 p/s1059 / 2126 [----------------------------------->____________________________________] 49.81% 62 p/s1071 / 2126 [------------------------------------>___________________________________] 50.38% 62 p/s1083 / 2126 [------------------------------------>___________________________________] 50.94% 62 p/s1094 / 2126 [------------------------------------->__________________________________] 51.46% 62 p/s1106 / 2126 [------------------------------------->__________________________________] 52.02% 62 p/s1118 / 2126 [------------------------------------->__________________________________] 52.59% 62 p/s1128 / 2126 [-------------------------------------->_________________________________] 53.06% 61 p/s1140 / 2126 [-------------------------------------->_________________________________] 53.62% 61 p/s1152 / 2126 [--------------------------------------->________________________________] 54.19% 61 p/s1163 / 2126 [--------------------------------------->________________________________] 54.70% 61 p/s1175 / 2126 [--------------------------------------->________________________________] 55.27% 61 p/s1187 / 2126 [---------------------------------------->_______________________________] 55.83% 61 p/s1198 / 2126 [---------------------------------------->_______________________________] 56.35% 61 p/s1210 / 2126 [---------------------------------------->_______________________________] 56.91% 61 p/s1222 / 2126 [----------------------------------------->______________________________] 57.48% 61 p/s1232 / 2126 [----------------------------------------->______________________________] 57.95% 61 p/s1244 / 2126 [------------------------------------------>_____________________________] 58.51% 61 p/s1256 / 2126 [------------------------------------------>_____________________________] 59.08% 61 p/s1267 / 2126 [------------------------------------------>_____________________________] 59.60% 61 p/s1282 / 2126 [------------------------------------------->____________________________] 60.30% 61 p/s1294 / 2126 [------------------------------------------->____________________________] 60.87% 61 p/s1305 / 2126 [-------------------------------------------->___________________________] 61.38% 61 p/s1318 / 2126 [-------------------------------------------->___________________________] 61.99% 61 p/s1329 / 2126 [--------------------------------------------->__________________________] 62.51% 61 p/s1340 / 2126 [--------------------------------------------->__________________________] 63.03% 61 p/s1352 / 2126 [--------------------------------------------->__________________________] 63.59% 61 p/s1364 / 2126 [---------------------------------------------->_________________________] 64.16% 61 p/s1375 / 2126 [---------------------------------------------->_________________________] 64.68% 60 p/s1387 / 2126 [---------------------------------------------->_________________________] 65.24% 60 p/s1399 / 2126 [----------------------------------------------->________________________] 65.80% 60 p/s1409 / 2126 [----------------------------------------------->________________________] 66.27% 60 p/s1421 / 2126 [------------------------------------------------>_______________________] 66.84% 60 p/s1433 / 2126 [------------------------------------------------>_______________________] 67.40% 60 p/s1444 / 2126 [------------------------------------------------>_______________________] 67.92% 60 p/s1456 / 2126 [------------------------------------------------->______________________] 68.49% 60 p/s1468 / 2126 [------------------------------------------------->______________________] 69.05% 60 p/s1478 / 2126 [-------------------------------------------------->_____________________] 69.52% 60 p/s1490 / 2126 [-------------------------------------------------->_____________________] 70.08% 60 p/s1502 / 2126 [-------------------------------------------------->_____________________] 70.65% 60 p/s1513 / 2126 [--------------------------------------------------->____________________] 71.17% 60 p/s1524 / 2126 [--------------------------------------------------->____________________] 71.68% 60 p/s1537 / 2126 [---------------------------------------------------->___________________] 72.30% 60 p/s1547 / 2126 [---------------------------------------------------->___________________] 72.77% 60 p/s1559 / 2126 [---------------------------------------------------->___________________] 73.33% 60 p/s1571 / 2126 [----------------------------------------------------->__________________] 73.89% 60 p/s1582 / 2126 [----------------------------------------------------->__________________] 74.41% 59 p/s1593 / 2126 [----------------------------------------------------->__________________] 74.93% 59 p/s1605 / 2126 [------------------------------------------------------>_________________] 75.49% 59 p/s1616 / 2126 [------------------------------------------------------>_________________] 76.01% 59 p/s1628 / 2126 [------------------------------------------------------->________________] 76.58% 59 p/s1638 / 2126 [------------------------------------------------------->________________] 77.05% 59 p/s1650 / 2126 [------------------------------------------------------->________________] 77.61% 59 p/s1662 / 2126 [-------------------------------------------------------->_______________] 78.17% 59 p/s1674 / 2126 [-------------------------------------------------------->_______________] 78.74% 59 p/s1685 / 2126 [--------------------------------------------------------->______________] 79.26% 59 p/s1697 / 2126 [--------------------------------------------------------->______________] 79.82% 59 p/s1709 / 2126 [--------------------------------------------------------->______________] 80.39% 59 p/s1720 / 2126 [---------------------------------------------------------->_____________] 80.90% 59 p/s1732 / 2126 [---------------------------------------------------------->_____________] 81.47% 59 p/s1743 / 2126 [----------------------------------------------------------->____________] 81.98% 59 p/s1754 / 2126 [----------------------------------------------------------->____________] 82.50% 59 p/s1769 / 2126 [----------------------------------------------------------->____________] 83.21% 59 p/s1788 / 2126 [------------------------------------------------------------>___________] 84.10% 59 p/s1804 / 2126 [------------------------------------------------------------->__________] 84.85% 60 p/s1819 / 2126 [------------------------------------------------------------->__________] 85.56% 60 p/s1834 / 2126 [-------------------------------------------------------------->_________] 86.27% 60 p/s1847 / 2126 [-------------------------------------------------------------->_________] 86.88% 61 p/s1859 / 2126 [-------------------------------------------------------------->_________] 87.44% 61 p/s1873 / 2126 [--------------------------------------------------------------->________] 88.10% 61 p/s1885 / 2126 [--------------------------------------------------------------->________] 88.66% 61 p/s1897 / 2126 [---------------------------------------------------------------->_______] 89.23% 61 p/s1908 / 2126 [---------------------------------------------------------------->_______] 89.75% 61 p/s1920 / 2126 [----------------------------------------------------------------->______] 90.31% 61 p/s1932 / 2126 [----------------------------------------------------------------->______] 90.87% 61 p/s1943 / 2126 [----------------------------------------------------------------->______] 91.39% 61 p/s1955 / 2126 [------------------------------------------------------------------>_____] 91.96% 61 p/s1969 / 2126 [------------------------------------------------------------------>_____] 92.62% 61 p/s1984 / 2126 [------------------------------------------------------------------->____] 93.32% 61 p/s1996 / 2126 [------------------------------------------------------------------->____] 93.89% 61 p/s2008 / 2126 [-------------------------------------------------------------------->___] 94.45% 61 p/s2019 / 2126 [-------------------------------------------------------------------->___] 94.97% 61 p/s2031 / 2126 [-------------------------------------------------------------------->___] 95.53% 61 p/s2042 / 2126 [--------------------------------------------------------------------->__] 96.05% 61 p/s2053 / 2126 [--------------------------------------------------------------------->__] 96.57% 61 p/s2064 / 2126 [--------------------------------------------------------------------->__] 97.08% 61 p/s2075 / 2126 [---------------------------------------------------------------------->_] 97.60% 61 p/s2087 / 2126 [---------------------------------------------------------------------->_] 98.17% 61 p/s2101 / 2126 [----------------------------------------------------------------------->] 98.82% 61 p/s2121 / 2126 [----------------------------------------------------------------------->] 99.76% 61 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 62 p/s2026-02-22T22:58:54 - 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]
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  4%|▎         | 78/2126 [00:02<01:16, 26.77it/s]
  4%|▍         | 81/2126 [00:03<01:16, 26.74it/s]
  4%|▍         | 84/2126 [00:03<01:16, 26.71it/s]
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  4%|▍         | 90/2126 [00:03<01:16, 26.78it/s]
  4%|▍         | 93/2126 [00:03<01:15, 26.81it/s]
  5%|▍         | 96/2126 [00:03<01:15, 26.76it/s]
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  5%|▍         | 102/2126 [00:03<01:17, 26.11it/s]
  5%|▍         | 105/2126 [00:03<01:16, 26.26it/s]
  5%|▌         | 108/2126 [00:04<01:16, 26.38it/s]
  5%|▌         | 111/2126 [00:04<01:16, 26.45it/s]
  5%|▌         | 114/2126 [00:04<01:15, 26.55it/s]
  6%|▌         | 117/2126 [00:04<01:15, 26.53it/s]
  6%|▌         | 120/2126 [00:04<01:15, 26.51it/s]
  6%|▌         | 123/2126 [00:04<01:15, 26.54it/s]
  6%|▌         | 126/2126 [00:04<01:15, 26.53it/s]
  6%|▌         | 129/2126 [00:04<01:15, 26.58it/s]
  6%|▌         | 132/2126 [00:04<01:14, 26.60it/s]
  6%|▋         | 135/2126 [00:05<01:14, 26.59it/s]
  6%|▋         | 138/2126 [00:05<01:14, 26.62it/s]
  7%|▋         | 141/2126 [00:05<01:14, 26.67it/s]
  7%|▋         | 144/2126 [00:05<01:14, 26.63it/s]
  7%|▋         | 147/2126 [00:05<01:14, 26.61it/s]
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  7%|▋         | 153/2126 [00:05<01:14, 26.57it/s]
  7%|▋         | 156/2126 [00:05<01:14, 26.54it/s]
  7%|▋         | 159/2126 [00:05<01:14, 26.58it/s]
  8%|▊         | 162/2126 [00:06<01:13, 26.56it/s]
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  8%|▊         | 168/2126 [00:06<01:13, 26.60it/s]
  8%|▊         | 171/2126 [00:06<01:13, 26.59it/s]
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 10%|▉         | 207/2126 [00:07<01:12, 26.55it/s]
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2026-02-22T23:00:16 - 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/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-02-22T23:00:17 - INFO: DataPrep 0.14.0a3
2026-02-22T23:00:17 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-02-22T23:00:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-22T23:00:17 - deployment - INFO: Detected P3D version: P3D_1
2026-02-22T23:00:17 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-22T23:00:17 - INFO: Preparing sonar data...
2026-02-22T23:00:17 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-22T23:00:19 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-02-22T23:00:19 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-22T23:00:19 - INFO: Sonar range is 1.878240 m
2026-02-22T23:00:19 - INFO: Speed of sound is 1494 m/s
2026-02-22T23:00:19 - INFO: Processing 2125 sweeps...

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2026-02-22T23:00:25 - INFO: Creating sonar sensor alignment track...
2026-02-22T23:00:28 - INFO: Prepared sonar data in 10.1827 s
2026-02-22T23:00:28 - INFO: No IMU data found
2026-02-22T23:00:28 - INFO: DataPrep took 0:00:10.500444
2026-02-22T23:00:28 - INFO: Extracted sonar data in 0:02:08.192260
2026-02-22T23:00:28 - INFO: MSIP3D took 0:02:08.642169