2026-02-23T00:12:22 - INFO: MSIP3D 0.2.0a4
2026-02-23T00:12:22 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-02-23T00:12:22 - INFO: Found 10 TFD dictionary entries
2026-02-23T00:12:22 - INFO: Found TFD mission for SJ502828 DEP 507
2026-02-23T00:12:22 - INFO: Recording will be processed as MD
2026-02-23T00:12:22 - INFO: Copying assets JSON to output directory...
2026-02-23T00:12:22 - INFO: Preparing counter data...
2026-02-23T00:12:22 - INFO: Interpreting counter as imperial
2026-02-23T00:12:22 - INFO: Prepared counter data in 0.1689 s
2026-02-23T00:12:22 - INFO: Extracting sonar data...
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/SJ502828_DEP_507.tfd
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: SONAR, Tag: 6012079240663880375
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Getting track SONAR
Number of frames: 4223
22 / 4223 [>___________________________________________________________________________] 0.52% ? p/s45 / 4223 [>___________________________________________________________________________] 1.07% ? p/s67 / 4223 [->__________________________________________________________________________] 1.59% ? p/s90 / 4223 [->________________________________________________________________________] 2.13% 113 p/s113 / 4223 [->_______________________________________________________________________] 2.68% 113 p/s135 / 4223 [-->______________________________________________________________________] 3.20% 113 p/s158 / 4223 [-->______________________________________________________________________] 3.74% 113 p/s181 / 4223 [--->_____________________________________________________________________] 4.29% 113 p/s204 / 4223 [--->_____________________________________________________________________] 4.83% 113 p/s227 / 4223 [--->_____________________________________________________________________] 5.38% 113 p/s249 / 4223 [---->____________________________________________________________________] 5.90% 113 p/s272 / 4223 [---->____________________________________________________________________] 6.44% 113 p/s295 / 4223 [----->___________________________________________________________________] 6.99% 113 p/s318 / 4223 [----->___________________________________________________________________] 7.53% 113 p/s341 / 4223 [----->___________________________________________________________________] 8.07% 113 p/s364 / 4223 [------>__________________________________________________________________] 8.62% 114 p/s387 / 4223 [------>__________________________________________________________________] 9.16% 114 p/s410 / 4223 [------->_________________________________________________________________] 9.71% 114 p/s434 / 4223 [------->________________________________________________________________] 10.28% 114 p/s457 / 4223 [------->________________________________________________________________] 10.82% 114 p/s480 / 4223 [-------->_______________________________________________________________] 11.37% 114 p/s503 / 4223 [-------->_______________________________________________________________] 11.91% 114 p/s525 / 4223 [-------->_______________________________________________________________] 12.43% 114 p/s548 / 4223 [--------->______________________________________________________________] 12.98% 114 p/s571 / 4223 [--------->______________________________________________________________] 13.52% 114 p/s594 / 4223 [---------->_____________________________________________________________] 14.07% 114 p/s617 / 4223 [---------->_____________________________________________________________] 14.61% 114 p/s640 / 4223 [---------->_____________________________________________________________] 15.16% 114 p/s663 / 4223 [----------->____________________________________________________________] 15.70% 114 p/s686 / 4223 [----------->____________________________________________________________] 16.24% 114 p/s709 / 4223 [------------>___________________________________________________________] 16.79% 114 p/s733 / 4223 [------------>___________________________________________________________] 17.36% 114 p/s756 / 4223 [------------>___________________________________________________________] 17.90% 114 p/s779 / 4223 [------------->__________________________________________________________] 18.45% 114 p/s802 / 4223 [------------->__________________________________________________________] 18.99% 114 p/s825 / 4223 [-------------->_________________________________________________________] 19.54% 114 p/s848 / 4223 [-------------->_________________________________________________________] 20.08% 114 p/s871 / 4223 [-------------->_________________________________________________________] 20.63% 114 p/s894 / 4223 [--------------->________________________________________________________] 21.17% 114 p/s917 / 4223 [--------------->________________________________________________________] 21.71% 114 p/s940 / 4223 [---------------->_______________________________________________________] 22.26% 114 p/s963 / 4223 [---------------->_______________________________________________________] 22.80% 114 p/s986 / 4223 [---------------->_______________________________________________________] 23.35% 114 p/s1009 / 4223 [---------------->______________________________________________________] 23.89% 114 p/s1032 / 4223 [----------------->_____________________________________________________] 24.44% 114 p/s1055 / 4223 [----------------->_____________________________________________________] 24.98% 114 p/s1078 / 4223 [------------------>____________________________________________________] 25.53% 114 p/s1101 / 4223 [------------------>____________________________________________________] 26.07% 114 p/s1123 / 4223 [------------------>____________________________________________________] 26.59% 114 p/s1146 / 4223 [------------------->___________________________________________________] 27.14% 114 p/s1170 / 4223 [------------------->___________________________________________________] 27.71% 114 p/s1192 / 4223 [-------------------->__________________________________________________] 28.23% 114 p/s1215 / 4223 [-------------------->__________________________________________________] 28.77% 114 p/s1238 / 4223 [-------------------->__________________________________________________] 29.32% 114 p/s1261 / 4223 [--------------------->_________________________________________________] 29.86% 114 p/s1284 / 4223 [--------------------->_________________________________________________] 30.40% 114 p/s1307 / 4223 [--------------------->_________________________________________________] 30.95% 114 p/s1330 / 4223 [---------------------->________________________________________________] 31.49% 114 p/s1353 / 4223 [---------------------->________________________________________________] 32.04% 114 p/s1376 / 4223 [----------------------->_______________________________________________] 32.58% 114 p/s1399 / 4223 [----------------------->_______________________________________________] 33.13% 114 p/s1422 / 4223 [----------------------->_______________________________________________] 33.67% 114 p/s1445 / 4223 [------------------------>______________________________________________] 34.22% 114 p/s1468 / 4223 [------------------------>______________________________________________] 34.76% 114 p/s1491 / 4223 [------------------------->_____________________________________________] 35.31% 114 p/s1514 / 4223 [------------------------->_____________________________________________] 35.85% 114 p/s1537 / 4223 [------------------------->_____________________________________________] 36.40% 115 p/s1560 / 4223 [-------------------------->____________________________________________] 36.94% 115 p/s1583 / 4223 [-------------------------->____________________________________________] 37.49% 115 p/s1606 / 4223 [--------------------------->___________________________________________] 38.03% 115 p/s1629 / 4223 [--------------------------->___________________________________________] 38.57% 115 p/s1652 / 4223 [--------------------------->___________________________________________] 39.12% 115 p/s1675 / 4223 [---------------------------->__________________________________________] 39.66% 115 p/s1698 / 4223 [---------------------------->__________________________________________] 40.21% 115 p/s1721 / 4223 [---------------------------->__________________________________________] 40.75% 115 p/s1744 / 4223 [----------------------------->_________________________________________] 41.30% 115 p/s1767 / 4223 [----------------------------->_________________________________________] 41.84% 115 p/s1790 / 4223 [------------------------------>________________________________________] 42.39% 115 p/s1813 / 4223 [------------------------------>________________________________________] 42.93% 115 p/s1836 / 4223 [------------------------------>________________________________________] 43.48% 115 p/s1859 / 4223 [------------------------------->_______________________________________] 44.02% 115 p/s1882 / 4223 [------------------------------->_______________________________________] 44.57% 115 p/s1905 / 4223 [-------------------------------->______________________________________] 45.11% 115 p/s1928 / 4223 [-------------------------------->______________________________________] 45.65% 115 p/s1951 / 4223 [-------------------------------->______________________________________] 46.20% 115 p/s1974 / 4223 [--------------------------------->_____________________________________] 46.74% 115 p/s1996 / 4223 [--------------------------------->_____________________________________] 47.26% 115 p/s2019 / 4223 [--------------------------------->_____________________________________] 47.81% 115 p/s2042 / 4223 [---------------------------------->____________________________________] 48.35% 115 p/s2065 / 4223 [---------------------------------->____________________________________] 48.90% 115 p/s2088 / 4223 [----------------------------------->___________________________________] 49.44% 115 p/s2111 / 4223 [----------------------------------->___________________________________] 49.99% 115 p/s2133 / 4223 [----------------------------------->___________________________________] 50.51% 115 p/s2156 / 4223 [------------------------------------>__________________________________] 51.05% 115 p/s2180 / 4223 [------------------------------------>__________________________________] 51.62% 115 p/s2203 / 4223 [------------------------------------->_________________________________] 52.17% 115 p/s2225 / 4223 [------------------------------------->_________________________________] 52.69% 115 p/s2248 / 4223 [------------------------------------->_________________________________] 53.23% 115 p/s2271 / 4223 [-------------------------------------->________________________________] 53.78% 115 p/s2294 / 4223 [-------------------------------------->________________________________] 54.32% 115 p/s2318 / 4223 [-------------------------------------->________________________________] 54.89% 115 p/s2340 / 4223 [--------------------------------------->_______________________________] 55.41% 115 p/s2363 / 4223 [--------------------------------------->_______________________________] 55.96% 115 p/s2386 / 4223 [---------------------------------------->______________________________] 56.50% 115 p/s2409 / 4223 [---------------------------------------->______________________________] 57.04% 115 p/s2432 / 4223 [---------------------------------------->______________________________] 57.59% 115 p/s2455 / 4223 [----------------------------------------->_____________________________] 58.13% 115 p/s2478 / 4223 [----------------------------------------->_____________________________] 58.68% 115 p/s2501 / 4223 [------------------------------------------>____________________________] 59.22% 115 p/s2524 / 4223 [------------------------------------------>____________________________] 59.77% 115 p/s2547 / 4223 [------------------------------------------>____________________________] 60.31% 115 p/s2570 / 4223 [------------------------------------------->___________________________] 60.86% 115 p/s2593 / 4223 [------------------------------------------->___________________________] 61.40% 115 p/s2616 / 4223 [------------------------------------------->___________________________] 61.95% 115 p/s2639 / 4223 [-------------------------------------------->__________________________] 62.49% 115 p/s2662 / 4223 [-------------------------------------------->__________________________] 63.04% 115 p/s2685 / 4223 [--------------------------------------------->_________________________] 63.58% 115 p/s2708 / 4223 [--------------------------------------------->_________________________] 64.13% 115 p/s2731 / 4223 [--------------------------------------------->_________________________] 64.67% 115 p/s2754 / 4223 [---------------------------------------------->________________________] 65.21% 115 p/s2777 / 4223 [---------------------------------------------->________________________] 65.76% 115 p/s2800 / 4223 [----------------------------------------------->_______________________] 66.30% 115 p/s2823 / 4223 [----------------------------------------------->_______________________] 66.85% 115 p/s2846 / 4223 [----------------------------------------------->_______________________] 67.39% 115 p/s2869 / 4223 [------------------------------------------------>______________________] 67.94% 115 p/s2892 / 4223 [------------------------------------------------>______________________] 68.48% 115 p/s2915 / 4223 [------------------------------------------------->_____________________] 69.03% 115 p/s2938 / 4223 [------------------------------------------------->_____________________] 69.57% 115 p/s2960 / 4223 [------------------------------------------------->_____________________] 70.09% 115 p/s2983 / 4223 [-------------------------------------------------->____________________] 70.64% 115 p/s3005 / 4223 [-------------------------------------------------->____________________] 71.16% 115 p/s3028 / 4223 [-------------------------------------------------->____________________] 71.70% 115 p/s3050 / 4223 [--------------------------------------------------->___________________] 72.22% 114 p/s3073 / 4223 [--------------------------------------------------->___________________] 72.77% 114 p/s3096 / 4223 [---------------------------------------------------->__________________] 73.31% 114 p/s3119 / 4223 [---------------------------------------------------->__________________] 73.86% 115 p/s3142 / 4223 [---------------------------------------------------->__________________] 74.40% 115 p/s3165 / 4223 [----------------------------------------------------->_________________] 74.95% 115 p/s3188 / 4223 [----------------------------------------------------->_________________] 75.49% 115 p/s3210 / 4223 [----------------------------------------------------->_________________] 76.01% 115 p/s3233 / 4223 [------------------------------------------------------>________________] 76.56% 115 p/s3256 / 4223 [------------------------------------------------------>________________] 77.10% 114 p/s3280 / 4223 [------------------------------------------------------->_______________] 77.67% 114 p/s3303 / 4223 [------------------------------------------------------->_______________] 78.21% 114 p/s3325 / 4223 [------------------------------------------------------->_______________] 78.74% 115 p/s3348 / 4223 [-------------------------------------------------------->______________] 79.28% 115 p/s3371 / 4223 [-------------------------------------------------------->______________] 79.82% 115 p/s3394 / 4223 [--------------------------------------------------------->_____________] 80.37% 115 p/s3417 / 4223 [--------------------------------------------------------->_____________] 80.91% 115 p/s3439 / 4223 [--------------------------------------------------------->_____________] 81.43% 115 p/s3463 / 4223 [---------------------------------------------------------->____________] 82.00% 115 p/s3486 / 4223 [---------------------------------------------------------->____________] 82.55% 115 p/s3509 / 4223 [---------------------------------------------------------->____________] 83.09% 115 p/s3532 / 4223 [----------------------------------------------------------->___________] 83.64% 115 p/s3555 / 4223 [----------------------------------------------------------->___________] 84.18% 115 p/s3577 / 4223 [------------------------------------------------------------>__________] 84.70% 115 p/s3600 / 4223 [------------------------------------------------------------>__________] 85.25% 115 p/s3623 / 4223 [------------------------------------------------------------>__________] 85.79% 115 p/s3646 / 4223 [------------------------------------------------------------->_________] 86.34% 115 p/s3669 / 4223 [------------------------------------------------------------->_________] 86.88% 115 p/s3692 / 4223 [-------------------------------------------------------------->________] 87.43% 115 p/s3715 / 4223 [-------------------------------------------------------------->________] 87.97% 115 p/s3738 / 4223 [-------------------------------------------------------------->________] 88.52% 115 p/s3761 / 4223 [--------------------------------------------------------------->_______] 89.06% 115 p/s3784 / 4223 [--------------------------------------------------------------->_______] 89.60% 115 p/s3807 / 4223 [---------------------------------------------------------------->______] 90.15% 115 p/s3830 / 4223 [---------------------------------------------------------------->______] 90.69% 115 p/s3852 / 4223 [---------------------------------------------------------------->______] 91.21% 115 p/s3875 / 4223 [----------------------------------------------------------------->_____] 91.76% 115 p/s3898 / 4223 [----------------------------------------------------------------->_____] 92.30% 115 p/s3921 / 4223 [----------------------------------------------------------------->_____] 92.85% 115 p/s3944 / 4223 [------------------------------------------------------------------>____] 93.39% 115 p/s3966 / 4223 [------------------------------------------------------------------>____] 93.91% 115 p/s3989 / 4223 [------------------------------------------------------------------->___] 94.46% 115 p/s4012 / 4223 [------------------------------------------------------------------->___] 95.00% 114 p/s4035 / 4223 [------------------------------------------------------------------->___] 95.55% 114 p/s4058 / 4223 [-------------------------------------------------------------------->__] 96.09% 114 p/s4081 / 4223 [-------------------------------------------------------------------->__] 96.64% 115 p/s4103 / 4223 [-------------------------------------------------------------------->__] 97.16% 115 p/s4126 / 4223 [--------------------------------------------------------------------->_] 97.70% 115 p/s4148 / 4223 [--------------------------------------------------------------------->_] 98.22% 114 p/s4171 / 4223 [---------------------------------------------------------------------->] 98.77% 114 p/s4194 / 4223 [---------------------------------------------------------------------->] 99.31% 114 p/s4217 / 4223 [---------------------------------------------------------------------->] 99.86% 114 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-23T00:12:59 - INFO: Parsing 4223 sonar sweeps from /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4223 [00:00<?, ?it/s]
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  3%|▎         | 114/4223 [00:04<02:26, 28.12it/s]
  3%|▎         | 117/4223 [00:04<02:25, 28.18it/s]
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  3%|▎         | 123/4223 [00:04<02:25, 28.25it/s]
  3%|▎         | 126/4223 [00:04<02:25, 28.25it/s]
  3%|▎         | 129/4223 [00:04<02:24, 28.28it/s]
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2026-02-23T00:15:32 - 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 --sonar-flip /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-02-23T00:15:33 - INFO: DataPrep 0.14.0a3
2026-02-23T00:15:33 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-02-23T00:15:33 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-23T00:15:33 - deployment - INFO: Detected P3D version: P3D_1
2026-02-23T00:15:33 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-02-23T00:15:33 - INFO: Preparing sonar data...
2026-02-23T00:15:33 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-23T00:15:36 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-02-23T00:15:36 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-23T00:15:36 - INFO: Sonar range is 0.939120 m
2026-02-23T00:15:36 - INFO: Speed of sound is 1494 m/s
2026-02-23T00:15:36 - INFO: Processing 4223 sweeps...

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2026-02-23T00:15:48 - INFO: Creating sonar sensor alignment track...
2026-02-23T00:15:52 - INFO: Prepared sonar data in 19.5887 s
2026-02-23T00:15:52 - INFO: No IMU data found
2026-02-23T00:15:53 - INFO: DataPrep took 0:00:20.217728
2026-02-23T00:15:53 - INFO: Extracted sonar data in 0:03:30.824855
2026-02-23T00:15:53 - INFO: MSIP3D took 0:03:31.413282