2026-02-24T04:13:25 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:13:25 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-02-24T04:13:25 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:13:25 - INFO: Found TFD mission for SJ502828 DEP 507
2026-02-24T04:13:25 - INFO: Recording will be processed as MD
2026-02-24T04:13:25 - INFO: Copying assets JSON to output directory...
2026-02-24T04:13:25 - INFO: Preparing counter data...
2026-02-24T04:13:25 - INFO: Interpreting counter as imperial
2026-02-24T04:13:25 - INFO: Prepared counter data in 0.1642 s
2026-02-24T04:13:25 - 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: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215974206753347
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4223
23 / 4223 [>___________________________________________________________________________] 0.54% ? p/s46 / 4223 [>___________________________________________________________________________] 1.09% ? p/s67 / 4223 [->__________________________________________________________________________] 1.59% ? p/s90 / 4223 [->________________________________________________________________________] 2.13% 112 p/s113 / 4223 [->_______________________________________________________________________] 2.68% 112 p/s135 / 4223 [-->______________________________________________________________________] 3.20% 112 p/s158 / 4223 [-->______________________________________________________________________] 3.74% 112 p/s182 / 4223 [--->_____________________________________________________________________] 4.31% 112 p/s205 / 4223 [--->_____________________________________________________________________] 4.85% 112 p/s228 / 4223 [--->_____________________________________________________________________] 5.40% 112 p/s251 / 4223 [---->____________________________________________________________________] 5.94% 112 p/s274 / 4223 [---->____________________________________________________________________] 6.49% 112 p/s297 / 4223 [----->___________________________________________________________________] 7.03% 112 p/s321 / 4223 [----->___________________________________________________________________] 7.60% 112 p/s344 / 4223 [----->___________________________________________________________________] 8.15% 112 p/s367 / 4223 [------>__________________________________________________________________] 8.69% 113 p/s390 / 4223 [------>__________________________________________________________________] 9.24% 113 p/s414 / 4223 [------->_________________________________________________________________] 9.80% 113 p/s437 / 4223 [------->________________________________________________________________] 10.35% 113 p/s460 / 4223 [------->________________________________________________________________] 10.89% 113 p/s484 / 4223 [-------->_______________________________________________________________] 11.46% 113 p/s506 / 4223 [-------->_______________________________________________________________] 11.98% 113 p/s529 / 4223 [--------->______________________________________________________________] 12.53% 113 p/s553 / 4223 [--------->______________________________________________________________] 13.09% 113 p/s576 / 4223 [--------->______________________________________________________________] 13.64% 113 p/s599 / 4223 [---------->_____________________________________________________________] 14.18% 113 p/s623 / 4223 [---------->_____________________________________________________________] 14.75% 113 p/s646 / 4223 [----------->____________________________________________________________] 15.30% 113 p/s669 / 4223 [----------->____________________________________________________________] 15.84% 113 p/s692 / 4223 [----------->____________________________________________________________] 16.39% 113 p/s716 / 4223 [------------>___________________________________________________________] 16.95% 114 p/s739 / 4223 [------------>___________________________________________________________] 17.50% 114 p/s762 / 4223 [------------>___________________________________________________________] 18.04% 114 p/s785 / 4223 [------------->__________________________________________________________] 18.59% 114 p/s808 / 4223 [------------->__________________________________________________________] 19.13% 114 p/s831 / 4223 [-------------->_________________________________________________________] 19.68% 114 p/s855 / 4223 [-------------->_________________________________________________________] 20.25% 114 p/s878 / 4223 [-------------->_________________________________________________________] 20.79% 114 p/s901 / 4223 [--------------->________________________________________________________] 21.34% 114 p/s925 / 4223 [--------------->________________________________________________________] 21.90% 114 p/s948 / 4223 [---------------->_______________________________________________________] 22.45% 114 p/s971 / 4223 [---------------->_______________________________________________________] 22.99% 114 p/s994 / 4223 [---------------->_______________________________________________________] 23.54% 114 p/s1016 / 4223 [----------------->_____________________________________________________] 24.06% 114 p/s1039 / 4223 [----------------->_____________________________________________________] 24.60% 114 p/s1063 / 4223 [----------------->_____________________________________________________] 25.17% 114 p/s1086 / 4223 [------------------>____________________________________________________] 25.72% 114 p/s1109 / 4223 [------------------>____________________________________________________] 26.26% 114 p/s1132 / 4223 [------------------->___________________________________________________] 26.81% 114 p/s1156 / 4223 [------------------->___________________________________________________] 27.37% 114 p/s1179 / 4223 [------------------->___________________________________________________] 27.92% 114 p/s1202 / 4223 [-------------------->__________________________________________________] 28.46% 114 p/s1225 / 4223 [-------------------->__________________________________________________] 29.01% 114 p/s1248 / 4223 [-------------------->__________________________________________________] 29.55% 114 p/s1271 / 4223 [--------------------->_________________________________________________] 30.10% 114 p/s1294 / 4223 [--------------------->_________________________________________________] 30.64% 114 p/s1318 / 4223 [---------------------->________________________________________________] 31.21% 114 p/s1341 / 4223 [---------------------->________________________________________________] 31.75% 115 p/s1364 / 4223 [---------------------->________________________________________________] 32.30% 115 p/s1387 / 4223 [----------------------->_______________________________________________] 32.84% 115 p/s1410 / 4223 [----------------------->_______________________________________________] 33.39% 115 p/s1434 / 4223 [------------------------>______________________________________________] 33.96% 115 p/s1457 / 4223 [------------------------>______________________________________________] 34.50% 115 p/s1480 / 4223 [------------------------>______________________________________________] 35.05% 115 p/s1503 / 4223 [------------------------->_____________________________________________] 35.59% 115 p/s1527 / 4223 [------------------------->_____________________________________________] 36.16% 115 p/s1550 / 4223 [-------------------------->____________________________________________] 36.70% 115 p/s1573 / 4223 [-------------------------->____________________________________________] 37.25% 115 p/s1596 / 4223 [-------------------------->____________________________________________] 37.79% 115 p/s1620 / 4223 [--------------------------->___________________________________________] 38.36% 115 p/s1643 / 4223 [--------------------------->___________________________________________] 38.91% 115 p/s1666 / 4223 [---------------------------->__________________________________________] 39.45% 115 p/s1689 / 4223 [---------------------------->__________________________________________] 40.00% 115 p/s1713 / 4223 [---------------------------->__________________________________________] 40.56% 115 p/s1735 / 4223 [----------------------------->_________________________________________] 41.08% 115 p/s1759 / 4223 [----------------------------->_________________________________________] 41.65% 115 p/s1782 / 4223 [----------------------------->_________________________________________] 42.20% 115 p/s1805 / 4223 [------------------------------>________________________________________] 42.74% 115 p/s1828 / 4223 [------------------------------>________________________________________] 43.29% 115 p/s1851 / 4223 [------------------------------->_______________________________________] 43.83% 115 p/s1874 / 4223 [------------------------------->_______________________________________] 44.38% 115 p/s1897 / 4223 [------------------------------->_______________________________________] 44.92% 115 p/s1921 / 4223 [-------------------------------->______________________________________] 45.49% 115 p/s1944 / 4223 [-------------------------------->______________________________________] 46.03% 115 p/s1967 / 4223 [--------------------------------->_____________________________________] 46.58% 115 p/s1990 / 4223 [--------------------------------->_____________________________________] 47.12% 115 p/s2014 / 4223 [--------------------------------->_____________________________________] 47.69% 115 p/s2037 / 4223 [---------------------------------->____________________________________] 48.24% 115 p/s2059 / 4223 [---------------------------------->____________________________________] 48.76% 115 p/s2082 / 4223 [----------------------------------->___________________________________] 49.30% 115 p/s2106 / 4223 [----------------------------------->___________________________________] 49.87% 115 p/s2129 / 4223 [----------------------------------->___________________________________] 50.41% 115 p/s2152 / 4223 [------------------------------------>__________________________________] 50.96% 115 p/s2175 / 4223 [------------------------------------>__________________________________] 51.50% 115 p/s2198 / 4223 [------------------------------------>__________________________________] 52.05% 115 p/s2222 / 4223 [------------------------------------->_________________________________] 52.62% 115 p/s2245 / 4223 [------------------------------------->_________________________________] 53.16% 115 p/s2268 / 4223 [-------------------------------------->________________________________] 53.71% 115 p/s2291 / 4223 [-------------------------------------->________________________________] 54.25% 115 p/s2314 / 4223 [-------------------------------------->________________________________] 54.80% 115 p/s2337 / 4223 [--------------------------------------->_______________________________] 55.34% 115 p/s2360 / 4223 [--------------------------------------->_______________________________] 55.88% 115 p/s2383 / 4223 [---------------------------------------->______________________________] 56.43% 115 p/s2406 / 4223 [---------------------------------------->______________________________] 56.97% 115 p/s2429 / 4223 [---------------------------------------->______________________________] 57.52% 115 p/s2452 / 4223 [----------------------------------------->_____________________________] 58.06% 115 p/s2475 / 4223 [----------------------------------------->_____________________________] 58.61% 115 p/s2498 / 4223 [----------------------------------------->_____________________________] 59.15% 115 p/s2521 / 4223 [------------------------------------------>____________________________] 59.70% 115 p/s2544 / 4223 [------------------------------------------>____________________________] 60.24% 115 p/s2567 / 4223 [------------------------------------------->___________________________] 60.79% 115 p/s2590 / 4223 [------------------------------------------->___________________________] 61.33% 115 p/s2613 / 4223 [------------------------------------------->___________________________] 61.88% 115 p/s2636 / 4223 [-------------------------------------------->__________________________] 62.42% 115 p/s2659 / 4223 [-------------------------------------------->__________________________] 62.96% 115 p/s2682 / 4223 [--------------------------------------------->_________________________] 63.51% 115 p/s2705 / 4223 [--------------------------------------------->_________________________] 64.05% 115 p/s2728 / 4223 [--------------------------------------------->_________________________] 64.60% 115 p/s2751 / 4223 [---------------------------------------------->________________________] 65.14% 115 p/s2774 / 4223 [---------------------------------------------->________________________] 65.69% 115 p/s2798 / 4223 [----------------------------------------------->_______________________] 66.26% 115 p/s2821 / 4223 [----------------------------------------------->_______________________] 66.80% 115 p/s2844 / 4223 [----------------------------------------------->_______________________] 67.35% 115 p/s2864 / 4223 [------------------------------------------------>______________________] 67.82% 115 p/s2887 / 4223 [------------------------------------------------>______________________] 68.36% 115 p/s2910 / 4223 [------------------------------------------------>______________________] 68.91% 115 p/s2933 / 4223 [------------------------------------------------->_____________________] 69.45% 115 p/s2956 / 4223 [------------------------------------------------->_____________________] 70.00% 115 p/s2979 / 4223 [-------------------------------------------------->____________________] 70.54% 115 p/s3002 / 4223 [-------------------------------------------------->____________________] 71.09% 115 p/s3025 / 4223 [-------------------------------------------------->____________________] 71.63% 115 p/s3048 / 4223 [--------------------------------------------------->___________________] 72.18% 115 p/s3071 / 4223 [--------------------------------------------------->___________________] 72.72% 115 p/s3094 / 4223 [---------------------------------------------------->__________________] 73.27% 115 p/s3117 / 4223 [---------------------------------------------------->__________________] 73.81% 115 p/s3140 / 4223 [---------------------------------------------------->__________________] 74.35% 115 p/s3164 / 4223 [----------------------------------------------------->_________________] 74.92% 115 p/s3187 / 4223 [----------------------------------------------------->_________________] 75.47% 115 p/s3210 / 4223 [----------------------------------------------------->_________________] 76.01% 115 p/s3233 / 4223 [------------------------------------------------------>________________] 76.56% 115 p/s3256 / 4223 [------------------------------------------------------>________________] 77.10% 115 p/s3279 / 4223 [------------------------------------------------------->_______________] 77.65% 115 p/s3302 / 4223 [------------------------------------------------------->_______________] 78.19% 115 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/s3418 / 4223 [--------------------------------------------------------->_____________] 80.94% 115 p/s3441 / 4223 [--------------------------------------------------------->_____________] 81.48% 115 p/s3464 / 4223 [---------------------------------------------------------->____________] 82.03% 115 p/s3487 / 4223 [---------------------------------------------------------->____________] 82.57% 115 p/s3510 / 4223 [----------------------------------------------------------->___________] 83.12% 115 p/s3533 / 4223 [----------------------------------------------------------->___________] 83.66% 115 p/s3556 / 4223 [----------------------------------------------------------->___________] 84.21% 115 p/s3579 / 4223 [------------------------------------------------------------>__________] 84.75% 115 p/s3602 / 4223 [------------------------------------------------------------>__________] 85.29% 115 p/s3625 / 4223 [------------------------------------------------------------>__________] 85.84% 115 p/s3648 / 4223 [------------------------------------------------------------->_________] 86.38% 115 p/s3671 / 4223 [------------------------------------------------------------->_________] 86.93% 115 p/s3694 / 4223 [-------------------------------------------------------------->________] 87.47% 115 p/s3718 / 4223 [-------------------------------------------------------------->________] 88.04% 115 p/s3741 / 4223 [-------------------------------------------------------------->________] 88.59% 115 p/s3764 / 4223 [--------------------------------------------------------------->_______] 89.13% 115 p/s3787 / 4223 [--------------------------------------------------------------->_______] 89.68% 115 p/s3810 / 4223 [---------------------------------------------------------------->______] 90.22% 115 p/s3833 / 4223 [---------------------------------------------------------------->______] 90.76% 115 p/s3856 / 4223 [---------------------------------------------------------------->______] 91.31% 115 p/s3879 / 4223 [----------------------------------------------------------------->_____] 91.85% 115 p/s3902 / 4223 [----------------------------------------------------------------->_____] 92.40% 115 p/s3925 / 4223 [----------------------------------------------------------------->_____] 92.94% 115 p/s3948 / 4223 [------------------------------------------------------------------>____] 93.49% 115 p/s3971 / 4223 [------------------------------------------------------------------>____] 94.03% 115 p/s3994 / 4223 [------------------------------------------------------------------->___] 94.58% 115 p/s4017 / 4223 [------------------------------------------------------------------->___] 95.12% 115 p/s4040 / 4223 [------------------------------------------------------------------->___] 95.67% 115 p/s4063 / 4223 [-------------------------------------------------------------------->__] 96.21% 115 p/s4086 / 4223 [-------------------------------------------------------------------->__] 96.76% 115 p/s4108 / 4223 [--------------------------------------------------------------------->_] 97.28% 115 p/s4131 / 4223 [--------------------------------------------------------------------->_] 97.82% 115 p/s4154 / 4223 [--------------------------------------------------------------------->_] 98.37% 115 p/s4177 / 4223 [---------------------------------------------------------------------->] 98.91% 115 p/s4200 / 4223 [---------------------------------------------------------------------->] 99.46% 115 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 116 p/s2026-02-24T04:14:02 - 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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2026-02-24T04:16:36 - 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 --sonar-flip /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-02-24T04:16:37 - INFO: DataPrep 0.14.0a4
2026-02-24T04:16:37 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-02-24T04:16:37 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:16:37 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:16:37 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-02-24T04:16:37 - INFO: Preparing sonar data...
2026-02-24T04:16:37 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:16:40 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-02-24T04:16:40 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:16:40 - INFO: Sonar range is 0.939120 m
2026-02-24T04:16:40 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:16:40 - INFO: Processing 4223 sweeps...

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2026-02-24T04:16:51 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:16:56 - INFO: Prepared sonar data in 19.2585 s
2026-02-24T04:16:56 - INFO: No IMU data found
2026-02-24T04:16:57 - INFO: DataPrep took 0:00:19.896069
2026-02-24T04:16:57 - INFO: Extracted sonar data in 0:03:31.177531
2026-02-24T04:16:57 - INFO: MSIP3D took 0:03:31.668667