2026-02-24T04:39:16 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:39:16 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-24T04:39:16 - INFO: Found 11 TFD dictionary entries
2026-02-24T04:39:16 - INFO: Found TFD mission for SJ502828 DEP 513
2026-02-24T04:39:16 - INFO: Recording will be processed as SMD
2026-02-24T04:39:16 - INFO: Copying assets JSON to output directory...
2026-02-24T04:39:16 - INFO: Preparing counter data...
2026-02-24T04:39:16 - INFO: Interpreting counter as imperial
2026-02-24T04:39:16 - INFO: Prepared counter data in 0.1607 s
2026-02-24T04:39:16 - 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: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2126
18 / 2126 [>___________________________________________________________________________] 0.85% ? p/s38 / 2126 [->__________________________________________________________________________] 1.79% ? p/s58 / 2126 [-->_________________________________________________________________________] 2.73% ? p/s77 / 2126 [-->________________________________________________________________________] 3.62% 98 p/s97 / 2126 [--->_______________________________________________________________________] 4.56% 98 p/s116 / 2126 [---->_____________________________________________________________________] 5.46% 98 p/s135 / 2126 [---->_____________________________________________________________________] 6.35% 98 p/s155 / 2126 [----->____________________________________________________________________] 7.29% 98 p/s175 / 2126 [------>___________________________________________________________________] 8.23% 98 p/s195 / 2126 [------>___________________________________________________________________] 9.17% 98 p/s214 / 2126 [------->_________________________________________________________________] 10.07% 98 p/s234 / 2126 [-------->________________________________________________________________] 11.01% 98 p/s253 / 2126 [-------->________________________________________________________________] 11.90% 98 p/s273 / 2126 [--------->_______________________________________________________________] 12.84% 98 p/s293 / 2126 [---------->______________________________________________________________] 13.78% 98 p/s312 / 2126 [---------->______________________________________________________________] 14.68% 98 p/s332 / 2126 [----------->_____________________________________________________________] 15.62% 98 p/s352 / 2126 [------------>____________________________________________________________] 16.56% 98 p/s372 / 2126 [------------>____________________________________________________________] 17.50% 98 p/s391 / 2126 [------------->___________________________________________________________] 18.39% 98 p/s411 / 2126 [-------------->__________________________________________________________] 19.33% 98 p/s431 / 2126 [-------------->__________________________________________________________] 20.27% 98 p/s451 / 2126 [--------------->_________________________________________________________] 21.21% 98 p/s470 / 2126 [---------------->________________________________________________________] 22.11% 98 p/s489 / 2126 [---------------->________________________________________________________] 23.00% 98 p/s508 / 2126 [----------------->_______________________________________________________] 23.89% 98 p/s528 / 2126 [------------------>______________________________________________________] 24.84% 98 p/s548 / 2126 [------------------>______________________________________________________] 25.78% 98 p/s568 / 2126 [------------------->_____________________________________________________] 26.72% 98 p/s588 / 2126 [-------------------->____________________________________________________] 27.66% 98 p/s607 / 2126 [-------------------->____________________________________________________] 28.55% 98 p/s627 / 2126 [--------------------->___________________________________________________] 29.49% 98 p/s647 / 2126 [---------------------->__________________________________________________] 30.43% 98 p/s667 / 2126 [---------------------->__________________________________________________] 31.37% 98 p/s687 / 2126 [----------------------->_________________________________________________] 32.31% 98 p/s706 / 2126 [------------------------>________________________________________________] 33.21% 98 p/s726 / 2126 [------------------------>________________________________________________] 34.15% 98 p/s746 / 2126 [------------------------->_______________________________________________] 35.09% 98 p/s765 / 2126 [-------------------------->______________________________________________] 35.98% 98 p/s785 / 2126 [-------------------------->______________________________________________] 36.92% 98 p/s804 / 2126 [--------------------------->_____________________________________________] 37.82% 98 p/s824 / 2126 [---------------------------->____________________________________________] 38.76% 98 p/s843 / 2126 [---------------------------->____________________________________________] 39.65% 98 p/s863 / 2126 [----------------------------->___________________________________________] 40.59% 98 p/s883 / 2126 [------------------------------>__________________________________________] 41.53% 98 p/s903 / 2126 [------------------------------->_________________________________________] 42.47% 98 p/s922 / 2126 [------------------------------->_________________________________________] 43.37% 98 p/s942 / 2126 [-------------------------------->________________________________________] 44.31% 98 p/s961 / 2126 [-------------------------------->________________________________________] 45.20% 98 p/s981 / 2126 [--------------------------------->_______________________________________] 46.14% 98 p/s1001 / 2126 [--------------------------------->______________________________________] 47.08% 98 p/s1020 / 2126 [---------------------------------->_____________________________________] 47.98% 98 p/s1040 / 2126 [----------------------------------->____________________________________] 48.92% 98 p/s1059 / 2126 [----------------------------------->____________________________________] 49.81% 98 p/s1079 / 2126 [------------------------------------>___________________________________] 50.75% 98 p/s1099 / 2126 [------------------------------------->__________________________________] 51.69% 98 p/s1118 / 2126 [------------------------------------->__________________________________] 52.59% 98 p/s1138 / 2126 [-------------------------------------->_________________________________] 53.53% 98 p/s1158 / 2126 [--------------------------------------->________________________________] 54.47% 98 p/s1178 / 2126 [--------------------------------------->________________________________] 55.41% 98 p/s1197 / 2126 [---------------------------------------->_______________________________] 56.30% 98 p/s1217 / 2126 [----------------------------------------->______________________________] 57.24% 98 p/s1237 / 2126 [----------------------------------------->______________________________] 58.18% 98 p/s1256 / 2126 [------------------------------------------>_____________________________] 59.08% 98 p/s1276 / 2126 [------------------------------------------->____________________________] 60.02% 98 p/s1296 / 2126 [------------------------------------------->____________________________] 60.96% 98 p/s1315 / 2126 [-------------------------------------------->___________________________] 61.85% 98 p/s1335 / 2126 [--------------------------------------------->__________________________] 62.79% 98 p/s1355 / 2126 [--------------------------------------------->__________________________] 63.73% 98 p/s1374 / 2126 [---------------------------------------------->_________________________] 64.63% 98 p/s1394 / 2126 [----------------------------------------------->________________________] 65.57% 98 p/s1413 / 2126 [----------------------------------------------->________________________] 66.46% 98 p/s1433 / 2126 [------------------------------------------------>_______________________] 67.40% 98 p/s1453 / 2126 [------------------------------------------------->______________________] 68.34% 98 p/s1473 / 2126 [------------------------------------------------->______________________] 69.29% 98 p/s1492 / 2126 [-------------------------------------------------->_____________________] 70.18% 98 p/s1512 / 2126 [--------------------------------------------------->____________________] 71.12% 98 p/s1532 / 2126 [--------------------------------------------------->____________________] 72.06% 98 p/s1552 / 2126 [---------------------------------------------------->___________________] 73.00% 98 p/s1571 / 2126 [----------------------------------------------------->__________________] 73.89% 98 p/s1591 / 2126 [----------------------------------------------------->__________________] 74.84% 98 p/s1611 / 2126 [------------------------------------------------------>_________________] 75.78% 98 p/s1630 / 2126 [------------------------------------------------------->________________] 76.67% 98 p/s1650 / 2126 [------------------------------------------------------->________________] 77.61% 98 p/s1670 / 2126 [-------------------------------------------------------->_______________] 78.55% 98 p/s1689 / 2126 [--------------------------------------------------------->______________] 79.44% 98 p/s1709 / 2126 [--------------------------------------------------------->______________] 80.39% 98 p/s1729 / 2126 [---------------------------------------------------------->_____________] 81.33% 98 p/s1748 / 2126 [----------------------------------------------------------->____________] 82.22% 98 p/s1768 / 2126 [----------------------------------------------------------->____________] 83.16% 98 p/s1787 / 2126 [------------------------------------------------------------>___________] 84.05% 98 p/s1807 / 2126 [------------------------------------------------------------->__________] 85.00% 98 p/s1827 / 2126 [------------------------------------------------------------->__________] 85.94% 98 p/s1847 / 2126 [-------------------------------------------------------------->_________] 86.88% 98 p/s1866 / 2126 [--------------------------------------------------------------->________] 87.77% 98 p/s1886 / 2126 [--------------------------------------------------------------->________] 88.71% 98 p/s1906 / 2126 [---------------------------------------------------------------->_______] 89.65% 98 p/s1925 / 2126 [----------------------------------------------------------------->______] 90.55% 98 p/s1944 / 2126 [----------------------------------------------------------------->______] 91.44% 98 p/s1964 / 2126 [------------------------------------------------------------------>_____] 92.38% 98 p/s1984 / 2126 [------------------------------------------------------------------->____] 93.32% 98 p/s2004 / 2126 [------------------------------------------------------------------->____] 94.26% 98 p/s2023 / 2126 [-------------------------------------------------------------------->___] 95.16% 98 p/s2042 / 2126 [--------------------------------------------------------------------->__] 96.05% 98 p/s2062 / 2126 [--------------------------------------------------------------------->__] 96.99% 98 p/s2081 / 2126 [---------------------------------------------------------------------->_] 97.88% 98 p/s2101 / 2126 [----------------------------------------------------------------------->] 98.82% 98 p/s2121 / 2126 [----------------------------------------------------------------------->] 99.76% 98 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-02-24T04:39:38 - 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]
  0%|          | 3/2126 [00:00<01:27, 24.39it/s]
  0%|          | 6/2126 [00:00<01:24, 25.04it/s]
  0%|          | 9/2126 [00:00<01:22, 25.63it/s]
  1%|          | 12/2126 [00:00<01:21, 25.93it/s]
  1%|          | 15/2126 [00:00<01:20, 26.18it/s]
  1%|          | 18/2126 [00:00<01:19, 26.41it/s]
  1%|          | 21/2126 [00:00<01:19, 26.60it/s]
  1%|          | 24/2126 [00:00<01:18, 26.74it/s]
  1%|▏         | 27/2126 [00:01<01:18, 26.68it/s]
  1%|▏         | 30/2126 [00:01<01:18, 26.75it/s]
  2%|▏         | 33/2126 [00:01<01:18, 26.74it/s]
  2%|▏         | 36/2126 [00:01<01:18, 26.72it/s]
  2%|▏         | 39/2126 [00:01<01:18, 26.68it/s]
  2%|▏         | 42/2126 [00:01<01:18, 26.58it/s]
  2%|▏         | 45/2126 [00:01<01:18, 26.50it/s]
  2%|▏         | 48/2126 [00:01<01:18, 26.53it/s]
  2%|▏         | 51/2126 [00:01<01:18, 26.57it/s]
  3%|▎         | 54/2126 [00:02<01:18, 26.53it/s]
  3%|▎         | 57/2126 [00:02<01:17, 26.66it/s]
  3%|▎         | 60/2126 [00:02<01:17, 26.71it/s]
  3%|▎         | 63/2126 [00:02<01:17, 26.73it/s]
  3%|▎         | 66/2126 [00:02<01:17, 26.72it/s]
  3%|▎         | 69/2126 [00:02<01:17, 26.54it/s]
  3%|▎         | 72/2126 [00:02<01:18, 26.29it/s]
  4%|▎         | 75/2126 [00:02<01:17, 26.39it/s]
  4%|▎         | 78/2126 [00:02<01:17, 26.42it/s]
  4%|▍         | 81/2126 [00:03<01:17, 26.55it/s]
  4%|▍         | 84/2126 [00:03<01:16, 26.62it/s]
  4%|▍         | 87/2126 [00:03<01:16, 26.67it/s]
  4%|▍         | 90/2126 [00:03<01:16, 26.60it/s]
  4%|▍         | 93/2126 [00:03<01:16, 26.56it/s]
  5%|▍         | 96/2126 [00:03<01:16, 26.59it/s]
  5%|▍         | 99/2126 [00:03<01:16, 26.64it/s]
  5%|▍         | 102/2126 [00:03<01:17, 26.07it/s]
  5%|▍         | 105/2126 [00:03<01:17, 26.24it/s]
  5%|▌         | 108/2126 [00:04<01:16, 26.45it/s]
  5%|▌         | 111/2126 [00:04<01:15, 26.53it/s]
  5%|▌         | 114/2126 [00:04<01:15, 26.58it/s]
  6%|▌         | 117/2126 [00:04<01:15, 26.63it/s]
  6%|▌         | 120/2126 [00:04<01:15, 26.70it/s]
  6%|▌         | 123/2126 [00:04<01:14, 26.72it/s]
  6%|▌         | 126/2126 [00:04<01:14, 26.69it/s]
  6%|▌         | 129/2126 [00:04<01:14, 26.72it/s]
  6%|▌         | 132/2126 [00:04<01:14, 26.63it/s]
  6%|▋         | 135/2126 [00:05<01:14, 26.61it/s]
  6%|▋         | 138/2126 [00:05<01:14, 26.66it/s]
  7%|▋         | 141/2126 [00:05<01:14, 26.72it/s]
  7%|▋         | 144/2126 [00:05<01:14, 26.69it/s]
  7%|▋         | 147/2126 [00:05<01:14, 26.69it/s]
  7%|▋         | 150/2126 [00:05<01:14, 26.64it/s]
  7%|▋         | 153/2126 [00:05<01:14, 26.66it/s]
  7%|▋         | 156/2126 [00:05<01:13, 26.72it/s]
  7%|▋         | 159/2126 [00:05<01:13, 26.68it/s]
  8%|▊         | 162/2126 [00:06<01:13, 26.66it/s]
  8%|▊         | 165/2126 [00:06<01:13, 26.66it/s]
  8%|▊         | 168/2126 [00:06<01:13, 26.68it/s]
  8%|▊         | 171/2126 [00:06<01:13, 26.67it/s]
  8%|▊         | 174/2126 [00:06<01:13, 26.73it/s]
  8%|▊         | 177/2126 [00:06<01:12, 26.71it/s]
  8%|▊         | 180/2126 [00:06<01:12, 26.66it/s]
  9%|▊         | 183/2126 [00:06<01:13, 26.61it/s]
  9%|▊         | 186/2126 [00:07<01:12, 26.58it/s]
  9%|▉         | 189/2126 [00:07<01:12, 26.54it/s]
  9%|▉         | 192/2126 [00:07<01:12, 26.61it/s]
  9%|▉         | 195/2126 [00:07<01:12, 26.65it/s]
  9%|▉         | 198/2126 [00:07<01:12, 26.62it/s]
  9%|▉         | 201/2126 [00:07<01:12, 26.59it/s]
 10%|▉         | 204/2126 [00:07<01:12, 26.59it/s]
 10%|▉         | 207/2126 [00:07<01:12, 26.64it/s]
 10%|▉         | 210/2126 [00:07<01:11, 26.70it/s]
 10%|█         | 213/2126 [00:08<01:11, 26.81it/s]
 10%|█         | 216/2126 [00:08<01:11, 26.82it/s]
 10%|█         | 219/2126 [00:08<01:11, 26.82it/s]
 10%|█         | 222/2126 [00:08<01:11, 26.75it/s]
 11%|█         | 225/2126 [00:08<01:11, 26.72it/s]
 11%|█         | 228/2126 [00:08<01:11, 26.70it/s]
 11%|█         | 231/2126 [00:08<01:10, 26.72it/s]
 11%|█         | 234/2126 [00:08<01:13, 25.91it/s]
 11%|█         | 237/2126 [00:08<01:12, 26.10it/s]
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 11%|█▏        | 243/2126 [00:09<01:11, 26.43it/s]
 12%|█▏        | 246/2126 [00:09<01:10, 26.51it/s]
 12%|█▏        | 249/2126 [00:09<01:10, 26.56it/s]
 12%|█▏        | 252/2126 [00:09<01:10, 26.60it/s]
 12%|█▏        | 255/2126 [00:09<01:10, 26.60it/s]
 12%|█▏        | 258/2126 [00:09<01:10, 26.56it/s]
 12%|█▏        | 261/2126 [00:09<01:10, 26.61it/s]
 12%|█▏        | 264/2126 [00:09<01:09, 26.61it/s]
 13%|█▎        | 267/2126 [00:10<01:09, 26.59it/s]
 13%|█▎        | 270/2126 [00:10<01:09, 26.61it/s]
 13%|█▎        | 273/2126 [00:10<01:09, 26.63it/s]
 13%|█▎        | 276/2126 [00:10<01:09, 26.63it/s]
 13%|█▎        | 279/2126 [00:10<01:09, 26.62it/s]
 13%|█▎        | 282/2126 [00:10<01:09, 26.59it/s]
 13%|█▎        | 285/2126 [00:10<01:09, 26.56it/s]
 14%|█▎        | 288/2126 [00:10<01:09, 26.64it/s]
 14%|█▎        | 291/2126 [00:10<01:08, 26.65it/s]
 14%|█▍        | 294/2126 [00:11<01:08, 26.58it/s]
 14%|█▍        | 297/2126 [00:11<01:08, 26.54it/s]
 14%|█▍        | 300/2126 [00:11<01:08, 26.54it/s]
 14%|█▍        | 303/2126 [00:11<01:08, 26.53it/s]
 14%|█▍        | 306/2126 [00:11<01:08, 26.49it/s]
 15%|█▍        | 309/2126 [00:11<01:08, 26.53it/s]
 15%|█▍        | 312/2126 [00:11<01:08, 26.54it/s]
 15%|█▍        | 315/2126 [00:11<01:08, 26.54it/s]
 15%|█▍        | 318/2126 [00:11<01:08, 26.51it/s]
 15%|█▌        | 321/2126 [00:12<01:08, 26.52it/s]
 15%|█▌        | 324/2126 [00:12<01:07, 26.55it/s]
 15%|█▌        | 327/2126 [00:12<01:07, 26.54it/s]
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 16%|█▌        | 339/2126 [00:12<01:07, 26.61it/s]
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 17%|█▋        | 357/2126 [00:13<01:06, 26.70it/s]
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 17%|█▋        | 369/2126 [00:13<01:08, 25.47it/s]
 17%|█▋        | 372/2126 [00:14<01:08, 25.76it/s]
 18%|█▊        | 375/2126 [00:14<01:07, 26.00it/s]
 18%|█▊        | 378/2126 [00:14<01:06, 26.14it/s]
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 18%|█▊        | 384/2126 [00:14<01:06, 26.24it/s]
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2026-02-24T04:41:00 - 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 /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-02-24T04:41:01 - INFO: DataPrep 0.14.0a4
2026-02-24T04:41:01 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-02-24T04:41:01 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:41:01 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:41:01 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-24T04:41:01 - INFO: Preparing sonar data...
2026-02-24T04:41:01 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:41:03 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-02-24T04:41:03 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:41:03 - INFO: Sonar range is 1.878240 m
2026-02-24T04:41:03 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:41:03 - INFO: Processing 2125 sweeps...

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2026-02-24T04:41:09 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:41:11 - INFO: Prepared sonar data in 9.7866 s
2026-02-24T04:41:11 - INFO: No IMU data found
2026-02-24T04:41:11 - INFO: DataPrep took 0:00:10.108096
2026-02-24T04:41:11 - INFO: Extracted sonar data in 0:01:55.261554
2026-02-24T04:41:11 - INFO: MSIP3D took 0:01:55.608430