2026-02-24T04:06:48 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:06:48 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-24T04:06:48 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:06:49 - INFO: Found TFD mission for SJ502795 Dep 2
2026-02-24T04:06:49 - INFO: Recording will be processed as MD
2026-02-24T04:06:49 - INFO: Copying assets JSON to output directory...
2026-02-24T04:06:49 - INFO: Preparing counter data...
2026-02-24T04:06:49 - INFO: Interpreting counter as imperial
2026-02-24T04:06:49 - INFO: Prepared counter data in 0.0068 s
2026-02-24T04:06:49 - INFO: Extracting sonar data...
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/SJ502795_Dep_2.tfd
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2550
22 / 2550 [>___________________________________________________________________________] 0.86% ? p/s44 / 2550 [->__________________________________________________________________________] 1.73% ? p/s66 / 2550 [->__________________________________________________________________________] 2.59% ? p/s88 / 2550 [-->_______________________________________________________________________] 3.45% 110 p/s111 / 2550 [--->_____________________________________________________________________] 4.35% 110 p/s133 / 2550 [--->_____________________________________________________________________] 5.22% 110 p/s155 / 2550 [---->____________________________________________________________________] 6.08% 110 p/s177 / 2550 [----->___________________________________________________________________] 6.94% 110 p/s199 / 2550 [----->___________________________________________________________________] 7.80% 110 p/s220 / 2550 [------>__________________________________________________________________] 8.63% 110 p/s243 / 2550 [------>__________________________________________________________________] 9.53% 110 p/s264 / 2550 [------->________________________________________________________________] 10.35% 110 p/s286 / 2550 [-------->_______________________________________________________________] 11.22% 110 p/s309 / 2550 [-------->_______________________________________________________________] 12.12% 110 p/s331 / 2550 [--------->______________________________________________________________] 12.98% 110 p/s353 / 2550 [--------->______________________________________________________________] 13.84% 110 p/s375 / 2550 [---------->_____________________________________________________________] 14.71% 110 p/s397 / 2550 [----------->____________________________________________________________] 15.57% 110 p/s420 / 2550 [----------->____________________________________________________________] 16.47% 110 p/s442 / 2550 [------------>___________________________________________________________] 17.33% 110 p/s464 / 2550 [------------->__________________________________________________________] 18.20% 110 p/s486 / 2550 [------------->__________________________________________________________] 19.06% 110 p/s508 / 2550 [-------------->_________________________________________________________] 19.92% 110 p/s530 / 2550 [-------------->_________________________________________________________] 20.78% 110 p/s553 / 2550 [--------------->________________________________________________________] 21.69% 110 p/s575 / 2550 [---------------->_______________________________________________________] 22.55% 110 p/s598 / 2550 [---------------->_______________________________________________________] 23.45% 110 p/s620 / 2550 [----------------->______________________________________________________] 24.31% 110 p/s643 / 2550 [------------------>_____________________________________________________] 25.22% 110 p/s666 / 2550 [------------------>_____________________________________________________] 26.12% 110 p/s688 / 2550 [------------------->____________________________________________________] 26.98% 111 p/s711 / 2550 [-------------------->___________________________________________________] 27.88% 111 p/s733 / 2550 [-------------------->___________________________________________________] 28.75% 111 p/s756 / 2550 [--------------------->__________________________________________________] 29.65% 111 p/s779 / 2550 [--------------------->__________________________________________________] 30.55% 111 p/s801 / 2550 [---------------------->_________________________________________________] 31.41% 111 p/s824 / 2550 [----------------------->________________________________________________] 32.31% 111 p/s846 / 2550 [----------------------->________________________________________________] 33.18% 111 p/s868 / 2550 [------------------------>_______________________________________________] 34.04% 111 p/s890 / 2550 [------------------------->______________________________________________] 34.90% 111 p/s913 / 2550 [------------------------->______________________________________________] 35.80% 111 p/s935 / 2550 [-------------------------->_____________________________________________] 36.67% 111 p/s958 / 2550 [--------------------------->____________________________________________] 37.57% 111 p/s980 / 2550 [--------------------------->____________________________________________] 38.43% 111 p/s1003 / 2550 [--------------------------->___________________________________________] 39.33% 111 p/s1025 / 2550 [---------------------------->__________________________________________] 40.20% 111 p/s1047 / 2550 [----------------------------->_________________________________________] 41.06% 111 p/s1070 / 2550 [----------------------------->_________________________________________] 41.96% 111 p/s1093 / 2550 [------------------------------>________________________________________] 42.86% 111 p/s1115 / 2550 [------------------------------->_______________________________________] 43.73% 111 p/s1137 / 2550 [------------------------------->_______________________________________] 44.59% 111 p/s1160 / 2550 [-------------------------------->______________________________________] 45.49% 111 p/s1182 / 2550 [-------------------------------->______________________________________] 46.35% 111 p/s1205 / 2550 [--------------------------------->_____________________________________] 47.25% 111 p/s1227 / 2550 [---------------------------------->____________________________________] 48.12% 111 p/s1249 / 2550 [---------------------------------->____________________________________] 48.98% 111 p/s1272 / 2550 [----------------------------------->___________________________________] 49.88% 111 p/s1294 / 2550 [------------------------------------>__________________________________] 50.75% 111 p/s1316 / 2550 [------------------------------------>__________________________________] 51.61% 111 p/s1338 / 2550 [------------------------------------->_________________________________] 52.47% 111 p/s1361 / 2550 [------------------------------------->_________________________________] 53.37% 111 p/s1383 / 2550 [-------------------------------------->________________________________] 54.24% 111 p/s1406 / 2550 [--------------------------------------->_______________________________] 55.14% 111 p/s1428 / 2550 [--------------------------------------->_______________________________] 56.00% 111 p/s1450 / 2550 [---------------------------------------->______________________________] 56.86% 111 p/s1473 / 2550 [----------------------------------------->_____________________________] 57.76% 111 p/s1495 / 2550 [----------------------------------------->_____________________________] 58.63% 111 p/s1518 / 2550 [------------------------------------------>____________________________] 59.53% 111 p/s1540 / 2550 [------------------------------------------>____________________________] 60.39% 111 p/s1563 / 2550 [------------------------------------------->___________________________] 61.29% 111 p/s1585 / 2550 [-------------------------------------------->__________________________] 62.16% 111 p/s1608 / 2550 [-------------------------------------------->__________________________] 63.06% 111 p/s1630 / 2550 [--------------------------------------------->_________________________] 63.92% 111 p/s1652 / 2550 [--------------------------------------------->_________________________] 64.78% 111 p/s1675 / 2550 [---------------------------------------------->________________________] 65.69% 111 p/s1698 / 2550 [----------------------------------------------->_______________________] 66.59% 112 p/s1715 / 2550 [----------------------------------------------->_______________________] 67.25% 112 p/s1738 / 2550 [------------------------------------------------>______________________] 68.16% 112 p/s1760 / 2550 [------------------------------------------------->_____________________] 69.02% 111 p/s1783 / 2550 [------------------------------------------------->_____________________] 69.92% 111 p/s1805 / 2550 [-------------------------------------------------->____________________] 70.78% 111 p/s1827 / 2550 [-------------------------------------------------->____________________] 71.65% 111 p/s1849 / 2550 [--------------------------------------------------->___________________] 72.51% 111 p/s1872 / 2550 [---------------------------------------------------->__________________] 73.41% 111 p/s1894 / 2550 [---------------------------------------------------->__________________] 74.27% 111 p/s1917 / 2550 [----------------------------------------------------->_________________] 75.18% 111 p/s1939 / 2550 [----------------------------------------------------->_________________] 76.04% 111 p/s1962 / 2550 [------------------------------------------------------>________________] 76.94% 111 p/s1984 / 2550 [------------------------------------------------------->_______________] 77.80% 111 p/s2006 / 2550 [------------------------------------------------------->_______________] 78.67% 111 p/s2029 / 2550 [-------------------------------------------------------->______________] 79.57% 111 p/s2050 / 2550 [--------------------------------------------------------->_____________] 80.39% 111 p/s2073 / 2550 [--------------------------------------------------------->_____________] 81.29% 111 p/s2095 / 2550 [---------------------------------------------------------->____________] 82.16% 111 p/s2117 / 2550 [---------------------------------------------------------->____________] 83.02% 111 p/s2140 / 2550 [----------------------------------------------------------->___________] 83.92% 111 p/s2163 / 2550 [------------------------------------------------------------>__________] 84.82% 111 p/s2186 / 2550 [------------------------------------------------------------>__________] 85.73% 111 p/s2209 / 2550 [------------------------------------------------------------->_________] 86.63% 111 p/s2232 / 2550 [-------------------------------------------------------------->________] 87.53% 112 p/s2254 / 2550 [-------------------------------------------------------------->________] 88.39% 112 p/s2277 / 2550 [--------------------------------------------------------------->_______] 89.29% 112 p/s2300 / 2550 [---------------------------------------------------------------->______] 90.20% 112 p/s2322 / 2550 [---------------------------------------------------------------->______] 91.06% 112 p/s2345 / 2550 [----------------------------------------------------------------->_____] 91.96% 112 p/s2368 / 2550 [----------------------------------------------------------------->_____] 92.86% 112 p/s2391 / 2550 [------------------------------------------------------------------>____] 93.76% 112 p/s2413 / 2550 [------------------------------------------------------------------->___] 94.63% 112 p/s2435 / 2550 [------------------------------------------------------------------->___] 95.49% 112 p/s2458 / 2550 [-------------------------------------------------------------------->__] 96.39% 112 p/s2480 / 2550 [--------------------------------------------------------------------->_] 97.25% 112 p/s2502 / 2550 [--------------------------------------------------------------------->_] 98.12% 112 p/s2525 / 2550 [---------------------------------------------------------------------->] 99.02% 112 p/s2548 / 2550 [---------------------------------------------------------------------->] 99.92% 112 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-24T04:07:11 - INFO: Parsing 2550 sonar sweeps from /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2550 [00:00<?, ?it/s]
  0%|          | 3/2550 [00:00<01:33, 27.33it/s]
  0%|          | 6/2550 [00:00<01:31, 27.81it/s]
  0%|          | 9/2550 [00:00<01:35, 26.50it/s]
  0%|          | 12/2550 [00:00<01:32, 27.29it/s]
  1%|          | 15/2550 [00:00<01:31, 27.76it/s]
  1%|          | 18/2550 [00:00<01:30, 27.99it/s]
  1%|          | 21/2550 [00:00<01:38, 25.73it/s]
  1%|          | 24/2550 [00:00<01:35, 26.57it/s]
  1%|          | 27/2550 [00:00<01:33, 27.08it/s]
  1%|          | 30/2550 [00:01<01:31, 27.40it/s]
  1%|▏         | 33/2550 [00:01<01:31, 27.49it/s]
  1%|▏         | 36/2550 [00:01<01:30, 27.75it/s]
  2%|▏         | 39/2550 [00:01<01:29, 27.93it/s]
  2%|▏         | 42/2550 [00:01<01:29, 28.05it/s]
  2%|▏         | 45/2550 [00:01<01:28, 28.22it/s]
  2%|▏         | 48/2550 [00:01<01:28, 28.30it/s]
  2%|▏         | 51/2550 [00:01<01:28, 28.34it/s]
  2%|▏         | 54/2550 [00:01<01:28, 28.34it/s]
  2%|▏         | 57/2550 [00:02<01:29, 27.74it/s]
  2%|▏         | 60/2550 [00:02<01:29, 27.92it/s]
  2%|▏         | 63/2550 [00:02<01:28, 27.96it/s]
  3%|▎         | 66/2550 [00:02<01:28, 27.94it/s]
  3%|▎         | 69/2550 [00:02<01:28, 27.99it/s]
  3%|▎         | 72/2550 [00:02<01:28, 28.07it/s]
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  3%|▎         | 78/2550 [00:02<01:28, 27.78it/s]
  3%|▎         | 81/2550 [00:02<01:28, 27.78it/s]
  3%|▎         | 84/2550 [00:03<01:28, 27.87it/s]
  3%|▎         | 87/2550 [00:03<01:28, 27.94it/s]
  4%|▎         | 90/2550 [00:03<01:27, 28.01it/s]
  4%|▎         | 93/2550 [00:03<01:27, 28.09it/s]
  4%|▍         | 96/2550 [00:03<01:27, 28.11it/s]
  4%|▍         | 99/2550 [00:03<01:26, 28.17it/s]
  4%|▍         | 102/2550 [00:03<01:26, 28.22it/s]
  4%|▍         | 105/2550 [00:03<01:26, 28.25it/s]
  4%|▍         | 108/2550 [00:03<01:26, 28.29it/s]
  4%|▍         | 111/2550 [00:03<01:26, 28.36it/s]
  4%|▍         | 114/2550 [00:04<01:25, 28.35it/s]
  5%|▍         | 117/2550 [00:04<01:25, 28.33it/s]
  5%|▍         | 120/2550 [00:04<01:25, 28.30it/s]
  5%|▍         | 123/2550 [00:04<01:25, 28.27it/s]
  5%|▍         | 126/2550 [00:04<01:25, 28.25it/s]
  5%|▌         | 129/2550 [00:04<01:25, 28.26it/s]
  5%|▌         | 132/2550 [00:04<01:25, 28.23it/s]
  5%|▌         | 135/2550 [00:04<01:25, 28.21it/s]
  5%|▌         | 138/2550 [00:04<01:25, 28.27it/s]
  6%|▌         | 141/2550 [00:05<01:25, 28.29it/s]
  6%|▌         | 144/2550 [00:05<01:25, 28.28it/s]
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  6%|▋         | 162/2550 [00:05<01:25, 28.08it/s]
  6%|▋         | 165/2550 [00:05<01:24, 28.07it/s]
  7%|▋         | 168/2550 [00:06<01:24, 28.09it/s]
  7%|▋         | 171/2550 [00:06<01:24, 28.09it/s]
  7%|▋         | 174/2550 [00:06<01:24, 28.11it/s]
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  7%|▋         | 189/2550 [00:06<01:27, 27.07it/s]
  8%|▊         | 192/2550 [00:06<01:26, 27.34it/s]
  8%|▊         | 195/2550 [00:06<01:25, 27.58it/s]
  8%|▊         | 198/2550 [00:07<01:24, 27.73it/s]
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 10%|▉         | 243/2550 [00:08<01:22, 28.04it/s]
 10%|▉         | 246/2550 [00:08<01:22, 28.07it/s]
 10%|▉         | 249/2550 [00:08<01:22, 28.02it/s]
 10%|▉         | 252/2550 [00:09<01:22, 28.00it/s]
 10%|█         | 255/2550 [00:09<01:22, 27.98it/s]
 10%|█         | 258/2550 [00:09<01:21, 28.00it/s]
 10%|█         | 261/2550 [00:09<01:21, 27.98it/s]
 10%|█         | 264/2550 [00:09<01:21, 28.00it/s]
 10%|█         | 267/2550 [00:09<01:21, 28.05it/s]
 11%|█         | 270/2550 [00:09<01:21, 28.10it/s]
 11%|█         | 273/2550 [00:09<01:21, 28.06it/s]
 11%|█         | 276/2550 [00:09<01:21, 28.04it/s]
 11%|█         | 279/2550 [00:09<01:20, 28.06it/s]
 11%|█         | 282/2550 [00:10<01:21, 27.96it/s]
 11%|█         | 285/2550 [00:10<01:21, 27.91it/s]
 11%|█▏        | 288/2550 [00:10<01:21, 27.91it/s]
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 12%|█▏        | 294/2550 [00:10<01:20, 27.99it/s]
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 12%|█▏        | 306/2550 [00:10<01:19, 28.10it/s]
 12%|█▏        | 309/2550 [00:11<01:19, 28.11it/s]
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2026-02-24T04:08:44 - 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/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1"
2026-02-24T04:08:45 - INFO: DataPrep 0.14.0a4
2026-02-24T04:08:45 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-02-24T04:08:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:08:45 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:08:45 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-24T04:08:45 - INFO: Preparing sonar data...
2026-02-24T04:08:45 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:08:47 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-02-24T04:08:47 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:08:47 - INFO: Sonar range is 0.722400 m
2026-02-24T04:08:47 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:08:47 - INFO: Processing 2549 sweeps...

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2026-02-24T04:08:54 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:08:56 - INFO: Prepared sonar data in 10.6213 s
2026-02-24T04:08:56 - INFO: No IMU data found
2026-02-24T04:08:56 - INFO: DataPrep took 0:00:10.973204
2026-02-24T04:08:56 - INFO: Extracted sonar data in 0:02:07.617307
2026-02-24T04:08:56 - INFO: MSIP3D took 0:02:07.854534