2026-02-24T04:16:44 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:16:44 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-02-24T04:16:44 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:16:44 - INFO: Found TFD mission for SJ502795 Dep 5
2026-02-24T04:16:44 - INFO: Recording will be processed as MD
2026-02-24T04:16:45 - INFO: Copying assets JSON to output directory...
2026-02-24T04:16:45 - INFO: Preparing counter data...
2026-02-24T04:16:45 - INFO: Interpreting counter as imperial
2026-02-24T04:16:45 - INFO: Prepared counter data in 0.0783 s
2026-02-24T04:16:45 - INFO: Extracting sonar data...
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/SJ502795_Dep_5.tfd
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 3029
21 / 3029 [>___________________________________________________________________________] 0.69% ? p/s43 / 3029 [->__________________________________________________________________________] 1.42% ? p/s65 / 3029 [->__________________________________________________________________________] 2.15% ? p/s86 / 3029 [-->_______________________________________________________________________] 2.84% 108 p/s108 / 3029 [-->______________________________________________________________________] 3.57% 108 p/s130 / 3029 [--->_____________________________________________________________________] 4.29% 108 p/s151 / 3029 [--->_____________________________________________________________________] 4.99% 108 p/s175 / 3029 [---->____________________________________________________________________] 5.78% 108 p/s197 / 3029 [---->____________________________________________________________________] 6.50% 108 p/s220 / 3029 [----->___________________________________________________________________] 7.26% 109 p/s243 / 3029 [----->___________________________________________________________________] 8.02% 109 p/s265 / 3029 [------>__________________________________________________________________] 8.75% 109 p/s286 / 3029 [------>__________________________________________________________________] 9.44% 109 p/s309 / 3029 [------->________________________________________________________________] 10.20% 109 p/s331 / 3029 [------->________________________________________________________________] 10.93% 109 p/s353 / 3029 [-------->_______________________________________________________________] 11.65% 109 p/s375 / 3029 [-------->_______________________________________________________________] 12.38% 109 p/s397 / 3029 [--------->______________________________________________________________] 13.11% 109 p/s420 / 3029 [--------->______________________________________________________________] 13.87% 109 p/s442 / 3029 [---------->_____________________________________________________________] 14.59% 109 p/s464 / 3029 [----------->____________________________________________________________] 15.32% 109 p/s487 / 3029 [----------->____________________________________________________________] 16.08% 109 p/s508 / 3029 [------------>___________________________________________________________] 16.77% 109 p/s530 / 3029 [------------>___________________________________________________________] 17.50% 109 p/s552 / 3029 [------------->__________________________________________________________] 18.22% 109 p/s574 / 3029 [------------->__________________________________________________________] 18.95% 109 p/s596 / 3029 [-------------->_________________________________________________________] 19.68% 109 p/s618 / 3029 [-------------->_________________________________________________________] 20.40% 109 p/s640 / 3029 [--------------->________________________________________________________] 21.13% 109 p/s663 / 3029 [--------------->________________________________________________________] 21.89% 109 p/s685 / 3029 [---------------->_______________________________________________________] 22.61% 110 p/s707 / 3029 [---------------->_______________________________________________________] 23.34% 110 p/s728 / 3029 [----------------->______________________________________________________] 24.03% 110 p/s750 / 3029 [----------------->______________________________________________________] 24.76% 109 p/s771 / 3029 [------------------>_____________________________________________________] 25.45% 109 p/s794 / 3029 [------------------>_____________________________________________________] 26.21% 109 p/s816 / 3029 [------------------->____________________________________________________] 26.94% 109 p/s838 / 3029 [------------------->____________________________________________________] 27.67% 109 p/s861 / 3029 [-------------------->___________________________________________________] 28.43% 109 p/s883 / 3029 [-------------------->___________________________________________________] 29.15% 110 p/s906 / 3029 [--------------------->__________________________________________________] 29.91% 110 p/s928 / 3029 [---------------------->_________________________________________________] 30.64% 110 p/s951 / 3029 [---------------------->_________________________________________________] 31.40% 110 p/s974 / 3029 [----------------------->________________________________________________] 32.16% 110 p/s994 / 3029 [----------------------->________________________________________________] 32.82% 110 p/s1016 / 3029 [----------------------->_______________________________________________] 33.54% 110 p/s1038 / 3029 [------------------------>______________________________________________] 34.27% 110 p/s1060 / 3029 [------------------------>______________________________________________] 35.00% 110 p/s1082 / 3029 [------------------------->_____________________________________________] 35.72% 110 p/s1105 / 3029 [------------------------->_____________________________________________] 36.48% 110 p/s1128 / 3029 [-------------------------->____________________________________________] 37.24% 110 p/s1151 / 3029 [-------------------------->____________________________________________] 38.00% 110 p/s1173 / 3029 [--------------------------->___________________________________________] 38.73% 110 p/s1196 / 3029 [---------------------------->__________________________________________] 39.48% 110 p/s1218 / 3029 [---------------------------->__________________________________________] 40.21% 110 p/s1241 / 3029 [----------------------------->_________________________________________] 40.97% 110 p/s1264 / 3029 [----------------------------->_________________________________________] 41.73% 110 p/s1287 / 3029 [------------------------------>________________________________________] 42.49% 111 p/s1310 / 3029 [------------------------------>________________________________________] 43.25% 111 p/s1333 / 3029 [------------------------------->_______________________________________] 44.01% 111 p/s1355 / 3029 [------------------------------->_______________________________________] 44.73% 111 p/s1377 / 3029 [-------------------------------->______________________________________] 45.46% 111 p/s1399 / 3029 [-------------------------------->______________________________________] 46.19% 111 p/s1422 / 3029 [--------------------------------->_____________________________________] 46.95% 111 p/s1444 / 3029 [--------------------------------->_____________________________________] 47.67% 111 p/s1467 / 3029 [---------------------------------->____________________________________] 48.43% 111 p/s1489 / 3029 [---------------------------------->____________________________________] 49.16% 111 p/s1510 / 3029 [----------------------------------->___________________________________] 49.85% 111 p/s1531 / 3029 [----------------------------------->___________________________________] 50.54% 111 p/s1554 / 3029 [------------------------------------>__________________________________] 51.30% 111 p/s1576 / 3029 [------------------------------------>__________________________________] 52.03% 111 p/s1599 / 3029 [------------------------------------->_________________________________] 52.79% 111 p/s1621 / 3029 [------------------------------------->_________________________________] 53.52% 111 p/s1644 / 3029 [-------------------------------------->________________________________] 54.28% 111 p/s1665 / 3029 [--------------------------------------->_______________________________] 54.97% 111 p/s1687 / 3029 [--------------------------------------->_______________________________] 55.69% 111 p/s1709 / 3029 [---------------------------------------->______________________________] 56.42% 111 p/s1732 / 3029 [---------------------------------------->______________________________] 57.18% 111 p/s1755 / 3029 [----------------------------------------->_____________________________] 57.94% 111 p/s1777 / 3029 [----------------------------------------->_____________________________] 58.67% 111 p/s1800 / 3029 [------------------------------------------>____________________________] 59.43% 111 p/s1823 / 3029 [------------------------------------------>____________________________] 60.18% 111 p/s1845 / 3029 [------------------------------------------->___________________________] 60.91% 111 p/s1866 / 3029 [------------------------------------------->___________________________] 61.60% 111 p/s1888 / 3029 [-------------------------------------------->__________________________] 62.33% 111 p/s1911 / 3029 [-------------------------------------------->__________________________] 63.09% 111 p/s1934 / 3029 [--------------------------------------------->_________________________] 63.85% 111 p/s1956 / 3029 [--------------------------------------------->_________________________] 64.58% 111 p/s1979 / 3029 [---------------------------------------------->________________________] 65.34% 111 p/s2002 / 3029 [---------------------------------------------->________________________] 66.09% 111 p/s2024 / 3029 [----------------------------------------------->_______________________] 66.82% 111 p/s2046 / 3029 [----------------------------------------------->_______________________] 67.55% 111 p/s2069 / 3029 [------------------------------------------------>______________________] 68.31% 111 p/s2091 / 3029 [------------------------------------------------->_____________________] 69.03% 111 p/s2114 / 3029 [------------------------------------------------->_____________________] 69.79% 111 p/s2137 / 3029 [-------------------------------------------------->____________________] 70.55% 111 p/s2160 / 3029 [-------------------------------------------------->____________________] 71.31% 111 p/s2182 / 3029 [--------------------------------------------------->___________________] 72.04% 111 p/s2204 / 3029 [--------------------------------------------------->___________________] 72.76% 111 p/s2226 / 3029 [---------------------------------------------------->__________________] 73.49% 111 p/s2248 / 3029 [---------------------------------------------------->__________________] 74.22% 111 p/s2271 / 3029 [----------------------------------------------------->_________________] 74.98% 111 p/s2293 / 3029 [----------------------------------------------------->_________________] 75.70% 111 p/s2315 / 3029 [------------------------------------------------------>________________] 76.43% 111 p/s2337 / 3029 [------------------------------------------------------>________________] 77.15% 111 p/s2359 / 3029 [------------------------------------------------------->_______________] 77.88% 111 p/s2382 / 3029 [------------------------------------------------------->_______________] 78.64% 111 p/s2405 / 3029 [-------------------------------------------------------->______________] 79.40% 111 p/s2427 / 3029 [-------------------------------------------------------->______________] 80.13% 111 p/s2450 / 3029 [--------------------------------------------------------->_____________] 80.88% 111 p/s2472 / 3029 [--------------------------------------------------------->_____________] 81.61% 111 p/s2494 / 3029 [---------------------------------------------------------->____________] 82.34% 111 p/s2515 / 3029 [---------------------------------------------------------->____________] 83.03% 111 p/s2538 / 3029 [----------------------------------------------------------->___________] 83.79% 111 p/s2560 / 3029 [------------------------------------------------------------>__________] 84.52% 111 p/s2584 / 3029 [------------------------------------------------------------>__________] 85.31% 111 p/s2606 / 3029 [------------------------------------------------------------->_________] 86.03% 111 p/s2629 / 3029 [------------------------------------------------------------->_________] 86.79% 112 p/s2652 / 3029 [-------------------------------------------------------------->________] 87.55% 112 p/s2674 / 3029 [-------------------------------------------------------------->________] 88.28% 112 p/s2695 / 3029 [--------------------------------------------------------------->_______] 88.97% 111 p/s2715 / 3029 [--------------------------------------------------------------->_______] 89.63% 111 p/s2737 / 3029 [---------------------------------------------------------------->______] 90.36% 111 p/s2760 / 3029 [---------------------------------------------------------------->______] 91.12% 111 p/s2782 / 3029 [----------------------------------------------------------------->_____] 91.85% 111 p/s2803 / 3029 [----------------------------------------------------------------->_____] 92.54% 111 p/s2825 / 3029 [------------------------------------------------------------------>____] 93.27% 111 p/s2848 / 3029 [------------------------------------------------------------------>____] 94.02% 111 p/s2870 / 3029 [------------------------------------------------------------------->___] 94.75% 111 p/s2890 / 3029 [------------------------------------------------------------------->___] 95.41% 111 p/s2912 / 3029 [-------------------------------------------------------------------->__] 96.14% 111 p/s2934 / 3029 [-------------------------------------------------------------------->__] 96.86% 111 p/s2956 / 3029 [--------------------------------------------------------------------->_] 97.59% 111 p/s2977 / 3029 [--------------------------------------------------------------------->_] 98.28% 111 p/s2999 / 3029 [---------------------------------------------------------------------->] 99.01% 111 p/s3022 / 3029 [---------------------------------------------------------------------->] 99.77% 111 p/s3029 / 3029 [----------------------------------------------------------------------] 100.00% 112 p/s2026-02-24T04:17:12 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3029 [00:00<?, ?it/s]
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2026-02-24T04:19:02 - 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/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928"
2026-02-24T04:19:04 - INFO: DataPrep 0.14.0a4
2026-02-24T04:19:04 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-02-24T04:19:04 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:19:04 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:19:04 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-02-24T04:19:04 - INFO: Preparing sonar data...
2026-02-24T04:19:04 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:19:06 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-02-24T04:19:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:19:06 - INFO: Sonar range is 0.722400 m
2026-02-24T04:19:06 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:19:06 - INFO: Processing 3029 sweeps...

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2026-02-24T04:19:13 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:19:13 - INFO: Prepared sonar data in 9.7452 s
2026-02-24T04:19:13 - INFO: No IMU data found
2026-02-24T04:19:14 - INFO: DataPrep took 0:00:10.045006
2026-02-24T04:19:14 - INFO: Extracted sonar data in 0:02:29.089541
2026-02-24T04:19:14 - INFO: MSIP3D took 0:02:29.419765