2026-02-24T04:22:06 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:22:06 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-24T04:22:06 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:22:06 - INFO: Found TFD mission for SJ502795 Dep 13
2026-02-24T04:22:06 - INFO: Recording will be processed as MD
2026-02-24T04:22:06 - INFO: Copying assets JSON to output directory...
2026-02-24T04:22:06 - INFO: Preparing counter data...
2026-02-24T04:22:06 - INFO: Interpreting counter as imperial
2026-02-24T04:22:06 - INFO: Prepared counter data in 0.0958 s
2026-02-24T04:22:06 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s45 / 4914 [>___________________________________________________________________________] 0.92% ? p/s67 / 4914 [->__________________________________________________________________________] 1.36% ? p/s90 / 4914 [->________________________________________________________________________] 1.83% 115 p/s113 / 4914 [->_______________________________________________________________________] 2.30% 115 p/s136 / 4914 [-->______________________________________________________________________] 2.77% 115 p/s159 / 4914 [-->______________________________________________________________________] 3.24% 115 p/s182 / 4914 [-->______________________________________________________________________] 3.70% 115 p/s205 / 4914 [--->_____________________________________________________________________] 4.17% 115 p/s228 / 4914 [--->_____________________________________________________________________] 4.64% 115 p/s250 / 4914 [--->_____________________________________________________________________] 5.09% 115 p/s273 / 4914 [---->____________________________________________________________________] 5.56% 115 p/s296 / 4914 [---->____________________________________________________________________] 6.02% 115 p/s319 / 4914 [---->____________________________________________________________________] 6.49% 115 p/s343 / 4914 [----->___________________________________________________________________] 6.98% 115 p/s366 / 4914 [----->___________________________________________________________________] 7.45% 115 p/s389 / 4914 [----->___________________________________________________________________] 7.92% 115 p/s412 / 4914 [------>__________________________________________________________________] 8.38% 115 p/s426 / 4914 [------>__________________________________________________________________] 8.67% 113 p/s443 / 4914 [------>__________________________________________________________________] 9.02% 113 p/s466 / 4914 [------>__________________________________________________________________] 9.48% 113 p/s489 / 4914 [------->_________________________________________________________________] 9.95% 114 p/s512 / 4914 [------->________________________________________________________________] 10.42% 114 p/s535 / 4914 [------->________________________________________________________________] 10.89% 114 p/s558 / 4914 [-------->_______________________________________________________________] 11.36% 114 p/s581 / 4914 [-------->_______________________________________________________________] 11.82% 114 p/s604 / 4914 [-------->_______________________________________________________________] 12.29% 114 p/s627 / 4914 [--------->______________________________________________________________] 12.76% 114 p/s650 / 4914 [--------->______________________________________________________________] 13.23% 114 p/s673 / 4914 [--------->______________________________________________________________] 13.70% 114 p/s697 / 4914 [---------->_____________________________________________________________] 14.18% 114 p/s720 / 4914 [---------->_____________________________________________________________] 14.65% 114 p/s743 / 4914 [---------->_____________________________________________________________] 15.12% 114 p/s766 / 4914 [----------->____________________________________________________________] 15.59% 114 p/s789 / 4914 [----------->____________________________________________________________] 16.06% 114 p/s812 / 4914 [----------->____________________________________________________________] 16.52% 114 p/s835 / 4914 [------------>___________________________________________________________] 16.99% 114 p/s858 / 4914 [------------>___________________________________________________________] 17.46% 114 p/s881 / 4914 [------------>___________________________________________________________] 17.93% 114 p/s904 / 4914 [------------->__________________________________________________________] 18.40% 114 p/s927 / 4914 [------------->__________________________________________________________] 18.86% 114 p/s950 / 4914 [------------->__________________________________________________________] 19.33% 114 p/s974 / 4914 [-------------->_________________________________________________________] 19.82% 114 p/s997 / 4914 [-------------->_________________________________________________________] 20.29% 114 p/s1019 / 4914 [-------------->________________________________________________________] 20.74% 114 p/s1042 / 4914 [--------------->_______________________________________________________] 21.20% 114 p/s1065 / 4914 [--------------->_______________________________________________________] 21.67% 114 p/s1088 / 4914 [--------------->_______________________________________________________] 22.14% 114 p/s1111 / 4914 [---------------->______________________________________________________] 22.61% 114 p/s1134 / 4914 [---------------->______________________________________________________] 23.08% 114 p/s1157 / 4914 [---------------->______________________________________________________] 23.54% 114 p/s1180 / 4914 [----------------->_____________________________________________________] 24.01% 114 p/s1203 / 4914 [----------------->_____________________________________________________] 24.48% 114 p/s1227 / 4914 [----------------->_____________________________________________________] 24.97% 114 p/s1250 / 4914 [------------------>____________________________________________________] 25.44% 115 p/s1273 / 4914 [------------------>____________________________________________________] 25.91% 115 p/s1296 / 4914 [------------------>____________________________________________________] 26.37% 115 p/s1319 / 4914 [------------------->___________________________________________________] 26.84% 115 p/s1342 / 4914 [------------------->___________________________________________________] 27.31% 115 p/s1365 / 4914 [------------------->___________________________________________________] 27.78% 115 p/s1388 / 4914 [-------------------->__________________________________________________] 28.25% 115 p/s1411 / 4914 [-------------------->__________________________________________________] 28.71% 115 p/s1434 / 4914 [-------------------->__________________________________________________] 29.18% 115 p/s1458 / 4914 [--------------------->_________________________________________________] 29.67% 115 p/s1481 / 4914 [--------------------->_________________________________________________] 30.14% 115 p/s1504 / 4914 [--------------------->_________________________________________________] 30.61% 115 p/s1527 / 4914 [---------------------->________________________________________________] 31.07% 115 p/s1550 / 4914 [---------------------->________________________________________________] 31.54% 115 p/s1573 / 4914 [---------------------->________________________________________________] 32.01% 115 p/s1596 / 4914 [----------------------->_______________________________________________] 32.48% 115 p/s1619 / 4914 [----------------------->_______________________________________________] 32.95% 115 p/s1642 / 4914 [----------------------->_______________________________________________] 33.41% 115 p/s1665 / 4914 [------------------------>______________________________________________] 33.88% 115 p/s1688 / 4914 [------------------------>______________________________________________] 34.35% 115 p/s1712 / 4914 [------------------------>______________________________________________] 34.84% 115 p/s1735 / 4914 [------------------------->_____________________________________________] 35.31% 115 p/s1758 / 4914 [------------------------->_____________________________________________] 35.78% 115 p/s1781 / 4914 [------------------------->_____________________________________________] 36.24% 115 p/s1804 / 4914 [-------------------------->____________________________________________] 36.71% 115 p/s1827 / 4914 [-------------------------->____________________________________________] 37.18% 115 p/s1850 / 4914 [-------------------------->____________________________________________] 37.65% 115 p/s1873 / 4914 [--------------------------->___________________________________________] 38.12% 115 p/s1896 / 4914 [--------------------------->___________________________________________] 38.58% 115 p/s1919 / 4914 [--------------------------->___________________________________________] 39.05% 115 p/s1943 / 4914 [---------------------------->__________________________________________] 39.54% 115 p/s1965 / 4914 [---------------------------->__________________________________________] 39.99% 115 p/s1988 / 4914 [---------------------------->__________________________________________] 40.46% 115 p/s2012 / 4914 [----------------------------->_________________________________________] 40.94% 115 p/s2035 / 4914 [----------------------------->_________________________________________] 41.41% 115 p/s2057 / 4914 [----------------------------->_________________________________________] 41.86% 115 p/s2080 / 4914 [------------------------------>________________________________________] 42.33% 115 p/s2103 / 4914 [------------------------------>________________________________________] 42.80% 115 p/s2126 / 4914 [------------------------------>________________________________________] 43.26% 115 p/s2149 / 4914 [------------------------------->_______________________________________] 43.73% 115 p/s2171 / 4914 [------------------------------->_______________________________________] 44.18% 115 p/s2194 / 4914 [------------------------------->_______________________________________] 44.65% 115 p/s2217 / 4914 [-------------------------------->______________________________________] 45.12% 115 p/s2240 / 4914 [-------------------------------->______________________________________] 45.58% 115 p/s2263 / 4914 [-------------------------------->______________________________________] 46.05% 115 p/s2286 / 4914 [--------------------------------->_____________________________________] 46.52% 115 p/s2309 / 4914 [--------------------------------->_____________________________________] 46.99% 115 p/s2333 / 4914 [--------------------------------->_____________________________________] 47.48% 115 p/s2356 / 4914 [---------------------------------->____________________________________] 47.94% 115 p/s2379 / 4914 [---------------------------------->____________________________________] 48.41% 115 p/s2402 / 4914 [---------------------------------->____________________________________] 48.88% 115 p/s2426 / 4914 [----------------------------------->___________________________________] 49.37% 115 p/s2449 / 4914 [----------------------------------->___________________________________] 49.84% 115 p/s2472 / 4914 [----------------------------------->___________________________________] 50.31% 115 p/s2495 / 4914 [------------------------------------>__________________________________] 50.77% 115 p/s2518 / 4914 [------------------------------------>__________________________________] 51.24% 115 p/s2541 / 4914 [------------------------------------>__________________________________] 51.71% 115 p/s2564 / 4914 [------------------------------------->_________________________________] 52.18% 115 p/s2587 / 4914 [------------------------------------->_________________________________] 52.65% 115 p/s2610 / 4914 [------------------------------------->_________________________________] 53.11% 115 p/s2633 / 4914 [-------------------------------------->________________________________] 53.58% 115 p/s2657 / 4914 [-------------------------------------->________________________________] 54.07% 115 p/s2680 / 4914 [-------------------------------------->________________________________] 54.54% 115 p/s2703 / 4914 [--------------------------------------->_______________________________] 55.01% 115 p/s2726 / 4914 [--------------------------------------->_______________________________] 55.47% 115 p/s2749 / 4914 [--------------------------------------->_______________________________] 55.94% 115 p/s2772 / 4914 [---------------------------------------->______________________________] 56.41% 115 p/s2795 / 4914 [---------------------------------------->______________________________] 56.88% 115 p/s2818 / 4914 [---------------------------------------->______________________________] 57.35% 115 p/s2841 / 4914 [----------------------------------------->_____________________________] 57.81% 115 p/s2864 / 4914 [----------------------------------------->_____________________________] 58.28% 115 p/s2887 / 4914 [----------------------------------------->_____________________________] 58.75% 115 p/s2910 / 4914 [------------------------------------------>____________________________] 59.22% 115 p/s2933 / 4914 [------------------------------------------>____________________________] 59.69% 115 p/s2956 / 4914 [------------------------------------------>____________________________] 60.15% 115 p/s2979 / 4914 [------------------------------------------->___________________________] 60.62% 115 p/s3002 / 4914 [------------------------------------------->___________________________] 61.09% 115 p/s3025 / 4914 [------------------------------------------->___________________________] 61.56% 115 p/s3048 / 4914 [-------------------------------------------->__________________________] 62.03% 115 p/s3071 / 4914 [-------------------------------------------->__________________________] 62.49% 115 p/s3094 / 4914 [-------------------------------------------->__________________________] 62.96% 115 p/s3117 / 4914 [--------------------------------------------->_________________________] 63.43% 115 p/s3140 / 4914 [--------------------------------------------->_________________________] 63.90% 115 p/s3163 / 4914 [--------------------------------------------->_________________________] 64.37% 115 p/s3186 / 4914 [---------------------------------------------->________________________] 64.84% 115 p/s3209 / 4914 [---------------------------------------------->________________________] 65.30% 115 p/s3232 / 4914 [---------------------------------------------->________________________] 65.77% 115 p/s3255 / 4914 [----------------------------------------------->_______________________] 66.24% 115 p/s3278 / 4914 [----------------------------------------------->_______________________] 66.71% 115 p/s3301 / 4914 [----------------------------------------------->_______________________] 67.18% 115 p/s3324 / 4914 [------------------------------------------------>______________________] 67.64% 115 p/s3347 / 4914 [------------------------------------------------>______________________] 68.11% 115 p/s3369 / 4914 [------------------------------------------------>______________________] 68.56% 115 p/s3392 / 4914 [------------------------------------------------->_____________________] 69.03% 115 p/s3415 / 4914 [------------------------------------------------->_____________________] 69.50% 115 p/s3438 / 4914 [------------------------------------------------->_____________________] 69.96% 115 p/s3461 / 4914 [-------------------------------------------------->____________________] 70.43% 115 p/s3484 / 4914 [-------------------------------------------------->____________________] 70.90% 115 p/s3506 / 4914 [-------------------------------------------------->____________________] 71.35% 115 p/s3530 / 4914 [--------------------------------------------------->___________________] 71.84% 115 p/s3552 / 4914 [--------------------------------------------------->___________________] 72.28% 115 p/s3575 / 4914 [--------------------------------------------------->___________________] 72.75% 115 p/s3598 / 4914 [--------------------------------------------------->___________________] 73.22% 115 p/s3621 / 4914 [---------------------------------------------------->__________________] 73.69% 115 p/s3643 / 4914 [---------------------------------------------------->__________________] 74.14% 115 p/s3666 / 4914 [---------------------------------------------------->__________________] 74.60% 115 p/s3689 / 4914 [----------------------------------------------------->_________________] 75.07% 115 p/s3712 / 4914 [----------------------------------------------------->_________________] 75.54% 115 p/s3735 / 4914 [----------------------------------------------------->_________________] 76.01% 115 p/s3758 / 4914 [------------------------------------------------------>________________] 76.48% 115 p/s3780 / 4914 [------------------------------------------------------>________________] 76.92% 115 p/s3803 / 4914 [------------------------------------------------------>________________] 77.39% 115 p/s3826 / 4914 [------------------------------------------------------->_______________] 77.86% 115 p/s3849 / 4914 [------------------------------------------------------->_______________] 78.33% 115 p/s3871 / 4914 [------------------------------------------------------->_______________] 78.77% 115 p/s3894 / 4914 [-------------------------------------------------------->______________] 79.24% 115 p/s3917 / 4914 [-------------------------------------------------------->______________] 79.71% 115 p/s3940 / 4914 [-------------------------------------------------------->______________] 80.18% 115 p/s3963 / 4914 [--------------------------------------------------------->_____________] 80.65% 115 p/s3985 / 4914 [--------------------------------------------------------->_____________] 81.09% 115 p/s4007 / 4914 [--------------------------------------------------------->_____________] 81.54% 114 p/s4030 / 4914 [---------------------------------------------------------->____________] 82.01% 114 p/s4052 / 4914 [---------------------------------------------------------->____________] 82.46% 114 p/s4075 / 4914 [---------------------------------------------------------->____________] 82.93% 114 p/s4097 / 4914 [----------------------------------------------------------->___________] 83.37% 114 p/s4120 / 4914 [----------------------------------------------------------->___________] 83.84% 114 p/s4142 / 4914 [----------------------------------------------------------->___________] 84.29% 114 p/s4165 / 4914 [------------------------------------------------------------>__________] 84.76% 114 p/s4188 / 4914 [------------------------------------------------------------>__________] 85.23% 114 p/s4210 / 4914 [------------------------------------------------------------>__________] 85.67% 114 p/s4233 / 4914 [------------------------------------------------------------->_________] 86.14% 114 p/s4256 / 4914 [------------------------------------------------------------->_________] 86.61% 114 p/s4279 / 4914 [------------------------------------------------------------->_________] 87.08% 114 p/s4302 / 4914 [-------------------------------------------------------------->________] 87.55% 114 p/s4325 / 4914 [-------------------------------------------------------------->________] 88.01% 114 p/s4348 / 4914 [-------------------------------------------------------------->________] 88.48% 114 p/s4370 / 4914 [--------------------------------------------------------------->_______] 88.93% 114 p/s4393 / 4914 [--------------------------------------------------------------->_______] 89.40% 114 p/s4416 / 4914 [--------------------------------------------------------------->_______] 89.87% 114 p/s4439 / 4914 [---------------------------------------------------------------->______] 90.33% 114 p/s4462 / 4914 [---------------------------------------------------------------->______] 90.80% 114 p/s4485 / 4914 [---------------------------------------------------------------->______] 91.27% 114 p/s4508 / 4914 [----------------------------------------------------------------->_____] 91.74% 114 p/s4530 / 4914 [----------------------------------------------------------------->_____] 92.19% 114 p/s4553 / 4914 [----------------------------------------------------------------->_____] 92.65% 114 p/s4576 / 4914 [------------------------------------------------------------------>____] 93.12% 114 p/s4598 / 4914 [------------------------------------------------------------------>____] 93.57% 114 p/s4621 / 4914 [------------------------------------------------------------------>____] 94.04% 114 p/s4644 / 4914 [------------------------------------------------------------------->___] 94.51% 114 p/s4666 / 4914 [------------------------------------------------------------------->___] 94.95% 114 p/s4689 / 4914 [------------------------------------------------------------------->___] 95.42% 114 p/s4712 / 4914 [-------------------------------------------------------------------->__] 95.89% 114 p/s4735 / 4914 [-------------------------------------------------------------------->__] 96.36% 114 p/s4757 / 4914 [-------------------------------------------------------------------->__] 96.81% 114 p/s4780 / 4914 [--------------------------------------------------------------------->_] 97.27% 114 p/s4802 / 4914 [--------------------------------------------------------------------->_] 97.72% 114 p/s4825 / 4914 [--------------------------------------------------------------------->_] 98.19% 114 p/s4847 / 4914 [---------------------------------------------------------------------->] 98.64% 114 p/s4870 / 4914 [---------------------------------------------------------------------->] 99.10% 114 p/s4893 / 4914 [---------------------------------------------------------------------->] 99.57% 114 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-24T04:22:50 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4914 [00:00<?, ?it/s]
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  1%|          | 60/4914 [00:02<02:52, 28.10it/s]
  1%|▏         | 63/4914 [00:02<02:52, 28.10it/s]
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  1%|▏         | 69/4914 [00:02<02:51, 28.20it/s]
  1%|▏         | 72/4914 [00:02<02:51, 28.26it/s]
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  2%|▏         | 87/4914 [00:03<02:50, 28.33it/s]
  2%|▏         | 90/4914 [00:03<02:50, 28.36it/s]
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  2%|▏         | 108/4914 [00:03<02:51, 27.97it/s]
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  2%|▏         | 114/4914 [00:04<02:50, 28.09it/s]
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  3%|▎         | 123/4914 [00:04<02:50, 28.05it/s]
  3%|▎         | 126/4914 [00:04<02:50, 28.01it/s]
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  3%|▎         | 132/4914 [00:04<02:50, 27.99it/s]
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  3%|▎         | 138/4914 [00:04<02:53, 27.47it/s]
  3%|▎         | 141/4914 [00:05<02:52, 27.59it/s]
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  4%|▎         | 174/4914 [00:06<02:48, 28.19it/s]
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2026-02-24T04:25:49 - 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/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-02-24T04:25:50 - INFO: DataPrep 0.14.0a4
2026-02-24T04:25:50 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-02-24T04:25:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:25:50 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:25:50 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-24T04:25:50 - INFO: Preparing sonar data...
2026-02-24T04:25:50 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:25:55 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-02-24T04:25:55 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:25:55 - INFO: Sonar range is 0.939120 m
2026-02-24T04:25:55 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:25:55 - INFO: Processing 4914 sweeps...

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2026-02-24T04:26:07 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:26:10 - INFO: Prepared sonar data in 20.3090 s
2026-02-24T04:26:10 - INFO: No IMU data found
2026-02-24T04:26:11 - INFO: DataPrep took 0:00:20.937074
2026-02-24T04:26:11 - INFO: Extracted sonar data in 0:04:04.735875
2026-02-24T04:26:12 - INFO: MSIP3D took 0:04:05.275421