2026-02-26T07:14:02 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:14:02 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-02-26T07:14:02 - INFO: Found 11 TFD dictionary entries
2026-02-26T07:14:02 - INFO: Found TFD mission for SJ502828 DEP 512
2026-02-26T07:14:02 - INFO: Recording will be processed as SMD
2026-02-26T07:14:02 - INFO: Copying assets JSON to output directory...
2026-02-26T07:14:02 - INFO: Preparing counter data...
2026-02-26T07:14:02 - INFO: Interpreting counter as imperial
2026-02-26T07:14:02 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:14:02 - INFO: Prepared counter data in 0.1948 s
2026-02-26T07:14:02 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 3195
19 / 3195 [>___________________________________________________________________________] 0.59% ? p/s38 / 3195 [>___________________________________________________________________________] 1.19% ? p/s58 / 3195 [->__________________________________________________________________________] 1.82% ? p/s78 / 3195 [->_________________________________________________________________________] 2.44% 98 p/s98 / 3195 [-->________________________________________________________________________] 3.07% 98 p/s117 / 3195 [-->_______________________________________________________________________] 3.66% 98 p/s137 / 3195 [--->______________________________________________________________________] 4.29% 98 p/s156 / 3195 [--->______________________________________________________________________] 4.88% 98 p/s176 / 3195 [---->_____________________________________________________________________] 5.51% 98 p/s196 / 3195 [---->_____________________________________________________________________] 6.13% 98 p/s215 / 3195 [---->_____________________________________________________________________] 6.73% 98 p/s235 / 3195 [----->____________________________________________________________________] 7.36% 98 p/s254 / 3195 [----->____________________________________________________________________] 7.95% 98 p/s274 / 3195 [------>___________________________________________________________________] 8.58% 98 p/s294 / 3195 [------>___________________________________________________________________] 9.20% 98 p/s314 / 3195 [------->__________________________________________________________________] 9.83% 98 p/s334 / 3195 [------->_________________________________________________________________] 10.45% 98 p/s353 / 3195 [-------->________________________________________________________________] 11.05% 98 p/s373 / 3195 [-------->________________________________________________________________] 11.67% 98 p/s393 / 3195 [-------->________________________________________________________________] 12.30% 98 p/s413 / 3195 [--------->_______________________________________________________________] 12.93% 98 p/s433 / 3195 [--------->_______________________________________________________________] 13.55% 98 p/s452 / 3195 [---------->______________________________________________________________] 14.15% 98 p/s471 / 3195 [---------->______________________________________________________________] 14.74% 98 p/s491 / 3195 [----------->_____________________________________________________________] 15.37% 98 p/s510 / 3195 [----------->_____________________________________________________________] 15.96% 98 p/s530 / 3195 [------------>____________________________________________________________] 16.59% 98 p/s550 / 3195 [------------>____________________________________________________________] 17.21% 98 p/s570 / 3195 [------------->___________________________________________________________] 17.84% 98 p/s589 / 3195 [------------->___________________________________________________________] 18.44% 98 p/s609 / 3195 [------------->___________________________________________________________] 19.06% 98 p/s629 / 3195 [-------------->__________________________________________________________] 19.69% 98 p/s649 / 3195 [-------------->__________________________________________________________] 20.31% 98 p/s668 / 3195 [--------------->_________________________________________________________] 20.91% 98 p/s688 / 3195 [--------------->_________________________________________________________] 21.53% 98 p/s708 / 3195 [---------------->________________________________________________________] 22.16% 98 p/s728 / 3195 [---------------->________________________________________________________] 22.79% 98 p/s747 / 3195 [----------------->_______________________________________________________] 23.38% 98 p/s767 / 3195 [----------------->_______________________________________________________] 24.01% 98 p/s787 / 3195 [----------------->_______________________________________________________] 24.63% 98 p/s807 / 3195 [------------------>______________________________________________________] 25.26% 98 p/s826 / 3195 [------------------>______________________________________________________] 25.85% 98 p/s846 / 3195 [------------------->_____________________________________________________] 26.48% 98 p/s866 / 3195 [------------------->_____________________________________________________] 27.10% 98 p/s886 / 3195 [-------------------->____________________________________________________] 27.73% 98 p/s906 / 3195 [-------------------->____________________________________________________] 28.36% 99 p/s925 / 3195 [--------------------->___________________________________________________] 28.95% 99 p/s945 / 3195 [--------------------->___________________________________________________] 29.58% 99 p/s965 / 3195 [---------------------->__________________________________________________] 30.20% 99 p/s985 / 3195 [---------------------->__________________________________________________] 30.83% 99 p/s1004 / 3195 [---------------------->_________________________________________________] 31.42% 99 p/s1023 / 3195 [----------------------->________________________________________________] 32.02% 98 p/s1043 / 3195 [----------------------->________________________________________________] 32.64% 98 p/s1063 / 3195 [----------------------->________________________________________________] 33.27% 98 p/s1083 / 3195 [------------------------>_______________________________________________] 33.90% 99 p/s1102 / 3195 [------------------------>_______________________________________________] 34.49% 99 p/s1122 / 3195 [------------------------->______________________________________________] 35.12% 99 p/s1142 / 3195 [------------------------->______________________________________________] 35.74% 98 p/s1161 / 3195 [-------------------------->_____________________________________________] 36.34% 98 p/s1181 / 3195 [-------------------------->_____________________________________________] 36.96% 98 p/s1201 / 3195 [--------------------------->____________________________________________] 37.59% 98 p/s1220 / 3195 [--------------------------->____________________________________________] 38.18% 98 p/s1240 / 3195 [--------------------------->____________________________________________] 38.81% 98 p/s1260 / 3195 [---------------------------->___________________________________________] 39.44% 98 p/s1280 / 3195 [---------------------------->___________________________________________] 40.06% 98 p/s1300 / 3195 [----------------------------->__________________________________________] 40.69% 98 p/s1319 / 3195 [----------------------------->__________________________________________] 41.28% 98 p/s1339 / 3195 [------------------------------>_________________________________________] 41.91% 98 p/s1359 / 3195 [------------------------------>_________________________________________] 42.54% 98 p/s1379 / 3195 [------------------------------->________________________________________] 43.16% 99 p/s1399 / 3195 [------------------------------->________________________________________] 43.79% 99 p/s1418 / 3195 [------------------------------->________________________________________] 44.38% 99 p/s1438 / 3195 [-------------------------------->_______________________________________] 45.01% 99 p/s1458 / 3195 [-------------------------------->_______________________________________] 45.63% 99 p/s1478 / 3195 [--------------------------------->______________________________________] 46.26% 99 p/s1497 / 3195 [--------------------------------->______________________________________] 46.85% 99 p/s1517 / 3195 [---------------------------------->_____________________________________] 47.48% 99 p/s1537 / 3195 [---------------------------------->_____________________________________] 48.11% 99 p/s1556 / 3195 [----------------------------------->____________________________________] 48.70% 99 p/s1576 / 3195 [----------------------------------->____________________________________] 49.33% 99 p/s1596 / 3195 [----------------------------------->____________________________________] 49.95% 99 p/s1616 / 3195 [------------------------------------>___________________________________] 50.58% 99 p/s1636 / 3195 [------------------------------------>___________________________________] 51.21% 99 p/s1655 / 3195 [------------------------------------->__________________________________] 51.80% 99 p/s1675 / 3195 [------------------------------------->__________________________________] 52.43% 99 p/s1695 / 3195 [-------------------------------------->_________________________________] 53.05% 99 p/s1715 / 3195 [-------------------------------------->_________________________________] 53.68% 99 p/s1735 / 3195 [--------------------------------------->________________________________] 54.30% 99 p/s1754 / 3195 [--------------------------------------->________________________________] 54.90% 99 p/s1774 / 3195 [--------------------------------------->________________________________] 55.52% 99 p/s1794 / 3195 [---------------------------------------->_______________________________] 56.15% 99 p/s1814 / 3195 [---------------------------------------->_______________________________] 56.78% 99 p/s1833 / 3195 [----------------------------------------->______________________________] 57.37% 99 p/s1853 / 3195 [----------------------------------------->______________________________] 58.00% 99 p/s1873 / 3195 [------------------------------------------>_____________________________] 58.62% 99 p/s1893 / 3195 [------------------------------------------>_____________________________] 59.25% 99 p/s1912 / 3195 [------------------------------------------->____________________________] 59.84% 99 p/s1932 / 3195 [------------------------------------------->____________________________] 60.47% 99 p/s1952 / 3195 [------------------------------------------->____________________________] 61.10% 99 p/s1972 / 3195 [-------------------------------------------->___________________________] 61.72% 99 p/s1991 / 3195 [-------------------------------------------->___________________________] 62.32% 99 p/s2011 / 3195 [--------------------------------------------->__________________________] 62.94% 99 p/s2030 / 3195 [--------------------------------------------->__________________________] 63.54% 99 p/s2049 / 3195 [---------------------------------------------->_________________________] 64.13% 99 p/s2068 / 3195 [---------------------------------------------->_________________________] 64.73% 99 p/s2088 / 3195 [----------------------------------------------->________________________] 65.35% 98 p/s2108 / 3195 [----------------------------------------------->________________________] 65.98% 98 p/s2127 / 3195 [----------------------------------------------->________________________] 66.57% 98 p/s2147 / 3195 [------------------------------------------------>_______________________] 67.20% 98 p/s2167 / 3195 [------------------------------------------------>_______________________] 67.82% 98 p/s2186 / 3195 [------------------------------------------------->______________________] 68.42% 98 p/s2206 / 3195 [------------------------------------------------->______________________] 69.05% 98 p/s2226 / 3195 [-------------------------------------------------->_____________________] 69.67% 98 p/s2245 / 3195 [-------------------------------------------------->_____________________] 70.27% 98 p/s2265 / 3195 [--------------------------------------------------->____________________] 70.89% 98 p/s2285 / 3195 [--------------------------------------------------->____________________] 71.52% 98 p/s2304 / 3195 [--------------------------------------------------->____________________] 72.11% 98 p/s2324 / 3195 [---------------------------------------------------->___________________] 72.74% 98 p/s2344 / 3195 [---------------------------------------------------->___________________] 73.36% 98 p/s2363 / 3195 [----------------------------------------------------->__________________] 73.96% 98 p/s2383 / 3195 [----------------------------------------------------->__________________] 74.59% 98 p/s2402 / 3195 [------------------------------------------------------>_________________] 75.18% 98 p/s2417 / 3195 [------------------------------------------------------>_________________] 75.65% 98 p/s2437 / 3195 [------------------------------------------------------>_________________] 76.28% 98 p/s2456 / 3195 [------------------------------------------------------->________________] 76.87% 98 p/s2476 / 3195 [------------------------------------------------------->________________] 77.50% 98 p/s2496 / 3195 [-------------------------------------------------------->_______________] 78.12% 98 p/s2516 / 3195 [-------------------------------------------------------->_______________] 78.75% 98 p/s2535 / 3195 [--------------------------------------------------------->______________] 79.34% 98 p/s2555 / 3195 [--------------------------------------------------------->______________] 79.97% 98 p/s2574 / 3195 [---------------------------------------------------------->_____________] 80.56% 98 p/s2594 / 3195 [---------------------------------------------------------->_____________] 81.19% 98 p/s2614 / 3195 [---------------------------------------------------------->_____________] 81.82% 98 p/s2633 / 3195 [----------------------------------------------------------->____________] 82.41% 98 p/s2653 / 3195 [----------------------------------------------------------->____________] 83.04% 98 p/s2673 / 3195 [------------------------------------------------------------>___________] 83.66% 98 p/s2692 / 3195 [------------------------------------------------------------>___________] 84.26% 98 p/s2712 / 3195 [------------------------------------------------------------->__________] 84.88% 98 p/s2731 / 3195 [------------------------------------------------------------->__________] 85.48% 98 p/s2751 / 3195 [------------------------------------------------------------->__________] 86.10% 98 p/s2771 / 3195 [-------------------------------------------------------------->_________] 86.73% 98 p/s2790 / 3195 [-------------------------------------------------------------->_________] 87.32% 98 p/s2810 / 3195 [--------------------------------------------------------------->________] 87.95% 98 p/s2829 / 3195 [--------------------------------------------------------------->________] 88.54% 98 p/s2849 / 3195 [---------------------------------------------------------------->_______] 89.17% 98 p/s2869 / 3195 [---------------------------------------------------------------->_______] 89.80% 98 p/s2888 / 3195 [----------------------------------------------------------------->______] 90.39% 98 p/s2908 / 3195 [----------------------------------------------------------------->______] 91.02% 98 p/s2928 / 3195 [----------------------------------------------------------------->______] 91.64% 98 p/s2947 / 3195 [------------------------------------------------------------------>_____] 92.24% 98 p/s2967 / 3195 [------------------------------------------------------------------>_____] 92.86% 98 p/s2987 / 3195 [------------------------------------------------------------------->____] 93.49% 98 p/s3007 / 3195 [------------------------------------------------------------------->____] 94.12% 98 p/s3026 / 3195 [-------------------------------------------------------------------->___] 94.71% 98 p/s3046 / 3195 [-------------------------------------------------------------------->___] 95.34% 98 p/s3066 / 3195 [--------------------------------------------------------------------->__] 95.96% 98 p/s3085 / 3195 [--------------------------------------------------------------------->__] 96.56% 98 p/s3104 / 3195 [--------------------------------------------------------------------->__] 97.15% 98 p/s3124 / 3195 [---------------------------------------------------------------------->_] 97.78% 98 p/s3144 / 3195 [---------------------------------------------------------------------->_] 98.40% 98 p/s3163 / 3195 [----------------------------------------------------------------------->] 99.00% 98 p/s3183 / 3195 [----------------------------------------------------------------------->] 99.62% 98 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-02-26T07:14:35 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3195 [00:00<?, ?it/s]
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2026-02-26T07:16:40 - 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/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-02-26T07:16:41 - INFO: DataPrep 0.14.0a5
2026-02-26T07:16:41 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-02-26T07:16:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:16:41 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:16:41 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-02-26T07:16:41 - INFO: Preparing sonar data...
2026-02-26T07:16:41 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:16:44 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-02-26T07:16:44 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:16:44 - INFO: Sonar range is 1.878240 m
2026-02-26T07:16:44 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:16:44 - INFO: Processing 3195 sweeps...

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2026-02-26T07:16:52 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:16:55 - INFO: Prepared sonar data in 14.3058 s
2026-02-26T07:16:55 - INFO: No IMU data found
2026-02-26T07:16:56 - INFO: DataPrep took 0:00:14.767345
2026-02-26T07:16:56 - INFO: Extracted sonar data in 0:02:53.529377
2026-02-26T07:16:56 - INFO: MSIP3D took 0:02:54.003015