2026-02-26T07:00:18 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:00:18 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-02-26T07:00:18 - INFO: Found 11 TFD dictionary entries
2026-02-26T07:00:18 - INFO: Found TFD mission for SJ502828 DEP 514
2026-02-26T07:00:18 - INFO: Recording will be processed as SMD
2026-02-26T07:00:18 - INFO: Copying assets JSON to output directory...
2026-02-26T07:00:18 - INFO: Preparing counter data...
2026-02-26T07:00:18 - INFO: Interpreting counter as imperial
2026-02-26T07:00:18 - INFO: Preparing shape track from assets JSON...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
2026-02-26T07:00:18 - INFO: Prepared counter data in 0.1324 s
2026-02-26T07:00:18 - INFO: Extracting sonar data...
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1806
18 / 1806 [>___________________________________________________________________________] 1.00% ? p/s38 / 1806 [->__________________________________________________________________________] 2.10% ? p/s56 / 1806 [-->_________________________________________________________________________] 3.10% ? p/s76 / 1806 [--->_______________________________________________________________________] 4.21% 97 p/s95 / 1806 [--->_______________________________________________________________________] 5.26% 97 p/s114 / 1806 [---->_____________________________________________________________________] 6.31% 97 p/s132 / 1806 [----->____________________________________________________________________] 7.31% 96 p/s152 / 1806 [------>___________________________________________________________________] 8.42% 96 p/s172 / 1806 [------->__________________________________________________________________] 9.52% 96 p/s191 / 1806 [------->_________________________________________________________________] 10.58% 97 p/s211 / 1806 [-------->________________________________________________________________] 11.68% 97 p/s231 / 1806 [--------->_______________________________________________________________] 12.79% 97 p/s250 / 1806 [---------->______________________________________________________________] 13.84% 97 p/s269 / 1806 [---------->______________________________________________________________] 14.89% 97 p/s288 / 1806 [----------->_____________________________________________________________] 15.95% 97 p/s307 / 1806 [------------>____________________________________________________________] 17.00% 97 p/s327 / 1806 [------------->___________________________________________________________] 18.11% 97 p/s346 / 1806 [------------->___________________________________________________________] 19.16% 97 p/s366 / 1806 [-------------->__________________________________________________________] 20.27% 97 p/s386 / 1806 [--------------->_________________________________________________________] 21.37% 97 p/s406 / 1806 [---------------->________________________________________________________] 22.48% 97 p/s425 / 1806 [----------------->_______________________________________________________] 23.53% 97 p/s445 / 1806 [----------------->_______________________________________________________] 24.64% 97 p/s465 / 1806 [------------------>______________________________________________________] 25.75% 97 p/s484 / 1806 [------------------->_____________________________________________________] 26.80% 97 p/s504 / 1806 [-------------------->____________________________________________________] 27.91% 97 p/s523 / 1806 [--------------------->___________________________________________________] 28.96% 97 p/s542 / 1806 [--------------------->___________________________________________________] 30.01% 97 p/s562 / 1806 [---------------------->__________________________________________________] 31.12% 97 p/s582 / 1806 [----------------------->_________________________________________________] 32.23% 97 p/s601 / 1806 [------------------------>________________________________________________] 33.28% 97 p/s621 / 1806 [------------------------->_______________________________________________] 34.39% 97 p/s641 / 1806 [------------------------->_______________________________________________] 35.49% 97 p/s660 / 1806 [-------------------------->______________________________________________] 36.54% 97 p/s680 / 1806 [--------------------------->_____________________________________________] 37.65% 97 p/s699 / 1806 [---------------------------->____________________________________________] 38.70% 97 p/s719 / 1806 [----------------------------->___________________________________________] 39.81% 97 p/s738 / 1806 [----------------------------->___________________________________________] 40.86% 97 p/s758 / 1806 [------------------------------>__________________________________________] 41.97% 97 p/s778 / 1806 [------------------------------->_________________________________________] 43.08% 97 p/s794 / 1806 [-------------------------------->________________________________________] 43.96% 97 p/s805 / 1806 [-------------------------------->________________________________________] 44.57% 97 p/s824 / 1806 [--------------------------------->_______________________________________] 45.63% 96 p/s844 / 1806 [---------------------------------->______________________________________] 46.73% 96 p/s863 / 1806 [---------------------------------->______________________________________] 47.79% 96 p/s883 / 1806 [----------------------------------->_____________________________________] 48.89% 96 p/s903 / 1806 [------------------------------------>____________________________________] 50.00% 96 p/s923 / 1806 [------------------------------------->___________________________________] 51.11% 96 p/s942 / 1806 [-------------------------------------->__________________________________] 52.16% 96 p/s962 / 1806 [-------------------------------------->__________________________________] 53.27% 96 p/s981 / 1806 [--------------------------------------->_________________________________] 54.32% 96 p/s1001 / 1806 [--------------------------------------->________________________________] 55.43% 96 p/s1020 / 1806 [---------------------------------------->_______________________________] 56.48% 96 p/s1040 / 1806 [----------------------------------------->______________________________] 57.59% 96 p/s1059 / 1806 [------------------------------------------>_____________________________] 58.64% 96 p/s1079 / 1806 [------------------------------------------->____________________________] 59.75% 96 p/s1099 / 1806 [------------------------------------------->____________________________] 60.85% 96 p/s1119 / 1806 [-------------------------------------------->___________________________] 61.96% 97 p/s1138 / 1806 [--------------------------------------------->__________________________] 63.01% 97 p/s1158 / 1806 [---------------------------------------------->_________________________] 64.12% 97 p/s1178 / 1806 [---------------------------------------------->_________________________] 65.23% 97 p/s1197 / 1806 [----------------------------------------------->________________________] 66.28% 97 p/s1217 / 1806 [------------------------------------------------>_______________________] 67.39% 97 p/s1237 / 1806 [------------------------------------------------->______________________] 68.49% 97 p/s1256 / 1806 [-------------------------------------------------->_____________________] 69.55% 97 p/s1276 / 1806 [-------------------------------------------------->_____________________] 70.65% 97 p/s1296 / 1806 [--------------------------------------------------->____________________] 71.76% 97 p/s1315 / 1806 [---------------------------------------------------->___________________] 72.81% 97 p/s1335 / 1806 [----------------------------------------------------->__________________] 73.92% 97 p/s1355 / 1806 [------------------------------------------------------>_________________] 75.03% 97 p/s1375 / 1806 [------------------------------------------------------>_________________] 76.14% 97 p/s1394 / 1806 [------------------------------------------------------->________________] 77.19% 97 p/s1414 / 1806 [-------------------------------------------------------->_______________] 78.29% 97 p/s1433 / 1806 [--------------------------------------------------------->______________] 79.35% 97 p/s1453 / 1806 [--------------------------------------------------------->______________] 80.45% 97 p/s1473 / 1806 [---------------------------------------------------------->_____________] 81.56% 97 p/s1492 / 1806 [----------------------------------------------------------->____________] 82.61% 97 p/s1512 / 1806 [------------------------------------------------------------>___________] 83.72% 97 p/s1532 / 1806 [------------------------------------------------------------->__________] 84.83% 97 p/s1551 / 1806 [------------------------------------------------------------->__________] 85.88% 97 p/s1571 / 1806 [-------------------------------------------------------------->_________] 86.99% 97 p/s1590 / 1806 [--------------------------------------------------------------->________] 88.04% 97 p/s1610 / 1806 [---------------------------------------------------------------->_______] 89.15% 97 p/s1630 / 1806 [---------------------------------------------------------------->_______] 90.25% 97 p/s1649 / 1806 [----------------------------------------------------------------->______] 91.31% 97 p/s1669 / 1806 [------------------------------------------------------------------>_____] 92.41% 97 p/s1689 / 1806 [------------------------------------------------------------------->____] 93.52% 97 p/s1708 / 1806 [-------------------------------------------------------------------->___] 94.57% 97 p/s1728 / 1806 [-------------------------------------------------------------------->___] 95.68% 97 p/s1748 / 1806 [--------------------------------------------------------------------->__] 96.79% 97 p/s1767 / 1806 [---------------------------------------------------------------------->_] 97.84% 97 p/s1787 / 1806 [----------------------------------------------------------------------->] 98.95% 97 p/s1801 / 1806 [----------------------------------------------------------------------->] 99.72% 97 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-02-26T07:00:37 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1806 [00:00<?, ?it/s]
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  0%|          | 6/1806 [00:00<01:11, 25.29it/s]
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  1%|          | 12/1806 [00:00<01:08, 26.01it/s]
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  1%|          | 18/1806 [00:00<01:07, 26.50it/s]
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  2%|▏         | 30/1806 [00:01<01:06, 26.64it/s]
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2026-02-26T07:01:47 - 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/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-02-26T07:01:48 - INFO: DataPrep 0.14.0a5
2026-02-26T07:01:48 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-02-26T07:01:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:01:48 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:01:48 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-02-26T07:01:48 - INFO: Preparing sonar data...
2026-02-26T07:01:48 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:01:50 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-02-26T07:01:50 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:01:50 - INFO: Sonar range is 1.589280 m
2026-02-26T07:01:50 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:01:50 - INFO: Processing 1806 sweeps...

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2026-02-26T07:01:55 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:01:57 - INFO: Prepared sonar data in 8.6539 s
2026-02-26T07:01:57 - INFO: No IMU data found
2026-02-26T07:01:57 - INFO: DataPrep took 0:00:08.922027
2026-02-26T07:01:57 - INFO: Extracted sonar data in 0:01:38.779627
2026-02-26T07:01:57 - INFO: MSIP3D took 0:01:39.071701