2026-02-26T06:53:45 - INFO: MSIP3D 0.2.0a9
2026-02-26T06:53:45 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-26T06:53:45 - INFO: Found 10 TFD dictionary entries
2026-02-26T06:53:45 - INFO: Found TFD mission for SJ502795 Dep 2
2026-02-26T06:53:45 - INFO: Recording will be processed as MD
2026-02-26T06:53:45 - INFO: Copying assets JSON to output directory...
2026-02-26T06:53:45 - INFO: Preparing counter data...
2026-02-26T06:53:45 - INFO: Interpreting counter as imperial
2026-02-26T06:53:45 - INFO: Preparing shape track from assets JSON...
2026-02-26T06:53:45 - INFO: Prepared counter data in 0.0072 s
2026-02-26T06:53:45 - 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: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2550
21 / 2550 [>___________________________________________________________________________] 0.82% ? p/s44 / 2550 [->__________________________________________________________________________] 1.73% ? p/s66 / 2550 [->__________________________________________________________________________] 2.59% ? p/s88 / 2550 [-->_______________________________________________________________________] 3.45% 112 p/s105 / 2550 [--->_____________________________________________________________________] 4.12% 112 p/s126 / 2550 [--->_____________________________________________________________________] 4.94% 112 p/s148 / 2550 [---->____________________________________________________________________] 5.80% 111 p/s170 / 2550 [---->____________________________________________________________________] 6.67% 111 p/s192 / 2550 [----->___________________________________________________________________] 7.53% 111 p/s214 / 2550 [------>__________________________________________________________________] 8.39% 111 p/s236 / 2550 [------>__________________________________________________________________] 9.25% 111 p/s257 / 2550 [------->________________________________________________________________] 10.08% 111 p/s279 / 2550 [------->________________________________________________________________] 10.94% 111 p/s301 / 2550 [-------->_______________________________________________________________] 11.80% 111 p/s324 / 2550 [--------->______________________________________________________________] 12.71% 111 p/s346 / 2550 [--------->______________________________________________________________] 13.57% 111 p/s368 / 2550 [---------->_____________________________________________________________] 14.43% 111 p/s390 / 2550 [----------->____________________________________________________________] 15.29% 111 p/s412 / 2550 [----------->____________________________________________________________] 16.16% 111 p/s434 / 2550 [------------>___________________________________________________________] 17.02% 111 p/s457 / 2550 [------------>___________________________________________________________] 17.92% 111 p/s479 / 2550 [------------->__________________________________________________________] 18.78% 111 p/s501 / 2550 [-------------->_________________________________________________________] 19.65% 111 p/s523 / 2550 [-------------->_________________________________________________________] 20.51% 111 p/s545 / 2550 [--------------->________________________________________________________] 21.37% 111 p/s568 / 2550 [---------------->_______________________________________________________] 22.27% 111 p/s590 / 2550 [---------------->_______________________________________________________] 23.14% 111 p/s613 / 2550 [----------------->______________________________________________________] 24.04% 111 p/s635 / 2550 [----------------->______________________________________________________] 24.90% 111 p/s658 / 2550 [------------------>_____________________________________________________] 25.80% 111 p/s681 / 2550 [------------------->____________________________________________________] 26.71% 111 p/s703 / 2550 [------------------->____________________________________________________] 27.57% 111 p/s726 / 2550 [-------------------->___________________________________________________] 28.47% 111 p/s748 / 2550 [--------------------->__________________________________________________] 29.33% 111 p/s770 / 2550 [--------------------->__________________________________________________] 30.20% 111 p/s793 / 2550 [---------------------->_________________________________________________] 31.10% 111 p/s815 / 2550 [----------------------->________________________________________________] 31.96% 111 p/s838 / 2550 [----------------------->________________________________________________] 32.86% 111 p/s860 / 2550 [------------------------>_______________________________________________] 33.73% 111 p/s882 / 2550 [------------------------>_______________________________________________] 34.59% 111 p/s904 / 2550 [------------------------->______________________________________________] 35.45% 111 p/s926 / 2550 [-------------------------->_____________________________________________] 36.31% 111 p/s948 / 2550 [-------------------------->_____________________________________________] 37.18% 111 p/s971 / 2550 [--------------------------->____________________________________________] 38.08% 111 p/s993 / 2550 [---------------------------->___________________________________________] 38.94% 111 p/s1016 / 2550 [---------------------------->__________________________________________] 39.84% 111 p/s1037 / 2550 [---------------------------->__________________________________________] 40.67% 111 p/s1060 / 2550 [----------------------------->_________________________________________] 41.57% 111 p/s1082 / 2550 [------------------------------>________________________________________] 42.43% 111 p/s1104 / 2550 [------------------------------>________________________________________] 43.29% 111 p/s1127 / 2550 [------------------------------->_______________________________________] 44.20% 111 p/s1148 / 2550 [------------------------------->_______________________________________] 45.02% 111 p/s1170 / 2550 [-------------------------------->______________________________________] 45.88% 111 p/s1190 / 2550 [--------------------------------->_____________________________________] 46.67% 111 p/s1211 / 2550 [--------------------------------->_____________________________________] 47.49% 111 p/s1232 / 2550 [---------------------------------->____________________________________] 48.31% 111 p/s1254 / 2550 [---------------------------------->____________________________________] 49.18% 111 p/s1276 / 2550 [----------------------------------->___________________________________] 50.04% 111 p/s1297 / 2550 [------------------------------------>__________________________________] 50.86% 111 p/s1319 / 2550 [------------------------------------>__________________________________] 51.73% 111 p/s1340 / 2550 [------------------------------------->_________________________________] 52.55% 110 p/s1362 / 2550 [------------------------------------->_________________________________] 53.41% 110 p/s1383 / 2550 [-------------------------------------->________________________________] 54.24% 110 p/s1406 / 2550 [--------------------------------------->_______________________________] 55.14% 110 p/s1426 / 2550 [--------------------------------------->_______________________________] 55.92% 110 p/s1448 / 2550 [---------------------------------------->______________________________] 56.78% 110 p/s1470 / 2550 [---------------------------------------->______________________________] 57.65% 110 p/s1492 / 2550 [----------------------------------------->_____________________________] 58.51% 110 p/s1515 / 2550 [------------------------------------------>____________________________] 59.41% 110 p/s1537 / 2550 [------------------------------------------>____________________________] 60.27% 110 p/s1559 / 2550 [------------------------------------------->___________________________] 61.14% 110 p/s1582 / 2550 [-------------------------------------------->__________________________] 62.04% 110 p/s1603 / 2550 [-------------------------------------------->__________________________] 62.86% 110 p/s1624 / 2550 [--------------------------------------------->_________________________] 63.69% 110 p/s1646 / 2550 [--------------------------------------------->_________________________] 64.55% 110 p/s1669 / 2550 [---------------------------------------------->________________________] 65.45% 110 p/s1691 / 2550 [----------------------------------------------->_______________________] 66.31% 110 p/s1713 / 2550 [----------------------------------------------->_______________________] 67.18% 110 p/s1736 / 2550 [------------------------------------------------>______________________] 68.08% 110 p/s1758 / 2550 [------------------------------------------------>______________________] 68.94% 110 p/s1780 / 2550 [------------------------------------------------->_____________________] 69.80% 110 p/s1802 / 2550 [-------------------------------------------------->____________________] 70.67% 110 p/s1824 / 2550 [-------------------------------------------------->____________________] 71.53% 110 p/s1846 / 2550 [--------------------------------------------------->___________________] 72.39% 110 p/s1868 / 2550 [---------------------------------------------------->__________________] 73.25% 110 p/s1890 / 2550 [---------------------------------------------------->__________________] 74.12% 110 p/s1912 / 2550 [----------------------------------------------------->_________________] 74.98% 110 p/s1933 / 2550 [----------------------------------------------------->_________________] 75.80% 110 p/s1954 / 2550 [------------------------------------------------------>________________] 76.63% 110 p/s1976 / 2550 [------------------------------------------------------->_______________] 77.49% 110 p/s1998 / 2550 [------------------------------------------------------->_______________] 78.35% 110 p/s2020 / 2550 [-------------------------------------------------------->______________] 79.22% 110 p/s2042 / 2550 [-------------------------------------------------------->______________] 80.08% 110 p/s2064 / 2550 [--------------------------------------------------------->_____________] 80.94% 110 p/s2086 / 2550 [---------------------------------------------------------->____________] 81.80% 110 p/s2108 / 2550 [---------------------------------------------------------->____________] 82.67% 110 p/s2131 / 2550 [----------------------------------------------------------->___________] 83.57% 110 p/s2154 / 2550 [----------------------------------------------------------->___________] 84.47% 110 p/s2177 / 2550 [------------------------------------------------------------>__________] 85.37% 110 p/s2200 / 2550 [------------------------------------------------------------->_________] 86.27% 110 p/s2223 / 2550 [------------------------------------------------------------->_________] 87.18% 110 p/s2245 / 2550 [-------------------------------------------------------------->________] 88.04% 110 p/s2267 / 2550 [--------------------------------------------------------------->_______] 88.90% 110 p/s2290 / 2550 [--------------------------------------------------------------->_______] 89.80% 110 p/s2312 / 2550 [---------------------------------------------------------------->______] 90.67% 110 p/s2335 / 2550 [----------------------------------------------------------------->_____] 91.57% 111 p/s2357 / 2550 [----------------------------------------------------------------->_____] 92.43% 111 p/s2380 / 2550 [------------------------------------------------------------------>____] 93.33% 111 p/s2402 / 2550 [------------------------------------------------------------------>____] 94.20% 111 p/s2424 / 2550 [------------------------------------------------------------------->___] 95.06% 111 p/s2447 / 2550 [-------------------------------------------------------------------->__] 95.96% 111 p/s2470 / 2550 [-------------------------------------------------------------------->__] 96.86% 111 p/s2492 / 2550 [--------------------------------------------------------------------->_] 97.73% 111 p/s2515 / 2550 [---------------------------------------------------------------------->] 98.63% 111 p/s2537 / 2550 [---------------------------------------------------------------------->] 99.49% 111 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 111 p/s2026-02-26T06:54:08 - 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<01:34, 27.03it/s]
  0%|          | 6/2550 [00:00<01:32, 27.61it/s]
  0%|          | 9/2550 [00:00<01:30, 27.96it/s]
  0%|          | 12/2550 [00:00<01:30, 28.04it/s]
  1%|          | 15/2550 [00:00<01:32, 27.28it/s]
  1%|          | 18/2550 [00:00<01:32, 27.40it/s]
  1%|          | 21/2550 [00:00<01:31, 27.62it/s]
  1%|          | 24/2550 [00:00<01:30, 27.78it/s]
  1%|          | 27/2550 [00:00<01:30, 27.89it/s]
  1%|          | 30/2550 [00:01<01:30, 27.89it/s]
  1%|▏         | 33/2550 [00:01<01:30, 27.86it/s]
  1%|▏         | 36/2550 [00:01<01:30, 27.65it/s]
  2%|▏         | 39/2550 [00:01<01:30, 27.90it/s]
  2%|▏         | 42/2550 [00:01<01:29, 27.99it/s]
  2%|▏         | 45/2550 [00:01<01:29, 28.05it/s]
  2%|▏         | 48/2550 [00:01<01:28, 28.16it/s]
  2%|▏         | 51/2550 [00:01<01:28, 28.21it/s]
  2%|▏         | 54/2550 [00:01<01:28, 28.22it/s]
  2%|▏         | 57/2550 [00:02<01:30, 27.64it/s]
  2%|▏         | 60/2550 [00:02<01:29, 27.87it/s]
  2%|▏         | 63/2550 [00:02<01:29, 27.89it/s]
  3%|▎         | 66/2550 [00:02<01:28, 27.95it/s]
  3%|▎         | 69/2550 [00:02<01:28, 27.96it/s]
  3%|▎         | 72/2550 [00:02<01:28, 27.96it/s]
  3%|▎         | 75/2550 [00:02<01:28, 28.02it/s]
  3%|▎         | 78/2550 [00:02<01:27, 28.11it/s]
  3%|▎         | 81/2550 [00:02<01:27, 28.11it/s]
  3%|▎         | 84/2550 [00:03<01:27, 28.11it/s]
  3%|▎         | 87/2550 [00:03<01:27, 28.07it/s]
  4%|▎         | 90/2550 [00:03<01:27, 28.09it/s]
  4%|▎         | 93/2550 [00:03<01:27, 28.18it/s]
  4%|▍         | 96/2550 [00:03<01:27, 28.13it/s]
  4%|▍         | 99/2550 [00:03<01:27, 28.10it/s]
  4%|▍         | 102/2550 [00:03<01:27, 28.14it/s]
  4%|▍         | 105/2550 [00:03<01:26, 28.16it/s]
  4%|▍         | 108/2550 [00:03<01:27, 27.80it/s]
  4%|▍         | 111/2550 [00:03<01:27, 27.87it/s]
  4%|▍         | 114/2550 [00:04<01:27, 27.93it/s]
  5%|▍         | 117/2550 [00:04<01:27, 27.94it/s]
  5%|▍         | 120/2550 [00:04<01:26, 28.00it/s]
  5%|▍         | 123/2550 [00:04<01:27, 27.73it/s]
  5%|▍         | 126/2550 [00:04<01:27, 27.84it/s]
  5%|▌         | 129/2550 [00:04<01:26, 27.93it/s]
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  5%|▌         | 135/2550 [00:04<01:26, 28.06it/s]
  5%|▌         | 138/2550 [00:04<01:25, 28.10it/s]
  6%|▌         | 141/2550 [00:05<01:25, 28.11it/s]
  6%|▌         | 144/2550 [00:05<01:25, 28.11it/s]
  6%|▌         | 147/2550 [00:05<01:25, 28.14it/s]
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  6%|▋         | 162/2550 [00:05<01:26, 27.53it/s]
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  7%|▋         | 168/2550 [00:06<01:26, 27.61it/s]
  7%|▋         | 171/2550 [00:06<01:26, 27.56it/s]
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  7%|▋         | 189/2550 [00:06<01:30, 26.15it/s]
  8%|▊         | 192/2550 [00:06<01:28, 26.50it/s]
  8%|▊         | 195/2550 [00:07<01:27, 26.85it/s]
  8%|▊         | 198/2550 [00:07<01:26, 27.12it/s]
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  8%|▊         | 207/2550 [00:07<01:37, 24.00it/s]
  8%|▊         | 210/2550 [00:07<01:33, 25.02it/s]
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 10%|▉         | 243/2550 [00:08<01:23, 27.47it/s]
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 10%|▉         | 249/2550 [00:09<01:23, 27.43it/s]
 10%|▉         | 252/2550 [00:09<01:23, 27.58it/s]
 10%|█         | 255/2550 [00:09<01:22, 27.70it/s]
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 10%|█         | 261/2550 [00:09<01:22, 27.81it/s]
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 10%|█         | 267/2550 [00:09<01:21, 27.92it/s]
 11%|█         | 270/2550 [00:09<01:21, 27.94it/s]
 11%|█         | 273/2550 [00:09<01:21, 27.96it/s]
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 11%|█         | 282/2550 [00:10<01:21, 27.93it/s]
 11%|█         | 285/2550 [00:10<01:21, 27.83it/s]
 11%|█▏        | 288/2550 [00:10<01:21, 27.62it/s]
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2026-02-26T06:55:44 - 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"
2026-02-26T06:55:45 - INFO: DataPrep 0.14.0a5
2026-02-26T06:55:45 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-02-26T06:55:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T06:55:45 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T06:55:45 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-26T06:55:45 - INFO: Preparing sonar data...
2026-02-26T06:55:45 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T06:55:47 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-02-26T06:55:47 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T06:55:47 - INFO: Sonar range is 0.722400 m
2026-02-26T06:55:47 - INFO: Speed of sound is 1494 m/s
2026-02-26T06:55:47 - INFO: Processing 2549 sweeps...

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2026-02-26T06:55:57 - INFO: Creating sonar sensor alignment track...
2026-02-26T06:55:59 - INFO: Prepared sonar data in 13.5810 s
2026-02-26T06:55:59 - INFO: No IMU data found
2026-02-26T06:55:59 - INFO: DataPrep took 0:00:13.925504
2026-02-26T06:55:59 - INFO: Extracted sonar data in 0:02:13.782467
2026-02-26T06:55:59 - INFO: MSIP3D took 0:02:14.057041