2026-02-26T07:14:25 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:14:25 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-02-26T07:14:25 - INFO: Found 10 TFD dictionary entries
2026-02-26T07:14:25 - INFO: Found TFD mission for SJ502795 Dep 8
2026-02-26T07:14:25 - INFO: Recording will be processed as MD
2026-02-26T07:14:25 - INFO: Copying assets JSON to output directory...
2026-02-26T07:14:25 - INFO: Preparing counter data...
2026-02-26T07:14:25 - INFO: Interpreting counter as imperial
2026-02-26T07:14:25 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:14:25 - INFO: Prepared counter data in 0.1362 s
2026-02-26T07:14:25 - INFO: Extracting sonar data...
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/SJ502795_Dep_8.tfd
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4266
22 / 4266 [>___________________________________________________________________________] 0.52% ? p/s45 / 4266 [>___________________________________________________________________________] 1.05% ? p/s67 / 4266 [->__________________________________________________________________________] 1.57% ? p/s90 / 4266 [->________________________________________________________________________] 2.11% 113 p/s112 / 4266 [->_______________________________________________________________________] 2.63% 113 p/s134 / 4266 [-->______________________________________________________________________] 3.14% 113 p/s157 / 4266 [-->______________________________________________________________________] 3.68% 113 p/s179 / 4266 [--->_____________________________________________________________________] 4.20% 113 p/s202 / 4266 [--->_____________________________________________________________________] 4.74% 113 p/s224 / 4266 [--->_____________________________________________________________________] 5.25% 113 p/s247 / 4266 [---->____________________________________________________________________] 5.79% 113 p/s266 / 4266 [---->____________________________________________________________________] 6.24% 113 p/s288 / 4266 [---->____________________________________________________________________] 6.75% 113 p/s311 / 4266 [----->___________________________________________________________________] 7.29% 113 p/s332 / 4266 [----->___________________________________________________________________] 7.78% 113 p/s354 / 4266 [------>__________________________________________________________________] 8.30% 113 p/s375 / 4266 [------>__________________________________________________________________] 8.79% 113 p/s398 / 4266 [------>__________________________________________________________________] 9.33% 113 p/s421 / 4266 [------->_________________________________________________________________] 9.87% 112 p/s444 / 4266 [------->________________________________________________________________] 10.41% 112 p/s466 / 4266 [------->________________________________________________________________] 10.92% 112 p/s485 / 4266 [-------->_______________________________________________________________] 11.37% 112 p/s506 / 4266 [-------->_______________________________________________________________] 11.86% 112 p/s526 / 4266 [-------->_______________________________________________________________] 12.33% 112 p/s549 / 4266 [--------->______________________________________________________________] 12.87% 112 p/s571 / 4266 [--------->______________________________________________________________] 13.38% 112 p/s594 / 4266 [---------->_____________________________________________________________] 13.92% 112 p/s615 / 4266 [---------->_____________________________________________________________] 14.42% 112 p/s638 / 4266 [---------->_____________________________________________________________] 14.96% 112 p/s660 / 4266 [----------->____________________________________________________________] 15.47% 112 p/s683 / 4266 [----------->____________________________________________________________] 16.01% 112 p/s704 / 4266 [----------->____________________________________________________________] 16.50% 112 p/s726 / 4266 [------------>___________________________________________________________] 17.02% 112 p/s747 / 4266 [------------>___________________________________________________________] 17.51% 111 p/s770 / 4266 [------------>___________________________________________________________] 18.05% 111 p/s792 / 4266 [------------->__________________________________________________________] 18.57% 111 p/s814 / 4266 [------------->__________________________________________________________] 19.08% 111 p/s837 / 4266 [-------------->_________________________________________________________] 19.62% 111 p/s860 / 4266 [-------------->_________________________________________________________] 20.16% 111 p/s883 / 4266 [-------------->_________________________________________________________] 20.70% 112 p/s904 / 4266 [--------------->________________________________________________________] 21.19% 112 p/s924 / 4266 [--------------->________________________________________________________] 21.66% 112 p/s945 / 4266 [--------------->________________________________________________________] 22.15% 111 p/s966 / 4266 [---------------->_______________________________________________________] 22.64% 111 p/s988 / 4266 [---------------->_______________________________________________________] 23.16% 111 p/s1009 / 4266 [---------------->______________________________________________________] 23.65% 111 p/s1028 / 4266 [----------------->_____________________________________________________] 24.10% 111 p/s1049 / 4266 [----------------->_____________________________________________________] 24.59% 111 p/s1070 / 4266 [----------------->_____________________________________________________] 25.08% 110 p/s1093 / 4266 [------------------>____________________________________________________] 25.62% 110 p/s1114 / 4266 [------------------>____________________________________________________] 26.11% 110 p/s1136 / 4266 [------------------>____________________________________________________] 26.63% 110 p/s1157 / 4266 [------------------->___________________________________________________] 27.12% 110 p/s1177 / 4266 [------------------->___________________________________________________] 27.59% 110 p/s1198 / 4266 [------------------->___________________________________________________] 28.08% 110 p/s1219 / 4266 [-------------------->__________________________________________________] 28.57% 110 p/s1241 / 4266 [-------------------->__________________________________________________] 29.09% 110 p/s1262 / 4266 [--------------------->_________________________________________________] 29.58% 110 p/s1285 / 4266 [--------------------->_________________________________________________] 30.12% 110 p/s1307 / 4266 [--------------------->_________________________________________________] 30.64% 110 p/s1329 / 4266 [---------------------->________________________________________________] 31.15% 110 p/s1350 / 4266 [---------------------->________________________________________________] 31.65% 110 p/s1371 / 4266 [---------------------->________________________________________________] 32.14% 110 p/s1393 / 4266 [----------------------->_______________________________________________] 32.65% 110 p/s1416 / 4266 [----------------------->_______________________________________________] 33.19% 110 p/s1437 / 4266 [----------------------->_______________________________________________] 33.68% 110 p/s1459 / 4266 [------------------------>______________________________________________] 34.20% 110 p/s1481 / 4266 [------------------------>______________________________________________] 34.72% 110 p/s1504 / 4266 [------------------------->_____________________________________________] 35.26% 110 p/s1525 / 4266 [------------------------->_____________________________________________] 35.75% 110 p/s1548 / 4266 [------------------------->_____________________________________________] 36.29% 110 p/s1571 / 4266 [-------------------------->____________________________________________] 36.83% 110 p/s1593 / 4266 [-------------------------->____________________________________________] 37.34% 110 p/s1615 / 4266 [-------------------------->____________________________________________] 37.86% 110 p/s1637 / 4266 [--------------------------->___________________________________________] 38.37% 110 p/s1659 / 4266 [--------------------------->___________________________________________] 38.89% 110 p/s1682 / 4266 [--------------------------->___________________________________________] 39.43% 110 p/s1704 / 4266 [---------------------------->__________________________________________] 39.94% 110 p/s1726 / 4266 [---------------------------->__________________________________________] 40.46% 110 p/s1749 / 4266 [----------------------------->_________________________________________] 41.00% 110 p/s1772 / 4266 [----------------------------->_________________________________________] 41.54% 110 p/s1795 / 4266 [----------------------------->_________________________________________] 42.08% 110 p/s1817 / 4266 [------------------------------>________________________________________] 42.59% 110 p/s1840 / 4266 [------------------------------>________________________________________] 43.13% 110 p/s1863 / 4266 [------------------------------->_______________________________________] 43.67% 110 p/s1885 / 4266 [------------------------------->_______________________________________] 44.19% 110 p/s1907 / 4266 [------------------------------->_______________________________________] 44.70% 110 p/s1930 / 4266 [-------------------------------->______________________________________] 45.24% 111 p/s1951 / 4266 [-------------------------------->______________________________________] 45.73% 111 p/s1970 / 4266 [-------------------------------->______________________________________] 46.18% 111 p/s1993 / 4266 [--------------------------------->_____________________________________] 46.72% 110 p/s2016 / 4266 [--------------------------------->_____________________________________] 47.26% 110 p/s2038 / 4266 [--------------------------------->_____________________________________] 47.77% 110 p/s2060 / 4266 [---------------------------------->____________________________________] 48.29% 110 p/s2083 / 4266 [---------------------------------->____________________________________] 48.83% 110 p/s2105 / 4266 [----------------------------------->___________________________________] 49.34% 110 p/s2127 / 4266 [----------------------------------->___________________________________] 49.86% 110 p/s2149 / 4266 [----------------------------------->___________________________________] 50.38% 110 p/s2170 / 4266 [------------------------------------>__________________________________] 50.87% 110 p/s2193 / 4266 [------------------------------------>__________________________________] 51.41% 110 p/s2215 / 4266 [------------------------------------>__________________________________] 51.92% 110 p/s2237 / 4266 [------------------------------------->_________________________________] 52.44% 110 p/s2259 / 4266 [------------------------------------->_________________________________] 52.95% 110 p/s2282 / 4266 [------------------------------------->_________________________________] 53.49% 110 p/s2305 / 4266 [-------------------------------------->________________________________] 54.03% 110 p/s2326 / 4266 [-------------------------------------->________________________________] 54.52% 110 p/s2349 / 4266 [--------------------------------------->_______________________________] 55.06% 110 p/s2371 / 4266 [--------------------------------------->_______________________________] 55.58% 110 p/s2394 / 4266 [--------------------------------------->_______________________________] 56.12% 111 p/s2415 / 4266 [---------------------------------------->______________________________] 56.61% 111 p/s2437 / 4266 [---------------------------------------->______________________________] 57.13% 111 p/s2459 / 4266 [---------------------------------------->______________________________] 57.64% 110 p/s2482 / 4266 [----------------------------------------->_____________________________] 58.18% 110 p/s2504 / 4266 [----------------------------------------->_____________________________] 58.70% 110 p/s2526 / 4266 [------------------------------------------>____________________________] 59.21% 111 p/s2549 / 4266 [------------------------------------------>____________________________] 59.75% 111 p/s2572 / 4266 [------------------------------------------>____________________________] 60.29% 111 p/s2594 / 4266 [------------------------------------------->___________________________] 60.81% 111 p/s2617 / 4266 [------------------------------------------->___________________________] 61.35% 111 p/s2640 / 4266 [------------------------------------------->___________________________] 61.88% 111 p/s2663 / 4266 [-------------------------------------------->__________________________] 62.42% 111 p/s2685 / 4266 [-------------------------------------------->__________________________] 62.94% 111 p/s2707 / 4266 [--------------------------------------------->_________________________] 63.46% 111 p/s2730 / 4266 [--------------------------------------------->_________________________] 63.99% 111 p/s2753 / 4266 [--------------------------------------------->_________________________] 64.53% 111 p/s2776 / 4266 [---------------------------------------------->________________________] 65.07% 111 p/s2797 / 4266 [---------------------------------------------->________________________] 65.56% 111 p/s2819 / 4266 [---------------------------------------------->________________________] 66.08% 111 p/s2841 / 4266 [----------------------------------------------->_______________________] 66.60% 111 p/s2864 / 4266 [----------------------------------------------->_______________________] 67.14% 111 p/s2885 / 4266 [------------------------------------------------>______________________] 67.63% 111 p/s2908 / 4266 [------------------------------------------------>______________________] 68.17% 111 p/s2929 / 4266 [------------------------------------------------>______________________] 68.66% 111 p/s2952 / 4266 [------------------------------------------------->_____________________] 69.20% 111 p/s2975 / 4266 [------------------------------------------------->_____________________] 69.74% 111 p/s2998 / 4266 [------------------------------------------------->_____________________] 70.28% 111 p/s3021 / 4266 [-------------------------------------------------->____________________] 70.82% 111 p/s3044 / 4266 [-------------------------------------------------->____________________] 71.35% 111 p/s3066 / 4266 [--------------------------------------------------->___________________] 71.87% 111 p/s3089 / 4266 [--------------------------------------------------->___________________] 72.41% 111 p/s3112 / 4266 [--------------------------------------------------->___________________] 72.95% 111 p/s3135 / 4266 [---------------------------------------------------->__________________] 73.49% 112 p/s3158 / 4266 [---------------------------------------------------->__________________] 74.03% 112 p/s3181 / 4266 [---------------------------------------------------->__________________] 74.57% 112 p/s3202 / 4266 [----------------------------------------------------->_________________] 75.06% 112 p/s3224 / 4266 [----------------------------------------------------->_________________] 75.57% 112 p/s3247 / 4266 [------------------------------------------------------>________________] 76.11% 112 p/s3268 / 4266 [------------------------------------------------------>________________] 76.61% 111 p/s3290 / 4266 [------------------------------------------------------>________________] 77.12% 111 p/s3312 / 4266 [------------------------------------------------------->_______________] 77.64% 111 p/s3334 / 4266 [------------------------------------------------------->_______________] 78.15% 111 p/s3356 / 4266 [------------------------------------------------------->_______________] 78.67% 111 p/s3378 / 4266 [-------------------------------------------------------->______________] 79.18% 111 p/s3401 / 4266 [-------------------------------------------------------->______________] 79.72% 111 p/s3423 / 4266 [-------------------------------------------------------->______________] 80.24% 111 p/s3445 / 4266 [--------------------------------------------------------->_____________] 80.75% 111 p/s3468 / 4266 [--------------------------------------------------------->_____________] 81.29% 111 p/s3490 / 4266 [---------------------------------------------------------->____________] 81.81% 111 p/s3513 / 4266 [---------------------------------------------------------->____________] 82.35% 111 p/s3535 / 4266 [---------------------------------------------------------->____________] 82.86% 111 p/s3557 / 4266 [----------------------------------------------------------->___________] 83.38% 111 p/s3579 / 4266 [----------------------------------------------------------->___________] 83.90% 111 p/s3601 / 4266 [----------------------------------------------------------->___________] 84.41% 111 p/s3624 / 4266 [------------------------------------------------------------>__________] 84.95% 111 p/s3645 / 4266 [------------------------------------------------------------>__________] 85.44% 111 p/s3667 / 4266 [------------------------------------------------------------->_________] 85.96% 111 p/s3689 / 4266 [------------------------------------------------------------->_________] 86.47% 111 p/s3710 / 4266 [------------------------------------------------------------->_________] 86.97% 111 p/s3732 / 4266 [-------------------------------------------------------------->________] 87.48% 111 p/s3753 / 4266 [-------------------------------------------------------------->________] 87.97% 111 p/s3776 / 4266 [-------------------------------------------------------------->________] 88.51% 111 p/s3798 / 4266 [--------------------------------------------------------------->_______] 89.03% 111 p/s3820 / 4266 [--------------------------------------------------------------->_______] 89.55% 111 p/s3843 / 4266 [--------------------------------------------------------------->_______] 90.08% 111 p/s3865 / 4266 [---------------------------------------------------------------->______] 90.60% 111 p/s3887 / 4266 [---------------------------------------------------------------->______] 91.12% 111 p/s3906 / 4266 [----------------------------------------------------------------->_____] 91.56% 111 p/s3929 / 4266 [----------------------------------------------------------------->_____] 92.10% 111 p/s3951 / 4266 [----------------------------------------------------------------->_____] 92.62% 111 p/s3974 / 4266 [------------------------------------------------------------------>____] 93.16% 111 p/s3997 / 4266 [------------------------------------------------------------------>____] 93.69% 111 p/s4018 / 4266 [------------------------------------------------------------------>____] 94.19% 111 p/s4039 / 4266 [------------------------------------------------------------------->___] 94.68% 111 p/s4061 / 4266 [------------------------------------------------------------------->___] 95.19% 111 p/s4084 / 4266 [------------------------------------------------------------------->___] 95.73% 111 p/s4106 / 4266 [-------------------------------------------------------------------->__] 96.25% 111 p/s4128 / 4266 [-------------------------------------------------------------------->__] 96.77% 111 p/s4151 / 4266 [--------------------------------------------------------------------->_] 97.30% 111 p/s4173 / 4266 [--------------------------------------------------------------------->_] 97.82% 111 p/s4196 / 4266 [--------------------------------------------------------------------->_] 98.36% 111 p/s4219 / 4266 [---------------------------------------------------------------------->] 98.90% 111 p/s4242 / 4266 [---------------------------------------------------------------------->] 99.44% 111 p/s4264 / 4266 [---------------------------------------------------------------------->] 99.95% 111 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 111 p/s2026-02-26T07:15:04 - INFO: Parsing 4266 sonar sweeps from /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4266 [00:00<?, ?it/s]
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  0%|          | 6/4266 [00:00<02:32, 27.87it/s]
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  1%|          | 24/4266 [00:00<02:29, 28.33it/s]
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  1%|          | 45/4266 [00:01<02:32, 27.68it/s]
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  1%|▏         | 54/4266 [00:01<02:31, 27.82it/s]
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  1%|▏         | 60/4266 [00:02<02:29, 28.09it/s]
  1%|▏         | 63/4266 [00:02<02:29, 28.18it/s]
  2%|▏         | 66/4266 [00:02<02:28, 28.21it/s]
  2%|▏         | 69/4266 [00:02<02:28, 28.30it/s]
  2%|▏         | 72/4266 [00:02<02:28, 28.29it/s]
  2%|▏         | 75/4266 [00:02<02:28, 28.26it/s]
  2%|▏         | 78/4266 [00:02<02:28, 28.26it/s]
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  2%|▏         | 84/4266 [00:02<02:28, 28.14it/s]
  2%|▏         | 87/4266 [00:03<02:28, 28.14it/s]
  2%|▏         | 90/4266 [00:03<02:28, 28.13it/s]
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  2%|▏         | 96/4266 [00:03<02:29, 27.97it/s]
  2%|▏         | 99/4266 [00:03<02:29, 27.95it/s]
  2%|▏         | 102/4266 [00:03<02:29, 27.82it/s]
  2%|▏         | 105/4266 [00:03<02:30, 27.60it/s]
  3%|▎         | 108/4266 [00:03<02:30, 27.64it/s]
  3%|▎         | 111/4266 [00:03<02:30, 27.68it/s]
  3%|▎         | 114/4266 [00:04<02:29, 27.79it/s]
  3%|▎         | 117/4266 [00:04<02:29, 27.80it/s]
  3%|▎         | 120/4266 [00:04<02:28, 27.86it/s]
  3%|▎         | 123/4266 [00:04<02:28, 27.94it/s]
  3%|▎         | 126/4266 [00:04<02:27, 28.01it/s]
  3%|▎         | 129/4266 [00:04<02:31, 27.22it/s]
  3%|▎         | 132/4266 [00:04<02:30, 27.48it/s]
  3%|▎         | 135/4266 [00:04<02:29, 27.71it/s]
  3%|▎         | 138/4266 [00:04<02:28, 27.75it/s]
  3%|▎         | 141/4266 [00:05<02:28, 27.84it/s]
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  3%|▎         | 147/4266 [00:05<02:26, 28.04it/s]
  4%|▎         | 150/4266 [00:05<02:27, 27.98it/s]
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  4%|▎         | 156/4266 [00:05<02:26, 27.98it/s]
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  4%|▍         | 162/4266 [00:05<02:26, 28.02it/s]
  4%|▍         | 165/4266 [00:05<02:26, 27.94it/s]
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  4%|▍         | 171/4266 [00:06<02:25, 28.11it/s]
  4%|▍         | 174/4266 [00:06<02:25, 28.16it/s]
  4%|▍         | 177/4266 [00:06<02:25, 28.17it/s]
  4%|▍         | 180/4266 [00:06<02:24, 28.19it/s]
  4%|▍         | 183/4266 [00:06<02:24, 28.20it/s]
  4%|▍         | 186/4266 [00:06<02:24, 28.23it/s]
  4%|▍         | 189/4266 [00:06<02:24, 28.24it/s]
  5%|▍         | 192/4266 [00:06<02:24, 28.22it/s]
  5%|▍         | 195/4266 [00:06<02:24, 28.21it/s]
  5%|▍         | 198/4266 [00:07<02:23, 28.26it/s]
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2026-02-26T07:17:39 - 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/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b"
2026-02-26T07:17:40 - INFO: DataPrep 0.14.0a5
2026-02-26T07:17:40 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-02-26T07:17:40 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:17:40 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:17:40 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-02-26T07:17:40 - INFO: Preparing sonar data...
2026-02-26T07:17:40 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:17:43 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-02-26T07:17:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:17:43 - INFO: Sonar range is 0.939120 m
2026-02-26T07:17:43 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:17:43 - INFO: Processing 4266 sweeps...

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2026-02-26T07:17:53 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:17:54 - INFO: Prepared sonar data in 14.7648 s
2026-02-26T07:17:54 - INFO: No IMU data found
2026-02-26T07:17:55 - INFO: DataPrep took 0:00:15.225508
2026-02-26T07:17:55 - INFO: Extracted sonar data in 0:03:29.529035
2026-02-26T07:17:55 - INFO: MSIP3D took 0:03:30.042649