2026-02-27T05:57:19 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:57:19 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-27T05:57:19 - INFO: Found 11 TFD dictionary entries
2026-02-27T05:57:19 - INFO: Found TFD mission for SJ502828 DEP 513
2026-02-27T05:57:19 - INFO: Recording will be processed as SMD
2026-02-27T05:57:19 - INFO: Copying assets JSON to output directory...
2026-02-27T05:57:19 - INFO: Preparing counter data...
2026-02-27T05:57:19 - INFO: Interpreting counter as imperial
2026-02-27T05:57:19 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:57:19 - INFO: Prepared counter data in 0.1633 s
2026-02-27T05:57:19 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2126
18 / 2126 [>___________________________________________________________________________] 0.85% ? p/s38 / 2126 [->__________________________________________________________________________] 1.79% ? p/s57 / 2126 [-->_________________________________________________________________________] 2.68% ? p/s77 / 2126 [-->________________________________________________________________________] 3.62% 98 p/s96 / 2126 [--->_______________________________________________________________________] 4.52% 98 p/s116 / 2126 [---->_____________________________________________________________________] 5.46% 98 p/s135 / 2126 [---->_____________________________________________________________________] 6.35% 98 p/s155 / 2126 [----->____________________________________________________________________] 7.29% 98 p/s175 / 2126 [------>___________________________________________________________________] 8.23% 98 p/s195 / 2126 [------>___________________________________________________________________] 9.17% 98 p/s209 / 2126 [------->__________________________________________________________________] 9.83% 98 p/s229 / 2126 [------->_________________________________________________________________] 10.77% 98 p/s248 / 2126 [-------->________________________________________________________________] 11.67% 98 p/s268 / 2126 [--------->_______________________________________________________________] 12.61% 98 p/s288 / 2126 [--------->_______________________________________________________________] 13.55% 98 p/s307 / 2126 [---------->______________________________________________________________] 14.44% 98 p/s327 / 2126 [----------->_____________________________________________________________] 15.38% 98 p/s347 / 2126 [----------->_____________________________________________________________] 16.32% 98 p/s367 / 2126 [------------>____________________________________________________________] 17.26% 98 p/s387 / 2126 [------------->___________________________________________________________] 18.20% 98 p/s406 / 2126 [------------->___________________________________________________________] 19.10% 98 p/s426 / 2126 [-------------->__________________________________________________________] 20.04% 98 p/s446 / 2126 [--------------->_________________________________________________________] 20.98% 98 p/s465 / 2126 [--------------->_________________________________________________________] 21.87% 98 p/s485 / 2126 [---------------->________________________________________________________] 22.81% 98 p/s504 / 2126 [----------------->_______________________________________________________] 23.71% 98 p/s523 / 2126 [----------------->_______________________________________________________] 24.60% 98 p/s542 / 2126 [------------------>______________________________________________________] 25.49% 98 p/s562 / 2126 [------------------->_____________________________________________________] 26.43% 98 p/s581 / 2126 [------------------->_____________________________________________________] 27.33% 98 p/s600 / 2126 [-------------------->____________________________________________________] 28.22% 98 p/s619 / 2126 [--------------------->___________________________________________________] 29.12% 98 p/s638 / 2126 [--------------------->___________________________________________________] 30.01% 98 p/s655 / 2126 [---------------------->__________________________________________________] 30.81% 97 p/s674 / 2126 [----------------------->_________________________________________________] 31.70% 97 p/s693 / 2126 [----------------------->_________________________________________________] 32.60% 97 p/s712 / 2126 [------------------------>________________________________________________] 33.49% 97 p/s732 / 2126 [------------------------->_______________________________________________] 34.43% 97 p/s751 / 2126 [------------------------->_______________________________________________] 35.32% 97 p/s771 / 2126 [-------------------------->______________________________________________] 36.27% 97 p/s790 / 2126 [--------------------------->_____________________________________________] 37.16% 97 p/s810 / 2126 [--------------------------->_____________________________________________] 38.10% 97 p/s829 / 2126 [---------------------------->____________________________________________] 38.99% 97 p/s849 / 2126 [----------------------------->___________________________________________] 39.93% 97 p/s868 / 2126 [----------------------------->___________________________________________] 40.83% 97 p/s888 / 2126 [------------------------------>__________________________________________] 41.77% 97 p/s907 / 2126 [------------------------------->_________________________________________] 42.66% 97 p/s927 / 2126 [------------------------------->_________________________________________] 43.60% 97 p/s946 / 2126 [-------------------------------->________________________________________] 44.50% 97 p/s966 / 2126 [--------------------------------->_______________________________________] 45.44% 97 p/s986 / 2126 [--------------------------------->_______________________________________] 46.38% 97 p/s1005 / 2126 [---------------------------------->_____________________________________] 47.27% 97 p/s1024 / 2126 [---------------------------------->_____________________________________] 48.17% 97 p/s1044 / 2126 [----------------------------------->____________________________________] 49.11% 97 p/s1063 / 2126 [----------------------------------->____________________________________] 50.00% 97 p/s1083 / 2126 [------------------------------------>___________________________________] 50.94% 97 p/s1102 / 2126 [------------------------------------->__________________________________] 51.83% 97 p/s1122 / 2126 [------------------------------------->__________________________________] 52.78% 97 p/s1142 / 2126 [-------------------------------------->_________________________________] 53.72% 97 p/s1161 / 2126 [--------------------------------------->________________________________] 54.61% 97 p/s1181 / 2126 [--------------------------------------->________________________________] 55.55% 97 p/s1200 / 2126 [---------------------------------------->_______________________________] 56.44% 97 p/s1220 / 2126 [----------------------------------------->______________________________] 57.38% 97 p/s1239 / 2126 [----------------------------------------->______________________________] 58.28% 97 p/s1259 / 2126 [------------------------------------------>_____________________________] 59.22% 97 p/s1278 / 2126 [------------------------------------------->____________________________] 60.11% 97 p/s1298 / 2126 [------------------------------------------->____________________________] 61.05% 97 p/s1317 / 2126 [-------------------------------------------->___________________________] 61.95% 97 p/s1337 / 2126 [--------------------------------------------->__________________________] 62.89% 97 p/s1357 / 2126 [--------------------------------------------->__________________________] 63.83% 97 p/s1376 / 2126 [---------------------------------------------->_________________________] 64.72% 97 p/s1396 / 2126 [----------------------------------------------->________________________] 65.66% 97 p/s1415 / 2126 [----------------------------------------------->________________________] 66.56% 97 p/s1435 / 2126 [------------------------------------------------>_______________________] 67.50% 97 p/s1455 / 2126 [------------------------------------------------->______________________] 68.44% 97 p/s1474 / 2126 [------------------------------------------------->______________________] 69.33% 97 p/s1494 / 2126 [-------------------------------------------------->_____________________] 70.27% 97 p/s1514 / 2126 [--------------------------------------------------->____________________] 71.21% 97 p/s1533 / 2126 [--------------------------------------------------->____________________] 72.11% 98 p/s1552 / 2126 [---------------------------------------------------->___________________] 73.00% 98 p/s1572 / 2126 [----------------------------------------------------->__________________] 73.94% 98 p/s1591 / 2126 [----------------------------------------------------->__________________] 74.84% 97 p/s1611 / 2126 [------------------------------------------------------>_________________] 75.78% 97 p/s1630 / 2126 [------------------------------------------------------->________________] 76.67% 97 p/s1650 / 2126 [------------------------------------------------------->________________] 77.61% 98 p/s1670 / 2126 [-------------------------------------------------------->_______________] 78.55% 98 p/s1689 / 2126 [--------------------------------------------------------->______________] 79.44% 98 p/s1709 / 2126 [--------------------------------------------------------->______________] 80.39% 98 p/s1728 / 2126 [---------------------------------------------------------->_____________] 81.28% 98 p/s1748 / 2126 [----------------------------------------------------------->____________] 82.22% 98 p/s1767 / 2126 [----------------------------------------------------------->____________] 83.11% 98 p/s1787 / 2126 [------------------------------------------------------------>___________] 84.05% 98 p/s1806 / 2126 [------------------------------------------------------------->__________] 84.95% 98 p/s1826 / 2126 [------------------------------------------------------------->__________] 85.89% 98 p/s1845 / 2126 [-------------------------------------------------------------->_________] 86.78% 98 p/s1865 / 2126 [--------------------------------------------------------------->________] 87.72% 98 p/s1884 / 2126 [--------------------------------------------------------------->________] 88.62% 98 p/s1904 / 2126 [---------------------------------------------------------------->_______] 89.56% 98 p/s1924 / 2126 [----------------------------------------------------------------->______] 90.50% 98 p/s1944 / 2126 [----------------------------------------------------------------->______] 91.44% 98 p/s1963 / 2126 [------------------------------------------------------------------>_____] 92.33% 98 p/s1983 / 2126 [------------------------------------------------------------------->____] 93.27% 98 p/s2003 / 2126 [------------------------------------------------------------------->____] 94.21% 98 p/s2022 / 2126 [-------------------------------------------------------------------->___] 95.11% 98 p/s2040 / 2126 [--------------------------------------------------------------------->__] 95.95% 98 p/s2059 / 2126 [--------------------------------------------------------------------->__] 96.85% 97 p/s2079 / 2126 [---------------------------------------------------------------------->_] 97.79% 97 p/s2099 / 2126 [----------------------------------------------------------------------->] 98.73% 97 p/s2118 / 2126 [----------------------------------------------------------------------->] 99.62% 97 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-02-27T05:57:41 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2126 [00:00<?, ?it/s]
  0%|          | 3/2126 [00:00<01:26, 24.48it/s]
  0%|          | 6/2126 [00:00<01:24, 25.18it/s]
  0%|          | 9/2126 [00:00<01:24, 25.20it/s]
  1%|          | 12/2126 [00:00<01:22, 25.52it/s]
  1%|          | 15/2126 [00:00<01:22, 25.70it/s]
  1%|          | 18/2126 [00:00<01:21, 25.88it/s]
  1%|          | 21/2126 [00:00<01:20, 26.14it/s]
  1%|          | 24/2126 [00:00<01:19, 26.28it/s]
  1%|▏         | 27/2126 [00:01<01:19, 26.36it/s]
  1%|▏         | 30/2126 [00:01<01:19, 26.40it/s]
  2%|▏         | 33/2126 [00:01<01:19, 26.34it/s]
  2%|▏         | 36/2126 [00:01<01:19, 26.31it/s]
  2%|▏         | 39/2126 [00:01<01:19, 26.16it/s]
  2%|▏         | 42/2126 [00:01<01:19, 26.15it/s]
  2%|▏         | 45/2126 [00:01<01:19, 26.17it/s]
  2%|▏         | 48/2126 [00:01<01:19, 26.10it/s]
  2%|▏         | 51/2126 [00:01<01:19, 26.06it/s]
  3%|▎         | 54/2126 [00:02<01:19, 26.08it/s]
  3%|▎         | 57/2126 [00:02<01:18, 26.29it/s]
  3%|▎         | 60/2126 [00:02<01:18, 26.32it/s]
  3%|▎         | 63/2126 [00:02<01:18, 26.29it/s]
  3%|▎         | 66/2126 [00:02<01:18, 26.36it/s]
  3%|▎         | 69/2126 [00:02<01:17, 26.45it/s]
  3%|▎         | 72/2126 [00:02<01:17, 26.51it/s]
  4%|▎         | 75/2126 [00:02<01:17, 26.58it/s]
  4%|▎         | 78/2126 [00:02<01:17, 26.58it/s]
  4%|▍         | 81/2126 [00:03<01:17, 26.48it/s]
  4%|▍         | 84/2126 [00:03<01:17, 26.51it/s]
  4%|▍         | 87/2126 [00:03<01:16, 26.53it/s]
  4%|▍         | 90/2126 [00:03<01:16, 26.59it/s]
  4%|▍         | 93/2126 [00:03<01:16, 26.42it/s]
  5%|▍         | 96/2126 [00:03<01:16, 26.43it/s]
  5%|▍         | 99/2126 [00:03<01:17, 26.32it/s]
  5%|▍         | 102/2126 [00:03<01:19, 25.50it/s]
  5%|▍         | 105/2126 [00:04<01:18, 25.85it/s]
  5%|▌         | 108/2126 [00:04<01:17, 26.10it/s]
  5%|▌         | 111/2126 [00:04<01:17, 26.08it/s]
  5%|▌         | 114/2126 [00:04<01:16, 26.16it/s]
  6%|▌         | 117/2126 [00:04<01:16, 26.19it/s]
  6%|▌         | 120/2126 [00:04<01:16, 26.15it/s]
  6%|▌         | 123/2126 [00:04<01:16, 26.19it/s]
  6%|▌         | 126/2126 [00:04<01:16, 26.25it/s]
  6%|▌         | 129/2126 [00:04<01:15, 26.28it/s]
  6%|▌         | 132/2126 [00:05<01:15, 26.31it/s]
  6%|▋         | 135/2126 [00:05<01:15, 26.31it/s]
  6%|▋         | 138/2126 [00:05<01:15, 26.30it/s]
  7%|▋         | 141/2126 [00:05<01:15, 26.27it/s]
  7%|▋         | 144/2126 [00:05<01:15, 26.33it/s]
  7%|▋         | 147/2126 [00:05<01:15, 26.30it/s]
  7%|▋         | 150/2126 [00:05<01:15, 26.31it/s]
  7%|▋         | 153/2126 [00:05<01:15, 26.28it/s]
  7%|▋         | 156/2126 [00:05<01:14, 26.32it/s]
  7%|▋         | 159/2126 [00:06<01:14, 26.34it/s]
  8%|▊         | 162/2126 [00:06<01:14, 26.33it/s]
  8%|▊         | 165/2126 [00:06<01:14, 26.31it/s]
  8%|▊         | 168/2126 [00:06<01:14, 26.35it/s]
  8%|▊         | 171/2126 [00:06<01:14, 26.41it/s]
  8%|▊         | 174/2126 [00:06<01:14, 26.33it/s]
  8%|▊         | 177/2126 [00:06<01:14, 26.31it/s]
  8%|▊         | 180/2126 [00:06<01:14, 26.20it/s]
  9%|▊         | 183/2126 [00:06<01:14, 26.24it/s]
  9%|▊         | 186/2126 [00:07<01:14, 26.12it/s]
  9%|▉         | 189/2126 [00:07<01:14, 26.12it/s]
  9%|▉         | 192/2126 [00:07<01:13, 26.17it/s]
  9%|▉         | 195/2126 [00:07<01:13, 26.19it/s]
  9%|▉         | 198/2126 [00:07<01:13, 26.27it/s]
  9%|▉         | 201/2126 [00:07<01:13, 26.35it/s]
 10%|▉         | 204/2126 [00:07<01:13, 26.26it/s]
 10%|▉         | 207/2126 [00:07<01:13, 26.19it/s]
 10%|▉         | 210/2126 [00:08<01:13, 26.23it/s]
 10%|█         | 213/2126 [00:08<01:13, 26.06it/s]
 10%|█         | 216/2126 [00:08<01:13, 26.12it/s]
 10%|█         | 219/2126 [00:08<01:12, 26.18it/s]
 10%|█         | 222/2126 [00:08<01:12, 26.22it/s]
 11%|█         | 225/2126 [00:08<01:12, 26.25it/s]
 11%|█         | 228/2126 [00:08<01:12, 26.32it/s]
 11%|█         | 231/2126 [00:08<01:11, 26.42it/s]
 11%|█         | 234/2126 [00:08<01:14, 25.36it/s]
 11%|█         | 237/2126 [00:09<01:13, 25.67it/s]
 11%|█▏        | 240/2126 [00:09<01:14, 25.21it/s]
 11%|█▏        | 243/2126 [00:09<01:14, 25.35it/s]
 12%|█▏        | 246/2126 [00:09<01:14, 25.39it/s]
 12%|█▏        | 249/2126 [00:09<01:13, 25.64it/s]
 12%|█▏        | 252/2126 [00:09<01:12, 25.87it/s]
 12%|█▏        | 255/2126 [00:09<01:12, 25.98it/s]
 12%|█▏        | 258/2126 [00:09<01:11, 26.15it/s]
 12%|█▏        | 261/2126 [00:09<01:10, 26.30it/s]
 12%|█▏        | 264/2126 [00:10<01:10, 26.28it/s]
 13%|█▎        | 267/2126 [00:10<01:10, 26.31it/s]
 13%|█▎        | 270/2126 [00:10<01:10, 26.36it/s]
 13%|█▎        | 273/2126 [00:10<01:10, 26.33it/s]
 13%|█▎        | 276/2126 [00:10<01:10, 26.38it/s]
 13%|█▎        | 279/2126 [00:10<01:09, 26.42it/s]
 13%|█▎        | 282/2126 [00:10<01:09, 26.35it/s]
 13%|█▎        | 285/2126 [00:10<01:10, 26.25it/s]
 14%|█▎        | 288/2126 [00:11<01:09, 26.30it/s]
 14%|█▎        | 291/2126 [00:11<01:09, 26.41it/s]
 14%|█▍        | 294/2126 [00:11<01:09, 26.42it/s]
 14%|█▍        | 297/2126 [00:11<01:09, 26.27it/s]
 14%|█▍        | 300/2126 [00:11<01:09, 26.38it/s]
 14%|█▍        | 303/2126 [00:11<01:09, 26.33it/s]
 14%|█▍        | 306/2126 [00:11<01:09, 26.25it/s]
 15%|█▍        | 309/2126 [00:11<01:09, 26.26it/s]
 15%|█▍        | 312/2126 [00:11<01:08, 26.30it/s]
 15%|█▍        | 315/2126 [00:12<01:08, 26.40it/s]
 15%|█▍        | 318/2126 [00:12<01:08, 26.41it/s]
 15%|█▌        | 321/2126 [00:12<01:08, 26.41it/s]
 15%|█▌        | 324/2126 [00:12<01:08, 26.23it/s]
 15%|█▌        | 327/2126 [00:12<01:08, 26.30it/s]
 16%|█▌        | 330/2126 [00:12<01:08, 26.40it/s]
 16%|█▌        | 333/2126 [00:12<01:07, 26.46it/s]
 16%|█▌        | 336/2126 [00:12<01:07, 26.49it/s]
 16%|█▌        | 339/2126 [00:12<01:07, 26.35it/s]
 16%|█▌        | 342/2126 [00:13<01:07, 26.35it/s]
 16%|█▌        | 345/2126 [00:13<01:07, 26.42it/s]
 16%|█▋        | 348/2126 [00:13<01:07, 26.29it/s]
 17%|█▋        | 351/2126 [00:13<01:07, 26.42it/s]
 17%|█▋        | 354/2126 [00:13<01:06, 26.50it/s]
 17%|█▋        | 357/2126 [00:13<01:06, 26.51it/s]
 17%|█▋        | 360/2126 [00:13<01:06, 26.48it/s]
 17%|█▋        | 363/2126 [00:13<01:06, 26.54it/s]
 17%|█▋        | 366/2126 [00:13<01:06, 26.53it/s]
 17%|█▋        | 369/2126 [00:14<01:09, 25.20it/s]
 17%|█▋        | 372/2126 [00:14<01:08, 25.61it/s]
 18%|█▊        | 375/2126 [00:14<01:07, 25.89it/s]
 18%|█▊        | 378/2126 [00:14<01:07, 25.98it/s]
 18%|█▊        | 381/2126 [00:14<01:06, 26.05it/s]
 18%|█▊        | 384/2126 [00:14<01:06, 26.13it/s]
 18%|█▊        | 387/2126 [00:14<01:06, 26.25it/s]
 18%|█▊        | 390/2126 [00:14<01:06, 26.25it/s]
 18%|█▊        | 393/2126 [00:14<01:05, 26.39it/s]
 19%|█▊        | 396/2126 [00:15<01:05, 26.51it/s]
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 19%|█▉        | 408/2126 [00:15<01:05, 26.36it/s]
 19%|█▉        | 411/2126 [00:15<01:05, 26.35it/s]
 19%|█▉        | 414/2126 [00:15<01:04, 26.34it/s]
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 20%|██        | 426/2126 [00:16<01:04, 26.53it/s]
 20%|██        | 429/2126 [00:16<01:03, 26.57it/s]
 20%|██        | 432/2126 [00:16<01:03, 26.52it/s]
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 24%|██▍       | 519/2126 [00:19<01:01, 26.07it/s]
 25%|██▍       | 522/2126 [00:19<01:01, 26.16it/s]
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 25%|██▍       | 528/2126 [00:20<01:01, 26.15it/s]
 25%|██▍       | 531/2126 [00:20<01:01, 26.14it/s]
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2026-02-27T05:59:04 - 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/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-02-27T05:59:05 - INFO: DataPrep 0.14.0a6
2026-02-27T05:59:05 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-02-27T05:59:05 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:59:05 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:59:05 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-27T05:59:05 - INFO: Preparing sonar data...
2026-02-27T05:59:05 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:59:07 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-02-27T05:59:07 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:59:07 - INFO: Sonar range is 1.878240 m
2026-02-27T05:59:07 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:59:07 - INFO: Processing 2125 sweeps...

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2026-02-27T05:59:12 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:59:15 - INFO: Prepared sonar data in 9.9438 s
2026-02-27T05:59:15 - INFO: No IMU data found
2026-02-27T05:59:15 - INFO: DataPrep took 0:00:10.267919
2026-02-27T05:59:15 - INFO: Extracted sonar data in 0:01:55.888316
2026-02-27T05:59:15 - INFO: MSIP3D took 0:01:56.251736