2026-02-27T05:27:49 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:27:49 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-27T05:27:49 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:27:49 - INFO: Found TFD mission for SJ502795 Dep 2
2026-02-27T05:27:49 - INFO: Recording will be processed as MD
2026-02-27T05:27:49 - INFO: Copying assets JSON to output directory...
2026-02-27T05:27:49 - INFO: Preparing counter data...
2026-02-27T05:27:49 - INFO: Interpreting counter as imperial
2026-02-27T05:27:49 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:27:49 - INFO: Prepared counter data in 0.0068 s
2026-02-27T05:27:49 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2550
22 / 2550 [>___________________________________________________________________________] 0.86% ? p/s45 / 2550 [->__________________________________________________________________________] 1.76% ? p/s66 / 2550 [->__________________________________________________________________________] 2.59% ? p/s89 / 2550 [-->_______________________________________________________________________] 3.49% 112 p/s111 / 2550 [--->_____________________________________________________________________] 4.35% 112 p/s133 / 2550 [--->_____________________________________________________________________] 5.22% 112 p/s155 / 2550 [---->____________________________________________________________________] 6.08% 112 p/s177 / 2550 [----->___________________________________________________________________] 6.94% 112 p/s199 / 2550 [----->___________________________________________________________________] 7.80% 112 p/s222 / 2550 [------>__________________________________________________________________] 8.71% 112 p/s244 / 2550 [------>__________________________________________________________________] 9.57% 112 p/s266 / 2550 [------->________________________________________________________________] 10.43% 112 p/s288 / 2550 [-------->_______________________________________________________________] 11.29% 111 p/s310 / 2550 [-------->_______________________________________________________________] 12.16% 111 p/s333 / 2550 [--------->______________________________________________________________] 13.06% 111 p/s355 / 2550 [---------->_____________________________________________________________] 13.92% 111 p/s377 / 2550 [---------->_____________________________________________________________] 14.78% 111 p/s399 / 2550 [----------->____________________________________________________________] 15.65% 111 p/s422 / 2550 [----------->____________________________________________________________] 16.55% 111 p/s444 / 2550 [------------>___________________________________________________________] 17.41% 111 p/s467 / 2550 [------------->__________________________________________________________] 18.31% 111 p/s489 / 2550 [------------->__________________________________________________________] 19.18% 112 p/s510 / 2550 [-------------->_________________________________________________________] 20.00% 112 p/s533 / 2550 [--------------->________________________________________________________] 20.90% 112 p/s555 / 2550 [--------------->________________________________________________________] 21.76% 111 p/s578 / 2550 [---------------->_______________________________________________________] 22.67% 111 p/s601 / 2550 [---------------->_______________________________________________________] 23.57% 111 p/s623 / 2550 [----------------->______________________________________________________] 24.43% 112 p/s646 / 2550 [------------------>_____________________________________________________] 25.33% 112 p/s669 / 2550 [------------------>_____________________________________________________] 26.24% 112 p/s691 / 2550 [------------------->____________________________________________________] 27.10% 112 p/s714 / 2550 [-------------------->___________________________________________________] 28.00% 112 p/s737 / 2550 [-------------------->___________________________________________________] 28.90% 112 p/s759 / 2550 [--------------------->__________________________________________________] 29.76% 112 p/s782 / 2550 [---------------------->_________________________________________________] 30.67% 112 p/s805 / 2550 [---------------------->_________________________________________________] 31.57% 112 p/s827 / 2550 [----------------------->________________________________________________] 32.43% 112 p/s850 / 2550 [----------------------->________________________________________________] 33.33% 112 p/s873 / 2550 [------------------------>_______________________________________________] 34.24% 112 p/s896 / 2550 [------------------------->______________________________________________] 35.14% 112 p/s918 / 2550 [------------------------->______________________________________________] 36.00% 112 p/s941 / 2550 [-------------------------->_____________________________________________] 36.90% 112 p/s964 / 2550 [--------------------------->____________________________________________] 37.80% 112 p/s987 / 2550 [--------------------------->____________________________________________] 38.71% 112 p/s1009 / 2550 [---------------------------->__________________________________________] 39.57% 112 p/s1032 / 2550 [---------------------------->__________________________________________] 40.47% 112 p/s1055 / 2550 [----------------------------->_________________________________________] 41.37% 112 p/s1077 / 2550 [----------------------------->_________________________________________] 42.24% 112 p/s1100 / 2550 [------------------------------>________________________________________] 43.14% 112 p/s1122 / 2550 [------------------------------->_______________________________________] 44.00% 112 p/s1145 / 2550 [------------------------------->_______________________________________] 44.90% 112 p/s1167 / 2550 [-------------------------------->______________________________________] 45.76% 112 p/s1189 / 2550 [--------------------------------->_____________________________________] 46.63% 112 p/s1212 / 2550 [--------------------------------->_____________________________________] 47.53% 112 p/s1234 / 2550 [---------------------------------->____________________________________] 48.39% 112 p/s1257 / 2550 [---------------------------------->____________________________________] 49.29% 112 p/s1279 / 2550 [----------------------------------->___________________________________] 50.16% 112 p/s1302 / 2550 [------------------------------------>__________________________________] 51.06% 112 p/s1324 / 2550 [------------------------------------>__________________________________] 51.92% 112 p/s1347 / 2550 [------------------------------------->_________________________________] 52.82% 112 p/s1369 / 2550 [-------------------------------------->________________________________] 53.69% 112 p/s1392 / 2550 [-------------------------------------->________________________________] 54.59% 112 p/s1414 / 2550 [--------------------------------------->_______________________________] 55.45% 112 p/s1436 / 2550 [--------------------------------------->_______________________________] 56.31% 112 p/s1459 / 2550 [---------------------------------------->______________________________] 57.22% 112 p/s1481 / 2550 [----------------------------------------->_____________________________] 58.08% 112 p/s1504 / 2550 [----------------------------------------->_____________________________] 58.98% 112 p/s1526 / 2550 [------------------------------------------>____________________________] 59.84% 112 p/s1549 / 2550 [------------------------------------------->___________________________] 60.75% 112 p/s1571 / 2550 [------------------------------------------->___________________________] 61.61% 112 p/s1594 / 2550 [-------------------------------------------->__________________________] 62.51% 112 p/s1617 / 2550 [--------------------------------------------->_________________________] 63.41% 112 p/s1639 / 2550 [--------------------------------------------->_________________________] 64.27% 112 p/s1662 / 2550 [---------------------------------------------->________________________] 65.18% 112 p/s1685 / 2550 [---------------------------------------------->________________________] 66.08% 112 p/s1707 / 2550 [----------------------------------------------->_______________________] 66.94% 112 p/s1730 / 2550 [------------------------------------------------>______________________] 67.84% 112 p/s1752 / 2550 [------------------------------------------------>______________________] 68.71% 112 p/s1775 / 2550 [------------------------------------------------->_____________________] 69.61% 112 p/s1797 / 2550 [-------------------------------------------------->____________________] 70.47% 112 p/s1820 / 2550 [-------------------------------------------------->____________________] 71.37% 112 p/s1842 / 2550 [--------------------------------------------------->___________________] 72.24% 112 p/s1865 / 2550 [--------------------------------------------------->___________________] 73.14% 112 p/s1887 / 2550 [---------------------------------------------------->__________________] 74.00% 112 p/s1909 / 2550 [----------------------------------------------------->_________________] 74.86% 112 p/s1932 / 2550 [----------------------------------------------------->_________________] 75.76% 112 p/s1954 / 2550 [------------------------------------------------------>________________] 76.63% 112 p/s1977 / 2550 [------------------------------------------------------->_______________] 77.53% 112 p/s1999 / 2550 [------------------------------------------------------->_______________] 78.39% 112 p/s2022 / 2550 [-------------------------------------------------------->______________] 79.29% 112 p/s2043 / 2550 [-------------------------------------------------------->______________] 80.12% 112 p/s2066 / 2550 [--------------------------------------------------------->_____________] 81.02% 112 p/s2088 / 2550 [---------------------------------------------------------->____________] 81.88% 112 p/s2111 / 2550 [---------------------------------------------------------->____________] 82.78% 112 p/s2133 / 2550 [----------------------------------------------------------->___________] 83.65% 112 p/s2156 / 2550 [------------------------------------------------------------>__________] 84.55% 112 p/s2180 / 2550 [------------------------------------------------------------>__________] 85.49% 112 p/s2202 / 2550 [------------------------------------------------------------->_________] 86.35% 112 p/s2225 / 2550 [------------------------------------------------------------->_________] 87.25% 112 p/s2248 / 2550 [-------------------------------------------------------------->________] 88.16% 113 p/s2270 / 2550 [--------------------------------------------------------------->_______] 89.02% 113 p/s2293 / 2550 [--------------------------------------------------------------->_______] 89.92% 113 p/s2316 / 2550 [---------------------------------------------------------------->______] 90.82% 113 p/s2339 / 2550 [----------------------------------------------------------------->_____] 91.73% 113 p/s2362 / 2550 [----------------------------------------------------------------->_____] 92.63% 113 p/s2384 / 2550 [------------------------------------------------------------------>____] 93.49% 113 p/s2407 / 2550 [------------------------------------------------------------------->___] 94.39% 113 p/s2430 / 2550 [------------------------------------------------------------------->___] 95.29% 113 p/s2453 / 2550 [-------------------------------------------------------------------->__] 96.20% 113 p/s2476 / 2550 [-------------------------------------------------------------------->__] 97.10% 113 p/s2499 / 2550 [--------------------------------------------------------------------->_] 98.00% 113 p/s2522 / 2550 [---------------------------------------------------------------------->] 98.90% 113 p/s2544 / 2550 [---------------------------------------------------------------------->] 99.76% 113 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 114 p/s2026-02-27T05:28:12 - 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<01:33, 27.26it/s]
  0%|          | 6/2550 [00:00<01:31, 27.89it/s]
  0%|          | 9/2550 [00:00<01:30, 28.17it/s]
  0%|          | 12/2550 [00:00<01:30, 28.12it/s]
  1%|          | 15/2550 [00:00<01:29, 28.24it/s]
  1%|          | 18/2550 [00:00<01:29, 28.29it/s]
  1%|          | 21/2550 [00:00<01:29, 28.32it/s]
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  1%|          | 27/2550 [00:00<01:29, 28.29it/s]
  1%|          | 30/2550 [00:01<01:29, 28.24it/s]
  1%|▏         | 33/2550 [00:01<01:29, 28.28it/s]
  1%|▏         | 36/2550 [00:01<01:28, 28.33it/s]
  2%|▏         | 39/2550 [00:01<01:28, 28.36it/s]
  2%|▏         | 42/2550 [00:01<01:28, 28.32it/s]
  2%|▏         | 45/2550 [00:01<01:28, 28.30it/s]
  2%|▏         | 48/2550 [00:01<01:28, 28.28it/s]
  2%|▏         | 51/2550 [00:01<01:28, 28.28it/s]
  2%|▏         | 54/2550 [00:01<01:28, 28.09it/s]
  2%|▏         | 57/2550 [00:02<01:30, 27.55it/s]
  2%|▏         | 60/2550 [00:02<01:29, 27.75it/s]
  2%|▏         | 63/2550 [00:02<01:29, 27.82it/s]
  3%|▎         | 66/2550 [00:02<01:29, 27.81it/s]
  3%|▎         | 69/2550 [00:02<01:29, 27.85it/s]
  3%|▎         | 72/2550 [00:02<01:28, 27.88it/s]
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  3%|▎         | 78/2550 [00:02<01:28, 28.01it/s]
  3%|▎         | 81/2550 [00:02<01:28, 28.00it/s]
  3%|▎         | 84/2550 [00:02<01:27, 28.05it/s]
  3%|▎         | 87/2550 [00:03<01:27, 28.07it/s]
  4%|▎         | 90/2550 [00:03<01:29, 27.45it/s]
  4%|▎         | 93/2550 [00:03<01:28, 27.68it/s]
  4%|▍         | 96/2550 [00:03<01:28, 27.71it/s]
  4%|▍         | 99/2550 [00:03<01:28, 27.84it/s]
  4%|▍         | 102/2550 [00:03<01:27, 27.85it/s]
  4%|▍         | 105/2550 [00:03<01:27, 27.96it/s]
  4%|▍         | 108/2550 [00:03<01:27, 28.00it/s]
  4%|▍         | 111/2550 [00:03<01:26, 28.07it/s]
  4%|▍         | 114/2550 [00:04<01:26, 28.07it/s]
  5%|▍         | 117/2550 [00:04<01:26, 28.06it/s]
  5%|▍         | 120/2550 [00:04<01:26, 27.96it/s]
  5%|▍         | 123/2550 [00:04<01:26, 28.00it/s]
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  5%|▌         | 129/2550 [00:04<01:26, 28.03it/s]
  5%|▌         | 132/2550 [00:04<01:26, 28.02it/s]
  5%|▌         | 135/2550 [00:04<01:26, 28.04it/s]
  5%|▌         | 138/2550 [00:04<01:25, 28.08it/s]
  6%|▌         | 141/2550 [00:05<01:25, 28.07it/s]
  6%|▌         | 144/2550 [00:05<01:25, 28.06it/s]
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  8%|▊         | 192/2550 [00:06<01:26, 27.11it/s]
  8%|▊         | 195/2550 [00:06<01:26, 27.29it/s]
  8%|▊         | 198/2550 [00:07<01:25, 27.45it/s]
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 10%|▉         | 249/2550 [00:08<01:23, 27.71it/s]
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 10%|█         | 255/2550 [00:09<01:22, 27.79it/s]
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 10%|█         | 261/2550 [00:09<01:22, 27.86it/s]
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 10%|█         | 267/2550 [00:09<01:21, 28.00it/s]
 11%|█         | 270/2550 [00:09<01:21, 27.96it/s]
 11%|█         | 273/2550 [00:09<01:21, 27.98it/s]
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 11%|█▏        | 288/2550 [00:10<01:20, 28.02it/s]
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2026-02-27T05:29:45 - 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"
2026-02-27T05:29:46 - INFO: DataPrep 0.14.0a6
2026-02-27T05:29:46 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-02-27T05:29:46 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:29:46 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:29:46 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-02-27T05:29:46 - INFO: Preparing sonar data...
2026-02-27T05:29:46 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:29:48 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-02-27T05:29:48 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:29:48 - INFO: Sonar range is 0.722400 m
2026-02-27T05:29:48 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:29:48 - INFO: Processing 2549 sweeps...

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2026-02-27T05:29:54 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:29:56 - INFO: Prepared sonar data in 10.3370 s
2026-02-27T05:29:56 - INFO: No IMU data found
2026-02-27T05:29:57 - INFO: DataPrep took 0:00:10.653263
2026-02-27T05:29:57 - INFO: Extracted sonar data in 0:02:07.721894
2026-02-27T05:29:57 - INFO: MSIP3D took 0:02:07.946451