2026-02-27T05:42:55 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:42:56 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-02-27T05:42:56 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:42:56 - INFO: Found TFD mission for SJ502795 Dep 8
2026-02-27T05:42:56 - INFO: Recording will be processed as MD
2026-02-27T05:42:56 - INFO: Copying assets JSON to output directory...
2026-02-27T05:42:56 - INFO: Preparing counter data...
2026-02-27T05:42:56 - INFO: Interpreting counter as imperial
2026-02-27T05:42:56 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:42:56 - INFO: Prepared counter data in 0.1135 s
2026-02-27T05:42:56 - 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: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
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/s113 / 4266 [->_______________________________________________________________________] 2.65% 113 p/s135 / 4266 [-->______________________________________________________________________] 3.16% 113 p/s158 / 4266 [-->______________________________________________________________________] 3.70% 113 p/s181 / 4266 [--->_____________________________________________________________________] 4.24% 113 p/s204 / 4266 [--->_____________________________________________________________________] 4.78% 113 p/s227 / 4266 [--->_____________________________________________________________________] 5.32% 113 p/s249 / 4266 [---->____________________________________________________________________] 5.84% 113 p/s272 / 4266 [---->____________________________________________________________________] 6.38% 113 p/s295 / 4266 [----->___________________________________________________________________] 6.92% 113 p/s316 / 4266 [----->___________________________________________________________________] 7.41% 113 p/s338 / 4266 [----->___________________________________________________________________] 7.92% 113 p/s361 / 4266 [------>__________________________________________________________________] 8.46% 113 p/s383 / 4266 [------>__________________________________________________________________] 8.98% 113 p/s406 / 4266 [------>__________________________________________________________________] 9.52% 113 p/s429 / 4266 [------->________________________________________________________________] 10.06% 113 p/s453 / 4266 [------->________________________________________________________________] 10.62% 113 p/s475 / 4266 [-------->_______________________________________________________________] 11.13% 113 p/s498 / 4266 [-------->_______________________________________________________________] 11.67% 113 p/s520 / 4266 [-------->_______________________________________________________________] 12.19% 113 p/s543 / 4266 [--------->______________________________________________________________] 12.73% 113 p/s566 / 4266 [--------->______________________________________________________________] 13.27% 113 p/s588 / 4266 [--------->______________________________________________________________] 13.78% 113 p/s612 / 4266 [---------->_____________________________________________________________] 14.35% 113 p/s635 / 4266 [---------->_____________________________________________________________] 14.89% 113 p/s658 / 4266 [----------->____________________________________________________________] 15.42% 113 p/s681 / 4266 [----------->____________________________________________________________] 15.96% 113 p/s704 / 4266 [----------->____________________________________________________________] 16.50% 114 p/s727 / 4266 [------------>___________________________________________________________] 17.04% 114 p/s750 / 4266 [------------>___________________________________________________________] 17.58% 114 p/s773 / 4266 [------------->__________________________________________________________] 18.12% 114 p/s796 / 4266 [------------->__________________________________________________________] 18.66% 114 p/s819 / 4266 [------------->__________________________________________________________] 19.20% 114 p/s842 / 4266 [-------------->_________________________________________________________] 19.74% 114 p/s865 / 4266 [-------------->_________________________________________________________] 20.28% 114 p/s888 / 4266 [-------------->_________________________________________________________] 20.82% 114 p/s911 / 4266 [--------------->________________________________________________________] 21.35% 114 p/s934 / 4266 [--------------->________________________________________________________] 21.89% 114 p/s956 / 4266 [---------------->_______________________________________________________] 22.41% 114 p/s979 / 4266 [---------------->_______________________________________________________] 22.95% 114 p/s1002 / 4266 [---------------->______________________________________________________] 23.49% 114 p/s1025 / 4266 [----------------->_____________________________________________________] 24.03% 114 p/s1047 / 4266 [----------------->_____________________________________________________] 24.54% 114 p/s1070 / 4266 [----------------->_____________________________________________________] 25.08% 114 p/s1093 / 4266 [------------------>____________________________________________________] 25.62% 114 p/s1116 / 4266 [------------------>____________________________________________________] 26.16% 114 p/s1139 / 4266 [------------------>____________________________________________________] 26.70% 114 p/s1162 / 4266 [------------------->___________________________________________________] 27.24% 114 p/s1185 / 4266 [------------------->___________________________________________________] 27.78% 114 p/s1208 / 4266 [-------------------->__________________________________________________] 28.32% 114 p/s1231 / 4266 [-------------------->__________________________________________________] 28.86% 114 p/s1254 / 4266 [-------------------->__________________________________________________] 29.40% 114 p/s1277 / 4266 [--------------------->_________________________________________________] 29.93% 114 p/s1300 / 4266 [--------------------->_________________________________________________] 30.47% 114 p/s1323 / 4266 [---------------------->________________________________________________] 31.01% 114 p/s1346 / 4266 [---------------------->________________________________________________] 31.55% 114 p/s1369 / 4266 [---------------------->________________________________________________] 32.09% 114 p/s1392 / 4266 [----------------------->_______________________________________________] 32.63% 114 p/s1416 / 4266 [----------------------->_______________________________________________] 33.19% 114 p/s1439 / 4266 [----------------------->_______________________________________________] 33.73% 114 p/s1462 / 4266 [------------------------>______________________________________________] 34.27% 114 p/s1485 / 4266 [------------------------>______________________________________________] 34.81% 114 p/s1508 / 4266 [------------------------->_____________________________________________] 35.35% 114 p/s1531 / 4266 [------------------------->_____________________________________________] 35.89% 114 p/s1554 / 4266 [------------------------->_____________________________________________] 36.43% 114 p/s1577 / 4266 [-------------------------->____________________________________________] 36.97% 114 p/s1600 / 4266 [-------------------------->____________________________________________] 37.51% 114 p/s1623 / 4266 [--------------------------->___________________________________________] 38.05% 114 p/s1646 / 4266 [--------------------------->___________________________________________] 38.58% 114 p/s1669 / 4266 [--------------------------->___________________________________________] 39.12% 114 p/s1692 / 4266 [---------------------------->__________________________________________] 39.66% 114 p/s1715 / 4266 [---------------------------->__________________________________________] 40.20% 114 p/s1739 / 4266 [---------------------------->__________________________________________] 40.76% 115 p/s1762 / 4266 [----------------------------->_________________________________________] 41.30% 115 p/s1785 / 4266 [----------------------------->_________________________________________] 41.84% 115 p/s1808 / 4266 [------------------------------>________________________________________] 42.38% 115 p/s1831 / 4266 [------------------------------>________________________________________] 42.92% 115 p/s1854 / 4266 [------------------------------>________________________________________] 43.46% 115 p/s1877 / 4266 [------------------------------->_______________________________________] 44.00% 115 p/s1894 / 4266 [------------------------------->_______________________________________] 44.40% 115 p/s1917 / 4266 [------------------------------->_______________________________________] 44.94% 115 p/s1940 / 4266 [-------------------------------->______________________________________] 45.48% 114 p/s1962 / 4266 [-------------------------------->______________________________________] 45.99% 114 p/s1985 / 4266 [--------------------------------->_____________________________________] 46.53% 114 p/s2008 / 4266 [--------------------------------->_____________________________________] 47.07% 114 p/s2031 / 4266 [--------------------------------->_____________________________________] 47.61% 114 p/s2053 / 4266 [---------------------------------->____________________________________] 48.12% 114 p/s2076 / 4266 [---------------------------------->____________________________________] 48.66% 114 p/s2099 / 4266 [---------------------------------->____________________________________] 49.20% 114 p/s2122 / 4266 [----------------------------------->___________________________________] 49.74% 114 p/s2145 / 4266 [----------------------------------->___________________________________] 50.28% 114 p/s2168 / 4266 [------------------------------------>__________________________________] 50.82% 114 p/s2190 / 4266 [------------------------------------>__________________________________] 51.34% 114 p/s2213 / 4266 [------------------------------------>__________________________________] 51.88% 114 p/s2236 / 4266 [------------------------------------->_________________________________] 52.41% 114 p/s2259 / 4266 [------------------------------------->_________________________________] 52.95% 114 p/s2282 / 4266 [------------------------------------->_________________________________] 53.49% 114 p/s2304 / 4266 [-------------------------------------->________________________________] 54.01% 114 p/s2327 / 4266 [-------------------------------------->________________________________] 54.55% 114 p/s2350 / 4266 [--------------------------------------->_______________________________] 55.09% 114 p/s2373 / 4266 [--------------------------------------->_______________________________] 55.63% 114 p/s2396 / 4266 [--------------------------------------->_______________________________] 56.17% 114 p/s2419 / 4266 [---------------------------------------->______________________________] 56.70% 114 p/s2442 / 4266 [---------------------------------------->______________________________] 57.24% 114 p/s2464 / 4266 [----------------------------------------->_____________________________] 57.76% 114 p/s2484 / 4266 [----------------------------------------->_____________________________] 58.23% 114 p/s2506 / 4266 [----------------------------------------->_____________________________] 58.74% 114 p/s2529 / 4266 [------------------------------------------>____________________________] 59.28% 114 p/s2551 / 4266 [------------------------------------------>____________________________] 59.80% 114 p/s2573 / 4266 [------------------------------------------>____________________________] 60.31% 114 p/s2596 / 4266 [------------------------------------------->___________________________] 60.85% 114 p/s2619 / 4266 [------------------------------------------->___________________________] 61.39% 114 p/s2642 / 4266 [------------------------------------------->___________________________] 61.93% 114 p/s2665 / 4266 [-------------------------------------------->__________________________] 62.47% 114 p/s2687 / 4266 [-------------------------------------------->__________________________] 62.99% 114 p/s2709 / 4266 [--------------------------------------------->_________________________] 63.50% 114 p/s2732 / 4266 [--------------------------------------------->_________________________] 64.04% 114 p/s2754 / 4266 [--------------------------------------------->_________________________] 64.56% 113 p/s2777 / 4266 [---------------------------------------------->________________________] 65.10% 113 p/s2800 / 4266 [---------------------------------------------->________________________] 65.64% 113 p/s2822 / 4266 [---------------------------------------------->________________________] 66.15% 113 p/s2845 / 4266 [----------------------------------------------->_______________________] 66.69% 113 p/s2868 / 4266 [----------------------------------------------->_______________________] 67.23% 113 p/s2891 / 4266 [------------------------------------------------>______________________] 67.77% 113 p/s2914 / 4266 [------------------------------------------------>______________________] 68.31% 113 p/s2937 / 4266 [------------------------------------------------>______________________] 68.85% 113 p/s2959 / 4266 [------------------------------------------------->_____________________] 69.36% 113 p/s2982 / 4266 [------------------------------------------------->_____________________] 69.90% 113 p/s3005 / 4266 [-------------------------------------------------->____________________] 70.44% 113 p/s3028 / 4266 [-------------------------------------------------->____________________] 70.98% 114 p/s3051 / 4266 [-------------------------------------------------->____________________] 71.52% 114 p/s3074 / 4266 [--------------------------------------------------->___________________] 72.06% 114 p/s3097 / 4266 [--------------------------------------------------->___________________] 72.60% 114 p/s3120 / 4266 [--------------------------------------------------->___________________] 73.14% 114 p/s3142 / 4266 [---------------------------------------------------->__________________] 73.65% 114 p/s3165 / 4266 [---------------------------------------------------->__________________] 74.19% 114 p/s3188 / 4266 [----------------------------------------------------->_________________] 74.73% 114 p/s3211 / 4266 [----------------------------------------------------->_________________] 75.27% 114 p/s3234 / 4266 [----------------------------------------------------->_________________] 75.81% 114 p/s3256 / 4266 [------------------------------------------------------>________________] 76.32% 114 p/s3279 / 4266 [------------------------------------------------------>________________] 76.86% 114 p/s3301 / 4266 [------------------------------------------------------>________________] 77.38% 114 p/s3324 / 4266 [------------------------------------------------------->_______________] 77.92% 114 p/s3346 / 4266 [------------------------------------------------------->_______________] 78.43% 114 p/s3368 / 4266 [-------------------------------------------------------->______________] 78.95% 113 p/s3391 / 4266 [-------------------------------------------------------->______________] 79.49% 113 p/s3414 / 4266 [-------------------------------------------------------->______________] 80.03% 113 p/s3437 / 4266 [--------------------------------------------------------->_____________] 80.57% 114 p/s3460 / 4266 [--------------------------------------------------------->_____________] 81.11% 114 p/s3482 / 4266 [--------------------------------------------------------->_____________] 81.62% 114 p/s3505 / 4266 [---------------------------------------------------------->____________] 82.16% 114 p/s3528 / 4266 [---------------------------------------------------------->____________] 82.70% 114 p/s3551 / 4266 [----------------------------------------------------------->___________] 83.24% 114 p/s3573 / 4266 [----------------------------------------------------------->___________] 83.76% 114 p/s3596 / 4266 [----------------------------------------------------------->___________] 84.29% 114 p/s3619 / 4266 [------------------------------------------------------------>__________] 84.83% 114 p/s3641 / 4266 [------------------------------------------------------------>__________] 85.35% 114 p/s3664 / 4266 [------------------------------------------------------------>__________] 85.89% 114 p/s3686 / 4266 [------------------------------------------------------------->_________] 86.40% 114 p/s3709 / 4266 [------------------------------------------------------------->_________] 86.94% 114 p/s3732 / 4266 [-------------------------------------------------------------->________] 87.48% 114 p/s3754 / 4266 [-------------------------------------------------------------->________] 88.00% 114 p/s3776 / 4266 [-------------------------------------------------------------->________] 88.51% 113 p/s3799 / 4266 [--------------------------------------------------------------->_______] 89.05% 113 p/s3821 / 4266 [--------------------------------------------------------------->_______] 89.57% 113 p/s3844 / 4266 [--------------------------------------------------------------->_______] 90.11% 113 p/s3867 / 4266 [---------------------------------------------------------------->______] 90.65% 113 p/s3889 / 4266 [---------------------------------------------------------------->______] 91.16% 113 p/s3912 / 4266 [----------------------------------------------------------------->_____] 91.70% 113 p/s3934 / 4266 [----------------------------------------------------------------->_____] 92.22% 113 p/s3956 / 4266 [----------------------------------------------------------------->_____] 92.73% 113 p/s3979 / 4266 [------------------------------------------------------------------>____] 93.27% 113 p/s4002 / 4266 [------------------------------------------------------------------>____] 93.81% 113 p/s4024 / 4266 [------------------------------------------------------------------>____] 94.33% 113 p/s4047 / 4266 [------------------------------------------------------------------->___] 94.87% 113 p/s4069 / 4266 [------------------------------------------------------------------->___] 95.38% 113 p/s4091 / 4266 [-------------------------------------------------------------------->__] 95.90% 113 p/s4113 / 4266 [-------------------------------------------------------------------->__] 96.41% 113 p/s4136 / 4266 [-------------------------------------------------------------------->__] 96.95% 113 p/s4159 / 4266 [--------------------------------------------------------------------->_] 97.49% 113 p/s4181 / 4266 [--------------------------------------------------------------------->_] 98.01% 113 p/s4204 / 4266 [--------------------------------------------------------------------->_] 98.55% 113 p/s4227 / 4266 [---------------------------------------------------------------------->] 99.09% 113 p/s4251 / 4266 [---------------------------------------------------------------------->] 99.65% 113 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 114 p/s2026-02-27T05:43:33 - 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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  2%|▏         | 105/4266 [00:03<02:27, 28.25it/s]
  3%|▎         | 108/4266 [00:03<02:27, 28.22it/s]
  3%|▎         | 111/4266 [00:03<02:27, 28.24it/s]
  3%|▎         | 114/4266 [00:04<02:26, 28.25it/s]
  3%|▎         | 117/4266 [00:04<02:26, 28.24it/s]
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  3%|▎         | 123/4266 [00:04<02:26, 28.29it/s]
  3%|▎         | 126/4266 [00:04<02:26, 28.35it/s]
  3%|▎         | 129/4266 [00:04<02:29, 27.59it/s]
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  3%|▎         | 135/4266 [00:04<02:27, 28.01it/s]
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  3%|▎         | 141/4266 [00:04<02:25, 28.27it/s]
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2026-02-27T05:46:07 - 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"
2026-02-27T05:46:09 - INFO: DataPrep 0.14.0a6
2026-02-27T05:46:09 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-02-27T05:46:09 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:46:09 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:46:09 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-02-27T05:46:09 - INFO: Preparing sonar data...
2026-02-27T05:46:09 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:46:12 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-02-27T05:46:12 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:46:12 - INFO: Sonar range is 0.939120 m
2026-02-27T05:46:12 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:46:12 - INFO: Processing 4266 sweeps...

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2026-02-27T05:46:22 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:46:23 - INFO: Prepared sonar data in 14.3545 s
2026-02-27T05:46:23 - INFO: No IMU data found
2026-02-27T05:46:23 - INFO: DataPrep took 0:00:14.806606
2026-02-27T05:46:23 - INFO: Extracted sonar data in 0:03:27.724075
2026-02-27T05:46:24 - INFO: MSIP3D took 0:03:28.238732