2026-02-27T05:40:04 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:40:04 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-02-27T05:40:05 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:40:05 - INFO: Found TFD mission for SJ502795 Dep 7
2026-02-27T05:40:05 - INFO: Recording will be processed as MD
2026-02-27T05:40:05 - INFO: Copying assets JSON to output directory...
2026-02-27T05:40:05 - INFO: Preparing counter data...
2026-02-27T05:40:05 - INFO: Interpreting counter as imperial
2026-02-27T05:40:05 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:40:05 - INFO: Prepared counter data in 0.0421 s
2026-02-27T05:40:05 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 1851
20 / 1851 [>___________________________________________________________________________] 1.08% ? p/s42 / 1851 [->__________________________________________________________________________] 2.27% ? p/s64 / 1851 [-->_________________________________________________________________________] 3.46% ? p/s86 / 1851 [--->______________________________________________________________________] 4.65% 110 p/s109 / 1851 [---->____________________________________________________________________] 5.89% 110 p/s131 / 1851 [----->___________________________________________________________________] 7.08% 110 p/s153 / 1851 [------>__________________________________________________________________] 8.27% 110 p/s175 / 1851 [------>__________________________________________________________________] 9.45% 110 p/s198 / 1851 [------->________________________________________________________________] 10.70% 110 p/s220 / 1851 [-------->_______________________________________________________________] 11.89% 110 p/s243 / 1851 [--------->______________________________________________________________] 13.13% 110 p/s264 / 1851 [---------->_____________________________________________________________] 14.26% 110 p/s287 / 1851 [----------->____________________________________________________________] 15.51% 110 p/s309 / 1851 [------------>___________________________________________________________] 16.69% 110 p/s332 / 1851 [------------>___________________________________________________________] 17.94% 110 p/s353 / 1851 [------------->__________________________________________________________] 19.07% 110 p/s376 / 1851 [-------------->_________________________________________________________] 20.31% 110 p/s398 / 1851 [--------------->________________________________________________________] 21.50% 110 p/s421 / 1851 [---------------->_______________________________________________________] 22.74% 110 p/s444 / 1851 [----------------->______________________________________________________] 23.99% 110 p/s465 / 1851 [------------------>_____________________________________________________] 25.12% 110 p/s488 / 1851 [------------------>_____________________________________________________] 26.36% 110 p/s509 / 1851 [------------------->____________________________________________________] 27.50% 110 p/s531 / 1851 [-------------------->___________________________________________________] 28.69% 110 p/s554 / 1851 [--------------------->__________________________________________________] 29.93% 110 p/s576 / 1851 [---------------------->_________________________________________________] 31.12% 110 p/s599 / 1851 [----------------------->________________________________________________] 32.36% 110 p/s621 / 1851 [------------------------>_______________________________________________] 33.55% 111 p/s644 / 1851 [------------------------->______________________________________________] 34.79% 111 p/s666 / 1851 [------------------------->______________________________________________] 35.98% 111 p/s688 / 1851 [-------------------------->_____________________________________________] 37.17% 111 p/s710 / 1851 [--------------------------->____________________________________________] 38.36% 111 p/s732 / 1851 [---------------------------->___________________________________________] 39.55% 111 p/s754 / 1851 [----------------------------->__________________________________________] 40.73% 111 p/s776 / 1851 [------------------------------>_________________________________________] 41.92% 111 p/s798 / 1851 [------------------------------->________________________________________] 43.11% 111 p/s820 / 1851 [------------------------------->________________________________________] 44.30% 111 p/s840 / 1851 [-------------------------------->_______________________________________] 45.38% 111 p/s863 / 1851 [--------------------------------->______________________________________] 46.62% 111 p/s885 / 1851 [---------------------------------->_____________________________________] 47.81% 110 p/s907 / 1851 [----------------------------------->____________________________________] 49.00% 110 p/s930 / 1851 [------------------------------------>___________________________________] 50.24% 110 p/s952 / 1851 [------------------------------------->__________________________________] 51.43% 110 p/s974 / 1851 [------------------------------------->__________________________________] 52.62% 110 p/s997 / 1851 [-------------------------------------->_________________________________] 53.86% 110 p/s1019 / 1851 [--------------------------------------->_______________________________] 55.05% 111 p/s1042 / 1851 [--------------------------------------->_______________________________] 56.29% 111 p/s1064 / 1851 [---------------------------------------->______________________________] 57.48% 111 p/s1087 / 1851 [----------------------------------------->_____________________________] 58.73% 111 p/s1110 / 1851 [------------------------------------------>____________________________] 59.97% 111 p/s1133 / 1851 [------------------------------------------->___________________________] 61.21% 111 p/s1156 / 1851 [-------------------------------------------->__________________________] 62.45% 111 p/s1178 / 1851 [--------------------------------------------->_________________________] 63.64% 111 p/s1201 / 1851 [---------------------------------------------->________________________] 64.88% 111 p/s1224 / 1851 [---------------------------------------------->________________________] 66.13% 111 p/s1246 / 1851 [----------------------------------------------->_______________________] 67.31% 111 p/s1269 / 1851 [------------------------------------------------>______________________] 68.56% 111 p/s1292 / 1851 [------------------------------------------------->_____________________] 69.80% 111 p/s1315 / 1851 [-------------------------------------------------->____________________] 71.04% 111 p/s1338 / 1851 [--------------------------------------------------->___________________] 72.29% 111 p/s1360 / 1851 [---------------------------------------------------->__________________] 73.47% 111 p/s1383 / 1851 [----------------------------------------------------->_________________] 74.72% 111 p/s1406 / 1851 [----------------------------------------------------->_________________] 75.96% 111 p/s1429 / 1851 [------------------------------------------------------>________________] 77.20% 112 p/s1451 / 1851 [------------------------------------------------------->_______________] 78.39% 112 p/s1474 / 1851 [-------------------------------------------------------->______________] 79.63% 112 p/s1497 / 1851 [--------------------------------------------------------->_____________] 80.88% 112 p/s1519 / 1851 [---------------------------------------------------------->____________] 82.06% 112 p/s1542 / 1851 [----------------------------------------------------------->___________] 83.31% 112 p/s1564 / 1851 [----------------------------------------------------------->___________] 84.49% 112 p/s1586 / 1851 [------------------------------------------------------------>__________] 85.68% 112 p/s1609 / 1851 [------------------------------------------------------------->_________] 86.93% 112 p/s1632 / 1851 [-------------------------------------------------------------->________] 88.17% 112 p/s1654 / 1851 [--------------------------------------------------------------->_______] 89.36% 112 p/s1677 / 1851 [---------------------------------------------------------------->______] 90.60% 112 p/s1699 / 1851 [----------------------------------------------------------------->_____] 91.79% 112 p/s1721 / 1851 [------------------------------------------------------------------>____] 92.98% 112 p/s1743 / 1851 [------------------------------------------------------------------>____] 94.17% 112 p/s1765 / 1851 [------------------------------------------------------------------->___] 95.35% 112 p/s1787 / 1851 [-------------------------------------------------------------------->__] 96.54% 112 p/s1809 / 1851 [--------------------------------------------------------------------->_] 97.73% 112 p/s1832 / 1851 [---------------------------------------------------------------------->] 98.97% 112 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-27T05:40:21 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1851 [00:00<?, ?it/s]
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2026-02-27T05:41:32 - 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/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-02-27T05:41:33 - INFO: DataPrep 0.14.0a6
2026-02-27T05:41:33 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-02-27T05:41:33 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:41:33 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:41:33 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-02-27T05:41:33 - INFO: Preparing sonar data...
2026-02-27T05:41:33 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:41:35 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-02-27T05:41:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:41:35 - INFO: Sonar range is 0.722400 m
2026-02-27T05:41:35 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:41:35 - INFO: Processing 1851 sweeps...

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2026-02-27T05:41:39 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:41:40 - INFO: Prepared sonar data in 6.9261 s
2026-02-27T05:41:40 - INFO: No IMU data found
2026-02-27T05:41:40 - INFO: DataPrep took 0:00:07.136030
2026-02-27T05:41:40 - INFO: Extracted sonar data in 0:01:35.587647
2026-02-27T05:41:40 - INFO: MSIP3D took 0:01:35.766511