2026-02-27T06:08:01 - INFO: MSIP3D 0.2.0a10
2026-02-27T06:08:01 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-02-27T06:08:01 - INFO: Found 10 TFD dictionary entries
2026-02-27T06:08:02 - INFO: Found TFD mission for SJ502795 Dep 5
2026-02-27T06:08:02 - INFO: Recording will be processed as MD
2026-02-27T06:08:02 - INFO: Copying assets JSON to output directory...
2026-02-27T06:08:02 - INFO: Preparing counter data...
2026-02-27T06:08:02 - INFO: Interpreting counter as imperial
2026-02-27T06:08:02 - INFO: Preparing shape track from assets JSON...
2026-02-27T06:08:02 - INFO: Prepared counter data in 0.0771 s
2026-02-27T06:08:02 - INFO: Extracting sonar data...
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/SJ502795_Dep_5.tfd
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 3029
21 / 3029 [>___________________________________________________________________________] 0.69% ? p/s43 / 3029 [->__________________________________________________________________________] 1.42% ? p/s65 / 3029 [->__________________________________________________________________________] 2.15% ? p/s87 / 3029 [-->_______________________________________________________________________] 2.87% 110 p/s110 / 3029 [-->______________________________________________________________________] 3.63% 110 p/s132 / 3029 [--->_____________________________________________________________________] 4.36% 110 p/s155 / 3029 [--->_____________________________________________________________________] 5.12% 110 p/s178 / 3029 [---->____________________________________________________________________] 5.88% 110 p/s201 / 3029 [---->____________________________________________________________________] 6.64% 110 p/s224 / 3029 [----->___________________________________________________________________] 7.40% 111 p/s246 / 3029 [----->___________________________________________________________________] 8.12% 111 p/s266 / 3029 [------>__________________________________________________________________] 8.78% 111 p/s289 / 3029 [------>__________________________________________________________________] 9.54% 110 p/s311 / 3029 [------->________________________________________________________________] 10.27% 110 p/s333 / 3029 [------->________________________________________________________________] 10.99% 110 p/s356 / 3029 [-------->_______________________________________________________________] 11.75% 111 p/s379 / 3029 [--------->______________________________________________________________] 12.51% 111 p/s401 / 3029 [--------->______________________________________________________________] 13.24% 111 p/s424 / 3029 [---------->_____________________________________________________________] 14.00% 111 p/s446 / 3029 [---------->_____________________________________________________________] 14.72% 111 p/s468 / 3029 [----------->____________________________________________________________] 15.45% 111 p/s489 / 3029 [----------->____________________________________________________________] 16.14% 111 p/s511 / 3029 [------------>___________________________________________________________] 16.87% 111 p/s533 / 3029 [------------>___________________________________________________________] 17.60% 111 p/s556 / 3029 [------------->__________________________________________________________] 18.36% 111 p/s578 / 3029 [------------->__________________________________________________________] 19.08% 111 p/s601 / 3029 [-------------->_________________________________________________________] 19.84% 111 p/s623 / 3029 [-------------->_________________________________________________________] 20.57% 111 p/s646 / 3029 [--------------->________________________________________________________] 21.33% 111 p/s668 / 3029 [--------------->________________________________________________________] 22.05% 111 p/s691 / 3029 [---------------->_______________________________________________________] 22.81% 111 p/s714 / 3029 [---------------->_______________________________________________________] 23.57% 111 p/s737 / 3029 [----------------->______________________________________________________] 24.33% 111 p/s759 / 3029 [------------------>_____________________________________________________] 25.06% 111 p/s782 / 3029 [------------------>_____________________________________________________] 25.82% 111 p/s804 / 3029 [------------------->____________________________________________________] 26.54% 111 p/s827 / 3029 [------------------->____________________________________________________] 27.30% 111 p/s850 / 3029 [-------------------->___________________________________________________] 28.06% 111 p/s872 / 3029 [-------------------->___________________________________________________] 28.79% 111 p/s895 / 3029 [--------------------->__________________________________________________] 29.55% 111 p/s918 / 3029 [--------------------->__________________________________________________] 30.31% 111 p/s940 / 3029 [---------------------->_________________________________________________] 31.03% 111 p/s963 / 3029 [---------------------->_________________________________________________] 31.79% 111 p/s986 / 3029 [----------------------->________________________________________________] 32.55% 111 p/s1009 / 3029 [----------------------->_______________________________________________] 33.31% 111 p/s1030 / 3029 [------------------------>______________________________________________] 34.00% 111 p/s1052 / 3029 [------------------------>______________________________________________] 34.73% 111 p/s1075 / 3029 [------------------------->_____________________________________________] 35.49% 111 p/s1098 / 3029 [------------------------->_____________________________________________] 36.25% 112 p/s1121 / 3029 [-------------------------->____________________________________________] 37.01% 112 p/s1144 / 3029 [-------------------------->____________________________________________] 37.77% 112 p/s1166 / 3029 [--------------------------->___________________________________________] 38.49% 112 p/s1189 / 3029 [--------------------------->___________________________________________] 39.25% 112 p/s1212 / 3029 [---------------------------->__________________________________________] 40.01% 112 p/s1235 / 3029 [---------------------------->__________________________________________] 40.77% 112 p/s1258 / 3029 [----------------------------->_________________________________________] 41.53% 112 p/s1280 / 3029 [------------------------------>________________________________________] 42.26% 112 p/s1303 / 3029 [------------------------------>________________________________________] 43.02% 112 p/s1326 / 3029 [------------------------------->_______________________________________] 43.78% 112 p/s1349 / 3029 [------------------------------->_______________________________________] 44.54% 112 p/s1371 / 3029 [-------------------------------->______________________________________] 45.26% 112 p/s1394 / 3029 [-------------------------------->______________________________________] 46.02% 112 p/s1416 / 3029 [--------------------------------->_____________________________________] 46.75% 112 p/s1439 / 3029 [--------------------------------->_____________________________________] 47.51% 112 p/s1461 / 3029 [---------------------------------->____________________________________] 48.23% 112 p/s1484 / 3029 [---------------------------------->____________________________________] 48.99% 112 p/s1506 / 3029 [----------------------------------->___________________________________] 49.72% 112 p/s1529 / 3029 [----------------------------------->___________________________________] 50.48% 112 p/s1551 / 3029 [------------------------------------>__________________________________] 51.21% 112 p/s1574 / 3029 [------------------------------------>__________________________________] 51.96% 112 p/s1597 / 3029 [------------------------------------->_________________________________] 52.72% 112 p/s1619 / 3029 [------------------------------------->_________________________________] 53.45% 112 p/s1642 / 3029 [-------------------------------------->________________________________] 54.21% 112 p/s1664 / 3029 [--------------------------------------->_______________________________] 54.94% 112 p/s1687 / 3029 [--------------------------------------->_______________________________] 55.69% 112 p/s1710 / 3029 [---------------------------------------->______________________________] 56.45% 112 p/s1733 / 3029 [---------------------------------------->______________________________] 57.21% 112 p/s1755 / 3029 [----------------------------------------->_____________________________] 57.94% 112 p/s1778 / 3029 [----------------------------------------->_____________________________] 58.70% 112 p/s1800 / 3029 [------------------------------------------>____________________________] 59.43% 112 p/s1823 / 3029 [------------------------------------------>____________________________] 60.18% 112 p/s1846 / 3029 [------------------------------------------->___________________________] 60.94% 112 p/s1869 / 3029 [------------------------------------------->___________________________] 61.70% 112 p/s1891 / 3029 [-------------------------------------------->__________________________] 62.43% 112 p/s1914 / 3029 [-------------------------------------------->__________________________] 63.19% 113 p/s1937 / 3029 [--------------------------------------------->_________________________] 63.95% 113 p/s1960 / 3029 [--------------------------------------------->_________________________] 64.71% 113 p/s1983 / 3029 [---------------------------------------------->________________________] 65.47% 113 p/s2006 / 3029 [----------------------------------------------->_______________________] 66.23% 113 p/s2028 / 3029 [----------------------------------------------->_______________________] 66.95% 113 p/s2050 / 3029 [------------------------------------------------>______________________] 67.68% 113 p/s2073 / 3029 [------------------------------------------------>______________________] 68.44% 113 p/s2095 / 3029 [------------------------------------------------->_____________________] 69.16% 113 p/s2118 / 3029 [------------------------------------------------->_____________________] 69.92% 113 p/s2141 / 3029 [-------------------------------------------------->____________________] 70.68% 113 p/s2164 / 3029 [-------------------------------------------------->____________________] 71.44% 113 p/s2187 / 3029 [--------------------------------------------------->___________________] 72.20% 113 p/s2209 / 3029 [--------------------------------------------------->___________________] 72.93% 113 p/s2231 / 3029 [---------------------------------------------------->__________________] 73.65% 113 p/s2254 / 3029 [---------------------------------------------------->__________________] 74.41% 113 p/s2276 / 3029 [----------------------------------------------------->_________________] 75.14% 113 p/s2299 / 3029 [----------------------------------------------------->_________________] 75.90% 113 p/s2321 / 3029 [------------------------------------------------------>________________] 76.63% 113 p/s2344 / 3029 [------------------------------------------------------>________________] 77.39% 113 p/s2366 / 3029 [------------------------------------------------------->_______________] 78.11% 113 p/s2389 / 3029 [------------------------------------------------------->_______________] 78.87% 113 p/s2408 / 3029 [-------------------------------------------------------->______________] 79.50% 113 p/s2428 / 3029 [-------------------------------------------------------->______________] 80.16% 113 p/s2449 / 3029 [--------------------------------------------------------->_____________] 80.85% 112 p/s2472 / 3029 [--------------------------------------------------------->_____________] 81.61% 112 p/s2495 / 3029 [---------------------------------------------------------->____________] 82.37% 112 p/s2518 / 3029 [----------------------------------------------------------->___________] 83.13% 112 p/s2540 / 3029 [----------------------------------------------------------->___________] 83.86% 112 p/s2563 / 3029 [------------------------------------------------------------>__________] 84.62% 112 p/s2586 / 3029 [------------------------------------------------------------>__________] 85.37% 112 p/s2608 / 3029 [------------------------------------------------------------->_________] 86.10% 112 p/s2631 / 3029 [------------------------------------------------------------->_________] 86.86% 112 p/s2654 / 3029 [-------------------------------------------------------------->________] 87.62% 112 p/s2676 / 3029 [-------------------------------------------------------------->________] 88.35% 112 p/s2699 / 3029 [--------------------------------------------------------------->_______] 89.11% 112 p/s2721 / 3029 [--------------------------------------------------------------->_______] 89.83% 112 p/s2744 / 3029 [---------------------------------------------------------------->______] 90.59% 112 p/s2767 / 3029 [---------------------------------------------------------------->______] 91.35% 112 p/s2789 / 3029 [----------------------------------------------------------------->_____] 92.08% 112 p/s2812 / 3029 [----------------------------------------------------------------->_____] 92.84% 112 p/s2834 / 3029 [------------------------------------------------------------------>____] 93.56% 112 p/s2857 / 3029 [------------------------------------------------------------------>____] 94.32% 112 p/s2880 / 3029 [------------------------------------------------------------------->___] 95.08% 112 p/s2902 / 3029 [-------------------------------------------------------------------->__] 95.81% 112 p/s2925 / 3029 [-------------------------------------------------------------------->__] 96.57% 112 p/s2948 / 3029 [--------------------------------------------------------------------->_] 97.33% 112 p/s2970 / 3029 [--------------------------------------------------------------------->_] 98.05% 112 p/s2993 / 3029 [---------------------------------------------------------------------->] 98.81% 112 p/s3016 / 3029 [---------------------------------------------------------------------->] 99.57% 112 p/s3029 / 3029 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-27T06:08:29 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3029 [00:00<?, ?it/s]
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2026-02-27T06:10:27 - 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/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928"
2026-02-27T06:10:28 - INFO: DataPrep 0.14.0a6
2026-02-27T06:10:28 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-02-27T06:10:28 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T06:10:28 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T06:10:28 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-02-27T06:10:28 - INFO: Preparing sonar data...
2026-02-27T06:10:28 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T06:10:31 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-02-27T06:10:31 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T06:10:31 - INFO: Sonar range is 0.722400 m
2026-02-27T06:10:31 - INFO: Speed of sound is 1494 m/s
2026-02-27T06:10:31 - INFO: Processing 3029 sweeps...

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2026-02-27T06:10:37 - INFO: Creating sonar sensor alignment track...
2026-02-27T06:10:38 - INFO: Prepared sonar data in 10.0161 s
2026-02-27T06:10:38 - INFO: No IMU data found
2026-02-27T06:10:38 - INFO: DataPrep took 0:00:10.334937
2026-02-27T06:10:38 - INFO: Extracted sonar data in 0:02:36.623574
2026-02-27T06:10:39 - INFO: MSIP3D took 0:02:36.993072