2026-03-03T04:50:23 - INFO: MSIP3D 0.2.0a10
2026-03-03T04:50:23 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-03T04:50:23 - INFO: Found 10 TFD dictionary entries
2026-03-03T04:50:23 - INFO: Found TFD mission for SJ502828 DEP 507
2026-03-03T04:50:23 - INFO: Recording will be processed as MD
2026-03-03T04:50:23 - INFO: Copying assets JSON to output directory...
2026-03-03T04:50:23 - INFO: Preparing counter data...
2026-03-03T04:50:23 - INFO: Interpreting counter as imperial
2026-03-03T04:50:23 - INFO: Preparing size track from assets JSON...
2026-03-03T04:50:23 - INFO: Preparing shape track from assets JSON...
2026-03-03T04:50:23 - INFO: Preparing material track from assets JSON...
2026-03-03T04:50:23 - INFO: Prepared counter data in 0.1710 s
2026-03-03T04:50:23 - INFO: Extracting sonar data...
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/SJ502828_DEP_507.tfd
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215974206753347
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 4223
21 / 4223 [>___________________________________________________________________________] 0.50% ? p/s41 / 4223 [>___________________________________________________________________________] 0.97% ? p/s63 / 4223 [->__________________________________________________________________________] 1.49% ? p/s86 / 4223 [->________________________________________________________________________] 2.04% 108 p/s107 / 4223 [->_______________________________________________________________________] 2.53% 108 p/s127 / 4223 [-->______________________________________________________________________] 3.01% 108 p/s148 / 4223 [-->______________________________________________________________________] 3.50% 108 p/s169 / 4223 [-->______________________________________________________________________] 4.00% 108 p/s191 / 4223 [--->_____________________________________________________________________] 4.52% 108 p/s213 / 4223 [--->_____________________________________________________________________] 5.04% 108 p/s234 / 4223 [---->____________________________________________________________________] 5.54% 108 p/s255 / 4223 [---->____________________________________________________________________] 6.04% 108 p/s275 / 4223 [---->____________________________________________________________________] 6.51% 108 p/s297 / 4223 [----->___________________________________________________________________] 7.03% 108 p/s320 / 4223 [----->___________________________________________________________________] 7.58% 108 p/s341 / 4223 [----->___________________________________________________________________] 8.07% 108 p/s362 / 4223 [------>__________________________________________________________________] 8.57% 108 p/s385 / 4223 [------>__________________________________________________________________] 9.12% 108 p/s408 / 4223 [------->_________________________________________________________________] 9.66% 108 p/s429 / 4223 [------->________________________________________________________________] 10.16% 108 p/s451 / 4223 [------->________________________________________________________________] 10.68% 108 p/s474 / 4223 [-------->_______________________________________________________________] 11.22% 108 p/s494 / 4223 [-------->_______________________________________________________________] 11.70% 108 p/s513 / 4223 [-------->_______________________________________________________________] 12.15% 108 p/s535 / 4223 [--------->______________________________________________________________] 12.67% 108 p/s556 / 4223 [--------->______________________________________________________________] 13.17% 108 p/s579 / 4223 [--------->______________________________________________________________] 13.71% 108 p/s602 / 4223 [---------->_____________________________________________________________] 14.26% 108 p/s622 / 4223 [---------->_____________________________________________________________] 14.73% 108 p/s644 / 4223 [---------->_____________________________________________________________] 15.25% 108 p/s667 / 4223 [----------->____________________________________________________________] 15.79% 108 p/s687 / 4223 [----------->____________________________________________________________] 16.27% 108 p/s696 / 4223 [----------->____________________________________________________________] 16.48% 108 p/s711 / 4223 [------------>___________________________________________________________] 16.84% 106 p/s732 / 4223 [------------>___________________________________________________________] 17.33% 106 p/s754 / 4223 [------------>___________________________________________________________] 17.85% 106 p/s774 / 4223 [------------->__________________________________________________________] 18.33% 106 p/s797 / 4223 [------------->__________________________________________________________] 18.87% 106 p/s819 / 4223 [------------->__________________________________________________________] 19.39% 106 p/s842 / 4223 [-------------->_________________________________________________________] 19.94% 106 p/s865 / 4223 [-------------->_________________________________________________________] 20.48% 106 p/s887 / 4223 [--------------->________________________________________________________] 21.00% 106 p/s908 / 4223 [--------------->________________________________________________________] 21.50% 107 p/s931 / 4223 [--------------->________________________________________________________] 22.05% 107 p/s952 / 4223 [---------------->_______________________________________________________] 22.54% 107 p/s975 / 4223 [---------------->_______________________________________________________] 23.09% 107 p/s998 / 4223 [----------------->______________________________________________________] 23.63% 107 p/s1018 / 4223 [----------------->_____________________________________________________] 24.11% 107 p/s1040 / 4223 [----------------->_____________________________________________________] 24.63% 107 p/s1063 / 4223 [----------------->_____________________________________________________] 25.17% 107 p/s1085 / 4223 [------------------>____________________________________________________] 25.69% 107 p/s1107 / 4223 [------------------>____________________________________________________] 26.21% 107 p/s1129 / 4223 [------------------>____________________________________________________] 26.73% 107 p/s1151 / 4223 [------------------->___________________________________________________] 27.26% 107 p/s1171 / 4223 [------------------->___________________________________________________] 27.73% 107 p/s1190 / 4223 [-------------------->__________________________________________________] 28.18% 107 p/s1213 / 4223 [-------------------->__________________________________________________] 28.72% 107 p/s1235 / 4223 [-------------------->__________________________________________________] 29.24% 107 p/s1256 / 4223 [--------------------->_________________________________________________] 29.74% 107 p/s1278 / 4223 [--------------------->_________________________________________________] 30.26% 107 p/s1297 / 4223 [--------------------->_________________________________________________] 30.71% 107 p/s1319 / 4223 [---------------------->________________________________________________] 31.23% 107 p/s1339 / 4223 [---------------------->________________________________________________] 31.71% 107 p/s1360 / 4223 [---------------------->________________________________________________] 32.20% 107 p/s1383 / 4223 [----------------------->_______________________________________________] 32.75% 107 p/s1403 / 4223 [----------------------->_______________________________________________] 33.22% 107 p/s1424 / 4223 [----------------------->_______________________________________________] 33.72% 107 p/s1446 / 4223 [------------------------>______________________________________________] 34.24% 107 p/s1469 / 4223 [------------------------>______________________________________________] 34.79% 107 p/s1490 / 4223 [------------------------->_____________________________________________] 35.28% 107 p/s1513 / 4223 [------------------------->_____________________________________________] 35.83% 107 p/s1536 / 4223 [------------------------->_____________________________________________] 36.37% 107 p/s1558 / 4223 [-------------------------->____________________________________________] 36.89% 107 p/s1579 / 4223 [-------------------------->____________________________________________] 37.39% 107 p/s1601 / 4223 [-------------------------->____________________________________________] 37.91% 107 p/s1623 / 4223 [--------------------------->___________________________________________] 38.43% 107 p/s1646 / 4223 [--------------------------->___________________________________________] 38.98% 107 p/s1668 / 4223 [---------------------------->__________________________________________] 39.50% 107 p/s1691 / 4223 [---------------------------->__________________________________________] 40.04% 108 p/s1714 / 4223 [---------------------------->__________________________________________] 40.59% 108 p/s1736 / 4223 [----------------------------->_________________________________________] 41.11% 108 p/s1759 / 4223 [----------------------------->_________________________________________] 41.65% 108 p/s1782 / 4223 [----------------------------->_________________________________________] 42.20% 108 p/s1804 / 4223 [------------------------------>________________________________________] 42.72% 108 p/s1827 / 4223 [------------------------------>________________________________________] 43.26% 109 p/s1850 / 4223 [------------------------------->_______________________________________] 43.81% 109 p/s1872 / 4223 [------------------------------->_______________________________________] 44.33% 109 p/s1895 / 4223 [------------------------------->_______________________________________] 44.87% 109 p/s1918 / 4223 [-------------------------------->______________________________________] 45.42% 109 p/s1941 / 4223 [-------------------------------->______________________________________] 45.96% 109 p/s1964 / 4223 [--------------------------------->_____________________________________] 46.51% 109 p/s1987 / 4223 [--------------------------------->_____________________________________] 47.05% 109 p/s2010 / 4223 [--------------------------------->_____________________________________] 47.60% 109 p/s2032 / 4223 [---------------------------------->____________________________________] 48.12% 110 p/s2054 / 4223 [---------------------------------->____________________________________] 48.64% 110 p/s2077 / 4223 [---------------------------------->____________________________________] 49.18% 110 p/s2100 / 4223 [----------------------------------->___________________________________] 49.73% 110 p/s2122 / 4223 [----------------------------------->___________________________________] 50.25% 110 p/s2145 / 4223 [------------------------------------>__________________________________] 50.79% 110 p/s2166 / 4223 [------------------------------------>__________________________________] 51.29% 110 p/s2189 / 4223 [------------------------------------>__________________________________] 51.84% 110 p/s2211 / 4223 [------------------------------------->_________________________________] 52.36% 110 p/s2234 / 4223 [------------------------------------->_________________________________] 52.90% 110 p/s2257 / 4223 [------------------------------------->_________________________________] 53.45% 110 p/s2280 / 4223 [-------------------------------------->________________________________] 53.99% 110 p/s2303 / 4223 [-------------------------------------->________________________________] 54.53% 110 p/s2325 / 4223 [--------------------------------------->_______________________________] 55.06% 110 p/s2348 / 4223 [--------------------------------------->_______________________________] 55.60% 110 p/s2370 / 4223 [--------------------------------------->_______________________________] 56.12% 110 p/s2392 / 4223 [---------------------------------------->______________________________] 56.64% 110 p/s2415 / 4223 [---------------------------------------->______________________________] 57.19% 110 p/s2437 / 4223 [---------------------------------------->______________________________] 57.71% 110 p/s2459 / 4223 [----------------------------------------->_____________________________] 58.23% 110 p/s2482 / 4223 [----------------------------------------->_____________________________] 58.77% 110 p/s2504 / 4223 [------------------------------------------>____________________________] 59.29% 111 p/s2526 / 4223 [------------------------------------------>____________________________] 59.82% 111 p/s2549 / 4223 [------------------------------------------>____________________________] 60.36% 111 p/s2571 / 4223 [------------------------------------------->___________________________] 60.88% 111 p/s2594 / 4223 [------------------------------------------->___________________________] 61.43% 111 p/s2616 / 4223 [------------------------------------------->___________________________] 61.95% 111 p/s2639 / 4223 [-------------------------------------------->__________________________] 62.49% 111 p/s2662 / 4223 [-------------------------------------------->__________________________] 63.04% 111 p/s2684 / 4223 [--------------------------------------------->_________________________] 63.56% 111 p/s2707 / 4223 [--------------------------------------------->_________________________] 64.10% 111 p/s2729 / 4223 [--------------------------------------------->_________________________] 64.62% 111 p/s2751 / 4223 [---------------------------------------------->________________________] 65.14% 111 p/s2774 / 4223 [---------------------------------------------->________________________] 65.69% 111 p/s2797 / 4223 [----------------------------------------------->_______________________] 66.23% 111 p/s2819 / 4223 [----------------------------------------------->_______________________] 66.75% 111 p/s2842 / 4223 [----------------------------------------------->_______________________] 67.30% 111 p/s2865 / 4223 [------------------------------------------------>______________________] 67.84% 111 p/s2888 / 4223 [------------------------------------------------>______________________] 68.39% 111 p/s2910 / 4223 [------------------------------------------------>______________________] 68.91% 111 p/s2933 / 4223 [------------------------------------------------->_____________________] 69.45% 111 p/s2956 / 4223 [------------------------------------------------->_____________________] 70.00% 111 p/s2979 / 4223 [-------------------------------------------------->____________________] 70.54% 112 p/s3001 / 4223 [-------------------------------------------------->____________________] 71.06% 112 p/s3023 / 4223 [-------------------------------------------------->____________________] 71.58% 112 p/s3046 / 4223 [--------------------------------------------------->___________________] 72.13% 112 p/s3068 / 4223 [--------------------------------------------------->___________________] 72.65% 112 p/s3091 / 4223 [--------------------------------------------------->___________________] 73.19% 112 p/s3114 / 4223 [---------------------------------------------------->__________________] 73.74% 112 p/s3136 / 4223 [---------------------------------------------------->__________________] 74.26% 112 p/s3159 / 4223 [----------------------------------------------------->_________________] 74.80% 112 p/s3182 / 4223 [----------------------------------------------------->_________________] 75.35% 112 p/s3204 / 4223 [----------------------------------------------------->_________________] 75.87% 112 p/s3227 / 4223 [------------------------------------------------------>________________] 76.41% 112 p/s3249 / 4223 [------------------------------------------------------>________________] 76.94% 112 p/s3272 / 4223 [------------------------------------------------------->_______________] 77.48% 112 p/s3295 / 4223 [------------------------------------------------------->_______________] 78.03% 112 p/s3318 / 4223 [------------------------------------------------------->_______________] 78.57% 112 p/s3341 / 4223 [-------------------------------------------------------->______________] 79.11% 112 p/s3363 / 4223 [-------------------------------------------------------->______________] 79.64% 112 p/s3386 / 4223 [-------------------------------------------------------->______________] 80.18% 112 p/s3409 / 4223 [--------------------------------------------------------->_____________] 80.72% 112 p/s3431 / 4223 [--------------------------------------------------------->_____________] 81.25% 112 p/s3454 / 4223 [---------------------------------------------------------->____________] 81.79% 112 p/s3477 / 4223 [---------------------------------------------------------->____________] 82.33% 112 p/s3499 / 4223 [---------------------------------------------------------->____________] 82.86% 112 p/s3522 / 4223 [----------------------------------------------------------->___________] 83.40% 112 p/s3545 / 4223 [----------------------------------------------------------->___________] 83.95% 112 p/s3568 / 4223 [----------------------------------------------------------->___________] 84.49% 112 p/s3590 / 4223 [------------------------------------------------------------>__________] 85.01% 112 p/s3612 / 4223 [------------------------------------------------------------>__________] 85.53% 112 p/s3635 / 4223 [------------------------------------------------------------->_________] 86.08% 112 p/s3657 / 4223 [------------------------------------------------------------->_________] 86.60% 112 p/s3680 / 4223 [------------------------------------------------------------->_________] 87.14% 112 p/s3703 / 4223 [-------------------------------------------------------------->________] 87.69% 112 p/s3726 / 4223 [-------------------------------------------------------------->________] 88.23% 112 p/s3748 / 4223 [--------------------------------------------------------------->_______] 88.75% 112 p/s3771 / 4223 [--------------------------------------------------------------->_______] 89.30% 112 p/s3794 / 4223 [--------------------------------------------------------------->_______] 89.84% 112 p/s3817 / 4223 [---------------------------------------------------------------->______] 90.39% 112 p/s3840 / 4223 [---------------------------------------------------------------->______] 90.93% 112 p/s3863 / 4223 [---------------------------------------------------------------->______] 91.48% 113 p/s3885 / 4223 [----------------------------------------------------------------->_____] 92.00% 113 p/s3908 / 4223 [----------------------------------------------------------------->_____] 92.54% 113 p/s3931 / 4223 [------------------------------------------------------------------>____] 93.09% 113 p/s3953 / 4223 [------------------------------------------------------------------>____] 93.61% 113 p/s3976 / 4223 [------------------------------------------------------------------>____] 94.15% 113 p/s3998 / 4223 [------------------------------------------------------------------->___] 94.67% 113 p/s4020 / 4223 [------------------------------------------------------------------->___] 95.19% 113 p/s4042 / 4223 [------------------------------------------------------------------->___] 95.71% 113 p/s4065 / 4223 [-------------------------------------------------------------------->__] 96.26% 113 p/s4085 / 4223 [-------------------------------------------------------------------->__] 96.73% 113 p/s4106 / 4223 [--------------------------------------------------------------------->_] 97.23% 113 p/s4129 / 4223 [--------------------------------------------------------------------->_] 97.77% 112 p/s4152 / 4223 [--------------------------------------------------------------------->_] 98.32% 112 p/s4174 / 4223 [---------------------------------------------------------------------->] 98.84% 112 p/s4197 / 4223 [---------------------------------------------------------------------->] 99.38% 112 p/s4220 / 4223 [---------------------------------------------------------------------->] 99.93% 112 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-03T04:51:01 - INFO: Parsing 4223 sonar sweeps from /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output/SONAR/all-sweeps-info.csv...

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  3%|▎         | 108/4223 [00:03<02:30, 27.30it/s]
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2026-03-03T04:53:38 - 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/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-03-03T04:53:39 - INFO: DataPrep 0.14.0a6
2026-03-03T04:53:39 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-03-03T04:53:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-03T04:53:39 - deployment - INFO: Detected P3D version: P3D_1
2026-03-03T04:53:39 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-03T04:53:39 - INFO: Preparing sonar data...
2026-03-03T04:53:39 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-03T04:53:43 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-03-03T04:53:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-03T04:53:43 - INFO: Sonar range is 0.939120 m
2026-03-03T04:53:43 - INFO: Speed of sound is 1494 m/s
2026-03-03T04:53:43 - INFO: Processing 4223 sweeps...

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2026-03-03T04:53:55 - INFO: Creating sonar sensor alignment track...
2026-03-03T04:53:59 - INFO: Prepared sonar data in 20.2699 s
2026-03-03T04:53:59 - INFO: No IMU data found
2026-03-03T04:54:00 - INFO: DataPrep took 0:00:20.857141
2026-03-03T04:54:00 - INFO: Extracted sonar data in 0:03:36.676013
2026-03-03T04:54:00 - INFO: MSIP3D took 0:03:37.226956