2026-03-11T02:59:58 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:59:58 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-11T02:59:58 - INFO: Found 10 TFD dictionary entries
2026-03-11T02:59:58 - INFO: Found TFD mission for SJ502795 Dep 1
2026-03-11T02:59:58 - INFO: Recording will be processed as MD
2026-03-11T02:59:58 - INFO: Copying assets JSON to output directory...
2026-03-11T02:59:58 - INFO: Preparing counter data...
2026-03-11T02:59:58 - INFO: Interpreting counter as imperial
2026-03-11T02:59:58 - INFO: Preparing size track from assets JSON...
2026-03-11T02:59:58 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:59:58 - INFO: Preparing material track from assets JSON...
2026-03-11T02:59:58 - INFO: Prepared counter data in 0.0325 s
2026-03-11T02:59:58 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 1895
21 / 1895 [>___________________________________________________________________________] 1.11% ? p/s44 / 1895 [->__________________________________________________________________________] 2.32% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s88 / 1895 [--->______________________________________________________________________] 4.64% 112 p/s110 / 1895 [---->____________________________________________________________________] 5.80% 112 p/s132 / 1895 [----->___________________________________________________________________] 6.97% 112 p/s155 / 1895 [----->___________________________________________________________________] 8.18% 112 p/s177 / 1895 [------>__________________________________________________________________] 9.34% 112 p/s198 / 1895 [------->________________________________________________________________] 10.45% 112 p/s220 / 1895 [-------->_______________________________________________________________] 11.61% 111 p/s242 / 1895 [--------->______________________________________________________________] 12.77% 111 p/s263 / 1895 [--------->______________________________________________________________] 13.88% 111 p/s286 / 1895 [---------->_____________________________________________________________] 15.09% 111 p/s308 / 1895 [----------->____________________________________________________________] 16.25% 111 p/s331 / 1895 [------------>___________________________________________________________] 17.47% 111 p/s353 / 1895 [------------->__________________________________________________________] 18.63% 111 p/s376 / 1895 [-------------->_________________________________________________________] 19.84% 111 p/s398 / 1895 [--------------->________________________________________________________] 21.00% 111 p/s420 / 1895 [--------------->________________________________________________________] 22.16% 111 p/s442 / 1895 [---------------->_______________________________________________________] 23.32% 111 p/s465 / 1895 [----------------->______________________________________________________] 24.54% 111 p/s487 / 1895 [------------------>_____________________________________________________] 25.70% 111 p/s508 / 1895 [------------------->____________________________________________________] 26.81% 111 p/s531 / 1895 [-------------------->___________________________________________________] 28.02% 111 p/s553 / 1895 [--------------------->__________________________________________________] 29.18% 111 p/s576 / 1895 [--------------------->__________________________________________________] 30.40% 111 p/s598 / 1895 [---------------------->_________________________________________________] 31.56% 111 p/s620 / 1895 [----------------------->________________________________________________] 32.72% 111 p/s643 / 1895 [------------------------>_______________________________________________] 33.93% 111 p/s666 / 1895 [------------------------->______________________________________________] 35.15% 111 p/s689 / 1895 [-------------------------->_____________________________________________] 36.36% 112 p/s712 / 1895 [--------------------------->____________________________________________] 37.57% 112 p/s732 / 1895 [--------------------------->____________________________________________] 38.63% 112 p/s755 / 1895 [---------------------------->___________________________________________] 39.84% 111 p/s778 / 1895 [----------------------------->__________________________________________] 41.06% 111 p/s799 / 1895 [------------------------------>_________________________________________] 42.16% 111 p/s822 / 1895 [------------------------------->________________________________________] 43.38% 111 p/s845 / 1895 [-------------------------------->_______________________________________] 44.59% 111 p/s869 / 1895 [--------------------------------->______________________________________] 45.86% 111 p/s890 / 1895 [--------------------------------->______________________________________] 46.97% 112 p/s912 / 1895 [---------------------------------->_____________________________________] 48.13% 112 p/s935 / 1895 [----------------------------------->____________________________________] 49.34% 112 p/s957 / 1895 [------------------------------------>___________________________________] 50.50% 112 p/s979 / 1895 [------------------------------------->__________________________________] 51.66% 112 p/s1001 / 1895 [------------------------------------->_________________________________] 52.82% 112 p/s1023 / 1895 [-------------------------------------->________________________________] 53.98% 112 p/s1044 / 1895 [--------------------------------------->_______________________________] 55.09% 112 p/s1067 / 1895 [--------------------------------------->_______________________________] 56.31% 112 p/s1090 / 1895 [---------------------------------------->______________________________] 57.52% 112 p/s1112 / 1895 [----------------------------------------->_____________________________] 58.68% 112 p/s1135 / 1895 [------------------------------------------>____________________________] 59.89% 112 p/s1157 / 1895 [------------------------------------------->___________________________] 61.06% 112 p/s1180 / 1895 [-------------------------------------------->__________________________] 62.27% 112 p/s1202 / 1895 [--------------------------------------------->_________________________] 63.43% 112 p/s1225 / 1895 [--------------------------------------------->_________________________] 64.64% 112 p/s1247 / 1895 [---------------------------------------------->________________________] 65.80% 112 p/s1270 / 1895 [----------------------------------------------->_______________________] 67.02% 112 p/s1292 / 1895 [------------------------------------------------>______________________] 68.18% 112 p/s1315 / 1895 [------------------------------------------------->_____________________] 69.39% 112 p/s1338 / 1895 [-------------------------------------------------->____________________] 70.61% 112 p/s1361 / 1895 [-------------------------------------------------->____________________] 71.82% 112 p/s1384 / 1895 [--------------------------------------------------->___________________] 73.03% 112 p/s1407 / 1895 [---------------------------------------------------->__________________] 74.25% 112 p/s1430 / 1895 [----------------------------------------------------->_________________] 75.46% 112 p/s1453 / 1895 [------------------------------------------------------>________________] 76.68% 112 p/s1476 / 1895 [------------------------------------------------------->_______________] 77.89% 112 p/s1499 / 1895 [-------------------------------------------------------->______________] 79.10% 112 p/s1522 / 1895 [--------------------------------------------------------->_____________] 80.32% 112 p/s1544 / 1895 [--------------------------------------------------------->_____________] 81.48% 112 p/s1567 / 1895 [---------------------------------------------------------->____________] 82.69% 112 p/s1588 / 1895 [----------------------------------------------------------->___________] 83.80% 112 p/s1611 / 1895 [------------------------------------------------------------>__________] 85.01% 112 p/s1634 / 1895 [------------------------------------------------------------->_________] 86.23% 112 p/s1657 / 1895 [-------------------------------------------------------------->________] 87.44% 112 p/s1678 / 1895 [-------------------------------------------------------------->________] 88.55% 112 p/s1701 / 1895 [--------------------------------------------------------------->_______] 89.76% 112 p/s1724 / 1895 [---------------------------------------------------------------->______] 90.98% 112 p/s1745 / 1895 [----------------------------------------------------------------->_____] 92.08% 112 p/s1768 / 1895 [------------------------------------------------------------------>____] 93.30% 112 p/s1790 / 1895 [------------------------------------------------------------------->___] 94.46% 112 p/s1812 / 1895 [------------------------------------------------------------------->___] 95.62% 112 p/s1833 / 1895 [-------------------------------------------------------------------->__] 96.73% 112 p/s1856 / 1895 [--------------------------------------------------------------------->_] 97.94% 112 p/s1879 / 1895 [---------------------------------------------------------------------->] 99.16% 112 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-11T03:00:15 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1895 [00:00<?, ?it/s]
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2026-03-11T03:01:25 - 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/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-03-11T03:01:27 - INFO: DataPrep 0.14.0a7
2026-03-11T03:01:27 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-03-11T03:01:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T03:01:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T03:01:27 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-11T03:01:27 - INFO: Preparing sonar data...
2026-03-11T03:01:27 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T03:01:29 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-03-11T03:01:29 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T03:01:29 - INFO: Sonar range is 0.939120 m
2026-03-11T03:01:29 - INFO: Speed of sound is 1494 m/s
2026-03-11T03:01:29 - INFO: Processing 1894 sweeps...

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2026-03-11T03:01:33 - INFO: Creating sonar sensor alignment track...
2026-03-11T03:01:33 - INFO: Prepared sonar data in 5.8823 s
2026-03-11T03:01:33 - INFO: No IMU data found
2026-03-11T03:01:33 - INFO: DataPrep took 0:00:06.069354
2026-03-11T03:01:33 - INFO: Extracted sonar data in 0:01:34.964845
2026-03-11T03:01:33 - INFO: MSIP3D took 0:01:35.152511