2026-03-11T02:50:28 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:50:28 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-11T02:50:28 - INFO: Found 10 TFD dictionary entries
2026-03-11T02:50:28 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-11T02:50:28 - INFO: Recording will be processed as MD
2026-03-11T02:50:28 - INFO: Copying assets JSON to output directory...
2026-03-11T02:50:28 - INFO: Preparing counter data...
2026-03-11T02:50:28 - INFO: Interpreting counter as imperial
2026-03-11T02:50:28 - INFO: Preparing size track from assets JSON...
2026-03-11T02:50:28 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:50:28 - INFO: Preparing material track from assets JSON...
2026-03-11T02:50:28 - INFO: Prepared counter data in 0.0426 s
2026-03-11T02:50:28 - 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: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 1851
21 / 1851 [>___________________________________________________________________________] 1.13% ? p/s44 / 1851 [->__________________________________________________________________________] 2.38% ? p/s65 / 1851 [-->_________________________________________________________________________] 3.51% ? p/s87 / 1851 [--->______________________________________________________________________] 4.70% 110 p/s110 / 1851 [---->____________________________________________________________________] 5.94% 110 p/s131 / 1851 [----->___________________________________________________________________] 7.08% 110 p/s153 / 1851 [------>__________________________________________________________________] 8.27% 110 p/s175 / 1851 [------>__________________________________________________________________] 9.45% 110 p/s197 / 1851 [------->________________________________________________________________] 10.64% 110 p/s220 / 1851 [-------->_______________________________________________________________] 11.89% 110 p/s242 / 1851 [--------->______________________________________________________________] 13.07% 110 p/s264 / 1851 [---------->_____________________________________________________________] 14.26% 110 p/s286 / 1851 [----------->____________________________________________________________] 15.45% 110 p/s309 / 1851 [------------>___________________________________________________________] 16.69% 110 p/s331 / 1851 [------------>___________________________________________________________] 17.88% 110 p/s354 / 1851 [------------->__________________________________________________________] 19.12% 110 p/s376 / 1851 [-------------->_________________________________________________________] 20.31% 110 p/s398 / 1851 [--------------->________________________________________________________] 21.50% 110 p/s420 / 1851 [---------------->_______________________________________________________] 22.69% 110 p/s442 / 1851 [----------------->______________________________________________________] 23.88% 110 p/s465 / 1851 [------------------>_____________________________________________________] 25.12% 110 p/s488 / 1851 [------------------>_____________________________________________________] 26.36% 110 p/s509 / 1851 [------------------->____________________________________________________] 27.50% 110 p/s532 / 1851 [-------------------->___________________________________________________] 28.74% 110 p/s554 / 1851 [--------------------->__________________________________________________] 29.93% 110 p/s577 / 1851 [---------------------->_________________________________________________] 31.17% 110 p/s599 / 1851 [----------------------->________________________________________________] 32.36% 110 p/s622 / 1851 [------------------------>_______________________________________________] 33.60% 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/s842 / 1851 [-------------------------------->_______________________________________] 45.49% 111 p/s865 / 1851 [--------------------------------->______________________________________] 46.73% 111 p/s887 / 1851 [---------------------------------->_____________________________________] 47.92% 111 p/s909 / 1851 [----------------------------------->____________________________________] 49.11% 111 p/s931 / 1851 [------------------------------------>___________________________________] 50.30% 111 p/s953 / 1851 [------------------------------------->__________________________________] 51.49% 111 p/s974 / 1851 [------------------------------------->__________________________________] 52.62% 111 p/s997 / 1851 [-------------------------------------->_________________________________] 53.86% 111 p/s1006 / 1851 [-------------------------------------->________________________________] 54.35% 109 p/s1025 / 1851 [--------------------------------------->_______________________________] 55.38% 109 p/s1047 / 1851 [---------------------------------------->______________________________] 56.56% 109 p/s1069 / 1851 [----------------------------------------->_____________________________] 57.75% 109 p/s1088 / 1851 [----------------------------------------->_____________________________] 58.78% 109 p/s1110 / 1851 [------------------------------------------>____________________________] 59.97% 109 p/s1133 / 1851 [------------------------------------------->___________________________] 61.21% 109 p/s1156 / 1851 [-------------------------------------------->__________________________] 62.45% 109 p/s1178 / 1851 [--------------------------------------------->_________________________] 63.64% 109 p/s1200 / 1851 [---------------------------------------------->________________________] 64.83% 109 p/s1223 / 1851 [---------------------------------------------->________________________] 66.07% 109 p/s1245 / 1851 [----------------------------------------------->_______________________] 67.26% 109 p/s1268 / 1851 [------------------------------------------------>______________________] 68.50% 109 p/s1291 / 1851 [------------------------------------------------->_____________________] 69.75% 109 p/s1313 / 1851 [-------------------------------------------------->____________________] 70.93% 109 p/s1336 / 1851 [--------------------------------------------------->___________________] 72.18% 109 p/s1358 / 1851 [---------------------------------------------------->__________________] 73.37% 109 p/s1380 / 1851 [---------------------------------------------------->__________________] 74.55% 109 p/s1403 / 1851 [----------------------------------------------------->_________________] 75.80% 110 p/s1425 / 1851 [------------------------------------------------------>________________] 76.99% 110 p/s1448 / 1851 [------------------------------------------------------->_______________] 78.23% 110 p/s1470 / 1851 [-------------------------------------------------------->______________] 79.42% 110 p/s1493 / 1851 [--------------------------------------------------------->_____________] 80.66% 110 p/s1515 / 1851 [---------------------------------------------------------->____________] 81.85% 110 p/s1537 / 1851 [---------------------------------------------------------->____________] 83.04% 110 p/s1559 / 1851 [----------------------------------------------------------->___________] 84.22% 110 p/s1582 / 1851 [------------------------------------------------------------>__________] 85.47% 110 p/s1604 / 1851 [------------------------------------------------------------->_________] 86.66% 110 p/s1627 / 1851 [-------------------------------------------------------------->________] 87.90% 110 p/s1649 / 1851 [--------------------------------------------------------------->_______] 89.09% 110 p/s1671 / 1851 [---------------------------------------------------------------->______] 90.28% 110 p/s1693 / 1851 [---------------------------------------------------------------->______] 91.46% 110 p/s1715 / 1851 [----------------------------------------------------------------->_____] 92.65% 110 p/s1737 / 1851 [------------------------------------------------------------------>____] 93.84% 110 p/s1759 / 1851 [------------------------------------------------------------------->___] 95.03% 110 p/s1781 / 1851 [-------------------------------------------------------------------->__] 96.22% 110 p/s1802 / 1851 [--------------------------------------------------------------------->_] 97.35% 110 p/s1823 / 1851 [--------------------------------------------------------------------->_] 98.49% 110 p/s1845 / 1851 [---------------------------------------------------------------------->] 99.68% 110 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-11T02:50:45 - 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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2026-03-11T02:51:54 - 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"
2026-03-11T02:51:55 - INFO: DataPrep 0.14.0a7
2026-03-11T02:51:55 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-11T02:51:55 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T02:51:55 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T02:51:55 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-11T02:51:55 - INFO: Preparing sonar data...
2026-03-11T02:51:55 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T02:51:57 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-11T02:51:57 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T02:51:57 - INFO: Sonar range is 0.722400 m
2026-03-11T02:51:57 - INFO: Speed of sound is 1494 m/s
2026-03-11T02:51:57 - INFO: Processing 1851 sweeps...

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2026-03-11T02:52:02 - INFO: Creating sonar sensor alignment track...
2026-03-11T02:52:02 - INFO: Prepared sonar data in 7.2126 s
2026-03-11T02:52:02 - INFO: No IMU data found
2026-03-11T02:52:03 - INFO: DataPrep took 0:00:07.419352
2026-03-11T02:52:03 - INFO: Extracted sonar data in 0:01:35.131006
2026-03-11T02:52:03 - INFO: MSIP3D took 0:01:35.322715