2026-03-11T02:59:29 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:59:29 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-11T02:59:29 - INFO: Found 11 TFD dictionary entries
2026-03-11T02:59:29 - INFO: Found TFD mission for SJ502828 DEP 513
2026-03-11T02:59:29 - INFO: Recording will be processed as SMD
2026-03-11T02:59:29 - INFO: Copying assets JSON to output directory...
2026-03-11T02:59:29 - INFO: Preparing counter data...
2026-03-11T02:59:29 - INFO: Interpreting counter as imperial
2026-03-11T02:59:29 - INFO: Preparing size track from assets JSON...
2026-03-11T02:59:29 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:59:29 - INFO: Preparing material track from assets JSON...
2026-03-11T02:59:29 - INFO: Prepared counter data in 0.1639 s
2026-03-11T02:59:29 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 2126
18 / 2126 [>___________________________________________________________________________] 0.85% ? p/s38 / 2126 [->__________________________________________________________________________] 1.79% ? p/s57 / 2126 [-->_________________________________________________________________________] 2.68% ? p/s76 / 2126 [-->________________________________________________________________________] 3.57% 97 p/s96 / 2126 [--->_______________________________________________________________________] 4.52% 97 p/s116 / 2126 [---->_____________________________________________________________________] 5.46% 97 p/s134 / 2126 [---->_____________________________________________________________________] 6.30% 97 p/s154 / 2126 [----->____________________________________________________________________] 7.24% 97 p/s173 / 2126 [------>___________________________________________________________________] 8.14% 97 p/s193 / 2126 [------>___________________________________________________________________] 9.08% 97 p/s213 / 2126 [------->_________________________________________________________________] 10.02% 97 p/s232 / 2126 [------->_________________________________________________________________] 10.91% 97 p/s251 / 2126 [-------->________________________________________________________________] 11.81% 97 p/s271 / 2126 [--------->_______________________________________________________________] 12.75% 97 p/s291 / 2126 [--------->_______________________________________________________________] 13.69% 97 p/s311 / 2126 [---------->______________________________________________________________] 14.63% 97 p/s330 / 2126 [----------->_____________________________________________________________] 15.52% 97 p/s350 / 2126 [------------>____________________________________________________________] 16.46% 97 p/s370 / 2126 [------------>____________________________________________________________] 17.40% 97 p/s389 / 2126 [------------->___________________________________________________________] 18.30% 97 p/s409 / 2126 [-------------->__________________________________________________________] 19.24% 97 p/s428 / 2126 [-------------->__________________________________________________________] 20.13% 97 p/s448 / 2126 [--------------->_________________________________________________________] 21.07% 97 p/s468 / 2126 [---------------->________________________________________________________] 22.01% 97 p/s487 / 2126 [---------------->________________________________________________________] 22.91% 97 p/s506 / 2126 [----------------->_______________________________________________________] 23.80% 97 p/s526 / 2126 [------------------>______________________________________________________] 24.74% 97 p/s545 / 2126 [------------------>______________________________________________________] 25.63% 97 p/s565 / 2126 [------------------->_____________________________________________________] 26.58% 97 p/s585 / 2126 [-------------------->____________________________________________________] 27.52% 97 p/s604 / 2126 [-------------------->____________________________________________________] 28.41% 97 p/s624 / 2126 [--------------------->___________________________________________________] 29.35% 97 p/s644 / 2126 [---------------------->__________________________________________________] 30.29% 97 p/s663 / 2126 [---------------------->__________________________________________________] 31.19% 97 p/s683 / 2126 [----------------------->_________________________________________________] 32.13% 97 p/s703 / 2126 [------------------------>________________________________________________] 33.07% 97 p/s723 / 2126 [------------------------>________________________________________________] 34.01% 97 p/s742 / 2126 [------------------------->_______________________________________________] 34.90% 97 p/s762 / 2126 [-------------------------->______________________________________________] 35.84% 97 p/s781 / 2126 [-------------------------->______________________________________________] 36.74% 97 p/s801 / 2126 [--------------------------->_____________________________________________] 37.68% 97 p/s821 / 2126 [---------------------------->____________________________________________] 38.62% 97 p/s841 / 2126 [---------------------------->____________________________________________] 39.56% 98 p/s860 / 2126 [----------------------------->___________________________________________] 40.45% 98 p/s880 / 2126 [------------------------------>__________________________________________] 41.39% 98 p/s899 / 2126 [------------------------------>__________________________________________] 42.29% 98 p/s919 / 2126 [------------------------------->_________________________________________] 43.23% 98 p/s939 / 2126 [-------------------------------->________________________________________] 44.17% 98 p/s958 / 2126 [-------------------------------->________________________________________] 45.06% 98 p/s978 / 2126 [--------------------------------->_______________________________________] 46.00% 98 p/s997 / 2126 [---------------------------------->______________________________________] 46.90% 98 p/s1016 / 2126 [---------------------------------->_____________________________________] 47.79% 97 p/s1036 / 2126 [----------------------------------->____________________________________] 48.73% 97 p/s1055 / 2126 [----------------------------------->____________________________________] 49.62% 97 p/s1074 / 2126 [------------------------------------>___________________________________] 50.52% 97 p/s1092 / 2126 [------------------------------------>___________________________________] 51.36% 97 p/s1112 / 2126 [------------------------------------->__________________________________] 52.30% 97 p/s1132 / 2126 [-------------------------------------->_________________________________] 53.25% 97 p/s1150 / 2126 [-------------------------------------->_________________________________] 54.09% 97 p/s1170 / 2126 [--------------------------------------->________________________________] 55.03% 97 p/s1190 / 2126 [---------------------------------------->_______________________________] 55.97% 97 p/s1209 / 2126 [---------------------------------------->_______________________________] 56.87% 97 p/s1229 / 2126 [----------------------------------------->______________________________] 57.81% 97 p/s1247 / 2126 [------------------------------------------>_____________________________] 58.65% 97 p/s1267 / 2126 [------------------------------------------>_____________________________] 59.60% 97 p/s1286 / 2126 [------------------------------------------->____________________________] 60.49% 97 p/s1306 / 2126 [-------------------------------------------->___________________________] 61.43% 97 p/s1326 / 2126 [-------------------------------------------->___________________________] 62.37% 97 p/s1345 / 2126 [--------------------------------------------->__________________________] 63.26% 97 p/s1365 / 2126 [---------------------------------------------->_________________________] 64.21% 97 p/s1385 / 2126 [---------------------------------------------->_________________________] 65.15% 97 p/s1404 / 2126 [----------------------------------------------->________________________] 66.04% 97 p/s1424 / 2126 [------------------------------------------------>_______________________] 66.98% 97 p/s1444 / 2126 [------------------------------------------------>_______________________] 67.92% 97 p/s1463 / 2126 [------------------------------------------------->______________________] 68.81% 97 p/s1483 / 2126 [-------------------------------------------------->_____________________] 69.76% 97 p/s1503 / 2126 [-------------------------------------------------->_____________________] 70.70% 97 p/s1522 / 2126 [--------------------------------------------------->____________________] 71.59% 97 p/s1542 / 2126 [---------------------------------------------------->___________________] 72.53% 98 p/s1562 / 2126 [---------------------------------------------------->___________________] 73.47% 98 p/s1581 / 2126 [----------------------------------------------------->__________________] 74.37% 98 p/s1601 / 2126 [------------------------------------------------------>_________________] 75.31% 98 p/s1620 / 2126 [------------------------------------------------------>_________________] 76.20% 98 p/s1640 / 2126 [------------------------------------------------------->________________] 77.14% 98 p/s1660 / 2126 [-------------------------------------------------------->_______________] 78.08% 98 p/s1679 / 2126 [-------------------------------------------------------->_______________] 78.97% 98 p/s1699 / 2126 [--------------------------------------------------------->______________] 79.92% 98 p/s1719 / 2126 [---------------------------------------------------------->_____________] 80.86% 98 p/s1738 / 2126 [---------------------------------------------------------->_____________] 81.75% 98 p/s1758 / 2126 [----------------------------------------------------------->____________] 82.69% 98 p/s1778 / 2126 [------------------------------------------------------------>___________] 83.63% 98 p/s1798 / 2126 [------------------------------------------------------------>___________] 84.57% 98 p/s1817 / 2126 [------------------------------------------------------------->__________] 85.47% 98 p/s1837 / 2126 [-------------------------------------------------------------->_________] 86.41% 98 p/s1856 / 2126 [-------------------------------------------------------------->_________] 87.30% 98 p/s1876 / 2126 [--------------------------------------------------------------->________] 88.24% 98 p/s1896 / 2126 [---------------------------------------------------------------->_______] 89.18% 98 p/s1915 / 2126 [---------------------------------------------------------------->_______] 90.08% 98 p/s1934 / 2126 [----------------------------------------------------------------->______] 90.97% 98 p/s1954 / 2126 [------------------------------------------------------------------>_____] 91.91% 98 p/s1974 / 2126 [------------------------------------------------------------------>_____] 92.85% 98 p/s1993 / 2126 [------------------------------------------------------------------->____] 93.74% 98 p/s2013 / 2126 [-------------------------------------------------------------------->___] 94.68% 98 p/s2031 / 2126 [-------------------------------------------------------------------->___] 95.53% 98 p/s2049 / 2126 [--------------------------------------------------------------------->__] 96.38% 98 p/s2069 / 2126 [---------------------------------------------------------------------->_] 97.32% 97 p/s2089 / 2126 [---------------------------------------------------------------------->_] 98.26% 97 p/s2107 / 2126 [----------------------------------------------------------------------->] 99.11% 97 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-11T02:59:51 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2126 [00:00<?, ?it/s]
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  6%|▌         | 117/2126 [00:04<01:18, 25.74it/s]
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  6%|▌         | 126/2126 [00:04<01:17, 25.70it/s]
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2026-03-11T03:01:19 - 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 /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-03-11T03:01:20 - INFO: DataPrep 0.14.0a7
2026-03-11T03:01:20 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-03-11T03:01:20 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T03:01:20 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T03:01:20 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-11T03:01:20 - INFO: Preparing sonar data...
2026-03-11T03:01:20 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T03:01:22 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-03-11T03:01:22 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T03:01:22 - INFO: Sonar range is 1.878240 m
2026-03-11T03:01:22 - INFO: Speed of sound is 1494 m/s
2026-03-11T03:01:22 - INFO: Processing 2125 sweeps...

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2026-03-11T03:01:30 - INFO: Creating sonar sensor alignment track...
2026-03-11T03:01:33 - INFO: Prepared sonar data in 12.4464 s
2026-03-11T03:01:33 - INFO: No IMU data found
2026-03-11T03:01:33 - INFO: DataPrep took 0:00:12.815263
2026-03-11T03:01:33 - INFO: Extracted sonar data in 0:02:03.729177
2026-03-11T03:01:33 - INFO: MSIP3D took 0:02:04.164698