2026-03-12T07:45:18 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:45:18 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-12T07:45:18 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:45:18 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-12T07:45:18 - INFO: Recording will be processed as MD
2026-03-12T07:45:18 - INFO: Copying assets JSON to output directory...
2026-03-12T07:45:18 - INFO: Preparing counter data...
2026-03-12T07:45:18 - INFO: Interpreting counter as imperial
2026-03-12T07:45:18 - INFO: Preparing size track from assets JSON...
2026-03-12T07:45:18 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:45:18 - INFO: Preparing material track from assets JSON...
2026-03-12T07:45:18 - INFO: Prepared counter data in 0.0420 s
2026-03-12T07:45:18 - 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: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1851
22 / 1851 [>___________________________________________________________________________] 1.19% ? p/s44 / 1851 [->__________________________________________________________________________] 2.38% ? p/s65 / 1851 [-->_________________________________________________________________________] 3.51% ? p/s83 / 1851 [--->______________________________________________________________________] 4.48% 102 p/s106 / 1851 [---->____________________________________________________________________] 5.73% 102 p/s127 / 1851 [----->___________________________________________________________________] 6.86% 102 p/s149 / 1851 [----->___________________________________________________________________] 8.05% 102 p/s172 / 1851 [------>__________________________________________________________________] 9.29% 102 p/s194 / 1851 [------->________________________________________________________________] 10.48% 102 p/s216 / 1851 [-------->_______________________________________________________________] 11.67% 103 p/s239 / 1851 [--------->______________________________________________________________] 12.91% 103 p/s260 / 1851 [---------->_____________________________________________________________] 14.05% 103 p/s283 / 1851 [----------->____________________________________________________________] 15.29% 103 p/s306 / 1851 [----------->____________________________________________________________] 16.53% 103 p/s328 / 1851 [------------>___________________________________________________________] 17.72% 103 p/s351 / 1851 [------------->__________________________________________________________] 18.96% 104 p/s374 / 1851 [-------------->_________________________________________________________] 20.21% 104 p/s396 / 1851 [--------------->________________________________________________________] 21.39% 104 p/s418 / 1851 [---------------->_______________________________________________________] 22.58% 104 p/s441 / 1851 [----------------->______________________________________________________] 23.82% 104 p/s464 / 1851 [------------------>_____________________________________________________] 25.07% 104 p/s486 / 1851 [------------------>_____________________________________________________] 26.26% 105 p/s508 / 1851 [------------------->____________________________________________________] 27.44% 105 p/s531 / 1851 [-------------------->___________________________________________________] 28.69% 105 p/s553 / 1851 [--------------------->__________________________________________________] 29.88% 105 p/s569 / 1851 [---------------------->_________________________________________________] 30.74% 105 p/s590 / 1851 [---------------------->_________________________________________________] 31.87% 105 p/s613 / 1851 [----------------------->________________________________________________] 33.12% 105 p/s635 / 1851 [------------------------>_______________________________________________] 34.31% 105 p/s657 / 1851 [------------------------->______________________________________________] 35.49% 105 p/s679 / 1851 [-------------------------->_____________________________________________] 36.68% 105 p/s701 / 1851 [--------------------------->____________________________________________] 37.87% 105 p/s723 / 1851 [---------------------------->___________________________________________] 39.06% 105 p/s745 / 1851 [---------------------------->___________________________________________] 40.25% 106 p/s767 / 1851 [----------------------------->__________________________________________] 41.44% 106 p/s790 / 1851 [------------------------------>_________________________________________] 42.68% 106 p/s812 / 1851 [------------------------------->________________________________________] 43.87% 106 p/s834 / 1851 [-------------------------------->_______________________________________] 45.06% 106 p/s856 / 1851 [--------------------------------->______________________________________] 46.25% 106 p/s878 / 1851 [---------------------------------->_____________________________________] 47.43% 106 p/s901 / 1851 [----------------------------------->____________________________________] 48.68% 106 p/s923 / 1851 [----------------------------------->____________________________________] 49.86% 106 p/s945 / 1851 [------------------------------------>___________________________________] 51.05% 107 p/s961 / 1851 [------------------------------------->__________________________________] 51.92% 107 p/s974 / 1851 [------------------------------------->__________________________________] 52.62% 107 p/s995 / 1851 [-------------------------------------->_________________________________] 53.75% 105 p/s1017 / 1851 [--------------------------------------->_______________________________] 54.94% 105 p/s1040 / 1851 [--------------------------------------->_______________________________] 56.19% 105 p/s1063 / 1851 [---------------------------------------->______________________________] 57.43% 106 p/s1085 / 1851 [----------------------------------------->_____________________________] 58.62% 106 p/s1108 / 1851 [------------------------------------------>____________________________] 59.86% 106 p/s1130 / 1851 [------------------------------------------->___________________________] 61.05% 106 p/s1152 / 1851 [-------------------------------------------->__________________________] 62.24% 106 p/s1172 / 1851 [-------------------------------------------->__________________________] 63.32% 106 p/s1193 / 1851 [--------------------------------------------->_________________________] 64.45% 106 p/s1216 / 1851 [---------------------------------------------->________________________] 65.69% 106 p/s1238 / 1851 [----------------------------------------------->_______________________] 66.88% 106 p/s1261 / 1851 [------------------------------------------------>______________________] 68.13% 107 p/s1283 / 1851 [------------------------------------------------->_____________________] 69.31% 107 p/s1306 / 1851 [-------------------------------------------------->____________________] 70.56% 107 p/s1329 / 1851 [-------------------------------------------------->____________________] 71.80% 107 p/s1351 / 1851 [--------------------------------------------------->___________________] 72.99% 107 p/s1374 / 1851 [---------------------------------------------------->__________________] 74.23% 107 p/s1396 / 1851 [----------------------------------------------------->_________________] 75.42% 107 p/s1418 / 1851 [------------------------------------------------------>________________] 76.61% 107 p/s1441 / 1851 [------------------------------------------------------->_______________] 77.85% 107 p/s1464 / 1851 [-------------------------------------------------------->______________] 79.09% 108 p/s1486 / 1851 [-------------------------------------------------------->______________] 80.28% 108 p/s1509 / 1851 [--------------------------------------------------------->_____________] 81.52% 108 p/s1531 / 1851 [---------------------------------------------------------->____________] 82.71% 108 p/s1554 / 1851 [----------------------------------------------------------->___________] 83.95% 108 p/s1576 / 1851 [------------------------------------------------------------>__________] 85.14% 108 p/s1599 / 1851 [------------------------------------------------------------->_________] 86.39% 108 p/s1621 / 1851 [-------------------------------------------------------------->________] 87.57% 108 p/s1644 / 1851 [--------------------------------------------------------------->_______] 88.82% 108 p/s1666 / 1851 [--------------------------------------------------------------->_______] 90.01% 108 p/s1688 / 1851 [---------------------------------------------------------------->______] 91.19% 108 p/s1710 / 1851 [----------------------------------------------------------------->_____] 92.38% 108 p/s1732 / 1851 [------------------------------------------------------------------>____] 93.57% 109 p/s1754 / 1851 [------------------------------------------------------------------->___] 94.76% 109 p/s1776 / 1851 [-------------------------------------------------------------------->__] 95.95% 109 p/s1798 / 1851 [-------------------------------------------------------------------->__] 97.14% 109 p/s1820 / 1851 [--------------------------------------------------------------------->_] 98.33% 109 p/s1842 / 1851 [---------------------------------------------------------------------->] 99.51% 109 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-12T07:45:35 - 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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2026-03-12T07:46:45 - 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"
2026-03-12T07:46:46 - INFO: DataPrep 0.14.0a7
2026-03-12T07:46:46 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-12T07:46:46 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:46:46 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:46:46 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-12T07:46:46 - INFO: Preparing sonar data...
2026-03-12T07:46:46 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:46:48 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-12T07:46:48 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:46:48 - INFO: Sonar range is 0.722400 m
2026-03-12T07:46:48 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:46:48 - INFO: Processing 1851 sweeps...

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2026-03-12T07:46:53 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:46:54 - INFO: Prepared sonar data in 7.2233 s
2026-03-12T07:46:54 - INFO: No IMU data found
2026-03-12T07:46:54 - INFO: DataPrep took 0:00:07.434733
2026-03-12T07:46:54 - INFO: Extracted sonar data in 0:01:35.720361
2026-03-12T07:46:54 - INFO: MSIP3D took 0:01:35.924755