2026-03-18T06:50:13 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:50:13 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-18T06:50:13 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:50:13 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-18T06:50:13 - INFO: Recording will be processed as MD
2026-03-18T06:50:13 - INFO: Copying assets JSON to output directory...
2026-03-18T06:50:13 - INFO: Preparing counter data...
2026-03-18T06:50:13 - INFO: Interpreting counter as imperial
2026-03-18T06:50:13 - INFO: Preparing size track from assets JSON...
2026-03-18T06:50:13 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:50:13 - INFO: Preparing material track from assets JSON...
2026-03-18T06:50:13 - INFO: Prepared counter data in 0.0966 s
2026-03-18T06:50:13 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 4914
22 / 4914 [>___________________________________________________________________________] 0.45% ? p/s45 / 4914 [>___________________________________________________________________________] 0.92% ? p/s67 / 4914 [->__________________________________________________________________________] 1.36% ? p/s91 / 4914 [->________________________________________________________________________] 1.85% 115 p/s114 / 4914 [->_______________________________________________________________________] 2.32% 115 p/s135 / 4914 [-->______________________________________________________________________] 2.75% 115 p/s158 / 4914 [-->______________________________________________________________________] 3.22% 115 p/s182 / 4914 [-->______________________________________________________________________] 3.70% 115 p/s205 / 4914 [--->_____________________________________________________________________] 4.17% 115 p/s228 / 4914 [--->_____________________________________________________________________] 4.64% 115 p/s250 / 4914 [--->_____________________________________________________________________] 5.09% 115 p/s273 / 4914 [---->____________________________________________________________________] 5.56% 115 p/s297 / 4914 [---->____________________________________________________________________] 6.04% 115 p/s320 / 4914 [---->____________________________________________________________________] 6.51% 115 p/s330 / 4914 [---->____________________________________________________________________] 6.72% 115 p/s347 / 4914 [----->___________________________________________________________________] 7.06% 113 p/s371 / 4914 [----->___________________________________________________________________] 7.55% 113 p/s394 / 4914 [----->___________________________________________________________________] 8.02% 113 p/s417 / 4914 [------>__________________________________________________________________] 8.49% 113 p/s440 / 4914 [------>__________________________________________________________________] 8.95% 113 p/s464 / 4914 [------>__________________________________________________________________] 9.44% 113 p/s487 / 4914 [------->_________________________________________________________________] 9.91% 113 p/s509 / 4914 [------->________________________________________________________________] 10.36% 113 p/s532 / 4914 [------->________________________________________________________________] 10.83% 113 p/s554 / 4914 [-------->_______________________________________________________________] 11.27% 113 p/s578 / 4914 [-------->_______________________________________________________________] 11.76% 113 p/s601 / 4914 [-------->_______________________________________________________________] 12.23% 113 p/s624 / 4914 [--------->______________________________________________________________] 12.70% 113 p/s647 / 4914 [--------->______________________________________________________________] 13.17% 113 p/s670 / 4914 [--------->______________________________________________________________] 13.63% 113 p/s694 / 4914 [---------->_____________________________________________________________] 14.12% 114 p/s717 / 4914 [---------->_____________________________________________________________] 14.59% 114 p/s740 / 4914 [---------->_____________________________________________________________] 15.06% 114 p/s763 / 4914 [----------->____________________________________________________________] 15.53% 114 p/s786 / 4914 [----------->____________________________________________________________] 16.00% 114 p/s809 / 4914 [----------->____________________________________________________________] 16.46% 114 p/s833 / 4914 [------------>___________________________________________________________] 16.95% 114 p/s856 / 4914 [------------>___________________________________________________________] 17.42% 114 p/s879 / 4914 [------------>___________________________________________________________] 17.89% 114 p/s902 / 4914 [------------->__________________________________________________________] 18.36% 114 p/s925 / 4914 [------------->__________________________________________________________] 18.82% 114 p/s948 / 4914 [------------->__________________________________________________________] 19.29% 114 p/s972 / 4914 [-------------->_________________________________________________________] 19.78% 114 p/s995 / 4914 [-------------->_________________________________________________________] 20.25% 114 p/s1016 / 4914 [-------------->________________________________________________________] 20.68% 114 p/s1039 / 4914 [--------------->_______________________________________________________] 21.14% 114 p/s1062 / 4914 [--------------->_______________________________________________________] 21.61% 114 p/s1085 / 4914 [--------------->_______________________________________________________] 22.08% 114 p/s1108 / 4914 [---------------->______________________________________________________] 22.55% 114 p/s1131 / 4914 [---------------->______________________________________________________] 23.02% 114 p/s1154 / 4914 [---------------->______________________________________________________] 23.48% 114 p/s1177 / 4914 [----------------->_____________________________________________________] 23.95% 114 p/s1200 / 4914 [----------------->_____________________________________________________] 24.42% 114 p/s1224 / 4914 [----------------->_____________________________________________________] 24.91% 114 p/s1247 / 4914 [------------------>____________________________________________________] 25.38% 114 p/s1270 / 4914 [------------------>____________________________________________________] 25.84% 114 p/s1293 / 4914 [------------------>____________________________________________________] 26.31% 114 p/s1317 / 4914 [------------------->___________________________________________________] 26.80% 114 p/s1340 / 4914 [------------------->___________________________________________________] 27.27% 114 p/s1363 / 4914 [------------------->___________________________________________________] 27.74% 114 p/s1386 / 4914 [-------------------->__________________________________________________] 28.21% 115 p/s1409 / 4914 [-------------------->__________________________________________________] 28.67% 115 p/s1433 / 4914 [-------------------->__________________________________________________] 29.16% 115 p/s1456 / 4914 [--------------------->_________________________________________________] 29.63% 115 p/s1479 / 4914 [--------------------->_________________________________________________] 30.10% 115 p/s1502 / 4914 [--------------------->_________________________________________________] 30.57% 115 p/s1526 / 4914 [---------------------->________________________________________________] 31.05% 115 p/s1549 / 4914 [---------------------->________________________________________________] 31.52% 115 p/s1572 / 4914 [---------------------->________________________________________________] 31.99% 115 p/s1595 / 4914 [----------------------->_______________________________________________] 32.46% 115 p/s1618 / 4914 [----------------------->_______________________________________________] 32.93% 115 p/s1642 / 4914 [----------------------->_______________________________________________] 33.41% 115 p/s1665 / 4914 [------------------------>______________________________________________] 33.88% 115 p/s1688 / 4914 [------------------------>______________________________________________] 34.35% 115 p/s1711 / 4914 [------------------------>______________________________________________] 34.82% 115 p/s1733 / 4914 [------------------------->_____________________________________________] 35.27% 115 p/s1756 / 4914 [------------------------->_____________________________________________] 35.73% 115 p/s1779 / 4914 [------------------------->_____________________________________________] 36.20% 115 p/s1802 / 4914 [-------------------------->____________________________________________] 36.67% 115 p/s1825 / 4914 [-------------------------->____________________________________________] 37.14% 115 p/s1848 / 4914 [-------------------------->____________________________________________] 37.61% 115 p/s1871 / 4914 [--------------------------->___________________________________________] 38.07% 115 p/s1895 / 4914 [--------------------------->___________________________________________] 38.56% 115 p/s1918 / 4914 [--------------------------->___________________________________________] 39.03% 115 p/s1941 / 4914 [---------------------------->__________________________________________] 39.50% 115 p/s1964 / 4914 [---------------------------->__________________________________________] 39.97% 115 p/s1987 / 4914 [---------------------------->__________________________________________] 40.44% 115 p/s2010 / 4914 [----------------------------->_________________________________________] 40.90% 115 p/s2034 / 4914 [----------------------------->_________________________________________] 41.39% 115 p/s2056 / 4914 [----------------------------->_________________________________________] 41.84% 115 p/s2080 / 4914 [------------------------------>________________________________________] 42.33% 115 p/s2102 / 4914 [------------------------------>________________________________________] 42.78% 115 p/s2126 / 4914 [------------------------------>________________________________________] 43.26% 115 p/s2149 / 4914 [------------------------------->_______________________________________] 43.73% 115 p/s2172 / 4914 [------------------------------->_______________________________________] 44.20% 115 p/s2195 / 4914 [------------------------------->_______________________________________] 44.67% 115 p/s2218 / 4914 [-------------------------------->______________________________________] 45.14% 115 p/s2241 / 4914 [-------------------------------->______________________________________] 45.60% 115 p/s2264 / 4914 [-------------------------------->______________________________________] 46.07% 115 p/s2288 / 4914 [--------------------------------->_____________________________________] 46.56% 115 p/s2311 / 4914 [--------------------------------->_____________________________________] 47.03% 115 p/s2334 / 4914 [--------------------------------->_____________________________________] 47.50% 115 p/s2358 / 4914 [---------------------------------->____________________________________] 47.99% 115 p/s2381 / 4914 [---------------------------------->____________________________________] 48.45% 115 p/s2404 / 4914 [---------------------------------->____________________________________] 48.92% 115 p/s2427 / 4914 [----------------------------------->___________________________________] 49.39% 115 p/s2451 / 4914 [----------------------------------->___________________________________] 49.88% 115 p/s2474 / 4914 [----------------------------------->___________________________________] 50.35% 115 p/s2497 / 4914 [------------------------------------>__________________________________] 50.81% 115 p/s2520 / 4914 [------------------------------------>__________________________________] 51.28% 115 p/s2543 / 4914 [------------------------------------>__________________________________] 51.75% 115 p/s2567 / 4914 [------------------------------------->_________________________________] 52.24% 115 p/s2589 / 4914 [------------------------------------->_________________________________] 52.69% 115 p/s2612 / 4914 [------------------------------------->_________________________________] 53.15% 115 p/s2636 / 4914 [-------------------------------------->________________________________] 53.64% 115 p/s2659 / 4914 [-------------------------------------->________________________________] 54.11% 115 p/s2682 / 4914 [-------------------------------------->________________________________] 54.58% 115 p/s2705 / 4914 [--------------------------------------->_______________________________] 55.05% 115 p/s2728 / 4914 [--------------------------------------->_______________________________] 55.51% 115 p/s2751 / 4914 [--------------------------------------->_______________________________] 55.98% 115 p/s2774 / 4914 [---------------------------------------->______________________________] 56.45% 115 p/s2797 / 4914 [---------------------------------------->______________________________] 56.92% 115 p/s2820 / 4914 [---------------------------------------->______________________________] 57.39% 115 p/s2843 / 4914 [----------------------------------------->_____________________________] 57.86% 115 p/s2866 / 4914 [----------------------------------------->_____________________________] 58.32% 115 p/s2889 / 4914 [----------------------------------------->_____________________________] 58.79% 115 p/s2912 / 4914 [------------------------------------------>____________________________] 59.26% 115 p/s2935 / 4914 [------------------------------------------>____________________________] 59.73% 115 p/s2958 / 4914 [------------------------------------------>____________________________] 60.20% 115 p/s2981 / 4914 [------------------------------------------->___________________________] 60.66% 115 p/s3004 / 4914 [------------------------------------------->___________________________] 61.13% 115 p/s3027 / 4914 [------------------------------------------->___________________________] 61.60% 115 p/s3050 / 4914 [-------------------------------------------->__________________________] 62.07% 115 p/s3073 / 4914 [-------------------------------------------->__________________________] 62.54% 115 p/s3096 / 4914 [-------------------------------------------->__________________________] 63.00% 115 p/s3119 / 4914 [--------------------------------------------->_________________________] 63.47% 115 p/s3142 / 4914 [--------------------------------------------->_________________________] 63.94% 115 p/s3165 / 4914 [--------------------------------------------->_________________________] 64.41% 115 p/s3188 / 4914 [---------------------------------------------->________________________] 64.88% 115 p/s3211 / 4914 [---------------------------------------------->________________________] 65.34% 115 p/s3234 / 4914 [---------------------------------------------->________________________] 65.81% 115 p/s3256 / 4914 [----------------------------------------------->_______________________] 66.26% 115 p/s3279 / 4914 [----------------------------------------------->_______________________] 66.73% 115 p/s3302 / 4914 [----------------------------------------------->_______________________] 67.20% 115 p/s3325 / 4914 [------------------------------------------------>______________________] 67.66% 115 p/s3348 / 4914 [------------------------------------------------>______________________] 68.13% 115 p/s3371 / 4914 [------------------------------------------------>______________________] 68.60% 115 p/s3394 / 4914 [------------------------------------------------->_____________________] 69.07% 115 p/s3417 / 4914 [------------------------------------------------->_____________________] 69.54% 115 p/s3439 / 4914 [------------------------------------------------->_____________________] 69.98% 115 p/s3462 / 4914 [-------------------------------------------------->____________________] 70.45% 115 p/s3485 / 4914 [-------------------------------------------------->____________________] 70.92% 115 p/s3508 / 4914 [-------------------------------------------------->____________________] 71.39% 115 p/s3531 / 4914 [--------------------------------------------------->___________________] 71.86% 115 p/s3554 / 4914 [--------------------------------------------------->___________________] 72.32% 115 p/s3577 / 4914 [--------------------------------------------------->___________________] 72.79% 115 p/s3600 / 4914 [---------------------------------------------------->__________________] 73.26% 115 p/s3622 / 4914 [---------------------------------------------------->__________________] 73.71% 115 p/s3645 / 4914 [---------------------------------------------------->__________________] 74.18% 115 p/s3668 / 4914 [---------------------------------------------------->__________________] 74.64% 115 p/s3691 / 4914 [----------------------------------------------------->_________________] 75.11% 115 p/s3714 / 4914 [----------------------------------------------------->_________________] 75.58% 115 p/s3737 / 4914 [----------------------------------------------------->_________________] 76.05% 115 p/s3759 / 4914 [------------------------------------------------------>________________] 76.50% 115 p/s3782 / 4914 [------------------------------------------------------>________________] 76.96% 115 p/s3805 / 4914 [------------------------------------------------------>________________] 77.43% 115 p/s3827 / 4914 [------------------------------------------------------->_______________] 77.88% 115 p/s3850 / 4914 [------------------------------------------------------->_______________] 78.35% 115 p/s3873 / 4914 [------------------------------------------------------->_______________] 78.82% 115 p/s3896 / 4914 [-------------------------------------------------------->______________] 79.28% 115 p/s3919 / 4914 [-------------------------------------------------------->______________] 79.75% 115 p/s3942 / 4914 [-------------------------------------------------------->______________] 80.22% 115 p/s3964 / 4914 [--------------------------------------------------------->_____________] 80.67% 115 p/s3987 / 4914 [--------------------------------------------------------->_____________] 81.14% 115 p/s4009 / 4914 [--------------------------------------------------------->_____________] 81.58% 115 p/s4032 / 4914 [---------------------------------------------------------->____________] 82.05% 115 p/s4055 / 4914 [---------------------------------------------------------->____________] 82.52% 115 p/s4077 / 4914 [---------------------------------------------------------->____________] 82.97% 114 p/s4099 / 4914 [----------------------------------------------------------->___________] 83.41% 114 p/s4122 / 4914 [----------------------------------------------------------->___________] 83.88% 114 p/s4144 / 4914 [----------------------------------------------------------->___________] 84.33% 114 p/s4167 / 4914 [------------------------------------------------------------>__________] 84.80% 114 p/s4190 / 4914 [------------------------------------------------------------>__________] 85.27% 114 p/s4213 / 4914 [------------------------------------------------------------>__________] 85.73% 114 p/s4236 / 4914 [------------------------------------------------------------->_________] 86.20% 114 p/s4258 / 4914 [------------------------------------------------------------->_________] 86.65% 114 p/s4281 / 4914 [------------------------------------------------------------->_________] 87.12% 114 p/s4304 / 4914 [-------------------------------------------------------------->________] 87.59% 114 p/s4327 / 4914 [-------------------------------------------------------------->________] 88.05% 114 p/s4350 / 4914 [-------------------------------------------------------------->________] 88.52% 114 p/s4373 / 4914 [--------------------------------------------------------------->_______] 88.99% 114 p/s4396 / 4914 [--------------------------------------------------------------->_______] 89.46% 114 p/s4418 / 4914 [--------------------------------------------------------------->_______] 89.91% 114 p/s4441 / 4914 [---------------------------------------------------------------->______] 90.37% 114 p/s4464 / 4914 [---------------------------------------------------------------->______] 90.84% 114 p/s4487 / 4914 [---------------------------------------------------------------->______] 91.31% 114 p/s4510 / 4914 [----------------------------------------------------------------->_____] 91.78% 114 p/s4532 / 4914 [----------------------------------------------------------------->_____] 92.23% 114 p/s4554 / 4914 [----------------------------------------------------------------->_____] 92.67% 114 p/s4577 / 4914 [------------------------------------------------------------------>____] 93.14% 114 p/s4600 / 4914 [------------------------------------------------------------------>____] 93.61% 114 p/s4622 / 4914 [------------------------------------------------------------------>____] 94.06% 114 p/s4645 / 4914 [------------------------------------------------------------------->___] 94.53% 114 p/s4668 / 4914 [------------------------------------------------------------------->___] 94.99% 114 p/s4690 / 4914 [------------------------------------------------------------------->___] 95.44% 114 p/s4712 / 4914 [-------------------------------------------------------------------->__] 95.89% 114 p/s4735 / 4914 [-------------------------------------------------------------------->__] 96.36% 114 p/s4758 / 4914 [-------------------------------------------------------------------->__] 96.83% 114 p/s4781 / 4914 [--------------------------------------------------------------------->_] 97.29% 114 p/s4803 / 4914 [--------------------------------------------------------------------->_] 97.74% 114 p/s4826 / 4914 [--------------------------------------------------------------------->_] 98.21% 114 p/s4848 / 4914 [---------------------------------------------------------------------->] 98.66% 114 p/s4871 / 4914 [---------------------------------------------------------------------->] 99.12% 114 p/s4894 / 4914 [---------------------------------------------------------------------->] 99.59% 114 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:50:56 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4914 [00:00<?, ?it/s]
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2026-03-18T06:53:52 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-03-18T06:53:58 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:53:58 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-18T06:53:58 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:53:58 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:53:58 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-18T06:53:58 - INFO: Preparing sonar data...
2026-03-18T06:53:58 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:54:02 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-18T06:54:02 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:54:02 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-18T06:54:02 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:54:02 - INFO: Sonar range is 0.939120 m
2026-03-18T06:54:02 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:54:02 - INFO: Processing 4914 sweeps...

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2026-03-18T06:54:18 - INFO: Prepared sonar data in 20.1999 s
2026-03-18T06:54:18 - INFO: No IMU data found
2026-03-18T06:54:19 - INFO: DataPrep took 0:00:20.780213
2026-03-18T06:54:19 - INFO: Extracted sonar data in 0:04:05.862006
2026-03-18T06:54:19 - INFO: MSIP3D took 0:04:06.390751