2026-03-18T06:46:49 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:46:49 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-18T06:46:49 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:46:49 - INFO: Found TFD mission for SJ502828 DEP 513
2026-03-18T06:46:49 - INFO: Recording will be processed as SMD
2026-03-18T06:46:49 - INFO: Copying assets JSON to output directory...
2026-03-18T06:46:49 - INFO: Preparing counter data...
2026-03-18T06:46:49 - INFO: Interpreting counter as imperial
2026-03-18T06:46:49 - INFO: Preparing size track from assets JSON...
2026-03-18T06:46:49 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:46:49 - INFO: Preparing material track from assets JSON...
2026-03-18T06:46:49 - INFO: Prepared counter data in 0.1642 s
2026-03-18T06:46:49 - 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: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2126
19 / 2126 [>___________________________________________________________________________] 0.89% ? p/s38 / 2126 [->__________________________________________________________________________] 1.79% ? p/s57 / 2126 [-->_________________________________________________________________________] 2.68% ? p/s76 / 2126 [-->________________________________________________________________________] 3.57% 95 p/s96 / 2126 [--->_______________________________________________________________________] 4.52% 95 p/s116 / 2126 [---->_____________________________________________________________________] 5.46% 95 p/s134 / 2126 [---->_____________________________________________________________________] 6.30% 95 p/s154 / 2126 [----->____________________________________________________________________] 7.24% 95 p/s173 / 2126 [------>___________________________________________________________________] 8.14% 95 p/s193 / 2126 [------>___________________________________________________________________] 9.08% 95 p/s212 / 2126 [------->__________________________________________________________________] 9.97% 95 p/s232 / 2126 [------->_________________________________________________________________] 10.91% 95 p/s251 / 2126 [-------->________________________________________________________________] 11.81% 95 p/s270 / 2126 [--------->_______________________________________________________________] 12.70% 95 p/s290 / 2126 [--------->_______________________________________________________________] 13.64% 95 p/s309 / 2126 [---------->______________________________________________________________] 14.53% 95 p/s329 / 2126 [----------->_____________________________________________________________] 15.48% 95 p/s348 / 2126 [----------->_____________________________________________________________] 16.37% 95 p/s368 / 2126 [------------>____________________________________________________________] 17.31% 96 p/s387 / 2126 [------------->___________________________________________________________] 18.20% 96 p/s407 / 2126 [------------->___________________________________________________________] 19.14% 96 p/s427 / 2126 [-------------->__________________________________________________________] 20.08% 96 p/s446 / 2126 [--------------->_________________________________________________________] 20.98% 96 p/s466 / 2126 [---------------->________________________________________________________] 21.92% 96 p/s485 / 2126 [---------------->________________________________________________________] 22.81% 96 p/s504 / 2126 [----------------->_______________________________________________________] 23.71% 96 p/s523 / 2126 [----------------->_______________________________________________________] 24.60% 96 p/s543 / 2126 [------------------>______________________________________________________] 25.54% 96 p/s562 / 2126 [------------------->_____________________________________________________] 26.43% 96 p/s582 / 2126 [------------------->_____________________________________________________] 27.38% 96 p/s602 / 2126 [-------------------->____________________________________________________] 28.32% 96 p/s621 / 2126 [--------------------->___________________________________________________] 29.21% 96 p/s641 / 2126 [---------------------->__________________________________________________] 30.15% 96 p/s660 / 2126 [---------------------->__________________________________________________] 31.04% 96 p/s680 / 2126 [----------------------->_________________________________________________] 31.98% 96 p/s699 / 2126 [------------------------>________________________________________________] 32.88% 96 p/s719 / 2126 [------------------------>________________________________________________] 33.82% 96 p/s739 / 2126 [------------------------->_______________________________________________] 34.76% 96 p/s758 / 2126 [-------------------------->______________________________________________] 35.65% 96 p/s778 / 2126 [-------------------------->______________________________________________] 36.59% 96 p/s797 / 2126 [--------------------------->_____________________________________________] 37.49% 96 p/s817 / 2126 [---------------------------->____________________________________________] 38.43% 96 p/s836 / 2126 [---------------------------->____________________________________________] 39.32% 96 p/s855 / 2126 [----------------------------->___________________________________________] 40.22% 96 p/s875 / 2126 [------------------------------>__________________________________________] 41.16% 96 p/s895 / 2126 [------------------------------>__________________________________________] 42.10% 97 p/s914 / 2126 [------------------------------->_________________________________________] 42.99% 97 p/s933 / 2126 [-------------------------------->________________________________________] 43.89% 97 p/s953 / 2126 [-------------------------------->________________________________________] 44.83% 97 p/s972 / 2126 [--------------------------------->_______________________________________] 45.72% 97 p/s992 / 2126 [---------------------------------->______________________________________] 46.66% 97 p/s1011 / 2126 [---------------------------------->_____________________________________] 47.55% 97 p/s1029 / 2126 [---------------------------------->_____________________________________] 48.40% 97 p/s1049 / 2126 [----------------------------------->____________________________________] 49.34% 97 p/s1068 / 2126 [------------------------------------>___________________________________] 50.24% 96 p/s1087 / 2126 [------------------------------------>___________________________________] 51.13% 96 p/s1107 / 2126 [------------------------------------->__________________________________] 52.07% 96 p/s1127 / 2126 [-------------------------------------->_________________________________] 53.01% 97 p/s1146 / 2126 [-------------------------------------->_________________________________] 53.90% 97 p/s1165 / 2126 [--------------------------------------->________________________________] 54.80% 97 p/s1185 / 2126 [---------------------------------------->_______________________________] 55.74% 97 p/s1205 / 2126 [---------------------------------------->_______________________________] 56.68% 97 p/s1224 / 2126 [----------------------------------------->______________________________] 57.57% 97 p/s1244 / 2126 [------------------------------------------>_____________________________] 58.51% 97 p/s1264 / 2126 [------------------------------------------>_____________________________] 59.45% 97 p/s1283 / 2126 [------------------------------------------->____________________________] 60.35% 97 p/s1302 / 2126 [-------------------------------------------->___________________________] 61.24% 97 p/s1322 / 2126 [-------------------------------------------->___________________________] 62.18% 97 p/s1341 / 2126 [--------------------------------------------->__________________________] 63.08% 97 p/s1361 / 2126 [---------------------------------------------->_________________________] 64.02% 97 p/s1380 / 2126 [---------------------------------------------->_________________________] 64.91% 97 p/s1400 / 2126 [----------------------------------------------->________________________] 65.85% 97 p/s1419 / 2126 [------------------------------------------------>_______________________] 66.75% 97 p/s1439 / 2126 [------------------------------------------------>_______________________] 67.69% 97 p/s1459 / 2126 [------------------------------------------------->______________________] 68.63% 97 p/s1478 / 2126 [-------------------------------------------------->_____________________] 69.52% 97 p/s1497 / 2126 [-------------------------------------------------->_____________________] 70.41% 97 p/s1517 / 2126 [--------------------------------------------------->____________________] 71.35% 97 p/s1536 / 2126 [---------------------------------------------------->___________________] 72.25% 97 p/s1556 / 2126 [---------------------------------------------------->___________________] 73.19% 97 p/s1575 / 2126 [----------------------------------------------------->__________________] 74.08% 97 p/s1595 / 2126 [------------------------------------------------------>_________________] 75.02% 97 p/s1615 / 2126 [------------------------------------------------------>_________________] 75.96% 97 p/s1634 / 2126 [------------------------------------------------------->________________] 76.86% 97 p/s1653 / 2126 [------------------------------------------------------->________________] 77.75% 97 p/s1673 / 2126 [-------------------------------------------------------->_______________] 78.69% 97 p/s1692 / 2126 [--------------------------------------------------------->______________] 79.59% 97 p/s1712 / 2126 [--------------------------------------------------------->______________] 80.53% 97 p/s1731 / 2126 [---------------------------------------------------------->_____________] 81.42% 97 p/s1751 / 2126 [----------------------------------------------------------->____________] 82.36% 97 p/s1770 / 2126 [----------------------------------------------------------->____________] 83.25% 97 p/s1790 / 2126 [------------------------------------------------------------>___________] 84.20% 97 p/s1809 / 2126 [------------------------------------------------------------->__________] 85.09% 97 p/s1829 / 2126 [------------------------------------------------------------->__________] 86.03% 97 p/s1848 / 2126 [-------------------------------------------------------------->_________] 86.92% 97 p/s1868 / 2126 [--------------------------------------------------------------->________] 87.86% 97 p/s1887 / 2126 [--------------------------------------------------------------->________] 88.76% 97 p/s1907 / 2126 [---------------------------------------------------------------->_______] 89.70% 97 p/s1917 / 2126 [---------------------------------------------------------------->_______] 90.17% 97 p/s1933 / 2126 [----------------------------------------------------------------->______] 90.92% 96 p/s1948 / 2126 [----------------------------------------------------------------->______] 91.63% 96 p/s1967 / 2126 [------------------------------------------------------------------>_____] 92.52% 96 p/s1987 / 2126 [------------------------------------------------------------------->____] 93.46% 95 p/s2006 / 2126 [------------------------------------------------------------------->____] 94.36% 95 p/s2025 / 2126 [-------------------------------------------------------------------->___] 95.25% 95 p/s2044 / 2126 [--------------------------------------------------------------------->__] 96.14% 95 p/s2064 / 2126 [--------------------------------------------------------------------->__] 97.08% 95 p/s2083 / 2126 [---------------------------------------------------------------------->_] 97.98% 95 p/s2103 / 2126 [----------------------------------------------------------------------->] 98.92% 96 p/s2122 / 2126 [----------------------------------------------------------------------->] 99.81% 96 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-18T06:47:11 - 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]
  0%|          | 3/2126 [00:00<01:25, 24.70it/s]
  0%|          | 6/2126 [00:00<01:23, 25.44it/s]
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  1%|          | 15/2126 [00:00<01:19, 26.53it/s]
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  1%|▏         | 27/2126 [00:01<01:17, 26.99it/s]
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  2%|▏         | 33/2126 [00:01<01:17, 27.03it/s]
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  4%|▍         | 90/2126 [00:03<01:15, 27.07it/s]
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  5%|▍         | 96/2126 [00:03<01:14, 27.07it/s]
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  5%|▌         | 111/2126 [00:04<01:15, 26.76it/s]
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  6%|▌         | 117/2126 [00:04<01:14, 26.93it/s]
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  6%|▌         | 123/2126 [00:04<01:14, 27.01it/s]
  6%|▌         | 126/2126 [00:04<01:13, 27.04it/s]
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 13%|█▎        | 267/2126 [00:09<01:08, 27.03it/s]
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2026-03-18T06:48:33 - 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 /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-03-18T06:48:34 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:48:34 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-03-18T06:48:34 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:48:34 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:48:34 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-18T06:48:34 - INFO: Preparing sonar data...
2026-03-18T06:48:34 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:48:36 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-03-18T06:48:36 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:48:36 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-18T06:48:36 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:48:36 - INFO: Sonar range is 1.878240 m
2026-03-18T06:48:36 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:48:36 - INFO: Processing 2125 sweeps...

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2026-03-18T06:48:45 - INFO: Prepared sonar data in 10.4567 s
2026-03-18T06:48:45 - INFO: No IMU data found
2026-03-18T06:48:45 - INFO: DataPrep took 0:00:10.765674
2026-03-18T06:48:45 - INFO: Extracted sonar data in 0:01:56.107882
2026-03-18T06:48:46 - INFO: MSIP3D took 0:01:56.456882