2026-03-18T10:04:09 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:04:09 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-18T10:04:09 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:04:09 - INFO: Found TFD mission for SJ502795 Dep 2
2026-03-18T10:04:09 - INFO: Recording will be processed as MD
2026-03-18T10:04:09 - INFO: Copying assets JSON to output directory...
2026-03-18T10:04:09 - INFO: Preparing counter data...
2026-03-18T10:04:09 - INFO: Interpreting counter as imperial
2026-03-18T10:04:09 - INFO: Preparing size track from assets JSON...
2026-03-18T10:04:09 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:04:09 - INFO: Preparing material track from assets JSON...
2026-03-18T10:04:09 - INFO: Prepared counter data in 0.0102 s
2026-03-18T10:04:09 - INFO: Extracting sonar data...
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/SJ502795_Dep_2.tfd
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2550
21 / 2550 [>___________________________________________________________________________] 0.82% ? p/s41 / 2550 [->__________________________________________________________________________] 1.61% ? p/s61 / 2550 [->__________________________________________________________________________] 2.39% ? p/s81 / 2550 [-->_______________________________________________________________________] 3.18% 100 p/s100 / 2550 [-->______________________________________________________________________] 3.92% 100 p/s121 / 2550 [--->_____________________________________________________________________] 4.75% 100 p/s144 / 2550 [---->____________________________________________________________________] 5.65% 100 p/s165 / 2550 [---->____________________________________________________________________] 6.47% 100 p/s183 / 2550 [----->___________________________________________________________________] 7.18% 100 p/s201 / 2550 [----->___________________________________________________________________] 7.88% 100 p/s222 / 2550 [------>__________________________________________________________________] 8.71% 100 p/s243 / 2550 [------>__________________________________________________________________] 9.53% 100 p/s264 / 2550 [------->________________________________________________________________] 10.35% 100 p/s284 / 2550 [-------->_______________________________________________________________] 11.14% 100 p/s306 / 2550 [-------->_______________________________________________________________] 12.00% 100 p/s327 / 2550 [--------->______________________________________________________________] 12.82% 101 p/s350 / 2550 [--------->______________________________________________________________] 13.73% 101 p/s370 / 2550 [---------->_____________________________________________________________] 14.51% 101 p/s392 / 2550 [----------->____________________________________________________________] 15.37% 101 p/s413 / 2550 [----------->____________________________________________________________] 16.20% 101 p/s434 / 2550 [------------>___________________________________________________________] 17.02% 101 p/s457 / 2550 [------------>___________________________________________________________] 17.92% 102 p/s479 / 2550 [------------->__________________________________________________________] 18.78% 102 p/s500 / 2550 [-------------->_________________________________________________________] 19.61% 102 p/s519 / 2550 [-------------->_________________________________________________________] 20.35% 102 p/s539 / 2550 [--------------->________________________________________________________] 21.14% 102 p/s561 / 2550 [--------------->________________________________________________________] 22.00% 102 p/s583 / 2550 [---------------->_______________________________________________________] 22.86% 102 p/s604 / 2550 [----------------->______________________________________________________] 23.69% 102 p/s623 / 2550 [----------------->______________________________________________________] 24.43% 102 p/s646 / 2550 [------------------>_____________________________________________________] 25.33% 102 p/s666 / 2550 [------------------>_____________________________________________________] 26.12% 102 p/s688 / 2550 [------------------->____________________________________________________] 26.98% 102 p/s710 / 2550 [-------------------->___________________________________________________] 27.84% 102 p/s732 / 2550 [-------------------->___________________________________________________] 28.71% 102 p/s752 / 2550 [--------------------->__________________________________________________] 29.49% 102 p/s773 / 2550 [--------------------->__________________________________________________] 30.31% 103 p/s794 / 2550 [---------------------->_________________________________________________] 31.14% 103 p/s816 / 2550 [----------------------->________________________________________________] 32.00% 103 p/s837 / 2550 [----------------------->________________________________________________] 32.82% 103 p/s860 / 2550 [------------------------>_______________________________________________] 33.73% 103 p/s883 / 2550 [------------------------>_______________________________________________] 34.63% 103 p/s905 / 2550 [------------------------->______________________________________________] 35.49% 104 p/s926 / 2550 [-------------------------->_____________________________________________] 36.31% 104 p/s948 / 2550 [-------------------------->_____________________________________________] 37.18% 104 p/s970 / 2550 [--------------------------->____________________________________________] 38.04% 104 p/s992 / 2550 [---------------------------->___________________________________________] 38.90% 104 p/s1013 / 2550 [---------------------------->__________________________________________] 39.73% 104 p/s1034 / 2550 [---------------------------->__________________________________________] 40.55% 104 p/s1054 / 2550 [----------------------------->_________________________________________] 41.33% 104 p/s1075 / 2550 [----------------------------->_________________________________________] 42.16% 104 p/s1096 / 2550 [------------------------------>________________________________________] 42.98% 104 p/s1117 / 2550 [------------------------------->_______________________________________] 43.80% 104 p/s1139 / 2550 [------------------------------->_______________________________________] 44.67% 104 p/s1162 / 2550 [-------------------------------->______________________________________] 45.57% 104 p/s1184 / 2550 [-------------------------------->______________________________________] 46.43% 104 p/s1205 / 2550 [--------------------------------->_____________________________________] 47.25% 104 p/s1226 / 2550 [---------------------------------->____________________________________] 48.08% 105 p/s1244 / 2550 [---------------------------------->____________________________________] 48.78% 105 p/s1266 / 2550 [----------------------------------->___________________________________] 49.65% 105 p/s1285 / 2550 [----------------------------------->___________________________________] 50.39% 104 p/s1306 / 2550 [------------------------------------>__________________________________] 51.22% 104 p/s1328 / 2550 [------------------------------------>__________________________________] 52.08% 104 p/s1347 / 2550 [------------------------------------->_________________________________] 52.82% 104 p/s1369 / 2550 [-------------------------------------->________________________________] 53.69% 104 p/s1391 / 2550 [-------------------------------------->________________________________] 54.55% 104 p/s1412 / 2550 [--------------------------------------->_______________________________] 55.37% 104 p/s1432 / 2550 [--------------------------------------->_______________________________] 56.16% 104 p/s1454 / 2550 [---------------------------------------->______________________________] 57.02% 104 p/s1476 / 2550 [----------------------------------------->_____________________________] 57.88% 105 p/s1494 / 2550 [----------------------------------------->_____________________________] 58.59% 105 p/s1516 / 2550 [------------------------------------------>____________________________] 59.45% 105 p/s1539 / 2550 [------------------------------------------>____________________________] 60.35% 105 p/s1560 / 2550 [------------------------------------------->___________________________] 61.18% 105 p/s1581 / 2550 [-------------------------------------------->__________________________] 62.00% 105 p/s1602 / 2550 [-------------------------------------------->__________________________] 62.82% 105 p/s1624 / 2550 [--------------------------------------------->_________________________] 63.69% 105 p/s1643 / 2550 [--------------------------------------------->_________________________] 64.43% 105 p/s1666 / 2550 [---------------------------------------------->________________________] 65.33% 105 p/s1688 / 2550 [---------------------------------------------->________________________] 66.20% 105 p/s1710 / 2550 [----------------------------------------------->_______________________] 67.06% 105 p/s1732 / 2550 [------------------------------------------------>______________________] 67.92% 105 p/s1753 / 2550 [------------------------------------------------>______________________] 68.75% 105 p/s1774 / 2550 [------------------------------------------------->_____________________] 69.57% 105 p/s1795 / 2550 [------------------------------------------------->_____________________] 70.39% 105 p/s1816 / 2550 [-------------------------------------------------->____________________] 71.22% 105 p/s1838 / 2550 [--------------------------------------------------->___________________] 72.08% 105 p/s1859 / 2550 [--------------------------------------------------->___________________] 72.90% 105 p/s1882 / 2550 [---------------------------------------------------->__________________] 73.80% 105 p/s1903 / 2550 [---------------------------------------------------->__________________] 74.63% 105 p/s1924 / 2550 [----------------------------------------------------->_________________] 75.45% 105 p/s1945 / 2550 [------------------------------------------------------>________________] 76.27% 105 p/s1963 / 2550 [------------------------------------------------------>________________] 76.98% 105 p/s1985 / 2550 [------------------------------------------------------->_______________] 77.84% 105 p/s2005 / 2550 [------------------------------------------------------->_______________] 78.63% 105 p/s2026 / 2550 [-------------------------------------------------------->______________] 79.45% 105 p/s2047 / 2550 [-------------------------------------------------------->______________] 80.27% 105 p/s2067 / 2550 [--------------------------------------------------------->_____________] 81.06% 105 p/s2088 / 2550 [---------------------------------------------------------->____________] 81.88% 105 p/s2109 / 2550 [---------------------------------------------------------->____________] 82.71% 105 p/s2130 / 2550 [----------------------------------------------------------->___________] 83.53% 105 p/s2153 / 2550 [----------------------------------------------------------->___________] 84.43% 105 p/s2175 / 2550 [------------------------------------------------------------>__________] 85.29% 105 p/s2198 / 2550 [------------------------------------------------------------->_________] 86.20% 105 p/s2220 / 2550 [------------------------------------------------------------->_________] 87.06% 105 p/s2240 / 2550 [-------------------------------------------------------------->________] 87.84% 105 p/s2262 / 2550 [-------------------------------------------------------------->________] 88.71% 105 p/s2283 / 2550 [--------------------------------------------------------------->_______] 89.53% 105 p/s2303 / 2550 [---------------------------------------------------------------->______] 90.31% 105 p/s2324 / 2550 [---------------------------------------------------------------->______] 91.14% 105 p/s2346 / 2550 [----------------------------------------------------------------->_____] 92.00% 105 p/s2368 / 2550 [----------------------------------------------------------------->_____] 92.86% 106 p/s2390 / 2550 [------------------------------------------------------------------>____] 93.73% 106 p/s2411 / 2550 [------------------------------------------------------------------->___] 94.55% 106 p/s2434 / 2550 [------------------------------------------------------------------->___] 95.45% 106 p/s2456 / 2550 [-------------------------------------------------------------------->__] 96.31% 106 p/s2477 / 2550 [-------------------------------------------------------------------->__] 97.14% 106 p/s2496 / 2550 [--------------------------------------------------------------------->_] 97.88% 106 p/s2518 / 2550 [---------------------------------------------------------------------->] 98.75% 106 p/s2541 / 2550 [---------------------------------------------------------------------->] 99.65% 106 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 107 p/s2026-03-18T10:04:33 - INFO: Parsing 2550 sonar sweeps from /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2550 [00:00<?, ?it/s]
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2026-03-18T10:06:06 - 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/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1"
2026-03-18T10:06:07 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:06:07 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-03-18T10:06:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:06:07 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:06:07 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-18T10:06:07 - INFO: Preparing sonar data...
2026-03-18T10:06:07 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:06:09 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-03-18T10:06:09 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:06:09 - INFO: Using sonar rotation of 0.157080 radians for wedge mask
2026-03-18T10:06:09 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:06:09 - INFO: Sonar range is 0.722400 m
2026-03-18T10:06:09 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:06:09 - INFO: Processing 2549 sweeps...

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2026-03-18T10:06:19 - INFO: Prepared sonar data in 11.5736 s
2026-03-18T10:06:19 - INFO: No IMU data found
2026-03-18T10:06:19 - INFO: DataPrep took 0:00:11.896229
2026-03-18T10:06:19 - INFO: Extracted sonar data in 0:02:10.260998
2026-03-18T10:06:19 - INFO: MSIP3D took 0:02:10.494836