2026-03-18T10:03:02 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:03:02 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-18T10:03:02 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:03:02 - INFO: Found TFD mission for SJ502795 Dep 9
2026-03-18T10:03:02 - INFO: Recording will be processed as MD
2026-03-18T10:03:02 - INFO: Copying assets JSON to output directory...
2026-03-18T10:03:02 - INFO: Preparing counter data...
2026-03-18T10:03:02 - INFO: Interpreting counter as imperial
2026-03-18T10:03:02 - INFO: Preparing size track from assets JSON...
2026-03-18T10:03:02 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:03:02 - INFO: Preparing material track from assets JSON...
2026-03-18T10:03:02 - INFO: Prepared counter data in 0.0224 s
2026-03-18T10:03:02 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 707
22 / 707 [-->__________________________________________________________________________] 3.11% ? p/s44 / 707 [---->________________________________________________________________________] 6.22% ? p/s66 / 707 [------->_____________________________________________________________________] 9.34% ? p/s88 / 707 [--------->________________________________________________________________] 12.45% 110 p/s111 / 707 [----------->_____________________________________________________________] 15.70% 110 p/s132 / 707 [------------->___________________________________________________________] 18.67% 110 p/s155 / 707 [---------------->________________________________________________________] 21.92% 110 p/s177 / 707 [------------------>______________________________________________________] 25.04% 110 p/s200 / 707 [-------------------->____________________________________________________] 28.29% 110 p/s222 / 707 [---------------------->__________________________________________________] 31.40% 110 p/s244 / 707 [------------------------->_______________________________________________] 34.51% 110 p/s266 / 707 [--------------------------->_____________________________________________] 37.62% 110 p/s288 / 707 [----------------------------->___________________________________________] 40.74% 110 p/s311 / 707 [-------------------------------->________________________________________] 43.99% 110 p/s333 / 707 [---------------------------------->______________________________________] 47.10% 110 p/s355 / 707 [------------------------------------>____________________________________] 50.21% 110 p/s378 / 707 [--------------------------------------->_________________________________] 53.47% 110 p/s400 / 707 [----------------------------------------->_______________________________] 56.58% 110 p/s423 / 707 [------------------------------------------->_____________________________] 59.83% 111 p/s445 / 707 [--------------------------------------------->___________________________] 62.94% 111 p/s468 / 707 [------------------------------------------------>________________________] 66.20% 111 p/s490 / 707 [-------------------------------------------------->______________________] 69.31% 111 p/s512 / 707 [---------------------------------------------------->____________________] 72.42% 111 p/s535 / 707 [------------------------------------------------------->_________________] 75.67% 111 p/s557 / 707 [--------------------------------------------------------->_______________] 78.78% 111 p/s580 / 707 [----------------------------------------------------------->_____________] 82.04% 111 p/s603 / 707 [-------------------------------------------------------------->__________] 85.29% 111 p/s625 / 707 [---------------------------------------------------------------->________] 88.40% 111 p/s648 / 707 [------------------------------------------------------------------>______] 91.65% 111 p/s671 / 707 [--------------------------------------------------------------------->___] 94.91% 111 p/s694 / 707 [----------------------------------------------------------------------->_] 98.16% 111 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 116 p/s2026-03-18T10:03:08 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/707 [00:00<?, ?it/s]
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2026-03-18T10:03:34 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-03-18T10:03:35 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:03:35 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-03-18T10:03:35 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:03:35 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:03:35 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-18T10:03:35 - INFO: Preparing sonar data...
2026-03-18T10:03:35 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:03:36 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-03-18T10:03:36 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:03:36 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-18T10:03:36 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:03:36 - INFO: Sonar range is 0.939120 m
2026-03-18T10:03:36 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:03:36 - INFO: Processing 707 sweeps...

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2026-03-18T10:03:38 - INFO: Prepared sonar data in 2.4356 s
2026-03-18T10:03:38 - INFO: No IMU data found
2026-03-18T10:03:38 - INFO: DataPrep took 0:00:02.504869
2026-03-18T10:03:38 - INFO: Extracted sonar data in 0:00:35.756842
2026-03-18T10:03:38 - INFO: MSIP3D took 0:00:35.833215