2026-03-23T00:58:46 - INFO: MSIP3D 0.2.0rc3
2026-03-23T00:58:46 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-23T00:58:47 - INFO: Found 10 TFD dictionary entries
2026-03-23T00:58:47 - INFO: Found TFD mission for SJ502828 DEP 507
2026-03-23T00:58:47 - INFO: Recording will be processed as MD
2026-03-23T00:58:47 - INFO: Copying assets JSON to output directory...
2026-03-23T00:58:47 - INFO: Preparing counter data...
2026-03-23T00:58:47 - INFO: Interpreting counter as imperial
2026-03-23T00:58:47 - INFO: Preparing size track from assets JSON...
2026-03-23T00:58:47 - INFO: Preparing shape track from assets JSON...
2026-03-23T00:58:47 - INFO: Preparing material track from assets JSON...
2026-03-23T00:58:47 - INFO: Prepared counter data in 0.1795 s
2026-03-23T00:58:47 - INFO: Extracting sonar data...
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/SJ502828_DEP_507.tfd
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215974206753347
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4223
21 / 4223 [>___________________________________________________________________________] 0.50% ? p/s44 / 4223 [>___________________________________________________________________________] 1.04% ? p/s65 / 4223 [->__________________________________________________________________________] 1.54% ? p/s88 / 4223 [->________________________________________________________________________] 2.08% 112 p/s110 / 4223 [->_______________________________________________________________________] 2.60% 112 p/s132 / 4223 [-->______________________________________________________________________] 3.13% 112 p/s154 / 4223 [-->______________________________________________________________________] 3.65% 112 p/s177 / 4223 [--->_____________________________________________________________________] 4.19% 112 p/s199 / 4223 [--->_____________________________________________________________________] 4.71% 112 p/s221 / 4223 [--->_____________________________________________________________________] 5.23% 112 p/s244 / 4223 [---->____________________________________________________________________] 5.78% 112 p/s265 / 4223 [---->____________________________________________________________________] 6.28% 112 p/s288 / 4223 [---->____________________________________________________________________] 6.82% 112 p/s310 / 4223 [----->___________________________________________________________________] 7.34% 112 p/s333 / 4223 [----->___________________________________________________________________] 7.89% 112 p/s355 / 4223 [------>__________________________________________________________________] 8.41% 112 p/s377 / 4223 [------>__________________________________________________________________] 8.93% 112 p/s399 / 4223 [------>__________________________________________________________________] 9.45% 112 p/s421 / 4223 [------->_________________________________________________________________] 9.97% 112 p/s443 / 4223 [------->________________________________________________________________] 10.49% 112 p/s465 / 4223 [------->________________________________________________________________] 11.01% 112 p/s488 / 4223 [-------->_______________________________________________________________] 11.56% 112 p/s510 / 4223 [-------->_______________________________________________________________] 12.08% 112 p/s532 / 4223 [--------->______________________________________________________________] 12.60% 112 p/s554 / 4223 [--------->______________________________________________________________] 13.12% 111 p/s576 / 4223 [--------->______________________________________________________________] 13.64% 111 p/s599 / 4223 [---------->_____________________________________________________________] 14.18% 111 p/s622 / 4223 [---------->_____________________________________________________________] 14.73% 112 p/s644 / 4223 [---------->_____________________________________________________________] 15.25% 112 p/s666 / 4223 [----------->____________________________________________________________] 15.77% 112 p/s689 / 4223 [----------->____________________________________________________________] 16.32% 112 p/s711 / 4223 [------------>___________________________________________________________] 16.84% 112 p/s734 / 4223 [------------>___________________________________________________________] 17.38% 112 p/s756 / 4223 [------------>___________________________________________________________] 17.90% 112 p/s779 / 4223 [------------->__________________________________________________________] 18.45% 112 p/s801 / 4223 [------------->__________________________________________________________] 18.97% 112 p/s824 / 4223 [-------------->_________________________________________________________] 19.51% 112 p/s846 / 4223 [-------------->_________________________________________________________] 20.03% 112 p/s869 / 4223 [-------------->_________________________________________________________] 20.58% 112 p/s891 / 4223 [--------------->________________________________________________________] 21.10% 112 p/s914 / 4223 [--------------->________________________________________________________] 21.64% 112 p/s936 / 4223 [--------------->________________________________________________________] 22.16% 112 p/s959 / 4223 [---------------->_______________________________________________________] 22.71% 112 p/s982 / 4223 [---------------->_______________________________________________________] 23.25% 112 p/s1004 / 4223 [---------------->______________________________________________________] 23.77% 112 p/s1026 / 4223 [----------------->_____________________________________________________] 24.30% 112 p/s1048 / 4223 [----------------->_____________________________________________________] 24.82% 112 p/s1071 / 4223 [------------------>____________________________________________________] 25.36% 112 p/s1093 / 4223 [------------------>____________________________________________________] 25.88% 112 p/s1116 / 4223 [------------------>____________________________________________________] 26.43% 112 p/s1139 / 4223 [------------------->___________________________________________________] 26.97% 112 p/s1161 / 4223 [------------------->___________________________________________________] 27.49% 112 p/s1184 / 4223 [------------------->___________________________________________________] 28.04% 112 p/s1206 / 4223 [-------------------->__________________________________________________] 28.56% 112 p/s1228 / 4223 [-------------------->__________________________________________________] 29.08% 112 p/s1251 / 4223 [--------------------->_________________________________________________] 29.62% 112 p/s1273 / 4223 [--------------------->_________________________________________________] 30.14% 112 p/s1295 / 4223 [--------------------->_________________________________________________] 30.67% 112 p/s1317 / 4223 [---------------------->________________________________________________] 31.19% 112 p/s1340 / 4223 [---------------------->________________________________________________] 31.73% 112 p/s1362 / 4223 [---------------------->________________________________________________] 32.25% 112 p/s1385 / 4223 [----------------------->_______________________________________________] 32.80% 112 p/s1407 / 4223 [----------------------->_______________________________________________] 33.32% 112 p/s1430 / 4223 [------------------------>______________________________________________] 33.86% 112 p/s1452 / 4223 [------------------------>______________________________________________] 34.38% 112 p/s1475 / 4223 [------------------------>______________________________________________] 34.93% 112 p/s1497 / 4223 [------------------------->_____________________________________________] 35.45% 112 p/s1520 / 4223 [------------------------->_____________________________________________] 35.99% 112 p/s1542 / 4223 [------------------------->_____________________________________________] 36.51% 112 p/s1565 / 4223 [-------------------------->____________________________________________] 37.06% 112 p/s1587 / 4223 [-------------------------->____________________________________________] 37.58% 112 p/s1610 / 4223 [--------------------------->___________________________________________] 38.12% 112 p/s1632 / 4223 [--------------------------->___________________________________________] 38.65% 112 p/s1655 / 4223 [--------------------------->___________________________________________] 39.19% 112 p/s1678 / 4223 [---------------------------->__________________________________________] 39.73% 112 p/s1700 / 4223 [---------------------------->__________________________________________] 40.26% 112 p/s1722 / 4223 [---------------------------->__________________________________________] 40.78% 112 p/s1745 / 4223 [----------------------------->_________________________________________] 41.32% 112 p/s1767 / 4223 [----------------------------->_________________________________________] 41.84% 112 p/s1789 / 4223 [------------------------------>________________________________________] 42.36% 112 p/s1812 / 4223 [------------------------------>________________________________________] 42.91% 112 p/s1834 / 4223 [------------------------------>________________________________________] 43.43% 112 p/s1857 / 4223 [------------------------------->_______________________________________] 43.97% 112 p/s1879 / 4223 [------------------------------->_______________________________________] 44.49% 112 p/s1901 / 4223 [------------------------------->_______________________________________] 45.02% 112 p/s1923 / 4223 [-------------------------------->______________________________________] 45.54% 112 p/s1946 / 4223 [-------------------------------->______________________________________] 46.08% 112 p/s1968 / 4223 [--------------------------------->_____________________________________] 46.60% 112 p/s1991 / 4223 [--------------------------------->_____________________________________] 47.15% 112 p/s2014 / 4223 [--------------------------------->_____________________________________] 47.69% 112 p/s2036 / 4223 [---------------------------------->____________________________________] 48.21% 112 p/s2058 / 4223 [---------------------------------->____________________________________] 48.73% 112 p/s2080 / 4223 [---------------------------------->____________________________________] 49.25% 112 p/s2102 / 4223 [----------------------------------->___________________________________] 49.78% 112 p/s2125 / 4223 [----------------------------------->___________________________________] 50.32% 112 p/s2147 / 4223 [------------------------------------>__________________________________] 50.84% 112 p/s2169 / 4223 [------------------------------------>__________________________________] 51.36% 112 p/s2192 / 4223 [------------------------------------>__________________________________] 51.91% 112 p/s2214 / 4223 [------------------------------------->_________________________________] 52.43% 112 p/s2237 / 4223 [------------------------------------->_________________________________] 52.97% 112 p/s2259 / 4223 [------------------------------------->_________________________________] 53.49% 112 p/s2282 / 4223 [-------------------------------------->________________________________] 54.04% 112 p/s2304 / 4223 [-------------------------------------->________________________________] 54.56% 112 p/s2326 / 4223 [--------------------------------------->_______________________________] 55.08% 112 p/s2349 / 4223 [--------------------------------------->_______________________________] 55.62% 112 p/s2371 / 4223 [--------------------------------------->_______________________________] 56.14% 112 p/s2393 / 4223 [---------------------------------------->______________________________] 56.67% 112 p/s2415 / 4223 [---------------------------------------->______________________________] 57.19% 112 p/s2438 / 4223 [---------------------------------------->______________________________] 57.73% 112 p/s2460 / 4223 [----------------------------------------->_____________________________] 58.25% 112 p/s2483 / 4223 [----------------------------------------->_____________________________] 58.80% 112 p/s2505 / 4223 [------------------------------------------>____________________________] 59.32% 112 p/s2528 / 4223 [------------------------------------------>____________________________] 59.86% 112 p/s2550 / 4223 [------------------------------------------>____________________________] 60.38% 112 p/s2573 / 4223 [------------------------------------------->___________________________] 60.93% 112 p/s2595 / 4223 [------------------------------------------->___________________________] 61.45% 112 p/s2616 / 4223 [------------------------------------------->___________________________] 61.95% 112 p/s2639 / 4223 [-------------------------------------------->__________________________] 62.49% 112 p/s2661 / 4223 [-------------------------------------------->__________________________] 63.01% 112 p/s2683 / 4223 [--------------------------------------------->_________________________] 63.53% 112 p/s2706 / 4223 [--------------------------------------------->_________________________] 64.08% 112 p/s2728 / 4223 [--------------------------------------------->_________________________] 64.60% 112 p/s2750 / 4223 [---------------------------------------------->________________________] 65.12% 112 p/s2768 / 4223 [---------------------------------------------->________________________] 65.55% 111 p/s2790 / 4223 [---------------------------------------------->________________________] 66.07% 111 p/s2812 / 4223 [----------------------------------------------->_______________________] 66.59% 111 p/s2834 / 4223 [----------------------------------------------->_______________________] 67.11% 111 p/s2857 / 4223 [------------------------------------------------>______________________] 67.65% 111 p/s2879 / 4223 [------------------------------------------------>______________________] 68.17% 111 p/s2901 / 4223 [------------------------------------------------>______________________] 68.70% 111 p/s2924 / 4223 [------------------------------------------------->_____________________] 69.24% 111 p/s2945 / 4223 [------------------------------------------------->_____________________] 69.74% 111 p/s2968 / 4223 [------------------------------------------------->_____________________] 70.28% 111 p/s2989 / 4223 [-------------------------------------------------->____________________] 70.78% 111 p/s3012 / 4223 [-------------------------------------------------->____________________] 71.32% 111 p/s3034 / 4223 [--------------------------------------------------->___________________] 71.84% 111 p/s3057 / 4223 [--------------------------------------------------->___________________] 72.39% 111 p/s3079 / 4223 [--------------------------------------------------->___________________] 72.91% 111 p/s3101 / 4223 [---------------------------------------------------->__________________] 73.43% 111 p/s3123 / 4223 [---------------------------------------------------->__________________] 73.95% 111 p/s3146 / 4223 [---------------------------------------------------->__________________] 74.50% 111 p/s3168 / 4223 [----------------------------------------------------->_________________] 75.02% 111 p/s3191 / 4223 [----------------------------------------------------->_________________] 75.56% 111 p/s3213 / 4223 [------------------------------------------------------>________________] 76.08% 111 p/s3235 / 4223 [------------------------------------------------------>________________] 76.60% 111 p/s3258 / 4223 [------------------------------------------------------>________________] 77.15% 111 p/s3280 / 4223 [------------------------------------------------------->_______________] 77.67% 111 p/s3302 / 4223 [------------------------------------------------------->_______________] 78.19% 111 p/s3324 / 4223 [------------------------------------------------------->_______________] 78.71% 111 p/s3347 / 4223 [-------------------------------------------------------->______________] 79.26% 111 p/s3369 / 4223 [-------------------------------------------------------->______________] 79.78% 111 p/s3392 / 4223 [--------------------------------------------------------->_____________] 80.32% 111 p/s3414 / 4223 [--------------------------------------------------------->_____________] 80.84% 111 p/s3437 / 4223 [--------------------------------------------------------->_____________] 81.39% 111 p/s3459 / 4223 [---------------------------------------------------------->____________] 81.91% 111 p/s3482 / 4223 [---------------------------------------------------------->____________] 82.45% 111 p/s3504 / 4223 [---------------------------------------------------------->____________] 82.97% 111 p/s3527 / 4223 [----------------------------------------------------------->___________] 83.52% 111 p/s3549 / 4223 [----------------------------------------------------------->___________] 84.04% 111 p/s3571 / 4223 [------------------------------------------------------------>__________] 84.56% 111 p/s3593 / 4223 [------------------------------------------------------------>__________] 85.08% 111 p/s3616 / 4223 [------------------------------------------------------------>__________] 85.63% 111 p/s3638 / 4223 [------------------------------------------------------------->_________] 86.15% 112 p/s3660 / 4223 [------------------------------------------------------------->_________] 86.67% 112 p/s3682 / 4223 [------------------------------------------------------------->_________] 87.19% 112 p/s3704 / 4223 [-------------------------------------------------------------->________] 87.71% 111 p/s3727 / 4223 [-------------------------------------------------------------->________] 88.25% 111 p/s3749 / 4223 [--------------------------------------------------------------->_______] 88.78% 111 p/s3771 / 4223 [--------------------------------------------------------------->_______] 89.30% 111 p/s3794 / 4223 [--------------------------------------------------------------->_______] 89.84% 111 p/s3816 / 4223 [---------------------------------------------------------------->______] 90.36% 111 p/s3838 / 4223 [---------------------------------------------------------------->______] 90.88% 111 p/s3861 / 4223 [---------------------------------------------------------------->______] 91.43% 111 p/s3883 / 4223 [----------------------------------------------------------------->_____] 91.95% 111 p/s3906 / 4223 [----------------------------------------------------------------->_____] 92.49% 112 p/s3928 / 4223 [------------------------------------------------------------------>____] 93.01% 112 p/s3951 / 4223 [------------------------------------------------------------------>____] 93.56% 112 p/s3973 / 4223 [------------------------------------------------------------------>____] 94.08% 112 p/s3996 / 4223 [------------------------------------------------------------------->___] 94.62% 112 p/s4018 / 4223 [------------------------------------------------------------------->___] 95.15% 112 p/s4040 / 4223 [------------------------------------------------------------------->___] 95.67% 112 p/s4063 / 4223 [-------------------------------------------------------------------->__] 96.21% 112 p/s4085 / 4223 [-------------------------------------------------------------------->__] 96.73% 112 p/s4107 / 4223 [--------------------------------------------------------------------->_] 97.25% 112 p/s4129 / 4223 [--------------------------------------------------------------------->_] 97.77% 112 p/s4152 / 4223 [--------------------------------------------------------------------->_] 98.32% 112 p/s4174 / 4223 [---------------------------------------------------------------------->] 98.84% 112 p/s4196 / 4223 [---------------------------------------------------------------------->] 99.36% 112 p/s4218 / 4223 [---------------------------------------------------------------------->] 99.88% 112 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-23T00:59:25 - INFO: Parsing 4223 sonar sweeps from /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4223 [00:00<?, ?it/s]
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  3%|▎         | 108/4223 [00:03<02:31, 27.22it/s]
  3%|▎         | 111/4223 [00:04<02:30, 27.36it/s]
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2026-03-23T01:02:26 - 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/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-03-23T01:02:27 - INFO: DataPrep 0.14.0rc3
2026-03-23T01:02:27 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-03-23T01:02:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-23T01:02:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-23T01:02:27 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-23T01:02:27 - INFO: Preparing sonar data...
2026-03-23T01:02:27 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-23T01:02:31 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-03-23T01:02:31 - INFO: Creating sonar sensor alignment track...
2026-03-23T01:02:31 - INFO: Using sonar rotation of 0.663225 radians for wedge mask
2026-03-23T01:02:31 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-23T01:02:31 - INFO: Sonar range is 0.939120 m
2026-03-23T01:02:31 - INFO: Speed of sound is 1472.424156 m/s
2026-03-23T01:02:31 - INFO: Processing 4223 sweeps...

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100%|██████████| 4223/4223 [00:10<00:00, 420.31it/s]
2026-03-23T01:02:48 - INFO: Prepared sonar data in 20.5575 s
2026-03-23T01:02:48 - INFO: No IMU data found
2026-03-23T01:02:48 - INFO: DataPrep took 0:00:21.197787
2026-03-23T01:02:48 - INFO: Extracted sonar data in 0:04:01.611734
2026-03-23T01:02:49 - INFO: MSIP3D took 0:04:02.130419