2026-03-24T08:52:57 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:52:57 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-24T08:52:57 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:52:57 - INFO: Found TFD mission for SJ502795 Dep 1
2026-03-24T08:52:57 - INFO: Recording will be processed as MD
2026-03-24T08:52:57 - INFO: Copying assets JSON to output directory...
2026-03-24T08:52:57 - INFO: Preparing counter data...
2026-03-24T08:52:57 - INFO: Interpreting counter as imperial
2026-03-24T08:52:57 - INFO: Preparing size track from assets JSON...
2026-03-24T08:52:57 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:52:57 - INFO: Preparing material track from assets JSON...
2026-03-24T08:52:57 - INFO: Prepared counter data in 0.0378 s
2026-03-24T08:52:57 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 1895
21 / 1895 [>___________________________________________________________________________] 1.11% ? p/s44 / 1895 [->__________________________________________________________________________] 2.32% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s89 / 1895 [--->______________________________________________________________________] 4.70% 113 p/s111 / 1895 [---->____________________________________________________________________] 5.86% 113 p/s133 / 1895 [----->___________________________________________________________________] 7.02% 113 p/s156 / 1895 [------>__________________________________________________________________] 8.23% 113 p/s179 / 1895 [------>__________________________________________________________________] 9.45% 113 p/s201 / 1895 [------->________________________________________________________________] 10.61% 113 p/s224 / 1895 [-------->_______________________________________________________________] 11.82% 113 p/s246 / 1895 [--------->______________________________________________________________] 12.98% 113 p/s267 / 1895 [---------->_____________________________________________________________] 14.09% 113 p/s288 / 1895 [---------->_____________________________________________________________] 15.20% 113 p/s311 / 1895 [----------->____________________________________________________________] 16.41% 113 p/s332 / 1895 [------------>___________________________________________________________] 17.52% 113 p/s355 / 1895 [------------->__________________________________________________________] 18.73% 113 p/s377 / 1895 [-------------->_________________________________________________________] 19.89% 113 p/s400 / 1895 [--------------->________________________________________________________] 21.11% 113 p/s422 / 1895 [---------------->_______________________________________________________] 22.27% 113 p/s445 / 1895 [---------------->_______________________________________________________] 23.48% 113 p/s468 / 1895 [----------------->______________________________________________________] 24.70% 113 p/s490 / 1895 [------------------>_____________________________________________________] 25.86% 113 p/s512 / 1895 [------------------->____________________________________________________] 27.02% 113 p/s535 / 1895 [-------------------->___________________________________________________] 28.23% 113 p/s558 / 1895 [--------------------->__________________________________________________] 29.45% 113 p/s581 / 1895 [---------------------->_________________________________________________] 30.66% 113 p/s604 / 1895 [---------------------->_________________________________________________] 31.87% 113 p/s626 / 1895 [----------------------->________________________________________________] 33.03% 113 p/s649 / 1895 [------------------------>_______________________________________________] 34.25% 113 p/s672 / 1895 [------------------------->______________________________________________] 35.46% 113 p/s695 / 1895 [-------------------------->_____________________________________________] 36.68% 113 p/s718 / 1895 [--------------------------->____________________________________________] 37.89% 113 p/s741 / 1895 [---------------------------->___________________________________________] 39.10% 113 p/s763 / 1895 [---------------------------->___________________________________________] 40.26% 113 p/s786 / 1895 [----------------------------->__________________________________________] 41.48% 113 p/s809 / 1895 [------------------------------>_________________________________________] 42.69% 113 p/s831 / 1895 [------------------------------->________________________________________] 43.85% 113 p/s853 / 1895 [-------------------------------->_______________________________________] 45.01% 113 p/s874 / 1895 [--------------------------------->______________________________________] 46.12% 113 p/s897 / 1895 [---------------------------------->_____________________________________] 47.34% 113 p/s920 / 1895 [---------------------------------->_____________________________________] 48.55% 113 p/s942 / 1895 [----------------------------------->____________________________________] 49.71% 113 p/s965 / 1895 [------------------------------------>___________________________________] 50.92% 113 p/s987 / 1895 [------------------------------------->__________________________________] 52.08% 113 p/s1010 / 1895 [------------------------------------->_________________________________] 53.30% 113 p/s1031 / 1895 [-------------------------------------->________________________________] 54.41% 113 p/s1053 / 1895 [--------------------------------------->_______________________________] 55.57% 113 p/s1075 / 1895 [---------------------------------------->______________________________] 56.73% 113 p/s1097 / 1895 [----------------------------------------->_____________________________] 57.89% 112 p/s1119 / 1895 [----------------------------------------->_____________________________] 59.05% 112 p/s1140 / 1895 [------------------------------------------>____________________________] 60.16% 112 p/s1163 / 1895 [------------------------------------------->___________________________] 61.37% 112 p/s1185 / 1895 [-------------------------------------------->__________________________] 62.53% 112 p/s1207 / 1895 [--------------------------------------------->_________________________] 63.69% 112 p/s1229 / 1895 [---------------------------------------------->________________________] 64.85% 112 p/s1252 / 1895 [---------------------------------------------->________________________] 66.07% 112 p/s1274 / 1895 [----------------------------------------------->_______________________] 67.23% 112 p/s1293 / 1895 [------------------------------------------------>______________________] 68.23% 112 p/s1316 / 1895 [------------------------------------------------->_____________________] 69.45% 112 p/s1338 / 1895 [-------------------------------------------------->____________________] 70.61% 112 p/s1359 / 1895 [-------------------------------------------------->____________________] 71.72% 112 p/s1380 / 1895 [--------------------------------------------------->___________________] 72.82% 112 p/s1403 / 1895 [---------------------------------------------------->__________________] 74.04% 112 p/s1426 / 1895 [----------------------------------------------------->_________________] 75.25% 112 p/s1449 / 1895 [------------------------------------------------------>________________] 76.46% 112 p/s1468 / 1895 [------------------------------------------------------->_______________] 77.47% 112 p/s1482 / 1895 [------------------------------------------------------->_______________] 78.21% 111 p/s1495 / 1895 [-------------------------------------------------------->______________] 78.89% 111 p/s1509 / 1895 [-------------------------------------------------------->______________] 79.63% 111 p/s1525 / 1895 [--------------------------------------------------------->_____________] 80.47% 108 p/s1544 / 1895 [--------------------------------------------------------->_____________] 81.48% 108 p/s1564 / 1895 [---------------------------------------------------------->____________] 82.53% 108 p/s1583 / 1895 [----------------------------------------------------------->___________] 83.54% 107 p/s1603 / 1895 [------------------------------------------------------------>__________] 84.59% 107 p/s1623 / 1895 [------------------------------------------------------------>__________] 85.65% 107 p/s1644 / 1895 [------------------------------------------------------------->_________] 86.75% 107 p/s1665 / 1895 [-------------------------------------------------------------->________] 87.86% 107 p/s1688 / 1895 [--------------------------------------------------------------->_______] 89.08% 107 p/s1709 / 1895 [---------------------------------------------------------------->______] 90.18% 107 p/s1730 / 1895 [---------------------------------------------------------------->______] 91.29% 107 p/s1751 / 1895 [----------------------------------------------------------------->_____] 92.40% 107 p/s1772 / 1895 [------------------------------------------------------------------>____] 93.51% 107 p/s1794 / 1895 [------------------------------------------------------------------->___] 94.67% 107 p/s1815 / 1895 [-------------------------------------------------------------------->__] 95.78% 107 p/s1835 / 1895 [-------------------------------------------------------------------->__] 96.83% 107 p/s1856 / 1895 [--------------------------------------------------------------------->_] 97.94% 107 p/s1874 / 1895 [---------------------------------------------------------------------->] 98.89% 107 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 109 p/s2026-03-24T08:53:15 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1895 [00:00<?, ?it/s]
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2026-03-24T08:54:25 - 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/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-03-24T08:54:27 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:54:27 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-03-24T08:54:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:54:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:54:27 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-24T08:54:27 - INFO: Preparing sonar data...
2026-03-24T08:54:27 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:54:28 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-03-24T08:54:28 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:54:28 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-03-24T08:54:28 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:54:28 - INFO: Sonar range is 0.939120 m
2026-03-24T08:54:28 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:54:28 - INFO: Processing 1894 sweeps...

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2026-03-24T08:54:32 - INFO: Prepared sonar data in 5.8128 s
2026-03-24T08:54:32 - INFO: No IMU data found
2026-03-24T08:54:33 - INFO: DataPrep took 0:00:05.994739
2026-03-24T08:54:33 - INFO: Extracted sonar data in 0:01:35.344270
2026-03-24T08:54:33 - INFO: MSIP3D took 0:01:35.526572