2026-03-24T08:58:24 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:58:24 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-24T08:58:24 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:58:24 - INFO: Found TFD mission for SJ502795 Dep 2
2026-03-24T08:58:24 - INFO: Recording will be processed as MD
2026-03-24T08:58:24 - INFO: Copying assets JSON to output directory...
2026-03-24T08:58:24 - INFO: Preparing counter data...
2026-03-24T08:58:24 - INFO: Interpreting counter as imperial
2026-03-24T08:58:24 - INFO: Preparing size track from assets JSON...
2026-03-24T08:58:24 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:58:24 - INFO: Preparing material track from assets JSON...
2026-03-24T08:58:24 - INFO: Prepared counter data in 0.0099 s
2026-03-24T08:58:24 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2550
22 / 2550 [>___________________________________________________________________________] 0.86% ? p/s44 / 2550 [->__________________________________________________________________________] 1.73% ? p/s66 / 2550 [->__________________________________________________________________________] 2.59% ? p/s87 / 2550 [-->_______________________________________________________________________] 3.41% 108 p/s109 / 2550 [--->_____________________________________________________________________] 4.27% 108 p/s129 / 2550 [--->_____________________________________________________________________] 5.06% 108 p/s151 / 2550 [---->____________________________________________________________________] 5.92% 108 p/s173 / 2550 [---->____________________________________________________________________] 6.78% 108 p/s194 / 2550 [----->___________________________________________________________________] 7.61% 108 p/s216 / 2550 [------>__________________________________________________________________] 8.47% 108 p/s237 / 2550 [------>__________________________________________________________________] 9.29% 108 p/s258 / 2550 [------->________________________________________________________________] 10.12% 108 p/s280 / 2550 [------->________________________________________________________________] 10.98% 108 p/s302 / 2550 [-------->_______________________________________________________________] 11.84% 108 p/s324 / 2550 [--------->______________________________________________________________] 12.71% 108 p/s345 / 2550 [--------->______________________________________________________________] 13.53% 108 p/s367 / 2550 [---------->_____________________________________________________________] 14.39% 108 p/s388 / 2550 [---------->_____________________________________________________________] 15.22% 108 p/s409 / 2550 [----------->____________________________________________________________] 16.04% 108 p/s429 / 2550 [------------>___________________________________________________________] 16.82% 108 p/s451 / 2550 [------------>___________________________________________________________] 17.69% 108 p/s473 / 2550 [------------->__________________________________________________________] 18.55% 108 p/s495 / 2550 [------------->__________________________________________________________] 19.41% 108 p/s516 / 2550 [-------------->_________________________________________________________] 20.24% 108 p/s539 / 2550 [--------------->________________________________________________________] 21.14% 108 p/s560 / 2550 [--------------->________________________________________________________] 21.96% 108 p/s583 / 2550 [---------------->_______________________________________________________] 22.86% 108 p/s603 / 2550 [----------------->______________________________________________________] 23.65% 108 p/s624 / 2550 [----------------->______________________________________________________] 24.47% 108 p/s645 / 2550 [------------------>_____________________________________________________] 25.29% 108 p/s666 / 2550 [------------------>_____________________________________________________] 26.12% 108 p/s687 / 2550 [------------------->____________________________________________________] 26.94% 108 p/s709 / 2550 [-------------------->___________________________________________________] 27.80% 108 p/s732 / 2550 [-------------------->___________________________________________________] 28.71% 108 p/s750 / 2550 [--------------------->__________________________________________________] 29.41% 108 p/s773 / 2550 [--------------------->__________________________________________________] 30.31% 108 p/s795 / 2550 [---------------------->_________________________________________________] 31.18% 108 p/s818 / 2550 [----------------------->________________________________________________] 32.08% 108 p/s840 / 2550 [----------------------->________________________________________________] 32.94% 108 p/s863 / 2550 [------------------------>_______________________________________________] 33.84% 108 p/s885 / 2550 [------------------------>_______________________________________________] 34.71% 108 p/s908 / 2550 [------------------------->______________________________________________] 35.61% 108 p/s930 / 2550 [-------------------------->_____________________________________________] 36.47% 108 p/s953 / 2550 [-------------------------->_____________________________________________] 37.37% 108 p/s975 / 2550 [--------------------------->____________________________________________] 38.24% 108 p/s998 / 2550 [---------------------------->___________________________________________] 39.14% 109 p/s1019 / 2550 [---------------------------->__________________________________________] 39.96% 109 p/s1042 / 2550 [----------------------------->_________________________________________] 40.86% 109 p/s1064 / 2550 [----------------------------->_________________________________________] 41.73% 109 p/s1086 / 2550 [------------------------------>________________________________________] 42.59% 109 p/s1108 / 2550 [------------------------------>________________________________________] 43.45% 109 p/s1130 / 2550 [------------------------------->_______________________________________] 44.31% 109 p/s1152 / 2550 [-------------------------------->______________________________________] 45.18% 109 p/s1175 / 2550 [-------------------------------->______________________________________] 46.08% 109 p/s1197 / 2550 [--------------------------------->_____________________________________] 46.94% 109 p/s1219 / 2550 [--------------------------------->_____________________________________] 47.80% 109 p/s1241 / 2550 [---------------------------------->____________________________________] 48.67% 109 p/s1263 / 2550 [----------------------------------->___________________________________] 49.53% 109 p/s1285 / 2550 [----------------------------------->___________________________________] 50.39% 109 p/s1307 / 2550 [------------------------------------>__________________________________] 51.25% 109 p/s1330 / 2550 [------------------------------------->_________________________________] 52.16% 109 p/s1352 / 2550 [------------------------------------->_________________________________] 53.02% 109 p/s1374 / 2550 [-------------------------------------->________________________________] 53.88% 109 p/s1396 / 2550 [-------------------------------------->________________________________] 54.75% 109 p/s1419 / 2550 [--------------------------------------->_______________________________] 55.65% 109 p/s1441 / 2550 [---------------------------------------->______________________________] 56.51% 109 p/s1463 / 2550 [---------------------------------------->______________________________] 57.37% 109 p/s1485 / 2550 [----------------------------------------->_____________________________] 58.24% 109 p/s1507 / 2550 [----------------------------------------->_____________________________] 59.10% 109 p/s1530 / 2550 [------------------------------------------>____________________________] 60.00% 110 p/s1552 / 2550 [------------------------------------------->___________________________] 60.86% 110 p/s1574 / 2550 [------------------------------------------->___________________________] 61.73% 110 p/s1597 / 2550 [-------------------------------------------->__________________________] 62.63% 110 p/s1619 / 2550 [--------------------------------------------->_________________________] 63.49% 110 p/s1641 / 2550 [--------------------------------------------->_________________________] 64.35% 110 p/s1663 / 2550 [---------------------------------------------->________________________] 65.22% 110 p/s1686 / 2550 [---------------------------------------------->________________________] 66.12% 110 p/s1708 / 2550 [----------------------------------------------->_______________________] 66.98% 110 p/s1730 / 2550 [------------------------------------------------>______________________] 67.84% 110 p/s1752 / 2550 [------------------------------------------------>______________________] 68.71% 110 p/s1774 / 2550 [------------------------------------------------->_____________________] 69.57% 110 p/s1796 / 2550 [-------------------------------------------------->____________________] 70.43% 110 p/s1818 / 2550 [-------------------------------------------------->____________________] 71.29% 110 p/s1840 / 2550 [--------------------------------------------------->___________________] 72.16% 110 p/s1862 / 2550 [--------------------------------------------------->___________________] 73.02% 110 p/s1884 / 2550 [---------------------------------------------------->__________________] 73.88% 110 p/s1906 / 2550 [----------------------------------------------------->_________________] 74.75% 110 p/s1928 / 2550 [----------------------------------------------------->_________________] 75.61% 110 p/s1950 / 2550 [------------------------------------------------------>________________] 76.47% 110 p/s1972 / 2550 [------------------------------------------------------>________________] 77.33% 110 p/s1994 / 2550 [------------------------------------------------------->_______________] 78.20% 110 p/s2016 / 2550 [-------------------------------------------------------->______________] 79.06% 110 p/s2038 / 2550 [-------------------------------------------------------->______________] 79.92% 110 p/s2059 / 2550 [--------------------------------------------------------->_____________] 80.75% 110 p/s2081 / 2550 [--------------------------------------------------------->_____________] 81.61% 110 p/s2103 / 2550 [---------------------------------------------------------->____________] 82.47% 110 p/s2125 / 2550 [----------------------------------------------------------->___________] 83.33% 110 p/s2147 / 2550 [----------------------------------------------------------->___________] 84.20% 110 p/s2170 / 2550 [------------------------------------------------------------>__________] 85.10% 110 p/s2182 / 2550 [------------------------------------------------------------>__________] 85.57% 109 p/s2205 / 2550 [------------------------------------------------------------->_________] 86.47% 109 p/s2228 / 2550 [-------------------------------------------------------------->________] 87.37% 109 p/s2250 / 2550 [-------------------------------------------------------------->________] 88.24% 109 p/s2272 / 2550 [--------------------------------------------------------------->_______] 89.10% 109 p/s2295 / 2550 [--------------------------------------------------------------->_______] 90.00% 109 p/s2317 / 2550 [---------------------------------------------------------------->______] 90.86% 109 p/s2339 / 2550 [----------------------------------------------------------------->_____] 91.73% 109 p/s2362 / 2550 [----------------------------------------------------------------->_____] 92.63% 109 p/s2384 / 2550 [------------------------------------------------------------------>____] 93.49% 109 p/s2406 / 2550 [------------------------------------------------------------------>____] 94.35% 109 p/s2429 / 2550 [------------------------------------------------------------------->___] 95.25% 109 p/s2451 / 2550 [-------------------------------------------------------------------->__] 96.12% 110 p/s2474 / 2550 [-------------------------------------------------------------------->__] 97.02% 110 p/s2496 / 2550 [--------------------------------------------------------------------->_] 97.88% 110 p/s2518 / 2550 [---------------------------------------------------------------------->] 98.75% 110 p/s2538 / 2550 [---------------------------------------------------------------------->] 99.53% 110 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 110 p/s2026-03-24T08:58:47 - 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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2026-03-24T09:00:21 - 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"
2026-03-24T09:00:22 - INFO: DataPrep 0.14.0rc3
2026-03-24T09:00:22 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-03-24T09:00:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T09:00:22 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T09:00:22 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-24T09:00:22 - INFO: Preparing sonar data...
2026-03-24T09:00:22 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T09:00:25 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-03-24T09:00:25 - INFO: Creating sonar sensor alignment track...
2026-03-24T09:00:25 - INFO: Using sonar rotation of 0.157080 radians for wedge mask
2026-03-24T09:00:25 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T09:00:25 - INFO: Sonar range is 0.722400 m
2026-03-24T09:00:25 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T09:00:25 - INFO: Processing 2549 sweeps...

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100%|██████████| 2549/2549 [00:06<00:00, 387.80it/s]
2026-03-24T09:00:34 - INFO: Prepared sonar data in 11.3791 s
2026-03-24T09:00:34 - INFO: No IMU data found
2026-03-24T09:00:34 - INFO: DataPrep took 0:00:11.693966
2026-03-24T09:00:34 - INFO: Extracted sonar data in 0:02:10.283858
2026-03-24T09:00:34 - INFO: MSIP3D took 0:02:10.527433