2026-03-26T01:47:42 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:47:42 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-26T01:47:42 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:47:42 - INFO: Found TFD mission for SJ502828 DEP 513
2026-03-26T01:47:42 - INFO: Recording will be processed as SMD
2026-03-26T01:47:42 - INFO: Copying assets JSON to output directory...
2026-03-26T01:47:42 - INFO: Preparing counter data...
2026-03-26T01:47:42 - INFO: Interpreting counter as imperial
2026-03-26T01:47:42 - INFO: Preparing size track from assets JSON...
2026-03-26T01:47:42 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:47:42 - INFO: Preparing material track from assets JSON...
2026-03-26T01:47:42 - INFO: Prepared counter data in 0.1613 s
2026-03-26T01:47:42 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2126
15 / 2126 [>___________________________________________________________________________] 0.71% ? p/s34 / 2126 [->__________________________________________________________________________] 1.60% ? p/s53 / 2126 [->__________________________________________________________________________] 2.49% ? p/s72 / 2126 [-->________________________________________________________________________] 3.39% 95 p/s91 / 2126 [--->_______________________________________________________________________] 4.28% 95 p/s111 / 2126 [--->______________________________________________________________________] 5.22% 95 p/s129 / 2126 [---->_____________________________________________________________________] 6.07% 95 p/s148 / 2126 [----->____________________________________________________________________] 6.96% 95 p/s168 / 2126 [----->____________________________________________________________________] 7.90% 95 p/s187 / 2126 [------>___________________________________________________________________] 8.80% 95 p/s206 / 2126 [------->__________________________________________________________________] 9.69% 95 p/s226 / 2126 [------->_________________________________________________________________] 10.63% 95 p/s245 / 2126 [-------->________________________________________________________________] 11.52% 95 p/s263 / 2126 [--------->_______________________________________________________________] 12.37% 95 p/s282 / 2126 [--------->_______________________________________________________________] 13.26% 95 p/s302 / 2126 [---------->______________________________________________________________] 14.21% 95 p/s321 / 2126 [----------->_____________________________________________________________] 15.10% 95 p/s340 / 2126 [----------->_____________________________________________________________] 15.99% 95 p/s360 / 2126 [------------>____________________________________________________________] 16.93% 95 p/s379 / 2126 [------------->___________________________________________________________] 17.83% 95 p/s398 / 2126 [------------->___________________________________________________________] 18.72% 95 p/s416 / 2126 [-------------->__________________________________________________________] 19.57% 95 p/s436 / 2126 [-------------->__________________________________________________________] 20.51% 95 p/s455 / 2126 [--------------->_________________________________________________________] 21.40% 95 p/s474 / 2126 [---------------->________________________________________________________] 22.30% 95 p/s493 / 2126 [---------------->________________________________________________________] 23.19% 95 p/s511 / 2126 [----------------->_______________________________________________________] 24.04% 95 p/s531 / 2126 [------------------>______________________________________________________] 24.98% 95 p/s550 / 2126 [------------------>______________________________________________________] 25.87% 95 p/s569 / 2126 [------------------->_____________________________________________________] 26.76% 95 p/s588 / 2126 [-------------------->____________________________________________________] 27.66% 95 p/s608 / 2126 [-------------------->____________________________________________________] 28.60% 95 p/s627 / 2126 [--------------------->___________________________________________________] 29.49% 95 p/s646 / 2126 [---------------------->__________________________________________________] 30.39% 95 p/s665 / 2126 [---------------------->__________________________________________________] 31.28% 95 p/s685 / 2126 [----------------------->_________________________________________________] 32.22% 95 p/s704 / 2126 [------------------------>________________________________________________] 33.11% 95 p/s724 / 2126 [------------------------>________________________________________________] 34.05% 95 p/s743 / 2126 [------------------------->_______________________________________________] 34.95% 95 p/s761 / 2126 [-------------------------->______________________________________________] 35.79% 95 p/s780 / 2126 [-------------------------->______________________________________________] 36.69% 95 p/s800 / 2126 [--------------------------->_____________________________________________] 37.63% 95 p/s819 / 2126 [---------------------------->____________________________________________] 38.52% 95 p/s838 / 2126 [---------------------------->____________________________________________] 39.42% 95 p/s857 / 2126 [----------------------------->___________________________________________] 40.31% 95 p/s877 / 2126 [------------------------------>__________________________________________] 41.25% 96 p/s896 / 2126 [------------------------------>__________________________________________] 42.14% 96 p/s915 / 2126 [------------------------------->_________________________________________] 43.04% 96 p/s935 / 2126 [-------------------------------->________________________________________] 43.98% 96 p/s954 / 2126 [-------------------------------->________________________________________] 44.87% 96 p/s973 / 2126 [--------------------------------->_______________________________________] 45.77% 96 p/s992 / 2126 [---------------------------------->______________________________________] 46.66% 96 p/s1011 / 2126 [---------------------------------->_____________________________________] 47.55% 96 p/s1030 / 2126 [---------------------------------->_____________________________________] 48.45% 96 p/s1049 / 2126 [----------------------------------->____________________________________] 49.34% 96 p/s1068 / 2126 [------------------------------------>___________________________________] 50.24% 96 p/s1087 / 2126 [------------------------------------>___________________________________] 51.13% 96 p/s1107 / 2126 [------------------------------------->__________________________________] 52.07% 96 p/s1126 / 2126 [-------------------------------------->_________________________________] 52.96% 96 p/s1145 / 2126 [-------------------------------------->_________________________________] 53.86% 96 p/s1164 / 2126 [--------------------------------------->________________________________] 54.75% 96 p/s1183 / 2126 [---------------------------------------->_______________________________] 55.64% 96 p/s1203 / 2126 [---------------------------------------->_______________________________] 56.59% 96 p/s1222 / 2126 [----------------------------------------->______________________________] 57.48% 96 p/s1242 / 2126 [------------------------------------------>_____________________________] 58.42% 96 p/s1261 / 2126 [------------------------------------------>_____________________________] 59.31% 96 p/s1280 / 2126 [------------------------------------------->____________________________] 60.21% 96 p/s1299 / 2126 [------------------------------------------->____________________________] 61.10% 96 p/s1319 / 2126 [-------------------------------------------->___________________________] 62.04% 96 p/s1338 / 2126 [--------------------------------------------->__________________________] 62.94% 96 p/s1357 / 2126 [--------------------------------------------->__________________________] 63.83% 96 p/s1374 / 2126 [---------------------------------------------->_________________________] 64.63% 96 p/s1394 / 2126 [----------------------------------------------->________________________] 65.57% 96 p/s1413 / 2126 [----------------------------------------------->________________________] 66.46% 96 p/s1433 / 2126 [------------------------------------------------>_______________________] 67.40% 96 p/s1452 / 2126 [------------------------------------------------->______________________] 68.30% 96 p/s1471 / 2126 [------------------------------------------------->______________________] 69.19% 96 p/s1491 / 2126 [-------------------------------------------------->_____________________] 70.13% 96 p/s1509 / 2126 [--------------------------------------------------->____________________] 70.98% 96 p/s1529 / 2126 [--------------------------------------------------->____________________] 71.92% 96 p/s1548 / 2126 [---------------------------------------------------->___________________] 72.81% 96 p/s1567 / 2126 [----------------------------------------------------->__________________] 73.71% 96 p/s1587 / 2126 [----------------------------------------------------->__________________] 74.65% 96 p/s1606 / 2126 [------------------------------------------------------>_________________] 75.54% 96 p/s1625 / 2126 [------------------------------------------------------->________________] 76.43% 96 p/s1645 / 2126 [------------------------------------------------------->________________] 77.38% 96 p/s1663 / 2126 [-------------------------------------------------------->_______________] 78.22% 96 p/s1683 / 2126 [-------------------------------------------------------->_______________] 79.16% 96 p/s1702 / 2126 [--------------------------------------------------------->______________] 80.06% 96 p/s1721 / 2126 [---------------------------------------------------------->_____________] 80.95% 96 p/s1741 / 2126 [---------------------------------------------------------->_____________] 81.89% 96 p/s1760 / 2126 [----------------------------------------------------------->____________] 82.78% 96 p/s1779 / 2126 [------------------------------------------------------------>___________] 83.68% 96 p/s1798 / 2126 [------------------------------------------------------------>___________] 84.57% 96 p/s1818 / 2126 [------------------------------------------------------------->__________] 85.51% 96 p/s1837 / 2126 [-------------------------------------------------------------->_________] 86.41% 96 p/s1856 / 2126 [-------------------------------------------------------------->_________] 87.30% 96 p/s1875 / 2126 [--------------------------------------------------------------->________] 88.19% 96 p/s1895 / 2126 [---------------------------------------------------------------->_______] 89.13% 96 p/s1914 / 2126 [---------------------------------------------------------------->_______] 90.03% 96 p/s1933 / 2126 [----------------------------------------------------------------->______] 90.92% 96 p/s1952 / 2126 [------------------------------------------------------------------>_____] 91.82% 96 p/s1972 / 2126 [------------------------------------------------------------------>_____] 92.76% 96 p/s1991 / 2126 [------------------------------------------------------------------->____] 93.65% 96 p/s2010 / 2126 [-------------------------------------------------------------------->___] 94.54% 96 p/s2030 / 2126 [-------------------------------------------------------------------->___] 95.48% 96 p/s2048 / 2126 [--------------------------------------------------------------------->__] 96.33% 96 p/s2068 / 2126 [---------------------------------------------------------------------->_] 97.27% 96 p/s2087 / 2126 [---------------------------------------------------------------------->_] 98.17% 96 p/s2106 / 2126 [----------------------------------------------------------------------->] 99.06% 96 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-26T01:48:04 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2126 [00:00<?, ?it/s]
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2026-03-26T01:49:27 - 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 /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-03-26T01:49:29 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:49:29 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-03-26T01:49:29 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:49:29 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:49:29 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-26T01:49:29 - INFO: Preparing sonar data...
2026-03-26T01:49:29 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:49:30 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-03-26T01:49:30 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:49:30 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-26T01:49:30 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:49:30 - INFO: Sonar range is 1.878240 m
2026-03-26T01:49:30 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:49:30 - INFO: Processing 2125 sweeps...

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2026-03-26T01:49:39 - INFO: Prepared sonar data in 10.2939 s
2026-03-26T01:49:39 - INFO: No IMU data found
2026-03-26T01:49:39 - INFO: DataPrep took 0:00:10.612125
2026-03-26T01:49:39 - INFO: Extracted sonar data in 0:01:57.392478
2026-03-26T01:49:39 - INFO: MSIP3D took 0:01:57.735164