2026-03-26T01:46:40 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:46:40 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-26T01:46:40 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:46:40 - INFO: Found TFD mission for SJ502828 DEP 514
2026-03-26T01:46:40 - INFO: Recording will be processed as SMD
2026-03-26T01:46:40 - INFO: Copying assets JSON to output directory...
2026-03-26T01:46:40 - INFO: Preparing counter data...
2026-03-26T01:46:40 - INFO: Interpreting counter as imperial
2026-03-26T01:46:40 - INFO: Preparing size track from assets JSON...
2026-03-26T01:46:40 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:46:40 - INFO: Preparing material track from assets JSON...
2026-03-26T01:46:40 - INFO: Prepared counter data in 0.1304 s
2026-03-26T01:46:40 - INFO: Extracting sonar data...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 1806
19 / 1806 [>___________________________________________________________________________] 1.05% ? p/s38 / 1806 [->__________________________________________________________________________] 2.10% ? p/s58 / 1806 [-->_________________________________________________________________________] 3.21% ? p/s77 / 1806 [--->_______________________________________________________________________] 4.26% 97 p/s97 / 1806 [---->______________________________________________________________________] 5.37% 97 p/s117 / 1806 [---->_____________________________________________________________________] 6.48% 97 p/s136 / 1806 [----->____________________________________________________________________] 7.53% 97 p/s155 / 1806 [------>___________________________________________________________________] 8.58% 97 p/s175 / 1806 [------->__________________________________________________________________] 9.69% 97 p/s195 / 1806 [------->_________________________________________________________________] 10.80% 97 p/s215 / 1806 [-------->________________________________________________________________] 11.90% 97 p/s234 / 1806 [--------->_______________________________________________________________] 12.96% 97 p/s254 / 1806 [---------->______________________________________________________________] 14.06% 97 p/s273 / 1806 [----------->_____________________________________________________________] 15.12% 97 p/s293 / 1806 [----------->_____________________________________________________________] 16.22% 97 p/s313 / 1806 [------------>____________________________________________________________] 17.33% 97 p/s332 / 1806 [------------->___________________________________________________________] 18.38% 97 p/s352 / 1806 [-------------->__________________________________________________________] 19.49% 97 p/s371 / 1806 [-------------->__________________________________________________________] 20.54% 97 p/s391 / 1806 [--------------->_________________________________________________________] 21.65% 97 p/s411 / 1806 [---------------->________________________________________________________] 22.76% 97 p/s430 / 1806 [----------------->_______________________________________________________] 23.81% 97 p/s450 / 1806 [------------------>______________________________________________________] 24.92% 97 p/s469 / 1806 [------------------>______________________________________________________] 25.97% 97 p/s489 / 1806 [------------------->_____________________________________________________] 27.08% 97 p/s508 / 1806 [-------------------->____________________________________________________] 28.13% 97 p/s527 / 1806 [--------------------->___________________________________________________] 29.18% 97 p/s547 / 1806 [---------------------->__________________________________________________] 30.29% 97 p/s567 / 1806 [---------------------->__________________________________________________] 31.40% 97 p/s587 / 1806 [----------------------->_________________________________________________] 32.50% 97 p/s606 / 1806 [------------------------>________________________________________________] 33.55% 97 p/s626 / 1806 [------------------------->_______________________________________________] 34.66% 97 p/s646 / 1806 [-------------------------->______________________________________________] 35.77% 97 p/s665 / 1806 [-------------------------->______________________________________________] 36.82% 97 p/s685 / 1806 [--------------------------->_____________________________________________] 37.93% 97 p/s705 / 1806 [---------------------------->____________________________________________] 39.04% 97 p/s725 / 1806 [----------------------------->___________________________________________] 40.14% 97 p/s744 / 1806 [------------------------------>__________________________________________] 41.20% 97 p/s764 / 1806 [------------------------------>__________________________________________] 42.30% 97 p/s784 / 1806 [------------------------------->_________________________________________] 43.41% 98 p/s804 / 1806 [-------------------------------->________________________________________] 44.52% 98 p/s823 / 1806 [--------------------------------->_______________________________________] 45.57% 98 p/s843 / 1806 [---------------------------------->______________________________________] 46.68% 98 p/s863 / 1806 [---------------------------------->______________________________________] 47.79% 98 p/s882 / 1806 [----------------------------------->_____________________________________] 48.84% 98 p/s902 / 1806 [------------------------------------>____________________________________] 49.94% 98 p/s921 / 1806 [------------------------------------->___________________________________] 51.00% 98 p/s941 / 1806 [-------------------------------------->__________________________________] 52.10% 98 p/s960 / 1806 [-------------------------------------->__________________________________] 53.16% 98 p/s980 / 1806 [--------------------------------------->_________________________________] 54.26% 98 p/s1000 / 1806 [--------------------------------------->________________________________] 55.37% 98 p/s1018 / 1806 [---------------------------------------->_______________________________] 56.37% 98 p/s1037 / 1806 [----------------------------------------->______________________________] 57.42% 98 p/s1057 / 1806 [------------------------------------------>_____________________________] 58.53% 98 p/s1077 / 1806 [------------------------------------------>_____________________________] 59.63% 98 p/s1096 / 1806 [------------------------------------------->____________________________] 60.69% 98 p/s1116 / 1806 [-------------------------------------------->___________________________] 61.79% 98 p/s1136 / 1806 [--------------------------------------------->__________________________] 62.90% 98 p/s1156 / 1806 [---------------------------------------------->_________________________] 64.01% 98 p/s1175 / 1806 [---------------------------------------------->_________________________] 65.06% 98 p/s1195 / 1806 [----------------------------------------------->________________________] 66.17% 98 p/s1214 / 1806 [------------------------------------------------>_______________________] 67.22% 98 p/s1234 / 1806 [------------------------------------------------->______________________] 68.33% 98 p/s1254 / 1806 [------------------------------------------------->______________________] 69.44% 98 p/s1274 / 1806 [-------------------------------------------------->_____________________] 70.54% 98 p/s1293 / 1806 [--------------------------------------------------->____________________] 71.59% 98 p/s1313 / 1806 [---------------------------------------------------->___________________] 72.70% 98 p/s1332 / 1806 [----------------------------------------------------->__________________] 73.75% 98 p/s1352 / 1806 [----------------------------------------------------->__________________] 74.86% 98 p/s1371 / 1806 [------------------------------------------------------>_________________] 75.91% 98 p/s1391 / 1806 [------------------------------------------------------->________________] 77.02% 98 p/s1411 / 1806 [-------------------------------------------------------->_______________] 78.13% 98 p/s1430 / 1806 [--------------------------------------------------------->______________] 79.18% 98 p/s1450 / 1806 [--------------------------------------------------------->______________] 80.29% 98 p/s1470 / 1806 [---------------------------------------------------------->_____________] 81.40% 98 p/s1490 / 1806 [----------------------------------------------------------->____________] 82.50% 98 p/s1509 / 1806 [------------------------------------------------------------>___________] 83.55% 98 p/s1529 / 1806 [------------------------------------------------------------>___________] 84.66% 98 p/s1544 / 1806 [------------------------------------------------------------->__________] 85.49% 97 p/s1563 / 1806 [-------------------------------------------------------------->_________] 86.54% 97 p/s1583 / 1806 [--------------------------------------------------------------->________] 87.65% 97 p/s1603 / 1806 [--------------------------------------------------------------->________] 88.76% 97 p/s1622 / 1806 [---------------------------------------------------------------->_______] 89.81% 97 p/s1642 / 1806 [----------------------------------------------------------------->______] 90.92% 97 p/s1662 / 1806 [------------------------------------------------------------------>_____] 92.03% 97 p/s1681 / 1806 [------------------------------------------------------------------->____] 93.08% 97 p/s1701 / 1806 [------------------------------------------------------------------->____] 94.19% 97 p/s1720 / 1806 [-------------------------------------------------------------------->___] 95.24% 97 p/s1740 / 1806 [--------------------------------------------------------------------->__] 96.35% 97 p/s1759 / 1806 [---------------------------------------------------------------------->_] 97.40% 97 p/s1779 / 1806 [---------------------------------------------------------------------->_] 98.50% 97 p/s1799 / 1806 [----------------------------------------------------------------------->] 99.61% 97 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-26T01:46:58 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1806 [00:00<?, ?it/s]
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2026-03-26T01:48:08 - 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/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-03-26T01:48:10 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:48:10 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-03-26T01:48:10 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:48:10 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:48:10 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-26T01:48:10 - INFO: Preparing sonar data...
2026-03-26T01:48:10 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:48:11 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-03-26T01:48:11 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:48:11 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-26T01:48:11 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:48:11 - INFO: Sonar range is 1.589280 m
2026-03-26T01:48:11 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:48:11 - INFO: Processing 1806 sweeps...

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2026-03-26T01:48:19 - INFO: Prepared sonar data in 9.1685 s
2026-03-26T01:48:19 - INFO: No IMU data found
2026-03-26T01:48:19 - INFO: DataPrep took 0:00:09.449570
2026-03-26T01:48:19 - INFO: Extracted sonar data in 0:01:39.288599
2026-03-26T01:48:19 - INFO: MSIP3D took 0:01:39.576163