2026-03-30T18:55:41 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:55:41 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-30T18:55:41 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:55:41 - INFO: Found TFD mission for SJ502795 Dep 2
2026-03-30T18:55:41 - INFO: Recording will be processed as MD
2026-03-30T18:55:41 - INFO: Copying assets JSON to output directory...
2026-03-30T18:55:41 - INFO: Preparing counter data...
2026-03-30T18:55:41 - INFO: Interpreting counter as imperial
2026-03-30T18:55:41 - INFO: Preparing size track from assets JSON...
2026-03-30T18:55:41 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:55:41 - INFO: Preparing material track from assets JSON...
2026-03-30T18:55:41 - INFO: Prepared counter data in 0.0071 s
2026-03-30T18:55:41 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2550
22 / 2550 [>___________________________________________________________________________] 0.86% ? p/s44 / 2550 [->__________________________________________________________________________] 1.73% ? p/s66 / 2550 [->__________________________________________________________________________] 2.59% ? p/s88 / 2550 [-->_______________________________________________________________________] 3.45% 110 p/s110 / 2550 [--->_____________________________________________________________________] 4.31% 110 p/s131 / 2550 [--->_____________________________________________________________________] 5.14% 110 p/s153 / 2550 [---->____________________________________________________________________] 6.00% 110 p/s175 / 2550 [----->___________________________________________________________________] 6.86% 110 p/s197 / 2550 [----->___________________________________________________________________] 7.73% 110 p/s219 / 2550 [------>__________________________________________________________________] 8.59% 110 p/s241 / 2550 [------>__________________________________________________________________] 9.45% 110 p/s262 / 2550 [------->________________________________________________________________] 10.27% 110 p/s284 / 2550 [-------->_______________________________________________________________] 11.14% 110 p/s306 / 2550 [-------->_______________________________________________________________] 12.00% 110 p/s327 / 2550 [--------->______________________________________________________________] 12.82% 110 p/s349 / 2550 [--------->______________________________________________________________] 13.69% 110 p/s371 / 2550 [---------->_____________________________________________________________] 14.55% 110 p/s393 / 2550 [----------->____________________________________________________________] 15.41% 110 p/s415 / 2550 [----------->____________________________________________________________] 16.27% 110 p/s437 / 2550 [------------>___________________________________________________________] 17.14% 110 p/s459 / 2550 [------------>___________________________________________________________] 18.00% 110 p/s481 / 2550 [------------->__________________________________________________________] 18.86% 110 p/s503 / 2550 [-------------->_________________________________________________________] 19.73% 110 p/s524 / 2550 [-------------->_________________________________________________________] 20.55% 110 p/s547 / 2550 [--------------->________________________________________________________] 21.45% 110 p/s569 / 2550 [---------------->_______________________________________________________] 22.31% 110 p/s591 / 2550 [---------------->_______________________________________________________] 23.18% 110 p/s613 / 2550 [----------------->______________________________________________________] 24.04% 110 p/s635 / 2550 [----------------->______________________________________________________] 24.90% 110 p/s658 / 2550 [------------------>_____________________________________________________] 25.80% 110 p/s680 / 2550 [------------------->____________________________________________________] 26.67% 110 p/s702 / 2550 [------------------->____________________________________________________] 27.53% 110 p/s725 / 2550 [-------------------->___________________________________________________] 28.43% 110 p/s747 / 2550 [--------------------->__________________________________________________] 29.29% 110 p/s770 / 2550 [--------------------->__________________________________________________] 30.20% 110 p/s792 / 2550 [---------------------->_________________________________________________] 31.06% 110 p/s814 / 2550 [---------------------->_________________________________________________] 31.92% 110 p/s836 / 2550 [----------------------->________________________________________________] 32.78% 110 p/s859 / 2550 [------------------------>_______________________________________________] 33.69% 110 p/s881 / 2550 [------------------------>_______________________________________________] 34.55% 110 p/s903 / 2550 [------------------------->______________________________________________] 35.41% 110 p/s925 / 2550 [-------------------------->_____________________________________________] 36.27% 110 p/s947 / 2550 [-------------------------->_____________________________________________] 37.14% 110 p/s970 / 2550 [--------------------------->____________________________________________] 38.04% 110 p/s992 / 2550 [---------------------------->___________________________________________] 38.90% 110 p/s1015 / 2550 [---------------------------->__________________________________________] 39.80% 110 p/s1037 / 2550 [---------------------------->__________________________________________] 40.67% 110 p/s1059 / 2550 [----------------------------->_________________________________________] 41.53% 110 p/s1081 / 2550 [------------------------------>________________________________________] 42.39% 110 p/s1104 / 2550 [------------------------------>________________________________________] 43.29% 110 p/s1126 / 2550 [------------------------------->_______________________________________] 44.16% 110 p/s1148 / 2550 [------------------------------->_______________________________________] 45.02% 110 p/s1170 / 2550 [-------------------------------->______________________________________] 45.88% 110 p/s1192 / 2550 [--------------------------------->_____________________________________] 46.75% 110 p/s1214 / 2550 [--------------------------------->_____________________________________] 47.61% 110 p/s1235 / 2550 [---------------------------------->____________________________________] 48.43% 110 p/s1254 / 2550 [---------------------------------->____________________________________] 49.18% 110 p/s1275 / 2550 [----------------------------------->___________________________________] 50.00% 110 p/s1296 / 2550 [------------------------------------>__________________________________] 50.82% 110 p/s1318 / 2550 [------------------------------------>__________________________________] 51.69% 110 p/s1339 / 2550 [------------------------------------->_________________________________] 52.51% 110 p/s1361 / 2550 [------------------------------------->_________________________________] 53.37% 110 p/s1383 / 2550 [-------------------------------------->________________________________] 54.24% 110 p/s1405 / 2550 [--------------------------------------->_______________________________] 55.10% 110 p/s1426 / 2550 [--------------------------------------->_______________________________] 55.92% 110 p/s1448 / 2550 [---------------------------------------->______________________________] 56.78% 110 p/s1470 / 2550 [---------------------------------------->______________________________] 57.65% 110 p/s1492 / 2550 [----------------------------------------->_____________________________] 58.51% 110 p/s1515 / 2550 [------------------------------------------>____________________________] 59.41% 110 p/s1537 / 2550 [------------------------------------------>____________________________] 60.27% 110 p/s1559 / 2550 [------------------------------------------->___________________________] 61.14% 110 p/s1582 / 2550 [-------------------------------------------->__________________________] 62.04% 110 p/s1604 / 2550 [-------------------------------------------->__________________________] 62.90% 110 p/s1626 / 2550 [--------------------------------------------->_________________________] 63.76% 110 p/s1649 / 2550 [--------------------------------------------->_________________________] 64.67% 110 p/s1671 / 2550 [---------------------------------------------->________________________] 65.53% 110 p/s1693 / 2550 [----------------------------------------------->_______________________] 66.39% 110 p/s1715 / 2550 [----------------------------------------------->_______________________] 67.25% 110 p/s1738 / 2550 [------------------------------------------------>______________________] 68.16% 110 p/s1760 / 2550 [------------------------------------------------->_____________________] 69.02% 110 p/s1782 / 2550 [------------------------------------------------->_____________________] 69.88% 110 p/s1804 / 2550 [-------------------------------------------------->____________________] 70.75% 110 p/s1826 / 2550 [-------------------------------------------------->____________________] 71.61% 110 p/s1848 / 2550 [--------------------------------------------------->___________________] 72.47% 110 p/s1870 / 2550 [---------------------------------------------------->__________________] 73.33% 110 p/s1892 / 2550 [---------------------------------------------------->__________________] 74.20% 110 p/s1914 / 2550 [----------------------------------------------------->_________________] 75.06% 110 p/s1936 / 2550 [----------------------------------------------------->_________________] 75.92% 110 p/s1958 / 2550 [------------------------------------------------------>________________] 76.78% 110 p/s1980 / 2550 [------------------------------------------------------->_______________] 77.65% 110 p/s2002 / 2550 [------------------------------------------------------->_______________] 78.51% 110 p/s2025 / 2550 [-------------------------------------------------------->______________] 79.41% 110 p/s2046 / 2550 [-------------------------------------------------------->______________] 80.24% 110 p/s2068 / 2550 [--------------------------------------------------------->_____________] 81.10% 110 p/s2090 / 2550 [---------------------------------------------------------->____________] 81.96% 110 p/s2112 / 2550 [---------------------------------------------------------->____________] 82.82% 110 p/s2135 / 2550 [----------------------------------------------------------->___________] 83.73% 110 p/s2158 / 2550 [------------------------------------------------------------>__________] 84.63% 110 p/s2180 / 2550 [------------------------------------------------------------>__________] 85.49% 110 p/s2198 / 2550 [------------------------------------------------------------->_________] 86.20% 110 p/s2217 / 2550 [------------------------------------------------------------->_________] 86.94% 110 p/s2239 / 2550 [-------------------------------------------------------------->________] 87.80% 110 p/s2261 / 2550 [-------------------------------------------------------------->________] 88.67% 110 p/s2282 / 2550 [--------------------------------------------------------------->_______] 89.49% 110 p/s2302 / 2550 [---------------------------------------------------------------->______] 90.27% 110 p/s2323 / 2550 [---------------------------------------------------------------->______] 91.10% 109 p/s2342 / 2550 [----------------------------------------------------------------->_____] 91.84% 109 p/s2352 / 2550 [----------------------------------------------------------------->_____] 92.24% 109 p/s2364 / 2550 [----------------------------------------------------------------->_____] 92.71% 106 p/s2385 / 2550 [------------------------------------------------------------------>____] 93.53% 106 p/s2397 / 2550 [------------------------------------------------------------------>____] 94.00% 106 p/s2407 / 2550 [------------------------------------------------------------------->___] 94.39% 104 p/s2428 / 2550 [------------------------------------------------------------------->___] 95.22% 104 p/s2450 / 2550 [-------------------------------------------------------------------->__] 96.08% 104 p/s2473 / 2550 [-------------------------------------------------------------------->__] 96.98% 105 p/s2495 / 2550 [--------------------------------------------------------------------->_] 97.84% 105 p/s2518 / 2550 [---------------------------------------------------------------------->] 98.75% 105 p/s2541 / 2550 [---------------------------------------------------------------------->] 99.65% 105 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 109 p/s2026-03-30T18:56:05 - 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]
  0%|          | 3/2550 [00:00<01:32, 27.44it/s]
  0%|          | 6/2550 [00:00<01:30, 28.04it/s]
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  1%|          | 15/2550 [00:00<01:28, 28.60it/s]
  1%|          | 18/2550 [00:00<01:28, 28.65it/s]
  1%|          | 21/2550 [00:00<01:28, 28.61it/s]
  1%|          | 24/2550 [00:00<01:28, 28.56it/s]
  1%|          | 27/2550 [00:00<01:28, 28.47it/s]
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  1%|▏         | 33/2550 [00:01<01:28, 28.43it/s]
  1%|▏         | 36/2550 [00:01<01:33, 26.93it/s]
  2%|▏         | 39/2550 [00:01<01:31, 27.44it/s]
  2%|▏         | 42/2550 [00:01<01:30, 27.67it/s]
  2%|▏         | 45/2550 [00:01<01:29, 27.84it/s]
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  3%|▎         | 69/2550 [00:02<01:28, 27.93it/s]
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  3%|▎         | 78/2550 [00:02<01:27, 28.18it/s]
  3%|▎         | 81/2550 [00:02<01:27, 28.23it/s]
  3%|▎         | 84/2550 [00:02<01:27, 28.21it/s]
  3%|▎         | 87/2550 [00:03<01:27, 28.18it/s]
  4%|▎         | 90/2550 [00:03<01:26, 28.30it/s]
  4%|▎         | 93/2550 [00:03<01:26, 28.35it/s]
  4%|▍         | 96/2550 [00:03<01:26, 28.34it/s]
  4%|▍         | 99/2550 [00:03<01:26, 28.31it/s]
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  4%|▍         | 108/2550 [00:03<01:26, 28.36it/s]
  4%|▍         | 111/2550 [00:03<01:25, 28.38it/s]
  4%|▍         | 114/2550 [00:04<01:25, 28.36it/s]
  5%|▍         | 117/2550 [00:04<01:25, 28.37it/s]
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  5%|▌         | 138/2550 [00:04<01:25, 28.08it/s]
  6%|▌         | 141/2550 [00:05<01:25, 28.07it/s]
  6%|▌         | 144/2550 [00:05<01:25, 28.03it/s]
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  7%|▋         | 171/2550 [00:06<01:24, 28.01it/s]
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  7%|▋         | 183/2550 [00:06<01:23, 28.18it/s]
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  7%|▋         | 189/2550 [00:06<01:27, 27.13it/s]
  8%|▊         | 192/2550 [00:06<01:25, 27.45it/s]
  8%|▊         | 195/2550 [00:06<01:25, 27.66it/s]
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 10%|▉         | 243/2550 [00:08<01:21, 28.36it/s]
 10%|▉         | 246/2550 [00:08<01:21, 28.36it/s]
 10%|▉         | 249/2550 [00:08<01:21, 28.37it/s]
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 10%|█         | 255/2550 [00:09<01:21, 28.31it/s]
 10%|█         | 258/2550 [00:09<01:20, 28.34it/s]
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 11%|█▏        | 288/2550 [00:10<01:20, 28.20it/s]
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2026-03-30T18:57:37 - 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"
2026-03-30T18:57:39 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:57:39 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-03-30T18:57:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:57:39 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:57:39 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-03-30T18:57:39 - INFO: Preparing sonar data...
2026-03-30T18:57:39 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:57:41 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-03-30T18:57:41 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:57:41 - INFO: Using sonar rotation of 0.157080 radians for wedge mask
2026-03-30T18:57:41 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:57:41 - INFO: Sensor range is 0.722400 m
2026-03-30T18:57:41 - INFO: Sensor micrometres per sample is 2400.000032
2026-03-30T18:57:41 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:57:41 - INFO: Scaled range is 0.709119 m
2026-03-30T18:57:41 - INFO: Scaled micrometres per sample is 2355.878681
2026-03-30T18:57:41 - INFO: Processing 2549 sweeps...

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2026-03-30T18:57:49 - INFO: Prepared sonar data in 9.9302 s
2026-03-30T18:57:49 - INFO: No IMU data found
2026-03-30T18:57:49 - INFO: DataPrep took 0:00:10.247504
2026-03-30T18:57:49 - INFO: Extracted sonar data in 0:02:08.434770
2026-03-30T18:57:49 - INFO: MSIP3D took 0:02:08.669931