2026-03-30T18:55:14 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:55:14 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-30T18:55:14 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:55:14 - INFO: Found TFD mission for SJ502795 Dep 9
2026-03-30T18:55:14 - INFO: Recording will be processed as MD
2026-03-30T18:55:14 - INFO: Copying assets JSON to output directory...
2026-03-30T18:55:14 - INFO: Preparing counter data...
2026-03-30T18:55:14 - INFO: Interpreting counter as imperial
2026-03-30T18:55:14 - INFO: Preparing size track from assets JSON...
2026-03-30T18:55:14 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:55:14 - INFO: Preparing material track from assets JSON...
2026-03-30T18:55:14 - INFO: Prepared counter data in 0.0231 s
2026-03-30T18:55:14 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 707
20 / 707 [-->__________________________________________________________________________] 2.83% ? p/s42 / 707 [---->________________________________________________________________________] 5.94% ? p/s63 / 707 [------>______________________________________________________________________] 8.91% ? p/s85 / 707 [-------->_________________________________________________________________] 12.02% 108 p/s107 / 707 [----------->_____________________________________________________________] 15.13% 108 p/s128 / 707 [------------->___________________________________________________________] 18.10% 108 p/s150 / 707 [--------------->_________________________________________________________] 21.22% 108 p/s172 / 707 [----------------->_______________________________________________________] 24.33% 108 p/s194 / 707 [-------------------->____________________________________________________] 27.44% 108 p/s216 / 707 [---------------------->__________________________________________________] 30.55% 108 p/s239 / 707 [------------------------>________________________________________________] 33.80% 108 p/s260 / 707 [-------------------------->______________________________________________] 36.78% 108 p/s282 / 707 [----------------------------->___________________________________________] 39.89% 109 p/s303 / 707 [------------------------------->_________________________________________] 42.86% 109 p/s325 / 707 [--------------------------------->_______________________________________] 45.97% 109 p/s347 / 707 [----------------------------------->_____________________________________] 49.08% 109 p/s369 / 707 [-------------------------------------->__________________________________] 52.19% 109 p/s391 / 707 [---------------------------------------->________________________________] 55.30% 109 p/s413 / 707 [------------------------------------------>______________________________] 58.42% 109 p/s434 / 707 [-------------------------------------------->____________________________] 61.39% 109 p/s456 / 707 [----------------------------------------------->_________________________] 64.50% 109 p/s478 / 707 [------------------------------------------------->_______________________] 67.61% 109 p/s500 / 707 [--------------------------------------------------->_____________________] 70.72% 109 p/s521 / 707 [----------------------------------------------------->___________________] 73.69% 109 p/s543 / 707 [-------------------------------------------------------->________________] 76.80% 109 p/s566 / 707 [---------------------------------------------------------->______________] 80.06% 109 p/s588 / 707 [------------------------------------------------------------>____________] 83.17% 109 p/s610 / 707 [-------------------------------------------------------------->__________] 86.28% 109 p/s632 / 707 [----------------------------------------------------------------->_______] 89.39% 109 p/s653 / 707 [------------------------------------------------------------------->_____] 92.36% 109 p/s675 / 707 [--------------------------------------------------------------------->___] 95.47% 109 p/s698 / 707 [------------------------------------------------------------------------>] 98.73% 109 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 113 p/s2026-03-30T18:55:21 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/707 [00:00<?, ?it/s]
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2026-03-30T18:55:46 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-03-30T18:55:47 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:55:47 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-03-30T18:55:47 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:55:47 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:55:47 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-30T18:55:47 - INFO: Preparing sonar data...
2026-03-30T18:55:47 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:55:48 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-03-30T18:55:48 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:55:48 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-30T18:55:48 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:55:48 - INFO: Sensor range is 0.939120 m
2026-03-30T18:55:48 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T18:55:48 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:55:48 - INFO: Scaled range is 0.921855 m
2026-03-30T18:55:48 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T18:55:48 - INFO: Processing 707 sweeps...

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2026-03-30T18:55:50 - INFO: Prepared sonar data in 2.3703 s
2026-03-30T18:55:50 - INFO: No IMU data found
2026-03-30T18:55:50 - INFO: DataPrep took 0:00:02.439688
2026-03-30T18:55:50 - INFO: Extracted sonar data in 0:00:35.920563
2026-03-30T18:55:50 - INFO: MSIP3D took 0:00:36.003860