2026-03-30T19:00:39 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:00:39 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-30T19:00:39 - INFO: Found 10 TFD dictionary entries
2026-03-30T19:00:39 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-30T19:00:39 - INFO: Recording will be processed as MD
2026-03-30T19:00:39 - INFO: Copying assets JSON to output directory...
2026-03-30T19:00:39 - INFO: Preparing counter data...
2026-03-30T19:00:39 - INFO: Interpreting counter as imperial
2026-03-30T19:00:39 - INFO: Preparing size track from assets JSON...
2026-03-30T19:00:39 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:00:39 - INFO: Preparing material track from assets JSON...
2026-03-30T19:00:39 - INFO: Prepared counter data in 0.0995 s
2026-03-30T19:00:39 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4914
22 / 4914 [>___________________________________________________________________________] 0.45% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s67 / 4914 [->__________________________________________________________________________] 1.36% ? p/s90 / 4914 [->________________________________________________________________________] 1.83% 113 p/s113 / 4914 [->_______________________________________________________________________] 2.30% 113 p/s136 / 4914 [-->______________________________________________________________________] 2.77% 113 p/s158 / 4914 [-->______________________________________________________________________] 3.22% 113 p/s181 / 4914 [-->______________________________________________________________________] 3.68% 113 p/s203 / 4914 [--->_____________________________________________________________________] 4.13% 113 p/s224 / 4914 [--->_____________________________________________________________________] 4.56% 113 p/s247 / 4914 [--->_____________________________________________________________________] 5.03% 113 p/s268 / 4914 [--->_____________________________________________________________________] 5.45% 113 p/s291 / 4914 [---->____________________________________________________________________] 5.92% 113 p/s314 / 4914 [---->____________________________________________________________________] 6.39% 113 p/s337 / 4914 [----->___________________________________________________________________] 6.86% 113 p/s360 / 4914 [----->___________________________________________________________________] 7.33% 113 p/s383 / 4914 [----->___________________________________________________________________] 7.79% 113 p/s406 / 4914 [------>__________________________________________________________________] 8.26% 113 p/s429 / 4914 [------>__________________________________________________________________] 8.73% 113 p/s452 / 4914 [------>__________________________________________________________________] 9.20% 113 p/s475 / 4914 [------->_________________________________________________________________] 9.67% 113 p/s498 / 4914 [------->________________________________________________________________] 10.13% 113 p/s520 / 4914 [------->________________________________________________________________] 10.58% 113 p/s543 / 4914 [------->________________________________________________________________] 11.05% 113 p/s566 / 4914 [-------->_______________________________________________________________] 11.52% 113 p/s589 / 4914 [-------->_______________________________________________________________] 11.99% 113 p/s612 / 4914 [-------->_______________________________________________________________] 12.45% 113 p/s635 / 4914 [--------->______________________________________________________________] 12.92% 113 p/s658 / 4914 [--------->______________________________________________________________] 13.39% 113 p/s681 / 4914 [--------->______________________________________________________________] 13.86% 113 p/s704 / 4914 [---------->_____________________________________________________________] 14.33% 114 p/s727 / 4914 [---------->_____________________________________________________________] 14.79% 114 p/s750 / 4914 [---------->_____________________________________________________________] 15.26% 114 p/s773 / 4914 [----------->____________________________________________________________] 15.73% 114 p/s795 / 4914 [----------->____________________________________________________________] 16.18% 114 p/s818 / 4914 [----------->____________________________________________________________] 16.65% 114 p/s841 / 4914 [------------>___________________________________________________________] 17.11% 114 p/s864 / 4914 [------------>___________________________________________________________] 17.58% 114 p/s887 / 4914 [------------>___________________________________________________________] 18.05% 114 p/s910 / 4914 [------------->__________________________________________________________] 18.52% 114 p/s933 / 4914 [------------->__________________________________________________________] 18.99% 114 p/s956 / 4914 [-------------->_________________________________________________________] 19.45% 114 p/s979 / 4914 [-------------->_________________________________________________________] 19.92% 114 p/s1002 / 4914 [-------------->________________________________________________________] 20.39% 114 p/s1024 / 4914 [-------------->________________________________________________________] 20.84% 114 p/s1047 / 4914 [--------------->_______________________________________________________] 21.31% 114 p/s1070 / 4914 [--------------->_______________________________________________________] 21.77% 114 p/s1093 / 4914 [--------------->_______________________________________________________] 22.24% 114 p/s1116 / 4914 [---------------->______________________________________________________] 22.71% 114 p/s1139 / 4914 [---------------->______________________________________________________] 23.18% 114 p/s1162 / 4914 [---------------->______________________________________________________] 23.65% 114 p/s1172 / 4914 [---------------->______________________________________________________] 23.85% 112 p/s1188 / 4914 [----------------->_____________________________________________________] 24.18% 112 p/s1211 / 4914 [----------------->_____________________________________________________] 24.64% 112 p/s1234 / 4914 [----------------->_____________________________________________________] 25.11% 112 p/s1257 / 4914 [------------------>____________________________________________________] 25.58% 112 p/s1280 / 4914 [------------------>____________________________________________________] 26.05% 112 p/s1303 / 4914 [------------------>____________________________________________________] 26.52% 112 p/s1326 / 4914 [------------------->___________________________________________________] 26.98% 112 p/s1349 / 4914 [------------------->___________________________________________________] 27.45% 112 p/s1372 / 4914 [------------------->___________________________________________________] 27.92% 113 p/s1395 / 4914 [-------------------->__________________________________________________] 28.39% 113 p/s1418 / 4914 [-------------------->__________________________________________________] 28.86% 113 p/s1441 / 4914 [-------------------->__________________________________________________] 29.32% 113 p/s1464 / 4914 [--------------------->_________________________________________________] 29.79% 113 p/s1487 / 4914 [--------------------->_________________________________________________] 30.26% 113 p/s1510 / 4914 [--------------------->_________________________________________________] 30.73% 113 p/s1533 / 4914 [---------------------->________________________________________________] 31.20% 113 p/s1556 / 4914 [---------------------->________________________________________________] 31.66% 113 p/s1579 / 4914 [---------------------->________________________________________________] 32.13% 113 p/s1602 / 4914 [----------------------->_______________________________________________] 32.60% 113 p/s1625 / 4914 [----------------------->_______________________________________________] 33.07% 113 p/s1648 / 4914 [----------------------->_______________________________________________] 33.54% 113 p/s1671 / 4914 [------------------------>______________________________________________] 34.00% 113 p/s1694 / 4914 [------------------------>______________________________________________] 34.47% 113 p/s1717 / 4914 [------------------------>______________________________________________] 34.94% 113 p/s1740 / 4914 [------------------------->_____________________________________________] 35.41% 113 p/s1763 / 4914 [------------------------->_____________________________________________] 35.88% 113 p/s1786 / 4914 [------------------------->_____________________________________________] 36.35% 113 p/s1809 / 4914 [-------------------------->____________________________________________] 36.81% 113 p/s1832 / 4914 [-------------------------->____________________________________________] 37.28% 113 p/s1855 / 4914 [-------------------------->____________________________________________] 37.75% 113 p/s1878 / 4914 [--------------------------->___________________________________________] 38.22% 113 p/s1901 / 4914 [--------------------------->___________________________________________] 38.69% 113 p/s1924 / 4914 [--------------------------->___________________________________________] 39.15% 114 p/s1947 / 4914 [---------------------------->__________________________________________] 39.62% 114 p/s1969 / 4914 [---------------------------->__________________________________________] 40.07% 114 p/s1992 / 4914 [---------------------------->__________________________________________] 40.54% 114 p/s2015 / 4914 [----------------------------->_________________________________________] 41.01% 114 p/s2038 / 4914 [----------------------------->_________________________________________] 41.47% 114 p/s2060 / 4914 [----------------------------->_________________________________________] 41.92% 114 p/s2083 / 4914 [------------------------------>________________________________________] 42.39% 114 p/s2106 / 4914 [------------------------------>________________________________________] 42.86% 114 p/s2129 / 4914 [------------------------------>________________________________________] 43.33% 114 p/s2151 / 4914 [------------------------------->_______________________________________] 43.77% 114 p/s2174 / 4914 [------------------------------->_______________________________________] 44.24% 114 p/s2197 / 4914 [------------------------------->_______________________________________] 44.71% 114 p/s2220 / 4914 [-------------------------------->______________________________________] 45.18% 114 p/s2243 / 4914 [-------------------------------->______________________________________] 45.65% 114 p/s2266 / 4914 [-------------------------------->______________________________________] 46.11% 114 p/s2289 / 4914 [--------------------------------->_____________________________________] 46.58% 114 p/s2312 / 4914 [--------------------------------->_____________________________________] 47.05% 114 p/s2335 / 4914 [--------------------------------->_____________________________________] 47.52% 114 p/s2358 / 4914 [---------------------------------->____________________________________] 47.99% 114 p/s2381 / 4914 [---------------------------------->____________________________________] 48.45% 114 p/s2404 / 4914 [---------------------------------->____________________________________] 48.92% 114 p/s2427 / 4914 [----------------------------------->___________________________________] 49.39% 114 p/s2450 / 4914 [----------------------------------->___________________________________] 49.86% 114 p/s2474 / 4914 [----------------------------------->___________________________________] 50.35% 114 p/s2497 / 4914 [------------------------------------>__________________________________] 50.81% 114 p/s2520 / 4914 [------------------------------------>__________________________________] 51.28% 114 p/s2542 / 4914 [------------------------------------>__________________________________] 51.73% 114 p/s2565 / 4914 [------------------------------------->_________________________________] 52.20% 114 p/s2588 / 4914 [------------------------------------->_________________________________] 52.67% 114 p/s2611 / 4914 [------------------------------------->_________________________________] 53.13% 114 p/s2634 / 4914 [-------------------------------------->________________________________] 53.60% 114 p/s2657 / 4914 [-------------------------------------->________________________________] 54.07% 114 p/s2680 / 4914 [-------------------------------------->________________________________] 54.54% 114 p/s2703 / 4914 [--------------------------------------->_______________________________] 55.01% 114 p/s2726 / 4914 [--------------------------------------->_______________________________] 55.47% 114 p/s2749 / 4914 [--------------------------------------->_______________________________] 55.94% 114 p/s2773 / 4914 [---------------------------------------->______________________________] 56.43% 114 p/s2796 / 4914 [---------------------------------------->______________________________] 56.90% 114 p/s2818 / 4914 [---------------------------------------->______________________________] 57.35% 114 p/s2841 / 4914 [----------------------------------------->_____________________________] 57.81% 114 p/s2864 / 4914 [----------------------------------------->_____________________________] 58.28% 114 p/s2887 / 4914 [----------------------------------------->_____________________________] 58.75% 114 p/s2909 / 4914 [------------------------------------------>____________________________] 59.20% 114 p/s2933 / 4914 [------------------------------------------>____________________________] 59.69% 114 p/s2955 / 4914 [------------------------------------------>____________________________] 60.13% 114 p/s2978 / 4914 [------------------------------------------->___________________________] 60.60% 114 p/s3001 / 4914 [------------------------------------------->___________________________] 61.07% 114 p/s3024 / 4914 [------------------------------------------->___________________________] 61.54% 114 p/s3047 / 4914 [-------------------------------------------->__________________________] 62.01% 114 p/s3070 / 4914 [-------------------------------------------->__________________________] 62.47% 114 p/s3093 / 4914 [-------------------------------------------->__________________________] 62.94% 114 p/s3115 / 4914 [--------------------------------------------->_________________________] 63.39% 114 p/s3138 / 4914 [--------------------------------------------->_________________________] 63.86% 114 p/s3161 / 4914 [--------------------------------------------->_________________________] 64.33% 114 p/s3184 / 4914 [---------------------------------------------->________________________] 64.79% 114 p/s3207 / 4914 [---------------------------------------------->________________________] 65.26% 114 p/s3229 / 4914 [---------------------------------------------->________________________] 65.71% 114 p/s3252 / 4914 [---------------------------------------------->________________________] 66.18% 114 p/s3274 / 4914 [----------------------------------------------->_______________________] 66.63% 114 p/s3297 / 4914 [----------------------------------------------->_______________________] 67.09% 114 p/s3320 / 4914 [----------------------------------------------->_______________________] 67.56% 114 p/s3343 / 4914 [------------------------------------------------>______________________] 68.03% 114 p/s3366 / 4914 [------------------------------------------------>______________________] 68.50% 114 p/s3389 / 4914 [------------------------------------------------>______________________] 68.97% 114 p/s3412 / 4914 [------------------------------------------------->_____________________] 69.43% 114 p/s3435 / 4914 [------------------------------------------------->_____________________] 69.90% 114 p/s3458 / 4914 [------------------------------------------------->_____________________] 70.37% 114 p/s3481 / 4914 [-------------------------------------------------->____________________] 70.84% 114 p/s3503 / 4914 [-------------------------------------------------->____________________] 71.29% 114 p/s3526 / 4914 [-------------------------------------------------->____________________] 71.75% 114 p/s3548 / 4914 [--------------------------------------------------->___________________] 72.20% 114 p/s3571 / 4914 [--------------------------------------------------->___________________] 72.67% 114 p/s3594 / 4914 [--------------------------------------------------->___________________] 73.14% 114 p/s3617 / 4914 [---------------------------------------------------->__________________] 73.61% 114 p/s3639 / 4914 [---------------------------------------------------->__________________] 74.05% 114 p/s3661 / 4914 [---------------------------------------------------->__________________] 74.50% 114 p/s3684 / 4914 [----------------------------------------------------->_________________] 74.97% 114 p/s3707 / 4914 [----------------------------------------------------->_________________] 75.44% 114 p/s3729 / 4914 [----------------------------------------------------->_________________] 75.89% 114 p/s3752 / 4914 [------------------------------------------------------>________________] 76.35% 114 p/s3775 / 4914 [------------------------------------------------------>________________] 76.82% 114 p/s3797 / 4914 [------------------------------------------------------>________________] 77.27% 114 p/s3819 / 4914 [------------------------------------------------------->_______________] 77.72% 114 p/s3842 / 4914 [------------------------------------------------------->_______________] 78.18% 114 p/s3865 / 4914 [------------------------------------------------------->_______________] 78.65% 114 p/s3887 / 4914 [-------------------------------------------------------->______________] 79.10% 114 p/s3910 / 4914 [-------------------------------------------------------->______________] 79.57% 114 p/s3932 / 4914 [-------------------------------------------------------->______________] 80.02% 114 p/s3955 / 4914 [--------------------------------------------------------->_____________] 80.48% 114 p/s3978 / 4914 [--------------------------------------------------------->_____________] 80.95% 114 p/s4000 / 4914 [--------------------------------------------------------->_____________] 81.40% 114 p/s4023 / 4914 [---------------------------------------------------------->____________] 81.87% 114 p/s4045 / 4914 [---------------------------------------------------------->____________] 82.32% 114 p/s4068 / 4914 [---------------------------------------------------------->____________] 82.78% 114 p/s4090 / 4914 [----------------------------------------------------------->___________] 83.23% 114 p/s4112 / 4914 [----------------------------------------------------------->___________] 83.68% 114 p/s4135 / 4914 [----------------------------------------------------------->___________] 84.15% 114 p/s4158 / 4914 [------------------------------------------------------------>__________] 84.62% 114 p/s4181 / 4914 [------------------------------------------------------------>__________] 85.08% 114 p/s4203 / 4914 [------------------------------------------------------------>__________] 85.53% 114 p/s4226 / 4914 [------------------------------------------------------------->_________] 86.00% 114 p/s4249 / 4914 [------------------------------------------------------------->_________] 86.47% 114 p/s4272 / 4914 [------------------------------------------------------------->_________] 86.94% 114 p/s4294 / 4914 [-------------------------------------------------------------->________] 87.38% 114 p/s4317 / 4914 [-------------------------------------------------------------->________] 87.85% 114 p/s4340 / 4914 [-------------------------------------------------------------->________] 88.32% 114 p/s4362 / 4914 [--------------------------------------------------------------->_______] 88.77% 114 p/s4385 / 4914 [--------------------------------------------------------------->_______] 89.23% 114 p/s4408 / 4914 [--------------------------------------------------------------->_______] 89.70% 114 p/s4431 / 4914 [---------------------------------------------------------------->______] 90.17% 114 p/s4453 / 4914 [---------------------------------------------------------------->______] 90.62% 114 p/s4476 / 4914 [---------------------------------------------------------------->______] 91.09% 114 p/s4499 / 4914 [----------------------------------------------------------------->_____] 91.55% 114 p/s4521 / 4914 [----------------------------------------------------------------->_____] 92.00% 114 p/s4544 / 4914 [----------------------------------------------------------------->_____] 92.47% 114 p/s4566 / 4914 [----------------------------------------------------------------->_____] 92.92% 114 p/s4589 / 4914 [------------------------------------------------------------------>____] 93.39% 114 p/s4611 / 4914 [------------------------------------------------------------------>____] 93.83% 114 p/s4634 / 4914 [------------------------------------------------------------------>____] 94.30% 114 p/s4657 / 4914 [------------------------------------------------------------------->___] 94.77% 114 p/s4679 / 4914 [------------------------------------------------------------------->___] 95.22% 114 p/s4702 / 4914 [------------------------------------------------------------------->___] 95.69% 114 p/s4724 / 4914 [-------------------------------------------------------------------->__] 96.13% 113 p/s4747 / 4914 [-------------------------------------------------------------------->__] 96.60% 113 p/s4770 / 4914 [-------------------------------------------------------------------->__] 97.07% 113 p/s4792 / 4914 [--------------------------------------------------------------------->_] 97.52% 113 p/s4815 / 4914 [--------------------------------------------------------------------->_] 97.99% 113 p/s4837 / 4914 [--------------------------------------------------------------------->_] 98.43% 113 p/s4860 / 4914 [---------------------------------------------------------------------->] 98.90% 113 p/s4882 / 4914 [---------------------------------------------------------------------->] 99.35% 113 p/s4905 / 4914 [---------------------------------------------------------------------->] 99.82% 113 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-30T19:01:22 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4914 [00:00<?, ?it/s]
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2026-03-30T19:04:23 - 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/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-03-30T19:04:27 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:04:27 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-30T19:04:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:04:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:04:27 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-30T19:04:27 - INFO: Preparing sonar data...
2026-03-30T19:04:27 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:04:32 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-30T19:04:32 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:04:32 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-30T19:04:32 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:04:32 - INFO: Sensor range is 0.939120 m
2026-03-30T19:04:32 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:04:32 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:04:32 - INFO: Scaled range is 0.921855 m
2026-03-30T19:04:32 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:04:32 - INFO: Processing 4914 sweeps...

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2026-03-30T19:04:46 - INFO: Prepared sonar data in 18.9946 s
2026-03-30T19:04:46 - INFO: No IMU data found
2026-03-30T19:04:47 - INFO: DataPrep took 0:00:19.605354
2026-03-30T19:04:47 - INFO: Extracted sonar data in 0:04:08.130551
2026-03-30T19:04:47 - INFO: MSIP3D took 0:04:08.652143