2026-03-30T19:04:10 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:04:10 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-30T19:04:10 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:04:10 - INFO: Found TFD mission for SJ502828 DEP 512
2026-03-30T19:04:10 - INFO: Recording will be processed as SMD
2026-03-30T19:04:10 - INFO: Copying assets JSON to output directory...
2026-03-30T19:04:10 - INFO: Preparing counter data...
2026-03-30T19:04:10 - INFO: Interpreting counter as imperial
2026-03-30T19:04:11 - INFO: Preparing size track from assets JSON...
2026-03-30T19:04:11 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:04:11 - INFO: Preparing material track from assets JSON...
2026-03-30T19:04:11 - INFO: Prepared counter data in 0.2042 s
2026-03-30T19:04:11 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Getting track SONAR
Number of frames: 3195
18 / 3195 [>___________________________________________________________________________] 0.56% ? p/s37 / 3195 [>___________________________________________________________________________] 1.16% ? p/s56 / 3195 [->__________________________________________________________________________] 1.75% ? p/s75 / 3195 [->_________________________________________________________________________] 2.35% 95 p/s95 / 3195 [-->________________________________________________________________________] 2.97% 95 p/s114 / 3195 [-->_______________________________________________________________________] 3.57% 95 p/s132 / 3195 [--->______________________________________________________________________] 4.13% 95 p/s151 / 3195 [--->______________________________________________________________________] 4.73% 95 p/s171 / 3195 [--->______________________________________________________________________] 5.35% 95 p/s190 / 3195 [---->_____________________________________________________________________] 5.95% 95 p/s209 / 3195 [---->_____________________________________________________________________] 6.54% 95 p/s228 / 3195 [----->____________________________________________________________________] 7.14% 95 p/s248 / 3195 [----->____________________________________________________________________] 7.76% 95 p/s266 / 3195 [------>___________________________________________________________________] 8.33% 95 p/s285 / 3195 [------>___________________________________________________________________] 8.92% 95 p/s305 / 3195 [------->__________________________________________________________________] 9.55% 95 p/s324 / 3195 [------->_________________________________________________________________] 10.14% 95 p/s343 / 3195 [------->_________________________________________________________________] 10.74% 95 p/s363 / 3195 [-------->________________________________________________________________] 11.36% 95 p/s382 / 3195 [-------->________________________________________________________________] 11.96% 95 p/s401 / 3195 [--------->_______________________________________________________________] 12.55% 95 p/s421 / 3195 [--------->_______________________________________________________________] 13.18% 95 p/s440 / 3195 [---------->______________________________________________________________] 13.77% 95 p/s459 / 3195 [---------->______________________________________________________________] 14.37% 95 p/s478 / 3195 [---------->______________________________________________________________] 14.96% 95 p/s498 / 3195 [----------->_____________________________________________________________] 15.59% 95 p/s516 / 3195 [----------->_____________________________________________________________] 16.15% 95 p/s536 / 3195 [------------>____________________________________________________________] 16.78% 95 p/s555 / 3195 [------------>____________________________________________________________] 17.37% 95 p/s574 / 3195 [------------->___________________________________________________________] 17.97% 95 p/s594 / 3195 [------------->___________________________________________________________] 18.59% 96 p/s613 / 3195 [-------------->__________________________________________________________] 19.19% 96 p/s632 / 3195 [-------------->__________________________________________________________] 19.78% 96 p/s652 / 3195 [-------------->__________________________________________________________] 20.41% 96 p/s671 / 3195 [--------------->_________________________________________________________] 21.00% 96 p/s690 / 3195 [--------------->_________________________________________________________] 21.60% 96 p/s709 / 3195 [---------------->________________________________________________________] 22.19% 96 p/s729 / 3195 [---------------->________________________________________________________] 22.82% 96 p/s748 / 3195 [----------------->_______________________________________________________] 23.41% 96 p/s767 / 3195 [----------------->_______________________________________________________] 24.01% 96 p/s787 / 3195 [----------------->_______________________________________________________] 24.63% 96 p/s806 / 3195 [------------------>______________________________________________________] 25.23% 96 p/s825 / 3195 [------------------>______________________________________________________] 25.82% 96 p/s845 / 3195 [------------------->_____________________________________________________] 26.45% 96 p/s864 / 3195 [------------------->_____________________________________________________] 27.04% 96 p/s884 / 3195 [-------------------->____________________________________________________] 27.67% 96 p/s903 / 3195 [-------------------->____________________________________________________] 28.26% 96 p/s922 / 3195 [--------------------->___________________________________________________] 28.86% 96 p/s941 / 3195 [--------------------->___________________________________________________] 29.45% 96 p/s961 / 3195 [--------------------->___________________________________________________] 30.08% 96 p/s980 / 3195 [---------------------->__________________________________________________] 30.67% 96 p/s999 / 3195 [---------------------->__________________________________________________] 31.27% 96 p/s1018 / 3195 [---------------------->_________________________________________________] 31.86% 96 p/s1037 / 3195 [----------------------->________________________________________________] 32.46% 96 p/s1056 / 3195 [----------------------->________________________________________________] 33.05% 96 p/s1076 / 3195 [------------------------>_______________________________________________] 33.68% 96 p/s1095 / 3195 [------------------------>_______________________________________________] 34.27% 96 p/s1115 / 3195 [------------------------->______________________________________________] 34.90% 96 p/s1134 / 3195 [------------------------->______________________________________________] 35.49% 96 p/s1153 / 3195 [------------------------->______________________________________________] 36.09% 96 p/s1173 / 3195 [-------------------------->_____________________________________________] 36.71% 96 p/s1191 / 3195 [-------------------------->_____________________________________________] 37.28% 96 p/s1211 / 3195 [--------------------------->____________________________________________] 37.90% 96 p/s1230 / 3195 [--------------------------->____________________________________________] 38.50% 96 p/s1249 / 3195 [---------------------------->___________________________________________] 39.09% 96 p/s1269 / 3195 [---------------------------->___________________________________________] 39.72% 96 p/s1288 / 3195 [----------------------------->__________________________________________] 40.31% 96 p/s1307 / 3195 [----------------------------->__________________________________________] 40.91% 96 p/s1326 / 3195 [----------------------------->__________________________________________] 41.50% 96 p/s1346 / 3195 [------------------------------>_________________________________________] 42.13% 96 p/s1365 / 3195 [------------------------------>_________________________________________] 42.72% 96 p/s1384 / 3195 [------------------------------->________________________________________] 43.32% 96 p/s1404 / 3195 [------------------------------->________________________________________] 43.94% 96 p/s1423 / 3195 [-------------------------------->_______________________________________] 44.54% 96 p/s1442 / 3195 [-------------------------------->_______________________________________] 45.13% 96 p/s1461 / 3195 [-------------------------------->_______________________________________] 45.73% 96 p/s1480 / 3195 [--------------------------------->______________________________________] 46.32% 96 p/s1500 / 3195 [--------------------------------->______________________________________] 46.95% 96 p/s1519 / 3195 [---------------------------------->_____________________________________] 47.54% 96 p/s1537 / 3195 [---------------------------------->_____________________________________] 48.11% 96 p/s1557 / 3195 [----------------------------------->____________________________________] 48.73% 96 p/s1576 / 3195 [----------------------------------->____________________________________] 49.33% 96 p/s1595 / 3195 [----------------------------------->____________________________________] 49.92% 96 p/s1614 / 3195 [------------------------------------>___________________________________] 50.52% 96 p/s1633 / 3195 [------------------------------------>___________________________________] 51.11% 96 p/s1652 / 3195 [------------------------------------->__________________________________] 51.71% 96 p/s1671 / 3195 [------------------------------------->__________________________________] 52.30% 96 p/s1691 / 3195 [-------------------------------------->_________________________________] 52.93% 96 p/s1710 / 3195 [-------------------------------------->_________________________________] 53.52% 96 p/s1729 / 3195 [-------------------------------------->_________________________________] 54.12% 96 p/s1748 / 3195 [--------------------------------------->________________________________] 54.71% 96 p/s1768 / 3195 [--------------------------------------->________________________________] 55.34% 96 p/s1787 / 3195 [---------------------------------------->_______________________________] 55.93% 96 p/s1806 / 3195 [---------------------------------------->_______________________________] 56.53% 96 p/s1826 / 3195 [----------------------------------------->______________________________] 57.15% 96 p/s1845 / 3195 [----------------------------------------->______________________________] 57.75% 96 p/s1864 / 3195 [------------------------------------------>_____________________________] 58.34% 96 p/s1883 / 3195 [------------------------------------------>_____________________________] 58.94% 96 p/s1902 / 3195 [------------------------------------------>_____________________________] 59.53% 96 p/s1922 / 3195 [------------------------------------------->____________________________] 60.16% 96 p/s1941 / 3195 [------------------------------------------->____________________________] 60.75% 96 p/s1961 / 3195 [-------------------------------------------->___________________________] 61.38% 96 p/s1979 / 3195 [-------------------------------------------->___________________________] 61.94% 96 p/s1998 / 3195 [--------------------------------------------->__________________________] 62.54% 96 p/s2017 / 3195 [--------------------------------------------->__________________________] 63.13% 96 p/s2037 / 3195 [--------------------------------------------->__________________________] 63.76% 96 p/s2055 / 3195 [---------------------------------------------->_________________________] 64.32% 96 p/s2074 / 3195 [---------------------------------------------->_________________________] 64.91% 96 p/s2094 / 3195 [----------------------------------------------->________________________] 65.54% 96 p/s2113 / 3195 [----------------------------------------------->________________________] 66.13% 96 p/s2133 / 3195 [------------------------------------------------>_______________________] 66.76% 96 p/s2152 / 3195 [------------------------------------------------>_______________________] 67.36% 96 p/s2171 / 3195 [------------------------------------------------>_______________________] 67.95% 96 p/s2191 / 3195 [------------------------------------------------->______________________] 68.58% 96 p/s2210 / 3195 [------------------------------------------------->______________________] 69.17% 96 p/s2229 / 3195 [-------------------------------------------------->_____________________] 69.77% 96 p/s2248 / 3195 [-------------------------------------------------->_____________________] 70.36% 96 p/s2267 / 3195 [--------------------------------------------------->____________________] 70.95% 96 p/s2287 / 3195 [--------------------------------------------------->____________________] 71.58% 96 p/s2306 / 3195 [--------------------------------------------------->____________________] 72.18% 96 p/s2325 / 3195 [---------------------------------------------------->___________________] 72.77% 96 p/s2344 / 3195 [---------------------------------------------------->___________________] 73.36% 96 p/s2363 / 3195 [----------------------------------------------------->__________________] 73.96% 96 p/s2383 / 3195 [----------------------------------------------------->__________________] 74.59% 96 p/s2402 / 3195 [------------------------------------------------------>_________________] 75.18% 96 p/s2421 / 3195 [------------------------------------------------------>_________________] 75.77% 96 p/s2441 / 3195 [------------------------------------------------------->________________] 76.40% 96 p/s2460 / 3195 [------------------------------------------------------->________________] 77.00% 96 p/s2479 / 3195 [------------------------------------------------------->________________] 77.59% 96 p/s2498 / 3195 [-------------------------------------------------------->_______________] 78.18% 96 p/s2517 / 3195 [-------------------------------------------------------->_______________] 78.78% 96 p/s2537 / 3195 [--------------------------------------------------------->______________] 79.41% 96 p/s2556 / 3195 [--------------------------------------------------------->______________] 80.00% 96 p/s2575 / 3195 [---------------------------------------------------------->_____________] 80.59% 96 p/s2595 / 3195 [---------------------------------------------------------->_____________] 81.22% 96 p/s2614 / 3195 [---------------------------------------------------------->_____________] 81.82% 96 p/s2633 / 3195 [----------------------------------------------------------->____________] 82.41% 96 p/s2653 / 3195 [----------------------------------------------------------->____________] 83.04% 96 p/s2672 / 3195 [------------------------------------------------------------>___________] 83.63% 96 p/s2692 / 3195 [------------------------------------------------------------>___________] 84.26% 96 p/s2711 / 3195 [------------------------------------------------------------->__________] 84.85% 96 p/s2730 / 3195 [------------------------------------------------------------->__________] 85.45% 96 p/s2749 / 3195 [------------------------------------------------------------->__________] 86.04% 96 p/s2768 / 3195 [-------------------------------------------------------------->_________] 86.64% 96 p/s2788 / 3195 [-------------------------------------------------------------->_________] 87.26% 96 p/s2807 / 3195 [--------------------------------------------------------------->________] 87.86% 96 p/s2826 / 3195 [--------------------------------------------------------------->________] 88.45% 96 p/s2837 / 3195 [--------------------------------------------------------------->________] 88.79% 95 p/s2855 / 3195 [---------------------------------------------------------------->_______] 89.36% 95 p/s2865 / 3195 [---------------------------------------------------------------->_______] 89.67% 95 p/s2884 / 3195 [---------------------------------------------------------------->_______] 90.27% 94 p/s2903 / 3195 [----------------------------------------------------------------->______] 90.86% 94 p/s2922 / 3195 [----------------------------------------------------------------->______] 91.46% 94 p/s2941 / 3195 [------------------------------------------------------------------>_____] 92.05% 94 p/s2960 / 3195 [------------------------------------------------------------------>_____] 92.64% 94 p/s2980 / 3195 [------------------------------------------------------------------->____] 93.27% 94 p/s2999 / 3195 [------------------------------------------------------------------->____] 93.87% 94 p/s3018 / 3195 [-------------------------------------------------------------------->___] 94.46% 94 p/s3038 / 3195 [-------------------------------------------------------------------->___] 95.09% 94 p/s3057 / 3195 [-------------------------------------------------------------------->___] 95.68% 95 p/s3076 / 3195 [--------------------------------------------------------------------->__] 96.28% 95 p/s3095 / 3195 [--------------------------------------------------------------------->__] 96.87% 95 p/s3114 / 3195 [---------------------------------------------------------------------->_] 97.46% 95 p/s3134 / 3195 [---------------------------------------------------------------------->_] 98.09% 95 p/s3153 / 3195 [----------------------------------------------------------------------->] 98.69% 95 p/s3172 / 3195 [----------------------------------------------------------------------->] 99.28% 95 p/s3191 / 3195 [----------------------------------------------------------------------->] 99.87% 95 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-30T19:04:44 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:06:51 - 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/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-03-30T19:06:52 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:06:52 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-03-30T19:06:52 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:06:52 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:06:52 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-30T19:06:52 - INFO: Preparing sonar data...
2026-03-30T19:06:52 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:06:55 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-03-30T19:06:55 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:06:55 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-30T19:06:55 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:06:55 - INFO: Sensor range is 1.878240 m
2026-03-30T19:06:55 - INFO: Sensor micrometres per sample is 6239.999964
2026-03-30T19:06:55 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:06:55 - INFO: Scaled range is 1.843711 m
2026-03-30T19:06:55 - INFO: Scaled micrometres per sample is 6125.284454
2026-03-30T19:06:55 - INFO: Processing 3195 sweeps...

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 91%|█████████ | 2892/3195 [00:06<00:00, 481.52sw/s]
 92%|█████████▏| 2941/3195 [00:06<00:00, 482.89sw/s]
 94%|█████████▎| 2992/3195 [00:06<00:00, 286.21sw/s]
 95%|█████████▌| 3045/3195 [00:06<00:00, 332.61sw/s]
 97%|█████████▋| 3097/3195 [00:06<00:00, 364.01sw/s]
 99%|█████████▊| 3149/3195 [00:07<00:00, 397.44sw/s]
100%|██████████| 3195/3195 [00:07<00:00, 449.37sw/s]
2026-03-30T19:07:07 - INFO: Prepared sonar data in 14.6379 s
2026-03-30T19:07:07 - INFO: No IMU data found
2026-03-30T19:07:07 - INFO: DataPrep took 0:00:15.114647
2026-03-30T19:07:07 - INFO: Extracted sonar data in 0:02:56.666228
2026-03-30T19:07:08 - INFO: MSIP3D took 0:02:57.147938