2026-03-30T19:02:48 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:02:48 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-30T19:02:48 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:02:48 - INFO: Found TFD mission for SJ502828 DEP 513
2026-03-30T19:02:48 - INFO: Recording will be processed as SMD
2026-03-30T19:02:48 - INFO: Copying assets JSON to output directory...
2026-03-30T19:02:48 - INFO: Preparing counter data...
2026-03-30T19:02:48 - INFO: Interpreting counter as imperial
2026-03-30T19:02:48 - INFO: Preparing size track from assets JSON...
2026-03-30T19:02:48 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:02:48 - INFO: Preparing material track from assets JSON...
2026-03-30T19:02:48 - INFO: Prepared counter data in 0.1614 s
2026-03-30T19:02:48 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2126
18 / 2126 [>___________________________________________________________________________] 0.85% ? p/s37 / 2126 [->__________________________________________________________________________] 1.74% ? p/s56 / 2126 [-->_________________________________________________________________________] 2.63% ? p/s74 / 2126 [-->________________________________________________________________________] 3.48% 93 p/s93 / 2126 [--->_______________________________________________________________________] 4.37% 93 p/s113 / 2126 [--->______________________________________________________________________] 5.32% 93 p/s130 / 2126 [---->_____________________________________________________________________] 6.11% 93 p/s149 / 2126 [----->____________________________________________________________________] 7.01% 93 p/s169 / 2126 [----->____________________________________________________________________] 7.95% 93 p/s188 / 2126 [------>___________________________________________________________________] 8.84% 94 p/s207 / 2126 [------->__________________________________________________________________] 9.74% 94 p/s226 / 2126 [------->_________________________________________________________________] 10.63% 94 p/s245 / 2126 [-------->________________________________________________________________] 11.52% 94 p/s263 / 2126 [--------->_______________________________________________________________] 12.37% 94 p/s283 / 2126 [--------->_______________________________________________________________] 13.31% 94 p/s302 / 2126 [---------->______________________________________________________________] 14.21% 94 p/s321 / 2126 [----------->_____________________________________________________________] 15.10% 94 p/s340 / 2126 [----------->_____________________________________________________________] 15.99% 94 p/s360 / 2126 [------------>____________________________________________________________] 16.93% 94 p/s379 / 2126 [------------->___________________________________________________________] 17.83% 94 p/s398 / 2126 [------------->___________________________________________________________] 18.72% 94 p/s417 / 2126 [-------------->__________________________________________________________] 19.61% 94 p/s436 / 2126 [-------------->__________________________________________________________] 20.51% 94 p/s455 / 2126 [--------------->_________________________________________________________] 21.40% 94 p/s474 / 2126 [---------------->________________________________________________________] 22.30% 94 p/s494 / 2126 [---------------->________________________________________________________] 23.24% 94 p/s512 / 2126 [----------------->_______________________________________________________] 24.08% 94 p/s531 / 2126 [------------------>______________________________________________________] 24.98% 94 p/s550 / 2126 [------------------>______________________________________________________] 25.87% 94 p/s570 / 2126 [------------------->_____________________________________________________] 26.81% 94 p/s589 / 2126 [-------------------->____________________________________________________] 27.70% 94 p/s608 / 2126 [-------------------->____________________________________________________] 28.60% 94 p/s628 / 2126 [--------------------->___________________________________________________] 29.54% 94 p/s647 / 2126 [---------------------->__________________________________________________] 30.43% 94 p/s666 / 2126 [---------------------->__________________________________________________] 31.33% 94 p/s685 / 2126 [----------------------->_________________________________________________] 32.22% 94 p/s704 / 2126 [------------------------>________________________________________________] 33.11% 94 p/s723 / 2126 [------------------------>________________________________________________] 34.01% 94 p/s742 / 2126 [------------------------->_______________________________________________] 34.90% 94 p/s762 / 2126 [-------------------------->______________________________________________] 35.84% 95 p/s781 / 2126 [-------------------------->______________________________________________] 36.74% 95 p/s800 / 2126 [--------------------------->_____________________________________________] 37.63% 95 p/s819 / 2126 [---------------------------->____________________________________________] 38.52% 95 p/s838 / 2126 [---------------------------->____________________________________________] 39.42% 95 p/s858 / 2126 [----------------------------->___________________________________________] 40.36% 95 p/s877 / 2126 [------------------------------>__________________________________________] 41.25% 95 p/s896 / 2126 [------------------------------>__________________________________________] 42.14% 95 p/s915 / 2126 [------------------------------->_________________________________________] 43.04% 95 p/s934 / 2126 [-------------------------------->________________________________________] 43.93% 95 p/s953 / 2126 [-------------------------------->________________________________________] 44.83% 95 p/s972 / 2126 [--------------------------------->_______________________________________] 45.72% 95 p/s991 / 2126 [---------------------------------->______________________________________] 46.61% 95 p/s1010 / 2126 [---------------------------------->_____________________________________] 47.51% 95 p/s1028 / 2126 [---------------------------------->_____________________________________] 48.35% 95 p/s1048 / 2126 [----------------------------------->____________________________________] 49.29% 95 p/s1067 / 2126 [------------------------------------>___________________________________] 50.19% 95 p/s1086 / 2126 [------------------------------------>___________________________________] 51.08% 95 p/s1105 / 2126 [------------------------------------->__________________________________] 51.98% 95 p/s1124 / 2126 [-------------------------------------->_________________________________] 52.87% 95 p/s1143 / 2126 [-------------------------------------->_________________________________] 53.76% 95 p/s1162 / 2126 [--------------------------------------->________________________________] 54.66% 95 p/s1182 / 2126 [---------------------------------------->_______________________________] 55.60% 95 p/s1201 / 2126 [---------------------------------------->_______________________________] 56.49% 95 p/s1220 / 2126 [----------------------------------------->______________________________] 57.38% 95 p/s1239 / 2126 [----------------------------------------->______________________________] 58.28% 95 p/s1258 / 2126 [------------------------------------------>_____________________________] 59.17% 95 p/s1277 / 2126 [------------------------------------------->____________________________] 60.07% 95 p/s1297 / 2126 [------------------------------------------->____________________________] 61.01% 95 p/s1316 / 2126 [-------------------------------------------->___________________________] 61.90% 95 p/s1335 / 2126 [--------------------------------------------->__________________________] 62.79% 95 p/s1354 / 2126 [--------------------------------------------->__________________________] 63.69% 95 p/s1373 / 2126 [---------------------------------------------->_________________________] 64.58% 95 p/s1392 / 2126 [----------------------------------------------->________________________] 65.48% 95 p/s1411 / 2126 [----------------------------------------------->________________________] 66.37% 95 p/s1431 / 2126 [------------------------------------------------>_______________________] 67.31% 95 p/s1450 / 2126 [------------------------------------------------->______________________] 68.20% 95 p/s1469 / 2126 [------------------------------------------------->______________________] 69.10% 95 p/s1487 / 2126 [-------------------------------------------------->_____________________] 69.94% 95 p/s1506 / 2126 [--------------------------------------------------->____________________] 70.84% 95 p/s1525 / 2126 [--------------------------------------------------->____________________] 71.73% 95 p/s1544 / 2126 [---------------------------------------------------->___________________] 72.62% 95 p/s1564 / 2126 [---------------------------------------------------->___________________] 73.57% 95 p/s1583 / 2126 [----------------------------------------------------->__________________] 74.46% 95 p/s1602 / 2126 [------------------------------------------------------>_________________] 75.35% 95 p/s1621 / 2126 [------------------------------------------------------>_________________] 76.25% 95 p/s1639 / 2126 [------------------------------------------------------->________________] 77.09% 95 p/s1658 / 2126 [-------------------------------------------------------->_______________] 77.99% 95 p/s1678 / 2126 [-------------------------------------------------------->_______________] 78.93% 95 p/s1697 / 2126 [--------------------------------------------------------->______________] 79.82% 95 p/s1716 / 2126 [---------------------------------------------------------->_____________] 80.71% 95 p/s1735 / 2126 [---------------------------------------------------------->_____________] 81.61% 95 p/s1754 / 2126 [----------------------------------------------------------->____________] 82.50% 95 p/s1773 / 2126 [------------------------------------------------------------>___________] 83.40% 95 p/s1792 / 2126 [------------------------------------------------------------>___________] 84.29% 95 p/s1812 / 2126 [------------------------------------------------------------->__________] 85.23% 95 p/s1831 / 2126 [-------------------------------------------------------------->_________] 86.12% 95 p/s1850 / 2126 [-------------------------------------------------------------->_________] 87.02% 95 p/s1869 / 2126 [--------------------------------------------------------------->________] 87.91% 95 p/s1888 / 2126 [--------------------------------------------------------------->________] 88.81% 95 p/s1907 / 2126 [---------------------------------------------------------------->_______] 89.70% 95 p/s1926 / 2126 [----------------------------------------------------------------->______] 90.59% 95 p/s1945 / 2126 [----------------------------------------------------------------->______] 91.49% 95 p/s1964 / 2126 [------------------------------------------------------------------>_____] 92.38% 95 p/s1983 / 2126 [------------------------------------------------------------------->____] 93.27% 95 p/s2002 / 2126 [------------------------------------------------------------------->____] 94.17% 95 p/s2021 / 2126 [-------------------------------------------------------------------->___] 95.06% 95 p/s2040 / 2126 [--------------------------------------------------------------------->__] 95.95% 95 p/s2058 / 2126 [--------------------------------------------------------------------->__] 96.80% 95 p/s2078 / 2126 [---------------------------------------------------------------------->_] 97.74% 95 p/s2097 / 2126 [----------------------------------------------------------------------->] 98.64% 95 p/s2116 / 2126 [----------------------------------------------------------------------->] 99.53% 95 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-30T19:03:11 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2126 [00:00<?, ?it/s]
  0%|          | 3/2126 [00:00<01:29, 23.63it/s]
  0%|          | 6/2126 [00:00<01:25, 24.65it/s]
  0%|          | 9/2126 [00:00<01:23, 25.30it/s]
  1%|          | 12/2126 [00:00<01:22, 25.59it/s]
  1%|          | 15/2126 [00:00<01:21, 25.84it/s]
  1%|          | 18/2126 [00:00<01:21, 25.96it/s]
  1%|          | 21/2126 [00:00<01:20, 26.05it/s]
  1%|          | 24/2126 [00:00<01:20, 26.02it/s]
  1%|▏         | 27/2126 [00:01<01:20, 26.14it/s]
  1%|▏         | 30/2126 [00:01<01:19, 26.22it/s]
  2%|▏         | 33/2126 [00:01<01:19, 26.25it/s]
  2%|▏         | 36/2126 [00:01<01:19, 26.27it/s]
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  2%|▏         | 42/2126 [00:01<01:19, 26.32it/s]
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  2%|▏         | 48/2126 [00:01<01:18, 26.33it/s]
  2%|▏         | 51/2126 [00:01<01:18, 26.33it/s]
  3%|▎         | 54/2126 [00:02<01:18, 26.31it/s]
  3%|▎         | 57/2126 [00:02<01:18, 26.30it/s]
  3%|▎         | 60/2126 [00:02<01:18, 26.31it/s]
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  3%|▎         | 66/2126 [00:02<01:18, 26.29it/s]
  3%|▎         | 69/2126 [00:02<01:18, 26.31it/s]
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  4%|▎         | 78/2126 [00:02<01:17, 26.29it/s]
  4%|▍         | 81/2126 [00:03<01:17, 26.26it/s]
  4%|▍         | 84/2126 [00:03<01:17, 26.29it/s]
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  4%|▍         | 90/2126 [00:03<01:17, 26.30it/s]
  4%|▍         | 93/2126 [00:03<01:17, 26.33it/s]
  5%|▍         | 96/2126 [00:03<01:16, 26.38it/s]
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  5%|▍         | 102/2126 [00:03<01:18, 25.63it/s]
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  5%|▌         | 108/2126 [00:04<01:20, 25.12it/s]
  5%|▌         | 111/2126 [00:04<01:19, 25.38it/s]
  5%|▌         | 114/2126 [00:04<01:18, 25.59it/s]
  6%|▌         | 117/2126 [00:04<01:18, 25.68it/s]
  6%|▌         | 120/2126 [00:04<01:17, 25.88it/s]
  6%|▌         | 123/2126 [00:04<01:16, 26.04it/s]
  6%|▌         | 126/2126 [00:04<01:16, 26.14it/s]
  6%|▌         | 129/2126 [00:04<01:16, 26.20it/s]
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  6%|▋         | 135/2126 [00:05<01:15, 26.28it/s]
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  7%|▋         | 141/2126 [00:05<01:15, 26.26it/s]
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  9%|▉         | 189/2126 [00:07<01:13, 26.33it/s]
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  9%|▉         | 195/2126 [00:07<01:13, 26.20it/s]
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 10%|▉         | 204/2126 [00:07<01:13, 26.24it/s]
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 12%|█▏        | 258/2126 [00:09<01:12, 25.81it/s]
 12%|█▏        | 261/2126 [00:10<01:12, 25.84it/s]
 12%|█▏        | 264/2126 [00:10<01:11, 25.90it/s]
 13%|█▎        | 267/2126 [00:10<01:11, 25.96it/s]
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 13%|█▎        | 276/2126 [00:10<01:10, 26.19it/s]
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2026-03-30T19:04:48 - 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/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-03-30T19:04:50 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:04:50 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-03-30T19:04:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:04:50 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:04:50 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-03-30T19:04:50 - INFO: Preparing sonar data...
2026-03-30T19:04:50 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:04:52 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-03-30T19:04:52 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:04:52 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-30T19:04:52 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:04:52 - INFO: Sensor range is 1.878240 m
2026-03-30T19:04:52 - INFO: Sensor micrometres per sample is 6239.999964
2026-03-30T19:04:52 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:04:52 - INFO: Scaled range is 1.843711 m
2026-03-30T19:04:52 - INFO: Scaled micrometres per sample is 6125.284454
2026-03-30T19:04:52 - INFO: Processing 2125 sweeps...

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2026-03-30T19:05:04 - INFO: Prepared sonar data in 14.3156 s
2026-03-30T19:05:04 - INFO: No IMU data found
2026-03-30T19:05:05 - INFO: DataPrep took 0:00:14.742917
2026-03-30T19:05:05 - INFO: Extracted sonar data in 0:02:16.435926
2026-03-30T19:05:05 - INFO: MSIP3D took 0:02:16.799721