2026-02-24T04:04:12 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:04:12 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-02-24T04:04:12 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:04:12 - INFO: Found TFD mission for SJ502795 Dep 7
2026-02-24T04:04:12 - INFO: Recording will be processed as MD
2026-02-24T04:04:12 - INFO: Copying assets JSON to output directory...
2026-02-24T04:04:12 - INFO: Preparing counter data...
2026-02-24T04:04:12 - INFO: Interpreting counter as imperial
2026-02-24T04:04:12 - INFO: Prepared counter data in 0.0458 s
2026-02-24T04:04:12 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1851
21 / 1851 [>___________________________________________________________________________] 1.13% ? p/s43 / 1851 [->__________________________________________________________________________] 2.32% ? p/s65 / 1851 [-->_________________________________________________________________________] 3.51% ? p/s87 / 1851 [--->______________________________________________________________________] 4.70% 110 p/s110 / 1851 [---->____________________________________________________________________] 5.94% 110 p/s131 / 1851 [----->___________________________________________________________________] 7.08% 110 p/s153 / 1851 [------>__________________________________________________________________] 8.27% 110 p/s175 / 1851 [------>__________________________________________________________________] 9.45% 110 p/s197 / 1851 [------->________________________________________________________________] 10.64% 110 p/s219 / 1851 [-------->_______________________________________________________________] 11.83% 110 p/s242 / 1851 [--------->______________________________________________________________] 13.07% 110 p/s264 / 1851 [---------->_____________________________________________________________] 14.26% 110 p/s286 / 1851 [----------->____________________________________________________________] 15.45% 110 p/s309 / 1851 [------------>___________________________________________________________] 16.69% 110 p/s331 / 1851 [------------>___________________________________________________________] 17.88% 110 p/s354 / 1851 [------------->__________________________________________________________] 19.12% 110 p/s375 / 1851 [-------------->_________________________________________________________] 20.26% 110 p/s398 / 1851 [--------------->________________________________________________________] 21.50% 110 p/s420 / 1851 [---------------->_______________________________________________________] 22.69% 110 p/s443 / 1851 [----------------->______________________________________________________] 23.93% 110 p/s466 / 1851 [------------------>_____________________________________________________] 25.18% 110 p/s488 / 1851 [------------------>_____________________________________________________] 26.36% 110 p/s508 / 1851 [------------------->____________________________________________________] 27.44% 110 p/s530 / 1851 [-------------------->___________________________________________________] 28.63% 110 p/s553 / 1851 [--------------------->__________________________________________________] 29.88% 110 p/s573 / 1851 [---------------------->_________________________________________________] 30.96% 110 p/s595 / 1851 [----------------------->________________________________________________] 32.14% 110 p/s618 / 1851 [------------------------>_______________________________________________] 33.39% 110 p/s641 / 1851 [------------------------>_______________________________________________] 34.63% 110 p/s663 / 1851 [------------------------->______________________________________________] 35.82% 110 p/s685 / 1851 [-------------------------->_____________________________________________] 37.01% 110 p/s706 / 1851 [--------------------------->____________________________________________] 38.14% 110 p/s728 / 1851 [---------------------------->___________________________________________] 39.33% 110 p/s750 / 1851 [----------------------------->__________________________________________] 40.52% 110 p/s772 / 1851 [------------------------------>_________________________________________] 41.71% 110 p/s794 / 1851 [------------------------------>_________________________________________] 42.90% 110 p/s816 / 1851 [------------------------------->________________________________________] 44.08% 110 p/s838 / 1851 [-------------------------------->_______________________________________] 45.27% 110 p/s860 / 1851 [--------------------------------->______________________________________] 46.46% 110 p/s882 / 1851 [---------------------------------->_____________________________________] 47.65% 110 p/s904 / 1851 [----------------------------------->____________________________________] 48.84% 110 p/s926 / 1851 [------------------------------------>___________________________________] 50.03% 110 p/s949 / 1851 [------------------------------------>___________________________________] 51.27% 110 p/s971 / 1851 [------------------------------------->__________________________________] 52.46% 110 p/s994 / 1851 [-------------------------------------->_________________________________] 53.70% 110 p/s1016 / 1851 [-------------------------------------->________________________________] 54.89% 110 p/s1039 / 1851 [--------------------------------------->_______________________________] 56.13% 110 p/s1062 / 1851 [---------------------------------------->______________________________] 57.37% 110 p/s1083 / 1851 [----------------------------------------->_____________________________] 58.51% 110 p/s1106 / 1851 [------------------------------------------>____________________________] 59.75% 110 p/s1129 / 1851 [------------------------------------------->___________________________] 60.99% 110 p/s1151 / 1851 [-------------------------------------------->__________________________] 62.18% 111 p/s1175 / 1851 [--------------------------------------------->_________________________] 63.48% 111 p/s1197 / 1851 [--------------------------------------------->_________________________] 64.67% 111 p/s1220 / 1851 [---------------------------------------------->________________________] 65.91% 111 p/s1243 / 1851 [----------------------------------------------->_______________________] 67.15% 111 p/s1266 / 1851 [------------------------------------------------>______________________] 68.40% 111 p/s1289 / 1851 [------------------------------------------------->_____________________] 69.64% 111 p/s1312 / 1851 [-------------------------------------------------->____________________] 70.88% 111 p/s1334 / 1851 [--------------------------------------------------->___________________] 72.07% 111 p/s1357 / 1851 [---------------------------------------------------->__________________] 73.31% 111 p/s1380 / 1851 [---------------------------------------------------->__________________] 74.55% 111 p/s1403 / 1851 [----------------------------------------------------->_________________] 75.80% 111 p/s1425 / 1851 [------------------------------------------------------>________________] 76.99% 111 p/s1449 / 1851 [------------------------------------------------------->_______________] 78.28% 111 p/s1472 / 1851 [-------------------------------------------------------->______________] 79.52% 111 p/s1495 / 1851 [--------------------------------------------------------->_____________] 80.77% 112 p/s1518 / 1851 [---------------------------------------------------------->____________] 82.01% 112 p/s1540 / 1851 [----------------------------------------------------------->___________] 83.20% 112 p/s1563 / 1851 [----------------------------------------------------------->___________] 84.44% 112 p/s1586 / 1851 [------------------------------------------------------------>__________] 85.68% 112 p/s1609 / 1851 [------------------------------------------------------------->_________] 86.93% 112 p/s1632 / 1851 [-------------------------------------------------------------->________] 88.17% 112 p/s1654 / 1851 [--------------------------------------------------------------->_______] 89.36% 112 p/s1677 / 1851 [---------------------------------------------------------------->______] 90.60% 112 p/s1699 / 1851 [----------------------------------------------------------------->_____] 91.79% 112 p/s1721 / 1851 [------------------------------------------------------------------>____] 92.98% 112 p/s1743 / 1851 [------------------------------------------------------------------>____] 94.17% 112 p/s1766 / 1851 [------------------------------------------------------------------->___] 95.41% 112 p/s1788 / 1851 [-------------------------------------------------------------------->__] 96.60% 112 p/s1810 / 1851 [--------------------------------------------------------------------->_] 97.78% 112 p/s1833 / 1851 [---------------------------------------------------------------------->] 99.03% 112 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-24T04:04:28 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1851 [00:00<?, ?it/s]
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2026-02-24T04:05:38 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-02-24T04:05:39 - INFO: DataPrep 0.14.0a4
2026-02-24T04:05:39 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-02-24T04:05:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:05:39 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:05:39 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-02-24T04:05:39 - INFO: Preparing sonar data...
2026-02-24T04:05:39 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:05:41 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-02-24T04:05:41 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:05:41 - INFO: Sonar range is 0.722400 m
2026-02-24T04:05:41 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:05:41 - INFO: Processing 1851 sweeps...

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2026-02-24T04:05:47 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:05:48 - INFO: Prepared sonar data in 9.1979 s
2026-02-24T04:05:48 - INFO: No IMU data found
2026-02-24T04:05:49 - INFO: DataPrep took 0:00:09.445284
2026-02-24T04:05:49 - INFO: Extracted sonar data in 0:01:37.020112
2026-02-24T04:05:49 - INFO: MSIP3D took 0:01:37.301923