2026-04-08T19:06:08 - INFO: MSIP3D 0.2.1
2026-04-08T19:06:08 - INFO: P3D files will be output to /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df
2026-04-08T19:06:08 - INFO: Found 10 TFD dictionary entries
2026-04-08T19:06:08 - INFO: Found TFD mission for Western Interceptor
2026-04-08T19:06:08 - INFO: Recording will be processed as MD
2026-04-08T19:06:08 - INFO: Copying assets JSON to output directory...
2026-04-08T19:06:08 - INFO: Preparing counter data...
2026-04-08T19:06:08 - INFO: Interpreting counter as metric
2026-04-08T19:06:08 - INFO: Preparing size track from assets JSON...
2026-04-08T19:06:08 - INFO: Preparing shape track from assets JSON...
2026-04-08T19:06:08 - INFO: Preparing material track from assets JSON...
2026-04-08T19:06:08 - INFO: Prepared counter data in 0.1866 s
2026-04-08T19:06:08 - INFO: Extracting sonar data...
TFD path: /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/tfd/Western_Interceptor.tfd
TFD path: /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4333
23 / 4333 [>___________________________________________________________________________] 0.53% ? p/s46 / 4333 [>___________________________________________________________________________] 1.06% ? p/s69 / 4333 [->__________________________________________________________________________] 1.59% ? p/s92 / 4333 [->________________________________________________________________________] 2.12% 115 p/s115 / 4333 [->_______________________________________________________________________] 2.65% 115 p/s138 / 4333 [-->______________________________________________________________________] 3.18% 115 p/s161 / 4333 [-->______________________________________________________________________] 3.72% 115 p/s184 / 4333 [--->_____________________________________________________________________] 4.25% 115 p/s208 / 4333 [--->_____________________________________________________________________] 4.80% 115 p/s231 / 4333 [--->_____________________________________________________________________] 5.33% 115 p/s254 / 4333 [---->____________________________________________________________________] 5.86% 115 p/s277 / 4333 [---->____________________________________________________________________] 6.39% 115 p/s300 / 4333 [----->___________________________________________________________________] 6.92% 115 p/s324 / 4333 [----->___________________________________________________________________] 7.48% 115 p/s347 / 4333 [----->___________________________________________________________________] 8.01% 115 p/s370 / 4333 [------>__________________________________________________________________] 8.54% 115 p/s394 / 4333 [------>__________________________________________________________________] 9.09% 115 p/s417 / 4333 [------->_________________________________________________________________] 9.62% 115 p/s441 / 4333 [------->________________________________________________________________] 10.18% 115 p/s464 / 4333 [------->________________________________________________________________] 10.71% 115 p/s487 / 4333 [-------->_______________________________________________________________] 11.24% 115 p/s509 / 4333 [-------->_______________________________________________________________] 11.75% 115 p/s532 / 4333 [-------->_______________________________________________________________] 12.28% 115 p/s548 / 4333 [--------->______________________________________________________________] 12.65% 115 p/s571 / 4333 [--------->______________________________________________________________] 13.18% 115 p/s593 / 4333 [--------->______________________________________________________________] 13.69% 115 p/s617 / 4333 [---------->_____________________________________________________________] 14.24% 115 p/s640 / 4333 [---------->_____________________________________________________________] 14.77% 115 p/s663 / 4333 [----------->____________________________________________________________] 15.30% 115 p/s686 / 4333 [----------->____________________________________________________________] 15.83% 115 p/s709 / 4333 [----------->____________________________________________________________] 16.36% 115 p/s730 / 4333 [------------>___________________________________________________________] 16.85% 115 p/s752 / 4333 [------------>___________________________________________________________] 17.36% 115 p/s776 / 4333 [------------>___________________________________________________________] 17.91% 114 p/s799 / 4333 [------------->__________________________________________________________] 18.44% 114 p/s822 / 4333 [------------->__________________________________________________________] 18.97% 114 p/s844 / 4333 [-------------->_________________________________________________________] 19.48% 114 p/s866 / 4333 [-------------->_________________________________________________________] 19.99% 114 p/s889 / 4333 [-------------->_________________________________________________________] 20.52% 114 p/s912 / 4333 [--------------->________________________________________________________] 21.05% 114 p/s936 / 4333 [--------------->________________________________________________________] 21.60% 114 p/s959 / 4333 [--------------->________________________________________________________] 22.13% 114 p/s982 / 4333 [---------------->_______________________________________________________] 22.66% 114 p/s1005 / 4333 [---------------->______________________________________________________] 23.19% 114 p/s1028 / 4333 [---------------->______________________________________________________] 23.72% 114 p/s1049 / 4333 [----------------->_____________________________________________________] 24.21% 114 p/s1072 / 4333 [----------------->_____________________________________________________] 24.74% 114 p/s1096 / 4333 [----------------->_____________________________________________________] 25.29% 114 p/s1104 / 4333 [------------------>____________________________________________________] 25.48% 113 p/s1128 / 4333 [------------------>____________________________________________________] 26.03% 113 p/s1151 / 4333 [------------------>____________________________________________________] 26.56% 113 p/s1174 / 4333 [------------------->___________________________________________________] 27.09% 113 p/s1198 / 4333 [------------------->___________________________________________________] 27.65% 113 p/s1221 / 4333 [-------------------->__________________________________________________] 28.18% 113 p/s1244 / 4333 [-------------------->__________________________________________________] 28.71% 113 p/s1267 / 4333 [-------------------->__________________________________________________] 29.24% 113 p/s1291 / 4333 [--------------------->_________________________________________________] 29.79% 113 p/s1314 / 4333 [--------------------->_________________________________________________] 30.33% 113 p/s1337 / 4333 [--------------------->_________________________________________________] 30.86% 113 p/s1360 / 4333 [---------------------->________________________________________________] 31.39% 113 p/s1382 / 4333 [---------------------->________________________________________________] 31.89% 113 p/s1405 / 4333 [----------------------->_______________________________________________] 32.43% 113 p/s1428 / 4333 [----------------------->_______________________________________________] 32.96% 113 p/s1452 / 4333 [----------------------->_______________________________________________] 33.51% 114 p/s1475 / 4333 [------------------------>______________________________________________] 34.04% 114 p/s1498 / 4333 [------------------------>______________________________________________] 34.57% 114 p/s1521 / 4333 [------------------------>______________________________________________] 35.10% 114 p/s1544 / 4333 [------------------------->_____________________________________________] 35.63% 114 p/s1567 / 4333 [------------------------->_____________________________________________] 36.16% 114 p/s1590 / 4333 [-------------------------->____________________________________________] 36.70% 114 p/s1612 / 4333 [-------------------------->____________________________________________] 37.20% 114 p/s1636 / 4333 [-------------------------->____________________________________________] 37.76% 114 p/s1659 / 4333 [--------------------------->___________________________________________] 38.29% 114 p/s1678 / 4333 [--------------------------->___________________________________________] 38.73% 114 p/s1702 / 4333 [--------------------------->___________________________________________] 39.28% 114 p/s1725 / 4333 [---------------------------->__________________________________________] 39.81% 114 p/s1748 / 4333 [---------------------------->__________________________________________] 40.34% 114 p/s1771 / 4333 [----------------------------->_________________________________________] 40.87% 114 p/s1794 / 4333 [----------------------------->_________________________________________] 41.40% 114 p/s1818 / 4333 [----------------------------->_________________________________________] 41.96% 114 p/s1841 / 4333 [------------------------------>________________________________________] 42.49% 114 p/s1864 / 4333 [------------------------------>________________________________________] 43.02% 114 p/s1887 / 4333 [------------------------------>________________________________________] 43.55% 114 p/s1911 / 4333 [------------------------------->_______________________________________] 44.10% 114 p/s1934 / 4333 [------------------------------->_______________________________________] 44.63% 114 p/s1957 / 4333 [-------------------------------->______________________________________] 45.17% 114 p/s1981 / 4333 [-------------------------------->______________________________________] 45.72% 114 p/s2004 / 4333 [-------------------------------->______________________________________] 46.25% 114 p/s2027 / 4333 [--------------------------------->_____________________________________] 46.78% 114 p/s2049 / 4333 [--------------------------------->_____________________________________] 47.29% 114 p/s2073 / 4333 [--------------------------------->_____________________________________] 47.84% 114 p/s2096 / 4333 [---------------------------------->____________________________________] 48.37% 114 p/s2118 / 4333 [---------------------------------->____________________________________] 48.88% 114 p/s2141 / 4333 [----------------------------------->___________________________________] 49.41% 114 p/s2164 / 4333 [----------------------------------->___________________________________] 49.94% 114 p/s2187 / 4333 [----------------------------------->___________________________________] 50.47% 114 p/s2210 / 4333 [------------------------------------>__________________________________] 51.00% 114 p/s2233 / 4333 [------------------------------------>__________________________________] 51.53% 114 p/s2256 / 4333 [------------------------------------>__________________________________] 52.07% 114 p/s2280 / 4333 [------------------------------------->_________________________________] 52.62% 114 p/s2303 / 4333 [------------------------------------->_________________________________] 53.15% 114 p/s2326 / 4333 [-------------------------------------->________________________________] 53.68% 114 p/s2350 / 4333 [-------------------------------------->________________________________] 54.23% 115 p/s2372 / 4333 [-------------------------------------->________________________________] 54.74% 115 p/s2395 / 4333 [--------------------------------------->_______________________________] 55.27% 115 p/s2419 / 4333 [--------------------------------------->_______________________________] 55.83% 115 p/s2442 / 4333 [---------------------------------------->______________________________] 56.36% 115 p/s2465 / 4333 [---------------------------------------->______________________________] 56.89% 115 p/s2489 / 4333 [---------------------------------------->______________________________] 57.44% 115 p/s2512 / 4333 [----------------------------------------->_____________________________] 57.97% 115 p/s2535 / 4333 [----------------------------------------->_____________________________] 58.50% 115 p/s2558 / 4333 [----------------------------------------->_____________________________] 59.04% 115 p/s2581 / 4333 [------------------------------------------>____________________________] 59.57% 115 p/s2604 / 4333 [------------------------------------------>____________________________] 60.10% 115 p/s2627 / 4333 [------------------------------------------->___________________________] 60.63% 115 p/s2651 / 4333 [------------------------------------------->___________________________] 61.18% 115 p/s2674 / 4333 [------------------------------------------->___________________________] 61.71% 115 p/s2697 / 4333 [-------------------------------------------->__________________________] 62.24% 115 p/s2720 / 4333 [-------------------------------------------->__________________________] 62.77% 115 p/s2743 / 4333 [-------------------------------------------->__________________________] 63.30% 115 p/s2766 / 4333 [--------------------------------------------->_________________________] 63.84% 115 p/s2789 / 4333 [--------------------------------------------->_________________________] 64.37% 115 p/s2813 / 4333 [---------------------------------------------->________________________] 64.92% 115 p/s2833 / 4333 [---------------------------------------------->________________________] 65.38% 115 p/s2856 / 4333 [---------------------------------------------->________________________] 65.91% 115 p/s2879 / 4333 [----------------------------------------------->_______________________] 66.44% 115 p/s2902 / 4333 [----------------------------------------------->_______________________] 66.97% 115 p/s2926 / 4333 [----------------------------------------------->_______________________] 67.53% 115 p/s2949 / 4333 [------------------------------------------------>______________________] 68.06% 115 p/s2972 / 4333 [------------------------------------------------>______________________] 68.59% 115 p/s2995 / 4333 [------------------------------------------------->_____________________] 69.12% 115 p/s3018 / 4333 [------------------------------------------------->_____________________] 69.65% 115 p/s3041 / 4333 [------------------------------------------------->_____________________] 70.18% 115 p/s3064 / 4333 [-------------------------------------------------->____________________] 70.71% 115 p/s3087 / 4333 [-------------------------------------------------->____________________] 71.24% 115 p/s3110 / 4333 [-------------------------------------------------->____________________] 71.77% 115 p/s3133 / 4333 [--------------------------------------------------->___________________] 72.31% 115 p/s3157 / 4333 [--------------------------------------------------->___________________] 72.86% 115 p/s3180 / 4333 [---------------------------------------------------->__________________] 73.39% 115 p/s3203 / 4333 [---------------------------------------------------->__________________] 73.92% 115 p/s3226 / 4333 [---------------------------------------------------->__________________] 74.45% 115 p/s3249 / 4333 [----------------------------------------------------->_________________] 74.98% 115 p/s3272 / 4333 [----------------------------------------------------->_________________] 75.51% 115 p/s3295 / 4333 [----------------------------------------------------->_________________] 76.04% 115 p/s3318 / 4333 [------------------------------------------------------>________________] 76.58% 115 p/s3342 / 4333 [------------------------------------------------------>________________] 77.13% 115 p/s3364 / 4333 [------------------------------------------------------->_______________] 77.64% 115 p/s3387 / 4333 [------------------------------------------------------->_______________] 78.17% 115 p/s3406 / 4333 [------------------------------------------------------->_______________] 78.61% 115 p/s3429 / 4333 [-------------------------------------------------------->______________] 79.14% 115 p/s3453 / 4333 [-------------------------------------------------------->______________] 79.69% 115 p/s3474 / 4333 [-------------------------------------------------------->______________] 80.18% 115 p/s3497 / 4333 [--------------------------------------------------------->_____________] 80.71% 115 p/s3520 / 4333 [--------------------------------------------------------->_____________] 81.24% 114 p/s3542 / 4333 [---------------------------------------------------------->____________] 81.74% 114 p/s3565 / 4333 [---------------------------------------------------------->____________] 82.28% 114 p/s3588 / 4333 [---------------------------------------------------------->____________] 82.81% 114 p/s3611 / 4333 [----------------------------------------------------------->___________] 83.34% 114 p/s3634 / 4333 [----------------------------------------------------------->___________] 83.87% 114 p/s3657 / 4333 [----------------------------------------------------------->___________] 84.40% 114 p/s3680 / 4333 [------------------------------------------------------------>__________] 84.93% 114 p/s3703 / 4333 [------------------------------------------------------------>__________] 85.46% 114 p/s3726 / 4333 [------------------------------------------------------------->_________] 85.99% 114 p/s3749 / 4333 [------------------------------------------------------------->_________] 86.52% 114 p/s3771 / 4333 [------------------------------------------------------------->_________] 87.03% 114 p/s3795 / 4333 [-------------------------------------------------------------->________] 87.58% 115 p/s3818 / 4333 [-------------------------------------------------------------->________] 88.11% 115 p/s3841 / 4333 [-------------------------------------------------------------->________] 88.65% 115 p/s3864 / 4333 [--------------------------------------------------------------->_______] 89.18% 115 p/s3887 / 4333 [--------------------------------------------------------------->_______] 89.71% 115 p/s3910 / 4333 [---------------------------------------------------------------->______] 90.24% 115 p/s3933 / 4333 [---------------------------------------------------------------->______] 90.77% 115 p/s3956 / 4333 [---------------------------------------------------------------->______] 91.30% 115 p/s3974 / 4333 [----------------------------------------------------------------->_____] 91.71% 115 p/s3997 / 4333 [----------------------------------------------------------------->_____] 92.25% 114 p/s4020 / 4333 [----------------------------------------------------------------->_____] 92.78% 114 p/s4044 / 4333 [------------------------------------------------------------------>____] 93.33% 114 p/s4066 / 4333 [------------------------------------------------------------------>____] 93.84% 114 p/s4089 / 4333 [------------------------------------------------------------------->___] 94.37% 114 p/s4111 / 4333 [------------------------------------------------------------------->___] 94.88% 114 p/s4135 / 4333 [------------------------------------------------------------------->___] 95.43% 114 p/s4157 / 4333 [-------------------------------------------------------------------->__] 95.94% 114 p/s4181 / 4333 [-------------------------------------------------------------------->__] 96.49% 114 p/s4204 / 4333 [-------------------------------------------------------------------->__] 97.02% 114 p/s4227 / 4333 [--------------------------------------------------------------------->_] 97.55% 114 p/s4250 / 4333 [--------------------------------------------------------------------->_] 98.08% 114 p/s4271 / 4333 [--------------------------------------------------------------------->_] 98.57% 114 p/s4294 / 4333 [---------------------------------------------------------------------->] 99.10% 114 p/s4317 / 4333 [---------------------------------------------------------------------->] 99.63% 114 p/s4333 / 4333 [----------------------------------------------------------------------] 100.00% 115 p/s2026-04-08T19:06:46 - INFO: Parsing 4333 sonar sweeps from /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4333 [00:00<?, ?it/s]
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  0%|          | 6/4333 [00:00<02:38, 27.34it/s]
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  1%|          | 27/4333 [00:00<02:36, 27.54it/s]
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  1%|          | 33/4333 [00:01<02:35, 27.57it/s]
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  1%|          | 45/4333 [00:01<02:36, 27.47it/s]
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  1%|          | 54/4333 [00:01<02:35, 27.49it/s]
  1%|▏         | 57/4333 [00:02<02:35, 27.43it/s]
  1%|▏         | 60/4333 [00:02<02:35, 27.41it/s]
  1%|▏         | 63/4333 [00:02<02:35, 27.46it/s]
  2%|▏         | 66/4333 [00:02<02:35, 27.45it/s]
  2%|▏         | 69/4333 [00:02<02:35, 27.40it/s]
  2%|▏         | 72/4333 [00:02<02:35, 27.35it/s]
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  2%|▏         | 78/4333 [00:02<02:35, 27.42it/s]
  2%|▏         | 81/4333 [00:02<02:35, 27.42it/s]
  2%|▏         | 84/4333 [00:03<02:38, 26.73it/s]
  2%|▏         | 87/4333 [00:03<02:37, 26.98it/s]
  2%|▏         | 90/4333 [00:03<02:36, 27.16it/s]
  2%|▏         | 93/4333 [00:03<02:35, 27.31it/s]
  2%|▏         | 96/4333 [00:03<02:34, 27.47it/s]
  2%|▏         | 99/4333 [00:03<02:33, 27.55it/s]
  2%|▏         | 102/4333 [00:03<02:33, 27.58it/s]
  2%|▏         | 105/4333 [00:03<02:33, 27.60it/s]
  2%|▏         | 108/4333 [00:03<02:32, 27.63it/s]
  3%|▎         | 111/4333 [00:04<02:33, 27.59it/s]
  3%|▎         | 114/4333 [00:04<02:33, 27.56it/s]
  3%|▎         | 117/4333 [00:04<02:32, 27.59it/s]
  3%|▎         | 120/4333 [00:04<02:32, 27.60it/s]
  3%|▎         | 123/4333 [00:04<02:32, 27.63it/s]
  3%|▎         | 126/4333 [00:04<02:32, 27.63it/s]
  3%|▎         | 129/4333 [00:04<02:32, 27.64it/s]
  3%|▎         | 132/4333 [00:04<02:32, 27.64it/s]
  3%|▎         | 135/4333 [00:04<02:31, 27.65it/s]
  3%|▎         | 138/4333 [00:05<02:31, 27.65it/s]
  3%|▎         | 141/4333 [00:05<02:31, 27.68it/s]
  3%|▎         | 144/4333 [00:05<02:31, 27.71it/s]
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  4%|▍         | 183/4333 [00:06<02:29, 27.67it/s]
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  4%|▍         | 192/4333 [00:06<02:28, 27.79it/s]
  5%|▍         | 195/4333 [00:07<02:28, 27.86it/s]
  5%|▍         | 198/4333 [00:07<02:28, 27.89it/s]
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2026-04-08T19:09:27 - 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/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df"
2026-04-08T19:09:29 - INFO: DataPrep 0.14.0
2026-04-08T19:09:29 - INFO: Prepared data will be output to /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df/processing/data
2026-04-08T19:09:29 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-08T19:09:29 - deployment - INFO: Detected P3D version: P3D_1
2026-04-08T19:09:29 - INFO: Recording GUID: 6eda3161-3c08-0ff5-ab61-4a8912ca03df
2026-04-08T19:09:29 - INFO: Preparing sonar data...
2026-04-08T19:09:29 - INFO: /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-08T19:09:33 - INFO: Sonar epoch is 2025-10-09 10:34:14.504756+00:00 (1760006054504756236)
2026-04-08T19:09:33 - INFO: Creating sonar sensor alignment track...
2026-04-08T19:09:33 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-08T19:09:33 - INFO: Sensor speed of sound is 1500 m/s
2026-04-08T19:09:33 - INFO: Sensor range is 0.939120 m
2026-04-08T19:09:33 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-08T19:09:33 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-08T19:09:33 - INFO: Scaled range is 0.921855 m
2026-04-08T19:09:33 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-08T19:09:33 - INFO: Processing 4333 sweeps...

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2026-04-08T19:09:45 - INFO: Prepared sonar data in 16.5084 s
2026-04-08T19:09:45 - INFO: No IMU data found
2026-04-08T19:09:46 - INFO: DataPrep took 0:00:17.006941
2026-04-08T19:09:46 - INFO: Extracted sonar data in 0:03:38.057210
2026-04-08T19:09:46 - INFO: MSIP3D took 0:03:38.571254