2026-04-14T12:50:36 - INFO: MSIP3D 0.2.1
2026-04-14T12:50:36 - INFO: P3D files will be output to /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/d187df5a-e61a-aed1-6e8e-91eb069ff501
2026-04-14T12:50:36 - INFO: Found 10 TFD dictionary entries
2026-04-14T12:50:36 - INFO: Found TFD mission for SJ502819 Dep 1
2026-04-14T12:50:36 - INFO: Recording will be processed as MD
2026-04-14T12:50:36 - INFO: Copying assets JSON to output directory...
2026-04-14T12:50:36 - INFO: Preparing counter data...
2026-04-14T12:50:36 - INFO: Interpreting counter as imperial
2026-04-14T12:50:36 - INFO: Preparing size track from assets JSON...
2026-04-14T12:50:36 - INFO: Preparing shape track from assets JSON...
2026-04-14T12:50:36 - INFO: Preparing material track from assets JSON...
2026-04-14T12:50:36 - INFO: Prepared counter data in 0.0604 s
2026-04-14T12:50:36 - INFO: Extracting sonar data...
TFD path: /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/tfd/SJ502819_Dep_1.tfd
TFD path: /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 3198
22 / 3198 [>___________________________________________________________________________] 0.69% ? p/s46 / 3198 [->__________________________________________________________________________] 1.44% ? p/s68 / 3198 [->__________________________________________________________________________] 2.13% ? p/s92 / 3198 [-->_______________________________________________________________________] 2.88% 117 p/s115 / 3198 [-->______________________________________________________________________] 3.60% 117 p/s138 / 3198 [--->_____________________________________________________________________] 4.32% 117 p/s161 / 3198 [--->_____________________________________________________________________] 5.03% 117 p/s184 / 3198 [---->____________________________________________________________________] 5.75% 117 p/s207 / 3198 [---->____________________________________________________________________] 6.47% 117 p/s230 / 3198 [----->___________________________________________________________________] 7.19% 116 p/s253 / 3198 [----->___________________________________________________________________] 7.91% 116 p/s276 / 3198 [------>__________________________________________________________________] 8.63% 116 p/s300 / 3198 [------>__________________________________________________________________] 9.38% 116 p/s323 / 3198 [------->________________________________________________________________] 10.10% 116 p/s346 / 3198 [------->________________________________________________________________] 10.82% 116 p/s369 / 3198 [-------->_______________________________________________________________] 11.54% 116 p/s393 / 3198 [-------->_______________________________________________________________] 12.29% 116 p/s416 / 3198 [--------->______________________________________________________________] 13.01% 116 p/s439 / 3198 [--------->______________________________________________________________] 13.73% 116 p/s463 / 3198 [---------->_____________________________________________________________] 14.48% 116 p/s486 / 3198 [---------->_____________________________________________________________] 15.20% 116 p/s509 / 3198 [----------->____________________________________________________________] 15.92% 116 p/s533 / 3198 [----------->____________________________________________________________] 16.67% 116 p/s556 / 3198 [------------>___________________________________________________________] 17.39% 116 p/s579 / 3198 [------------->__________________________________________________________] 18.11% 116 p/s602 / 3198 [------------->__________________________________________________________] 18.82% 116 p/s625 / 3198 [-------------->_________________________________________________________] 19.54% 116 p/s649 / 3198 [-------------->_________________________________________________________] 20.29% 116 p/s672 / 3198 [--------------->________________________________________________________] 21.01% 116 p/s695 / 3198 [--------------->________________________________________________________] 21.73% 116 p/s719 / 3198 [---------------->_______________________________________________________] 22.48% 116 p/s742 / 3198 [---------------->_______________________________________________________] 23.20% 116 p/s766 / 3198 [----------------->______________________________________________________] 23.95% 116 p/s789 / 3198 [----------------->______________________________________________________] 24.67% 116 p/s812 / 3198 [------------------>_____________________________________________________] 25.39% 116 p/s836 / 3198 [------------------>_____________________________________________________] 26.14% 116 p/s859 / 3198 [------------------->____________________________________________________] 26.86% 116 p/s882 / 3198 [------------------->____________________________________________________] 27.58% 116 p/s906 / 3198 [-------------------->___________________________________________________] 28.33% 116 p/s929 / 3198 [-------------------->___________________________________________________] 29.05% 117 p/s952 / 3198 [--------------------->__________________________________________________] 29.77% 117 p/s974 / 3198 [--------------------->__________________________________________________] 30.46% 117 p/s997 / 3198 [---------------------->_________________________________________________] 31.18% 116 p/s1020 / 3198 [---------------------->________________________________________________] 31.89% 116 p/s1042 / 3198 [----------------------->_______________________________________________] 32.58% 116 p/s1065 / 3198 [----------------------->_______________________________________________] 33.30% 116 p/s1088 / 3198 [------------------------>______________________________________________] 34.02% 116 p/s1111 / 3198 [------------------------>______________________________________________] 34.74% 116 p/s1134 / 3198 [------------------------->_____________________________________________] 35.46% 116 p/s1157 / 3198 [------------------------->_____________________________________________] 36.18% 116 p/s1180 / 3198 [-------------------------->____________________________________________] 36.90% 116 p/s1202 / 3198 [-------------------------->____________________________________________] 37.59% 116 p/s1225 / 3198 [--------------------------->___________________________________________] 38.31% 116 p/s1248 / 3198 [--------------------------->___________________________________________] 39.02% 116 p/s1271 / 3198 [---------------------------->__________________________________________] 39.74% 116 p/s1294 / 3198 [---------------------------->__________________________________________] 40.46% 116 p/s1316 / 3198 [----------------------------->_________________________________________] 41.15% 116 p/s1340 / 3198 [----------------------------->_________________________________________] 41.90% 116 p/s1362 / 3198 [------------------------------>________________________________________] 42.59% 116 p/s1385 / 3198 [------------------------------>________________________________________] 43.31% 116 p/s1409 / 3198 [------------------------------->_______________________________________] 44.06% 116 p/s1432 / 3198 [------------------------------->_______________________________________] 44.78% 116 p/s1455 / 3198 [-------------------------------->______________________________________] 45.50% 116 p/s1478 / 3198 [-------------------------------->______________________________________] 46.22% 116 p/s1501 / 3198 [--------------------------------->_____________________________________] 46.94% 116 p/s1524 / 3198 [--------------------------------->_____________________________________] 47.65% 116 p/s1547 / 3198 [---------------------------------->____________________________________] 48.37% 116 p/s1570 / 3198 [---------------------------------->____________________________________] 49.09% 116 p/s1593 / 3198 [----------------------------------->___________________________________] 49.81% 116 p/s1617 / 3198 [----------------------------------->___________________________________] 50.56% 116 p/s1640 / 3198 [------------------------------------>__________________________________] 51.28% 116 p/s1663 / 3198 [------------------------------------>__________________________________] 52.00% 116 p/s1687 / 3198 [------------------------------------->_________________________________] 52.75% 116 p/s1710 / 3198 [------------------------------------->_________________________________] 53.47% 116 p/s1733 / 3198 [-------------------------------------->________________________________] 54.19% 116 p/s1756 / 3198 [-------------------------------------->________________________________] 54.91% 116 p/s1780 / 3198 [--------------------------------------->_______________________________] 55.66% 116 p/s1803 / 3198 [---------------------------------------->______________________________] 56.38% 116 p/s1827 / 3198 [---------------------------------------->______________________________] 57.13% 116 p/s1850 / 3198 [----------------------------------------->_____________________________] 57.85% 116 p/s1873 / 3198 [----------------------------------------->_____________________________] 58.57% 116 p/s1896 / 3198 [------------------------------------------>____________________________] 59.29% 116 p/s1919 / 3198 [------------------------------------------>____________________________] 60.01% 116 p/s1942 / 3198 [------------------------------------------->___________________________] 60.73% 116 p/s1965 / 3198 [------------------------------------------->___________________________] 61.44% 116 p/s1989 / 3198 [-------------------------------------------->__________________________] 62.20% 116 p/s2012 / 3198 [-------------------------------------------->__________________________] 62.91% 116 p/s2035 / 3198 [--------------------------------------------->_________________________] 63.63% 116 p/s2059 / 3198 [--------------------------------------------->_________________________] 64.38% 116 p/s2082 / 3198 [---------------------------------------------->________________________] 65.10% 116 p/s2105 / 3198 [---------------------------------------------->________________________] 65.82% 116 p/s2128 / 3198 [----------------------------------------------->_______________________] 66.54% 116 p/s2152 / 3198 [----------------------------------------------->_______________________] 67.29% 116 p/s2175 / 3198 [------------------------------------------------>______________________] 68.01% 116 p/s2197 / 3198 [------------------------------------------------>______________________] 68.70% 116 p/s2220 / 3198 [------------------------------------------------->_____________________] 69.42% 116 p/s2243 / 3198 [------------------------------------------------->_____________________] 70.14% 116 p/s2266 / 3198 [-------------------------------------------------->____________________] 70.86% 116 p/s2289 / 3198 [-------------------------------------------------->____________________] 71.58% 116 p/s2312 / 3198 [--------------------------------------------------->___________________] 72.30% 116 p/s2335 / 3198 [--------------------------------------------------->___________________] 73.01% 116 p/s2359 / 3198 [---------------------------------------------------->__________________] 73.76% 116 p/s2382 / 3198 [---------------------------------------------------->__________________] 74.48% 116 p/s2405 / 3198 [----------------------------------------------------->_________________] 75.20% 116 p/s2428 / 3198 [----------------------------------------------------->_________________] 75.92% 116 p/s2451 / 3198 [------------------------------------------------------>________________] 76.64% 116 p/s2474 / 3198 [------------------------------------------------------>________________] 77.36% 116 p/s2498 / 3198 [------------------------------------------------------->_______________] 78.11% 116 p/s2521 / 3198 [------------------------------------------------------->_______________] 78.83% 116 p/s2544 / 3198 [-------------------------------------------------------->______________] 79.55% 116 p/s2567 / 3198 [-------------------------------------------------------->______________] 80.27% 116 p/s2590 / 3198 [--------------------------------------------------------->_____________] 80.99% 116 p/s2613 / 3198 [---------------------------------------------------------->____________] 81.71% 116 p/s2636 / 3198 [---------------------------------------------------------->____________] 82.43% 116 p/s2660 / 3198 [----------------------------------------------------------->___________] 83.18% 116 p/s2683 / 3198 [----------------------------------------------------------->___________] 83.90% 116 p/s2706 / 3198 [------------------------------------------------------------>__________] 84.62% 116 p/s2729 / 3198 [------------------------------------------------------------>__________] 85.33% 116 p/s2753 / 3198 [------------------------------------------------------------->_________] 86.09% 116 p/s2776 / 3198 [------------------------------------------------------------->_________] 86.80% 116 p/s2799 / 3198 [-------------------------------------------------------------->________] 87.52% 116 p/s2823 / 3198 [-------------------------------------------------------------->________] 88.27% 116 p/s2846 / 3198 [--------------------------------------------------------------->_______] 88.99% 116 p/s2869 / 3198 [--------------------------------------------------------------->_______] 89.71% 116 p/s2893 / 3198 [---------------------------------------------------------------->______] 90.46% 116 p/s2916 / 3198 [---------------------------------------------------------------->______] 91.18% 116 p/s2939 / 3198 [----------------------------------------------------------------->_____] 91.90% 116 p/s2963 / 3198 [----------------------------------------------------------------->_____] 92.65% 116 p/s2985 / 3198 [------------------------------------------------------------------>____] 93.34% 116 p/s3009 / 3198 [------------------------------------------------------------------>____] 94.09% 116 p/s3032 / 3198 [------------------------------------------------------------------->___] 94.81% 116 p/s3055 / 3198 [------------------------------------------------------------------->___] 95.53% 116 p/s3078 / 3198 [-------------------------------------------------------------------->__] 96.25% 116 p/s3102 / 3198 [-------------------------------------------------------------------->__] 97.00% 116 p/s3125 / 3198 [--------------------------------------------------------------------->_] 97.72% 116 p/s3149 / 3198 [--------------------------------------------------------------------->_] 98.47% 116 p/s3172 / 3198 [---------------------------------------------------------------------->] 99.19% 116 p/s3195 / 3198 [---------------------------------------------------------------------->] 99.91% 116 p/s3198 / 3198 [----------------------------------------------------------------------] 100.00% 117 p/s2026-04-14T12:51:04 - INFO: Parsing 3198 sonar sweeps from /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3198 [00:00<?, ?it/s]
  0%|          | 3/3198 [00:00<01:54, 27.81it/s]
  0%|          | 6/3198 [00:00<01:53, 28.08it/s]
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  0%|          | 15/3198 [00:00<01:52, 28.24it/s]
  1%|          | 18/3198 [00:00<01:52, 28.32it/s]
  1%|          | 21/3198 [00:00<01:52, 28.32it/s]
  1%|          | 24/3198 [00:00<01:51, 28.34it/s]
  1%|          | 27/3198 [00:00<01:51, 28.37it/s]
  1%|          | 30/3198 [00:01<01:53, 27.85it/s]
  1%|          | 33/3198 [00:01<01:53, 28.00it/s]
  1%|          | 36/3198 [00:01<01:52, 28.05it/s]
  1%|          | 39/3198 [00:01<01:52, 28.11it/s]
  1%|▏         | 42/3198 [00:01<01:52, 28.11it/s]
  1%|▏         | 45/3198 [00:01<01:52, 28.15it/s]
  2%|▏         | 48/3198 [00:01<01:51, 28.21it/s]
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  2%|▏         | 60/3198 [00:02<01:51, 28.20it/s]
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  3%|▎         | 81/3198 [00:02<01:50, 28.26it/s]
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  3%|▎         | 87/3198 [00:03<01:50, 28.25it/s]
  3%|▎         | 90/3198 [00:03<01:50, 28.18it/s]
  3%|▎         | 93/3198 [00:03<01:50, 28.04it/s]
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  3%|▎         | 105/3198 [00:03<01:49, 28.16it/s]
  3%|▎         | 108/3198 [00:03<01:49, 28.17it/s]
  3%|▎         | 111/3198 [00:03<01:49, 28.20it/s]
  4%|▎         | 114/3198 [00:04<01:49, 28.12it/s]
  4%|▎         | 117/3198 [00:04<01:49, 28.08it/s]
  4%|▍         | 120/3198 [00:04<01:49, 28.04it/s]
  4%|▍         | 123/3198 [00:04<01:49, 27.96it/s]
  4%|▍         | 126/3198 [00:04<01:49, 27.97it/s]
  4%|▍         | 129/3198 [00:04<01:49, 28.06it/s]
  4%|▍         | 132/3198 [00:04<01:49, 28.04it/s]
  4%|▍         | 135/3198 [00:04<01:49, 28.08it/s]
  4%|▍         | 138/3198 [00:04<01:48, 28.11it/s]
  4%|▍         | 141/3198 [00:05<01:48, 28.10it/s]
  5%|▍         | 144/3198 [00:05<01:48, 28.12it/s]
  5%|▍         | 147/3198 [00:05<01:48, 28.08it/s]
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  5%|▍         | 153/3198 [00:05<01:48, 27.99it/s]
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  5%|▌         | 168/3198 [00:05<01:49, 27.63it/s]
  5%|▌         | 171/3198 [00:06<01:48, 27.82it/s]
  5%|▌         | 174/3198 [00:06<01:48, 27.93it/s]
  6%|▌         | 177/3198 [00:06<01:47, 28.01it/s]
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  6%|▌         | 192/3198 [00:06<01:47, 28.04it/s]
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  6%|▋         | 204/3198 [00:07<01:46, 28.11it/s]
  6%|▋         | 207/3198 [00:07<01:46, 28.12it/s]
  7%|▋         | 210/3198 [00:07<01:46, 28.14it/s]
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  8%|▊         | 258/3198 [00:09<01:44, 28.17it/s]
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  8%|▊         | 264/3198 [00:09<01:44, 28.19it/s]
  8%|▊         | 267/3198 [00:09<01:44, 28.17it/s]
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  9%|▊         | 273/3198 [00:09<01:43, 28.20it/s]
  9%|▊         | 276/3198 [00:09<01:43, 28.22it/s]
  9%|▊         | 279/3198 [00:09<01:43, 28.23it/s]
  9%|▉         | 282/3198 [00:10<01:43, 28.18it/s]
  9%|▉         | 285/3198 [00:10<01:43, 28.17it/s]
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  9%|▉         | 297/3198 [00:10<01:46, 27.25it/s]
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 10%|▉         | 306/3198 [00:10<01:43, 27.92it/s]
 10%|▉         | 309/3198 [00:11<01:43, 28.02it/s]
 10%|▉         | 312/3198 [00:11<01:42, 28.14it/s]
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 10%|▉         | 318/3198 [00:11<01:42, 28.16it/s]
 10%|█         | 321/3198 [00:11<01:42, 28.20it/s]
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2026-04-14T12:53:07 - WARNING: Expected 400 beams, got 167, dropping sweep 3197
2026-04-14T12:53:07 - 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/d187df5a-e61a-aed1-6e8e-91eb069ff501/d187df5a-e61a-aed1-6e8e-91eb069ff501"
2026-04-14T12:53:08 - INFO: DataPrep 0.14.0
2026-04-14T12:53:08 - INFO: Prepared data will be output to /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/d187df5a-e61a-aed1-6e8e-91eb069ff501/processing/data
2026-04-14T12:53:08 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T12:53:08 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T12:53:08 - INFO: Recording GUID: d187df5a-e61a-aed1-6e8e-91eb069ff501
2026-04-14T12:53:08 - INFO: Preparing sonar data...
2026-04-14T12:53:08 - INFO: /working/d187df5a-e61a-aed1-6e8e-91eb069ff501/d187df5a-e61a-aed1-6e8e-91eb069ff501/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T12:53:11 - INFO: Sonar epoch is 2026-04-02 12:19:00.355126+00:00 (1775132340355125993)
2026-04-14T12:53:11 - INFO: Creating sonar sensor alignment track...
2026-04-14T12:53:11 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-04-14T12:53:11 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T12:53:11 - INFO: Sensor range is 0.939120 m
2026-04-14T12:53:11 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-14T12:53:11 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T12:53:11 - INFO: Scaled range is 0.921855 m
2026-04-14T12:53:11 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-14T12:53:11 - INFO: Processing 3197 sweeps...

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2026-04-14T12:53:19 - INFO: Prepared sonar data in 10.6601 s
2026-04-14T12:53:19 - INFO: No IMU data found
2026-04-14T12:53:19 - INFO: DataPrep took 0:00:11.025048
2026-04-14T12:53:19 - INFO: Extracted sonar data in 0:02:42.957703
2026-04-14T12:53:19 - INFO: MSIP3D took 0:02:43.282419