2026-04-14T13:19:23 - INFO: MSIP3D 0.2.1
2026-04-14T13:19:23 - INFO: P3D files will be output to /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/f3741aad-94ac-76c9-5bf4-c5945bf1c993
2026-04-14T13:19:23 - INFO: Found 11 TFD dictionary entries
2026-04-14T13:19:23 - INFO: Found TFD mission for SJ502776 Dep 411
2026-04-14T13:19:23 - INFO: Recording will be processed as SMD
2026-04-14T13:19:23 - INFO: Copying assets JSON to output directory...
2026-04-14T13:19:23 - INFO: Preparing counter data...
2026-04-14T13:19:23 - INFO: Interpreting counter as imperial
2026-04-14T13:19:23 - INFO: Preparing size track from assets JSON...
2026-04-14T13:19:23 - INFO: Preparing shape track from assets JSON...
2026-04-14T13:19:23 - INFO: Preparing material track from assets JSON...
2026-04-14T13:19:23 - INFO: Prepared counter data in 0.0394 s
2026-04-14T13:19:23 - INFO: Extracting sonar data...
TFD path: /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/tfd/SJ502776_Dep_411.tfd
TFD path: /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1417
16 / 1417 [>___________________________________________________________________________] 1.13% ? p/s34 / 1417 [->__________________________________________________________________________] 2.40% ? p/s51 / 1417 [-->_________________________________________________________________________] 3.60% ? p/s70 / 1417 [--->_______________________________________________________________________] 4.94% 90 p/s89 / 1417 [---->______________________________________________________________________] 6.28% 90 p/s109 / 1417 [----->____________________________________________________________________] 7.69% 90 p/s128 / 1417 [------>___________________________________________________________________] 9.03% 90 p/s144 / 1417 [------->_________________________________________________________________] 10.16% 90 p/s161 / 1417 [-------->________________________________________________________________] 11.36% 90 p/s179 / 1417 [--------->_______________________________________________________________] 12.63% 90 p/s197 / 1417 [---------->______________________________________________________________] 13.90% 90 p/s214 / 1417 [----------->_____________________________________________________________] 15.10% 90 p/s232 / 1417 [----------->_____________________________________________________________] 16.37% 90 p/s251 / 1417 [------------>____________________________________________________________] 17.71% 90 p/s269 / 1417 [------------->___________________________________________________________] 18.98% 90 p/s287 / 1417 [-------------->__________________________________________________________] 20.25% 90 p/s307 / 1417 [--------------->_________________________________________________________] 21.67% 90 p/s326 / 1417 [---------------->________________________________________________________] 23.01% 90 p/s343 / 1417 [----------------->_______________________________________________________] 24.21% 90 p/s361 / 1417 [------------------>______________________________________________________] 25.48% 90 p/s378 / 1417 [------------------->_____________________________________________________] 26.68% 90 p/s398 / 1417 [-------------------->____________________________________________________] 28.09% 90 p/s417 / 1417 [--------------------->___________________________________________________] 29.43% 90 p/s435 / 1417 [---------------------->__________________________________________________] 30.70% 90 p/s454 / 1417 [----------------------->_________________________________________________] 32.04% 91 p/s473 / 1417 [------------------------>________________________________________________] 33.38% 91 p/s492 / 1417 [------------------------->_______________________________________________] 34.72% 91 p/s511 / 1417 [-------------------------->______________________________________________] 36.06% 91 p/s529 / 1417 [--------------------------->_____________________________________________] 37.33% 91 p/s546 / 1417 [---------------------------->____________________________________________] 38.53% 91 p/s564 / 1417 [----------------------------->___________________________________________] 39.80% 91 p/s583 / 1417 [------------------------------>__________________________________________] 41.14% 91 p/s602 / 1417 [------------------------------->_________________________________________] 42.48% 91 p/s621 / 1417 [------------------------------->_________________________________________] 43.82% 91 p/s639 / 1417 [-------------------------------->________________________________________] 45.10% 91 p/s657 / 1417 [--------------------------------->_______________________________________] 46.37% 91 p/s675 / 1417 [---------------------------------->______________________________________] 47.64% 91 p/s693 / 1417 [----------------------------------->_____________________________________] 48.91% 91 p/s710 / 1417 [------------------------------------>____________________________________] 50.11% 91 p/s728 / 1417 [------------------------------------->___________________________________] 51.38% 91 p/s745 / 1417 [-------------------------------------->__________________________________] 52.58% 91 p/s764 / 1417 [--------------------------------------->_________________________________] 53.92% 91 p/s782 / 1417 [---------------------------------------->________________________________] 55.19% 91 p/s801 / 1417 [----------------------------------------->_______________________________] 56.53% 91 p/s819 / 1417 [------------------------------------------>______________________________] 57.80% 91 p/s838 / 1417 [------------------------------------------->_____________________________] 59.14% 91 p/s855 / 1417 [-------------------------------------------->____________________________] 60.34% 91 p/s872 / 1417 [-------------------------------------------->____________________________] 61.54% 91 p/s891 / 1417 [--------------------------------------------->___________________________] 62.88% 91 p/s909 / 1417 [---------------------------------------------->__________________________] 64.15% 91 p/s928 / 1417 [----------------------------------------------->_________________________] 65.49% 91 p/s946 / 1417 [------------------------------------------------>________________________] 66.76% 91 p/s964 / 1417 [------------------------------------------------->_______________________] 68.03% 91 p/s981 / 1417 [-------------------------------------------------->______________________] 69.23% 91 p/s999 / 1417 [--------------------------------------------------->_____________________] 70.50% 91 p/s1019 / 1417 [--------------------------------------------------->____________________] 71.91% 91 p/s1036 / 1417 [---------------------------------------------------->___________________] 73.11% 91 p/s1054 / 1417 [----------------------------------------------------->__________________] 74.38% 91 p/s1072 / 1417 [------------------------------------------------------>_________________] 75.65% 91 p/s1091 / 1417 [------------------------------------------------------->________________] 76.99% 91 p/s1108 / 1417 [-------------------------------------------------------->_______________] 78.19% 91 p/s1125 / 1417 [--------------------------------------------------------->______________] 79.39% 91 p/s1144 / 1417 [---------------------------------------------------------->_____________] 80.73% 91 p/s1162 / 1417 [----------------------------------------------------------->____________] 82.00% 91 p/s1180 / 1417 [----------------------------------------------------------->____________] 83.27% 91 p/s1198 / 1417 [------------------------------------------------------------>___________] 84.54% 91 p/s1216 / 1417 [------------------------------------------------------------->__________] 85.82% 91 p/s1233 / 1417 [-------------------------------------------------------------->_________] 87.01% 91 p/s1250 / 1417 [--------------------------------------------------------------->________] 88.21% 91 p/s1269 / 1417 [---------------------------------------------------------------->_______] 89.56% 90 p/s1287 / 1417 [----------------------------------------------------------------->______] 90.83% 90 p/s1306 / 1417 [------------------------------------------------------------------>_____] 92.17% 90 p/s1326 / 1417 [------------------------------------------------------------------->____] 93.58% 91 p/s1344 / 1417 [-------------------------------------------------------------------->___] 94.85% 91 p/s1362 / 1417 [--------------------------------------------------------------------->__] 96.12% 91 p/s1378 / 1417 [---------------------------------------------------------------------->_] 97.25% 90 p/s1398 / 1417 [----------------------------------------------------------------------->] 98.66% 90 p/s1417 / 1417 [-----------------------------------------------------------------------] 100.00% 92 p/s2026-04-14T13:19:39 - INFO: Parsing 1417 sonar sweeps from /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1417 [00:00<?, ?it/s]
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2026-04-14T13:20:33 - 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/f3741aad-94ac-76c9-5bf4-c5945bf1c993/f3741aad-94ac-76c9-5bf4-c5945bf1c993"
2026-04-14T13:20:35 - INFO: DataPrep 0.14.0
2026-04-14T13:20:35 - INFO: Prepared data will be output to /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/f3741aad-94ac-76c9-5bf4-c5945bf1c993/processing/data
2026-04-14T13:20:35 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T13:20:35 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T13:20:35 - INFO: Recording GUID: f3741aad-94ac-76c9-5bf4-c5945bf1c993
2026-04-14T13:20:35 - INFO: Preparing sonar data...
2026-04-14T13:20:35 - INFO: /working/f3741aad-94ac-76c9-5bf4-c5945bf1c993/f3741aad-94ac-76c9-5bf4-c5945bf1c993/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T13:20:36 - INFO: Sonar epoch is 2026-03-04 21:55:41.539539+00:00 (1772661341539539284)
2026-04-14T13:20:36 - INFO: Creating sonar sensor alignment track...
2026-04-14T13:20:36 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-14T13:20:36 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T13:20:36 - INFO: Sensor range is 3.106320 m
2026-04-14T13:20:36 - INFO: Sensor micrometres per sample is 10319.999682
2026-04-14T13:20:36 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T13:20:36 - INFO: Scaled range is 3.049214 m
2026-04-14T13:20:36 - INFO: Scaled micrometres per sample is 10130.277881
2026-04-14T13:20:36 - INFO: Processing 1417 sweeps...

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2026-04-14T13:20:39 - INFO: Prepared sonar data in 4.7173 s
2026-04-14T13:20:39 - INFO: No IMU data found
2026-04-14T13:20:40 - INFO: DataPrep took 0:00:04.875766
2026-04-14T13:20:40 - INFO: Extracted sonar data in 0:01:16.671098
2026-04-14T13:20:40 - INFO: MSIP3D took 0:01:16.831833