2026-04-17T01:52:55 - INFO: MSIP3D 0.2.5
2026-04-17T01:52:55 - INFO: P3D files will be output to /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df
2026-04-17T01:52:55 - INFO: Found 10 TFD dictionary entries
2026-04-17T01:52:55 - INFO: Found TFD mission for Western Interceptor
2026-04-17T01:52:55 - INFO: Recording will be processed as MD
2026-04-17T01:52:55 - INFO: Copying assets JSON to output directory...
2026-04-17T01:52:55 - INFO: Preparing counter data...
2026-04-17T01:52:55 - INFO: Interpreting counter as metric
2026-04-17T01:52:55 - INFO: Preparing size track from assets JSON...
2026-04-17T01:52:55 - INFO: Preparing shape track from assets JSON...
2026-04-17T01:52:55 - INFO: Preparing material track from assets JSON...
2026-04-17T01:52:55 - INFO: Prepared counter data in 0.1832 s
2026-04-17T01:52:55 - 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: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 4333
22 / 4333 [>___________________________________________________________________________] 0.51% ? p/s45 / 4333 [>___________________________________________________________________________] 1.04% ? p/s67 / 4333 [->__________________________________________________________________________] 1.55% ? p/s90 / 4333 [->________________________________________________________________________] 2.08% 113 p/s114 / 4333 [->_______________________________________________________________________] 2.63% 113 p/s136 / 4333 [-->______________________________________________________________________] 3.14% 113 p/s159 / 4333 [-->______________________________________________________________________] 3.67% 113 p/s181 / 4333 [--->_____________________________________________________________________] 4.18% 113 p/s204 / 4333 [--->_____________________________________________________________________] 4.71% 113 p/s227 / 4333 [--->_____________________________________________________________________] 5.24% 113 p/s248 / 4333 [---->____________________________________________________________________] 5.72% 113 p/s271 / 4333 [---->____________________________________________________________________] 6.25% 113 p/s295 / 4333 [---->____________________________________________________________________] 6.81% 113 p/s318 / 4333 [----->___________________________________________________________________] 7.34% 113 p/s341 / 4333 [----->___________________________________________________________________] 7.87% 113 p/s363 / 4333 [------>__________________________________________________________________] 8.38% 113 p/s387 / 4333 [------>__________________________________________________________________] 8.93% 113 p/s410 / 4333 [------>__________________________________________________________________] 9.46% 113 p/s433 / 4333 [------->_________________________________________________________________] 9.99% 114 p/s456 / 4333 [------->________________________________________________________________] 10.52% 114 p/s479 / 4333 [------->________________________________________________________________] 11.05% 114 p/s502 / 4333 [-------->_______________________________________________________________] 11.59% 114 p/s524 / 4333 [-------->_______________________________________________________________] 12.09% 114 p/s547 / 4333 [--------->______________________________________________________________] 12.62% 114 p/s570 / 4333 [--------->______________________________________________________________] 13.15% 114 p/s593 / 4333 [--------->______________________________________________________________] 13.69% 114 p/s616 / 4333 [---------->_____________________________________________________________] 14.22% 114 p/s639 / 4333 [---------->_____________________________________________________________] 14.75% 114 p/s662 / 4333 [----------->____________________________________________________________] 15.28% 114 p/s685 / 4333 [----------->____________________________________________________________] 15.81% 114 p/s708 / 4333 [----------->____________________________________________________________] 16.34% 114 p/s732 / 4333 [------------>___________________________________________________________] 16.89% 114 p/s755 / 4333 [------------>___________________________________________________________] 17.42% 114 p/s778 / 4333 [------------>___________________________________________________________] 17.96% 114 p/s801 / 4333 [------------->__________________________________________________________] 18.49% 114 p/s824 / 4333 [------------->__________________________________________________________] 19.02% 114 p/s847 / 4333 [-------------->_________________________________________________________] 19.55% 114 p/s870 / 4333 [-------------->_________________________________________________________] 20.08% 114 p/s893 / 4333 [-------------->_________________________________________________________] 20.61% 114 p/s916 / 4333 [--------------->________________________________________________________] 21.14% 114 p/s939 / 4333 [--------------->________________________________________________________] 21.67% 114 p/s962 / 4333 [--------------->________________________________________________________] 22.20% 114 p/s986 / 4333 [---------------->_______________________________________________________] 22.76% 114 p/s1009 / 4333 [---------------->______________________________________________________] 23.29% 114 p/s1031 / 4333 [---------------->______________________________________________________] 23.79% 114 p/s1054 / 4333 [----------------->_____________________________________________________] 24.32% 114 p/s1078 / 4333 [----------------->_____________________________________________________] 24.88% 114 p/s1100 / 4333 [------------------>____________________________________________________] 25.39% 114 p/s1123 / 4333 [------------------>____________________________________________________] 25.92% 114 p/s1146 / 4333 [------------------>____________________________________________________] 26.45% 114 p/s1169 / 4333 [------------------->___________________________________________________] 26.98% 114 p/s1192 / 4333 [------------------->___________________________________________________] 27.51% 114 p/s1215 / 4333 [------------------->___________________________________________________] 28.04% 114 p/s1238 / 4333 [-------------------->__________________________________________________] 28.57% 114 p/s1261 / 4333 [-------------------->__________________________________________________] 29.10% 114 p/s1284 / 4333 [--------------------->_________________________________________________] 29.63% 114 p/s1308 / 4333 [--------------------->_________________________________________________] 30.19% 114 p/s1331 / 4333 [--------------------->_________________________________________________] 30.72% 115 p/s1354 / 4333 [---------------------->________________________________________________] 31.25% 115 p/s1377 / 4333 [---------------------->________________________________________________] 31.78% 115 p/s1400 / 4333 [---------------------->________________________________________________] 32.31% 115 p/s1423 / 4333 [----------------------->_______________________________________________] 32.84% 115 p/s1446 / 4333 [----------------------->_______________________________________________] 33.37% 115 p/s1469 / 4333 [------------------------>______________________________________________] 33.90% 115 p/s1492 / 4333 [------------------------>______________________________________________] 34.43% 115 p/s1516 / 4333 [------------------------>______________________________________________] 34.99% 115 p/s1539 / 4333 [------------------------->_____________________________________________] 35.52% 115 p/s1562 / 4333 [------------------------->_____________________________________________] 36.05% 115 p/s1585 / 4333 [------------------------->_____________________________________________] 36.58% 115 p/s1608 / 4333 [-------------------------->____________________________________________] 37.11% 115 p/s1632 / 4333 [-------------------------->____________________________________________] 37.66% 115 p/s1655 / 4333 [--------------------------->___________________________________________] 38.20% 115 p/s1678 / 4333 [--------------------------->___________________________________________] 38.73% 115 p/s1701 / 4333 [--------------------------->___________________________________________] 39.26% 115 p/s1724 / 4333 [---------------------------->__________________________________________] 39.79% 115 p/s1748 / 4333 [---------------------------->__________________________________________] 40.34% 115 p/s1771 / 4333 [----------------------------->_________________________________________] 40.87% 115 p/s1794 / 4333 [----------------------------->_________________________________________] 41.40% 115 p/s1817 / 4333 [----------------------------->_________________________________________] 41.93% 115 p/s1840 / 4333 [------------------------------>________________________________________] 42.46% 115 p/s1863 / 4333 [------------------------------>________________________________________] 43.00% 115 p/s1887 / 4333 [------------------------------>________________________________________] 43.55% 115 p/s1910 / 4333 [------------------------------->_______________________________________] 44.08% 115 p/s1933 / 4333 [------------------------------->_______________________________________] 44.61% 115 p/s1956 / 4333 [-------------------------------->______________________________________] 45.14% 115 p/s1979 / 4333 [-------------------------------->______________________________________] 45.67% 115 p/s2003 / 4333 [-------------------------------->______________________________________] 46.23% 115 p/s2026 / 4333 [--------------------------------->_____________________________________] 46.76% 115 p/s2048 / 4333 [--------------------------------->_____________________________________] 47.27% 115 p/s2071 / 4333 [--------------------------------->_____________________________________] 47.80% 115 p/s2094 / 4333 [---------------------------------->____________________________________] 48.33% 115 p/s2116 / 4333 [---------------------------------->____________________________________] 48.83% 115 p/s2139 / 4333 [----------------------------------->___________________________________] 49.37% 115 p/s2162 / 4333 [----------------------------------->___________________________________] 49.90% 115 p/s2184 / 4333 [----------------------------------->___________________________________] 50.40% 115 p/s2207 / 4333 [------------------------------------>__________________________________] 50.93% 115 p/s2230 / 4333 [------------------------------------>__________________________________] 51.47% 115 p/s2247 / 4333 [------------------------------------>__________________________________] 51.86% 115 p/s2263 / 4333 [------------------------------------->_________________________________] 52.23% 115 p/s2285 / 4333 [------------------------------------->_________________________________] 52.73% 113 p/s2309 / 4333 [------------------------------------->_________________________________] 53.29% 113 p/s2332 / 4333 [-------------------------------------->________________________________] 53.82% 113 p/s2354 / 4333 [-------------------------------------->________________________________] 54.33% 113 p/s2378 / 4333 [-------------------------------------->________________________________] 54.88% 113 p/s2400 / 4333 [--------------------------------------->_______________________________] 55.39% 113 p/s2423 / 4333 [--------------------------------------->_______________________________] 55.92% 114 p/s2446 / 4333 [---------------------------------------->______________________________] 56.45% 114 p/s2469 / 4333 [---------------------------------------->______________________________] 56.98% 114 p/s2493 / 4333 [---------------------------------------->______________________________] 57.54% 114 p/s2516 / 4333 [----------------------------------------->_____________________________] 58.07% 114 p/s2539 / 4333 [----------------------------------------->_____________________________] 58.60% 114 p/s2562 / 4333 [----------------------------------------->_____________________________] 59.13% 114 p/s2585 / 4333 [------------------------------------------>____________________________] 59.66% 114 p/s2607 / 4333 [------------------------------------------>____________________________] 60.17% 114 p/s2630 / 4333 [------------------------------------------->___________________________] 60.70% 114 p/s2654 / 4333 [------------------------------------------->___________________________] 61.25% 114 p/s2677 / 4333 [------------------------------------------->___________________________] 61.78% 114 p/s2699 / 4333 [-------------------------------------------->__________________________] 62.29% 114 p/s2722 / 4333 [-------------------------------------------->__________________________] 62.82% 114 p/s2745 / 4333 [-------------------------------------------->__________________________] 63.35% 114 p/s2768 / 4333 [--------------------------------------------->_________________________] 63.88% 114 p/s2791 / 4333 [--------------------------------------------->_________________________] 64.41% 114 p/s2814 / 4333 [---------------------------------------------->________________________] 64.94% 114 p/s2837 / 4333 [---------------------------------------------->________________________] 65.47% 114 p/s2860 / 4333 [---------------------------------------------->________________________] 66.01% 114 p/s2883 / 4333 [----------------------------------------------->_______________________] 66.54% 114 p/s2907 / 4333 [----------------------------------------------->_______________________] 67.09% 114 p/s2930 / 4333 [------------------------------------------------>______________________] 67.62% 114 p/s2953 / 4333 [------------------------------------------------>______________________] 68.15% 114 p/s2976 / 4333 [------------------------------------------------>______________________] 68.68% 114 p/s2999 / 4333 [------------------------------------------------->_____________________] 69.21% 114 p/s3022 / 4333 [------------------------------------------------->_____________________] 69.74% 114 p/s3045 / 4333 [------------------------------------------------->_____________________] 70.27% 114 p/s3068 / 4333 [-------------------------------------------------->____________________] 70.81% 114 p/s3092 / 4333 [-------------------------------------------------->____________________] 71.36% 114 p/s3115 / 4333 [--------------------------------------------------->___________________] 71.89% 114 p/s3137 / 4333 [--------------------------------------------------->___________________] 72.40% 114 p/s3161 / 4333 [--------------------------------------------------->___________________] 72.95% 114 p/s3184 / 4333 [---------------------------------------------------->__________________] 73.48% 114 p/s3207 / 4333 [---------------------------------------------------->__________________] 74.01% 114 p/s3230 / 4333 [---------------------------------------------------->__________________] 74.54% 114 p/s3253 / 4333 [----------------------------------------------------->_________________] 75.08% 115 p/s3275 / 4333 [----------------------------------------------------->_________________] 75.58% 115 p/s3298 / 4333 [------------------------------------------------------>________________] 76.11% 115 p/s3321 / 4333 [------------------------------------------------------>________________] 76.64% 114 p/s3344 / 4333 [------------------------------------------------------>________________] 77.18% 114 p/s3367 / 4333 [------------------------------------------------------->_______________] 77.71% 114 p/s3390 / 4333 [------------------------------------------------------->_______________] 78.24% 114 p/s3413 / 4333 [------------------------------------------------------->_______________] 78.77% 114 p/s3436 / 4333 [-------------------------------------------------------->______________] 79.30% 114 p/s3459 / 4333 [-------------------------------------------------------->______________] 79.83% 115 p/s3482 / 4333 [--------------------------------------------------------->_____________] 80.36% 115 p/s3505 / 4333 [--------------------------------------------------------->_____________] 80.89% 115 p/s3528 / 4333 [--------------------------------------------------------->_____________] 81.42% 115 p/s3551 / 4333 [---------------------------------------------------------->____________] 81.95% 115 p/s3574 / 4333 [---------------------------------------------------------->____________] 82.48% 115 p/s3597 / 4333 [---------------------------------------------------------->____________] 83.01% 115 p/s3620 / 4333 [----------------------------------------------------------->___________] 83.54% 115 p/s3643 / 4333 [----------------------------------------------------------->___________] 84.08% 115 p/s3666 / 4333 [------------------------------------------------------------>__________] 84.61% 115 p/s3689 / 4333 [------------------------------------------------------------>__________] 85.14% 115 p/s3711 / 4333 [------------------------------------------------------------>__________] 85.65% 115 p/s3734 / 4333 [------------------------------------------------------------->_________] 86.18% 115 p/s3757 / 4333 [------------------------------------------------------------->_________] 86.71% 115 p/s3780 / 4333 [------------------------------------------------------------->_________] 87.24% 115 p/s3803 / 4333 [-------------------------------------------------------------->________] 87.77% 115 p/s3826 / 4333 [-------------------------------------------------------------->________] 88.30% 115 p/s3849 / 4333 [--------------------------------------------------------------->_______] 88.83% 115 p/s3872 / 4333 [--------------------------------------------------------------->_______] 89.36% 115 p/s3895 / 4333 [--------------------------------------------------------------->_______] 89.89% 115 p/s3918 / 4333 [---------------------------------------------------------------->______] 90.42% 115 p/s3941 / 4333 [---------------------------------------------------------------->______] 90.95% 115 p/s3964 / 4333 [---------------------------------------------------------------->______] 91.48% 115 p/s3987 / 4333 [----------------------------------------------------------------->_____] 92.01% 115 p/s4009 / 4333 [----------------------------------------------------------------->_____] 92.52% 115 p/s4032 / 4333 [------------------------------------------------------------------>____] 93.05% 115 p/s4055 / 4333 [------------------------------------------------------------------>____] 93.58% 115 p/s4079 / 4333 [------------------------------------------------------------------>____] 94.14% 115 p/s4101 / 4333 [------------------------------------------------------------------->___] 94.65% 115 p/s4124 / 4333 [------------------------------------------------------------------->___] 95.18% 115 p/s4147 / 4333 [------------------------------------------------------------------->___] 95.71% 115 p/s4170 / 4333 [-------------------------------------------------------------------->__] 96.24% 115 p/s4193 / 4333 [-------------------------------------------------------------------->__] 96.77% 115 p/s4215 / 4333 [--------------------------------------------------------------------->_] 97.28% 114 p/s4239 / 4333 [--------------------------------------------------------------------->_] 97.83% 114 p/s4262 / 4333 [--------------------------------------------------------------------->_] 98.36% 114 p/s4285 / 4333 [---------------------------------------------------------------------->] 98.89% 115 p/s4308 / 4333 [---------------------------------------------------------------------->] 99.42% 115 p/s4331 / 4333 [---------------------------------------------------------------------->] 99.95% 115 p/s4333 / 4333 [----------------------------------------------------------------------] 100.00% 115 p/s2026-04-17T01:53:33 - 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<02:43, 26.54it/s]
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  1%|          | 24/4333 [00:00<02:37, 27.35it/s]
  1%|          | 27/4333 [00:00<02:37, 27.36it/s]
  1%|          | 30/4333 [00:01<02:36, 27.43it/s]
  1%|          | 33/4333 [00:01<02:36, 27.43it/s]
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  1%|          | 45/4333 [00:01<02:36, 27.39it/s]
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  1%|          | 51/4333 [00:01<02:36, 27.37it/s]
  1%|          | 54/4333 [00:01<02:36, 27.35it/s]
  1%|▏         | 57/4333 [00:02<02:36, 27.34it/s]
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  1%|▏         | 63/4333 [00:02<02:36, 27.36it/s]
  2%|▏         | 66/4333 [00:02<02:36, 27.35it/s]
  2%|▏         | 69/4333 [00:02<02:36, 27.31it/s]
  2%|▏         | 72/4333 [00:02<02:35, 27.32it/s]
  2%|▏         | 75/4333 [00:02<02:35, 27.31it/s]
  2%|▏         | 78/4333 [00:02<02:35, 27.32it/s]
  2%|▏         | 81/4333 [00:02<02:38, 26.78it/s]
  2%|▏         | 84/4333 [00:03<02:42, 26.19it/s]
  2%|▏         | 87/4333 [00:03<02:41, 26.36it/s]
  2%|▏         | 90/4333 [00:03<02:39, 26.65it/s]
  2%|▏         | 93/4333 [00:03<02:38, 26.84it/s]
  2%|▏         | 96/4333 [00:03<02:36, 27.00it/s]
  2%|▏         | 99/4333 [00:03<02:36, 27.10it/s]
  2%|▏         | 102/4333 [00:03<02:36, 27.12it/s]
  2%|▏         | 105/4333 [00:03<02:39, 26.47it/s]
  2%|▏         | 108/4333 [00:03<02:38, 26.59it/s]
  3%|▎         | 111/4333 [00:04<02:37, 26.85it/s]
  3%|▎         | 114/4333 [00:04<02:36, 27.04it/s]
  3%|▎         | 117/4333 [00:04<02:35, 27.13it/s]
  3%|▎         | 120/4333 [00:04<02:34, 27.22it/s]
  3%|▎         | 123/4333 [00:04<02:34, 27.28it/s]
  3%|▎         | 126/4333 [00:04<02:33, 27.33it/s]
  3%|▎         | 129/4333 [00:04<02:33, 27.40it/s]
  3%|▎         | 132/4333 [00:04<02:33, 27.43it/s]
  3%|▎         | 135/4333 [00:04<02:33, 27.36it/s]
  3%|▎         | 138/4333 [00:05<02:33, 27.38it/s]
  3%|▎         | 141/4333 [00:05<02:32, 27.43it/s]
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  4%|▎         | 162/4333 [00:05<02:32, 27.41it/s]
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  4%|▍         | 171/4333 [00:06<02:32, 27.35it/s]
  4%|▍         | 174/4333 [00:06<02:32, 27.36it/s]
  4%|▍         | 177/4333 [00:06<02:31, 27.39it/s]
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  4%|▍         | 183/4333 [00:06<02:31, 27.32it/s]
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  4%|▍         | 189/4333 [00:06<02:31, 27.36it/s]
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  5%|▍         | 195/4333 [00:07<02:30, 27.42it/s]
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  7%|▋         | 288/4333 [00:10<02:27, 27.33it/s]
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2026-04-17T01:56:16 - 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 --sonar-sample-offset -1 /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df"
2026-04-17T01:56:17 - INFO: DataPrep 0.14.4
2026-04-17T01:56:17 - INFO: Prepared data will be output to /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df/processing/data
2026-04-17T01:56:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-17T01:56:17 - deployment - INFO: Detected P3D version: P3D_1
2026-04-17T01:56:17 - INFO: Recording GUID: 6eda3161-3c08-0ff5-ab61-4a8912ca03df
2026-04-17T01:56:17 - INFO: Preparing sonar data...
2026-04-17T01:56:17 - INFO: /working/6eda3161-3c08-0ff5-ab61-4a8912ca03df/6eda3161-3c08-0ff5-ab61-4a8912ca03df/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-17T01:56:21 - INFO: Sonar epoch is 2025-10-09 10:34:14.504756+00:00 (1760006054504756236)
2026-04-17T01:56:21 - INFO: Creating sonar sensor alignment track...
2026-04-17T01:56:21 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-17T01:56:21 - INFO: Sensor speed of sound is 1500 m/s
2026-04-17T01:56:21 - INFO: Sensor range is 0.939120 m
2026-04-17T01:56:21 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-17T01:56:21 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-04-17T01:56:21 - INFO: Scaled range is 0.935669 m
2026-04-17T01:56:21 - INFO: Scaled micrometres per sample is 3108.536247
2026-04-17T01:56:21 - INFO: Processing 4333 sweeps...

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2026-04-17T01:56:39 - INFO: Prepared sonar data in 21.3889 s
2026-04-17T01:56:39 - INFO: No IMU data found
2026-04-17T01:56:39 - INFO: DataPrep took 0:00:22.038920
2026-04-17T01:56:39 - INFO: Extracted sonar data in 0:03:44.425983
2026-04-17T01:56:40 - INFO: MSIP3D took 0:03:44.999036