2026-05-20T01:44:10 - INFO: MSIP3D 0.2.6
2026-05-20T01:44:10 - INFO: P3D files will be output to /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148
2026-05-20T01:44:10 - INFO: Found 10 TFD dictionary entries
2026-05-20T01:44:10 - INFO: Found TFD mission for Md pool test 1047
2026-05-20T01:44:10 - INFO: Recording will be processed as MD
2026-05-20T01:44:10 - INFO: Copying assets JSON to output directory...
2026-05-20T01:44:10 - INFO: Preparing counter data...
2026-05-20T01:44:10 - INFO: Interpreting counter as metric
2026-05-20T01:44:10 - INFO: Preparing size track from assets JSON...
2026-05-20T01:44:10 - INFO: Preparing shape track from assets JSON...
2026-05-20T01:44:10 - INFO: Preparing material track from assets JSON...
2026-05-20T01:44:10 - INFO: Prepared counter data in 0.0060 s
2026-05-20T01:44:10 - INFO: Extracting sonar data...
TFD path: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/Md_pool_test_1047_001.tfd
TFD path: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080327290606263
Getting track SONAR
Number of frames: 140
20 / 140 [---------->_________________________________________________________________] 14.29% ? p/s42 / 140 [---------------------->_____________________________________________________] 30.00% ? p/s62 / 140 [--------------------------------->__________________________________________] 44.29% ? p/s83 / 140 [------------------------------------------->______________________________] 59.29% 105 p/s105 / 140 [------------------------------------------------------>__________________] 75.00% 105 p/s125 / 140 [----------------------------------------------------------------->_______] 89.29% 105 p/s140 / 140 [------------------------------------------------------------------------] 100.00% 123 p/s2026-05-20T01:44:11 - INFO: Parsing 140 sonar sweeps from /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/140 [00:00<?, ?it/s]
  2%|▏         | 3/140 [00:00<00:05, 26.87it/s]
  4%|▍         | 6/140 [00:00<00:04, 27.82it/s]
  6%|▋         | 9/140 [00:00<00:04, 28.33it/s]
  9%|▊         | 12/140 [00:00<00:04, 28.58it/s]
 11%|█         | 15/140 [00:00<00:04, 28.67it/s]
 13%|█▎        | 18/140 [00:00<00:04, 28.44it/s]
 15%|█▌        | 21/140 [00:00<00:04, 28.55it/s]
 17%|█▋        | 24/140 [00:00<00:04, 28.68it/s]
 19%|█▉        | 27/140 [00:00<00:03, 28.75it/s]
 21%|██▏       | 30/140 [00:01<00:03, 28.77it/s]
 24%|██▎       | 33/140 [00:01<00:03, 28.70it/s]
 26%|██▌       | 36/140 [00:01<00:03, 28.71it/s]
 28%|██▊       | 39/140 [00:01<00:03, 28.69it/s]
 30%|███       | 42/140 [00:01<00:03, 28.54it/s]
 32%|███▏      | 45/140 [00:01<00:03, 28.32it/s]
 34%|███▍      | 48/140 [00:01<00:03, 28.39it/s]
 36%|███▋      | 51/140 [00:01<00:03, 28.54it/s]
 39%|███▊      | 54/140 [00:01<00:03, 28.61it/s]
 41%|████      | 57/140 [00:02<00:02, 28.22it/s]
 43%|████▎     | 60/140 [00:02<00:02, 28.37it/s]
 45%|████▌     | 63/140 [00:02<00:02, 28.48it/s]
 47%|████▋     | 66/140 [00:02<00:02, 28.53it/s]
 49%|████▉     | 69/140 [00:02<00:02, 27.92it/s]
 51%|█████▏    | 72/140 [00:02<00:02, 28.10it/s]
 54%|█████▎    | 75/140 [00:02<00:02, 28.25it/s]
 56%|█████▌    | 78/140 [00:02<00:02, 28.42it/s]
 58%|█████▊    | 81/140 [00:02<00:02, 28.56it/s]
 60%|██████    | 84/140 [00:02<00:01, 28.72it/s]
 62%|██████▏   | 87/140 [00:03<00:01, 28.83it/s]
 64%|██████▍   | 90/140 [00:03<00:01, 28.84it/s]
 66%|██████▋   | 93/140 [00:03<00:01, 28.83it/s]
 69%|██████▊   | 96/140 [00:03<00:01, 28.87it/s]
 71%|███████   | 99/140 [00:03<00:01, 28.88it/s]
 73%|███████▎  | 102/140 [00:03<00:01, 28.86it/s]
 75%|███████▌  | 105/140 [00:03<00:01, 28.83it/s]
 77%|███████▋  | 108/140 [00:03<00:01, 28.68it/s]
 79%|███████▉  | 111/140 [00:03<00:01, 28.55it/s]
 81%|████████▏ | 114/140 [00:03<00:00, 28.66it/s]
 84%|████████▎ | 117/140 [00:04<00:00, 28.68it/s]
 86%|████████▌ | 120/140 [00:04<00:00, 28.66it/s]
 88%|████████▊ | 123/140 [00:04<00:00, 28.68it/s]
 90%|█████████ | 126/140 [00:04<00:00, 28.72it/s]
 92%|█████████▏| 129/140 [00:04<00:00, 28.73it/s]
 94%|█████████▍| 132/140 [00:04<00:00, 28.78it/s]
 96%|█████████▋| 135/140 [00:04<00:00, 28.89it/s]
 99%|█████████▊| 138/140 [00:04<00:00, 28.86it/s]
100%|██████████| 140/140 [00:04<00:00, 28.60it/s]
2026-05-20T01:44:16 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148"
2026-05-20T01:44:17 - INFO: DataPrep 0.14.6
2026-05-20T01:44:17 - INFO: Prepared data will be output to /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148/processing/data
2026-05-20T01:44:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-20T01:44:17 - deployment - INFO: Detected P3D version: P3D_1
2026-05-20T01:44:17 - INFO: Recording GUID: 9aa26041-3164-7a9e-cd1b-d5029b876148
2026-05-20T01:44:18 - INFO: Preparing sonar data...
2026-05-20T01:44:18 - INFO: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-20T01:44:18 - INFO: Sonar epoch is 2026-04-15 03:14:10.596344+00:00 (1776222850596344482)
2026-05-20T01:44:18 - INFO: Creating sonar sensor alignment track...
2026-05-20T01:44:18 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-05-20T01:44:18 - INFO: Sensor speed of sound is 1500 m/s
2026-05-20T01:44:18 - INFO: Sensor range is 0.939120 m
2026-05-20T01:44:18 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-20T01:44:18 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-20T01:44:18 - INFO: Scaled range is 0.935669 m
2026-05-20T01:44:18 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-20T01:44:18 - INFO: Processing 140 sweeps...

  0%|          | 0/140 [00:00<?, ?sw/s]
 15%|█▌        | 21/140 [00:00<00:00, 206.55sw/s]
 34%|███▎      | 47/140 [00:00<00:00, 200.20sw/s]
 61%|██████▏   | 86/140 [00:00<00:00, 277.63sw/s]
 86%|████████▋ | 121/140 [00:00<00:00, 299.18sw/s]
100%|██████████| 140/140 [00:00<00:00, 298.64sw/s]
2026-05-20T01:44:18 - INFO: Prepared sonar data in 0.9878 s
2026-05-20T01:44:18 - INFO: No IMU data found
2026-05-20T01:44:19 - INFO: DataPrep took 0:00:01.008959
2026-05-20T01:44:19 - INFO: Extracted sonar data in 0:00:08.899467
2026-05-20T01:44:19 - INFO: MSIP3D took 0:00:08.916885