2026-03-11T02:58:00 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:58:00 - INFO: P3D files will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-11T02:58:00 - INFO: Found 10 TFD dictionary entries
2026-03-11T02:58:00 - INFO: Found TFD mission for SJ502828 DEP 508
2026-03-11T02:58:00 - INFO: Recording will be processed as MD
2026-03-11T02:58:00 - INFO: Copying assets JSON to output directory...
2026-03-11T02:58:00 - INFO: Preparing counter data...
2026-03-11T02:58:00 - INFO: Interpreting counter as imperial
2026-03-11T02:58:00 - INFO: Preparing size track from assets JSON...
2026-03-11T02:58:00 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:58:00 - INFO: Preparing material track from assets JSON...
2026-03-11T02:58:00 - INFO: Prepared counter data in 0.0467 s
2026-03-11T02:58:00 - INFO: Extracting sonar data...
TFD path: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/SJ502828_DEP_508.tfd
TFD path: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215974206753356
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 2790
23 / 2790 [>___________________________________________________________________________] 0.82% ? p/s46 / 2790 [->__________________________________________________________________________] 1.65% ? p/s69 / 2790 [->__________________________________________________________________________] 2.47% ? p/s92 / 2790 [-->_______________________________________________________________________] 3.30% 115 p/s116 / 2790 [--->_____________________________________________________________________] 4.16% 115 p/s138 / 2790 [--->_____________________________________________________________________] 4.95% 115 p/s162 / 2790 [---->____________________________________________________________________] 5.81% 115 p/s185 / 2790 [---->____________________________________________________________________] 6.63% 115 p/s209 / 2790 [----->___________________________________________________________________] 7.49% 115 p/s232 / 2790 [------>__________________________________________________________________] 8.32% 115 p/s254 / 2790 [------>__________________________________________________________________] 9.10% 115 p/s277 / 2790 [------->_________________________________________________________________] 9.93% 115 p/s300 / 2790 [------->________________________________________________________________] 10.75% 115 p/s323 / 2790 [-------->_______________________________________________________________] 11.58% 115 p/s345 / 2790 [-------->_______________________________________________________________] 12.37% 115 p/s355 / 2790 [--------->______________________________________________________________] 12.72% 113 p/s375 / 2790 [--------->______________________________________________________________] 13.44% 113 p/s398 / 2790 [---------->_____________________________________________________________] 14.27% 113 p/s421 / 2790 [---------->_____________________________________________________________] 15.09% 113 p/s443 / 2790 [----------->____________________________________________________________] 15.88% 113 p/s466 / 2790 [------------>___________________________________________________________] 16.70% 113 p/s489 / 2790 [------------>___________________________________________________________] 17.53% 113 p/s510 / 2790 [------------->__________________________________________________________] 18.28% 113 p/s533 / 2790 [------------->__________________________________________________________] 19.10% 113 p/s555 / 2790 [-------------->_________________________________________________________] 19.89% 113 p/s578 / 2790 [-------------->_________________________________________________________] 20.72% 113 p/s601 / 2790 [--------------->________________________________________________________] 21.54% 113 p/s624 / 2790 [---------------->_______________________________________________________] 22.37% 113 p/s646 / 2790 [---------------->_______________________________________________________] 23.15% 113 p/s669 / 2790 [----------------->______________________________________________________] 23.98% 113 p/s692 / 2790 [----------------->______________________________________________________] 24.80% 113 p/s715 / 2790 [------------------>_____________________________________________________] 25.63% 113 p/s738 / 2790 [------------------->____________________________________________________] 26.45% 113 p/s761 / 2790 [------------------->____________________________________________________] 27.28% 113 p/s784 / 2790 [-------------------->___________________________________________________] 28.10% 113 p/s807 / 2790 [-------------------->___________________________________________________] 28.92% 113 p/s830 / 2790 [--------------------->__________________________________________________] 29.75% 114 p/s853 / 2790 [---------------------->_________________________________________________] 30.57% 114 p/s875 / 2790 [---------------------->_________________________________________________] 31.36% 114 p/s898 / 2790 [----------------------->________________________________________________] 32.19% 114 p/s921 / 2790 [----------------------->________________________________________________] 33.01% 114 p/s944 / 2790 [------------------------>_______________________________________________] 33.84% 114 p/s967 / 2790 [------------------------>_______________________________________________] 34.66% 114 p/s990 / 2790 [------------------------->______________________________________________] 35.48% 114 p/s1013 / 2790 [------------------------->_____________________________________________] 36.31% 114 p/s1035 / 2790 [-------------------------->____________________________________________] 37.10% 114 p/s1058 / 2790 [-------------------------->____________________________________________] 37.92% 114 p/s1081 / 2790 [--------------------------->___________________________________________] 38.75% 114 p/s1104 / 2790 [---------------------------->__________________________________________] 39.57% 114 p/s1127 / 2790 [---------------------------->__________________________________________] 40.39% 114 p/s1150 / 2790 [----------------------------->_________________________________________] 41.22% 114 p/s1172 / 2790 [----------------------------->_________________________________________] 42.01% 114 p/s1195 / 2790 [------------------------------>________________________________________] 42.83% 114 p/s1218 / 2790 [------------------------------>________________________________________] 43.66% 114 p/s1241 / 2790 [------------------------------->_______________________________________] 44.48% 114 p/s1264 / 2790 [-------------------------------->______________________________________] 45.30% 114 p/s1287 / 2790 [-------------------------------->______________________________________] 46.13% 114 p/s1310 / 2790 [--------------------------------->_____________________________________] 46.95% 114 p/s1333 / 2790 [--------------------------------->_____________________________________] 47.78% 114 p/s1356 / 2790 [---------------------------------->____________________________________] 48.60% 114 p/s1379 / 2790 [----------------------------------->___________________________________] 49.43% 114 p/s1402 / 2790 [----------------------------------->___________________________________] 50.25% 114 p/s1425 / 2790 [------------------------------------>__________________________________] 51.08% 114 p/s1448 / 2790 [------------------------------------>__________________________________] 51.90% 114 p/s1471 / 2790 [------------------------------------->_________________________________] 52.72% 114 p/s1494 / 2790 [-------------------------------------->________________________________] 53.55% 114 p/s1517 / 2790 [-------------------------------------->________________________________] 54.37% 114 p/s1540 / 2790 [--------------------------------------->_______________________________] 55.20% 114 p/s1563 / 2790 [--------------------------------------->_______________________________] 56.02% 114 p/s1586 / 2790 [---------------------------------------->______________________________] 56.85% 114 p/s1609 / 2790 [---------------------------------------->______________________________] 57.67% 114 p/s1632 / 2790 [----------------------------------------->_____________________________] 58.49% 114 p/s1655 / 2790 [------------------------------------------>____________________________] 59.32% 114 p/s1678 / 2790 [------------------------------------------>____________________________] 60.14% 114 p/s1700 / 2790 [------------------------------------------->___________________________] 60.93% 114 p/s1723 / 2790 [------------------------------------------->___________________________] 61.76% 114 p/s1746 / 2790 [-------------------------------------------->__________________________] 62.58% 114 p/s1769 / 2790 [--------------------------------------------->_________________________] 63.41% 114 p/s1791 / 2790 [--------------------------------------------->_________________________] 64.19% 114 p/s1814 / 2790 [---------------------------------------------->________________________] 65.02% 114 p/s1837 / 2790 [---------------------------------------------->________________________] 65.84% 114 p/s1860 / 2790 [----------------------------------------------->_______________________] 66.67% 114 p/s1883 / 2790 [----------------------------------------------->_______________________] 67.49% 114 p/s1905 / 2790 [------------------------------------------------>______________________] 68.28% 114 p/s1928 / 2790 [------------------------------------------------->_____________________] 69.10% 114 p/s1951 / 2790 [------------------------------------------------->_____________________] 69.93% 114 p/s1974 / 2790 [-------------------------------------------------->____________________] 70.75% 114 p/s1997 / 2790 [-------------------------------------------------->____________________] 71.58% 114 p/s2019 / 2790 [--------------------------------------------------->___________________] 72.37% 114 p/s2042 / 2790 [--------------------------------------------------->___________________] 73.19% 114 p/s2065 / 2790 [---------------------------------------------------->__________________] 74.01% 114 p/s2088 / 2790 [----------------------------------------------------->_________________] 74.84% 114 p/s2110 / 2790 [----------------------------------------------------->_________________] 75.63% 114 p/s2134 / 2790 [------------------------------------------------------>________________] 76.49% 114 p/s2157 / 2790 [------------------------------------------------------>________________] 77.31% 114 p/s2180 / 2790 [------------------------------------------------------->_______________] 78.14% 114 p/s2202 / 2790 [-------------------------------------------------------->______________] 78.92% 114 p/s2225 / 2790 [-------------------------------------------------------->______________] 79.75% 114 p/s2248 / 2790 [--------------------------------------------------------->_____________] 80.57% 114 p/s2271 / 2790 [--------------------------------------------------------->_____________] 81.40% 114 p/s2295 / 2790 [---------------------------------------------------------->____________] 82.26% 114 p/s2317 / 2790 [---------------------------------------------------------->____________] 83.05% 114 p/s2340 / 2790 [----------------------------------------------------------->___________] 83.87% 114 p/s2363 / 2790 [------------------------------------------------------------>__________] 84.70% 114 p/s2386 / 2790 [------------------------------------------------------------>__________] 85.52% 114 p/s2409 / 2790 [------------------------------------------------------------->_________] 86.34% 114 p/s2432 / 2790 [------------------------------------------------------------->_________] 87.17% 114 p/s2455 / 2790 [-------------------------------------------------------------->________] 87.99% 114 p/s2478 / 2790 [--------------------------------------------------------------->_______] 88.82% 114 p/s2500 / 2790 [--------------------------------------------------------------->_______] 89.61% 114 p/s2523 / 2790 [---------------------------------------------------------------->______] 90.43% 114 p/s2546 / 2790 [---------------------------------------------------------------->______] 91.25% 114 p/s2569 / 2790 [----------------------------------------------------------------->_____] 92.08% 114 p/s2592 / 2790 [----------------------------------------------------------------->_____] 92.90% 114 p/s2614 / 2790 [------------------------------------------------------------------>____] 93.69% 114 p/s2637 / 2790 [------------------------------------------------------------------->___] 94.52% 114 p/s2660 / 2790 [------------------------------------------------------------------->___] 95.34% 114 p/s2683 / 2790 [-------------------------------------------------------------------->__] 96.16% 114 p/s2705 / 2790 [-------------------------------------------------------------------->__] 96.95% 114 p/s2728 / 2790 [--------------------------------------------------------------------->_] 97.78% 114 p/s2751 / 2790 [---------------------------------------------------------------------->] 98.60% 114 p/s2773 / 2790 [---------------------------------------------------------------------->] 99.39% 114 p/s2790 / 2790 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-11T02:58:25 - INFO: Parsing 2790 sonar sweeps from /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-11T03:00:09 - 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 /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1"
2026-03-11T03:00:11 - INFO: DataPrep 0.14.0a7
2026-03-11T03:00:11 - INFO: Prepared data will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/processing/data
2026-03-11T03:00:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T03:00:11 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T03:00:11 - INFO: Recording GUID: 27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-11T03:00:11 - INFO: Preparing sonar data...
2026-03-11T03:00:11 - INFO: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T03:00:13 - INFO: Sonar epoch is 2026-02-12 13:45:34.139734+00:00 (1770903934139733644)
2026-03-11T03:00:13 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T03:00:13 - INFO: Sonar range is 0.939120 m
2026-03-11T03:00:13 - INFO: Speed of sound is 1494 m/s
2026-03-11T03:00:13 - INFO: Processing 2789 sweeps...

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2026-03-11T03:00:21 - INFO: Creating sonar sensor alignment track...
2026-03-11T03:00:23 - INFO: Prepared sonar data in 12.3624 s
2026-03-11T03:00:23 - INFO: No IMU data found
2026-03-11T03:00:24 - INFO: DataPrep took 0:00:12.773600
2026-03-11T03:00:24 - INFO: Extracted sonar data in 0:02:23.632299
2026-03-11T03:00:24 - INFO: MSIP3D took 0:02:23.925520