2026-03-12T07:49:52 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:49:52 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-12T07:49:52 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:49:52 - INFO: Found TFD mission for SJ502795 Dep 1
2026-03-12T07:49:52 - INFO: Recording will be processed as MD
2026-03-12T07:49:52 - INFO: Copying assets JSON to output directory...
2026-03-12T07:49:52 - INFO: Preparing counter data...
2026-03-12T07:49:52 - INFO: Interpreting counter as imperial
2026-03-12T07:49:52 - INFO: Preparing size track from assets JSON...
2026-03-12T07:49:52 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:49:52 - INFO: Preparing material track from assets JSON...
2026-03-12T07:49:52 - INFO: Prepared counter data in 0.0328 s
2026-03-12T07:49:52 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 1895
22 / 1895 [>___________________________________________________________________________] 1.16% ? p/s44 / 1895 [->__________________________________________________________________________] 2.32% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s89 / 1895 [--->______________________________________________________________________] 4.70% 112 p/s96 / 1895 [--->______________________________________________________________________] 5.07% 105 p/s109 / 1895 [---->____________________________________________________________________] 5.75% 105 p/s131 / 1895 [----->___________________________________________________________________] 6.91% 105 p/s153 / 1895 [----->___________________________________________________________________] 8.07% 105 p/s176 / 1895 [------>__________________________________________________________________] 9.29% 105 p/s198 / 1895 [------->________________________________________________________________] 10.45% 105 p/s221 / 1895 [-------->_______________________________________________________________] 11.66% 106 p/s244 / 1895 [--------->______________________________________________________________] 12.88% 106 p/s265 / 1895 [---------->_____________________________________________________________] 13.98% 106 p/s288 / 1895 [---------->_____________________________________________________________] 15.20% 106 p/s310 / 1895 [----------->____________________________________________________________] 16.36% 106 p/s333 / 1895 [------------>___________________________________________________________] 17.57% 106 p/s355 / 1895 [------------->__________________________________________________________] 18.73% 107 p/s378 / 1895 [-------------->_________________________________________________________] 19.95% 107 p/s401 / 1895 [--------------->________________________________________________________] 21.16% 107 p/s423 / 1895 [---------------->_______________________________________________________] 22.32% 107 p/s446 / 1895 [---------------->_______________________________________________________] 23.54% 107 p/s468 / 1895 [----------------->______________________________________________________] 24.70% 107 p/s490 / 1895 [------------------>_____________________________________________________] 25.86% 107 p/s512 / 1895 [------------------->____________________________________________________] 27.02% 107 p/s534 / 1895 [-------------------->___________________________________________________] 28.18% 107 p/s557 / 1895 [--------------------->__________________________________________________] 29.39% 108 p/s580 / 1895 [---------------------->_________________________________________________] 30.61% 108 p/s603 / 1895 [---------------------->_________________________________________________] 31.82% 108 p/s626 / 1895 [----------------------->________________________________________________] 33.03% 108 p/s649 / 1895 [------------------------>_______________________________________________] 34.25% 108 p/s672 / 1895 [------------------------->______________________________________________] 35.46% 108 p/s695 / 1895 [-------------------------->_____________________________________________] 36.68% 108 p/s718 / 1895 [--------------------------->____________________________________________] 37.89% 108 p/s741 / 1895 [---------------------------->___________________________________________] 39.10% 108 p/s763 / 1895 [---------------------------->___________________________________________] 40.26% 109 p/s786 / 1895 [----------------------------->__________________________________________] 41.48% 109 p/s809 / 1895 [------------------------------>_________________________________________] 42.69% 109 p/s832 / 1895 [------------------------------->________________________________________] 43.91% 109 p/s855 / 1895 [-------------------------------->_______________________________________] 45.12% 109 p/s878 / 1895 [--------------------------------->______________________________________] 46.33% 109 p/s901 / 1895 [---------------------------------->_____________________________________] 47.55% 110 p/s924 / 1895 [----------------------------------->____________________________________] 48.76% 110 p/s947 / 1895 [----------------------------------->____________________________________] 49.97% 110 p/s970 / 1895 [------------------------------------>___________________________________] 51.19% 110 p/s993 / 1895 [------------------------------------->__________________________________] 52.40% 110 p/s1016 / 1895 [-------------------------------------->________________________________] 53.61% 110 p/s1037 / 1895 [-------------------------------------->________________________________] 54.72% 110 p/s1060 / 1895 [--------------------------------------->_______________________________] 55.94% 110 p/s1083 / 1895 [---------------------------------------->______________________________] 57.15% 110 p/s1106 / 1895 [----------------------------------------->_____________________________] 58.36% 110 p/s1129 / 1895 [------------------------------------------>____________________________] 59.58% 110 p/s1152 / 1895 [------------------------------------------->___________________________] 60.79% 110 p/s1174 / 1895 [------------------------------------------->___________________________] 61.95% 111 p/s1197 / 1895 [-------------------------------------------->__________________________] 63.17% 111 p/s1220 / 1895 [--------------------------------------------->_________________________] 64.38% 111 p/s1242 / 1895 [---------------------------------------------->________________________] 65.54% 111 p/s1265 / 1895 [----------------------------------------------->_______________________] 66.75% 111 p/s1287 / 1895 [------------------------------------------------>______________________] 67.92% 111 p/s1310 / 1895 [------------------------------------------------->_____________________] 69.13% 111 p/s1333 / 1895 [------------------------------------------------->_____________________] 70.34% 111 p/s1356 / 1895 [-------------------------------------------------->____________________] 71.56% 111 p/s1378 / 1895 [--------------------------------------------------->___________________] 72.72% 111 p/s1401 / 1895 [---------------------------------------------------->__________________] 73.93% 111 p/s1424 / 1895 [----------------------------------------------------->_________________] 75.15% 111 p/s1447 / 1895 [------------------------------------------------------>________________] 76.36% 111 p/s1470 / 1895 [------------------------------------------------------->_______________] 77.57% 111 p/s1493 / 1895 [------------------------------------------------------->_______________] 78.79% 111 p/s1516 / 1895 [-------------------------------------------------------->______________] 80.00% 112 p/s1539 / 1895 [--------------------------------------------------------->_____________] 81.21% 112 p/s1561 / 1895 [---------------------------------------------------------->____________] 82.37% 112 p/s1584 / 1895 [----------------------------------------------------------->___________] 83.59% 112 p/s1607 / 1895 [------------------------------------------------------------>__________] 84.80% 112 p/s1630 / 1895 [------------------------------------------------------------->_________] 86.02% 112 p/s1653 / 1895 [------------------------------------------------------------->_________] 87.23% 112 p/s1676 / 1895 [-------------------------------------------------------------->________] 88.44% 112 p/s1698 / 1895 [--------------------------------------------------------------->_______] 89.60% 112 p/s1721 / 1895 [---------------------------------------------------------------->______] 90.82% 112 p/s1744 / 1895 [----------------------------------------------------------------->_____] 92.03% 112 p/s1767 / 1895 [------------------------------------------------------------------>____] 93.25% 112 p/s1790 / 1895 [------------------------------------------------------------------->___] 94.46% 112 p/s1813 / 1895 [------------------------------------------------------------------->___] 95.67% 112 p/s1836 / 1895 [-------------------------------------------------------------------->__] 96.89% 112 p/s1859 / 1895 [--------------------------------------------------------------------->_] 98.10% 112 p/s1881 / 1895 [---------------------------------------------------------------------->] 99.26% 112 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 109 p/s2026-03-12T07:50:09 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:51:21 - 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/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-03-12T07:51:22 - INFO: DataPrep 0.14.0a7
2026-03-12T07:51:22 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-03-12T07:51:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:51:22 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:51:22 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-12T07:51:22 - INFO: Preparing sonar data...
2026-03-12T07:51:22 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:51:24 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-03-12T07:51:24 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:51:24 - INFO: Sonar range is 0.939120 m
2026-03-12T07:51:24 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:51:24 - INFO: Processing 1894 sweeps...

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2026-03-12T07:51:28 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:51:28 - INFO: Prepared sonar data in 6.0535 s
2026-03-12T07:51:28 - INFO: No IMU data found
2026-03-12T07:51:28 - INFO: DataPrep took 0:00:06.228793
2026-03-12T07:51:29 - INFO: Extracted sonar data in 0:01:36.744540
2026-03-12T07:51:29 - INFO: MSIP3D took 0:01:36.928954