2026-03-12T07:43:44 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:43:44 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-12T07:43:44 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:43:44 - INFO: Found TFD mission for SJ502795 Dep 9
2026-03-12T07:43:44 - INFO: Recording will be processed as MD
2026-03-12T07:43:44 - INFO: Copying assets JSON to output directory...
2026-03-12T07:43:44 - INFO: Preparing counter data...
2026-03-12T07:43:44 - INFO: Interpreting counter as imperial
2026-03-12T07:43:44 - INFO: Preparing size track from assets JSON...
2026-03-12T07:43:44 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:43:44 - INFO: Preparing material track from assets JSON...
2026-03-12T07:43:44 - INFO: Prepared counter data in 0.0225 s
2026-03-12T07:43:44 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 707
21 / 707 [-->__________________________________________________________________________] 2.97% ? p/s42 / 707 [---->________________________________________________________________________] 5.94% ? p/s63 / 707 [------>______________________________________________________________________] 8.91% ? p/s85 / 707 [-------->_________________________________________________________________] 12.02% 107 p/s107 / 707 [----------->_____________________________________________________________] 15.13% 107 p/s128 / 707 [------------->___________________________________________________________] 18.10% 107 p/s149 / 707 [--------------->_________________________________________________________] 21.07% 107 p/s171 / 707 [----------------->_______________________________________________________] 24.19% 107 p/s193 / 707 [------------------->_____________________________________________________] 27.30% 107 p/s214 / 707 [---------------------->__________________________________________________] 30.27% 107 p/s236 / 707 [------------------------>________________________________________________] 33.38% 107 p/s257 / 707 [-------------------------->______________________________________________] 36.35% 107 p/s279 / 707 [---------------------------->____________________________________________] 39.46% 107 p/s301 / 707 [------------------------------->_________________________________________] 42.57% 107 p/s323 / 707 [--------------------------------->_______________________________________] 45.69% 107 p/s344 / 707 [----------------------------------->_____________________________________] 48.66% 107 p/s366 / 707 [------------------------------------->___________________________________] 51.77% 107 p/s387 / 707 [--------------------------------------->_________________________________] 54.74% 107 p/s409 / 707 [------------------------------------------>______________________________] 57.85% 107 p/s431 / 707 [-------------------------------------------->____________________________] 60.96% 107 p/s453 / 707 [---------------------------------------------->__________________________] 64.07% 107 p/s474 / 707 [------------------------------------------------>________________________] 67.04% 107 p/s496 / 707 [--------------------------------------------------->_____________________] 70.16% 107 p/s517 / 707 [----------------------------------------------------->___________________] 73.13% 107 p/s539 / 707 [------------------------------------------------------->_________________] 76.24% 107 p/s561 / 707 [--------------------------------------------------------->_______________] 79.35% 107 p/s583 / 707 [------------------------------------------------------------>____________] 82.46% 107 p/s605 / 707 [-------------------------------------------------------------->__________] 85.57% 107 p/s627 / 707 [---------------------------------------------------------------->________] 88.68% 107 p/s649 / 707 [------------------------------------------------------------------->_____] 91.80% 107 p/s671 / 707 [--------------------------------------------------------------------->___] 94.91% 107 p/s693 / 707 [----------------------------------------------------------------------->_] 98.02% 107 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 112 p/s2026-03-12T07:43:51 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:44:18 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-03-12T07:44:19 - INFO: DataPrep 0.14.0a7
2026-03-12T07:44:19 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-03-12T07:44:19 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:44:19 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:44:19 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-12T07:44:19 - INFO: Preparing sonar data...
2026-03-12T07:44:19 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:44:20 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-03-12T07:44:20 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:44:20 - INFO: Sonar range is 0.939120 m
2026-03-12T07:44:20 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:44:20 - INFO: Processing 707 sweeps...

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2026-03-12T07:44:22 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:44:22 - INFO: Prepared sonar data in 2.5002 s
2026-03-12T07:44:22 - INFO: No IMU data found
2026-03-12T07:44:22 - INFO: DataPrep took 0:00:02.573699
2026-03-12T07:44:22 - INFO: Extracted sonar data in 0:00:37.734868
2026-03-12T07:44:22 - INFO: MSIP3D took 0:00:37.810960