2026-03-12T07:49:55 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:49:55 - INFO: P3D files will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-12T07:49:55 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:49:55 - INFO: Found TFD mission for SJ502828 DEP 508
2026-03-12T07:49:55 - INFO: Recording will be processed as MD
2026-03-12T07:49:55 - INFO: Copying assets JSON to output directory...
2026-03-12T07:49:55 - INFO: Preparing counter data...
2026-03-12T07:49:55 - INFO: Interpreting counter as imperial
2026-03-12T07:49:55 - INFO: Preparing size track from assets JSON...
2026-03-12T07:49:55 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:49:55 - INFO: Preparing material track from assets JSON...
2026-03-12T07:49:55 - INFO: Prepared counter data in 0.0416 s
2026-03-12T07:49:55 - 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: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2790
22 / 2790 [>___________________________________________________________________________] 0.79% ? p/s46 / 2790 [->__________________________________________________________________________] 1.65% ? p/s67 / 2790 [->__________________________________________________________________________] 2.40% ? p/s90 / 2790 [-->_______________________________________________________________________] 3.23% 113 p/s112 / 2790 [-->______________________________________________________________________] 4.01% 113 p/s135 / 2790 [--->_____________________________________________________________________] 4.84% 113 p/s158 / 2790 [---->____________________________________________________________________] 5.66% 113 p/s182 / 2790 [---->____________________________________________________________________] 6.52% 113 p/s205 / 2790 [----->___________________________________________________________________] 7.35% 113 p/s228 / 2790 [----->___________________________________________________________________] 8.17% 113 p/s249 / 2790 [------>__________________________________________________________________] 8.92% 113 p/s272 / 2790 [------->_________________________________________________________________] 9.75% 113 p/s293 / 2790 [------->________________________________________________________________] 10.50% 113 p/s315 / 2790 [-------->_______________________________________________________________] 11.29% 113 p/s337 / 2790 [-------->_______________________________________________________________] 12.08% 113 p/s360 / 2790 [--------->______________________________________________________________] 12.90% 113 p/s382 / 2790 [--------->______________________________________________________________] 13.69% 113 p/s405 / 2790 [---------->_____________________________________________________________] 14.52% 113 p/s428 / 2790 [----------->____________________________________________________________] 15.34% 113 p/s450 / 2790 [----------->____________________________________________________________] 16.13% 113 p/s473 / 2790 [------------>___________________________________________________________] 16.95% 113 p/s496 / 2790 [------------>___________________________________________________________] 17.78% 113 p/s518 / 2790 [------------->__________________________________________________________] 18.57% 113 p/s541 / 2790 [------------->__________________________________________________________] 19.39% 113 p/s563 / 2790 [-------------->_________________________________________________________] 20.18% 113 p/s585 / 2790 [--------------->________________________________________________________] 20.97% 113 p/s606 / 2790 [--------------->________________________________________________________] 21.72% 113 p/s629 / 2790 [---------------->_______________________________________________________] 22.54% 113 p/s651 / 2790 [---------------->_______________________________________________________] 23.33% 113 p/s674 / 2790 [----------------->______________________________________________________] 24.16% 113 p/s697 / 2790 [----------------->______________________________________________________] 24.98% 113 p/s719 / 2790 [------------------>_____________________________________________________] 25.77% 113 p/s742 / 2790 [------------------->____________________________________________________] 26.59% 113 p/s765 / 2790 [------------------->____________________________________________________] 27.42% 113 p/s788 / 2790 [-------------------->___________________________________________________] 28.24% 113 p/s811 / 2790 [-------------------->___________________________________________________] 29.07% 113 p/s834 / 2790 [--------------------->__________________________________________________] 29.89% 113 p/s857 / 2790 [---------------------->_________________________________________________] 30.72% 113 p/s880 / 2790 [---------------------->_________________________________________________] 31.54% 113 p/s902 / 2790 [----------------------->________________________________________________] 32.33% 113 p/s925 / 2790 [----------------------->________________________________________________] 33.15% 113 p/s948 / 2790 [------------------------>_______________________________________________] 33.98% 113 p/s971 / 2790 [------------------------->______________________________________________] 34.80% 113 p/s994 / 2790 [------------------------->______________________________________________] 35.63% 113 p/s1017 / 2790 [------------------------->_____________________________________________] 36.45% 113 p/s1040 / 2790 [-------------------------->____________________________________________] 37.28% 113 p/s1063 / 2790 [--------------------------->___________________________________________] 38.10% 113 p/s1085 / 2790 [--------------------------->___________________________________________] 38.89% 113 p/s1108 / 2790 [---------------------------->__________________________________________] 39.71% 113 p/s1124 / 2790 [---------------------------->__________________________________________] 40.29% 113 p/s1147 / 2790 [----------------------------->_________________________________________] 41.11% 113 p/s1170 / 2790 [----------------------------->_________________________________________] 41.94% 113 p/s1193 / 2790 [------------------------------>________________________________________] 42.76% 113 p/s1214 / 2790 [------------------------------>________________________________________] 43.51% 113 p/s1229 / 2790 [------------------------------->_______________________________________] 44.05% 112 p/s1252 / 2790 [------------------------------->_______________________________________] 44.87% 112 p/s1267 / 2790 [-------------------------------->______________________________________] 45.41% 112 p/s1280 / 2790 [-------------------------------->______________________________________] 45.88% 110 p/s1303 / 2790 [--------------------------------->_____________________________________] 46.70% 110 p/s1326 / 2790 [--------------------------------->_____________________________________] 47.53% 110 p/s1347 / 2790 [---------------------------------->____________________________________] 48.28% 110 p/s1359 / 2790 [---------------------------------->____________________________________] 48.71% 110 p/s1381 / 2790 [----------------------------------->___________________________________] 49.50% 110 p/s1403 / 2790 [----------------------------------->___________________________________] 50.29% 109 p/s1423 / 2790 [------------------------------------>__________________________________] 51.00% 109 p/s1443 / 2790 [------------------------------------>__________________________________] 51.72% 109 p/s1466 / 2790 [------------------------------------->_________________________________] 52.54% 109 p/s1485 / 2790 [------------------------------------->_________________________________] 53.23% 109 p/s1504 / 2790 [-------------------------------------->________________________________] 53.91% 109 p/s1527 / 2790 [-------------------------------------->________________________________] 54.73% 108 p/s1549 / 2790 [--------------------------------------->_______________________________] 55.52% 108 p/s1572 / 2790 [---------------------------------------->______________________________] 56.34% 108 p/s1595 / 2790 [---------------------------------------->______________________________] 57.17% 109 p/s1618 / 2790 [----------------------------------------->_____________________________] 57.99% 109 p/s1629 / 2790 [----------------------------------------->_____________________________] 58.39% 109 p/s1652 / 2790 [------------------------------------------>____________________________] 59.21% 108 p/s1675 / 2790 [------------------------------------------>____________________________] 60.04% 108 p/s1698 / 2790 [------------------------------------------->___________________________] 60.86% 108 p/s1721 / 2790 [------------------------------------------->___________________________] 61.68% 108 p/s1743 / 2790 [-------------------------------------------->__________________________] 62.47% 108 p/s1766 / 2790 [-------------------------------------------->__________________________] 63.30% 108 p/s1788 / 2790 [--------------------------------------------->_________________________] 64.09% 108 p/s1809 / 2790 [---------------------------------------------->________________________] 64.84% 108 p/s1832 / 2790 [---------------------------------------------->________________________] 65.66% 108 p/s1855 / 2790 [----------------------------------------------->_______________________] 66.49% 109 p/s1878 / 2790 [----------------------------------------------->_______________________] 67.31% 109 p/s1901 / 2790 [------------------------------------------------>______________________] 68.14% 109 p/s1924 / 2790 [------------------------------------------------>______________________] 68.96% 109 p/s1947 / 2790 [------------------------------------------------->_____________________] 69.78% 109 p/s1970 / 2790 [-------------------------------------------------->____________________] 70.61% 109 p/s1993 / 2790 [-------------------------------------------------->____________________] 71.43% 109 p/s2014 / 2790 [--------------------------------------------------->___________________] 72.19% 109 p/s2036 / 2790 [--------------------------------------------------->___________________] 72.97% 109 p/s2058 / 2790 [---------------------------------------------------->__________________] 73.76% 109 p/s2080 / 2790 [---------------------------------------------------->__________________] 74.55% 109 p/s2103 / 2790 [----------------------------------------------------->_________________] 75.38% 109 p/s2125 / 2790 [------------------------------------------------------>________________] 76.16% 110 p/s2147 / 2790 [------------------------------------------------------>________________] 76.95% 110 p/s2170 / 2790 [------------------------------------------------------->_______________] 77.78% 110 p/s2193 / 2790 [------------------------------------------------------->_______________] 78.60% 110 p/s2215 / 2790 [-------------------------------------------------------->______________] 79.39% 110 p/s2238 / 2790 [-------------------------------------------------------->______________] 80.22% 110 p/s2261 / 2790 [--------------------------------------------------------->_____________] 81.04% 110 p/s2283 / 2790 [---------------------------------------------------------->____________] 81.83% 110 p/s2304 / 2790 [---------------------------------------------------------->____________] 82.58% 110 p/s2327 / 2790 [----------------------------------------------------------->___________] 83.41% 110 p/s2347 / 2790 [----------------------------------------------------------->___________] 84.12% 110 p/s2369 / 2790 [------------------------------------------------------------>__________] 84.91% 110 p/s2392 / 2790 [------------------------------------------------------------>__________] 85.73% 110 p/s2415 / 2790 [------------------------------------------------------------->_________] 86.56% 110 p/s2438 / 2790 [-------------------------------------------------------------->________] 87.38% 110 p/s2461 / 2790 [-------------------------------------------------------------->________] 88.21% 110 p/s2483 / 2790 [--------------------------------------------------------------->_______] 89.00% 110 p/s2506 / 2790 [--------------------------------------------------------------->_______] 89.82% 110 p/s2529 / 2790 [---------------------------------------------------------------->______] 90.65% 110 p/s2552 / 2790 [---------------------------------------------------------------->______] 91.47% 110 p/s2575 / 2790 [----------------------------------------------------------------->_____] 92.29% 110 p/s2597 / 2790 [------------------------------------------------------------------>____] 93.08% 111 p/s2620 / 2790 [------------------------------------------------------------------>____] 93.91% 111 p/s2643 / 2790 [------------------------------------------------------------------->___] 94.73% 111 p/s2666 / 2790 [------------------------------------------------------------------->___] 95.56% 111 p/s2688 / 2790 [-------------------------------------------------------------------->__] 96.34% 111 p/s2710 / 2790 [-------------------------------------------------------------------->__] 97.13% 111 p/s2733 / 2790 [--------------------------------------------------------------------->_] 97.96% 111 p/s2741 / 2790 [--------------------------------------------------------------------->_] 98.24% 111 p/s2763 / 2790 [---------------------------------------------------------------------->] 99.03% 111 p/s2786 / 2790 [---------------------------------------------------------------------->] 99.86% 109 p/s2790 / 2790 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-12T07:50:20 - INFO: Parsing 2790 sonar sweeps from /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:52:12 - 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"
2026-03-12T07:52:14 - INFO: DataPrep 0.14.0a7
2026-03-12T07:52:14 - INFO: Prepared data will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/processing/data
2026-03-12T07:52:14 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:52:14 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:52:14 - INFO: Recording GUID: 27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-12T07:52:14 - INFO: Preparing sonar data...
2026-03-12T07:52:14 - INFO: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:52:16 - INFO: Sonar epoch is 2026-02-12 13:45:34.139734+00:00 (1770903934139733644)
2026-03-12T07:52:16 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:52:16 - INFO: Sonar range is 0.939120 m
2026-03-12T07:52:16 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:52:16 - INFO: Processing 2789 sweeps...

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2026-03-12T07:52:24 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:52:27 - INFO: Prepared sonar data in 13.0200 s
2026-03-12T07:52:27 - INFO: No IMU data found
2026-03-12T07:52:27 - INFO: DataPrep took 0:00:13.404417
2026-03-12T07:52:27 - INFO: Extracted sonar data in 0:02:32.169239
2026-03-12T07:52:27 - INFO: MSIP3D took 0:02:32.474538