2026-03-12T07:55:28 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:55:28 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-12T07:55:28 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:55:28 - INFO: Found TFD mission for SJ502828 DEP 514
2026-03-12T07:55:28 - INFO: Recording will be processed as SMD
2026-03-12T07:55:28 - INFO: Copying assets JSON to output directory...
2026-03-12T07:55:28 - INFO: Preparing counter data...
2026-03-12T07:55:28 - INFO: Interpreting counter as imperial
2026-03-12T07:55:29 - INFO: Preparing size track from assets JSON...
2026-03-12T07:55:29 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:55:29 - INFO: Preparing material track from assets JSON...
2026-03-12T07:55:29 - INFO: Prepared counter data in 0.1297 s
2026-03-12T07:55:29 - INFO: Extracting sonar data...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1806
18 / 1806 [>___________________________________________________________________________] 1.00% ? p/s38 / 1806 [->__________________________________________________________________________] 2.10% ? p/s46 / 1806 [->__________________________________________________________________________] 2.55% ? p/s61 / 1806 [-->________________________________________________________________________] 3.38% 72 p/s81 / 1806 [--->_______________________________________________________________________] 4.49% 72 p/s100 / 1806 [---->_____________________________________________________________________] 5.54% 72 p/s119 / 1806 [---->_____________________________________________________________________] 6.59% 73 p/s138 / 1806 [----->____________________________________________________________________] 7.64% 73 p/s158 / 1806 [------>___________________________________________________________________] 8.75% 73 p/s177 / 1806 [------->__________________________________________________________________] 9.80% 75 p/s197 / 1806 [------->_________________________________________________________________] 10.91% 75 p/s215 / 1806 [-------->________________________________________________________________] 11.90% 75 p/s235 / 1806 [--------->_______________________________________________________________] 13.01% 76 p/s254 / 1806 [---------->______________________________________________________________] 14.06% 76 p/s273 / 1806 [----------->_____________________________________________________________] 15.12% 76 p/s293 / 1806 [----------->_____________________________________________________________] 16.22% 78 p/s312 / 1806 [------------>____________________________________________________________] 17.28% 78 p/s332 / 1806 [------------->___________________________________________________________] 18.38% 78 p/s351 / 1806 [-------------->__________________________________________________________] 19.44% 79 p/s371 / 1806 [-------------->__________________________________________________________] 20.54% 79 p/s390 / 1806 [--------------->_________________________________________________________] 21.59% 79 p/s410 / 1806 [---------------->________________________________________________________] 22.70% 80 p/s429 / 1806 [----------------->_______________________________________________________] 23.75% 80 p/s448 / 1806 [------------------>______________________________________________________] 24.81% 80 p/s468 / 1806 [------------------>______________________________________________________] 25.91% 81 p/s487 / 1806 [------------------->_____________________________________________________] 26.97% 81 p/s506 / 1806 [-------------------->____________________________________________________] 28.02% 81 p/s526 / 1806 [--------------------->___________________________________________________] 29.13% 82 p/s545 / 1806 [---------------------->__________________________________________________] 30.18% 82 p/s565 / 1806 [---------------------->__________________________________________________] 31.28% 82 p/s584 / 1806 [----------------------->_________________________________________________] 32.34% 83 p/s603 / 1806 [------------------------>________________________________________________] 33.39% 83 p/s623 / 1806 [------------------------->_______________________________________________] 34.50% 83 p/s642 / 1806 [------------------------->_______________________________________________] 35.55% 84 p/s662 / 1806 [-------------------------->______________________________________________] 36.66% 84 p/s681 / 1806 [--------------------------->_____________________________________________] 37.71% 84 p/s701 / 1806 [---------------------------->____________________________________________] 38.82% 85 p/s720 / 1806 [----------------------------->___________________________________________] 39.87% 85 p/s740 / 1806 [----------------------------->___________________________________________] 40.97% 85 p/s759 / 1806 [------------------------------>__________________________________________] 42.03% 86 p/s778 / 1806 [------------------------------->_________________________________________] 43.08% 86 p/s798 / 1806 [-------------------------------->________________________________________] 44.19% 86 p/s817 / 1806 [--------------------------------->_______________________________________] 45.24% 86 p/s837 / 1806 [--------------------------------->_______________________________________] 46.35% 86 p/s856 / 1806 [---------------------------------->______________________________________] 47.40% 86 p/s876 / 1806 [----------------------------------->_____________________________________] 48.50% 87 p/s895 / 1806 [------------------------------------>____________________________________] 49.56% 87 p/s915 / 1806 [------------------------------------>____________________________________] 50.66% 87 p/s934 / 1806 [------------------------------------->___________________________________] 51.72% 88 p/s953 / 1806 [-------------------------------------->__________________________________] 52.77% 88 p/s973 / 1806 [--------------------------------------->_________________________________] 53.88% 88 p/s992 / 1806 [---------------------------------------->________________________________] 54.93% 88 p/s1012 / 1806 [---------------------------------------->_______________________________] 56.04% 88 p/s1030 / 1806 [----------------------------------------->______________________________] 57.03% 88 p/s1050 / 1806 [----------------------------------------->______________________________] 58.14% 89 p/s1069 / 1806 [------------------------------------------>_____________________________] 59.19% 89 p/s1089 / 1806 [------------------------------------------->____________________________] 60.30% 89 p/s1108 / 1806 [-------------------------------------------->___________________________] 61.35% 89 p/s1128 / 1806 [-------------------------------------------->___________________________] 62.46% 89 p/s1147 / 1806 [--------------------------------------------->__________________________] 63.51% 89 p/s1167 / 1806 [---------------------------------------------->_________________________] 64.62% 90 p/s1187 / 1806 [----------------------------------------------->________________________] 65.73% 90 p/s1206 / 1806 [------------------------------------------------>_______________________] 66.78% 90 p/s1226 / 1806 [------------------------------------------------>_______________________] 67.88% 90 p/s1245 / 1806 [------------------------------------------------->______________________] 68.94% 90 p/s1265 / 1806 [-------------------------------------------------->_____________________] 70.04% 90 p/s1284 / 1806 [--------------------------------------------------->____________________] 71.10% 91 p/s1304 / 1806 [--------------------------------------------------->____________________] 72.20% 91 p/s1323 / 1806 [---------------------------------------------------->___________________] 73.26% 91 p/s1343 / 1806 [----------------------------------------------------->__________________] 74.36% 91 p/s1362 / 1806 [------------------------------------------------------>_________________] 75.42% 91 p/s1382 / 1806 [------------------------------------------------------->________________] 76.52% 91 p/s1401 / 1806 [------------------------------------------------------->________________] 77.57% 92 p/s1420 / 1806 [-------------------------------------------------------->_______________] 78.63% 92 p/s1440 / 1806 [--------------------------------------------------------->______________] 79.73% 92 p/s1459 / 1806 [---------------------------------------------------------->_____________] 80.79% 92 p/s1479 / 1806 [---------------------------------------------------------->_____________] 81.89% 92 p/s1498 / 1806 [----------------------------------------------------------->____________] 82.95% 92 p/s1518 / 1806 [------------------------------------------------------------>___________] 84.05% 92 p/s1538 / 1806 [------------------------------------------------------------->__________] 85.16% 92 p/s1557 / 1806 [-------------------------------------------------------------->_________] 86.21% 92 p/s1575 / 1806 [-------------------------------------------------------------->_________] 87.21% 93 p/s1595 / 1806 [--------------------------------------------------------------->________] 88.32% 93 p/s1614 / 1806 [---------------------------------------------------------------->_______] 89.37% 93 p/s1633 / 1806 [----------------------------------------------------------------->______] 90.42% 93 p/s1652 / 1806 [----------------------------------------------------------------->______] 91.47% 93 p/s1672 / 1806 [------------------------------------------------------------------>_____] 92.58% 93 p/s1690 / 1806 [------------------------------------------------------------------->____] 93.58% 93 p/s1709 / 1806 [-------------------------------------------------------------------->___] 94.63% 93 p/s1728 / 1806 [-------------------------------------------------------------------->___] 95.68% 93 p/s1748 / 1806 [--------------------------------------------------------------------->__] 96.79% 93 p/s1767 / 1806 [---------------------------------------------------------------------->_] 97.84% 93 p/s1787 / 1806 [----------------------------------------------------------------------->] 98.95% 93 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-12T07:55:47 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:57:01 - 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 /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-03-12T07:57:03 - INFO: DataPrep 0.14.0a7
2026-03-12T07:57:03 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-03-12T07:57:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:57:03 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:57:03 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-12T07:57:03 - INFO: Preparing sonar data...
2026-03-12T07:57:03 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:57:06 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-03-12T07:57:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:57:06 - INFO: Sonar range is 1.589280 m
2026-03-12T07:57:06 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:57:06 - INFO: Processing 1806 sweeps...

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2026-03-12T07:57:13 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:57:15 - INFO: Prepared sonar data in 12.2644 s
2026-03-12T07:57:15 - INFO: No IMU data found
2026-03-12T07:57:15 - INFO: DataPrep took 0:00:12.587639
2026-03-12T07:57:16 - INFO: Extracted sonar data in 0:01:46.973677
2026-03-12T07:57:16 - INFO: MSIP3D took 0:01:47.325592