2026-03-12T07:51:17 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:51:17 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-12T07:51:17 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:51:17 - INFO: Found TFD mission for SJ502828 DEP 517
2026-03-12T07:51:17 - INFO: Recording will be processed as SMD
2026-03-12T07:51:17 - INFO: Copying assets JSON to output directory...
2026-03-12T07:51:17 - INFO: Preparing counter data...
2026-03-12T07:51:17 - INFO: Interpreting counter as imperial
2026-03-12T07:51:17 - INFO: Preparing size track from assets JSON...
2026-03-12T07:51:17 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:51:17 - INFO: Preparing material track from assets JSON...
2026-03-12T07:51:17 - INFO: Prepared counter data in 0.1895 s
2026-03-12T07:51:17 - INFO: Extracting sonar data...
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/SJ502828_DEP_517.tfd
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1337
18 / 1337 [->__________________________________________________________________________] 1.35% ? p/s38 / 1337 [-->_________________________________________________________________________] 2.84% ? p/s57 / 1337 [--->________________________________________________________________________] 4.26% ? p/s76 / 1337 [---->______________________________________________________________________] 5.68% 97 p/s96 / 1337 [----->_____________________________________________________________________] 7.18% 97 p/s115 / 1337 [------>___________________________________________________________________] 8.60% 97 p/s134 / 1337 [------->_________________________________________________________________] 10.02% 97 p/s153 / 1337 [-------->________________________________________________________________] 11.44% 97 p/s173 / 1337 [--------->_______________________________________________________________] 12.94% 97 p/s192 / 1337 [---------->______________________________________________________________] 14.36% 97 p/s211 / 1337 [----------->_____________________________________________________________] 15.78% 97 p/s231 / 1337 [------------>____________________________________________________________] 17.28% 97 p/s250 / 1337 [------------->___________________________________________________________] 18.70% 97 p/s269 / 1337 [-------------->__________________________________________________________] 20.12% 97 p/s289 / 1337 [--------------->_________________________________________________________] 21.62% 97 p/s308 / 1337 [---------------->________________________________________________________] 23.04% 97 p/s328 / 1337 [----------------->_______________________________________________________] 24.53% 97 p/s347 / 1337 [------------------>______________________________________________________] 25.95% 97 p/s366 / 1337 [------------------->_____________________________________________________] 27.37% 97 p/s386 / 1337 [--------------------->___________________________________________________] 28.87% 97 p/s405 / 1337 [---------------------->__________________________________________________] 30.29% 97 p/s425 / 1337 [----------------------->_________________________________________________] 31.79% 97 p/s444 / 1337 [------------------------>________________________________________________] 33.21% 97 p/s464 / 1337 [------------------------->_______________________________________________] 34.70% 97 p/s483 / 1337 [-------------------------->______________________________________________] 36.13% 97 p/s503 / 1337 [--------------------------->_____________________________________________] 37.62% 97 p/s522 / 1337 [---------------------------->____________________________________________] 39.04% 97 p/s541 / 1337 [----------------------------->___________________________________________] 40.46% 97 p/s560 / 1337 [------------------------------>__________________________________________] 41.88% 97 p/s577 / 1337 [------------------------------->_________________________________________] 43.16% 97 p/s597 / 1337 [-------------------------------->________________________________________] 44.65% 97 p/s616 / 1337 [--------------------------------->_______________________________________] 46.07% 97 p/s636 / 1337 [---------------------------------->______________________________________] 47.57% 97 p/s655 / 1337 [----------------------------------->_____________________________________] 48.99% 97 p/s675 / 1337 [------------------------------------>____________________________________] 50.49% 97 p/s694 / 1337 [------------------------------------->___________________________________] 51.91% 97 p/s714 / 1337 [-------------------------------------->__________________________________] 53.40% 97 p/s733 / 1337 [---------------------------------------->________________________________] 54.82% 97 p/s752 / 1337 [----------------------------------------->_______________________________] 56.25% 97 p/s772 / 1337 [------------------------------------------>______________________________] 57.74% 97 p/s791 / 1337 [------------------------------------------->_____________________________] 59.16% 97 p/s811 / 1337 [-------------------------------------------->____________________________] 60.66% 97 p/s830 / 1337 [--------------------------------------------->___________________________] 62.08% 97 p/s850 / 1337 [---------------------------------------------->__________________________] 63.58% 97 p/s869 / 1337 [----------------------------------------------->_________________________] 65.00% 97 p/s889 / 1337 [------------------------------------------------>________________________] 66.49% 97 p/s908 / 1337 [------------------------------------------------->_______________________] 67.91% 97 p/s927 / 1337 [-------------------------------------------------->______________________] 69.33% 97 p/s947 / 1337 [--------------------------------------------------->_____________________] 70.83% 97 p/s966 / 1337 [---------------------------------------------------->____________________] 72.25% 97 p/s986 / 1337 [----------------------------------------------------->___________________] 73.75% 97 p/s1005 / 1337 [------------------------------------------------------>_________________] 75.17% 97 p/s1024 / 1337 [------------------------------------------------------->________________] 76.59% 97 p/s1044 / 1337 [-------------------------------------------------------->_______________] 78.09% 97 p/s1063 / 1337 [--------------------------------------------------------->______________] 79.51% 97 p/s1082 / 1337 [---------------------------------------------------------->_____________] 80.93% 97 p/s1102 / 1337 [----------------------------------------------------------->____________] 82.42% 97 p/s1121 / 1337 [------------------------------------------------------------>___________] 83.84% 97 p/s1141 / 1337 [------------------------------------------------------------->__________] 85.34% 97 p/s1160 / 1337 [-------------------------------------------------------------->_________] 86.76% 97 p/s1180 / 1337 [--------------------------------------------------------------->________] 88.26% 97 p/s1199 / 1337 [---------------------------------------------------------------->_______] 89.68% 97 p/s1219 / 1337 [----------------------------------------------------------------->______] 91.17% 97 p/s1238 / 1337 [------------------------------------------------------------------>_____] 92.60% 97 p/s1258 / 1337 [------------------------------------------------------------------->____] 94.09% 97 p/s1278 / 1337 [-------------------------------------------------------------------->___] 95.59% 97 p/s1297 / 1337 [--------------------------------------------------------------------->__] 97.01% 97 p/s1317 / 1337 [---------------------------------------------------------------------->_] 98.50% 97 p/s1336 / 1337 [----------------------------------------------------------------------->] 99.93% 97 p/s1337 / 1337 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-12T07:51:31 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:52:28 - 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/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f"
2026-03-12T07:52:29 - INFO: DataPrep 0.14.0a7
2026-03-12T07:52:29 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-03-12T07:52:29 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:52:29 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:52:29 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-12T07:52:29 - INFO: Preparing sonar data...
2026-03-12T07:52:29 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:52:30 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-03-12T07:52:30 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:52:30 - INFO: Sonar range is 2.094960 m
2026-03-12T07:52:30 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:52:30 - INFO: Processing 1337 sweeps...

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2026-03-12T07:52:34 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:52:36 - INFO: Prepared sonar data in 6.5129 s
2026-03-12T07:52:36 - INFO: No IMU data found
2026-03-12T07:52:36 - INFO: DataPrep took 0:00:06.711993
2026-03-12T07:52:36 - INFO: Extracted sonar data in 0:01:18.540481
2026-03-12T07:52:36 - INFO: MSIP3D took 0:01:18.845785