2026-03-12T07:56:43 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:56:43 - INFO: P3D files will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-12T07:56:43 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:56:43 - INFO: Found TFD mission for SJ502828 DEP 519
2026-03-12T07:56:43 - INFO: Recording will be processed as SMD
2026-03-12T07:56:43 - INFO: Copying assets JSON to output directory...
2026-03-12T07:56:43 - INFO: Preparing counter data...
2026-03-12T07:56:43 - INFO: Interpreting counter as imperial
2026-03-12T07:56:43 - INFO: Preparing size track from assets JSON...
2026-03-12T07:56:43 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:56:43 - INFO: Preparing material track from assets JSON...
2026-03-12T07:56:43 - INFO: Prepared counter data in 0.1932 s
2026-03-12T07:56:43 - INFO: Extracting sonar data...
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/SJ502828_DEP_519.tfd
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2393
19 / 2393 [>___________________________________________________________________________] 0.79% ? p/s38 / 2393 [->__________________________________________________________________________] 1.59% ? p/s57 / 2393 [->__________________________________________________________________________] 2.38% ? p/s77 / 2393 [-->________________________________________________________________________] 3.22% 97 p/s96 / 2393 [--->_______________________________________________________________________] 4.01% 97 p/s116 / 2393 [--->______________________________________________________________________] 4.85% 97 p/s134 / 2393 [---->_____________________________________________________________________] 5.60% 97 p/s154 / 2393 [---->_____________________________________________________________________] 6.44% 97 p/s173 / 2393 [----->____________________________________________________________________] 7.23% 97 p/s193 / 2393 [----->____________________________________________________________________] 8.07% 97 p/s212 / 2393 [------>___________________________________________________________________] 8.86% 97 p/s232 / 2393 [------->__________________________________________________________________] 9.69% 97 p/s251 / 2393 [------->_________________________________________________________________] 10.49% 97 p/s271 / 2393 [-------->________________________________________________________________] 11.32% 97 p/s290 / 2393 [-------->________________________________________________________________] 12.12% 97 p/s310 / 2393 [--------->_______________________________________________________________] 12.95% 97 p/s330 / 2393 [---------->______________________________________________________________] 13.79% 97 p/s349 / 2393 [---------->______________________________________________________________] 14.58% 97 p/s369 / 2393 [----------->_____________________________________________________________] 15.42% 97 p/s388 / 2393 [----------->_____________________________________________________________] 16.21% 97 p/s408 / 2393 [------------>____________________________________________________________] 17.05% 97 p/s427 / 2393 [------------->___________________________________________________________] 17.84% 97 p/s446 / 2393 [------------->___________________________________________________________] 18.64% 97 p/s465 / 2393 [-------------->__________________________________________________________] 19.43% 97 p/s484 / 2393 [-------------->__________________________________________________________] 20.23% 97 p/s504 / 2393 [--------------->_________________________________________________________] 21.06% 97 p/s523 / 2393 [--------------->_________________________________________________________] 21.86% 97 p/s542 / 2393 [---------------->________________________________________________________] 22.65% 97 p/s562 / 2393 [----------------->_______________________________________________________] 23.49% 97 p/s581 / 2393 [----------------->_______________________________________________________] 24.28% 97 p/s601 / 2393 [------------------>______________________________________________________] 25.11% 97 p/s621 / 2393 [------------------>______________________________________________________] 25.95% 97 p/s640 / 2393 [------------------->_____________________________________________________] 26.74% 97 p/s660 / 2393 [-------------------->____________________________________________________] 27.58% 97 p/s679 / 2393 [-------------------->____________________________________________________] 28.37% 97 p/s699 / 2393 [--------------------->___________________________________________________] 29.21% 97 p/s718 / 2393 [--------------------->___________________________________________________] 30.00% 97 p/s738 / 2393 [---------------------->__________________________________________________] 30.84% 97 p/s757 / 2393 [----------------------->_________________________________________________] 31.63% 97 p/s777 / 2393 [----------------------->_________________________________________________] 32.47% 97 p/s796 / 2393 [------------------------>________________________________________________] 33.26% 97 p/s816 / 2393 [------------------------>________________________________________________] 34.10% 97 p/s836 / 2393 [------------------------->_______________________________________________] 34.94% 97 p/s855 / 2393 [-------------------------->______________________________________________] 35.73% 97 p/s875 / 2393 [-------------------------->______________________________________________] 36.56% 97 p/s894 / 2393 [--------------------------->_____________________________________________] 37.36% 97 p/s914 / 2393 [--------------------------->_____________________________________________] 38.19% 97 p/s928 / 2393 [---------------------------->____________________________________________] 38.78% 97 p/s939 / 2393 [---------------------------->____________________________________________] 39.24% 96 p/s958 / 2393 [----------------------------->___________________________________________] 40.03% 96 p/s976 / 2393 [----------------------------->___________________________________________] 40.79% 96 p/s994 / 2393 [------------------------------>__________________________________________] 41.54% 95 p/s1014 / 2393 [------------------------------>_________________________________________] 42.37% 95 p/s1025 / 2393 [------------------------------>_________________________________________] 42.83% 95 p/s1039 / 2393 [------------------------------->________________________________________] 43.42% 94 p/s1058 / 2393 [------------------------------->________________________________________] 44.21% 94 p/s1074 / 2393 [-------------------------------->_______________________________________] 44.88% 94 p/s1094 / 2393 [-------------------------------->_______________________________________] 45.72% 94 p/s1103 / 2393 [--------------------------------->______________________________________] 46.09% 94 p/s1114 / 2393 [--------------------------------->______________________________________] 46.55% 94 p/s1133 / 2393 [---------------------------------->_____________________________________] 47.35% 92 p/s1149 / 2393 [---------------------------------->_____________________________________] 48.02% 92 p/s1169 / 2393 [----------------------------------->____________________________________] 48.85% 92 p/s1188 / 2393 [----------------------------------->____________________________________] 49.64% 92 p/s1208 / 2393 [------------------------------------>___________________________________] 50.48% 92 p/s1227 / 2393 [------------------------------------>___________________________________] 51.27% 92 p/s1247 / 2393 [------------------------------------->__________________________________] 52.11% 92 p/s1266 / 2393 [-------------------------------------->_________________________________] 52.90% 92 p/s1285 / 2393 [-------------------------------------->_________________________________] 53.70% 92 p/s1305 / 2393 [--------------------------------------->________________________________] 54.53% 93 p/s1324 / 2393 [--------------------------------------->________________________________] 55.33% 93 p/s1344 / 2393 [---------------------------------------->_______________________________] 56.16% 93 p/s1362 / 2393 [---------------------------------------->_______________________________] 56.92% 93 p/s1381 / 2393 [----------------------------------------->______________________________] 57.71% 93 p/s1388 / 2393 [----------------------------------------->______________________________] 58.00% 93 p/s1405 / 2393 [------------------------------------------>_____________________________] 58.71% 91 p/s1425 / 2393 [------------------------------------------>_____________________________] 59.55% 91 p/s1444 / 2393 [------------------------------------------->____________________________] 60.34% 91 p/s1463 / 2393 [-------------------------------------------->___________________________] 61.14% 92 p/s1483 / 2393 [-------------------------------------------->___________________________] 61.97% 92 p/s1503 / 2393 [--------------------------------------------->__________________________] 62.81% 92 p/s1522 / 2393 [--------------------------------------------->__________________________] 63.60% 92 p/s1542 / 2393 [---------------------------------------------->_________________________] 64.44% 92 p/s1561 / 2393 [---------------------------------------------->_________________________] 65.23% 92 p/s1581 / 2393 [----------------------------------------------->________________________] 66.07% 93 p/s1600 / 2393 [------------------------------------------------>_______________________] 66.86% 93 p/s1620 / 2393 [------------------------------------------------>_______________________] 67.70% 93 p/s1640 / 2393 [------------------------------------------------->______________________] 68.53% 93 p/s1659 / 2393 [------------------------------------------------->______________________] 69.33% 93 p/s1679 / 2393 [-------------------------------------------------->_____________________] 70.16% 93 p/s1698 / 2393 [--------------------------------------------------->____________________] 70.96% 93 p/s1717 / 2393 [--------------------------------------------------->____________________] 71.75% 93 p/s1734 / 2393 [---------------------------------------------------->___________________] 72.46% 93 p/s1750 / 2393 [---------------------------------------------------->___________________] 73.13% 93 p/s1768 / 2393 [----------------------------------------------------->__________________] 73.88% 93 p/s1787 / 2393 [----------------------------------------------------->__________________] 74.68% 93 p/s1807 / 2393 [------------------------------------------------------>_________________] 75.51% 93 p/s1822 / 2393 [------------------------------------------------------>_________________] 76.14% 93 p/s1827 / 2393 [------------------------------------------------------>_________________] 76.35% 93 p/s1847 / 2393 [------------------------------------------------------->________________] 77.18% 91 p/s1866 / 2393 [-------------------------------------------------------->_______________] 77.98% 91 p/s1886 / 2393 [-------------------------------------------------------->_______________] 78.81% 91 p/s1906 / 2393 [--------------------------------------------------------->______________] 79.65% 92 p/s1925 / 2393 [--------------------------------------------------------->______________] 80.44% 92 p/s1944 / 2393 [---------------------------------------------------------->_____________] 81.24% 92 p/s1963 / 2393 [----------------------------------------------------------->____________] 82.03% 92 p/s1982 / 2393 [----------------------------------------------------------->____________] 82.82% 92 p/s2002 / 2393 [------------------------------------------------------------>___________] 83.66% 92 p/s2021 / 2393 [------------------------------------------------------------>___________] 84.45% 92 p/s2040 / 2393 [------------------------------------------------------------->__________] 85.25% 92 p/s2059 / 2393 [------------------------------------------------------------->__________] 86.04% 92 p/s2079 / 2393 [-------------------------------------------------------------->_________] 86.88% 93 p/s2098 / 2393 [--------------------------------------------------------------->________] 87.67% 93 p/s2117 / 2393 [--------------------------------------------------------------->________] 88.47% 93 p/s2136 / 2393 [---------------------------------------------------------------->_______] 89.26% 93 p/s2154 / 2393 [---------------------------------------------------------------->_______] 90.01% 93 p/s2174 / 2393 [----------------------------------------------------------------->______] 90.85% 93 p/s2193 / 2393 [----------------------------------------------------------------->______] 91.64% 93 p/s2213 / 2393 [------------------------------------------------------------------>_____] 92.48% 93 p/s2232 / 2393 [------------------------------------------------------------------->____] 93.27% 93 p/s2251 / 2393 [------------------------------------------------------------------->____] 94.07% 93 p/s2271 / 2393 [-------------------------------------------------------------------->___] 94.90% 93 p/s2286 / 2393 [-------------------------------------------------------------------->___] 95.53% 93 p/s2303 / 2393 [--------------------------------------------------------------------->__] 96.24% 93 p/s2322 / 2393 [--------------------------------------------------------------------->__] 97.03% 93 p/s2341 / 2393 [---------------------------------------------------------------------->_] 97.83% 93 p/s2361 / 2393 [----------------------------------------------------------------------->] 98.66% 93 p/s2380 / 2393 [----------------------------------------------------------------------->] 99.46% 93 p/s2393 / 2393 [-----------------------------------------------------------------------] 100.00% 94 p/s2026-03-12T07:57:09 - INFO: Parsing 2393 sonar sweeps from /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:58:47 - 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/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b"
2026-03-12T07:58:49 - INFO: DataPrep 0.14.0a7
2026-03-12T07:58:49 - INFO: Prepared data will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/processing/data
2026-03-12T07:58:49 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:58:49 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:58:49 - INFO: Recording GUID: 4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-12T07:58:49 - INFO: Preparing sonar data...
2026-03-12T07:58:49 - INFO: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:58:51 - INFO: Sonar epoch is 2026-02-22 15:54:25.597311+00:00 (1771775665597311200)
2026-03-12T07:58:51 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:58:51 - INFO: Sonar range is 2.094960 m
2026-03-12T07:58:51 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:58:51 - INFO: Processing 2392 sweeps...

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2026-03-12T07:59:02 - INFO: Prepared sonar data in 13.7328 s
2026-03-12T07:59:02 - INFO: No IMU data found
2026-03-12T07:59:03 - INFO: DataPrep took 0:00:14.106631
2026-03-12T07:59:03 - INFO: Extracted sonar data in 0:02:19.905102
2026-03-12T07:59:03 - INFO: MSIP3D took 0:02:20.389022