2026-03-12T07:51:43 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:51:43 - INFO: P3D files will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223
2026-03-12T07:51:44 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:51:44 - INFO: Found TFD mission for SJ502828 DEP 520
2026-03-12T07:51:44 - INFO: Recording will be processed as SMD
2026-03-12T07:51:44 - INFO: Copying assets JSON to output directory...
2026-03-12T07:51:44 - INFO: Preparing counter data...
2026-03-12T07:51:44 - INFO: Interpreting counter as imperial
2026-03-12T07:51:44 - INFO: Preparing size track from assets JSON...
2026-03-12T07:51:44 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:51:44 - INFO: Preparing material track from assets JSON...
2026-03-12T07:51:44 - INFO: Prepared counter data in 0.1883 s
2026-03-12T07:51:44 - INFO: Extracting sonar data...
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/SJ502828_DEP_520.tfd
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Getting track SONAR
Number of frames: 1457
18 / 1457 [>___________________________________________________________________________] 1.24% ? p/s38 / 1457 [->__________________________________________________________________________] 2.61% ? p/s57 / 1457 [-->_________________________________________________________________________] 3.91% ? p/s76 / 1457 [--->_______________________________________________________________________] 5.22% 97 p/s95 / 1457 [---->______________________________________________________________________] 6.52% 97 p/s114 / 1457 [----->____________________________________________________________________] 7.82% 97 p/s133 / 1457 [------>___________________________________________________________________] 9.13% 97 p/s152 / 1457 [------->_________________________________________________________________] 10.43% 97 p/s172 / 1457 [-------->________________________________________________________________] 11.81% 97 p/s192 / 1457 [--------->_______________________________________________________________] 13.18% 97 p/s211 / 1457 [---------->______________________________________________________________] 14.48% 97 p/s231 / 1457 [----------->_____________________________________________________________] 15.85% 97 p/s249 / 1457 [------------>____________________________________________________________] 17.09% 97 p/s269 / 1457 [------------->___________________________________________________________] 18.46% 97 p/s288 / 1457 [-------------->__________________________________________________________] 19.77% 97 p/s308 / 1457 [--------------->_________________________________________________________] 21.14% 97 p/s328 / 1457 [---------------->________________________________________________________] 22.51% 97 p/s348 / 1457 [----------------->_______________________________________________________] 23.88% 97 p/s367 / 1457 [------------------>______________________________________________________] 25.19% 97 p/s387 / 1457 [------------------->_____________________________________________________] 26.56% 97 p/s407 / 1457 [-------------------->____________________________________________________] 27.93% 97 p/s428 / 1457 [--------------------->___________________________________________________] 29.38% 97 p/s447 / 1457 [---------------------->__________________________________________________] 30.68% 97 p/s467 / 1457 [----------------------->_________________________________________________] 32.05% 97 p/s487 / 1457 [------------------------>________________________________________________] 33.42% 97 p/s507 / 1457 [------------------------->_______________________________________________] 34.80% 97 p/s528 / 1457 [-------------------------->______________________________________________] 36.24% 97 p/s548 / 1457 [--------------------------->_____________________________________________] 37.61% 97 p/s568 / 1457 [---------------------------->____________________________________________] 38.98% 97 p/s589 / 1457 [----------------------------->___________________________________________] 40.43% 97 p/s610 / 1457 [------------------------------>__________________________________________] 41.87% 98 p/s631 / 1457 [------------------------------->_________________________________________] 43.31% 98 p/s652 / 1457 [-------------------------------->________________________________________] 44.75% 98 p/s673 / 1457 [--------------------------------->_______________________________________] 46.19% 98 p/s694 / 1457 [---------------------------------->______________________________________] 47.63% 98 p/s715 / 1457 [----------------------------------->_____________________________________] 49.07% 98 p/s736 / 1457 [------------------------------------>____________________________________] 50.51% 99 p/s757 / 1457 [------------------------------------->___________________________________] 51.96% 99 p/s778 / 1457 [-------------------------------------->__________________________________] 53.40% 99 p/s798 / 1457 [--------------------------------------->_________________________________] 54.77% 99 p/s819 / 1457 [----------------------------------------->_______________________________] 56.21% 99 p/s839 / 1457 [------------------------------------------>______________________________] 57.58% 99 p/s859 / 1457 [------------------------------------------->_____________________________] 58.96% 99 p/s880 / 1457 [-------------------------------------------->____________________________] 60.40% 99 p/s900 / 1457 [--------------------------------------------->___________________________] 61.77% 99 p/s921 / 1457 [---------------------------------------------->__________________________] 63.21% 99 p/s942 / 1457 [----------------------------------------------->_________________________] 64.65% 99 p/s962 / 1457 [------------------------------------------------>________________________] 66.03% 99 p/s977 / 1457 [------------------------------------------------>________________________] 67.06% 99 p/s996 / 1457 [------------------------------------------------->_______________________] 68.36% 99 p/s1016 / 1457 [-------------------------------------------------->_____________________] 69.73% 99 p/s1035 / 1457 [--------------------------------------------------->____________________] 71.04% 99 p/s1056 / 1457 [---------------------------------------------------->___________________] 72.48% 99 p/s1077 / 1457 [----------------------------------------------------->__________________] 73.92% 99 p/s1099 / 1457 [------------------------------------------------------>_________________] 75.43% 99 p/s1119 / 1457 [------------------------------------------------------->________________] 76.80% 99 p/s1141 / 1457 [-------------------------------------------------------->_______________] 78.31% 99 p/s1162 / 1457 [-------------------------------------------------------->______________] 79.75% 100 p/s1183 / 1457 [--------------------------------------------------------->_____________] 81.19% 100 p/s1204 / 1457 [---------------------------------------------------------->____________] 82.64% 100 p/s1225 / 1457 [----------------------------------------------------------->___________] 84.08% 100 p/s1245 / 1457 [------------------------------------------------------------>__________] 85.45% 100 p/s1266 / 1457 [------------------------------------------------------------->_________] 86.89% 100 p/s1287 / 1457 [-------------------------------------------------------------->________] 88.33% 100 p/s1307 / 1457 [--------------------------------------------------------------->_______] 89.70% 100 p/s1327 / 1457 [---------------------------------------------------------------->______] 91.08% 100 p/s1348 / 1457 [----------------------------------------------------------------->_____] 92.52% 100 p/s1368 / 1457 [------------------------------------------------------------------>____] 93.89% 100 p/s1389 / 1457 [------------------------------------------------------------------->___] 95.33% 100 p/s1409 / 1457 [-------------------------------------------------------------------->__] 96.71% 100 p/s1429 / 1457 [--------------------------------------------------------------------->_] 98.08% 100 p/s1449 / 1457 [---------------------------------------------------------------------->] 99.45% 100 p/s1457 / 1457 [----------------------------------------------------------------------] 100.00% 102 p/s2026-03-12T07:51:58 - INFO: Parsing 1457 sonar sweeps from /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:52:56 - 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/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223"
2026-03-12T07:52:57 - INFO: DataPrep 0.14.0a7
2026-03-12T07:52:57 - INFO: Prepared data will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/processing/data
2026-03-12T07:52:57 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:52:57 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:52:57 - INFO: Recording GUID: 73936444-88dc-73e6-66fd-1462a3391223
2026-03-12T07:52:57 - INFO: Preparing sonar data...
2026-03-12T07:52:57 - INFO: /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:52:59 - INFO: Sonar epoch is 2026-02-22 22:00:20.642585+00:00 (1771797620642585129)
2026-03-12T07:52:59 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:52:59 - INFO: Sonar range is 2.094960 m
2026-03-12T07:52:59 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:52:59 - INFO: Processing 1457 sweeps...

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2026-03-12T07:53:03 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:53:04 - INFO: Prepared sonar data in 6.4485 s
2026-03-12T07:53:04 - INFO: No IMU data found
2026-03-12T07:53:04 - INFO: DataPrep took 0:00:06.638858
2026-03-12T07:53:04 - INFO: Extracted sonar data in 0:01:20.464058
2026-03-12T07:53:04 - INFO: MSIP3D took 0:01:20.778636