2026-03-17T23:57:57 - INFO: MSIP3D 0.2.0rc2
2026-03-17T23:57:57 - INFO: P3D files will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-17T23:57:57 - INFO: Found 10 TFD dictionary entries
2026-03-17T23:57:57 - INFO: Found TFD mission for SJ502828 DEP 525
2026-03-17T23:57:57 - INFO: Recording will be processed as MD
2026-03-17T23:57:57 - INFO: Copying assets JSON to output directory...
2026-03-17T23:57:57 - INFO: Preparing counter data...
2026-03-17T23:57:57 - INFO: Interpreting counter as imperial
2026-03-17T23:57:57 - INFO: Preparing size track from assets JSON...
2026-03-17T23:57:57 - INFO: Preparing shape track from assets JSON...
2026-03-17T23:57:57 - INFO: Preparing material track from assets JSON...
2026-03-17T23:57:57 - INFO: Prepared counter data in 0.0794 s
2026-03-17T23:57:57 - INFO: Extracting sonar data...
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/SJ502828_DEP_525.tfd
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2233
21 / 2233 [>___________________________________________________________________________] 0.94% ? p/s43 / 2233 [->__________________________________________________________________________] 1.93% ? p/s64 / 2233 [-->_________________________________________________________________________] 2.87% ? p/s86 / 2233 [-->_______________________________________________________________________] 3.85% 108 p/s108 / 2233 [--->_____________________________________________________________________] 4.84% 108 p/s130 / 2233 [---->____________________________________________________________________] 5.82% 108 p/s152 / 2233 [---->____________________________________________________________________] 6.81% 108 p/s174 / 2233 [----->___________________________________________________________________] 7.79% 108 p/s196 / 2233 [------>__________________________________________________________________] 8.78% 108 p/s218 / 2233 [------->_________________________________________________________________] 9.76% 109 p/s240 / 2233 [------->________________________________________________________________] 10.75% 109 p/s261 / 2233 [-------->_______________________________________________________________] 11.69% 109 p/s284 / 2233 [--------->______________________________________________________________] 12.72% 109 p/s306 / 2233 [--------->______________________________________________________________] 13.70% 109 p/s328 / 2233 [---------->_____________________________________________________________] 14.69% 109 p/s351 / 2233 [----------->____________________________________________________________] 15.72% 109 p/s373 / 2233 [------------>___________________________________________________________] 16.70% 109 p/s396 / 2233 [------------>___________________________________________________________] 17.73% 109 p/s418 / 2233 [------------->__________________________________________________________] 18.72% 109 p/s441 / 2233 [-------------->_________________________________________________________] 19.75% 109 p/s463 / 2233 [-------------->_________________________________________________________] 20.73% 109 p/s485 / 2233 [--------------->________________________________________________________] 21.72% 109 p/s508 / 2233 [---------------->_______________________________________________________] 22.75% 109 p/s530 / 2233 [----------------->______________________________________________________] 23.73% 109 p/s553 / 2233 [----------------->______________________________________________________] 24.76% 109 p/s575 / 2233 [------------------>_____________________________________________________] 25.75% 109 p/s598 / 2233 [------------------->____________________________________________________] 26.78% 109 p/s621 / 2233 [-------------------->___________________________________________________] 27.81% 110 p/s644 / 2233 [-------------------->___________________________________________________] 28.84% 110 p/s666 / 2233 [--------------------->__________________________________________________] 29.83% 110 p/s689 / 2233 [---------------------->_________________________________________________] 30.86% 110 p/s712 / 2233 [---------------------->_________________________________________________] 31.89% 110 p/s735 / 2233 [----------------------->________________________________________________] 32.92% 110 p/s758 / 2233 [------------------------>_______________________________________________] 33.95% 110 p/s780 / 2233 [------------------------->______________________________________________] 34.93% 110 p/s803 / 2233 [------------------------->______________________________________________] 35.96% 110 p/s826 / 2233 [-------------------------->_____________________________________________] 36.99% 110 p/s848 / 2233 [--------------------------->____________________________________________] 37.98% 110 p/s871 / 2233 [---------------------------->___________________________________________] 39.01% 110 p/s894 / 2233 [---------------------------->___________________________________________] 40.04% 111 p/s917 / 2233 [----------------------------->__________________________________________] 41.07% 111 p/s940 / 2233 [------------------------------>_________________________________________] 42.10% 111 p/s963 / 2233 [------------------------------->________________________________________] 43.13% 111 p/s985 / 2233 [------------------------------->________________________________________] 44.11% 111 p/s1008 / 2233 [-------------------------------->______________________________________] 45.14% 111 p/s1030 / 2233 [-------------------------------->______________________________________] 46.13% 111 p/s1053 / 2233 [--------------------------------->_____________________________________] 47.16% 111 p/s1075 / 2233 [---------------------------------->____________________________________] 48.14% 111 p/s1098 / 2233 [---------------------------------->____________________________________] 49.17% 111 p/s1121 / 2233 [----------------------------------->___________________________________] 50.20% 111 p/s1144 / 2233 [------------------------------------>__________________________________] 51.23% 111 p/s1166 / 2233 [------------------------------------->_________________________________] 52.22% 111 p/s1189 / 2233 [------------------------------------->_________________________________] 53.25% 111 p/s1212 / 2233 [-------------------------------------->________________________________] 54.28% 111 p/s1235 / 2233 [--------------------------------------->_______________________________] 55.31% 112 p/s1258 / 2233 [--------------------------------------->_______________________________] 56.34% 112 p/s1281 / 2233 [---------------------------------------->______________________________] 57.37% 112 p/s1304 / 2233 [----------------------------------------->_____________________________] 58.40% 112 p/s1327 / 2233 [------------------------------------------>____________________________] 59.43% 112 p/s1350 / 2233 [------------------------------------------>____________________________] 60.46% 112 p/s1373 / 2233 [------------------------------------------->___________________________] 61.49% 112 p/s1395 / 2233 [-------------------------------------------->__________________________] 62.47% 112 p/s1418 / 2233 [--------------------------------------------->_________________________] 63.50% 112 p/s1441 / 2233 [--------------------------------------------->_________________________] 64.53% 112 p/s1464 / 2233 [---------------------------------------------->________________________] 65.56% 112 p/s1487 / 2233 [----------------------------------------------->_______________________] 66.59% 112 p/s1509 / 2233 [----------------------------------------------->_______________________] 67.58% 112 p/s1532 / 2233 [------------------------------------------------>______________________] 68.61% 112 p/s1555 / 2233 [------------------------------------------------->_____________________] 69.64% 112 p/s1578 / 2233 [-------------------------------------------------->____________________] 70.67% 112 p/s1600 / 2233 [-------------------------------------------------->____________________] 71.65% 112 p/s1623 / 2233 [--------------------------------------------------->___________________] 72.68% 112 p/s1645 / 2233 [---------------------------------------------------->__________________] 73.67% 112 p/s1668 / 2233 [----------------------------------------------------->_________________] 74.70% 112 p/s1690 / 2233 [----------------------------------------------------->_________________] 75.68% 112 p/s1713 / 2233 [------------------------------------------------------>________________] 76.71% 112 p/s1736 / 2233 [------------------------------------------------------->_______________] 77.74% 112 p/s1759 / 2233 [------------------------------------------------------->_______________] 78.77% 112 p/s1782 / 2233 [-------------------------------------------------------->______________] 79.80% 113 p/s1804 / 2233 [--------------------------------------------------------->_____________] 80.79% 113 p/s1827 / 2233 [---------------------------------------------------------->____________] 81.82% 113 p/s1850 / 2233 [---------------------------------------------------------->____________] 82.85% 113 p/s1873 / 2233 [----------------------------------------------------------->___________] 83.88% 113 p/s1895 / 2233 [------------------------------------------------------------>__________] 84.86% 113 p/s1918 / 2233 [------------------------------------------------------------>__________] 85.89% 113 p/s1941 / 2233 [------------------------------------------------------------->_________] 86.92% 113 p/s1963 / 2233 [-------------------------------------------------------------->________] 87.91% 113 p/s1986 / 2233 [--------------------------------------------------------------->_______] 88.94% 113 p/s2009 / 2233 [--------------------------------------------------------------->_______] 89.97% 113 p/s2032 / 2233 [---------------------------------------------------------------->______] 91.00% 113 p/s2054 / 2233 [----------------------------------------------------------------->_____] 91.98% 113 p/s2077 / 2233 [------------------------------------------------------------------>____] 93.01% 113 p/s2099 / 2233 [------------------------------------------------------------------>____] 94.00% 113 p/s2122 / 2233 [------------------------------------------------------------------->___] 95.03% 113 p/s2144 / 2233 [-------------------------------------------------------------------->__] 96.01% 113 p/s2167 / 2233 [-------------------------------------------------------------------->__] 97.04% 113 p/s2189 / 2233 [--------------------------------------------------------------------->_] 98.03% 113 p/s2212 / 2233 [---------------------------------------------------------------------->] 99.06% 113 p/s2233 / 2233 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-17T23:58:17 - INFO: Parsing 2233 sonar sweeps from /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-17T23:59:39 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d"
2026-03-17T23:59:41 - INFO: DataPrep 0.14.0rc2
2026-03-17T23:59:41 - INFO: Prepared data will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/processing/data
2026-03-17T23:59:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-17T23:59:41 - deployment - INFO: Detected P3D version: P3D_1
2026-03-17T23:59:41 - INFO: Recording GUID: 1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-17T23:59:41 - INFO: Preparing sonar data...
2026-03-17T23:59:41 - INFO: /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-17T23:59:43 - INFO: Sonar epoch is 2026-02-26 18:29:36.826920+00:00 (1772130576826919698)
2026-03-17T23:59:43 - INFO: Creating sonar sensor alignment track...
2026-03-17T23:59:43 - INFO: Using sonar rotation of 0.331613 radians for wedge mask
2026-03-17T23:59:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-17T23:59:43 - INFO: Sonar range is 0.939120 m
2026-03-17T23:59:43 - INFO: Speed of sound is 1472 m/s
2026-03-17T23:59:43 - INFO: Processing 2233 sweeps...

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2026-03-17T23:59:52 - INFO: Prepared sonar data in 11.1224 s
2026-03-17T23:59:52 - INFO: No IMU data found
2026-03-17T23:59:52 - INFO: DataPrep took 0:00:11.461364
2026-03-17T23:59:52 - INFO: Extracted sonar data in 0:01:55.595803
2026-03-17T23:59:53 - INFO: MSIP3D took 0:01:55.849186