2026-03-18T03:38:36 - INFO: MSIP3D 0.2.0rc2
2026-03-18T03:38:36 - INFO: P3D files will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-18T03:38:36 - INFO: Found 10 TFD dictionary entries
2026-03-18T03:38:36 - INFO: Found TFD mission for SJ502828 DEP 525
2026-03-18T03:38:36 - INFO: Recording will be processed as MD
2026-03-18T03:38:36 - INFO: Copying assets JSON to output directory...
2026-03-18T03:38:36 - INFO: Preparing counter data...
2026-03-18T03:38:36 - INFO: Interpreting counter as imperial
2026-03-18T03:38:37 - INFO: Preparing size track from assets JSON...
2026-03-18T03:38:37 - INFO: Preparing shape track from assets JSON...
2026-03-18T03:38:37 - INFO: Preparing material track from assets JSON...
2026-03-18T03:38:37 - INFO: Prepared counter data in 0.0744 s
2026-03-18T03:38:37 - 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: 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
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 2233
22 / 2233 [>___________________________________________________________________________] 0.99% ? p/s44 / 2233 [->__________________________________________________________________________] 1.97% ? p/s66 / 2233 [-->_________________________________________________________________________] 2.96% ? p/s88 / 2233 [-->_______________________________________________________________________] 3.94% 110 p/s110 / 2233 [--->_____________________________________________________________________] 4.93% 110 p/s132 / 2233 [---->____________________________________________________________________] 5.91% 110 p/s154 / 2233 [----->___________________________________________________________________] 6.90% 110 p/s176 / 2233 [----->___________________________________________________________________] 7.88% 110 p/s199 / 2233 [------>__________________________________________________________________] 8.91% 110 p/s221 / 2233 [------->_________________________________________________________________] 9.90% 110 p/s244 / 2233 [------->________________________________________________________________] 10.93% 110 p/s265 / 2233 [-------->_______________________________________________________________] 11.87% 110 p/s288 / 2233 [--------->______________________________________________________________] 12.90% 110 p/s311 / 2233 [---------->_____________________________________________________________] 13.93% 110 p/s334 / 2233 [---------->_____________________________________________________________] 14.96% 110 p/s357 / 2233 [----------->____________________________________________________________] 15.99% 111 p/s379 / 2233 [------------>___________________________________________________________] 16.97% 111 p/s402 / 2233 [------------>___________________________________________________________] 18.00% 111 p/s425 / 2233 [------------->__________________________________________________________] 19.03% 111 p/s448 / 2233 [-------------->_________________________________________________________] 20.06% 111 p/s471 / 2233 [--------------->________________________________________________________] 21.09% 111 p/s494 / 2233 [--------------->________________________________________________________] 22.12% 111 p/s516 / 2233 [---------------->_______________________________________________________] 23.11% 111 p/s539 / 2233 [----------------->______________________________________________________] 24.14% 111 p/s562 / 2233 [------------------>_____________________________________________________] 25.17% 111 p/s584 / 2233 [------------------>_____________________________________________________] 26.15% 111 p/s608 / 2233 [------------------->____________________________________________________] 27.23% 111 p/s631 / 2233 [-------------------->___________________________________________________] 28.26% 111 p/s653 / 2233 [--------------------->__________________________________________________] 29.24% 111 p/s676 / 2233 [--------------------->__________________________________________________] 30.27% 111 p/s699 / 2233 [---------------------->_________________________________________________] 31.30% 112 p/s722 / 2233 [----------------------->________________________________________________] 32.33% 112 p/s745 / 2233 [------------------------>_______________________________________________] 33.36% 112 p/s768 / 2233 [------------------------>_______________________________________________] 34.39% 112 p/s791 / 2233 [------------------------->______________________________________________] 35.42% 112 p/s815 / 2233 [-------------------------->_____________________________________________] 36.50% 112 p/s838 / 2233 [--------------------------->____________________________________________] 37.53% 112 p/s860 / 2233 [--------------------------->____________________________________________] 38.51% 112 p/s883 / 2233 [---------------------------->___________________________________________] 39.54% 112 p/s906 / 2233 [----------------------------->__________________________________________] 40.57% 112 p/s929 / 2233 [----------------------------->__________________________________________] 41.60% 112 p/s952 / 2233 [------------------------------>_________________________________________] 42.63% 112 p/s975 / 2233 [------------------------------->________________________________________] 43.66% 112 p/s998 / 2233 [-------------------------------->_______________________________________] 44.69% 112 p/s1020 / 2233 [-------------------------------->______________________________________] 45.68% 112 p/s1042 / 2233 [--------------------------------->_____________________________________] 46.66% 112 p/s1065 / 2233 [--------------------------------->_____________________________________] 47.69% 112 p/s1089 / 2233 [---------------------------------->____________________________________] 48.77% 112 p/s1111 / 2233 [----------------------------------->___________________________________] 49.75% 112 p/s1134 / 2233 [------------------------------------>__________________________________] 50.78% 112 p/s1157 / 2233 [------------------------------------>__________________________________] 51.81% 112 p/s1180 / 2233 [------------------------------------->_________________________________] 52.84% 113 p/s1203 / 2233 [-------------------------------------->________________________________] 53.87% 113 p/s1226 / 2233 [-------------------------------------->________________________________] 54.90% 113 p/s1250 / 2233 [--------------------------------------->_______________________________] 55.98% 113 p/s1273 / 2233 [---------------------------------------->______________________________] 57.01% 113 p/s1296 / 2233 [----------------------------------------->_____________________________] 58.04% 113 p/s1318 / 2233 [----------------------------------------->_____________________________] 59.02% 113 p/s1341 / 2233 [------------------------------------------>____________________________] 60.05% 113 p/s1364 / 2233 [------------------------------------------->___________________________] 61.08% 113 p/s1388 / 2233 [-------------------------------------------->__________________________] 62.16% 113 p/s1411 / 2233 [-------------------------------------------->__________________________] 63.19% 113 p/s1434 / 2233 [--------------------------------------------->_________________________] 64.22% 113 p/s1457 / 2233 [---------------------------------------------->________________________] 65.25% 113 p/s1480 / 2233 [----------------------------------------------->_______________________] 66.28% 113 p/s1503 / 2233 [----------------------------------------------->_______________________] 67.31% 113 p/s1526 / 2233 [------------------------------------------------>______________________] 68.34% 113 p/s1549 / 2233 [------------------------------------------------->_____________________] 69.37% 113 p/s1572 / 2233 [------------------------------------------------->_____________________] 70.40% 113 p/s1595 / 2233 [-------------------------------------------------->____________________] 71.43% 113 p/s1618 / 2233 [--------------------------------------------------->___________________] 72.46% 113 p/s1641 / 2233 [---------------------------------------------------->__________________] 73.49% 113 p/s1664 / 2233 [---------------------------------------------------->__________________] 74.52% 114 p/s1687 / 2233 [----------------------------------------------------->_________________] 75.55% 114 p/s1710 / 2233 [------------------------------------------------------>________________] 76.58% 114 p/s1732 / 2233 [------------------------------------------------------->_______________] 77.56% 114 p/s1755 / 2233 [------------------------------------------------------->_______________] 78.59% 114 p/s1778 / 2233 [-------------------------------------------------------->______________] 79.62% 114 p/s1801 / 2233 [--------------------------------------------------------->_____________] 80.65% 114 p/s1824 / 2233 [--------------------------------------------------------->_____________] 81.68% 114 p/s1847 / 2233 [---------------------------------------------------------->____________] 82.71% 114 p/s1870 / 2233 [----------------------------------------------------------->___________] 83.74% 114 p/s1893 / 2233 [------------------------------------------------------------>__________] 84.77% 114 p/s1915 / 2233 [------------------------------------------------------------>__________] 85.76% 114 p/s1938 / 2233 [------------------------------------------------------------->_________] 86.79% 114 p/s1962 / 2233 [-------------------------------------------------------------->________] 87.86% 114 p/s1985 / 2233 [--------------------------------------------------------------->_______] 88.89% 114 p/s2008 / 2233 [--------------------------------------------------------------->_______] 89.92% 114 p/s2031 / 2233 [---------------------------------------------------------------->______] 90.95% 114 p/s2053 / 2233 [----------------------------------------------------------------->_____] 91.94% 114 p/s2076 / 2233 [------------------------------------------------------------------>____] 92.97% 114 p/s2099 / 2233 [------------------------------------------------------------------>____] 94.00% 114 p/s2122 / 2233 [------------------------------------------------------------------->___] 95.03% 114 p/s2145 / 2233 [-------------------------------------------------------------------->__] 96.06% 114 p/s2168 / 2233 [-------------------------------------------------------------------->__] 97.09% 114 p/s2191 / 2233 [--------------------------------------------------------------------->_] 98.12% 114 p/s2214 / 2233 [---------------------------------------------------------------------->] 99.15% 114 p/s2233 / 2233 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T03:38:56 - INFO: Parsing 2233 sonar sweeps from /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T03:40:17 - 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"
2026-03-18T03:40:19 - INFO: DataPrep 0.14.0rc2
2026-03-18T03:40:19 - INFO: Prepared data will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/processing/data
2026-03-18T03:40:19 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T03:40:19 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T03:40:19 - INFO: Recording GUID: 1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-18T03:40:19 - INFO: Preparing sonar data...
2026-03-18T03:40:19 - INFO: /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T03:40:21 - INFO: Sonar epoch is 2026-02-26 18:29:36.826920+00:00 (1772130576826919698)
2026-03-18T03:40:21 - INFO: Creating sonar sensor alignment track...
2026-03-18T03:40:21 - INFO: Using sonar rotation of 0.366519 radians for wedge mask
2026-03-18T03:40:21 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T03:40:21 - INFO: Sonar range is 0.939120 m
2026-03-18T03:40:21 - INFO: Speed of sound is 1472 m/s
2026-03-18T03:40:21 - INFO: Processing 2233 sweeps...

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2026-03-18T03:40:30 - INFO: Prepared sonar data in 11.1031 s
2026-03-18T03:40:30 - INFO: No IMU data found
2026-03-18T03:40:30 - INFO: DataPrep took 0:00:11.457280
2026-03-18T03:40:30 - INFO: Extracted sonar data in 0:01:53.836482
2026-03-18T03:40:31 - INFO: MSIP3D took 0:01:54.113384