2026-03-18T04:47:19 - INFO: MSIP3D 0.2.0rc2
2026-03-18T04:47:19 - INFO: P3D files will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-18T04:47:19 - INFO: Found 10 TFD dictionary entries
2026-03-18T04:47:20 - INFO: Found TFD mission for SJ502828 DEP 525
2026-03-18T04:47:20 - INFO: Recording will be processed as MD
2026-03-18T04:47:20 - INFO: Copying assets JSON to output directory...
2026-03-18T04:47:20 - INFO: Preparing counter data...
2026-03-18T04:47:20 - INFO: Interpreting counter as imperial
2026-03-18T04:47:20 - INFO: Preparing size track from assets JSON...
2026-03-18T04:47:20 - INFO: Preparing shape track from assets JSON...
2026-03-18T04:47:20 - INFO: Preparing material track from assets JSON...
2026-03-18T04:47:20 - INFO: Prepared counter data in 0.0742 s
2026-03-18T04:47:20 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2233
21 / 2233 [>___________________________________________________________________________] 0.94% ? p/s43 / 2233 [->__________________________________________________________________________] 1.93% ? p/s65 / 2233 [-->_________________________________________________________________________] 2.91% ? p/s87 / 2233 [-->_______________________________________________________________________] 3.90% 110 p/s109 / 2233 [--->_____________________________________________________________________] 4.88% 110 p/s130 / 2233 [---->____________________________________________________________________] 5.82% 110 p/s153 / 2233 [----->___________________________________________________________________] 6.85% 110 p/s175 / 2233 [----->___________________________________________________________________] 7.84% 110 p/s198 / 2233 [------>__________________________________________________________________] 8.87% 110 p/s220 / 2233 [------->_________________________________________________________________] 9.85% 110 p/s243 / 2233 [------->________________________________________________________________] 10.88% 110 p/s264 / 2233 [-------->_______________________________________________________________] 11.82% 110 p/s287 / 2233 [--------->______________________________________________________________] 12.85% 110 p/s310 / 2233 [--------->______________________________________________________________] 13.88% 110 p/s333 / 2233 [---------->_____________________________________________________________] 14.91% 110 p/s356 / 2233 [----------->____________________________________________________________] 15.94% 110 p/s378 / 2233 [------------>___________________________________________________________] 16.93% 110 p/s401 / 2233 [------------>___________________________________________________________] 17.96% 110 p/s424 / 2233 [------------->__________________________________________________________] 18.99% 111 p/s447 / 2233 [-------------->_________________________________________________________] 20.02% 111 p/s470 / 2233 [--------------->________________________________________________________] 21.05% 111 p/s493 / 2233 [--------------->________________________________________________________] 22.08% 111 p/s515 / 2233 [---------------->_______________________________________________________] 23.06% 111 p/s538 / 2233 [----------------->______________________________________________________] 24.09% 111 p/s561 / 2233 [------------------>_____________________________________________________] 25.12% 111 p/s584 / 2233 [------------------>_____________________________________________________] 26.15% 111 p/s607 / 2233 [------------------->____________________________________________________] 27.18% 111 p/s630 / 2233 [-------------------->___________________________________________________] 28.21% 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/s814 / 2233 [-------------------------->_____________________________________________] 36.45% 112 p/s837 / 2233 [-------------------------->_____________________________________________] 37.48% 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/s1021 / 2233 [-------------------------------->______________________________________] 45.72% 112 p/s1044 / 2233 [--------------------------------->_____________________________________] 46.75% 113 p/s1067 / 2233 [--------------------------------->_____________________________________] 47.78% 113 p/s1090 / 2233 [---------------------------------->____________________________________] 48.81% 113 p/s1113 / 2233 [----------------------------------->___________________________________] 49.84% 113 p/s1136 / 2233 [------------------------------------>__________________________________] 50.87% 113 p/s1159 / 2233 [------------------------------------>__________________________________] 51.90% 113 p/s1182 / 2233 [------------------------------------->_________________________________] 52.93% 113 p/s1205 / 2233 [-------------------------------------->________________________________] 53.96% 113 p/s1228 / 2233 [--------------------------------------->_______________________________] 54.99% 113 p/s1251 / 2233 [--------------------------------------->_______________________________] 56.02% 113 p/s1274 / 2233 [---------------------------------------->______________________________] 57.05% 113 p/s1298 / 2233 [----------------------------------------->_____________________________] 58.13% 113 p/s1321 / 2233 [------------------------------------------>____________________________] 59.16% 113 p/s1344 / 2233 [------------------------------------------>____________________________] 60.19% 113 p/s1367 / 2233 [------------------------------------------->___________________________] 61.22% 113 p/s1390 / 2233 [-------------------------------------------->__________________________] 62.25% 113 p/s1413 / 2233 [-------------------------------------------->__________________________] 63.28% 113 p/s1436 / 2233 [--------------------------------------------->_________________________] 64.31% 113 p/s1459 / 2233 [---------------------------------------------->________________________] 65.34% 113 p/s1483 / 2233 [----------------------------------------------->_______________________] 66.41% 113 p/s1506 / 2233 [----------------------------------------------->_______________________] 67.44% 113 p/s1529 / 2233 [------------------------------------------------>______________________] 68.47% 114 p/s1551 / 2233 [------------------------------------------------->_____________________] 69.46% 114 p/s1574 / 2233 [-------------------------------------------------->____________________] 70.49% 114 p/s1597 / 2233 [-------------------------------------------------->____________________] 71.52% 114 p/s1619 / 2233 [--------------------------------------------------->___________________] 72.50% 114 p/s1643 / 2233 [---------------------------------------------------->__________________] 73.58% 114 p/s1666 / 2233 [---------------------------------------------------->__________________] 74.61% 114 p/s1689 / 2233 [----------------------------------------------------->_________________] 75.64% 114 p/s1709 / 2233 [------------------------------------------------------>________________] 76.53% 114 p/s1732 / 2233 [------------------------------------------------------->_______________] 77.56% 113 p/s1756 / 2233 [------------------------------------------------------->_______________] 78.64% 113 p/s1778 / 2233 [-------------------------------------------------------->______________] 79.62% 113 p/s1801 / 2233 [--------------------------------------------------------->_____________] 80.65% 114 p/s1824 / 2233 [--------------------------------------------------------->_____________] 81.68% 114 p/s1848 / 2233 [---------------------------------------------------------->____________] 82.76% 114 p/s1871 / 2233 [----------------------------------------------------------->___________] 83.79% 114 p/s1894 / 2233 [------------------------------------------------------------>__________] 84.82% 114 p/s1917 / 2233 [------------------------------------------------------------>__________] 85.85% 114 p/s1940 / 2233 [------------------------------------------------------------->_________] 86.88% 114 p/s1963 / 2233 [-------------------------------------------------------------->________] 87.91% 114 p/s1986 / 2233 [--------------------------------------------------------------->_______] 88.94% 114 p/s2009 / 2233 [--------------------------------------------------------------->_______] 89.97% 114 p/s2032 / 2233 [---------------------------------------------------------------->______] 91.00% 114 p/s2054 / 2233 [----------------------------------------------------------------->_____] 91.98% 114 p/s2077 / 2233 [------------------------------------------------------------------>____] 93.01% 114 p/s2100 / 2233 [------------------------------------------------------------------>____] 94.04% 114 p/s2123 / 2233 [------------------------------------------------------------------->___] 95.07% 114 p/s2146 / 2233 [-------------------------------------------------------------------->__] 96.10% 114 p/s2169 / 2233 [-------------------------------------------------------------------->__] 97.13% 114 p/s2192 / 2233 [--------------------------------------------------------------------->_] 98.16% 114 p/s2215 / 2233 [---------------------------------------------------------------------->] 99.19% 114 p/s2233 / 2233 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T04:47:39 - INFO: Parsing 2233 sonar sweeps from /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T04:49:00 - 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"
2026-03-18T04:49:02 - INFO: DataPrep 0.14.0rc2
2026-03-18T04:49:02 - INFO: Prepared data will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/processing/data
2026-03-18T04:49:02 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T04:49:02 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T04:49:02 - INFO: Recording GUID: 1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-18T04:49:02 - INFO: Preparing sonar data...
2026-03-18T04:49:02 - INFO: /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T04:49:04 - INFO: Sonar epoch is 2026-02-26 18:29:36.826920+00:00 (1772130576826919698)
2026-03-18T04:49:04 - INFO: Creating sonar sensor alignment track...
2026-03-18T04:49:04 - INFO: Using sonar rotation of 0.331613 radians for wedge mask
2026-03-18T04:49:04 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T04:49:04 - INFO: Sonar range is 0.939120 m
2026-03-18T04:49:04 - INFO: Speed of sound is 1472 m/s
2026-03-18T04:49:04 - INFO: Processing 2233 sweeps...

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2026-03-18T04:49:13 - INFO: Prepared sonar data in 11.0100 s
2026-03-18T04:49:13 - INFO: No IMU data found
2026-03-18T04:49:13 - INFO: DataPrep took 0:00:11.355607
2026-03-18T04:49:13 - INFO: Extracted sonar data in 0:01:53.756662
2026-03-18T04:49:14 - INFO: MSIP3D took 0:01:54.019930