2026-03-18T06:47:55 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:47:55 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-18T06:47:55 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:47:55 - INFO: Found TFD mission for SJ502795 Dep 1
2026-03-18T06:47:55 - INFO: Recording will be processed as MD
2026-03-18T06:47:55 - INFO: Copying assets JSON to output directory...
2026-03-18T06:47:55 - INFO: Preparing counter data...
2026-03-18T06:47:55 - INFO: Interpreting counter as imperial
2026-03-18T06:47:55 - INFO: Preparing size track from assets JSON...
2026-03-18T06:47:55 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:47:55 - INFO: Preparing material track from assets JSON...
2026-03-18T06:47:55 - INFO: Prepared counter data in 0.0321 s
2026-03-18T06:47:55 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 1895
22 / 1895 [>___________________________________________________________________________] 1.16% ? p/s45 / 1895 [->__________________________________________________________________________] 2.37% ? p/s67 / 1895 [-->_________________________________________________________________________] 3.54% ? p/s90 / 1895 [--->______________________________________________________________________] 4.75% 113 p/s113 / 1895 [---->____________________________________________________________________] 5.96% 113 p/s134 / 1895 [----->___________________________________________________________________] 7.07% 113 p/s157 / 1895 [------>__________________________________________________________________] 8.28% 113 p/s180 / 1895 [------>__________________________________________________________________] 9.50% 113 p/s202 / 1895 [------->________________________________________________________________] 10.66% 113 p/s225 / 1895 [-------->_______________________________________________________________] 11.87% 113 p/s247 / 1895 [--------->______________________________________________________________] 13.03% 113 p/s269 / 1895 [---------->_____________________________________________________________] 14.20% 113 p/s292 / 1895 [----------->____________________________________________________________] 15.41% 113 p/s315 / 1895 [----------->____________________________________________________________] 16.62% 113 p/s338 / 1895 [------------>___________________________________________________________] 17.84% 113 p/s360 / 1895 [------------->__________________________________________________________] 19.00% 113 p/s383 / 1895 [-------------->_________________________________________________________] 20.21% 113 p/s406 / 1895 [--------------->________________________________________________________] 21.42% 113 p/s428 / 1895 [---------------->_______________________________________________________] 22.59% 113 p/s451 / 1895 [----------------->______________________________________________________] 23.80% 113 p/s474 / 1895 [------------------>_____________________________________________________] 25.01% 113 p/s497 / 1895 [------------------>_____________________________________________________] 26.23% 113 p/s519 / 1895 [------------------->____________________________________________________] 27.39% 113 p/s541 / 1895 [-------------------->___________________________________________________] 28.55% 113 p/s564 / 1895 [--------------------->__________________________________________________] 29.76% 113 p/s588 / 1895 [---------------------->_________________________________________________] 31.03% 113 p/s611 / 1895 [----------------------->________________________________________________] 32.24% 113 p/s634 / 1895 [------------------------>_______________________________________________] 33.46% 113 p/s657 / 1895 [------------------------>_______________________________________________] 34.67% 113 p/s680 / 1895 [------------------------->______________________________________________] 35.88% 113 p/s703 / 1895 [-------------------------->_____________________________________________] 37.10% 114 p/s726 / 1895 [--------------------------->____________________________________________] 38.31% 114 p/s749 / 1895 [---------------------------->___________________________________________] 39.53% 114 p/s772 / 1895 [----------------------------->__________________________________________] 40.74% 114 p/s795 / 1895 [------------------------------>_________________________________________] 41.95% 114 p/s819 / 1895 [------------------------------->________________________________________] 43.22% 114 p/s842 / 1895 [------------------------------->________________________________________] 44.43% 114 p/s865 / 1895 [-------------------------------->_______________________________________] 45.65% 114 p/s888 / 1895 [--------------------------------->______________________________________] 46.86% 114 p/s911 / 1895 [---------------------------------->_____________________________________] 48.07% 114 p/s934 / 1895 [----------------------------------->____________________________________] 49.29% 114 p/s957 / 1895 [------------------------------------>___________________________________] 50.50% 114 p/s980 / 1895 [------------------------------------->__________________________________] 51.72% 114 p/s1003 / 1895 [------------------------------------->_________________________________] 52.93% 114 p/s1026 / 1895 [-------------------------------------->________________________________] 54.14% 114 p/s1049 / 1895 [--------------------------------------->_______________________________] 55.36% 114 p/s1072 / 1895 [---------------------------------------->______________________________] 56.57% 114 p/s1095 / 1895 [----------------------------------------->_____________________________] 57.78% 114 p/s1118 / 1895 [----------------------------------------->_____________________________] 59.00% 114 p/s1141 / 1895 [------------------------------------------>____________________________] 60.21% 114 p/s1164 / 1895 [------------------------------------------->___________________________] 61.42% 114 p/s1187 / 1895 [-------------------------------------------->__________________________] 62.64% 114 p/s1209 / 1895 [--------------------------------------------->_________________________] 63.80% 114 p/s1232 / 1895 [---------------------------------------------->________________________] 65.01% 114 p/s1254 / 1895 [---------------------------------------------->________________________] 66.17% 114 p/s1277 / 1895 [----------------------------------------------->_______________________] 67.39% 114 p/s1300 / 1895 [------------------------------------------------>______________________] 68.60% 114 p/s1323 / 1895 [------------------------------------------------->_____________________] 69.82% 114 p/s1346 / 1895 [-------------------------------------------------->____________________] 71.03% 114 p/s1369 / 1895 [--------------------------------------------------->___________________] 72.24% 114 p/s1392 / 1895 [---------------------------------------------------->__________________] 73.46% 114 p/s1415 / 1895 [----------------------------------------------------->_________________] 74.67% 114 p/s1439 / 1895 [----------------------------------------------------->_________________] 75.94% 114 p/s1462 / 1895 [------------------------------------------------------>________________] 77.15% 114 p/s1485 / 1895 [------------------------------------------------------->_______________] 78.36% 114 p/s1508 / 1895 [-------------------------------------------------------->______________] 79.58% 114 p/s1531 / 1895 [--------------------------------------------------------->_____________] 80.79% 114 p/s1555 / 1895 [---------------------------------------------------------->____________] 82.06% 114 p/s1577 / 1895 [----------------------------------------------------------->___________] 83.22% 114 p/s1600 / 1895 [----------------------------------------------------------->___________] 84.43% 114 p/s1623 / 1895 [------------------------------------------------------------>__________] 85.65% 114 p/s1646 / 1895 [------------------------------------------------------------->_________] 86.86% 114 p/s1669 / 1895 [-------------------------------------------------------------->________] 88.07% 114 p/s1691 / 1895 [--------------------------------------------------------------->_______] 89.23% 114 p/s1702 / 1895 [--------------------------------------------------------------->_______] 89.82% 114 p/s1725 / 1895 [---------------------------------------------------------------->______] 91.03% 113 p/s1748 / 1895 [----------------------------------------------------------------->_____] 92.24% 113 p/s1771 / 1895 [------------------------------------------------------------------>____] 93.46% 113 p/s1794 / 1895 [------------------------------------------------------------------->___] 94.67% 113 p/s1816 / 1895 [-------------------------------------------------------------------->__] 95.83% 113 p/s1839 / 1895 [-------------------------------------------------------------------->__] 97.04% 113 p/s1862 / 1895 [--------------------------------------------------------------------->_] 98.26% 113 p/s1885 / 1895 [---------------------------------------------------------------------->] 99.47% 113 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:48:12 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:49:20 - 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/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-03-18T06:49:22 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:49:22 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-03-18T06:49:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:49:22 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:49:22 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-03-18T06:49:22 - INFO: Preparing sonar data...
2026-03-18T06:49:22 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:49:24 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-03-18T06:49:24 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:49:24 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-03-18T06:49:24 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:49:24 - INFO: Sonar range is 0.939120 m
2026-03-18T06:49:24 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:49:24 - INFO: Processing 1894 sweeps...

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2026-03-18T06:49:28 - INFO: Prepared sonar data in 5.9368 s
2026-03-18T06:49:28 - INFO: No IMU data found
2026-03-18T06:49:28 - INFO: DataPrep took 0:00:06.110079
2026-03-18T06:49:28 - INFO: Extracted sonar data in 0:01:33.026491
2026-03-18T06:49:28 - INFO: MSIP3D took 0:01:33.212020