2026-03-18T06:38:07 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:38:07 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-18T06:38:07 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:38:07 - INFO: Found TFD mission for SJ502795 Dep 9
2026-03-18T06:38:07 - INFO: Recording will be processed as MD
2026-03-18T06:38:07 - INFO: Copying assets JSON to output directory...
2026-03-18T06:38:07 - INFO: Preparing counter data...
2026-03-18T06:38:07 - INFO: Interpreting counter as imperial
2026-03-18T06:38:07 - INFO: Preparing size track from assets JSON...
2026-03-18T06:38:07 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:38:07 - INFO: Preparing material track from assets JSON...
2026-03-18T06:38:07 - INFO: Prepared counter data in 0.0226 s
2026-03-18T06:38:07 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 707
21 / 707 [-->__________________________________________________________________________] 2.97% ? p/s43 / 707 [---->________________________________________________________________________] 6.08% ? p/s65 / 707 [------->_____________________________________________________________________] 9.19% ? p/s87 / 707 [--------->________________________________________________________________] 12.31% 110 p/s109 / 707 [----------->_____________________________________________________________] 15.42% 110 p/s130 / 707 [------------->___________________________________________________________] 18.39% 110 p/s152 / 707 [--------------->_________________________________________________________] 21.50% 110 p/s174 / 707 [----------------->_______________________________________________________] 24.61% 110 p/s196 / 707 [-------------------->____________________________________________________] 27.72% 110 p/s219 / 707 [---------------------->__________________________________________________] 30.98% 110 p/s241 / 707 [------------------------>________________________________________________] 34.09% 110 p/s262 / 707 [--------------------------->_____________________________________________] 37.06% 110 p/s284 / 707 [----------------------------->___________________________________________] 40.17% 110 p/s306 / 707 [------------------------------->_________________________________________] 43.28% 110 p/s328 / 707 [--------------------------------->_______________________________________] 46.39% 110 p/s350 / 707 [------------------------------------>____________________________________] 49.50% 110 p/s373 / 707 [-------------------------------------->__________________________________] 52.76% 110 p/s395 / 707 [---------------------------------------->________________________________] 55.87% 110 p/s417 / 707 [------------------------------------------->_____________________________] 58.98% 110 p/s439 / 707 [--------------------------------------------->___________________________] 62.09% 110 p/s461 / 707 [----------------------------------------------->_________________________] 65.21% 110 p/s483 / 707 [------------------------------------------------->_______________________] 68.32% 110 p/s505 / 707 [---------------------------------------------------->____________________] 71.43% 110 p/s528 / 707 [------------------------------------------------------>__________________] 74.68% 110 p/s549 / 707 [-------------------------------------------------------->________________] 77.65% 110 p/s572 / 707 [----------------------------------------------------------->_____________] 80.91% 110 p/s594 / 707 [------------------------------------------------------------->___________] 84.02% 110 p/s617 / 707 [--------------------------------------------------------------->_________] 87.27% 110 p/s640 / 707 [------------------------------------------------------------------>______] 90.52% 110 p/s662 / 707 [-------------------------------------------------------------------->____] 93.64% 110 p/s684 / 707 [---------------------------------------------------------------------->__] 96.75% 110 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 114 p/s2026-03-18T06:38:13 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/707 [00:00<?, ?it/s]
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2026-03-18T06:38:39 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-03-18T06:38:40 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:38:40 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-03-18T06:38:40 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:38:40 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:38:40 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-18T06:38:40 - INFO: Preparing sonar data...
2026-03-18T06:38:40 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:38:41 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-03-18T06:38:41 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:38:41 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-18T06:38:41 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:38:41 - INFO: Sonar range is 0.939120 m
2026-03-18T06:38:41 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:38:41 - INFO: Processing 707 sweeps...

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2026-03-18T06:38:43 - INFO: Prepared sonar data in 2.4535 s
2026-03-18T06:38:43 - INFO: No IMU data found
2026-03-18T06:38:43 - INFO: DataPrep took 0:00:02.525572
2026-03-18T06:38:43 - INFO: Extracted sonar data in 0:00:36.156280
2026-03-18T06:38:43 - INFO: MSIP3D took 0:00:36.232265