2026-03-18T06:45:05 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:05 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-03-18T06:45:05 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:45:05 - INFO: Found TFD mission for SJ502795 Dep 10
2026-03-18T06:45:05 - INFO: Recording will be processed as MD
2026-03-18T06:45:05 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:05 - INFO: Preparing counter data...
2026-03-18T06:45:05 - INFO: Interpreting counter as imperial
2026-03-18T06:45:05 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:05 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:05 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:05 - INFO: Prepared counter data in 0.1137 s
2026-03-18T06:45:05 - INFO: Extracting sonar data...
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/SJ502795_Dep_10.tfd
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 3238
21 / 3238 [>___________________________________________________________________________] 0.65% ? p/s43 / 3238 [->__________________________________________________________________________] 1.33% ? p/s64 / 3238 [->__________________________________________________________________________] 1.98% ? p/s87 / 3238 [->________________________________________________________________________] 2.69% 110 p/s109 / 3238 [-->______________________________________________________________________] 3.37% 110 p/s131 / 3238 [-->______________________________________________________________________] 4.05% 110 p/s154 / 3238 [--->_____________________________________________________________________] 4.76% 110 p/s176 / 3238 [--->_____________________________________________________________________] 5.44% 110 p/s199 / 3238 [---->____________________________________________________________________] 6.15% 110 p/s221 / 3238 [---->____________________________________________________________________] 6.83% 110 p/s244 / 3238 [----->___________________________________________________________________] 7.54% 110 p/s264 / 3238 [----->___________________________________________________________________] 8.15% 110 p/s287 / 3238 [------>__________________________________________________________________] 8.86% 110 p/s309 / 3238 [------>__________________________________________________________________] 9.54% 110 p/s332 / 3238 [------->________________________________________________________________] 10.25% 110 p/s355 / 3238 [------->________________________________________________________________] 10.96% 110 p/s377 / 3238 [-------->_______________________________________________________________] 11.64% 110 p/s400 / 3238 [-------->_______________________________________________________________] 12.35% 110 p/s422 / 3238 [--------->______________________________________________________________] 13.03% 110 p/s444 / 3238 [--------->______________________________________________________________] 13.71% 110 p/s467 / 3238 [---------->_____________________________________________________________] 14.42% 110 p/s489 / 3238 [---------->_____________________________________________________________] 15.10% 111 p/s511 / 3238 [----------->____________________________________________________________] 15.78% 111 p/s533 / 3238 [----------->____________________________________________________________] 16.46% 111 p/s556 / 3238 [------------>___________________________________________________________] 17.17% 111 p/s578 / 3238 [------------>___________________________________________________________] 17.85% 111 p/s601 / 3238 [------------->__________________________________________________________] 18.56% 111 p/s623 / 3238 [------------->__________________________________________________________] 19.24% 111 p/s646 / 3238 [-------------->_________________________________________________________] 19.95% 111 p/s667 / 3238 [-------------->_________________________________________________________] 20.60% 111 p/s690 / 3238 [--------------->________________________________________________________] 21.31% 111 p/s713 / 3238 [--------------->________________________________________________________] 22.02% 111 p/s734 / 3238 [---------------->_______________________________________________________] 22.67% 111 p/s757 / 3238 [---------------->_______________________________________________________] 23.38% 111 p/s779 / 3238 [----------------->______________________________________________________] 24.06% 111 p/s801 / 3238 [----------------->______________________________________________________] 24.74% 111 p/s824 / 3238 [------------------>_____________________________________________________] 25.45% 111 p/s846 / 3238 [------------------>_____________________________________________________] 26.13% 111 p/s869 / 3238 [------------------->____________________________________________________] 26.84% 111 p/s891 / 3238 [------------------->____________________________________________________] 27.52% 111 p/s914 / 3238 [-------------------->___________________________________________________] 28.23% 111 p/s936 / 3238 [-------------------->___________________________________________________] 28.91% 111 p/s959 / 3238 [--------------------->__________________________________________________] 29.62% 111 p/s981 / 3238 [--------------------->__________________________________________________] 30.30% 111 p/s1004 / 3238 [---------------------->________________________________________________] 31.01% 111 p/s1025 / 3238 [---------------------->________________________________________________] 31.66% 111 p/s1048 / 3238 [---------------------->________________________________________________] 32.37% 111 p/s1071 / 3238 [----------------------->_______________________________________________] 33.08% 111 p/s1090 / 3238 [----------------------->_______________________________________________] 33.66% 111 p/s1112 / 3238 [------------------------>______________________________________________] 34.34% 111 p/s1135 / 3238 [------------------------>______________________________________________] 35.05% 111 p/s1157 / 3238 [------------------------->_____________________________________________] 35.73% 111 p/s1179 / 3238 [------------------------->_____________________________________________] 36.41% 111 p/s1202 / 3238 [-------------------------->____________________________________________] 37.12% 111 p/s1225 / 3238 [-------------------------->____________________________________________] 37.83% 111 p/s1247 / 3238 [--------------------------->___________________________________________] 38.51% 111 p/s1269 / 3238 [--------------------------->___________________________________________] 39.19% 111 p/s1291 / 3238 [---------------------------->__________________________________________] 39.87% 111 p/s1314 / 3238 [---------------------------->__________________________________________] 40.58% 111 p/s1336 / 3238 [----------------------------->_________________________________________] 41.26% 111 p/s1359 / 3238 [----------------------------->_________________________________________] 41.97% 111 p/s1382 / 3238 [------------------------------>________________________________________] 42.68% 111 p/s1404 / 3238 [------------------------------>________________________________________] 43.36% 111 p/s1427 / 3238 [------------------------------->_______________________________________] 44.07% 111 p/s1449 / 3238 [------------------------------->_______________________________________] 44.75% 111 p/s1470 / 3238 [-------------------------------->______________________________________] 45.40% 111 p/s1492 / 3238 [-------------------------------->______________________________________] 46.08% 111 p/s1514 / 3238 [--------------------------------->_____________________________________] 46.76% 111 p/s1536 / 3238 [--------------------------------->_____________________________________] 47.44% 111 p/s1559 / 3238 [---------------------------------->____________________________________] 48.15% 111 p/s1581 / 3238 [---------------------------------->____________________________________] 48.83% 111 p/s1604 / 3238 [----------------------------------->___________________________________] 49.54% 111 p/s1626 / 3238 [----------------------------------->___________________________________] 50.22% 111 p/s1648 / 3238 [------------------------------------>__________________________________] 50.90% 111 p/s1670 / 3238 [------------------------------------>__________________________________] 51.58% 111 p/s1692 / 3238 [------------------------------------->_________________________________] 52.25% 111 p/s1714 / 3238 [------------------------------------->_________________________________] 52.93% 111 p/s1736 / 3238 [-------------------------------------->________________________________] 53.61% 111 p/s1758 / 3238 [-------------------------------------->________________________________] 54.29% 111 p/s1780 / 3238 [--------------------------------------->_______________________________] 54.97% 111 p/s1803 / 3238 [--------------------------------------->_______________________________] 55.68% 111 p/s1826 / 3238 [---------------------------------------->______________________________] 56.39% 111 p/s1848 / 3238 [---------------------------------------->______________________________] 57.07% 111 p/s1870 / 3238 [----------------------------------------->_____________________________] 57.75% 111 p/s1893 / 3238 [----------------------------------------->_____________________________] 58.46% 111 p/s1915 / 3238 [----------------------------------------->_____________________________] 59.14% 111 p/s1937 / 3238 [------------------------------------------>____________________________] 59.82% 111 p/s1960 / 3238 [------------------------------------------>____________________________] 60.53% 111 p/s1982 / 3238 [------------------------------------------->___________________________] 61.21% 111 p/s2005 / 3238 [------------------------------------------->___________________________] 61.92% 111 p/s2027 / 3238 [-------------------------------------------->__________________________] 62.60% 111 p/s2049 / 3238 [-------------------------------------------->__________________________] 63.28% 111 p/s2070 / 3238 [--------------------------------------------->_________________________] 63.93% 111 p/s2093 / 3238 [--------------------------------------------->_________________________] 64.64% 111 p/s2115 / 3238 [---------------------------------------------->________________________] 65.32% 111 p/s2138 / 3238 [---------------------------------------------->________________________] 66.03% 111 p/s2161 / 3238 [----------------------------------------------->_______________________] 66.74% 111 p/s2183 / 3238 [----------------------------------------------->_______________________] 67.42% 111 p/s2202 / 3238 [------------------------------------------------>______________________] 68.00% 111 p/s2224 / 3238 [------------------------------------------------>______________________] 68.68% 111 p/s2246 / 3238 [------------------------------------------------->_____________________] 69.36% 111 p/s2269 / 3238 [------------------------------------------------->_____________________] 70.07% 111 p/s2292 / 3238 [-------------------------------------------------->____________________] 70.78% 111 p/s2314 / 3238 [-------------------------------------------------->____________________] 71.46% 111 p/s2336 / 3238 [--------------------------------------------------->___________________] 72.14% 111 p/s2358 / 3238 [--------------------------------------------------->___________________] 72.82% 111 p/s2380 / 3238 [---------------------------------------------------->__________________] 73.50% 111 p/s2402 / 3238 [---------------------------------------------------->__________________] 74.18% 111 p/s2425 / 3238 [----------------------------------------------------->_________________] 74.89% 111 p/s2448 / 3238 [----------------------------------------------------->_________________] 75.60% 111 p/s2470 / 3238 [------------------------------------------------------>________________] 76.28% 111 p/s2493 / 3238 [------------------------------------------------------>________________] 76.99% 111 p/s2515 / 3238 [------------------------------------------------------->_______________] 77.67% 111 p/s2538 / 3238 [------------------------------------------------------->_______________] 78.38% 111 p/s2560 / 3238 [-------------------------------------------------------->______________] 79.06% 111 p/s2582 / 3238 [-------------------------------------------------------->______________] 79.74% 111 p/s2604 / 3238 [--------------------------------------------------------->_____________] 80.42% 111 p/s2627 / 3238 [--------------------------------------------------------->_____________] 81.13% 111 p/s2649 / 3238 [---------------------------------------------------------->____________] 81.81% 111 p/s2672 / 3238 [---------------------------------------------------------->____________] 82.52% 111 p/s2695 / 3238 [----------------------------------------------------------->___________] 83.23% 111 p/s2717 / 3238 [----------------------------------------------------------->___________] 83.91% 111 p/s2739 / 3238 [------------------------------------------------------------>__________] 84.59% 111 p/s2760 / 3238 [------------------------------------------------------------>__________] 85.24% 111 p/s2783 / 3238 [------------------------------------------------------------->_________] 85.95% 111 p/s2805 / 3238 [------------------------------------------------------------->_________] 86.63% 111 p/s2828 / 3238 [-------------------------------------------------------------->________] 87.34% 111 p/s2851 / 3238 [-------------------------------------------------------------->________] 88.05% 111 p/s2873 / 3238 [-------------------------------------------------------------->________] 88.73% 111 p/s2896 / 3238 [--------------------------------------------------------------->_______] 89.44% 111 p/s2918 / 3238 [--------------------------------------------------------------->_______] 90.12% 111 p/s2940 / 3238 [---------------------------------------------------------------->______] 90.80% 111 p/s2963 / 3238 [---------------------------------------------------------------->______] 91.51% 111 p/s2985 / 3238 [----------------------------------------------------------------->_____] 92.19% 111 p/s3007 / 3238 [----------------------------------------------------------------->_____] 92.87% 111 p/s3028 / 3238 [------------------------------------------------------------------>____] 93.51% 111 p/s3051 / 3238 [------------------------------------------------------------------>____] 94.22% 111 p/s3073 / 3238 [------------------------------------------------------------------->___] 94.90% 111 p/s3095 / 3238 [------------------------------------------------------------------->___] 95.58% 111 p/s3117 / 3238 [-------------------------------------------------------------------->__] 96.26% 111 p/s3140 / 3238 [-------------------------------------------------------------------->__] 96.97% 111 p/s3162 / 3238 [--------------------------------------------------------------------->_] 97.65% 111 p/s3184 / 3238 [--------------------------------------------------------------------->_] 98.33% 111 p/s3206 / 3238 [---------------------------------------------------------------------->] 99.01% 111 p/s3226 / 3238 [---------------------------------------------------------------------->] 99.63% 111 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-18T06:45:35 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:47:32 - 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/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99"
2026-03-18T06:47:33 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:47:33 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-03-18T06:47:33 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:47:33 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:47:33 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-03-18T06:47:33 - INFO: Preparing sonar data...
2026-03-18T06:47:33 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:47:36 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-03-18T06:47:36 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:47:36 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-18T06:47:36 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:47:36 - INFO: Sonar range is 0.939120 m
2026-03-18T06:47:36 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:47:36 - INFO: Processing 3237 sweeps...

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2026-03-18T06:47:45 - INFO: Prepared sonar data in 12.4781 s
2026-03-18T06:47:45 - INFO: No IMU data found
2026-03-18T06:47:46 - INFO: DataPrep took 0:00:12.861419
2026-03-18T06:47:46 - INFO: Extracted sonar data in 0:02:40.687786
2026-03-18T06:47:46 - INFO: MSIP3D took 0:02:41.086596