2026-03-18T06:47:14 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:47:14 - INFO: P3D files will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-18T06:47:14 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:47:14 - INFO: Found TFD mission for SJ502795 Dep 11
2026-03-18T06:47:14 - INFO: Recording will be processed as MD
2026-03-18T06:47:14 - INFO: Copying assets JSON to output directory...
2026-03-18T06:47:14 - INFO: Preparing counter data...
2026-03-18T06:47:14 - INFO: Interpreting counter as imperial
2026-03-18T06:47:14 - INFO: Preparing size track from assets JSON...
2026-03-18T06:47:14 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:47:14 - INFO: Preparing material track from assets JSON...
2026-03-18T06:47:14 - INFO: Prepared counter data in 0.1274 s
2026-03-18T06:47:14 - INFO: Extracting sonar data...
TFD path: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/SJ502795_Dep_11.tfd
TFD path: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 5789
22 / 5789 [>___________________________________________________________________________] 0.38% ? p/s45 / 5789 [>___________________________________________________________________________] 0.78% ? p/s67 / 5789 [>___________________________________________________________________________] 1.16% ? p/s90 / 5789 [->________________________________________________________________________] 1.55% 113 p/s113 / 5789 [->_______________________________________________________________________] 1.95% 113 p/s135 / 5789 [->_______________________________________________________________________] 2.33% 113 p/s158 / 5789 [->_______________________________________________________________________] 2.73% 113 p/s181 / 5789 [-->______________________________________________________________________] 3.13% 113 p/s204 / 5789 [-->______________________________________________________________________] 3.52% 113 p/s227 / 5789 [-->______________________________________________________________________] 3.92% 113 p/s249 / 5789 [--->_____________________________________________________________________] 4.30% 113 p/s272 / 5789 [--->_____________________________________________________________________] 4.70% 113 p/s296 / 5789 [--->_____________________________________________________________________] 5.11% 114 p/s319 / 5789 [---->____________________________________________________________________] 5.51% 114 p/s342 / 5789 [---->____________________________________________________________________] 5.91% 114 p/s365 / 5789 [---->____________________________________________________________________] 6.31% 114 p/s388 / 5789 [---->____________________________________________________________________] 6.70% 114 p/s410 / 5789 [----->___________________________________________________________________] 7.08% 114 p/s433 / 5789 [----->___________________________________________________________________] 7.48% 114 p/s456 / 5789 [----->___________________________________________________________________] 7.88% 114 p/s479 / 5789 [------>__________________________________________________________________] 8.27% 114 p/s502 / 5789 [------>__________________________________________________________________] 8.67% 114 p/s524 / 5789 [------>__________________________________________________________________] 9.05% 114 p/s547 / 5789 [------>__________________________________________________________________] 9.45% 114 p/s570 / 5789 [------->_________________________________________________________________] 9.85% 114 p/s593 / 5789 [------->________________________________________________________________] 10.24% 114 p/s616 / 5789 [------->________________________________________________________________] 10.64% 114 p/s639 / 5789 [------->________________________________________________________________] 11.04% 114 p/s662 / 5789 [-------->_______________________________________________________________] 11.44% 114 p/s685 / 5789 [-------->_______________________________________________________________] 11.83% 114 p/s708 / 5789 [-------->_______________________________________________________________] 12.23% 114 p/s731 / 5789 [--------->______________________________________________________________] 12.63% 114 p/s754 / 5789 [--------->______________________________________________________________] 13.02% 114 p/s777 / 5789 [--------->______________________________________________________________] 13.42% 114 p/s800 / 5789 [--------->______________________________________________________________] 13.82% 114 p/s823 / 5789 [---------->_____________________________________________________________] 14.22% 114 p/s846 / 5789 [---------->_____________________________________________________________] 14.61% 114 p/s869 / 5789 [---------->_____________________________________________________________] 15.01% 114 p/s892 / 5789 [----------->____________________________________________________________] 15.41% 114 p/s915 / 5789 [----------->____________________________________________________________] 15.81% 114 p/s938 / 5789 [----------->____________________________________________________________] 16.20% 114 p/s961 / 5789 [----------->____________________________________________________________] 16.60% 114 p/s984 / 5789 [------------>___________________________________________________________] 17.00% 114 p/s1007 / 5789 [------------>__________________________________________________________] 17.40% 114 p/s1029 / 5789 [------------>__________________________________________________________] 17.78% 114 p/s1052 / 5789 [------------>__________________________________________________________] 18.17% 114 p/s1075 / 5789 [------------->_________________________________________________________] 18.57% 114 p/s1098 / 5789 [------------->_________________________________________________________] 18.97% 114 p/s1122 / 5789 [------------->_________________________________________________________] 19.38% 114 p/s1144 / 5789 [-------------->________________________________________________________] 19.76% 114 p/s1167 / 5789 [-------------->________________________________________________________] 20.16% 114 p/s1190 / 5789 [-------------->________________________________________________________] 20.56% 114 p/s1213 / 5789 [-------------->________________________________________________________] 20.95% 114 p/s1236 / 5789 [--------------->_______________________________________________________] 21.35% 114 p/s1259 / 5789 [--------------->_______________________________________________________] 21.75% 114 p/s1282 / 5789 [--------------->_______________________________________________________] 22.15% 114 p/s1305 / 5789 [---------------->______________________________________________________] 22.54% 114 p/s1328 / 5789 [---------------->______________________________________________________] 22.94% 114 p/s1351 / 5789 [---------------->______________________________________________________] 23.34% 114 p/s1375 / 5789 [---------------->______________________________________________________] 23.75% 114 p/s1398 / 5789 [----------------->_____________________________________________________] 24.15% 114 p/s1421 / 5789 [----------------->_____________________________________________________] 24.55% 114 p/s1444 / 5789 [----------------->_____________________________________________________] 24.94% 114 p/s1467 / 5789 [----------------->_____________________________________________________] 25.34% 114 p/s1491 / 5789 [------------------>____________________________________________________] 25.76% 114 p/s1514 / 5789 [------------------>____________________________________________________] 26.15% 114 p/s1537 / 5789 [------------------>____________________________________________________] 26.55% 115 p/s1560 / 5789 [------------------->___________________________________________________] 26.95% 115 p/s1583 / 5789 [------------------->___________________________________________________] 27.34% 115 p/s1606 / 5789 [------------------->___________________________________________________] 27.74% 115 p/s1629 / 5789 [------------------->___________________________________________________] 28.14% 115 p/s1652 / 5789 [-------------------->__________________________________________________] 28.54% 115 p/s1675 / 5789 [-------------------->__________________________________________________] 28.93% 115 p/s1698 / 5789 [-------------------->__________________________________________________] 29.33% 115 p/s1720 / 5789 [--------------------->_________________________________________________] 29.71% 115 p/s1743 / 5789 [--------------------->_________________________________________________] 30.11% 115 p/s1766 / 5789 [--------------------->_________________________________________________] 30.51% 115 p/s1789 / 5789 [--------------------->_________________________________________________] 30.90% 115 p/s1812 / 5789 [---------------------->________________________________________________] 31.30% 115 p/s1834 / 5789 [---------------------->________________________________________________] 31.68% 115 p/s1857 / 5789 [---------------------->________________________________________________] 32.08% 115 p/s1880 / 5789 [----------------------->_______________________________________________] 32.48% 115 p/s1902 / 5789 [----------------------->_______________________________________________] 32.86% 115 p/s1925 / 5789 [----------------------->_______________________________________________] 33.25% 115 p/s1948 / 5789 [----------------------->_______________________________________________] 33.65% 114 p/s1970 / 5789 [------------------------>______________________________________________] 34.03% 114 p/s1993 / 5789 [------------------------>______________________________________________] 34.43% 114 p/s2016 / 5789 [------------------------>______________________________________________] 34.82% 114 p/s2039 / 5789 [------------------------->_____________________________________________] 35.22% 114 p/s2060 / 5789 [------------------------->_____________________________________________] 35.58% 114 p/s2083 / 5789 [------------------------->_____________________________________________] 35.98% 114 p/s2106 / 5789 [------------------------->_____________________________________________] 36.38% 114 p/s2128 / 5789 [-------------------------->____________________________________________] 36.76% 114 p/s2151 / 5789 [-------------------------->____________________________________________] 37.16% 114 p/s2173 / 5789 [-------------------------->____________________________________________] 37.54% 114 p/s2196 / 5789 [-------------------------->____________________________________________] 37.93% 114 p/s2219 / 5789 [--------------------------->___________________________________________] 38.33% 114 p/s2242 / 5789 [--------------------------->___________________________________________] 38.73% 114 p/s2265 / 5789 [--------------------------->___________________________________________] 39.13% 114 p/s2287 / 5789 [---------------------------->__________________________________________] 39.51% 114 p/s2310 / 5789 [---------------------------->__________________________________________] 39.90% 114 p/s2333 / 5789 [---------------------------->__________________________________________] 40.30% 114 p/s2356 / 5789 [---------------------------->__________________________________________] 40.70% 114 p/s2378 / 5789 [----------------------------->_________________________________________] 41.08% 114 p/s2400 / 5789 [----------------------------->_________________________________________] 41.46% 114 p/s2423 / 5789 [----------------------------->_________________________________________] 41.86% 114 p/s2445 / 5789 [----------------------------->_________________________________________] 42.24% 114 p/s2467 / 5789 [------------------------------>________________________________________] 42.62% 114 p/s2489 / 5789 [------------------------------>________________________________________] 43.00% 114 p/s2512 / 5789 [------------------------------>________________________________________] 43.39% 114 p/s2535 / 5789 [------------------------------->_______________________________________] 43.79% 114 p/s2557 / 5789 [------------------------------->_______________________________________] 44.17% 114 p/s2580 / 5789 [------------------------------->_______________________________________] 44.57% 114 p/s2602 / 5789 [------------------------------->_______________________________________] 44.95% 114 p/s2625 / 5789 [-------------------------------->______________________________________] 45.34% 114 p/s2648 / 5789 [-------------------------------->______________________________________] 45.74% 114 p/s2671 / 5789 [-------------------------------->______________________________________] 46.14% 114 p/s2694 / 5789 [--------------------------------->_____________________________________] 46.54% 114 p/s2717 / 5789 [--------------------------------->_____________________________________] 46.93% 114 p/s2739 / 5789 [--------------------------------->_____________________________________] 47.31% 114 p/s2762 / 5789 [--------------------------------->_____________________________________] 47.71% 114 p/s2785 / 5789 [---------------------------------->____________________________________] 48.11% 114 p/s2808 / 5789 [---------------------------------->____________________________________] 48.51% 114 p/s2829 / 5789 [---------------------------------->____________________________________] 48.87% 114 p/s2852 / 5789 [---------------------------------->____________________________________] 49.27% 114 p/s2875 / 5789 [----------------------------------->___________________________________] 49.66% 114 p/s2898 / 5789 [----------------------------------->___________________________________] 50.06% 114 p/s2919 / 5789 [----------------------------------->___________________________________] 50.42% 114 p/s2942 / 5789 [------------------------------------>__________________________________] 50.82% 114 p/s2965 / 5789 [------------------------------------>__________________________________] 51.22% 114 p/s2988 / 5789 [------------------------------------>__________________________________] 51.62% 114 p/s3011 / 5789 [------------------------------------>__________________________________] 52.01% 114 p/s3034 / 5789 [------------------------------------->_________________________________] 52.41% 114 p/s3057 / 5789 [------------------------------------->_________________________________] 52.81% 114 p/s3079 / 5789 [------------------------------------->_________________________________] 53.19% 114 p/s3103 / 5789 [-------------------------------------->________________________________] 53.60% 114 p/s3126 / 5789 [-------------------------------------->________________________________] 54.00% 114 p/s3149 / 5789 [-------------------------------------->________________________________] 54.40% 114 p/s3172 / 5789 [-------------------------------------->________________________________] 54.79% 114 p/s3194 / 5789 [--------------------------------------->_______________________________] 55.17% 114 p/s3217 / 5789 [--------------------------------------->_______________________________] 55.57% 114 p/s3240 / 5789 [--------------------------------------->_______________________________] 55.97% 114 p/s3263 / 5789 [---------------------------------------->______________________________] 56.37% 114 p/s3286 / 5789 [---------------------------------------->______________________________] 56.76% 114 p/s3309 / 5789 [---------------------------------------->______________________________] 57.16% 114 p/s3331 / 5789 [---------------------------------------->______________________________] 57.54% 114 p/s3354 / 5789 [----------------------------------------->_____________________________] 57.94% 114 p/s3376 / 5789 [----------------------------------------->_____________________________] 58.32% 114 p/s3398 / 5789 [----------------------------------------->_____________________________] 58.70% 114 p/s3421 / 5789 [----------------------------------------->_____________________________] 59.09% 114 p/s3443 / 5789 [------------------------------------------>____________________________] 59.47% 114 p/s3466 / 5789 [------------------------------------------>____________________________] 59.87% 114 p/s3488 / 5789 [------------------------------------------>____________________________] 60.25% 114 p/s3511 / 5789 [------------------------------------------->___________________________] 60.65% 114 p/s3533 / 5789 [------------------------------------------->___________________________] 61.03% 114 p/s3556 / 5789 [------------------------------------------->___________________________] 61.43% 114 p/s3578 / 5789 [------------------------------------------->___________________________] 61.81% 113 p/s3601 / 5789 [-------------------------------------------->__________________________] 62.20% 113 p/s3623 / 5789 [-------------------------------------------->__________________________] 62.58% 113 p/s3646 / 5789 [-------------------------------------------->__________________________] 62.98% 113 p/s3669 / 5789 [-------------------------------------------->__________________________] 63.38% 113 p/s3692 / 5789 [--------------------------------------------->_________________________] 63.78% 113 p/s3714 / 5789 [--------------------------------------------->_________________________] 64.16% 113 p/s3737 / 5789 [--------------------------------------------->_________________________] 64.55% 113 p/s3759 / 5789 [---------------------------------------------->________________________] 64.93% 113 p/s3782 / 5789 [---------------------------------------------->________________________] 65.33% 113 p/s3805 / 5789 [---------------------------------------------->________________________] 65.73% 113 p/s3828 / 5789 [---------------------------------------------->________________________] 66.13% 113 p/s3850 / 5789 [----------------------------------------------->_______________________] 66.51% 113 p/s3873 / 5789 [----------------------------------------------->_______________________] 66.90% 113 p/s3896 / 5789 [----------------------------------------------->_______________________] 67.30% 113 p/s3918 / 5789 [------------------------------------------------>______________________] 67.68% 113 p/s3940 / 5789 [------------------------------------------------>______________________] 68.06% 113 p/s3962 / 5789 [------------------------------------------------>______________________] 68.44% 113 p/s3985 / 5789 [------------------------------------------------>______________________] 68.84% 113 p/s4008 / 5789 [------------------------------------------------->_____________________] 69.23% 113 p/s4030 / 5789 [------------------------------------------------->_____________________] 69.61% 113 p/s4053 / 5789 [------------------------------------------------->_____________________] 70.01% 113 p/s4075 / 5789 [------------------------------------------------->_____________________] 70.39% 113 p/s4097 / 5789 [-------------------------------------------------->____________________] 70.77% 113 p/s4118 / 5789 [-------------------------------------------------->____________________] 71.13% 113 p/s4141 / 5789 [-------------------------------------------------->____________________] 71.53% 113 p/s4164 / 5789 [--------------------------------------------------->___________________] 71.93% 113 p/s4186 / 5789 [--------------------------------------------------->___________________] 72.31% 113 p/s4208 / 5789 [--------------------------------------------------->___________________] 72.69% 113 p/s4231 / 5789 [--------------------------------------------------->___________________] 73.09% 113 p/s4254 / 5789 [---------------------------------------------------->__________________] 73.48% 113 p/s4276 / 5789 [---------------------------------------------------->__________________] 73.86% 113 p/s4299 / 5789 [---------------------------------------------------->__________________] 74.26% 113 p/s4322 / 5789 [----------------------------------------------------->_________________] 74.66% 113 p/s4344 / 5789 [----------------------------------------------------->_________________] 75.04% 113 p/s4367 / 5789 [----------------------------------------------------->_________________] 75.44% 113 p/s4390 / 5789 [----------------------------------------------------->_________________] 75.83% 113 p/s4413 / 5789 [------------------------------------------------------>________________] 76.23% 113 p/s4436 / 5789 [------------------------------------------------------>________________] 76.63% 113 p/s4459 / 5789 [------------------------------------------------------>________________] 77.03% 113 p/s4481 / 5789 [------------------------------------------------------>________________] 77.41% 113 p/s4504 / 5789 [------------------------------------------------------->_______________] 77.80% 113 p/s4527 / 5789 [------------------------------------------------------->_______________] 78.20% 113 p/s4550 / 5789 [------------------------------------------------------->_______________] 78.60% 113 p/s4572 / 5789 [-------------------------------------------------------->______________] 78.98% 113 p/s4595 / 5789 [-------------------------------------------------------->______________] 79.37% 113 p/s4618 / 5789 [-------------------------------------------------------->______________] 79.77% 113 p/s4641 / 5789 [-------------------------------------------------------->______________] 80.17% 113 p/s4663 / 5789 [--------------------------------------------------------->_____________] 80.55% 113 p/s4686 / 5789 [--------------------------------------------------------->_____________] 80.95% 113 p/s4709 / 5789 [--------------------------------------------------------->_____________] 81.34% 113 p/s4731 / 5789 [---------------------------------------------------------->____________] 81.72% 113 p/s4754 / 5789 [---------------------------------------------------------->____________] 82.12% 113 p/s4776 / 5789 [---------------------------------------------------------->____________] 82.50% 113 p/s4799 / 5789 [---------------------------------------------------------->____________] 82.90% 113 p/s4821 / 5789 [----------------------------------------------------------->___________] 83.28% 113 p/s4844 / 5789 [----------------------------------------------------------->___________] 83.68% 113 p/s4867 / 5789 [----------------------------------------------------------->___________] 84.07% 113 p/s4889 / 5789 [----------------------------------------------------------->___________] 84.45% 113 p/s4912 / 5789 [------------------------------------------------------------>__________] 84.85% 113 p/s4935 / 5789 [------------------------------------------------------------>__________] 85.25% 113 p/s4957 / 5789 [------------------------------------------------------------>__________] 85.63% 113 p/s4980 / 5789 [------------------------------------------------------------->_________] 86.03% 113 p/s5002 / 5789 [------------------------------------------------------------->_________] 86.41% 113 p/s5025 / 5789 [------------------------------------------------------------->_________] 86.80% 113 p/s5047 / 5789 [------------------------------------------------------------->_________] 87.18% 113 p/s5069 / 5789 [-------------------------------------------------------------->________] 87.56% 113 p/s5092 / 5789 [-------------------------------------------------------------->________] 87.96% 113 p/s5114 / 5789 [-------------------------------------------------------------->________] 88.34% 113 p/s5136 / 5789 [-------------------------------------------------------------->________] 88.72% 113 p/s5158 / 5789 [--------------------------------------------------------------->_______] 89.10% 113 p/s5181 / 5789 [--------------------------------------------------------------->_______] 89.50% 113 p/s5203 / 5789 [--------------------------------------------------------------->_______] 89.88% 113 p/s5225 / 5789 [---------------------------------------------------------------->______] 90.26% 113 p/s5247 / 5789 [---------------------------------------------------------------->______] 90.64% 113 p/s5270 / 5789 [---------------------------------------------------------------->______] 91.03% 113 p/s5292 / 5789 [---------------------------------------------------------------->______] 91.41% 113 p/s5315 / 5789 [----------------------------------------------------------------->_____] 91.81% 113 p/s5338 / 5789 [----------------------------------------------------------------->_____] 92.21% 113 p/s5360 / 5789 [----------------------------------------------------------------->_____] 92.59% 113 p/s5383 / 5789 [------------------------------------------------------------------>____] 92.99% 113 p/s5406 / 5789 [------------------------------------------------------------------>____] 93.38% 113 p/s5429 / 5789 [------------------------------------------------------------------>____] 93.78% 113 p/s5451 / 5789 [------------------------------------------------------------------>____] 94.16% 113 p/s5474 / 5789 [------------------------------------------------------------------->___] 94.56% 113 p/s5497 / 5789 [------------------------------------------------------------------->___] 94.96% 113 p/s5520 / 5789 [------------------------------------------------------------------->___] 95.35% 113 p/s5542 / 5789 [------------------------------------------------------------------->___] 95.73% 113 p/s5565 / 5789 [-------------------------------------------------------------------->__] 96.13% 113 p/s5587 / 5789 [-------------------------------------------------------------------->__] 96.51% 113 p/s5610 / 5789 [-------------------------------------------------------------------->__] 96.91% 113 p/s5632 / 5789 [--------------------------------------------------------------------->_] 97.29% 113 p/s5655 / 5789 [--------------------------------------------------------------------->_] 97.69% 113 p/s5677 / 5789 [--------------------------------------------------------------------->_] 98.07% 113 p/s5700 / 5789 [--------------------------------------------------------------------->_] 98.46% 113 p/s5722 / 5789 [---------------------------------------------------------------------->] 98.84% 113 p/s5745 / 5789 [---------------------------------------------------------------------->] 99.24% 113 p/s5767 / 5789 [---------------------------------------------------------------------->] 99.62% 113 p/s5789 / 5789 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-18T06:48:05 - INFO: Parsing 5789 sonar sweeps from /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5789 [00:00<?, ?it/s]
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  1%|          | 60/5789 [00:02<03:20, 28.61it/s]
  1%|          | 63/5789 [00:02<03:19, 28.63it/s]
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  1%|          | 72/5789 [00:02<03:19, 28.65it/s]
  1%|▏         | 75/5789 [00:02<03:19, 28.63it/s]
  1%|▏         | 78/5789 [00:02<03:19, 28.65it/s]
  1%|▏         | 81/5789 [00:02<03:19, 28.62it/s]
  1%|▏         | 84/5789 [00:02<03:19, 28.54it/s]
  2%|▏         | 87/5789 [00:03<03:19, 28.62it/s]
  2%|▏         | 90/5789 [00:03<03:18, 28.69it/s]
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  2%|▏         | 111/5789 [00:03<03:18, 28.65it/s]
  2%|▏         | 114/5789 [00:03<03:17, 28.73it/s]
  2%|▏         | 117/5789 [00:04<03:17, 28.76it/s]
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  2%|▏         | 141/5789 [00:04<03:17, 28.55it/s]
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2026-03-18T06:51:34 - 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/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb"
2026-03-18T06:51:35 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:51:35 - INFO: Prepared data will be output to /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/processing/data
2026-03-18T06:51:35 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:51:35 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:51:35 - INFO: Recording GUID: df5cf81d-2415-ac96-13d6-d24e1da5c2fb
2026-03-18T06:51:35 - INFO: Preparing sonar data...
2026-03-18T06:51:35 - INFO: /working/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/df5cf81d-2415-ac96-13d6-d24e1da5c2fb/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:51:40 - INFO: Sonar epoch is 2026-01-12 14:17:13.407005+00:00 (1768227433407004650)
2026-03-18T06:51:40 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:51:40 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-18T06:51:40 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:51:40 - INFO: Sonar range is 0.939120 m
2026-03-18T06:51:40 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:51:40 - INFO: Processing 5789 sweeps...

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2026-03-18T06:52:00 - INFO: Prepared sonar data in 24.9475 s
2026-03-18T06:52:00 - INFO: No IMU data found
2026-03-18T06:52:01 - INFO: DataPrep took 0:00:25.727224
2026-03-18T06:52:01 - INFO: Extracted sonar data in 0:04:47.047923
2026-03-18T06:52:02 - INFO: MSIP3D took 0:04:47.679042