2026-03-18T06:40:01 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:40:01 - INFO: P3D files will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285
2026-03-18T06:40:02 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:40:02 - INFO: Found TFD mission for SJ502795 Dep 12
2026-03-18T06:40:02 - INFO: Recording will be processed as MD
2026-03-18T06:40:02 - INFO: Copying assets JSON to output directory...
2026-03-18T06:40:02 - INFO: Preparing counter data...
2026-03-18T06:40:02 - INFO: Interpreting counter as imperial
2026-03-18T06:40:02 - INFO: Preparing size track from assets JSON...
2026-03-18T06:40:02 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:40:02 - INFO: Preparing material track from assets JSON...
2026-03-18T06:40:02 - INFO: Prepared counter data in 0.0369 s
2026-03-18T06:40:02 - INFO: Extracting sonar data...
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/SJ502795_Dep_12.tfd
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output
Name: LASER, Tag: 4855221467469924940
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
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1141
21 / 1141 [->__________________________________________________________________________] 1.84% ? p/s43 / 1141 [-->_________________________________________________________________________] 3.77% ? p/s64 / 1141 [---->_______________________________________________________________________] 5.61% ? p/s86 / 1141 [----->____________________________________________________________________] 7.54% 108 p/s108 / 1141 [------>__________________________________________________________________] 9.47% 108 p/s129 / 1141 [-------->_______________________________________________________________] 11.31% 108 p/s152 / 1141 [--------->______________________________________________________________] 13.32% 108 p/s174 / 1141 [---------->_____________________________________________________________] 15.25% 108 p/s196 / 1141 [------------>___________________________________________________________] 17.18% 108 p/s219 / 1141 [------------->__________________________________________________________] 19.19% 109 p/s241 / 1141 [--------------->________________________________________________________] 21.12% 109 p/s262 / 1141 [---------------->_______________________________________________________] 22.96% 109 p/s285 / 1141 [----------------->______________________________________________________] 24.98% 109 p/s307 / 1141 [------------------->____________________________________________________] 26.91% 109 p/s329 / 1141 [-------------------->___________________________________________________] 28.83% 109 p/s352 / 1141 [---------------------->_________________________________________________] 30.85% 109 p/s374 / 1141 [----------------------->________________________________________________] 32.78% 109 p/s396 / 1141 [------------------------>_______________________________________________] 34.71% 109 p/s418 / 1141 [-------------------------->_____________________________________________] 36.63% 109 p/s440 / 1141 [--------------------------->____________________________________________] 38.56% 109 p/s462 / 1141 [----------------------------->__________________________________________] 40.49% 109 p/s484 / 1141 [------------------------------>_________________________________________] 42.42% 109 p/s506 / 1141 [------------------------------->________________________________________] 44.35% 109 p/s529 / 1141 [--------------------------------->______________________________________] 46.36% 109 p/s551 / 1141 [---------------------------------->_____________________________________] 48.29% 109 p/s574 / 1141 [------------------------------------>___________________________________] 50.31% 109 p/s596 / 1141 [------------------------------------->__________________________________] 52.23% 109 p/s618 / 1141 [-------------------------------------->_________________________________] 54.16% 109 p/s641 / 1141 [---------------------------------------->_______________________________] 56.18% 109 p/s663 / 1141 [----------------------------------------->______________________________] 58.11% 109 p/s686 / 1141 [------------------------------------------->____________________________] 60.12% 110 p/s708 / 1141 [-------------------------------------------->___________________________] 62.05% 110 p/s731 / 1141 [---------------------------------------------->_________________________] 64.07% 110 p/s753 / 1141 [----------------------------------------------->________________________] 65.99% 110 p/s776 / 1141 [------------------------------------------------>_______________________] 68.01% 110 p/s798 / 1141 [-------------------------------------------------->_____________________] 69.94% 110 p/s820 / 1141 [--------------------------------------------------->____________________] 71.87% 110 p/s842 / 1141 [----------------------------------------------------->__________________] 73.79% 110 p/s865 / 1141 [------------------------------------------------------>_________________] 75.81% 110 p/s887 / 1141 [------------------------------------------------------->________________] 77.74% 110 p/s909 / 1141 [--------------------------------------------------------->______________] 79.67% 110 p/s931 / 1141 [---------------------------------------------------------->_____________] 81.60% 110 p/s953 / 1141 [------------------------------------------------------------>___________] 83.52% 110 p/s976 / 1141 [------------------------------------------------------------->__________] 85.54% 110 p/s998 / 1141 [-------------------------------------------------------------->_________] 87.47% 110 p/s1019 / 1141 [--------------------------------------------------------------->_______] 89.31% 110 p/s1042 / 1141 [---------------------------------------------------------------->______] 91.32% 110 p/s1064 / 1141 [------------------------------------------------------------------>____] 93.25% 110 p/s1086 / 1141 [------------------------------------------------------------------->___] 95.18% 110 p/s1108 / 1141 [-------------------------------------------------------------------->__] 97.11% 110 p/s1131 / 1141 [---------------------------------------------------------------------->] 99.12% 110 p/s1141 / 1141 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T06:40:12 - INFO: Parsing 1141 sonar sweeps from /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:40:53 - 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/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285"
2026-03-18T06:40:55 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:40:55 - INFO: Prepared data will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/processing/data
2026-03-18T06:40:55 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:40:55 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:40:55 - INFO: Recording GUID: 0e64463b-6de9-f271-1b54-813be6f54285
2026-03-18T06:40:55 - INFO: Preparing sonar data...
2026-03-18T06:40:55 - INFO: /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:40:56 - INFO: Sonar epoch is 2026-01-12 20:14:38.716807+00:00 (1768248878716807426)
2026-03-18T06:40:56 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:40:56 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-18T06:40:56 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:40:56 - INFO: Sonar range is 0.939120 m
2026-03-18T06:40:56 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:40:56 - INFO: Processing 1140 sweeps...

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2026-03-18T06:41:00 - INFO: Prepared sonar data in 5.0871 s
2026-03-18T06:41:00 - INFO: No IMU data found
2026-03-18T06:41:00 - INFO: DataPrep took 0:00:05.234502
2026-03-18T06:41:00 - INFO: Extracted sonar data in 0:00:58.399771
2026-03-18T06:41:00 - INFO: MSIP3D took 0:00:58.521996