2026-03-18T06:45:54 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:54 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-18T06:45:55 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:45:55 - INFO: Found TFD mission for SJ502828 DEP 514
2026-03-18T06:45:55 - INFO: Recording will be processed as SMD
2026-03-18T06:45:55 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:55 - INFO: Preparing counter data...
2026-03-18T06:45:55 - INFO: Interpreting counter as imperial
2026-03-18T06:45:55 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:55 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:55 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:55 - INFO: Prepared counter data in 0.1317 s
2026-03-18T06:45:55 - INFO: Extracting sonar data...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1806
18 / 1806 [>___________________________________________________________________________] 1.00% ? p/s37 / 1806 [->__________________________________________________________________________] 2.05% ? p/s56 / 1806 [-->_________________________________________________________________________] 3.10% ? p/s75 / 1806 [--->_______________________________________________________________________] 4.15% 95 p/s94 / 1806 [--->_______________________________________________________________________] 5.20% 95 p/s114 / 1806 [---->_____________________________________________________________________] 6.31% 95 p/s132 / 1806 [----->____________________________________________________________________] 7.31% 95 p/s151 / 1806 [------>___________________________________________________________________] 8.36% 95 p/s170 / 1806 [------>___________________________________________________________________] 9.41% 95 p/s189 / 1806 [------->_________________________________________________________________] 10.47% 95 p/s208 / 1806 [-------->________________________________________________________________] 11.52% 95 p/s227 / 1806 [--------->_______________________________________________________________] 12.57% 95 p/s247 / 1806 [--------->_______________________________________________________________] 13.68% 95 p/s265 / 1806 [---------->______________________________________________________________] 14.67% 95 p/s284 / 1806 [----------->_____________________________________________________________] 15.73% 95 p/s303 / 1806 [------------>____________________________________________________________] 16.78% 95 p/s322 / 1806 [------------->___________________________________________________________] 17.83% 95 p/s341 / 1806 [------------->___________________________________________________________] 18.88% 95 p/s360 / 1806 [-------------->__________________________________________________________] 19.93% 95 p/s379 / 1806 [--------------->_________________________________________________________] 20.99% 95 p/s398 / 1806 [---------------->________________________________________________________] 22.04% 95 p/s418 / 1806 [---------------->________________________________________________________] 23.15% 95 p/s437 / 1806 [----------------->_______________________________________________________] 24.20% 95 p/s456 / 1806 [------------------>______________________________________________________] 25.25% 95 p/s475 / 1806 [------------------->_____________________________________________________] 26.30% 95 p/s494 / 1806 [------------------->_____________________________________________________] 27.35% 95 p/s513 / 1806 [-------------------->____________________________________________________] 28.41% 95 p/s532 / 1806 [--------------------->___________________________________________________] 29.46% 95 p/s551 / 1806 [---------------------->__________________________________________________] 30.51% 95 p/s570 / 1806 [----------------------->_________________________________________________] 31.56% 95 p/s589 / 1806 [----------------------->_________________________________________________] 32.61% 95 p/s608 / 1806 [------------------------>________________________________________________] 33.67% 95 p/s627 / 1806 [------------------------->_______________________________________________] 34.72% 95 p/s646 / 1806 [-------------------------->______________________________________________] 35.77% 95 p/s665 / 1806 [-------------------------->______________________________________________] 36.82% 95 p/s685 / 1806 [--------------------------->_____________________________________________] 37.93% 95 p/s704 / 1806 [---------------------------->____________________________________________] 38.98% 95 p/s723 / 1806 [----------------------------->___________________________________________] 40.03% 95 p/s742 / 1806 [----------------------------->___________________________________________] 41.09% 95 p/s761 / 1806 [------------------------------>__________________________________________] 42.14% 95 p/s780 / 1806 [------------------------------->_________________________________________] 43.19% 95 p/s799 / 1806 [-------------------------------->________________________________________] 44.24% 95 p/s819 / 1806 [--------------------------------->_______________________________________] 45.35% 95 p/s838 / 1806 [--------------------------------->_______________________________________] 46.40% 95 p/s857 / 1806 [---------------------------------->______________________________________] 47.45% 95 p/s876 / 1806 [----------------------------------->_____________________________________] 48.50% 95 p/s896 / 1806 [------------------------------------>____________________________________] 49.61% 95 p/s915 / 1806 [------------------------------------>____________________________________] 50.66% 95 p/s934 / 1806 [------------------------------------->___________________________________] 51.72% 95 p/s953 / 1806 [-------------------------------------->__________________________________] 52.77% 95 p/s972 / 1806 [--------------------------------------->_________________________________] 53.82% 95 p/s991 / 1806 [---------------------------------------->________________________________] 54.87% 95 p/s1010 / 1806 [---------------------------------------->_______________________________] 55.92% 95 p/s1029 / 1806 [----------------------------------------->______________________________] 56.98% 95 p/s1048 / 1806 [----------------------------------------->______________________________] 58.03% 95 p/s1067 / 1806 [------------------------------------------>_____________________________] 59.08% 95 p/s1086 / 1806 [------------------------------------------->____________________________] 60.13% 95 p/s1106 / 1806 [-------------------------------------------->___________________________] 61.24% 95 p/s1125 / 1806 [-------------------------------------------->___________________________] 62.29% 95 p/s1144 / 1806 [--------------------------------------------->__________________________] 63.34% 95 p/s1163 / 1806 [---------------------------------------------->_________________________] 64.40% 95 p/s1182 / 1806 [----------------------------------------------->________________________] 65.45% 95 p/s1201 / 1806 [----------------------------------------------->________________________] 66.50% 95 p/s1220 / 1806 [------------------------------------------------>_______________________] 67.55% 95 p/s1239 / 1806 [------------------------------------------------->______________________] 68.60% 95 p/s1258 / 1806 [-------------------------------------------------->_____________________] 69.66% 95 p/s1277 / 1806 [-------------------------------------------------->_____________________] 70.71% 95 p/s1296 / 1806 [--------------------------------------------------->____________________] 71.76% 95 p/s1315 / 1806 [---------------------------------------------------->___________________] 72.81% 95 p/s1335 / 1806 [----------------------------------------------------->__________________] 73.92% 95 p/s1354 / 1806 [----------------------------------------------------->__________________] 74.97% 95 p/s1373 / 1806 [------------------------------------------------------>_________________] 76.02% 95 p/s1392 / 1806 [------------------------------------------------------->________________] 77.08% 95 p/s1411 / 1806 [-------------------------------------------------------->_______________] 78.13% 95 p/s1430 / 1806 [--------------------------------------------------------->______________] 79.18% 95 p/s1449 / 1806 [--------------------------------------------------------->______________] 80.23% 95 p/s1468 / 1806 [---------------------------------------------------------->_____________] 81.28% 95 p/s1487 / 1806 [----------------------------------------------------------->____________] 82.34% 95 p/s1506 / 1806 [------------------------------------------------------------>___________] 83.39% 95 p/s1525 / 1806 [------------------------------------------------------------>___________] 84.44% 95 p/s1545 / 1806 [------------------------------------------------------------->__________] 85.55% 95 p/s1564 / 1806 [-------------------------------------------------------------->_________] 86.60% 95 p/s1583 / 1806 [--------------------------------------------------------------->________] 87.65% 95 p/s1602 / 1806 [--------------------------------------------------------------->________] 88.70% 95 p/s1621 / 1806 [---------------------------------------------------------------->_______] 89.76% 95 p/s1640 / 1806 [----------------------------------------------------------------->______] 90.81% 95 p/s1659 / 1806 [------------------------------------------------------------------>_____] 91.86% 95 p/s1678 / 1806 [------------------------------------------------------------------>_____] 92.91% 95 p/s1697 / 1806 [------------------------------------------------------------------->____] 93.96% 95 p/s1716 / 1806 [-------------------------------------------------------------------->___] 95.02% 95 p/s1735 / 1806 [--------------------------------------------------------------------->__] 96.07% 95 p/s1754 / 1806 [--------------------------------------------------------------------->__] 97.12% 95 p/s1774 / 1806 [---------------------------------------------------------------------->_] 98.23% 95 p/s1793 / 1806 [----------------------------------------------------------------------->] 99.28% 95 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-18T06:46:14 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:47:25 - 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 /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-03-18T06:47:26 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:47:26 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-03-18T06:47:26 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:47:26 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:47:26 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-18T06:47:26 - INFO: Preparing sonar data...
2026-03-18T06:47:26 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:47:28 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-03-18T06:47:28 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:47:28 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-18T06:47:28 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:47:28 - INFO: Sonar range is 1.589280 m
2026-03-18T06:47:28 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:47:28 - INFO: Processing 1806 sweeps...

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2026-03-18T06:47:36 - INFO: Prepared sonar data in 9.5872 s
2026-03-18T06:47:36 - INFO: No IMU data found
2026-03-18T06:47:36 - INFO: DataPrep took 0:00:09.866742
2026-03-18T06:47:36 - INFO: Extracted sonar data in 0:01:41.478801
2026-03-18T06:47:36 - INFO: MSIP3D took 0:01:41.772830