2026-03-18T06:46:50 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:46:50 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-18T06:46:50 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:46:50 - INFO: Found TFD mission for SJ502828 DEP 517
2026-03-18T06:46:50 - INFO: Recording will be processed as SMD
2026-03-18T06:46:50 - INFO: Copying assets JSON to output directory...
2026-03-18T06:46:50 - INFO: Preparing counter data...
2026-03-18T06:46:50 - INFO: Interpreting counter as imperial
2026-03-18T06:46:50 - INFO: Preparing size track from assets JSON...
2026-03-18T06:46:50 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:46:50 - INFO: Preparing material track from assets JSON...
2026-03-18T06:46:50 - INFO: Prepared counter data in 0.1921 s
2026-03-18T06:46:50 - INFO: Extracting sonar data...
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/SJ502828_DEP_517.tfd
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1337
18 / 1337 [->__________________________________________________________________________] 1.35% ? p/s37 / 1337 [-->_________________________________________________________________________] 2.77% ? p/s55 / 1337 [--->_______________________________________________________________________] 4.11% 71 p/s62 / 1337 [--->_______________________________________________________________________] 4.64% 71 p/s80 / 1337 [---->______________________________________________________________________] 5.98% 71 p/s99 / 1337 [----->_____________________________________________________________________] 7.40% 71 p/s118 / 1337 [------>___________________________________________________________________] 8.83% 72 p/s137 / 1337 [------->_________________________________________________________________] 10.25% 72 p/s156 / 1337 [-------->________________________________________________________________] 11.67% 72 p/s175 / 1337 [--------->_______________________________________________________________] 13.09% 74 p/s194 / 1337 [---------->______________________________________________________________] 14.51% 74 p/s213 / 1337 [----------->_____________________________________________________________] 15.93% 74 p/s233 / 1337 [------------>____________________________________________________________] 17.43% 75 p/s251 / 1337 [------------->___________________________________________________________] 18.77% 75 p/s270 / 1337 [-------------->__________________________________________________________] 20.19% 75 p/s290 / 1337 [--------------->_________________________________________________________] 21.69% 77 p/s308 / 1337 [---------------->________________________________________________________] 23.04% 77 p/s327 / 1337 [----------------->_______________________________________________________] 24.46% 77 p/s347 / 1337 [------------------>______________________________________________________] 25.95% 78 p/s366 / 1337 [------------------->_____________________________________________________] 27.37% 78 p/s385 / 1337 [--------------------->___________________________________________________] 28.80% 78 p/s390 / 1337 [--------------------->___________________________________________________] 29.17% 77 p/s409 / 1337 [---------------------->__________________________________________________] 30.59% 77 p/s428 / 1337 [----------------------->_________________________________________________] 32.01% 77 p/s447 / 1337 [------------------------>________________________________________________] 33.43% 78 p/s466 / 1337 [------------------------->_______________________________________________] 34.85% 78 p/s485 / 1337 [-------------------------->______________________________________________] 36.28% 78 p/s504 / 1337 [--------------------------->_____________________________________________] 37.70% 80 p/s523 / 1337 [---------------------------->____________________________________________] 39.12% 80 p/s542 / 1337 [----------------------------->___________________________________________] 40.54% 80 p/s561 / 1337 [------------------------------>__________________________________________] 41.96% 81 p/s580 / 1337 [------------------------------->_________________________________________] 43.38% 81 p/s599 / 1337 [-------------------------------->________________________________________] 44.80% 81 p/s618 / 1337 [--------------------------------->_______________________________________] 46.22% 81 p/s638 / 1337 [---------------------------------->______________________________________] 47.72% 81 p/s657 / 1337 [----------------------------------->_____________________________________] 49.14% 81 p/s676 / 1337 [------------------------------------>____________________________________] 50.56% 82 p/s696 / 1337 [-------------------------------------->__________________________________] 52.06% 82 p/s715 / 1337 [--------------------------------------->_________________________________] 53.48% 82 p/s734 / 1337 [---------------------------------------->________________________________] 54.90% 83 p/s753 / 1337 [----------------------------------------->_______________________________] 56.32% 83 p/s772 / 1337 [------------------------------------------>______________________________] 57.74% 83 p/s792 / 1337 [------------------------------------------->_____________________________] 59.24% 84 p/s811 / 1337 [-------------------------------------------->____________________________] 60.66% 84 p/s830 / 1337 [--------------------------------------------->___________________________] 62.08% 84 p/s849 / 1337 [---------------------------------------------->__________________________] 63.50% 85 p/s869 / 1337 [----------------------------------------------->_________________________] 65.00% 85 p/s888 / 1337 [------------------------------------------------>________________________] 66.42% 85 p/s907 / 1337 [------------------------------------------------->_______________________] 67.84% 86 p/s926 / 1337 [-------------------------------------------------->______________________] 69.26% 86 p/s946 / 1337 [--------------------------------------------------->_____________________] 70.76% 86 p/s965 / 1337 [---------------------------------------------------->____________________] 72.18% 86 p/s984 / 1337 [----------------------------------------------------->___________________] 73.60% 86 p/s1003 / 1337 [------------------------------------------------------>_________________] 75.02% 86 p/s1022 / 1337 [------------------------------------------------------->________________] 76.44% 87 p/s1041 / 1337 [-------------------------------------------------------->_______________] 77.86% 87 p/s1061 / 1337 [--------------------------------------------------------->______________] 79.36% 87 p/s1080 / 1337 [---------------------------------------------------------->_____________] 80.78% 88 p/s1099 / 1337 [----------------------------------------------------------->____________] 82.20% 88 p/s1119 / 1337 [------------------------------------------------------------>___________] 83.69% 88 p/s1138 / 1337 [------------------------------------------------------------->__________] 85.12% 88 p/s1157 / 1337 [-------------------------------------------------------------->_________] 86.54% 88 p/s1177 / 1337 [--------------------------------------------------------------->________] 88.03% 88 p/s1196 / 1337 [---------------------------------------------------------------->_______] 89.45% 89 p/s1215 / 1337 [----------------------------------------------------------------->______] 90.88% 89 p/s1234 / 1337 [------------------------------------------------------------------>_____] 92.30% 89 p/s1253 / 1337 [------------------------------------------------------------------->____] 93.72% 89 p/s1273 / 1337 [-------------------------------------------------------------------->___] 95.21% 89 p/s1292 / 1337 [--------------------------------------------------------------------->__] 96.63% 89 p/s1311 / 1337 [---------------------------------------------------------------------->_] 98.06% 90 p/s1330 / 1337 [----------------------------------------------------------------------->] 99.48% 90 p/s1337 / 1337 [-----------------------------------------------------------------------] 100.00% 95 p/s2026-03-18T06:47:05 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:47:57 - 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/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f"
2026-03-18T06:47:59 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:47:59 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-03-18T06:47:59 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:47:59 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:47:59 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-18T06:47:59 - INFO: Preparing sonar data...
2026-03-18T06:47:59 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:48:00 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-03-18T06:48:00 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:48:00 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-18T06:48:00 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:48:00 - INFO: Sonar range is 2.094960 m
2026-03-18T06:48:00 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:48:00 - INFO: Processing 1337 sweeps...

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2026-03-18T06:48:05 - INFO: Prepared sonar data in 6.7816 s
2026-03-18T06:48:05 - INFO: No IMU data found
2026-03-18T06:48:06 - INFO: DataPrep took 0:00:06.973068
2026-03-18T06:48:06 - INFO: Extracted sonar data in 0:01:15.225686
2026-03-18T06:48:06 - INFO: MSIP3D took 0:01:15.533369