2026-03-18T06:52:28 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:52:28 - INFO: P3D files will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-18T06:52:28 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:52:28 - INFO: Found TFD mission for SJ502828 DEP 518
2026-03-18T06:52:28 - INFO: Recording will be processed as SMD
2026-03-18T06:52:28 - INFO: Copying assets JSON to output directory...
2026-03-18T06:52:28 - INFO: Preparing counter data...
2026-03-18T06:52:28 - INFO: Interpreting counter as imperial
2026-03-18T06:52:29 - INFO: Preparing size track from assets JSON...
2026-03-18T06:52:29 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:52:29 - INFO: Preparing material track from assets JSON...
2026-03-18T06:52:29 - INFO: Prepared counter data in 0.3034 s
2026-03-18T06:52:29 - INFO: Extracting sonar data...
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/SJ502828_DEP_518.tfd
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: SONAR, Tag: 6012079244958847671
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 2696
19 / 2696 [>___________________________________________________________________________] 0.70% ? p/s39 / 2696 [->__________________________________________________________________________] 1.45% ? p/s58 / 2696 [->__________________________________________________________________________] 2.15% ? p/s78 / 2696 [-->________________________________________________________________________] 2.89% 98 p/s98 / 2696 [-->________________________________________________________________________] 3.64% 98 p/s118 / 2696 [--->______________________________________________________________________] 4.38% 98 p/s137 / 2696 [--->______________________________________________________________________] 5.08% 98 p/s157 / 2696 [---->_____________________________________________________________________] 5.82% 98 p/s177 / 2696 [---->_____________________________________________________________________] 6.57% 98 p/s197 / 2696 [----->____________________________________________________________________] 7.31% 98 p/s217 / 2696 [----->____________________________________________________________________] 8.05% 98 p/s237 / 2696 [------>___________________________________________________________________] 8.79% 98 p/s257 / 2696 [------->__________________________________________________________________] 9.53% 99 p/s277 / 2696 [------->_________________________________________________________________] 10.27% 99 p/s297 / 2696 [-------->________________________________________________________________] 11.02% 99 p/s317 / 2696 [-------->________________________________________________________________] 11.76% 99 p/s337 / 2696 [--------->_______________________________________________________________] 12.50% 99 p/s357 / 2696 [--------->_______________________________________________________________] 13.24% 99 p/s377 / 2696 [---------->______________________________________________________________] 13.98% 99 p/s397 / 2696 [---------->______________________________________________________________] 14.73% 99 p/s417 / 2696 [----------->_____________________________________________________________] 15.47% 99 p/s437 / 2696 [----------->_____________________________________________________________] 16.21% 99 p/s457 / 2696 [------------>____________________________________________________________] 16.95% 99 p/s477 / 2696 [------------>____________________________________________________________] 17.69% 99 p/s496 / 2696 [------------->___________________________________________________________] 18.40% 99 p/s516 / 2696 [------------->___________________________________________________________] 19.14% 99 p/s536 / 2696 [-------------->__________________________________________________________] 19.88% 99 p/s556 / 2696 [--------------->_________________________________________________________] 20.62% 99 p/s575 / 2696 [--------------->_________________________________________________________] 21.33% 99 p/s595 / 2696 [---------------->________________________________________________________] 22.07% 99 p/s615 / 2696 [---------------->________________________________________________________] 22.81% 99 p/s635 / 2696 [----------------->_______________________________________________________] 23.55% 99 p/s655 / 2696 [----------------->_______________________________________________________] 24.30% 99 p/s675 / 2696 [------------------>______________________________________________________] 25.04% 99 p/s695 / 2696 [------------------>______________________________________________________] 25.78% 99 p/s715 / 2696 [------------------->_____________________________________________________] 26.52% 99 p/s735 / 2696 [------------------->_____________________________________________________] 27.26% 99 p/s755 / 2696 [-------------------->____________________________________________________] 28.00% 99 p/s775 / 2696 [-------------------->____________________________________________________] 28.75% 99 p/s794 / 2696 [--------------------->___________________________________________________] 29.45% 99 p/s814 / 2696 [---------------------->__________________________________________________] 30.19% 99 p/s834 / 2696 [---------------------->__________________________________________________] 30.93% 99 p/s854 / 2696 [----------------------->_________________________________________________] 31.68% 99 p/s874 / 2696 [----------------------->_________________________________________________] 32.42% 99 p/s894 / 2696 [------------------------>________________________________________________] 33.16% 99 p/s914 / 2696 [------------------------>________________________________________________] 33.90% 99 p/s934 / 2696 [------------------------->_______________________________________________] 34.64% 99 p/s954 / 2696 [------------------------->_______________________________________________] 35.39% 99 p/s974 / 2696 [-------------------------->______________________________________________] 36.13% 99 p/s994 / 2696 [-------------------------->______________________________________________] 36.87% 99 p/s1014 / 2696 [--------------------------->____________________________________________] 37.61% 99 p/s1033 / 2696 [--------------------------->____________________________________________] 38.32% 99 p/s1053 / 2696 [---------------------------->___________________________________________] 39.06% 99 p/s1073 / 2696 [---------------------------->___________________________________________] 39.80% 99 p/s1093 / 2696 [----------------------------->__________________________________________] 40.54% 99 p/s1113 / 2696 [----------------------------->__________________________________________] 41.28% 99 p/s1132 / 2696 [------------------------------>_________________________________________] 41.99% 99 p/s1152 / 2696 [------------------------------>_________________________________________] 42.73% 99 p/s1172 / 2696 [------------------------------->________________________________________] 43.47% 99 p/s1192 / 2696 [------------------------------->________________________________________] 44.21% 99 p/s1212 / 2696 [-------------------------------->_______________________________________] 44.96% 99 p/s1232 / 2696 [-------------------------------->_______________________________________] 45.70% 99 p/s1252 / 2696 [--------------------------------->______________________________________] 46.44% 99 p/s1272 / 2696 [--------------------------------->______________________________________] 47.18% 99 p/s1292 / 2696 [---------------------------------->_____________________________________] 47.92% 99 p/s1312 / 2696 [----------------------------------->____________________________________] 48.66% 99 p/s1332 / 2696 [----------------------------------->____________________________________] 49.41% 99 p/s1351 / 2696 [------------------------------------>___________________________________] 50.11% 99 p/s1371 / 2696 [------------------------------------>___________________________________] 50.85% 99 p/s1391 / 2696 [------------------------------------->__________________________________] 51.59% 99 p/s1411 / 2696 [------------------------------------->__________________________________] 52.34% 99 p/s1431 / 2696 [-------------------------------------->_________________________________] 53.08% 99 p/s1451 / 2696 [-------------------------------------->_________________________________] 53.82% 99 p/s1471 / 2696 [--------------------------------------->________________________________] 54.56% 99 p/s1491 / 2696 [--------------------------------------->________________________________] 55.30% 99 p/s1511 / 2696 [---------------------------------------->_______________________________] 56.05% 99 p/s1531 / 2696 [---------------------------------------->_______________________________] 56.79% 99 p/s1551 / 2696 [----------------------------------------->______________________________] 57.53% 99 p/s1571 / 2696 [----------------------------------------->______________________________] 58.27% 99 p/s1591 / 2696 [------------------------------------------>_____________________________] 59.01% 99 p/s1611 / 2696 [------------------------------------------->____________________________] 59.76% 99 p/s1631 / 2696 [------------------------------------------->____________________________] 60.50% 99 p/s1651 / 2696 [-------------------------------------------->___________________________] 61.24% 99 p/s1671 / 2696 [-------------------------------------------->___________________________] 61.98% 99 p/s1691 / 2696 [--------------------------------------------->__________________________] 62.72% 99 p/s1711 / 2696 [--------------------------------------------->__________________________] 63.46% 99 p/s1731 / 2696 [---------------------------------------------->_________________________] 64.21% 99 p/s1751 / 2696 [---------------------------------------------->_________________________] 64.95% 99 p/s1770 / 2696 [----------------------------------------------->________________________] 65.65% 99 p/s1790 / 2696 [----------------------------------------------->________________________] 66.39% 99 p/s1810 / 2696 [------------------------------------------------>_______________________] 67.14% 99 p/s1830 / 2696 [------------------------------------------------>_______________________] 67.88% 99 p/s1850 / 2696 [------------------------------------------------->______________________] 68.62% 99 p/s1870 / 2696 [------------------------------------------------->______________________] 69.36% 99 p/s1890 / 2696 [-------------------------------------------------->_____________________] 70.10% 99 p/s1910 / 2696 [--------------------------------------------------->____________________] 70.85% 99 p/s1930 / 2696 [--------------------------------------------------->____________________] 71.59% 99 p/s1950 / 2696 [---------------------------------------------------->___________________] 72.33% 99 p/s1969 / 2696 [---------------------------------------------------->___________________] 73.03% 99 p/s1990 / 2696 [---------------------------------------------------->__________________] 73.81% 100 p/s2009 / 2696 [---------------------------------------------------->__________________] 74.52% 100 p/s2029 / 2696 [----------------------------------------------------->_________________] 75.26% 100 p/s2048 / 2696 [------------------------------------------------------>_________________] 75.96% 99 p/s2068 / 2696 [------------------------------------------------------->________________] 76.71% 99 p/s2088 / 2696 [------------------------------------------------------->________________] 77.45% 99 p/s2108 / 2696 [-------------------------------------------------------->_______________] 78.19% 99 p/s2127 / 2696 [-------------------------------------------------------->_______________] 78.89% 99 p/s2147 / 2696 [--------------------------------------------------------->______________] 79.64% 99 p/s2167 / 2696 [--------------------------------------------------------->______________] 80.38% 99 p/s2187 / 2696 [---------------------------------------------------------->_____________] 81.12% 99 p/s2207 / 2696 [---------------------------------------------------------->_____________] 81.86% 99 p/s2227 / 2696 [----------------------------------------------------------->____________] 82.60% 99 p/s2247 / 2696 [------------------------------------------------------------>___________] 83.35% 99 p/s2267 / 2696 [------------------------------------------------------------>___________] 84.09% 99 p/s2287 / 2696 [------------------------------------------------------------->__________] 84.83% 99 p/s2307 / 2696 [------------------------------------------------------------->__________] 85.57% 99 p/s2327 / 2696 [-------------------------------------------------------------->_________] 86.31% 99 p/s2347 / 2696 [-------------------------------------------------------------->_________] 87.05% 99 p/s2367 / 2696 [--------------------------------------------------------------->________] 87.80% 99 p/s2387 / 2696 [--------------------------------------------------------------->________] 88.54% 99 p/s2406 / 2696 [---------------------------------------------------------------->_______] 89.24% 99 p/s2426 / 2696 [---------------------------------------------------------------->_______] 89.99% 99 p/s2446 / 2696 [----------------------------------------------------------------->______] 90.73% 99 p/s2466 / 2696 [----------------------------------------------------------------->______] 91.47% 99 p/s2486 / 2696 [------------------------------------------------------------------>_____] 92.21% 99 p/s2506 / 2696 [------------------------------------------------------------------>_____] 92.95% 99 p/s2526 / 2696 [------------------------------------------------------------------->____] 93.69% 99 p/s2546 / 2696 [------------------------------------------------------------------->____] 94.44% 99 p/s2566 / 2696 [-------------------------------------------------------------------->___] 95.18% 99 p/s2586 / 2696 [--------------------------------------------------------------------->__] 95.92% 99 p/s2605 / 2696 [--------------------------------------------------------------------->__] 96.62% 99 p/s2625 / 2696 [---------------------------------------------------------------------->_] 97.37% 99 p/s2645 / 2696 [---------------------------------------------------------------------->_] 98.11% 99 p/s2665 / 2696 [----------------------------------------------------------------------->] 98.85% 99 p/s2685 / 2696 [----------------------------------------------------------------------->] 99.59% 99 p/s2696 / 2696 [----------------------------------------------------------------------] 100.00% 100 p/s2026-03-18T06:52:56 - INFO: Parsing 2696 sonar sweeps from /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:54:39 - 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/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87"
2026-03-18T06:54:41 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:54:41 - INFO: Prepared data will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/processing/data
2026-03-18T06:54:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:54:41 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:54:41 - INFO: Recording GUID: a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-18T06:54:41 - INFO: Preparing sonar data...
2026-03-18T06:54:41 - INFO: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:54:43 - INFO: Sonar epoch is 2026-02-21 21:34:27.238529+00:00 (1771709667238529185)
2026-03-18T06:54:43 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:54:43 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-18T06:54:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:54:43 - INFO: Sonar range is 2.167200 m
2026-03-18T06:54:43 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:54:43 - INFO: Processing 2695 sweeps...

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2026-03-18T06:55:20 - INFO: Prepared sonar data in 39.3532 s
2026-03-18T06:55:20 - INFO: No IMU data found
2026-03-18T06:55:20 - INFO: DataPrep took 0:00:39.612431
2026-03-18T06:55:21 - INFO: Extracted sonar data in 0:02:52.014233
2026-03-18T06:55:21 - INFO: MSIP3D took 0:02:52.543437