2026-03-18T06:45:57 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:57 - INFO: P3D files will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223
2026-03-18T06:45:57 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:45:57 - INFO: Found TFD mission for SJ502828 DEP 520
2026-03-18T06:45:57 - INFO: Recording will be processed as SMD
2026-03-18T06:45:57 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:57 - INFO: Preparing counter data...
2026-03-18T06:45:57 - INFO: Interpreting counter as imperial
2026-03-18T06:45:58 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:58 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:58 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:58 - INFO: Prepared counter data in 0.1948 s
2026-03-18T06:45:58 - INFO: Extracting sonar data...
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/SJ502828_DEP_520.tfd
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 1457
18 / 1457 [>___________________________________________________________________________] 1.24% ? p/s38 / 1457 [->__________________________________________________________________________] 2.61% ? p/s57 / 1457 [-->_________________________________________________________________________] 3.91% ? p/s76 / 1457 [--->_______________________________________________________________________] 5.22% 97 p/s96 / 1457 [---->______________________________________________________________________] 6.59% 97 p/s115 / 1457 [----->____________________________________________________________________] 7.89% 97 p/s134 / 1457 [------>___________________________________________________________________] 9.20% 97 p/s154 / 1457 [------->_________________________________________________________________] 10.57% 97 p/s173 / 1457 [-------->________________________________________________________________] 11.87% 97 p/s193 / 1457 [--------->_______________________________________________________________] 13.25% 97 p/s213 / 1457 [---------->______________________________________________________________] 14.62% 97 p/s232 / 1457 [----------->_____________________________________________________________] 15.92% 97 p/s251 / 1457 [------------>____________________________________________________________] 17.23% 97 p/s271 / 1457 [------------->___________________________________________________________] 18.60% 97 p/s291 / 1457 [-------------->__________________________________________________________] 19.97% 97 p/s310 / 1457 [--------------->_________________________________________________________] 21.28% 97 p/s330 / 1457 [---------------->________________________________________________________] 22.65% 97 p/s350 / 1457 [----------------->_______________________________________________________] 24.02% 97 p/s370 / 1457 [------------------>______________________________________________________] 25.39% 97 p/s390 / 1457 [------------------->_____________________________________________________] 26.77% 97 p/s410 / 1457 [-------------------->____________________________________________________] 28.14% 97 p/s430 / 1457 [--------------------->___________________________________________________] 29.51% 97 p/s450 / 1457 [---------------------->__________________________________________________] 30.89% 97 p/s469 / 1457 [----------------------->_________________________________________________] 32.19% 97 p/s490 / 1457 [------------------------>________________________________________________] 33.63% 97 p/s510 / 1457 [------------------------->_______________________________________________] 35.00% 97 p/s531 / 1457 [-------------------------->______________________________________________] 36.44% 97 p/s552 / 1457 [--------------------------->_____________________________________________] 37.89% 98 p/s573 / 1457 [---------------------------->____________________________________________] 39.33% 98 p/s594 / 1457 [----------------------------->___________________________________________] 40.77% 98 p/s615 / 1457 [------------------------------>__________________________________________] 42.21% 98 p/s636 / 1457 [------------------------------->_________________________________________] 43.65% 98 p/s657 / 1457 [-------------------------------->________________________________________] 45.09% 98 p/s678 / 1457 [--------------------------------->_______________________________________] 46.53% 99 p/s700 / 1457 [----------------------------------->_____________________________________] 48.04% 99 p/s721 / 1457 [------------------------------------>____________________________________] 49.49% 99 p/s742 / 1457 [------------------------------------->___________________________________] 50.93% 99 p/s762 / 1457 [-------------------------------------->__________________________________] 52.30% 99 p/s783 / 1457 [--------------------------------------->_________________________________] 53.74% 99 p/s803 / 1457 [---------------------------------------->________________________________] 55.11% 99 p/s824 / 1457 [----------------------------------------->_______________________________] 56.55% 99 p/s844 / 1457 [------------------------------------------>______________________________] 57.93% 99 p/s864 / 1457 [------------------------------------------>_____________________________] 59.30% 100 p/s884 / 1457 [------------------------------------------->____________________________] 60.67% 100 p/s905 / 1457 [-------------------------------------------->___________________________] 62.11% 100 p/s926 / 1457 [--------------------------------------------->__________________________] 63.56% 100 p/s946 / 1457 [---------------------------------------------->_________________________] 64.93% 100 p/s966 / 1457 [----------------------------------------------->________________________] 66.30% 100 p/s987 / 1457 [------------------------------------------------>_______________________] 67.74% 100 p/s1008 / 1457 [------------------------------------------------->_____________________] 69.18% 100 p/s1027 / 1457 [-------------------------------------------------->____________________] 70.49% 100 p/s1048 / 1457 [--------------------------------------------------->___________________] 71.93% 100 p/s1069 / 1457 [---------------------------------------------------->__________________] 73.37% 100 p/s1090 / 1457 [----------------------------------------------------->_________________] 74.81% 100 p/s1112 / 1457 [------------------------------------------------------>________________] 76.32% 100 p/s1133 / 1457 [------------------------------------------------------->_______________] 77.76% 100 p/s1155 / 1457 [-------------------------------------------------------->______________] 79.27% 100 p/s1176 / 1457 [--------------------------------------------------------->_____________] 80.71% 101 p/s1197 / 1457 [---------------------------------------------------------->____________] 82.16% 101 p/s1218 / 1457 [----------------------------------------------------------->___________] 83.60% 101 p/s1239 / 1457 [------------------------------------------------------------>__________] 85.04% 101 p/s1260 / 1457 [------------------------------------------------------------->_________] 86.48% 101 p/s1281 / 1457 [-------------------------------------------------------------->________] 87.92% 101 p/s1302 / 1457 [--------------------------------------------------------------->_______] 89.36% 101 p/s1323 / 1457 [---------------------------------------------------------------->______] 90.80% 101 p/s1344 / 1457 [----------------------------------------------------------------->_____] 92.24% 101 p/s1364 / 1457 [------------------------------------------------------------------>____] 93.62% 102 p/s1385 / 1457 [------------------------------------------------------------------->___] 95.06% 102 p/s1406 / 1457 [-------------------------------------------------------------------->__] 96.50% 102 p/s1427 / 1457 [--------------------------------------------------------------------->_] 97.94% 102 p/s1446 / 1457 [---------------------------------------------------------------------->] 99.25% 102 p/s1457 / 1457 [----------------------------------------------------------------------] 100.00% 103 p/s2026-03-18T06:46:12 - INFO: Parsing 1457 sonar sweeps from /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:47:07 - 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/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223"
2026-03-18T06:47:09 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:47:09 - INFO: Prepared data will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/processing/data
2026-03-18T06:47:09 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:47:09 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:47:09 - INFO: Recording GUID: 73936444-88dc-73e6-66fd-1462a3391223
2026-03-18T06:47:09 - INFO: Preparing sonar data...
2026-03-18T06:47:09 - INFO: /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:47:10 - INFO: Sonar epoch is 2026-02-22 22:00:20.642585+00:00 (1771797620642585129)
2026-03-18T06:47:10 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:47:10 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-18T06:47:10 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:47:10 - INFO: Sonar range is 2.094960 m
2026-03-18T06:47:10 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:47:10 - INFO: Processing 1457 sweeps...

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2026-03-18T06:47:16 - INFO: Prepared sonar data in 6.6729 s
2026-03-18T06:47:16 - INFO: No IMU data found
2026-03-18T06:47:16 - INFO: DataPrep took 0:00:06.864690
2026-03-18T06:47:16 - INFO: Extracted sonar data in 0:01:18.266853
2026-03-18T06:47:16 - INFO: MSIP3D took 0:01:18.586629