2026-03-18T06:43:37 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:43:37 - INFO: P3D files will be output to /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b
2026-03-18T06:43:37 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:43:37 - INFO: Found TFD mission for SJ502828 DEP 522
2026-03-18T06:43:37 - INFO: Recording will be processed as SMD
2026-03-18T06:43:37 - INFO: Copying assets JSON to output directory...
2026-03-18T06:43:37 - INFO: Preparing counter data...
2026-03-18T06:43:37 - INFO: Interpreting counter as imperial
2026-03-18T06:43:37 - INFO: Preparing size track from assets JSON...
2026-03-18T06:43:37 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:43:37 - INFO: Preparing material track from assets JSON...
2026-03-18T06:43:37 - INFO: Prepared counter data in 0.0565 s
2026-03-18T06:43:37 - INFO: Extracting sonar data...
TFD path: /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/SJ502828_DEP_522.tfd
TFD path: /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1113
19 / 1113 [->__________________________________________________________________________] 1.71% ? p/s38 / 1113 [-->_________________________________________________________________________] 3.41% ? p/s56 / 1113 [--->________________________________________________________________________] 5.03% ? p/s72 / 1113 [---->______________________________________________________________________] 6.47% 88 p/s92 / 1113 [------>____________________________________________________________________] 8.27% 88 p/s111 / 1113 [------->__________________________________________________________________] 9.97% 88 p/s129 / 1113 [-------->________________________________________________________________] 11.59% 89 p/s148 / 1113 [--------->_______________________________________________________________] 13.30% 89 p/s168 / 1113 [----------->_____________________________________________________________] 15.09% 89 p/s187 / 1113 [------------>____________________________________________________________] 16.80% 89 p/s207 / 1113 [------------->___________________________________________________________] 18.60% 89 p/s226 / 1113 [-------------->__________________________________________________________] 20.31% 89 p/s245 / 1113 [---------------->________________________________________________________] 22.01% 90 p/s264 / 1113 [----------------->_______________________________________________________] 23.72% 90 p/s283 / 1113 [------------------>______________________________________________________] 25.43% 90 p/s302 / 1113 [------------------->_____________________________________________________] 27.13% 90 p/s322 / 1113 [--------------------->___________________________________________________] 28.93% 90 p/s341 / 1113 [---------------------->__________________________________________________] 30.64% 90 p/s360 / 1113 [----------------------->_________________________________________________] 32.35% 91 p/s380 / 1113 [------------------------>________________________________________________] 34.14% 91 p/s399 / 1113 [-------------------------->______________________________________________] 35.85% 91 p/s418 / 1113 [--------------------------->_____________________________________________] 37.56% 91 p/s438 / 1113 [---------------------------->____________________________________________] 39.35% 91 p/s457 / 1113 [----------------------------->___________________________________________] 41.06% 91 p/s477 / 1113 [------------------------------->_________________________________________] 42.86% 91 p/s496 / 1113 [-------------------------------->________________________________________] 44.56% 91 p/s515 / 1113 [--------------------------------->_______________________________________] 46.27% 91 p/s534 / 1113 [----------------------------------->_____________________________________] 47.98% 92 p/s548 / 1113 [----------------------------------->_____________________________________] 49.24% 92 p/s556 / 1113 [------------------------------------>____________________________________] 49.96% 92 p/s576 / 1113 [------------------------------------->___________________________________] 51.75% 90 p/s595 / 1113 [--------------------------------------->_________________________________] 53.46% 90 p/s615 / 1113 [---------------------------------------->________________________________] 55.26% 90 p/s634 / 1113 [----------------------------------------->_______________________________] 56.96% 91 p/s653 / 1113 [------------------------------------------>______________________________] 58.67% 91 p/s673 / 1113 [-------------------------------------------->____________________________] 60.47% 91 p/s692 / 1113 [--------------------------------------------->___________________________] 62.17% 91 p/s712 / 1113 [---------------------------------------------->__________________________] 63.97% 91 p/s731 / 1113 [----------------------------------------------->_________________________] 65.68% 91 p/s751 / 1113 [------------------------------------------------->_______________________] 67.48% 92 p/s770 / 1113 [-------------------------------------------------->______________________] 69.18% 92 p/s789 / 1113 [--------------------------------------------------->_____________________] 70.89% 92 p/s809 / 1113 [----------------------------------------------------->___________________] 72.69% 92 p/s828 / 1113 [------------------------------------------------------>__________________] 74.39% 92 p/s848 / 1113 [------------------------------------------------------->_________________] 76.19% 92 p/s867 / 1113 [-------------------------------------------------------->________________] 77.90% 92 p/s886 / 1113 [---------------------------------------------------------->______________] 79.60% 92 p/s906 / 1113 [----------------------------------------------------------->_____________] 81.40% 92 p/s925 / 1113 [------------------------------------------------------------>____________] 83.11% 92 p/s944 / 1113 [------------------------------------------------------------->___________] 84.82% 92 p/s963 / 1113 [--------------------------------------------------------------->_________] 86.52% 92 p/s983 / 1113 [---------------------------------------------------------------->________] 88.32% 93 p/s1002 / 1113 [---------------------------------------------------------------->_______] 90.03% 93 p/s1021 / 1113 [------------------------------------------------------------------>_____] 91.73% 93 p/s1040 / 1113 [------------------------------------------------------------------->____] 93.44% 93 p/s1060 / 1113 [-------------------------------------------------------------------->___] 95.24% 93 p/s1079 / 1113 [--------------------------------------------------------------------->__] 96.95% 93 p/s1098 / 1113 [----------------------------------------------------------------------->] 98.65% 93 p/s1113 / 1113 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-18T06:43:49 - INFO: Parsing 1113 sonar sweeps from /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:44:32 - 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/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b"
2026-03-18T06:44:36 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:44:36 - INFO: Prepared data will be output to /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b/processing/data
2026-03-18T06:44:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:44:36 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:44:36 - INFO: Recording GUID: 08a10566-3b90-494b-16b3-9306d4ce092b
2026-03-18T06:44:36 - INFO: Preparing sonar data...
2026-03-18T06:44:36 - INFO: /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:44:37 - INFO: Sonar epoch is 2026-02-24 16:28:43.826092+00:00 (1771950523826091816)
2026-03-18T06:44:37 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:44:37 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-18T06:44:37 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:44:37 - INFO: Sonar range is 1.372560 m
2026-03-18T06:44:37 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:44:37 - INFO: Processing 1113 sweeps...

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2026-03-18T06:44:41 - INFO: Prepared sonar data in 5.1282 s
2026-03-18T06:44:41 - INFO: No IMU data found
2026-03-18T06:44:42 - INFO: DataPrep took 0:00:05.278416
2026-03-18T06:44:42 - INFO: Extracted sonar data in 0:01:04.895347
2026-03-18T06:44:42 - INFO: MSIP3D took 0:01:05.045530