2026-03-18T06:45:12 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:12 - INFO: P3D files will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-18T06:45:12 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:45:12 - INFO: Found TFD mission for SJ502828 DEP 523
2026-03-18T06:45:12 - INFO: Recording will be processed as SMD
2026-03-18T06:45:12 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:12 - INFO: Preparing counter data...
2026-03-18T06:45:12 - INFO: Interpreting counter as imperial
2026-03-18T06:45:12 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:12 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:12 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:12 - INFO: Prepared counter data in 0.1309 s
2026-03-18T06:45:12 - INFO: Extracting sonar data...
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/SJ502828_DEP_523.tfd
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1391
18 / 1391 [>___________________________________________________________________________] 1.29% ? p/s38 / 1391 [-->_________________________________________________________________________] 2.73% ? p/s56 / 1391 [--->________________________________________________________________________] 4.03% ? p/s69 / 1391 [--->_______________________________________________________________________] 4.96% 85 p/s87 / 1391 [---->______________________________________________________________________] 6.25% 85 p/s106 / 1391 [----->____________________________________________________________________] 7.62% 85 p/s125 / 1391 [------>___________________________________________________________________] 8.99% 85 p/s144 / 1391 [------->_________________________________________________________________] 10.35% 85 p/s163 / 1391 [-------->________________________________________________________________] 11.72% 85 p/s182 / 1391 [--------->_______________________________________________________________] 13.08% 86 p/s202 / 1391 [---------->______________________________________________________________] 14.52% 86 p/s221 / 1391 [----------->_____________________________________________________________] 15.89% 86 p/s240 / 1391 [------------>____________________________________________________________] 17.25% 87 p/s259 / 1391 [------------->___________________________________________________________] 18.62% 87 p/s278 / 1391 [-------------->__________________________________________________________] 19.99% 87 p/s297 / 1391 [--------------->_________________________________________________________] 21.35% 87 p/s316 / 1391 [---------------->________________________________________________________] 22.72% 87 p/s336 / 1391 [----------------->_______________________________________________________] 24.16% 87 p/s355 / 1391 [------------------>______________________________________________________] 25.52% 88 p/s374 / 1391 [------------------->_____________________________________________________] 26.89% 88 p/s393 / 1391 [-------------------->____________________________________________________] 28.25% 88 p/s412 / 1391 [--------------------->___________________________________________________] 29.62% 88 p/s431 / 1391 [---------------------->__________________________________________________] 30.98% 88 p/s450 / 1391 [----------------------->_________________________________________________] 32.35% 88 p/s469 / 1391 [------------------------>________________________________________________] 33.72% 89 p/s488 / 1391 [------------------------->_______________________________________________] 35.08% 89 p/s506 / 1391 [-------------------------->______________________________________________] 36.38% 89 p/s525 / 1391 [--------------------------->_____________________________________________] 37.74% 89 p/s544 / 1391 [---------------------------->____________________________________________] 39.11% 89 p/s564 / 1391 [----------------------------->___________________________________________] 40.55% 89 p/s583 / 1391 [------------------------------>__________________________________________] 41.91% 90 p/s602 / 1391 [------------------------------->_________________________________________] 43.28% 90 p/s621 / 1391 [-------------------------------->________________________________________] 44.64% 90 p/s640 / 1391 [--------------------------------->_______________________________________] 46.01% 90 p/s659 / 1391 [---------------------------------->______________________________________] 47.38% 90 p/s678 / 1391 [----------------------------------->_____________________________________] 48.74% 90 p/s697 / 1391 [------------------------------------>____________________________________] 50.11% 90 p/s716 / 1391 [------------------------------------->___________________________________] 51.47% 90 p/s736 / 1391 [-------------------------------------->__________________________________] 52.91% 90 p/s755 / 1391 [--------------------------------------->_________________________________] 54.28% 91 p/s774 / 1391 [---------------------------------------->________________________________] 55.64% 91 p/s793 / 1391 [----------------------------------------->_______________________________] 57.01% 91 p/s812 / 1391 [------------------------------------------>______________________________] 58.38% 91 p/s831 / 1391 [------------------------------------------->_____________________________] 59.74% 91 p/s851 / 1391 [-------------------------------------------->____________________________] 61.18% 91 p/s870 / 1391 [--------------------------------------------->___________________________] 62.54% 91 p/s889 / 1391 [---------------------------------------------->__________________________] 63.91% 91 p/s908 / 1391 [----------------------------------------------->_________________________] 65.28% 91 p/s928 / 1391 [------------------------------------------------>________________________] 66.71% 92 p/s947 / 1391 [------------------------------------------------->_______________________] 68.08% 92 p/s966 / 1391 [-------------------------------------------------->______________________] 69.45% 92 p/s985 / 1391 [--------------------------------------------------->_____________________] 70.81% 92 p/s1004 / 1391 [--------------------------------------------------->____________________] 72.18% 92 p/s1023 / 1391 [---------------------------------------------------->___________________] 73.54% 92 p/s1042 / 1391 [----------------------------------------------------->__________________] 74.91% 92 p/s1061 / 1391 [------------------------------------------------------>_________________] 76.28% 92 p/s1080 / 1391 [------------------------------------------------------->________________] 77.64% 92 p/s1099 / 1391 [-------------------------------------------------------->_______________] 79.01% 92 p/s1118 / 1391 [--------------------------------------------------------->______________] 80.37% 92 p/s1137 / 1391 [---------------------------------------------------------->_____________] 81.74% 92 p/s1156 / 1391 [----------------------------------------------------------->____________] 83.11% 92 p/s1175 / 1391 [------------------------------------------------------------>___________] 84.47% 92 p/s1194 / 1391 [------------------------------------------------------------->__________] 85.84% 92 p/s1213 / 1391 [-------------------------------------------------------------->_________] 87.20% 93 p/s1232 / 1391 [--------------------------------------------------------------->________] 88.57% 93 p/s1251 / 1391 [---------------------------------------------------------------->_______] 89.94% 93 p/s1270 / 1391 [----------------------------------------------------------------->______] 91.30% 93 p/s1289 / 1391 [------------------------------------------------------------------>_____] 92.67% 93 p/s1309 / 1391 [------------------------------------------------------------------->____] 94.10% 93 p/s1328 / 1391 [-------------------------------------------------------------------->___] 95.47% 93 p/s1347 / 1391 [--------------------------------------------------------------------->__] 96.84% 93 p/s1366 / 1391 [---------------------------------------------------------------------->_] 98.20% 93 p/s1385 / 1391 [----------------------------------------------------------------------->] 99.57% 93 p/s1391 / 1391 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-18T06:45:27 - INFO: Parsing 1391 sonar sweeps from /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:46:22 - 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/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed"
2026-03-18T06:46:28 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:46:28 - INFO: Prepared data will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/processing/data
2026-03-18T06:46:28 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:46:28 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:46:28 - INFO: Recording GUID: 0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-18T06:46:28 - INFO: Preparing sonar data...
2026-03-18T06:46:28 - INFO: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:46:29 - INFO: Sonar epoch is 2026-02-24 19:26:35.225468+00:00 (1771961195225468283)
2026-03-18T06:46:29 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:46:29 - INFO: Using sonar rotation of -0.104720 radians for wedge mask
2026-03-18T06:46:29 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:46:29 - INFO: Sonar range is 1.589280 m
2026-03-18T06:46:29 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:46:29 - INFO: Processing 1391 sweeps...

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2026-03-18T06:46:35 - INFO: Prepared sonar data in 6.8227 s
2026-03-18T06:46:35 - INFO: No IMU data found
2026-03-18T06:46:35 - INFO: DataPrep took 0:00:07.028795
2026-03-18T06:46:35 - INFO: Extracted sonar data in 0:01:23.127118
2026-03-18T06:46:35 - INFO: MSIP3D took 0:01:23.375529