2026-03-18T10:05:16 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:05:16 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-18T10:05:16 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:05:16 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-18T10:05:16 - INFO: Recording will be processed as MD
2026-03-18T10:05:16 - INFO: Copying assets JSON to output directory...
2026-03-18T10:05:16 - INFO: Preparing counter data...
2026-03-18T10:05:16 - INFO: Interpreting counter as imperial
2026-03-18T10:05:16 - INFO: Preparing size track from assets JSON...
2026-03-18T10:05:16 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:05:16 - INFO: Preparing material track from assets JSON...
2026-03-18T10:05:16 - INFO: Prepared counter data in 0.0463 s
2026-03-18T10:05:16 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 1851
21 / 1851 [>___________________________________________________________________________] 1.13% ? p/s43 / 1851 [->__________________________________________________________________________] 2.32% ? p/s65 / 1851 [-->_________________________________________________________________________] 3.51% ? p/s88 / 1851 [--->______________________________________________________________________] 4.75% 112 p/s110 / 1851 [---->____________________________________________________________________] 5.94% 112 p/s132 / 1851 [----->___________________________________________________________________] 7.13% 112 p/s154 / 1851 [------>__________________________________________________________________] 8.32% 112 p/s176 / 1851 [------>__________________________________________________________________] 9.51% 112 p/s198 / 1851 [------->________________________________________________________________] 10.70% 112 p/s221 / 1851 [-------->_______________________________________________________________] 11.94% 112 p/s243 / 1851 [--------->______________________________________________________________] 13.13% 112 p/s265 / 1851 [---------->_____________________________________________________________] 14.32% 112 p/s288 / 1851 [----------->____________________________________________________________] 15.56% 112 p/s311 / 1851 [------------>___________________________________________________________] 16.80% 112 p/s333 / 1851 [------------>___________________________________________________________] 17.99% 112 p/s356 / 1851 [------------->__________________________________________________________] 19.23% 112 p/s378 / 1851 [-------------->_________________________________________________________] 20.42% 112 p/s400 / 1851 [--------------->________________________________________________________] 21.61% 112 p/s423 / 1851 [---------------->_______________________________________________________] 22.85% 112 p/s445 / 1851 [----------------->______________________________________________________] 24.04% 112 p/s468 / 1851 [------------------>_____________________________________________________] 25.28% 112 p/s491 / 1851 [------------------->____________________________________________________] 26.53% 112 p/s512 / 1851 [------------------->____________________________________________________] 27.66% 112 p/s535 / 1851 [-------------------->___________________________________________________] 28.90% 112 p/s557 / 1851 [--------------------->__________________________________________________] 30.09% 112 p/s580 / 1851 [---------------------->_________________________________________________] 31.33% 112 p/s603 / 1851 [----------------------->________________________________________________] 32.58% 112 p/s625 / 1851 [------------------------>_______________________________________________] 33.77% 112 p/s647 / 1851 [------------------------->______________________________________________] 34.95% 112 p/s669 / 1851 [-------------------------->_____________________________________________] 36.14% 112 p/s691 / 1851 [-------------------------->_____________________________________________] 37.33% 112 p/s714 / 1851 [--------------------------->____________________________________________] 38.57% 112 p/s735 / 1851 [---------------------------->___________________________________________] 39.71% 112 p/s758 / 1851 [----------------------------->__________________________________________] 40.95% 112 p/s780 / 1851 [------------------------------>_________________________________________] 42.14% 112 p/s802 / 1851 [------------------------------->________________________________________] 43.33% 112 p/s824 / 1851 [-------------------------------->_______________________________________] 44.52% 112 p/s847 / 1851 [-------------------------------->_______________________________________] 45.76% 112 p/s868 / 1851 [--------------------------------->______________________________________] 46.89% 112 p/s890 / 1851 [---------------------------------->_____________________________________] 48.08% 111 p/s913 / 1851 [----------------------------------->____________________________________] 49.32% 111 p/s935 / 1851 [------------------------------------>___________________________________] 50.51% 111 p/s957 / 1851 [------------------------------------->__________________________________] 51.70% 111 p/s980 / 1851 [-------------------------------------->_________________________________] 52.94% 111 p/s1003 / 1851 [-------------------------------------->________________________________] 54.19% 111 p/s1024 / 1851 [--------------------------------------->_______________________________] 55.32% 111 p/s1046 / 1851 [---------------------------------------->______________________________] 56.51% 111 p/s1068 / 1851 [---------------------------------------->______________________________] 57.70% 111 p/s1091 / 1851 [----------------------------------------->_____________________________] 58.94% 111 p/s1113 / 1851 [------------------------------------------>____________________________] 60.13% 111 p/s1136 / 1851 [------------------------------------------->___________________________] 61.37% 111 p/s1158 / 1851 [-------------------------------------------->__________________________] 62.56% 112 p/s1181 / 1851 [--------------------------------------------->_________________________] 63.80% 112 p/s1203 / 1851 [---------------------------------------------->________________________] 64.99% 112 p/s1224 / 1851 [---------------------------------------------->________________________] 66.13% 111 p/s1247 / 1851 [----------------------------------------------->_______________________] 67.37% 111 p/s1270 / 1851 [------------------------------------------------>______________________] 68.61% 111 p/s1292 / 1851 [------------------------------------------------->_____________________] 69.80% 112 p/s1315 / 1851 [-------------------------------------------------->____________________] 71.04% 112 p/s1338 / 1851 [--------------------------------------------------->___________________] 72.29% 112 p/s1360 / 1851 [---------------------------------------------------->__________________] 73.47% 112 p/s1383 / 1851 [----------------------------------------------------->_________________] 74.72% 112 p/s1405 / 1851 [----------------------------------------------------->_________________] 75.90% 112 p/s1428 / 1851 [------------------------------------------------------>________________] 77.15% 112 p/s1450 / 1851 [------------------------------------------------------->_______________] 78.34% 112 p/s1473 / 1851 [-------------------------------------------------------->______________] 79.58% 112 p/s1496 / 1851 [--------------------------------------------------------->_____________] 80.82% 112 p/s1519 / 1851 [---------------------------------------------------------->____________] 82.06% 112 p/s1541 / 1851 [----------------------------------------------------------->___________] 83.25% 112 p/s1564 / 1851 [----------------------------------------------------------->___________] 84.49% 112 p/s1586 / 1851 [------------------------------------------------------------>__________] 85.68% 112 p/s1609 / 1851 [------------------------------------------------------------->_________] 86.93% 112 p/s1631 / 1851 [-------------------------------------------------------------->________] 88.11% 112 p/s1654 / 1851 [--------------------------------------------------------------->_______] 89.36% 112 p/s1676 / 1851 [---------------------------------------------------------------->______] 90.55% 112 p/s1698 / 1851 [----------------------------------------------------------------->_____] 91.73% 112 p/s1720 / 1851 [----------------------------------------------------------------->_____] 92.92% 112 p/s1741 / 1851 [------------------------------------------------------------------>____] 94.06% 112 p/s1763 / 1851 [------------------------------------------------------------------->___] 95.25% 112 p/s1785 / 1851 [-------------------------------------------------------------------->__] 96.43% 112 p/s1807 / 1851 [--------------------------------------------------------------------->_] 97.62% 112 p/s1829 / 1851 [---------------------------------------------------------------------->] 98.81% 112 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T10:05:32 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:06:40 - 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 --sonar-flip /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-03-18T10:06:43 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:06:43 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-18T10:06:43 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:06:43 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:06:43 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-18T10:06:43 - INFO: Preparing sonar data...
2026-03-18T10:06:43 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:06:45 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-18T10:06:45 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:06:45 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-18T10:06:45 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:06:45 - INFO: Sonar range is 0.722400 m
2026-03-18T10:06:45 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:06:45 - INFO: Processing 1851 sweeps...

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2026-03-18T10:06:50 - INFO: Prepared sonar data in 6.9776 s
2026-03-18T10:06:50 - INFO: No IMU data found
2026-03-18T10:06:51 - INFO: DataPrep took 0:00:07.199094
2026-03-18T10:06:51 - INFO: Extracted sonar data in 0:01:34.994243
2026-03-18T10:06:51 - INFO: MSIP3D took 0:01:35.200729