2026-03-18T10:04:35 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:04:35 - INFO: P3D files will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285
2026-03-18T10:04:35 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:04:35 - INFO: Found TFD mission for SJ502795 Dep 12
2026-03-18T10:04:35 - INFO: Recording will be processed as MD
2026-03-18T10:04:35 - INFO: Copying assets JSON to output directory...
2026-03-18T10:04:35 - INFO: Preparing counter data...
2026-03-18T10:04:35 - INFO: Interpreting counter as imperial
2026-03-18T10:04:35 - INFO: Preparing size track from assets JSON...
2026-03-18T10:04:35 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:04:35 - INFO: Preparing material track from assets JSON...
2026-03-18T10:04:35 - INFO: Prepared counter data in 0.0306 s
2026-03-18T10:04:35 - INFO: Extracting sonar data...
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/SJ502795_Dep_12.tfd
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1141
19 / 1141 [->__________________________________________________________________________] 1.67% ? p/s38 / 1141 [-->_________________________________________________________________________] 3.33% ? p/s59 / 1141 [--->________________________________________________________________________] 5.17% ? p/s77 / 1141 [----->_____________________________________________________________________] 6.75% 97 p/s96 / 1141 [------>____________________________________________________________________] 8.41% 97 p/s116 / 1141 [------->_________________________________________________________________] 10.17% 97 p/s134 / 1141 [-------->________________________________________________________________] 11.74% 97 p/s154 / 1141 [--------->_______________________________________________________________] 13.50% 97 p/s177 / 1141 [----------->_____________________________________________________________] 15.51% 97 p/s195 / 1141 [------------>____________________________________________________________] 17.09% 97 p/s216 / 1141 [------------->___________________________________________________________] 18.93% 97 p/s236 / 1141 [--------------->_________________________________________________________] 20.68% 97 p/s253 / 1141 [---------------->________________________________________________________] 22.17% 97 p/s272 / 1141 [----------------->_______________________________________________________] 23.84% 97 p/s292 / 1141 [------------------>______________________________________________________] 25.59% 97 p/s312 / 1141 [------------------->_____________________________________________________] 27.34% 97 p/s331 / 1141 [--------------------->___________________________________________________] 29.01% 97 p/s352 / 1141 [---------------------->__________________________________________________] 30.85% 97 p/s374 / 1141 [----------------------->_________________________________________________] 32.78% 97 p/s394 / 1141 [------------------------->_______________________________________________] 34.53% 97 p/s413 / 1141 [-------------------------->______________________________________________] 36.20% 97 p/s431 / 1141 [--------------------------->_____________________________________________] 37.77% 97 p/s452 / 1141 [---------------------------->____________________________________________] 39.61% 97 p/s472 / 1141 [------------------------------>__________________________________________] 41.37% 97 p/s493 / 1141 [------------------------------->_________________________________________] 43.21% 98 p/s511 / 1141 [-------------------------------->________________________________________] 44.79% 98 p/s531 / 1141 [--------------------------------->_______________________________________] 46.54% 98 p/s550 / 1141 [----------------------------------->_____________________________________] 48.20% 97 p/s567 / 1141 [------------------------------------>____________________________________] 49.69% 97 p/s588 / 1141 [------------------------------------->___________________________________] 51.53% 97 p/s608 / 1141 [-------------------------------------->__________________________________] 53.29% 97 p/s626 / 1141 [---------------------------------------->________________________________] 54.86% 97 p/s646 / 1141 [----------------------------------------->_______________________________] 56.62% 97 p/s666 / 1141 [------------------------------------------>______________________________] 58.37% 97 p/s686 / 1141 [------------------------------------------->_____________________________] 60.12% 97 p/s707 / 1141 [--------------------------------------------->___________________________] 61.96% 97 p/s728 / 1141 [---------------------------------------------->__________________________] 63.80% 98 p/s749 / 1141 [----------------------------------------------->_________________________] 65.64% 98 p/s769 / 1141 [------------------------------------------------->_______________________] 67.40% 98 p/s788 / 1141 [-------------------------------------------------->______________________] 69.06% 98 p/s807 / 1141 [--------------------------------------------------->_____________________] 70.73% 98 p/s828 / 1141 [---------------------------------------------------->____________________] 72.57% 98 p/s849 / 1141 [------------------------------------------------------>__________________] 74.41% 98 p/s870 / 1141 [------------------------------------------------------->_________________] 76.25% 98 p/s889 / 1141 [-------------------------------------------------------->________________] 77.91% 98 p/s908 / 1141 [---------------------------------------------------------->______________] 79.58% 98 p/s929 / 1141 [----------------------------------------------------------->_____________] 81.42% 98 p/s951 / 1141 [------------------------------------------------------------>____________] 83.35% 98 p/s972 / 1141 [-------------------------------------------------------------->__________] 85.19% 99 p/s991 / 1141 [--------------------------------------------------------------->_________] 86.85% 99 p/s1011 / 1141 [--------------------------------------------------------------->________] 88.61% 99 p/s1031 / 1141 [----------------------------------------------------------------->______] 90.36% 99 p/s1051 / 1141 [------------------------------------------------------------------>_____] 92.11% 99 p/s1072 / 1141 [------------------------------------------------------------------->____] 93.95% 99 p/s1092 / 1141 [-------------------------------------------------------------------->___] 95.71% 99 p/s1112 / 1141 [---------------------------------------------------------------------->_] 97.46% 99 p/s1134 / 1141 [----------------------------------------------------------------------->] 99.39% 99 p/s1141 / 1141 [----------------------------------------------------------------------] 100.00% 101 p/s2026-03-18T10:04:47 - INFO: Parsing 1141 sonar sweeps from /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:05:28 - 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/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285"
2026-03-18T10:05:29 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:05:29 - INFO: Prepared data will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/processing/data
2026-03-18T10:05:29 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:05:29 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:05:29 - INFO: Recording GUID: 0e64463b-6de9-f271-1b54-813be6f54285
2026-03-18T10:05:29 - INFO: Preparing sonar data...
2026-03-18T10:05:29 - INFO: /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:05:30 - INFO: Sonar epoch is 2026-01-12 20:14:38.716807+00:00 (1768248878716807426)
2026-03-18T10:05:30 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:05:30 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-18T10:05:30 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:05:30 - INFO: Sonar range is 0.939120 m
2026-03-18T10:05:30 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:05:30 - INFO: Processing 1140 sweeps...

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2026-03-18T10:05:35 - INFO: Prepared sonar data in 5.7002 s
2026-03-18T10:05:35 - INFO: No IMU data found
2026-03-18T10:05:35 - INFO: DataPrep took 0:00:05.853470
2026-03-18T10:05:35 - INFO: Extracted sonar data in 0:00:59.797369
2026-03-18T10:05:35 - INFO: MSIP3D took 0:00:59.915239