2026-03-18T10:09:01 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:09:01 - INFO: P3D files will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-18T10:09:01 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:09:01 - INFO: Found TFD mission for SJ502795 Dep 14
2026-03-18T10:09:01 - INFO: Recording will be processed as MD
2026-03-18T10:09:01 - INFO: Copying assets JSON to output directory...
2026-03-18T10:09:01 - INFO: Preparing counter data...
2026-03-18T10:09:01 - INFO: Interpreting counter as imperial
2026-03-18T10:09:01 - INFO: Preparing size track from assets JSON...
2026-03-18T10:09:01 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:09:01 - INFO: Preparing material track from assets JSON...
2026-03-18T10:09:01 - INFO: Prepared counter data in 0.0895 s
2026-03-18T10:09:01 - INFO: Extracting sonar data...
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/SJ502795_Dep_14.tfd
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 2860
22 / 2860 [>___________________________________________________________________________] 0.77% ? p/s44 / 2860 [->__________________________________________________________________________] 1.54% ? p/s66 / 2860 [->__________________________________________________________________________] 2.31% ? p/s89 / 2860 [-->_______________________________________________________________________] 3.11% 112 p/s112 / 2860 [-->______________________________________________________________________] 3.92% 112 p/s134 / 2860 [--->_____________________________________________________________________] 4.69% 112 p/s157 / 2860 [---->____________________________________________________________________] 5.49% 112 p/s180 / 2860 [---->____________________________________________________________________] 6.29% 112 p/s202 / 2860 [----->___________________________________________________________________] 7.06% 112 p/s225 / 2860 [----->___________________________________________________________________] 7.87% 112 p/s248 / 2860 [------>__________________________________________________________________] 8.67% 112 p/s270 / 2860 [------>__________________________________________________________________] 9.44% 112 p/s292 / 2860 [------->________________________________________________________________] 10.21% 112 p/s315 / 2860 [------->________________________________________________________________] 11.01% 112 p/s338 / 2860 [-------->_______________________________________________________________] 11.82% 112 p/s361 / 2860 [--------->______________________________________________________________] 12.62% 112 p/s383 / 2860 [--------->______________________________________________________________] 13.39% 112 p/s406 / 2860 [---------->_____________________________________________________________] 14.20% 112 p/s429 / 2860 [---------->_____________________________________________________________] 15.00% 112 p/s451 / 2860 [----------->____________________________________________________________] 15.77% 112 p/s474 / 2860 [----------->____________________________________________________________] 16.57% 112 p/s496 / 2860 [------------>___________________________________________________________] 17.34% 112 p/s518 / 2860 [------------->__________________________________________________________] 18.11% 112 p/s540 / 2860 [------------->__________________________________________________________] 18.88% 112 p/s563 / 2860 [-------------->_________________________________________________________] 19.69% 112 p/s585 / 2860 [-------------->_________________________________________________________] 20.45% 112 p/s608 / 2860 [--------------->________________________________________________________] 21.26% 112 p/s630 / 2860 [--------------->________________________________________________________] 22.03% 112 p/s653 / 2860 [---------------->_______________________________________________________] 22.83% 112 p/s675 / 2860 [---------------->_______________________________________________________] 23.60% 112 p/s698 / 2860 [----------------->______________________________________________________] 24.41% 112 p/s720 / 2860 [------------------>_____________________________________________________] 25.17% 112 p/s743 / 2860 [------------------>_____________________________________________________] 25.98% 112 p/s766 / 2860 [------------------->____________________________________________________] 26.78% 112 p/s788 / 2860 [------------------->____________________________________________________] 27.55% 112 p/s811 / 2860 [-------------------->___________________________________________________] 28.36% 112 p/s833 / 2860 [-------------------->___________________________________________________] 29.13% 112 p/s856 / 2860 [--------------------->__________________________________________________] 29.93% 112 p/s879 / 2860 [---------------------->_________________________________________________] 30.73% 112 p/s902 / 2860 [---------------------->_________________________________________________] 31.54% 112 p/s925 / 2860 [----------------------->________________________________________________] 32.34% 112 p/s947 / 2860 [----------------------->________________________________________________] 33.11% 112 p/s970 / 2860 [------------------------>_______________________________________________] 33.92% 112 p/s993 / 2860 [------------------------>_______________________________________________] 34.72% 112 p/s1016 / 2860 [------------------------->_____________________________________________] 35.52% 112 p/s1038 / 2860 [------------------------->_____________________________________________] 36.29% 112 p/s1061 / 2860 [-------------------------->____________________________________________] 37.10% 112 p/s1083 / 2860 [-------------------------->____________________________________________] 37.87% 112 p/s1106 / 2860 [--------------------------->___________________________________________] 38.67% 113 p/s1129 / 2860 [---------------------------->__________________________________________] 39.48% 113 p/s1152 / 2860 [---------------------------->__________________________________________] 40.28% 113 p/s1175 / 2860 [----------------------------->_________________________________________] 41.08% 113 p/s1197 / 2860 [----------------------------->_________________________________________] 41.85% 113 p/s1220 / 2860 [------------------------------>________________________________________] 42.66% 113 p/s1243 / 2860 [------------------------------>________________________________________] 43.46% 113 p/s1266 / 2860 [------------------------------->_______________________________________] 44.27% 113 p/s1289 / 2860 [------------------------------->_______________________________________] 45.07% 113 p/s1312 / 2860 [-------------------------------->______________________________________] 45.87% 113 p/s1335 / 2860 [--------------------------------->_____________________________________] 46.68% 113 p/s1358 / 2860 [--------------------------------->_____________________________________] 47.48% 113 p/s1381 / 2860 [---------------------------------->____________________________________] 48.29% 113 p/s1404 / 2860 [---------------------------------->____________________________________] 49.09% 113 p/s1427 / 2860 [----------------------------------->___________________________________] 49.90% 113 p/s1450 / 2860 [----------------------------------->___________________________________] 50.70% 113 p/s1473 / 2860 [------------------------------------>__________________________________] 51.50% 113 p/s1496 / 2860 [------------------------------------->_________________________________] 52.31% 113 p/s1518 / 2860 [------------------------------------->_________________________________] 53.08% 113 p/s1542 / 2860 [-------------------------------------->________________________________] 53.92% 113 p/s1565 / 2860 [-------------------------------------->________________________________] 54.72% 113 p/s1587 / 2860 [--------------------------------------->_______________________________] 55.49% 113 p/s1610 / 2860 [--------------------------------------->_______________________________] 56.29% 113 p/s1633 / 2860 [---------------------------------------->______________________________] 57.10% 113 p/s1656 / 2860 [----------------------------------------->_____________________________] 57.90% 113 p/s1679 / 2860 [----------------------------------------->_____________________________] 58.71% 113 p/s1702 / 2860 [------------------------------------------>____________________________] 59.51% 113 p/s1724 / 2860 [------------------------------------------>____________________________] 60.28% 113 p/s1747 / 2860 [------------------------------------------->___________________________] 61.08% 113 p/s1770 / 2860 [------------------------------------------->___________________________] 61.89% 113 p/s1793 / 2860 [-------------------------------------------->__________________________] 62.69% 113 p/s1816 / 2860 [--------------------------------------------->_________________________] 63.50% 113 p/s1839 / 2860 [--------------------------------------------->_________________________] 64.30% 113 p/s1862 / 2860 [---------------------------------------------->________________________] 65.10% 114 p/s1885 / 2860 [---------------------------------------------->________________________] 65.91% 114 p/s1908 / 2860 [----------------------------------------------->_______________________] 66.71% 114 p/s1930 / 2860 [----------------------------------------------->_______________________] 67.48% 114 p/s1953 / 2860 [------------------------------------------------>______________________] 68.29% 114 p/s1976 / 2860 [------------------------------------------------->_____________________] 69.09% 114 p/s1999 / 2860 [------------------------------------------------->_____________________] 69.90% 114 p/s2022 / 2860 [-------------------------------------------------->____________________] 70.70% 114 p/s2044 / 2860 [-------------------------------------------------->____________________] 71.47% 114 p/s2066 / 2860 [--------------------------------------------------->___________________] 72.24% 114 p/s2089 / 2860 [--------------------------------------------------->___________________] 73.04% 114 p/s2112 / 2860 [---------------------------------------------------->__________________] 73.85% 114 p/s2135 / 2860 [----------------------------------------------------->_________________] 74.65% 114 p/s2158 / 2860 [----------------------------------------------------->_________________] 75.45% 114 p/s2180 / 2860 [------------------------------------------------------>________________] 76.22% 114 p/s2203 / 2860 [------------------------------------------------------>________________] 77.03% 114 p/s2226 / 2860 [------------------------------------------------------->_______________] 77.83% 114 p/s2248 / 2860 [------------------------------------------------------->_______________] 78.60% 114 p/s2271 / 2860 [-------------------------------------------------------->______________] 79.41% 114 p/s2294 / 2860 [-------------------------------------------------------->______________] 80.21% 114 p/s2316 / 2860 [--------------------------------------------------------->_____________] 80.98% 114 p/s2339 / 2860 [---------------------------------------------------------->____________] 81.78% 114 p/s2361 / 2860 [---------------------------------------------------------->____________] 82.55% 114 p/s2383 / 2860 [----------------------------------------------------------->___________] 83.32% 114 p/s2406 / 2860 [----------------------------------------------------------->___________] 84.13% 113 p/s2429 / 2860 [------------------------------------------------------------>__________] 84.93% 113 p/s2451 / 2860 [------------------------------------------------------------>__________] 85.70% 113 p/s2474 / 2860 [------------------------------------------------------------->_________] 86.50% 113 p/s2496 / 2860 [------------------------------------------------------------->_________] 87.27% 113 p/s2519 / 2860 [-------------------------------------------------------------->________] 88.08% 113 p/s2541 / 2860 [--------------------------------------------------------------->_______] 88.85% 113 p/s2563 / 2860 [--------------------------------------------------------------->_______] 89.62% 113 p/s2586 / 2860 [---------------------------------------------------------------->______] 90.42% 113 p/s2609 / 2860 [---------------------------------------------------------------->______] 91.22% 113 p/s2631 / 2860 [----------------------------------------------------------------->_____] 91.99% 113 p/s2653 / 2860 [----------------------------------------------------------------->_____] 92.76% 113 p/s2676 / 2860 [------------------------------------------------------------------>____] 93.57% 113 p/s2699 / 2860 [------------------------------------------------------------------->___] 94.37% 113 p/s2721 / 2860 [------------------------------------------------------------------->___] 95.14% 113 p/s2744 / 2860 [-------------------------------------------------------------------->__] 95.94% 113 p/s2767 / 2860 [-------------------------------------------------------------------->__] 96.75% 113 p/s2789 / 2860 [--------------------------------------------------------------------->_] 97.52% 113 p/s2812 / 2860 [--------------------------------------------------------------------->_] 98.32% 113 p/s2835 / 2860 [---------------------------------------------------------------------->] 99.13% 113 p/s2857 / 2860 [---------------------------------------------------------------------->] 99.90% 113 p/s2860 / 2860 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-18T10:09:26 - INFO: Parsing 2860 sonar sweeps from /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:11:10 - 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/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245"
2026-03-18T10:11:11 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:11:11 - INFO: Prepared data will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/processing/data
2026-03-18T10:11:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:11:11 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:11:11 - INFO: Recording GUID: 0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-18T10:11:11 - INFO: Preparing sonar data...
2026-03-18T10:11:11 - INFO: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:11:14 - INFO: Sonar epoch is 2026-01-13 18:41:41.182331+00:00 (1768329701182330931)
2026-03-18T10:11:14 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:11:14 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-18T10:11:14 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:11:14 - INFO: Sonar range is 0.939120 m
2026-03-18T10:11:14 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:11:14 - INFO: Processing 2860 sweeps...

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2026-03-18T10:11:24 - INFO: Prepared sonar data in 12.5586 s
2026-03-18T10:11:24 - INFO: No IMU data found
2026-03-18T10:11:24 - INFO: DataPrep took 0:00:12.931185
2026-03-18T10:11:24 - INFO: Extracted sonar data in 0:02:23.104796
2026-03-18T10:11:24 - INFO: MSIP3D took 0:02:23.437953