2026-03-23T01:01:39 - INFO: MSIP3D 0.2.0rc3
2026-03-23T01:01:40 - INFO: P3D files will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-23T01:01:40 - INFO: Found 10 TFD dictionary entries
2026-03-23T01:01:40 - INFO: Found TFD mission for SJ502828 DEP 508
2026-03-23T01:01:40 - INFO: Recording will be processed as MD
2026-03-23T01:01:40 - INFO: Copying assets JSON to output directory...
2026-03-23T01:01:40 - INFO: Preparing counter data...
2026-03-23T01:01:40 - INFO: Interpreting counter as imperial
2026-03-23T01:01:40 - INFO: Preparing size track from assets JSON...
2026-03-23T01:01:40 - INFO: Preparing shape track from assets JSON...
2026-03-23T01:01:40 - INFO: Preparing material track from assets JSON...
2026-03-23T01:01:40 - INFO: Prepared counter data in 0.0412 s
2026-03-23T01:01:40 - INFO: Extracting sonar data...
TFD path: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/SJ502828_DEP_508.tfd
TFD path: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Getting track SONAR
Number of frames: 2790
23 / 2790 [>___________________________________________________________________________] 0.82% ? p/s46 / 2790 [->__________________________________________________________________________] 1.65% ? p/s69 / 2790 [->__________________________________________________________________________] 2.47% ? p/s92 / 2790 [-->_______________________________________________________________________] 3.30% 115 p/s116 / 2790 [--->_____________________________________________________________________] 4.16% 115 p/s138 / 2790 [--->_____________________________________________________________________] 4.95% 115 p/s161 / 2790 [---->____________________________________________________________________] 5.77% 115 p/s184 / 2790 [---->____________________________________________________________________] 6.59% 115 p/s208 / 2790 [----->___________________________________________________________________] 7.46% 115 p/s231 / 2790 [------>__________________________________________________________________] 8.28% 115 p/s253 / 2790 [------>__________________________________________________________________] 9.07% 115 p/s276 / 2790 [------->_________________________________________________________________] 9.89% 115 p/s297 / 2790 [------->________________________________________________________________] 10.65% 115 p/s320 / 2790 [-------->_______________________________________________________________] 11.47% 115 p/s343 / 2790 [-------->_______________________________________________________________] 12.29% 115 p/s366 / 2790 [--------->______________________________________________________________] 13.12% 115 p/s388 / 2790 [---------->_____________________________________________________________] 13.91% 115 p/s411 / 2790 [---------->_____________________________________________________________] 14.73% 115 p/s434 / 2790 [----------->____________________________________________________________] 15.56% 115 p/s457 / 2790 [----------->____________________________________________________________] 16.38% 115 p/s479 / 2790 [------------>___________________________________________________________] 17.17% 115 p/s502 / 2790 [------------>___________________________________________________________] 17.99% 115 p/s523 / 2790 [------------->__________________________________________________________] 18.75% 115 p/s544 / 2790 [-------------->_________________________________________________________] 19.50% 115 p/s558 / 2790 [-------------->_________________________________________________________] 20.00% 113 p/s581 / 2790 [-------------->_________________________________________________________] 20.82% 113 p/s603 / 2790 [--------------->________________________________________________________] 21.61% 113 p/s626 / 2790 [---------------->_______________________________________________________] 22.44% 113 p/s649 / 2790 [---------------->_______________________________________________________] 23.26% 113 p/s672 / 2790 [----------------->______________________________________________________] 24.09% 113 p/s695 / 2790 [----------------->______________________________________________________] 24.91% 113 p/s717 / 2790 [------------------>_____________________________________________________] 25.70% 113 p/s740 / 2790 [------------------->____________________________________________________] 26.52% 113 p/s763 / 2790 [------------------->____________________________________________________] 27.35% 113 p/s785 / 2790 [-------------------->___________________________________________________] 28.14% 113 p/s808 / 2790 [-------------------->___________________________________________________] 28.96% 113 p/s831 / 2790 [--------------------->__________________________________________________] 29.78% 113 p/s854 / 2790 [---------------------->_________________________________________________] 30.61% 113 p/s877 / 2790 [---------------------->_________________________________________________] 31.43% 113 p/s899 / 2790 [----------------------->________________________________________________] 32.22% 113 p/s922 / 2790 [----------------------->________________________________________________] 33.05% 113 p/s945 / 2790 [------------------------>_______________________________________________] 33.87% 113 p/s968 / 2790 [------------------------>_______________________________________________] 34.70% 113 p/s991 / 2790 [------------------------->______________________________________________] 35.52% 113 p/s1014 / 2790 [------------------------->_____________________________________________] 36.34% 113 p/s1036 / 2790 [-------------------------->____________________________________________] 37.13% 113 p/s1058 / 2790 [-------------------------->____________________________________________] 37.92% 113 p/s1081 / 2790 [--------------------------->___________________________________________] 38.75% 113 p/s1104 / 2790 [---------------------------->__________________________________________] 39.57% 113 p/s1123 / 2790 [---------------------------->__________________________________________] 40.25% 113 p/s1146 / 2790 [----------------------------->_________________________________________] 41.08% 113 p/s1169 / 2790 [----------------------------->_________________________________________] 41.90% 113 p/s1192 / 2790 [------------------------------>________________________________________] 42.72% 113 p/s1214 / 2790 [------------------------------>________________________________________] 43.51% 113 p/s1237 / 2790 [------------------------------->_______________________________________] 44.34% 113 p/s1260 / 2790 [-------------------------------->______________________________________] 45.16% 113 p/s1283 / 2790 [-------------------------------->______________________________________] 45.99% 113 p/s1305 / 2790 [--------------------------------->_____________________________________] 46.77% 113 p/s1328 / 2790 [--------------------------------->_____________________________________] 47.60% 113 p/s1351 / 2790 [---------------------------------->____________________________________] 48.42% 113 p/s1374 / 2790 [---------------------------------->____________________________________] 49.25% 113 p/s1396 / 2790 [----------------------------------->___________________________________] 50.04% 113 p/s1420 / 2790 [------------------------------------>__________________________________] 50.90% 113 p/s1442 / 2790 [------------------------------------>__________________________________] 51.68% 113 p/s1465 / 2790 [------------------------------------->_________________________________] 52.51% 113 p/s1488 / 2790 [------------------------------------->_________________________________] 53.33% 113 p/s1511 / 2790 [-------------------------------------->________________________________] 54.16% 113 p/s1534 / 2790 [--------------------------------------->_______________________________] 54.98% 113 p/s1557 / 2790 [--------------------------------------->_______________________________] 55.81% 113 p/s1580 / 2790 [---------------------------------------->______________________________] 56.63% 113 p/s1603 / 2790 [---------------------------------------->______________________________] 57.46% 113 p/s1626 / 2790 [----------------------------------------->_____________________________] 58.28% 113 p/s1648 / 2790 [----------------------------------------->_____________________________] 59.07% 113 p/s1671 / 2790 [------------------------------------------>____________________________] 59.89% 113 p/s1692 / 2790 [------------------------------------------->___________________________] 60.65% 113 p/s1715 / 2790 [------------------------------------------->___________________________] 61.47% 113 p/s1738 / 2790 [-------------------------------------------->__________________________] 62.29% 113 p/s1760 / 2790 [-------------------------------------------->__________________________] 63.08% 113 p/s1783 / 2790 [--------------------------------------------->_________________________] 63.91% 113 p/s1806 / 2790 [--------------------------------------------->_________________________] 64.73% 113 p/s1829 / 2790 [---------------------------------------------->________________________] 65.56% 113 p/s1852 / 2790 [----------------------------------------------->_______________________] 66.38% 113 p/s1874 / 2790 [----------------------------------------------->_______________________] 67.17% 113 p/s1897 / 2790 [------------------------------------------------>______________________] 67.99% 113 p/s1920 / 2790 [------------------------------------------------>______________________] 68.82% 113 p/s1943 / 2790 [------------------------------------------------->_____________________] 69.64% 113 p/s1965 / 2790 [-------------------------------------------------->____________________] 70.43% 113 p/s1988 / 2790 [-------------------------------------------------->____________________] 71.25% 113 p/s2011 / 2790 [--------------------------------------------------->___________________] 72.08% 113 p/s2034 / 2790 [--------------------------------------------------->___________________] 72.90% 113 p/s2056 / 2790 [---------------------------------------------------->__________________] 73.69% 113 p/s2079 / 2790 [---------------------------------------------------->__________________] 74.52% 113 p/s2101 / 2790 [----------------------------------------------------->_________________] 75.30% 113 p/s2124 / 2790 [------------------------------------------------------>________________] 76.13% 113 p/s2147 / 2790 [------------------------------------------------------>________________] 76.95% 113 p/s2170 / 2790 [------------------------------------------------------->_______________] 77.78% 113 p/s2192 / 2790 [------------------------------------------------------->_______________] 78.57% 113 p/s2215 / 2790 [-------------------------------------------------------->______________] 79.39% 113 p/s2238 / 2790 [-------------------------------------------------------->______________] 80.22% 113 p/s2261 / 2790 [--------------------------------------------------------->_____________] 81.04% 114 p/s2283 / 2790 [---------------------------------------------------------->____________] 81.83% 114 p/s2305 / 2790 [---------------------------------------------------------->____________] 82.62% 114 p/s2323 / 2790 [----------------------------------------------------------->___________] 83.26% 113 p/s2346 / 2790 [----------------------------------------------------------->___________] 84.09% 113 p/s2369 / 2790 [------------------------------------------------------------>__________] 84.91% 113 p/s2391 / 2790 [------------------------------------------------------------>__________] 85.70% 113 p/s2414 / 2790 [------------------------------------------------------------->_________] 86.52% 113 p/s2437 / 2790 [-------------------------------------------------------------->________] 87.35% 113 p/s2460 / 2790 [-------------------------------------------------------------->________] 88.17% 113 p/s2482 / 2790 [--------------------------------------------------------------->_______] 88.96% 113 p/s2503 / 2790 [--------------------------------------------------------------->_______] 89.71% 113 p/s2525 / 2790 [---------------------------------------------------------------->______] 90.50% 113 p/s2547 / 2790 [---------------------------------------------------------------->______] 91.29% 113 p/s2570 / 2790 [----------------------------------------------------------------->_____] 92.11% 113 p/s2593 / 2790 [----------------------------------------------------------------->_____] 92.94% 113 p/s2616 / 2790 [------------------------------------------------------------------>____] 93.76% 113 p/s2639 / 2790 [------------------------------------------------------------------->___] 94.59% 113 p/s2662 / 2790 [------------------------------------------------------------------->___] 95.41% 113 p/s2684 / 2790 [-------------------------------------------------------------------->__] 96.20% 113 p/s2707 / 2790 [-------------------------------------------------------------------->__] 97.03% 113 p/s2730 / 2790 [--------------------------------------------------------------------->_] 97.85% 113 p/s2753 / 2790 [---------------------------------------------------------------------->] 98.67% 113 p/s2775 / 2790 [---------------------------------------------------------------------->] 99.46% 113 p/s2790 / 2790 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-23T01:02:04 - INFO: Parsing 2790 sonar sweeps from /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-23T01:03:46 - 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/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1"
2026-03-23T01:03:48 - INFO: DataPrep 0.14.0rc3
2026-03-23T01:03:48 - INFO: Prepared data will be output to /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/processing/data
2026-03-23T01:03:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-23T01:03:48 - deployment - INFO: Detected P3D version: P3D_1
2026-03-23T01:03:48 - INFO: Recording GUID: 27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1
2026-03-23T01:03:48 - INFO: Preparing sonar data...
2026-03-23T01:03:48 - INFO: /working/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/27e2eb5a-d34a-abf5-de25-bc55d1f7d0f1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-23T01:03:50 - INFO: Sonar epoch is 2026-02-12 13:45:34.139734+00:00 (1770903934139733644)
2026-03-23T01:03:50 - INFO: Creating sonar sensor alignment track...
2026-03-23T01:03:50 - INFO: Using sonar rotation of 0.663225 radians for wedge mask
2026-03-23T01:03:50 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-23T01:03:50 - INFO: Sonar range is 0.939120 m
2026-03-23T01:03:50 - INFO: Speed of sound is 1472.424156 m/s
2026-03-23T01:03:50 - INFO: Processing 2789 sweeps...

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2026-03-23T01:04:00 - INFO: Prepared sonar data in 12.4757 s
2026-03-23T01:04:00 - INFO: No IMU data found
2026-03-23T01:04:01 - INFO: DataPrep took 0:00:12.869889
2026-03-23T01:04:01 - INFO: Extracted sonar data in 0:02:21.099757
2026-03-23T01:04:01 - INFO: MSIP3D took 0:02:21.376614