2026-03-23T01:01:01 - INFO: MSIP3D 0.2.0rc3
2026-03-23T01:01:01 - INFO: P3D files will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-23T01:01:01 - INFO: Found 10 TFD dictionary entries
2026-03-23T01:01:01 - INFO: Found TFD mission for SJ502828 DEP 525
2026-03-23T01:01:01 - INFO: Recording will be processed as MD
2026-03-23T01:01:01 - INFO: Copying assets JSON to output directory...
2026-03-23T01:01:01 - INFO: Preparing counter data...
2026-03-23T01:01:01 - INFO: Interpreting counter as imperial
2026-03-23T01:01:01 - INFO: Preparing size track from assets JSON...
2026-03-23T01:01:01 - INFO: Preparing shape track from assets JSON...
2026-03-23T01:01:01 - INFO: Preparing material track from assets JSON...
2026-03-23T01:01:01 - INFO: Prepared counter data in 0.0757 s
2026-03-23T01:01:01 - INFO: Extracting sonar data...
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/SJ502828_DEP_525.tfd
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: CCTV, Tag: 4855215974206753347
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 2233
22 / 2233 [>___________________________________________________________________________] 0.99% ? p/s44 / 2233 [->__________________________________________________________________________] 1.97% ? p/s66 / 2233 [-->_________________________________________________________________________] 2.96% ? p/s88 / 2233 [-->_______________________________________________________________________] 3.94% 110 p/s111 / 2233 [--->_____________________________________________________________________] 4.97% 110 p/s132 / 2233 [---->____________________________________________________________________] 5.91% 110 p/s155 / 2233 [----->___________________________________________________________________] 6.94% 110 p/s177 / 2233 [----->___________________________________________________________________] 7.93% 110 p/s200 / 2233 [------>__________________________________________________________________] 8.96% 110 p/s222 / 2233 [------->_________________________________________________________________] 9.94% 110 p/s245 / 2233 [------->________________________________________________________________] 10.97% 110 p/s267 / 2233 [-------->_______________________________________________________________] 11.96% 110 p/s290 / 2233 [--------->______________________________________________________________] 12.99% 110 p/s313 / 2233 [---------->_____________________________________________________________] 14.02% 110 p/s336 / 2233 [---------->_____________________________________________________________] 15.05% 110 p/s359 / 2233 [----------->____________________________________________________________] 16.08% 111 p/s382 / 2233 [------------>___________________________________________________________] 17.11% 111 p/s405 / 2233 [------------->__________________________________________________________] 18.14% 111 p/s428 / 2233 [------------->__________________________________________________________] 19.17% 111 p/s451 / 2233 [-------------->_________________________________________________________] 20.20% 111 p/s474 / 2233 [--------------->________________________________________________________] 21.23% 111 p/s497 / 2233 [---------------->_______________________________________________________] 22.26% 111 p/s520 / 2233 [---------------->_______________________________________________________] 23.29% 111 p/s543 / 2233 [----------------->______________________________________________________] 24.32% 111 p/s566 / 2233 [------------------>_____________________________________________________] 25.35% 112 p/s589 / 2233 [------------------>_____________________________________________________] 26.38% 112 p/s613 / 2233 [------------------->____________________________________________________] 27.45% 112 p/s636 / 2233 [-------------------->___________________________________________________] 28.48% 112 p/s659 / 2233 [--------------------->__________________________________________________] 29.51% 112 p/s682 / 2233 [--------------------->__________________________________________________] 30.54% 112 p/s706 / 2233 [---------------------->_________________________________________________] 31.62% 112 p/s729 / 2233 [----------------------->________________________________________________] 32.65% 112 p/s753 / 2233 [------------------------>_______________________________________________] 33.72% 112 p/s776 / 2233 [------------------------->______________________________________________] 34.75% 112 p/s799 / 2233 [------------------------->______________________________________________] 35.78% 112 p/s822 / 2233 [-------------------------->_____________________________________________] 36.81% 112 p/s846 / 2233 [--------------------------->____________________________________________] 37.89% 113 p/s869 / 2233 [---------------------------->___________________________________________] 38.92% 113 p/s892 / 2233 [---------------------------->___________________________________________] 39.95% 113 p/s915 / 2233 [----------------------------->__________________________________________] 40.98% 113 p/s938 / 2233 [------------------------------>_________________________________________] 42.01% 113 p/s961 / 2233 [------------------------------>_________________________________________] 43.04% 113 p/s984 / 2233 [------------------------------->________________________________________] 44.07% 113 p/s1007 / 2233 [-------------------------------->______________________________________] 45.10% 113 p/s1029 / 2233 [-------------------------------->______________________________________] 46.08% 113 p/s1052 / 2233 [--------------------------------->_____________________________________] 47.11% 113 p/s1076 / 2233 [---------------------------------->____________________________________] 48.19% 113 p/s1099 / 2233 [---------------------------------->____________________________________] 49.22% 113 p/s1123 / 2233 [----------------------------------->___________________________________] 50.29% 113 p/s1146 / 2233 [------------------------------------>__________________________________] 51.32% 113 p/s1169 / 2233 [------------------------------------->_________________________________] 52.35% 113 p/s1192 / 2233 [------------------------------------->_________________________________] 53.38% 113 p/s1214 / 2233 [-------------------------------------->________________________________] 54.37% 113 p/s1236 / 2233 [--------------------------------------->_______________________________] 55.35% 113 p/s1259 / 2233 [---------------------------------------->______________________________] 56.38% 113 p/s1282 / 2233 [---------------------------------------->______________________________] 57.41% 113 p/s1306 / 2233 [----------------------------------------->_____________________________] 58.49% 113 p/s1328 / 2233 [------------------------------------------>____________________________] 59.47% 113 p/s1349 / 2233 [------------------------------------------>____________________________] 60.41% 113 p/s1372 / 2233 [------------------------------------------->___________________________] 61.44% 113 p/s1395 / 2233 [-------------------------------------------->__________________________] 62.47% 113 p/s1418 / 2233 [--------------------------------------------->_________________________] 63.50% 113 p/s1441 / 2233 [--------------------------------------------->_________________________] 64.53% 113 p/s1464 / 2233 [---------------------------------------------->________________________] 65.56% 113 p/s1487 / 2233 [----------------------------------------------->_______________________] 66.59% 113 p/s1510 / 2233 [------------------------------------------------>______________________] 67.62% 113 p/s1533 / 2233 [------------------------------------------------>______________________] 68.65% 114 p/s1557 / 2233 [------------------------------------------------->_____________________] 69.73% 114 p/s1580 / 2233 [-------------------------------------------------->____________________] 70.76% 114 p/s1603 / 2233 [-------------------------------------------------->____________________] 71.79% 114 p/s1626 / 2233 [--------------------------------------------------->___________________] 72.82% 114 p/s1649 / 2233 [---------------------------------------------------->__________________] 73.85% 114 p/s1673 / 2233 [----------------------------------------------------->_________________] 74.92% 114 p/s1696 / 2233 [----------------------------------------------------->_________________] 75.95% 114 p/s1719 / 2233 [------------------------------------------------------>________________] 76.98% 114 p/s1742 / 2233 [------------------------------------------------------->_______________] 78.01% 114 p/s1765 / 2233 [-------------------------------------------------------->______________] 79.04% 114 p/s1788 / 2233 [-------------------------------------------------------->______________] 80.07% 114 p/s1811 / 2233 [--------------------------------------------------------->_____________] 81.10% 114 p/s1835 / 2233 [---------------------------------------------------------->____________] 82.18% 114 p/s1858 / 2233 [----------------------------------------------------------->___________] 83.21% 114 p/s1881 / 2233 [----------------------------------------------------------->___________] 84.24% 114 p/s1904 / 2233 [------------------------------------------------------------>__________] 85.27% 114 p/s1927 / 2233 [------------------------------------------------------------->_________] 86.30% 114 p/s1950 / 2233 [-------------------------------------------------------------->________] 87.33% 114 p/s1973 / 2233 [-------------------------------------------------------------->________] 88.36% 114 p/s1997 / 2233 [--------------------------------------------------------------->_______] 89.43% 114 p/s2019 / 2233 [---------------------------------------------------------------->______] 90.42% 114 p/s2042 / 2233 [---------------------------------------------------------------->______] 91.45% 114 p/s2065 / 2233 [----------------------------------------------------------------->_____] 92.48% 114 p/s2088 / 2233 [------------------------------------------------------------------>____] 93.51% 114 p/s2112 / 2233 [------------------------------------------------------------------->___] 94.58% 114 p/s2135 / 2233 [------------------------------------------------------------------->___] 95.61% 114 p/s2158 / 2233 [-------------------------------------------------------------------->__] 96.64% 115 p/s2181 / 2233 [--------------------------------------------------------------------->_] 97.67% 115 p/s2204 / 2233 [---------------------------------------------------------------------->] 98.70% 115 p/s2227 / 2233 [---------------------------------------------------------------------->] 99.73% 115 p/s2233 / 2233 [----------------------------------------------------------------------] 100.00% 116 p/s2026-03-23T01:01:21 - INFO: Parsing 2233 sonar sweeps from /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-23T01:02:45 - 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/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d"
2026-03-23T01:02:46 - INFO: DataPrep 0.14.0rc3
2026-03-23T01:02:46 - INFO: Prepared data will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/processing/data
2026-03-23T01:02:46 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-23T01:02:46 - deployment - INFO: Detected P3D version: P3D_1
2026-03-23T01:02:46 - INFO: Recording GUID: 1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-23T01:02:46 - INFO: Preparing sonar data...
2026-03-23T01:02:46 - INFO: /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-23T01:02:48 - INFO: Sonar epoch is 2026-02-26 18:29:36.826920+00:00 (1772130576826919698)
2026-03-23T01:02:48 - INFO: Creating sonar sensor alignment track...
2026-03-23T01:02:48 - INFO: Using sonar rotation of 0.331613 radians for wedge mask
2026-03-23T01:02:48 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-23T01:02:48 - INFO: Sonar range is 0.939120 m
2026-03-23T01:02:48 - INFO: Speed of sound is 1472.424156 m/s
2026-03-23T01:02:48 - INFO: Processing 2233 sweeps...

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2026-03-23T01:02:58 - INFO: Prepared sonar data in 11.1642 s
2026-03-23T01:02:58 - INFO: No IMU data found
2026-03-23T01:02:58 - INFO: DataPrep took 0:00:11.505297
2026-03-23T01:02:58 - INFO: Extracted sonar data in 0:01:56.894636
2026-03-23T01:02:58 - INFO: MSIP3D took 0:01:57.159494