2026-03-24T08:25:37 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:25:37 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-24T08:25:37 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:25:37 - INFO: Found TFD mission for SJ502828 DEP 514
2026-03-24T08:25:37 - INFO: Recording will be processed as SMD
2026-03-24T08:25:37 - INFO: Copying assets JSON to output directory...
2026-03-24T08:25:37 - INFO: Preparing counter data...
2026-03-24T08:25:37 - INFO: Interpreting counter as imperial
2026-03-24T08:25:37 - INFO: Preparing size track from assets JSON...
2026-03-24T08:25:37 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:25:37 - INFO: Preparing material track from assets JSON...
2026-03-24T08:25:37 - INFO: Prepared counter data in 0.1282 s
2026-03-24T08:25:37 - INFO: Extracting sonar data...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 1806
17 / 1806 [>___________________________________________________________________________] 0.94% ? p/s36 / 1806 [->__________________________________________________________________________] 1.99% ? p/s56 / 1806 [-->_________________________________________________________________________] 3.10% ? p/s73 / 1806 [--->_______________________________________________________________________] 4.04% 93 p/s93 / 1806 [--->_______________________________________________________________________] 5.15% 93 p/s112 / 1806 [---->_____________________________________________________________________] 6.20% 93 p/s129 / 1806 [----->____________________________________________________________________] 7.14% 93 p/s148 / 1806 [------>___________________________________________________________________] 8.19% 93 p/s166 / 1806 [------>___________________________________________________________________] 9.19% 93 p/s185 / 1806 [------->_________________________________________________________________] 10.24% 93 p/s204 / 1806 [-------->________________________________________________________________] 11.30% 93 p/s223 / 1806 [--------->_______________________________________________________________] 12.35% 93 p/s243 / 1806 [--------->_______________________________________________________________] 13.46% 94 p/s261 / 1806 [---------->______________________________________________________________] 14.45% 94 p/s280 / 1806 [----------->_____________________________________________________________] 15.50% 94 p/s298 / 1806 [------------>____________________________________________________________] 16.50% 93 p/s318 / 1806 [------------>____________________________________________________________] 17.61% 93 p/s337 / 1806 [------------->___________________________________________________________] 18.66% 93 p/s355 / 1806 [-------------->__________________________________________________________] 19.66% 94 p/s374 / 1806 [--------------->_________________________________________________________] 20.71% 94 p/s392 / 1806 [--------------->_________________________________________________________] 21.71% 94 p/s409 / 1806 [---------------->________________________________________________________] 22.65% 93 p/s428 / 1806 [----------------->_______________________________________________________] 23.70% 93 p/s445 / 1806 [----------------->_______________________________________________________] 24.64% 93 p/s463 / 1806 [------------------>______________________________________________________] 25.64% 93 p/s481 / 1806 [------------------->_____________________________________________________] 26.63% 93 p/s500 / 1806 [-------------------->____________________________________________________] 27.69% 93 p/s519 / 1806 [-------------------->____________________________________________________] 28.74% 93 p/s536 / 1806 [--------------------->___________________________________________________] 29.68% 93 p/s556 / 1806 [---------------------->__________________________________________________] 30.79% 93 p/s573 / 1806 [----------------------->_________________________________________________] 31.73% 93 p/s591 / 1806 [----------------------->_________________________________________________] 32.72% 93 p/s608 / 1806 [------------------------>________________________________________________] 33.67% 93 p/s626 / 1806 [------------------------->_______________________________________________] 34.66% 93 p/s645 / 1806 [-------------------------->______________________________________________] 35.71% 93 p/s663 / 1806 [-------------------------->______________________________________________] 36.71% 93 p/s682 / 1806 [--------------------------->_____________________________________________] 37.76% 93 p/s700 / 1806 [---------------------------->____________________________________________] 38.76% 93 p/s719 / 1806 [----------------------------->___________________________________________] 39.81% 93 p/s737 / 1806 [----------------------------->___________________________________________] 40.81% 93 p/s756 / 1806 [------------------------------>__________________________________________] 41.86% 93 p/s774 / 1806 [------------------------------->_________________________________________] 42.86% 93 p/s792 / 1806 [-------------------------------->________________________________________] 43.85% 93 p/s811 / 1806 [-------------------------------->________________________________________] 44.91% 93 p/s830 / 1806 [--------------------------------->_______________________________________] 45.96% 93 p/s849 / 1806 [---------------------------------->______________________________________] 47.01% 93 p/s868 / 1806 [----------------------------------->_____________________________________] 48.06% 93 p/s888 / 1806 [----------------------------------->_____________________________________] 49.17% 93 p/s905 / 1806 [------------------------------------>____________________________________] 50.11% 93 p/s924 / 1806 [------------------------------------->___________________________________] 51.16% 93 p/s942 / 1806 [-------------------------------------->__________________________________] 52.16% 93 p/s961 / 1806 [-------------------------------------->__________________________________] 53.21% 93 p/s981 / 1806 [--------------------------------------->_________________________________] 54.32% 93 p/s998 / 1806 [---------------------------------------->________________________________] 55.26% 93 p/s1016 / 1806 [---------------------------------------->_______________________________] 56.26% 93 p/s1035 / 1806 [----------------------------------------->______________________________] 57.31% 93 p/s1055 / 1806 [------------------------------------------>_____________________________] 58.42% 93 p/s1072 / 1806 [------------------------------------------>_____________________________] 59.36% 93 p/s1092 / 1806 [------------------------------------------->____________________________] 60.47% 93 p/s1110 / 1806 [-------------------------------------------->___________________________] 61.46% 93 p/s1130 / 1806 [--------------------------------------------->__________________________] 62.57% 93 p/s1148 / 1806 [--------------------------------------------->__________________________] 63.57% 93 p/s1167 / 1806 [---------------------------------------------->_________________________] 64.62% 93 p/s1185 / 1806 [----------------------------------------------->________________________] 65.61% 93 p/s1204 / 1806 [----------------------------------------------->________________________] 66.67% 93 p/s1223 / 1806 [------------------------------------------------>_______________________] 67.72% 93 p/s1242 / 1806 [------------------------------------------------->______________________] 68.77% 93 p/s1260 / 1806 [-------------------------------------------------->_____________________] 69.77% 93 p/s1276 / 1806 [-------------------------------------------------->_____________________] 70.65% 93 p/s1292 / 1806 [--------------------------------------------------->____________________] 71.54% 92 p/s1311 / 1806 [---------------------------------------------------->___________________] 72.59% 92 p/s1330 / 1806 [----------------------------------------------------->__________________] 73.64% 92 p/s1347 / 1806 [----------------------------------------------------->__________________] 74.58% 92 p/s1367 / 1806 [------------------------------------------------------>_________________] 75.69% 92 p/s1385 / 1806 [------------------------------------------------------->________________] 76.69% 92 p/s1403 / 1806 [------------------------------------------------------->________________] 77.69% 92 p/s1423 / 1806 [-------------------------------------------------------->_______________] 78.79% 92 p/s1442 / 1806 [--------------------------------------------------------->______________] 79.84% 92 p/s1461 / 1806 [---------------------------------------------------------->_____________] 80.90% 93 p/s1481 / 1806 [----------------------------------------------------------->____________] 82.00% 93 p/s1500 / 1806 [----------------------------------------------------------->____________] 83.06% 93 p/s1520 / 1806 [------------------------------------------------------------>___________] 84.16% 93 p/s1539 / 1806 [------------------------------------------------------------->__________] 85.22% 93 p/s1559 / 1806 [-------------------------------------------------------------->_________] 86.32% 93 p/s1578 / 1806 [-------------------------------------------------------------->_________] 87.38% 93 p/s1597 / 1806 [--------------------------------------------------------------->________] 88.43% 93 p/s1617 / 1806 [---------------------------------------------------------------->_______] 89.53% 93 p/s1635 / 1806 [----------------------------------------------------------------->______] 90.53% 93 p/s1653 / 1806 [----------------------------------------------------------------->______] 91.53% 93 p/s1672 / 1806 [------------------------------------------------------------------>_____] 92.58% 93 p/s1690 / 1806 [------------------------------------------------------------------->____] 93.58% 93 p/s1710 / 1806 [-------------------------------------------------------------------->___] 94.68% 93 p/s1729 / 1806 [-------------------------------------------------------------------->___] 95.74% 93 p/s1748 / 1806 [--------------------------------------------------------------------->__] 96.79% 94 p/s1768 / 1806 [---------------------------------------------------------------------->_] 97.90% 94 p/s1787 / 1806 [----------------------------------------------------------------------->] 98.95% 94 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 94 p/s2026-03-24T08:25:56 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:27:07 - 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 /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-03-24T08:27:09 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:27:09 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-03-24T08:27:09 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:27:09 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:27:09 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-24T08:27:09 - INFO: Preparing sonar data...
2026-03-24T08:27:09 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:27:10 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-03-24T08:27:10 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:27:10 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-24T08:27:10 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:27:10 - INFO: Sonar range is 1.589280 m
2026-03-24T08:27:10 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:27:10 - INFO: Processing 1806 sweeps...

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2026-03-24T08:27:18 - INFO: Prepared sonar data in 9.2311 s
2026-03-24T08:27:18 - INFO: No IMU data found
2026-03-24T08:27:18 - INFO: DataPrep took 0:00:09.509221
2026-03-24T08:27:18 - INFO: Extracted sonar data in 0:01:41.429167
2026-03-24T08:27:18 - INFO: MSIP3D took 0:01:41.715329