2026-03-24T08:24:56 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:24:56 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-24T08:24:56 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:24:56 - INFO: Found TFD mission for SJ502828 DEP 517
2026-03-24T08:24:56 - INFO: Recording will be processed as SMD
2026-03-24T08:24:56 - INFO: Copying assets JSON to output directory...
2026-03-24T08:24:56 - INFO: Preparing counter data...
2026-03-24T08:24:56 - INFO: Interpreting counter as imperial
2026-03-24T08:24:56 - INFO: Preparing size track from assets JSON...
2026-03-24T08:24:56 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:24:56 - INFO: Preparing material track from assets JSON...
2026-03-24T08:24:56 - INFO: Prepared counter data in 0.1937 s
2026-03-24T08:24:56 - INFO: Extracting sonar data...
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/SJ502828_DEP_517.tfd
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1337
18 / 1337 [->__________________________________________________________________________] 1.35% ? p/s38 / 1337 [-->_________________________________________________________________________] 2.84% ? p/s57 / 1337 [--->________________________________________________________________________] 4.26% ? p/s76 / 1337 [---->______________________________________________________________________] 5.68% 97 p/s96 / 1337 [----->_____________________________________________________________________] 7.18% 97 p/s115 / 1337 [------>___________________________________________________________________] 8.60% 97 p/s134 / 1337 [------->_________________________________________________________________] 10.02% 97 p/s152 / 1337 [-------->________________________________________________________________] 11.37% 97 p/s172 / 1337 [--------->_______________________________________________________________] 12.86% 97 p/s190 / 1337 [---------->______________________________________________________________] 14.21% 96 p/s210 / 1337 [----------->_____________________________________________________________] 15.71% 96 p/s230 / 1337 [------------>____________________________________________________________] 17.20% 96 p/s248 / 1337 [------------->___________________________________________________________] 18.55% 96 p/s268 / 1337 [-------------->__________________________________________________________] 20.04% 96 p/s288 / 1337 [--------------->_________________________________________________________] 21.54% 96 p/s307 / 1337 [---------------->________________________________________________________] 22.96% 97 p/s327 / 1337 [----------------->_______________________________________________________] 24.46% 97 p/s347 / 1337 [------------------>______________________________________________________] 25.95% 97 p/s366 / 1337 [------------------->_____________________________________________________] 27.37% 97 p/s386 / 1337 [--------------------->___________________________________________________] 28.87% 97 p/s406 / 1337 [---------------------->__________________________________________________] 30.37% 97 p/s425 / 1337 [----------------------->_________________________________________________] 31.79% 97 p/s445 / 1337 [------------------------>________________________________________________] 33.28% 97 p/s464 / 1337 [------------------------->_______________________________________________] 34.70% 97 p/s483 / 1337 [-------------------------->______________________________________________] 36.13% 97 p/s503 / 1337 [--------------------------->_____________________________________________] 37.62% 97 p/s522 / 1337 [---------------------------->____________________________________________] 39.04% 97 p/s541 / 1337 [----------------------------->___________________________________________] 40.46% 97 p/s561 / 1337 [------------------------------>__________________________________________] 41.96% 97 p/s580 / 1337 [------------------------------->_________________________________________] 43.38% 97 p/s600 / 1337 [-------------------------------->________________________________________] 44.88% 97 p/s619 / 1337 [--------------------------------->_______________________________________] 46.30% 97 p/s639 / 1337 [---------------------------------->______________________________________] 47.79% 97 p/s658 / 1337 [----------------------------------->_____________________________________] 49.21% 97 p/s678 / 1337 [------------------------------------->___________________________________] 50.71% 97 p/s697 / 1337 [-------------------------------------->__________________________________] 52.13% 97 p/s717 / 1337 [--------------------------------------->_________________________________] 53.63% 97 p/s736 / 1337 [---------------------------------------->________________________________] 55.05% 97 p/s756 / 1337 [----------------------------------------->_______________________________] 56.54% 97 p/s775 / 1337 [------------------------------------------>______________________________] 57.97% 97 p/s794 / 1337 [------------------------------------------->_____________________________] 59.39% 97 p/s813 / 1337 [-------------------------------------------->____________________________] 60.81% 97 p/s832 / 1337 [--------------------------------------------->___________________________] 62.23% 97 p/s852 / 1337 [---------------------------------------------->__________________________] 63.72% 97 p/s872 / 1337 [----------------------------------------------->_________________________] 65.22% 97 p/s891 / 1337 [------------------------------------------------>________________________] 66.64% 97 p/s911 / 1337 [------------------------------------------------->_______________________] 68.14% 97 p/s931 / 1337 [-------------------------------------------------->______________________] 69.63% 97 p/s950 / 1337 [--------------------------------------------------->_____________________] 71.05% 97 p/s970 / 1337 [---------------------------------------------------->____________________] 72.55% 97 p/s989 / 1337 [----------------------------------------------------->___________________] 73.97% 97 p/s1009 / 1337 [------------------------------------------------------>_________________] 75.47% 97 p/s1027 / 1337 [------------------------------------------------------->________________] 76.81% 97 p/s1047 / 1337 [-------------------------------------------------------->_______________] 78.31% 97 p/s1066 / 1337 [--------------------------------------------------------->______________] 79.73% 97 p/s1086 / 1337 [---------------------------------------------------------->_____________] 81.23% 97 p/s1105 / 1337 [----------------------------------------------------------->____________] 82.65% 97 p/s1125 / 1337 [------------------------------------------------------------>___________] 84.14% 97 p/s1145 / 1337 [------------------------------------------------------------->__________] 85.64% 97 p/s1165 / 1337 [-------------------------------------------------------------->_________] 87.14% 97 p/s1184 / 1337 [--------------------------------------------------------------->________] 88.56% 97 p/s1204 / 1337 [---------------------------------------------------------------->_______] 90.05% 97 p/s1224 / 1337 [----------------------------------------------------------------->______] 91.55% 97 p/s1243 / 1337 [------------------------------------------------------------------>_____] 92.97% 97 p/s1263 / 1337 [-------------------------------------------------------------------->___] 94.47% 97 p/s1282 / 1337 [--------------------------------------------------------------------->__] 95.89% 97 p/s1302 / 1337 [---------------------------------------------------------------------->_] 97.38% 97 p/s1322 / 1337 [----------------------------------------------------------------------->] 98.88% 97 p/s1337 / 1337 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-24T08:25:10 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:26:01 - 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/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f"
2026-03-24T08:26:03 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:26:03 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-03-24T08:26:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:26:03 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:26:03 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-24T08:26:03 - INFO: Preparing sonar data...
2026-03-24T08:26:03 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:26:04 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-03-24T08:26:04 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:26:04 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-24T08:26:04 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:26:04 - INFO: Sonar range is 2.094960 m
2026-03-24T08:26:04 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:26:04 - INFO: Processing 1337 sweeps...

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2026-03-24T08:26:09 - INFO: Prepared sonar data in 6.4924 s
2026-03-24T08:26:09 - INFO: No IMU data found
2026-03-24T08:26:09 - INFO: DataPrep took 0:00:06.688465
2026-03-24T08:26:09 - INFO: Extracted sonar data in 0:01:13.135159
2026-03-24T08:26:09 - INFO: MSIP3D took 0:01:13.443212