2026-03-24T08:23:42 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:23:42 - INFO: P3D files will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-24T08:23:42 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:23:43 - INFO: Found TFD mission for SJ502828 DEP 519
2026-03-24T08:23:43 - INFO: Recording will be processed as SMD
2026-03-24T08:23:43 - INFO: Copying assets JSON to output directory...
2026-03-24T08:23:43 - INFO: Preparing counter data...
2026-03-24T08:23:43 - INFO: Interpreting counter as imperial
2026-03-24T08:23:43 - INFO: Preparing size track from assets JSON...
2026-03-24T08:23:43 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:23:43 - INFO: Preparing material track from assets JSON...
2026-03-24T08:23:43 - INFO: Prepared counter data in 0.1904 s
2026-03-24T08:23:43 - INFO: Extracting sonar data...
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/SJ502828_DEP_519.tfd
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2393
17 / 2393 [>___________________________________________________________________________] 0.71% ? p/s36 / 2393 [->__________________________________________________________________________] 1.50% ? p/s54 / 2393 [->__________________________________________________________________________] 2.26% ? p/s72 / 2393 [-->________________________________________________________________________] 3.01% 92 p/s92 / 2393 [-->________________________________________________________________________] 3.84% 92 p/s111 / 2393 [--->______________________________________________________________________] 4.64% 92 p/s130 / 2393 [---->_____________________________________________________________________] 5.43% 92 p/s150 / 2393 [---->_____________________________________________________________________] 6.27% 92 p/s168 / 2393 [----->____________________________________________________________________] 7.02% 92 p/s187 / 2393 [----->____________________________________________________________________] 7.81% 92 p/s206 / 2393 [------>___________________________________________________________________] 8.61% 92 p/s226 / 2393 [------>___________________________________________________________________] 9.44% 92 p/s244 / 2393 [------->_________________________________________________________________] 10.20% 92 p/s263 / 2393 [-------->________________________________________________________________] 10.99% 92 p/s282 / 2393 [-------->________________________________________________________________] 11.78% 92 p/s300 / 2393 [--------->_______________________________________________________________] 12.54% 92 p/s319 / 2393 [--------->_______________________________________________________________] 13.33% 92 p/s339 / 2393 [---------->______________________________________________________________] 14.17% 92 p/s358 / 2393 [---------->______________________________________________________________] 14.96% 93 p/s375 / 2393 [----------->_____________________________________________________________] 15.67% 93 p/s395 / 2393 [------------>____________________________________________________________] 16.51% 93 p/s415 / 2393 [------------>____________________________________________________________] 17.34% 93 p/s434 / 2393 [------------->___________________________________________________________] 18.14% 93 p/s452 / 2393 [------------->___________________________________________________________] 18.89% 93 p/s472 / 2393 [-------------->__________________________________________________________] 19.72% 93 p/s492 / 2393 [--------------->_________________________________________________________] 20.56% 93 p/s510 / 2393 [--------------->_________________________________________________________] 21.31% 93 p/s529 / 2393 [---------------->________________________________________________________] 22.11% 93 p/s547 / 2393 [---------------->________________________________________________________] 22.86% 93 p/s566 / 2393 [----------------->_______________________________________________________] 23.65% 93 p/s581 / 2393 [----------------->_______________________________________________________] 24.28% 93 p/s599 / 2393 [------------------>______________________________________________________] 25.03% 93 p/s617 / 2393 [------------------>______________________________________________________] 25.78% 93 p/s636 / 2393 [------------------->_____________________________________________________] 26.58% 93 p/s654 / 2393 [------------------->_____________________________________________________] 27.33% 93 p/s674 / 2393 [-------------------->____________________________________________________] 28.17% 93 p/s691 / 2393 [--------------------->___________________________________________________] 28.88% 93 p/s711 / 2393 [--------------------->___________________________________________________] 29.71% 93 p/s730 / 2393 [---------------------->__________________________________________________] 30.51% 93 p/s749 / 2393 [---------------------->__________________________________________________] 31.30% 93 p/s768 / 2393 [----------------------->_________________________________________________] 32.09% 93 p/s788 / 2393 [------------------------>________________________________________________] 32.93% 93 p/s806 / 2393 [------------------------>________________________________________________] 33.68% 93 p/s826 / 2393 [------------------------->_______________________________________________] 34.52% 93 p/s845 / 2393 [------------------------->_______________________________________________] 35.31% 93 p/s863 / 2393 [-------------------------->______________________________________________] 36.06% 93 p/s882 / 2393 [-------------------------->______________________________________________] 36.86% 93 p/s902 / 2393 [--------------------------->_____________________________________________] 37.69% 93 p/s921 / 2393 [---------------------------->____________________________________________] 38.49% 93 p/s940 / 2393 [---------------------------->____________________________________________] 39.28% 93 p/s960 / 2393 [----------------------------->___________________________________________] 40.12% 93 p/s979 / 2393 [----------------------------->___________________________________________] 40.91% 94 p/s997 / 2393 [------------------------------>__________________________________________] 41.66% 94 p/s1015 / 2393 [------------------------------>_________________________________________] 42.42% 94 p/s1034 / 2393 [------------------------------->________________________________________] 43.21% 93 p/s1053 / 2393 [------------------------------->________________________________________] 44.00% 93 p/s1071 / 2393 [-------------------------------->_______________________________________] 44.76% 93 p/s1090 / 2393 [-------------------------------->_______________________________________] 45.55% 93 p/s1110 / 2393 [--------------------------------->______________________________________] 46.39% 93 p/s1130 / 2393 [--------------------------------->______________________________________] 47.22% 93 p/s1149 / 2393 [---------------------------------->_____________________________________] 48.02% 94 p/s1168 / 2393 [----------------------------------->____________________________________] 48.81% 94 p/s1187 / 2393 [----------------------------------->____________________________________] 49.60% 94 p/s1207 / 2393 [------------------------------------>___________________________________] 50.44% 94 p/s1227 / 2393 [------------------------------------>___________________________________] 51.27% 94 p/s1247 / 2393 [------------------------------------->__________________________________] 52.11% 94 p/s1265 / 2393 [-------------------------------------->_________________________________] 52.86% 94 p/s1285 / 2393 [-------------------------------------->_________________________________] 53.70% 94 p/s1304 / 2393 [--------------------------------------->________________________________] 54.49% 94 p/s1322 / 2393 [--------------------------------------->________________________________] 55.24% 94 p/s1340 / 2393 [---------------------------------------->_______________________________] 56.00% 94 p/s1359 / 2393 [---------------------------------------->_______________________________] 56.79% 94 p/s1377 / 2393 [----------------------------------------->______________________________] 57.54% 94 p/s1397 / 2393 [------------------------------------------>_____________________________] 58.38% 94 p/s1417 / 2393 [------------------------------------------>_____________________________] 59.21% 94 p/s1436 / 2393 [------------------------------------------->____________________________] 60.01% 94 p/s1456 / 2393 [------------------------------------------->____________________________] 60.84% 94 p/s1474 / 2393 [-------------------------------------------->___________________________] 61.60% 94 p/s1493 / 2393 [-------------------------------------------->___________________________] 62.39% 94 p/s1513 / 2393 [--------------------------------------------->__________________________] 63.23% 94 p/s1531 / 2393 [---------------------------------------------->_________________________] 63.98% 94 p/s1551 / 2393 [---------------------------------------------->_________________________] 64.81% 94 p/s1571 / 2393 [----------------------------------------------->________________________] 65.65% 94 p/s1589 / 2393 [----------------------------------------------->________________________] 66.40% 94 p/s1607 / 2393 [------------------------------------------------>_______________________] 67.15% 94 p/s1626 / 2393 [------------------------------------------------>_______________________] 67.95% 94 p/s1645 / 2393 [------------------------------------------------->______________________] 68.74% 94 p/s1663 / 2393 [-------------------------------------------------->_____________________] 69.49% 94 p/s1682 / 2393 [-------------------------------------------------->_____________________] 70.29% 94 p/s1701 / 2393 [--------------------------------------------------->____________________] 71.08% 94 p/s1718 / 2393 [--------------------------------------------------->____________________] 71.79% 94 p/s1737 / 2393 [---------------------------------------------------->___________________] 72.59% 94 p/s1757 / 2393 [---------------------------------------------------->___________________] 73.42% 94 p/s1775 / 2393 [----------------------------------------------------->__________________] 74.17% 94 p/s1794 / 2393 [----------------------------------------------------->__________________] 74.97% 94 p/s1814 / 2393 [------------------------------------------------------>_________________] 75.80% 94 p/s1834 / 2393 [------------------------------------------------------->________________] 76.64% 94 p/s1852 / 2393 [------------------------------------------------------->________________] 77.39% 94 p/s1872 / 2393 [-------------------------------------------------------->_______________] 78.23% 94 p/s1890 / 2393 [-------------------------------------------------------->_______________] 78.98% 94 p/s1909 / 2393 [--------------------------------------------------------->______________] 79.77% 94 p/s1929 / 2393 [---------------------------------------------------------->_____________] 80.61% 94 p/s1947 / 2393 [---------------------------------------------------------->_____________] 81.36% 94 p/s1966 / 2393 [----------------------------------------------------------->____________] 82.16% 94 p/s1984 / 2393 [----------------------------------------------------------->____________] 82.91% 94 p/s2004 / 2393 [------------------------------------------------------------>___________] 83.74% 94 p/s2023 / 2393 [------------------------------------------------------------>___________] 84.54% 94 p/s2042 / 2393 [------------------------------------------------------------->__________] 85.33% 94 p/s2061 / 2393 [-------------------------------------------------------------->_________] 86.13% 95 p/s2080 / 2393 [-------------------------------------------------------------->_________] 86.92% 95 p/s2099 / 2393 [--------------------------------------------------------------->________] 87.71% 95 p/s2117 / 2393 [--------------------------------------------------------------->________] 88.47% 94 p/s2136 / 2393 [---------------------------------------------------------------->_______] 89.26% 94 p/s2155 / 2393 [---------------------------------------------------------------->_______] 90.05% 94 p/s2174 / 2393 [----------------------------------------------------------------->______] 90.85% 94 p/s2193 / 2393 [----------------------------------------------------------------->______] 91.64% 94 p/s2213 / 2393 [------------------------------------------------------------------>_____] 92.48% 94 p/s2232 / 2393 [------------------------------------------------------------------->____] 93.27% 95 p/s2251 / 2393 [------------------------------------------------------------------->____] 94.07% 95 p/s2269 / 2393 [-------------------------------------------------------------------->___] 94.82% 95 p/s2286 / 2393 [-------------------------------------------------------------------->___] 95.53% 94 p/s2304 / 2393 [--------------------------------------------------------------------->__] 96.28% 94 p/s2324 / 2393 [--------------------------------------------------------------------->__] 97.12% 94 p/s2343 / 2393 [---------------------------------------------------------------------->_] 97.91% 94 p/s2362 / 2393 [----------------------------------------------------------------------->] 98.70% 94 p/s2381 / 2393 [----------------------------------------------------------------------->] 99.50% 94 p/s2393 / 2393 [-----------------------------------------------------------------------] 100.00% 95 p/s2026-03-24T08:24:08 - INFO: Parsing 2393 sonar sweeps from /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:25:40 - 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/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b"
2026-03-24T08:25:41 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:25:41 - INFO: Prepared data will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/processing/data
2026-03-24T08:25:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:25:41 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:25:41 - INFO: Recording GUID: 4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-24T08:25:41 - INFO: Preparing sonar data...
2026-03-24T08:25:41 - INFO: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:25:43 - INFO: Sonar epoch is 2026-02-22 15:54:25.597311+00:00 (1771775665597311200)
2026-03-24T08:25:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:25:43 - INFO: Sonar range is 2.094960 m
2026-03-24T08:25:43 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:25:43 - INFO: Processing 2392 sweeps...

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2026-03-24T08:25:53 - INFO: Prepared sonar data in 11.7145 s
2026-03-24T08:25:53 - INFO: No IMU data found
2026-03-24T08:25:53 - INFO: DataPrep took 0:00:12.075851
2026-03-24T08:25:53 - INFO: Extracted sonar data in 0:02:10.608937
2026-03-24T08:25:54 - INFO: MSIP3D took 0:02:11.006338