2026-03-24T08:26:39 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:26:39 - INFO: P3D files will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-24T08:26:40 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:26:40 - INFO: Found TFD mission for SJ502828 DEP 521
2026-03-24T08:26:40 - INFO: Recording will be processed as SMD
2026-03-24T08:26:40 - INFO: Copying assets JSON to output directory...
2026-03-24T08:26:40 - INFO: Preparing counter data...
2026-03-24T08:26:40 - INFO: Interpreting counter as imperial
2026-03-24T08:26:40 - INFO: Preparing size track from assets JSON...
2026-03-24T08:26:40 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:26:40 - INFO: Preparing material track from assets JSON...
2026-03-24T08:26:40 - INFO: Prepared counter data in 0.2977 s
2026-03-24T08:26:40 - INFO: Extracting sonar data...
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/SJ502828_DEP_521.tfd
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Getting track SONAR
Number of frames: 2756
18 / 2756 [>___________________________________________________________________________] 0.65% ? p/s37 / 2756 [->__________________________________________________________________________] 1.34% ? p/s56 / 2756 [->__________________________________________________________________________] 2.03% ? p/s75 / 2756 [-->________________________________________________________________________] 2.72% 95 p/s94 / 2756 [-->________________________________________________________________________] 3.41% 95 p/s113 / 2756 [--->______________________________________________________________________] 4.10% 95 p/s132 / 2756 [--->______________________________________________________________________] 4.79% 95 p/s151 / 2756 [---->_____________________________________________________________________] 5.48% 95 p/s170 / 2756 [---->_____________________________________________________________________] 6.17% 95 p/s190 / 2756 [----->____________________________________________________________________] 6.89% 95 p/s209 / 2756 [----->____________________________________________________________________] 7.58% 95 p/s228 / 2756 [------>___________________________________________________________________] 8.27% 95 p/s246 / 2756 [------>___________________________________________________________________] 8.93% 95 p/s265 / 2756 [------->__________________________________________________________________] 9.62% 95 p/s284 / 2756 [------->_________________________________________________________________] 10.30% 95 p/s303 / 2756 [-------->________________________________________________________________] 10.99% 95 p/s322 / 2756 [-------->________________________________________________________________] 11.68% 95 p/s342 / 2756 [--------->_______________________________________________________________] 12.41% 95 p/s361 / 2756 [--------->_______________________________________________________________] 13.10% 95 p/s379 / 2756 [---------->______________________________________________________________] 13.75% 95 p/s399 / 2756 [---------->______________________________________________________________] 14.48% 95 p/s418 / 2756 [----------->_____________________________________________________________] 15.17% 95 p/s437 / 2756 [----------->_____________________________________________________________] 15.86% 95 p/s456 / 2756 [------------>____________________________________________________________] 16.55% 95 p/s476 / 2756 [------------>____________________________________________________________] 17.27% 95 p/s495 / 2756 [------------->___________________________________________________________] 17.96% 95 p/s513 / 2756 [------------->___________________________________________________________] 18.61% 95 p/s532 / 2756 [-------------->__________________________________________________________] 19.30% 95 p/s552 / 2756 [-------------->__________________________________________________________] 20.03% 95 p/s571 / 2756 [--------------->_________________________________________________________] 20.72% 95 p/s591 / 2756 [--------------->_________________________________________________________] 21.44% 95 p/s610 / 2756 [---------------->________________________________________________________] 22.13% 95 p/s629 / 2756 [---------------->________________________________________________________] 22.82% 95 p/s649 / 2756 [----------------->_______________________________________________________] 23.55% 95 p/s668 / 2756 [----------------->_______________________________________________________] 24.24% 95 p/s687 / 2756 [------------------>______________________________________________________] 24.93% 95 p/s707 / 2756 [------------------>______________________________________________________] 25.65% 95 p/s726 / 2756 [------------------->_____________________________________________________] 26.34% 95 p/s746 / 2756 [------------------->_____________________________________________________] 27.07% 95 p/s765 / 2756 [-------------------->____________________________________________________] 27.76% 96 p/s784 / 2756 [-------------------->____________________________________________________] 28.45% 96 p/s803 / 2756 [--------------------->___________________________________________________] 29.14% 96 p/s823 / 2756 [--------------------->___________________________________________________] 29.86% 96 p/s842 / 2756 [---------------------->__________________________________________________] 30.55% 96 p/s862 / 2756 [---------------------->__________________________________________________] 31.28% 96 p/s881 / 2756 [----------------------->_________________________________________________] 31.97% 96 p/s900 / 2756 [----------------------->_________________________________________________] 32.66% 96 p/s919 / 2756 [------------------------>________________________________________________] 33.35% 96 p/s938 / 2756 [------------------------>________________________________________________] 34.03% 96 p/s957 / 2756 [------------------------->_______________________________________________] 34.72% 96 p/s977 / 2756 [------------------------->_______________________________________________] 35.45% 96 p/s996 / 2756 [-------------------------->______________________________________________] 36.14% 96 p/s1015 / 2756 [-------------------------->_____________________________________________] 36.83% 96 p/s1034 / 2756 [--------------------------->____________________________________________] 37.52% 96 p/s1053 / 2756 [--------------------------->____________________________________________] 38.21% 96 p/s1072 / 2756 [---------------------------->___________________________________________] 38.90% 96 p/s1090 / 2756 [---------------------------->___________________________________________] 39.55% 96 p/s1110 / 2756 [---------------------------->___________________________________________] 40.28% 96 p/s1129 / 2756 [----------------------------->__________________________________________] 40.97% 96 p/s1149 / 2756 [------------------------------>_________________________________________] 41.69% 96 p/s1167 / 2756 [------------------------------>_________________________________________] 42.34% 96 p/s1186 / 2756 [------------------------------>_________________________________________] 43.03% 96 p/s1206 / 2756 [------------------------------->________________________________________] 43.76% 96 p/s1225 / 2756 [-------------------------------->_______________________________________] 44.45% 96 p/s1245 / 2756 [-------------------------------->_______________________________________] 45.17% 96 p/s1264 / 2756 [--------------------------------->______________________________________] 45.86% 96 p/s1284 / 2756 [--------------------------------->______________________________________] 46.59% 96 p/s1303 / 2756 [---------------------------------->_____________________________________] 47.28% 96 p/s1322 / 2756 [---------------------------------->_____________________________________] 47.97% 96 p/s1342 / 2756 [----------------------------------->____________________________________] 48.69% 96 p/s1360 / 2756 [----------------------------------->____________________________________] 49.35% 96 p/s1379 / 2756 [------------------------------------>___________________________________] 50.04% 96 p/s1398 / 2756 [------------------------------------>___________________________________] 50.73% 96 p/s1417 / 2756 [------------------------------------->__________________________________] 51.42% 96 p/s1437 / 2756 [------------------------------------->__________________________________] 52.14% 96 p/s1456 / 2756 [-------------------------------------->_________________________________] 52.83% 96 p/s1476 / 2756 [-------------------------------------->_________________________________] 53.56% 96 p/s1495 / 2756 [--------------------------------------->________________________________] 54.25% 96 p/s1514 / 2756 [--------------------------------------->________________________________] 54.93% 96 p/s1533 / 2756 [---------------------------------------->_______________________________] 55.62% 96 p/s1553 / 2756 [---------------------------------------->_______________________________] 56.35% 96 p/s1572 / 2756 [----------------------------------------->______________________________] 57.04% 96 p/s1592 / 2756 [----------------------------------------->______________________________] 57.76% 96 p/s1612 / 2756 [------------------------------------------>_____________________________] 58.49% 96 p/s1631 / 2756 [------------------------------------------>_____________________________] 59.18% 96 p/s1651 / 2756 [------------------------------------------->____________________________] 59.91% 96 p/s1670 / 2756 [------------------------------------------->____________________________] 60.60% 96 p/s1690 / 2756 [-------------------------------------------->___________________________] 61.32% 96 p/s1710 / 2756 [-------------------------------------------->___________________________] 62.05% 96 p/s1730 / 2756 [--------------------------------------------->__________________________] 62.77% 96 p/s1749 / 2756 [--------------------------------------------->__________________________] 63.46% 96 p/s1769 / 2756 [---------------------------------------------->_________________________] 64.19% 96 p/s1789 / 2756 [---------------------------------------------->_________________________] 64.91% 96 p/s1808 / 2756 [----------------------------------------------->________________________] 65.60% 96 p/s1828 / 2756 [----------------------------------------------->________________________] 66.33% 96 p/s1848 / 2756 [------------------------------------------------>_______________________] 67.05% 96 p/s1867 / 2756 [------------------------------------------------>_______________________] 67.74% 97 p/s1887 / 2756 [------------------------------------------------->______________________] 68.47% 97 p/s1901 / 2756 [------------------------------------------------->______________________] 68.98% 97 p/s1920 / 2756 [-------------------------------------------------->_____________________] 69.67% 96 p/s1940 / 2756 [-------------------------------------------------->_____________________] 70.39% 96 p/s1959 / 2756 [--------------------------------------------------->____________________] 71.08% 96 p/s1978 / 2756 [--------------------------------------------------->____________________] 71.77% 96 p/s1998 / 2756 [---------------------------------------------------->___________________] 72.50% 96 p/s2017 / 2756 [---------------------------------------------------->___________________] 73.19% 96 p/s2037 / 2756 [----------------------------------------------------->__________________] 73.91% 96 p/s2056 / 2756 [----------------------------------------------------->__________________] 74.60% 96 p/s2076 / 2756 [------------------------------------------------------>_________________] 75.33% 96 p/s2095 / 2756 [------------------------------------------------------>_________________] 76.02% 96 p/s2114 / 2756 [------------------------------------------------------->________________] 76.71% 96 p/s2133 / 2756 [------------------------------------------------------->________________] 77.39% 96 p/s2153 / 2756 [-------------------------------------------------------->_______________] 78.12% 96 p/s2173 / 2756 [-------------------------------------------------------->_______________] 78.85% 96 p/s2192 / 2756 [--------------------------------------------------------->______________] 79.54% 96 p/s2212 / 2756 [--------------------------------------------------------->______________] 80.26% 96 p/s2232 / 2756 [---------------------------------------------------------->_____________] 80.99% 96 p/s2252 / 2756 [---------------------------------------------------------->_____________] 81.71% 96 p/s2272 / 2756 [----------------------------------------------------------->____________] 82.44% 97 p/s2292 / 2756 [----------------------------------------------------------->____________] 83.16% 97 p/s2312 / 2756 [------------------------------------------------------------>___________] 83.89% 97 p/s2331 / 2756 [------------------------------------------------------------>___________] 84.58% 97 p/s2351 / 2756 [------------------------------------------------------------->__________] 85.30% 97 p/s2362 / 2756 [------------------------------------------------------------->__________] 85.70% 97 p/s2382 / 2756 [-------------------------------------------------------------->_________] 86.43% 96 p/s2402 / 2756 [-------------------------------------------------------------->_________] 87.16% 96 p/s2422 / 2756 [--------------------------------------------------------------->________] 87.88% 96 p/s2442 / 2756 [--------------------------------------------------------------->________] 88.61% 96 p/s2462 / 2756 [---------------------------------------------------------------->_______] 89.33% 96 p/s2482 / 2756 [---------------------------------------------------------------->_______] 90.06% 96 p/s2503 / 2756 [----------------------------------------------------------------->______] 90.82% 97 p/s2524 / 2756 [----------------------------------------------------------------->______] 91.58% 97 p/s2544 / 2756 [------------------------------------------------------------------>_____] 92.31% 97 p/s2564 / 2756 [------------------------------------------------------------------>_____] 93.03% 97 p/s2584 / 2756 [------------------------------------------------------------------->____] 93.76% 97 p/s2604 / 2756 [-------------------------------------------------------------------->___] 94.48% 97 p/s2624 / 2756 [-------------------------------------------------------------------->___] 95.21% 97 p/s2643 / 2756 [--------------------------------------------------------------------->__] 95.90% 97 p/s2663 / 2756 [--------------------------------------------------------------------->__] 96.63% 97 p/s2682 / 2756 [---------------------------------------------------------------------->_] 97.31% 97 p/s2702 / 2756 [---------------------------------------------------------------------->_] 98.04% 97 p/s2721 / 2756 [----------------------------------------------------------------------->] 98.73% 97 p/s2741 / 2756 [----------------------------------------------------------------------->] 99.46% 97 p/s2756 / 2756 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-24T08:27:09 - INFO: Parsing 2756 sonar sweeps from /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:28:57 - 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/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c"
2026-03-24T08:28:59 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:28:59 - INFO: Prepared data will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/processing/data
2026-03-24T08:28:59 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:28:59 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:28:59 - INFO: Recording GUID: 81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-24T08:28:59 - INFO: Preparing sonar data...
2026-03-24T08:28:59 - INFO: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:29:01 - INFO: Sonar epoch is 2026-02-23 17:09:14.871653+00:00 (1771866554871652952)
2026-03-24T08:29:01 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:29:01 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-24T08:29:01 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:29:01 - INFO: Sonar range is 2.094960 m
2026-03-24T08:29:01 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:29:01 - INFO: Processing 2755 sweeps...

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2026-03-24T08:29:12 - INFO: Prepared sonar data in 13.4273 s
2026-03-24T08:29:12 - INFO: No IMU data found
2026-03-24T08:29:13 - INFO: DataPrep took 0:00:13.860089
2026-03-24T08:29:13 - INFO: Extracted sonar data in 0:02:32.871724
2026-03-24T08:29:13 - INFO: MSIP3D took 0:02:33.412835