2026-03-24T08:28:17 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:28:17 - INFO: P3D files will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-24T08:28:17 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:28:17 - INFO: Found TFD mission for SJ502828 DEP 523
2026-03-24T08:28:17 - INFO: Recording will be processed as SMD
2026-03-24T08:28:17 - INFO: Copying assets JSON to output directory...
2026-03-24T08:28:17 - INFO: Preparing counter data...
2026-03-24T08:28:17 - INFO: Interpreting counter as imperial
2026-03-24T08:28:17 - INFO: Preparing size track from assets JSON...
2026-03-24T08:28:17 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:28:17 - INFO: Preparing material track from assets JSON...
2026-03-24T08:28:17 - INFO: Prepared counter data in 0.1300 s
2026-03-24T08:28:17 - INFO: Extracting sonar data...
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/SJ502828_DEP_523.tfd
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 1391
17 / 1391 [>___________________________________________________________________________] 1.22% ? p/s36 / 1391 [->__________________________________________________________________________] 2.59% ? p/s55 / 1391 [--->________________________________________________________________________] 3.95% ? p/s73 / 1391 [--->_______________________________________________________________________] 5.25% 93 p/s91 / 1391 [---->______________________________________________________________________] 6.54% 93 p/s110 / 1391 [----->____________________________________________________________________] 7.91% 93 p/s129 / 1391 [------>___________________________________________________________________] 9.27% 93 p/s148 / 1391 [------->_________________________________________________________________] 10.64% 93 p/s167 / 1391 [-------->________________________________________________________________] 12.01% 93 p/s186 / 1391 [--------->_______________________________________________________________] 13.37% 93 p/s205 / 1391 [---------->______________________________________________________________] 14.74% 93 p/s224 / 1391 [----------->_____________________________________________________________] 16.10% 93 p/s242 / 1391 [------------>____________________________________________________________] 17.40% 93 p/s261 / 1391 [------------->___________________________________________________________] 18.76% 93 p/s280 / 1391 [-------------->__________________________________________________________] 20.13% 93 p/s299 / 1391 [--------------->_________________________________________________________] 21.50% 94 p/s318 / 1391 [---------------->________________________________________________________] 22.86% 94 p/s337 / 1391 [----------------->_______________________________________________________] 24.23% 94 p/s356 / 1391 [------------------>______________________________________________________] 25.59% 94 p/s375 / 1391 [------------------->_____________________________________________________] 26.96% 94 p/s393 / 1391 [-------------------->____________________________________________________] 28.25% 94 p/s412 / 1391 [--------------------->___________________________________________________] 29.62% 94 p/s431 / 1391 [---------------------->__________________________________________________] 30.98% 94 p/s450 / 1391 [----------------------->_________________________________________________] 32.35% 94 p/s467 / 1391 [------------------------>________________________________________________] 33.57% 94 p/s485 / 1391 [------------------------->_______________________________________________] 34.87% 94 p/s504 / 1391 [-------------------------->______________________________________________] 36.23% 94 p/s521 / 1391 [--------------------------->_____________________________________________] 37.46% 93 p/s540 / 1391 [---------------------------->____________________________________________] 38.82% 93 p/s559 / 1391 [----------------------------->___________________________________________] 40.19% 93 p/s578 / 1391 [------------------------------>__________________________________________] 41.55% 93 p/s597 / 1391 [------------------------------->_________________________________________] 42.92% 93 p/s616 / 1391 [-------------------------------->________________________________________] 44.28% 93 p/s634 / 1391 [--------------------------------->_______________________________________] 45.58% 93 p/s653 / 1391 [---------------------------------->______________________________________] 46.94% 93 p/s672 / 1391 [----------------------------------->_____________________________________] 48.31% 93 p/s691 / 1391 [------------------------------------>____________________________________] 49.68% 94 p/s710 / 1391 [------------------------------------->___________________________________] 51.04% 94 p/s729 / 1391 [-------------------------------------->__________________________________] 52.41% 94 p/s748 / 1391 [--------------------------------------->_________________________________] 53.77% 94 p/s767 / 1391 [---------------------------------------->________________________________] 55.14% 94 p/s786 / 1391 [----------------------------------------->_______________________________] 56.51% 94 p/s805 / 1391 [------------------------------------------>______________________________] 57.87% 94 p/s824 / 1391 [------------------------------------------->_____________________________] 59.24% 94 p/s843 / 1391 [-------------------------------------------->____________________________] 60.60% 94 p/s862 / 1391 [--------------------------------------------->___________________________] 61.97% 94 p/s880 / 1391 [---------------------------------------------->__________________________] 63.26% 94 p/s897 / 1391 [----------------------------------------------->_________________________] 64.49% 94 p/s915 / 1391 [------------------------------------------------>________________________] 65.78% 93 p/s934 / 1391 [------------------------------------------------->_______________________] 67.15% 93 p/s952 / 1391 [------------------------------------------------->_______________________] 68.44% 93 p/s970 / 1391 [-------------------------------------------------->______________________] 69.73% 93 p/s988 / 1391 [--------------------------------------------------->_____________________] 71.03% 93 p/s1005 / 1391 [---------------------------------------------------->___________________] 72.25% 93 p/s1022 / 1391 [---------------------------------------------------->___________________] 73.47% 93 p/s1040 / 1391 [----------------------------------------------------->__________________] 74.77% 93 p/s1058 / 1391 [------------------------------------------------------>_________________] 76.06% 93 p/s1078 / 1391 [------------------------------------------------------->________________] 77.50% 93 p/s1096 / 1391 [-------------------------------------------------------->_______________] 78.79% 93 p/s1114 / 1391 [--------------------------------------------------------->______________] 80.09% 93 p/s1131 / 1391 [---------------------------------------------------------->_____________] 81.31% 93 p/s1150 / 1391 [----------------------------------------------------------->____________] 82.67% 93 p/s1169 / 1391 [------------------------------------------------------------>___________] 84.04% 93 p/s1186 / 1391 [------------------------------------------------------------->__________] 85.26% 93 p/s1204 / 1391 [-------------------------------------------------------------->_________] 86.56% 93 p/s1223 / 1391 [--------------------------------------------------------------->________] 87.92% 93 p/s1242 / 1391 [---------------------------------------------------------------->_______] 89.29% 93 p/s1261 / 1391 [----------------------------------------------------------------->______] 90.65% 93 p/s1281 / 1391 [------------------------------------------------------------------>_____] 92.09% 93 p/s1300 / 1391 [------------------------------------------------------------------->____] 93.46% 93 p/s1319 / 1391 [-------------------------------------------------------------------->___] 94.82% 93 p/s1338 / 1391 [--------------------------------------------------------------------->__] 96.19% 93 p/s1357 / 1391 [---------------------------------------------------------------------->_] 97.56% 93 p/s1376 / 1391 [----------------------------------------------------------------------->] 98.92% 93 p/s1391 / 1391 [-----------------------------------------------------------------------] 100.00% 94 p/s2026-03-24T08:28:32 - INFO: Parsing 1391 sonar sweeps from /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:29:27 - 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/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed"
2026-03-24T08:29:31 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:29:31 - INFO: Prepared data will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/processing/data
2026-03-24T08:29:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:29:31 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:29:31 - INFO: Recording GUID: 0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-24T08:29:31 - INFO: Preparing sonar data...
2026-03-24T08:29:31 - INFO: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:29:32 - INFO: Sonar epoch is 2026-02-24 19:26:35.225468+00:00 (1771961195225468283)
2026-03-24T08:29:32 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:29:32 - INFO: Using sonar rotation of -0.104720 radians for wedge mask
2026-03-24T08:29:32 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:29:32 - INFO: Sonar range is 1.589280 m
2026-03-24T08:29:32 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:29:32 - INFO: Processing 1391 sweeps...

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2026-03-24T08:29:38 - INFO: Prepared sonar data in 6.9664 s
2026-03-24T08:29:38 - INFO: No IMU data found
2026-03-24T08:29:38 - INFO: DataPrep took 0:00:07.170262
2026-03-24T08:29:38 - INFO: Extracted sonar data in 0:01:21.572667
2026-03-24T08:29:38 - INFO: MSIP3D took 0:01:21.825114