2026-03-24T08:54:05 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:54:05 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-24T08:54:05 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:54:05 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-24T08:54:05 - INFO: Recording will be processed as MD
2026-03-24T08:54:05 - INFO: Copying assets JSON to output directory...
2026-03-24T08:54:05 - INFO: Preparing counter data...
2026-03-24T08:54:05 - INFO: Interpreting counter as imperial
2026-03-24T08:54:05 - INFO: Preparing size track from assets JSON...
2026-03-24T08:54:05 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:54:05 - INFO: Preparing material track from assets JSON...
2026-03-24T08:54:05 - INFO: Prepared counter data in 0.0421 s
2026-03-24T08:54:05 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 1851
20 / 1851 [>___________________________________________________________________________] 1.08% ? p/s42 / 1851 [->__________________________________________________________________________] 2.27% ? p/s63 / 1851 [-->_________________________________________________________________________] 3.40% ? p/s85 / 1851 [--->______________________________________________________________________] 4.59% 108 p/s106 / 1851 [---->____________________________________________________________________] 5.73% 108 p/s127 / 1851 [----->___________________________________________________________________] 6.86% 108 p/s149 / 1851 [----->___________________________________________________________________] 8.05% 108 p/s170 / 1851 [------>__________________________________________________________________] 9.18% 108 p/s189 / 1851 [------->________________________________________________________________] 10.21% 108 p/s210 / 1851 [-------->_______________________________________________________________] 11.35% 108 p/s232 / 1851 [--------->______________________________________________________________] 12.53% 108 p/s253 / 1851 [--------->______________________________________________________________] 13.67% 108 p/s274 / 1851 [---------->_____________________________________________________________] 14.80% 108 p/s295 / 1851 [----------->____________________________________________________________] 15.94% 108 p/s318 / 1851 [------------>___________________________________________________________] 17.18% 108 p/s340 / 1851 [------------->__________________________________________________________] 18.37% 108 p/s361 / 1851 [-------------->_________________________________________________________] 19.50% 108 p/s383 / 1851 [-------------->_________________________________________________________] 20.69% 108 p/s404 / 1851 [--------------->________________________________________________________] 21.83% 108 p/s425 / 1851 [---------------->_______________________________________________________] 22.96% 108 p/s446 / 1851 [----------------->______________________________________________________] 24.10% 108 p/s469 / 1851 [------------------>_____________________________________________________] 25.34% 108 p/s491 / 1851 [------------------->____________________________________________________] 26.53% 108 p/s512 / 1851 [------------------->____________________________________________________] 27.66% 108 p/s534 / 1851 [-------------------->___________________________________________________] 28.85% 108 p/s557 / 1851 [--------------------->__________________________________________________] 30.09% 108 p/s578 / 1851 [---------------------->_________________________________________________] 31.23% 108 p/s600 / 1851 [----------------------->________________________________________________] 32.41% 108 p/s622 / 1851 [------------------------>_______________________________________________] 33.60% 108 p/s643 / 1851 [------------------------->______________________________________________] 34.74% 108 p/s664 / 1851 [------------------------->______________________________________________] 35.87% 108 p/s685 / 1851 [-------------------------->_____________________________________________] 37.01% 108 p/s707 / 1851 [--------------------------->____________________________________________] 38.20% 108 p/s729 / 1851 [---------------------------->___________________________________________] 39.38% 108 p/s750 / 1851 [----------------------------->__________________________________________] 40.52% 108 p/s771 / 1851 [----------------------------->__________________________________________] 41.65% 108 p/s792 / 1851 [------------------------------>_________________________________________] 42.79% 108 p/s814 / 1851 [------------------------------->________________________________________] 43.98% 108 p/s836 / 1851 [-------------------------------->_______________________________________] 45.16% 108 p/s857 / 1851 [--------------------------------->______________________________________] 46.30% 108 p/s879 / 1851 [---------------------------------->_____________________________________] 47.49% 108 p/s902 / 1851 [----------------------------------->____________________________________] 48.73% 108 p/s923 / 1851 [----------------------------------->____________________________________] 49.86% 108 p/s946 / 1851 [------------------------------------>___________________________________] 51.11% 108 p/s967 / 1851 [------------------------------------->__________________________________] 52.24% 108 p/s989 / 1851 [-------------------------------------->_________________________________] 53.43% 108 p/s1011 / 1851 [-------------------------------------->________________________________] 54.62% 108 p/s1032 / 1851 [--------------------------------------->_______________________________] 55.75% 108 p/s1054 / 1851 [---------------------------------------->______________________________] 56.94% 108 p/s1075 / 1851 [----------------------------------------->_____________________________] 58.08% 108 p/s1097 / 1851 [------------------------------------------>____________________________] 59.27% 108 p/s1119 / 1851 [------------------------------------------>____________________________] 60.45% 108 p/s1141 / 1851 [------------------------------------------->___________________________] 61.64% 108 p/s1163 / 1851 [-------------------------------------------->__________________________] 62.83% 108 p/s1183 / 1851 [--------------------------------------------->_________________________] 63.91% 108 p/s1205 / 1851 [---------------------------------------------->________________________] 65.10% 108 p/s1228 / 1851 [----------------------------------------------->_______________________] 66.34% 108 p/s1248 / 1851 [----------------------------------------------->_______________________] 67.42% 108 p/s1270 / 1851 [------------------------------------------------>______________________] 68.61% 108 p/s1291 / 1851 [------------------------------------------------->_____________________] 69.75% 108 p/s1311 / 1851 [-------------------------------------------------->____________________] 70.83% 108 p/s1331 / 1851 [--------------------------------------------------->___________________] 71.91% 108 p/s1353 / 1851 [--------------------------------------------------->___________________] 73.10% 108 p/s1376 / 1851 [---------------------------------------------------->__________________] 74.34% 108 p/s1398 / 1851 [----------------------------------------------------->_________________] 75.53% 108 p/s1417 / 1851 [------------------------------------------------------>________________] 76.55% 108 p/s1440 / 1851 [------------------------------------------------------->_______________] 77.80% 108 p/s1460 / 1851 [-------------------------------------------------------->______________] 78.88% 108 p/s1481 / 1851 [-------------------------------------------------------->______________] 80.01% 108 p/s1502 / 1851 [--------------------------------------------------------->_____________] 81.15% 107 p/s1523 / 1851 [---------------------------------------------------------->____________] 82.28% 107 p/s1546 / 1851 [----------------------------------------------------------->___________] 83.52% 107 p/s1568 / 1851 [------------------------------------------------------------>__________] 84.71% 108 p/s1588 / 1851 [------------------------------------------------------------>__________] 85.79% 108 p/s1609 / 1851 [------------------------------------------------------------->_________] 86.93% 108 p/s1631 / 1851 [-------------------------------------------------------------->________] 88.11% 107 p/s1653 / 1851 [--------------------------------------------------------------->_______] 89.30% 107 p/s1675 / 1851 [---------------------------------------------------------------->______] 90.49% 107 p/s1697 / 1851 [----------------------------------------------------------------->_____] 91.68% 108 p/s1719 / 1851 [----------------------------------------------------------------->_____] 92.87% 108 p/s1741 / 1851 [------------------------------------------------------------------>____] 94.06% 108 p/s1763 / 1851 [------------------------------------------------------------------->___] 95.25% 108 p/s1785 / 1851 [-------------------------------------------------------------------->__] 96.43% 108 p/s1807 / 1851 [--------------------------------------------------------------------->_] 97.62% 108 p/s1829 / 1851 [---------------------------------------------------------------------->] 98.81% 108 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 109 p/s2026-03-24T08:54:22 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:55:31 - 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 --sonar-flip /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-03-24T08:55:33 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:55:33 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-24T08:55:33 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:55:33 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:55:33 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-24T08:55:33 - INFO: Preparing sonar data...
2026-03-24T08:55:33 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:55:35 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-24T08:55:35 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:55:35 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-24T08:55:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:55:35 - INFO: Sonar range is 0.722400 m
2026-03-24T08:55:35 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:55:35 - INFO: Processing 1851 sweeps...

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2026-03-24T08:55:41 - INFO: Prepared sonar data in 7.9614 s
2026-03-24T08:55:41 - INFO: No IMU data found
2026-03-24T08:55:41 - INFO: DataPrep took 0:00:08.182674
2026-03-24T08:55:41 - INFO: Extracted sonar data in 0:01:36.031583
2026-03-24T08:55:41 - INFO: MSIP3D took 0:01:36.220577