2026-03-24T09:00:26 - INFO: MSIP3D 0.2.0rc3
2026-03-24T09:00:26 - INFO: P3D files will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-24T09:00:26 - INFO: Found 10 TFD dictionary entries
2026-03-24T09:00:26 - INFO: Found TFD mission for SJ502795 Dep 8
2026-03-24T09:00:26 - INFO: Recording will be processed as MD
2026-03-24T09:00:26 - INFO: Copying assets JSON to output directory...
2026-03-24T09:00:26 - INFO: Preparing counter data...
2026-03-24T09:00:26 - INFO: Interpreting counter as imperial
2026-03-24T09:00:26 - INFO: Preparing size track from assets JSON...
2026-03-24T09:00:26 - INFO: Preparing shape track from assets JSON...
2026-03-24T09:00:26 - INFO: Preparing material track from assets JSON...
2026-03-24T09:00:26 - INFO: Prepared counter data in 0.1167 s
2026-03-24T09:00:26 - INFO: Extracting sonar data...
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/SJ502795_Dep_8.tfd
TFD path: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4266
21 / 4266 [>___________________________________________________________________________] 0.49% ? p/s44 / 4266 [>___________________________________________________________________________] 1.03% ? p/s66 / 4266 [->__________________________________________________________________________] 1.55% ? p/s88 / 4266 [->________________________________________________________________________] 2.06% 112 p/s110 / 4266 [->_______________________________________________________________________] 2.58% 112 p/s130 / 4266 [-->______________________________________________________________________] 3.05% 112 p/s153 / 4266 [-->______________________________________________________________________] 3.59% 111 p/s175 / 4266 [-->______________________________________________________________________] 4.10% 111 p/s198 / 4266 [--->_____________________________________________________________________] 4.64% 111 p/s220 / 4266 [--->_____________________________________________________________________] 5.16% 112 p/s243 / 4266 [---->____________________________________________________________________] 5.70% 112 p/s264 / 4266 [---->____________________________________________________________________] 6.19% 112 p/s286 / 4266 [---->____________________________________________________________________] 6.70% 111 p/s308 / 4266 [----->___________________________________________________________________] 7.22% 111 p/s330 / 4266 [----->___________________________________________________________________] 7.74% 111 p/s352 / 4266 [------>__________________________________________________________________] 8.25% 111 p/s374 / 4266 [------>__________________________________________________________________] 8.77% 111 p/s396 / 4266 [------>__________________________________________________________________] 9.28% 111 p/s419 / 4266 [------->_________________________________________________________________] 9.82% 111 p/s441 / 4266 [------->________________________________________________________________] 10.34% 111 p/s464 / 4266 [------->________________________________________________________________] 10.88% 111 p/s486 / 4266 [-------->_______________________________________________________________] 11.39% 111 p/s508 / 4266 [-------->_______________________________________________________________] 11.91% 111 p/s530 / 4266 [-------->_______________________________________________________________] 12.42% 111 p/s553 / 4266 [--------->______________________________________________________________] 12.96% 111 p/s575 / 4266 [--------->______________________________________________________________] 13.48% 111 p/s598 / 4266 [---------->_____________________________________________________________] 14.02% 111 p/s620 / 4266 [---------->_____________________________________________________________] 14.53% 111 p/s642 / 4266 [---------->_____________________________________________________________] 15.05% 111 p/s665 / 4266 [----------->____________________________________________________________] 15.59% 111 p/s687 / 4266 [----------->____________________________________________________________] 16.10% 111 p/s710 / 4266 [----------->____________________________________________________________] 16.64% 111 p/s733 / 4266 [------------>___________________________________________________________] 17.18% 111 p/s755 / 4266 [------------>___________________________________________________________] 17.70% 112 p/s778 / 4266 [------------->__________________________________________________________] 18.24% 112 p/s800 / 4266 [------------->__________________________________________________________] 18.75% 112 p/s823 / 4266 [------------->__________________________________________________________] 19.29% 112 p/s846 / 4266 [-------------->_________________________________________________________] 19.83% 112 p/s868 / 4266 [-------------->_________________________________________________________] 20.35% 112 p/s891 / 4266 [--------------->________________________________________________________] 20.89% 112 p/s913 / 4266 [--------------->________________________________________________________] 21.40% 112 p/s935 / 4266 [--------------->________________________________________________________] 21.92% 112 p/s958 / 4266 [---------------->_______________________________________________________] 22.46% 112 p/s980 / 4266 [---------------->_______________________________________________________] 22.97% 112 p/s1003 / 4266 [---------------->______________________________________________________] 23.51% 112 p/s1025 / 4266 [----------------->_____________________________________________________] 24.03% 112 p/s1047 / 4266 [----------------->_____________________________________________________] 24.54% 112 p/s1069 / 4266 [----------------->_____________________________________________________] 25.06% 112 p/s1091 / 4266 [------------------>____________________________________________________] 25.57% 112 p/s1114 / 4266 [------------------>____________________________________________________] 26.11% 112 p/s1137 / 4266 [------------------>____________________________________________________] 26.65% 112 p/s1159 / 4266 [------------------->___________________________________________________] 27.17% 112 p/s1182 / 4266 [------------------->___________________________________________________] 27.71% 112 p/s1205 / 4266 [-------------------->__________________________________________________] 28.25% 112 p/s1227 / 4266 [-------------------->__________________________________________________] 28.76% 112 p/s1249 / 4266 [-------------------->__________________________________________________] 29.28% 112 p/s1272 / 4266 [--------------------->_________________________________________________] 29.82% 112 p/s1295 / 4266 [--------------------->_________________________________________________] 30.36% 112 p/s1317 / 4266 [--------------------->_________________________________________________] 30.87% 112 p/s1340 / 4266 [---------------------->________________________________________________] 31.41% 112 p/s1363 / 4266 [---------------------->________________________________________________] 31.95% 112 p/s1385 / 4266 [----------------------->_______________________________________________] 32.47% 112 p/s1408 / 4266 [----------------------->_______________________________________________] 33.01% 112 p/s1431 / 4266 [----------------------->_______________________________________________] 33.54% 112 p/s1454 / 4266 [------------------------>______________________________________________] 34.08% 112 p/s1476 / 4266 [------------------------>______________________________________________] 34.60% 112 p/s1499 / 4266 [------------------------>______________________________________________] 35.14% 112 p/s1522 / 4266 [------------------------->_____________________________________________] 35.68% 112 p/s1544 / 4266 [------------------------->_____________________________________________] 36.19% 112 p/s1567 / 4266 [-------------------------->____________________________________________] 36.73% 112 p/s1590 / 4266 [-------------------------->____________________________________________] 37.27% 112 p/s1612 / 4266 [-------------------------->____________________________________________] 37.79% 112 p/s1634 / 4266 [--------------------------->___________________________________________] 38.30% 112 p/s1657 / 4266 [--------------------------->___________________________________________] 38.84% 112 p/s1680 / 4266 [--------------------------->___________________________________________] 39.38% 112 p/s1702 / 4266 [---------------------------->__________________________________________] 39.90% 112 p/s1725 / 4266 [---------------------------->__________________________________________] 40.44% 112 p/s1748 / 4266 [----------------------------->_________________________________________] 40.98% 112 p/s1771 / 4266 [----------------------------->_________________________________________] 41.51% 112 p/s1794 / 4266 [----------------------------->_________________________________________] 42.05% 112 p/s1816 / 4266 [------------------------------>________________________________________] 42.57% 112 p/s1839 / 4266 [------------------------------>________________________________________] 43.11% 113 p/s1861 / 4266 [------------------------------>________________________________________] 43.62% 113 p/s1884 / 4266 [------------------------------->_______________________________________] 44.16% 113 p/s1906 / 4266 [------------------------------->_______________________________________] 44.68% 112 p/s1928 / 4266 [-------------------------------->______________________________________] 45.19% 112 p/s1951 / 4266 [-------------------------------->______________________________________] 45.73% 112 p/s1973 / 4266 [-------------------------------->______________________________________] 46.25% 112 p/s1996 / 4266 [--------------------------------->_____________________________________] 46.79% 112 p/s2014 / 4266 [--------------------------------->_____________________________________] 47.21% 112 p/s2036 / 4266 [--------------------------------->_____________________________________] 47.73% 112 p/s2058 / 4266 [---------------------------------->____________________________________] 48.24% 112 p/s2080 / 4266 [---------------------------------->____________________________________] 48.76% 112 p/s2103 / 4266 [----------------------------------->___________________________________] 49.30% 112 p/s2126 / 4266 [----------------------------------->___________________________________] 49.84% 112 p/s2148 / 4266 [----------------------------------->___________________________________] 50.35% 112 p/s2171 / 4266 [------------------------------------>__________________________________] 50.89% 112 p/s2193 / 4266 [------------------------------------>__________________________________] 51.41% 112 p/s2216 / 4266 [------------------------------------>__________________________________] 51.95% 112 p/s2239 / 4266 [------------------------------------->_________________________________] 52.48% 112 p/s2261 / 4266 [------------------------------------->_________________________________] 53.00% 112 p/s2284 / 4266 [-------------------------------------->________________________________] 53.54% 112 p/s2306 / 4266 [-------------------------------------->________________________________] 54.06% 112 p/s2329 / 4266 [-------------------------------------->________________________________] 54.59% 112 p/s2352 / 4266 [--------------------------------------->_______________________________] 55.13% 112 p/s2374 / 4266 [--------------------------------------->_______________________________] 55.65% 112 p/s2397 / 4266 [--------------------------------------->_______________________________] 56.19% 112 p/s2419 / 4266 [---------------------------------------->______________________________] 56.70% 112 p/s2442 / 4266 [---------------------------------------->______________________________] 57.24% 112 p/s2464 / 4266 [----------------------------------------->_____________________________] 57.76% 112 p/s2487 / 4266 [----------------------------------------->_____________________________] 58.30% 112 p/s2508 / 4266 [----------------------------------------->_____________________________] 58.79% 112 p/s2529 / 4266 [------------------------------------------>____________________________] 59.28% 112 p/s2536 / 4266 [------------------------------------------>____________________________] 59.45% 112 p/s2558 / 4266 [------------------------------------------>____________________________] 59.96% 110 p/s2581 / 4266 [------------------------------------------>____________________________] 60.50% 110 p/s2603 / 4266 [------------------------------------------->___________________________] 61.02% 110 p/s2626 / 4266 [------------------------------------------->___________________________] 61.56% 110 p/s2648 / 4266 [-------------------------------------------->__________________________] 62.07% 110 p/s2670 / 4266 [-------------------------------------------->__________________________] 62.59% 110 p/s2692 / 4266 [-------------------------------------------->__________________________] 63.10% 110 p/s2715 / 4266 [--------------------------------------------->_________________________] 63.64% 110 p/s2737 / 4266 [--------------------------------------------->_________________________] 64.16% 110 p/s2759 / 4266 [--------------------------------------------->_________________________] 64.67% 110 p/s2780 / 4266 [---------------------------------------------->________________________] 65.17% 110 p/s2802 / 4266 [---------------------------------------------->________________________] 65.68% 110 p/s2824 / 4266 [----------------------------------------------->_______________________] 66.20% 110 p/s2847 / 4266 [----------------------------------------------->_______________________] 66.74% 110 p/s2869 / 4266 [----------------------------------------------->_______________________] 67.25% 110 p/s2892 / 4266 [------------------------------------------------>______________________] 67.79% 111 p/s2914 / 4266 [------------------------------------------------>______________________] 68.31% 111 p/s2936 / 4266 [------------------------------------------------>______________________] 68.82% 111 p/s2957 / 4266 [------------------------------------------------->_____________________] 69.32% 110 p/s2980 / 4266 [------------------------------------------------->_____________________] 69.85% 110 p/s3002 / 4266 [------------------------------------------------->_____________________] 70.37% 110 p/s3024 / 4266 [-------------------------------------------------->____________________] 70.89% 110 p/s3046 / 4266 [-------------------------------------------------->____________________] 71.40% 110 p/s3069 / 4266 [--------------------------------------------------->___________________] 71.94% 110 p/s3091 / 4266 [--------------------------------------------------->___________________] 72.46% 111 p/s3113 / 4266 [--------------------------------------------------->___________________] 72.97% 111 p/s3135 / 4266 [---------------------------------------------------->__________________] 73.49% 111 p/s3157 / 4266 [---------------------------------------------------->__________________] 74.00% 111 p/s3180 / 4266 [---------------------------------------------------->__________________] 74.54% 111 p/s3202 / 4266 [----------------------------------------------------->_________________] 75.06% 111 p/s3224 / 4266 [----------------------------------------------------->_________________] 75.57% 111 p/s3246 / 4266 [------------------------------------------------------>________________] 76.09% 111 p/s3268 / 4266 [------------------------------------------------------>________________] 76.61% 111 p/s3290 / 4266 [------------------------------------------------------>________________] 77.12% 111 p/s3311 / 4266 [------------------------------------------------------->_______________] 77.61% 111 p/s3333 / 4266 [------------------------------------------------------->_______________] 78.13% 111 p/s3355 / 4266 [------------------------------------------------------->_______________] 78.65% 110 p/s3377 / 4266 [-------------------------------------------------------->______________] 79.16% 110 p/s3400 / 4266 [-------------------------------------------------------->______________] 79.70% 110 p/s3423 / 4266 [-------------------------------------------------------->______________] 80.24% 111 p/s3445 / 4266 [--------------------------------------------------------->_____________] 80.75% 111 p/s3468 / 4266 [--------------------------------------------------------->_____________] 81.29% 111 p/s3490 / 4266 [---------------------------------------------------------->____________] 81.81% 111 p/s3512 / 4266 [---------------------------------------------------------->____________] 82.33% 111 p/s3535 / 4266 [---------------------------------------------------------->____________] 82.86% 111 p/s3557 / 4266 [----------------------------------------------------------->___________] 83.38% 111 p/s3579 / 4266 [----------------------------------------------------------->___________] 83.90% 111 p/s3601 / 4266 [----------------------------------------------------------->___________] 84.41% 111 p/s3624 / 4266 [------------------------------------------------------------>__________] 84.95% 111 p/s3646 / 4266 [------------------------------------------------------------>__________] 85.47% 111 p/s3668 / 4266 [------------------------------------------------------------->_________] 85.98% 111 p/s3690 / 4266 [------------------------------------------------------------->_________] 86.50% 111 p/s3713 / 4266 [------------------------------------------------------------->_________] 87.04% 111 p/s3735 / 4266 [-------------------------------------------------------------->________] 87.55% 111 p/s3757 / 4266 [-------------------------------------------------------------->________] 88.07% 111 p/s3779 / 4266 [-------------------------------------------------------------->________] 88.58% 111 p/s3801 / 4266 [--------------------------------------------------------------->_______] 89.10% 111 p/s3823 / 4266 [--------------------------------------------------------------->_______] 89.62% 111 p/s3846 / 4266 [---------------------------------------------------------------->______] 90.15% 111 p/s3868 / 4266 [---------------------------------------------------------------->______] 90.67% 111 p/s3890 / 4266 [---------------------------------------------------------------->______] 91.19% 111 p/s3912 / 4266 [----------------------------------------------------------------->_____] 91.70% 111 p/s3935 / 4266 [----------------------------------------------------------------->_____] 92.24% 111 p/s3957 / 4266 [----------------------------------------------------------------->_____] 92.76% 111 p/s3979 / 4266 [------------------------------------------------------------------>____] 93.27% 111 p/s4001 / 4266 [------------------------------------------------------------------>____] 93.79% 111 p/s4024 / 4266 [------------------------------------------------------------------>____] 94.33% 111 p/s4046 / 4266 [------------------------------------------------------------------->___] 94.84% 111 p/s4068 / 4266 [------------------------------------------------------------------->___] 95.36% 111 p/s4090 / 4266 [-------------------------------------------------------------------->__] 95.87% 111 p/s4112 / 4266 [-------------------------------------------------------------------->__] 96.39% 111 p/s4134 / 4266 [-------------------------------------------------------------------->__] 96.91% 111 p/s4157 / 4266 [--------------------------------------------------------------------->_] 97.44% 111 p/s4179 / 4266 [--------------------------------------------------------------------->_] 97.96% 111 p/s4202 / 4266 [--------------------------------------------------------------------->_] 98.50% 111 p/s4225 / 4266 [---------------------------------------------------------------------->] 99.04% 111 p/s4248 / 4266 [---------------------------------------------------------------------->] 99.58% 111 p/s4266 / 4266 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-24T09:01:04 - INFO: Parsing 4266 sonar sweeps from /working/91a1967a-affb-b554-6acf-f2584efbfd1b/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4266 [00:00<?, ?it/s]
  0%|          | 3/4266 [00:00<02:39, 26.76it/s]
  0%|          | 6/4266 [00:00<02:35, 27.47it/s]
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  0%|          | 21/4266 [00:00<02:30, 28.13it/s]
  1%|          | 24/4266 [00:00<02:31, 27.92it/s]
  1%|          | 27/4266 [00:00<02:31, 28.00it/s]
  1%|          | 30/4266 [00:01<02:31, 28.03it/s]
  1%|          | 33/4266 [00:01<02:30, 28.05it/s]
  1%|          | 36/4266 [00:01<02:30, 28.04it/s]
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  1%|          | 42/4266 [00:01<02:30, 28.08it/s]
  1%|          | 45/4266 [00:01<02:30, 28.13it/s]
  1%|          | 48/4266 [00:01<02:29, 28.14it/s]
  1%|          | 51/4266 [00:01<02:29, 28.12it/s]
  1%|▏         | 54/4266 [00:01<02:29, 28.13it/s]
  1%|▏         | 57/4266 [00:02<02:30, 28.06it/s]
  1%|▏         | 60/4266 [00:02<02:29, 28.09it/s]
  1%|▏         | 63/4266 [00:02<02:29, 28.05it/s]
  2%|▏         | 66/4266 [00:02<02:29, 28.02it/s]
  2%|▏         | 69/4266 [00:02<02:29, 28.02it/s]
  2%|▏         | 72/4266 [00:02<02:29, 28.00it/s]
  2%|▏         | 75/4266 [00:02<02:29, 27.97it/s]
  2%|▏         | 78/4266 [00:02<02:29, 27.97it/s]
  2%|▏         | 81/4266 [00:02<02:29, 27.94it/s]
  2%|▏         | 84/4266 [00:03<02:30, 27.87it/s]
  2%|▏         | 87/4266 [00:03<02:30, 27.85it/s]
  2%|▏         | 90/4266 [00:03<02:30, 27.84it/s]
  2%|▏         | 93/4266 [00:03<02:29, 27.83it/s]
  2%|▏         | 96/4266 [00:03<02:30, 27.78it/s]
  2%|▏         | 99/4266 [00:03<02:30, 27.69it/s]
  2%|▏         | 102/4266 [00:03<02:30, 27.69it/s]
  2%|▏         | 105/4266 [00:03<02:31, 27.46it/s]
  3%|▎         | 108/4266 [00:03<02:30, 27.54it/s]
  3%|▎         | 111/4266 [00:03<02:30, 27.63it/s]
  3%|▎         | 114/4266 [00:04<02:29, 27.69it/s]
  3%|▎         | 117/4266 [00:04<02:29, 27.76it/s]
  3%|▎         | 120/4266 [00:04<02:29, 27.79it/s]
  3%|▎         | 123/4266 [00:04<02:28, 27.87it/s]
  3%|▎         | 126/4266 [00:04<02:28, 27.82it/s]
  3%|▎         | 129/4266 [00:04<02:32, 27.05it/s]
  3%|▎         | 132/4266 [00:04<03:28, 19.87it/s]
  3%|▎         | 135/4266 [00:04<03:09, 21.75it/s]
  3%|▎         | 138/4266 [00:05<02:57, 23.32it/s]
  3%|▎         | 141/4266 [00:05<02:48, 24.54it/s]
  3%|▎         | 144/4266 [00:05<02:45, 24.87it/s]
  3%|▎         | 147/4266 [00:05<02:40, 25.73it/s]
  4%|▎         | 150/4266 [00:05<02:36, 26.27it/s]
  4%|▎         | 153/4266 [00:05<02:33, 26.74it/s]
  4%|▎         | 156/4266 [00:05<02:31, 27.13it/s]
  4%|▎         | 159/4266 [00:05<02:29, 27.41it/s]
  4%|▍         | 162/4266 [00:05<02:28, 27.62it/s]
  4%|▍         | 165/4266 [00:06<02:27, 27.72it/s]
  4%|▍         | 168/4266 [00:06<02:27, 27.80it/s]
  4%|▍         | 171/4266 [00:06<02:26, 27.97it/s]
  4%|▍         | 174/4266 [00:06<02:25, 28.05it/s]
  4%|▍         | 177/4266 [00:06<02:25, 28.03it/s]
  4%|▍         | 180/4266 [00:06<02:25, 28.07it/s]
  4%|▍         | 183/4266 [00:06<02:25, 28.05it/s]
  4%|▍         | 186/4266 [00:06<02:25, 28.01it/s]
  4%|▍         | 189/4266 [00:06<02:25, 27.99it/s]
  5%|▍         | 192/4266 [00:07<02:25, 28.00it/s]
  5%|▍         | 195/4266 [00:07<02:25, 28.00it/s]
  5%|▍         | 198/4266 [00:07<02:25, 28.01it/s]
  5%|▍         | 201/4266 [00:07<02:24, 28.04it/s]
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  5%|▍         | 207/4266 [00:07<02:24, 28.01it/s]
  5%|▍         | 210/4266 [00:07<02:24, 28.04it/s]
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  5%|▌         | 216/4266 [00:07<02:24, 28.10it/s]
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  6%|▌         | 261/4266 [00:09<02:24, 27.76it/s]
  6%|▌         | 264/4266 [00:09<02:30, 26.54it/s]
  6%|▋         | 267/4266 [00:09<02:28, 26.84it/s]
  6%|▋         | 270/4266 [00:09<02:27, 27.07it/s]
  6%|▋         | 273/4266 [00:09<02:26, 27.23it/s]
  6%|▋         | 276/4266 [00:10<02:25, 27.33it/s]
  7%|▋         | 279/4266 [00:10<02:25, 27.31it/s]
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  7%|▋         | 285/4266 [00:10<02:24, 27.48it/s]
  7%|▋         | 288/4266 [00:10<02:24, 27.55it/s]
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  7%|▋         | 309/4266 [00:11<02:22, 27.71it/s]
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  8%|▊         | 321/4266 [00:11<02:22, 27.72it/s]
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2026-03-24T09:03:43 - 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/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b"
2026-03-24T09:03:45 - INFO: DataPrep 0.14.0rc3
2026-03-24T09:03:45 - INFO: Prepared data will be output to /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/processing/data
2026-03-24T09:03:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T09:03:45 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T09:03:45 - INFO: Recording GUID: 91a1967a-affb-b554-6acf-f2584efbfd1b
2026-03-24T09:03:45 - INFO: Preparing sonar data...
2026-03-24T09:03:45 - INFO: /working/91a1967a-affb-b554-6acf-f2584efbfd1b/91a1967a-affb-b554-6acf-f2584efbfd1b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T09:03:49 - INFO: Sonar epoch is 2026-01-09 13:56:23.235718+00:00 (1767966983235717618)
2026-03-24T09:03:49 - INFO: Creating sonar sensor alignment track...
2026-03-24T09:03:49 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-03-24T09:03:49 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T09:03:49 - INFO: Sonar range is 0.939120 m
2026-03-24T09:03:49 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T09:03:49 - INFO: Processing 4266 sweeps...

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2026-03-24T09:03:59 - INFO: Prepared sonar data in 14.3695 s
2026-03-24T09:03:59 - INFO: No IMU data found
2026-03-24T09:03:59 - INFO: DataPrep took 0:00:14.825331
2026-03-24T09:04:00 - INFO: Extracted sonar data in 0:03:33.581044
2026-03-24T09:04:00 - INFO: MSIP3D took 0:03:34.085484