2026-03-24T08:53:51 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:53:51 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-24T08:53:51 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:53:51 - INFO: Found TFD mission for SJ502795 Dep 9
2026-03-24T08:53:51 - INFO: Recording will be processed as MD
2026-03-24T08:53:51 - INFO: Copying assets JSON to output directory...
2026-03-24T08:53:51 - INFO: Preparing counter data...
2026-03-24T08:53:51 - INFO: Interpreting counter as imperial
2026-03-24T08:53:51 - INFO: Preparing size track from assets JSON...
2026-03-24T08:53:51 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:53:51 - INFO: Preparing material track from assets JSON...
2026-03-24T08:53:51 - INFO: Prepared counter data in 0.0221 s
2026-03-24T08:53:51 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 707
22 / 707 [-->__________________________________________________________________________] 3.11% ? p/s44 / 707 [---->________________________________________________________________________] 6.22% ? p/s66 / 707 [------->_____________________________________________________________________] 9.34% ? p/s87 / 707 [--------->________________________________________________________________] 12.31% 108 p/s110 / 707 [----------->_____________________________________________________________] 15.56% 108 p/s130 / 707 [------------->___________________________________________________________] 18.39% 108 p/s153 / 707 [--------------->_________________________________________________________] 21.64% 109 p/s175 / 707 [------------------>______________________________________________________] 24.75% 109 p/s197 / 707 [-------------------->____________________________________________________] 27.86% 109 p/s220 / 707 [---------------------->__________________________________________________] 31.12% 109 p/s241 / 707 [------------------------>________________________________________________] 34.09% 109 p/s262 / 707 [--------------------------->_____________________________________________] 37.06% 109 p/s285 / 707 [----------------------------->___________________________________________] 40.31% 109 p/s307 / 707 [------------------------------->_________________________________________] 43.42% 109 p/s328 / 707 [--------------------------------->_______________________________________] 46.39% 109 p/s349 / 707 [------------------------------------>____________________________________] 49.36% 109 p/s371 / 707 [-------------------------------------->__________________________________] 52.48% 109 p/s391 / 707 [---------------------------------------->________________________________] 55.30% 109 p/s413 / 707 [------------------------------------------>______________________________] 58.42% 108 p/s434 / 707 [-------------------------------------------->____________________________] 61.39% 108 p/s456 / 707 [----------------------------------------------->_________________________] 64.50% 108 p/s477 / 707 [------------------------------------------------->_______________________] 67.47% 108 p/s498 / 707 [--------------------------------------------------->_____________________] 70.44% 108 p/s519 / 707 [----------------------------------------------------->___________________] 73.41% 108 p/s540 / 707 [------------------------------------------------------->_________________] 76.38% 108 p/s560 / 707 [--------------------------------------------------------->_______________] 79.21% 108 p/s581 / 707 [----------------------------------------------------------->_____________] 82.18% 108 p/s600 / 707 [------------------------------------------------------------->___________] 84.87% 108 p/s622 / 707 [---------------------------------------------------------------->________] 87.98% 108 p/s643 / 707 [------------------------------------------------------------------>______] 90.95% 108 p/s666 / 707 [-------------------------------------------------------------------->____] 94.20% 108 p/s688 / 707 [----------------------------------------------------------------------->_] 97.31% 108 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 111 p/s2026-03-24T08:53:57 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:54:23 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-03-24T08:54:24 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:54:24 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-03-24T08:54:24 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:54:24 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:54:24 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-03-24T08:54:24 - INFO: Preparing sonar data...
2026-03-24T08:54:24 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:54:25 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-03-24T08:54:25 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:54:25 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-24T08:54:25 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:54:25 - INFO: Sonar range is 0.939120 m
2026-03-24T08:54:25 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:54:25 - INFO: Processing 707 sweeps...

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2026-03-24T08:54:27 - INFO: Prepared sonar data in 2.5867 s
2026-03-24T08:54:27 - INFO: No IMU data found
2026-03-24T08:54:27 - INFO: DataPrep took 0:00:02.659579
2026-03-24T08:54:27 - INFO: Extracted sonar data in 0:00:36.038278
2026-03-24T08:54:27 - INFO: MSIP3D took 0:00:36.114982