2026-03-24T08:57:08 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:57:08 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-03-24T08:57:08 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:57:08 - INFO: Found TFD mission for SJ502795 Dep 10
2026-03-24T08:57:08 - INFO: Recording will be processed as MD
2026-03-24T08:57:08 - INFO: Copying assets JSON to output directory...
2026-03-24T08:57:08 - INFO: Preparing counter data...
2026-03-24T08:57:08 - INFO: Interpreting counter as imperial
2026-03-24T08:57:08 - INFO: Preparing size track from assets JSON...
2026-03-24T08:57:08 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:57:08 - INFO: Preparing material track from assets JSON...
2026-03-24T08:57:08 - INFO: Prepared counter data in 0.1073 s
2026-03-24T08:57:08 - INFO: Extracting sonar data...
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/SJ502795_Dep_10.tfd
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 3238
22 / 3238 [>___________________________________________________________________________] 0.68% ? p/s45 / 3238 [->__________________________________________________________________________] 1.39% ? p/s67 / 3238 [->__________________________________________________________________________] 2.07% ? p/s89 / 3238 [-->_______________________________________________________________________] 2.75% 112 p/s112 / 3238 [-->______________________________________________________________________] 3.46% 112 p/s133 / 3238 [-->______________________________________________________________________] 4.11% 112 p/s156 / 3238 [--->_____________________________________________________________________] 4.82% 112 p/s178 / 3238 [---->____________________________________________________________________] 5.50% 112 p/s201 / 3238 [---->____________________________________________________________________] 6.21% 112 p/s224 / 3238 [----->___________________________________________________________________] 6.92% 112 p/s247 / 3238 [----->___________________________________________________________________] 7.63% 112 p/s268 / 3238 [------>__________________________________________________________________] 8.28% 112 p/s291 / 3238 [------>__________________________________________________________________] 8.99% 112 p/s314 / 3238 [------->_________________________________________________________________] 9.70% 112 p/s336 / 3238 [------->________________________________________________________________] 10.38% 112 p/s359 / 3238 [------->________________________________________________________________] 11.09% 112 p/s381 / 3238 [-------->_______________________________________________________________] 11.77% 112 p/s404 / 3238 [-------->_______________________________________________________________] 12.48% 112 p/s426 / 3238 [--------->______________________________________________________________] 13.16% 112 p/s449 / 3238 [--------->______________________________________________________________] 13.87% 112 p/s472 / 3238 [---------->_____________________________________________________________] 14.58% 112 p/s494 / 3238 [---------->_____________________________________________________________] 15.26% 112 p/s517 / 3238 [----------->____________________________________________________________] 15.97% 112 p/s539 / 3238 [----------->____________________________________________________________] 16.65% 112 p/s562 / 3238 [------------>___________________________________________________________] 17.36% 112 p/s584 / 3238 [------------>___________________________________________________________] 18.04% 112 p/s606 / 3238 [------------->__________________________________________________________] 18.72% 112 p/s628 / 3238 [------------->__________________________________________________________] 19.39% 112 p/s651 / 3238 [-------------->_________________________________________________________] 20.11% 112 p/s674 / 3238 [-------------->_________________________________________________________] 20.82% 112 p/s696 / 3238 [--------------->________________________________________________________] 21.49% 112 p/s719 / 3238 [--------------->________________________________________________________] 22.21% 112 p/s741 / 3238 [---------------->_______________________________________________________] 22.88% 112 p/s764 / 3238 [---------------->_______________________________________________________] 23.59% 112 p/s787 / 3238 [----------------->______________________________________________________] 24.31% 112 p/s810 / 3238 [------------------>_____________________________________________________] 25.02% 112 p/s832 / 3238 [------------------>_____________________________________________________] 25.69% 112 p/s855 / 3238 [------------------->____________________________________________________] 26.41% 112 p/s878 / 3238 [------------------->____________________________________________________] 27.12% 112 p/s901 / 3238 [-------------------->___________________________________________________] 27.83% 112 p/s924 / 3238 [-------------------->___________________________________________________] 28.54% 112 p/s947 / 3238 [--------------------->__________________________________________________] 29.25% 112 p/s969 / 3238 [--------------------->__________________________________________________] 29.93% 112 p/s992 / 3238 [---------------------->_________________________________________________] 30.64% 112 p/s1014 / 3238 [---------------------->________________________________________________] 31.32% 112 p/s1036 / 3238 [---------------------->________________________________________________] 32.00% 112 p/s1059 / 3238 [----------------------->_______________________________________________] 32.71% 112 p/s1081 / 3238 [----------------------->_______________________________________________] 33.38% 112 p/s1104 / 3238 [------------------------>______________________________________________] 34.10% 112 p/s1126 / 3238 [------------------------>______________________________________________] 34.77% 112 p/s1149 / 3238 [------------------------->_____________________________________________] 35.48% 112 p/s1171 / 3238 [------------------------->_____________________________________________] 36.16% 112 p/s1194 / 3238 [-------------------------->____________________________________________] 36.87% 112 p/s1217 / 3238 [-------------------------->____________________________________________] 37.58% 112 p/s1239 / 3238 [--------------------------->___________________________________________] 38.26% 112 p/s1262 / 3238 [--------------------------->___________________________________________] 38.97% 112 p/s1284 / 3238 [---------------------------->__________________________________________] 39.65% 112 p/s1307 / 3238 [---------------------------->__________________________________________] 40.36% 112 p/s1330 / 3238 [----------------------------->_________________________________________] 41.07% 112 p/s1353 / 3238 [----------------------------->_________________________________________] 41.79% 112 p/s1375 / 3238 [------------------------------>________________________________________] 42.46% 113 p/s1398 / 3238 [------------------------------>________________________________________] 43.17% 113 p/s1420 / 3238 [------------------------------->_______________________________________] 43.85% 113 p/s1443 / 3238 [------------------------------->_______________________________________] 44.56% 113 p/s1466 / 3238 [-------------------------------->______________________________________] 45.27% 113 p/s1488 / 3238 [-------------------------------->______________________________________] 45.95% 113 p/s1511 / 3238 [--------------------------------->_____________________________________] 46.66% 113 p/s1534 / 3238 [--------------------------------->_____________________________________] 47.37% 113 p/s1556 / 3238 [---------------------------------->____________________________________] 48.05% 113 p/s1579 / 3238 [---------------------------------->____________________________________] 48.76% 113 p/s1601 / 3238 [----------------------------------->___________________________________] 49.44% 113 p/s1624 / 3238 [----------------------------------->___________________________________] 50.15% 113 p/s1646 / 3238 [------------------------------------>__________________________________] 50.83% 113 p/s1668 / 3238 [------------------------------------>__________________________________] 51.51% 113 p/s1691 / 3238 [------------------------------------->_________________________________] 52.22% 113 p/s1713 / 3238 [------------------------------------->_________________________________] 52.90% 113 p/s1736 / 3238 [-------------------------------------->________________________________] 53.61% 113 p/s1759 / 3238 [-------------------------------------->________________________________] 54.32% 113 p/s1782 / 3238 [--------------------------------------->_______________________________] 55.03% 113 p/s1804 / 3238 [--------------------------------------->_______________________________] 55.71% 113 p/s1826 / 3238 [---------------------------------------->______________________________] 56.39% 113 p/s1849 / 3238 [---------------------------------------->______________________________] 57.10% 113 p/s1871 / 3238 [----------------------------------------->_____________________________] 57.78% 113 p/s1894 / 3238 [----------------------------------------->_____________________________] 58.49% 113 p/s1916 / 3238 [------------------------------------------>____________________________] 59.17% 113 p/s1939 / 3238 [------------------------------------------>____________________________] 59.88% 113 p/s1961 / 3238 [------------------------------------------>____________________________] 60.56% 113 p/s1984 / 3238 [------------------------------------------->___________________________] 61.27% 113 p/s2007 / 3238 [-------------------------------------------->__________________________] 61.98% 113 p/s2029 / 3238 [-------------------------------------------->__________________________] 62.66% 113 p/s2051 / 3238 [-------------------------------------------->__________________________] 63.34% 113 p/s2074 / 3238 [--------------------------------------------->_________________________] 64.05% 113 p/s2096 / 3238 [--------------------------------------------->_________________________] 64.73% 113 p/s2119 / 3238 [---------------------------------------------->________________________] 65.44% 113 p/s2141 / 3238 [---------------------------------------------->________________________] 66.12% 113 p/s2164 / 3238 [----------------------------------------------->_______________________] 66.83% 113 p/s2187 / 3238 [----------------------------------------------->_______________________] 67.54% 113 p/s2209 / 3238 [------------------------------------------------>______________________] 68.22% 113 p/s2225 / 3238 [------------------------------------------------>______________________] 68.72% 113 p/s2240 / 3238 [------------------------------------------------->_____________________] 69.18% 111 p/s2263 / 3238 [------------------------------------------------->_____________________] 69.89% 111 p/s2286 / 3238 [-------------------------------------------------->____________________] 70.60% 111 p/s2309 / 3238 [-------------------------------------------------->____________________] 71.31% 111 p/s2331 / 3238 [--------------------------------------------------->___________________] 71.99% 111 p/s2354 / 3238 [--------------------------------------------------->___________________] 72.70% 111 p/s2376 / 3238 [---------------------------------------------------->__________________] 73.38% 111 p/s2398 / 3238 [---------------------------------------------------->__________________] 74.06% 111 p/s2421 / 3238 [----------------------------------------------------->_________________] 74.77% 111 p/s2443 / 3238 [----------------------------------------------------->_________________] 75.45% 111 p/s2465 / 3238 [------------------------------------------------------>________________] 76.13% 111 p/s2488 / 3238 [------------------------------------------------------>________________] 76.84% 111 p/s2510 / 3238 [------------------------------------------------------->_______________] 77.52% 111 p/s2533 / 3238 [------------------------------------------------------->_______________] 78.23% 111 p/s2555 / 3238 [-------------------------------------------------------->______________] 78.91% 111 p/s2577 / 3238 [-------------------------------------------------------->______________] 79.59% 111 p/s2600 / 3238 [--------------------------------------------------------->_____________] 80.30% 111 p/s2623 / 3238 [--------------------------------------------------------->_____________] 81.01% 111 p/s2645 / 3238 [--------------------------------------------------------->_____________] 81.69% 112 p/s2668 / 3238 [---------------------------------------------------------->____________] 82.40% 112 p/s2690 / 3238 [---------------------------------------------------------->____________] 83.08% 112 p/s2713 / 3238 [----------------------------------------------------------->___________] 83.79% 112 p/s2736 / 3238 [----------------------------------------------------------->___________] 84.50% 112 p/s2758 / 3238 [------------------------------------------------------------>__________] 85.18% 112 p/s2780 / 3238 [------------------------------------------------------------>__________] 85.86% 112 p/s2803 / 3238 [------------------------------------------------------------->_________] 86.57% 112 p/s2826 / 3238 [------------------------------------------------------------->_________] 87.28% 112 p/s2849 / 3238 [-------------------------------------------------------------->________] 87.99% 112 p/s2871 / 3238 [-------------------------------------------------------------->________] 88.67% 112 p/s2894 / 3238 [--------------------------------------------------------------->_______] 89.38% 112 p/s2917 / 3238 [--------------------------------------------------------------->_______] 90.09% 112 p/s2939 / 3238 [---------------------------------------------------------------->______] 90.77% 112 p/s2962 / 3238 [---------------------------------------------------------------->______] 91.48% 112 p/s2985 / 3238 [----------------------------------------------------------------->_____] 92.19% 112 p/s3007 / 3238 [----------------------------------------------------------------->_____] 92.87% 112 p/s3029 / 3238 [------------------------------------------------------------------>____] 93.55% 112 p/s3052 / 3238 [------------------------------------------------------------------>____] 94.26% 112 p/s3074 / 3238 [------------------------------------------------------------------->___] 94.94% 112 p/s3097 / 3238 [------------------------------------------------------------------->___] 95.65% 112 p/s3119 / 3238 [-------------------------------------------------------------------->__] 96.32% 112 p/s3142 / 3238 [-------------------------------------------------------------------->__] 97.04% 112 p/s3164 / 3238 [--------------------------------------------------------------------->_] 97.71% 112 p/s3187 / 3238 [--------------------------------------------------------------------->_] 98.42% 112 p/s3209 / 3238 [---------------------------------------------------------------------->] 99.10% 112 p/s3231 / 3238 [---------------------------------------------------------------------->] 99.78% 112 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-24T08:57:37 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:59:34 - 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/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99"
2026-03-24T08:59:36 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:59:36 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-03-24T08:59:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:59:36 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:59:36 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-03-24T08:59:36 - INFO: Preparing sonar data...
2026-03-24T08:59:36 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:59:39 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-03-24T08:59:39 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:59:39 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-24T08:59:39 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:59:39 - INFO: Sonar range is 0.939120 m
2026-03-24T08:59:39 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:59:39 - INFO: Processing 3237 sweeps...

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2026-03-24T08:59:50 - INFO: Prepared sonar data in 14.3228 s
2026-03-24T08:59:50 - INFO: No IMU data found
2026-03-24T08:59:50 - INFO: DataPrep took 0:00:14.710935
2026-03-24T08:59:51 - INFO: Extracted sonar data in 0:02:42.718486
2026-03-24T08:59:51 - INFO: MSIP3D took 0:02:43.107190