2026-03-24T08:53:07 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:53:07 - INFO: P3D files will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285
2026-03-24T08:53:07 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:53:07 - INFO: Found TFD mission for SJ502795 Dep 12
2026-03-24T08:53:07 - INFO: Recording will be processed as MD
2026-03-24T08:53:07 - INFO: Copying assets JSON to output directory...
2026-03-24T08:53:07 - INFO: Preparing counter data...
2026-03-24T08:53:07 - INFO: Interpreting counter as imperial
2026-03-24T08:53:07 - INFO: Preparing size track from assets JSON...
2026-03-24T08:53:07 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:53:07 - INFO: Preparing material track from assets JSON...
2026-03-24T08:53:07 - INFO: Prepared counter data in 0.0360 s
2026-03-24T08:53:07 - INFO: Extracting sonar data...
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/SJ502795_Dep_12.tfd
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 1141
21 / 1141 [->__________________________________________________________________________] 1.84% ? p/s40 / 1141 [-->_________________________________________________________________________] 3.51% ? p/s61 / 1141 [---->_______________________________________________________________________] 5.35% ? p/s83 / 1141 [----->____________________________________________________________________] 7.27% 103 p/s104 / 1141 [------>__________________________________________________________________] 9.11% 103 p/s126 / 1141 [------->________________________________________________________________] 11.04% 103 p/s147 / 1141 [--------->______________________________________________________________] 12.88% 104 p/s168 / 1141 [---------->_____________________________________________________________] 14.72% 104 p/s191 / 1141 [------------>___________________________________________________________] 16.74% 104 p/s212 / 1141 [------------->__________________________________________________________] 18.58% 104 p/s233 / 1141 [-------------->_________________________________________________________] 20.42% 104 p/s251 / 1141 [--------------->________________________________________________________] 22.00% 104 p/s272 / 1141 [----------------->______________________________________________________] 23.84% 104 p/s294 / 1141 [------------------>_____________________________________________________] 25.77% 104 p/s316 / 1141 [------------------->____________________________________________________] 27.70% 104 p/s338 / 1141 [--------------------->__________________________________________________] 29.62% 104 p/s360 / 1141 [---------------------->_________________________________________________] 31.55% 104 p/s380 / 1141 [----------------------->________________________________________________] 33.30% 104 p/s402 / 1141 [------------------------->______________________________________________] 35.23% 104 p/s424 / 1141 [-------------------------->_____________________________________________] 37.16% 104 p/s445 / 1141 [---------------------------->___________________________________________] 39.00% 104 p/s466 / 1141 [----------------------------->__________________________________________] 40.84% 104 p/s487 / 1141 [------------------------------>_________________________________________] 42.68% 104 p/s509 / 1141 [-------------------------------->_______________________________________] 44.61% 104 p/s530 / 1141 [--------------------------------->______________________________________] 46.45% 105 p/s551 / 1141 [---------------------------------->_____________________________________] 48.29% 105 p/s573 / 1141 [------------------------------------>___________________________________] 50.22% 105 p/s595 / 1141 [------------------------------------->__________________________________] 52.15% 105 p/s616 / 1141 [-------------------------------------->_________________________________] 53.99% 105 p/s637 / 1141 [---------------------------------------->_______________________________] 55.83% 105 p/s658 / 1141 [----------------------------------------->______________________________] 57.67% 105 p/s679 / 1141 [------------------------------------------>_____________________________] 59.51% 105 p/s701 / 1141 [-------------------------------------------->___________________________] 61.44% 105 p/s722 / 1141 [--------------------------------------------->__________________________] 63.28% 105 p/s744 / 1141 [---------------------------------------------->_________________________] 65.21% 105 p/s765 / 1141 [------------------------------------------------>_______________________] 67.05% 105 p/s786 / 1141 [------------------------------------------------->______________________] 68.89% 105 p/s805 / 1141 [-------------------------------------------------->_____________________] 70.55% 105 p/s827 / 1141 [---------------------------------------------------->___________________] 72.48% 105 p/s848 / 1141 [----------------------------------------------------->__________________] 74.32% 105 p/s869 / 1141 [------------------------------------------------------>_________________] 76.16% 105 p/s890 / 1141 [-------------------------------------------------------->_______________] 78.00% 105 p/s912 / 1141 [--------------------------------------------------------->______________] 79.93% 105 p/s934 / 1141 [---------------------------------------------------------->_____________] 81.86% 105 p/s955 / 1141 [------------------------------------------------------------>___________] 83.70% 105 p/s976 / 1141 [------------------------------------------------------------->__________] 85.54% 105 p/s998 / 1141 [-------------------------------------------------------------->_________] 87.47% 105 p/s1018 / 1141 [--------------------------------------------------------------->_______] 89.22% 105 p/s1039 / 1141 [---------------------------------------------------------------->______] 91.06% 105 p/s1058 / 1141 [----------------------------------------------------------------->_____] 92.73% 105 p/s1079 / 1141 [------------------------------------------------------------------->___] 94.57% 105 p/s1100 / 1141 [-------------------------------------------------------------------->__] 96.41% 105 p/s1119 / 1141 [--------------------------------------------------------------------->_] 98.07% 105 p/s1141 / 1141 [----------------------------------------------------------------------] 100.00% 108 p/s2026-03-24T08:53:17 - INFO: Parsing 1141 sonar sweeps from /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:53:58 - 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/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285"
2026-03-24T08:54:00 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:54:00 - INFO: Prepared data will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/processing/data
2026-03-24T08:54:00 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:54:00 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:54:00 - INFO: Recording GUID: 0e64463b-6de9-f271-1b54-813be6f54285
2026-03-24T08:54:00 - INFO: Preparing sonar data...
2026-03-24T08:54:00 - INFO: /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:54:01 - INFO: Sonar epoch is 2026-01-12 20:14:38.716807+00:00 (1768248878716807426)
2026-03-24T08:54:01 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:54:01 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-24T08:54:01 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:54:01 - INFO: Sonar range is 0.939120 m
2026-03-24T08:54:01 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:54:01 - INFO: Processing 1140 sweeps...

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2026-03-24T08:54:05 - INFO: Prepared sonar data in 5.2705 s
2026-03-24T08:54:05 - INFO: No IMU data found
2026-03-24T08:54:05 - INFO: DataPrep took 0:00:05.424829
2026-03-24T08:54:05 - INFO: Extracted sonar data in 0:00:58.759741
2026-03-24T08:54:05 - INFO: MSIP3D took 0:00:58.881600