2026-03-24T08:56:32 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:56:32 - INFO: P3D files will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-24T08:56:32 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:56:32 - INFO: Found TFD mission for SJ502795 Dep 14
2026-03-24T08:56:32 - INFO: Recording will be processed as MD
2026-03-24T08:56:32 - INFO: Copying assets JSON to output directory...
2026-03-24T08:56:32 - INFO: Preparing counter data...
2026-03-24T08:56:32 - INFO: Interpreting counter as imperial
2026-03-24T08:56:32 - INFO: Preparing size track from assets JSON...
2026-03-24T08:56:32 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:56:32 - INFO: Preparing material track from assets JSON...
2026-03-24T08:56:32 - INFO: Prepared counter data in 0.0792 s
2026-03-24T08:56:32 - INFO: Extracting sonar data...
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/SJ502795_Dep_14.tfd
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2860
21 / 2860 [>___________________________________________________________________________] 0.73% ? p/s42 / 2860 [->__________________________________________________________________________] 1.47% ? p/s63 / 2860 [->__________________________________________________________________________] 2.20% ? p/s85 / 2860 [-->_______________________________________________________________________] 2.97% 107 p/s105 / 2860 [-->______________________________________________________________________] 3.67% 107 p/s127 / 2860 [--->_____________________________________________________________________] 4.44% 107 p/s148 / 2860 [--->_____________________________________________________________________] 5.17% 106 p/s169 / 2860 [---->____________________________________________________________________] 5.91% 106 p/s191 / 2860 [---->____________________________________________________________________] 6.68% 106 p/s213 / 2860 [----->___________________________________________________________________] 7.45% 107 p/s233 / 2860 [----->___________________________________________________________________] 8.15% 107 p/s255 / 2860 [------>__________________________________________________________________] 8.92% 107 p/s276 / 2860 [------->_________________________________________________________________] 9.65% 106 p/s297 / 2860 [------->________________________________________________________________] 10.38% 106 p/s319 / 2860 [-------->_______________________________________________________________] 11.15% 106 p/s340 / 2860 [-------->_______________________________________________________________] 11.89% 106 p/s361 / 2860 [--------->______________________________________________________________] 12.62% 106 p/s383 / 2860 [--------->______________________________________________________________] 13.39% 106 p/s404 / 2860 [---------->_____________________________________________________________] 14.13% 106 p/s426 / 2860 [---------->_____________________________________________________________] 14.90% 106 p/s448 / 2860 [----------->____________________________________________________________] 15.66% 106 p/s469 / 2860 [----------->____________________________________________________________] 16.40% 107 p/s490 / 2860 [------------>___________________________________________________________] 17.13% 107 p/s509 / 2860 [------------>___________________________________________________________] 17.80% 107 p/s529 / 2860 [------------->__________________________________________________________] 18.50% 106 p/s549 / 2860 [------------->__________________________________________________________] 19.20% 106 p/s571 / 2860 [-------------->_________________________________________________________] 19.97% 106 p/s579 / 2860 [-------------->_________________________________________________________] 20.24% 104 p/s596 / 2860 [--------------->________________________________________________________] 20.84% 104 p/s618 / 2860 [--------------->________________________________________________________] 21.61% 104 p/s638 / 2860 [---------------->_______________________________________________________] 22.31% 105 p/s658 / 2860 [---------------->_______________________________________________________] 23.01% 105 p/s678 / 2860 [----------------->______________________________________________________] 23.71% 105 p/s698 / 2860 [----------------->______________________________________________________] 24.41% 104 p/s719 / 2860 [------------------>_____________________________________________________] 25.14% 104 p/s742 / 2860 [------------------>_____________________________________________________] 25.94% 104 p/s764 / 2860 [------------------->____________________________________________________] 26.71% 105 p/s785 / 2860 [------------------->____________________________________________________] 27.45% 105 p/s807 / 2860 [-------------------->___________________________________________________] 28.22% 105 p/s830 / 2860 [-------------------->___________________________________________________] 29.02% 105 p/s850 / 2860 [--------------------->__________________________________________________] 29.72% 105 p/s869 / 2860 [--------------------->__________________________________________________] 30.38% 105 p/s891 / 2860 [---------------------->_________________________________________________] 31.15% 105 p/s914 / 2860 [----------------------->________________________________________________] 31.96% 105 p/s935 / 2860 [----------------------->________________________________________________] 32.69% 105 p/s957 / 2860 [------------------------>_______________________________________________] 33.46% 105 p/s979 / 2860 [------------------------>_______________________________________________] 34.23% 105 p/s1000 / 2860 [------------------------>______________________________________________] 34.97% 105 p/s1020 / 2860 [------------------------->_____________________________________________] 35.66% 105 p/s1041 / 2860 [------------------------->_____________________________________________] 36.40% 105 p/s1063 / 2860 [-------------------------->____________________________________________] 37.17% 105 p/s1086 / 2860 [-------------------------->____________________________________________] 37.97% 105 p/s1108 / 2860 [--------------------------->___________________________________________] 38.74% 105 p/s1130 / 2860 [---------------------------->__________________________________________] 39.51% 105 p/s1150 / 2860 [---------------------------->__________________________________________] 40.21% 105 p/s1170 / 2860 [----------------------------->_________________________________________] 40.91% 105 p/s1191 / 2860 [----------------------------->_________________________________________] 41.64% 105 p/s1212 / 2860 [------------------------------>________________________________________] 42.38% 105 p/s1234 / 2860 [------------------------------>________________________________________] 43.15% 105 p/s1256 / 2860 [------------------------------->_______________________________________] 43.92% 105 p/s1276 / 2860 [------------------------------->_______________________________________] 44.62% 105 p/s1296 / 2860 [-------------------------------->______________________________________] 45.31% 105 p/s1318 / 2860 [-------------------------------->______________________________________] 46.08% 105 p/s1339 / 2860 [--------------------------------->_____________________________________] 46.82% 105 p/s1361 / 2860 [--------------------------------->_____________________________________] 47.59% 105 p/s1383 / 2860 [---------------------------------->____________________________________] 48.36% 105 p/s1405 / 2860 [---------------------------------->____________________________________] 49.13% 106 p/s1426 / 2860 [----------------------------------->___________________________________] 49.86% 106 p/s1448 / 2860 [----------------------------------->___________________________________] 50.63% 106 p/s1470 / 2860 [------------------------------------>__________________________________] 51.40% 106 p/s1491 / 2860 [------------------------------------->_________________________________] 52.13% 106 p/s1514 / 2860 [------------------------------------->_________________________________] 52.94% 106 p/s1534 / 2860 [-------------------------------------->________________________________] 53.64% 106 p/s1555 / 2860 [-------------------------------------->________________________________] 54.37% 106 p/s1576 / 2860 [--------------------------------------->_______________________________] 55.10% 106 p/s1598 / 2860 [--------------------------------------->_______________________________] 55.87% 106 p/s1620 / 2860 [---------------------------------------->______________________________] 56.64% 106 p/s1642 / 2860 [---------------------------------------->______________________________] 57.41% 106 p/s1663 / 2860 [----------------------------------------->_____________________________] 58.15% 106 p/s1685 / 2860 [----------------------------------------->_____________________________] 58.92% 106 p/s1708 / 2860 [------------------------------------------>____________________________] 59.72% 106 p/s1730 / 2860 [------------------------------------------>____________________________] 60.49% 106 p/s1751 / 2860 [------------------------------------------->___________________________] 61.22% 106 p/s1774 / 2860 [-------------------------------------------->__________________________] 62.03% 106 p/s1796 / 2860 [-------------------------------------------->__________________________] 62.80% 107 p/s1817 / 2860 [--------------------------------------------->_________________________] 63.53% 107 p/s1839 / 2860 [--------------------------------------------->_________________________] 64.30% 107 p/s1861 / 2860 [---------------------------------------------->________________________] 65.07% 107 p/s1881 / 2860 [---------------------------------------------->________________________] 65.77% 107 p/s1904 / 2860 [----------------------------------------------->_______________________] 66.57% 107 p/s1927 / 2860 [----------------------------------------------->_______________________] 67.38% 107 p/s1947 / 2860 [------------------------------------------------>______________________] 68.08% 107 p/s1970 / 2860 [------------------------------------------------>______________________] 68.88% 107 p/s1993 / 2860 [------------------------------------------------->_____________________] 69.69% 107 p/s2015 / 2860 [-------------------------------------------------->____________________] 70.45% 107 p/s2035 / 2860 [-------------------------------------------------->____________________] 71.15% 107 p/s2056 / 2860 [--------------------------------------------------->___________________] 71.89% 107 p/s2077 / 2860 [--------------------------------------------------->___________________] 72.62% 107 p/s2099 / 2860 [---------------------------------------------------->__________________] 73.39% 107 p/s2122 / 2860 [---------------------------------------------------->__________________] 74.20% 107 p/s2143 / 2860 [----------------------------------------------------->_________________] 74.93% 107 p/s2165 / 2860 [----------------------------------------------------->_________________] 75.70% 107 p/s2185 / 2860 [------------------------------------------------------>________________] 76.40% 107 p/s2207 / 2860 [------------------------------------------------------>________________] 77.17% 107 p/s2227 / 2860 [------------------------------------------------------->_______________] 77.87% 107 p/s2249 / 2860 [------------------------------------------------------->_______________] 78.64% 107 p/s2269 / 2860 [-------------------------------------------------------->______________] 79.34% 107 p/s2291 / 2860 [-------------------------------------------------------->______________] 80.10% 107 p/s2311 / 2860 [--------------------------------------------------------->_____________] 80.80% 107 p/s2332 / 2860 [--------------------------------------------------------->_____________] 81.54% 107 p/s2353 / 2860 [---------------------------------------------------------->____________] 82.27% 107 p/s2375 / 2860 [---------------------------------------------------------->____________] 83.04% 107 p/s2393 / 2860 [----------------------------------------------------------->___________] 83.67% 107 p/s2416 / 2860 [----------------------------------------------------------->___________] 84.48% 107 p/s2437 / 2860 [------------------------------------------------------------>__________] 85.21% 107 p/s2456 / 2860 [------------------------------------------------------------>__________] 85.87% 107 p/s2478 / 2860 [------------------------------------------------------------->_________] 86.64% 107 p/s2500 / 2860 [-------------------------------------------------------------->________] 87.41% 106 p/s2522 / 2860 [-------------------------------------------------------------->________] 88.18% 106 p/s2543 / 2860 [--------------------------------------------------------------->_______] 88.92% 106 p/s2563 / 2860 [--------------------------------------------------------------->_______] 89.62% 106 p/s2585 / 2860 [---------------------------------------------------------------->______] 90.38% 106 p/s2607 / 2860 [---------------------------------------------------------------->______] 91.15% 106 p/s2628 / 2860 [----------------------------------------------------------------->_____] 91.89% 107 p/s2650 / 2860 [----------------------------------------------------------------->_____] 92.66% 107 p/s2671 / 2860 [------------------------------------------------------------------>____] 93.39% 107 p/s2693 / 2860 [------------------------------------------------------------------>____] 94.16% 107 p/s2715 / 2860 [------------------------------------------------------------------->___] 94.93% 107 p/s2737 / 2860 [------------------------------------------------------------------->___] 95.70% 107 p/s2758 / 2860 [-------------------------------------------------------------------->__] 96.43% 107 p/s2781 / 2860 [--------------------------------------------------------------------->_] 97.24% 107 p/s2803 / 2860 [--------------------------------------------------------------------->_] 98.01% 107 p/s2825 / 2860 [---------------------------------------------------------------------->] 98.78% 107 p/s2848 / 2860 [---------------------------------------------------------------------->] 99.58% 107 p/s2860 / 2860 [----------------------------------------------------------------------] 100.00% 107 p/s2026-03-24T08:56:59 - INFO: Parsing 2860 sonar sweeps from /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:58:47 - 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/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245"
2026-03-24T08:58:48 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:58:48 - INFO: Prepared data will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/processing/data
2026-03-24T08:58:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:58:48 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:58:48 - INFO: Recording GUID: 0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-24T08:58:48 - INFO: Preparing sonar data...
2026-03-24T08:58:48 - INFO: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:58:51 - INFO: Sonar epoch is 2026-01-13 18:41:41.182331+00:00 (1768329701182330931)
2026-03-24T08:58:51 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:58:51 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-24T08:58:51 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:58:51 - INFO: Sonar range is 0.939120 m
2026-03-24T08:58:51 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:58:51 - INFO: Processing 2860 sweeps...

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2026-03-24T08:59:02 - INFO: Prepared sonar data in 13.7273 s
2026-03-24T08:59:02 - INFO: No IMU data found
2026-03-24T08:59:02 - INFO: DataPrep took 0:00:14.099422
2026-03-24T08:59:02 - INFO: Extracted sonar data in 0:02:30.669122
2026-03-24T08:59:03 - INFO: MSIP3D took 0:02:30.997687