2026-03-26T01:36:05 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:36:05 - INFO: P3D files will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285
2026-03-26T01:36:05 - INFO: Found 10 TFD dictionary entries
2026-03-26T01:36:05 - INFO: Found TFD mission for SJ502795 Dep 12
2026-03-26T01:36:05 - INFO: Recording will be processed as MD
2026-03-26T01:36:05 - INFO: Copying assets JSON to output directory...
2026-03-26T01:36:05 - INFO: Preparing counter data...
2026-03-26T01:36:05 - INFO: Interpreting counter as imperial
2026-03-26T01:36:05 - INFO: Preparing size track from assets JSON...
2026-03-26T01:36:05 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:36:05 - INFO: Preparing material track from assets JSON...
2026-03-26T01:36:05 - INFO: Prepared counter data in 0.0347 s
2026-03-26T01:36:05 - 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: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1141
21 / 1141 [->__________________________________________________________________________] 1.84% ? p/s43 / 1141 [-->_________________________________________________________________________] 3.77% ? p/s65 / 1141 [---->_______________________________________________________________________] 5.70% ? p/s87 / 1141 [----->____________________________________________________________________] 7.62% 110 p/s109 / 1141 [------>__________________________________________________________________] 9.55% 110 p/s130 / 1141 [-------->_______________________________________________________________] 11.39% 110 p/s152 / 1141 [--------->______________________________________________________________] 13.32% 110 p/s175 / 1141 [----------->____________________________________________________________] 15.34% 110 p/s197 / 1141 [------------>___________________________________________________________] 17.27% 110 p/s219 / 1141 [------------->__________________________________________________________] 19.19% 110 p/s241 / 1141 [--------------->________________________________________________________] 21.12% 110 p/s263 / 1141 [---------------->_______________________________________________________] 23.05% 110 p/s285 / 1141 [----------------->______________________________________________________] 24.98% 110 p/s307 / 1141 [------------------->____________________________________________________] 26.91% 110 p/s329 / 1141 [-------------------->___________________________________________________] 28.83% 110 p/s351 / 1141 [---------------------->_________________________________________________] 30.76% 110 p/s373 / 1141 [----------------------->________________________________________________] 32.69% 110 p/s395 / 1141 [------------------------>_______________________________________________] 34.62% 110 p/s417 / 1141 [-------------------------->_____________________________________________] 36.55% 110 p/s440 / 1141 [--------------------------->____________________________________________] 38.56% 110 p/s462 / 1141 [----------------------------->__________________________________________] 40.49% 110 p/s484 / 1141 [------------------------------>_________________________________________] 42.42% 110 p/s505 / 1141 [------------------------------->________________________________________] 44.26% 110 p/s527 / 1141 [--------------------------------->______________________________________] 46.19% 110 p/s550 / 1141 [---------------------------------->_____________________________________] 48.20% 110 p/s572 / 1141 [------------------------------------>___________________________________] 50.13% 110 p/s594 / 1141 [------------------------------------->__________________________________] 52.06% 110 p/s617 / 1141 [-------------------------------------->_________________________________] 54.08% 110 p/s639 / 1141 [---------------------------------------->_______________________________] 56.00% 110 p/s661 / 1141 [----------------------------------------->______________________________] 57.93% 110 p/s683 / 1141 [------------------------------------------->____________________________] 59.86% 110 p/s706 / 1141 [-------------------------------------------->___________________________] 61.88% 110 p/s728 / 1141 [--------------------------------------------->__________________________] 63.80% 110 p/s750 / 1141 [----------------------------------------------->________________________] 65.73% 110 p/s772 / 1141 [------------------------------------------------>_______________________] 67.66% 110 p/s794 / 1141 [-------------------------------------------------->_____________________] 69.59% 110 p/s816 / 1141 [--------------------------------------------------->____________________] 71.52% 110 p/s838 / 1141 [---------------------------------------------------->___________________] 73.44% 110 p/s860 / 1141 [------------------------------------------------------>_________________] 75.37% 110 p/s882 / 1141 [------------------------------------------------------->________________] 77.30% 110 p/s904 / 1141 [--------------------------------------------------------->______________] 79.23% 110 p/s913 / 1141 [--------------------------------------------------------->______________] 80.02% 110 p/s932 / 1141 [---------------------------------------------------------->_____________] 81.68% 109 p/s954 / 1141 [------------------------------------------------------------>___________] 83.61% 109 p/s976 / 1141 [------------------------------------------------------------->__________] 85.54% 109 p/s999 / 1141 [--------------------------------------------------------------->________] 87.55% 109 p/s1020 / 1141 [--------------------------------------------------------------->_______] 89.40% 109 p/s1042 / 1141 [---------------------------------------------------------------->______] 91.32% 109 p/s1064 / 1141 [------------------------------------------------------------------>____] 93.25% 109 p/s1086 / 1141 [------------------------------------------------------------------->___] 95.18% 109 p/s1109 / 1141 [--------------------------------------------------------------------->_] 97.20% 109 p/s1131 / 1141 [---------------------------------------------------------------------->] 99.12% 109 p/s1141 / 1141 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-26T01:36:16 - INFO: Parsing 1141 sonar sweeps from /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:36:57 - 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"
2026-03-26T01:36:58 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:36:58 - INFO: Prepared data will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/processing/data
2026-03-26T01:36:58 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:36:58 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:36:58 - INFO: Recording GUID: 0e64463b-6de9-f271-1b54-813be6f54285
2026-03-26T01:36:58 - INFO: Preparing sonar data...
2026-03-26T01:36:58 - INFO: /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:37:00 - INFO: Sonar epoch is 2026-01-12 20:14:38.716807+00:00 (1768248878716807426)
2026-03-26T01:37:00 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:37:00 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-26T01:37:00 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:37:00 - INFO: Sonar range is 0.939120 m
2026-03-26T01:37:00 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:37:00 - INFO: Processing 1140 sweeps...

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2026-03-26T01:37:04 - INFO: Prepared sonar data in 5.1063 s
2026-03-26T01:37:04 - INFO: No IMU data found
2026-03-26T01:37:04 - INFO: DataPrep took 0:00:05.254329
2026-03-26T01:37:04 - INFO: Extracted sonar data in 0:00:58.861393
2026-03-26T01:37:04 - INFO: MSIP3D took 0:00:58.992632