2026-03-26T01:37:50 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:37:50 - INFO: P3D files will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-26T01:37:50 - INFO: Found 10 TFD dictionary entries
2026-03-26T01:37:50 - INFO: Found TFD mission for SJ502795 Dep 14
2026-03-26T01:37:50 - INFO: Recording will be processed as MD
2026-03-26T01:37:50 - INFO: Copying assets JSON to output directory...
2026-03-26T01:37:50 - INFO: Preparing counter data...
2026-03-26T01:37:50 - INFO: Interpreting counter as imperial
2026-03-26T01:37:50 - INFO: Preparing size track from assets JSON...
2026-03-26T01:37:50 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:37:50 - INFO: Preparing material track from assets JSON...
2026-03-26T01:37:50 - INFO: Prepared counter data in 0.0804 s
2026-03-26T01:37:50 - 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: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2860
22 / 2860 [>___________________________________________________________________________] 0.77% ? p/s45 / 2860 [->__________________________________________________________________________] 1.57% ? p/s67 / 2860 [->__________________________________________________________________________] 2.34% ? p/s89 / 2860 [-->_______________________________________________________________________] 3.11% 112 p/s112 / 2860 [-->______________________________________________________________________] 3.92% 112 p/s134 / 2860 [--->_____________________________________________________________________] 4.69% 112 p/s157 / 2860 [---->____________________________________________________________________] 5.49% 112 p/s180 / 2860 [---->____________________________________________________________________] 6.29% 112 p/s203 / 2860 [----->___________________________________________________________________] 7.10% 112 p/s225 / 2860 [----->___________________________________________________________________] 7.87% 112 p/s248 / 2860 [------>__________________________________________________________________] 8.67% 112 p/s269 / 2860 [------>__________________________________________________________________] 9.41% 112 p/s292 / 2860 [------->________________________________________________________________] 10.21% 112 p/s315 / 2860 [------->________________________________________________________________] 11.01% 112 p/s338 / 2860 [-------->_______________________________________________________________] 11.82% 112 p/s360 / 2860 [--------->______________________________________________________________] 12.59% 112 p/s383 / 2860 [--------->______________________________________________________________] 13.39% 112 p/s405 / 2860 [---------->_____________________________________________________________] 14.16% 112 p/s428 / 2860 [---------->_____________________________________________________________] 14.97% 112 p/s451 / 2860 [----------->____________________________________________________________] 15.77% 112 p/s473 / 2860 [----------->____________________________________________________________] 16.54% 112 p/s496 / 2860 [------------>___________________________________________________________] 17.34% 112 p/s518 / 2860 [------------->__________________________________________________________] 18.11% 112 p/s540 / 2860 [------------->__________________________________________________________] 18.88% 112 p/s562 / 2860 [-------------->_________________________________________________________] 19.65% 112 p/s585 / 2860 [-------------->_________________________________________________________] 20.45% 112 p/s607 / 2860 [--------------->________________________________________________________] 21.22% 112 p/s629 / 2860 [--------------->________________________________________________________] 21.99% 112 p/s652 / 2860 [---------------->_______________________________________________________] 22.80% 112 p/s675 / 2860 [---------------->_______________________________________________________] 23.60% 112 p/s697 / 2860 [----------------->______________________________________________________] 24.37% 112 p/s719 / 2860 [------------------>_____________________________________________________] 25.14% 112 p/s742 / 2860 [------------------>_____________________________________________________] 25.94% 112 p/s760 / 2860 [------------------->____________________________________________________] 26.57% 112 p/s782 / 2860 [------------------->____________________________________________________] 27.34% 112 p/s805 / 2860 [-------------------->___________________________________________________] 28.15% 112 p/s828 / 2860 [-------------------->___________________________________________________] 28.95% 112 p/s851 / 2860 [--------------------->__________________________________________________] 29.76% 112 p/s874 / 2860 [---------------------->_________________________________________________] 30.56% 112 p/s896 / 2860 [---------------------->_________________________________________________] 31.33% 112 p/s919 / 2860 [----------------------->________________________________________________] 32.13% 112 p/s942 / 2860 [----------------------->________________________________________________] 32.94% 112 p/s965 / 2860 [------------------------>_______________________________________________] 33.74% 112 p/s987 / 2860 [------------------------>_______________________________________________] 34.51% 112 p/s1010 / 2860 [------------------------->_____________________________________________] 35.31% 112 p/s1032 / 2860 [------------------------->_____________________________________________] 36.08% 112 p/s1054 / 2860 [-------------------------->____________________________________________] 36.85% 112 p/s1077 / 2860 [-------------------------->____________________________________________] 37.66% 112 p/s1100 / 2860 [--------------------------->___________________________________________] 38.46% 112 p/s1122 / 2860 [--------------------------->___________________________________________] 39.23% 112 p/s1145 / 2860 [---------------------------->__________________________________________] 40.03% 112 p/s1168 / 2860 [---------------------------->__________________________________________] 40.84% 112 p/s1190 / 2860 [----------------------------->_________________________________________] 41.61% 112 p/s1213 / 2860 [------------------------------>________________________________________] 42.41% 112 p/s1235 / 2860 [------------------------------>________________________________________] 43.18% 112 p/s1258 / 2860 [------------------------------->_______________________________________] 43.99% 112 p/s1281 / 2860 [------------------------------->_______________________________________] 44.79% 112 p/s1304 / 2860 [-------------------------------->______________________________________] 45.59% 112 p/s1327 / 2860 [-------------------------------->______________________________________] 46.40% 112 p/s1349 / 2860 [--------------------------------->_____________________________________] 47.17% 112 p/s1372 / 2860 [---------------------------------->____________________________________] 47.97% 112 p/s1395 / 2860 [---------------------------------->____________________________________] 48.78% 112 p/s1418 / 2860 [----------------------------------->___________________________________] 49.58% 112 p/s1441 / 2860 [----------------------------------->___________________________________] 50.38% 113 p/s1463 / 2860 [------------------------------------>__________________________________] 51.15% 113 p/s1486 / 2860 [------------------------------------>__________________________________] 51.96% 113 p/s1509 / 2860 [------------------------------------->_________________________________] 52.76% 113 p/s1532 / 2860 [-------------------------------------->________________________________] 53.57% 113 p/s1555 / 2860 [-------------------------------------->________________________________] 54.37% 113 p/s1578 / 2860 [--------------------------------------->_______________________________] 55.17% 113 p/s1600 / 2860 [--------------------------------------->_______________________________] 55.94% 113 p/s1623 / 2860 [---------------------------------------->______________________________] 56.75% 113 p/s1646 / 2860 [---------------------------------------->______________________________] 57.55% 113 p/s1668 / 2860 [----------------------------------------->_____________________________] 58.32% 113 p/s1691 / 2860 [----------------------------------------->_____________________________] 59.13% 113 p/s1714 / 2860 [------------------------------------------>____________________________] 59.93% 113 p/s1737 / 2860 [------------------------------------------->___________________________] 60.73% 113 p/s1760 / 2860 [------------------------------------------->___________________________] 61.54% 113 p/s1783 / 2860 [-------------------------------------------->__________________________] 62.34% 113 p/s1804 / 2860 [-------------------------------------------->__________________________] 63.08% 113 p/s1816 / 2860 [--------------------------------------------->_________________________] 63.50% 113 p/s1839 / 2860 [--------------------------------------------->_________________________] 64.30% 112 p/s1862 / 2860 [---------------------------------------------->________________________] 65.10% 112 p/s1885 / 2860 [---------------------------------------------->________________________] 65.91% 112 p/s1907 / 2860 [----------------------------------------------->_______________________] 66.68% 112 p/s1930 / 2860 [----------------------------------------------->_______________________] 67.48% 112 p/s1953 / 2860 [------------------------------------------------>______________________] 68.29% 112 p/s1976 / 2860 [------------------------------------------------->_____________________] 69.09% 112 p/s1999 / 2860 [------------------------------------------------->_____________________] 69.90% 112 p/s2022 / 2860 [-------------------------------------------------->____________________] 70.70% 112 p/s2044 / 2860 [-------------------------------------------------->____________________] 71.47% 112 p/s2067 / 2860 [--------------------------------------------------->___________________] 72.27% 112 p/s2089 / 2860 [--------------------------------------------------->___________________] 73.04% 112 p/s2112 / 2860 [---------------------------------------------------->__________________] 73.85% 112 p/s2135 / 2860 [----------------------------------------------------->_________________] 74.65% 112 p/s2157 / 2860 [----------------------------------------------------->_________________] 75.42% 112 p/s2180 / 2860 [------------------------------------------------------>________________] 76.22% 112 p/s2203 / 2860 [------------------------------------------------------>________________] 77.03% 112 p/s2225 / 2860 [------------------------------------------------------->_______________] 77.80% 112 p/s2248 / 2860 [------------------------------------------------------->_______________] 78.60% 112 p/s2271 / 2860 [-------------------------------------------------------->______________] 79.41% 112 p/s2293 / 2860 [-------------------------------------------------------->______________] 80.17% 112 p/s2315 / 2860 [--------------------------------------------------------->_____________] 80.94% 112 p/s2338 / 2860 [---------------------------------------------------------->____________] 81.75% 112 p/s2360 / 2860 [---------------------------------------------------------->____________] 82.52% 112 p/s2383 / 2860 [----------------------------------------------------------->___________] 83.32% 112 p/s2405 / 2860 [----------------------------------------------------------->___________] 84.09% 112 p/s2428 / 2860 [------------------------------------------------------------>__________] 84.90% 112 p/s2450 / 2860 [------------------------------------------------------------>__________] 85.66% 112 p/s2473 / 2860 [------------------------------------------------------------->_________] 86.47% 112 p/s2496 / 2860 [------------------------------------------------------------->_________] 87.27% 112 p/s2518 / 2860 [-------------------------------------------------------------->________] 88.04% 112 p/s2541 / 2860 [--------------------------------------------------------------->_______] 88.85% 112 p/s2563 / 2860 [--------------------------------------------------------------->_______] 89.62% 112 p/s2586 / 2860 [---------------------------------------------------------------->______] 90.42% 112 p/s2608 / 2860 [---------------------------------------------------------------->______] 91.19% 112 p/s2631 / 2860 [----------------------------------------------------------------->_____] 91.99% 112 p/s2654 / 2860 [----------------------------------------------------------------->_____] 92.80% 112 p/s2676 / 2860 [------------------------------------------------------------------>____] 93.57% 112 p/s2698 / 2860 [------------------------------------------------------------------>____] 94.34% 112 p/s2721 / 2860 [------------------------------------------------------------------->___] 95.14% 112 p/s2743 / 2860 [-------------------------------------------------------------------->__] 95.91% 112 p/s2766 / 2860 [-------------------------------------------------------------------->__] 96.71% 112 p/s2783 / 2860 [--------------------------------------------------------------------->_] 97.31% 112 p/s2806 / 2860 [--------------------------------------------------------------------->_] 98.11% 112 p/s2828 / 2860 [---------------------------------------------------------------------->] 98.88% 112 p/s2851 / 2860 [---------------------------------------------------------------------->] 99.69% 112 p/s2860 / 2860 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-26T01:38:16 - INFO: Parsing 2860 sonar sweeps from /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:40:01 - 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"
2026-03-26T01:40:02 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:40:02 - INFO: Prepared data will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/processing/data
2026-03-26T01:40:02 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:40:02 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:40:02 - INFO: Recording GUID: 0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-26T01:40:02 - INFO: Preparing sonar data...
2026-03-26T01:40:02 - INFO: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:40:05 - INFO: Sonar epoch is 2026-01-13 18:41:41.182331+00:00 (1768329701182330931)
2026-03-26T01:40:05 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:40:05 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-26T01:40:05 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:40:05 - INFO: Sonar range is 0.939120 m
2026-03-26T01:40:05 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:40:05 - INFO: Processing 2860 sweeps...

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2026-03-26T01:40:15 - INFO: Prepared sonar data in 12.6756 s
2026-03-26T01:40:15 - INFO: No IMU data found
2026-03-26T01:40:15 - INFO: DataPrep took 0:00:13.062541
2026-03-26T01:40:15 - INFO: Extracted sonar data in 0:02:24.752409
2026-03-26T01:40:15 - INFO: MSIP3D took 0:02:25.053187