2026-03-26T01:42:53 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:42:53 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-26T01:42:53 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:42:53 - INFO: Found TFD mission for SJ502828 DEP 517
2026-03-26T01:42:53 - INFO: Recording will be processed as SMD
2026-03-26T01:42:53 - INFO: Copying assets JSON to output directory...
2026-03-26T01:42:53 - INFO: Preparing counter data...
2026-03-26T01:42:53 - INFO: Interpreting counter as imperial
2026-03-26T01:42:53 - INFO: Preparing size track from assets JSON...
2026-03-26T01:42:53 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:42:53 - INFO: Preparing material track from assets JSON...
2026-03-26T01:42:53 - INFO: Prepared counter data in 0.1856 s
2026-03-26T01:42:53 - INFO: Extracting sonar data...
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/SJ502828_DEP_517.tfd
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Getting track SONAR
Number of frames: 1337
19 / 1337 [->__________________________________________________________________________] 1.42% ? p/s38 / 1337 [-->_________________________________________________________________________] 2.84% ? p/s57 / 1337 [--->________________________________________________________________________] 4.26% ? p/s77 / 1337 [---->______________________________________________________________________] 5.76% 97 p/s96 / 1337 [----->_____________________________________________________________________] 7.18% 97 p/s116 / 1337 [------>___________________________________________________________________] 8.68% 97 p/s135 / 1337 [------->_________________________________________________________________] 10.10% 97 p/s155 / 1337 [-------->________________________________________________________________] 11.59% 97 p/s174 / 1337 [--------->_______________________________________________________________] 13.01% 97 p/s194 / 1337 [---------->______________________________________________________________] 14.51% 97 p/s213 / 1337 [----------->_____________________________________________________________] 15.93% 97 p/s233 / 1337 [------------>____________________________________________________________] 17.43% 97 p/s252 / 1337 [------------->___________________________________________________________] 18.85% 97 p/s272 / 1337 [-------------->__________________________________________________________] 20.34% 97 p/s291 / 1337 [--------------->_________________________________________________________] 21.77% 97 p/s311 / 1337 [---------------->________________________________________________________] 23.26% 97 p/s330 / 1337 [------------------>______________________________________________________] 24.68% 97 p/s350 / 1337 [------------------->_____________________________________________________] 26.18% 97 p/s369 / 1337 [-------------------->____________________________________________________] 27.60% 97 p/s389 / 1337 [--------------------->___________________________________________________] 29.09% 97 p/s408 / 1337 [---------------------->__________________________________________________] 30.52% 97 p/s428 / 1337 [----------------------->_________________________________________________] 32.01% 97 p/s447 / 1337 [------------------------>________________________________________________] 33.43% 97 p/s467 / 1337 [------------------------->_______________________________________________] 34.93% 97 p/s486 / 1337 [-------------------------->______________________________________________] 36.35% 97 p/s505 / 1337 [--------------------------->_____________________________________________] 37.77% 97 p/s525 / 1337 [---------------------------->____________________________________________] 39.27% 97 p/s545 / 1337 [----------------------------->___________________________________________] 40.76% 97 p/s564 / 1337 [------------------------------>__________________________________________] 42.18% 97 p/s584 / 1337 [------------------------------->_________________________________________] 43.68% 97 p/s603 / 1337 [-------------------------------->________________________________________] 45.10% 97 p/s623 / 1337 [---------------------------------->______________________________________] 46.60% 97 p/s643 / 1337 [----------------------------------->_____________________________________] 48.09% 97 p/s662 / 1337 [------------------------------------>____________________________________] 49.51% 97 p/s682 / 1337 [------------------------------------->___________________________________] 51.01% 97 p/s701 / 1337 [-------------------------------------->__________________________________] 52.43% 97 p/s721 / 1337 [--------------------------------------->_________________________________] 53.93% 97 p/s740 / 1337 [---------------------------------------->________________________________] 55.35% 97 p/s760 / 1337 [----------------------------------------->_______________________________] 56.84% 97 p/s780 / 1337 [------------------------------------------>______________________________] 58.34% 97 p/s799 / 1337 [------------------------------------------->_____________________________] 59.76% 97 p/s819 / 1337 [-------------------------------------------->____________________________] 61.26% 97 p/s838 / 1337 [--------------------------------------------->___________________________] 62.68% 97 p/s858 / 1337 [---------------------------------------------->__________________________] 64.17% 97 p/s877 / 1337 [----------------------------------------------->_________________________] 65.59% 97 p/s897 / 1337 [------------------------------------------------>________________________] 67.09% 97 p/s916 / 1337 [-------------------------------------------------->______________________] 68.51% 97 p/s936 / 1337 [--------------------------------------------------->_____________________] 70.01% 97 p/s955 / 1337 [---------------------------------------------------->____________________] 71.43% 97 p/s975 / 1337 [----------------------------------------------------->___________________] 72.92% 97 p/s994 / 1337 [------------------------------------------------------>__________________] 74.35% 97 p/s1014 / 1337 [------------------------------------------------------>_________________] 75.84% 97 p/s1033 / 1337 [------------------------------------------------------->________________] 77.26% 97 p/s1052 / 1337 [-------------------------------------------------------->_______________] 78.68% 97 p/s1072 / 1337 [--------------------------------------------------------->______________] 80.18% 97 p/s1091 / 1337 [---------------------------------------------------------->_____________] 81.60% 97 p/s1111 / 1337 [----------------------------------------------------------->____________] 83.10% 97 p/s1131 / 1337 [------------------------------------------------------------>___________] 84.59% 97 p/s1150 / 1337 [------------------------------------------------------------->__________] 86.01% 97 p/s1170 / 1337 [--------------------------------------------------------------->________] 87.51% 97 p/s1188 / 1337 [--------------------------------------------------------------->________] 88.86% 97 p/s1208 / 1337 [----------------------------------------------------------------->______] 90.35% 97 p/s1228 / 1337 [------------------------------------------------------------------>_____] 91.85% 97 p/s1247 / 1337 [------------------------------------------------------------------->____] 93.27% 97 p/s1267 / 1337 [-------------------------------------------------------------------->___] 94.76% 97 p/s1286 / 1337 [--------------------------------------------------------------------->__] 96.19% 97 p/s1306 / 1337 [---------------------------------------------------------------------->_] 97.68% 97 p/s1325 / 1337 [----------------------------------------------------------------------->] 99.10% 97 p/s1337 / 1337 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-26T01:43:07 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:44:03 - 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 /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f"
2026-03-26T01:44:05 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:44:05 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-03-26T01:44:05 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:44:05 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:44:05 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-26T01:44:05 - INFO: Preparing sonar data...
2026-03-26T01:44:05 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:44:06 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-03-26T01:44:06 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:44:06 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-26T01:44:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:44:06 - INFO: Sonar range is 2.094960 m
2026-03-26T01:44:06 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:44:06 - INFO: Processing 1337 sweeps...

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2026-03-26T01:44:14 - INFO: Prepared sonar data in 9.8340 s
2026-03-26T01:44:14 - INFO: No IMU data found
2026-03-26T01:44:15 - INFO: DataPrep took 0:00:10.079911
2026-03-26T01:44:15 - INFO: Extracted sonar data in 0:01:21.730802
2026-03-26T01:44:15 - INFO: MSIP3D took 0:01:22.053349