2026-03-26T01:47:42 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:47:42 - INFO: P3D files will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-26T01:47:42 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:47:42 - INFO: Found TFD mission for SJ502828 DEP 518
2026-03-26T01:47:42 - INFO: Recording will be processed as SMD
2026-03-26T01:47:42 - INFO: Copying assets JSON to output directory...
2026-03-26T01:47:42 - INFO: Preparing counter data...
2026-03-26T01:47:42 - INFO: Interpreting counter as imperial
2026-03-26T01:47:43 - INFO: Preparing size track from assets JSON...
2026-03-26T01:47:43 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:47:43 - INFO: Preparing material track from assets JSON...
2026-03-26T01:47:43 - INFO: Prepared counter data in 0.2891 s
2026-03-26T01:47:43 - INFO: Extracting sonar data...
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/SJ502828_DEP_518.tfd
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2696
18 / 2696 [>___________________________________________________________________________] 0.67% ? p/s38 / 2696 [->__________________________________________________________________________] 1.41% ? p/s56 / 2696 [->__________________________________________________________________________] 2.08% ? p/s76 / 2696 [-->________________________________________________________________________] 2.82% 97 p/s95 / 2696 [-->________________________________________________________________________] 3.52% 97 p/s115 / 2696 [--->______________________________________________________________________] 4.27% 97 p/s134 / 2696 [--->______________________________________________________________________] 4.97% 97 p/s153 / 2696 [---->_____________________________________________________________________] 5.68% 97 p/s173 / 2696 [---->_____________________________________________________________________] 6.42% 97 p/s193 / 2696 [----->____________________________________________________________________] 7.16% 97 p/s212 / 2696 [----->____________________________________________________________________] 7.86% 97 p/s232 / 2696 [------>___________________________________________________________________] 8.61% 97 p/s250 / 2696 [------>___________________________________________________________________] 9.27% 97 p/s270 / 2696 [------->_________________________________________________________________] 10.01% 97 p/s289 / 2696 [------->_________________________________________________________________] 10.72% 97 p/s309 / 2696 [-------->________________________________________________________________] 11.46% 97 p/s329 / 2696 [-------->________________________________________________________________] 12.20% 97 p/s348 / 2696 [--------->_______________________________________________________________] 12.91% 97 p/s366 / 2696 [--------->_______________________________________________________________] 13.58% 97 p/s386 / 2696 [---------->______________________________________________________________] 14.32% 97 p/s405 / 2696 [---------->______________________________________________________________] 15.02% 97 p/s425 / 2696 [----------->_____________________________________________________________] 15.76% 97 p/s444 / 2696 [------------>____________________________________________________________] 16.47% 97 p/s463 / 2696 [------------>____________________________________________________________] 17.17% 97 p/s483 / 2696 [------------->___________________________________________________________] 17.92% 97 p/s503 / 2696 [------------->___________________________________________________________] 18.66% 97 p/s521 / 2696 [-------------->__________________________________________________________] 19.32% 97 p/s541 / 2696 [-------------->__________________________________________________________] 20.07% 97 p/s561 / 2696 [--------------->_________________________________________________________] 20.81% 97 p/s580 / 2696 [--------------->_________________________________________________________] 21.51% 97 p/s600 / 2696 [---------------->________________________________________________________] 22.26% 97 p/s619 / 2696 [---------------->________________________________________________________] 22.96% 97 p/s638 / 2696 [----------------->_______________________________________________________] 23.66% 97 p/s658 / 2696 [----------------->_______________________________________________________] 24.41% 97 p/s677 / 2696 [------------------>______________________________________________________] 25.11% 97 p/s697 / 2696 [------------------>______________________________________________________] 25.85% 97 p/s715 / 2696 [------------------->_____________________________________________________] 26.52% 97 p/s735 / 2696 [------------------->_____________________________________________________] 27.26% 97 p/s754 / 2696 [-------------------->____________________________________________________] 27.97% 97 p/s774 / 2696 [-------------------->____________________________________________________] 28.71% 97 p/s793 / 2696 [--------------------->___________________________________________________] 29.41% 97 p/s813 / 2696 [---------------------->__________________________________________________] 30.16% 97 p/s832 / 2696 [---------------------->__________________________________________________] 30.86% 97 p/s852 / 2696 [----------------------->_________________________________________________] 31.60% 97 p/s871 / 2696 [----------------------->_________________________________________________] 32.31% 97 p/s891 / 2696 [------------------------>________________________________________________] 33.05% 97 p/s910 / 2696 [------------------------>________________________________________________] 33.75% 97 p/s929 / 2696 [------------------------->_______________________________________________] 34.46% 97 p/s949 / 2696 [------------------------->_______________________________________________] 35.20% 97 p/s968 / 2696 [-------------------------->______________________________________________] 35.91% 97 p/s988 / 2696 [-------------------------->______________________________________________] 36.65% 97 p/s1007 / 2696 [-------------------------->_____________________________________________] 37.35% 97 p/s1025 / 2696 [--------------------------->____________________________________________] 38.02% 97 p/s1045 / 2696 [--------------------------->____________________________________________] 38.76% 97 p/s1064 / 2696 [---------------------------->___________________________________________] 39.47% 97 p/s1084 / 2696 [---------------------------->___________________________________________] 40.21% 97 p/s1103 / 2696 [----------------------------->__________________________________________] 40.91% 97 p/s1123 / 2696 [----------------------------->__________________________________________] 41.65% 97 p/s1143 / 2696 [------------------------------>_________________________________________] 42.40% 97 p/s1162 / 2696 [------------------------------->________________________________________] 43.10% 97 p/s1182 / 2696 [------------------------------->________________________________________] 43.84% 97 p/s1201 / 2696 [-------------------------------->_______________________________________] 44.55% 97 p/s1221 / 2696 [-------------------------------->_______________________________________] 45.29% 97 p/s1240 / 2696 [--------------------------------->______________________________________] 45.99% 97 p/s1260 / 2696 [--------------------------------->______________________________________] 46.74% 97 p/s1279 / 2696 [---------------------------------->_____________________________________] 47.44% 97 p/s1299 / 2696 [---------------------------------->_____________________________________] 48.18% 97 p/s1317 / 2696 [----------------------------------->____________________________________] 48.85% 97 p/s1335 / 2696 [----------------------------------->____________________________________] 49.52% 97 p/s1355 / 2696 [------------------------------------>___________________________________] 50.26% 97 p/s1375 / 2696 [------------------------------------>___________________________________] 51.00% 97 p/s1394 / 2696 [------------------------------------->__________________________________] 51.71% 97 p/s1414 / 2696 [------------------------------------->__________________________________] 52.45% 97 p/s1433 / 2696 [-------------------------------------->_________________________________] 53.15% 97 p/s1452 / 2696 [-------------------------------------->_________________________________] 53.86% 97 p/s1472 / 2696 [--------------------------------------->________________________________] 54.60% 97 p/s1491 / 2696 [--------------------------------------->________________________________] 55.30% 97 p/s1511 / 2696 [---------------------------------------->_______________________________] 56.05% 97 p/s1530 / 2696 [---------------------------------------->_______________________________] 56.75% 97 p/s1550 / 2696 [----------------------------------------->______________________________] 57.49% 97 p/s1570 / 2696 [----------------------------------------->______________________________] 58.23% 97 p/s1589 / 2696 [------------------------------------------>_____________________________] 58.94% 97 p/s1609 / 2696 [------------------------------------------>_____________________________] 59.68% 97 p/s1627 / 2696 [------------------------------------------->____________________________] 60.35% 97 p/s1647 / 2696 [------------------------------------------->____________________________] 61.09% 97 p/s1666 / 2696 [-------------------------------------------->___________________________] 61.80% 97 p/s1686 / 2696 [--------------------------------------------->__________________________] 62.54% 97 p/s1705 / 2696 [--------------------------------------------->__________________________] 63.24% 97 p/s1725 / 2696 [---------------------------------------------->_________________________] 63.98% 97 p/s1744 / 2696 [---------------------------------------------->_________________________] 64.69% 97 p/s1764 / 2696 [----------------------------------------------->________________________] 65.43% 97 p/s1783 / 2696 [----------------------------------------------->________________________] 66.14% 97 p/s1803 / 2696 [------------------------------------------------>_______________________] 66.88% 97 p/s1822 / 2696 [------------------------------------------------>_______________________] 67.58% 97 p/s1842 / 2696 [------------------------------------------------->______________________] 68.32% 97 p/s1861 / 2696 [------------------------------------------------->______________________] 69.03% 97 p/s1880 / 2696 [-------------------------------------------------->_____________________] 69.73% 97 p/s1900 / 2696 [-------------------------------------------------->_____________________] 70.47% 97 p/s1919 / 2696 [--------------------------------------------------->____________________] 71.18% 97 p/s1939 / 2696 [--------------------------------------------------->____________________] 71.92% 97 p/s1959 / 2696 [---------------------------------------------------->___________________] 72.66% 97 p/s1978 / 2696 [---------------------------------------------------->___________________] 73.37% 97 p/s1998 / 2696 [----------------------------------------------------->__________________] 74.11% 97 p/s2017 / 2696 [----------------------------------------------------->__________________] 74.81% 97 p/s2036 / 2696 [------------------------------------------------------>_________________] 75.52% 97 p/s2055 / 2696 [------------------------------------------------------>_________________] 76.22% 97 p/s2075 / 2696 [------------------------------------------------------->________________] 76.97% 97 p/s2095 / 2696 [------------------------------------------------------->________________] 77.71% 97 p/s2114 / 2696 [-------------------------------------------------------->_______________] 78.41% 97 p/s2134 / 2696 [-------------------------------------------------------->_______________] 79.15% 97 p/s2153 / 2696 [--------------------------------------------------------->______________] 79.86% 97 p/s2172 / 2696 [---------------------------------------------------------->_____________] 80.56% 97 p/s2192 / 2696 [---------------------------------------------------------->_____________] 81.31% 97 p/s2212 / 2696 [----------------------------------------------------------->____________] 82.05% 97 p/s2231 / 2696 [----------------------------------------------------------->____________] 82.75% 97 p/s2251 / 2696 [------------------------------------------------------------>___________] 83.49% 97 p/s2270 / 2696 [------------------------------------------------------------>___________] 84.20% 97 p/s2290 / 2696 [------------------------------------------------------------->__________] 84.94% 97 p/s2309 / 2696 [------------------------------------------------------------->__________] 85.65% 97 p/s2329 / 2696 [-------------------------------------------------------------->_________] 86.39% 97 p/s2348 / 2696 [-------------------------------------------------------------->_________] 87.09% 97 p/s2368 / 2696 [--------------------------------------------------------------->________] 87.83% 97 p/s2387 / 2696 [--------------------------------------------------------------->________] 88.54% 97 p/s2406 / 2696 [---------------------------------------------------------------->_______] 89.24% 97 p/s2425 / 2696 [---------------------------------------------------------------->_______] 89.95% 97 p/s2445 / 2696 [----------------------------------------------------------------->______] 90.69% 97 p/s2464 / 2696 [----------------------------------------------------------------->______] 91.39% 97 p/s2483 / 2696 [------------------------------------------------------------------>_____] 92.10% 97 p/s2503 / 2696 [------------------------------------------------------------------>_____] 92.84% 97 p/s2522 / 2696 [------------------------------------------------------------------->____] 93.55% 97 p/s2542 / 2696 [------------------------------------------------------------------->____] 94.29% 97 p/s2562 / 2696 [-------------------------------------------------------------------->___] 95.03% 97 p/s2581 / 2696 [-------------------------------------------------------------------->___] 95.73% 97 p/s2601 / 2696 [--------------------------------------------------------------------->__] 96.48% 97 p/s2620 / 2696 [--------------------------------------------------------------------->__] 97.18% 97 p/s2640 / 2696 [---------------------------------------------------------------------->_] 97.92% 97 p/s2660 / 2696 [----------------------------------------------------------------------->] 98.66% 97 p/s2679 / 2696 [----------------------------------------------------------------------->] 99.37% 97 p/s2696 / 2696 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-26T01:48:10 - INFO: Parsing 2696 sonar sweeps from /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:49:58 - 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 /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87"
2026-03-26T01:49:59 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:49:59 - INFO: Prepared data will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/processing/data
2026-03-26T01:49:59 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:49:59 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:49:59 - INFO: Recording GUID: a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-26T01:49:59 - INFO: Preparing sonar data...
2026-03-26T01:49:59 - INFO: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:50:02 - INFO: Sonar epoch is 2026-02-21 21:34:27.238529+00:00 (1771709667238529185)
2026-03-26T01:50:02 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:50:02 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-26T01:50:02 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:50:02 - INFO: Sonar range is 2.167200 m
2026-03-26T01:50:02 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:50:02 - INFO: Processing 2695 sweeps...

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2026-03-26T01:50:38 - INFO: Prepared sonar data in 39.0234 s
2026-03-26T01:50:38 - INFO: No IMU data found
2026-03-26T01:50:39 - INFO: DataPrep took 0:00:39.295379
2026-03-26T01:50:39 - INFO: Extracted sonar data in 0:02:56.298885
2026-03-26T01:50:39 - INFO: MSIP3D took 0:02:56.869895