2026-03-26T01:46:22 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:46:23 - INFO: P3D files will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-26T01:46:23 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:46:23 - INFO: Found TFD mission for SJ502828 DEP 519
2026-03-26T01:46:23 - INFO: Recording will be processed as SMD
2026-03-26T01:46:23 - INFO: Copying assets JSON to output directory...
2026-03-26T01:46:23 - INFO: Preparing counter data...
2026-03-26T01:46:23 - INFO: Interpreting counter as imperial
2026-03-26T01:46:23 - INFO: Preparing size track from assets JSON...
2026-03-26T01:46:23 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:46:23 - INFO: Preparing material track from assets JSON...
2026-03-26T01:46:23 - INFO: Prepared counter data in 0.1953 s
2026-03-26T01:46:23 - INFO: Extracting sonar data...
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/SJ502828_DEP_519.tfd
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2393
18 / 2393 [>___________________________________________________________________________] 0.75% ? p/s37 / 2393 [->__________________________________________________________________________] 1.55% ? p/s56 / 2393 [->__________________________________________________________________________] 2.34% ? p/s75 / 2393 [-->________________________________________________________________________] 3.13% 95 p/s94 / 2393 [-->________________________________________________________________________] 3.93% 95 p/s113 / 2393 [--->______________________________________________________________________] 4.72% 95 p/s132 / 2393 [---->_____________________________________________________________________] 5.52% 95 p/s151 / 2393 [---->_____________________________________________________________________] 6.31% 95 p/s170 / 2393 [----->____________________________________________________________________] 7.10% 95 p/s189 / 2393 [----->____________________________________________________________________] 7.90% 95 p/s208 / 2393 [------>___________________________________________________________________] 8.69% 95 p/s228 / 2393 [------->__________________________________________________________________] 9.53% 95 p/s247 / 2393 [------->_________________________________________________________________] 10.32% 95 p/s265 / 2393 [-------->________________________________________________________________] 11.07% 95 p/s284 / 2393 [-------->________________________________________________________________] 11.87% 95 p/s303 / 2393 [--------->_______________________________________________________________] 12.66% 95 p/s322 / 2393 [--------->_______________________________________________________________] 13.46% 95 p/s342 / 2393 [---------->______________________________________________________________] 14.29% 95 p/s361 / 2393 [----------->_____________________________________________________________] 15.09% 95 p/s380 / 2393 [----------->_____________________________________________________________] 15.88% 95 p/s399 / 2393 [------------>____________________________________________________________] 16.67% 95 p/s418 / 2393 [------------>____________________________________________________________] 17.47% 95 p/s438 / 2393 [------------->___________________________________________________________] 18.30% 95 p/s456 / 2393 [------------->___________________________________________________________] 19.06% 95 p/s475 / 2393 [-------------->__________________________________________________________] 19.85% 95 p/s494 / 2393 [--------------->_________________________________________________________] 20.64% 95 p/s513 / 2393 [--------------->_________________________________________________________] 21.44% 95 p/s532 / 2393 [---------------->________________________________________________________] 22.23% 95 p/s551 / 2393 [---------------->________________________________________________________] 23.03% 95 p/s570 / 2393 [----------------->_______________________________________________________] 23.82% 95 p/s590 / 2393 [----------------->_______________________________________________________] 24.66% 95 p/s609 / 2393 [------------------>______________________________________________________] 25.45% 95 p/s628 / 2393 [------------------->_____________________________________________________] 26.24% 95 p/s647 / 2393 [------------------->_____________________________________________________] 27.04% 95 p/s666 / 2393 [-------------------->____________________________________________________] 27.83% 95 p/s685 / 2393 [-------------------->____________________________________________________] 28.63% 95 p/s704 / 2393 [--------------------->___________________________________________________] 29.42% 95 p/s723 / 2393 [---------------------->__________________________________________________] 30.21% 95 p/s742 / 2393 [---------------------->__________________________________________________] 31.01% 95 p/s762 / 2393 [----------------------->_________________________________________________] 31.84% 95 p/s781 / 2393 [----------------------->_________________________________________________] 32.64% 95 p/s800 / 2393 [------------------------>________________________________________________] 33.43% 95 p/s819 / 2393 [------------------------>________________________________________________] 34.22% 95 p/s838 / 2393 [------------------------->_______________________________________________] 35.02% 95 p/s857 / 2393 [-------------------------->______________________________________________] 35.81% 95 p/s877 / 2393 [-------------------------->______________________________________________] 36.65% 95 p/s896 / 2393 [--------------------------->_____________________________________________] 37.44% 95 p/s915 / 2393 [--------------------------->_____________________________________________] 38.24% 95 p/s934 / 2393 [---------------------------->____________________________________________] 39.03% 95 p/s953 / 2393 [----------------------------->___________________________________________] 39.82% 95 p/s972 / 2393 [----------------------------->___________________________________________] 40.62% 95 p/s992 / 2393 [------------------------------>__________________________________________] 41.45% 95 p/s1011 / 2393 [------------------------------>_________________________________________] 42.25% 95 p/s1030 / 2393 [------------------------------>_________________________________________] 43.04% 95 p/s1049 / 2393 [------------------------------->________________________________________] 43.84% 95 p/s1068 / 2393 [-------------------------------->_______________________________________] 44.63% 95 p/s1087 / 2393 [-------------------------------->_______________________________________] 45.42% 95 p/s1106 / 2393 [--------------------------------->______________________________________] 46.22% 95 p/s1125 / 2393 [--------------------------------->______________________________________] 47.01% 95 p/s1144 / 2393 [---------------------------------->_____________________________________] 47.81% 95 p/s1164 / 2393 [----------------------------------->____________________________________] 48.64% 95 p/s1183 / 2393 [----------------------------------->____________________________________] 49.44% 95 p/s1202 / 2393 [------------------------------------>___________________________________] 50.23% 95 p/s1221 / 2393 [------------------------------------>___________________________________] 51.02% 95 p/s1241 / 2393 [------------------------------------->__________________________________] 51.86% 95 p/s1260 / 2393 [------------------------------------->__________________________________] 52.65% 95 p/s1279 / 2393 [-------------------------------------->_________________________________] 53.45% 95 p/s1298 / 2393 [--------------------------------------->________________________________] 54.24% 95 p/s1317 / 2393 [--------------------------------------->________________________________] 55.04% 95 p/s1336 / 2393 [---------------------------------------->_______________________________] 55.83% 95 p/s1355 / 2393 [---------------------------------------->_______________________________] 56.62% 95 p/s1373 / 2393 [----------------------------------------->______________________________] 57.38% 95 p/s1392 / 2393 [----------------------------------------->______________________________] 58.17% 95 p/s1411 / 2393 [------------------------------------------>_____________________________] 58.96% 95 p/s1430 / 2393 [------------------------------------------->____________________________] 59.76% 95 p/s1450 / 2393 [------------------------------------------->____________________________] 60.59% 95 p/s1469 / 2393 [-------------------------------------------->___________________________] 61.39% 95 p/s1488 / 2393 [-------------------------------------------->___________________________] 62.18% 95 p/s1507 / 2393 [--------------------------------------------->__________________________] 62.98% 95 p/s1526 / 2393 [--------------------------------------------->__________________________] 63.77% 95 p/s1545 / 2393 [---------------------------------------------->_________________________] 64.56% 95 p/s1564 / 2393 [----------------------------------------------->________________________] 65.36% 95 p/s1583 / 2393 [----------------------------------------------->________________________] 66.15% 95 p/s1603 / 2393 [------------------------------------------------>_______________________] 66.99% 95 p/s1622 / 2393 [------------------------------------------------>_______________________] 67.78% 95 p/s1641 / 2393 [------------------------------------------------->______________________] 68.58% 95 p/s1660 / 2393 [------------------------------------------------->______________________] 69.37% 95 p/s1679 / 2393 [-------------------------------------------------->_____________________] 70.16% 95 p/s1699 / 2393 [--------------------------------------------------->____________________] 71.00% 95 p/s1718 / 2393 [--------------------------------------------------->____________________] 71.79% 95 p/s1738 / 2393 [---------------------------------------------------->___________________] 72.63% 96 p/s1758 / 2393 [---------------------------------------------------->___________________] 73.46% 96 p/s1777 / 2393 [----------------------------------------------------->__________________] 74.26% 96 p/s1797 / 2393 [------------------------------------------------------>_________________] 75.09% 96 p/s1816 / 2393 [------------------------------------------------------>_________________] 75.89% 96 p/s1836 / 2393 [------------------------------------------------------->________________] 76.72% 96 p/s1855 / 2393 [------------------------------------------------------->________________] 77.52% 96 p/s1875 / 2393 [-------------------------------------------------------->_______________] 78.35% 96 p/s1894 / 2393 [-------------------------------------------------------->_______________] 79.15% 96 p/s1913 / 2393 [--------------------------------------------------------->______________] 79.94% 96 p/s1932 / 2393 [---------------------------------------------------------->_____________] 80.74% 96 p/s1952 / 2393 [---------------------------------------------------------->_____________] 81.57% 96 p/s1971 / 2393 [----------------------------------------------------------->____________] 82.37% 96 p/s1988 / 2393 [----------------------------------------------------------->____________] 83.08% 96 p/s2006 / 2393 [------------------------------------------------------------>___________] 83.83% 96 p/s2026 / 2393 [------------------------------------------------------------>___________] 84.66% 96 p/s2044 / 2393 [------------------------------------------------------------->__________] 85.42% 96 p/s2063 / 2393 [-------------------------------------------------------------->_________] 86.21% 96 p/s2082 / 2393 [-------------------------------------------------------------->_________] 87.00% 96 p/s2101 / 2393 [--------------------------------------------------------------->________] 87.80% 96 p/s2120 / 2393 [--------------------------------------------------------------->________] 88.59% 96 p/s2139 / 2393 [---------------------------------------------------------------->_______] 89.39% 95 p/s2159 / 2393 [---------------------------------------------------------------->_______] 90.22% 95 p/s2177 / 2393 [----------------------------------------------------------------->______] 90.97% 95 p/s2197 / 2393 [------------------------------------------------------------------>_____] 91.81% 96 p/s2216 / 2393 [------------------------------------------------------------------>_____] 92.60% 96 p/s2236 / 2393 [------------------------------------------------------------------->____] 93.44% 96 p/s2255 / 2393 [------------------------------------------------------------------->____] 94.23% 96 p/s2275 / 2393 [-------------------------------------------------------------------->___] 95.07% 96 p/s2294 / 2393 [--------------------------------------------------------------------->__] 95.86% 96 p/s2314 / 2393 [--------------------------------------------------------------------->__] 96.70% 96 p/s2333 / 2393 [---------------------------------------------------------------------->_] 97.49% 96 p/s2353 / 2393 [---------------------------------------------------------------------->_] 98.33% 96 p/s2372 / 2393 [----------------------------------------------------------------------->] 99.12% 96 p/s2392 / 2393 [----------------------------------------------------------------------->] 99.96% 96 p/s2393 / 2393 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-26T01:46:48 - INFO: Parsing 2393 sonar sweeps from /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:48:30 - 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/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b"
2026-03-26T01:48:32 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:48:32 - INFO: Prepared data will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/processing/data
2026-03-26T01:48:32 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:48:32 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:48:32 - INFO: Recording GUID: 4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-26T01:48:32 - INFO: Preparing sonar data...
2026-03-26T01:48:32 - INFO: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:48:35 - INFO: Sonar epoch is 2026-02-22 15:54:25.597311+00:00 (1771775665597311200)
2026-03-26T01:48:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:48:35 - INFO: Sonar range is 2.094960 m
2026-03-26T01:48:35 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:48:35 - INFO: Processing 2392 sweeps...

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2026-03-26T01:48:49 - INFO: Prepared sonar data in 16.8381 s
2026-03-26T01:48:49 - INFO: No IMU data found
2026-03-26T01:48:50 - INFO: DataPrep took 0:00:17.247081
2026-03-26T01:48:50 - INFO: Extracted sonar data in 0:02:27.034814
2026-03-26T01:48:50 - INFO: MSIP3D took 0:02:27.499383