2026-03-26T01:47:32 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:47:32 - INFO: P3D files will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-26T01:47:32 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:47:32 - INFO: Found TFD mission for SJ502828 DEP 521
2026-03-26T01:47:32 - INFO: Recording will be processed as SMD
2026-03-26T01:47:32 - INFO: Copying assets JSON to output directory...
2026-03-26T01:47:32 - INFO: Preparing counter data...
2026-03-26T01:47:32 - INFO: Interpreting counter as imperial
2026-03-26T01:47:33 - INFO: Preparing size track from assets JSON...
2026-03-26T01:47:33 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:47:33 - INFO: Preparing material track from assets JSON...
2026-03-26T01:47:33 - INFO: Prepared counter data in 0.3057 s
2026-03-26T01:47:33 - INFO: Extracting sonar data...
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/SJ502828_DEP_521.tfd
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2756
19 / 2756 [>___________________________________________________________________________] 0.69% ? p/s39 / 2756 [->__________________________________________________________________________] 1.42% ? p/s58 / 2756 [->__________________________________________________________________________] 2.10% ? p/s78 / 2756 [-->________________________________________________________________________] 2.83% 98 p/s97 / 2756 [-->________________________________________________________________________] 3.52% 98 p/s117 / 2756 [--->______________________________________________________________________] 4.25% 98 p/s136 / 2756 [--->______________________________________________________________________] 4.93% 98 p/s156 / 2756 [---->_____________________________________________________________________] 5.66% 98 p/s176 / 2756 [---->_____________________________________________________________________] 6.39% 98 p/s196 / 2756 [----->____________________________________________________________________] 7.11% 98 p/s215 / 2756 [----->____________________________________________________________________] 7.80% 98 p/s235 / 2756 [------>___________________________________________________________________] 8.53% 98 p/s253 / 2756 [------>___________________________________________________________________] 9.18% 98 p/s273 / 2756 [------->__________________________________________________________________] 9.91% 98 p/s293 / 2756 [------->_________________________________________________________________] 10.63% 98 p/s312 / 2756 [-------->________________________________________________________________] 11.32% 98 p/s331 / 2756 [-------->________________________________________________________________] 12.01% 98 p/s351 / 2756 [--------->_______________________________________________________________] 12.74% 98 p/s370 / 2756 [--------->_______________________________________________________________] 13.43% 98 p/s389 / 2756 [---------->______________________________________________________________] 14.11% 98 p/s409 / 2756 [---------->______________________________________________________________] 14.84% 98 p/s428 / 2756 [----------->_____________________________________________________________] 15.53% 98 p/s447 / 2756 [----------->_____________________________________________________________] 16.22% 98 p/s467 / 2756 [------------>____________________________________________________________] 16.94% 98 p/s487 / 2756 [------------>____________________________________________________________] 17.67% 98 p/s505 / 2756 [------------->___________________________________________________________] 18.32% 98 p/s525 / 2756 [------------->___________________________________________________________] 19.05% 98 p/s545 / 2756 [-------------->__________________________________________________________] 19.78% 98 p/s563 / 2756 [-------------->__________________________________________________________] 20.43% 98 p/s583 / 2756 [--------------->_________________________________________________________] 21.15% 98 p/s603 / 2756 [--------------->_________________________________________________________] 21.88% 98 p/s623 / 2756 [---------------->________________________________________________________] 22.61% 98 p/s642 / 2756 [----------------->_______________________________________________________] 23.29% 98 p/s662 / 2756 [----------------->_______________________________________________________] 24.02% 98 p/s682 / 2756 [------------------>______________________________________________________] 24.75% 98 p/s702 / 2756 [------------------>______________________________________________________] 25.47% 98 p/s721 / 2756 [------------------->_____________________________________________________] 26.16% 98 p/s741 / 2756 [------------------->_____________________________________________________] 26.89% 98 p/s761 / 2756 [-------------------->____________________________________________________] 27.61% 98 p/s781 / 2756 [-------------------->____________________________________________________] 28.34% 98 p/s800 / 2756 [--------------------->___________________________________________________] 29.03% 98 p/s820 / 2756 [--------------------->___________________________________________________] 29.75% 98 p/s840 / 2756 [---------------------->__________________________________________________] 30.48% 98 p/s860 / 2756 [---------------------->__________________________________________________] 31.20% 98 p/s879 / 2756 [----------------------->_________________________________________________] 31.89% 98 p/s899 / 2756 [----------------------->_________________________________________________] 32.62% 98 p/s919 / 2756 [------------------------>________________________________________________] 33.35% 98 p/s938 / 2756 [------------------------>________________________________________________] 34.03% 98 p/s958 / 2756 [------------------------->_______________________________________________] 34.76% 98 p/s977 / 2756 [------------------------->_______________________________________________] 35.45% 98 p/s997 / 2756 [-------------------------->______________________________________________] 36.18% 98 p/s1016 / 2756 [-------------------------->_____________________________________________] 36.87% 98 p/s1036 / 2756 [--------------------------->____________________________________________] 37.59% 98 p/s1056 / 2756 [--------------------------->____________________________________________] 38.32% 98 p/s1076 / 2756 [---------------------------->___________________________________________] 39.04% 98 p/s1095 / 2756 [---------------------------->___________________________________________] 39.73% 98 p/s1115 / 2756 [----------------------------->__________________________________________] 40.46% 98 p/s1135 / 2756 [----------------------------->__________________________________________] 41.18% 98 p/s1155 / 2756 [------------------------------>_________________________________________] 41.91% 98 p/s1174 / 2756 [------------------------------>_________________________________________] 42.60% 98 p/s1194 / 2756 [------------------------------->________________________________________] 43.32% 98 p/s1214 / 2756 [------------------------------->________________________________________] 44.05% 98 p/s1234 / 2756 [-------------------------------->_______________________________________] 44.78% 98 p/s1254 / 2756 [-------------------------------->_______________________________________] 45.50% 98 p/s1273 / 2756 [--------------------------------->______________________________________] 46.19% 98 p/s1293 / 2756 [--------------------------------->______________________________________] 46.92% 98 p/s1313 / 2756 [---------------------------------->_____________________________________] 47.64% 98 p/s1332 / 2756 [---------------------------------->_____________________________________] 48.33% 98 p/s1352 / 2756 [----------------------------------->____________________________________] 49.06% 98 p/s1372 / 2756 [----------------------------------->____________________________________] 49.78% 98 p/s1392 / 2756 [------------------------------------>___________________________________] 50.51% 98 p/s1411 / 2756 [------------------------------------>___________________________________] 51.20% 98 p/s1431 / 2756 [------------------------------------->__________________________________] 51.92% 98 p/s1451 / 2756 [------------------------------------->__________________________________] 52.65% 98 p/s1471 / 2756 [-------------------------------------->_________________________________] 53.37% 98 p/s1490 / 2756 [-------------------------------------->_________________________________] 54.06% 98 p/s1510 / 2756 [--------------------------------------->________________________________] 54.79% 98 p/s1530 / 2756 [--------------------------------------->________________________________] 55.52% 98 p/s1550 / 2756 [---------------------------------------->_______________________________] 56.24% 98 p/s1569 / 2756 [---------------------------------------->_______________________________] 56.93% 98 p/s1589 / 2756 [----------------------------------------->______________________________] 57.66% 98 p/s1609 / 2756 [------------------------------------------>_____________________________] 58.38% 98 p/s1629 / 2756 [------------------------------------------>_____________________________] 59.11% 98 p/s1649 / 2756 [------------------------------------------->____________________________] 59.83% 98 p/s1669 / 2756 [------------------------------------------->____________________________] 60.56% 98 p/s1688 / 2756 [-------------------------------------------->___________________________] 61.25% 98 p/s1708 / 2756 [-------------------------------------------->___________________________] 61.97% 98 p/s1728 / 2756 [--------------------------------------------->__________________________] 62.70% 98 p/s1748 / 2756 [--------------------------------------------->__________________________] 63.43% 98 p/s1768 / 2756 [---------------------------------------------->_________________________] 64.15% 98 p/s1788 / 2756 [---------------------------------------------->_________________________] 64.88% 99 p/s1808 / 2756 [----------------------------------------------->________________________] 65.60% 99 p/s1828 / 2756 [----------------------------------------------->________________________] 66.33% 99 p/s1848 / 2756 [------------------------------------------------>_______________________] 67.05% 99 p/s1868 / 2756 [------------------------------------------------>_______________________] 67.78% 99 p/s1888 / 2756 [------------------------------------------------->______________________] 68.51% 99 p/s1908 / 2756 [------------------------------------------------->______________________] 69.23% 99 p/s1928 / 2756 [-------------------------------------------------->_____________________] 69.96% 99 p/s1948 / 2756 [-------------------------------------------------->_____________________] 70.68% 99 p/s1968 / 2756 [--------------------------------------------------->____________________] 71.41% 99 p/s1988 / 2756 [--------------------------------------------------->____________________] 72.13% 99 p/s2009 / 2756 [---------------------------------------------------->___________________] 72.90% 99 p/s2029 / 2756 [----------------------------------------------------->__________________] 73.62% 99 p/s2048 / 2756 [----------------------------------------------------->__________________] 74.31% 99 p/s2068 / 2756 [------------------------------------------------------>_________________] 75.04% 99 p/s2088 / 2756 [------------------------------------------------------>_________________] 75.76% 99 p/s2108 / 2756 [------------------------------------------------------->________________] 76.49% 99 p/s2128 / 2756 [------------------------------------------------------->________________] 77.21% 99 p/s2148 / 2756 [-------------------------------------------------------->_______________] 77.94% 99 p/s2168 / 2756 [-------------------------------------------------------->_______________] 78.66% 99 p/s2188 / 2756 [--------------------------------------------------------->______________] 79.39% 99 p/s2208 / 2756 [--------------------------------------------------------->______________] 80.12% 99 p/s2229 / 2756 [---------------------------------------------------------->_____________] 80.88% 99 p/s2248 / 2756 [---------------------------------------------------------->_____________] 81.57% 99 p/s2269 / 2756 [----------------------------------------------------------->____________] 82.33% 99 p/s2289 / 2756 [----------------------------------------------------------->____________] 83.06% 99 p/s2309 / 2756 [------------------------------------------------------------>___________] 83.78% 99 p/s2330 / 2756 [------------------------------------------------------------>___________] 84.54% 99 p/s2350 / 2756 [------------------------------------------------------------->__________] 85.27% 99 p/s2370 / 2756 [------------------------------------------------------------->__________] 85.99% 99 p/s2390 / 2756 [-------------------------------------------------------------->_________] 86.72% 99 p/s2410 / 2756 [-------------------------------------------------------------->_________] 87.45% 99 p/s2430 / 2756 [--------------------------------------------------------------->________] 88.17% 99 p/s2450 / 2756 [--------------------------------------------------------------->_______] 88.90% 100 p/s2470 / 2756 [--------------------------------------------------------------->_______] 89.62% 100 p/s2492 / 2756 [---------------------------------------------------------------->______] 90.42% 100 p/s2513 / 2756 [---------------------------------------------------------------->______] 91.18% 100 p/s2534 / 2756 [----------------------------------------------------------------->_____] 91.94% 100 p/s2555 / 2756 [----------------------------------------------------------------->_____] 92.71% 100 p/s2575 / 2756 [------------------------------------------------------------------>____] 93.43% 100 p/s2595 / 2756 [------------------------------------------------------------------>____] 94.16% 100 p/s2615 / 2756 [------------------------------------------------------------------->___] 94.88% 100 p/s2635 / 2756 [------------------------------------------------------------------->___] 95.61% 100 p/s2653 / 2756 [-------------------------------------------------------------------->__] 96.26% 100 p/s2673 / 2756 [-------------------------------------------------------------------->__] 96.99% 100 p/s2692 / 2756 [--------------------------------------------------------------------->_] 97.68% 100 p/s2711 / 2756 [--------------------------------------------------------------------->_] 98.37% 100 p/s2731 / 2756 [---------------------------------------------------------------------->] 99.09% 100 p/s2752 / 2756 [---------------------------------------------------------------------->] 99.85% 100 p/s2756 / 2756 [----------------------------------------------------------------------] 100.00% 100 p/s2026-03-26T01:48:00 - INFO: Parsing 2756 sonar sweeps from /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:49:46 - 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/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c"
2026-03-26T01:49:47 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:49:47 - INFO: Prepared data will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/processing/data
2026-03-26T01:49:47 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:49:47 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:49:47 - INFO: Recording GUID: 81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-26T01:49:47 - INFO: Preparing sonar data...
2026-03-26T01:49:47 - INFO: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:49:50 - INFO: Sonar epoch is 2026-02-23 17:09:14.871653+00:00 (1771866554871652952)
2026-03-26T01:49:50 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:49:50 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-26T01:49:50 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:49:50 - INFO: Sonar range is 2.094960 m
2026-03-26T01:49:50 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:49:50 - INFO: Processing 2755 sweeps...

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2026-03-26T01:50:00 - INFO: Prepared sonar data in 13.0701 s
2026-03-26T01:50:00 - INFO: No IMU data found
2026-03-26T01:50:01 - INFO: DataPrep took 0:00:13.488298
2026-03-26T01:50:01 - INFO: Extracted sonar data in 0:02:28.423669
2026-03-26T01:50:01 - INFO: MSIP3D took 0:02:28.960904