2026-03-26T01:47:33 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:47:33 - INFO: P3D files will be output to /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b
2026-03-26T01:47:33 - INFO: Found 11 TFD dictionary entries
2026-03-26T01:47:33 - INFO: Found TFD mission for SJ502828 DEP 522
2026-03-26T01:47:33 - INFO: Recording will be processed as SMD
2026-03-26T01:47:33 - INFO: Copying assets JSON to output directory...
2026-03-26T01:47:33 - INFO: Preparing counter data...
2026-03-26T01:47:33 - 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 0.0573 s
2026-03-26T01:47:33 - INFO: Extracting sonar data...
TFD path: /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/SJ502828_DEP_522.tfd
TFD path: /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855215978501720652
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1113
18 / 1113 [->__________________________________________________________________________] 1.62% ? p/s37 / 1113 [-->_________________________________________________________________________] 3.32% ? p/s56 / 1113 [--->________________________________________________________________________] 5.03% ? p/s76 / 1113 [----->_____________________________________________________________________] 6.83% 97 p/s95 / 1113 [------>____________________________________________________________________] 8.54% 97 p/s114 / 1113 [------->_________________________________________________________________] 10.24% 97 p/s133 / 1113 [-------->________________________________________________________________] 11.95% 96 p/s152 / 1113 [--------->_______________________________________________________________] 13.66% 96 p/s171 / 1113 [----------->_____________________________________________________________] 15.36% 96 p/s190 / 1113 [------------>____________________________________________________________] 17.07% 96 p/s209 / 1113 [------------->___________________________________________________________] 18.78% 96 p/s229 / 1113 [--------------->_________________________________________________________] 20.58% 96 p/s248 / 1113 [---------------->________________________________________________________] 22.28% 96 p/s266 / 1113 [----------------->_______________________________________________________] 23.90% 96 p/s286 / 1113 [------------------>______________________________________________________] 25.70% 96 p/s305 / 1113 [-------------------->____________________________________________________] 27.40% 96 p/s324 / 1113 [--------------------->___________________________________________________] 29.11% 96 p/s341 / 1113 [---------------------->__________________________________________________] 30.64% 96 p/s360 / 1113 [----------------------->_________________________________________________] 32.35% 96 p/s378 / 1113 [------------------------>________________________________________________] 33.96% 96 p/s397 / 1113 [-------------------------->______________________________________________] 35.67% 96 p/s416 / 1113 [--------------------------->_____________________________________________] 37.38% 96 p/s436 / 1113 [---------------------------->____________________________________________] 39.17% 96 p/s455 / 1113 [----------------------------->___________________________________________] 40.88% 96 p/s473 / 1113 [------------------------------->_________________________________________] 42.50% 96 p/s492 / 1113 [-------------------------------->________________________________________] 44.20% 96 p/s510 / 1113 [--------------------------------->_______________________________________] 45.82% 96 p/s529 / 1113 [---------------------------------->______________________________________] 47.53% 96 p/s547 / 1113 [----------------------------------->_____________________________________] 49.15% 96 p/s565 / 1113 [------------------------------------->___________________________________] 50.76% 96 p/s584 / 1113 [-------------------------------------->__________________________________] 52.47% 95 p/s603 / 1113 [--------------------------------------->_________________________________] 54.18% 95 p/s620 / 1113 [---------------------------------------->________________________________] 55.71% 95 p/s639 / 1113 [----------------------------------------->_______________________________] 57.41% 95 p/s657 / 1113 [------------------------------------------->_____________________________] 59.03% 95 p/s676 / 1113 [-------------------------------------------->____________________________] 60.74% 95 p/s695 / 1113 [--------------------------------------------->___________________________] 62.44% 95 p/s714 / 1113 [---------------------------------------------->__________________________] 64.15% 95 p/s733 / 1113 [------------------------------------------------>________________________] 65.86% 95 p/s751 / 1113 [------------------------------------------------->_______________________] 67.48% 95 p/s770 / 1113 [-------------------------------------------------->______________________] 69.18% 95 p/s788 / 1113 [--------------------------------------------------->_____________________] 70.80% 95 p/s808 / 1113 [---------------------------------------------------->____________________] 72.60% 95 p/s827 / 1113 [------------------------------------------------------>__________________] 74.30% 95 p/s846 / 1113 [------------------------------------------------------->_________________] 76.01% 95 p/s865 / 1113 [-------------------------------------------------------->________________] 77.72% 95 p/s883 / 1113 [--------------------------------------------------------->_______________] 79.34% 95 p/s902 / 1113 [----------------------------------------------------------->_____________] 81.04% 95 p/s921 / 1113 [------------------------------------------------------------>____________] 82.75% 95 p/s940 / 1113 [------------------------------------------------------------->___________] 84.46% 95 p/s959 / 1113 [-------------------------------------------------------------->__________] 86.16% 95 p/s978 / 1113 [---------------------------------------------------------------->________] 87.87% 95 p/s997 / 1113 [----------------------------------------------------------------->_______] 89.58% 95 p/s1016 / 1113 [----------------------------------------------------------------->______] 91.28% 95 p/s1035 / 1113 [------------------------------------------------------------------>_____] 92.99% 95 p/s1054 / 1113 [-------------------------------------------------------------------->___] 94.70% 95 p/s1073 / 1113 [--------------------------------------------------------------------->__] 96.41% 95 p/s1092 / 1113 [---------------------------------------------------------------------->_] 98.11% 95 p/s1112 / 1113 [----------------------------------------------------------------------->] 99.91% 95 p/s1113 / 1113 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-26T01:47:45 - INFO: Parsing 1113 sonar sweeps from /working/08a10566-3b90-494b-16b3-9306d4ce092b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:48:29 - 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/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b"
2026-03-26T01:48:30 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:48:30 - INFO: Prepared data will be output to /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b/processing/data
2026-03-26T01:48:30 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:48:30 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:48:30 - INFO: Recording GUID: 08a10566-3b90-494b-16b3-9306d4ce092b
2026-03-26T01:48:30 - INFO: Preparing sonar data...
2026-03-26T01:48:30 - INFO: /working/08a10566-3b90-494b-16b3-9306d4ce092b/08a10566-3b90-494b-16b3-9306d4ce092b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:48:31 - INFO: Sonar epoch is 2026-02-24 16:28:43.826092+00:00 (1771950523826091816)
2026-03-26T01:48:31 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:48:31 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-26T01:48:31 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:48:31 - INFO: Sonar range is 1.372560 m
2026-03-26T01:48:31 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:48:31 - INFO: Processing 1113 sweeps...

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2026-03-26T01:48:37 - INFO: Prepared sonar data in 6.4991 s
2026-03-26T01:48:37 - INFO: No IMU data found
2026-03-26T01:48:37 - INFO: DataPrep took 0:00:06.663827
2026-03-26T01:48:37 - INFO: Extracted sonar data in 0:01:04.260681
2026-03-26T01:48:37 - INFO: MSIP3D took 0:01:04.425338