2026-03-30T19:00:41 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:00:41 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-30T19:00:41 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:00:41 - INFO: Found TFD mission for SJ502828 DEP 517
2026-03-30T19:00:41 - INFO: Recording will be processed as SMD
2026-03-30T19:00:41 - INFO: Copying assets JSON to output directory...
2026-03-30T19:00:41 - INFO: Preparing counter data...
2026-03-30T19:00:41 - INFO: Interpreting counter as imperial
2026-03-30T19:00:41 - INFO: Preparing size track from assets JSON...
2026-03-30T19:00:41 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:00:41 - INFO: Preparing material track from assets JSON...
2026-03-30T19:00:41 - INFO: Prepared counter data in 0.1900 s
2026-03-30T19:00:41 - 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: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1337
18 / 1337 [->__________________________________________________________________________] 1.35% ? p/s38 / 1337 [-->_________________________________________________________________________] 2.84% ? p/s56 / 1337 [--->________________________________________________________________________] 4.19% ? p/s75 / 1337 [---->______________________________________________________________________] 5.61% 95 p/s94 / 1337 [----->_____________________________________________________________________] 7.03% 95 p/s114 / 1337 [------>___________________________________________________________________] 8.53% 95 p/s133 / 1337 [------->__________________________________________________________________] 9.95% 95 p/s152 / 1337 [-------->________________________________________________________________] 11.37% 95 p/s172 / 1337 [--------->_______________________________________________________________] 12.86% 95 p/s191 / 1337 [---------->______________________________________________________________] 14.29% 95 p/s210 / 1337 [----------->_____________________________________________________________] 15.71% 95 p/s229 / 1337 [------------>____________________________________________________________] 17.13% 95 p/s248 / 1337 [------------->___________________________________________________________] 18.55% 95 p/s266 / 1337 [-------------->__________________________________________________________] 19.90% 95 p/s285 / 1337 [--------------->_________________________________________________________] 21.32% 95 p/s305 / 1337 [---------------->________________________________________________________] 22.81% 95 p/s324 / 1337 [----------------->_______________________________________________________] 24.23% 95 p/s344 / 1337 [------------------>______________________________________________________] 25.73% 95 p/s363 / 1337 [------------------->_____________________________________________________] 27.15% 95 p/s382 / 1337 [-------------------->____________________________________________________] 28.57% 95 p/s402 / 1337 [--------------------->___________________________________________________] 30.07% 95 p/s421 / 1337 [---------------------->__________________________________________________] 31.49% 95 p/s441 / 1337 [------------------------>________________________________________________] 32.98% 95 p/s460 / 1337 [------------------------->_______________________________________________] 34.41% 95 p/s478 / 1337 [-------------------------->______________________________________________] 35.75% 95 p/s498 / 1337 [--------------------------->_____________________________________________] 37.25% 95 p/s516 / 1337 [---------------------------->____________________________________________] 38.59% 95 p/s536 / 1337 [----------------------------->___________________________________________] 40.09% 95 p/s555 / 1337 [------------------------------>__________________________________________] 41.51% 95 p/s575 / 1337 [------------------------------->_________________________________________] 43.01% 95 p/s594 / 1337 [-------------------------------->________________________________________] 44.43% 96 p/s613 / 1337 [--------------------------------->_______________________________________] 45.85% 96 p/s633 / 1337 [---------------------------------->______________________________________] 47.34% 96 p/s652 / 1337 [----------------------------------->_____________________________________] 48.77% 96 p/s671 / 1337 [------------------------------------>____________________________________] 50.19% 96 p/s691 / 1337 [------------------------------------->___________________________________] 51.68% 96 p/s710 / 1337 [-------------------------------------->__________________________________] 53.10% 96 p/s730 / 1337 [--------------------------------------->_________________________________] 54.60% 96 p/s749 / 1337 [---------------------------------------->________________________________] 56.02% 96 p/s768 / 1337 [----------------------------------------->_______________________________] 57.44% 96 p/s788 / 1337 [------------------------------------------->_____________________________] 58.94% 96 p/s807 / 1337 [-------------------------------------------->____________________________] 60.36% 96 p/s826 / 1337 [--------------------------------------------->___________________________] 61.78% 96 p/s846 / 1337 [---------------------------------------------->__________________________] 63.28% 96 p/s865 / 1337 [----------------------------------------------->_________________________] 64.70% 96 p/s885 / 1337 [------------------------------------------------>________________________] 66.19% 96 p/s904 / 1337 [------------------------------------------------->_______________________] 67.61% 96 p/s924 / 1337 [-------------------------------------------------->______________________] 69.11% 96 p/s943 / 1337 [--------------------------------------------------->_____________________] 70.53% 96 p/s963 / 1337 [---------------------------------------------------->____________________] 72.03% 96 p/s982 / 1337 [----------------------------------------------------->___________________] 73.45% 96 p/s1001 / 1337 [----------------------------------------------------->__________________] 74.87% 96 p/s1020 / 1337 [------------------------------------------------------>_________________] 76.29% 96 p/s1039 / 1337 [------------------------------------------------------->________________] 77.71% 96 p/s1058 / 1337 [-------------------------------------------------------->_______________] 79.13% 96 p/s1077 / 1337 [--------------------------------------------------------->______________] 80.55% 96 p/s1097 / 1337 [----------------------------------------------------------->____________] 82.05% 96 p/s1116 / 1337 [------------------------------------------------------------>___________] 83.47% 96 p/s1135 / 1337 [------------------------------------------------------------->__________] 84.89% 96 p/s1155 / 1337 [-------------------------------------------------------------->_________] 86.39% 96 p/s1174 / 1337 [--------------------------------------------------------------->________] 87.81% 96 p/s1193 / 1337 [---------------------------------------------------------------->_______] 89.23% 96 p/s1213 / 1337 [----------------------------------------------------------------->______] 90.73% 96 p/s1231 / 1337 [------------------------------------------------------------------>_____] 92.07% 96 p/s1250 / 1337 [------------------------------------------------------------------->____] 93.49% 96 p/s1269 / 1337 [-------------------------------------------------------------------->___] 94.91% 96 p/s1289 / 1337 [--------------------------------------------------------------------->__] 96.41% 96 p/s1308 / 1337 [---------------------------------------------------------------------->_] 97.83% 96 p/s1327 / 1337 [----------------------------------------------------------------------->] 99.25% 96 p/s1337 / 1337 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-30T19:00:55 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:01:48 - 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"
2026-03-30T19:01:49 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:01:49 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-03-30T19:01:49 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:01:49 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:01:49 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-03-30T19:01:49 - INFO: Preparing sonar data...
2026-03-30T19:01:49 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:01:50 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-03-30T19:01:50 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:01:50 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-30T19:01:50 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:01:50 - INFO: Sensor range is 2.094960 m
2026-03-30T19:01:50 - INFO: Sensor micrometres per sample is 6959.999915
2026-03-30T19:01:50 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:01:50 - INFO: Scaled range is 2.056446 m
2026-03-30T19:01:50 - INFO: Scaled micrometres per sample is 6832.048000
2026-03-30T19:01:50 - INFO: Processing 1337 sweeps...

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2026-03-30T19:01:55 - INFO: Prepared sonar data in 6.2678 s
2026-03-30T19:01:55 - INFO: No IMU data found
2026-03-30T19:01:56 - INFO: DataPrep took 0:00:06.458215
2026-03-30T19:01:56 - INFO: Extracted sonar data in 0:01:14.410966
2026-03-30T19:01:56 - INFO: MSIP3D took 0:01:14.712954