2026-02-26T07:05:38 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:05:38 - INFO: P3D files will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-26T07:05:38 - INFO: Found 11 TFD dictionary entries
2026-02-26T07:05:38 - INFO: Found TFD mission for SJ502828 DEP 513
2026-02-26T07:05:39 - INFO: Recording will be processed as SMD
2026-02-26T07:05:39 - INFO: Copying assets JSON to output directory...
2026-02-26T07:05:39 - INFO: Preparing counter data...
2026-02-26T07:05:39 - INFO: Interpreting counter as imperial
2026-02-26T07:05:39 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:05:39 - INFO: Prepared counter data in 0.1665 s
2026-02-26T07:05:39 - INFO: Extracting sonar data...
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/SJ502828_DEP_513.tfd
TFD path: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 2126
18 / 2126 [>___________________________________________________________________________] 0.85% ? p/s37 / 2126 [->__________________________________________________________________________] 1.74% ? p/s56 / 2126 [-->_________________________________________________________________________] 2.63% ? p/s75 / 2126 [-->________________________________________________________________________] 3.53% 95 p/s94 / 2126 [--->_______________________________________________________________________] 4.42% 95 p/s114 / 2126 [--->______________________________________________________________________] 5.36% 95 p/s132 / 2126 [---->_____________________________________________________________________] 6.21% 95 p/s151 / 2126 [----->____________________________________________________________________] 7.10% 95 p/s170 / 2126 [----->____________________________________________________________________] 8.00% 95 p/s190 / 2126 [------>___________________________________________________________________] 8.94% 95 p/s209 / 2126 [------->__________________________________________________________________] 9.83% 95 p/s228 / 2126 [------->_________________________________________________________________] 10.72% 95 p/s246 / 2126 [-------->________________________________________________________________] 11.57% 95 p/s265 / 2126 [--------->_______________________________________________________________] 12.46% 95 p/s284 / 2126 [--------->_______________________________________________________________] 13.36% 95 p/s303 / 2126 [---------->______________________________________________________________] 14.25% 95 p/s322 / 2126 [----------->_____________________________________________________________] 15.15% 95 p/s342 / 2126 [----------->_____________________________________________________________] 16.09% 95 p/s361 / 2126 [------------>____________________________________________________________] 16.98% 95 p/s380 / 2126 [------------->___________________________________________________________] 17.87% 95 p/s400 / 2126 [------------->___________________________________________________________] 18.81% 95 p/s419 / 2126 [-------------->__________________________________________________________] 19.71% 95 p/s438 / 2126 [--------------->_________________________________________________________] 20.60% 95 p/s457 / 2126 [--------------->_________________________________________________________] 21.50% 95 p/s476 / 2126 [---------------->________________________________________________________] 22.39% 95 p/s496 / 2126 [----------------->_______________________________________________________] 23.33% 95 p/s514 / 2126 [----------------->_______________________________________________________] 24.18% 95 p/s533 / 2126 [------------------>______________________________________________________] 25.07% 95 p/s553 / 2126 [------------------>______________________________________________________] 26.01% 95 p/s572 / 2126 [------------------->_____________________________________________________] 26.90% 95 p/s592 / 2126 [-------------------->____________________________________________________] 27.85% 95 p/s611 / 2126 [-------------------->____________________________________________________] 28.74% 95 p/s630 / 2126 [--------------------->___________________________________________________] 29.63% 95 p/s650 / 2126 [---------------------->__________________________________________________] 30.57% 95 p/s669 / 2126 [---------------------->__________________________________________________] 31.47% 95 p/s688 / 2126 [----------------------->_________________________________________________] 32.36% 95 p/s707 / 2126 [------------------------>________________________________________________] 33.25% 95 p/s727 / 2126 [------------------------>________________________________________________] 34.20% 95 p/s746 / 2126 [------------------------->_______________________________________________] 35.09% 95 p/s765 / 2126 [-------------------------->______________________________________________] 35.98% 96 p/s785 / 2126 [-------------------------->______________________________________________] 36.92% 96 p/s804 / 2126 [--------------------------->_____________________________________________] 37.82% 96 p/s822 / 2126 [---------------------------->____________________________________________] 38.66% 95 p/s842 / 2126 [---------------------------->____________________________________________] 39.60% 95 p/s861 / 2126 [----------------------------->___________________________________________] 40.50% 95 p/s880 / 2126 [------------------------------>__________________________________________] 41.39% 96 p/s899 / 2126 [------------------------------>__________________________________________] 42.29% 96 p/s918 / 2126 [------------------------------->_________________________________________] 43.18% 96 p/s937 / 2126 [-------------------------------->________________________________________] 44.07% 96 p/s955 / 2126 [-------------------------------->________________________________________] 44.92% 96 p/s975 / 2126 [--------------------------------->_______________________________________] 45.86% 96 p/s994 / 2126 [---------------------------------->______________________________________] 46.75% 95 p/s1013 / 2126 [---------------------------------->_____________________________________] 47.65% 95 p/s1032 / 2126 [---------------------------------->_____________________________________] 48.54% 95 p/s1051 / 2126 [----------------------------------->____________________________________] 49.44% 95 p/s1070 / 2126 [------------------------------------>___________________________________] 50.33% 95 p/s1089 / 2126 [------------------------------------>___________________________________] 51.22% 95 p/s1108 / 2126 [------------------------------------->__________________________________] 52.12% 95 p/s1127 / 2126 [-------------------------------------->_________________________________] 53.01% 95 p/s1147 / 2126 [-------------------------------------->_________________________________] 53.95% 95 p/s1166 / 2126 [--------------------------------------->________________________________] 54.84% 96 p/s1185 / 2126 [---------------------------------------->_______________________________] 55.74% 96 p/s1205 / 2126 [---------------------------------------->_______________________________] 56.68% 96 p/s1224 / 2126 [----------------------------------------->______________________________] 57.57% 96 p/s1243 / 2126 [------------------------------------------>_____________________________] 58.47% 96 p/s1262 / 2126 [------------------------------------------>_____________________________] 59.36% 96 p/s1281 / 2126 [------------------------------------------->____________________________] 60.25% 96 p/s1300 / 2126 [-------------------------------------------->___________________________] 61.15% 96 p/s1319 / 2126 [-------------------------------------------->___________________________] 62.04% 96 p/s1338 / 2126 [--------------------------------------------->__________________________] 62.94% 96 p/s1357 / 2126 [--------------------------------------------->__________________________] 63.83% 96 p/s1376 / 2126 [---------------------------------------------->_________________________] 64.72% 96 p/s1395 / 2126 [----------------------------------------------->________________________] 65.62% 95 p/s1415 / 2126 [----------------------------------------------->________________________] 66.56% 95 p/s1433 / 2126 [------------------------------------------------>_______________________] 67.40% 95 p/s1453 / 2126 [------------------------------------------------->______________________] 68.34% 96 p/s1472 / 2126 [------------------------------------------------->______________________] 69.24% 96 p/s1491 / 2126 [-------------------------------------------------->_____________________] 70.13% 96 p/s1510 / 2126 [--------------------------------------------------->____________________] 71.03% 96 p/s1529 / 2126 [--------------------------------------------------->____________________] 71.92% 96 p/s1548 / 2126 [---------------------------------------------------->___________________] 72.81% 96 p/s1568 / 2126 [----------------------------------------------------->__________________] 73.75% 96 p/s1586 / 2126 [----------------------------------------------------->__________________] 74.60% 96 p/s1606 / 2126 [------------------------------------------------------>_________________] 75.54% 96 p/s1624 / 2126 [------------------------------------------------------>_________________] 76.39% 95 p/s1644 / 2126 [------------------------------------------------------->________________] 77.33% 95 p/s1663 / 2126 [-------------------------------------------------------->_______________] 78.22% 95 p/s1683 / 2126 [-------------------------------------------------------->_______________] 79.16% 96 p/s1702 / 2126 [--------------------------------------------------------->______________] 80.06% 96 p/s1721 / 2126 [---------------------------------------------------------->_____________] 80.95% 96 p/s1741 / 2126 [---------------------------------------------------------->_____________] 81.89% 96 p/s1760 / 2126 [----------------------------------------------------------->____________] 82.78% 96 p/s1779 / 2126 [------------------------------------------------------------>___________] 83.68% 96 p/s1799 / 2126 [------------------------------------------------------------>___________] 84.62% 96 p/s1818 / 2126 [------------------------------------------------------------->__________] 85.51% 96 p/s1838 / 2126 [-------------------------------------------------------------->_________] 86.45% 96 p/s1857 / 2126 [-------------------------------------------------------------->_________] 87.35% 96 p/s1876 / 2126 [--------------------------------------------------------------->________] 88.24% 96 p/s1896 / 2126 [---------------------------------------------------------------->_______] 89.18% 96 p/s1915 / 2126 [---------------------------------------------------------------->_______] 90.08% 96 p/s1934 / 2126 [----------------------------------------------------------------->______] 90.97% 96 p/s1953 / 2126 [------------------------------------------------------------------>_____] 91.86% 96 p/s1973 / 2126 [------------------------------------------------------------------>_____] 92.80% 96 p/s1992 / 2126 [------------------------------------------------------------------->____] 93.70% 96 p/s2011 / 2126 [-------------------------------------------------------------------->___] 94.59% 96 p/s2030 / 2126 [-------------------------------------------------------------------->___] 95.48% 96 p/s2049 / 2126 [--------------------------------------------------------------------->__] 96.38% 96 p/s2068 / 2126 [---------------------------------------------------------------------->_] 97.27% 96 p/s2087 / 2126 [---------------------------------------------------------------------->_] 98.17% 96 p/s2107 / 2126 [----------------------------------------------------------------------->] 99.11% 96 p/s2126 / 2126 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-02-26T07:06:01 - INFO: Parsing 2126 sonar sweeps from /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-26T07:07:24 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f"
2026-02-26T07:07:26 - INFO: DataPrep 0.14.0a5
2026-02-26T07:07:26 - INFO: Prepared data will be output to /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/processing/data
2026-02-26T07:07:26 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:07:26 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:07:26 - INFO: Recording GUID: b48b48df-a03a-265c-2b27-ce5abad17d5f
2026-02-26T07:07:26 - INFO: Preparing sonar data...
2026-02-26T07:07:26 - INFO: /working/b48b48df-a03a-265c-2b27-ce5abad17d5f/b48b48df-a03a-265c-2b27-ce5abad17d5f/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:07:27 - INFO: Sonar epoch is 2026-02-16 18:55:13.158462+00:00 (1771268113158461736)
2026-02-26T07:07:27 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:07:27 - INFO: Sonar range is 1.878240 m
2026-02-26T07:07:27 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:07:27 - INFO: Processing 2125 sweeps...

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2026-02-26T07:07:33 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:07:36 - INFO: Prepared sonar data in 9.9775 s
2026-02-26T07:07:36 - INFO: No IMU data found
2026-02-26T07:07:36 - INFO: DataPrep took 0:00:10.287801
2026-02-26T07:07:36 - INFO: Extracted sonar data in 0:01:57.238878
2026-02-26T07:07:36 - INFO: MSIP3D took 0:01:57.585453