2026-02-26T06:49:39 - INFO: MSIP3D 0.2.0a9
2026-02-26T06:49:39 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-02-26T06:49:39 - INFO: Found 10 TFD dictionary entries
2026-02-26T06:49:39 - INFO: Found TFD mission for SJ502795 Dep 1
2026-02-26T06:49:39 - INFO: Recording will be processed as MD
2026-02-26T06:49:39 - INFO: Copying assets JSON to output directory...
2026-02-26T06:49:39 - INFO: Preparing counter data...
2026-02-26T06:49:39 - INFO: Interpreting counter as imperial
2026-02-26T06:49:39 - INFO: Preparing shape track from assets JSON...
2026-02-26T06:49:39 - INFO: Prepared counter data in 0.0331 s
2026-02-26T06:49:39 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1895
22 / 1895 [>___________________________________________________________________________] 1.16% ? p/s44 / 1895 [->__________________________________________________________________________] 2.32% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s89 / 1895 [--->______________________________________________________________________] 4.70% 112 p/s111 / 1895 [---->____________________________________________________________________] 5.86% 112 p/s132 / 1895 [----->___________________________________________________________________] 6.97% 112 p/s155 / 1895 [----->___________________________________________________________________] 8.18% 112 p/s177 / 1895 [------>__________________________________________________________________] 9.34% 112 p/s200 / 1895 [------->________________________________________________________________] 10.55% 112 p/s222 / 1895 [-------->_______________________________________________________________] 11.72% 112 p/s244 / 1895 [--------->______________________________________________________________] 12.88% 112 p/s266 / 1895 [---------->_____________________________________________________________] 14.04% 112 p/s289 / 1895 [---------->_____________________________________________________________] 15.25% 112 p/s311 / 1895 [----------->____________________________________________________________] 16.41% 112 p/s334 / 1895 [------------>___________________________________________________________] 17.63% 112 p/s357 / 1895 [------------->__________________________________________________________] 18.84% 112 p/s379 / 1895 [-------------->_________________________________________________________] 20.00% 112 p/s401 / 1895 [--------------->________________________________________________________] 21.16% 112 p/s424 / 1895 [---------------->_______________________________________________________] 22.37% 112 p/s447 / 1895 [---------------->_______________________________________________________] 23.59% 112 p/s469 / 1895 [----------------->______________________________________________________] 24.75% 112 p/s492 / 1895 [------------------>_____________________________________________________] 25.96% 112 p/s512 / 1895 [------------------->____________________________________________________] 27.02% 112 p/s534 / 1895 [-------------------->___________________________________________________] 28.18% 112 p/s557 / 1895 [--------------------->__________________________________________________] 29.39% 112 p/s580 / 1895 [---------------------->_________________________________________________] 30.61% 112 p/s603 / 1895 [---------------------->_________________________________________________] 31.82% 112 p/s626 / 1895 [----------------------->________________________________________________] 33.03% 112 p/s649 / 1895 [------------------------>_______________________________________________] 34.25% 112 p/s672 / 1895 [------------------------->______________________________________________] 35.46% 112 p/s695 / 1895 [-------------------------->_____________________________________________] 36.68% 112 p/s718 / 1895 [--------------------------->____________________________________________] 37.89% 112 p/s741 / 1895 [---------------------------->___________________________________________] 39.10% 112 p/s764 / 1895 [----------------------------->__________________________________________] 40.32% 112 p/s786 / 1895 [----------------------------->__________________________________________] 41.48% 112 p/s810 / 1895 [------------------------------>_________________________________________] 42.74% 112 p/s832 / 1895 [------------------------------->________________________________________] 43.91% 112 p/s855 / 1895 [-------------------------------->_______________________________________] 45.12% 112 p/s878 / 1895 [--------------------------------->______________________________________] 46.33% 112 p/s900 / 1895 [---------------------------------->_____________________________________] 47.49% 112 p/s923 / 1895 [----------------------------------->____________________________________] 48.71% 112 p/s946 / 1895 [----------------------------------->____________________________________] 49.92% 112 p/s969 / 1895 [------------------------------------>___________________________________] 51.13% 113 p/s992 / 1895 [------------------------------------->__________________________________] 52.35% 113 p/s1015 / 1895 [-------------------------------------->________________________________] 53.56% 113 p/s1037 / 1895 [-------------------------------------->________________________________] 54.72% 113 p/s1059 / 1895 [--------------------------------------->_______________________________] 55.88% 113 p/s1082 / 1895 [---------------------------------------->______________________________] 57.10% 113 p/s1105 / 1895 [----------------------------------------->_____________________________] 58.31% 113 p/s1128 / 1895 [------------------------------------------>____________________________] 59.53% 113 p/s1151 / 1895 [------------------------------------------->___________________________] 60.74% 113 p/s1173 / 1895 [------------------------------------------->___________________________] 61.90% 113 p/s1196 / 1895 [-------------------------------------------->__________________________] 63.11% 113 p/s1218 / 1895 [--------------------------------------------->_________________________] 64.27% 113 p/s1241 / 1895 [---------------------------------------------->________________________] 65.49% 113 p/s1263 / 1895 [----------------------------------------------->_______________________] 66.65% 113 p/s1286 / 1895 [------------------------------------------------>______________________] 67.86% 113 p/s1308 / 1895 [------------------------------------------------->_____________________] 69.02% 113 p/s1331 / 1895 [------------------------------------------------->_____________________] 70.24% 113 p/s1354 / 1895 [-------------------------------------------------->____________________] 71.45% 113 p/s1377 / 1895 [--------------------------------------------------->___________________] 72.66% 113 p/s1400 / 1895 [---------------------------------------------------->__________________] 73.88% 113 p/s1423 / 1895 [----------------------------------------------------->_________________] 75.09% 113 p/s1446 / 1895 [------------------------------------------------------>________________] 76.31% 113 p/s1469 / 1895 [------------------------------------------------------->_______________] 77.52% 113 p/s1492 / 1895 [------------------------------------------------------->_______________] 78.73% 113 p/s1515 / 1895 [-------------------------------------------------------->______________] 79.95% 113 p/s1537 / 1895 [--------------------------------------------------------->_____________] 81.11% 113 p/s1560 / 1895 [---------------------------------------------------------->____________] 82.32% 113 p/s1583 / 1895 [----------------------------------------------------------->___________] 83.54% 113 p/s1606 / 1895 [------------------------------------------------------------>__________] 84.75% 113 p/s1629 / 1895 [------------------------------------------------------------->_________] 85.96% 113 p/s1652 / 1895 [------------------------------------------------------------->_________] 87.18% 113 p/s1675 / 1895 [-------------------------------------------------------------->________] 88.39% 113 p/s1697 / 1895 [--------------------------------------------------------------->_______] 89.55% 113 p/s1720 / 1895 [---------------------------------------------------------------->______] 90.77% 113 p/s1743 / 1895 [----------------------------------------------------------------->_____] 91.98% 113 p/s1766 / 1895 [------------------------------------------------------------------>____] 93.19% 113 p/s1789 / 1895 [------------------------------------------------------------------->___] 94.41% 113 p/s1811 / 1895 [------------------------------------------------------------------->___] 95.57% 113 p/s1834 / 1895 [-------------------------------------------------------------------->__] 96.78% 113 p/s1856 / 1895 [--------------------------------------------------------------------->_] 97.94% 113 p/s1879 / 1895 [---------------------------------------------------------------------->] 99.16% 113 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-26T06:49:56 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-26T06:51:05 - 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 --sonar-flip /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-02-26T06:51:06 - INFO: DataPrep 0.14.0a5
2026-02-26T06:51:06 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-02-26T06:51:06 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T06:51:06 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T06:51:06 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-02-26T06:51:06 - INFO: Preparing sonar data...
2026-02-26T06:51:06 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T06:51:08 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-02-26T06:51:08 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T06:51:08 - INFO: Sonar range is 0.939120 m
2026-02-26T06:51:08 - INFO: Speed of sound is 1494 m/s
2026-02-26T06:51:08 - INFO: Processing 1894 sweeps...

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2026-02-26T06:51:12 - INFO: Creating sonar sensor alignment track...
2026-02-26T06:51:12 - INFO: Prepared sonar data in 5.8349 s
2026-02-26T06:51:12 - INFO: No IMU data found
2026-02-26T06:51:12 - INFO: DataPrep took 0:00:06.025836
2026-02-26T06:51:12 - INFO: Extracted sonar data in 0:01:33.309166
2026-02-26T06:51:13 - INFO: MSIP3D took 0:01:33.498931