2026-02-27T05:22:04 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:22:04 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-02-27T05:22:04 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:22:04 - INFO: Found TFD mission for SJ502795 Dep 1
2026-02-27T05:22:04 - INFO: Recording will be processed as MD
2026-02-27T05:22:04 - INFO: Copying assets JSON to output directory...
2026-02-27T05:22:04 - INFO: Preparing counter data...
2026-02-27T05:22:04 - INFO: Interpreting counter as imperial
2026-02-27T05:22:04 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:22:04 - INFO: Prepared counter data in 0.0329 s
2026-02-27T05:22:04 - 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: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1895
22 / 1895 [>___________________________________________________________________________] 1.16% ? p/s45 / 1895 [->__________________________________________________________________________] 2.37% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s89 / 1895 [--->______________________________________________________________________] 4.70% 111 p/s111 / 1895 [---->____________________________________________________________________] 5.86% 111 p/s133 / 1895 [----->___________________________________________________________________] 7.02% 111 p/s156 / 1895 [------>__________________________________________________________________] 8.23% 111 p/s179 / 1895 [------>__________________________________________________________________] 9.45% 111 p/s201 / 1895 [------->________________________________________________________________] 10.61% 111 p/s224 / 1895 [-------->_______________________________________________________________] 11.82% 112 p/s247 / 1895 [--------->______________________________________________________________] 13.03% 112 p/s269 / 1895 [---------->_____________________________________________________________] 14.20% 112 p/s291 / 1895 [----------->____________________________________________________________] 15.36% 112 p/s314 / 1895 [----------->____________________________________________________________] 16.57% 112 p/s337 / 1895 [------------>___________________________________________________________] 17.78% 112 p/s359 / 1895 [------------->__________________________________________________________] 18.94% 112 p/s382 / 1895 [-------------->_________________________________________________________] 20.16% 112 p/s405 / 1895 [--------------->________________________________________________________] 21.37% 112 p/s428 / 1895 [---------------->_______________________________________________________] 22.59% 112 p/s450 / 1895 [----------------->______________________________________________________] 23.75% 112 p/s473 / 1895 [----------------->______________________________________________________] 24.96% 112 p/s496 / 1895 [------------------>_____________________________________________________] 26.17% 112 p/s517 / 1895 [------------------->____________________________________________________] 27.28% 112 p/s540 / 1895 [-------------------->___________________________________________________] 28.50% 112 p/s562 / 1895 [--------------------->__________________________________________________] 29.66% 112 p/s585 / 1895 [---------------------->_________________________________________________] 30.87% 112 p/s608 / 1895 [----------------------->________________________________________________] 32.08% 112 p/s631 / 1895 [----------------------->________________________________________________] 33.30% 112 p/s654 / 1895 [------------------------>_______________________________________________] 34.51% 112 p/s677 / 1895 [------------------------->______________________________________________] 35.73% 112 p/s700 / 1895 [-------------------------->_____________________________________________] 36.94% 112 p/s723 / 1895 [--------------------------->____________________________________________] 38.15% 112 p/s746 / 1895 [---------------------------->___________________________________________] 39.37% 112 p/s769 / 1895 [----------------------------->__________________________________________] 40.58% 112 p/s792 / 1895 [------------------------------>_________________________________________] 41.79% 112 p/s815 / 1895 [------------------------------>_________________________________________] 43.01% 112 p/s838 / 1895 [------------------------------->________________________________________] 44.22% 113 p/s861 / 1895 [-------------------------------->_______________________________________] 45.44% 113 p/s884 / 1895 [--------------------------------->______________________________________] 46.65% 113 p/s907 / 1895 [---------------------------------->_____________________________________] 47.86% 113 p/s930 / 1895 [----------------------------------->____________________________________] 49.08% 113 p/s953 / 1895 [------------------------------------>___________________________________] 50.29% 113 p/s976 / 1895 [------------------------------------->__________________________________] 51.50% 113 p/s999 / 1895 [------------------------------------->__________________________________] 52.72% 113 p/s1022 / 1895 [-------------------------------------->________________________________] 53.93% 113 p/s1044 / 1895 [--------------------------------------->_______________________________] 55.09% 113 p/s1068 / 1895 [---------------------------------------->______________________________] 56.36% 113 p/s1090 / 1895 [---------------------------------------->______________________________] 57.52% 113 p/s1113 / 1895 [----------------------------------------->_____________________________] 58.73% 113 p/s1135 / 1895 [------------------------------------------>____________________________] 59.89% 113 p/s1158 / 1895 [------------------------------------------->___________________________] 61.11% 113 p/s1181 / 1895 [-------------------------------------------->__________________________] 62.32% 113 p/s1204 / 1895 [--------------------------------------------->_________________________] 63.54% 113 p/s1226 / 1895 [--------------------------------------------->_________________________] 64.70% 113 p/s1249 / 1895 [---------------------------------------------->________________________] 65.91% 113 p/s1271 / 1895 [----------------------------------------------->_______________________] 67.07% 113 p/s1294 / 1895 [------------------------------------------------>______________________] 68.28% 113 p/s1317 / 1895 [------------------------------------------------->_____________________] 69.50% 113 p/s1340 / 1895 [-------------------------------------------------->____________________] 70.71% 113 p/s1363 / 1895 [--------------------------------------------------->___________________] 71.93% 113 p/s1386 / 1895 [--------------------------------------------------->___________________] 73.14% 113 p/s1409 / 1895 [---------------------------------------------------->__________________] 74.35% 113 p/s1432 / 1895 [----------------------------------------------------->_________________] 75.57% 113 p/s1454 / 1895 [------------------------------------------------------>________________] 76.73% 113 p/s1477 / 1895 [------------------------------------------------------->_______________] 77.94% 113 p/s1500 / 1895 [-------------------------------------------------------->______________] 79.16% 113 p/s1523 / 1895 [--------------------------------------------------------->_____________] 80.37% 113 p/s1546 / 1895 [--------------------------------------------------------->_____________] 81.58% 113 p/s1569 / 1895 [---------------------------------------------------------->____________] 82.80% 113 p/s1592 / 1895 [----------------------------------------------------------->___________] 84.01% 113 p/s1614 / 1895 [------------------------------------------------------------>__________] 85.17% 113 p/s1637 / 1895 [------------------------------------------------------------->_________] 86.39% 113 p/s1660 / 1895 [-------------------------------------------------------------->________] 87.60% 113 p/s1683 / 1895 [--------------------------------------------------------------->_______] 88.81% 113 p/s1706 / 1895 [--------------------------------------------------------------->_______] 90.03% 113 p/s1729 / 1895 [---------------------------------------------------------------->______] 91.24% 114 p/s1752 / 1895 [----------------------------------------------------------------->_____] 92.45% 114 p/s1774 / 1895 [------------------------------------------------------------------>____] 93.61% 114 p/s1797 / 1895 [------------------------------------------------------------------->___] 94.83% 114 p/s1820 / 1895 [-------------------------------------------------------------------->__] 96.04% 114 p/s1843 / 1895 [--------------------------------------------------------------------->_] 97.26% 114 p/s1866 / 1895 [--------------------------------------------------------------------->_] 98.47% 114 p/s1889 / 1895 [---------------------------------------------------------------------->] 99.68% 114 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-27T05:22:21 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-27T05:23:29 - 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"
2026-02-27T05:23:30 - INFO: DataPrep 0.14.0a6
2026-02-27T05:23:30 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-02-27T05:23:30 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:23:30 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:23:30 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-02-27T05:23:30 - INFO: Preparing sonar data...
2026-02-27T05:23:30 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:23:32 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-02-27T05:23:32 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:23:32 - INFO: Sonar range is 0.939120 m
2026-02-27T05:23:32 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:23:32 - INFO: Processing 1894 sweeps...

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2026-02-27T05:23:36 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:23:36 - INFO: Prepared sonar data in 5.9414 s
2026-02-27T05:23:36 - INFO: No IMU data found
2026-02-27T05:23:36 - INFO: DataPrep took 0:00:06.121242
2026-02-27T05:23:36 - INFO: Extracted sonar data in 0:01:32.014641
2026-02-27T05:23:37 - INFO: MSIP3D took 0:01:32.188247