2026-03-03T04:29:14 - INFO: MSIP3D 0.2.0a10
2026-03-03T04:29:14 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-03T04:29:14 - INFO: Found 10 TFD dictionary entries
2026-03-03T04:29:15 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-03T04:29:15 - INFO: Recording will be processed as MD
2026-03-03T04:29:15 - INFO: Copying assets JSON to output directory...
2026-03-03T04:29:15 - INFO: Preparing counter data...
2026-03-03T04:29:15 - INFO: Interpreting counter as imperial
2026-03-03T04:29:15 - INFO: Preparing size track from assets JSON...
2026-03-03T04:29:15 - INFO: Preparing shape track from assets JSON...
2026-03-03T04:29:15 - INFO: Preparing material track from assets JSON...
2026-03-03T04:29:15 - INFO: Prepared counter data in 0.0439 s
2026-03-03T04:29:15 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1851
21 / 1851 [>___________________________________________________________________________] 1.13% ? p/s43 / 1851 [->__________________________________________________________________________] 2.32% ? p/s64 / 1851 [-->_________________________________________________________________________] 3.46% ? p/s85 / 1851 [--->______________________________________________________________________] 4.59% 107 p/s107 / 1851 [---->____________________________________________________________________] 5.78% 107 p/s128 / 1851 [----->___________________________________________________________________] 6.92% 107 p/s150 / 1851 [----->___________________________________________________________________] 8.10% 107 p/s171 / 1851 [------>__________________________________________________________________] 9.24% 107 p/s193 / 1851 [------->________________________________________________________________] 10.43% 107 p/s215 / 1851 [-------->_______________________________________________________________] 11.62% 107 p/s237 / 1851 [--------->______________________________________________________________] 12.80% 107 p/s258 / 1851 [---------->_____________________________________________________________] 13.94% 107 p/s280 / 1851 [---------->_____________________________________________________________] 15.13% 107 p/s302 / 1851 [----------->____________________________________________________________] 16.32% 107 p/s325 / 1851 [------------>___________________________________________________________] 17.56% 107 p/s346 / 1851 [------------->__________________________________________________________] 18.69% 107 p/s369 / 1851 [-------------->_________________________________________________________] 19.94% 107 p/s391 / 1851 [--------------->________________________________________________________] 21.12% 107 p/s413 / 1851 [---------------->_______________________________________________________] 22.31% 107 p/s435 / 1851 [---------------->_______________________________________________________] 23.50% 107 p/s458 / 1851 [----------------->______________________________________________________] 24.74% 107 p/s480 / 1851 [------------------>_____________________________________________________] 25.93% 108 p/s503 / 1851 [------------------->____________________________________________________] 27.17% 108 p/s525 / 1851 [-------------------->___________________________________________________] 28.36% 108 p/s547 / 1851 [--------------------->__________________________________________________] 29.55% 108 p/s569 / 1851 [---------------------->_________________________________________________] 30.74% 108 p/s592 / 1851 [----------------------->________________________________________________] 31.98% 108 p/s614 / 1851 [----------------------->________________________________________________] 33.17% 108 p/s637 / 1851 [------------------------>_______________________________________________] 34.41% 108 p/s659 / 1851 [------------------------->______________________________________________] 35.60% 108 p/s680 / 1851 [-------------------------->_____________________________________________] 36.74% 108 p/s702 / 1851 [--------------------------->____________________________________________] 37.93% 108 p/s723 / 1851 [---------------------------->___________________________________________] 39.06% 108 p/s744 / 1851 [---------------------------->___________________________________________] 40.19% 108 p/s766 / 1851 [----------------------------->__________________________________________] 41.38% 108 p/s787 / 1851 [------------------------------>_________________________________________] 42.52% 108 p/s809 / 1851 [------------------------------->________________________________________] 43.71% 108 p/s831 / 1851 [-------------------------------->_______________________________________] 44.89% 108 p/s853 / 1851 [--------------------------------->______________________________________] 46.08% 108 p/s875 / 1851 [---------------------------------->_____________________________________] 47.27% 108 p/s897 / 1851 [---------------------------------->_____________________________________] 48.46% 108 p/s919 / 1851 [----------------------------------->____________________________________] 49.65% 108 p/s941 / 1851 [------------------------------------>___________________________________] 50.84% 108 p/s964 / 1851 [------------------------------------->__________________________________] 52.08% 108 p/s987 / 1851 [-------------------------------------->_________________________________] 53.32% 108 p/s1008 / 1851 [-------------------------------------->________________________________] 54.46% 109 p/s1030 / 1851 [--------------------------------------->_______________________________] 55.65% 109 p/s1053 / 1851 [---------------------------------------->______________________________] 56.89% 109 p/s1074 / 1851 [----------------------------------------->_____________________________] 58.02% 109 p/s1097 / 1851 [------------------------------------------>____________________________] 59.27% 109 p/s1120 / 1851 [------------------------------------------>____________________________] 60.51% 109 p/s1142 / 1851 [------------------------------------------->___________________________] 61.70% 109 p/s1165 / 1851 [-------------------------------------------->__________________________] 62.94% 109 p/s1187 / 1851 [--------------------------------------------->_________________________] 64.13% 109 p/s1210 / 1851 [---------------------------------------------->________________________] 65.37% 109 p/s1232 / 1851 [----------------------------------------------->_______________________] 66.56% 109 p/s1255 / 1851 [------------------------------------------------>______________________] 67.80% 109 p/s1277 / 1851 [------------------------------------------------>______________________] 68.99% 109 p/s1300 / 1851 [------------------------------------------------->_____________________] 70.23% 109 p/s1323 / 1851 [-------------------------------------------------->____________________] 71.47% 109 p/s1346 / 1851 [--------------------------------------------------->___________________] 72.72% 110 p/s1368 / 1851 [---------------------------------------------------->__________________] 73.91% 110 p/s1391 / 1851 [----------------------------------------------------->_________________] 75.15% 110 p/s1414 / 1851 [------------------------------------------------------>________________] 76.39% 110 p/s1436 / 1851 [------------------------------------------------------->_______________] 77.58% 110 p/s1458 / 1851 [------------------------------------------------------->_______________] 78.77% 110 p/s1480 / 1851 [-------------------------------------------------------->______________] 79.96% 110 p/s1503 / 1851 [--------------------------------------------------------->_____________] 81.20% 110 p/s1525 / 1851 [---------------------------------------------------------->____________] 82.39% 110 p/s1547 / 1851 [----------------------------------------------------------->___________] 83.58% 110 p/s1569 / 1851 [------------------------------------------------------------>__________] 84.76% 110 p/s1591 / 1851 [------------------------------------------------------------->_________] 85.95% 110 p/s1612 / 1851 [------------------------------------------------------------->_________] 87.09% 110 p/s1635 / 1851 [-------------------------------------------------------------->________] 88.33% 110 p/s1657 / 1851 [--------------------------------------------------------------->_______] 89.52% 110 p/s1680 / 1851 [---------------------------------------------------------------->______] 90.76% 110 p/s1702 / 1851 [----------------------------------------------------------------->_____] 91.95% 110 p/s1724 / 1851 [------------------------------------------------------------------>____] 93.14% 110 p/s1745 / 1851 [------------------------------------------------------------------>____] 94.27% 110 p/s1767 / 1851 [------------------------------------------------------------------->___] 95.46% 110 p/s1790 / 1851 [-------------------------------------------------------------------->__] 96.70% 110 p/s1812 / 1851 [--------------------------------------------------------------------->_] 97.89% 110 p/s1834 / 1851 [---------------------------------------------------------------------->] 99.08% 110 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-03T04:29:31 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-03T04:30:41 - 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/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-03-03T04:30:42 - INFO: DataPrep 0.14.0a6
2026-03-03T04:30:42 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-03T04:30:42 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-03T04:30:42 - deployment - INFO: Detected P3D version: P3D_1
2026-03-03T04:30:42 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-03T04:30:42 - INFO: Preparing sonar data...
2026-03-03T04:30:42 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-03T04:30:44 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-03T04:30:44 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-03T04:30:44 - INFO: Sonar range is 0.722400 m
2026-03-03T04:30:44 - INFO: Speed of sound is 1494 m/s
2026-03-03T04:30:44 - INFO: Processing 1851 sweeps...

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100%|██████████| 1851/1851 [00:05<00:00, 310.68it/s]
2026-03-03T04:30:51 - INFO: Creating sonar sensor alignment track...
2026-03-03T04:30:52 - INFO: Prepared sonar data in 9.1138 s
2026-03-03T04:30:52 - INFO: No IMU data found
2026-03-03T04:30:52 - INFO: DataPrep took 0:00:09.340691
2026-03-03T04:30:52 - INFO: Extracted sonar data in 0:01:37.390960
2026-03-03T04:30:52 - INFO: MSIP3D took 0:01:37.666769