2026-03-11T02:51:34 - INFO: MSIP3D 0.2.0a11
2026-03-11T02:51:34 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-03-11T02:51:34 - INFO: Found 10 TFD dictionary entries
2026-03-11T02:51:34 - INFO: Found TFD mission for SJ502795 Dep 10
2026-03-11T02:51:34 - INFO: Recording will be processed as MD
2026-03-11T02:51:34 - INFO: Copying assets JSON to output directory...
2026-03-11T02:51:34 - INFO: Preparing counter data...
2026-03-11T02:51:34 - INFO: Interpreting counter as imperial
2026-03-11T02:51:34 - INFO: Preparing size track from assets JSON...
2026-03-11T02:51:34 - INFO: Preparing shape track from assets JSON...
2026-03-11T02:51:34 - INFO: Preparing material track from assets JSON...
2026-03-11T02:51:34 - INFO: Prepared counter data in 0.1104 s
2026-03-11T02:51:34 - INFO: Extracting sonar data...
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/SJ502795_Dep_10.tfd
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 3238
22 / 3238 [>___________________________________________________________________________] 0.68% ? p/s44 / 3238 [->__________________________________________________________________________] 1.36% ? p/s66 / 3238 [->__________________________________________________________________________] 2.04% ? p/s89 / 3238 [-->_______________________________________________________________________] 2.75% 112 p/s112 / 3238 [-->______________________________________________________________________] 3.46% 112 p/s133 / 3238 [-->______________________________________________________________________] 4.11% 112 p/s156 / 3238 [--->_____________________________________________________________________] 4.82% 112 p/s178 / 3238 [---->____________________________________________________________________] 5.50% 112 p/s201 / 3238 [---->____________________________________________________________________] 6.21% 112 p/s224 / 3238 [----->___________________________________________________________________] 6.92% 112 p/s247 / 3238 [----->___________________________________________________________________] 7.63% 112 p/s269 / 3238 [------>__________________________________________________________________] 8.31% 112 p/s291 / 3238 [------>__________________________________________________________________] 8.99% 112 p/s314 / 3238 [------->_________________________________________________________________] 9.70% 112 p/s337 / 3238 [------->________________________________________________________________] 10.41% 112 p/s359 / 3238 [------->________________________________________________________________] 11.09% 112 p/s382 / 3238 [-------->_______________________________________________________________] 11.80% 112 p/s405 / 3238 [--------->______________________________________________________________] 12.51% 112 p/s427 / 3238 [--------->______________________________________________________________] 13.19% 112 p/s450 / 3238 [---------->_____________________________________________________________] 13.90% 112 p/s457 / 3238 [---------->_____________________________________________________________] 14.11% 112 p/s480 / 3238 [---------->_____________________________________________________________] 14.82% 110 p/s503 / 3238 [----------->____________________________________________________________] 15.53% 110 p/s525 / 3238 [----------->____________________________________________________________] 16.21% 110 p/s548 / 3238 [------------>___________________________________________________________] 16.92% 111 p/s571 / 3238 [------------>___________________________________________________________] 17.63% 111 p/s593 / 3238 [------------->__________________________________________________________] 18.31% 111 p/s616 / 3238 [------------->__________________________________________________________] 19.02% 111 p/s638 / 3238 [-------------->_________________________________________________________] 19.70% 111 p/s661 / 3238 [-------------->_________________________________________________________] 20.41% 111 p/s684 / 3238 [--------------->________________________________________________________] 21.12% 111 p/s706 / 3238 [--------------->________________________________________________________] 21.80% 111 p/s728 / 3238 [---------------->_______________________________________________________] 22.48% 111 p/s750 / 3238 [---------------->_______________________________________________________] 23.16% 111 p/s773 / 3238 [----------------->______________________________________________________] 23.87% 111 p/s796 / 3238 [----------------->______________________________________________________] 24.58% 111 p/s818 / 3238 [------------------>_____________________________________________________] 25.26% 111 p/s841 / 3238 [------------------>_____________________________________________________] 25.97% 111 p/s864 / 3238 [------------------->____________________________________________________] 26.68% 111 p/s887 / 3238 [------------------->____________________________________________________] 27.39% 111 p/s909 / 3238 [-------------------->___________________________________________________] 28.07% 111 p/s932 / 3238 [-------------------->___________________________________________________] 28.78% 111 p/s954 / 3238 [--------------------->__________________________________________________] 29.46% 111 p/s977 / 3238 [--------------------->__________________________________________________] 30.17% 111 p/s1000 / 3238 [--------------------->_________________________________________________] 30.88% 111 p/s1021 / 3238 [---------------------->________________________________________________] 31.53% 111 p/s1044 / 3238 [---------------------->________________________________________________] 32.24% 111 p/s1066 / 3238 [----------------------->_______________________________________________] 32.92% 111 p/s1089 / 3238 [----------------------->_______________________________________________] 33.63% 111 p/s1112 / 3238 [------------------------>______________________________________________] 34.34% 111 p/s1134 / 3238 [------------------------>______________________________________________] 35.02% 111 p/s1156 / 3238 [------------------------->_____________________________________________] 35.70% 112 p/s1178 / 3238 [------------------------->_____________________________________________] 36.38% 112 p/s1200 / 3238 [-------------------------->____________________________________________] 37.06% 112 p/s1223 / 3238 [-------------------------->____________________________________________] 37.77% 112 p/s1245 / 3238 [--------------------------->___________________________________________] 38.45% 112 p/s1268 / 3238 [--------------------------->___________________________________________] 39.16% 112 p/s1290 / 3238 [---------------------------->__________________________________________] 39.84% 112 p/s1313 / 3238 [---------------------------->__________________________________________] 40.55% 112 p/s1336 / 3238 [----------------------------->_________________________________________] 41.26% 112 p/s1358 / 3238 [----------------------------->_________________________________________] 41.94% 112 p/s1381 / 3238 [------------------------------>________________________________________] 42.65% 112 p/s1403 / 3238 [------------------------------>________________________________________] 43.33% 112 p/s1426 / 3238 [------------------------------->_______________________________________] 44.04% 112 p/s1448 / 3238 [------------------------------->_______________________________________] 44.72% 112 p/s1471 / 3238 [-------------------------------->______________________________________] 45.43% 112 p/s1493 / 3238 [-------------------------------->______________________________________] 46.11% 112 p/s1516 / 3238 [--------------------------------->_____________________________________] 46.82% 112 p/s1539 / 3238 [--------------------------------->_____________________________________] 47.53% 112 p/s1561 / 3238 [---------------------------------->____________________________________] 48.21% 112 p/s1583 / 3238 [---------------------------------->____________________________________] 48.89% 112 p/s1605 / 3238 [----------------------------------->___________________________________] 49.57% 112 p/s1626 / 3238 [----------------------------------->___________________________________] 50.22% 112 p/s1648 / 3238 [------------------------------------>__________________________________] 50.90% 112 p/s1670 / 3238 [------------------------------------>__________________________________] 51.58% 112 p/s1693 / 3238 [------------------------------------->_________________________________] 52.29% 112 p/s1716 / 3238 [------------------------------------->_________________________________] 53.00% 112 p/s1738 / 3238 [-------------------------------------->________________________________] 53.68% 112 p/s1760 / 3238 [-------------------------------------->________________________________] 54.35% 112 p/s1783 / 3238 [--------------------------------------->_______________________________] 55.06% 112 p/s1806 / 3238 [--------------------------------------->_______________________________] 55.78% 112 p/s1828 / 3238 [---------------------------------------->______________________________] 56.45% 112 p/s1851 / 3238 [---------------------------------------->______________________________] 57.16% 112 p/s1873 / 3238 [----------------------------------------->_____________________________] 57.84% 112 p/s1896 / 3238 [----------------------------------------->_____________________________] 58.55% 112 p/s1918 / 3238 [------------------------------------------>____________________________] 59.23% 112 p/s1941 / 3238 [------------------------------------------>____________________________] 59.94% 112 p/s1962 / 3238 [------------------------------------------->___________________________] 60.59% 112 p/s1985 / 3238 [------------------------------------------->___________________________] 61.30% 112 p/s2007 / 3238 [-------------------------------------------->__________________________] 61.98% 112 p/s2030 / 3238 [-------------------------------------------->__________________________] 62.69% 112 p/s2052 / 3238 [-------------------------------------------->__________________________] 63.37% 112 p/s2074 / 3238 [--------------------------------------------->_________________________] 64.05% 112 p/s2097 / 3238 [--------------------------------------------->_________________________] 64.76% 112 p/s2120 / 3238 [---------------------------------------------->________________________] 65.47% 112 p/s2142 / 3238 [---------------------------------------------->________________________] 66.15% 112 p/s2165 / 3238 [----------------------------------------------->_______________________] 66.86% 112 p/s2187 / 3238 [----------------------------------------------->_______________________] 67.54% 112 p/s2210 / 3238 [------------------------------------------------>______________________] 68.25% 112 p/s2233 / 3238 [------------------------------------------------>______________________] 68.96% 112 p/s2252 / 3238 [------------------------------------------------->_____________________] 69.55% 112 p/s2275 / 3238 [------------------------------------------------->_____________________] 70.26% 112 p/s2297 / 3238 [-------------------------------------------------->____________________] 70.94% 112 p/s2318 / 3238 [-------------------------------------------------->____________________] 71.59% 112 p/s2339 / 3238 [--------------------------------------------------->___________________] 72.24% 112 p/s2361 / 3238 [--------------------------------------------------->___________________] 72.92% 111 p/s2384 / 3238 [---------------------------------------------------->__________________] 73.63% 111 p/s2407 / 3238 [---------------------------------------------------->__________________] 74.34% 111 p/s2429 / 3238 [----------------------------------------------------->_________________] 75.02% 111 p/s2452 / 3238 [----------------------------------------------------->_________________] 75.73% 111 p/s2475 / 3238 [------------------------------------------------------>________________] 76.44% 111 p/s2497 / 3238 [------------------------------------------------------>________________] 77.12% 112 p/s2520 / 3238 [------------------------------------------------------->_______________] 77.83% 112 p/s2542 / 3238 [------------------------------------------------------->_______________] 78.51% 112 p/s2565 / 3238 [-------------------------------------------------------->______________] 79.22% 112 p/s2587 / 3238 [-------------------------------------------------------->______________] 79.89% 112 p/s2607 / 3238 [--------------------------------------------------------->_____________] 80.51% 112 p/s2621 / 3238 [--------------------------------------------------------->_____________] 80.95% 111 p/s2640 / 3238 [--------------------------------------------------------->_____________] 81.53% 111 p/s2657 / 3238 [---------------------------------------------------------->____________] 82.06% 111 p/s2672 / 3238 [---------------------------------------------------------->____________] 82.52% 109 p/s2689 / 3238 [---------------------------------------------------------->____________] 83.05% 109 p/s2702 / 3238 [----------------------------------------------------------->___________] 83.45% 109 p/s2716 / 3238 [----------------------------------------------------------->___________] 83.88% 107 p/s2732 / 3238 [----------------------------------------------------------->___________] 84.37% 107 p/s2748 / 3238 [------------------------------------------------------------>__________] 84.87% 107 p/s2765 / 3238 [------------------------------------------------------------>__________] 85.39% 105 p/s2780 / 3238 [------------------------------------------------------------>__________] 85.86% 105 p/s2795 / 3238 [------------------------------------------------------------->_________] 86.32% 105 p/s2812 / 3238 [------------------------------------------------------------->_________] 86.84% 103 p/s2828 / 3238 [-------------------------------------------------------------->________] 87.34% 103 p/s2847 / 3238 [-------------------------------------------------------------->________] 87.92% 103 p/s2863 / 3238 [-------------------------------------------------------------->________] 88.42% 102 p/s2881 / 3238 [--------------------------------------------------------------->_______] 88.97% 102 p/s2895 / 3238 [--------------------------------------------------------------->_______] 89.41% 102 p/s2910 / 3238 [--------------------------------------------------------------->_______] 89.87% 101 p/s2931 / 3238 [---------------------------------------------------------------->______] 90.52% 101 p/s2953 / 3238 [---------------------------------------------------------------->______] 91.20% 101 p/s2976 / 3238 [----------------------------------------------------------------->_____] 91.91% 101 p/s2999 / 3238 [----------------------------------------------------------------->_____] 92.62% 101 p/s3021 / 3238 [------------------------------------------------------------------>____] 93.30% 101 p/s3044 / 3238 [------------------------------------------------------------------>____] 94.01% 102 p/s3066 / 3238 [------------------------------------------------------------------->___] 94.69% 102 p/s3089 / 3238 [------------------------------------------------------------------->___] 95.40% 102 p/s3111 / 3238 [-------------------------------------------------------------------->__] 96.08% 103 p/s3134 / 3238 [-------------------------------------------------------------------->__] 96.79% 103 p/s3156 / 3238 [--------------------------------------------------------------------->_] 97.47% 103 p/s3178 / 3238 [--------------------------------------------------------------------->_] 98.15% 103 p/s3201 / 3238 [---------------------------------------------------------------------->] 98.86% 103 p/s3223 / 3238 [---------------------------------------------------------------------->] 99.54% 103 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 108 p/s2026-03-11T02:52:04 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-11T02:54:06 - 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/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99"
2026-03-11T02:54:07 - INFO: DataPrep 0.14.0a7
2026-03-11T02:54:07 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-03-11T02:54:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T02:54:07 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T02:54:07 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-03-11T02:54:07 - INFO: Preparing sonar data...
2026-03-11T02:54:07 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T02:54:10 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-03-11T02:54:10 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T02:54:10 - INFO: Sonar range is 0.939120 m
2026-03-11T02:54:10 - INFO: Speed of sound is 1494 m/s
2026-03-11T02:54:10 - INFO: Processing 3237 sweeps...

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2026-03-11T02:54:18 - INFO: Creating sonar sensor alignment track...
2026-03-11T02:54:20 - INFO: Prepared sonar data in 13.1463 s
2026-03-11T02:54:20 - INFO: No IMU data found
2026-03-11T02:54:21 - INFO: DataPrep took 0:00:13.544004
2026-03-11T02:54:21 - INFO: Extracted sonar data in 0:02:46.845133
2026-03-11T02:54:21 - INFO: MSIP3D took 0:02:47.250756