2026-03-12T07:48:13 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:48:13 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-12T07:48:13 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:48:13 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-12T07:48:13 - INFO: Recording will be processed as MD
2026-03-12T07:48:13 - INFO: Copying assets JSON to output directory...
2026-03-12T07:48:13 - INFO: Preparing counter data...
2026-03-12T07:48:13 - INFO: Interpreting counter as imperial
2026-03-12T07:48:13 - INFO: Preparing size track from assets JSON...
2026-03-12T07:48:13 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:48:13 - INFO: Preparing material track from assets JSON...
2026-03-12T07:48:13 - INFO: Prepared counter data in 0.0610 s
2026-03-12T07:48:13 - INFO: Extracting sonar data...
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/SJ502795_Dep_4.tfd
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 4634
20 / 4634 [>___________________________________________________________________________] 0.43% ? p/s42 / 4634 [>___________________________________________________________________________] 0.91% ? p/s64 / 4634 [->__________________________________________________________________________] 1.38% ? p/s87 / 4634 [->________________________________________________________________________] 1.88% 112 p/s110 / 4634 [->_______________________________________________________________________] 2.37% 112 p/s132 / 4634 [-->______________________________________________________________________] 2.85% 112 p/s155 / 4634 [-->______________________________________________________________________] 3.34% 112 p/s178 / 4634 [-->______________________________________________________________________] 3.84% 112 p/s201 / 4634 [--->_____________________________________________________________________] 4.34% 112 p/s224 / 4634 [--->_____________________________________________________________________] 4.83% 112 p/s247 / 4634 [--->_____________________________________________________________________] 5.33% 112 p/s269 / 4634 [---->____________________________________________________________________] 5.80% 112 p/s292 / 4634 [---->____________________________________________________________________] 6.30% 112 p/s315 / 4634 [---->____________________________________________________________________] 6.80% 112 p/s338 / 4634 [----->___________________________________________________________________] 7.29% 112 p/s361 / 4634 [----->___________________________________________________________________] 7.79% 112 p/s384 / 4634 [------>__________________________________________________________________] 8.29% 112 p/s407 / 4634 [------>__________________________________________________________________] 8.78% 112 p/s430 / 4634 [------>__________________________________________________________________] 9.28% 112 p/s454 / 4634 [------->_________________________________________________________________] 9.80% 112 p/s477 / 4634 [------->________________________________________________________________] 10.29% 112 p/s498 / 4634 [------->________________________________________________________________] 10.75% 113 p/s519 / 4634 [-------->_______________________________________________________________] 11.20% 113 p/s542 / 4634 [-------->_______________________________________________________________] 11.70% 113 p/s565 / 4634 [-------->_______________________________________________________________] 12.19% 112 p/s588 / 4634 [--------->______________________________________________________________] 12.69% 112 p/s610 / 4634 [--------->______________________________________________________________] 13.16% 112 p/s632 / 4634 [--------->______________________________________________________________] 13.64% 112 p/s655 / 4634 [---------->_____________________________________________________________] 14.13% 112 p/s678 / 4634 [---------->_____________________________________________________________] 14.63% 112 p/s700 / 4634 [---------->_____________________________________________________________] 15.11% 112 p/s723 / 4634 [----------->____________________________________________________________] 15.60% 112 p/s746 / 4634 [----------->____________________________________________________________] 16.10% 112 p/s768 / 4634 [----------->____________________________________________________________] 16.57% 113 p/s791 / 4634 [------------>___________________________________________________________] 17.07% 113 p/s814 / 4634 [------------>___________________________________________________________] 17.57% 113 p/s837 / 4634 [------------->__________________________________________________________] 18.06% 113 p/s860 / 4634 [------------->__________________________________________________________] 18.56% 113 p/s882 / 4634 [------------->__________________________________________________________] 19.03% 113 p/s905 / 4634 [-------------->_________________________________________________________] 19.53% 113 p/s927 / 4634 [-------------->_________________________________________________________] 20.00% 113 p/s950 / 4634 [-------------->_________________________________________________________] 20.50% 113 p/s973 / 4634 [--------------->________________________________________________________] 21.00% 113 p/s996 / 4634 [--------------->________________________________________________________] 21.49% 113 p/s1018 / 4634 [--------------->_______________________________________________________] 21.97% 113 p/s1041 / 4634 [--------------->_______________________________________________________] 22.46% 113 p/s1063 / 4634 [---------------->______________________________________________________] 22.94% 113 p/s1085 / 4634 [---------------->______________________________________________________] 23.41% 113 p/s1108 / 4634 [---------------->______________________________________________________] 23.91% 113 p/s1130 / 4634 [----------------->_____________________________________________________] 24.38% 113 p/s1152 / 4634 [----------------->_____________________________________________________] 24.86% 113 p/s1175 / 4634 [------------------>____________________________________________________] 25.36% 113 p/s1198 / 4634 [------------------>____________________________________________________] 25.85% 113 p/s1220 / 4634 [------------------>____________________________________________________] 26.33% 113 p/s1242 / 4634 [------------------->___________________________________________________] 26.80% 113 p/s1265 / 4634 [------------------->___________________________________________________] 27.30% 113 p/s1288 / 4634 [------------------->___________________________________________________] 27.79% 113 p/s1310 / 4634 [-------------------->__________________________________________________] 28.27% 113 p/s1333 / 4634 [-------------------->__________________________________________________] 28.77% 113 p/s1355 / 4634 [-------------------->__________________________________________________] 29.24% 113 p/s1377 / 4634 [--------------------->_________________________________________________] 29.72% 113 p/s1399 / 4634 [--------------------->_________________________________________________] 30.19% 113 p/s1422 / 4634 [--------------------->_________________________________________________] 30.69% 113 p/s1445 / 4634 [---------------------->________________________________________________] 31.18% 113 p/s1468 / 4634 [---------------------->________________________________________________] 31.68% 113 p/s1491 / 4634 [---------------------->________________________________________________] 32.18% 113 p/s1514 / 4634 [----------------------->_______________________________________________] 32.67% 113 p/s1537 / 4634 [----------------------->_______________________________________________] 33.17% 113 p/s1560 / 4634 [----------------------->_______________________________________________] 33.66% 113 p/s1583 / 4634 [------------------------>______________________________________________] 34.16% 113 p/s1606 / 4634 [------------------------>______________________________________________] 34.66% 113 p/s1629 / 4634 [------------------------>______________________________________________] 35.15% 113 p/s1652 / 4634 [------------------------->_____________________________________________] 35.65% 113 p/s1675 / 4634 [------------------------->_____________________________________________] 36.15% 113 p/s1698 / 4634 [-------------------------->____________________________________________] 36.64% 113 p/s1720 / 4634 [-------------------------->____________________________________________] 37.12% 113 p/s1743 / 4634 [-------------------------->____________________________________________] 37.61% 113 p/s1766 / 4634 [--------------------------->___________________________________________] 38.11% 113 p/s1789 / 4634 [--------------------------->___________________________________________] 38.61% 113 p/s1812 / 4634 [--------------------------->___________________________________________] 39.10% 113 p/s1835 / 4634 [---------------------------->__________________________________________] 39.60% 113 p/s1857 / 4634 [---------------------------->__________________________________________] 40.07% 113 p/s1880 / 4634 [---------------------------->__________________________________________] 40.57% 113 p/s1903 / 4634 [----------------------------->_________________________________________] 41.07% 113 p/s1925 / 4634 [----------------------------->_________________________________________] 41.54% 113 p/s1947 / 4634 [----------------------------->_________________________________________] 42.02% 113 p/s1969 / 4634 [------------------------------>________________________________________] 42.49% 113 p/s1991 / 4634 [------------------------------>________________________________________] 42.97% 113 p/s2014 / 4634 [------------------------------>________________________________________] 43.46% 113 p/s2036 / 4634 [------------------------------->_______________________________________] 43.94% 113 p/s2057 / 4634 [------------------------------->_______________________________________] 44.39% 113 p/s2078 / 4634 [------------------------------->_______________________________________] 44.84% 113 p/s2100 / 4634 [-------------------------------->______________________________________] 45.32% 113 p/s2122 / 4634 [-------------------------------->______________________________________] 45.79% 113 p/s2144 / 4634 [-------------------------------->______________________________________] 46.27% 113 p/s2167 / 4634 [--------------------------------->_____________________________________] 46.76% 113 p/s2188 / 4634 [--------------------------------->_____________________________________] 47.22% 112 p/s2211 / 4634 [--------------------------------->_____________________________________] 47.71% 112 p/s2233 / 4634 [---------------------------------->____________________________________] 48.19% 112 p/s2256 / 4634 [---------------------------------->____________________________________] 48.68% 112 p/s2279 / 4634 [---------------------------------->____________________________________] 49.18% 112 p/s2302 / 4634 [----------------------------------->___________________________________] 49.68% 112 p/s2324 / 4634 [----------------------------------->___________________________________] 50.15% 112 p/s2347 / 4634 [----------------------------------->___________________________________] 50.65% 112 p/s2370 / 4634 [------------------------------------>__________________________________] 51.14% 112 p/s2392 / 4634 [------------------------------------>__________________________________] 51.62% 113 p/s2415 / 4634 [------------------------------------->_________________________________] 52.11% 113 p/s2438 / 4634 [------------------------------------->_________________________________] 52.61% 113 p/s2460 / 4634 [------------------------------------->_________________________________] 53.09% 113 p/s2483 / 4634 [-------------------------------------->________________________________] 53.58% 113 p/s2505 / 4634 [-------------------------------------->________________________________] 54.06% 113 p/s2528 / 4634 [-------------------------------------->________________________________] 54.55% 113 p/s2550 / 4634 [--------------------------------------->_______________________________] 55.03% 113 p/s2573 / 4634 [--------------------------------------->_______________________________] 55.52% 113 p/s2596 / 4634 [--------------------------------------->_______________________________] 56.02% 113 p/s2619 / 4634 [---------------------------------------->______________________________] 56.52% 113 p/s2641 / 4634 [---------------------------------------->______________________________] 56.99% 113 p/s2663 / 4634 [---------------------------------------->______________________________] 57.47% 113 p/s2686 / 4634 [----------------------------------------->_____________________________] 57.96% 113 p/s2709 / 4634 [----------------------------------------->_____________________________] 58.46% 113 p/s2731 / 4634 [----------------------------------------->_____________________________] 58.93% 113 p/s2754 / 4634 [------------------------------------------>____________________________] 59.43% 113 p/s2777 / 4634 [------------------------------------------>____________________________] 59.93% 113 p/s2791 / 4634 [------------------------------------------>____________________________] 60.23% 112 p/s2813 / 4634 [------------------------------------------->___________________________] 60.70% 112 p/s2835 / 4634 [------------------------------------------->___________________________] 61.18% 112 p/s2858 / 4634 [------------------------------------------->___________________________] 61.67% 112 p/s2881 / 4634 [-------------------------------------------->__________________________] 62.17% 112 p/s2904 / 4634 [-------------------------------------------->__________________________] 62.67% 112 p/s2926 / 4634 [-------------------------------------------->__________________________] 63.14% 112 p/s2949 / 4634 [--------------------------------------------->_________________________] 63.64% 112 p/s2971 / 4634 [--------------------------------------------->_________________________] 64.11% 112 p/s2994 / 4634 [--------------------------------------------->_________________________] 64.61% 112 p/s3016 / 4634 [---------------------------------------------->________________________] 65.08% 112 p/s3038 / 4634 [---------------------------------------------->________________________] 65.56% 112 p/s3060 / 4634 [---------------------------------------------->________________________] 66.03% 112 p/s3083 / 4634 [----------------------------------------------->_______________________] 66.53% 112 p/s3106 / 4634 [----------------------------------------------->_______________________] 67.03% 112 p/s3129 / 4634 [----------------------------------------------->_______________________] 67.52% 112 p/s3152 / 4634 [------------------------------------------------>______________________] 68.02% 112 p/s3175 / 4634 [------------------------------------------------>______________________] 68.52% 112 p/s3197 / 4634 [------------------------------------------------>______________________] 68.99% 112 p/s3220 / 4634 [------------------------------------------------->_____________________] 69.49% 112 p/s3243 / 4634 [------------------------------------------------->_____________________] 69.98% 112 p/s3266 / 4634 [-------------------------------------------------->____________________] 70.48% 112 p/s3289 / 4634 [-------------------------------------------------->____________________] 70.98% 112 p/s3311 / 4634 [-------------------------------------------------->____________________] 71.45% 112 p/s3333 / 4634 [--------------------------------------------------->___________________] 71.92% 112 p/s3346 / 4634 [--------------------------------------------------->___________________] 72.21% 112 p/s3366 / 4634 [--------------------------------------------------->___________________] 72.64% 112 p/s3386 / 4634 [--------------------------------------------------->___________________] 73.07% 111 p/s3408 / 4634 [---------------------------------------------------->__________________] 73.54% 111 p/s3429 / 4634 [---------------------------------------------------->__________________] 74.00% 111 p/s3451 / 4634 [---------------------------------------------------->__________________] 74.47% 111 p/s3472 / 4634 [----------------------------------------------------->_________________] 74.92% 111 p/s3494 / 4634 [----------------------------------------------------->_________________] 75.40% 111 p/s3516 / 4634 [----------------------------------------------------->_________________] 75.87% 110 p/s3537 / 4634 [------------------------------------------------------>________________] 76.33% 110 p/s3559 / 4634 [------------------------------------------------------>________________] 76.80% 110 p/s3582 / 4634 [------------------------------------------------------>________________] 77.30% 110 p/s3605 / 4634 [------------------------------------------------------->_______________] 77.79% 110 p/s3628 / 4634 [------------------------------------------------------->_______________] 78.29% 110 p/s3650 / 4634 [------------------------------------------------------->_______________] 78.77% 111 p/s3673 / 4634 [-------------------------------------------------------->______________] 79.26% 111 p/s3695 / 4634 [-------------------------------------------------------->______________] 79.74% 111 p/s3717 / 4634 [-------------------------------------------------------->______________] 80.21% 111 p/s3739 / 4634 [--------------------------------------------------------->_____________] 80.69% 111 p/s3762 / 4634 [--------------------------------------------------------->_____________] 81.18% 111 p/s3785 / 4634 [--------------------------------------------------------->_____________] 81.68% 111 p/s3808 / 4634 [---------------------------------------------------------->____________] 82.18% 111 p/s3831 / 4634 [---------------------------------------------------------->____________] 82.67% 111 p/s3854 / 4634 [----------------------------------------------------------->___________] 83.17% 111 p/s3877 / 4634 [----------------------------------------------------------->___________] 83.66% 111 p/s3898 / 4634 [----------------------------------------------------------->___________] 84.12% 111 p/s3920 / 4634 [------------------------------------------------------------>__________] 84.59% 111 p/s3943 / 4634 [------------------------------------------------------------>__________] 85.09% 111 p/s3966 / 4634 [------------------------------------------------------------>__________] 85.58% 111 p/s3989 / 4634 [------------------------------------------------------------->_________] 86.08% 111 p/s4012 / 4634 [------------------------------------------------------------->_________] 86.58% 111 p/s4035 / 4634 [------------------------------------------------------------->_________] 87.07% 111 p/s4057 / 4634 [-------------------------------------------------------------->________] 87.55% 111 p/s4080 / 4634 [-------------------------------------------------------------->________] 88.04% 111 p/s4102 / 4634 [-------------------------------------------------------------->________] 88.52% 111 p/s4124 / 4634 [--------------------------------------------------------------->_______] 88.99% 111 p/s4146 / 4634 [--------------------------------------------------------------->_______] 89.47% 111 p/s4168 / 4634 [--------------------------------------------------------------->_______] 89.94% 111 p/s4188 / 4634 [---------------------------------------------------------------->______] 90.38% 111 p/s4210 / 4634 [---------------------------------------------------------------->______] 90.85% 111 p/s4233 / 4634 [---------------------------------------------------------------->______] 91.35% 111 p/s4255 / 4634 [----------------------------------------------------------------->_____] 91.82% 111 p/s4277 / 4634 [----------------------------------------------------------------->_____] 92.30% 111 p/s4300 / 4634 [----------------------------------------------------------------->_____] 92.79% 111 p/s4322 / 4634 [------------------------------------------------------------------>____] 93.27% 111 p/s4345 / 4634 [------------------------------------------------------------------>____] 93.76% 111 p/s4368 / 4634 [------------------------------------------------------------------>____] 94.26% 111 p/s4390 / 4634 [------------------------------------------------------------------->___] 94.73% 111 p/s4413 / 4634 [------------------------------------------------------------------->___] 95.23% 111 p/s4432 / 4634 [------------------------------------------------------------------->___] 95.64% 111 p/s4451 / 4634 [-------------------------------------------------------------------->__] 96.05% 111 p/s4474 / 4634 [-------------------------------------------------------------------->__] 96.55% 111 p/s4496 / 4634 [-------------------------------------------------------------------->__] 97.02% 111 p/s4519 / 4634 [--------------------------------------------------------------------->_] 97.52% 111 p/s4541 / 4634 [--------------------------------------------------------------------->_] 97.99% 111 p/s4564 / 4634 [--------------------------------------------------------------------->_] 98.49% 111 p/s4587 / 4634 [---------------------------------------------------------------------->] 98.99% 111 p/s4609 / 4634 [---------------------------------------------------------------------->] 99.46% 111 p/s4632 / 4634 [---------------------------------------------------------------------->] 99.96% 111 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-12T07:48:54 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:51:52 - 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/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-03-12T07:51:53 - INFO: DataPrep 0.14.0a7
2026-03-12T07:51:53 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-12T07:51:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:51:53 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:51:53 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-12T07:51:53 - INFO: Preparing sonar data...
2026-03-12T07:51:53 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:51:57 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-12T07:51:57 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:51:57 - INFO: Sonar range is 0.939120 m
2026-03-12T07:51:57 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:51:57 - INFO: Processing 4634 sweeps...

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2026-03-12T07:52:09 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:52:11 - INFO: Prepared sonar data in 17.5908 s
2026-03-12T07:52:11 - INFO: No IMU data found
2026-03-12T07:52:11 - INFO: DataPrep took 0:00:18.135688
2026-03-12T07:52:12 - INFO: Extracted sonar data in 0:03:58.698372
2026-03-12T07:52:12 - INFO: MSIP3D took 0:03:59.164071