2026-03-12T07:46:27 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:46:27 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-03-12T07:46:27 - INFO: Found 10 TFD dictionary entries
2026-03-12T07:46:27 - INFO: Found TFD mission for SJ502795 Dep 10
2026-03-12T07:46:27 - INFO: Recording will be processed as MD
2026-03-12T07:46:27 - INFO: Copying assets JSON to output directory...
2026-03-12T07:46:27 - INFO: Preparing counter data...
2026-03-12T07:46:27 - INFO: Interpreting counter as imperial
2026-03-12T07:46:27 - INFO: Preparing size track from assets JSON...
2026-03-12T07:46:27 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:46:27 - INFO: Preparing material track from assets JSON...
2026-03-12T07:46:27 - INFO: Prepared counter data in 0.1308 s
2026-03-12T07:46:27 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 3238
22 / 3238 [>___________________________________________________________________________] 0.68% ? p/s45 / 3238 [->__________________________________________________________________________] 1.39% ? p/s67 / 3238 [->__________________________________________________________________________] 2.07% ? p/s90 / 3238 [-->_______________________________________________________________________] 2.78% 113 p/s113 / 3238 [-->______________________________________________________________________] 3.49% 113 p/s134 / 3238 [--->_____________________________________________________________________] 4.14% 113 p/s156 / 3238 [--->_____________________________________________________________________] 4.82% 113 p/s179 / 3238 [---->____________________________________________________________________] 5.53% 113 p/s199 / 3238 [---->____________________________________________________________________] 6.15% 113 p/s221 / 3238 [---->____________________________________________________________________] 6.83% 113 p/s243 / 3238 [----->___________________________________________________________________] 7.50% 113 p/s265 / 3238 [----->___________________________________________________________________] 8.18% 113 p/s288 / 3238 [------>__________________________________________________________________] 8.89% 113 p/s309 / 3238 [------>__________________________________________________________________] 9.54% 113 p/s332 / 3238 [------->________________________________________________________________] 10.25% 113 p/s352 / 3238 [------->________________________________________________________________] 10.87% 112 p/s372 / 3238 [-------->_______________________________________________________________] 11.49% 112 p/s395 / 3238 [-------->_______________________________________________________________] 12.20% 112 p/s418 / 3238 [--------->______________________________________________________________] 12.91% 112 p/s439 / 3238 [--------->______________________________________________________________] 13.56% 112 p/s462 / 3238 [---------->_____________________________________________________________] 14.27% 112 p/s485 / 3238 [---------->_____________________________________________________________] 14.98% 112 p/s506 / 3238 [----------->____________________________________________________________] 15.63% 112 p/s528 / 3238 [----------->____________________________________________________________] 16.31% 112 p/s549 / 3238 [------------>___________________________________________________________] 16.95% 112 p/s571 / 3238 [------------>___________________________________________________________] 17.63% 112 p/s594 / 3238 [------------->__________________________________________________________] 18.34% 112 p/s616 / 3238 [------------->__________________________________________________________] 19.02% 112 p/s639 / 3238 [-------------->_________________________________________________________] 19.73% 112 p/s661 / 3238 [-------------->_________________________________________________________] 20.41% 112 p/s684 / 3238 [--------------->________________________________________________________] 21.12% 112 p/s706 / 3238 [--------------->________________________________________________________] 21.80% 112 p/s729 / 3238 [---------------->_______________________________________________________] 22.51% 112 p/s752 / 3238 [---------------->_______________________________________________________] 23.22% 112 p/s773 / 3238 [----------------->______________________________________________________] 23.87% 112 p/s795 / 3238 [----------------->______________________________________________________] 24.55% 112 p/s817 / 3238 [------------------>_____________________________________________________] 25.23% 112 p/s839 / 3238 [------------------>_____________________________________________________] 25.91% 112 p/s862 / 3238 [------------------->____________________________________________________] 26.62% 112 p/s885 / 3238 [------------------->____________________________________________________] 27.33% 112 p/s908 / 3238 [-------------------->___________________________________________________] 28.04% 112 p/s930 / 3238 [-------------------->___________________________________________________] 28.72% 112 p/s953 / 3238 [--------------------->__________________________________________________] 29.43% 112 p/s976 / 3238 [--------------------->__________________________________________________] 30.14% 112 p/s999 / 3238 [---------------------->_________________________________________________] 30.85% 112 p/s1021 / 3238 [---------------------->________________________________________________] 31.53% 112 p/s1044 / 3238 [---------------------->________________________________________________] 32.24% 112 p/s1066 / 3238 [----------------------->_______________________________________________] 32.92% 112 p/s1088 / 3238 [----------------------->_______________________________________________] 33.60% 112 p/s1110 / 3238 [------------------------>______________________________________________] 34.28% 112 p/s1133 / 3238 [------------------------>______________________________________________] 34.99% 112 p/s1155 / 3238 [------------------------->_____________________________________________] 35.67% 112 p/s1178 / 3238 [------------------------->_____________________________________________] 36.38% 112 p/s1200 / 3238 [-------------------------->____________________________________________] 37.06% 112 p/s1223 / 3238 [-------------------------->____________________________________________] 37.77% 112 p/s1244 / 3238 [--------------------------->___________________________________________] 38.42% 112 p/s1267 / 3238 [--------------------------->___________________________________________] 39.13% 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/s1380 / 3238 [------------------------------>________________________________________] 42.62% 112 p/s1402 / 3238 [------------------------------>________________________________________] 43.30% 112 p/s1424 / 3238 [------------------------------->_______________________________________] 43.98% 112 p/s1444 / 3238 [------------------------------->_______________________________________] 44.60% 112 p/s1467 / 3238 [-------------------------------->______________________________________] 45.31% 112 p/s1489 / 3238 [-------------------------------->______________________________________] 45.99% 112 p/s1512 / 3238 [--------------------------------->_____________________________________] 46.70% 112 p/s1534 / 3238 [--------------------------------->_____________________________________] 47.37% 112 p/s1557 / 3238 [---------------------------------->____________________________________] 48.09% 112 p/s1580 / 3238 [---------------------------------->____________________________________] 48.80% 112 p/s1601 / 3238 [----------------------------------->___________________________________] 49.44% 112 p/s1624 / 3238 [----------------------------------->___________________________________] 50.15% 112 p/s1642 / 3238 [------------------------------------>__________________________________] 50.71% 112 p/s1665 / 3238 [------------------------------------>__________________________________] 51.42% 112 p/s1687 / 3238 [------------------------------------>__________________________________] 52.10% 111 p/s1710 / 3238 [------------------------------------->_________________________________] 52.81% 111 p/s1733 / 3238 [------------------------------------->_________________________________] 53.52% 111 p/s1755 / 3238 [-------------------------------------->________________________________] 54.20% 112 p/s1778 / 3238 [-------------------------------------->________________________________] 54.91% 112 p/s1800 / 3238 [--------------------------------------->_______________________________] 55.59% 112 p/s1823 / 3238 [--------------------------------------->_______________________________] 56.30% 112 p/s1846 / 3238 [---------------------------------------->______________________________] 57.01% 112 p/s1868 / 3238 [---------------------------------------->______________________________] 57.69% 112 p/s1891 / 3238 [----------------------------------------->_____________________________] 58.40% 112 p/s1914 / 3238 [----------------------------------------->_____________________________] 59.11% 112 p/s1937 / 3238 [------------------------------------------>____________________________] 59.82% 112 p/s1959 / 3238 [------------------------------------------>____________________________] 60.50% 112 p/s1982 / 3238 [------------------------------------------->___________________________] 61.21% 112 p/s2005 / 3238 [------------------------------------------->___________________________] 61.92% 112 p/s2027 / 3238 [-------------------------------------------->__________________________] 62.60% 112 p/s2049 / 3238 [-------------------------------------------->__________________________] 63.28% 112 p/s2072 / 3238 [--------------------------------------------->_________________________] 63.99% 112 p/s2094 / 3238 [--------------------------------------------->_________________________] 64.67% 112 p/s2117 / 3238 [---------------------------------------------->________________________] 65.38% 112 p/s2139 / 3238 [---------------------------------------------->________________________] 66.06% 112 p/s2162 / 3238 [----------------------------------------------->_______________________] 66.77% 112 p/s2185 / 3238 [----------------------------------------------->_______________________] 67.48% 112 p/s2197 / 3238 [------------------------------------------------>______________________] 67.85% 112 p/s2218 / 3238 [------------------------------------------------>______________________] 68.50% 111 p/s2241 / 3238 [------------------------------------------------->_____________________] 69.21% 111 p/s2264 / 3238 [------------------------------------------------->_____________________] 69.92% 111 p/s2287 / 3238 [-------------------------------------------------->____________________] 70.63% 111 p/s2310 / 3238 [-------------------------------------------------->____________________] 71.34% 111 p/s2333 / 3238 [--------------------------------------------------->___________________] 72.05% 111 p/s2356 / 3238 [--------------------------------------------------->___________________] 72.76% 111 p/s2377 / 3238 [---------------------------------------------------->__________________] 73.41% 111 p/s2398 / 3238 [---------------------------------------------------->__________________] 74.06% 111 p/s2420 / 3238 [----------------------------------------------------->_________________] 74.74% 111 p/s2440 / 3238 [----------------------------------------------------->_________________] 75.36% 111 p/s2460 / 3238 [----------------------------------------------------->_________________] 75.97% 111 p/s2483 / 3238 [------------------------------------------------------>________________] 76.68% 111 p/s2505 / 3238 [------------------------------------------------------>________________] 77.36% 111 p/s2528 / 3238 [------------------------------------------------------->_______________] 78.07% 111 p/s2551 / 3238 [------------------------------------------------------->_______________] 78.78% 111 p/s2573 / 3238 [-------------------------------------------------------->______________] 79.46% 111 p/s2596 / 3238 [-------------------------------------------------------->______________] 80.17% 111 p/s2619 / 3238 [--------------------------------------------------------->_____________] 80.88% 111 p/s2642 / 3238 [--------------------------------------------------------->_____________] 81.59% 111 p/s2664 / 3238 [---------------------------------------------------------->____________] 82.27% 111 p/s2687 / 3238 [---------------------------------------------------------->____________] 82.98% 111 p/s2710 / 3238 [----------------------------------------------------------->___________] 83.69% 111 p/s2732 / 3238 [----------------------------------------------------------->___________] 84.37% 111 p/s2744 / 3238 [------------------------------------------------------------>__________] 84.74% 110 p/s2755 / 3238 [------------------------------------------------------------>__________] 85.08% 110 p/s2778 / 3238 [------------------------------------------------------------>__________] 85.79% 110 p/s2800 / 3238 [------------------------------------------------------------->_________] 86.47% 109 p/s2823 / 3238 [------------------------------------------------------------->_________] 87.18% 109 p/s2846 / 3238 [-------------------------------------------------------------->________] 87.89% 109 p/s2869 / 3238 [-------------------------------------------------------------->________] 88.60% 109 p/s2891 / 3238 [--------------------------------------------------------------->_______] 89.28% 109 p/s2914 / 3238 [--------------------------------------------------------------->_______] 89.99% 109 p/s2937 / 3238 [---------------------------------------------------------------->______] 90.70% 110 p/s2959 / 3238 [---------------------------------------------------------------->______] 91.38% 110 p/s2982 / 3238 [----------------------------------------------------------------->_____] 92.09% 110 p/s3005 / 3238 [----------------------------------------------------------------->_____] 92.80% 110 p/s3028 / 3238 [------------------------------------------------------------------>____] 93.51% 110 p/s3050 / 3238 [------------------------------------------------------------------>____] 94.19% 110 p/s3073 / 3238 [------------------------------------------------------------------->___] 94.90% 110 p/s3096 / 3238 [------------------------------------------------------------------->___] 95.61% 110 p/s3118 / 3238 [-------------------------------------------------------------------->__] 96.29% 110 p/s3141 / 3238 [-------------------------------------------------------------------->__] 97.00% 110 p/s3155 / 3238 [--------------------------------------------------------------------->_] 97.44% 110 p/s3175 / 3238 [--------------------------------------------------------------------->_] 98.05% 110 p/s3198 / 3238 [---------------------------------------------------------------------->] 98.76% 109 p/s3220 / 3238 [---------------------------------------------------------------------->] 99.44% 109 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-12T07:46:57 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:49:04 - 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"
2026-03-12T07:49:06 - INFO: DataPrep 0.14.0a7
2026-03-12T07:49:06 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-03-12T07:49:06 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:49:06 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:49:06 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-03-12T07:49:06 - INFO: Preparing sonar data...
2026-03-12T07:49:06 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:49:09 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-03-12T07:49:09 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:49:09 - INFO: Sonar range is 0.939120 m
2026-03-12T07:49:09 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:49:09 - INFO: Processing 3237 sweeps...

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2026-03-12T07:49:17 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:49:19 - INFO: Prepared sonar data in 12.8446 s
2026-03-12T07:49:19 - INFO: No IMU data found
2026-03-12T07:49:19 - INFO: DataPrep took 0:00:13.282559
2026-03-12T07:49:19 - INFO: Extracted sonar data in 0:02:52.161526
2026-03-12T07:49:20 - INFO: MSIP3D took 0:02:52.570066