2026-03-12T07:46:30 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:46:30 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-12T07:46:30 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:46:30 - INFO: Found TFD mission for SJ502828 DEP 512
2026-03-12T07:46:30 - INFO: Recording will be processed as SMD
2026-03-12T07:46:30 - INFO: Copying assets JSON to output directory...
2026-03-12T07:46:30 - INFO: Preparing counter data...
2026-03-12T07:46:30 - INFO: Interpreting counter as imperial
2026-03-12T07:46:30 - INFO: Preparing size track from assets JSON...
2026-03-12T07:46:30 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:46:30 - INFO: Preparing material track from assets JSON...
2026-03-12T07:46:30 - INFO: Prepared counter data in 0.2091 s
2026-03-12T07:46:30 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 3195
18 / 3195 [>___________________________________________________________________________] 0.56% ? p/s37 / 3195 [>___________________________________________________________________________] 1.16% ? p/s56 / 3195 [->__________________________________________________________________________] 1.75% ? p/s75 / 3195 [->_________________________________________________________________________] 2.35% 95 p/s94 / 3195 [-->________________________________________________________________________] 2.94% 95 p/s113 / 3195 [-->_______________________________________________________________________] 3.54% 95 p/s132 / 3195 [--->______________________________________________________________________] 4.13% 95 p/s151 / 3195 [--->______________________________________________________________________] 4.73% 95 p/s170 / 3195 [--->______________________________________________________________________] 5.32% 95 p/s189 / 3195 [---->_____________________________________________________________________] 5.92% 95 p/s208 / 3195 [---->_____________________________________________________________________] 6.51% 95 p/s227 / 3195 [----->____________________________________________________________________] 7.10% 95 p/s247 / 3195 [----->____________________________________________________________________] 7.73% 95 p/s265 / 3195 [------>___________________________________________________________________] 8.29% 95 p/s284 / 3195 [------>___________________________________________________________________] 8.89% 95 p/s303 / 3195 [------->__________________________________________________________________] 9.48% 95 p/s323 / 3195 [------->_________________________________________________________________] 10.11% 95 p/s341 / 3195 [------->_________________________________________________________________] 10.67% 95 p/s360 / 3195 [-------->________________________________________________________________] 11.27% 95 p/s380 / 3195 [-------->________________________________________________________________] 11.89% 95 p/s399 / 3195 [--------->_______________________________________________________________] 12.49% 95 p/s418 / 3195 [--------->_______________________________________________________________] 13.08% 95 p/s437 / 3195 [--------->_______________________________________________________________] 13.68% 95 p/s456 / 3195 [---------->______________________________________________________________] 14.27% 95 p/s475 / 3195 [---------->______________________________________________________________] 14.87% 95 p/s494 / 3195 [----------->_____________________________________________________________] 15.46% 95 p/s513 / 3195 [----------->_____________________________________________________________] 16.06% 95 p/s532 / 3195 [------------>____________________________________________________________] 16.65% 95 p/s552 / 3195 [------------>____________________________________________________________] 17.28% 95 p/s571 / 3195 [------------->___________________________________________________________] 17.87% 95 p/s575 / 3195 [------------->___________________________________________________________] 18.00% 94 p/s595 / 3195 [------------->___________________________________________________________] 18.62% 94 p/s614 / 3195 [-------------->__________________________________________________________] 19.22% 94 p/s633 / 3195 [-------------->__________________________________________________________] 19.81% 94 p/s653 / 3195 [-------------->__________________________________________________________] 20.44% 94 p/s672 / 3195 [--------------->_________________________________________________________] 21.03% 94 p/s691 / 3195 [--------------->_________________________________________________________] 21.63% 94 p/s710 / 3195 [---------------->________________________________________________________] 22.22% 94 p/s729 / 3195 [---------------->________________________________________________________] 22.82% 94 p/s748 / 3195 [----------------->_______________________________________________________] 23.41% 94 p/s768 / 3195 [----------------->_______________________________________________________] 24.04% 94 p/s787 / 3195 [----------------->_______________________________________________________] 24.63% 94 p/s806 / 3195 [------------------>______________________________________________________] 25.23% 94 p/s825 / 3195 [------------------>______________________________________________________] 25.82% 94 p/s844 / 3195 [------------------->_____________________________________________________] 26.42% 94 p/s864 / 3195 [------------------->_____________________________________________________] 27.04% 94 p/s883 / 3195 [-------------------->____________________________________________________] 27.64% 94 p/s901 / 3195 [-------------------->____________________________________________________] 28.20% 94 p/s920 / 3195 [--------------------->___________________________________________________] 28.79% 94 p/s939 / 3195 [--------------------->___________________________________________________] 29.39% 94 p/s958 / 3195 [--------------------->___________________________________________________] 29.98% 94 p/s978 / 3195 [---------------------->__________________________________________________] 30.61% 94 p/s997 / 3195 [---------------------->__________________________________________________] 31.21% 94 p/s1016 / 3195 [---------------------->_________________________________________________] 31.80% 94 p/s1035 / 3195 [----------------------->________________________________________________] 32.39% 94 p/s1053 / 3195 [----------------------->________________________________________________] 32.96% 94 p/s1072 / 3195 [------------------------>_______________________________________________] 33.55% 94 p/s1092 / 3195 [------------------------>_______________________________________________] 34.18% 95 p/s1111 / 3195 [------------------------->______________________________________________] 34.77% 95 p/s1130 / 3195 [------------------------->______________________________________________] 35.37% 95 p/s1149 / 3195 [------------------------->______________________________________________] 35.96% 95 p/s1168 / 3195 [-------------------------->_____________________________________________] 36.56% 95 p/s1187 / 3195 [-------------------------->_____________________________________________] 37.15% 95 p/s1206 / 3195 [--------------------------->____________________________________________] 37.75% 95 p/s1226 / 3195 [--------------------------->____________________________________________] 38.37% 95 p/s1245 / 3195 [---------------------------->___________________________________________] 38.97% 95 p/s1264 / 3195 [---------------------------->___________________________________________] 39.56% 95 p/s1283 / 3195 [---------------------------->___________________________________________] 40.16% 95 p/s1303 / 3195 [----------------------------->__________________________________________] 40.78% 95 p/s1322 / 3195 [----------------------------->__________________________________________] 41.38% 95 p/s1341 / 3195 [------------------------------>_________________________________________] 41.97% 95 p/s1361 / 3195 [------------------------------>_________________________________________] 42.60% 95 p/s1380 / 3195 [------------------------------->________________________________________] 43.19% 95 p/s1399 / 3195 [------------------------------->________________________________________] 43.79% 95 p/s1418 / 3195 [------------------------------->________________________________________] 44.38% 95 p/s1438 / 3195 [-------------------------------->_______________________________________] 45.01% 95 p/s1457 / 3195 [-------------------------------->_______________________________________] 45.60% 95 p/s1476 / 3195 [--------------------------------->______________________________________] 46.20% 95 p/s1495 / 3195 [--------------------------------->______________________________________] 46.79% 95 p/s1514 / 3195 [---------------------------------->_____________________________________] 47.39% 95 p/s1533 / 3195 [---------------------------------->_____________________________________] 47.98% 95 p/s1552 / 3195 [---------------------------------->_____________________________________] 48.58% 95 p/s1572 / 3195 [----------------------------------->____________________________________] 49.20% 95 p/s1591 / 3195 [----------------------------------->____________________________________] 49.80% 95 p/s1610 / 3195 [------------------------------------>___________________________________] 50.39% 95 p/s1629 / 3195 [------------------------------------>___________________________________] 50.99% 95 p/s1648 / 3195 [------------------------------------->__________________________________] 51.58% 95 p/s1667 / 3195 [------------------------------------->__________________________________] 52.18% 95 p/s1687 / 3195 [-------------------------------------->_________________________________] 52.80% 95 p/s1706 / 3195 [-------------------------------------->_________________________________] 53.40% 95 p/s1725 / 3195 [-------------------------------------->_________________________________] 53.99% 95 p/s1745 / 3195 [--------------------------------------->________________________________] 54.62% 95 p/s1764 / 3195 [--------------------------------------->________________________________] 55.21% 95 p/s1783 / 3195 [---------------------------------------->_______________________________] 55.81% 95 p/s1802 / 3195 [---------------------------------------->_______________________________] 56.40% 95 p/s1821 / 3195 [----------------------------------------->______________________________] 57.00% 95 p/s1840 / 3195 [----------------------------------------->______________________________] 57.59% 95 p/s1860 / 3195 [----------------------------------------->______________________________] 58.22% 95 p/s1879 / 3195 [------------------------------------------>_____________________________] 58.81% 95 p/s1896 / 3195 [------------------------------------------>_____________________________] 59.34% 95 p/s1915 / 3195 [------------------------------------------->____________________________] 59.94% 95 p/s1935 / 3195 [------------------------------------------->____________________________] 60.56% 95 p/s1954 / 3195 [-------------------------------------------->___________________________] 61.16% 95 p/s1973 / 3195 [-------------------------------------------->___________________________] 61.75% 95 p/s1992 / 3195 [-------------------------------------------->___________________________] 62.35% 95 p/s2011 / 3195 [--------------------------------------------->__________________________] 62.94% 95 p/s2030 / 3195 [--------------------------------------------->__________________________] 63.54% 95 p/s2049 / 3195 [---------------------------------------------->_________________________] 64.13% 95 p/s2068 / 3195 [---------------------------------------------->_________________________] 64.73% 95 p/s2087 / 3195 [----------------------------------------------->________________________] 65.32% 95 p/s2107 / 3195 [----------------------------------------------->________________________] 65.95% 95 p/s2125 / 3195 [----------------------------------------------->________________________] 66.51% 95 p/s2144 / 3195 [------------------------------------------------>_______________________] 67.10% 95 p/s2164 / 3195 [------------------------------------------------>_______________________] 67.73% 95 p/s2183 / 3195 [------------------------------------------------->______________________] 68.33% 95 p/s2201 / 3195 [------------------------------------------------->______________________] 68.89% 95 p/s2220 / 3195 [-------------------------------------------------->_____________________] 69.48% 95 p/s2240 / 3195 [-------------------------------------------------->_____________________] 70.11% 95 p/s2259 / 3195 [-------------------------------------------------->_____________________] 70.70% 95 p/s2277 / 3195 [--------------------------------------------------->____________________] 71.27% 95 p/s2296 / 3195 [--------------------------------------------------->____________________] 71.86% 95 p/s2315 / 3195 [---------------------------------------------------->___________________] 72.46% 95 p/s2335 / 3195 [---------------------------------------------------->___________________] 73.08% 95 p/s2354 / 3195 [----------------------------------------------------->__________________] 73.68% 95 p/s2373 / 3195 [----------------------------------------------------->__________________] 74.27% 95 p/s2392 / 3195 [----------------------------------------------------->__________________] 74.87% 95 p/s2411 / 3195 [------------------------------------------------------>_________________] 75.46% 95 p/s2430 / 3195 [------------------------------------------------------>_________________] 76.06% 95 p/s2449 / 3195 [------------------------------------------------------->________________] 76.65% 95 p/s2468 / 3195 [------------------------------------------------------->________________] 77.25% 95 p/s2487 / 3195 [-------------------------------------------------------->_______________] 77.84% 95 p/s2507 / 3195 [-------------------------------------------------------->_______________] 78.47% 95 p/s2526 / 3195 [-------------------------------------------------------->_______________] 79.06% 95 p/s2545 / 3195 [--------------------------------------------------------->______________] 79.66% 95 p/s2564 / 3195 [--------------------------------------------------------->______________] 80.25% 95 p/s2584 / 3195 [---------------------------------------------------------->_____________] 80.88% 95 p/s2603 / 3195 [---------------------------------------------------------->_____________] 81.47% 95 p/s2622 / 3195 [----------------------------------------------------------->____________] 82.07% 95 p/s2641 / 3195 [----------------------------------------------------------->____________] 82.66% 95 p/s2660 / 3195 [----------------------------------------------------------->____________] 83.26% 95 p/s2680 / 3195 [------------------------------------------------------------>___________] 83.88% 95 p/s2698 / 3195 [------------------------------------------------------------>___________] 84.44% 95 p/s2717 / 3195 [------------------------------------------------------------->__________] 85.04% 95 p/s2737 / 3195 [------------------------------------------------------------->__________] 85.67% 95 p/s2756 / 3195 [-------------------------------------------------------------->_________] 86.26% 95 p/s2775 / 3195 [-------------------------------------------------------------->_________] 86.85% 95 p/s2794 / 3195 [-------------------------------------------------------------->_________] 87.45% 95 p/s2813 / 3195 [--------------------------------------------------------------->________] 88.04% 95 p/s2833 / 3195 [--------------------------------------------------------------->________] 88.67% 95 p/s2852 / 3195 [---------------------------------------------------------------->_______] 89.26% 95 p/s2871 / 3195 [---------------------------------------------------------------->_______] 89.86% 96 p/s2890 / 3195 [----------------------------------------------------------------->______] 90.45% 96 p/s2909 / 3195 [----------------------------------------------------------------->______] 91.05% 96 p/s2929 / 3195 [------------------------------------------------------------------>_____] 91.67% 96 p/s2948 / 3195 [------------------------------------------------------------------>_____] 92.27% 96 p/s2967 / 3195 [------------------------------------------------------------------>_____] 92.86% 96 p/s2985 / 3195 [------------------------------------------------------------------->____] 93.43% 95 p/s3003 / 3195 [------------------------------------------------------------------->____] 93.99% 95 p/s3022 / 3195 [-------------------------------------------------------------------->___] 94.59% 95 p/s3041 / 3195 [-------------------------------------------------------------------->___] 95.18% 95 p/s3060 / 3195 [-------------------------------------------------------------------->___] 95.77% 95 p/s3079 / 3195 [--------------------------------------------------------------------->__] 96.37% 95 p/s3098 / 3195 [--------------------------------------------------------------------->__] 96.96% 95 p/s3117 / 3195 [---------------------------------------------------------------------->_] 97.56% 95 p/s3136 / 3195 [---------------------------------------------------------------------->_] 98.15% 95 p/s3155 / 3195 [----------------------------------------------------------------------->] 98.75% 95 p/s3174 / 3195 [----------------------------------------------------------------------->] 99.34% 95 p/s3193 / 3195 [----------------------------------------------------------------------->] 99.94% 95 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-03-12T07:47:04 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:49:14 - 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 /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-03-12T07:49:15 - INFO: DataPrep 0.14.0a7
2026-03-12T07:49:15 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-03-12T07:49:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:49:15 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:49:15 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-12T07:49:15 - INFO: Preparing sonar data...
2026-03-12T07:49:15 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:49:18 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-03-12T07:49:18 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:49:18 - INFO: Sonar range is 1.878240 m
2026-03-12T07:49:18 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:49:18 - INFO: Processing 3195 sweeps...

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2026-03-12T07:49:27 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:49:31 - INFO: Prepared sonar data in 15.5096 s
2026-03-12T07:49:31 - INFO: No IMU data found
2026-03-12T07:49:31 - INFO: DataPrep took 0:00:16.029056
2026-03-12T07:49:31 - INFO: Extracted sonar data in 0:03:01.244974
2026-03-12T07:49:32 - INFO: MSIP3D took 0:03:01.801898