2026-03-12T07:53:27 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:53:27 - INFO: P3D files will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-12T07:53:27 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:53:27 - INFO: Found TFD mission for SJ502828 DEP 518
2026-03-12T07:53:27 - INFO: Recording will be processed as SMD
2026-03-12T07:53:27 - INFO: Copying assets JSON to output directory...
2026-03-12T07:53:27 - INFO: Preparing counter data...
2026-03-12T07:53:27 - INFO: Interpreting counter as imperial
2026-03-12T07:53:27 - INFO: Preparing size track from assets JSON...
2026-03-12T07:53:27 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:53:27 - INFO: Preparing material track from assets JSON...
2026-03-12T07:53:27 - INFO: Prepared counter data in 0.2978 s
2026-03-12T07:53:27 - INFO: Extracting sonar data...
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/SJ502828_DEP_518.tfd
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2696
19 / 2696 [>___________________________________________________________________________] 0.70% ? p/s39 / 2696 [->__________________________________________________________________________] 1.45% ? p/s58 / 2696 [->__________________________________________________________________________] 2.15% ? p/s77 / 2696 [-->________________________________________________________________________] 2.86% 97 p/s97 / 2696 [-->________________________________________________________________________] 3.60% 97 p/s117 / 2696 [--->______________________________________________________________________] 4.34% 97 p/s136 / 2696 [--->______________________________________________________________________] 5.04% 97 p/s156 / 2696 [---->_____________________________________________________________________] 5.79% 97 p/s176 / 2696 [---->_____________________________________________________________________] 6.53% 97 p/s196 / 2696 [----->____________________________________________________________________] 7.27% 97 p/s216 / 2696 [----->____________________________________________________________________] 8.01% 97 p/s236 / 2696 [------>___________________________________________________________________] 8.75% 97 p/s255 / 2696 [------>___________________________________________________________________] 9.46% 97 p/s275 / 2696 [------->_________________________________________________________________] 10.20% 97 p/s295 / 2696 [------->_________________________________________________________________] 10.94% 97 p/s315 / 2696 [-------->________________________________________________________________] 11.68% 97 p/s335 / 2696 [--------->_______________________________________________________________] 12.43% 97 p/s354 / 2696 [--------->_______________________________________________________________] 13.13% 97 p/s374 / 2696 [---------->______________________________________________________________] 13.87% 97 p/s394 / 2696 [---------->______________________________________________________________] 14.61% 97 p/s414 / 2696 [----------->_____________________________________________________________] 15.36% 97 p/s434 / 2696 [----------->_____________________________________________________________] 16.10% 98 p/s453 / 2696 [------------>____________________________________________________________] 16.80% 98 p/s473 / 2696 [------------>____________________________________________________________] 17.54% 98 p/s493 / 2696 [------------->___________________________________________________________] 18.29% 98 p/s512 / 2696 [------------->___________________________________________________________] 18.99% 98 p/s532 / 2696 [-------------->__________________________________________________________] 19.73% 98 p/s552 / 2696 [-------------->__________________________________________________________] 20.47% 98 p/s571 / 2696 [--------------->_________________________________________________________] 21.18% 98 p/s578 / 2696 [--------------->_________________________________________________________] 21.44% 98 p/s595 / 2696 [---------------->________________________________________________________] 22.07% 96 p/s615 / 2696 [---------------->________________________________________________________] 22.81% 96 p/s635 / 2696 [----------------->_______________________________________________________] 23.55% 96 p/s655 / 2696 [----------------->_______________________________________________________] 24.30% 96 p/s675 / 2696 [------------------>______________________________________________________] 25.04% 96 p/s694 / 2696 [------------------>______________________________________________________] 25.74% 96 p/s713 / 2696 [------------------->_____________________________________________________] 26.45% 96 p/s733 / 2696 [------------------->_____________________________________________________] 27.19% 96 p/s750 / 2696 [-------------------->____________________________________________________] 27.82% 96 p/s769 / 2696 [-------------------->____________________________________________________] 28.52% 96 p/s789 / 2696 [--------------------->___________________________________________________] 29.27% 96 p/s809 / 2696 [--------------------->___________________________________________________] 30.01% 96 p/s815 / 2696 [---------------------->__________________________________________________] 30.23% 95 p/s833 / 2696 [---------------------->__________________________________________________] 30.90% 95 p/s853 / 2696 [----------------------->_________________________________________________] 31.64% 95 p/s872 / 2696 [----------------------->_________________________________________________] 32.34% 95 p/s892 / 2696 [------------------------>________________________________________________] 33.09% 95 p/s912 / 2696 [------------------------>________________________________________________] 33.83% 95 p/s931 / 2696 [------------------------->_______________________________________________] 34.53% 95 p/s951 / 2696 [------------------------->_______________________________________________] 35.27% 95 p/s971 / 2696 [-------------------------->______________________________________________] 36.02% 95 p/s990 / 2696 [-------------------------->______________________________________________] 36.72% 95 p/s1010 / 2696 [-------------------------->_____________________________________________] 37.46% 95 p/s1029 / 2696 [--------------------------->____________________________________________] 38.17% 95 p/s1049 / 2696 [---------------------------->___________________________________________] 38.91% 95 p/s1069 / 2696 [---------------------------->___________________________________________] 39.65% 95 p/s1089 / 2696 [----------------------------->__________________________________________] 40.39% 95 p/s1108 / 2696 [----------------------------->__________________________________________] 41.10% 96 p/s1128 / 2696 [------------------------------>_________________________________________] 41.84% 96 p/s1148 / 2696 [------------------------------>_________________________________________] 42.58% 96 p/s1168 / 2696 [------------------------------->________________________________________] 43.32% 96 p/s1187 / 2696 [------------------------------->________________________________________] 44.03% 96 p/s1207 / 2696 [-------------------------------->_______________________________________] 44.77% 96 p/s1227 / 2696 [-------------------------------->_______________________________________] 45.51% 96 p/s1247 / 2696 [--------------------------------->______________________________________] 46.25% 96 p/s1266 / 2696 [--------------------------------->______________________________________] 46.96% 96 p/s1286 / 2696 [---------------------------------->_____________________________________] 47.70% 96 p/s1306 / 2696 [---------------------------------->_____________________________________] 48.44% 96 p/s1326 / 2696 [----------------------------------->____________________________________] 49.18% 96 p/s1346 / 2696 [----------------------------------->____________________________________] 49.93% 96 p/s1365 / 2696 [------------------------------------>___________________________________] 50.63% 96 p/s1385 / 2696 [------------------------------------>___________________________________] 51.37% 96 p/s1405 / 2696 [------------------------------------->__________________________________] 52.11% 97 p/s1425 / 2696 [-------------------------------------->_________________________________] 52.86% 97 p/s1444 / 2696 [-------------------------------------->_________________________________] 53.56% 97 p/s1464 / 2696 [--------------------------------------->________________________________] 54.30% 97 p/s1484 / 2696 [--------------------------------------->________________________________] 55.04% 97 p/s1504 / 2696 [---------------------------------------->_______________________________] 55.79% 97 p/s1524 / 2696 [---------------------------------------->_______________________________] 56.53% 97 p/s1544 / 2696 [----------------------------------------->______________________________] 57.27% 97 p/s1564 / 2696 [----------------------------------------->______________________________] 58.01% 97 p/s1584 / 2696 [------------------------------------------>_____________________________] 58.75% 97 p/s1603 / 2696 [------------------------------------------>_____________________________] 59.46% 97 p/s1623 / 2696 [------------------------------------------->____________________________] 60.20% 97 p/s1643 / 2696 [------------------------------------------->____________________________] 60.94% 97 p/s1662 / 2696 [-------------------------------------------->___________________________] 61.65% 97 p/s1682 / 2696 [-------------------------------------------->___________________________] 62.39% 97 p/s1702 / 2696 [--------------------------------------------->__________________________] 63.13% 97 p/s1722 / 2696 [--------------------------------------------->__________________________] 63.87% 97 p/s1742 / 2696 [---------------------------------------------->_________________________] 64.61% 97 p/s1761 / 2696 [----------------------------------------------->________________________] 65.32% 97 p/s1781 / 2696 [----------------------------------------------->________________________] 66.06% 97 p/s1801 / 2696 [------------------------------------------------>_______________________] 66.80% 97 p/s1821 / 2696 [------------------------------------------------>_______________________] 67.54% 98 p/s1841 / 2696 [------------------------------------------------->______________________] 68.29% 98 p/s1861 / 2696 [------------------------------------------------->______________________] 69.03% 98 p/s1880 / 2696 [-------------------------------------------------->_____________________] 69.73% 98 p/s1900 / 2696 [-------------------------------------------------->_____________________] 70.47% 98 p/s1920 / 2696 [--------------------------------------------------->____________________] 71.22% 98 p/s1940 / 2696 [--------------------------------------------------->____________________] 71.96% 98 p/s1960 / 2696 [---------------------------------------------------->___________________] 72.70% 98 p/s1979 / 2696 [---------------------------------------------------->___________________] 73.41% 98 p/s1999 / 2696 [----------------------------------------------------->__________________] 74.15% 98 p/s2019 / 2696 [----------------------------------------------------->__________________] 74.89% 98 p/s2039 / 2696 [------------------------------------------------------>_________________] 75.63% 98 p/s2058 / 2696 [------------------------------------------------------>_________________] 76.34% 98 p/s2078 / 2696 [------------------------------------------------------->________________] 77.08% 98 p/s2097 / 2696 [-------------------------------------------------------->_______________] 77.78% 98 p/s2117 / 2696 [-------------------------------------------------------->_______________] 78.52% 98 p/s2136 / 2696 [--------------------------------------------------------->______________] 79.23% 98 p/s2156 / 2696 [--------------------------------------------------------->______________] 79.97% 98 p/s2176 / 2696 [---------------------------------------------------------->_____________] 80.71% 98 p/s2196 / 2696 [---------------------------------------------------------->_____________] 81.45% 98 p/s2215 / 2696 [----------------------------------------------------------->____________] 82.16% 98 p/s2235 / 2696 [----------------------------------------------------------->____________] 82.90% 98 p/s2255 / 2696 [------------------------------------------------------------>___________] 83.64% 98 p/s2274 / 2696 [------------------------------------------------------------>___________] 84.35% 98 p/s2294 / 2696 [------------------------------------------------------------->__________] 85.09% 98 p/s2314 / 2696 [------------------------------------------------------------->__________] 85.83% 98 p/s2333 / 2696 [-------------------------------------------------------------->_________] 86.54% 98 p/s2353 / 2696 [-------------------------------------------------------------->_________] 87.28% 98 p/s2373 / 2696 [--------------------------------------------------------------->________] 88.02% 98 p/s2392 / 2696 [--------------------------------------------------------------->________] 88.72% 98 p/s2412 / 2696 [---------------------------------------------------------------->_______] 89.47% 98 p/s2432 / 2696 [---------------------------------------------------------------->_______] 90.21% 98 p/s2451 / 2696 [----------------------------------------------------------------->______] 90.91% 98 p/s2471 / 2696 [----------------------------------------------------------------->______] 91.65% 98 p/s2491 / 2696 [------------------------------------------------------------------>_____] 92.40% 98 p/s2511 / 2696 [------------------------------------------------------------------->____] 93.14% 98 p/s2530 / 2696 [------------------------------------------------------------------->____] 93.84% 98 p/s2550 / 2696 [-------------------------------------------------------------------->___] 94.58% 98 p/s2570 / 2696 [-------------------------------------------------------------------->___] 95.33% 98 p/s2590 / 2696 [--------------------------------------------------------------------->__] 96.07% 98 p/s2610 / 2696 [--------------------------------------------------------------------->__] 96.81% 98 p/s2630 / 2696 [---------------------------------------------------------------------->_] 97.55% 98 p/s2649 / 2696 [---------------------------------------------------------------------->_] 98.26% 98 p/s2668 / 2696 [----------------------------------------------------------------------->] 98.96% 98 p/s2688 / 2696 [----------------------------------------------------------------------->] 99.70% 98 p/s2696 / 2696 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-12T07:53:55 - INFO: Parsing 2696 sonar sweeps from /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:55:43 - 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/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87"
2026-03-12T07:55:44 - INFO: DataPrep 0.14.0a7
2026-03-12T07:55:44 - INFO: Prepared data will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/processing/data
2026-03-12T07:55:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:55:44 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:55:44 - INFO: Recording GUID: a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-12T07:55:44 - INFO: Preparing sonar data...
2026-03-12T07:55:44 - INFO: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:55:47 - INFO: Sonar epoch is 2026-02-21 21:34:27.238529+00:00 (1771709667238529185)
2026-03-12T07:55:47 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:55:47 - INFO: Sonar range is 2.167200 m
2026-03-12T07:55:47 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:55:47 - INFO: Processing 2695 sweeps...

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2026-03-12T07:56:02 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:56:05 - INFO: Prepared sonar data in 20.6119 s
2026-03-12T07:56:05 - INFO: No IMU data found
2026-03-12T07:56:05 - INFO: DataPrep took 0:00:21.025826
2026-03-12T07:56:06 - INFO: Extracted sonar data in 0:02:38.333454
2026-03-12T07:56:06 - INFO: MSIP3D took 0:02:38.870732