2026-03-12T07:53:25 - INFO: MSIP3D 0.2.0a11
2026-03-12T07:53:25 - INFO: P3D files will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-12T07:53:25 - INFO: Found 11 TFD dictionary entries
2026-03-12T07:53:25 - INFO: Found TFD mission for SJ502828 DEP 521
2026-03-12T07:53:25 - INFO: Recording will be processed as SMD
2026-03-12T07:53:25 - INFO: Copying assets JSON to output directory...
2026-03-12T07:53:25 - INFO: Preparing counter data...
2026-03-12T07:53:25 - INFO: Interpreting counter as imperial
2026-03-12T07:53:25 - INFO: Preparing size track from assets JSON...
2026-03-12T07:53:25 - INFO: Preparing shape track from assets JSON...
2026-03-12T07:53:25 - INFO: Preparing material track from assets JSON...
2026-03-12T07:53:25 - INFO: Prepared counter data in 0.2853 s
2026-03-12T07:53:25 - INFO: Extracting sonar data...
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/SJ502828_DEP_521.tfd
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 2756
17 / 2756 [>___________________________________________________________________________] 0.62% ? p/s37 / 2756 [->__________________________________________________________________________] 1.34% ? p/s56 / 2756 [->__________________________________________________________________________] 2.03% ? p/s75 / 2756 [-->________________________________________________________________________] 2.72% 97 p/s95 / 2756 [-->________________________________________________________________________] 3.45% 97 p/s115 / 2756 [--->______________________________________________________________________] 4.17% 97 p/s131 / 2756 [--->______________________________________________________________________] 4.75% 96 p/s151 / 2756 [---->_____________________________________________________________________] 5.48% 96 p/s170 / 2756 [---->_____________________________________________________________________] 6.17% 96 p/s190 / 2756 [----->____________________________________________________________________] 6.89% 97 p/s209 / 2756 [----->____________________________________________________________________] 7.58% 97 p/s229 / 2756 [------>___________________________________________________________________] 8.31% 97 p/s248 / 2756 [------>___________________________________________________________________] 9.00% 97 p/s267 / 2756 [------->__________________________________________________________________] 9.69% 97 p/s287 / 2756 [------->_________________________________________________________________] 10.41% 97 p/s306 / 2756 [-------->________________________________________________________________] 11.10% 97 p/s326 / 2756 [-------->________________________________________________________________] 11.83% 97 p/s345 / 2756 [--------->_______________________________________________________________] 12.52% 97 p/s365 / 2756 [--------->_______________________________________________________________] 13.24% 97 p/s385 / 2756 [---------->______________________________________________________________] 13.97% 97 p/s404 / 2756 [---------->______________________________________________________________] 14.66% 97 p/s424 / 2756 [----------->_____________________________________________________________] 15.38% 97 p/s443 / 2756 [----------->_____________________________________________________________] 16.07% 97 p/s463 / 2756 [------------>____________________________________________________________] 16.80% 97 p/s482 / 2756 [------------>____________________________________________________________] 17.49% 97 p/s502 / 2756 [------------->___________________________________________________________] 18.21% 97 p/s520 / 2756 [------------->___________________________________________________________] 18.87% 97 p/s540 / 2756 [-------------->__________________________________________________________] 19.59% 97 p/s560 / 2756 [-------------->__________________________________________________________] 20.32% 97 p/s579 / 2756 [--------------->_________________________________________________________] 21.01% 97 p/s599 / 2756 [--------------->_________________________________________________________] 21.73% 97 p/s619 / 2756 [---------------->________________________________________________________] 22.46% 97 p/s637 / 2756 [---------------->________________________________________________________] 23.11% 97 p/s656 / 2756 [----------------->_______________________________________________________] 23.80% 97 p/s676 / 2756 [----------------->_______________________________________________________] 24.53% 97 p/s696 / 2756 [------------------>______________________________________________________] 25.25% 97 p/s715 / 2756 [------------------>______________________________________________________] 25.94% 97 p/s735 / 2756 [------------------->_____________________________________________________] 26.67% 97 p/s754 / 2756 [------------------->_____________________________________________________] 27.36% 97 p/s774 / 2756 [-------------------->____________________________________________________] 28.08% 97 p/s793 / 2756 [--------------------->___________________________________________________] 28.77% 97 p/s813 / 2756 [--------------------->___________________________________________________] 29.50% 97 p/s832 / 2756 [---------------------->__________________________________________________] 30.19% 97 p/s852 / 2756 [---------------------->__________________________________________________] 30.91% 97 p/s872 / 2756 [----------------------->_________________________________________________] 31.64% 97 p/s891 / 2756 [----------------------->_________________________________________________] 32.33% 97 p/s911 / 2756 [------------------------>________________________________________________] 33.06% 97 p/s930 / 2756 [------------------------>________________________________________________] 33.74% 97 p/s950 / 2756 [------------------------->_______________________________________________] 34.47% 97 p/s969 / 2756 [------------------------->_______________________________________________] 35.16% 97 p/s989 / 2756 [-------------------------->______________________________________________] 35.89% 97 p/s1009 / 2756 [-------------------------->_____________________________________________] 36.61% 97 p/s1028 / 2756 [-------------------------->_____________________________________________] 37.30% 97 p/s1048 / 2756 [--------------------------->____________________________________________] 38.03% 97 p/s1067 / 2756 [--------------------------->____________________________________________] 38.72% 97 p/s1086 / 2756 [---------------------------->___________________________________________] 39.40% 97 p/s1106 / 2756 [---------------------------->___________________________________________] 40.13% 97 p/s1125 / 2756 [----------------------------->__________________________________________] 40.82% 97 p/s1145 / 2756 [----------------------------->__________________________________________] 41.55% 97 p/s1164 / 2756 [------------------------------>_________________________________________] 42.24% 97 p/s1184 / 2756 [------------------------------>_________________________________________] 42.96% 97 p/s1204 / 2756 [------------------------------->________________________________________] 43.69% 97 p/s1223 / 2756 [------------------------------->________________________________________] 44.38% 97 p/s1243 / 2756 [-------------------------------->_______________________________________] 45.10% 97 p/s1262 / 2756 [-------------------------------->_______________________________________] 45.79% 97 p/s1282 / 2756 [--------------------------------->______________________________________] 46.52% 97 p/s1301 / 2756 [--------------------------------->______________________________________] 47.21% 97 p/s1321 / 2756 [---------------------------------->_____________________________________] 47.93% 97 p/s1340 / 2756 [----------------------------------->____________________________________] 48.62% 97 p/s1360 / 2756 [----------------------------------->____________________________________] 49.35% 97 p/s1380 / 2756 [------------------------------------>___________________________________] 50.07% 97 p/s1399 / 2756 [------------------------------------>___________________________________] 50.76% 97 p/s1419 / 2756 [------------------------------------->__________________________________] 51.49% 97 p/s1438 / 2756 [------------------------------------->__________________________________] 52.18% 97 p/s1458 / 2756 [-------------------------------------->_________________________________] 52.90% 97 p/s1477 / 2756 [-------------------------------------->_________________________________] 53.59% 97 p/s1496 / 2756 [--------------------------------------->________________________________] 54.28% 97 p/s1515 / 2756 [--------------------------------------->________________________________] 54.97% 97 p/s1534 / 2756 [---------------------------------------->_______________________________] 55.66% 97 p/s1553 / 2756 [---------------------------------------->_______________________________] 56.35% 97 p/s1573 / 2756 [----------------------------------------->______________________________] 57.08% 97 p/s1593 / 2756 [----------------------------------------->______________________________] 57.80% 97 p/s1613 / 2756 [------------------------------------------>_____________________________] 58.53% 97 p/s1632 / 2756 [------------------------------------------>_____________________________] 59.22% 97 p/s1652 / 2756 [------------------------------------------->____________________________] 59.94% 97 p/s1672 / 2756 [------------------------------------------->____________________________] 60.67% 97 p/s1692 / 2756 [-------------------------------------------->___________________________] 61.39% 97 p/s1711 / 2756 [-------------------------------------------->___________________________] 62.08% 97 p/s1731 / 2756 [--------------------------------------------->__________________________] 62.81% 97 p/s1750 / 2756 [--------------------------------------------->__________________________] 63.50% 97 p/s1770 / 2756 [---------------------------------------------->_________________________] 64.22% 97 p/s1790 / 2756 [---------------------------------------------->_________________________] 64.95% 97 p/s1810 / 2756 [----------------------------------------------->________________________] 65.67% 97 p/s1830 / 2756 [----------------------------------------------->________________________] 66.40% 98 p/s1850 / 2756 [------------------------------------------------>_______________________] 67.13% 98 p/s1870 / 2756 [------------------------------------------------>_______________________] 67.85% 98 p/s1889 / 2756 [------------------------------------------------->______________________] 68.54% 98 p/s1909 / 2756 [------------------------------------------------->______________________] 69.27% 98 p/s1929 / 2756 [-------------------------------------------------->_____________________] 69.99% 98 p/s1949 / 2756 [-------------------------------------------------->_____________________] 70.72% 98 p/s1969 / 2756 [--------------------------------------------------->____________________] 71.44% 98 p/s1989 / 2756 [--------------------------------------------------->____________________] 72.17% 98 p/s2009 / 2756 [---------------------------------------------------->___________________] 72.90% 98 p/s2029 / 2756 [----------------------------------------------------->__________________] 73.62% 98 p/s2048 / 2756 [----------------------------------------------------->__________________] 74.31% 98 p/s2068 / 2756 [------------------------------------------------------>_________________] 75.04% 98 p/s2088 / 2756 [------------------------------------------------------>_________________] 75.76% 98 p/s2108 / 2756 [------------------------------------------------------->________________] 76.49% 98 p/s2127 / 2756 [------------------------------------------------------->________________] 77.18% 98 p/s2147 / 2756 [-------------------------------------------------------->_______________] 77.90% 98 p/s2167 / 2756 [-------------------------------------------------------->_______________] 78.63% 98 p/s2187 / 2756 [--------------------------------------------------------->______________] 79.35% 98 p/s2207 / 2756 [--------------------------------------------------------->______________] 80.08% 98 p/s2227 / 2756 [---------------------------------------------------------->_____________] 80.81% 98 p/s2247 / 2756 [---------------------------------------------------------->_____________] 81.53% 98 p/s2267 / 2756 [----------------------------------------------------------->____________] 82.26% 98 p/s2287 / 2756 [----------------------------------------------------------->____________] 82.98% 98 p/s2308 / 2756 [------------------------------------------------------------>___________] 83.74% 98 p/s2327 / 2756 [------------------------------------------------------------>___________] 84.43% 98 p/s2348 / 2756 [------------------------------------------------------------->__________] 85.20% 98 p/s2368 / 2756 [------------------------------------------------------------->__________] 85.92% 99 p/s2388 / 2756 [-------------------------------------------------------------->_________] 86.65% 99 p/s2408 / 2756 [-------------------------------------------------------------->_________] 87.37% 99 p/s2429 / 2756 [--------------------------------------------------------------->________] 88.13% 99 p/s2449 / 2756 [--------------------------------------------------------------->________] 88.86% 99 p/s2469 / 2756 [---------------------------------------------------------------->_______] 89.59% 99 p/s2490 / 2756 [----------------------------------------------------------------->______] 90.35% 99 p/s2511 / 2756 [----------------------------------------------------------------->______] 91.11% 99 p/s2532 / 2756 [------------------------------------------------------------------>_____] 91.87% 99 p/s2552 / 2756 [------------------------------------------------------------------>_____] 92.60% 99 p/s2572 / 2756 [------------------------------------------------------------------->____] 93.32% 99 p/s2592 / 2756 [------------------------------------------------------------------->____] 94.05% 99 p/s2612 / 2756 [-------------------------------------------------------------------->___] 94.78% 99 p/s2632 / 2756 [-------------------------------------------------------------------->___] 95.50% 99 p/s2652 / 2756 [--------------------------------------------------------------------->__] 96.23% 99 p/s2671 / 2756 [--------------------------------------------------------------------->__] 96.92% 99 p/s2690 / 2756 [---------------------------------------------------------------------->_] 97.61% 99 p/s2710 / 2756 [---------------------------------------------------------------------->_] 98.33% 99 p/s2728 / 2756 [----------------------------------------------------------------------->] 98.98% 99 p/s2749 / 2756 [----------------------------------------------------------------------->] 99.75% 99 p/s2756 / 2756 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-12T07:53:53 - INFO: Parsing 2756 sonar sweeps from /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-12T07:55:45 - 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/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c"
2026-03-12T07:55:46 - INFO: DataPrep 0.14.0a7
2026-03-12T07:55:46 - INFO: Prepared data will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/processing/data
2026-03-12T07:55:46 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-12T07:55:46 - deployment - INFO: Detected P3D version: P3D_1
2026-03-12T07:55:46 - INFO: Recording GUID: 81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-12T07:55:46 - INFO: Preparing sonar data...
2026-03-12T07:55:46 - INFO: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-12T07:55:49 - INFO: Sonar epoch is 2026-02-23 17:09:14.871653+00:00 (1771866554871652952)
2026-03-12T07:55:49 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-12T07:55:49 - INFO: Sonar range is 2.094960 m
2026-03-12T07:55:49 - INFO: Speed of sound is 1494 m/s
2026-03-12T07:55:49 - INFO: Processing 2755 sweeps...

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2026-03-12T07:55:56 - INFO: Creating sonar sensor alignment track...
2026-03-12T07:55:59 - INFO: Prepared sonar data in 13.1885 s
2026-03-12T07:55:59 - INFO: No IMU data found
2026-03-12T07:56:00 - INFO: DataPrep took 0:00:13.577902
2026-03-12T07:56:00 - INFO: Extracted sonar data in 0:02:34.566734
2026-03-12T07:56:00 - INFO: MSIP3D took 0:02:35.098009