2026-03-18T06:45:05 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:05 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-18T06:45:05 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:45:05 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-18T06:45:05 - INFO: Recording will be processed as MD
2026-03-18T06:45:05 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:05 - INFO: Preparing counter data...
2026-03-18T06:45:05 - INFO: Interpreting counter as imperial
2026-03-18T06:45:05 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:05 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:05 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:05 - INFO: Prepared counter data in 0.0664 s
2026-03-18T06:45:05 - 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: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s45 / 4634 [>___________________________________________________________________________] 0.97% ? p/s67 / 4634 [->__________________________________________________________________________] 1.45% ? p/s89 / 4634 [->________________________________________________________________________] 1.92% 112 p/s112 / 4634 [->_______________________________________________________________________] 2.42% 112 p/s134 / 4634 [-->______________________________________________________________________] 2.89% 112 p/s156 / 4634 [-->______________________________________________________________________] 3.37% 112 p/s179 / 4634 [-->______________________________________________________________________] 3.86% 112 p/s202 / 4634 [--->_____________________________________________________________________] 4.36% 112 p/s225 / 4634 [--->_____________________________________________________________________] 4.86% 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/s360 / 4634 [----->___________________________________________________________________] 7.77% 112 p/s383 / 4634 [------>__________________________________________________________________] 8.26% 112 p/s406 / 4634 [------>__________________________________________________________________] 8.76% 112 p/s429 / 4634 [------>__________________________________________________________________] 9.26% 112 p/s453 / 4634 [------->_________________________________________________________________] 9.78% 112 p/s476 / 4634 [------->________________________________________________________________] 10.27% 112 p/s499 / 4634 [------->________________________________________________________________] 10.77% 112 p/s522 / 4634 [-------->_______________________________________________________________] 11.26% 112 p/s544 / 4634 [-------->_______________________________________________________________] 11.74% 112 p/s567 / 4634 [-------->_______________________________________________________________] 12.24% 113 p/s590 / 4634 [--------->______________________________________________________________] 12.73% 113 p/s613 / 4634 [--------->______________________________________________________________] 13.23% 113 p/s636 / 4634 [--------->______________________________________________________________] 13.72% 113 p/s658 / 4634 [---------->_____________________________________________________________] 14.20% 113 p/s681 / 4634 [---------->_____________________________________________________________] 14.70% 113 p/s703 / 4634 [---------->_____________________________________________________________] 15.17% 113 p/s726 / 4634 [----------->____________________________________________________________] 15.67% 113 p/s749 / 4634 [----------->____________________________________________________________] 16.16% 113 p/s771 / 4634 [----------->____________________________________________________________] 16.64% 113 p/s793 / 4634 [------------>___________________________________________________________] 17.11% 113 p/s816 / 4634 [------------>___________________________________________________________] 17.61% 113 p/s838 / 4634 [------------->__________________________________________________________] 18.08% 113 p/s861 / 4634 [------------->__________________________________________________________] 18.58% 113 p/s884 / 4634 [------------->__________________________________________________________] 19.08% 113 p/s906 / 4634 [-------------->_________________________________________________________] 19.55% 113 p/s929 / 4634 [-------------->_________________________________________________________] 20.05% 113 p/s952 / 4634 [-------------->_________________________________________________________] 20.54% 113 p/s958 / 4634 [-------------->_________________________________________________________] 20.67% 110 p/s969 / 4634 [--------------->________________________________________________________] 20.91% 110 p/s991 / 4634 [--------------->________________________________________________________] 21.39% 110 p/s1014 / 4634 [--------------->_______________________________________________________] 21.88% 110 p/s1036 / 4634 [--------------->_______________________________________________________] 22.36% 110 p/s1059 / 4634 [---------------->______________________________________________________] 22.85% 110 p/s1081 / 4634 [---------------->______________________________________________________] 23.33% 110 p/s1104 / 4634 [---------------->______________________________________________________] 23.82% 110 p/s1126 / 4634 [----------------->_____________________________________________________] 24.30% 110 p/s1149 / 4634 [----------------->_____________________________________________________] 24.79% 110 p/s1171 / 4634 [----------------->_____________________________________________________] 25.27% 111 p/s1194 / 4634 [------------------>____________________________________________________] 25.77% 111 p/s1217 / 4634 [------------------>____________________________________________________] 26.26% 111 p/s1239 / 4634 [------------------>____________________________________________________] 26.74% 111 p/s1262 / 4634 [------------------->___________________________________________________] 27.23% 111 p/s1285 / 4634 [------------------->___________________________________________________] 27.73% 111 p/s1307 / 4634 [-------------------->__________________________________________________] 28.20% 111 p/s1330 / 4634 [-------------------->__________________________________________________] 28.70% 111 p/s1353 / 4634 [-------------------->__________________________________________________] 29.20% 111 p/s1375 / 4634 [--------------------->_________________________________________________] 29.67% 111 p/s1398 / 4634 [--------------------->_________________________________________________] 30.17% 111 p/s1421 / 4634 [--------------------->_________________________________________________] 30.66% 111 p/s1444 / 4634 [---------------------->________________________________________________] 31.16% 111 p/s1467 / 4634 [---------------------->________________________________________________] 31.66% 111 p/s1490 / 4634 [---------------------->________________________________________________] 32.15% 111 p/s1513 / 4634 [----------------------->_______________________________________________] 32.65% 112 p/s1535 / 4634 [----------------------->_______________________________________________] 33.12% 112 p/s1558 / 4634 [----------------------->_______________________________________________] 33.62% 112 p/s1581 / 4634 [------------------------>______________________________________________] 34.12% 112 p/s1604 / 4634 [------------------------>______________________________________________] 34.61% 112 p/s1627 / 4634 [------------------------>______________________________________________] 35.11% 112 p/s1650 / 4634 [------------------------->_____________________________________________] 35.61% 112 p/s1672 / 4634 [------------------------->_____________________________________________] 36.08% 112 p/s1695 / 4634 [------------------------->_____________________________________________] 36.58% 112 p/s1718 / 4634 [-------------------------->____________________________________________] 37.07% 112 p/s1740 / 4634 [-------------------------->____________________________________________] 37.55% 112 p/s1763 / 4634 [--------------------------->___________________________________________] 38.04% 112 p/s1786 / 4634 [--------------------------->___________________________________________] 38.54% 112 p/s1809 / 4634 [--------------------------->___________________________________________] 39.04% 112 p/s1831 / 4634 [---------------------------->__________________________________________] 39.51% 112 p/s1854 / 4634 [---------------------------->__________________________________________] 40.01% 112 p/s1876 / 4634 [---------------------------->__________________________________________] 40.48% 112 p/s1898 / 4634 [----------------------------->_________________________________________] 40.96% 112 p/s1921 / 4634 [----------------------------->_________________________________________] 41.45% 112 p/s1943 / 4634 [----------------------------->_________________________________________] 41.93% 112 p/s1966 / 4634 [------------------------------>________________________________________] 42.43% 112 p/s1988 / 4634 [------------------------------>________________________________________] 42.90% 112 p/s2011 / 4634 [------------------------------>________________________________________] 43.40% 112 p/s2033 / 4634 [------------------------------->_______________________________________] 43.87% 112 p/s2055 / 4634 [------------------------------->_______________________________________] 44.35% 112 p/s2077 / 4634 [------------------------------->_______________________________________] 44.82% 112 p/s2100 / 4634 [-------------------------------->______________________________________] 45.32% 112 p/s2123 / 4634 [-------------------------------->______________________________________] 45.81% 112 p/s2145 / 4634 [-------------------------------->______________________________________] 46.29% 112 p/s2168 / 4634 [--------------------------------->_____________________________________] 46.78% 112 p/s2190 / 4634 [--------------------------------->_____________________________________] 47.26% 112 p/s2212 / 4634 [--------------------------------->_____________________________________] 47.73% 112 p/s2235 / 4634 [---------------------------------->____________________________________] 48.23% 112 p/s2257 / 4634 [---------------------------------->____________________________________] 48.71% 112 p/s2280 / 4634 [---------------------------------->____________________________________] 49.20% 112 p/s2303 / 4634 [----------------------------------->___________________________________] 49.70% 112 p/s2326 / 4634 [----------------------------------->___________________________________] 50.19% 112 p/s2348 / 4634 [----------------------------------->___________________________________] 50.67% 112 p/s2371 / 4634 [------------------------------------>__________________________________] 51.17% 112 p/s2393 / 4634 [------------------------------------>__________________________________] 51.64% 112 p/s2416 / 4634 [------------------------------------->_________________________________] 52.14% 112 p/s2438 / 4634 [------------------------------------->_________________________________] 52.61% 112 p/s2461 / 4634 [------------------------------------->_________________________________] 53.11% 112 p/s2483 / 4634 [-------------------------------------->________________________________] 53.58% 112 p/s2506 / 4634 [-------------------------------------->________________________________] 54.08% 112 p/s2528 / 4634 [-------------------------------------->________________________________] 54.55% 112 p/s2551 / 4634 [--------------------------------------->_______________________________] 55.05% 112 p/s2573 / 4634 [--------------------------------------->_______________________________] 55.52% 112 p/s2595 / 4634 [--------------------------------------->_______________________________] 56.00% 112 p/s2618 / 4634 [---------------------------------------->______________________________] 56.50% 112 p/s2640 / 4634 [---------------------------------------->______________________________] 56.97% 112 p/s2662 / 4634 [---------------------------------------->______________________________] 57.44% 112 p/s2685 / 4634 [----------------------------------------->_____________________________] 57.94% 112 p/s2707 / 4634 [----------------------------------------->_____________________________] 58.42% 112 p/s2730 / 4634 [----------------------------------------->_____________________________] 58.91% 112 p/s2752 / 4634 [------------------------------------------>____________________________] 59.39% 112 p/s2775 / 4634 [------------------------------------------>____________________________] 59.88% 112 p/s2798 / 4634 [------------------------------------------>____________________________] 60.38% 112 p/s2820 / 4634 [------------------------------------------->___________________________] 60.85% 112 p/s2843 / 4634 [------------------------------------------->___________________________] 61.35% 112 p/s2866 / 4634 [------------------------------------------->___________________________] 61.85% 112 p/s2889 / 4634 [-------------------------------------------->__________________________] 62.34% 112 p/s2911 / 4634 [-------------------------------------------->__________________________] 62.82% 112 p/s2933 / 4634 [-------------------------------------------->__________________________] 63.29% 112 p/s2956 / 4634 [--------------------------------------------->_________________________] 63.79% 112 p/s2978 / 4634 [--------------------------------------------->_________________________] 64.26% 112 p/s3000 / 4634 [--------------------------------------------->_________________________] 64.74% 112 p/s3023 / 4634 [---------------------------------------------->________________________] 65.24% 112 p/s3046 / 4634 [---------------------------------------------->________________________] 65.73% 112 p/s3068 / 4634 [----------------------------------------------->_______________________] 66.21% 112 p/s3091 / 4634 [----------------------------------------------->_______________________] 66.70% 112 p/s3114 / 4634 [----------------------------------------------->_______________________] 67.20% 112 p/s3137 / 4634 [------------------------------------------------>______________________] 67.70% 113 p/s3159 / 4634 [------------------------------------------------>______________________] 68.17% 113 p/s3182 / 4634 [------------------------------------------------>______________________] 68.67% 113 p/s3205 / 4634 [------------------------------------------------->_____________________] 69.16% 113 p/s3228 / 4634 [------------------------------------------------->_____________________] 69.66% 113 p/s3251 / 4634 [------------------------------------------------->_____________________] 70.16% 113 p/s3273 / 4634 [-------------------------------------------------->____________________] 70.63% 113 p/s3296 / 4634 [-------------------------------------------------->____________________] 71.13% 113 p/s3318 / 4634 [-------------------------------------------------->____________________] 71.60% 113 p/s3341 / 4634 [--------------------------------------------------->___________________] 72.10% 113 p/s3363 / 4634 [--------------------------------------------------->___________________] 72.57% 113 p/s3385 / 4634 [--------------------------------------------------->___________________] 73.05% 113 p/s3408 / 4634 [---------------------------------------------------->__________________] 73.54% 113 p/s3429 / 4634 [---------------------------------------------------->__________________] 74.00% 113 p/s3452 / 4634 [---------------------------------------------------->__________________] 74.49% 113 p/s3474 / 4634 [----------------------------------------------------->_________________] 74.97% 112 p/s3497 / 4634 [----------------------------------------------------->_________________] 75.46% 112 p/s3520 / 4634 [----------------------------------------------------->_________________] 75.96% 112 p/s3543 / 4634 [------------------------------------------------------>________________] 76.46% 113 p/s3565 / 4634 [------------------------------------------------------>________________] 76.93% 113 p/s3588 / 4634 [------------------------------------------------------>________________] 77.43% 113 p/s3611 / 4634 [------------------------------------------------------->_______________] 77.92% 113 p/s3634 / 4634 [------------------------------------------------------->_______________] 78.42% 113 p/s3656 / 4634 [-------------------------------------------------------->______________] 78.90% 113 p/s3679 / 4634 [-------------------------------------------------------->______________] 79.39% 113 p/s3701 / 4634 [-------------------------------------------------------->______________] 79.87% 113 p/s3723 / 4634 [--------------------------------------------------------->_____________] 80.34% 113 p/s3746 / 4634 [--------------------------------------------------------->_____________] 80.84% 113 p/s3768 / 4634 [--------------------------------------------------------->_____________] 81.31% 113 p/s3790 / 4634 [---------------------------------------------------------->____________] 81.79% 113 p/s3813 / 4634 [---------------------------------------------------------->____________] 82.28% 113 p/s3836 / 4634 [---------------------------------------------------------->____________] 82.78% 113 p/s3859 / 4634 [----------------------------------------------------------->___________] 83.28% 113 p/s3882 / 4634 [----------------------------------------------------------->___________] 83.77% 113 p/s3905 / 4634 [----------------------------------------------------------->___________] 84.27% 113 p/s3927 / 4634 [------------------------------------------------------------>__________] 84.74% 113 p/s3950 / 4634 [------------------------------------------------------------>__________] 85.24% 113 p/s3973 / 4634 [------------------------------------------------------------>__________] 85.74% 113 p/s3996 / 4634 [------------------------------------------------------------->_________] 86.23% 113 p/s4019 / 4634 [------------------------------------------------------------->_________] 86.73% 113 p/s4042 / 4634 [------------------------------------------------------------->_________] 87.22% 113 p/s4064 / 4634 [-------------------------------------------------------------->________] 87.70% 113 p/s4087 / 4634 [-------------------------------------------------------------->________] 88.20% 113 p/s4109 / 4634 [-------------------------------------------------------------->________] 88.67% 113 p/s4131 / 4634 [--------------------------------------------------------------->_______] 89.15% 113 p/s4153 / 4634 [--------------------------------------------------------------->_______] 89.62% 113 p/s4176 / 4634 [--------------------------------------------------------------->_______] 90.12% 113 p/s4198 / 4634 [---------------------------------------------------------------->______] 90.59% 113 p/s4220 / 4634 [---------------------------------------------------------------->______] 91.07% 113 p/s4243 / 4634 [----------------------------------------------------------------->_____] 91.56% 113 p/s4265 / 4634 [----------------------------------------------------------------->_____] 92.04% 113 p/s4287 / 4634 [----------------------------------------------------------------->_____] 92.51% 113 p/s4310 / 4634 [------------------------------------------------------------------>____] 93.01% 113 p/s4333 / 4634 [------------------------------------------------------------------>____] 93.50% 113 p/s4356 / 4634 [------------------------------------------------------------------>____] 94.00% 113 p/s4379 / 4634 [------------------------------------------------------------------->___] 94.50% 113 p/s4402 / 4634 [------------------------------------------------------------------->___] 94.99% 113 p/s4425 / 4634 [------------------------------------------------------------------->___] 95.49% 113 p/s4448 / 4634 [-------------------------------------------------------------------->__] 95.99% 113 p/s4470 / 4634 [-------------------------------------------------------------------->__] 96.46% 113 p/s4492 / 4634 [-------------------------------------------------------------------->__] 96.94% 113 p/s4514 / 4634 [--------------------------------------------------------------------->_] 97.41% 113 p/s4537 / 4634 [--------------------------------------------------------------------->_] 97.91% 113 p/s4559 / 4634 [--------------------------------------------------------------------->_] 98.38% 113 p/s4581 / 4634 [---------------------------------------------------------------------->] 98.86% 113 p/s4604 / 4634 [---------------------------------------------------------------------->] 99.35% 113 p/s4626 / 4634 [---------------------------------------------------------------------->] 99.83% 113 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T06:45:47 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:48:44 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-03-18T06:48:45 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:48:45 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-18T06:48:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:48:45 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:48:45 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-18T06:48:45 - INFO: Preparing sonar data...
2026-03-18T06:48:45 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:48:50 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-18T06:48:50 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:48:50 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-18T06:48:50 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:48:50 - INFO: Sonar range is 0.939120 m
2026-03-18T06:48:50 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:48:50 - INFO: Processing 4634 sweeps...

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2026-03-18T06:49:03 - INFO: Prepared sonar data in 17.9071 s
2026-03-18T06:49:03 - INFO: No IMU data found
2026-03-18T06:49:04 - INFO: DataPrep took 0:00:18.423061
2026-03-18T06:49:04 - INFO: Extracted sonar data in 0:03:58.428217
2026-03-18T06:49:04 - INFO: MSIP3D took 0:03:58.905642