2026-03-18T06:44:39 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:44:39 - INFO: P3D files will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-18T06:44:39 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:44:39 - INFO: Found TFD mission for SJ502795 Dep 14
2026-03-18T06:44:39 - INFO: Recording will be processed as MD
2026-03-18T06:44:39 - INFO: Copying assets JSON to output directory...
2026-03-18T06:44:39 - INFO: Preparing counter data...
2026-03-18T06:44:39 - INFO: Interpreting counter as imperial
2026-03-18T06:44:39 - INFO: Preparing size track from assets JSON...
2026-03-18T06:44:39 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:44:39 - INFO: Preparing material track from assets JSON...
2026-03-18T06:44:39 - INFO: Prepared counter data in 0.1127 s
2026-03-18T06:44:39 - INFO: Extracting sonar data...
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/SJ502795_Dep_14.tfd
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2860
13 / 2860 [>___________________________________________________________________________] 0.45% ? p/s27 / 2860 [>___________________________________________________________________________] 0.94% ? p/s41 / 2860 [->__________________________________________________________________________] 1.43% ? p/s54 / 2860 [->_________________________________________________________________________] 1.89% 68 p/s68 / 2860 [->_________________________________________________________________________] 2.38% 68 p/s82 / 2860 [-->________________________________________________________________________] 2.87% 68 p/s98 / 2860 [-->________________________________________________________________________] 3.43% 69 p/s114 / 2860 [-->_______________________________________________________________________] 3.99% 69 p/s127 / 2860 [--->______________________________________________________________________] 4.44% 69 p/s142 / 2860 [--->______________________________________________________________________] 4.97% 69 p/s158 / 2860 [---->_____________________________________________________________________] 5.52% 69 p/s173 / 2860 [---->_____________________________________________________________________] 6.05% 69 p/s188 / 2860 [---->_____________________________________________________________________] 6.57% 70 p/s203 / 2860 [----->____________________________________________________________________] 7.10% 70 p/s218 / 2860 [----->____________________________________________________________________] 7.62% 70 p/s232 / 2860 [------>___________________________________________________________________] 8.11% 70 p/s248 / 2860 [------>___________________________________________________________________] 8.67% 70 p/s262 / 2860 [------>___________________________________________________________________] 9.16% 70 p/s276 / 2860 [------->__________________________________________________________________] 9.65% 70 p/s289 / 2860 [------->_________________________________________________________________] 10.10% 70 p/s303 / 2860 [------->_________________________________________________________________] 10.59% 70 p/s318 / 2860 [-------->________________________________________________________________] 11.12% 70 p/s330 / 2860 [-------->________________________________________________________________] 11.54% 70 p/s345 / 2860 [-------->________________________________________________________________] 12.06% 70 p/s359 / 2860 [--------->_______________________________________________________________] 12.55% 70 p/s374 / 2860 [--------->_______________________________________________________________] 13.08% 70 p/s389 / 2860 [--------->_______________________________________________________________] 13.60% 70 p/s405 / 2860 [---------->______________________________________________________________] 14.16% 70 p/s419 / 2860 [---------->______________________________________________________________] 14.65% 70 p/s435 / 2860 [----------->_____________________________________________________________] 15.21% 70 p/s449 / 2860 [----------->_____________________________________________________________] 15.70% 71 p/s463 / 2860 [----------->_____________________________________________________________] 16.19% 71 p/s476 / 2860 [------------>____________________________________________________________] 16.64% 71 p/s490 / 2860 [------------>____________________________________________________________] 17.13% 70 p/s504 / 2860 [------------>____________________________________________________________] 17.62% 70 p/s517 / 2860 [------------->___________________________________________________________] 18.08% 70 p/s531 / 2860 [------------->___________________________________________________________] 18.57% 70 p/s545 / 2860 [------------->___________________________________________________________] 19.06% 70 p/s558 / 2860 [-------------->__________________________________________________________] 19.51% 70 p/s572 / 2860 [-------------->__________________________________________________________] 20.00% 70 p/s586 / 2860 [-------------->__________________________________________________________] 20.49% 70 p/s599 / 2860 [--------------->_________________________________________________________] 20.94% 70 p/s614 / 2860 [--------------->_________________________________________________________] 21.47% 70 p/s628 / 2860 [---------------->________________________________________________________] 21.96% 70 p/s641 / 2860 [---------------->________________________________________________________] 22.41% 70 p/s656 / 2860 [---------------->________________________________________________________] 22.94% 70 p/s670 / 2860 [----------------->_______________________________________________________] 23.43% 70 p/s683 / 2860 [----------------->_______________________________________________________] 23.88% 70 p/s696 / 2860 [----------------->_______________________________________________________] 24.34% 70 p/s711 / 2860 [------------------>______________________________________________________] 24.86% 70 p/s723 / 2860 [------------------>______________________________________________________] 25.28% 70 p/s738 / 2860 [------------------>______________________________________________________] 25.80% 70 p/s752 / 2860 [------------------->_____________________________________________________] 26.29% 70 p/s765 / 2860 [------------------->_____________________________________________________] 26.75% 70 p/s779 / 2860 [------------------->_____________________________________________________] 27.24% 70 p/s792 / 2860 [-------------------->____________________________________________________] 27.69% 70 p/s806 / 2860 [-------------------->____________________________________________________] 28.18% 70 p/s821 / 2860 [-------------------->____________________________________________________] 28.71% 70 p/s834 / 2860 [--------------------->___________________________________________________] 29.16% 70 p/s848 / 2860 [--------------------->___________________________________________________] 29.65% 70 p/s862 / 2860 [---------------------->__________________________________________________] 30.14% 70 p/s875 / 2860 [---------------------->__________________________________________________] 30.59% 70 p/s890 / 2860 [---------------------->__________________________________________________] 31.12% 70 p/s905 / 2860 [----------------------->_________________________________________________] 31.64% 70 p/s918 / 2860 [----------------------->_________________________________________________] 32.10% 70 p/s932 / 2860 [----------------------->_________________________________________________] 32.59% 70 p/s946 / 2860 [------------------------>________________________________________________] 33.08% 70 p/s959 / 2860 [------------------------>________________________________________________] 33.53% 70 p/s973 / 2860 [------------------------>________________________________________________] 34.02% 70 p/s988 / 2860 [------------------------->_______________________________________________] 34.55% 70 p/s1000 / 2860 [------------------------->______________________________________________] 34.97% 70 p/s1015 / 2860 [------------------------->______________________________________________] 35.49% 70 p/s1029 / 2860 [------------------------->______________________________________________] 35.98% 70 p/s1042 / 2860 [-------------------------->_____________________________________________] 36.43% 70 p/s1057 / 2860 [-------------------------->_____________________________________________] 36.96% 70 p/s1071 / 2860 [-------------------------->_____________________________________________] 37.45% 70 p/s1084 / 2860 [--------------------------->____________________________________________] 37.90% 70 p/s1098 / 2860 [--------------------------->____________________________________________] 38.39% 70 p/s1113 / 2860 [---------------------------->___________________________________________] 38.92% 70 p/s1126 / 2860 [---------------------------->___________________________________________] 39.37% 70 p/s1140 / 2860 [---------------------------->___________________________________________] 39.86% 70 p/s1155 / 2860 [----------------------------->__________________________________________] 40.38% 70 p/s1168 / 2860 [----------------------------->__________________________________________] 40.84% 70 p/s1182 / 2860 [----------------------------->__________________________________________] 41.33% 70 p/s1196 / 2860 [------------------------------>_________________________________________] 41.82% 70 p/s1209 / 2860 [------------------------------>_________________________________________] 42.27% 70 p/s1223 / 2860 [------------------------------>_________________________________________] 42.76% 70 p/s1237 / 2860 [------------------------------->________________________________________] 43.25% 70 p/s1252 / 2860 [------------------------------->________________________________________] 43.78% 70 p/s1268 / 2860 [------------------------------->________________________________________] 44.34% 70 p/s1282 / 2860 [-------------------------------->_______________________________________] 44.83% 70 p/s1296 / 2860 [-------------------------------->_______________________________________] 45.31% 70 p/s1309 / 2860 [-------------------------------->_______________________________________] 45.77% 70 p/s1327 / 2860 [--------------------------------->______________________________________] 46.40% 70 p/s1343 / 2860 [--------------------------------->______________________________________] 46.96% 70 p/s1357 / 2860 [---------------------------------->_____________________________________] 47.45% 70 p/s1372 / 2860 [---------------------------------->_____________________________________] 47.97% 71 p/s1385 / 2860 [---------------------------------->_____________________________________] 48.43% 71 p/s1400 / 2860 [----------------------------------->____________________________________] 48.95% 71 p/s1414 / 2860 [----------------------------------->____________________________________] 49.44% 71 p/s1427 / 2860 [----------------------------------->____________________________________] 49.90% 71 p/s1441 / 2860 [------------------------------------>___________________________________] 50.38% 71 p/s1454 / 2860 [------------------------------------>___________________________________] 50.84% 70 p/s1469 / 2860 [------------------------------------>___________________________________] 51.36% 70 p/s1485 / 2860 [------------------------------------->__________________________________] 51.92% 70 p/s1498 / 2860 [------------------------------------->__________________________________] 52.38% 70 p/s1513 / 2860 [-------------------------------------->_________________________________] 52.90% 70 p/s1527 / 2860 [-------------------------------------->_________________________________] 53.39% 70 p/s1540 / 2860 [-------------------------------------->_________________________________] 53.85% 70 p/s1555 / 2860 [--------------------------------------->________________________________] 54.37% 70 p/s1569 / 2860 [--------------------------------------->________________________________] 54.86% 70 p/s1582 / 2860 [--------------------------------------->________________________________] 55.31% 70 p/s1597 / 2860 [---------------------------------------->_______________________________] 55.84% 70 p/s1611 / 2860 [---------------------------------------->_______________________________] 56.33% 70 p/s1624 / 2860 [---------------------------------------->_______________________________] 56.78% 70 p/s1639 / 2860 [----------------------------------------->______________________________] 57.31% 70 p/s1652 / 2860 [----------------------------------------->______________________________] 57.76% 70 p/s1666 / 2860 [----------------------------------------->______________________________] 58.25% 70 p/s1680 / 2860 [------------------------------------------>_____________________________] 58.74% 70 p/s1693 / 2860 [------------------------------------------>_____________________________] 59.20% 70 p/s1708 / 2860 [------------------------------------------>_____________________________] 59.72% 70 p/s1722 / 2860 [------------------------------------------->____________________________] 60.21% 70 p/s1735 / 2860 [------------------------------------------->____________________________] 60.66% 70 p/s1748 / 2860 [-------------------------------------------->___________________________] 61.12% 70 p/s1763 / 2860 [-------------------------------------------->___________________________] 61.64% 70 p/s1776 / 2860 [-------------------------------------------->___________________________] 62.10% 70 p/s1790 / 2860 [--------------------------------------------->__________________________] 62.59% 70 p/s1804 / 2860 [--------------------------------------------->__________________________] 63.08% 70 p/s1817 / 2860 [--------------------------------------------->__________________________] 63.53% 70 p/s1832 / 2860 [---------------------------------------------->_________________________] 64.06% 70 p/s1846 / 2860 [---------------------------------------------->_________________________] 64.55% 70 p/s1859 / 2860 [---------------------------------------------->_________________________] 65.00% 70 p/s1874 / 2860 [----------------------------------------------->________________________] 65.52% 70 p/s1888 / 2860 [----------------------------------------------->________________________] 66.01% 70 p/s1900 / 2860 [----------------------------------------------->________________________] 66.43% 70 p/s1915 / 2860 [------------------------------------------------>_______________________] 66.96% 70 p/s1929 / 2860 [------------------------------------------------>_______________________] 67.45% 70 p/s1943 / 2860 [------------------------------------------------>_______________________] 67.94% 70 p/s1957 / 2860 [------------------------------------------------->______________________] 68.43% 70 p/s1971 / 2860 [------------------------------------------------->______________________] 68.92% 70 p/s1984 / 2860 [------------------------------------------------->______________________] 69.37% 70 p/s1998 / 2860 [-------------------------------------------------->_____________________] 69.86% 70 p/s2013 / 2860 [-------------------------------------------------->_____________________] 70.38% 70 p/s2025 / 2860 [-------------------------------------------------->_____________________] 70.80% 70 p/s2039 / 2860 [--------------------------------------------------->____________________] 71.29% 70 p/s2053 / 2860 [--------------------------------------------------->____________________] 71.78% 70 p/s2065 / 2860 [--------------------------------------------------->____________________] 72.20% 70 p/s2080 / 2860 [---------------------------------------------------->___________________] 72.73% 70 p/s2094 / 2860 [---------------------------------------------------->___________________] 73.22% 70 p/s2107 / 2860 [----------------------------------------------------->__________________] 73.67% 70 p/s2121 / 2860 [----------------------------------------------------->__________________] 74.16% 70 p/s2135 / 2860 [----------------------------------------------------->__________________] 74.65% 70 p/s2148 / 2860 [------------------------------------------------------>_________________] 75.10% 70 p/s2162 / 2860 [------------------------------------------------------>_________________] 75.59% 70 p/s2176 / 2860 [------------------------------------------------------>_________________] 76.08% 70 p/s2190 / 2860 [------------------------------------------------------->________________] 76.57% 70 p/s2206 / 2860 [------------------------------------------------------->________________] 77.13% 70 p/s2219 / 2860 [------------------------------------------------------->________________] 77.59% 70 p/s2233 / 2860 [-------------------------------------------------------->_______________] 78.08% 70 p/s2247 / 2860 [-------------------------------------------------------->_______________] 78.57% 70 p/s2260 / 2860 [-------------------------------------------------------->_______________] 79.02% 70 p/s2274 / 2860 [--------------------------------------------------------->______________] 79.51% 70 p/s2288 / 2860 [--------------------------------------------------------->______________] 80.00% 70 p/s2301 / 2860 [--------------------------------------------------------->______________] 80.45% 70 p/s2315 / 2860 [---------------------------------------------------------->_____________] 80.94% 70 p/s2329 / 2860 [---------------------------------------------------------->_____________] 81.43% 69 p/s2341 / 2860 [---------------------------------------------------------->_____________] 81.85% 69 p/s2355 / 2860 [----------------------------------------------------------->____________] 82.34% 69 p/s2369 / 2860 [----------------------------------------------------------->____________] 82.83% 69 p/s2382 / 2860 [----------------------------------------------------------->____________] 83.29% 69 p/s2396 / 2860 [------------------------------------------------------------>___________] 83.78% 69 p/s2409 / 2860 [------------------------------------------------------------>___________] 84.23% 69 p/s2422 / 2860 [------------------------------------------------------------>___________] 84.69% 69 p/s2436 / 2860 [------------------------------------------------------------->__________] 85.17% 69 p/s2450 / 2860 [------------------------------------------------------------->__________] 85.66% 69 p/s2463 / 2860 [-------------------------------------------------------------->_________] 86.12% 69 p/s2478 / 2860 [-------------------------------------------------------------->_________] 86.64% 69 p/s2491 / 2860 [-------------------------------------------------------------->_________] 87.10% 69 p/s2504 / 2860 [--------------------------------------------------------------->________] 87.55% 69 p/s2519 / 2860 [--------------------------------------------------------------->________] 88.08% 69 p/s2533 / 2860 [--------------------------------------------------------------->________] 88.57% 69 p/s2546 / 2860 [---------------------------------------------------------------->_______] 89.02% 69 p/s2560 / 2860 [---------------------------------------------------------------->_______] 89.51% 69 p/s2574 / 2860 [---------------------------------------------------------------->_______] 90.00% 69 p/s2586 / 2860 [----------------------------------------------------------------->______] 90.42% 69 p/s2601 / 2860 [----------------------------------------------------------------->______] 90.94% 69 p/s2614 / 2860 [----------------------------------------------------------------->______] 91.40% 69 p/s2628 / 2860 [------------------------------------------------------------------>_____] 91.89% 69 p/s2642 / 2860 [------------------------------------------------------------------>_____] 92.38% 69 p/s2656 / 2860 [------------------------------------------------------------------>_____] 92.87% 69 p/s2669 / 2860 [------------------------------------------------------------------->____] 93.32% 69 p/s2683 / 2860 [------------------------------------------------------------------->____] 93.81% 69 p/s2697 / 2860 [------------------------------------------------------------------->____] 94.30% 69 p/s2710 / 2860 [-------------------------------------------------------------------->___] 94.76% 69 p/s2724 / 2860 [-------------------------------------------------------------------->___] 95.24% 69 p/s2738 / 2860 [-------------------------------------------------------------------->___] 95.73% 69 p/s2751 / 2860 [--------------------------------------------------------------------->__] 96.19% 69 p/s2765 / 2860 [--------------------------------------------------------------------->__] 96.68% 69 p/s2779 / 2860 [--------------------------------------------------------------------->__] 97.17% 69 p/s2792 / 2860 [---------------------------------------------------------------------->_] 97.62% 69 p/s2807 / 2860 [---------------------------------------------------------------------->_] 98.15% 69 p/s2820 / 2860 [---------------------------------------------------------------------->_] 98.60% 69 p/s2834 / 2860 [----------------------------------------------------------------------->] 99.09% 69 p/s2848 / 2860 [----------------------------------------------------------------------->] 99.58% 69 p/s2860 / 2860 [-----------------------------------------------------------------------] 100.00% 70 p/s2026-03-18T06:45:20 - INFO: Parsing 2860 sonar sweeps from /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:47:04 - 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/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245"
2026-03-18T06:47:06 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:47:06 - INFO: Prepared data will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/processing/data
2026-03-18T06:47:06 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:47:06 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:47:06 - INFO: Recording GUID: 0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-18T06:47:06 - INFO: Preparing sonar data...
2026-03-18T06:47:06 - INFO: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:47:08 - INFO: Sonar epoch is 2026-01-13 18:41:41.182331+00:00 (1768329701182330931)
2026-03-18T06:47:08 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:47:08 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-18T06:47:08 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:47:08 - INFO: Sonar range is 0.939120 m
2026-03-18T06:47:08 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:47:08 - INFO: Processing 2860 sweeps...

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2026-03-18T06:47:18 - INFO: Prepared sonar data in 12.6182 s
2026-03-18T06:47:18 - INFO: No IMU data found
2026-03-18T06:47:19 - INFO: DataPrep took 0:00:12.996001
2026-03-18T06:47:19 - INFO: Extracted sonar data in 0:02:40.041714
2026-03-18T06:47:19 - INFO: MSIP3D took 0:02:40.403164