2026-03-18T06:48:38 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:48:39 - INFO: P3D files will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-18T06:48:39 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:48:39 - INFO: Found TFD mission for SJ502828 DEP 519
2026-03-18T06:48:39 - INFO: Recording will be processed as SMD
2026-03-18T06:48:39 - INFO: Copying assets JSON to output directory...
2026-03-18T06:48:39 - INFO: Preparing counter data...
2026-03-18T06:48:39 - INFO: Interpreting counter as imperial
2026-03-18T06:48:39 - INFO: Preparing size track from assets JSON...
2026-03-18T06:48:39 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:48:39 - INFO: Preparing material track from assets JSON...
2026-03-18T06:48:39 - INFO: Prepared counter data in 0.1826 s
2026-03-18T06:48:39 - INFO: Extracting sonar data...
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/SJ502828_DEP_519.tfd
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output
Name: SONAR, Tag: 6012079244958847671
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2393
19 / 2393 [>___________________________________________________________________________] 0.79% ? p/s38 / 2393 [->__________________________________________________________________________] 1.59% ? p/s57 / 2393 [->__________________________________________________________________________] 2.38% ? p/s77 / 2393 [-->________________________________________________________________________] 3.22% 97 p/s97 / 2393 [--->_______________________________________________________________________] 4.05% 97 p/s116 / 2393 [--->______________________________________________________________________] 4.85% 97 p/s135 / 2393 [---->_____________________________________________________________________] 5.64% 97 p/s155 / 2393 [---->_____________________________________________________________________] 6.48% 97 p/s175 / 2393 [----->____________________________________________________________________] 7.31% 97 p/s194 / 2393 [----->____________________________________________________________________] 8.11% 97 p/s214 / 2393 [------>___________________________________________________________________] 8.94% 97 p/s232 / 2393 [------->__________________________________________________________________] 9.69% 97 p/s252 / 2393 [------->_________________________________________________________________] 10.53% 97 p/s271 / 2393 [-------->________________________________________________________________] 11.32% 97 p/s291 / 2393 [-------->________________________________________________________________] 12.16% 97 p/s311 / 2393 [--------->_______________________________________________________________] 13.00% 97 p/s331 / 2393 [---------->______________________________________________________________] 13.83% 97 p/s351 / 2393 [---------->______________________________________________________________] 14.67% 97 p/s370 / 2393 [----------->_____________________________________________________________] 15.46% 97 p/s390 / 2393 [----------->_____________________________________________________________] 16.30% 97 p/s410 / 2393 [------------>____________________________________________________________] 17.13% 97 p/s429 / 2393 [------------->___________________________________________________________] 17.93% 97 p/s449 / 2393 [------------->___________________________________________________________] 18.76% 97 p/s469 / 2393 [-------------->__________________________________________________________] 19.60% 97 p/s488 / 2393 [-------------->__________________________________________________________] 20.39% 97 p/s504 / 2393 [--------------->_________________________________________________________] 21.06% 97 p/s523 / 2393 [--------------->_________________________________________________________] 21.86% 97 p/s543 / 2393 [---------------->________________________________________________________] 22.69% 97 p/s561 / 2393 [----------------->_______________________________________________________] 23.44% 97 p/s579 / 2393 [----------------->_______________________________________________________] 24.20% 97 p/s598 / 2393 [------------------>______________________________________________________] 24.99% 96 p/s618 / 2393 [------------------>______________________________________________________] 25.83% 96 p/s637 / 2393 [------------------->_____________________________________________________] 26.62% 96 p/s657 / 2393 [-------------------->____________________________________________________] 27.46% 97 p/s676 / 2393 [-------------------->____________________________________________________] 28.25% 97 p/s696 / 2393 [--------------------->___________________________________________________] 29.08% 97 p/s715 / 2393 [--------------------->___________________________________________________] 29.88% 97 p/s735 / 2393 [---------------------->__________________________________________________] 30.71% 97 p/s754 / 2393 [----------------------->_________________________________________________] 31.51% 97 p/s774 / 2393 [----------------------->_________________________________________________] 32.34% 97 p/s793 / 2393 [------------------------>________________________________________________] 33.14% 97 p/s813 / 2393 [------------------------>________________________________________________] 33.97% 97 p/s833 / 2393 [------------------------->_______________________________________________] 34.81% 97 p/s851 / 2393 [------------------------->_______________________________________________] 35.56% 97 p/s857 / 2393 [-------------------------->______________________________________________] 35.81% 97 p/s876 / 2393 [-------------------------->______________________________________________] 36.61% 95 p/s896 / 2393 [--------------------------->_____________________________________________] 37.44% 95 p/s915 / 2393 [--------------------------->_____________________________________________] 38.24% 95 p/s935 / 2393 [---------------------------->____________________________________________] 39.07% 95 p/s954 / 2393 [----------------------------->___________________________________________] 39.87% 95 p/s974 / 2393 [----------------------------->___________________________________________] 40.70% 95 p/s994 / 2393 [------------------------------>__________________________________________] 41.54% 96 p/s1012 / 2393 [------------------------------>_________________________________________] 42.29% 96 p/s1020 / 2393 [------------------------------>_________________________________________] 42.62% 96 p/s1040 / 2393 [------------------------------->________________________________________] 43.46% 94 p/s1056 / 2393 [------------------------------->________________________________________] 44.13% 94 p/s1071 / 2393 [-------------------------------->_______________________________________] 44.76% 94 p/s1082 / 2393 [-------------------------------->_______________________________________] 45.22% 93 p/s1094 / 2393 [-------------------------------->_______________________________________] 45.72% 93 p/s1105 / 2393 [--------------------------------->______________________________________] 46.18% 93 p/s1117 / 2393 [--------------------------------->______________________________________] 46.68% 91 p/s1131 / 2393 [---------------------------------->_____________________________________] 47.26% 91 p/s1142 / 2393 [---------------------------------->_____________________________________] 47.72% 91 p/s1153 / 2393 [---------------------------------->_____________________________________] 48.18% 89 p/s1164 / 2393 [----------------------------------->____________________________________] 48.64% 89 p/s1176 / 2393 [----------------------------------->____________________________________] 49.14% 89 p/s1188 / 2393 [----------------------------------->____________________________________] 49.64% 87 p/s1201 / 2393 [------------------------------------>___________________________________] 50.19% 87 p/s1216 / 2393 [------------------------------------>___________________________________] 50.81% 87 p/s1234 / 2393 [------------------------------------->__________________________________] 51.57% 86 p/s1245 / 2393 [------------------------------------->__________________________________] 52.03% 86 p/s1258 / 2393 [------------------------------------->__________________________________] 52.57% 86 p/s1271 / 2393 [-------------------------------------->_________________________________] 53.11% 84 p/s1284 / 2393 [-------------------------------------->_________________________________] 53.66% 84 p/s1297 / 2393 [--------------------------------------->________________________________] 54.20% 84 p/s1313 / 2393 [--------------------------------------->________________________________] 54.87% 83 p/s1327 / 2393 [--------------------------------------->________________________________] 55.45% 83 p/s1338 / 2393 [---------------------------------------->_______________________________] 55.91% 83 p/s1349 / 2393 [---------------------------------------->_______________________________] 56.37% 82 p/s1362 / 2393 [---------------------------------------->_______________________________] 56.92% 82 p/s1374 / 2393 [----------------------------------------->______________________________] 57.42% 82 p/s1386 / 2393 [----------------------------------------->______________________________] 57.92% 81 p/s1397 / 2393 [------------------------------------------>_____________________________] 58.38% 81 p/s1409 / 2393 [------------------------------------------>_____________________________] 58.88% 81 p/s1422 / 2393 [------------------------------------------>_____________________________] 59.42% 79 p/s1433 / 2393 [------------------------------------------->____________________________] 59.88% 79 p/s1444 / 2393 [------------------------------------------->____________________________] 60.34% 79 p/s1457 / 2393 [------------------------------------------->____________________________] 60.89% 78 p/s1468 / 2393 [-------------------------------------------->___________________________] 61.35% 78 p/s1480 / 2393 [-------------------------------------------->___________________________] 61.85% 78 p/s1493 / 2393 [-------------------------------------------->___________________________] 62.39% 77 p/s1504 / 2393 [--------------------------------------------->__________________________] 62.85% 77 p/s1516 / 2393 [--------------------------------------------->__________________________] 63.35% 77 p/s1532 / 2393 [---------------------------------------------->_________________________] 64.02% 76 p/s1545 / 2393 [---------------------------------------------->_________________________] 64.56% 76 p/s1559 / 2393 [---------------------------------------------->_________________________] 65.15% 76 p/s1569 / 2393 [----------------------------------------------->________________________] 65.57% 75 p/s1586 / 2393 [----------------------------------------------->________________________] 66.28% 75 p/s1599 / 2393 [------------------------------------------------>_______________________] 66.82% 75 p/s1609 / 2393 [------------------------------------------------>_______________________] 67.24% 75 p/s1622 / 2393 [------------------------------------------------>_______________________] 67.78% 75 p/s1636 / 2393 [------------------------------------------------->______________________] 68.37% 75 p/s1650 / 2393 [------------------------------------------------->______________________] 68.95% 74 p/s1663 / 2393 [-------------------------------------------------->_____________________] 69.49% 74 p/s1674 / 2393 [-------------------------------------------------->_____________________] 69.95% 74 p/s1685 / 2393 [-------------------------------------------------->_____________________] 70.41% 73 p/s1698 / 2393 [--------------------------------------------------->____________________] 70.96% 73 p/s1715 / 2393 [--------------------------------------------------->____________________] 71.67% 73 p/s1729 / 2393 [---------------------------------------------------->___________________] 72.25% 73 p/s1746 / 2393 [---------------------------------------------------->___________________] 72.96% 73 p/s1765 / 2393 [----------------------------------------------------->__________________] 73.76% 73 p/s1785 / 2393 [----------------------------------------------------->__________________] 74.59% 74 p/s1804 / 2393 [------------------------------------------------------>_________________] 75.39% 74 p/s1824 / 2393 [------------------------------------------------------>_________________] 76.22% 74 p/s1843 / 2393 [------------------------------------------------------->________________] 77.02% 76 p/s1863 / 2393 [-------------------------------------------------------->_______________] 77.85% 76 p/s1882 / 2393 [-------------------------------------------------------->_______________] 78.65% 76 p/s1902 / 2393 [--------------------------------------------------------->______________] 79.48% 77 p/s1922 / 2393 [--------------------------------------------------------->______________] 80.32% 77 p/s1941 / 2393 [---------------------------------------------------------->_____________] 81.11% 77 p/s1961 / 2393 [----------------------------------------------------------->____________] 81.95% 79 p/s1981 / 2393 [----------------------------------------------------------->____________] 82.78% 79 p/s2000 / 2393 [------------------------------------------------------------>___________] 83.58% 79 p/s2020 / 2393 [------------------------------------------------------------>___________] 84.41% 80 p/s2039 / 2393 [------------------------------------------------------------->__________] 85.21% 80 p/s2057 / 2393 [------------------------------------------------------------->__________] 85.96% 80 p/s2077 / 2393 [-------------------------------------------------------------->_________] 86.79% 81 p/s2097 / 2393 [--------------------------------------------------------------->________] 87.63% 81 p/s2116 / 2393 [--------------------------------------------------------------->________] 88.42% 81 p/s2136 / 2393 [---------------------------------------------------------------->_______] 89.26% 82 p/s2155 / 2393 [---------------------------------------------------------------->_______] 90.05% 82 p/s2175 / 2393 [----------------------------------------------------------------->______] 90.89% 82 p/s2194 / 2393 [------------------------------------------------------------------>_____] 91.68% 83 p/s2214 / 2393 [------------------------------------------------------------------>_____] 92.52% 83 p/s2233 / 2393 [------------------------------------------------------------------->____] 93.31% 83 p/s2253 / 2393 [------------------------------------------------------------------->____] 94.15% 84 p/s2273 / 2393 [-------------------------------------------------------------------->___] 94.99% 84 p/s2292 / 2393 [-------------------------------------------------------------------->___] 95.78% 84 p/s2312 / 2393 [--------------------------------------------------------------------->__] 96.62% 85 p/s2331 / 2393 [---------------------------------------------------------------------->_] 97.41% 85 p/s2351 / 2393 [---------------------------------------------------------------------->_] 98.24% 85 p/s2370 / 2393 [----------------------------------------------------------------------->] 99.04% 86 p/s2390 / 2393 [----------------------------------------------------------------------->] 99.87% 86 p/s2393 / 2393 [-----------------------------------------------------------------------] 100.00% 84 p/s2026-03-18T06:49:08 - INFO: Parsing 2393 sonar sweeps from /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:50:40 - 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 /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b"
2026-03-18T06:50:41 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:50:41 - INFO: Prepared data will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/processing/data
2026-03-18T06:50:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:50:41 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:50:41 - INFO: Recording GUID: 4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-18T06:50:41 - INFO: Preparing sonar data...
2026-03-18T06:50:41 - INFO: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:50:44 - INFO: Sonar epoch is 2026-02-22 15:54:25.597311+00:00 (1771775665597311200)
2026-03-18T06:50:44 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:50:44 - INFO: Sonar range is 2.094960 m
2026-03-18T06:50:44 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:50:44 - INFO: Processing 2392 sweeps...

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2026-03-18T06:50:53 - INFO: Prepared sonar data in 11.1687 s
2026-03-18T06:50:53 - INFO: No IMU data found
2026-03-18T06:50:53 - INFO: DataPrep took 0:00:11.524198
2026-03-18T06:50:53 - INFO: Extracted sonar data in 0:02:14.223148
2026-03-18T06:50:53 - INFO: MSIP3D took 0:02:14.617655