2026-03-18T06:47:04 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:47:04 - INFO: P3D files will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-18T06:47:04 - INFO: Found 11 TFD dictionary entries
2026-03-18T06:47:04 - INFO: Found TFD mission for SJ502828 DEP 521
2026-03-18T06:47:04 - INFO: Recording will be processed as SMD
2026-03-18T06:47:04 - INFO: Copying assets JSON to output directory...
2026-03-18T06:47:04 - INFO: Preparing counter data...
2026-03-18T06:47:04 - INFO: Interpreting counter as imperial
2026-03-18T06:47:04 - INFO: Preparing size track from assets JSON...
2026-03-18T06:47:04 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:47:04 - INFO: Preparing material track from assets JSON...
2026-03-18T06:47:04 - INFO: Prepared counter data in 0.2934 s
2026-03-18T06:47:04 - 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: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 2756
19 / 2756 [>___________________________________________________________________________] 0.69% ? p/s38 / 2756 [->__________________________________________________________________________] 1.38% ? p/s57 / 2756 [->__________________________________________________________________________] 2.07% ? p/s77 / 2756 [-->________________________________________________________________________] 2.79% 97 p/s97 / 2756 [-->________________________________________________________________________] 3.52% 97 p/s117 / 2756 [--->______________________________________________________________________] 4.25% 97 p/s136 / 2756 [--->______________________________________________________________________] 4.93% 97 p/s155 / 2756 [---->_____________________________________________________________________] 5.62% 97 p/s175 / 2756 [---->_____________________________________________________________________] 6.35% 97 p/s195 / 2756 [----->____________________________________________________________________] 7.08% 97 p/s214 / 2756 [----->____________________________________________________________________] 7.76% 97 p/s234 / 2756 [------>___________________________________________________________________] 8.49% 97 p/s253 / 2756 [------>___________________________________________________________________] 9.18% 97 p/s273 / 2756 [------->__________________________________________________________________] 9.91% 97 p/s292 / 2756 [------->_________________________________________________________________] 10.60% 97 p/s312 / 2756 [-------->________________________________________________________________] 11.32% 97 p/s331 / 2756 [-------->________________________________________________________________] 12.01% 97 p/s348 / 2756 [--------->_______________________________________________________________] 12.63% 97 p/s368 / 2756 [--------->_______________________________________________________________] 13.35% 97 p/s387 / 2756 [---------->______________________________________________________________] 14.04% 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/s483 / 2756 [------------>____________________________________________________________] 17.53% 97 p/s502 / 2756 [------------->___________________________________________________________] 18.21% 97 p/s522 / 2756 [------------->___________________________________________________________] 18.94% 97 p/s541 / 2756 [-------------->__________________________________________________________] 19.63% 97 p/s561 / 2756 [-------------->__________________________________________________________] 20.36% 97 p/s581 / 2756 [--------------->_________________________________________________________] 21.08% 97 p/s598 / 2756 [--------------->_________________________________________________________] 21.70% 97 p/s612 / 2756 [---------------->________________________________________________________] 22.21% 97 p/s625 / 2756 [---------------->________________________________________________________] 22.68% 97 p/s641 / 2756 [---------------->________________________________________________________] 23.26% 95 p/s654 / 2756 [----------------->_______________________________________________________] 23.73% 95 p/s668 / 2756 [----------------->_______________________________________________________] 24.24% 95 p/s682 / 2756 [------------------>______________________________________________________] 24.75% 93 p/s695 / 2756 [------------------>______________________________________________________] 25.22% 93 p/s711 / 2756 [------------------>______________________________________________________] 25.80% 93 p/s725 / 2756 [------------------->_____________________________________________________] 26.31% 92 p/s738 / 2756 [------------------->_____________________________________________________] 26.78% 92 p/s739 / 2756 [------------------->_____________________________________________________] 26.81% 92 p/s751 / 2756 [------------------->_____________________________________________________] 27.25% 89 p/s764 / 2756 [-------------------->____________________________________________________] 27.72% 89 p/s777 / 2756 [-------------------->____________________________________________________] 28.19% 89 p/s792 / 2756 [-------------------->____________________________________________________] 28.74% 87 p/s807 / 2756 [--------------------->___________________________________________________] 29.28% 87 p/s821 / 2756 [--------------------->___________________________________________________] 29.79% 87 p/s839 / 2756 [---------------------->__________________________________________________] 30.44% 87 p/s859 / 2756 [---------------------->__________________________________________________] 31.17% 87 p/s879 / 2756 [----------------------->_________________________________________________] 31.89% 87 p/s898 / 2756 [----------------------->_________________________________________________] 32.58% 88 p/s917 / 2756 [------------------------>________________________________________________] 33.27% 88 p/s937 / 2756 [------------------------>________________________________________________] 34.00% 88 p/s957 / 2756 [------------------------->_______________________________________________] 34.72% 88 p/s977 / 2756 [------------------------->_______________________________________________] 35.45% 88 p/s996 / 2756 [-------------------------->______________________________________________] 36.14% 88 p/s1016 / 2756 [-------------------------->_____________________________________________] 36.87% 89 p/s1035 / 2756 [--------------------------->____________________________________________] 37.55% 89 p/s1055 / 2756 [--------------------------->____________________________________________] 38.28% 89 p/s1075 / 2756 [---------------------------->___________________________________________] 39.01% 89 p/s1094 / 2756 [---------------------------->___________________________________________] 39.70% 89 p/s1114 / 2756 [----------------------------->__________________________________________] 40.42% 89 p/s1134 / 2756 [----------------------------->__________________________________________] 41.15% 90 p/s1153 / 2756 [------------------------------>_________________________________________] 41.84% 90 p/s1173 / 2756 [------------------------------>_________________________________________] 42.56% 90 p/s1193 / 2756 [------------------------------->________________________________________] 43.29% 91 p/s1212 / 2756 [------------------------------->________________________________________] 43.98% 91 p/s1232 / 2756 [-------------------------------->_______________________________________] 44.70% 91 p/s1252 / 2756 [-------------------------------->_______________________________________] 45.43% 91 p/s1271 / 2756 [--------------------------------->______________________________________] 46.12% 91 p/s1291 / 2756 [--------------------------------->______________________________________] 46.84% 91 p/s1311 / 2756 [---------------------------------->_____________________________________] 47.57% 92 p/s1330 / 2756 [---------------------------------->_____________________________________] 48.26% 92 p/s1350 / 2756 [----------------------------------->____________________________________] 48.98% 92 p/s1370 / 2756 [----------------------------------->____________________________________] 49.71% 92 p/s1390 / 2756 [------------------------------------>___________________________________] 50.44% 92 p/s1409 / 2756 [------------------------------------>___________________________________] 51.12% 92 p/s1429 / 2756 [------------------------------------->__________________________________] 51.85% 92 p/s1449 / 2756 [------------------------------------->__________________________________] 52.58% 92 p/s1469 / 2756 [-------------------------------------->_________________________________] 53.30% 92 p/s1488 / 2756 [-------------------------------------->_________________________________] 53.99% 93 p/s1508 / 2756 [--------------------------------------->________________________________] 54.72% 93 p/s1528 / 2756 [--------------------------------------->________________________________] 55.44% 93 p/s1547 / 2756 [---------------------------------------->_______________________________] 56.13% 93 p/s1567 / 2756 [---------------------------------------->_______________________________] 56.86% 93 p/s1587 / 2756 [----------------------------------------->______________________________] 57.58% 93 p/s1607 / 2756 [----------------------------------------->______________________________] 58.31% 94 p/s1626 / 2756 [------------------------------------------>_____________________________] 59.00% 94 p/s1646 / 2756 [------------------------------------------->____________________________] 59.72% 94 p/s1656 / 2756 [------------------------------------------->____________________________] 60.09% 93 p/s1674 / 2756 [------------------------------------------->____________________________] 60.74% 93 p/s1694 / 2756 [-------------------------------------------->___________________________] 61.47% 93 p/s1714 / 2756 [-------------------------------------------->___________________________] 62.19% 93 p/s1734 / 2756 [--------------------------------------------->__________________________] 62.92% 93 p/s1754 / 2756 [--------------------------------------------->__________________________] 63.64% 93 p/s1774 / 2756 [---------------------------------------------->_________________________] 64.37% 94 p/s1794 / 2756 [---------------------------------------------->_________________________] 65.09% 94 p/s1814 / 2756 [----------------------------------------------->________________________] 65.82% 94 p/s1834 / 2756 [----------------------------------------------->________________________] 66.55% 94 p/s1854 / 2756 [------------------------------------------------>_______________________] 67.27% 94 p/s1874 / 2756 [------------------------------------------------>_______________________] 68.00% 94 p/s1894 / 2756 [------------------------------------------------->______________________] 68.72% 94 p/s1914 / 2756 [-------------------------------------------------->_____________________] 69.45% 94 p/s1934 / 2756 [-------------------------------------------------->_____________________] 70.17% 94 p/s1954 / 2756 [--------------------------------------------------->____________________] 70.90% 95 p/s1974 / 2756 [--------------------------------------------------->____________________] 71.63% 95 p/s1994 / 2756 [---------------------------------------------------->___________________] 72.35% 95 p/s2014 / 2756 [---------------------------------------------------->___________________] 73.08% 95 p/s2034 / 2756 [----------------------------------------------------->__________________] 73.80% 95 p/s2053 / 2756 [----------------------------------------------------->__________________] 74.49% 95 p/s2073 / 2756 [------------------------------------------------------>_________________] 75.22% 95 p/s2091 / 2756 [------------------------------------------------------>_________________] 75.87% 95 p/s2109 / 2756 [------------------------------------------------------->________________] 76.52% 95 p/s2129 / 2756 [------------------------------------------------------->________________] 77.25% 95 p/s2149 / 2756 [-------------------------------------------------------->_______________] 77.98% 95 p/s2169 / 2756 [-------------------------------------------------------->_______________] 78.70% 95 p/s2189 / 2756 [--------------------------------------------------------->______________] 79.43% 95 p/s2209 / 2756 [--------------------------------------------------------->______________] 80.15% 95 p/s2229 / 2756 [---------------------------------------------------------->_____________] 80.88% 95 p/s2250 / 2756 [---------------------------------------------------------->_____________] 81.64% 96 p/s2270 / 2756 [----------------------------------------------------------->____________] 82.37% 96 p/s2291 / 2756 [----------------------------------------------------------->____________] 83.13% 96 p/s2311 / 2756 [------------------------------------------------------------>___________] 83.85% 96 p/s2332 / 2756 [------------------------------------------------------------>___________] 84.62% 96 p/s2352 / 2756 [------------------------------------------------------------->__________] 85.34% 96 p/s2372 / 2756 [------------------------------------------------------------->__________] 86.07% 97 p/s2393 / 2756 [-------------------------------------------------------------->_________] 86.83% 97 p/s2413 / 2756 [--------------------------------------------------------------->________] 87.55% 97 p/s2433 / 2756 [--------------------------------------------------------------->________] 88.28% 97 p/s2454 / 2756 [---------------------------------------------------------------->_______] 89.04% 97 p/s2474 / 2756 [---------------------------------------------------------------->_______] 89.77% 97 p/s2495 / 2756 [----------------------------------------------------------------->______] 90.53% 97 p/s2516 / 2756 [----------------------------------------------------------------->______] 91.29% 97 p/s2537 / 2756 [------------------------------------------------------------------>_____] 92.05% 97 p/s2558 / 2756 [------------------------------------------------------------------>_____] 92.82% 98 p/s2578 / 2756 [------------------------------------------------------------------->____] 93.54% 98 p/s2598 / 2756 [------------------------------------------------------------------->____] 94.27% 98 p/s2618 / 2756 [-------------------------------------------------------------------->___] 94.99% 98 p/s2638 / 2756 [-------------------------------------------------------------------->___] 95.72% 98 p/s2657 / 2756 [--------------------------------------------------------------------->__] 96.41% 98 p/s2677 / 2756 [--------------------------------------------------------------------->__] 97.13% 98 p/s2697 / 2756 [---------------------------------------------------------------------->_] 97.86% 98 p/s2716 / 2756 [---------------------------------------------------------------------->_] 98.55% 98 p/s2737 / 2756 [----------------------------------------------------------------------->] 99.31% 98 p/s2756 / 2756 [-----------------------------------------------------------------------] 100.00% 95 p/s2026-03-18T06:47:33 - INFO: Parsing 2756 sonar sweeps from /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:49:19 - 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/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c"
2026-03-18T06:49:21 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:49:21 - INFO: Prepared data will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/processing/data
2026-03-18T06:49:21 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:49:21 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:49:21 - INFO: Recording GUID: 81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-18T06:49:21 - INFO: Preparing sonar data...
2026-03-18T06:49:21 - INFO: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:49:23 - INFO: Sonar epoch is 2026-02-23 17:09:14.871653+00:00 (1771866554871652952)
2026-03-18T06:49:23 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:49:23 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-18T06:49:23 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:49:23 - INFO: Sonar range is 2.094960 m
2026-03-18T06:49:23 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:49:23 - INFO: Processing 2755 sweeps...

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2026-03-18T06:49:34 - INFO: Prepared sonar data in 12.9763 s
2026-03-18T06:49:34 - INFO: No IMU data found
2026-03-18T06:49:34 - INFO: DataPrep took 0:00:13.370502
2026-03-18T06:49:34 - INFO: Extracted sonar data in 0:02:29.832320
2026-03-18T06:49:34 - INFO: MSIP3D took 0:02:30.360974