2026-03-18T10:06:31 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:06:31 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-18T10:06:31 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:06:31 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-18T10:06:31 - INFO: Recording will be processed as MD
2026-03-18T10:06:31 - INFO: Copying assets JSON to output directory...
2026-03-18T10:06:31 - INFO: Preparing counter data...
2026-03-18T10:06:31 - INFO: Interpreting counter as imperial
2026-03-18T10:06:31 - INFO: Preparing size track from assets JSON...
2026-03-18T10:06:31 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:06:31 - INFO: Preparing material track from assets JSON...
2026-03-18T10:06:31 - INFO: Prepared counter data in 0.0620 s
2026-03-18T10:06:31 - 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: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4634
21 / 4634 [>___________________________________________________________________________] 0.45% ? p/s43 / 4634 [>___________________________________________________________________________] 0.93% ? p/s63 / 4634 [->__________________________________________________________________________] 1.36% ? p/s84 / 4634 [->________________________________________________________________________] 1.81% 105 p/s107 / 4634 [->_______________________________________________________________________] 2.31% 105 p/s127 / 4634 [-->______________________________________________________________________] 2.74% 105 p/s150 / 4634 [-->______________________________________________________________________] 3.24% 105 p/s173 / 4634 [-->______________________________________________________________________] 3.73% 105 p/s193 / 4634 [--->_____________________________________________________________________] 4.16% 105 p/s216 / 4634 [--->_____________________________________________________________________] 4.66% 106 p/s238 / 4634 [--->_____________________________________________________________________] 5.14% 106 p/s261 / 4634 [---->____________________________________________________________________] 5.63% 106 p/s282 / 4634 [---->____________________________________________________________________] 6.09% 106 p/s305 / 4634 [---->____________________________________________________________________] 6.58% 106 p/s327 / 4634 [----->___________________________________________________________________] 7.06% 106 p/s348 / 4634 [----->___________________________________________________________________] 7.51% 106 p/s370 / 4634 [----->___________________________________________________________________] 7.98% 106 p/s390 / 4634 [------>__________________________________________________________________] 8.42% 106 p/s411 / 4634 [------>__________________________________________________________________] 8.87% 106 p/s433 / 4634 [------>__________________________________________________________________] 9.34% 106 p/s455 / 4634 [------->_________________________________________________________________] 9.82% 106 p/s478 / 4634 [------->________________________________________________________________] 10.32% 106 p/s501 / 4634 [------->________________________________________________________________] 10.81% 106 p/s520 / 4634 [-------->_______________________________________________________________] 11.22% 106 p/s540 / 4634 [-------->_______________________________________________________________] 11.65% 106 p/s560 / 4634 [-------->_______________________________________________________________] 12.08% 106 p/s581 / 4634 [--------->______________________________________________________________] 12.54% 106 p/s600 / 4634 [--------->______________________________________________________________] 12.95% 106 p/s619 / 4634 [--------->______________________________________________________________] 13.36% 106 p/s639 / 4634 [--------->______________________________________________________________] 13.79% 106 p/s662 / 4634 [---------->_____________________________________________________________] 14.29% 106 p/s684 / 4634 [---------->_____________________________________________________________] 14.76% 106 p/s706 / 4634 [---------->_____________________________________________________________] 15.24% 106 p/s727 / 4634 [----------->____________________________________________________________] 15.69% 106 p/s749 / 4634 [----------->____________________________________________________________] 16.16% 106 p/s772 / 4634 [----------->____________________________________________________________] 16.66% 106 p/s793 / 4634 [------------>___________________________________________________________] 17.11% 106 p/s814 / 4634 [------------>___________________________________________________________] 17.57% 106 p/s834 / 4634 [------------>___________________________________________________________] 18.00% 106 p/s856 / 4634 [------------->__________________________________________________________] 18.47% 106 p/s876 / 4634 [------------->__________________________________________________________] 18.90% 106 p/s897 / 4634 [------------->__________________________________________________________] 19.36% 106 p/s917 / 4634 [-------------->_________________________________________________________] 19.79% 106 p/s937 / 4634 [-------------->_________________________________________________________] 20.22% 106 p/s960 / 4634 [-------------->_________________________________________________________] 20.72% 106 p/s982 / 4634 [--------------->________________________________________________________] 21.19% 106 p/s1004 / 4634 [--------------->_______________________________________________________] 21.67% 106 p/s1024 / 4634 [--------------->_______________________________________________________] 22.10% 106 p/s1045 / 4634 [---------------->______________________________________________________] 22.55% 106 p/s1066 / 4634 [---------------->______________________________________________________] 23.00% 106 p/s1085 / 4634 [---------------->______________________________________________________] 23.41% 106 p/s1108 / 4634 [---------------->______________________________________________________] 23.91% 106 p/s1129 / 4634 [----------------->_____________________________________________________] 24.36% 106 p/s1152 / 4634 [----------------->_____________________________________________________] 24.86% 106 p/s1174 / 4634 [----------------->_____________________________________________________] 25.33% 106 p/s1193 / 4634 [------------------>____________________________________________________] 25.74% 106 p/s1214 / 4634 [------------------>____________________________________________________] 26.20% 106 p/s1237 / 4634 [------------------>____________________________________________________] 26.69% 106 p/s1260 / 4634 [------------------->___________________________________________________] 27.19% 106 p/s1281 / 4634 [------------------->___________________________________________________] 27.64% 106 p/s1302 / 4634 [------------------->___________________________________________________] 28.10% 106 p/s1322 / 4634 [-------------------->__________________________________________________] 28.53% 106 p/s1344 / 4634 [-------------------->__________________________________________________] 29.00% 106 p/s1364 / 4634 [-------------------->__________________________________________________] 29.43% 106 p/s1385 / 4634 [--------------------->_________________________________________________] 29.89% 106 p/s1408 / 4634 [--------------------->_________________________________________________] 30.38% 106 p/s1429 / 4634 [--------------------->_________________________________________________] 30.84% 106 p/s1451 / 4634 [---------------------->________________________________________________] 31.31% 106 p/s1474 / 4634 [---------------------->________________________________________________] 31.81% 106 p/s1497 / 4634 [---------------------->________________________________________________] 32.30% 107 p/s1517 / 4634 [----------------------->_______________________________________________] 32.74% 107 p/s1540 / 4634 [----------------------->_______________________________________________] 33.23% 107 p/s1561 / 4634 [----------------------->_______________________________________________] 33.69% 107 p/s1583 / 4634 [------------------------>______________________________________________] 34.16% 107 p/s1606 / 4634 [------------------------>______________________________________________] 34.66% 107 p/s1627 / 4634 [------------------------>______________________________________________] 35.11% 107 p/s1649 / 4634 [------------------------->_____________________________________________] 35.58% 107 p/s1672 / 4634 [------------------------->_____________________________________________] 36.08% 107 p/s1693 / 4634 [------------------------->_____________________________________________] 36.53% 107 p/s1716 / 4634 [-------------------------->____________________________________________] 37.03% 107 p/s1737 / 4634 [-------------------------->____________________________________________] 37.48% 107 p/s1760 / 4634 [-------------------------->____________________________________________] 37.98% 107 p/s1781 / 4634 [--------------------------->___________________________________________] 38.43% 107 p/s1804 / 4634 [--------------------------->___________________________________________] 38.93% 107 p/s1824 / 4634 [--------------------------->___________________________________________] 39.36% 107 p/s1846 / 4634 [---------------------------->__________________________________________] 39.84% 107 p/s1869 / 4634 [---------------------------->__________________________________________] 40.33% 107 p/s1891 / 4634 [---------------------------->__________________________________________] 40.81% 108 p/s1913 / 4634 [----------------------------->_________________________________________] 41.28% 108 p/s1934 / 4634 [----------------------------->_________________________________________] 41.74% 108 p/s1956 / 4634 [----------------------------->_________________________________________] 42.21% 108 p/s1977 / 4634 [------------------------------>________________________________________] 42.66% 108 p/s1997 / 4634 [------------------------------>________________________________________] 43.09% 108 p/s2018 / 4634 [------------------------------>________________________________________] 43.55% 107 p/s2039 / 4634 [------------------------------->_______________________________________] 44.00% 107 p/s2060 / 4634 [------------------------------->_______________________________________] 44.45% 107 p/s2082 / 4634 [------------------------------->_______________________________________] 44.93% 107 p/s2102 / 4634 [-------------------------------->______________________________________] 45.36% 107 p/s2124 / 4634 [-------------------------------->______________________________________] 45.84% 107 p/s2147 / 4634 [-------------------------------->______________________________________] 46.33% 107 p/s2169 / 4634 [--------------------------------->_____________________________________] 46.81% 107 p/s2191 / 4634 [--------------------------------->_____________________________________] 47.28% 107 p/s2212 / 4634 [--------------------------------->_____________________________________] 47.73% 107 p/s2234 / 4634 [---------------------------------->____________________________________] 48.21% 107 p/s2257 / 4634 [---------------------------------->____________________________________] 48.71% 107 p/s2280 / 4634 [---------------------------------->____________________________________] 49.20% 108 p/s2301 / 4634 [----------------------------------->___________________________________] 49.65% 108 p/s2323 / 4634 [----------------------------------->___________________________________] 50.13% 108 p/s2344 / 4634 [----------------------------------->___________________________________] 50.58% 108 p/s2366 / 4634 [------------------------------------>__________________________________] 51.06% 108 p/s2388 / 4634 [------------------------------------>__________________________________] 51.53% 108 p/s2409 / 4634 [------------------------------------>__________________________________] 51.99% 108 p/s2431 / 4634 [------------------------------------->_________________________________] 52.46% 108 p/s2451 / 4634 [------------------------------------->_________________________________] 52.89% 108 p/s2473 / 4634 [------------------------------------->_________________________________] 53.37% 108 p/s2494 / 4634 [-------------------------------------->________________________________] 53.82% 108 p/s2515 / 4634 [-------------------------------------->________________________________] 54.27% 108 p/s2537 / 4634 [-------------------------------------->________________________________] 54.75% 108 p/s2559 / 4634 [--------------------------------------->_______________________________] 55.22% 108 p/s2581 / 4634 [--------------------------------------->_______________________________] 55.70% 108 p/s2603 / 4634 [--------------------------------------->_______________________________] 56.17% 108 p/s2626 / 4634 [---------------------------------------->______________________________] 56.67% 108 p/s2648 / 4634 [---------------------------------------->______________________________] 57.14% 108 p/s2670 / 4634 [---------------------------------------->______________________________] 57.62% 108 p/s2692 / 4634 [----------------------------------------->_____________________________] 58.09% 108 p/s2711 / 4634 [----------------------------------------->_____________________________] 58.50% 108 p/s2732 / 4634 [----------------------------------------->_____________________________] 58.96% 108 p/s2754 / 4634 [------------------------------------------>____________________________] 59.43% 108 p/s2776 / 4634 [------------------------------------------>____________________________] 59.91% 108 p/s2798 / 4634 [------------------------------------------>____________________________] 60.38% 108 p/s2819 / 4634 [------------------------------------------->___________________________] 60.83% 108 p/s2841 / 4634 [------------------------------------------->___________________________] 61.31% 108 p/s2863 / 4634 [------------------------------------------->___________________________] 61.78% 108 p/s2885 / 4634 [-------------------------------------------->__________________________] 62.26% 108 p/s2905 / 4634 [-------------------------------------------->__________________________] 62.69% 108 p/s2926 / 4634 [-------------------------------------------->__________________________] 63.14% 108 p/s2948 / 4634 [--------------------------------------------->_________________________] 63.62% 108 p/s2970 / 4634 [--------------------------------------------->_________________________] 64.09% 108 p/s2991 / 4634 [--------------------------------------------->_________________________] 64.54% 108 p/s3012 / 4634 [---------------------------------------------->________________________] 65.00% 108 p/s3034 / 4634 [---------------------------------------------->________________________] 65.47% 108 p/s3056 / 4634 [---------------------------------------------->________________________] 65.95% 108 p/s3079 / 4634 [----------------------------------------------->_______________________] 66.44% 108 p/s3101 / 4634 [----------------------------------------------->_______________________] 66.92% 108 p/s3123 / 4634 [----------------------------------------------->_______________________] 67.39% 108 p/s3144 / 4634 [------------------------------------------------>______________________] 67.85% 108 p/s3165 / 4634 [------------------------------------------------>______________________] 68.30% 108 p/s3187 / 4634 [------------------------------------------------>______________________] 68.77% 108 p/s3210 / 4634 [------------------------------------------------->_____________________] 69.27% 108 p/s3231 / 4634 [------------------------------------------------->_____________________] 69.72% 108 p/s3253 / 4634 [------------------------------------------------->_____________________] 70.20% 108 p/s3274 / 4634 [-------------------------------------------------->____________________] 70.65% 108 p/s3296 / 4634 [-------------------------------------------------->____________________] 71.13% 108 p/s3317 / 4634 [-------------------------------------------------->____________________] 71.58% 108 p/s3338 / 4634 [--------------------------------------------------->___________________] 72.03% 108 p/s3360 / 4634 [--------------------------------------------------->___________________] 72.51% 108 p/s3382 / 4634 [--------------------------------------------------->___________________] 72.98% 108 p/s3404 / 4634 [---------------------------------------------------->__________________] 73.46% 108 p/s3426 / 4634 [---------------------------------------------------->__________________] 73.93% 108 p/s3449 / 4634 [---------------------------------------------------->__________________] 74.43% 108 p/s3467 / 4634 [----------------------------------------------------->_________________] 74.82% 108 p/s3489 / 4634 [----------------------------------------------------->_________________] 75.29% 108 p/s3510 / 4634 [----------------------------------------------------->_________________] 75.74% 108 p/s3533 / 4634 [------------------------------------------------------>________________] 76.24% 108 p/s3556 / 4634 [------------------------------------------------------>________________] 76.74% 108 p/s3578 / 4634 [------------------------------------------------------>________________] 77.21% 108 p/s3600 / 4634 [------------------------------------------------------->_______________] 77.69% 108 p/s3623 / 4634 [------------------------------------------------------->_______________] 78.18% 108 p/s3644 / 4634 [------------------------------------------------------->_______________] 78.64% 108 p/s3664 / 4634 [-------------------------------------------------------->______________] 79.07% 108 p/s3686 / 4634 [-------------------------------------------------------->______________] 79.54% 108 p/s3707 / 4634 [-------------------------------------------------------->______________] 80.00% 108 p/s3729 / 4634 [--------------------------------------------------------->_____________] 80.47% 108 p/s3749 / 4634 [--------------------------------------------------------->_____________] 80.90% 108 p/s3772 / 4634 [--------------------------------------------------------->_____________] 81.40% 108 p/s3794 / 4634 [---------------------------------------------------------->____________] 81.87% 108 p/s3816 / 4634 [---------------------------------------------------------->____________] 82.35% 108 p/s3839 / 4634 [---------------------------------------------------------->____________] 82.84% 108 p/s3861 / 4634 [----------------------------------------------------------->___________] 83.32% 108 p/s3882 / 4634 [----------------------------------------------------------->___________] 83.77% 108 p/s3905 / 4634 [----------------------------------------------------------->___________] 84.27% 108 p/s3927 / 4634 [------------------------------------------------------------>__________] 84.74% 108 p/s3949 / 4634 [------------------------------------------------------------>__________] 85.22% 108 p/s3970 / 4634 [------------------------------------------------------------>__________] 85.67% 108 p/s3991 / 4634 [------------------------------------------------------------->_________] 86.12% 108 p/s4012 / 4634 [------------------------------------------------------------->_________] 86.58% 108 p/s4032 / 4634 [------------------------------------------------------------->_________] 87.01% 108 p/s4053 / 4634 [-------------------------------------------------------------->________] 87.46% 108 p/s4076 / 4634 [-------------------------------------------------------------->________] 87.96% 108 p/s4096 / 4634 [-------------------------------------------------------------->________] 88.39% 108 p/s4118 / 4634 [--------------------------------------------------------------->_______] 88.86% 108 p/s4140 / 4634 [--------------------------------------------------------------->_______] 89.34% 108 p/s4161 / 4634 [--------------------------------------------------------------->_______] 89.79% 108 p/s4183 / 4634 [---------------------------------------------------------------->______] 90.27% 108 p/s4204 / 4634 [---------------------------------------------------------------->______] 90.72% 108 p/s4225 / 4634 [---------------------------------------------------------------->______] 91.17% 108 p/s4247 / 4634 [----------------------------------------------------------------->_____] 91.65% 108 p/s4269 / 4634 [----------------------------------------------------------------->_____] 92.12% 108 p/s4290 / 4634 [----------------------------------------------------------------->_____] 92.58% 108 p/s4312 / 4634 [------------------------------------------------------------------>____] 93.05% 108 p/s4333 / 4634 [------------------------------------------------------------------>____] 93.50% 108 p/s4356 / 4634 [------------------------------------------------------------------>____] 94.00% 108 p/s4379 / 4634 [------------------------------------------------------------------->___] 94.50% 108 p/s4402 / 4634 [------------------------------------------------------------------->___] 94.99% 108 p/s4424 / 4634 [------------------------------------------------------------------->___] 95.47% 108 p/s4444 / 4634 [-------------------------------------------------------------------->__] 95.90% 108 p/s4467 / 4634 [-------------------------------------------------------------------->__] 96.40% 108 p/s4489 / 4634 [-------------------------------------------------------------------->__] 96.87% 108 p/s4510 / 4634 [--------------------------------------------------------------------->_] 97.32% 108 p/s4531 / 4634 [--------------------------------------------------------------------->_] 97.78% 108 p/s4551 / 4634 [--------------------------------------------------------------------->_] 98.21% 108 p/s4573 / 4634 [---------------------------------------------------------------------->] 98.68% 108 p/s4595 / 4634 [---------------------------------------------------------------------->] 99.16% 108 p/s4616 / 4634 [---------------------------------------------------------------------->] 99.61% 108 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 108 p/s2026-03-18T10:07:14 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:10:01 - 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"
2026-03-18T10:10:02 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:10:02 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-18T10:10:02 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:10:02 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:10:02 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-18T10:10:02 - INFO: Preparing sonar data...
2026-03-18T10:10:02 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:10:06 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-18T10:10:06 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:10:06 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-18T10:10:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:10:06 - INFO: Sonar range is 0.939120 m
2026-03-18T10:10:06 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:10:06 - INFO: Processing 4634 sweeps...

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2026-03-18T10:10:21 - INFO: Prepared sonar data in 19.0972 s
2026-03-18T10:10:21 - INFO: No IMU data found
2026-03-18T10:10:22 - INFO: DataPrep took 0:00:19.629690
2026-03-18T10:10:22 - INFO: Extracted sonar data in 0:03:50.851651
2026-03-18T10:10:22 - INFO: MSIP3D took 0:03:51.339315