2026-03-24T08:26:35 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:26:35 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-24T08:26:35 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:26:35 - INFO: Found TFD mission for SJ502828 DEP 512
2026-03-24T08:26:35 - INFO: Recording will be processed as SMD
2026-03-24T08:26:35 - INFO: Copying assets JSON to output directory...
2026-03-24T08:26:35 - INFO: Preparing counter data...
2026-03-24T08:26:35 - INFO: Interpreting counter as imperial
2026-03-24T08:26:35 - INFO: Preparing size track from assets JSON...
2026-03-24T08:26:35 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:26:35 - INFO: Preparing material track from assets JSON...
2026-03-24T08:26:35 - INFO: Prepared counter data in 0.2058 s
2026-03-24T08:26:35 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 3195
18 / 3195 [>___________________________________________________________________________] 0.56% ? p/s38 / 3195 [>___________________________________________________________________________] 1.19% ? p/s57 / 3195 [->__________________________________________________________________________] 1.78% ? p/s76 / 3195 [->_________________________________________________________________________] 2.38% 97 p/s96 / 3195 [-->________________________________________________________________________] 3.00% 97 p/s116 / 3195 [-->_______________________________________________________________________] 3.63% 97 p/s134 / 3195 [--->______________________________________________________________________] 4.19% 97 p/s154 / 3195 [--->______________________________________________________________________] 4.82% 97 p/s174 / 3195 [---->_____________________________________________________________________] 5.45% 97 p/s193 / 3195 [---->_____________________________________________________________________] 6.04% 97 p/s213 / 3195 [---->_____________________________________________________________________] 6.67% 97 p/s233 / 3195 [----->____________________________________________________________________] 7.29% 97 p/s252 / 3195 [----->____________________________________________________________________] 7.89% 97 p/s272 / 3195 [------>___________________________________________________________________] 8.51% 97 p/s292 / 3195 [------>___________________________________________________________________] 9.14% 97 p/s311 / 3195 [------->__________________________________________________________________] 9.73% 97 p/s331 / 3195 [------->_________________________________________________________________] 10.36% 97 p/s351 / 3195 [-------->________________________________________________________________] 10.99% 97 p/s371 / 3195 [-------->________________________________________________________________] 11.61% 97 p/s390 / 3195 [-------->________________________________________________________________] 12.21% 97 p/s410 / 3195 [--------->_______________________________________________________________] 12.83% 97 p/s430 / 3195 [--------->_______________________________________________________________] 13.46% 97 p/s447 / 3195 [---------->______________________________________________________________] 13.99% 97 p/s467 / 3195 [---------->______________________________________________________________] 14.62% 97 p/s486 / 3195 [----------->_____________________________________________________________] 15.21% 97 p/s506 / 3195 [----------->_____________________________________________________________] 15.84% 97 p/s525 / 3195 [----------->_____________________________________________________________] 16.43% 97 p/s545 / 3195 [------------>____________________________________________________________] 17.06% 97 p/s564 / 3195 [------------>____________________________________________________________] 17.65% 97 p/s584 / 3195 [------------->___________________________________________________________] 18.28% 97 p/s604 / 3195 [------------->___________________________________________________________] 18.90% 97 p/s624 / 3195 [-------------->__________________________________________________________] 19.53% 97 p/s643 / 3195 [-------------->__________________________________________________________] 20.13% 97 p/s663 / 3195 [--------------->_________________________________________________________] 20.75% 97 p/s683 / 3195 [--------------->_________________________________________________________] 21.38% 97 p/s702 / 3195 [---------------->________________________________________________________] 21.97% 97 p/s722 / 3195 [---------------->________________________________________________________] 22.60% 97 p/s730 / 3195 [---------------->________________________________________________________] 22.85% 97 p/s747 / 3195 [----------------->_______________________________________________________] 23.38% 97 p/s767 / 3195 [----------------->_______________________________________________________] 24.01% 96 p/s787 / 3195 [----------------->_______________________________________________________] 24.63% 96 p/s806 / 3195 [------------------>______________________________________________________] 25.23% 96 p/s826 / 3195 [------------------>______________________________________________________] 25.85% 96 p/s846 / 3195 [------------------->_____________________________________________________] 26.48% 96 p/s865 / 3195 [------------------->_____________________________________________________] 27.07% 96 p/s885 / 3195 [-------------------->____________________________________________________] 27.70% 96 p/s904 / 3195 [-------------------->____________________________________________________] 28.29% 96 p/s924 / 3195 [--------------------->___________________________________________________] 28.92% 96 p/s944 / 3195 [--------------------->___________________________________________________] 29.55% 96 p/s963 / 3195 [---------------------->__________________________________________________] 30.14% 96 p/s978 / 3195 [---------------------->__________________________________________________] 30.61% 96 p/s990 / 3195 [---------------------->__________________________________________________] 30.99% 95 p/s1002 / 3195 [---------------------->_________________________________________________] 31.36% 95 p/s1015 / 3195 [---------------------->_________________________________________________] 31.77% 95 p/s1026 / 3195 [----------------------->________________________________________________] 32.11% 93 p/s1038 / 3195 [----------------------->________________________________________________] 32.49% 93 p/s1049 / 3195 [----------------------->________________________________________________] 32.83% 93 p/s1061 / 3195 [----------------------->________________________________________________] 33.21% 91 p/s1073 / 3195 [------------------------>_______________________________________________] 33.58% 91 p/s1083 / 3195 [------------------------>_______________________________________________] 33.90% 91 p/s1095 / 3195 [------------------------>_______________________________________________] 34.27% 88 p/s1106 / 3195 [------------------------>_______________________________________________] 34.62% 88 p/s1118 / 3195 [------------------------->______________________________________________] 34.99% 88 p/s1133 / 3195 [------------------------->______________________________________________] 35.46% 87 p/s1148 / 3195 [------------------------->______________________________________________] 35.93% 87 p/s1160 / 3195 [-------------------------->_____________________________________________] 36.31% 87 p/s1172 / 3195 [-------------------------->_____________________________________________] 36.68% 85 p/s1184 / 3195 [-------------------------->_____________________________________________] 37.06% 85 p/s1196 / 3195 [-------------------------->_____________________________________________] 37.43% 85 p/s1207 / 3195 [--------------------------->____________________________________________] 37.78% 84 p/s1218 / 3195 [--------------------------->____________________________________________] 38.12% 84 p/s1230 / 3195 [--------------------------->____________________________________________] 38.50% 84 p/s1241 / 3195 [--------------------------->____________________________________________] 38.84% 82 p/s1253 / 3195 [---------------------------->___________________________________________] 39.22% 82 p/s1265 / 3195 [---------------------------->___________________________________________] 39.59% 82 p/s1276 / 3195 [---------------------------->___________________________________________] 39.94% 80 p/s1288 / 3195 [----------------------------->__________________________________________] 40.31% 80 p/s1300 / 3195 [----------------------------->__________________________________________] 40.69% 80 p/s1311 / 3195 [----------------------------->__________________________________________] 41.03% 79 p/s1323 / 3195 [----------------------------->__________________________________________] 41.41% 79 p/s1335 / 3195 [------------------------------>_________________________________________] 41.78% 79 p/s1346 / 3195 [------------------------------>_________________________________________] 42.13% 78 p/s1358 / 3195 [------------------------------>_________________________________________] 42.50% 78 p/s1369 / 3195 [------------------------------>_________________________________________] 42.85% 78 p/s1381 / 3195 [------------------------------->________________________________________] 43.22% 76 p/s1394 / 3195 [------------------------------->________________________________________] 43.63% 76 p/s1405 / 3195 [------------------------------->________________________________________] 43.97% 76 p/s1417 / 3195 [------------------------------->________________________________________] 44.35% 75 p/s1429 / 3195 [-------------------------------->_______________________________________] 44.73% 75 p/s1440 / 3195 [-------------------------------->_______________________________________] 45.07% 75 p/s1453 / 3195 [-------------------------------->_______________________________________] 45.48% 74 p/s1464 / 3195 [-------------------------------->_______________________________________] 45.82% 74 p/s1475 / 3195 [--------------------------------->______________________________________] 46.17% 74 p/s1487 / 3195 [--------------------------------->______________________________________] 46.54% 73 p/s1499 / 3195 [--------------------------------->______________________________________] 46.92% 73 p/s1511 / 3195 [---------------------------------->_____________________________________] 47.29% 73 p/s1523 / 3195 [---------------------------------->_____________________________________] 47.67% 72 p/s1534 / 3195 [---------------------------------->_____________________________________] 48.01% 72 p/s1546 / 3195 [---------------------------------->_____________________________________] 48.39% 72 p/s1558 / 3195 [----------------------------------->____________________________________] 48.76% 71 p/s1568 / 3195 [----------------------------------->____________________________________] 49.08% 71 p/s1580 / 3195 [----------------------------------->____________________________________] 49.45% 71 p/s1593 / 3195 [----------------------------------->____________________________________] 49.86% 71 p/s1611 / 3195 [------------------------------------>___________________________________] 50.42% 71 p/s1627 / 3195 [------------------------------------>___________________________________] 50.92% 71 p/s1638 / 3195 [------------------------------------>___________________________________] 51.27% 71 p/s1650 / 3195 [------------------------------------->__________________________________] 51.64% 71 p/s1661 / 3195 [------------------------------------->__________________________________] 51.99% 71 p/s1673 / 3195 [------------------------------------->__________________________________] 52.36% 70 p/s1685 / 3195 [------------------------------------->__________________________________] 52.74% 70 p/s1696 / 3195 [-------------------------------------->_________________________________] 53.08% 70 p/s1708 / 3195 [-------------------------------------->_________________________________] 53.46% 69 p/s1720 / 3195 [-------------------------------------->_________________________________] 53.83% 69 p/s1731 / 3195 [--------------------------------------->________________________________] 54.18% 69 p/s1743 / 3195 [--------------------------------------->________________________________] 54.55% 69 p/s1755 / 3195 [--------------------------------------->________________________________] 54.93% 69 p/s1766 / 3195 [--------------------------------------->________________________________] 55.27% 69 p/s1778 / 3195 [---------------------------------------->_______________________________] 55.65% 68 p/s1789 / 3195 [---------------------------------------->_______________________________] 55.99% 68 p/s1801 / 3195 [---------------------------------------->_______________________________] 56.37% 68 p/s1813 / 3195 [---------------------------------------->_______________________________] 56.74% 67 p/s1824 / 3195 [----------------------------------------->______________________________] 57.09% 67 p/s1836 / 3195 [----------------------------------------->______________________________] 57.46% 67 p/s1848 / 3195 [----------------------------------------->______________________________] 57.84% 67 p/s1859 / 3195 [----------------------------------------->______________________________] 58.18% 67 p/s1871 / 3195 [------------------------------------------>_____________________________] 58.56% 67 p/s1883 / 3195 [------------------------------------------>_____________________________] 58.94% 66 p/s1894 / 3195 [------------------------------------------>_____________________________] 59.28% 66 p/s1906 / 3195 [------------------------------------------>_____________________________] 59.66% 66 p/s1918 / 3195 [------------------------------------------->____________________________] 60.03% 66 p/s1928 / 3195 [------------------------------------------->____________________________] 60.34% 66 p/s1940 / 3195 [------------------------------------------->____________________________] 60.72% 66 p/s1952 / 3195 [------------------------------------------->____________________________] 61.10% 65 p/s1963 / 3195 [-------------------------------------------->___________________________] 61.44% 65 p/s1975 / 3195 [-------------------------------------------->___________________________] 61.82% 65 p/s1987 / 3195 [-------------------------------------------->___________________________] 62.19% 65 p/s1998 / 3195 [--------------------------------------------->__________________________] 62.54% 65 p/s2010 / 3195 [--------------------------------------------->__________________________] 62.91% 65 p/s2021 / 3195 [--------------------------------------------->__________________________] 63.26% 64 p/s2032 / 3195 [--------------------------------------------->__________________________] 63.60% 64 p/s2044 / 3195 [---------------------------------------------->_________________________] 63.97% 64 p/s2055 / 3195 [---------------------------------------------->_________________________] 64.32% 64 p/s2066 / 3195 [---------------------------------------------->_________________________] 64.66% 64 p/s2079 / 3195 [---------------------------------------------->_________________________] 65.07% 64 p/s2089 / 3195 [----------------------------------------------->________________________] 65.38% 63 p/s2101 / 3195 [----------------------------------------------->________________________] 65.76% 63 p/s2113 / 3195 [----------------------------------------------->________________________] 66.13% 63 p/s2124 / 3195 [----------------------------------------------->________________________] 66.48% 63 p/s2136 / 3195 [------------------------------------------------>_______________________] 66.85% 63 p/s2148 / 3195 [------------------------------------------------>_______________________] 67.23% 63 p/s2159 / 3195 [------------------------------------------------>_______________________] 67.57% 63 p/s2171 / 3195 [------------------------------------------------>_______________________] 67.95% 63 p/s2183 / 3195 [------------------------------------------------->______________________] 68.33% 63 p/s2193 / 3195 [------------------------------------------------->______________________] 68.64% 62 p/s2205 / 3195 [------------------------------------------------->______________________] 69.01% 62 p/s2217 / 3195 [------------------------------------------------->______________________] 69.39% 62 p/s2229 / 3195 [-------------------------------------------------->_____________________] 69.77% 62 p/s2241 / 3195 [-------------------------------------------------->_____________________] 70.14% 62 p/s2252 / 3195 [-------------------------------------------------->_____________________] 70.49% 62 p/s2267 / 3195 [--------------------------------------------------->____________________] 70.95% 62 p/s2282 / 3195 [--------------------------------------------------->____________________] 71.42% 62 p/s2294 / 3195 [--------------------------------------------------->____________________] 71.80% 62 p/s2309 / 3195 [---------------------------------------------------->___________________] 72.27% 63 p/s2320 / 3195 [---------------------------------------------------->___________________] 72.61% 63 p/s2332 / 3195 [---------------------------------------------------->___________________] 72.99% 63 p/s2345 / 3195 [---------------------------------------------------->___________________] 73.40% 62 p/s2360 / 3195 [----------------------------------------------------->__________________] 73.87% 62 p/s2373 / 3195 [----------------------------------------------------->__________________] 74.27% 62 p/s2388 / 3195 [----------------------------------------------------->__________________] 74.74% 63 p/s2400 / 3195 [------------------------------------------------------>_________________] 75.12% 63 p/s2418 / 3195 [------------------------------------------------------>_________________] 75.68% 63 p/s2430 / 3195 [------------------------------------------------------>_________________] 76.06% 64 p/s2441 / 3195 [------------------------------------------------------->________________] 76.40% 64 p/s2457 / 3195 [------------------------------------------------------->________________] 76.90% 64 p/s2470 / 3195 [------------------------------------------------------->________________] 77.31% 64 p/s2481 / 3195 [------------------------------------------------------->________________] 77.65% 64 p/s2493 / 3195 [-------------------------------------------------------->_______________] 78.03% 64 p/s2504 / 3195 [-------------------------------------------------------->_______________] 78.37% 63 p/s2515 / 3195 [-------------------------------------------------------->_______________] 78.72% 63 p/s2527 / 3195 [-------------------------------------------------------->_______________] 79.09% 63 p/s2538 / 3195 [--------------------------------------------------------->______________] 79.44% 63 p/s2550 / 3195 [--------------------------------------------------------->______________] 79.81% 63 p/s2562 / 3195 [--------------------------------------------------------->______________] 80.19% 63 p/s2572 / 3195 [--------------------------------------------------------->______________] 80.50% 62 p/s2586 / 3195 [---------------------------------------------------------->_____________] 80.94% 62 p/s2598 / 3195 [---------------------------------------------------------->_____________] 81.31% 62 p/s2609 / 3195 [---------------------------------------------------------->_____________] 81.66% 62 p/s2621 / 3195 [----------------------------------------------------------->____________] 82.03% 62 p/s2632 / 3195 [----------------------------------------------------------->____________] 82.38% 62 p/s2644 / 3195 [----------------------------------------------------------->____________] 82.75% 62 p/s2656 / 3195 [----------------------------------------------------------->____________] 83.13% 62 p/s2667 / 3195 [------------------------------------------------------------>___________] 83.47% 62 p/s2683 / 3195 [------------------------------------------------------------>___________] 83.97% 62 p/s2696 / 3195 [------------------------------------------------------------>___________] 84.38% 62 p/s2712 / 3195 [------------------------------------------------------------->__________] 84.88% 62 p/s2731 / 3195 [------------------------------------------------------------->__________] 85.48% 63 p/s2745 / 3195 [------------------------------------------------------------->__________] 85.92% 63 p/s2760 / 3195 [-------------------------------------------------------------->_________] 86.38% 63 p/s2773 / 3195 [-------------------------------------------------------------->_________] 86.79% 64 p/s2786 / 3195 [-------------------------------------------------------------->_________] 87.20% 64 p/s2803 / 3195 [--------------------------------------------------------------->________] 87.73% 64 p/s2819 / 3195 [--------------------------------------------------------------->________] 88.23% 65 p/s2831 / 3195 [--------------------------------------------------------------->________] 88.61% 65 p/s2846 / 3195 [---------------------------------------------------------------->_______] 89.08% 65 p/s2857 / 3195 [---------------------------------------------------------------->_______] 89.42% 65 p/s2869 / 3195 [---------------------------------------------------------------->_______] 89.80% 65 p/s2881 / 3195 [---------------------------------------------------------------->_______] 90.17% 65 p/s2892 / 3195 [----------------------------------------------------------------->______] 90.52% 64 p/s2905 / 3195 [----------------------------------------------------------------->______] 90.92% 64 p/s2917 / 3195 [----------------------------------------------------------------->______] 91.30% 64 p/s2927 / 3195 [----------------------------------------------------------------->______] 91.61% 64 p/s2940 / 3195 [------------------------------------------------------------------>_____] 92.02% 64 p/s2952 / 3195 [------------------------------------------------------------------>_____] 92.39% 64 p/s2963 / 3195 [------------------------------------------------------------------>_____] 92.74% 64 p/s2975 / 3195 [------------------------------------------------------------------->____] 93.11% 64 p/s2987 / 3195 [------------------------------------------------------------------->____] 93.49% 64 p/s2998 / 3195 [------------------------------------------------------------------->____] 93.83% 63 p/s3010 / 3195 [------------------------------------------------------------------->____] 94.21% 63 p/s3021 / 3195 [-------------------------------------------------------------------->___] 94.55% 63 p/s3033 / 3195 [-------------------------------------------------------------------->___] 94.93% 63 p/s3045 / 3195 [-------------------------------------------------------------------->___] 95.31% 63 p/s3056 / 3195 [-------------------------------------------------------------------->___] 95.65% 63 p/s3068 / 3195 [--------------------------------------------------------------------->__] 96.03% 63 p/s3080 / 3195 [--------------------------------------------------------------------->__] 96.40% 63 p/s3091 / 3195 [--------------------------------------------------------------------->__] 96.74% 63 p/s3103 / 3195 [--------------------------------------------------------------------->__] 97.12% 62 p/s3115 / 3195 [---------------------------------------------------------------------->_] 97.50% 62 p/s3126 / 3195 [---------------------------------------------------------------------->_] 97.84% 62 p/s3139 / 3195 [---------------------------------------------------------------------->_] 98.25% 62 p/s3151 / 3195 [----------------------------------------------------------------------->] 98.62% 62 p/s3162 / 3195 [----------------------------------------------------------------------->] 98.97% 62 p/s3174 / 3195 [----------------------------------------------------------------------->] 99.34% 62 p/s3186 / 3195 [----------------------------------------------------------------------->] 99.72% 62 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 69 p/s2026-03-24T08:27:22 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:29:36 - 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/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-03-24T08:29:37 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:29:37 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-03-24T08:29:37 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:29:37 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:29:37 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-24T08:29:37 - INFO: Preparing sonar data...
2026-03-24T08:29:37 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:29:40 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-03-24T08:29:40 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:29:40 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-24T08:29:40 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:29:40 - INFO: Sonar range is 1.878240 m
2026-03-24T08:29:40 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:29:40 - INFO: Processing 3195 sweeps...

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2026-03-24T08:29:52 - INFO: Prepared sonar data in 14.8938 s
2026-03-24T08:29:52 - INFO: No IMU data found
2026-03-24T08:29:53 - INFO: DataPrep took 0:00:15.367811
2026-03-24T08:29:53 - INFO: Extracted sonar data in 0:03:17.679750
2026-03-24T08:29:53 - INFO: MSIP3D took 0:03:18.165158