2026-03-26T01:40:21 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:40:22 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-26T01:40:22 - INFO: Found 10 TFD dictionary entries
2026-03-26T01:40:22 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-26T01:40:22 - INFO: Recording will be processed as MD
2026-03-26T01:40:22 - INFO: Copying assets JSON to output directory...
2026-03-26T01:40:22 - INFO: Preparing counter data...
2026-03-26T01:40:22 - INFO: Interpreting counter as imperial
2026-03-26T01:40:22 - INFO: Preparing size track from assets JSON...
2026-03-26T01:40:22 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:40:22 - INFO: Preparing material track from assets JSON...
2026-03-26T01:40:22 - INFO: Prepared counter data in 0.0673 s
2026-03-26T01:40:22 - 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: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s44 / 4634 [>___________________________________________________________________________] 0.95% ? p/s65 / 4634 [->__________________________________________________________________________] 1.40% ? p/s87 / 4634 [->________________________________________________________________________] 1.88% 108 p/s110 / 4634 [->_______________________________________________________________________] 2.37% 108 p/s130 / 4634 [-->______________________________________________________________________] 2.81% 108 p/s152 / 4634 [-->______________________________________________________________________] 3.28% 108 p/s174 / 4634 [-->______________________________________________________________________] 3.75% 108 p/s196 / 4634 [--->_____________________________________________________________________] 4.23% 108 p/s219 / 4634 [--->_____________________________________________________________________] 4.73% 109 p/s241 / 4634 [--->_____________________________________________________________________] 5.20% 109 p/s262 / 4634 [---->____________________________________________________________________] 5.65% 109 p/s285 / 4634 [---->____________________________________________________________________] 6.15% 109 p/s306 / 4634 [---->____________________________________________________________________] 6.60% 109 p/s328 / 4634 [----->___________________________________________________________________] 7.08% 109 p/s350 / 4634 [----->___________________________________________________________________] 7.55% 109 p/s372 / 4634 [----->___________________________________________________________________] 8.03% 109 p/s394 / 4634 [------>__________________________________________________________________] 8.50% 109 p/s417 / 4634 [------>__________________________________________________________________] 9.00% 109 p/s440 / 4634 [------>__________________________________________________________________] 9.50% 109 p/s462 / 4634 [------->_________________________________________________________________] 9.97% 109 p/s484 / 4634 [------->________________________________________________________________] 10.44% 109 p/s506 / 4634 [------->________________________________________________________________] 10.92% 109 p/s528 / 4634 [-------->_______________________________________________________________] 11.39% 109 p/s544 / 4634 [-------->_______________________________________________________________] 11.74% 108 p/s567 / 4634 [-------->_______________________________________________________________] 12.24% 108 p/s589 / 4634 [--------->______________________________________________________________] 12.71% 108 p/s608 / 4634 [--------->______________________________________________________________] 13.12% 108 p/s630 / 4634 [--------->______________________________________________________________] 13.60% 108 p/s652 / 4634 [---------->_____________________________________________________________] 14.07% 108 p/s674 / 4634 [---------->_____________________________________________________________] 14.54% 108 p/s696 / 4634 [---------->_____________________________________________________________] 15.02% 108 p/s718 / 4634 [----------->____________________________________________________________] 15.49% 108 p/s741 / 4634 [----------->____________________________________________________________] 15.99% 109 p/s762 / 4634 [----------->____________________________________________________________] 16.44% 109 p/s784 / 4634 [------------>___________________________________________________________] 16.92% 109 p/s807 / 4634 [------------>___________________________________________________________] 17.41% 109 p/s828 / 4634 [------------>___________________________________________________________] 17.87% 109 p/s851 / 4634 [------------->__________________________________________________________] 18.36% 109 p/s873 / 4634 [------------->__________________________________________________________] 18.84% 109 p/s895 / 4634 [------------->__________________________________________________________] 19.31% 109 p/s917 / 4634 [-------------->_________________________________________________________] 19.79% 109 p/s939 / 4634 [-------------->_________________________________________________________] 20.26% 109 p/s961 / 4634 [-------------->_________________________________________________________] 20.74% 109 p/s983 / 4634 [--------------->________________________________________________________] 21.21% 109 p/s1005 / 4634 [--------------->_______________________________________________________] 21.69% 109 p/s1026 / 4634 [--------------->_______________________________________________________] 22.14% 109 p/s1048 / 4634 [---------------->______________________________________________________] 22.62% 109 p/s1070 / 4634 [---------------->______________________________________________________] 23.09% 109 p/s1092 / 4634 [---------------->______________________________________________________] 23.56% 109 p/s1114 / 4634 [----------------->_____________________________________________________] 24.04% 109 p/s1136 / 4634 [----------------->_____________________________________________________] 24.51% 109 p/s1158 / 4634 [----------------->_____________________________________________________] 24.99% 109 p/s1180 / 4634 [------------------>____________________________________________________] 25.46% 109 p/s1201 / 4634 [------------------>____________________________________________________] 25.92% 109 p/s1223 / 4634 [------------------>____________________________________________________] 26.39% 109 p/s1246 / 4634 [------------------->___________________________________________________] 26.89% 109 p/s1267 / 4634 [------------------->___________________________________________________] 27.34% 109 p/s1289 / 4634 [------------------->___________________________________________________] 27.82% 109 p/s1312 / 4634 [-------------------->__________________________________________________] 28.31% 109 p/s1334 / 4634 [-------------------->__________________________________________________] 28.79% 109 p/s1356 / 4634 [-------------------->__________________________________________________] 29.26% 109 p/s1366 / 4634 [-------------------->__________________________________________________] 29.48% 109 p/s1386 / 4634 [--------------------->_________________________________________________] 29.91% 108 p/s1409 / 4634 [--------------------->_________________________________________________] 30.41% 108 p/s1431 / 4634 [--------------------->_________________________________________________] 30.88% 108 p/s1453 / 4634 [---------------------->________________________________________________] 31.36% 108 p/s1476 / 4634 [---------------------->________________________________________________] 31.85% 108 p/s1498 / 4634 [---------------------->________________________________________________] 32.33% 108 p/s1521 / 4634 [----------------------->_______________________________________________] 32.82% 108 p/s1543 / 4634 [----------------------->_______________________________________________] 33.30% 108 p/s1566 / 4634 [----------------------->_______________________________________________] 33.79% 108 p/s1588 / 4634 [------------------------>______________________________________________] 34.27% 109 p/s1611 / 4634 [------------------------>______________________________________________] 34.76% 109 p/s1633 / 4634 [------------------------->_____________________________________________] 35.24% 109 p/s1656 / 4634 [------------------------->_____________________________________________] 35.74% 109 p/s1678 / 4634 [------------------------->_____________________________________________] 36.21% 109 p/s1700 / 4634 [-------------------------->____________________________________________] 36.69% 109 p/s1722 / 4634 [-------------------------->____________________________________________] 37.16% 109 p/s1744 / 4634 [-------------------------->____________________________________________] 37.63% 109 p/s1766 / 4634 [--------------------------->___________________________________________] 38.11% 109 p/s1788 / 4634 [--------------------------->___________________________________________] 38.58% 109 p/s1810 / 4634 [--------------------------->___________________________________________] 39.06% 109 p/s1832 / 4634 [---------------------------->__________________________________________] 39.53% 109 p/s1854 / 4634 [---------------------------->__________________________________________] 40.01% 109 p/s1876 / 4634 [---------------------------->__________________________________________] 40.48% 109 p/s1898 / 4634 [----------------------------->_________________________________________] 40.96% 109 p/s1920 / 4634 [----------------------------->_________________________________________] 41.43% 109 p/s1942 / 4634 [----------------------------->_________________________________________] 41.91% 109 p/s1964 / 4634 [------------------------------>________________________________________] 42.38% 109 p/s1986 / 4634 [------------------------------>________________________________________] 42.86% 109 p/s2008 / 4634 [------------------------------>________________________________________] 43.33% 109 p/s2030 / 4634 [------------------------------->_______________________________________] 43.81% 109 p/s2051 / 4634 [------------------------------->_______________________________________] 44.26% 109 p/s2074 / 4634 [------------------------------->_______________________________________] 44.76% 109 p/s2096 / 4634 [-------------------------------->______________________________________] 45.23% 109 p/s2118 / 4634 [-------------------------------->______________________________________] 45.71% 109 p/s2140 / 4634 [-------------------------------->______________________________________] 46.18% 109 p/s2162 / 4634 [--------------------------------->_____________________________________] 46.66% 109 p/s2184 / 4634 [--------------------------------->_____________________________________] 47.13% 109 p/s2206 / 4634 [--------------------------------->_____________________________________] 47.60% 109 p/s2228 / 4634 [---------------------------------->____________________________________] 48.08% 109 p/s2250 / 4634 [---------------------------------->____________________________________] 48.55% 109 p/s2272 / 4634 [---------------------------------->____________________________________] 49.03% 109 p/s2295 / 4634 [----------------------------------->___________________________________] 49.53% 109 p/s2317 / 4634 [----------------------------------->___________________________________] 50.00% 110 p/s2339 / 4634 [----------------------------------->___________________________________] 50.47% 110 p/s2361 / 4634 [------------------------------------>__________________________________] 50.95% 110 p/s2383 / 4634 [------------------------------------>__________________________________] 51.42% 110 p/s2405 / 4634 [------------------------------------>__________________________________] 51.90% 110 p/s2427 / 4634 [------------------------------------->_________________________________] 52.37% 110 p/s2449 / 4634 [------------------------------------->_________________________________] 52.85% 110 p/s2471 / 4634 [------------------------------------->_________________________________] 53.32% 110 p/s2493 / 4634 [-------------------------------------->________________________________] 53.80% 110 p/s2515 / 4634 [-------------------------------------->________________________________] 54.27% 110 p/s2537 / 4634 [-------------------------------------->________________________________] 54.75% 110 p/s2560 / 4634 [--------------------------------------->_______________________________] 55.24% 110 p/s2581 / 4634 [--------------------------------------->_______________________________] 55.70% 110 p/s2603 / 4634 [--------------------------------------->_______________________________] 56.17% 110 p/s2625 / 4634 [---------------------------------------->______________________________] 56.65% 110 p/s2647 / 4634 [---------------------------------------->______________________________] 57.12% 110 p/s2669 / 4634 [---------------------------------------->______________________________] 57.60% 110 p/s2691 / 4634 [----------------------------------------->_____________________________] 58.07% 110 p/s2713 / 4634 [----------------------------------------->_____________________________] 58.55% 110 p/s2735 / 4634 [----------------------------------------->_____________________________] 59.02% 110 p/s2757 / 4634 [------------------------------------------>____________________________] 59.50% 110 p/s2779 / 4634 [------------------------------------------>____________________________] 59.97% 110 p/s2802 / 4634 [------------------------------------------>____________________________] 60.47% 110 p/s2824 / 4634 [------------------------------------------->___________________________] 60.94% 110 p/s2847 / 4634 [------------------------------------------->___________________________] 61.44% 110 p/s2869 / 4634 [------------------------------------------->___________________________] 61.91% 110 p/s2892 / 4634 [-------------------------------------------->__________________________] 62.41% 110 p/s2914 / 4634 [-------------------------------------------->__________________________] 62.88% 110 p/s2936 / 4634 [-------------------------------------------->__________________________] 63.36% 110 p/s2958 / 4634 [--------------------------------------------->_________________________] 63.83% 110 p/s2980 / 4634 [--------------------------------------------->_________________________] 64.31% 110 p/s3002 / 4634 [--------------------------------------------->_________________________] 64.78% 110 p/s3024 / 4634 [---------------------------------------------->________________________] 65.26% 110 p/s3046 / 4634 [---------------------------------------------->________________________] 65.73% 110 p/s3068 / 4634 [----------------------------------------------->_______________________] 66.21% 110 p/s3091 / 4634 [----------------------------------------------->_______________________] 66.70% 110 p/s3113 / 4634 [----------------------------------------------->_______________________] 67.18% 110 p/s3135 / 4634 [------------------------------------------------>______________________] 67.65% 110 p/s3157 / 4634 [------------------------------------------------>______________________] 68.13% 110 p/s3180 / 4634 [------------------------------------------------>______________________] 68.62% 110 p/s3202 / 4634 [------------------------------------------------->_____________________] 69.10% 110 p/s3225 / 4634 [------------------------------------------------->_____________________] 69.59% 110 p/s3247 / 4634 [------------------------------------------------->_____________________] 70.07% 110 p/s3269 / 4634 [-------------------------------------------------->____________________] 70.54% 110 p/s3292 / 4634 [-------------------------------------------------->____________________] 71.04% 110 p/s3314 / 4634 [-------------------------------------------------->____________________] 71.51% 110 p/s3336 / 4634 [--------------------------------------------------->___________________] 71.99% 110 p/s3358 / 4634 [--------------------------------------------------->___________________] 72.46% 110 p/s3379 / 4634 [--------------------------------------------------->___________________] 72.92% 110 p/s3402 / 4634 [---------------------------------------------------->__________________] 73.41% 110 p/s3423 / 4634 [---------------------------------------------------->__________________] 73.87% 110 p/s3445 / 4634 [---------------------------------------------------->__________________] 74.34% 110 p/s3467 / 4634 [----------------------------------------------------->_________________] 74.82% 110 p/s3490 / 4634 [----------------------------------------------------->_________________] 75.31% 110 p/s3512 / 4634 [----------------------------------------------------->_________________] 75.79% 110 p/s3535 / 4634 [------------------------------------------------------>________________] 76.28% 110 p/s3557 / 4634 [------------------------------------------------------>________________] 76.76% 110 p/s3579 / 4634 [------------------------------------------------------>________________] 77.23% 110 p/s3602 / 4634 [------------------------------------------------------->_______________] 77.73% 110 p/s3624 / 4634 [------------------------------------------------------->_______________] 78.20% 110 p/s3646 / 4634 [------------------------------------------------------->_______________] 78.68% 111 p/s3668 / 4634 [-------------------------------------------------------->______________] 79.15% 111 p/s3690 / 4634 [-------------------------------------------------------->______________] 79.63% 111 p/s3712 / 4634 [-------------------------------------------------------->______________] 80.10% 110 p/s3734 / 4634 [--------------------------------------------------------->_____________] 80.58% 110 p/s3756 / 4634 [--------------------------------------------------------->_____________] 81.05% 110 p/s3778 / 4634 [--------------------------------------------------------->_____________] 81.53% 110 p/s3800 / 4634 [---------------------------------------------------------->____________] 82.00% 110 p/s3823 / 4634 [---------------------------------------------------------->____________] 82.50% 110 p/s3845 / 4634 [---------------------------------------------------------->____________] 82.97% 111 p/s3867 / 4634 [----------------------------------------------------------->___________] 83.45% 111 p/s3890 / 4634 [----------------------------------------------------------->___________] 83.94% 111 p/s3912 / 4634 [----------------------------------------------------------->___________] 84.42% 111 p/s3934 / 4634 [------------------------------------------------------------>__________] 84.89% 111 p/s3957 / 4634 [------------------------------------------------------------>__________] 85.39% 111 p/s3979 / 4634 [------------------------------------------------------------>__________] 85.87% 111 p/s4001 / 4634 [------------------------------------------------------------->_________] 86.34% 111 p/s4022 / 4634 [------------------------------------------------------------->_________] 86.79% 111 p/s4045 / 4634 [------------------------------------------------------------->_________] 87.29% 111 p/s4067 / 4634 [-------------------------------------------------------------->________] 87.76% 111 p/s4088 / 4634 [-------------------------------------------------------------->________] 88.22% 111 p/s4110 / 4634 [-------------------------------------------------------------->________] 88.69% 110 p/s4132 / 4634 [--------------------------------------------------------------->_______] 89.17% 110 p/s4154 / 4634 [--------------------------------------------------------------->_______] 89.64% 110 p/s4176 / 4634 [--------------------------------------------------------------->_______] 90.12% 110 p/s4198 / 4634 [---------------------------------------------------------------->______] 90.59% 110 p/s4220 / 4634 [---------------------------------------------------------------->______] 91.07% 110 p/s4242 / 4634 [---------------------------------------------------------------->______] 91.54% 110 p/s4264 / 4634 [----------------------------------------------------------------->_____] 92.02% 110 p/s4286 / 4634 [----------------------------------------------------------------->_____] 92.49% 110 p/s4308 / 4634 [------------------------------------------------------------------>____] 92.97% 110 p/s4330 / 4634 [------------------------------------------------------------------>____] 93.44% 110 p/s4353 / 4634 [------------------------------------------------------------------>____] 93.94% 110 p/s4375 / 4634 [------------------------------------------------------------------->___] 94.41% 110 p/s4398 / 4634 [------------------------------------------------------------------->___] 94.91% 110 p/s4420 / 4634 [------------------------------------------------------------------->___] 95.38% 110 p/s4443 / 4634 [-------------------------------------------------------------------->__] 95.88% 111 p/s4465 / 4634 [-------------------------------------------------------------------->__] 96.35% 111 p/s4487 / 4634 [-------------------------------------------------------------------->__] 96.83% 111 p/s4509 / 4634 [--------------------------------------------------------------------->_] 97.30% 111 p/s4531 / 4634 [--------------------------------------------------------------------->_] 97.78% 111 p/s4553 / 4634 [--------------------------------------------------------------------->_] 98.25% 111 p/s4575 / 4634 [---------------------------------------------------------------------->] 98.73% 111 p/s4597 / 4634 [---------------------------------------------------------------------->] 99.20% 111 p/s4620 / 4634 [---------------------------------------------------------------------->] 99.70% 111 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-26T01:41:04 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:43:58 - 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"
2026-03-26T01:44:01 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:44:01 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-26T01:44:01 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:44:01 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:44:01 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-26T01:44:01 - INFO: Preparing sonar data...
2026-03-26T01:44:01 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:44:05 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-26T01:44:05 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:44:05 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-26T01:44:05 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:44:05 - INFO: Sonar range is 0.939120 m
2026-03-26T01:44:05 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:44:05 - INFO: Processing 4634 sweeps...

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2026-03-26T01:44:19 - INFO: Prepared sonar data in 17.9882 s
2026-03-26T01:44:19 - INFO: No IMU data found
2026-03-26T01:44:19 - INFO: DataPrep took 0:00:18.504474
2026-03-26T01:44:19 - INFO: Extracted sonar data in 0:03:57.485338
2026-03-26T01:44:20 - INFO: MSIP3D took 0:03:57.987739