2026-02-24T04:53:03 - INFO: MSIP3D 0.2.0a7
2026-02-24T04:53:03 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-24T04:53:03 - INFO: Found 10 TFD dictionary entries
2026-02-24T04:53:03 - INFO: Found TFD mission for SJ502795 Dep 4
2026-02-24T04:53:03 - INFO: Recording will be processed as MD
2026-02-24T04:53:03 - INFO: Copying assets JSON to output directory...
2026-02-24T04:53:03 - INFO: Preparing counter data...
2026-02-24T04:53:03 - INFO: Interpreting counter as imperial
2026-02-24T04:53:03 - INFO: Prepared counter data in 0.0607 s
2026-02-24T04:53:03 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s45 / 4634 [>___________________________________________________________________________] 0.97% ? p/s66 / 4634 [->__________________________________________________________________________] 1.42% ? p/s89 / 4634 [->________________________________________________________________________] 1.92% 112 p/s112 / 4634 [->_______________________________________________________________________] 2.42% 112 p/s134 / 4634 [-->______________________________________________________________________] 2.89% 112 p/s156 / 4634 [-->______________________________________________________________________] 3.37% 112 p/s179 / 4634 [-->______________________________________________________________________] 3.86% 112 p/s202 / 4634 [--->_____________________________________________________________________] 4.36% 112 p/s225 / 4634 [--->_____________________________________________________________________] 4.86% 112 p/s248 / 4634 [--->_____________________________________________________________________] 5.35% 112 p/s270 / 4634 [---->____________________________________________________________________] 5.83% 112 p/s293 / 4634 [---->____________________________________________________________________] 6.32% 112 p/s315 / 4634 [---->____________________________________________________________________] 6.80% 112 p/s338 / 4634 [----->___________________________________________________________________] 7.29% 112 p/s360 / 4634 [----->___________________________________________________________________] 7.77% 112 p/s383 / 4634 [------>__________________________________________________________________] 8.26% 112 p/s406 / 4634 [------>__________________________________________________________________] 8.76% 112 p/s430 / 4634 [------>__________________________________________________________________] 9.28% 112 p/s453 / 4634 [------->_________________________________________________________________] 9.78% 112 p/s476 / 4634 [------->________________________________________________________________] 10.27% 112 p/s500 / 4634 [------->________________________________________________________________] 10.79% 113 p/s522 / 4634 [-------->_______________________________________________________________] 11.26% 113 p/s545 / 4634 [-------->_______________________________________________________________] 11.76% 113 p/s568 / 4634 [-------->_______________________________________________________________] 12.26% 113 p/s590 / 4634 [--------->______________________________________________________________] 12.73% 113 p/s613 / 4634 [--------->______________________________________________________________] 13.23% 113 p/s635 / 4634 [--------->______________________________________________________________] 13.70% 113 p/s658 / 4634 [---------->_____________________________________________________________] 14.20% 113 p/s681 / 4634 [---------->_____________________________________________________________] 14.70% 113 p/s703 / 4634 [---------->_____________________________________________________________] 15.17% 113 p/s725 / 4634 [----------->____________________________________________________________] 15.65% 113 p/s748 / 4634 [----------->____________________________________________________________] 16.14% 113 p/s770 / 4634 [----------->____________________________________________________________] 16.62% 113 p/s793 / 4634 [------------>___________________________________________________________] 17.11% 113 p/s815 / 4634 [------------>___________________________________________________________] 17.59% 113 p/s838 / 4634 [------------->__________________________________________________________] 18.08% 113 p/s861 / 4634 [------------->__________________________________________________________] 18.58% 113 p/s883 / 4634 [------------->__________________________________________________________] 19.05% 113 p/s906 / 4634 [-------------->_________________________________________________________] 19.55% 113 p/s928 / 4634 [-------------->_________________________________________________________] 20.03% 113 p/s951 / 4634 [-------------->_________________________________________________________] 20.52% 113 p/s973 / 4634 [--------------->________________________________________________________] 21.00% 113 p/s996 / 4634 [--------------->________________________________________________________] 21.49% 113 p/s1017 / 4634 [--------------->_______________________________________________________] 21.95% 113 p/s1040 / 4634 [--------------->_______________________________________________________] 22.44% 113 p/s1063 / 4634 [---------------->______________________________________________________] 22.94% 113 p/s1085 / 4634 [---------------->______________________________________________________] 23.41% 113 p/s1107 / 4634 [---------------->______________________________________________________] 23.89% 112 p/s1129 / 4634 [----------------->_____________________________________________________] 24.36% 112 p/s1152 / 4634 [----------------->_____________________________________________________] 24.86% 112 p/s1175 / 4634 [------------------>____________________________________________________] 25.36% 113 p/s1197 / 4634 [------------------>____________________________________________________] 25.83% 113 p/s1220 / 4634 [------------------>____________________________________________________] 26.33% 113 p/s1242 / 4634 [------------------->___________________________________________________] 26.80% 112 p/s1265 / 4634 [------------------->___________________________________________________] 27.30% 112 p/s1288 / 4634 [------------------->___________________________________________________] 27.79% 112 p/s1310 / 4634 [-------------------->__________________________________________________] 28.27% 113 p/s1333 / 4634 [-------------------->__________________________________________________] 28.77% 113 p/s1356 / 4634 [-------------------->__________________________________________________] 29.26% 113 p/s1378 / 4634 [--------------------->_________________________________________________] 29.74% 113 p/s1401 / 4634 [--------------------->_________________________________________________] 30.23% 113 p/s1424 / 4634 [--------------------->_________________________________________________] 30.73% 113 p/s1447 / 4634 [---------------------->________________________________________________] 31.23% 113 p/s1470 / 4634 [---------------------->________________________________________________] 31.72% 113 p/s1493 / 4634 [---------------------->________________________________________________] 32.22% 113 p/s1516 / 4634 [----------------------->_______________________________________________] 32.71% 113 p/s1539 / 4634 [----------------------->_______________________________________________] 33.21% 113 p/s1562 / 4634 [----------------------->_______________________________________________] 33.71% 113 p/s1585 / 4634 [------------------------>______________________________________________] 34.20% 113 p/s1608 / 4634 [------------------------>______________________________________________] 34.70% 113 p/s1631 / 4634 [------------------------>______________________________________________] 35.20% 113 p/s1653 / 4634 [------------------------->_____________________________________________] 35.67% 113 p/s1676 / 4634 [------------------------->_____________________________________________] 36.17% 113 p/s1699 / 4634 [-------------------------->____________________________________________] 36.66% 113 p/s1721 / 4634 [-------------------------->____________________________________________] 37.14% 113 p/s1744 / 4634 [-------------------------->____________________________________________] 37.63% 113 p/s1766 / 4634 [--------------------------->___________________________________________] 38.11% 113 p/s1789 / 4634 [--------------------------->___________________________________________] 38.61% 113 p/s1811 / 4634 [--------------------------->___________________________________________] 39.08% 113 p/s1834 / 4634 [---------------------------->__________________________________________] 39.58% 113 p/s1856 / 4634 [---------------------------->__________________________________________] 40.05% 113 p/s1879 / 4634 [---------------------------->__________________________________________] 40.55% 113 p/s1901 / 4634 [----------------------------->_________________________________________] 41.02% 113 p/s1923 / 4634 [----------------------------->_________________________________________] 41.50% 113 p/s1946 / 4634 [----------------------------->_________________________________________] 41.99% 113 p/s1968 / 4634 [------------------------------>________________________________________] 42.47% 113 p/s1991 / 4634 [------------------------------>________________________________________] 42.97% 113 p/s2013 / 4634 [------------------------------>________________________________________] 43.44% 113 p/s2035 / 4634 [------------------------------->_______________________________________] 43.91% 113 p/s2057 / 4634 [------------------------------->_______________________________________] 44.39% 113 p/s2080 / 4634 [------------------------------->_______________________________________] 44.89% 113 p/s2103 / 4634 [-------------------------------->______________________________________] 45.38% 113 p/s2125 / 4634 [-------------------------------->______________________________________] 45.86% 113 p/s2147 / 4634 [-------------------------------->______________________________________] 46.33% 113 p/s2170 / 4634 [--------------------------------->_____________________________________] 46.83% 113 p/s2192 / 4634 [--------------------------------->_____________________________________] 47.30% 113 p/s2215 / 4634 [--------------------------------->_____________________________________] 47.80% 113 p/s2232 / 4634 [---------------------------------->____________________________________] 48.17% 113 p/s2254 / 4634 [---------------------------------->____________________________________] 48.64% 112 p/s2277 / 4634 [---------------------------------->____________________________________] 49.14% 112 p/s2300 / 4634 [----------------------------------->___________________________________] 49.63% 112 p/s2322 / 4634 [----------------------------------->___________________________________] 50.11% 112 p/s2345 / 4634 [----------------------------------->___________________________________] 50.60% 112 p/s2367 / 4634 [------------------------------------>__________________________________] 51.08% 112 p/s2390 / 4634 [------------------------------------>__________________________________] 51.58% 112 p/s2412 / 4634 [------------------------------------>__________________________________] 52.05% 112 p/s2435 / 4634 [------------------------------------->_________________________________] 52.55% 112 p/s2457 / 4634 [------------------------------------->_________________________________] 53.02% 112 p/s2480 / 4634 [------------------------------------->_________________________________] 53.52% 112 p/s2502 / 4634 [-------------------------------------->________________________________] 53.99% 112 p/s2525 / 4634 [-------------------------------------->________________________________] 54.49% 112 p/s2547 / 4634 [--------------------------------------->_______________________________] 54.96% 112 p/s2570 / 4634 [--------------------------------------->_______________________________] 55.46% 112 p/s2592 / 4634 [--------------------------------------->_______________________________] 55.93% 112 p/s2615 / 4634 [---------------------------------------->______________________________] 56.43% 112 p/s2637 / 4634 [---------------------------------------->______________________________] 56.91% 112 p/s2659 / 4634 [---------------------------------------->______________________________] 57.38% 112 p/s2682 / 4634 [----------------------------------------->_____________________________] 57.88% 112 p/s2704 / 4634 [----------------------------------------->_____________________________] 58.35% 112 p/s2727 / 4634 [----------------------------------------->_____________________________] 58.85% 112 p/s2749 / 4634 [------------------------------------------>____________________________] 59.32% 112 p/s2772 / 4634 [------------------------------------------>____________________________] 59.82% 112 p/s2795 / 4634 [------------------------------------------>____________________________] 60.32% 112 p/s2818 / 4634 [------------------------------------------->___________________________] 60.81% 112 p/s2840 / 4634 [------------------------------------------->___________________________] 61.29% 112 p/s2863 / 4634 [------------------------------------------->___________________________] 61.78% 112 p/s2886 / 4634 [-------------------------------------------->__________________________] 62.28% 112 p/s2909 / 4634 [-------------------------------------------->__________________________] 62.78% 112 p/s2931 / 4634 [-------------------------------------------->__________________________] 63.25% 112 p/s2954 / 4634 [--------------------------------------------->_________________________] 63.75% 112 p/s2976 / 4634 [--------------------------------------------->_________________________] 64.22% 112 p/s2998 / 4634 [--------------------------------------------->_________________________] 64.70% 112 p/s3021 / 4634 [---------------------------------------------->________________________] 65.19% 112 p/s3043 / 4634 [---------------------------------------------->________________________] 65.67% 112 p/s3066 / 4634 [---------------------------------------------->________________________] 66.16% 112 p/s3089 / 4634 [----------------------------------------------->_______________________] 66.66% 112 p/s3111 / 4634 [----------------------------------------------->_______________________] 67.13% 112 p/s3134 / 4634 [------------------------------------------------>______________________] 67.63% 113 p/s3157 / 4634 [------------------------------------------------>______________________] 68.13% 113 p/s3179 / 4634 [------------------------------------------------>______________________] 68.60% 113 p/s3202 / 4634 [------------------------------------------------->_____________________] 69.10% 113 p/s3225 / 4634 [------------------------------------------------->_____________________] 69.59% 113 p/s3248 / 4634 [------------------------------------------------->_____________________] 70.09% 113 p/s3271 / 4634 [-------------------------------------------------->____________________] 70.59% 113 p/s3294 / 4634 [-------------------------------------------------->____________________] 71.08% 113 p/s3316 / 4634 [-------------------------------------------------->____________________] 71.56% 113 p/s3338 / 4634 [--------------------------------------------------->___________________] 72.03% 113 p/s3360 / 4634 [--------------------------------------------------->___________________] 72.51% 113 p/s3382 / 4634 [--------------------------------------------------->___________________] 72.98% 113 p/s3405 / 4634 [---------------------------------------------------->__________________] 73.48% 113 p/s3427 / 4634 [---------------------------------------------------->__________________] 73.95% 113 p/s3450 / 4634 [---------------------------------------------------->__________________] 74.45% 113 p/s3472 / 4634 [----------------------------------------------------->_________________] 74.92% 113 p/s3494 / 4634 [----------------------------------------------------->_________________] 75.40% 113 p/s3517 / 4634 [----------------------------------------------------->_________________] 75.90% 113 p/s3540 / 4634 [------------------------------------------------------>________________] 76.39% 113 p/s3563 / 4634 [------------------------------------------------------>________________] 76.89% 113 p/s3586 / 4634 [------------------------------------------------------>________________] 77.38% 113 p/s3609 / 4634 [------------------------------------------------------->_______________] 77.88% 113 p/s3631 / 4634 [------------------------------------------------------->_______________] 78.36% 113 p/s3654 / 4634 [------------------------------------------------------->_______________] 78.85% 113 p/s3676 / 4634 [-------------------------------------------------------->______________] 79.33% 113 p/s3699 / 4634 [-------------------------------------------------------->______________] 79.82% 113 p/s3721 / 4634 [--------------------------------------------------------->_____________] 80.30% 113 p/s3743 / 4634 [--------------------------------------------------------->_____________] 80.77% 113 p/s3766 / 4634 [--------------------------------------------------------->_____________] 81.27% 113 p/s3788 / 4634 [---------------------------------------------------------->____________] 81.74% 113 p/s3811 / 4634 [---------------------------------------------------------->____________] 82.24% 113 p/s3834 / 4634 [---------------------------------------------------------->____________] 82.74% 113 p/s3857 / 4634 [----------------------------------------------------------->___________] 83.23% 113 p/s3879 / 4634 [----------------------------------------------------------->___________] 83.71% 113 p/s3902 / 4634 [----------------------------------------------------------->___________] 84.20% 113 p/s3925 / 4634 [------------------------------------------------------------>__________] 84.70% 113 p/s3948 / 4634 [------------------------------------------------------------>__________] 85.20% 113 p/s3970 / 4634 [------------------------------------------------------------>__________] 85.67% 113 p/s3993 / 4634 [------------------------------------------------------------->_________] 86.17% 113 p/s4016 / 4634 [------------------------------------------------------------->_________] 86.66% 113 p/s4039 / 4634 [------------------------------------------------------------->_________] 87.16% 113 p/s4062 / 4634 [-------------------------------------------------------------->________] 87.66% 113 p/s4084 / 4634 [-------------------------------------------------------------->________] 88.13% 113 p/s4106 / 4634 [-------------------------------------------------------------->________] 88.61% 113 p/s4128 / 4634 [--------------------------------------------------------------->_______] 89.08% 113 p/s4151 / 4634 [--------------------------------------------------------------->_______] 89.58% 113 p/s4173 / 4634 [--------------------------------------------------------------->_______] 90.05% 113 p/s4195 / 4634 [---------------------------------------------------------------->______] 90.53% 113 p/s4217 / 4634 [---------------------------------------------------------------->______] 91.00% 113 p/s4240 / 4634 [---------------------------------------------------------------->______] 91.50% 113 p/s4262 / 4634 [----------------------------------------------------------------->_____] 91.97% 113 p/s4285 / 4634 [----------------------------------------------------------------->_____] 92.47% 113 p/s4308 / 4634 [------------------------------------------------------------------>____] 92.97% 113 p/s4330 / 4634 [------------------------------------------------------------------>____] 93.44% 113 p/s4353 / 4634 [------------------------------------------------------------------>____] 93.94% 113 p/s4376 / 4634 [------------------------------------------------------------------->___] 94.43% 113 p/s4399 / 4634 [------------------------------------------------------------------->___] 94.93% 113 p/s4422 / 4634 [------------------------------------------------------------------->___] 95.43% 113 p/s4444 / 4634 [-------------------------------------------------------------------->__] 95.90% 113 p/s4467 / 4634 [-------------------------------------------------------------------->__] 96.40% 113 p/s4490 / 4634 [-------------------------------------------------------------------->__] 96.89% 113 p/s4512 / 4634 [--------------------------------------------------------------------->_] 97.37% 113 p/s4535 / 4634 [--------------------------------------------------------------------->_] 97.86% 113 p/s4557 / 4634 [--------------------------------------------------------------------->_] 98.34% 113 p/s4579 / 4634 [---------------------------------------------------------------------->] 98.81% 113 p/s4602 / 4634 [---------------------------------------------------------------------->] 99.31% 113 p/s4625 / 4634 [---------------------------------------------------------------------->] 99.81% 113 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-24T04:53:45 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-24T04:56:34 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-02-24T04:56:36 - INFO: DataPrep 0.14.0a4
2026-02-24T04:56:36 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-02-24T04:56:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-24T04:56:36 - deployment - INFO: Detected P3D version: P3D_1
2026-02-24T04:56:36 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-24T04:56:36 - INFO: Preparing sonar data...
2026-02-24T04:56:36 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-24T04:56:40 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-02-24T04:56:40 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-24T04:56:40 - INFO: Sonar range is 0.939120 m
2026-02-24T04:56:40 - INFO: Speed of sound is 1494 m/s
2026-02-24T04:56:40 - INFO: Processing 4634 sweeps...

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2026-02-24T04:56:51 - INFO: Creating sonar sensor alignment track...
2026-02-24T04:56:54 - INFO: Prepared sonar data in 18.2552 s
2026-02-24T04:56:54 - INFO: No IMU data found
2026-02-24T04:56:54 - INFO: DataPrep took 0:00:18.820688
2026-02-24T04:56:55 - INFO: Extracted sonar data in 0:03:51.102610
2026-02-24T04:56:55 - INFO: MSIP3D took 0:03:51.574913