2026-02-26T07:06:33 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:06:33 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-26T07:06:33 - INFO: Found 10 TFD dictionary entries
2026-02-26T07:06:33 - INFO: Found TFD mission for SJ502795 Dep 4
2026-02-26T07:06:33 - INFO: Recording will be processed as MD
2026-02-26T07:06:33 - INFO: Copying assets JSON to output directory...
2026-02-26T07:06:33 - INFO: Preparing counter data...
2026-02-26T07:06:33 - INFO: Interpreting counter as imperial
2026-02-26T07:06:33 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:06:33 - INFO: Prepared counter data in 0.0619 s
2026-02-26T07:06:33 - 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: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
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/s361 / 4634 [----->___________________________________________________________________] 7.79% 112 p/s384 / 4634 [------>__________________________________________________________________] 8.29% 112 p/s407 / 4634 [------>__________________________________________________________________] 8.78% 112 p/s431 / 4634 [------>__________________________________________________________________] 9.30% 112 p/s454 / 4634 [------->_________________________________________________________________] 9.80% 112 p/s477 / 4634 [------->________________________________________________________________] 10.29% 112 p/s500 / 4634 [------->________________________________________________________________] 10.79% 113 p/s523 / 4634 [-------->_______________________________________________________________] 11.29% 113 p/s545 / 4634 [-------->_______________________________________________________________] 11.76% 113 p/s569 / 4634 [-------->_______________________________________________________________] 12.28% 113 p/s591 / 4634 [--------->______________________________________________________________] 12.75% 113 p/s614 / 4634 [--------->______________________________________________________________] 13.25% 113 p/s637 / 4634 [--------->______________________________________________________________] 13.75% 113 p/s659 / 4634 [---------->_____________________________________________________________] 14.22% 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% 112 p/s793 / 4634 [------------>___________________________________________________________] 17.11% 112 p/s815 / 4634 [------------>___________________________________________________________] 17.59% 112 p/s838 / 4634 [------------->__________________________________________________________] 18.08% 113 p/s860 / 4634 [------------->__________________________________________________________] 18.56% 113 p/s883 / 4634 [------------->__________________________________________________________] 19.05% 113 p/s905 / 4634 [-------------->_________________________________________________________] 19.53% 113 p/s927 / 4634 [-------------->_________________________________________________________] 20.00% 113 p/s949 / 4634 [-------------->_________________________________________________________] 20.48% 113 p/s972 / 4634 [--------------->________________________________________________________] 20.98% 112 p/s994 / 4634 [--------------->________________________________________________________] 21.45% 112 p/s1016 / 4634 [--------------->_______________________________________________________] 21.92% 112 p/s1039 / 4634 [--------------->_______________________________________________________] 22.42% 112 p/s1061 / 4634 [---------------->______________________________________________________] 22.90% 112 p/s1084 / 4634 [---------------->______________________________________________________] 23.39% 112 p/s1106 / 4634 [---------------->______________________________________________________] 23.87% 112 p/s1129 / 4634 [----------------->_____________________________________________________] 24.36% 112 p/s1151 / 4634 [----------------->_____________________________________________________] 24.84% 112 p/s1174 / 4634 [----------------->_____________________________________________________] 25.33% 112 p/s1197 / 4634 [------------------>____________________________________________________] 25.83% 112 p/s1219 / 4634 [------------------>____________________________________________________] 26.31% 112 p/s1241 / 4634 [------------------->___________________________________________________] 26.78% 112 p/s1264 / 4634 [------------------->___________________________________________________] 27.28% 112 p/s1286 / 4634 [------------------->___________________________________________________] 27.75% 112 p/s1309 / 4634 [-------------------->__________________________________________________] 28.25% 112 p/s1331 / 4634 [-------------------->__________________________________________________] 28.72% 112 p/s1354 / 4634 [-------------------->__________________________________________________] 29.22% 112 p/s1377 / 4634 [--------------------->_________________________________________________] 29.72% 112 p/s1400 / 4634 [--------------------->_________________________________________________] 30.21% 112 p/s1422 / 4634 [--------------------->_________________________________________________] 30.69% 112 p/s1444 / 4634 [---------------------->________________________________________________] 31.16% 112 p/s1467 / 4634 [---------------------->________________________________________________] 31.66% 112 p/s1490 / 4634 [---------------------->________________________________________________] 32.15% 112 p/s1512 / 4634 [----------------------->_______________________________________________] 32.63% 112 p/s1536 / 4634 [----------------------->_______________________________________________] 33.15% 112 p/s1559 / 4634 [----------------------->_______________________________________________] 33.64% 112 p/s1581 / 4634 [------------------------>______________________________________________] 34.12% 113 p/s1604 / 4634 [------------------------>______________________________________________] 34.61% 113 p/s1627 / 4634 [------------------------>______________________________________________] 35.11% 113 p/s1650 / 4634 [------------------------->_____________________________________________] 35.61% 113 p/s1672 / 4634 [------------------------->_____________________________________________] 36.08% 113 p/s1695 / 4634 [------------------------->_____________________________________________] 36.58% 113 p/s1718 / 4634 [-------------------------->____________________________________________] 37.07% 113 p/s1740 / 4634 [-------------------------->____________________________________________] 37.55% 113 p/s1763 / 4634 [--------------------------->___________________________________________] 38.04% 113 p/s1786 / 4634 [--------------------------->___________________________________________] 38.54% 113 p/s1808 / 4634 [--------------------------->___________________________________________] 39.02% 113 p/s1831 / 4634 [---------------------------->__________________________________________] 39.51% 113 p/s1854 / 4634 [---------------------------->__________________________________________] 40.01% 113 p/s1876 / 4634 [---------------------------->__________________________________________] 40.48% 113 p/s1899 / 4634 [----------------------------->_________________________________________] 40.98% 113 p/s1922 / 4634 [----------------------------->_________________________________________] 41.48% 113 p/s1944 / 4634 [----------------------------->_________________________________________] 41.95% 113 p/s1967 / 4634 [------------------------------>________________________________________] 42.45% 113 p/s1989 / 4634 [------------------------------>________________________________________] 42.92% 113 p/s2012 / 4634 [------------------------------>________________________________________] 43.42% 113 p/s2034 / 4634 [------------------------------->_______________________________________] 43.89% 113 p/s2056 / 4634 [------------------------------->_______________________________________] 44.37% 113 p/s2078 / 4634 [------------------------------->_______________________________________] 44.84% 113 p/s2101 / 4634 [-------------------------------->______________________________________] 45.34% 113 p/s2124 / 4634 [-------------------------------->______________________________________] 45.84% 113 p/s2146 / 4634 [-------------------------------->______________________________________] 46.31% 113 p/s2169 / 4634 [--------------------------------->_____________________________________] 46.81% 113 p/s2191 / 4634 [--------------------------------->_____________________________________] 47.28% 113 p/s2214 / 4634 [--------------------------------->_____________________________________] 47.78% 113 p/s2237 / 4634 [---------------------------------->____________________________________] 48.27% 113 p/s2259 / 4634 [---------------------------------->____________________________________] 48.75% 113 p/s2282 / 4634 [---------------------------------->____________________________________] 49.24% 113 p/s2305 / 4634 [----------------------------------->___________________________________] 49.74% 113 p/s2328 / 4634 [----------------------------------->___________________________________] 50.24% 113 p/s2350 / 4634 [------------------------------------>__________________________________] 50.71% 113 p/s2373 / 4634 [------------------------------------>__________________________________] 51.21% 113 p/s2395 / 4634 [------------------------------------>__________________________________] 51.68% 113 p/s2418 / 4634 [------------------------------------->_________________________________] 52.18% 113 p/s2440 / 4634 [------------------------------------->_________________________________] 52.65% 113 p/s2463 / 4634 [------------------------------------->_________________________________] 53.15% 113 p/s2485 / 4634 [-------------------------------------->________________________________] 53.63% 113 p/s2508 / 4634 [-------------------------------------->________________________________] 54.12% 113 p/s2531 / 4634 [-------------------------------------->________________________________] 54.62% 113 p/s2553 / 4634 [--------------------------------------->_______________________________] 55.09% 113 p/s2576 / 4634 [--------------------------------------->_______________________________] 55.59% 113 p/s2598 / 4634 [--------------------------------------->_______________________________] 56.06% 113 p/s2621 / 4634 [---------------------------------------->______________________________] 56.56% 113 p/s2642 / 4634 [---------------------------------------->______________________________] 57.01% 113 p/s2664 / 4634 [---------------------------------------->______________________________] 57.49% 113 p/s2687 / 4634 [----------------------------------------->_____________________________] 57.98% 113 p/s2710 / 4634 [----------------------------------------->_____________________________] 58.48% 113 p/s2732 / 4634 [----------------------------------------->_____________________________] 58.96% 113 p/s2755 / 4634 [------------------------------------------>____________________________] 59.45% 113 p/s2777 / 4634 [------------------------------------------>____________________________] 59.93% 113 p/s2800 / 4634 [------------------------------------------>____________________________] 60.42% 113 p/s2823 / 4634 [------------------------------------------->___________________________] 60.92% 113 p/s2846 / 4634 [------------------------------------------->___________________________] 61.42% 113 p/s2869 / 4634 [------------------------------------------->___________________________] 61.91% 113 p/s2892 / 4634 [-------------------------------------------->__________________________] 62.41% 113 p/s2915 / 4634 [-------------------------------------------->__________________________] 62.90% 113 p/s2937 / 4634 [-------------------------------------------->__________________________] 63.38% 113 p/s2960 / 4634 [--------------------------------------------->_________________________] 63.88% 113 p/s2982 / 4634 [--------------------------------------------->_________________________] 64.35% 113 p/s3005 / 4634 [---------------------------------------------->________________________] 64.85% 113 p/s3027 / 4634 [---------------------------------------------->________________________] 65.32% 113 p/s3050 / 4634 [---------------------------------------------->________________________] 65.82% 113 p/s3073 / 4634 [----------------------------------------------->_______________________] 66.31% 113 p/s3095 / 4634 [----------------------------------------------->_______________________] 66.79% 113 p/s3118 / 4634 [----------------------------------------------->_______________________] 67.29% 113 p/s3141 / 4634 [------------------------------------------------>______________________] 67.78% 113 p/s3164 / 4634 [------------------------------------------------>______________________] 68.28% 113 p/s3187 / 4634 [------------------------------------------------>______________________] 68.77% 113 p/s3210 / 4634 [------------------------------------------------->_____________________] 69.27% 113 p/s3233 / 4634 [------------------------------------------------->_____________________] 69.77% 113 p/s3256 / 4634 [------------------------------------------------->_____________________] 70.26% 113 p/s3279 / 4634 [-------------------------------------------------->____________________] 70.76% 113 p/s3302 / 4634 [-------------------------------------------------->____________________] 71.26% 113 p/s3324 / 4634 [-------------------------------------------------->____________________] 71.73% 113 p/s3347 / 4634 [--------------------------------------------------->___________________] 72.23% 113 p/s3369 / 4634 [--------------------------------------------------->___________________] 72.70% 113 p/s3392 / 4634 [--------------------------------------------------->___________________] 73.20% 113 p/s3414 / 4634 [---------------------------------------------------->__________________] 73.67% 113 p/s3437 / 4634 [---------------------------------------------------->__________________] 74.17% 113 p/s3460 / 4634 [----------------------------------------------------->_________________] 74.67% 113 p/s3482 / 4634 [----------------------------------------------------->_________________] 75.14% 113 p/s3505 / 4634 [----------------------------------------------------->_________________] 75.64% 113 p/s3528 / 4634 [------------------------------------------------------>________________] 76.13% 113 p/s3551 / 4634 [------------------------------------------------------>________________] 76.63% 113 p/s3574 / 4634 [------------------------------------------------------>________________] 77.13% 113 p/s3597 / 4634 [------------------------------------------------------->_______________] 77.62% 113 p/s3620 / 4634 [------------------------------------------------------->_______________] 78.12% 113 p/s3642 / 4634 [------------------------------------------------------->_______________] 78.59% 113 p/s3665 / 4634 [-------------------------------------------------------->______________] 79.09% 113 p/s3687 / 4634 [-------------------------------------------------------->______________] 79.56% 113 p/s3710 / 4634 [-------------------------------------------------------->______________] 80.06% 113 p/s3732 / 4634 [--------------------------------------------------------->_____________] 80.54% 113 p/s3755 / 4634 [--------------------------------------------------------->_____________] 81.03% 113 p/s3777 / 4634 [--------------------------------------------------------->_____________] 81.51% 113 p/s3800 / 4634 [---------------------------------------------------------->____________] 82.00% 113 p/s3823 / 4634 [---------------------------------------------------------->____________] 82.50% 113 p/s3846 / 4634 [---------------------------------------------------------->____________] 83.00% 113 p/s3869 / 4634 [----------------------------------------------------------->___________] 83.49% 113 p/s3892 / 4634 [----------------------------------------------------------->___________] 83.99% 113 p/s3915 / 4634 [----------------------------------------------------------->___________] 84.48% 113 p/s3937 / 4634 [------------------------------------------------------------>__________] 84.96% 113 p/s3960 / 4634 [------------------------------------------------------------>__________] 85.46% 113 p/s3983 / 4634 [------------------------------------------------------------->_________] 85.95% 113 p/s4006 / 4634 [------------------------------------------------------------->_________] 86.45% 113 p/s4029 / 4634 [------------------------------------------------------------->_________] 86.94% 113 p/s4052 / 4634 [-------------------------------------------------------------->________] 87.44% 113 p/s4075 / 4634 [-------------------------------------------------------------->________] 87.94% 113 p/s4096 / 4634 [-------------------------------------------------------------->________] 88.39% 113 p/s4119 / 4634 [--------------------------------------------------------------->_______] 88.89% 113 p/s4141 / 4634 [--------------------------------------------------------------->_______] 89.36% 113 p/s4164 / 4634 [--------------------------------------------------------------->_______] 89.86% 113 p/s4186 / 4634 [---------------------------------------------------------------->______] 90.33% 113 p/s4209 / 4634 [---------------------------------------------------------------->______] 90.83% 113 p/s4231 / 4634 [---------------------------------------------------------------->______] 91.30% 113 p/s4253 / 4634 [----------------------------------------------------------------->_____] 91.78% 113 p/s4276 / 4634 [----------------------------------------------------------------->_____] 92.27% 113 p/s4298 / 4634 [----------------------------------------------------------------->_____] 92.75% 113 p/s4321 / 4634 [------------------------------------------------------------------>____] 93.25% 113 p/s4344 / 4634 [------------------------------------------------------------------>____] 93.74% 113 p/s4367 / 4634 [------------------------------------------------------------------>____] 94.24% 113 p/s4390 / 4634 [------------------------------------------------------------------->___] 94.73% 113 p/s4413 / 4634 [------------------------------------------------------------------->___] 95.23% 113 p/s4436 / 4634 [------------------------------------------------------------------->___] 95.73% 113 p/s4459 / 4634 [-------------------------------------------------------------------->__] 96.22% 113 p/s4481 / 4634 [-------------------------------------------------------------------->__] 96.70% 113 p/s4503 / 4634 [-------------------------------------------------------------------->__] 97.17% 113 p/s4526 / 4634 [--------------------------------------------------------------------->_] 97.67% 113 p/s4548 / 4634 [--------------------------------------------------------------------->_] 98.14% 113 p/s4571 / 4634 [---------------------------------------------------------------------->] 98.64% 113 p/s4594 / 4634 [---------------------------------------------------------------------->] 99.14% 113 p/s4617 / 4634 [---------------------------------------------------------------------->] 99.63% 113 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 114 p/s2026-02-26T07:07:14 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-26T07:10:03 - 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"
2026-02-26T07:10:04 - INFO: DataPrep 0.14.0a5
2026-02-26T07:10:04 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-02-26T07:10:04 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:10:04 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:10:04 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-26T07:10:04 - INFO: Preparing sonar data...
2026-02-26T07:10:04 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:10:09 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-02-26T07:10:09 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:10:09 - INFO: Sonar range is 0.939120 m
2026-02-26T07:10:09 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:10:09 - INFO: Processing 4634 sweeps...

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2026-02-26T07:10:22 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:10:25 - INFO: Prepared sonar data in 20.7032 s
2026-02-26T07:10:25 - INFO: No IMU data found
2026-02-26T07:10:26 - INFO: DataPrep took 0:00:21.252395
2026-02-26T07:10:26 - INFO: Extracted sonar data in 0:03:52.456348
2026-02-26T07:10:26 - INFO: MSIP3D took 0:03:53.014273