2026-02-26T07:21:39 - INFO: MSIP3D 0.2.0a9
2026-02-26T07:21:40 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-26T07:21:40 - INFO: Found 10 TFD dictionary entries
2026-02-26T07:21:40 - INFO: Found TFD mission for SJ502795 Dep 13
2026-02-26T07:21:40 - INFO: Recording will be processed as MD
2026-02-26T07:21:40 - INFO: Copying assets JSON to output directory...
2026-02-26T07:21:40 - INFO: Preparing counter data...
2026-02-26T07:21:40 - INFO: Interpreting counter as imperial
2026-02-26T07:21:40 - INFO: Preparing shape track from assets JSON...
2026-02-26T07:21:40 - INFO: Prepared counter data in 0.0972 s
2026-02-26T07:21:40 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s65 / 4914 [->__________________________________________________________________________] 1.32% ? p/s88 / 4914 [->________________________________________________________________________] 1.79% 112 p/s112 / 4914 [->_______________________________________________________________________] 2.28% 112 p/s133 / 4914 [->_______________________________________________________________________] 2.71% 112 p/s156 / 4914 [-->______________________________________________________________________] 3.17% 112 p/s179 / 4914 [-->______________________________________________________________________] 3.64% 112 p/s202 / 4914 [--->_____________________________________________________________________] 4.11% 112 p/s225 / 4914 [--->_____________________________________________________________________] 4.58% 112 p/s248 / 4914 [--->_____________________________________________________________________] 5.05% 112 p/s270 / 4914 [---->____________________________________________________________________] 5.49% 112 p/s293 / 4914 [---->____________________________________________________________________] 5.96% 112 p/s317 / 4914 [---->____________________________________________________________________] 6.45% 112 p/s340 / 4914 [----->___________________________________________________________________] 6.92% 112 p/s363 / 4914 [----->___________________________________________________________________] 7.39% 112 p/s386 / 4914 [----->___________________________________________________________________] 7.86% 112 p/s409 / 4914 [------>__________________________________________________________________] 8.32% 112 p/s433 / 4914 [------>__________________________________________________________________] 8.81% 113 p/s456 / 4914 [------>__________________________________________________________________] 9.28% 113 p/s478 / 4914 [------->_________________________________________________________________] 9.73% 113 p/s502 / 4914 [------->________________________________________________________________] 10.22% 113 p/s524 / 4914 [------->________________________________________________________________] 10.66% 113 p/s547 / 4914 [-------->_______________________________________________________________] 11.13% 113 p/s570 / 4914 [-------->_______________________________________________________________] 11.60% 113 p/s593 / 4914 [-------->_______________________________________________________________] 12.07% 113 p/s616 / 4914 [--------->______________________________________________________________] 12.54% 113 p/s639 / 4914 [--------->______________________________________________________________] 13.00% 113 p/s662 / 4914 [--------->______________________________________________________________] 13.47% 113 p/s685 / 4914 [---------->_____________________________________________________________] 13.94% 113 p/s709 / 4914 [---------->_____________________________________________________________] 14.43% 113 p/s731 / 4914 [---------->_____________________________________________________________] 14.88% 113 p/s754 / 4914 [----------->____________________________________________________________] 15.34% 113 p/s777 / 4914 [----------->____________________________________________________________] 15.81% 113 p/s800 / 4914 [----------->____________________________________________________________] 16.28% 113 p/s824 / 4914 [------------>___________________________________________________________] 16.77% 113 p/s847 / 4914 [------------>___________________________________________________________] 17.24% 113 p/s870 / 4914 [------------>___________________________________________________________] 17.70% 113 p/s893 / 4914 [------------->__________________________________________________________] 18.17% 113 p/s916 / 4914 [------------->__________________________________________________________] 18.64% 114 p/s939 / 4914 [------------->__________________________________________________________] 19.11% 114 p/s962 / 4914 [-------------->_________________________________________________________] 19.58% 114 p/s985 / 4914 [-------------->_________________________________________________________] 20.04% 114 p/s1008 / 4914 [-------------->________________________________________________________] 20.51% 114 p/s1031 / 4914 [-------------->________________________________________________________] 20.98% 114 p/s1054 / 4914 [--------------->_______________________________________________________] 21.45% 114 p/s1077 / 4914 [--------------->_______________________________________________________] 21.92% 114 p/s1101 / 4914 [--------------->_______________________________________________________] 22.41% 114 p/s1123 / 4914 [---------------->______________________________________________________] 22.85% 114 p/s1146 / 4914 [---------------->______________________________________________________] 23.32% 114 p/s1169 / 4914 [---------------->______________________________________________________] 23.79% 114 p/s1192 / 4914 [----------------->_____________________________________________________] 24.26% 114 p/s1215 / 4914 [----------------->_____________________________________________________] 24.73% 114 p/s1238 / 4914 [----------------->_____________________________________________________] 25.19% 114 p/s1262 / 4914 [------------------>____________________________________________________] 25.68% 114 p/s1285 / 4914 [------------------>____________________________________________________] 26.15% 114 p/s1308 / 4914 [------------------>____________________________________________________] 26.62% 114 p/s1331 / 4914 [------------------->___________________________________________________] 27.09% 114 p/s1354 / 4914 [------------------->___________________________________________________] 27.55% 114 p/s1377 / 4914 [------------------->___________________________________________________] 28.02% 114 p/s1400 / 4914 [-------------------->__________________________________________________] 28.49% 114 p/s1423 / 4914 [-------------------->__________________________________________________] 28.96% 114 p/s1446 / 4914 [-------------------->__________________________________________________] 29.43% 114 p/s1469 / 4914 [--------------------->_________________________________________________] 29.89% 114 p/s1493 / 4914 [--------------------->_________________________________________________] 30.38% 114 p/s1515 / 4914 [--------------------->_________________________________________________] 30.83% 114 p/s1538 / 4914 [---------------------->________________________________________________] 31.30% 114 p/s1561 / 4914 [---------------------->________________________________________________] 31.77% 114 p/s1584 / 4914 [---------------------->________________________________________________] 32.23% 114 p/s1607 / 4914 [----------------------->_______________________________________________] 32.70% 114 p/s1630 / 4914 [----------------------->_______________________________________________] 33.17% 114 p/s1653 / 4914 [----------------------->_______________________________________________] 33.64% 114 p/s1676 / 4914 [------------------------>______________________________________________] 34.11% 114 p/s1699 / 4914 [------------------------>______________________________________________] 34.57% 114 p/s1722 / 4914 [------------------------>______________________________________________] 35.04% 114 p/s1745 / 4914 [------------------------->_____________________________________________] 35.51% 114 p/s1768 / 4914 [------------------------->_____________________________________________] 35.98% 114 p/s1792 / 4914 [------------------------->_____________________________________________] 36.47% 114 p/s1814 / 4914 [-------------------------->____________________________________________] 36.91% 114 p/s1838 / 4914 [-------------------------->____________________________________________] 37.40% 114 p/s1861 / 4914 [-------------------------->____________________________________________] 37.87% 114 p/s1884 / 4914 [--------------------------->___________________________________________] 38.34% 115 p/s1906 / 4914 [--------------------------->___________________________________________] 38.79% 115 p/s1929 / 4914 [--------------------------->___________________________________________] 39.26% 115 p/s1952 / 4914 [---------------------------->__________________________________________] 39.72% 114 p/s1976 / 4914 [---------------------------->__________________________________________] 40.21% 114 p/s1998 / 4914 [---------------------------->__________________________________________] 40.66% 114 p/s2022 / 4914 [----------------------------->_________________________________________] 41.15% 115 p/s2044 / 4914 [----------------------------->_________________________________________] 41.60% 115 p/s2067 / 4914 [----------------------------->_________________________________________] 42.06% 115 p/s2090 / 4914 [------------------------------>________________________________________] 42.53% 115 p/s2113 / 4914 [------------------------------>________________________________________] 43.00% 115 p/s2136 / 4914 [------------------------------>________________________________________] 43.47% 115 p/s2159 / 4914 [------------------------------->_______________________________________] 43.94% 115 p/s2182 / 4914 [------------------------------->_______________________________________] 44.40% 115 p/s2205 / 4914 [------------------------------->_______________________________________] 44.87% 115 p/s2227 / 4914 [-------------------------------->______________________________________] 45.32% 115 p/s2251 / 4914 [-------------------------------->______________________________________] 45.81% 115 p/s2274 / 4914 [-------------------------------->______________________________________] 46.28% 115 p/s2297 / 4914 [--------------------------------->_____________________________________] 46.74% 115 p/s2320 / 4914 [--------------------------------->_____________________________________] 47.21% 115 p/s2343 / 4914 [--------------------------------->_____________________________________] 47.68% 115 p/s2366 / 4914 [---------------------------------->____________________________________] 48.15% 115 p/s2389 / 4914 [---------------------------------->____________________________________] 48.62% 115 p/s2412 / 4914 [---------------------------------->____________________________________] 49.08% 115 p/s2436 / 4914 [----------------------------------->___________________________________] 49.57% 115 p/s2459 / 4914 [----------------------------------->___________________________________] 50.04% 115 p/s2482 / 4914 [----------------------------------->___________________________________] 50.51% 115 p/s2505 / 4914 [------------------------------------>__________________________________] 50.98% 115 p/s2528 / 4914 [------------------------------------>__________________________________] 51.44% 115 p/s2551 / 4914 [------------------------------------>__________________________________] 51.91% 115 p/s2574 / 4914 [------------------------------------->_________________________________] 52.38% 115 p/s2597 / 4914 [------------------------------------->_________________________________] 52.85% 115 p/s2620 / 4914 [------------------------------------->_________________________________] 53.32% 115 p/s2643 / 4914 [-------------------------------------->________________________________] 53.79% 115 p/s2666 / 4914 [-------------------------------------->________________________________] 54.25% 115 p/s2689 / 4914 [-------------------------------------->________________________________] 54.72% 115 p/s2712 / 4914 [--------------------------------------->_______________________________] 55.19% 115 p/s2735 / 4914 [--------------------------------------->_______________________________] 55.66% 115 p/s2758 / 4914 [--------------------------------------->_______________________________] 56.13% 115 p/s2781 / 4914 [---------------------------------------->______________________________] 56.59% 115 p/s2804 / 4914 [---------------------------------------->______________________________] 57.06% 115 p/s2827 / 4914 [---------------------------------------->______________________________] 57.53% 115 p/s2849 / 4914 [----------------------------------------->_____________________________] 57.98% 115 p/s2872 / 4914 [----------------------------------------->_____________________________] 58.45% 115 p/s2895 / 4914 [----------------------------------------->_____________________________] 58.91% 115 p/s2918 / 4914 [------------------------------------------>____________________________] 59.38% 115 p/s2941 / 4914 [------------------------------------------>____________________________] 59.85% 115 p/s2964 / 4914 [------------------------------------------>____________________________] 60.32% 115 p/s2986 / 4914 [------------------------------------------->___________________________] 60.77% 115 p/s3009 / 4914 [------------------------------------------->___________________________] 61.23% 115 p/s3032 / 4914 [------------------------------------------->___________________________] 61.70% 115 p/s3055 / 4914 [-------------------------------------------->__________________________] 62.17% 115 p/s3078 / 4914 [-------------------------------------------->__________________________] 62.64% 115 p/s3102 / 4914 [-------------------------------------------->__________________________] 63.13% 115 p/s3125 / 4914 [--------------------------------------------->_________________________] 63.59% 115 p/s3148 / 4914 [--------------------------------------------->_________________________] 64.06% 115 p/s3170 / 4914 [--------------------------------------------->_________________________] 64.51% 115 p/s3193 / 4914 [---------------------------------------------->________________________] 64.98% 115 p/s3216 / 4914 [---------------------------------------------->________________________] 65.45% 115 p/s3239 / 4914 [---------------------------------------------->________________________] 65.91% 115 p/s3262 / 4914 [----------------------------------------------->_______________________] 66.38% 115 p/s3285 / 4914 [----------------------------------------------->_______________________] 66.85% 115 p/s3307 / 4914 [----------------------------------------------->_______________________] 67.30% 115 p/s3330 / 4914 [------------------------------------------------>______________________] 67.77% 115 p/s3353 / 4914 [------------------------------------------------>______________________] 68.23% 115 p/s3376 / 4914 [------------------------------------------------>______________________] 68.70% 115 p/s3399 / 4914 [------------------------------------------------->_____________________] 69.17% 115 p/s3421 / 4914 [------------------------------------------------->_____________________] 69.62% 115 p/s3444 / 4914 [------------------------------------------------->_____________________] 70.09% 115 p/s3467 / 4914 [-------------------------------------------------->____________________] 70.55% 115 p/s3490 / 4914 [-------------------------------------------------->____________________] 71.02% 115 p/s3512 / 4914 [-------------------------------------------------->____________________] 71.47% 115 p/s3535 / 4914 [--------------------------------------------------->___________________] 71.94% 115 p/s3558 / 4914 [--------------------------------------------------->___________________] 72.41% 115 p/s3581 / 4914 [--------------------------------------------------->___________________] 72.87% 115 p/s3604 / 4914 [---------------------------------------------------->__________________] 73.34% 115 p/s3626 / 4914 [---------------------------------------------------->__________________] 73.79% 115 p/s3649 / 4914 [---------------------------------------------------->__________________] 74.26% 115 p/s3673 / 4914 [----------------------------------------------------->_________________] 74.75% 115 p/s3696 / 4914 [----------------------------------------------------->_________________] 75.21% 115 p/s3718 / 4914 [----------------------------------------------------->_________________] 75.66% 115 p/s3741 / 4914 [------------------------------------------------------>________________] 76.13% 114 p/s3764 / 4914 [------------------------------------------------------>________________] 76.60% 114 p/s3786 / 4914 [------------------------------------------------------>________________] 77.05% 114 p/s3809 / 4914 [------------------------------------------------------->_______________] 77.51% 114 p/s3832 / 4914 [------------------------------------------------------->_______________] 77.98% 114 p/s3855 / 4914 [------------------------------------------------------->_______________] 78.45% 114 p/s3877 / 4914 [-------------------------------------------------------->______________] 78.90% 114 p/s3900 / 4914 [-------------------------------------------------------->______________] 79.37% 114 p/s3923 / 4914 [-------------------------------------------------------->______________] 79.83% 114 p/s3946 / 4914 [--------------------------------------------------------->_____________] 80.30% 114 p/s3969 / 4914 [--------------------------------------------------------->_____________] 80.77% 114 p/s3991 / 4914 [--------------------------------------------------------->_____________] 81.22% 114 p/s4013 / 4914 [--------------------------------------------------------->_____________] 81.66% 114 p/s4035 / 4914 [---------------------------------------------------------->____________] 82.11% 114 p/s4058 / 4914 [---------------------------------------------------------->____________] 82.58% 114 p/s4080 / 4914 [---------------------------------------------------------->____________] 83.03% 114 p/s4102 / 4914 [----------------------------------------------------------->___________] 83.48% 114 p/s4125 / 4914 [----------------------------------------------------------->___________] 83.94% 114 p/s4148 / 4914 [----------------------------------------------------------->___________] 84.41% 114 p/s4171 / 4914 [------------------------------------------------------------>__________] 84.88% 114 p/s4194 / 4914 [------------------------------------------------------------>__________] 85.35% 114 p/s4216 / 4914 [------------------------------------------------------------>__________] 85.80% 114 p/s4239 / 4914 [------------------------------------------------------------->_________] 86.26% 114 p/s4262 / 4914 [------------------------------------------------------------->_________] 86.73% 114 p/s4285 / 4914 [------------------------------------------------------------->_________] 87.20% 114 p/s4307 / 4914 [-------------------------------------------------------------->________] 87.65% 114 p/s4330 / 4914 [-------------------------------------------------------------->________] 88.12% 114 p/s4353 / 4914 [-------------------------------------------------------------->________] 88.58% 114 p/s4376 / 4914 [--------------------------------------------------------------->_______] 89.05% 114 p/s4399 / 4914 [--------------------------------------------------------------->_______] 89.52% 114 p/s4422 / 4914 [--------------------------------------------------------------->_______] 89.99% 114 p/s4444 / 4914 [---------------------------------------------------------------->______] 90.44% 114 p/s4466 / 4914 [---------------------------------------------------------------->______] 90.88% 114 p/s4489 / 4914 [---------------------------------------------------------------->______] 91.35% 114 p/s4512 / 4914 [----------------------------------------------------------------->_____] 91.82% 114 p/s4535 / 4914 [----------------------------------------------------------------->_____] 92.29% 114 p/s4557 / 4914 [----------------------------------------------------------------->_____] 92.74% 114 p/s4580 / 4914 [------------------------------------------------------------------>____] 93.20% 114 p/s4602 / 4914 [------------------------------------------------------------------>____] 93.65% 114 p/s4625 / 4914 [------------------------------------------------------------------>____] 94.12% 114 p/s4648 / 4914 [------------------------------------------------------------------->___] 94.59% 114 p/s4670 / 4914 [------------------------------------------------------------------->___] 95.03% 114 p/s4693 / 4914 [------------------------------------------------------------------->___] 95.50% 114 p/s4715 / 4914 [-------------------------------------------------------------------->__] 95.95% 114 p/s4738 / 4914 [-------------------------------------------------------------------->__] 96.42% 114 p/s4760 / 4914 [-------------------------------------------------------------------->__] 96.87% 114 p/s4783 / 4914 [--------------------------------------------------------------------->_] 97.33% 114 p/s4806 / 4914 [--------------------------------------------------------------------->_] 97.80% 114 p/s4828 / 4914 [--------------------------------------------------------------------->_] 98.25% 114 p/s4851 / 4914 [---------------------------------------------------------------------->] 98.72% 114 p/s4873 / 4914 [---------------------------------------------------------------------->] 99.17% 114 p/s4896 / 4914 [---------------------------------------------------------------------->] 99.63% 114 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-26T07:22:23 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-26T07:25:21 - 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/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-02-26T07:25:23 - INFO: DataPrep 0.14.0a5
2026-02-26T07:25:23 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-02-26T07:25:23 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-26T07:25:23 - deployment - INFO: Detected P3D version: P3D_1
2026-02-26T07:25:23 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-26T07:25:23 - INFO: Preparing sonar data...
2026-02-26T07:25:23 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-26T07:25:27 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-02-26T07:25:27 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-26T07:25:27 - INFO: Sonar range is 0.939120 m
2026-02-26T07:25:27 - INFO: Speed of sound is 1494 m/s
2026-02-26T07:25:27 - INFO: Processing 4914 sweeps...

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2026-02-26T07:25:39 - INFO: Creating sonar sensor alignment track...
2026-02-26T07:25:43 - INFO: Prepared sonar data in 20.1196 s
2026-02-26T07:25:43 - INFO: No IMU data found
2026-02-26T07:25:43 - INFO: DataPrep took 0:00:20.735000
2026-02-26T07:25:43 - INFO: Extracted sonar data in 0:04:03.572082
2026-02-26T07:25:44 - INFO: MSIP3D took 0:04:04.107988