2026-02-27T05:47:47 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:47:47 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-27T05:47:48 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:47:48 - INFO: Found TFD mission for SJ502795 Dep 4
2026-02-27T05:47:48 - INFO: Recording will be processed as MD
2026-02-27T05:47:48 - INFO: Copying assets JSON to output directory...
2026-02-27T05:47:48 - INFO: Preparing counter data...
2026-02-27T05:47:48 - INFO: Interpreting counter as imperial
2026-02-27T05:47:48 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:47:48 - INFO: Prepared counter data in 0.0610 s
2026-02-27T05:47:48 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
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/s67 / 4634 [->__________________________________________________________________________] 1.45% ? p/s89 / 4634 [->________________________________________________________________________] 1.92% 112 p/s112 / 4634 [->_______________________________________________________________________] 2.42% 112 p/s133 / 4634 [-->______________________________________________________________________] 2.87% 112 p/s156 / 4634 [-->______________________________________________________________________] 3.37% 112 p/s179 / 4634 [-->______________________________________________________________________] 3.86% 112 p/s201 / 4634 [--->_____________________________________________________________________] 4.34% 112 p/s224 / 4634 [--->_____________________________________________________________________] 4.83% 112 p/s247 / 4634 [--->_____________________________________________________________________] 5.33% 112 p/s268 / 4634 [---->____________________________________________________________________] 5.78% 112 p/s291 / 4634 [---->____________________________________________________________________] 6.28% 112 p/s313 / 4634 [---->____________________________________________________________________] 6.75% 112 p/s336 / 4634 [----->___________________________________________________________________] 7.25% 112 p/s359 / 4634 [----->___________________________________________________________________] 7.75% 112 p/s381 / 4634 [------>__________________________________________________________________] 8.22% 112 p/s404 / 4634 [------>__________________________________________________________________] 8.72% 112 p/s427 / 4634 [------>__________________________________________________________________] 9.21% 112 p/s450 / 4634 [------->_________________________________________________________________] 9.71% 112 p/s473 / 4634 [------->________________________________________________________________] 10.21% 112 p/s497 / 4634 [------->________________________________________________________________] 10.73% 112 p/s519 / 4634 [-------->_______________________________________________________________] 11.20% 112 p/s541 / 4634 [-------->_______________________________________________________________] 11.67% 112 p/s564 / 4634 [-------->_______________________________________________________________] 12.17% 112 p/s587 / 4634 [--------->______________________________________________________________] 12.67% 112 p/s609 / 4634 [--------->______________________________________________________________] 13.14% 112 p/s632 / 4634 [--------->______________________________________________________________] 13.64% 112 p/s655 / 4634 [---------->_____________________________________________________________] 14.13% 112 p/s677 / 4634 [---------->_____________________________________________________________] 14.61% 112 p/s700 / 4634 [---------->_____________________________________________________________] 15.11% 112 p/s722 / 4634 [----------->____________________________________________________________] 15.58% 112 p/s745 / 4634 [----------->____________________________________________________________] 16.08% 112 p/s767 / 4634 [----------->____________________________________________________________] 16.55% 112 p/s789 / 4634 [------------>___________________________________________________________] 17.03% 112 p/s812 / 4634 [------------>___________________________________________________________] 17.52% 112 p/s834 / 4634 [------------>___________________________________________________________] 18.00% 112 p/s857 / 4634 [------------->__________________________________________________________] 18.49% 112 p/s879 / 4634 [------------->__________________________________________________________] 18.97% 112 p/s902 / 4634 [-------------->_________________________________________________________] 19.46% 112 p/s924 / 4634 [-------------->_________________________________________________________] 19.94% 112 p/s946 / 4634 [-------------->_________________________________________________________] 20.41% 112 p/s969 / 4634 [--------------->________________________________________________________] 20.91% 112 p/s991 / 4634 [--------------->________________________________________________________] 21.39% 112 p/s1014 / 4634 [--------------->_______________________________________________________] 21.88% 112 p/s1036 / 4634 [--------------->_______________________________________________________] 22.36% 112 p/s1058 / 4634 [---------------->______________________________________________________] 22.83% 112 p/s1081 / 4634 [---------------->______________________________________________________] 23.33% 112 p/s1103 / 4634 [---------------->______________________________________________________] 23.80% 112 p/s1125 / 4634 [----------------->_____________________________________________________] 24.28% 112 p/s1147 / 4634 [----------------->_____________________________________________________] 24.75% 112 p/s1170 / 4634 [----------------->_____________________________________________________] 25.25% 112 p/s1192 / 4634 [------------------>____________________________________________________] 25.72% 112 p/s1215 / 4634 [------------------>____________________________________________________] 26.22% 112 p/s1237 / 4634 [------------------>____________________________________________________] 26.69% 112 p/s1260 / 4634 [------------------->___________________________________________________] 27.19% 112 p/s1282 / 4634 [------------------->___________________________________________________] 27.67% 112 p/s1305 / 4634 [------------------->___________________________________________________] 28.16% 112 p/s1327 / 4634 [-------------------->__________________________________________________] 28.64% 112 p/s1350 / 4634 [-------------------->__________________________________________________] 29.13% 112 p/s1373 / 4634 [--------------------->_________________________________________________] 29.63% 112 p/s1395 / 4634 [--------------------->_________________________________________________] 30.10% 112 p/s1418 / 4634 [--------------------->_________________________________________________] 30.60% 112 p/s1441 / 4634 [---------------------->________________________________________________] 31.10% 112 p/s1463 / 4634 [---------------------->________________________________________________] 31.57% 112 p/s1486 / 4634 [---------------------->________________________________________________] 32.07% 112 p/s1509 / 4634 [----------------------->_______________________________________________] 32.56% 112 p/s1531 / 4634 [----------------------->_______________________________________________] 33.04% 112 p/s1554 / 4634 [----------------------->_______________________________________________] 33.53% 112 p/s1577 / 4634 [------------------------>______________________________________________] 34.03% 112 p/s1600 / 4634 [------------------------>______________________________________________] 34.53% 112 p/s1623 / 4634 [------------------------>______________________________________________] 35.02% 112 p/s1645 / 4634 [------------------------->_____________________________________________] 35.50% 113 p/s1668 / 4634 [------------------------->_____________________________________________] 35.99% 113 p/s1690 / 4634 [------------------------->_____________________________________________] 36.47% 113 p/s1713 / 4634 [-------------------------->____________________________________________] 36.97% 113 p/s1735 / 4634 [-------------------------->____________________________________________] 37.44% 113 p/s1758 / 4634 [-------------------------->____________________________________________] 37.94% 113 p/s1780 / 4634 [--------------------------->___________________________________________] 38.41% 113 p/s1803 / 4634 [--------------------------->___________________________________________] 38.91% 113 p/s1825 / 4634 [--------------------------->___________________________________________] 39.38% 113 p/s1847 / 4634 [---------------------------->__________________________________________] 39.86% 112 p/s1870 / 4634 [---------------------------->__________________________________________] 40.35% 112 p/s1892 / 4634 [---------------------------->__________________________________________] 40.83% 112 p/s1914 / 4634 [----------------------------->_________________________________________] 41.30% 112 p/s1937 / 4634 [----------------------------->_________________________________________] 41.80% 112 p/s1959 / 4634 [------------------------------>________________________________________] 42.27% 112 p/s1981 / 4634 [------------------------------>________________________________________] 42.75% 112 p/s2004 / 4634 [------------------------------>________________________________________] 43.25% 112 p/s2026 / 4634 [------------------------------->_______________________________________] 43.72% 112 p/s2048 / 4634 [------------------------------->_______________________________________] 44.20% 112 p/s2070 / 4634 [------------------------------->_______________________________________] 44.67% 112 p/s2093 / 4634 [-------------------------------->______________________________________] 45.17% 112 p/s2115 / 4634 [-------------------------------->______________________________________] 45.64% 112 p/s2137 / 4634 [-------------------------------->______________________________________] 46.12% 112 p/s2160 / 4634 [--------------------------------->_____________________________________] 46.61% 112 p/s2182 / 4634 [--------------------------------->_____________________________________] 47.09% 112 p/s2204 / 4634 [--------------------------------->_____________________________________] 47.56% 112 p/s2226 / 4634 [---------------------------------->____________________________________] 48.04% 112 p/s2249 / 4634 [---------------------------------->____________________________________] 48.53% 112 p/s2272 / 4634 [---------------------------------->____________________________________] 49.03% 112 p/s2294 / 4634 [----------------------------------->___________________________________] 49.50% 112 p/s2317 / 4634 [----------------------------------->___________________________________] 50.00% 112 p/s2339 / 4634 [----------------------------------->___________________________________] 50.47% 112 p/s2361 / 4634 [------------------------------------>__________________________________] 50.95% 112 p/s2383 / 4634 [------------------------------------>__________________________________] 51.42% 112 p/s2406 / 4634 [------------------------------------>__________________________________] 51.92% 112 p/s2428 / 4634 [------------------------------------->_________________________________] 52.40% 112 p/s2450 / 4634 [------------------------------------->_________________________________] 52.87% 112 p/s2473 / 4634 [------------------------------------->_________________________________] 53.37% 112 p/s2495 / 4634 [-------------------------------------->________________________________] 53.84% 112 p/s2518 / 4634 [-------------------------------------->________________________________] 54.34% 112 p/s2540 / 4634 [-------------------------------------->________________________________] 54.81% 112 p/s2562 / 4634 [--------------------------------------->_______________________________] 55.29% 112 p/s2585 / 4634 [--------------------------------------->_______________________________] 55.78% 112 p/s2607 / 4634 [--------------------------------------->_______________________________] 56.26% 112 p/s2630 / 4634 [---------------------------------------->______________________________] 56.75% 112 p/s2652 / 4634 [---------------------------------------->______________________________] 57.23% 112 p/s2674 / 4634 [---------------------------------------->______________________________] 57.70% 112 p/s2697 / 4634 [----------------------------------------->_____________________________] 58.20% 112 p/s2719 / 4634 [----------------------------------------->_____________________________] 58.68% 112 p/s2742 / 4634 [------------------------------------------>____________________________] 59.17% 112 p/s2764 / 4634 [------------------------------------------>____________________________] 59.65% 112 p/s2787 / 4634 [------------------------------------------>____________________________] 60.14% 112 p/s2809 / 4634 [------------------------------------------->___________________________] 60.62% 112 p/s2832 / 4634 [------------------------------------------->___________________________] 61.11% 112 p/s2855 / 4634 [------------------------------------------->___________________________] 61.61% 112 p/s2878 / 4634 [-------------------------------------------->__________________________] 62.11% 112 p/s2900 / 4634 [-------------------------------------------->__________________________] 62.58% 112 p/s2923 / 4634 [-------------------------------------------->__________________________] 63.08% 112 p/s2945 / 4634 [--------------------------------------------->_________________________] 63.55% 112 p/s2967 / 4634 [--------------------------------------------->_________________________] 64.03% 112 p/s2989 / 4634 [--------------------------------------------->_________________________] 64.50% 112 p/s3011 / 4634 [---------------------------------------------->________________________] 64.98% 112 p/s3034 / 4634 [---------------------------------------------->________________________] 65.47% 112 p/s3056 / 4634 [---------------------------------------------->________________________] 65.95% 112 p/s3079 / 4634 [----------------------------------------------->_______________________] 66.44% 112 p/s3102 / 4634 [----------------------------------------------->_______________________] 66.94% 112 p/s3125 / 4634 [----------------------------------------------->_______________________] 67.44% 112 p/s3147 / 4634 [------------------------------------------------>______________________] 67.91% 112 p/s3170 / 4634 [------------------------------------------------>______________________] 68.41% 112 p/s3193 / 4634 [------------------------------------------------>______________________] 68.90% 112 p/s3215 / 4634 [------------------------------------------------->_____________________] 69.38% 112 p/s3238 / 4634 [------------------------------------------------->_____________________] 69.87% 112 p/s3261 / 4634 [------------------------------------------------->_____________________] 70.37% 112 p/s3283 / 4634 [-------------------------------------------------->____________________] 70.85% 112 p/s3306 / 4634 [-------------------------------------------------->____________________] 71.34% 112 p/s3328 / 4634 [-------------------------------------------------->____________________] 71.82% 112 p/s3350 / 4634 [--------------------------------------------------->___________________] 72.29% 112 p/s3373 / 4634 [--------------------------------------------------->___________________] 72.79% 112 p/s3395 / 4634 [---------------------------------------------------->__________________] 73.26% 112 p/s3417 / 4634 [---------------------------------------------------->__________________] 73.74% 112 p/s3439 / 4634 [---------------------------------------------------->__________________] 74.21% 112 p/s3461 / 4634 [----------------------------------------------------->_________________] 74.69% 112 p/s3484 / 4634 [----------------------------------------------------->_________________] 75.18% 112 p/s3506 / 4634 [----------------------------------------------------->_________________] 75.66% 112 p/s3529 / 4634 [------------------------------------------------------>________________] 76.15% 112 p/s3552 / 4634 [------------------------------------------------------>________________] 76.65% 112 p/s3575 / 4634 [------------------------------------------------------>________________] 77.15% 112 p/s3597 / 4634 [------------------------------------------------------->_______________] 77.62% 112 p/s3620 / 4634 [------------------------------------------------------->_______________] 78.12% 112 p/s3642 / 4634 [------------------------------------------------------->_______________] 78.59% 112 p/s3664 / 4634 [-------------------------------------------------------->______________] 79.07% 112 p/s3687 / 4634 [-------------------------------------------------------->______________] 79.56% 112 p/s3709 / 4634 [-------------------------------------------------------->______________] 80.04% 112 p/s3731 / 4634 [--------------------------------------------------------->_____________] 80.51% 112 p/s3754 / 4634 [--------------------------------------------------------->_____________] 81.01% 112 p/s3776 / 4634 [--------------------------------------------------------->_____________] 81.48% 112 p/s3799 / 4634 [---------------------------------------------------------->____________] 81.98% 112 p/s3821 / 4634 [---------------------------------------------------------->____________] 82.46% 112 p/s3844 / 4634 [---------------------------------------------------------->____________] 82.95% 112 p/s3867 / 4634 [----------------------------------------------------------->___________] 83.45% 112 p/s3889 / 4634 [----------------------------------------------------------->___________] 83.92% 112 p/s3912 / 4634 [----------------------------------------------------------->___________] 84.42% 112 p/s3935 / 4634 [------------------------------------------------------------>__________] 84.92% 112 p/s3957 / 4634 [------------------------------------------------------------>__________] 85.39% 112 p/s3980 / 4634 [------------------------------------------------------------>__________] 85.89% 112 p/s4003 / 4634 [------------------------------------------------------------->_________] 86.38% 113 p/s4025 / 4634 [------------------------------------------------------------->_________] 86.86% 113 p/s4048 / 4634 [-------------------------------------------------------------->________] 87.35% 113 p/s4071 / 4634 [-------------------------------------------------------------->________] 87.85% 113 p/s4092 / 4634 [-------------------------------------------------------------->________] 88.30% 113 p/s4115 / 4634 [--------------------------------------------------------------->_______] 88.80% 113 p/s4137 / 4634 [--------------------------------------------------------------->_______] 89.27% 112 p/s4159 / 4634 [--------------------------------------------------------------->_______] 89.75% 112 p/s4181 / 4634 [---------------------------------------------------------------->______] 90.22% 112 p/s4204 / 4634 [---------------------------------------------------------------->______] 90.72% 112 p/s4226 / 4634 [---------------------------------------------------------------->______] 91.20% 112 p/s4248 / 4634 [----------------------------------------------------------------->_____] 91.67% 112 p/s4271 / 4634 [----------------------------------------------------------------->_____] 92.17% 112 p/s4293 / 4634 [----------------------------------------------------------------->_____] 92.64% 112 p/s4315 / 4634 [------------------------------------------------------------------>____] 93.12% 112 p/s4338 / 4634 [------------------------------------------------------------------>____] 93.61% 112 p/s4361 / 4634 [------------------------------------------------------------------>____] 94.11% 112 p/s4384 / 4634 [------------------------------------------------------------------->___] 94.61% 112 p/s4406 / 4634 [------------------------------------------------------------------->___] 95.08% 112 p/s4429 / 4634 [------------------------------------------------------------------->___] 95.58% 112 p/s4451 / 4634 [-------------------------------------------------------------------->__] 96.05% 112 p/s4474 / 4634 [-------------------------------------------------------------------->__] 96.55% 112 p/s4496 / 4634 [-------------------------------------------------------------------->__] 97.02% 112 p/s4518 / 4634 [--------------------------------------------------------------------->_] 97.50% 112 p/s4541 / 4634 [--------------------------------------------------------------------->_] 97.99% 112 p/s4563 / 4634 [--------------------------------------------------------------------->_] 98.47% 112 p/s4586 / 4634 [---------------------------------------------------------------------->] 98.96% 112 p/s4608 / 4634 [---------------------------------------------------------------------->] 99.44% 112 p/s4631 / 4634 [---------------------------------------------------------------------->] 99.94% 112 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 113 p/s2026-02-27T05:48:29 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-27T05:51:21 - 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/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-02-27T05:51:23 - INFO: DataPrep 0.14.0a6
2026-02-27T05:51:23 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-02-27T05:51:23 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:51:23 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:51:23 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-02-27T05:51:23 - INFO: Preparing sonar data...
2026-02-27T05:51:23 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:51:27 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-02-27T05:51:27 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:51:27 - INFO: Sonar range is 0.939120 m
2026-02-27T05:51:27 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:51:27 - INFO: Processing 4634 sweeps...

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2026-02-27T05:51:38 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:51:41 - INFO: Prepared sonar data in 18.1126 s
2026-02-27T05:51:41 - INFO: No IMU data found
2026-02-27T05:51:41 - INFO: DataPrep took 0:00:18.661765
2026-02-27T05:51:41 - INFO: Extracted sonar data in 0:03:53.612001
2026-02-27T05:51:42 - INFO: MSIP3D took 0:03:54.087343