2026-02-27T05:46:35 - INFO: MSIP3D 0.2.0a10
2026-02-27T05:46:35 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-27T05:46:35 - INFO: Found 10 TFD dictionary entries
2026-02-27T05:46:36 - INFO: Found TFD mission for SJ502795 Dep 13
2026-02-27T05:46:36 - INFO: Recording will be processed as MD
2026-02-27T05:46:36 - INFO: Copying assets JSON to output directory...
2026-02-27T05:46:36 - INFO: Preparing counter data...
2026-02-27T05:46:36 - INFO: Interpreting counter as imperial
2026-02-27T05:46:36 - INFO: Preparing shape track from assets JSON...
2026-02-27T05:46:36 - INFO: Prepared counter data in 0.0978 s
2026-02-27T05:46:36 - 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: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s66 / 4914 [->__________________________________________________________________________] 1.34% ? p/s89 / 4914 [->________________________________________________________________________] 1.81% 113 p/s113 / 4914 [->_______________________________________________________________________] 2.30% 113 p/s135 / 4914 [-->______________________________________________________________________] 2.75% 113 p/s158 / 4914 [-->______________________________________________________________________] 3.22% 113 p/s182 / 4914 [-->______________________________________________________________________] 3.70% 113 p/s205 / 4914 [--->_____________________________________________________________________] 4.17% 113 p/s228 / 4914 [--->_____________________________________________________________________] 4.64% 114 p/s250 / 4914 [--->_____________________________________________________________________] 5.09% 114 p/s273 / 4914 [---->____________________________________________________________________] 5.56% 114 p/s297 / 4914 [---->____________________________________________________________________] 6.04% 114 p/s320 / 4914 [---->____________________________________________________________________] 6.51% 114 p/s343 / 4914 [----->___________________________________________________________________] 6.98% 114 p/s366 / 4914 [----->___________________________________________________________________] 7.45% 114 p/s389 / 4914 [----->___________________________________________________________________] 7.92% 114 p/s413 / 4914 [------>__________________________________________________________________] 8.40% 114 p/s436 / 4914 [------>__________________________________________________________________] 8.87% 114 p/s459 / 4914 [------>__________________________________________________________________] 9.34% 114 p/s482 / 4914 [------->_________________________________________________________________] 9.81% 114 p/s504 / 4914 [------->________________________________________________________________] 10.26% 114 p/s528 / 4914 [------->________________________________________________________________] 10.74% 114 p/s551 / 4914 [-------->_______________________________________________________________] 11.21% 114 p/s574 / 4914 [-------->_______________________________________________________________] 11.68% 114 p/s597 / 4914 [-------->_______________________________________________________________] 12.15% 114 p/s620 / 4914 [--------->______________________________________________________________] 12.62% 114 p/s643 / 4914 [--------->______________________________________________________________] 13.09% 114 p/s664 / 4914 [--------->______________________________________________________________] 13.51% 114 p/s686 / 4914 [---------->_____________________________________________________________] 13.96% 114 p/s710 / 4914 [---------->_____________________________________________________________] 14.45% 114 p/s733 / 4914 [---------->_____________________________________________________________] 14.92% 114 p/s756 / 4914 [----------->____________________________________________________________] 15.38% 114 p/s779 / 4914 [----------->____________________________________________________________] 15.85% 114 p/s803 / 4914 [----------->____________________________________________________________] 16.34% 114 p/s826 / 4914 [------------>___________________________________________________________] 16.81% 114 p/s849 / 4914 [------------>___________________________________________________________] 17.28% 114 p/s872 / 4914 [------------>___________________________________________________________] 17.75% 114 p/s895 / 4914 [------------->__________________________________________________________] 18.21% 114 p/s918 / 4914 [------------->__________________________________________________________] 18.68% 114 p/s941 / 4914 [------------->__________________________________________________________] 19.15% 114 p/s964 / 4914 [-------------->_________________________________________________________] 19.62% 114 p/s987 / 4914 [-------------->_________________________________________________________] 20.09% 114 p/s1010 / 4914 [-------------->________________________________________________________] 20.55% 114 p/s1033 / 4914 [-------------->________________________________________________________] 21.02% 114 p/s1056 / 4914 [--------------->_______________________________________________________] 21.49% 114 p/s1079 / 4914 [--------------->_______________________________________________________] 21.96% 114 p/s1102 / 4914 [--------------->_______________________________________________________] 22.43% 114 p/s1125 / 4914 [---------------->______________________________________________________] 22.89% 114 p/s1148 / 4914 [---------------->______________________________________________________] 23.36% 114 p/s1172 / 4914 [---------------->______________________________________________________] 23.85% 114 p/s1195 / 4914 [----------------->_____________________________________________________] 24.32% 115 p/s1218 / 4914 [----------------->_____________________________________________________] 24.79% 115 p/s1239 / 4914 [----------------->_____________________________________________________] 25.21% 115 p/s1263 / 4914 [------------------>____________________________________________________] 25.70% 114 p/s1286 / 4914 [------------------>____________________________________________________] 26.17% 114 p/s1309 / 4914 [------------------>____________________________________________________] 26.64% 114 p/s1332 / 4914 [------------------->___________________________________________________] 27.11% 115 p/s1356 / 4914 [------------------->___________________________________________________] 27.59% 115 p/s1379 / 4914 [------------------->___________________________________________________] 28.06% 115 p/s1402 / 4914 [-------------------->__________________________________________________] 28.53% 115 p/s1425 / 4914 [-------------------->__________________________________________________] 29.00% 115 p/s1448 / 4914 [-------------------->__________________________________________________] 29.47% 115 p/s1471 / 4914 [--------------------->_________________________________________________] 29.93% 115 p/s1494 / 4914 [--------------------->_________________________________________________] 30.40% 115 p/s1517 / 4914 [--------------------->_________________________________________________] 30.87% 115 p/s1540 / 4914 [---------------------->________________________________________________] 31.34% 115 p/s1563 / 4914 [---------------------->________________________________________________] 31.81% 115 p/s1586 / 4914 [---------------------->________________________________________________] 32.28% 115 p/s1609 / 4914 [----------------------->_______________________________________________] 32.74% 115 p/s1633 / 4914 [----------------------->_______________________________________________] 33.23% 115 p/s1656 / 4914 [----------------------->_______________________________________________] 33.70% 115 p/s1678 / 4914 [------------------------>______________________________________________] 34.15% 115 p/s1701 / 4914 [------------------------>______________________________________________] 34.62% 115 p/s1725 / 4914 [------------------------>______________________________________________] 35.10% 115 p/s1748 / 4914 [------------------------->_____________________________________________] 35.57% 115 p/s1771 / 4914 [------------------------->_____________________________________________] 36.04% 115 p/s1794 / 4914 [------------------------->_____________________________________________] 36.51% 115 p/s1817 / 4914 [-------------------------->____________________________________________] 36.98% 115 p/s1841 / 4914 [-------------------------->____________________________________________] 37.46% 115 p/s1864 / 4914 [-------------------------->____________________________________________] 37.93% 115 p/s1887 / 4914 [--------------------------->___________________________________________] 38.40% 115 p/s1910 / 4914 [--------------------------->___________________________________________] 38.87% 115 p/s1933 / 4914 [--------------------------->___________________________________________] 39.34% 115 p/s1956 / 4914 [---------------------------->__________________________________________] 39.80% 115 p/s1979 / 4914 [---------------------------->__________________________________________] 40.27% 115 p/s2003 / 4914 [---------------------------->__________________________________________] 40.76% 115 p/s2026 / 4914 [----------------------------->_________________________________________] 41.23% 115 p/s2048 / 4914 [----------------------------->_________________________________________] 41.68% 115 p/s2071 / 4914 [----------------------------->_________________________________________] 42.14% 115 p/s2094 / 4914 [------------------------------>________________________________________] 42.61% 115 p/s2117 / 4914 [------------------------------>________________________________________] 43.08% 115 p/s2140 / 4914 [------------------------------>________________________________________] 43.55% 115 p/s2163 / 4914 [------------------------------->_______________________________________] 44.02% 115 p/s2186 / 4914 [------------------------------->_______________________________________] 44.49% 115 p/s2209 / 4914 [------------------------------->_______________________________________] 44.95% 115 p/s2232 / 4914 [-------------------------------->______________________________________] 45.42% 115 p/s2256 / 4914 [-------------------------------->______________________________________] 45.91% 115 p/s2279 / 4914 [-------------------------------->______________________________________] 46.38% 115 p/s2302 / 4914 [--------------------------------->_____________________________________] 46.85% 115 p/s2326 / 4914 [--------------------------------->_____________________________________] 47.33% 115 p/s2349 / 4914 [--------------------------------->_____________________________________] 47.80% 115 p/s2372 / 4914 [---------------------------------->____________________________________] 48.27% 115 p/s2395 / 4914 [---------------------------------->____________________________________] 48.74% 115 p/s2419 / 4914 [---------------------------------->____________________________________] 49.23% 115 p/s2442 / 4914 [----------------------------------->___________________________________] 49.69% 115 p/s2465 / 4914 [----------------------------------->___________________________________] 50.16% 115 p/s2488 / 4914 [----------------------------------->___________________________________] 50.63% 115 p/s2511 / 4914 [------------------------------------>__________________________________] 51.10% 115 p/s2535 / 4914 [------------------------------------>__________________________________] 51.59% 115 p/s2558 / 4914 [------------------------------------>__________________________________] 52.06% 115 p/s2581 / 4914 [------------------------------------->_________________________________] 52.52% 115 p/s2604 / 4914 [------------------------------------->_________________________________] 52.99% 115 p/s2627 / 4914 [------------------------------------->_________________________________] 53.46% 115 p/s2650 / 4914 [-------------------------------------->________________________________] 53.93% 115 p/s2673 / 4914 [-------------------------------------->________________________________] 54.40% 115 p/s2696 / 4914 [-------------------------------------->________________________________] 54.86% 115 p/s2720 / 4914 [--------------------------------------->_______________________________] 55.35% 115 p/s2742 / 4914 [--------------------------------------->_______________________________] 55.80% 115 p/s2766 / 4914 [--------------------------------------->_______________________________] 56.29% 115 p/s2789 / 4914 [---------------------------------------->______________________________] 56.76% 115 p/s2812 / 4914 [---------------------------------------->______________________________] 57.22% 115 p/s2834 / 4914 [---------------------------------------->______________________________] 57.67% 115 p/s2857 / 4914 [----------------------------------------->_____________________________] 58.14% 115 p/s2880 / 4914 [----------------------------------------->_____________________________] 58.61% 115 p/s2903 / 4914 [----------------------------------------->_____________________________] 59.08% 115 p/s2927 / 4914 [------------------------------------------>____________________________] 59.56% 115 p/s2950 / 4914 [------------------------------------------>____________________________] 60.03% 115 p/s2973 / 4914 [------------------------------------------>____________________________] 60.50% 115 p/s2996 / 4914 [------------------------------------------->___________________________] 60.97% 115 p/s3019 / 4914 [------------------------------------------->___________________________] 61.44% 115 p/s3042 / 4914 [------------------------------------------->___________________________] 61.90% 115 p/s3065 / 4914 [-------------------------------------------->__________________________] 62.37% 115 p/s3088 / 4914 [-------------------------------------------->__________________________] 62.84% 115 p/s3111 / 4914 [-------------------------------------------->__________________________] 63.31% 115 p/s3134 / 4914 [--------------------------------------------->_________________________] 63.78% 115 p/s3157 / 4914 [--------------------------------------------->_________________________] 64.25% 115 p/s3180 / 4914 [--------------------------------------------->_________________________] 64.71% 115 p/s3203 / 4914 [---------------------------------------------->________________________] 65.18% 115 p/s3226 / 4914 [---------------------------------------------->________________________] 65.65% 115 p/s3249 / 4914 [---------------------------------------------->________________________] 66.12% 115 p/s3272 / 4914 [----------------------------------------------->_______________________] 66.59% 115 p/s3295 / 4914 [----------------------------------------------->_______________________] 67.05% 115 p/s3318 / 4914 [----------------------------------------------->_______________________] 67.52% 115 p/s3341 / 4914 [------------------------------------------------>______________________] 67.99% 115 p/s3364 / 4914 [------------------------------------------------>______________________] 68.46% 115 p/s3387 / 4914 [------------------------------------------------>______________________] 68.93% 115 p/s3410 / 4914 [------------------------------------------------->_____________________] 69.39% 115 p/s3433 / 4914 [------------------------------------------------->_____________________] 69.86% 115 p/s3456 / 4914 [------------------------------------------------->_____________________] 70.33% 115 p/s3478 / 4914 [-------------------------------------------------->____________________] 70.78% 115 p/s3501 / 4914 [-------------------------------------------------->____________________] 71.25% 115 p/s3524 / 4914 [-------------------------------------------------->____________________] 71.71% 115 p/s3547 / 4914 [--------------------------------------------------->___________________] 72.18% 115 p/s3570 / 4914 [--------------------------------------------------->___________________] 72.65% 115 p/s3593 / 4914 [--------------------------------------------------->___________________] 73.12% 115 p/s3616 / 4914 [---------------------------------------------------->__________________] 73.59% 115 p/s3639 / 4914 [---------------------------------------------------->__________________] 74.05% 115 p/s3662 / 4914 [---------------------------------------------------->__________________] 74.52% 115 p/s3685 / 4914 [----------------------------------------------------->_________________] 74.99% 115 p/s3707 / 4914 [----------------------------------------------------->_________________] 75.44% 115 p/s3730 / 4914 [----------------------------------------------------->_________________] 75.91% 115 p/s3753 / 4914 [------------------------------------------------------>________________] 76.37% 115 p/s3776 / 4914 [------------------------------------------------------>________________] 76.84% 115 p/s3799 / 4914 [------------------------------------------------------>________________] 77.31% 115 p/s3822 / 4914 [------------------------------------------------------->_______________] 77.78% 115 p/s3845 / 4914 [------------------------------------------------------->_______________] 78.25% 115 p/s3867 / 4914 [------------------------------------------------------->_______________] 78.69% 115 p/s3890 / 4914 [-------------------------------------------------------->______________] 79.16% 115 p/s3913 / 4914 [-------------------------------------------------------->______________] 79.63% 115 p/s3936 / 4914 [-------------------------------------------------------->______________] 80.10% 115 p/s3959 / 4914 [--------------------------------------------------------->_____________] 80.57% 115 p/s3982 / 4914 [--------------------------------------------------------->_____________] 81.03% 115 p/s4004 / 4914 [--------------------------------------------------------->_____________] 81.48% 115 p/s4027 / 4914 [---------------------------------------------------------->____________] 81.95% 115 p/s4049 / 4914 [---------------------------------------------------------->____________] 82.40% 115 p/s4072 / 4914 [---------------------------------------------------------->____________] 82.87% 115 p/s4094 / 4914 [----------------------------------------------------------->___________] 83.31% 115 p/s4117 / 4914 [----------------------------------------------------------->___________] 83.78% 115 p/s4140 / 4914 [----------------------------------------------------------->___________] 84.25% 115 p/s4163 / 4914 [------------------------------------------------------------>__________] 84.72% 115 p/s4185 / 4914 [------------------------------------------------------------>__________] 85.16% 115 p/s4208 / 4914 [------------------------------------------------------------>__________] 85.63% 115 p/s4231 / 4914 [------------------------------------------------------------->_________] 86.10% 115 p/s4254 / 4914 [------------------------------------------------------------->_________] 86.57% 115 p/s4277 / 4914 [------------------------------------------------------------->_________] 87.04% 115 p/s4300 / 4914 [-------------------------------------------------------------->________] 87.51% 115 p/s4322 / 4914 [-------------------------------------------------------------->________] 87.95% 115 p/s4345 / 4914 [-------------------------------------------------------------->________] 88.42% 115 p/s4368 / 4914 [--------------------------------------------------------------->_______] 88.89% 114 p/s4390 / 4914 [--------------------------------------------------------------->_______] 89.34% 114 p/s4413 / 4914 [--------------------------------------------------------------->_______] 89.80% 114 p/s4436 / 4914 [---------------------------------------------------------------->______] 90.27% 114 p/s4459 / 4914 [---------------------------------------------------------------->______] 90.74% 114 p/s4482 / 4914 [---------------------------------------------------------------->______] 91.21% 114 p/s4505 / 4914 [----------------------------------------------------------------->_____] 91.68% 114 p/s4528 / 4914 [----------------------------------------------------------------->_____] 92.14% 114 p/s4550 / 4914 [----------------------------------------------------------------->_____] 92.59% 114 p/s4573 / 4914 [------------------------------------------------------------------>____] 93.06% 114 p/s4596 / 4914 [------------------------------------------------------------------>____] 93.53% 114 p/s4619 / 4914 [------------------------------------------------------------------>____] 94.00% 114 p/s4642 / 4914 [------------------------------------------------------------------->___] 94.46% 114 p/s4665 / 4914 [------------------------------------------------------------------->___] 94.93% 114 p/s4687 / 4914 [------------------------------------------------------------------->___] 95.38% 114 p/s4710 / 4914 [-------------------------------------------------------------------->__] 95.85% 114 p/s4733 / 4914 [-------------------------------------------------------------------->__] 96.32% 114 p/s4756 / 4914 [-------------------------------------------------------------------->__] 96.78% 114 p/s4778 / 4914 [--------------------------------------------------------------------->_] 97.23% 114 p/s4801 / 4914 [--------------------------------------------------------------------->_] 97.70% 114 p/s4824 / 4914 [--------------------------------------------------------------------->_] 98.17% 114 p/s4847 / 4914 [---------------------------------------------------------------------->] 98.64% 114 p/s4869 / 4914 [---------------------------------------------------------------------->] 99.08% 114 p/s4892 / 4914 [---------------------------------------------------------------------->] 99.55% 114 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 115 p/s2026-02-27T05:47:19 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-02-27T05:50:16 - 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"
2026-02-27T05:50:17 - INFO: DataPrep 0.14.0a6
2026-02-27T05:50:17 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-02-27T05:50:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-02-27T05:50:17 - deployment - INFO: Detected P3D version: P3D_1
2026-02-27T05:50:17 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-02-27T05:50:17 - INFO: Preparing sonar data...
2026-02-27T05:50:17 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-02-27T05:50:22 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-02-27T05:50:22 - INFO: Sonar configured speed of sound was 1500 m/s
2026-02-27T05:50:22 - INFO: Sonar range is 0.939120 m
2026-02-27T05:50:22 - INFO: Speed of sound is 1494 m/s
2026-02-27T05:50:22 - INFO: Processing 4914 sweeps...

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2026-02-27T05:50:34 - INFO: Creating sonar sensor alignment track...
2026-02-27T05:50:38 - INFO: Prepared sonar data in 20.2123 s
2026-02-27T05:50:38 - INFO: No IMU data found
2026-02-27T05:50:38 - INFO: DataPrep took 0:00:20.843287
2026-02-27T05:50:38 - INFO: Extracted sonar data in 0:04:02.714623
2026-02-27T05:50:39 - INFO: MSIP3D took 0:04:03.267904