2026-03-03T05:26:28 - INFO: MSIP3D 0.2.0a10
2026-03-03T05:26:28 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-03T05:26:28 - INFO: Found 10 TFD dictionary entries
2026-03-03T05:26:28 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-03T05:26:28 - INFO: Recording will be processed as MD
2026-03-03T05:26:28 - INFO: Copying assets JSON to output directory...
2026-03-03T05:26:28 - INFO: Preparing counter data...
2026-03-03T05:26:28 - INFO: Interpreting counter as imperial
2026-03-03T05:26:28 - INFO: Preparing size track from assets JSON...
2026-03-03T05:26:28 - INFO: Preparing shape track from assets JSON...
2026-03-03T05:26:28 - INFO: Preparing material track from assets JSON...
2026-03-03T05:26:28 - INFO: Prepared counter data in 0.0607 s
2026-03-03T05:26:28 - 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_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s44 / 4634 [>___________________________________________________________________________] 0.95% ? p/s63 / 4634 [->__________________________________________________________________________] 1.36% ? p/s85 / 4634 [->________________________________________________________________________] 1.83% 105 p/s106 / 4634 [->_______________________________________________________________________] 2.29% 105 p/s125 / 4634 [->_______________________________________________________________________] 2.70% 105 p/s146 / 4634 [-->______________________________________________________________________] 3.15% 105 p/s168 / 4634 [-->______________________________________________________________________] 3.63% 105 p/s189 / 4634 [-->______________________________________________________________________] 4.08% 105 p/s211 / 4634 [--->_____________________________________________________________________] 4.55% 105 p/s233 / 4634 [--->_____________________________________________________________________] 5.03% 105 p/s254 / 4634 [---->____________________________________________________________________] 5.48% 105 p/s277 / 4634 [---->____________________________________________________________________] 5.98% 105 p/s299 / 4634 [---->____________________________________________________________________] 6.45% 105 p/s320 / 4634 [----->___________________________________________________________________] 6.91% 105 p/s343 / 4634 [----->___________________________________________________________________] 7.40% 106 p/s365 / 4634 [----->___________________________________________________________________] 7.88% 106 p/s385 / 4634 [------>__________________________________________________________________] 8.31% 106 p/s406 / 4634 [------>__________________________________________________________________] 8.76% 106 p/s429 / 4634 [------>__________________________________________________________________] 9.26% 106 p/s452 / 4634 [------->_________________________________________________________________] 9.75% 106 p/s474 / 4634 [------->________________________________________________________________] 10.23% 106 p/s496 / 4634 [------->________________________________________________________________] 10.70% 106 p/s516 / 4634 [-------->_______________________________________________________________] 11.14% 106 p/s537 / 4634 [-------->_______________________________________________________________] 11.59% 106 p/s560 / 4634 [-------->_______________________________________________________________] 12.08% 106 p/s582 / 4634 [--------->______________________________________________________________] 12.56% 106 p/s604 / 4634 [--------->______________________________________________________________] 13.03% 106 p/s626 / 4634 [--------->______________________________________________________________] 13.51% 106 p/s647 / 4634 [---------->_____________________________________________________________] 13.96% 106 p/s669 / 4634 [---------->_____________________________________________________________] 14.44% 107 p/s691 / 4634 [---------->_____________________________________________________________] 14.91% 107 p/s714 / 4634 [----------->____________________________________________________________] 15.41% 107 p/s736 / 4634 [----------->____________________________________________________________] 15.88% 107 p/s754 / 4634 [----------->____________________________________________________________] 16.27% 107 p/s775 / 4634 [------------>___________________________________________________________] 16.72% 107 p/s797 / 4634 [------------>___________________________________________________________] 17.20% 107 p/s820 / 4634 [------------>___________________________________________________________] 17.70% 107 p/s841 / 4634 [------------->__________________________________________________________] 18.15% 107 p/s863 / 4634 [------------->__________________________________________________________] 18.62% 107 p/s886 / 4634 [------------->__________________________________________________________] 19.12% 107 p/s908 / 4634 [-------------->_________________________________________________________] 19.59% 107 p/s931 / 4634 [-------------->_________________________________________________________] 20.09% 107 p/s953 / 4634 [-------------->_________________________________________________________] 20.57% 107 p/s975 / 4634 [--------------->________________________________________________________] 21.04% 107 p/s997 / 4634 [--------------->________________________________________________________] 21.51% 107 p/s1018 / 4634 [--------------->_______________________________________________________] 21.97% 107 p/s1039 / 4634 [--------------->_______________________________________________________] 22.42% 107 p/s1061 / 4634 [---------------->______________________________________________________] 22.90% 107 p/s1083 / 4634 [---------------->______________________________________________________] 23.37% 107 p/s1104 / 4634 [---------------->______________________________________________________] 23.82% 107 p/s1126 / 4634 [----------------->_____________________________________________________] 24.30% 107 p/s1147 / 4634 [----------------->_____________________________________________________] 24.75% 107 p/s1167 / 4634 [----------------->_____________________________________________________] 25.18% 107 p/s1189 / 4634 [------------------>____________________________________________________] 25.66% 107 p/s1211 / 4634 [------------------>____________________________________________________] 26.13% 107 p/s1234 / 4634 [------------------>____________________________________________________] 26.63% 107 p/s1256 / 4634 [------------------->___________________________________________________] 27.10% 108 p/s1278 / 4634 [------------------->___________________________________________________] 27.58% 108 p/s1301 / 4634 [------------------->___________________________________________________] 28.08% 108 p/s1321 / 4634 [-------------------->__________________________________________________] 28.51% 108 p/s1344 / 4634 [-------------------->__________________________________________________] 29.00% 108 p/s1365 / 4634 [-------------------->__________________________________________________] 29.46% 108 p/s1388 / 4634 [--------------------->_________________________________________________] 29.95% 108 p/s1411 / 4634 [--------------------->_________________________________________________] 30.45% 108 p/s1432 / 4634 [--------------------->_________________________________________________] 30.90% 108 p/s1454 / 4634 [---------------------->________________________________________________] 31.38% 108 p/s1477 / 4634 [---------------------->________________________________________________] 31.87% 108 p/s1499 / 4634 [---------------------->________________________________________________] 32.35% 108 p/s1522 / 4634 [----------------------->_______________________________________________] 32.84% 108 p/s1545 / 4634 [----------------------->_______________________________________________] 33.34% 108 p/s1568 / 4634 [------------------------>______________________________________________] 33.84% 108 p/s1591 / 4634 [------------------------>______________________________________________] 34.33% 109 p/s1610 / 4634 [------------------------>______________________________________________] 34.74% 109 p/s1632 / 4634 [------------------------->_____________________________________________] 35.22% 109 p/s1654 / 4634 [------------------------->_____________________________________________] 35.69% 109 p/s1675 / 4634 [------------------------->_____________________________________________] 36.15% 109 p/s1698 / 4634 [-------------------------->____________________________________________] 36.64% 109 p/s1720 / 4634 [-------------------------->____________________________________________] 37.12% 109 p/s1738 / 4634 [-------------------------->____________________________________________] 37.51% 109 p/s1760 / 4634 [-------------------------->____________________________________________] 37.98% 109 p/s1782 / 4634 [--------------------------->___________________________________________] 38.45% 108 p/s1802 / 4634 [--------------------------->___________________________________________] 38.89% 108 p/s1825 / 4634 [--------------------------->___________________________________________] 39.38% 108 p/s1848 / 4634 [---------------------------->__________________________________________] 39.88% 108 p/s1870 / 4634 [---------------------------->__________________________________________] 40.35% 108 p/s1893 / 4634 [----------------------------->_________________________________________] 40.85% 108 p/s1915 / 4634 [----------------------------->_________________________________________] 41.32% 109 p/s1938 / 4634 [----------------------------->_________________________________________] 41.82% 109 p/s1960 / 4634 [------------------------------>________________________________________] 42.30% 109 p/s1981 / 4634 [------------------------------>________________________________________] 42.75% 109 p/s2003 / 4634 [------------------------------>________________________________________] 43.22% 109 p/s2026 / 4634 [------------------------------->_______________________________________] 43.72% 109 p/s2048 / 4634 [------------------------------->_______________________________________] 44.20% 109 p/s2069 / 4634 [------------------------------->_______________________________________] 44.65% 109 p/s2092 / 4634 [-------------------------------->______________________________________] 45.14% 109 p/s2112 / 4634 [-------------------------------->______________________________________] 45.58% 109 p/s2134 / 4634 [-------------------------------->______________________________________] 46.05% 109 p/s2156 / 4634 [--------------------------------->_____________________________________] 46.53% 109 p/s2178 / 4634 [--------------------------------->_____________________________________] 47.00% 109 p/s2200 / 4634 [--------------------------------->_____________________________________] 47.48% 109 p/s2221 / 4634 [---------------------------------->____________________________________] 47.93% 109 p/s2242 / 4634 [---------------------------------->____________________________________] 48.38% 109 p/s2263 / 4634 [---------------------------------->____________________________________] 48.83% 109 p/s2283 / 4634 [---------------------------------->____________________________________] 49.27% 109 p/s2306 / 4634 [----------------------------------->___________________________________] 49.76% 109 p/s2329 / 4634 [----------------------------------->___________________________________] 50.26% 109 p/s2350 / 4634 [------------------------------------>__________________________________] 50.71% 109 p/s2372 / 4634 [------------------------------------>__________________________________] 51.19% 109 p/s2392 / 4634 [------------------------------------>__________________________________] 51.62% 109 p/s2414 / 4634 [------------------------------------>__________________________________] 52.09% 109 p/s2435 / 4634 [------------------------------------->_________________________________] 52.55% 108 p/s2458 / 4634 [------------------------------------->_________________________________] 53.04% 108 p/s2480 / 4634 [------------------------------------->_________________________________] 53.52% 108 p/s2503 / 4634 [-------------------------------------->________________________________] 54.01% 109 p/s2525 / 4634 [-------------------------------------->________________________________] 54.49% 109 p/s2548 / 4634 [--------------------------------------->_______________________________] 54.98% 109 p/s2570 / 4634 [--------------------------------------->_______________________________] 55.46% 109 p/s2593 / 4634 [--------------------------------------->_______________________________] 55.96% 109 p/s2615 / 4634 [---------------------------------------->______________________________] 56.43% 109 p/s2637 / 4634 [---------------------------------------->______________________________] 56.91% 109 p/s2659 / 4634 [---------------------------------------->______________________________] 57.38% 109 p/s2681 / 4634 [----------------------------------------->_____________________________] 57.85% 109 p/s2703 / 4634 [----------------------------------------->_____________________________] 58.33% 109 p/s2726 / 4634 [----------------------------------------->_____________________________] 58.83% 109 p/s2747 / 4634 [------------------------------------------>____________________________] 59.28% 109 p/s2768 / 4634 [------------------------------------------>____________________________] 59.73% 109 p/s2789 / 4634 [------------------------------------------>____________________________] 60.19% 109 p/s2812 / 4634 [------------------------------------------->___________________________] 60.68% 109 p/s2834 / 4634 [------------------------------------------->___________________________] 61.16% 109 p/s2856 / 4634 [------------------------------------------->___________________________] 61.63% 109 p/s2878 / 4634 [-------------------------------------------->__________________________] 62.11% 109 p/s2900 / 4634 [-------------------------------------------->__________________________] 62.58% 109 p/s2919 / 4634 [-------------------------------------------->__________________________] 62.99% 109 p/s2941 / 4634 [--------------------------------------------->_________________________] 63.47% 109 p/s2963 / 4634 [--------------------------------------------->_________________________] 63.94% 109 p/s2985 / 4634 [--------------------------------------------->_________________________] 64.42% 109 p/s3007 / 4634 [---------------------------------------------->________________________] 64.89% 109 p/s3030 / 4634 [---------------------------------------------->________________________] 65.39% 109 p/s3053 / 4634 [---------------------------------------------->________________________] 65.88% 109 p/s3074 / 4634 [----------------------------------------------->_______________________] 66.34% 109 p/s3097 / 4634 [----------------------------------------------->_______________________] 66.83% 109 p/s3120 / 4634 [----------------------------------------------->_______________________] 67.33% 109 p/s3142 / 4634 [------------------------------------------------>______________________] 67.80% 109 p/s3164 / 4634 [------------------------------------------------>______________________] 68.28% 109 p/s3186 / 4634 [------------------------------------------------>______________________] 68.75% 109 p/s3208 / 4634 [------------------------------------------------->_____________________] 69.23% 109 p/s3230 / 4634 [------------------------------------------------->_____________________] 69.70% 109 p/s3253 / 4634 [------------------------------------------------->_____________________] 70.20% 109 p/s3275 / 4634 [-------------------------------------------------->____________________] 70.67% 109 p/s3297 / 4634 [-------------------------------------------------->____________________] 71.15% 110 p/s3319 / 4634 [-------------------------------------------------->____________________] 71.62% 110 p/s3341 / 4634 [--------------------------------------------------->___________________] 72.10% 110 p/s3363 / 4634 [--------------------------------------------------->___________________] 72.57% 110 p/s3385 / 4634 [--------------------------------------------------->___________________] 73.05% 110 p/s3407 / 4634 [---------------------------------------------------->__________________] 73.52% 110 p/s3430 / 4634 [---------------------------------------------------->__________________] 74.02% 110 p/s3451 / 4634 [---------------------------------------------------->__________________] 74.47% 110 p/s3473 / 4634 [----------------------------------------------------->_________________] 74.95% 110 p/s3496 / 4634 [----------------------------------------------------->_________________] 75.44% 110 p/s3519 / 4634 [----------------------------------------------------->_________________] 75.94% 110 p/s3539 / 4634 [------------------------------------------------------>________________] 76.37% 110 p/s3561 / 4634 [------------------------------------------------------>________________] 76.85% 110 p/s3584 / 4634 [------------------------------------------------------>________________] 77.34% 110 p/s3606 / 4634 [------------------------------------------------------->_______________] 77.82% 110 p/s3629 / 4634 [------------------------------------------------------->_______________] 78.31% 110 p/s3650 / 4634 [------------------------------------------------------->_______________] 78.77% 110 p/s3672 / 4634 [-------------------------------------------------------->______________] 79.24% 110 p/s3693 / 4634 [-------------------------------------------------------->______________] 79.69% 110 p/s3714 / 4634 [-------------------------------------------------------->______________] 80.15% 110 p/s3736 / 4634 [--------------------------------------------------------->_____________] 80.62% 110 p/s3757 / 4634 [--------------------------------------------------------->_____________] 81.07% 110 p/s3778 / 4634 [--------------------------------------------------------->_____________] 81.53% 110 p/s3801 / 4634 [---------------------------------------------------------->____________] 82.02% 110 p/s3821 / 4634 [---------------------------------------------------------->____________] 82.46% 109 p/s3843 / 4634 [---------------------------------------------------------->____________] 82.93% 109 p/s3866 / 4634 [----------------------------------------------------------->___________] 83.43% 109 p/s3889 / 4634 [----------------------------------------------------------->___________] 83.92% 110 p/s3911 / 4634 [----------------------------------------------------------->___________] 84.40% 110 p/s3934 / 4634 [------------------------------------------------------------>__________] 84.89% 110 p/s3956 / 4634 [------------------------------------------------------------>__________] 85.37% 110 p/s3979 / 4634 [------------------------------------------------------------>__________] 85.87% 110 p/s4000 / 4634 [------------------------------------------------------------->_________] 86.32% 110 p/s4022 / 4634 [------------------------------------------------------------->_________] 86.79% 110 p/s4044 / 4634 [------------------------------------------------------------->_________] 87.27% 110 p/s4065 / 4634 [-------------------------------------------------------------->________] 87.72% 110 p/s4087 / 4634 [-------------------------------------------------------------->________] 88.20% 110 p/s4108 / 4634 [-------------------------------------------------------------->________] 88.65% 110 p/s4131 / 4634 [--------------------------------------------------------------->_______] 89.15% 110 p/s4153 / 4634 [--------------------------------------------------------------->_______] 89.62% 110 p/s4174 / 4634 [--------------------------------------------------------------->_______] 90.07% 110 p/s4197 / 4634 [---------------------------------------------------------------->______] 90.57% 110 p/s4219 / 4634 [---------------------------------------------------------------->______] 91.04% 110 p/s4240 / 4634 [---------------------------------------------------------------->______] 91.50% 110 p/s4263 / 4634 [----------------------------------------------------------------->_____] 91.99% 110 p/s4284 / 4634 [----------------------------------------------------------------->_____] 92.45% 110 p/s4307 / 4634 [----------------------------------------------------------------->_____] 92.94% 110 p/s4328 / 4634 [------------------------------------------------------------------>____] 93.40% 110 p/s4351 / 4634 [------------------------------------------------------------------>____] 93.89% 110 p/s4373 / 4634 [------------------------------------------------------------------->___] 94.37% 110 p/s4395 / 4634 [------------------------------------------------------------------->___] 94.84% 110 p/s4418 / 4634 [------------------------------------------------------------------->___] 95.34% 110 p/s4438 / 4634 [------------------------------------------------------------------->___] 95.77% 110 p/s4459 / 4634 [-------------------------------------------------------------------->__] 96.22% 110 p/s4480 / 4634 [-------------------------------------------------------------------->__] 96.68% 109 p/s4502 / 4634 [-------------------------------------------------------------------->__] 97.15% 109 p/s4524 / 4634 [--------------------------------------------------------------------->_] 97.63% 109 p/s4546 / 4634 [--------------------------------------------------------------------->_] 98.10% 109 p/s4568 / 4634 [--------------------------------------------------------------------->_] 98.58% 109 p/s4591 / 4634 [---------------------------------------------------------------------->] 99.07% 109 p/s4611 / 4634 [---------------------------------------------------------------------->] 99.50% 109 p/s4633 / 4634 [---------------------------------------------------------------------->] 99.98% 109 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 110 p/s2026-03-03T05:27:11 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-03T05:30:00 - 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"
2026-03-03T05:30:01 - INFO: DataPrep 0.14.0a6
2026-03-03T05:30:01 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-03T05:30:01 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-03T05:30:01 - deployment - INFO: Detected P3D version: P3D_1
2026-03-03T05:30:01 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-03T05:30:01 - INFO: Preparing sonar data...
2026-03-03T05:30:01 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-03T05:30:06 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-03T05:30:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-03T05:30:06 - INFO: Sonar range is 0.939120 m
2026-03-03T05:30:06 - INFO: Speed of sound is 1494 m/s
2026-03-03T05:30:06 - INFO: Processing 4634 sweeps...

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2026-03-03T05:30:17 - INFO: Creating sonar sensor alignment track...
2026-03-03T05:30:20 - INFO: Prepared sonar data in 18.4558 s
2026-03-03T05:30:20 - INFO: No IMU data found
2026-03-03T05:30:20 - INFO: DataPrep took 0:00:19.009676
2026-03-03T05:30:21 - INFO: Extracted sonar data in 0:03:52.503808
2026-03-03T05:30:21 - INFO: MSIP3D took 0:03:52.993796