2026-03-03T04:54:58 - INFO: MSIP3D 0.2.0a10
2026-03-03T04:54:59 - INFO: P3D files will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-03T04:54:59 - INFO: Found 11 TFD dictionary entries
2026-03-03T04:54:59 - INFO: Found TFD mission for SJ502828 DEP 512
2026-03-03T04:54:59 - INFO: Recording will be processed as SMD
2026-03-03T04:54:59 - INFO: Copying assets JSON to output directory...
2026-03-03T04:54:59 - INFO: Preparing counter data...
2026-03-03T04:54:59 - INFO: Interpreting counter as imperial
2026-03-03T04:54:59 - INFO: Preparing size track from assets JSON...
2026-03-03T04:54:59 - INFO: Preparing shape track from assets JSON...
2026-03-03T04:54:59 - INFO: Preparing material track from assets JSON...
2026-03-03T04:54:59 - INFO: Prepared counter data in 0.2777 s
2026-03-03T04:54:59 - INFO: Extracting sonar data...
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/SJ502828_DEP_512.tfd
TFD path: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 3195
11 / 3195 [>___________________________________________________________________________] 0.34% ? p/s25 / 3195 [>___________________________________________________________________________] 0.78% ? p/s42 / 3195 [>___________________________________________________________________________] 1.31% ? p/s56 / 3195 [->_________________________________________________________________________] 1.75% 75 p/s70 / 3195 [->_________________________________________________________________________] 2.19% 75 p/s82 / 3195 [->_________________________________________________________________________] 2.57% 75 p/s98 / 3195 [-->________________________________________________________________________] 3.07% 75 p/s111 / 3195 [-->_______________________________________________________________________] 3.47% 75 p/s126 / 3195 [-->_______________________________________________________________________] 3.94% 75 p/s139 / 3195 [--->______________________________________________________________________] 4.35% 74 p/s153 / 3195 [--->______________________________________________________________________] 4.79% 74 p/s165 / 3195 [--->______________________________________________________________________] 5.16% 74 p/s177 / 3195 [---->_____________________________________________________________________] 5.54% 74 p/s190 / 3195 [---->_____________________________________________________________________] 5.95% 74 p/s204 / 3195 [---->_____________________________________________________________________] 6.38% 74 p/s215 / 3195 [---->_____________________________________________________________________] 6.73% 73 p/s231 / 3195 [----->____________________________________________________________________] 7.23% 73 p/s248 / 3195 [----->____________________________________________________________________] 7.76% 73 p/s262 / 3195 [------>___________________________________________________________________] 8.20% 73 p/s280 / 3195 [------>___________________________________________________________________] 8.76% 73 p/s291 / 3195 [------>___________________________________________________________________] 9.11% 73 p/s306 / 3195 [------->__________________________________________________________________] 9.58% 73 p/s320 / 3195 [------->_________________________________________________________________] 10.02% 73 p/s333 / 3195 [------->_________________________________________________________________] 10.42% 73 p/s346 / 3195 [------->_________________________________________________________________] 10.83% 73 p/s359 / 3195 [-------->________________________________________________________________] 11.24% 73 p/s375 / 3195 [-------->________________________________________________________________] 11.74% 73 p/s390 / 3195 [-------->________________________________________________________________] 12.21% 73 p/s407 / 3195 [--------->_______________________________________________________________] 12.74% 73 p/s422 / 3195 [--------->_______________________________________________________________] 13.21% 73 p/s439 / 3195 [---------->______________________________________________________________] 13.74% 73 p/s453 / 3195 [---------->______________________________________________________________] 14.18% 73 p/s466 / 3195 [---------->______________________________________________________________] 14.59% 73 p/s480 / 3195 [---------->______________________________________________________________] 15.02% 73 p/s495 / 3195 [----------->_____________________________________________________________] 15.49% 73 p/s507 / 3195 [----------->_____________________________________________________________] 15.87% 73 p/s520 / 3195 [----------->_____________________________________________________________] 16.28% 73 p/s535 / 3195 [------------>____________________________________________________________] 16.74% 73 p/s551 / 3195 [------------>____________________________________________________________] 17.25% 73 p/s566 / 3195 [------------>____________________________________________________________] 17.72% 73 p/s581 / 3195 [------------->___________________________________________________________] 18.18% 73 p/s596 / 3195 [------------->___________________________________________________________] 18.65% 73 p/s613 / 3195 [-------------->__________________________________________________________] 19.19% 73 p/s627 / 3195 [-------------->__________________________________________________________] 19.62% 73 p/s639 / 3195 [-------------->__________________________________________________________] 20.00% 73 p/s654 / 3195 [-------------->__________________________________________________________] 20.47% 73 p/s672 / 3195 [--------------->_________________________________________________________] 21.03% 73 p/s688 / 3195 [--------------->_________________________________________________________] 21.53% 73 p/s704 / 3195 [---------------->________________________________________________________] 22.03% 74 p/s721 / 3195 [---------------->________________________________________________________] 22.57% 74 p/s736 / 3195 [---------------->________________________________________________________] 23.04% 74 p/s751 / 3195 [----------------->_______________________________________________________] 23.51% 74 p/s767 / 3195 [----------------->_______________________________________________________] 24.01% 74 p/s782 / 3195 [----------------->_______________________________________________________] 24.48% 74 p/s798 / 3195 [------------------>______________________________________________________] 24.98% 74 p/s812 / 3195 [------------------>______________________________________________________] 25.41% 74 p/s826 / 3195 [------------------>______________________________________________________] 25.85% 74 p/s839 / 3195 [------------------->_____________________________________________________] 26.26% 74 p/s851 / 3195 [------------------->_____________________________________________________] 26.64% 74 p/s864 / 3195 [------------------->_____________________________________________________] 27.04% 74 p/s878 / 3195 [-------------------->____________________________________________________] 27.48% 73 p/s893 / 3195 [-------------------->____________________________________________________] 27.95% 73 p/s906 / 3195 [-------------------->____________________________________________________] 28.36% 73 p/s919 / 3195 [-------------------->____________________________________________________] 28.76% 73 p/s933 / 3195 [--------------------->___________________________________________________] 29.20% 73 p/s946 / 3195 [--------------------->___________________________________________________] 29.61% 73 p/s960 / 3195 [--------------------->___________________________________________________] 30.05% 73 p/s974 / 3195 [---------------------->__________________________________________________] 30.49% 73 p/s985 / 3195 [---------------------->__________________________________________________] 30.83% 73 p/s998 / 3195 [---------------------->__________________________________________________] 31.24% 72 p/s1010 / 3195 [---------------------->_________________________________________________] 31.61% 72 p/s1023 / 3195 [----------------------->________________________________________________] 32.02% 72 p/s1035 / 3195 [----------------------->________________________________________________] 32.39% 71 p/s1048 / 3195 [----------------------->________________________________________________] 32.80% 71 p/s1061 / 3195 [----------------------->________________________________________________] 33.21% 71 p/s1078 / 3195 [------------------------>_______________________________________________] 33.74% 71 p/s1094 / 3195 [------------------------>_______________________________________________] 34.24% 71 p/s1109 / 3195 [------------------------>_______________________________________________] 34.71% 71 p/s1125 / 3195 [------------------------->______________________________________________] 35.21% 72 p/s1140 / 3195 [------------------------->______________________________________________] 35.68% 72 p/s1153 / 3195 [------------------------->______________________________________________] 36.09% 72 p/s1166 / 3195 [-------------------------->_____________________________________________] 36.49% 72 p/s1177 / 3195 [-------------------------->_____________________________________________] 36.84% 72 p/s1192 / 3195 [-------------------------->_____________________________________________] 37.31% 72 p/s1209 / 3195 [--------------------------->____________________________________________] 37.84% 72 p/s1224 / 3195 [--------------------------->____________________________________________] 38.31% 72 p/s1238 / 3195 [--------------------------->____________________________________________] 38.75% 72 p/s1252 / 3195 [---------------------------->___________________________________________] 39.19% 72 p/s1267 / 3195 [---------------------------->___________________________________________] 39.66% 72 p/s1280 / 3195 [---------------------------->___________________________________________] 40.06% 72 p/s1292 / 3195 [----------------------------->__________________________________________] 40.44% 71 p/s1307 / 3195 [----------------------------->__________________________________________] 40.91% 71 p/s1319 / 3195 [----------------------------->__________________________________________] 41.28% 71 p/s1333 / 3195 [------------------------------>_________________________________________] 41.72% 71 p/s1347 / 3195 [------------------------------>_________________________________________] 42.16% 71 p/s1362 / 3195 [------------------------------>_________________________________________] 42.63% 71 p/s1375 / 3195 [------------------------------>_________________________________________] 43.04% 71 p/s1389 / 3195 [------------------------------->________________________________________] 43.47% 71 p/s1401 / 3195 [------------------------------->________________________________________] 43.85% 71 p/s1414 / 3195 [------------------------------->________________________________________] 44.26% 71 p/s1429 / 3195 [-------------------------------->_______________________________________] 44.73% 71 p/s1442 / 3195 [-------------------------------->_______________________________________] 45.13% 71 p/s1457 / 3195 [-------------------------------->_______________________________________] 45.60% 71 p/s1474 / 3195 [--------------------------------->______________________________________] 46.13% 71 p/s1489 / 3195 [--------------------------------->______________________________________] 46.60% 71 p/s1503 / 3195 [--------------------------------->______________________________________] 47.04% 71 p/s1515 / 3195 [---------------------------------->_____________________________________] 47.42% 71 p/s1532 / 3195 [---------------------------------->_____________________________________] 47.95% 71 p/s1547 / 3195 [---------------------------------->_____________________________________] 48.42% 71 p/s1560 / 3195 [----------------------------------->____________________________________] 48.83% 71 p/s1574 / 3195 [----------------------------------->____________________________________] 49.26% 71 p/s1590 / 3195 [----------------------------------->____________________________________] 49.77% 71 p/s1602 / 3195 [------------------------------------>___________________________________] 50.14% 71 p/s1616 / 3195 [------------------------------------>___________________________________] 50.58% 71 p/s1631 / 3195 [------------------------------------>___________________________________] 51.05% 71 p/s1644 / 3195 [------------------------------------->__________________________________] 51.46% 71 p/s1661 / 3195 [------------------------------------->__________________________________] 51.99% 71 p/s1676 / 3195 [------------------------------------->__________________________________] 52.46% 71 p/s1695 / 3195 [-------------------------------------->_________________________________] 53.05% 71 p/s1707 / 3195 [-------------------------------------->_________________________________] 53.43% 71 p/s1719 / 3195 [-------------------------------------->_________________________________] 53.80% 71 p/s1734 / 3195 [--------------------------------------->________________________________] 54.27% 71 p/s1746 / 3195 [--------------------------------------->________________________________] 54.65% 71 p/s1764 / 3195 [--------------------------------------->________________________________] 55.21% 72 p/s1779 / 3195 [---------------------------------------->_______________________________] 55.68% 72 p/s1795 / 3195 [---------------------------------------->_______________________________] 56.18% 72 p/s1811 / 3195 [---------------------------------------->_______________________________] 56.68% 72 p/s1824 / 3195 [----------------------------------------->______________________________] 57.09% 72 p/s1839 / 3195 [----------------------------------------->______________________________] 57.56% 72 p/s1854 / 3195 [----------------------------------------->______________________________] 58.03% 72 p/s1869 / 3195 [------------------------------------------>_____________________________] 58.50% 72 p/s1884 / 3195 [------------------------------------------>_____________________________] 58.97% 72 p/s1897 / 3195 [------------------------------------------>_____________________________] 59.37% 72 p/s1913 / 3195 [------------------------------------------->____________________________] 59.87% 72 p/s1925 / 3195 [------------------------------------------->____________________________] 60.25% 72 p/s1939 / 3195 [------------------------------------------->____________________________] 60.69% 72 p/s1952 / 3195 [------------------------------------------->____________________________] 61.10% 72 p/s1968 / 3195 [-------------------------------------------->___________________________] 61.60% 72 p/s1980 / 3195 [-------------------------------------------->___________________________] 61.97% 72 p/s1996 / 3195 [-------------------------------------------->___________________________] 62.47% 72 p/s2009 / 3195 [--------------------------------------------->__________________________] 62.88% 72 p/s2025 / 3195 [--------------------------------------------->__________________________] 63.38% 72 p/s2040 / 3195 [--------------------------------------------->__________________________] 63.85% 72 p/s2055 / 3195 [---------------------------------------------->_________________________] 64.32% 72 p/s2071 / 3195 [---------------------------------------------->_________________________] 64.82% 72 p/s2086 / 3195 [----------------------------------------------->________________________] 65.29% 72 p/s2100 / 3195 [----------------------------------------------->________________________] 65.73% 72 p/s2114 / 3195 [----------------------------------------------->________________________] 66.17% 72 p/s2132 / 3195 [------------------------------------------------>_______________________] 66.73% 72 p/s2150 / 3195 [------------------------------------------------>_______________________] 67.29% 72 p/s2168 / 3195 [------------------------------------------------>_______________________] 67.86% 73 p/s2185 / 3195 [------------------------------------------------->______________________] 68.39% 73 p/s2201 / 3195 [------------------------------------------------->______________________] 68.89% 73 p/s2216 / 3195 [------------------------------------------------->______________________] 69.36% 74 p/s2232 / 3195 [-------------------------------------------------->_____________________] 69.86% 74 p/s2249 / 3195 [-------------------------------------------------->_____________________] 70.39% 74 p/s2263 / 3195 [-------------------------------------------------->_____________________] 70.83% 74 p/s2278 / 3195 [--------------------------------------------------->____________________] 71.30% 74 p/s2292 / 3195 [--------------------------------------------------->____________________] 71.74% 74 p/s2305 / 3195 [--------------------------------------------------->____________________] 72.14% 74 p/s2318 / 3195 [---------------------------------------------------->___________________] 72.55% 74 p/s2330 / 3195 [---------------------------------------------------->___________________] 72.93% 74 p/s2343 / 3195 [---------------------------------------------------->___________________] 73.33% 73 p/s2358 / 3195 [----------------------------------------------------->__________________] 73.80% 73 p/s2371 / 3195 [----------------------------------------------------->__________________] 74.21% 73 p/s2389 / 3195 [----------------------------------------------------->__________________] 74.77% 73 p/s2407 / 3195 [------------------------------------------------------>_________________] 75.34% 73 p/s2421 / 3195 [------------------------------------------------------>_________________] 75.77% 73 p/s2434 / 3195 [------------------------------------------------------>_________________] 76.18% 73 p/s2450 / 3195 [------------------------------------------------------->________________] 76.68% 73 p/s2462 / 3195 [------------------------------------------------------->________________] 77.06% 73 p/s2476 / 3195 [------------------------------------------------------->________________] 77.50% 73 p/s2491 / 3195 [-------------------------------------------------------->_______________] 77.97% 73 p/s2507 / 3195 [-------------------------------------------------------->_______________] 78.47% 73 p/s2522 / 3195 [-------------------------------------------------------->_______________] 78.94% 73 p/s2536 / 3195 [--------------------------------------------------------->______________] 79.37% 73 p/s2548 / 3195 [--------------------------------------------------------->______________] 79.75% 73 p/s2563 / 3195 [--------------------------------------------------------->______________] 80.22% 73 p/s2575 / 3195 [---------------------------------------------------------->_____________] 80.59% 73 p/s2589 / 3195 [---------------------------------------------------------->_____________] 81.03% 73 p/s2605 / 3195 [---------------------------------------------------------->_____________] 81.53% 73 p/s2621 / 3195 [----------------------------------------------------------->____________] 82.03% 73 p/s2635 / 3195 [----------------------------------------------------------->____________] 82.47% 73 p/s2648 / 3195 [----------------------------------------------------------->____________] 82.88% 73 p/s2663 / 3195 [------------------------------------------------------------>___________] 83.35% 73 p/s2679 / 3195 [------------------------------------------------------------>___________] 83.85% 73 p/s2694 / 3195 [------------------------------------------------------------>___________] 84.32% 73 p/s2706 / 3195 [------------------------------------------------------------>___________] 84.69% 73 p/s2719 / 3195 [------------------------------------------------------------->__________] 85.10% 73 p/s2734 / 3195 [------------------------------------------------------------->__________] 85.57% 73 p/s2750 / 3195 [------------------------------------------------------------->__________] 86.07% 73 p/s2764 / 3195 [-------------------------------------------------------------->_________] 86.51% 73 p/s2780 / 3195 [-------------------------------------------------------------->_________] 87.01% 73 p/s2794 / 3195 [-------------------------------------------------------------->_________] 87.45% 73 p/s2807 / 3195 [--------------------------------------------------------------->________] 87.86% 73 p/s2822 / 3195 [--------------------------------------------------------------->________] 88.33% 73 p/s2836 / 3195 [--------------------------------------------------------------->________] 88.76% 73 p/s2850 / 3195 [---------------------------------------------------------------->_______] 89.20% 73 p/s2864 / 3195 [---------------------------------------------------------------->_______] 89.64% 73 p/s2875 / 3195 [---------------------------------------------------------------->_______] 89.98% 73 p/s2888 / 3195 [----------------------------------------------------------------->______] 90.39% 73 p/s2901 / 3195 [----------------------------------------------------------------->______] 90.80% 72 p/s2915 / 3195 [----------------------------------------------------------------->______] 91.24% 72 p/s2931 / 3195 [------------------------------------------------------------------>_____] 91.74% 72 p/s2943 / 3195 [------------------------------------------------------------------>_____] 92.11% 72 p/s2954 / 3195 [------------------------------------------------------------------>_____] 92.46% 72 p/s2967 / 3195 [------------------------------------------------------------------>_____] 92.86% 72 p/s2980 / 3195 [------------------------------------------------------------------->____] 93.27% 71 p/s2992 / 3195 [------------------------------------------------------------------->____] 93.65% 71 p/s3006 / 3195 [------------------------------------------------------------------->____] 94.08% 71 p/s3020 / 3195 [-------------------------------------------------------------------->___] 94.52% 71 p/s3036 / 3195 [-------------------------------------------------------------------->___] 95.02% 71 p/s3049 / 3195 [-------------------------------------------------------------------->___] 95.43% 71 p/s3062 / 3195 [--------------------------------------------------------------------->__] 95.84% 71 p/s3074 / 3195 [--------------------------------------------------------------------->__] 96.21% 71 p/s3086 / 3195 [--------------------------------------------------------------------->__] 96.59% 71 p/s3101 / 3195 [--------------------------------------------------------------------->__] 97.06% 70 p/s3116 / 3195 [---------------------------------------------------------------------->_] 97.53% 70 p/s3130 / 3195 [---------------------------------------------------------------------->_] 97.97% 70 p/s3146 / 3195 [---------------------------------------------------------------------->_] 98.47% 71 p/s3163 / 3195 [----------------------------------------------------------------------->] 99.00% 71 p/s3178 / 3195 [----------------------------------------------------------------------->] 99.47% 71 p/s3193 / 3195 [----------------------------------------------------------------------->] 99.94% 71 p/s3195 / 3195 [-----------------------------------------------------------------------] 100.00% 72 p/s2026-03-03T04:55:44 - INFO: Parsing 3195 sonar sweeps from /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-03T04:58:30 - 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 /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de"
2026-03-03T04:58:31 - INFO: DataPrep 0.14.0a6
2026-03-03T04:58:31 - INFO: Prepared data will be output to /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/processing/data
2026-03-03T04:58:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-03T04:58:31 - deployment - INFO: Detected P3D version: P3D_1
2026-03-03T04:58:31 - INFO: Recording GUID: 498d836d-e407-0cf4-0043-ac0cd3fa56de
2026-03-03T04:58:31 - INFO: Preparing sonar data...
2026-03-03T04:58:31 - INFO: /working/498d836d-e407-0cf4-0043-ac0cd3fa56de/498d836d-e407-0cf4-0043-ac0cd3fa56de/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-03T04:58:34 - INFO: Sonar epoch is 2024-05-03 18:47:21.128938+00:00 (1714762041128938274)
2026-03-03T04:58:34 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-03T04:58:34 - INFO: Sonar range is 1.878240 m
2026-03-03T04:58:34 - INFO: Speed of sound is 1494 m/s
2026-03-03T04:58:34 - INFO: Processing 3195 sweeps...

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2026-03-03T04:58:42 - INFO: Creating sonar sensor alignment track...
2026-03-03T04:58:46 - INFO: Prepared sonar data in 14.7590 s
2026-03-03T04:58:46 - INFO: No IMU data found
2026-03-03T04:58:46 - INFO: DataPrep took 0:00:15.229464
2026-03-03T04:58:46 - INFO: Extracted sonar data in 0:03:47.271755
2026-03-03T04:58:47 - INFO: MSIP3D took 0:03:47.842193