2026-03-18T06:45:30 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:45:30 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-18T06:45:30 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:45:30 - INFO: Found TFD mission for SJ502828 DEP 507
2026-03-18T06:45:30 - INFO: Recording will be processed as MD
2026-03-18T06:45:30 - INFO: Copying assets JSON to output directory...
2026-03-18T06:45:30 - INFO: Preparing counter data...
2026-03-18T06:45:30 - INFO: Interpreting counter as imperial
2026-03-18T06:45:30 - INFO: Preparing size track from assets JSON...
2026-03-18T06:45:30 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:45:30 - INFO: Preparing material track from assets JSON...
2026-03-18T06:45:30 - INFO: Prepared counter data in 0.1710 s
2026-03-18T06:45:30 - INFO: Extracting sonar data...
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/SJ502828_DEP_507.tfd
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215974206753347
Name: LASER, Tag: 4855215974206753356
Getting track SONAR
Number of frames: 4223
22 / 4223 [>___________________________________________________________________________] 0.52% ? p/s45 / 4223 [>___________________________________________________________________________] 1.07% ? p/s67 / 4223 [->__________________________________________________________________________] 1.59% ? p/s89 / 4223 [->________________________________________________________________________] 2.11% 112 p/s112 / 4223 [->_______________________________________________________________________] 2.65% 112 p/s134 / 4223 [-->______________________________________________________________________] 3.17% 112 p/s157 / 4223 [-->______________________________________________________________________] 3.72% 112 p/s180 / 4223 [--->_____________________________________________________________________] 4.26% 112 p/s203 / 4223 [--->_____________________________________________________________________] 4.81% 112 p/s226 / 4223 [--->_____________________________________________________________________] 5.35% 112 p/s248 / 4223 [---->____________________________________________________________________] 5.87% 112 p/s271 / 4223 [---->____________________________________________________________________] 6.42% 112 p/s294 / 4223 [----->___________________________________________________________________] 6.96% 112 p/s317 / 4223 [----->___________________________________________________________________] 7.51% 112 p/s340 / 4223 [----->___________________________________________________________________] 8.05% 112 p/s363 / 4223 [------>__________________________________________________________________] 8.60% 112 p/s386 / 4223 [------>__________________________________________________________________] 9.14% 112 p/s409 / 4223 [------->_________________________________________________________________] 9.69% 112 p/s431 / 4223 [------->________________________________________________________________] 10.21% 112 p/s454 / 4223 [------->________________________________________________________________] 10.75% 112 p/s478 / 4223 [-------->_______________________________________________________________] 11.32% 112 p/s501 / 4223 [-------->_______________________________________________________________] 11.86% 113 p/s523 / 4223 [-------->_______________________________________________________________] 12.38% 113 p/s545 / 4223 [--------->______________________________________________________________] 12.91% 113 p/s568 / 4223 [--------->______________________________________________________________] 13.45% 113 p/s591 / 4223 [---------->_____________________________________________________________] 13.99% 113 p/s614 / 4223 [---------->_____________________________________________________________] 14.54% 113 p/s637 / 4223 [---------->_____________________________________________________________] 15.08% 113 p/s660 / 4223 [----------->____________________________________________________________] 15.63% 113 p/s684 / 4223 [----------->____________________________________________________________] 16.20% 113 p/s707 / 4223 [------------>___________________________________________________________] 16.74% 113 p/s729 / 4223 [------------>___________________________________________________________] 17.26% 113 p/s752 / 4223 [------------>___________________________________________________________] 17.81% 113 p/s775 / 4223 [------------->__________________________________________________________] 18.35% 113 p/s798 / 4223 [------------->__________________________________________________________] 18.90% 113 p/s822 / 4223 [-------------->_________________________________________________________] 19.46% 113 p/s845 / 4223 [-------------->_________________________________________________________] 20.01% 113 p/s868 / 4223 [-------------->_________________________________________________________] 20.55% 113 p/s891 / 4223 [--------------->________________________________________________________] 21.10% 113 p/s914 / 4223 [--------------->________________________________________________________] 21.64% 113 p/s937 / 4223 [--------------->________________________________________________________] 22.19% 113 p/s959 / 4223 [---------------->_______________________________________________________] 22.71% 113 p/s982 / 4223 [---------------->_______________________________________________________] 23.25% 113 p/s1006 / 4223 [---------------->______________________________________________________] 23.82% 113 p/s1028 / 4223 [----------------->_____________________________________________________] 24.34% 113 p/s1051 / 4223 [----------------->_____________________________________________________] 24.89% 113 p/s1074 / 4223 [------------------>____________________________________________________] 25.43% 113 p/s1097 / 4223 [------------------>____________________________________________________] 25.98% 113 p/s1120 / 4223 [------------------>____________________________________________________] 26.52% 114 p/s1143 / 4223 [------------------->___________________________________________________] 27.07% 114 p/s1166 / 4223 [------------------->___________________________________________________] 27.61% 114 p/s1188 / 4223 [------------------->___________________________________________________] 28.13% 114 p/s1211 / 4223 [-------------------->__________________________________________________] 28.68% 114 p/s1234 / 4223 [-------------------->__________________________________________________] 29.22% 114 p/s1257 / 4223 [--------------------->_________________________________________________] 29.77% 114 p/s1280 / 4223 [--------------------->_________________________________________________] 30.31% 114 p/s1304 / 4223 [--------------------->_________________________________________________] 30.88% 114 p/s1327 / 4223 [---------------------->________________________________________________] 31.42% 114 p/s1350 / 4223 [---------------------->________________________________________________] 31.97% 114 p/s1373 / 4223 [----------------------->_______________________________________________] 32.51% 114 p/s1396 / 4223 [----------------------->_______________________________________________] 33.06% 114 p/s1419 / 4223 [----------------------->_______________________________________________] 33.60% 114 p/s1442 / 4223 [------------------------>______________________________________________] 34.15% 114 p/s1465 / 4223 [------------------------>______________________________________________] 34.69% 114 p/s1488 / 4223 [------------------------->_____________________________________________] 35.24% 114 p/s1511 / 4223 [------------------------->_____________________________________________] 35.78% 114 p/s1534 / 4223 [------------------------->_____________________________________________] 36.32% 114 p/s1557 / 4223 [-------------------------->____________________________________________] 36.87% 114 p/s1580 / 4223 [-------------------------->____________________________________________] 37.41% 114 p/s1603 / 4223 [-------------------------->____________________________________________] 37.96% 114 p/s1625 / 4223 [--------------------------->___________________________________________] 38.48% 114 p/s1648 / 4223 [--------------------------->___________________________________________] 39.02% 114 p/s1671 / 4223 [---------------------------->__________________________________________] 39.57% 114 p/s1694 / 4223 [---------------------------->__________________________________________] 40.11% 114 p/s1717 / 4223 [---------------------------->__________________________________________] 40.66% 114 p/s1740 / 4223 [----------------------------->_________________________________________] 41.20% 114 p/s1763 / 4223 [----------------------------->_________________________________________] 41.75% 114 p/s1786 / 4223 [------------------------------>________________________________________] 42.29% 114 p/s1809 / 4223 [------------------------------>________________________________________] 42.84% 114 p/s1832 / 4223 [------------------------------>________________________________________] 43.38% 114 p/s1854 / 4223 [------------------------------->_______________________________________] 43.90% 114 p/s1877 / 4223 [------------------------------->_______________________________________] 44.45% 114 p/s1900 / 4223 [------------------------------->_______________________________________] 44.99% 114 p/s1923 / 4223 [-------------------------------->______________________________________] 45.54% 114 p/s1946 / 4223 [-------------------------------->______________________________________] 46.08% 114 p/s1969 / 4223 [--------------------------------->_____________________________________] 46.63% 114 p/s1992 / 4223 [--------------------------------->_____________________________________] 47.17% 114 p/s2015 / 4223 [--------------------------------->_____________________________________] 47.71% 114 p/s2038 / 4223 [---------------------------------->____________________________________] 48.26% 114 p/s2060 / 4223 [---------------------------------->____________________________________] 48.78% 114 p/s2084 / 4223 [----------------------------------->___________________________________] 49.35% 114 p/s2107 / 4223 [----------------------------------->___________________________________] 49.89% 114 p/s2130 / 4223 [----------------------------------->___________________________________] 50.44% 114 p/s2153 / 4223 [------------------------------------>__________________________________] 50.98% 114 p/s2176 / 4223 [------------------------------------>__________________________________] 51.53% 114 p/s2198 / 4223 [------------------------------------>__________________________________] 52.05% 114 p/s2221 / 4223 [------------------------------------->_________________________________] 52.59% 114 p/s2244 / 4223 [------------------------------------->_________________________________] 53.14% 114 p/s2267 / 4223 [-------------------------------------->________________________________] 53.68% 114 p/s2290 / 4223 [-------------------------------------->________________________________] 54.23% 114 p/s2313 / 4223 [-------------------------------------->________________________________] 54.77% 114 p/s2336 / 4223 [--------------------------------------->_______________________________] 55.32% 114 p/s2358 / 4223 [--------------------------------------->_______________________________] 55.84% 114 p/s2381 / 4223 [---------------------------------------->______________________________] 56.38% 114 p/s2404 / 4223 [---------------------------------------->______________________________] 56.93% 114 p/s2427 / 4223 [---------------------------------------->______________________________] 57.47% 114 p/s2449 / 4223 [----------------------------------------->_____________________________] 57.99% 114 p/s2472 / 4223 [----------------------------------------->_____________________________] 58.54% 114 p/s2495 / 4223 [----------------------------------------->_____________________________] 59.08% 114 p/s2519 / 4223 [------------------------------------------>____________________________] 59.65% 114 p/s2541 / 4223 [------------------------------------------>____________________________] 60.17% 114 p/s2564 / 4223 [------------------------------------------->___________________________] 60.72% 114 p/s2586 / 4223 [------------------------------------------->___________________________] 61.24% 114 p/s2609 / 4223 [------------------------------------------->___________________________] 61.78% 114 p/s2632 / 4223 [-------------------------------------------->__________________________] 62.33% 114 p/s2655 / 4223 [-------------------------------------------->__________________________] 62.87% 114 p/s2678 / 4223 [--------------------------------------------->_________________________] 63.41% 114 p/s2700 / 4223 [--------------------------------------------->_________________________] 63.94% 114 p/s2723 / 4223 [--------------------------------------------->_________________________] 64.48% 114 p/s2746 / 4223 [---------------------------------------------->________________________] 65.02% 114 p/s2769 / 4223 [---------------------------------------------->________________________] 65.57% 114 p/s2792 / 4223 [---------------------------------------------->________________________] 66.11% 114 p/s2815 / 4223 [----------------------------------------------->_______________________] 66.66% 114 p/s2837 / 4223 [----------------------------------------------->_______________________] 67.18% 114 p/s2860 / 4223 [------------------------------------------------>______________________] 67.72% 114 p/s2883 / 4223 [------------------------------------------------>______________________] 68.27% 114 p/s2906 / 4223 [------------------------------------------------>______________________] 68.81% 114 p/s2929 / 4223 [------------------------------------------------->_____________________] 69.36% 114 p/s2953 / 4223 [------------------------------------------------->_____________________] 69.93% 114 p/s2975 / 4223 [-------------------------------------------------->____________________] 70.45% 114 p/s2998 / 4223 [-------------------------------------------------->____________________] 70.99% 114 p/s3021 / 4223 [-------------------------------------------------->____________________] 71.54% 114 p/s3044 / 4223 [--------------------------------------------------->___________________] 72.08% 114 p/s3066 / 4223 [--------------------------------------------------->___________________] 72.60% 114 p/s3089 / 4223 [--------------------------------------------------->___________________] 73.15% 114 p/s3112 / 4223 [---------------------------------------------------->__________________] 73.69% 114 p/s3134 / 4223 [---------------------------------------------------->__________________] 74.21% 114 p/s3157 / 4223 [----------------------------------------------------->_________________] 74.76% 114 p/s3180 / 4223 [----------------------------------------------------->_________________] 75.30% 114 p/s3203 / 4223 [----------------------------------------------------->_________________] 75.85% 114 p/s3225 / 4223 [------------------------------------------------------>________________] 76.37% 114 p/s3248 / 4223 [------------------------------------------------------>________________] 76.91% 114 p/s3271 / 4223 [------------------------------------------------------>________________] 77.46% 114 p/s3294 / 4223 [------------------------------------------------------->_______________] 78.00% 114 p/s3317 / 4223 [------------------------------------------------------->_______________] 78.55% 114 p/s3339 / 4223 [-------------------------------------------------------->______________] 79.07% 114 p/s3362 / 4223 [-------------------------------------------------------->______________] 79.61% 114 p/s3385 / 4223 [-------------------------------------------------------->______________] 80.16% 114 p/s3408 / 4223 [--------------------------------------------------------->_____________] 80.70% 114 p/s3431 / 4223 [--------------------------------------------------------->_____________] 81.25% 114 p/s3454 / 4223 [---------------------------------------------------------->____________] 81.79% 114 p/s3477 / 4223 [---------------------------------------------------------->____________] 82.33% 114 p/s3500 / 4223 [---------------------------------------------------------->____________] 82.88% 114 p/s3523 / 4223 [----------------------------------------------------------->___________] 83.42% 114 p/s3546 / 4223 [----------------------------------------------------------->___________] 83.97% 114 p/s3569 / 4223 [------------------------------------------------------------>__________] 84.51% 114 p/s3592 / 4223 [------------------------------------------------------------>__________] 85.06% 114 p/s3615 / 4223 [------------------------------------------------------------>__________] 85.60% 114 p/s3637 / 4223 [------------------------------------------------------------->_________] 86.12% 114 p/s3660 / 4223 [------------------------------------------------------------->_________] 86.67% 114 p/s3683 / 4223 [------------------------------------------------------------->_________] 87.21% 114 p/s3706 / 4223 [-------------------------------------------------------------->________] 87.76% 114 p/s3729 / 4223 [-------------------------------------------------------------->________] 88.30% 114 p/s3752 / 4223 [--------------------------------------------------------------->_______] 88.85% 114 p/s3775 / 4223 [--------------------------------------------------------------->_______] 89.39% 114 p/s3798 / 4223 [--------------------------------------------------------------->_______] 89.94% 114 p/s3821 / 4223 [---------------------------------------------------------------->______] 90.48% 114 p/s3843 / 4223 [---------------------------------------------------------------->______] 91.00% 114 p/s3866 / 4223 [---------------------------------------------------------------->______] 91.55% 114 p/s3890 / 4223 [----------------------------------------------------------------->_____] 92.11% 114 p/s3912 / 4223 [----------------------------------------------------------------->_____] 92.64% 114 p/s3935 / 4223 [------------------------------------------------------------------>____] 93.18% 114 p/s3958 / 4223 [------------------------------------------------------------------>____] 93.72% 114 p/s3981 / 4223 [------------------------------------------------------------------>____] 94.27% 114 p/s4003 / 4223 [------------------------------------------------------------------->___] 94.79% 114 p/s4026 / 4223 [------------------------------------------------------------------->___] 95.34% 114 p/s4048 / 4223 [-------------------------------------------------------------------->__] 95.86% 114 p/s4071 / 4223 [-------------------------------------------------------------------->__] 96.40% 114 p/s4093 / 4223 [-------------------------------------------------------------------->__] 96.92% 114 p/s4116 / 4223 [--------------------------------------------------------------------->_] 97.47% 114 p/s4139 / 4223 [--------------------------------------------------------------------->_] 98.01% 114 p/s4161 / 4223 [--------------------------------------------------------------------->_] 98.53% 114 p/s4184 / 4223 [---------------------------------------------------------------------->] 99.08% 114 p/s4207 / 4223 [---------------------------------------------------------------------->] 99.62% 114 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:46:07 - INFO: Parsing 4223 sonar sweeps from /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:48:42 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-03-18T06:48:44 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:48:44 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-03-18T06:48:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:48:44 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:48:44 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-18T06:48:44 - INFO: Preparing sonar data...
2026-03-18T06:48:44 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:48:47 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-03-18T06:48:47 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:48:47 - INFO: Using sonar rotation of 0.663225 radians for wedge mask
2026-03-18T06:48:47 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:48:47 - INFO: Sonar range is 0.939120 m
2026-03-18T06:48:47 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:48:47 - INFO: Processing 4223 sweeps...

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2026-03-18T06:49:04 - INFO: Prepared sonar data in 20.3390 s
2026-03-18T06:49:04 - INFO: No IMU data found
2026-03-18T06:49:04 - INFO: DataPrep took 0:00:20.937464
2026-03-18T06:49:05 - INFO: Extracted sonar data in 0:03:34.509244
2026-03-18T06:49:05 - INFO: MSIP3D took 0:03:35.061969