2026-03-18T06:48:05 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:48:05 - INFO: P3D files will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-18T06:48:05 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:48:06 - INFO: Found TFD mission for SJ502828 DEP 516
2026-03-18T06:48:06 - INFO: Recording will be processed as MD
2026-03-18T06:48:06 - INFO: Copying assets JSON to output directory...
2026-03-18T06:48:06 - INFO: Preparing counter data...
2026-03-18T06:48:06 - INFO: Interpreting counter as imperial
2026-03-18T06:48:06 - INFO: Preparing size track from assets JSON...
2026-03-18T06:48:06 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:48:06 - INFO: Preparing material track from assets JSON...
2026-03-18T06:48:06 - INFO: Prepared counter data in 0.1006 s
2026-03-18T06:48:06 - INFO: Extracting sonar data...
TFD path: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/SJ502828_DEP_516.tfd
TFD path: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215974206753347
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 4206
22 / 4206 [>___________________________________________________________________________] 0.52% ? p/s45 / 4206 [>___________________________________________________________________________] 1.07% ? p/s66 / 4206 [->__________________________________________________________________________] 1.57% ? p/s89 / 4206 [->________________________________________________________________________] 2.12% 112 p/s112 / 4206 [->_______________________________________________________________________] 2.66% 112 p/s134 / 4206 [-->______________________________________________________________________] 3.19% 112 p/s157 / 4206 [-->______________________________________________________________________] 3.73% 112 p/s180 / 4206 [--->_____________________________________________________________________] 4.28% 112 p/s203 / 4206 [--->_____________________________________________________________________] 4.83% 112 p/s227 / 4206 [--->_____________________________________________________________________] 5.40% 112 p/s248 / 4206 [---->____________________________________________________________________] 5.90% 112 p/s270 / 4206 [---->____________________________________________________________________] 6.42% 112 p/s293 / 4206 [----->___________________________________________________________________] 6.97% 112 p/s316 / 4206 [----->___________________________________________________________________] 7.51% 112 p/s340 / 4206 [----->___________________________________________________________________] 8.08% 112 p/s362 / 4206 [------>__________________________________________________________________] 8.61% 112 p/s385 / 4206 [------>__________________________________________________________________] 9.15% 112 p/s408 / 4206 [------->_________________________________________________________________] 9.70% 112 p/s431 / 4206 [------->________________________________________________________________] 10.25% 112 p/s454 / 4206 [------->________________________________________________________________] 10.79% 112 p/s477 / 4206 [-------->_______________________________________________________________] 11.34% 112 p/s500 / 4206 [-------->_______________________________________________________________] 11.89% 113 p/s522 / 4206 [-------->_______________________________________________________________] 12.41% 113 p/s545 / 4206 [--------->______________________________________________________________] 12.96% 113 p/s568 / 4206 [--------->______________________________________________________________] 13.50% 113 p/s591 / 4206 [---------->_____________________________________________________________] 14.05% 113 p/s614 / 4206 [---------->_____________________________________________________________] 14.60% 113 p/s637 / 4206 [---------->_____________________________________________________________] 15.15% 113 p/s660 / 4206 [----------->____________________________________________________________] 15.69% 113 p/s684 / 4206 [----------->____________________________________________________________] 16.26% 113 p/s707 / 4206 [------------>___________________________________________________________] 16.81% 113 p/s730 / 4206 [------------>___________________________________________________________] 17.36% 113 p/s753 / 4206 [------------>___________________________________________________________] 17.90% 113 p/s776 / 4206 [------------->__________________________________________________________] 18.45% 113 p/s800 / 4206 [------------->__________________________________________________________] 19.02% 113 p/s822 / 4206 [-------------->_________________________________________________________] 19.54% 113 p/s845 / 4206 [-------------->_________________________________________________________] 20.09% 113 p/s869 / 4206 [-------------->_________________________________________________________] 20.66% 113 p/s892 / 4206 [--------------->________________________________________________________] 21.21% 113 p/s915 / 4206 [--------------->________________________________________________________] 21.75% 113 p/s939 / 4206 [---------------->_______________________________________________________] 22.33% 113 p/s962 / 4206 [---------------->_______________________________________________________] 22.87% 113 p/s985 / 4206 [---------------->_______________________________________________________] 23.42% 114 p/s1008 / 4206 [----------------->_____________________________________________________] 23.97% 114 p/s1030 / 4206 [----------------->_____________________________________________________] 24.49% 114 p/s1053 / 4206 [----------------->_____________________________________________________] 25.04% 114 p/s1076 / 4206 [------------------>____________________________________________________] 25.58% 114 p/s1100 / 4206 [------------------>____________________________________________________] 26.15% 114 p/s1123 / 4206 [------------------>____________________________________________________] 26.70% 114 p/s1146 / 4206 [------------------->___________________________________________________] 27.25% 114 p/s1169 / 4206 [------------------->___________________________________________________] 27.79% 114 p/s1193 / 4206 [-------------------->__________________________________________________] 28.36% 114 p/s1216 / 4206 [-------------------->__________________________________________________] 28.91% 114 p/s1239 / 4206 [-------------------->__________________________________________________] 29.46% 114 p/s1262 / 4206 [--------------------->_________________________________________________] 30.00% 114 p/s1285 / 4206 [--------------------->_________________________________________________] 30.55% 114 p/s1309 / 4206 [---------------------->________________________________________________] 31.12% 114 p/s1332 / 4206 [---------------------->________________________________________________] 31.67% 114 p/s1355 / 4206 [---------------------->________________________________________________] 32.22% 114 p/s1378 / 4206 [----------------------->_______________________________________________] 32.76% 114 p/s1402 / 4206 [----------------------->_______________________________________________] 33.33% 114 p/s1425 / 4206 [------------------------>______________________________________________] 33.88% 114 p/s1448 / 4206 [------------------------>______________________________________________] 34.43% 114 p/s1470 / 4206 [------------------------>______________________________________________] 34.95% 114 p/s1493 / 4206 [------------------------->_____________________________________________] 35.50% 114 p/s1517 / 4206 [------------------------->_____________________________________________] 36.07% 114 p/s1540 / 4206 [------------------------->_____________________________________________] 36.61% 114 p/s1563 / 4206 [-------------------------->____________________________________________] 37.16% 114 p/s1586 / 4206 [-------------------------->____________________________________________] 37.71% 114 p/s1609 / 4206 [--------------------------->___________________________________________] 38.25% 115 p/s1631 / 4206 [--------------------------->___________________________________________] 38.78% 115 p/s1654 / 4206 [--------------------------->___________________________________________] 39.32% 115 p/s1677 / 4206 [---------------------------->__________________________________________] 39.87% 114 p/s1700 / 4206 [---------------------------->__________________________________________] 40.42% 114 p/s1721 / 4206 [----------------------------->_________________________________________] 40.92% 114 p/s1744 / 4206 [----------------------------->_________________________________________] 41.46% 114 p/s1767 / 4206 [----------------------------->_________________________________________] 42.01% 114 p/s1790 / 4206 [------------------------------>________________________________________] 42.56% 114 p/s1813 / 4206 [------------------------------>________________________________________] 43.11% 114 p/s1836 / 4206 [------------------------------>________________________________________] 43.65% 114 p/s1860 / 4206 [------------------------------->_______________________________________] 44.22% 114 p/s1883 / 4206 [------------------------------->_______________________________________] 44.77% 114 p/s1905 / 4206 [-------------------------------->______________________________________] 45.29% 114 p/s1928 / 4206 [-------------------------------->______________________________________] 45.84% 114 p/s1949 / 4206 [-------------------------------->______________________________________] 46.34% 114 p/s1972 / 4206 [--------------------------------->_____________________________________] 46.89% 114 p/s1995 / 4206 [--------------------------------->_____________________________________] 47.43% 114 p/s2018 / 4206 [---------------------------------->____________________________________] 47.98% 114 p/s2040 / 4206 [---------------------------------->____________________________________] 48.50% 114 p/s2063 / 4206 [---------------------------------->____________________________________] 49.05% 114 p/s2086 / 4206 [----------------------------------->___________________________________] 49.60% 114 p/s2109 / 4206 [----------------------------------->___________________________________] 50.14% 114 p/s2132 / 4206 [----------------------------------->___________________________________] 50.69% 114 p/s2154 / 4206 [------------------------------------>__________________________________] 51.21% 114 p/s2177 / 4206 [------------------------------------>__________________________________] 51.76% 114 p/s2200 / 4206 [------------------------------------->_________________________________] 52.31% 114 p/s2223 / 4206 [------------------------------------->_________________________________] 52.85% 114 p/s2246 / 4206 [------------------------------------->_________________________________] 53.40% 114 p/s2269 / 4206 [-------------------------------------->________________________________] 53.95% 114 p/s2292 / 4206 [-------------------------------------->________________________________] 54.49% 114 p/s2315 / 4206 [--------------------------------------->_______________________________] 55.04% 114 p/s2338 / 4206 [--------------------------------------->_______________________________] 55.59% 114 p/s2361 / 4206 [--------------------------------------->_______________________________] 56.13% 114 p/s2384 / 4206 [---------------------------------------->______________________________] 56.68% 114 p/s2408 / 4206 [---------------------------------------->______________________________] 57.25% 114 p/s2431 / 4206 [----------------------------------------->_____________________________] 57.80% 114 p/s2454 / 4206 [----------------------------------------->_____________________________] 58.35% 114 p/s2477 / 4206 [----------------------------------------->_____________________________] 58.89% 114 p/s2500 / 4206 [------------------------------------------>____________________________] 59.44% 114 p/s2523 / 4206 [------------------------------------------>____________________________] 59.99% 114 p/s2546 / 4206 [------------------------------------------>____________________________] 60.53% 114 p/s2569 / 4206 [------------------------------------------->___________________________] 61.08% 115 p/s2592 / 4206 [------------------------------------------->___________________________] 61.63% 115 p/s2615 / 4206 [-------------------------------------------->__________________________] 62.17% 115 p/s2638 / 4206 [-------------------------------------------->__________________________] 62.72% 115 p/s2661 / 4206 [-------------------------------------------->__________________________] 63.27% 115 p/s2684 / 4206 [--------------------------------------------->_________________________] 63.81% 115 p/s2707 / 4206 [--------------------------------------------->_________________________] 64.36% 115 p/s2730 / 4206 [---------------------------------------------->________________________] 64.91% 115 p/s2753 / 4206 [---------------------------------------------->________________________] 65.45% 115 p/s2776 / 4206 [---------------------------------------------->________________________] 66.00% 115 p/s2799 / 4206 [----------------------------------------------->_______________________] 66.55% 115 p/s2822 / 4206 [----------------------------------------------->_______________________] 67.09% 115 p/s2845 / 4206 [------------------------------------------------>______________________] 67.64% 115 p/s2868 / 4206 [------------------------------------------------>______________________] 68.19% 115 p/s2891 / 4206 [------------------------------------------------>______________________] 68.74% 115 p/s2915 / 4206 [------------------------------------------------->_____________________] 69.31% 115 p/s2938 / 4206 [------------------------------------------------->_____________________] 69.85% 115 p/s2961 / 4206 [------------------------------------------------->_____________________] 70.40% 115 p/s2984 / 4206 [-------------------------------------------------->____________________] 70.95% 115 p/s3007 / 4206 [-------------------------------------------------->____________________] 71.49% 115 p/s3030 / 4206 [--------------------------------------------------->___________________] 72.04% 115 p/s3053 / 4206 [--------------------------------------------------->___________________] 72.59% 115 p/s3077 / 4206 [--------------------------------------------------->___________________] 73.16% 115 p/s3100 / 4206 [---------------------------------------------------->__________________] 73.70% 115 p/s3123 / 4206 [---------------------------------------------------->__________________] 74.25% 115 p/s3146 / 4206 [----------------------------------------------------->_________________] 74.80% 115 p/s3169 / 4206 [----------------------------------------------------->_________________] 75.34% 115 p/s3192 / 4206 [----------------------------------------------------->_________________] 75.89% 115 p/s3215 / 4206 [------------------------------------------------------>________________] 76.44% 115 p/s3238 / 4206 [------------------------------------------------------>________________] 76.99% 115 p/s3261 / 4206 [------------------------------------------------------->_______________] 77.53% 115 p/s3284 / 4206 [------------------------------------------------------->_______________] 78.08% 115 p/s3307 / 4206 [------------------------------------------------------->_______________] 78.63% 115 p/s3330 / 4206 [-------------------------------------------------------->______________] 79.17% 115 p/s3353 / 4206 [-------------------------------------------------------->______________] 79.72% 115 p/s3376 / 4206 [-------------------------------------------------------->______________] 80.27% 115 p/s3399 / 4206 [--------------------------------------------------------->_____________] 80.81% 115 p/s3421 / 4206 [--------------------------------------------------------->_____________] 81.34% 115 p/s3443 / 4206 [---------------------------------------------------------->____________] 81.86% 115 p/s3466 / 4206 [---------------------------------------------------------->____________] 82.41% 115 p/s3489 / 4206 [---------------------------------------------------------->____________] 82.95% 115 p/s3512 / 4206 [----------------------------------------------------------->___________] 83.50% 115 p/s3535 / 4206 [----------------------------------------------------------->___________] 84.05% 115 p/s3558 / 4206 [------------------------------------------------------------>__________] 84.59% 115 p/s3581 / 4206 [------------------------------------------------------------>__________] 85.14% 115 p/s3604 / 4206 [------------------------------------------------------------>__________] 85.69% 115 p/s3627 / 4206 [------------------------------------------------------------->_________] 86.23% 115 p/s3650 / 4206 [------------------------------------------------------------->_________] 86.78% 115 p/s3673 / 4206 [-------------------------------------------------------------->________] 87.33% 115 p/s3696 / 4206 [-------------------------------------------------------------->________] 87.87% 115 p/s3719 / 4206 [-------------------------------------------------------------->________] 88.42% 115 p/s3742 / 4206 [--------------------------------------------------------------->_______] 88.97% 115 p/s3765 / 4206 [--------------------------------------------------------------->_______] 89.51% 115 p/s3787 / 4206 [--------------------------------------------------------------->_______] 90.04% 115 p/s3810 / 4206 [---------------------------------------------------------------->______] 90.58% 115 p/s3833 / 4206 [---------------------------------------------------------------->______] 91.13% 115 p/s3856 / 4206 [----------------------------------------------------------------->_____] 91.68% 115 p/s3879 / 4206 [----------------------------------------------------------------->_____] 92.23% 115 p/s3902 / 4206 [----------------------------------------------------------------->_____] 92.77% 115 p/s3924 / 4206 [------------------------------------------------------------------>____] 93.30% 115 p/s3946 / 4206 [------------------------------------------------------------------>____] 93.82% 115 p/s3968 / 4206 [------------------------------------------------------------------>____] 94.34% 115 p/s3985 / 4206 [------------------------------------------------------------------->___] 94.75% 115 p/s4008 / 4206 [------------------------------------------------------------------->___] 95.29% 114 p/s4031 / 4206 [-------------------------------------------------------------------->__] 95.84% 114 p/s4054 / 4206 [-------------------------------------------------------------------->__] 96.39% 114 p/s4077 / 4206 [-------------------------------------------------------------------->__] 96.93% 114 p/s4099 / 4206 [--------------------------------------------------------------------->_] 97.46% 114 p/s4121 / 4206 [--------------------------------------------------------------------->_] 97.98% 114 p/s4144 / 4206 [--------------------------------------------------------------------->_] 98.53% 114 p/s4166 / 4206 [---------------------------------------------------------------------->] 99.05% 114 p/s4189 / 4206 [---------------------------------------------------------------------->] 99.60% 114 p/s4206 / 4206 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-18T06:48:42 - INFO: Parsing 4206 sonar sweeps from /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:51:14 - 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/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943"
2026-03-18T06:51:16 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:51:16 - INFO: Prepared data will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/processing/data
2026-03-18T06:51:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:51:16 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:51:16 - INFO: Recording GUID: b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-18T06:51:16 - INFO: Preparing sonar data...
2026-03-18T06:51:16 - INFO: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:51:20 - INFO: Sonar epoch is 2026-02-19 16:14:27.055863+00:00 (1771517667055863227)
2026-03-18T06:51:20 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:51:20 - INFO: Using sonar rotation of 0.628319 radians for wedge mask
2026-03-18T06:51:20 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:51:20 - INFO: Sonar range is 0.939120 m
2026-03-18T06:51:20 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:51:20 - INFO: Processing 4206 sweeps...

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2026-03-18T06:51:34 - INFO: Prepared sonar data in 18.3773 s
2026-03-18T06:51:34 - INFO: No IMU data found
2026-03-18T06:51:35 - INFO: DataPrep took 0:00:18.962215
2026-03-18T06:51:35 - INFO: Extracted sonar data in 0:03:29.400808
2026-03-18T06:51:35 - INFO: MSIP3D took 0:03:29.870539