2026-03-18T06:41:42 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:41:42 - INFO: P3D files will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-18T06:41:43 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:41:43 - INFO: Found TFD mission for SJ502828 DEP 524
2026-03-18T06:41:43 - INFO: Recording will be processed as MD
2026-03-18T06:41:43 - INFO: Copying assets JSON to output directory...
2026-03-18T06:41:43 - INFO: Preparing counter data...
2026-03-18T06:41:43 - INFO: Interpreting counter as imperial
2026-03-18T06:41:43 - INFO: Preparing size track from assets JSON...
2026-03-18T06:41:43 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:41:43 - INFO: Preparing material track from assets JSON...
2026-03-18T06:41:43 - INFO: Prepared counter data in 0.0685 s
2026-03-18T06:41:43 - INFO: Extracting sonar data...
TFD path: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/SJ502828_DEP_524_002.tfd
TFD path: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/output
Name: CCTV, Tag: 4855215974206753347
Name: LASER, Tag: 4855215974206753356
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 3530
21 / 3530 [>___________________________________________________________________________] 0.59% ? p/s45 / 3530 [>___________________________________________________________________________] 1.27% ? p/s66 / 3530 [->__________________________________________________________________________] 1.87% ? p/s90 / 3530 [->________________________________________________________________________] 2.55% 115 p/s113 / 3530 [-->______________________________________________________________________] 3.20% 115 p/s136 / 3530 [-->______________________________________________________________________] 3.85% 115 p/s159 / 3530 [--->_____________________________________________________________________] 4.50% 115 p/s181 / 3530 [--->_____________________________________________________________________] 5.13% 115 p/s204 / 3530 [---->____________________________________________________________________] 5.78% 115 p/s227 / 3530 [---->____________________________________________________________________] 6.43% 115 p/s249 / 3530 [----->___________________________________________________________________] 7.05% 115 p/s271 / 3530 [----->___________________________________________________________________] 7.68% 115 p/s294 / 3530 [------>__________________________________________________________________] 8.33% 115 p/s317 / 3530 [------>__________________________________________________________________] 8.98% 115 p/s339 / 3530 [------->_________________________________________________________________] 9.60% 115 p/s362 / 3530 [------->________________________________________________________________] 10.25% 115 p/s384 / 3530 [------->________________________________________________________________] 10.88% 115 p/s407 / 3530 [-------->_______________________________________________________________] 11.53% 115 p/s430 / 3530 [-------->_______________________________________________________________] 12.18% 114 p/s452 / 3530 [--------->______________________________________________________________] 12.80% 114 p/s475 / 3530 [--------->______________________________________________________________] 13.46% 114 p/s498 / 3530 [---------->_____________________________________________________________] 14.11% 114 p/s520 / 3530 [---------->_____________________________________________________________] 14.73% 114 p/s543 / 3530 [----------->____________________________________________________________] 15.38% 114 p/s566 / 3530 [----------->____________________________________________________________] 16.03% 114 p/s589 / 3530 [------------>___________________________________________________________] 16.69% 114 p/s611 / 3530 [------------>___________________________________________________________] 17.31% 114 p/s634 / 3530 [------------>___________________________________________________________] 17.96% 114 p/s657 / 3530 [------------->__________________________________________________________] 18.61% 114 p/s680 / 3530 [------------->__________________________________________________________] 19.26% 114 p/s702 / 3530 [-------------->_________________________________________________________] 19.89% 114 p/s724 / 3530 [-------------->_________________________________________________________] 20.51% 114 p/s747 / 3530 [--------------->________________________________________________________] 21.16% 114 p/s770 / 3530 [--------------->________________________________________________________] 21.81% 114 p/s792 / 3530 [---------------->_______________________________________________________] 22.44% 114 p/s815 / 3530 [---------------->_______________________________________________________] 23.09% 114 p/s838 / 3530 [----------------->______________________________________________________] 23.74% 114 p/s860 / 3530 [----------------->______________________________________________________] 24.36% 114 p/s883 / 3530 [------------------>_____________________________________________________] 25.01% 114 p/s906 / 3530 [------------------>_____________________________________________________] 25.67% 114 p/s928 / 3530 [------------------>_____________________________________________________] 26.29% 114 p/s951 / 3530 [------------------->____________________________________________________] 26.94% 114 p/s974 / 3530 [------------------->____________________________________________________] 27.59% 114 p/s997 / 3530 [-------------------->___________________________________________________] 28.24% 114 p/s1018 / 3530 [-------------------->__________________________________________________] 28.84% 114 p/s1041 / 3530 [-------------------->__________________________________________________] 29.49% 114 p/s1064 / 3530 [--------------------->_________________________________________________] 30.14% 114 p/s1087 / 3530 [--------------------->_________________________________________________] 30.79% 114 p/s1109 / 3530 [---------------------->________________________________________________] 31.42% 114 p/s1132 / 3530 [---------------------->________________________________________________] 32.07% 114 p/s1155 / 3530 [----------------------->_______________________________________________] 32.72% 114 p/s1178 / 3530 [----------------------->_______________________________________________] 33.37% 114 p/s1200 / 3530 [------------------------>______________________________________________] 33.99% 114 p/s1223 / 3530 [------------------------>______________________________________________] 34.65% 114 p/s1246 / 3530 [------------------------->_____________________________________________] 35.30% 114 p/s1268 / 3530 [------------------------->_____________________________________________] 35.92% 114 p/s1291 / 3530 [------------------------->_____________________________________________] 36.57% 114 p/s1314 / 3530 [-------------------------->____________________________________________] 37.22% 114 p/s1337 / 3530 [-------------------------->____________________________________________] 37.88% 114 p/s1359 / 3530 [--------------------------->___________________________________________] 38.50% 114 p/s1382 / 3530 [--------------------------->___________________________________________] 39.15% 114 p/s1405 / 3530 [---------------------------->__________________________________________] 39.80% 114 p/s1427 / 3530 [---------------------------->__________________________________________] 40.42% 114 p/s1450 / 3530 [----------------------------->_________________________________________] 41.08% 114 p/s1472 / 3530 [----------------------------->_________________________________________] 41.70% 114 p/s1495 / 3530 [------------------------------>________________________________________] 42.35% 114 p/s1518 / 3530 [------------------------------>________________________________________] 43.00% 114 p/s1541 / 3530 [------------------------------>________________________________________] 43.65% 114 p/s1564 / 3530 [------------------------------->_______________________________________] 44.31% 114 p/s1586 / 3530 [------------------------------->_______________________________________] 44.93% 114 p/s1609 / 3530 [-------------------------------->______________________________________] 45.58% 114 p/s1632 / 3530 [-------------------------------->______________________________________] 46.23% 114 p/s1655 / 3530 [--------------------------------->_____________________________________] 46.88% 114 p/s1678 / 3530 [--------------------------------->_____________________________________] 47.54% 114 p/s1700 / 3530 [---------------------------------->____________________________________] 48.16% 114 p/s1723 / 3530 [---------------------------------->____________________________________] 48.81% 114 p/s1746 / 3530 [----------------------------------->___________________________________] 49.46% 114 p/s1769 / 3530 [----------------------------------->___________________________________] 50.11% 114 p/s1792 / 3530 [------------------------------------>__________________________________] 50.76% 114 p/s1815 / 3530 [------------------------------------>__________________________________] 51.42% 114 p/s1838 / 3530 [------------------------------------>__________________________________] 52.07% 114 p/s1861 / 3530 [------------------------------------->_________________________________] 52.72% 114 p/s1883 / 3530 [------------------------------------->_________________________________] 53.34% 114 p/s1906 / 3530 [-------------------------------------->________________________________] 53.99% 114 p/s1929 / 3530 [-------------------------------------->________________________________] 54.65% 114 p/s1952 / 3530 [--------------------------------------->_______________________________] 55.30% 114 p/s1975 / 3530 [--------------------------------------->_______________________________] 55.95% 114 p/s1997 / 3530 [---------------------------------------->______________________________] 56.57% 114 p/s2020 / 3530 [---------------------------------------->______________________________] 57.22% 114 p/s2042 / 3530 [----------------------------------------->_____________________________] 57.85% 114 p/s2064 / 3530 [----------------------------------------->_____________________________] 58.47% 114 p/s2085 / 3530 [----------------------------------------->_____________________________] 59.07% 114 p/s2107 / 3530 [------------------------------------------>____________________________] 59.69% 114 p/s2130 / 3530 [------------------------------------------>____________________________] 60.34% 113 p/s2152 / 3530 [------------------------------------------->___________________________] 60.96% 113 p/s2175 / 3530 [------------------------------------------->___________________________] 61.61% 113 p/s2197 / 3530 [-------------------------------------------->__________________________] 62.24% 113 p/s2220 / 3530 [-------------------------------------------->__________________________] 62.89% 113 p/s2243 / 3530 [--------------------------------------------->_________________________] 63.54% 113 p/s2265 / 3530 [--------------------------------------------->_________________________] 64.16% 113 p/s2288 / 3530 [---------------------------------------------->________________________] 64.82% 113 p/s2311 / 3530 [---------------------------------------------->________________________] 65.47% 113 p/s2333 / 3530 [---------------------------------------------->________________________] 66.09% 113 p/s2356 / 3530 [----------------------------------------------->_______________________] 66.74% 113 p/s2378 / 3530 [----------------------------------------------->_______________________] 67.37% 113 p/s2401 / 3530 [------------------------------------------------>______________________] 68.02% 113 p/s2424 / 3530 [------------------------------------------------>______________________] 68.67% 113 p/s2446 / 3530 [------------------------------------------------->_____________________] 69.29% 113 p/s2469 / 3530 [------------------------------------------------->_____________________] 69.94% 113 p/s2491 / 3530 [-------------------------------------------------->____________________] 70.57% 113 p/s2514 / 3530 [-------------------------------------------------->____________________] 71.22% 113 p/s2536 / 3530 [--------------------------------------------------->___________________] 71.84% 113 p/s2559 / 3530 [--------------------------------------------------->___________________] 72.49% 113 p/s2581 / 3530 [--------------------------------------------------->___________________] 73.12% 113 p/s2604 / 3530 [---------------------------------------------------->__________________] 73.77% 113 p/s2627 / 3530 [---------------------------------------------------->__________________] 74.42% 113 p/s2650 / 3530 [----------------------------------------------------->_________________] 75.07% 113 p/s2672 / 3530 [----------------------------------------------------->_________________] 75.69% 113 p/s2695 / 3530 [------------------------------------------------------>________________] 76.35% 113 p/s2718 / 3530 [------------------------------------------------------>________________] 77.00% 113 p/s2740 / 3530 [------------------------------------------------------->_______________] 77.62% 113 p/s2763 / 3530 [------------------------------------------------------->_______________] 78.27% 113 p/s2784 / 3530 [------------------------------------------------------->_______________] 78.87% 113 p/s2807 / 3530 [-------------------------------------------------------->______________] 79.52% 113 p/s2830 / 3530 [-------------------------------------------------------->______________] 80.17% 113 p/s2852 / 3530 [--------------------------------------------------------->_____________] 80.79% 113 p/s2875 / 3530 [--------------------------------------------------------->_____________] 81.44% 113 p/s2898 / 3530 [---------------------------------------------------------->____________] 82.10% 113 p/s2921 / 3530 [---------------------------------------------------------->____________] 82.75% 113 p/s2943 / 3530 [----------------------------------------------------------->___________] 83.37% 113 p/s2966 / 3530 [----------------------------------------------------------->___________] 84.02% 113 p/s2988 / 3530 [------------------------------------------------------------>__________] 84.65% 113 p/s3011 / 3530 [------------------------------------------------------------>__________] 85.30% 113 p/s3034 / 3530 [------------------------------------------------------------->_________] 85.95% 113 p/s3057 / 3530 [------------------------------------------------------------->_________] 86.60% 113 p/s3080 / 3530 [------------------------------------------------------------->_________] 87.25% 113 p/s3103 / 3530 [-------------------------------------------------------------->________] 87.90% 113 p/s3125 / 3530 [-------------------------------------------------------------->________] 88.53% 113 p/s3148 / 3530 [--------------------------------------------------------------->_______] 89.18% 113 p/s3170 / 3530 [--------------------------------------------------------------->_______] 89.80% 113 p/s3193 / 3530 [---------------------------------------------------------------->______] 90.45% 113 p/s3216 / 3530 [---------------------------------------------------------------->______] 91.10% 113 p/s3238 / 3530 [----------------------------------------------------------------->_____] 91.73% 113 p/s3261 / 3530 [----------------------------------------------------------------->_____] 92.38% 113 p/s3283 / 3530 [------------------------------------------------------------------>____] 93.00% 113 p/s3306 / 3530 [------------------------------------------------------------------>____] 93.65% 113 p/s3329 / 3530 [------------------------------------------------------------------>____] 94.31% 113 p/s3352 / 3530 [------------------------------------------------------------------->___] 94.96% 113 p/s3375 / 3530 [------------------------------------------------------------------->___] 95.61% 113 p/s3398 / 3530 [-------------------------------------------------------------------->__] 96.26% 113 p/s3420 / 3530 [-------------------------------------------------------------------->__] 96.88% 113 p/s3443 / 3530 [--------------------------------------------------------------------->_] 97.54% 113 p/s3466 / 3530 [--------------------------------------------------------------------->_] 98.19% 113 p/s3488 / 3530 [---------------------------------------------------------------------->] 98.81% 113 p/s3511 / 3530 [---------------------------------------------------------------------->] 99.46% 113 p/s3530 / 3530 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-18T06:42:14 - INFO: Parsing 3530 sonar sweeps from /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:44:23 - 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/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73"
2026-03-18T06:44:24 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:44:24 - INFO: Prepared data will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/processing/data
2026-03-18T06:44:24 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:44:24 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:44:24 - INFO: Recording GUID: 8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-18T06:44:24 - INFO: Preparing sonar data...
2026-03-18T06:44:24 - INFO: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:44:27 - INFO: Sonar epoch is 2026-02-25 14:51:35.271113+00:00 (1772031095271113559)
2026-03-18T06:44:27 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:44:27 - INFO: Using sonar rotation of 0.349066 radians for wedge mask
2026-03-18T06:44:27 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:44:27 - INFO: Sonar range is 0.939120 m
2026-03-18T06:44:27 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:44:27 - INFO: Processing 3530 sweeps...

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2026-03-18T06:44:41 - INFO: Prepared sonar data in 17.0308 s
2026-03-18T06:44:41 - INFO: No IMU data found
2026-03-18T06:44:42 - INFO: DataPrep took 0:00:17.551851
2026-03-18T06:44:42 - INFO: Extracted sonar data in 0:02:59.297509
2026-03-18T06:44:42 - INFO: MSIP3D took 0:02:59.681009