2026-03-18T10:10:35 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:10:35 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-18T10:10:35 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:10:35 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-18T10:10:35 - INFO: Recording will be processed as MD
2026-03-18T10:10:35 - INFO: Copying assets JSON to output directory...
2026-03-18T10:10:35 - INFO: Preparing counter data...
2026-03-18T10:10:35 - INFO: Interpreting counter as imperial
2026-03-18T10:10:35 - INFO: Preparing size track from assets JSON...
2026-03-18T10:10:35 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:10:35 - INFO: Preparing material track from assets JSON...
2026-03-18T10:10:35 - INFO: Prepared counter data in 0.0983 s
2026-03-18T10:10:35 - INFO: Extracting sonar data...
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/SJ502795_Dep_13.tfd
TFD path: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s65 / 4914 [->__________________________________________________________________________] 1.32% ? p/s88 / 4914 [->________________________________________________________________________] 1.79% 112 p/s112 / 4914 [->_______________________________________________________________________] 2.28% 112 p/s134 / 4914 [->_______________________________________________________________________] 2.73% 112 p/s157 / 4914 [-->______________________________________________________________________] 3.19% 112 p/s180 / 4914 [-->______________________________________________________________________] 3.66% 112 p/s202 / 4914 [--->_____________________________________________________________________] 4.11% 112 p/s225 / 4914 [--->_____________________________________________________________________] 4.58% 112 p/s248 / 4914 [--->_____________________________________________________________________] 5.05% 112 p/s271 / 4914 [---->____________________________________________________________________] 5.51% 112 p/s293 / 4914 [---->____________________________________________________________________] 5.96% 112 p/s316 / 4914 [---->____________________________________________________________________] 6.43% 112 p/s339 / 4914 [----->___________________________________________________________________] 6.90% 112 p/s362 / 4914 [----->___________________________________________________________________] 7.37% 112 p/s385 / 4914 [----->___________________________________________________________________] 7.83% 112 p/s408 / 4914 [------>__________________________________________________________________] 8.30% 112 p/s431 / 4914 [------>__________________________________________________________________] 8.77% 112 p/s454 / 4914 [------>__________________________________________________________________] 9.24% 112 p/s477 / 4914 [------->_________________________________________________________________] 9.71% 112 p/s500 / 4914 [------->________________________________________________________________] 10.18% 113 p/s521 / 4914 [------->________________________________________________________________] 10.60% 113 p/s543 / 4914 [------->________________________________________________________________] 11.05% 113 p/s566 / 4914 [-------->_______________________________________________________________] 11.52% 112 p/s589 / 4914 [-------->_______________________________________________________________] 11.99% 112 p/s611 / 4914 [-------->_______________________________________________________________] 12.43% 112 p/s634 / 4914 [--------->______________________________________________________________] 12.90% 113 p/s657 / 4914 [--------->______________________________________________________________] 13.37% 113 p/s680 / 4914 [--------->______________________________________________________________] 13.84% 113 p/s703 / 4914 [---------->_____________________________________________________________] 14.31% 113 p/s726 / 4914 [---------->_____________________________________________________________] 14.77% 113 p/s749 / 4914 [---------->_____________________________________________________________] 15.24% 113 p/s772 / 4914 [----------->____________________________________________________________] 15.71% 113 p/s795 / 4914 [----------->____________________________________________________________] 16.18% 113 p/s818 / 4914 [----------->____________________________________________________________] 16.65% 113 p/s841 / 4914 [------------>___________________________________________________________] 17.11% 113 p/s864 / 4914 [------------>___________________________________________________________] 17.58% 113 p/s887 / 4914 [------------>___________________________________________________________] 18.05% 113 p/s910 / 4914 [------------->__________________________________________________________] 18.52% 113 p/s933 / 4914 [------------->__________________________________________________________] 18.99% 113 p/s956 / 4914 [-------------->_________________________________________________________] 19.45% 113 p/s979 / 4914 [-------------->_________________________________________________________] 19.92% 113 p/s1002 / 4914 [-------------->________________________________________________________] 20.39% 113 p/s1024 / 4914 [-------------->________________________________________________________] 20.84% 113 p/s1047 / 4914 [--------------->_______________________________________________________] 21.31% 113 p/s1070 / 4914 [--------------->_______________________________________________________] 21.77% 113 p/s1093 / 4914 [--------------->_______________________________________________________] 22.24% 113 p/s1115 / 4914 [---------------->______________________________________________________] 22.69% 113 p/s1138 / 4914 [---------------->______________________________________________________] 23.16% 113 p/s1161 / 4914 [---------------->______________________________________________________] 23.63% 113 p/s1184 / 4914 [----------------->_____________________________________________________] 24.09% 113 p/s1206 / 4914 [----------------->_____________________________________________________] 24.54% 113 p/s1229 / 4914 [----------------->_____________________________________________________] 25.01% 113 p/s1252 / 4914 [------------------>____________________________________________________] 25.48% 113 p/s1268 / 4914 [------------------>____________________________________________________] 25.80% 113 p/s1279 / 4914 [------------------>____________________________________________________] 26.03% 113 p/s1302 / 4914 [------------------>____________________________________________________] 26.50% 111 p/s1325 / 4914 [------------------->___________________________________________________] 26.96% 111 p/s1348 / 4914 [------------------->___________________________________________________] 27.43% 111 p/s1371 / 4914 [------------------->___________________________________________________] 27.90% 112 p/s1394 / 4914 [-------------------->__________________________________________________] 28.37% 112 p/s1417 / 4914 [-------------------->__________________________________________________] 28.84% 112 p/s1440 / 4914 [-------------------->__________________________________________________] 29.30% 112 p/s1463 / 4914 [--------------------->_________________________________________________] 29.77% 112 p/s1485 / 4914 [--------------------->_________________________________________________] 30.22% 112 p/s1508 / 4914 [--------------------->_________________________________________________] 30.69% 112 p/s1531 / 4914 [---------------------->________________________________________________] 31.16% 112 p/s1554 / 4914 [---------------------->________________________________________________] 31.62% 112 p/s1577 / 4914 [---------------------->________________________________________________] 32.09% 112 p/s1600 / 4914 [----------------------->_______________________________________________] 32.56% 112 p/s1623 / 4914 [----------------------->_______________________________________________] 33.03% 112 p/s1646 / 4914 [----------------------->_______________________________________________] 33.50% 112 p/s1669 / 4914 [------------------------>______________________________________________] 33.96% 112 p/s1692 / 4914 [------------------------>______________________________________________] 34.43% 112 p/s1715 / 4914 [------------------------>______________________________________________] 34.90% 113 p/s1737 / 4914 [------------------------->_____________________________________________] 35.35% 113 p/s1760 / 4914 [------------------------->_____________________________________________] 35.82% 113 p/s1783 / 4914 [------------------------->_____________________________________________] 36.28% 113 p/s1806 / 4914 [-------------------------->____________________________________________] 36.75% 113 p/s1828 / 4914 [-------------------------->____________________________________________] 37.20% 113 p/s1851 / 4914 [-------------------------->____________________________________________] 37.67% 113 p/s1874 / 4914 [--------------------------->___________________________________________] 38.14% 113 p/s1897 / 4914 [--------------------------->___________________________________________] 38.60% 113 p/s1920 / 4914 [--------------------------->___________________________________________] 39.07% 113 p/s1942 / 4914 [---------------------------->__________________________________________] 39.52% 113 p/s1965 / 4914 [---------------------------->__________________________________________] 39.99% 113 p/s1988 / 4914 [---------------------------->__________________________________________] 40.46% 113 p/s2011 / 4914 [----------------------------->_________________________________________] 40.92% 113 p/s2034 / 4914 [----------------------------->_________________________________________] 41.39% 113 p/s2056 / 4914 [----------------------------->_________________________________________] 41.84% 113 p/s2079 / 4914 [------------------------------>________________________________________] 42.31% 113 p/s2102 / 4914 [------------------------------>________________________________________] 42.78% 113 p/s2125 / 4914 [------------------------------>________________________________________] 43.24% 113 p/s2147 / 4914 [------------------------------->_______________________________________] 43.69% 113 p/s2170 / 4914 [------------------------------->_______________________________________] 44.16% 113 p/s2193 / 4914 [------------------------------->_______________________________________] 44.63% 113 p/s2216 / 4914 [-------------------------------->______________________________________] 45.10% 113 p/s2239 / 4914 [-------------------------------->______________________________________] 45.56% 113 p/s2262 / 4914 [-------------------------------->______________________________________] 46.03% 113 p/s2285 / 4914 [--------------------------------->_____________________________________] 46.50% 113 p/s2308 / 4914 [--------------------------------->_____________________________________] 46.97% 113 p/s2331 / 4914 [--------------------------------->_____________________________________] 47.44% 113 p/s2354 / 4914 [---------------------------------->____________________________________] 47.90% 113 p/s2377 / 4914 [---------------------------------->____________________________________] 48.37% 113 p/s2400 / 4914 [---------------------------------->____________________________________] 48.84% 113 p/s2423 / 4914 [----------------------------------->___________________________________] 49.31% 113 p/s2446 / 4914 [----------------------------------->___________________________________] 49.78% 113 p/s2469 / 4914 [----------------------------------->___________________________________] 50.24% 113 p/s2492 / 4914 [------------------------------------>__________________________________] 50.71% 113 p/s2515 / 4914 [------------------------------------>__________________________________] 51.18% 113 p/s2538 / 4914 [------------------------------------>__________________________________] 51.65% 114 p/s2561 / 4914 [------------------------------------->_________________________________] 52.12% 114 p/s2584 / 4914 [------------------------------------->_________________________________] 52.58% 114 p/s2606 / 4914 [------------------------------------->_________________________________] 53.03% 114 p/s2629 / 4914 [------------------------------------->_________________________________] 53.50% 114 p/s2652 / 4914 [-------------------------------------->________________________________] 53.97% 114 p/s2675 / 4914 [-------------------------------------->________________________________] 54.44% 114 p/s2697 / 4914 [-------------------------------------->________________________________] 54.88% 114 p/s2720 / 4914 [--------------------------------------->_______________________________] 55.35% 114 p/s2743 / 4914 [--------------------------------------->_______________________________] 55.82% 114 p/s2766 / 4914 [--------------------------------------->_______________________________] 56.29% 114 p/s2789 / 4914 [---------------------------------------->______________________________] 56.76% 114 p/s2812 / 4914 [---------------------------------------->______________________________] 57.22% 114 p/s2835 / 4914 [---------------------------------------->______________________________] 57.69% 114 p/s2858 / 4914 [----------------------------------------->_____________________________] 58.16% 114 p/s2881 / 4914 [----------------------------------------->_____________________________] 58.63% 114 p/s2904 / 4914 [----------------------------------------->_____________________________] 59.10% 114 p/s2927 / 4914 [------------------------------------------>____________________________] 59.56% 114 p/s2949 / 4914 [------------------------------------------>____________________________] 60.01% 114 p/s2972 / 4914 [------------------------------------------>____________________________] 60.48% 114 p/s2995 / 4914 [------------------------------------------->___________________________] 60.95% 114 p/s3018 / 4914 [------------------------------------------->___________________________] 61.42% 114 p/s3041 / 4914 [------------------------------------------->___________________________] 61.88% 114 p/s3064 / 4914 [-------------------------------------------->__________________________] 62.35% 114 p/s3087 / 4914 [-------------------------------------------->__________________________] 62.82% 114 p/s3109 / 4914 [-------------------------------------------->__________________________] 63.27% 114 p/s3132 / 4914 [--------------------------------------------->_________________________] 63.74% 114 p/s3155 / 4914 [--------------------------------------------->_________________________] 64.20% 114 p/s3178 / 4914 [--------------------------------------------->_________________________] 64.67% 114 p/s3200 / 4914 [---------------------------------------------->________________________] 65.12% 114 p/s3223 / 4914 [---------------------------------------------->________________________] 65.59% 114 p/s3244 / 4914 [---------------------------------------------->________________________] 66.02% 114 p/s3261 / 4914 [----------------------------------------------->_______________________] 66.36% 114 p/s3284 / 4914 [----------------------------------------------->_______________________] 66.83% 113 p/s3307 / 4914 [----------------------------------------------->_______________________] 67.30% 113 p/s3330 / 4914 [------------------------------------------------>______________________] 67.77% 113 p/s3352 / 4914 [------------------------------------------------>______________________] 68.21% 113 p/s3375 / 4914 [------------------------------------------------>______________________] 68.68% 113 p/s3398 / 4914 [------------------------------------------------->_____________________] 69.15% 113 p/s3421 / 4914 [------------------------------------------------->_____________________] 69.62% 113 p/s3443 / 4914 [------------------------------------------------->_____________________] 70.07% 113 p/s3466 / 4914 [-------------------------------------------------->____________________] 70.53% 113 p/s3489 / 4914 [-------------------------------------------------->____________________] 71.00% 113 p/s3511 / 4914 [-------------------------------------------------->____________________] 71.45% 113 p/s3534 / 4914 [--------------------------------------------------->___________________] 71.92% 113 p/s3557 / 4914 [--------------------------------------------------->___________________] 72.39% 113 p/s3580 / 4914 [--------------------------------------------------->___________________] 72.85% 113 p/s3602 / 4914 [---------------------------------------------------->__________________] 73.30% 113 p/s3625 / 4914 [---------------------------------------------------->__________________] 73.77% 113 p/s3647 / 4914 [---------------------------------------------------->__________________] 74.22% 113 p/s3669 / 4914 [----------------------------------------------------->_________________] 74.66% 113 p/s3692 / 4914 [----------------------------------------------------->_________________] 75.13% 113 p/s3715 / 4914 [----------------------------------------------------->_________________] 75.60% 113 p/s3737 / 4914 [----------------------------------------------------->_________________] 76.05% 113 p/s3759 / 4914 [------------------------------------------------------>________________] 76.50% 113 p/s3781 / 4914 [------------------------------------------------------>________________] 76.94% 113 p/s3800 / 4914 [------------------------------------------------------>________________] 77.33% 113 p/s3819 / 4914 [------------------------------------------------------->_______________] 77.72% 112 p/s3842 / 4914 [------------------------------------------------------->_______________] 78.18% 112 p/s3864 / 4914 [------------------------------------------------------->_______________] 78.63% 112 p/s3886 / 4914 [-------------------------------------------------------->______________] 79.08% 112 p/s3908 / 4914 [-------------------------------------------------------->______________] 79.53% 112 p/s3930 / 4914 [-------------------------------------------------------->______________] 79.98% 112 p/s3953 / 4914 [--------------------------------------------------------->_____________] 80.44% 112 p/s3975 / 4914 [--------------------------------------------------------->_____________] 80.89% 112 p/s3997 / 4914 [--------------------------------------------------------->_____________] 81.34% 112 p/s4020 / 4914 [---------------------------------------------------------->____________] 81.81% 112 p/s4042 / 4914 [---------------------------------------------------------->____________] 82.25% 112 p/s4064 / 4914 [---------------------------------------------------------->____________] 82.70% 112 p/s4087 / 4914 [----------------------------------------------------------->___________] 83.17% 112 p/s4108 / 4914 [----------------------------------------------------------->___________] 83.60% 112 p/s4131 / 4914 [----------------------------------------------------------->___________] 84.07% 112 p/s4154 / 4914 [------------------------------------------------------------>__________] 84.53% 112 p/s4177 / 4914 [------------------------------------------------------------>__________] 85.00% 112 p/s4199 / 4914 [------------------------------------------------------------>__________] 85.45% 112 p/s4222 / 4914 [------------------------------------------------------------->_________] 85.92% 112 p/s4244 / 4914 [------------------------------------------------------------->_________] 86.37% 112 p/s4267 / 4914 [------------------------------------------------------------->_________] 86.83% 112 p/s4290 / 4914 [------------------------------------------------------------->_________] 87.30% 112 p/s4312 / 4914 [-------------------------------------------------------------->________] 87.75% 112 p/s4335 / 4914 [-------------------------------------------------------------->________] 88.22% 112 p/s4358 / 4914 [-------------------------------------------------------------->________] 88.69% 112 p/s4380 / 4914 [--------------------------------------------------------------->_______] 89.13% 112 p/s4403 / 4914 [--------------------------------------------------------------->_______] 89.60% 112 p/s4426 / 4914 [--------------------------------------------------------------->_______] 90.07% 112 p/s4449 / 4914 [---------------------------------------------------------------->______] 90.54% 112 p/s4471 / 4914 [---------------------------------------------------------------->______] 90.98% 112 p/s4494 / 4914 [---------------------------------------------------------------->______] 91.45% 112 p/s4516 / 4914 [----------------------------------------------------------------->_____] 91.90% 112 p/s4539 / 4914 [----------------------------------------------------------------->_____] 92.37% 112 p/s4562 / 4914 [----------------------------------------------------------------->_____] 92.84% 112 p/s4584 / 4914 [------------------------------------------------------------------>____] 93.28% 112 p/s4607 / 4914 [------------------------------------------------------------------>____] 93.75% 112 p/s4629 / 4914 [------------------------------------------------------------------>____] 94.20% 112 p/s4652 / 4914 [------------------------------------------------------------------->___] 94.67% 112 p/s4674 / 4914 [------------------------------------------------------------------->___] 95.12% 112 p/s4697 / 4914 [------------------------------------------------------------------->___] 95.58% 112 p/s4719 / 4914 [-------------------------------------------------------------------->__] 96.03% 112 p/s4740 / 4914 [-------------------------------------------------------------------->__] 96.46% 112 p/s4762 / 4914 [-------------------------------------------------------------------->__] 96.91% 112 p/s4785 / 4914 [--------------------------------------------------------------------->_] 97.37% 112 p/s4807 / 4914 [--------------------------------------------------------------------->_] 97.82% 112 p/s4830 / 4914 [--------------------------------------------------------------------->_] 98.29% 112 p/s4852 / 4914 [---------------------------------------------------------------------->] 98.74% 112 p/s4875 / 4914 [---------------------------------------------------------------------->] 99.21% 112 p/s4897 / 4914 [---------------------------------------------------------------------->] 99.65% 112 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T10:11:19 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:14:21 - 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/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b"
2026-03-18T10:14:22 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:14:22 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-18T10:14:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:14:22 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:14:22 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-18T10:14:22 - INFO: Preparing sonar data...
2026-03-18T10:14:22 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:14:27 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-18T10:14:27 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:14:27 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-18T10:14:27 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:14:27 - INFO: Sonar range is 0.939120 m
2026-03-18T10:14:27 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:14:27 - INFO: Processing 4914 sweeps...

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2026-03-18T10:14:42 - INFO: Prepared sonar data in 19.9937 s
2026-03-18T10:14:42 - INFO: No IMU data found
2026-03-18T10:14:43 - INFO: DataPrep took 0:00:20.622023
2026-03-18T10:14:43 - INFO: Extracted sonar data in 0:04:07.476153
2026-03-18T10:14:43 - INFO: MSIP3D took 0:04:08.008012