2026-03-23T00:59:17 - INFO: MSIP3D 0.2.0rc3
2026-03-23T00:59:17 - INFO: P3D files will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-23T00:59:17 - INFO: Found 10 TFD dictionary entries
2026-03-23T00:59:17 - INFO: Found TFD mission for SJ502828 DEP 516
2026-03-23T00:59:17 - INFO: Recording will be processed as MD
2026-03-23T00:59:17 - INFO: Copying assets JSON to output directory...
2026-03-23T00:59:17 - INFO: Preparing counter data...
2026-03-23T00:59:17 - INFO: Interpreting counter as imperial
2026-03-23T00:59:17 - INFO: Preparing size track from assets JSON...
2026-03-23T00:59:17 - INFO: Preparing shape track from assets JSON...
2026-03-23T00:59:17 - INFO: Preparing material track from assets JSON...
2026-03-23T00:59:17 - INFO: Prepared counter data in 0.1013 s
2026-03-23T00:59:17 - 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: CCTV, Tag: 4855215974206753347
Name: SONAR, Tag: 6012079240663880375
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 4206
21 / 4206 [>___________________________________________________________________________] 0.50% ? p/s44 / 4206 [>___________________________________________________________________________] 1.05% ? p/s66 / 4206 [->__________________________________________________________________________] 1.57% ? p/s88 / 4206 [->________________________________________________________________________] 2.09% 112 p/s112 / 4206 [->_______________________________________________________________________] 2.66% 112 p/s133 / 4206 [-->______________________________________________________________________] 3.16% 112 p/s157 / 4206 [-->______________________________________________________________________] 3.73% 112 p/s180 / 4206 [--->_____________________________________________________________________] 4.28% 112 p/s203 / 4206 [--->_____________________________________________________________________] 4.83% 112 p/s226 / 4206 [--->_____________________________________________________________________] 5.37% 112 p/s248 / 4206 [---->____________________________________________________________________] 5.90% 112 p/s271 / 4206 [---->____________________________________________________________________] 6.44% 112 p/s294 / 4206 [----->___________________________________________________________________] 6.99% 112 p/s317 / 4206 [----->___________________________________________________________________] 7.54% 112 p/s340 / 4206 [----->___________________________________________________________________] 8.08% 112 p/s363 / 4206 [------>__________________________________________________________________] 8.63% 112 p/s386 / 4206 [------>__________________________________________________________________] 9.18% 112 p/s410 / 4206 [------->_________________________________________________________________] 9.75% 112 p/s433 / 4206 [------->________________________________________________________________] 10.29% 113 p/s455 / 4206 [------->________________________________________________________________] 10.82% 113 p/s478 / 4206 [-------->_______________________________________________________________] 11.36% 113 p/s501 / 4206 [-------->_______________________________________________________________] 11.91% 113 p/s523 / 4206 [-------->_______________________________________________________________] 12.43% 113 p/s545 / 4206 [--------->______________________________________________________________] 12.96% 113 p/s557 / 4206 [--------->______________________________________________________________] 13.24% 111 p/s580 / 4206 [--------->______________________________________________________________] 13.79% 111 p/s603 / 4206 [---------->_____________________________________________________________] 14.34% 111 p/s626 / 4206 [---------->_____________________________________________________________] 14.88% 112 p/s649 / 4206 [----------->____________________________________________________________] 15.43% 112 p/s673 / 4206 [----------->____________________________________________________________] 16.00% 112 p/s696 / 4206 [----------->____________________________________________________________] 16.55% 112 p/s719 / 4206 [------------>___________________________________________________________] 17.09% 112 p/s742 / 4206 [------------>___________________________________________________________] 17.64% 112 p/s766 / 4206 [------------->__________________________________________________________] 18.21% 112 p/s789 / 4206 [------------->__________________________________________________________] 18.76% 112 p/s812 / 4206 [------------->__________________________________________________________] 19.31% 112 p/s835 / 4206 [-------------->_________________________________________________________] 19.85% 112 p/s858 / 4206 [-------------->_________________________________________________________] 20.40% 112 p/s882 / 4206 [--------------->________________________________________________________] 20.97% 112 p/s906 / 4206 [--------------->________________________________________________________] 21.54% 113 p/s929 / 4206 [--------------->________________________________________________________] 22.09% 113 p/s952 / 4206 [---------------->_______________________________________________________] 22.63% 113 p/s976 / 4206 [---------------->_______________________________________________________] 23.20% 113 p/s999 / 4206 [----------------->______________________________________________________] 23.75% 113 p/s1020 / 4206 [----------------->_____________________________________________________] 24.25% 113 p/s1044 / 4206 [----------------->_____________________________________________________] 24.82% 113 p/s1067 / 4206 [------------------>____________________________________________________] 25.37% 113 p/s1090 / 4206 [------------------>____________________________________________________] 25.92% 113 p/s1113 / 4206 [------------------>____________________________________________________] 26.46% 113 p/s1136 / 4206 [------------------->___________________________________________________] 27.01% 113 p/s1159 / 4206 [------------------->___________________________________________________] 27.56% 113 p/s1183 / 4206 [------------------->___________________________________________________] 28.13% 113 p/s1206 / 4206 [-------------------->__________________________________________________] 28.67% 113 p/s1229 / 4206 [-------------------->__________________________________________________] 29.22% 113 p/s1253 / 4206 [--------------------->_________________________________________________] 29.79% 114 p/s1276 / 4206 [--------------------->_________________________________________________] 30.34% 114 p/s1299 / 4206 [--------------------->_________________________________________________] 30.88% 114 p/s1323 / 4206 [---------------------->________________________________________________] 31.46% 114 p/s1346 / 4206 [---------------------->________________________________________________] 32.00% 114 p/s1369 / 4206 [----------------------->_______________________________________________] 32.55% 114 p/s1392 / 4206 [----------------------->_______________________________________________] 33.10% 114 p/s1416 / 4206 [----------------------->_______________________________________________] 33.67% 114 p/s1439 / 4206 [------------------------>______________________________________________] 34.21% 114 p/s1462 / 4206 [------------------------>______________________________________________] 34.76% 114 p/s1485 / 4206 [------------------------->_____________________________________________] 35.31% 114 p/s1509 / 4206 [------------------------->_____________________________________________] 35.88% 114 p/s1532 / 4206 [------------------------->_____________________________________________] 36.42% 114 p/s1555 / 4206 [-------------------------->____________________________________________] 36.97% 114 p/s1578 / 4206 [-------------------------->____________________________________________] 37.52% 114 p/s1602 / 4206 [--------------------------->___________________________________________] 38.09% 114 p/s1625 / 4206 [--------------------------->___________________________________________] 38.64% 114 p/s1648 / 4206 [--------------------------->___________________________________________] 39.18% 114 p/s1672 / 4206 [---------------------------->__________________________________________] 39.75% 115 p/s1695 / 4206 [---------------------------->__________________________________________] 40.30% 115 p/s1718 / 4206 [----------------------------->_________________________________________] 40.85% 115 p/s1741 / 4206 [----------------------------->_________________________________________] 41.39% 115 p/s1765 / 4206 [----------------------------->_________________________________________] 41.96% 115 p/s1788 / 4206 [------------------------------>________________________________________] 42.51% 115 p/s1811 / 4206 [------------------------------>________________________________________] 43.06% 115 p/s1834 / 4206 [------------------------------>________________________________________] 43.60% 115 p/s1857 / 4206 [------------------------------->_______________________________________] 44.15% 115 p/s1881 / 4206 [------------------------------->_______________________________________] 44.72% 115 p/s1904 / 4206 [-------------------------------->______________________________________] 45.27% 115 p/s1927 / 4206 [-------------------------------->______________________________________] 45.82% 115 p/s1950 / 4206 [-------------------------------->______________________________________] 46.36% 115 p/s1973 / 4206 [--------------------------------->_____________________________________] 46.91% 115 p/s1996 / 4206 [--------------------------------->_____________________________________] 47.46% 115 p/s2019 / 4206 [---------------------------------->____________________________________] 48.00% 115 p/s2042 / 4206 [---------------------------------->____________________________________] 48.55% 115 p/s2065 / 4206 [---------------------------------->____________________________________] 49.10% 115 p/s2088 / 4206 [----------------------------------->___________________________________] 49.64% 115 p/s2112 / 4206 [----------------------------------->___________________________________] 50.21% 115 p/s2135 / 4206 [------------------------------------>__________________________________] 50.76% 115 p/s2158 / 4206 [------------------------------------>__________________________________] 51.31% 115 p/s2181 / 4206 [------------------------------------>__________________________________] 51.85% 115 p/s2197 / 4206 [------------------------------------->_________________________________] 52.23% 115 p/s2211 / 4206 [------------------------------------->_________________________________] 52.57% 113 p/s2234 / 4206 [------------------------------------->_________________________________] 53.11% 113 p/s2257 / 4206 [-------------------------------------->________________________________] 53.66% 113 p/s2280 / 4206 [-------------------------------------->________________________________] 54.21% 113 p/s2303 / 4206 [-------------------------------------->________________________________] 54.76% 113 p/s2326 / 4206 [--------------------------------------->_______________________________] 55.30% 113 p/s2350 / 4206 [--------------------------------------->_______________________________] 55.87% 114 p/s2373 / 4206 [---------------------------------------->______________________________] 56.42% 114 p/s2396 / 4206 [---------------------------------------->______________________________] 56.97% 114 p/s2419 / 4206 [---------------------------------------->______________________________] 57.51% 114 p/s2441 / 4206 [----------------------------------------->_____________________________] 58.04% 114 p/s2464 / 4206 [----------------------------------------->_____________________________] 58.58% 114 p/s2487 / 4206 [----------------------------------------->_____________________________] 59.13% 114 p/s2510 / 4206 [------------------------------------------>____________________________] 59.68% 114 p/s2532 / 4206 [------------------------------------------>____________________________] 60.20% 114 p/s2555 / 4206 [------------------------------------------->___________________________] 60.75% 114 p/s2578 / 4206 [------------------------------------------->___________________________] 61.29% 114 p/s2601 / 4206 [------------------------------------------->___________________________] 61.84% 114 p/s2624 / 4206 [-------------------------------------------->__________________________] 62.39% 114 p/s2647 / 4206 [-------------------------------------------->__________________________] 62.93% 114 p/s2670 / 4206 [--------------------------------------------->_________________________] 63.48% 114 p/s2693 / 4206 [--------------------------------------------->_________________________] 64.03% 114 p/s2716 / 4206 [--------------------------------------------->_________________________] 64.57% 114 p/s2739 / 4206 [---------------------------------------------->________________________] 65.12% 114 p/s2763 / 4206 [---------------------------------------------->________________________] 65.69% 114 p/s2786 / 4206 [----------------------------------------------->_______________________] 66.24% 114 p/s2809 / 4206 [----------------------------------------------->_______________________] 66.79% 114 p/s2832 / 4206 [----------------------------------------------->_______________________] 67.33% 114 p/s2856 / 4206 [------------------------------------------------>______________________] 67.90% 114 p/s2879 / 4206 [------------------------------------------------>______________________] 68.45% 114 p/s2902 / 4206 [------------------------------------------------>______________________] 69.00% 114 p/s2925 / 4206 [------------------------------------------------->_____________________] 69.54% 114 p/s2948 / 4206 [------------------------------------------------->_____________________] 70.09% 114 p/s2971 / 4206 [-------------------------------------------------->____________________] 70.64% 114 p/s2994 / 4206 [-------------------------------------------------->____________________] 71.18% 114 p/s3017 / 4206 [-------------------------------------------------->____________________] 71.73% 114 p/s3040 / 4206 [--------------------------------------------------->___________________] 72.28% 114 p/s3064 / 4206 [--------------------------------------------------->___________________] 72.85% 114 p/s3087 / 4206 [---------------------------------------------------->__________________] 73.40% 114 p/s3110 / 4206 [---------------------------------------------------->__________________] 73.94% 114 p/s3134 / 4206 [---------------------------------------------------->__________________] 74.51% 114 p/s3157 / 4206 [----------------------------------------------------->_________________] 75.06% 114 p/s3180 / 4206 [----------------------------------------------------->_________________] 75.61% 115 p/s3203 / 4206 [------------------------------------------------------>________________] 76.15% 115 p/s3227 / 4206 [------------------------------------------------------>________________] 76.72% 115 p/s3249 / 4206 [------------------------------------------------------>________________] 77.25% 115 p/s3272 / 4206 [------------------------------------------------------->_______________] 77.79% 115 p/s3296 / 4206 [------------------------------------------------------->_______________] 78.36% 115 p/s3319 / 4206 [-------------------------------------------------------->______________] 78.91% 115 p/s3342 / 4206 [-------------------------------------------------------->______________] 79.46% 115 p/s3365 / 4206 [-------------------------------------------------------->______________] 80.00% 115 p/s3388 / 4206 [--------------------------------------------------------->_____________] 80.55% 115 p/s3411 / 4206 [--------------------------------------------------------->_____________] 81.10% 115 p/s3434 / 4206 [--------------------------------------------------------->_____________] 81.65% 115 p/s3458 / 4206 [---------------------------------------------------------->____________] 82.22% 115 p/s3481 / 4206 [---------------------------------------------------------->____________] 82.76% 115 p/s3504 / 4206 [----------------------------------------------------------->___________] 83.31% 115 p/s3527 / 4206 [----------------------------------------------------------->___________] 83.86% 115 p/s3550 / 4206 [----------------------------------------------------------->___________] 84.40% 115 p/s3573 / 4206 [------------------------------------------------------------>__________] 84.95% 115 p/s3596 / 4206 [------------------------------------------------------------>__________] 85.50% 115 p/s3619 / 4206 [------------------------------------------------------------->_________] 86.04% 115 p/s3642 / 4206 [------------------------------------------------------------->_________] 86.59% 115 p/s3665 / 4206 [------------------------------------------------------------->_________] 87.14% 115 p/s3688 / 4206 [-------------------------------------------------------------->________] 87.68% 115 p/s3711 / 4206 [-------------------------------------------------------------->________] 88.23% 115 p/s3734 / 4206 [--------------------------------------------------------------->_______] 88.78% 115 p/s3756 / 4206 [--------------------------------------------------------------->_______] 89.30% 115 p/s3779 / 4206 [--------------------------------------------------------------->_______] 89.85% 115 p/s3802 / 4206 [---------------------------------------------------------------->______] 90.39% 115 p/s3825 / 4206 [---------------------------------------------------------------->______] 90.94% 115 p/s3848 / 4206 [---------------------------------------------------------------->______] 91.49% 115 p/s3871 / 4206 [----------------------------------------------------------------->_____] 92.04% 115 p/s3894 / 4206 [----------------------------------------------------------------->_____] 92.58% 115 p/s3917 / 4206 [------------------------------------------------------------------>____] 93.13% 115 p/s3939 / 4206 [------------------------------------------------------------------>____] 93.65% 115 p/s3962 / 4206 [------------------------------------------------------------------>____] 94.20% 115 p/s3985 / 4206 [------------------------------------------------------------------->___] 94.75% 115 p/s4008 / 4206 [------------------------------------------------------------------->___] 95.29% 115 p/s4031 / 4206 [-------------------------------------------------------------------->__] 95.84% 115 p/s4054 / 4206 [-------------------------------------------------------------------->__] 96.39% 115 p/s4077 / 4206 [-------------------------------------------------------------------->__] 96.93% 115 p/s4099 / 4206 [--------------------------------------------------------------------->_] 97.46% 115 p/s4122 / 4206 [--------------------------------------------------------------------->_] 98.00% 115 p/s4145 / 4206 [--------------------------------------------------------------------->_] 98.55% 115 p/s4167 / 4206 [---------------------------------------------------------------------->] 99.07% 115 p/s4190 / 4206 [---------------------------------------------------------------------->] 99.62% 115 p/s4206 / 4206 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-23T00:59:54 - INFO: Parsing 4206 sonar sweeps from /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-23T01:02:26 - 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"
2026-03-23T01:02:28 - INFO: DataPrep 0.14.0rc3
2026-03-23T01:02:28 - INFO: Prepared data will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/processing/data
2026-03-23T01:02:28 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-23T01:02:28 - deployment - INFO: Detected P3D version: P3D_1
2026-03-23T01:02:28 - INFO: Recording GUID: b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-23T01:02:28 - INFO: Preparing sonar data...
2026-03-23T01:02:28 - INFO: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-23T01:02:32 - INFO: Sonar epoch is 2026-02-19 16:14:27.055863+00:00 (1771517667055863227)
2026-03-23T01:02:32 - INFO: Creating sonar sensor alignment track...
2026-03-23T01:02:32 - INFO: Using sonar rotation of 0.628319 radians for wedge mask
2026-03-23T01:02:32 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-23T01:02:32 - INFO: Sonar range is 0.939120 m
2026-03-23T01:02:32 - INFO: Speed of sound is 1472.424156 m/s
2026-03-23T01:02:32 - INFO: Processing 4206 sweeps...

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2026-03-23T01:02:46 - INFO: Prepared sonar data in 18.1395 s
2026-03-23T01:02:46 - INFO: No IMU data found
2026-03-23T01:02:47 - INFO: DataPrep took 0:00:18.696772
2026-03-23T01:02:47 - INFO: Extracted sonar data in 0:03:29.377565
2026-03-23T01:02:47 - INFO: MSIP3D took 0:03:29.844086