2026-03-23T01:02:19 - INFO: MSIP3D 0.2.0rc3
2026-03-23T01:02:19 - INFO: P3D files will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-23T01:02:19 - INFO: Found 10 TFD dictionary entries
2026-03-23T01:02:19 - INFO: Found TFD mission for SJ502828 DEP 524
2026-03-23T01:02:19 - INFO: Recording will be processed as MD
2026-03-23T01:02:19 - INFO: Copying assets JSON to output directory...
2026-03-23T01:02:19 - INFO: Preparing counter data...
2026-03-23T01:02:19 - INFO: Interpreting counter as imperial
2026-03-23T01:02:19 - INFO: Preparing size track from assets JSON...
2026-03-23T01:02:19 - INFO: Preparing shape track from assets JSON...
2026-03-23T01:02:19 - INFO: Preparing material track from assets JSON...
2026-03-23T01:02:19 - INFO: Prepared counter data in 0.1323 s
2026-03-23T01:02:19 - 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: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: LASER, Tag: 4855215974206753356
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 3530
10 / 3530 [>___________________________________________________________________________] 0.28% ? p/s21 / 3530 [>___________________________________________________________________________] 0.59% ? p/s32 / 3530 [>___________________________________________________________________________] 0.91% ? p/s44 / 3530 [>__________________________________________________________________________] 1.25% 57 p/s55 / 3530 [->_________________________________________________________________________] 1.56% 57 p/s65 / 3530 [->_________________________________________________________________________] 1.84% 57 p/s75 / 3530 [->_________________________________________________________________________] 2.12% 56 p/s87 / 3530 [->_________________________________________________________________________] 2.46% 56 p/s97 / 3530 [-->________________________________________________________________________] 2.75% 56 p/s109 / 3530 [-->_______________________________________________________________________] 3.09% 56 p/s120 / 3530 [-->_______________________________________________________________________] 3.40% 56 p/s130 / 3530 [-->_______________________________________________________________________] 3.68% 56 p/s142 / 3530 [-->_______________________________________________________________________] 4.02% 56 p/s153 / 3530 [--->______________________________________________________________________] 4.33% 56 p/s164 / 3530 [--->______________________________________________________________________] 4.65% 56 p/s175 / 3530 [--->______________________________________________________________________] 4.96% 56 p/s186 / 3530 [--->______________________________________________________________________] 5.27% 56 p/s197 / 3530 [---->_____________________________________________________________________] 5.58% 56 p/s208 / 3530 [---->_____________________________________________________________________] 5.89% 56 p/s219 / 3530 [---->_____________________________________________________________________] 6.20% 56 p/s230 / 3530 [---->_____________________________________________________________________] 6.52% 56 p/s241 / 3530 [----->____________________________________________________________________] 6.83% 56 p/s251 / 3530 [----->____________________________________________________________________] 7.11% 56 p/s260 / 3530 [----->____________________________________________________________________] 7.37% 56 p/s271 / 3530 [----->____________________________________________________________________] 7.68% 56 p/s281 / 3530 [----->____________________________________________________________________] 7.96% 56 p/s292 / 3530 [------>___________________________________________________________________] 8.27% 56 p/s303 / 3530 [------>___________________________________________________________________] 8.58% 55 p/s314 / 3530 [------>___________________________________________________________________] 8.90% 55 p/s326 / 3530 [------>___________________________________________________________________] 9.24% 55 p/s336 / 3530 [------->__________________________________________________________________] 9.52% 55 p/s347 / 3530 [------->__________________________________________________________________] 9.83% 55 p/s359 / 3530 [------->_________________________________________________________________] 10.17% 55 p/s370 / 3530 [------->_________________________________________________________________] 10.48% 56 p/s381 / 3530 [------->_________________________________________________________________] 10.79% 56 p/s392 / 3530 [-------->________________________________________________________________] 11.10% 56 p/s402 / 3530 [-------->________________________________________________________________] 11.39% 55 p/s413 / 3530 [-------->________________________________________________________________] 11.70% 55 p/s424 / 3530 [-------->________________________________________________________________] 12.01% 55 p/s435 / 3530 [-------->________________________________________________________________] 12.32% 55 p/s447 / 3530 [--------->_______________________________________________________________] 12.66% 55 p/s457 / 3530 [--------->_______________________________________________________________] 12.95% 55 p/s468 / 3530 [--------->_______________________________________________________________] 13.26% 55 p/s479 / 3530 [--------->_______________________________________________________________] 13.57% 55 p/s491 / 3530 [---------->______________________________________________________________] 13.91% 55 p/s502 / 3530 [---------->______________________________________________________________] 14.22% 55 p/s513 / 3530 [---------->______________________________________________________________] 14.53% 55 p/s523 / 3530 [---------->______________________________________________________________] 14.82% 55 p/s534 / 3530 [----------->_____________________________________________________________] 15.13% 55 p/s544 / 3530 [----------->_____________________________________________________________] 15.41% 55 p/s556 / 3530 [----------->_____________________________________________________________] 15.75% 55 p/s566 / 3530 [----------->_____________________________________________________________] 16.03% 55 p/s577 / 3530 [----------->_____________________________________________________________] 16.35% 55 p/s588 / 3530 [------------>____________________________________________________________] 16.66% 55 p/s598 / 3530 [------------>____________________________________________________________] 16.94% 55 p/s609 / 3530 [------------>____________________________________________________________] 17.25% 55 p/s620 / 3530 [------------>____________________________________________________________] 17.56% 55 p/s630 / 3530 [------------->___________________________________________________________] 17.85% 55 p/s641 / 3530 [------------->___________________________________________________________] 18.16% 55 p/s652 / 3530 [------------->___________________________________________________________] 18.47% 55 p/s663 / 3530 [------------->___________________________________________________________] 18.78% 55 p/s674 / 3530 [------------->___________________________________________________________] 19.09% 55 p/s685 / 3530 [-------------->__________________________________________________________] 19.41% 55 p/s696 / 3530 [-------------->__________________________________________________________] 19.72% 55 p/s707 / 3530 [-------------->__________________________________________________________] 20.03% 55 p/s717 / 3530 [-------------->__________________________________________________________] 20.31% 55 p/s728 / 3530 [--------------->_________________________________________________________] 20.62% 55 p/s738 / 3530 [--------------->_________________________________________________________] 20.91% 55 p/s748 / 3530 [--------------->_________________________________________________________] 21.19% 55 p/s759 / 3530 [--------------->_________________________________________________________] 21.50% 55 p/s770 / 3530 [--------------->_________________________________________________________] 21.81% 55 p/s781 / 3530 [---------------->________________________________________________________] 22.12% 55 p/s792 / 3530 [---------------->________________________________________________________] 22.44% 55 p/s803 / 3530 [---------------->________________________________________________________] 22.75% 55 p/s813 / 3530 [---------------->________________________________________________________] 23.03% 55 p/s824 / 3530 [----------------->_______________________________________________________] 23.34% 55 p/s834 / 3530 [----------------->_______________________________________________________] 23.63% 55 p/s845 / 3530 [----------------->_______________________________________________________] 23.94% 55 p/s856 / 3530 [----------------->_______________________________________________________] 24.25% 54 p/s867 / 3530 [----------------->_______________________________________________________] 24.56% 54 p/s877 / 3530 [------------------>______________________________________________________] 24.84% 54 p/s888 / 3530 [------------------>______________________________________________________] 25.16% 54 p/s899 / 3530 [------------------>______________________________________________________] 25.47% 54 p/s909 / 3530 [------------------>______________________________________________________] 25.75% 54 p/s920 / 3530 [------------------->_____________________________________________________] 26.06% 54 p/s931 / 3530 [------------------->_____________________________________________________] 26.37% 54 p/s941 / 3530 [------------------->_____________________________________________________] 26.66% 54 p/s952 / 3530 [------------------->_____________________________________________________] 26.97% 54 p/s963 / 3530 [------------------->_____________________________________________________] 27.28% 54 p/s975 / 3530 [-------------------->____________________________________________________] 27.62% 54 p/s985 / 3530 [-------------------->____________________________________________________] 27.90% 54 p/s996 / 3530 [-------------------->____________________________________________________] 28.22% 54 p/s1008 / 3530 [-------------------->___________________________________________________] 28.56% 54 p/s1018 / 3530 [-------------------->___________________________________________________] 28.84% 54 p/s1029 / 3530 [-------------------->___________________________________________________] 29.15% 54 p/s1040 / 3530 [--------------------->__________________________________________________] 29.46% 54 p/s1051 / 3530 [--------------------->__________________________________________________] 29.77% 54 p/s1062 / 3530 [--------------------->__________________________________________________] 30.08% 54 p/s1072 / 3530 [--------------------->__________________________________________________] 30.37% 54 p/s1083 / 3530 [---------------------->_________________________________________________] 30.68% 54 p/s1093 / 3530 [---------------------->_________________________________________________] 30.96% 54 p/s1105 / 3530 [---------------------->_________________________________________________] 31.30% 54 p/s1116 / 3530 [---------------------->_________________________________________________] 31.61% 54 p/s1126 / 3530 [---------------------->_________________________________________________] 31.90% 54 p/s1138 / 3530 [----------------------->________________________________________________] 32.24% 54 p/s1149 / 3530 [----------------------->________________________________________________] 32.55% 54 p/s1160 / 3530 [----------------------->________________________________________________] 32.86% 54 p/s1173 / 3530 [----------------------->________________________________________________] 33.23% 54 p/s1187 / 3530 [------------------------>_______________________________________________] 33.63% 55 p/s1201 / 3530 [------------------------>_______________________________________________] 34.02% 55 p/s1216 / 3530 [------------------------>_______________________________________________] 34.45% 55 p/s1231 / 3530 [------------------------->______________________________________________] 34.87% 56 p/s1248 / 3530 [------------------------->______________________________________________] 35.35% 56 p/s1269 / 3530 [------------------------->______________________________________________] 35.95% 56 p/s1290 / 3530 [-------------------------->_____________________________________________] 36.54% 59 p/s1311 / 3530 [-------------------------->_____________________________________________] 37.14% 59 p/s1333 / 3530 [--------------------------->____________________________________________] 37.76% 59 p/s1354 / 3530 [--------------------------->____________________________________________] 38.36% 62 p/s1375 / 3530 [---------------------------->___________________________________________] 38.95% 62 p/s1397 / 3530 [---------------------------->___________________________________________] 39.58% 62 p/s1419 / 3530 [---------------------------->___________________________________________] 40.20% 65 p/s1441 / 3530 [----------------------------->__________________________________________] 40.82% 65 p/s1455 / 3530 [----------------------------->__________________________________________] 41.22% 65 p/s1476 / 3530 [------------------------------>_________________________________________] 41.81% 67 p/s1498 / 3530 [------------------------------>_________________________________________] 42.44% 67 p/s1520 / 3530 [------------------------------->________________________________________] 43.06% 67 p/s1542 / 3530 [------------------------------->________________________________________] 43.68% 70 p/s1564 / 3530 [------------------------------->________________________________________] 44.31% 70 p/s1586 / 3530 [-------------------------------->_______________________________________] 44.93% 70 p/s1608 / 3530 [-------------------------------->_______________________________________] 45.55% 72 p/s1630 / 3530 [--------------------------------->______________________________________] 46.18% 72 p/s1653 / 3530 [--------------------------------->______________________________________] 46.83% 72 p/s1675 / 3530 [---------------------------------->_____________________________________] 47.45% 75 p/s1697 / 3530 [---------------------------------->_____________________________________] 48.07% 75 p/s1719 / 3530 [----------------------------------->____________________________________] 48.70% 75 p/s1740 / 3530 [----------------------------------->____________________________________] 49.29% 77 p/s1762 / 3530 [----------------------------------->____________________________________] 49.92% 77 p/s1785 / 3530 [------------------------------------>___________________________________] 50.57% 77 p/s1807 / 3530 [------------------------------------>___________________________________] 51.19% 79 p/s1829 / 3530 [------------------------------------->__________________________________] 51.81% 79 p/s1851 / 3530 [------------------------------------->__________________________________] 52.44% 79 p/s1874 / 3530 [-------------------------------------->_________________________________] 53.09% 81 p/s1896 / 3530 [-------------------------------------->_________________________________] 53.71% 81 p/s1918 / 3530 [--------------------------------------->________________________________] 54.33% 81 p/s1941 / 3530 [--------------------------------------->________________________________] 54.99% 83 p/s1963 / 3530 [---------------------------------------->_______________________________] 55.61% 83 p/s1985 / 3530 [---------------------------------------->_______________________________] 56.23% 83 p/s2008 / 3530 [---------------------------------------->_______________________________] 56.88% 85 p/s2030 / 3530 [----------------------------------------->______________________________] 57.51% 85 p/s2050 / 3530 [----------------------------------------->______________________________] 58.07% 85 p/s2073 / 3530 [------------------------------------------>_____________________________] 58.73% 87 p/s2095 / 3530 [------------------------------------------>_____________________________] 59.35% 87 p/s2117 / 3530 [------------------------------------------->____________________________] 59.97% 87 p/s2138 / 3530 [------------------------------------------->____________________________] 60.57% 88 p/s2159 / 3530 [-------------------------------------------->___________________________] 61.16% 88 p/s2181 / 3530 [-------------------------------------------->___________________________] 61.78% 88 p/s2203 / 3530 [-------------------------------------------->___________________________] 62.41% 89 p/s2226 / 3530 [--------------------------------------------->__________________________] 63.06% 89 p/s2248 / 3530 [--------------------------------------------->__________________________] 63.68% 89 p/s2270 / 3530 [---------------------------------------------->_________________________] 64.31% 91 p/s2292 / 3530 [---------------------------------------------->_________________________] 64.93% 91 p/s2314 / 3530 [----------------------------------------------->________________________] 65.55% 91 p/s2337 / 3530 [----------------------------------------------->________________________] 66.20% 92 p/s2359 / 3530 [------------------------------------------------>_______________________] 66.83% 92 p/s2381 / 3530 [------------------------------------------------>_______________________] 67.45% 92 p/s2403 / 3530 [------------------------------------------------->______________________] 68.07% 93 p/s2425 / 3530 [------------------------------------------------->______________________] 68.70% 93 p/s2447 / 3530 [------------------------------------------------->______________________] 69.32% 93 p/s2469 / 3530 [-------------------------------------------------->_____________________] 69.94% 94 p/s2491 / 3530 [-------------------------------------------------->_____________________] 70.57% 94 p/s2513 / 3530 [--------------------------------------------------->____________________] 71.19% 94 p/s2536 / 3530 [--------------------------------------------------->____________________] 71.84% 95 p/s2558 / 3530 [---------------------------------------------------->___________________] 72.46% 95 p/s2580 / 3530 [---------------------------------------------------->___________________] 73.09% 95 p/s2602 / 3530 [----------------------------------------------------->__________________] 73.71% 96 p/s2625 / 3530 [----------------------------------------------------->__________________] 74.36% 96 p/s2647 / 3530 [----------------------------------------------------->__________________] 74.99% 96 p/s2669 / 3530 [------------------------------------------------------>_________________] 75.61% 97 p/s2692 / 3530 [------------------------------------------------------>_________________] 76.26% 97 p/s2714 / 3530 [------------------------------------------------------->________________] 76.88% 97 p/s2736 / 3530 [------------------------------------------------------->________________] 77.51% 98 p/s2758 / 3530 [-------------------------------------------------------->_______________] 78.13% 98 p/s2780 / 3530 [-------------------------------------------------------->_______________] 78.75% 98 p/s2802 / 3530 [--------------------------------------------------------->______________] 79.38% 99 p/s2824 / 3530 [--------------------------------------------------------->______________] 80.00% 99 p/s2847 / 3530 [---------------------------------------------------------->_____________] 80.65% 99 p/s2868 / 3530 [--------------------------------------------------------->_____________] 81.25% 100 p/s2890 / 3530 [---------------------------------------------------------->____________] 81.87% 100 p/s2911 / 3530 [---------------------------------------------------------->____________] 82.46% 100 p/s2933 / 3530 [---------------------------------------------------------->____________] 83.09% 100 p/s2955 / 3530 [----------------------------------------------------------->___________] 83.71% 100 p/s2977 / 3530 [----------------------------------------------------------->___________] 84.33% 100 p/s3000 / 3530 [------------------------------------------------------------>__________] 84.99% 101 p/s3022 / 3530 [------------------------------------------------------------>__________] 85.61% 101 p/s3044 / 3530 [------------------------------------------------------------->_________] 86.23% 101 p/s3067 / 3530 [------------------------------------------------------------->_________] 86.88% 102 p/s3089 / 3530 [-------------------------------------------------------------->________] 87.51% 102 p/s3110 / 3530 [-------------------------------------------------------------->________] 88.10% 102 p/s3132 / 3530 [-------------------------------------------------------------->________] 88.73% 102 p/s3153 / 3530 [--------------------------------------------------------------->_______] 89.32% 102 p/s3176 / 3530 [--------------------------------------------------------------->_______] 89.97% 102 p/s3198 / 3530 [---------------------------------------------------------------->______] 90.59% 103 p/s3220 / 3530 [---------------------------------------------------------------->______] 91.22% 103 p/s3242 / 3530 [----------------------------------------------------------------->_____] 91.84% 103 p/s3264 / 3530 [----------------------------------------------------------------->_____] 92.46% 103 p/s3287 / 3530 [------------------------------------------------------------------>____] 93.12% 103 p/s3309 / 3530 [------------------------------------------------------------------>____] 93.74% 103 p/s3331 / 3530 [------------------------------------------------------------------>____] 94.36% 104 p/s3354 / 3530 [------------------------------------------------------------------->___] 95.01% 104 p/s3376 / 3530 [------------------------------------------------------------------->___] 95.64% 104 p/s3398 / 3530 [-------------------------------------------------------------------->__] 96.26% 104 p/s3420 / 3530 [-------------------------------------------------------------------->__] 96.88% 104 p/s3442 / 3530 [--------------------------------------------------------------------->_] 97.51% 104 p/s3465 / 3530 [--------------------------------------------------------------------->_] 98.16% 105 p/s3487 / 3530 [---------------------------------------------------------------------->] 98.78% 105 p/s3509 / 3530 [---------------------------------------------------------------------->] 99.41% 105 p/s3530 / 3530 [-----------------------------------------------------------------------] 100.00% 82 p/s2026-03-23T01:03:03 - INFO: Parsing 3530 sonar sweeps from /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-23T01:05:15 - 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"
2026-03-23T01:05:16 - INFO: DataPrep 0.14.0rc3
2026-03-23T01:05:16 - INFO: Prepared data will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/processing/data
2026-03-23T01:05:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-23T01:05:16 - deployment - INFO: Detected P3D version: P3D_1
2026-03-23T01:05:16 - INFO: Recording GUID: 8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-23T01:05:16 - INFO: Preparing sonar data...
2026-03-23T01:05:16 - INFO: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-23T01:05:19 - INFO: Sonar epoch is 2026-02-25 14:51:35.271113+00:00 (1772031095271113559)
2026-03-23T01:05:19 - INFO: Creating sonar sensor alignment track...
2026-03-23T01:05:19 - INFO: Using sonar rotation of 0.349066 radians for wedge mask
2026-03-23T01:05:19 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-23T01:05:19 - INFO: Sonar range is 0.939120 m
2026-03-23T01:05:19 - INFO: Speed of sound is 1472.424156 m/s
2026-03-23T01:05:19 - INFO: Processing 3530 sweeps...

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2026-03-23T01:05:33 - INFO: Prepared sonar data in 17.2048 s
2026-03-23T01:05:33 - INFO: No IMU data found
2026-03-23T01:05:34 - INFO: DataPrep took 0:00:17.731498
2026-03-23T01:05:34 - INFO: Extracted sonar data in 0:03:14.618844
2026-03-23T01:05:34 - INFO: MSIP3D took 0:03:15.065860