2026-03-24T08:26:05 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:26:05 - INFO: P3D files will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-24T08:26:05 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:26:05 - INFO: Found TFD mission for SJ502828 DEP 516
2026-03-24T08:26:05 - INFO: Recording will be processed as MD
2026-03-24T08:26:05 - INFO: Copying assets JSON to output directory...
2026-03-24T08:26:05 - INFO: Preparing counter data...
2026-03-24T08:26:05 - INFO: Interpreting counter as imperial
2026-03-24T08:26:05 - INFO: Preparing size track from assets JSON...
2026-03-24T08:26:05 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:26:05 - INFO: Preparing material track from assets JSON...
2026-03-24T08:26:05 - INFO: Prepared counter data in 0.0974 s
2026-03-24T08:26:05 - 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: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 4206
22 / 4206 [>___________________________________________________________________________] 0.52% ? p/s45 / 4206 [>___________________________________________________________________________] 1.07% ? p/s67 / 4206 [->__________________________________________________________________________] 1.59% ? p/s90 / 4206 [->________________________________________________________________________] 2.14% 113 p/s113 / 4206 [->_______________________________________________________________________] 2.69% 113 p/s136 / 4206 [-->______________________________________________________________________] 3.23% 113 p/s159 / 4206 [-->______________________________________________________________________] 3.78% 113 p/s181 / 4206 [--->_____________________________________________________________________] 4.30% 113 p/s203 / 4206 [--->_____________________________________________________________________] 4.83% 113 p/s226 / 4206 [--->_____________________________________________________________________] 5.37% 113 p/s248 / 4206 [---->____________________________________________________________________] 5.90% 113 p/s271 / 4206 [---->____________________________________________________________________] 6.44% 113 p/s294 / 4206 [----->___________________________________________________________________] 6.99% 113 p/s317 / 4206 [----->___________________________________________________________________] 7.54% 113 p/s340 / 4206 [----->___________________________________________________________________] 8.08% 113 p/s361 / 4206 [------>__________________________________________________________________] 8.58% 113 p/s383 / 4206 [------>__________________________________________________________________] 9.11% 113 p/s405 / 4206 [------->_________________________________________________________________] 9.63% 113 p/s426 / 4206 [------->________________________________________________________________] 10.13% 113 p/s447 / 4206 [------->________________________________________________________________] 10.63% 113 p/s467 / 4206 [------->________________________________________________________________] 11.10% 113 p/s486 / 4206 [-------->_______________________________________________________________] 11.55% 112 p/s509 / 4206 [-------->_______________________________________________________________] 12.10% 112 p/s532 / 4206 [--------->______________________________________________________________] 12.65% 112 p/s555 / 4206 [--------->______________________________________________________________] 13.20% 112 p/s578 / 4206 [--------->______________________________________________________________] 13.74% 112 p/s601 / 4206 [---------->_____________________________________________________________] 14.29% 112 p/s624 / 4206 [---------->_____________________________________________________________] 14.84% 112 p/s646 / 4206 [----------->____________________________________________________________] 15.36% 112 p/s669 / 4206 [----------->____________________________________________________________] 15.91% 112 p/s691 / 4206 [----------->____________________________________________________________] 16.43% 112 p/s714 / 4206 [------------>___________________________________________________________] 16.98% 112 p/s736 / 4206 [------------>___________________________________________________________] 17.50% 112 p/s760 / 4206 [------------->__________________________________________________________] 18.07% 113 p/s783 / 4206 [------------->__________________________________________________________] 18.62% 113 p/s805 / 4206 [------------->__________________________________________________________] 19.14% 113 p/s827 / 4206 [-------------->_________________________________________________________] 19.66% 113 p/s851 / 4206 [-------------->_________________________________________________________] 20.23% 113 p/s874 / 4206 [-------------->_________________________________________________________] 20.78% 113 p/s894 / 4206 [--------------->________________________________________________________] 21.26% 112 p/s916 / 4206 [--------------->________________________________________________________] 21.78% 112 p/s939 / 4206 [---------------->_______________________________________________________] 22.33% 112 p/s961 / 4206 [---------------->_______________________________________________________] 22.85% 112 p/s985 / 4206 [---------------->_______________________________________________________] 23.42% 112 p/s1008 / 4206 [----------------->_____________________________________________________] 23.97% 112 p/s1030 / 4206 [----------------->_____________________________________________________] 24.49% 113 p/s1054 / 4206 [----------------->_____________________________________________________] 25.06% 113 p/s1077 / 4206 [------------------>____________________________________________________] 25.61% 113 p/s1099 / 4206 [------------------>____________________________________________________] 26.13% 113 p/s1121 / 4206 [------------------>____________________________________________________] 26.65% 113 p/s1142 / 4206 [------------------->___________________________________________________] 27.15% 113 p/s1164 / 4206 [------------------->___________________________________________________] 27.67% 112 p/s1186 / 4206 [-------------------->__________________________________________________] 28.20% 112 p/s1210 / 4206 [-------------------->__________________________________________________] 28.77% 112 p/s1230 / 4206 [-------------------->__________________________________________________] 29.24% 112 p/s1251 / 4206 [--------------------->_________________________________________________] 29.74% 112 p/s1274 / 4206 [--------------------->_________________________________________________] 30.29% 112 p/s1294 / 4206 [--------------------->_________________________________________________] 30.77% 112 p/s1318 / 4206 [---------------------->________________________________________________] 31.34% 112 p/s1341 / 4206 [---------------------->________________________________________________] 31.88% 112 p/s1364 / 4206 [----------------------->_______________________________________________] 32.43% 112 p/s1386 / 4206 [----------------------->_______________________________________________] 32.95% 112 p/s1408 / 4206 [----------------------->_______________________________________________] 33.48% 112 p/s1432 / 4206 [------------------------>______________________________________________] 34.05% 112 p/s1454 / 4206 [------------------------>______________________________________________] 34.57% 112 p/s1476 / 4206 [------------------------>______________________________________________] 35.09% 112 p/s1499 / 4206 [------------------------->_____________________________________________] 35.64% 112 p/s1523 / 4206 [------------------------->_____________________________________________] 36.21% 112 p/s1546 / 4206 [-------------------------->____________________________________________] 36.76% 112 p/s1570 / 4206 [-------------------------->____________________________________________] 37.33% 113 p/s1593 / 4206 [-------------------------->____________________________________________] 37.87% 113 p/s1615 / 4206 [--------------------------->___________________________________________] 38.40% 113 p/s1638 / 4206 [--------------------------->___________________________________________] 38.94% 113 p/s1661 / 4206 [---------------------------->__________________________________________] 39.49% 113 p/s1685 / 4206 [---------------------------->__________________________________________] 40.06% 113 p/s1706 / 4206 [---------------------------->__________________________________________] 40.56% 113 p/s1728 / 4206 [----------------------------->_________________________________________] 41.08% 113 p/s1750 / 4206 [----------------------------->_________________________________________] 41.61% 113 p/s1772 / 4206 [----------------------------->_________________________________________] 42.13% 113 p/s1795 / 4206 [------------------------------>________________________________________] 42.68% 113 p/s1818 / 4206 [------------------------------>________________________________________] 43.22% 113 p/s1841 / 4206 [------------------------------->_______________________________________] 43.77% 113 p/s1863 / 4206 [------------------------------->_______________________________________] 44.29% 113 p/s1887 / 4206 [------------------------------->_______________________________________] 44.86% 113 p/s1910 / 4206 [-------------------------------->______________________________________] 45.41% 113 p/s1933 / 4206 [-------------------------------->______________________________________] 45.96% 113 p/s1956 / 4206 [--------------------------------->_____________________________________] 46.50% 113 p/s1980 / 4206 [--------------------------------->_____________________________________] 47.08% 113 p/s2002 / 4206 [--------------------------------->_____________________________________] 47.60% 113 p/s2025 / 4206 [---------------------------------->____________________________________] 48.15% 113 p/s2042 / 4206 [---------------------------------->____________________________________] 48.55% 112 p/s2063 / 4206 [---------------------------------->____________________________________] 49.05% 112 p/s2085 / 4206 [----------------------------------->___________________________________] 49.57% 112 p/s2107 / 4206 [----------------------------------->___________________________________] 50.10% 112 p/s2129 / 4206 [----------------------------------->___________________________________] 50.62% 112 p/s2152 / 4206 [------------------------------------>__________________________________] 51.17% 112 p/s2175 / 4206 [------------------------------------>__________________________________] 51.71% 112 p/s2197 / 4206 [------------------------------------->_________________________________] 52.23% 112 p/s2220 / 4206 [------------------------------------->_________________________________] 52.78% 112 p/s2243 / 4206 [------------------------------------->_________________________________] 53.33% 112 p/s2265 / 4206 [-------------------------------------->________________________________] 53.85% 112 p/s2285 / 4206 [-------------------------------------->________________________________] 54.33% 112 p/s2306 / 4206 [-------------------------------------->________________________________] 54.83% 112 p/s2329 / 4206 [--------------------------------------->_______________________________] 55.37% 112 p/s2351 / 4206 [--------------------------------------->_______________________________] 55.90% 112 p/s2374 / 4206 [---------------------------------------->______________________________] 56.44% 112 p/s2397 / 4206 [---------------------------------------->______________________________] 56.99% 112 p/s2419 / 4206 [---------------------------------------->______________________________] 57.51% 112 p/s2441 / 4206 [----------------------------------------->_____________________________] 58.04% 112 p/s2465 / 4206 [----------------------------------------->_____________________________] 58.61% 112 p/s2487 / 4206 [----------------------------------------->_____________________________] 59.13% 112 p/s2509 / 4206 [------------------------------------------>____________________________] 59.65% 112 p/s2530 / 4206 [------------------------------------------>____________________________] 60.15% 112 p/s2553 / 4206 [------------------------------------------->___________________________] 60.70% 112 p/s2576 / 4206 [------------------------------------------->___________________________] 61.25% 112 p/s2598 / 4206 [------------------------------------------->___________________________] 61.77% 112 p/s2620 / 4206 [-------------------------------------------->__________________________] 62.29% 112 p/s2643 / 4206 [-------------------------------------------->__________________________] 62.84% 112 p/s2665 / 4206 [-------------------------------------------->__________________________] 63.36% 112 p/s2687 / 4206 [--------------------------------------------->_________________________] 63.88% 112 p/s2710 / 4206 [--------------------------------------------->_________________________] 64.43% 112 p/s2733 / 4206 [---------------------------------------------->________________________] 64.98% 112 p/s2755 / 4206 [---------------------------------------------->________________________] 65.50% 112 p/s2778 / 4206 [---------------------------------------------->________________________] 66.05% 112 p/s2800 / 4206 [----------------------------------------------->_______________________] 66.57% 112 p/s2821 / 4206 [----------------------------------------------->_______________________] 67.07% 112 p/s2844 / 4206 [------------------------------------------------>______________________] 67.62% 112 p/s2867 / 4206 [------------------------------------------------>______________________] 68.16% 112 p/s2889 / 4206 [------------------------------------------------>______________________] 68.69% 112 p/s2913 / 4206 [------------------------------------------------->_____________________] 69.26% 112 p/s2936 / 4206 [------------------------------------------------->_____________________] 69.81% 112 p/s2959 / 4206 [------------------------------------------------->_____________________] 70.35% 112 p/s2980 / 4206 [-------------------------------------------------->____________________] 70.85% 112 p/s3003 / 4206 [-------------------------------------------------->____________________] 71.40% 112 p/s3026 / 4206 [--------------------------------------------------->___________________] 71.94% 112 p/s3049 / 4206 [--------------------------------------------------->___________________] 72.49% 112 p/s3071 / 4206 [--------------------------------------------------->___________________] 73.01% 112 p/s3093 / 4206 [---------------------------------------------------->__________________] 73.54% 112 p/s3116 / 4206 [---------------------------------------------------->__________________] 74.08% 112 p/s3138 / 4206 [---------------------------------------------------->__________________] 74.61% 112 p/s3160 / 4206 [----------------------------------------------------->_________________] 75.13% 112 p/s3181 / 4206 [----------------------------------------------------->_________________] 75.63% 112 p/s3204 / 4206 [------------------------------------------------------>________________] 76.18% 112 p/s3225 / 4206 [------------------------------------------------------>________________] 76.68% 112 p/s3249 / 4206 [------------------------------------------------------>________________] 77.25% 112 p/s3270 / 4206 [------------------------------------------------------->_______________] 77.75% 112 p/s3292 / 4206 [------------------------------------------------------->_______________] 78.27% 112 p/s3314 / 4206 [------------------------------------------------------->_______________] 78.79% 112 p/s3337 / 4206 [-------------------------------------------------------->______________] 79.34% 112 p/s3359 / 4206 [-------------------------------------------------------->______________] 79.86% 112 p/s3382 / 4206 [--------------------------------------------------------->_____________] 80.41% 112 p/s3405 / 4206 [--------------------------------------------------------->_____________] 80.96% 112 p/s3424 / 4206 [--------------------------------------------------------->_____________] 81.41% 112 p/s3447 / 4206 [---------------------------------------------------------->____________] 81.95% 112 p/s3468 / 4206 [---------------------------------------------------------->____________] 82.45% 112 p/s3490 / 4206 [---------------------------------------------------------->____________] 82.98% 112 p/s3512 / 4206 [----------------------------------------------------------->___________] 83.50% 111 p/s3535 / 4206 [----------------------------------------------------------->___________] 84.05% 111 p/s3558 / 4206 [------------------------------------------------------------>__________] 84.59% 111 p/s3580 / 4206 [------------------------------------------------------------>__________] 85.12% 112 p/s3602 / 4206 [------------------------------------------------------------>__________] 85.64% 112 p/s3623 / 4206 [------------------------------------------------------------->_________] 86.14% 112 p/s3646 / 4206 [------------------------------------------------------------->_________] 86.69% 112 p/s3668 / 4206 [------------------------------------------------------------->_________] 87.21% 112 p/s3690 / 4206 [-------------------------------------------------------------->________] 87.73% 112 p/s3713 / 4206 [-------------------------------------------------------------->________] 88.28% 112 p/s3735 / 4206 [--------------------------------------------------------------->_______] 88.80% 112 p/s3757 / 4206 [--------------------------------------------------------------->_______] 89.32% 112 p/s3780 / 4206 [--------------------------------------------------------------->_______] 89.87% 112 p/s3802 / 4206 [---------------------------------------------------------------->______] 90.39% 112 p/s3824 / 4206 [---------------------------------------------------------------->______] 90.92% 112 p/s3847 / 4206 [---------------------------------------------------------------->______] 91.46% 112 p/s3870 / 4206 [----------------------------------------------------------------->_____] 92.01% 112 p/s3893 / 4206 [----------------------------------------------------------------->_____] 92.56% 112 p/s3916 / 4206 [------------------------------------------------------------------>____] 93.11% 112 p/s3938 / 4206 [------------------------------------------------------------------>____] 93.63% 112 p/s3961 / 4206 [------------------------------------------------------------------>____] 94.17% 112 p/s3984 / 4206 [------------------------------------------------------------------->___] 94.72% 112 p/s4007 / 4206 [------------------------------------------------------------------->___] 95.27% 112 p/s4029 / 4206 [-------------------------------------------------------------------->__] 95.79% 112 p/s4053 / 4206 [-------------------------------------------------------------------->__] 96.36% 112 p/s4074 / 4206 [-------------------------------------------------------------------->__] 96.86% 112 p/s4095 / 4206 [--------------------------------------------------------------------->_] 97.36% 112 p/s4115 / 4206 [--------------------------------------------------------------------->_] 97.84% 111 p/s4136 / 4206 [--------------------------------------------------------------------->_] 98.34% 111 p/s4159 / 4206 [---------------------------------------------------------------------->] 98.88% 111 p/s4180 / 4206 [---------------------------------------------------------------------->] 99.38% 111 p/s4202 / 4206 [---------------------------------------------------------------------->] 99.90% 111 p/s4206 / 4206 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-24T08:26:43 - INFO: Parsing 4206 sonar sweeps from /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:29:23 - 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/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943"
2026-03-24T08:29:24 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:29:24 - INFO: Prepared data will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/processing/data
2026-03-24T08:29:24 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:29:24 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:29:24 - INFO: Recording GUID: b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-24T08:29:24 - INFO: Preparing sonar data...
2026-03-24T08:29:24 - INFO: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:29:28 - INFO: Sonar epoch is 2026-02-19 16:14:27.055863+00:00 (1771517667055863227)
2026-03-24T08:29:28 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:29:28 - INFO: Using sonar rotation of 0.628319 radians for wedge mask
2026-03-24T08:29:28 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:29:28 - INFO: Sonar range is 0.939120 m
2026-03-24T08:29:28 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:29:28 - INFO: Processing 4206 sweeps...

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2026-03-24T08:29:43 - INFO: Prepared sonar data in 18.7349 s
2026-03-24T08:29:43 - INFO: No IMU data found
2026-03-24T08:29:43 - INFO: DataPrep took 0:00:19.300975
2026-03-24T08:29:44 - INFO: Extracted sonar data in 0:03:38.590955
2026-03-24T08:29:44 - INFO: MSIP3D took 0:03:39.038045