2026-03-24T09:00:53 - INFO: MSIP3D 0.2.0rc3
2026-03-24T09:00:53 - INFO: P3D files will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-24T09:00:53 - INFO: Found 10 TFD dictionary entries
2026-03-24T09:00:53 - INFO: Found TFD mission for SJ502795 Dep 13
2026-03-24T09:00:53 - INFO: Recording will be processed as MD
2026-03-24T09:00:53 - INFO: Copying assets JSON to output directory...
2026-03-24T09:00:53 - INFO: Preparing counter data...
2026-03-24T09:00:53 - INFO: Interpreting counter as imperial
2026-03-24T09:00:53 - INFO: Preparing size track from assets JSON...
2026-03-24T09:00:53 - INFO: Preparing shape track from assets JSON...
2026-03-24T09:00:53 - INFO: Preparing material track from assets JSON...
2026-03-24T09:00:53 - INFO: Prepared counter data in 0.1014 s
2026-03-24T09:00:53 - 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: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4914
21 / 4914 [>___________________________________________________________________________] 0.43% ? p/s44 / 4914 [>___________________________________________________________________________] 0.90% ? p/s66 / 4914 [->__________________________________________________________________________] 1.34% ? p/s89 / 4914 [->________________________________________________________________________] 1.81% 113 p/s112 / 4914 [->_______________________________________________________________________] 2.28% 113 p/s127 / 4914 [->_______________________________________________________________________] 2.58% 113 p/s150 / 4914 [-->______________________________________________________________________] 3.05% 113 p/s174 / 4914 [-->______________________________________________________________________] 3.54% 113 p/s196 / 4914 [-->______________________________________________________________________] 3.99% 113 p/s219 / 4914 [--->_____________________________________________________________________] 4.46% 113 p/s242 / 4914 [--->_____________________________________________________________________] 4.92% 113 p/s264 / 4914 [--->_____________________________________________________________________] 5.37% 113 p/s287 / 4914 [---->____________________________________________________________________] 5.84% 113 p/s310 / 4914 [---->____________________________________________________________________] 6.31% 113 p/s332 / 4914 [---->____________________________________________________________________] 6.76% 113 p/s355 / 4914 [----->___________________________________________________________________] 7.22% 113 p/s378 / 4914 [----->___________________________________________________________________] 7.69% 113 p/s401 / 4914 [----->___________________________________________________________________] 8.16% 113 p/s424 / 4914 [------>__________________________________________________________________] 8.63% 113 p/s447 / 4914 [------>__________________________________________________________________] 9.10% 113 p/s469 / 4914 [------>__________________________________________________________________] 9.54% 113 p/s492 / 4914 [------->________________________________________________________________] 10.01% 113 p/s512 / 4914 [------->________________________________________________________________] 10.42% 113 p/s535 / 4914 [------->________________________________________________________________] 10.89% 113 p/s557 / 4914 [-------->_______________________________________________________________] 11.33% 113 p/s579 / 4914 [-------->_______________________________________________________________] 11.78% 113 p/s602 / 4914 [-------->_______________________________________________________________] 12.25% 113 p/s624 / 4914 [--------->______________________________________________________________] 12.70% 113 p/s647 / 4914 [--------->______________________________________________________________] 13.17% 113 p/s670 / 4914 [--------->______________________________________________________________] 13.63% 113 p/s693 / 4914 [---------->_____________________________________________________________] 14.10% 113 p/s716 / 4914 [---------->_____________________________________________________________] 14.57% 113 p/s739 / 4914 [---------->_____________________________________________________________] 15.04% 113 p/s762 / 4914 [----------->____________________________________________________________] 15.51% 113 p/s786 / 4914 [----------->____________________________________________________________] 16.00% 113 p/s809 / 4914 [----------->____________________________________________________________] 16.46% 113 p/s832 / 4914 [------------>___________________________________________________________] 16.93% 113 p/s855 / 4914 [------------>___________________________________________________________] 17.40% 113 p/s878 / 4914 [------------>___________________________________________________________] 17.87% 113 p/s901 / 4914 [------------->__________________________________________________________] 18.34% 113 p/s924 / 4914 [------------->__________________________________________________________] 18.80% 113 p/s947 / 4914 [------------->__________________________________________________________] 19.27% 113 p/s970 / 4914 [-------------->_________________________________________________________] 19.74% 113 p/s993 / 4914 [-------------->_________________________________________________________] 20.21% 113 p/s1016 / 4914 [-------------->________________________________________________________] 20.68% 113 p/s1038 / 4914 [-------------->________________________________________________________] 21.12% 113 p/s1061 / 4914 [--------------->_______________________________________________________] 21.59% 113 p/s1084 / 4914 [--------------->_______________________________________________________] 22.06% 113 p/s1107 / 4914 [--------------->_______________________________________________________] 22.53% 113 p/s1130 / 4914 [---------------->______________________________________________________] 23.00% 113 p/s1152 / 4914 [---------------->______________________________________________________] 23.44% 113 p/s1175 / 4914 [---------------->______________________________________________________] 23.91% 113 p/s1198 / 4914 [----------------->_____________________________________________________] 24.38% 113 p/s1221 / 4914 [----------------->_____________________________________________________] 24.85% 113 p/s1244 / 4914 [----------------->_____________________________________________________] 25.32% 114 p/s1267 / 4914 [------------------>____________________________________________________] 25.78% 114 p/s1290 / 4914 [------------------>____________________________________________________] 26.25% 114 p/s1313 / 4914 [------------------>____________________________________________________] 26.72% 114 p/s1336 / 4914 [------------------->___________________________________________________] 27.19% 114 p/s1359 / 4914 [------------------->___________________________________________________] 27.66% 114 p/s1383 / 4914 [------------------->___________________________________________________] 28.14% 114 p/s1406 / 4914 [-------------------->__________________________________________________] 28.61% 114 p/s1427 / 4914 [-------------------->__________________________________________________] 29.04% 114 p/s1449 / 4914 [-------------------->__________________________________________________] 29.49% 114 p/s1470 / 4914 [--------------------->_________________________________________________] 29.91% 114 p/s1493 / 4914 [--------------------->_________________________________________________] 30.38% 114 p/s1516 / 4914 [--------------------->_________________________________________________] 30.85% 113 p/s1539 / 4914 [---------------------->________________________________________________] 31.32% 113 p/s1562 / 4914 [---------------------->________________________________________________] 31.79% 113 p/s1585 / 4914 [---------------------->________________________________________________] 32.25% 114 p/s1608 / 4914 [----------------------->_______________________________________________] 32.72% 114 p/s1631 / 4914 [----------------------->_______________________________________________] 33.19% 114 p/s1654 / 4914 [----------------------->_______________________________________________] 33.66% 114 p/s1666 / 4914 [------------------------>______________________________________________] 33.90% 114 p/s1688 / 4914 [------------------------>______________________________________________] 34.35% 114 p/s1710 / 4914 [------------------------>______________________________________________] 34.80% 112 p/s1733 / 4914 [------------------------->_____________________________________________] 35.27% 112 p/s1756 / 4914 [------------------------->_____________________________________________] 35.73% 112 p/s1779 / 4914 [------------------------->_____________________________________________] 36.20% 113 p/s1802 / 4914 [-------------------------->____________________________________________] 36.67% 113 p/s1825 / 4914 [-------------------------->____________________________________________] 37.14% 113 p/s1847 / 4914 [-------------------------->____________________________________________] 37.59% 113 p/s1870 / 4914 [--------------------------->___________________________________________] 38.05% 113 p/s1893 / 4914 [--------------------------->___________________________________________] 38.52% 113 p/s1916 / 4914 [--------------------------->___________________________________________] 38.99% 113 p/s1940 / 4914 [---------------------------->__________________________________________] 39.48% 113 p/s1962 / 4914 [---------------------------->__________________________________________] 39.93% 113 p/s1986 / 4914 [---------------------------->__________________________________________] 40.42% 113 p/s2009 / 4914 [----------------------------->_________________________________________] 40.88% 113 p/s2032 / 4914 [----------------------------->_________________________________________] 41.35% 113 p/s2054 / 4914 [----------------------------->_________________________________________] 41.80% 113 p/s2077 / 4914 [------------------------------>________________________________________] 42.27% 113 p/s2100 / 4914 [------------------------------>________________________________________] 42.74% 113 p/s2123 / 4914 [------------------------------>________________________________________] 43.20% 113 p/s2146 / 4914 [------------------------------->_______________________________________] 43.67% 113 p/s2169 / 4914 [------------------------------->_______________________________________] 44.14% 113 p/s2191 / 4914 [------------------------------->_______________________________________] 44.59% 113 p/s2215 / 4914 [-------------------------------->______________________________________] 45.08% 113 p/s2238 / 4914 [-------------------------------->______________________________________] 45.54% 113 p/s2261 / 4914 [-------------------------------->______________________________________] 46.01% 113 p/s2284 / 4914 [--------------------------------->_____________________________________] 46.48% 113 p/s2307 / 4914 [--------------------------------->_____________________________________] 46.95% 113 p/s2331 / 4914 [--------------------------------->_____________________________________] 47.44% 114 p/s2354 / 4914 [---------------------------------->____________________________________] 47.90% 114 p/s2377 / 4914 [---------------------------------->____________________________________] 48.37% 114 p/s2400 / 4914 [---------------------------------->____________________________________] 48.84% 114 p/s2423 / 4914 [----------------------------------->___________________________________] 49.31% 114 p/s2446 / 4914 [----------------------------------->___________________________________] 49.78% 114 p/s2469 / 4914 [----------------------------------->___________________________________] 50.24% 114 p/s2493 / 4914 [------------------------------------>__________________________________] 50.73% 114 p/s2516 / 4914 [------------------------------------>__________________________________] 51.20% 114 p/s2539 / 4914 [------------------------------------>__________________________________] 51.67% 114 p/s2562 / 4914 [------------------------------------->_________________________________] 52.14% 114 p/s2585 / 4914 [------------------------------------->_________________________________] 52.60% 114 p/s2608 / 4914 [------------------------------------->_________________________________] 53.07% 114 p/s2631 / 4914 [-------------------------------------->________________________________] 53.54% 114 p/s2654 / 4914 [-------------------------------------->________________________________] 54.01% 114 p/s2678 / 4914 [-------------------------------------->________________________________] 54.50% 114 p/s2701 / 4914 [--------------------------------------->_______________________________] 54.97% 114 p/s2724 / 4914 [--------------------------------------->_______________________________] 55.43% 114 p/s2747 / 4914 [--------------------------------------->_______________________________] 55.90% 114 p/s2770 / 4914 [---------------------------------------->______________________________] 56.37% 114 p/s2793 / 4914 [---------------------------------------->______________________________] 56.84% 114 p/s2816 / 4914 [---------------------------------------->______________________________] 57.31% 114 p/s2839 / 4914 [----------------------------------------->_____________________________] 57.77% 114 p/s2862 / 4914 [----------------------------------------->_____________________________] 58.24% 114 p/s2884 / 4914 [----------------------------------------->_____________________________] 58.69% 114 p/s2907 / 4914 [------------------------------------------>____________________________] 59.16% 114 p/s2930 / 4914 [------------------------------------------>____________________________] 59.63% 114 p/s2954 / 4914 [------------------------------------------>____________________________] 60.11% 114 p/s2977 / 4914 [------------------------------------------->___________________________] 60.58% 114 p/s3000 / 4914 [------------------------------------------->___________________________] 61.05% 114 p/s3023 / 4914 [------------------------------------------->___________________________] 61.52% 114 p/s3046 / 4914 [-------------------------------------------->__________________________] 61.99% 114 p/s3068 / 4914 [-------------------------------------------->__________________________] 62.43% 114 p/s3091 / 4914 [-------------------------------------------->__________________________] 62.90% 114 p/s3114 / 4914 [-------------------------------------------->__________________________] 63.37% 114 p/s3137 / 4914 [--------------------------------------------->_________________________] 63.84% 114 p/s3160 / 4914 [--------------------------------------------->_________________________] 64.31% 114 p/s3183 / 4914 [--------------------------------------------->_________________________] 64.77% 114 p/s3206 / 4914 [---------------------------------------------->________________________] 65.24% 114 p/s3229 / 4914 [---------------------------------------------->________________________] 65.71% 114 p/s3252 / 4914 [---------------------------------------------->________________________] 66.18% 114 p/s3275 / 4914 [----------------------------------------------->_______________________] 66.65% 114 p/s3298 / 4914 [----------------------------------------------->_______________________] 67.11% 114 p/s3320 / 4914 [----------------------------------------------->_______________________] 67.56% 114 p/s3333 / 4914 [------------------------------------------------>______________________] 67.83% 110 p/s3340 / 4914 [------------------------------------------------>______________________] 67.97% 110 p/s3363 / 4914 [------------------------------------------------>______________________] 68.44% 110 p/s3386 / 4914 [------------------------------------------------>______________________] 68.91% 110 p/s3409 / 4914 [------------------------------------------------->_____________________] 69.37% 110 p/s3432 / 4914 [------------------------------------------------->_____________________] 69.84% 110 p/s3455 / 4914 [------------------------------------------------->_____________________] 70.31% 110 p/s3478 / 4914 [-------------------------------------------------->____________________] 70.78% 111 p/s3501 / 4914 [-------------------------------------------------->____________________] 71.25% 111 p/s3523 / 4914 [-------------------------------------------------->____________________] 71.69% 111 p/s3545 / 4914 [--------------------------------------------------->___________________] 72.14% 111 p/s3568 / 4914 [--------------------------------------------------->___________________] 72.61% 111 p/s3591 / 4914 [--------------------------------------------------->___________________] 73.08% 111 p/s3614 / 4914 [---------------------------------------------------->__________________] 73.54% 111 p/s3636 / 4914 [---------------------------------------------------->__________________] 73.99% 111 p/s3659 / 4914 [---------------------------------------------------->__________________] 74.46% 111 p/s3682 / 4914 [----------------------------------------------------->_________________] 74.93% 111 p/s3705 / 4914 [----------------------------------------------------->_________________] 75.40% 111 p/s3728 / 4914 [----------------------------------------------------->_________________] 75.86% 111 p/s3750 / 4914 [------------------------------------------------------>________________] 76.31% 111 p/s3773 / 4914 [------------------------------------------------------>________________] 76.78% 111 p/s3796 / 4914 [------------------------------------------------------>________________] 77.25% 111 p/s3819 / 4914 [------------------------------------------------------->_______________] 77.72% 112 p/s3842 / 4914 [------------------------------------------------------->_______________] 78.18% 112 p/s3865 / 4914 [------------------------------------------------------->_______________] 78.65% 112 p/s3887 / 4914 [-------------------------------------------------------->______________] 79.10% 112 p/s3910 / 4914 [-------------------------------------------------------->______________] 79.57% 112 p/s3933 / 4914 [-------------------------------------------------------->______________] 80.04% 112 p/s3956 / 4914 [--------------------------------------------------------->_____________] 80.50% 112 p/s3979 / 4914 [--------------------------------------------------------->_____________] 80.97% 112 p/s4001 / 4914 [--------------------------------------------------------->_____________] 81.42% 112 p/s4024 / 4914 [---------------------------------------------------------->____________] 81.89% 112 p/s4047 / 4914 [---------------------------------------------------------->____________] 82.36% 112 p/s4070 / 4914 [---------------------------------------------------------->____________] 82.82% 112 p/s4091 / 4914 [----------------------------------------------------------->___________] 83.25% 112 p/s4114 / 4914 [----------------------------------------------------------->___________] 83.72% 112 p/s4137 / 4914 [----------------------------------------------------------->___________] 84.19% 112 p/s4160 / 4914 [------------------------------------------------------------>__________] 84.66% 112 p/s4183 / 4914 [------------------------------------------------------------>__________] 85.12% 112 p/s4205 / 4914 [------------------------------------------------------------>__________] 85.57% 112 p/s4228 / 4914 [------------------------------------------------------------->_________] 86.04% 112 p/s4250 / 4914 [------------------------------------------------------------->_________] 86.49% 112 p/s4273 / 4914 [------------------------------------------------------------->_________] 86.96% 112 p/s4296 / 4914 [-------------------------------------------------------------->________] 87.42% 112 p/s4319 / 4914 [-------------------------------------------------------------->________] 87.89% 112 p/s4342 / 4914 [-------------------------------------------------------------->________] 88.36% 112 p/s4365 / 4914 [--------------------------------------------------------------->_______] 88.83% 112 p/s4388 / 4914 [--------------------------------------------------------------->_______] 89.30% 112 p/s4411 / 4914 [--------------------------------------------------------------->_______] 89.76% 112 p/s4434 / 4914 [---------------------------------------------------------------->______] 90.23% 113 p/s4457 / 4914 [---------------------------------------------------------------->______] 90.70% 113 p/s4479 / 4914 [---------------------------------------------------------------->______] 91.15% 113 p/s4502 / 4914 [----------------------------------------------------------------->_____] 91.62% 113 p/s4525 / 4914 [----------------------------------------------------------------->_____] 92.08% 113 p/s4548 / 4914 [----------------------------------------------------------------->_____] 92.55% 113 p/s4571 / 4914 [------------------------------------------------------------------>____] 93.02% 113 p/s4593 / 4914 [------------------------------------------------------------------>____] 93.47% 113 p/s4616 / 4914 [------------------------------------------------------------------>____] 93.94% 113 p/s4639 / 4914 [------------------------------------------------------------------->___] 94.40% 113 p/s4662 / 4914 [------------------------------------------------------------------->___] 94.87% 113 p/s4684 / 4914 [------------------------------------------------------------------->___] 95.32% 113 p/s4707 / 4914 [-------------------------------------------------------------------->__] 95.79% 113 p/s4730 / 4914 [-------------------------------------------------------------------->__] 96.26% 113 p/s4753 / 4914 [-------------------------------------------------------------------->__] 96.72% 113 p/s4775 / 4914 [-------------------------------------------------------------------->__] 97.17% 113 p/s4798 / 4914 [--------------------------------------------------------------------->_] 97.64% 113 p/s4820 / 4914 [--------------------------------------------------------------------->_] 98.09% 113 p/s4842 / 4914 [--------------------------------------------------------------------->_] 98.53% 113 p/s4865 / 4914 [---------------------------------------------------------------------->] 99.00% 113 p/s4888 / 4914 [---------------------------------------------------------------------->] 99.47% 113 p/s4911 / 4914 [---------------------------------------------------------------------->] 99.94% 113 p/s4914 / 4914 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-24T09:01:37 - INFO: Parsing 4914 sonar sweeps from /working/957f9d31-ba7b-c075-d87b-3dce675c416b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T09:04:35 - 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"
2026-03-24T09:04:36 - INFO: DataPrep 0.14.0rc3
2026-03-24T09:04:36 - INFO: Prepared data will be output to /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/processing/data
2026-03-24T09:04:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T09:04:36 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T09:04:36 - INFO: Recording GUID: 957f9d31-ba7b-c075-d87b-3dce675c416b
2026-03-24T09:04:36 - INFO: Preparing sonar data...
2026-03-24T09:04:36 - INFO: /working/957f9d31-ba7b-c075-d87b-3dce675c416b/957f9d31-ba7b-c075-d87b-3dce675c416b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T09:04:41 - INFO: Sonar epoch is 2026-01-13 15:47:58.348952+00:00 (1768319278348951451)
2026-03-24T09:04:41 - INFO: Creating sonar sensor alignment track...
2026-03-24T09:04:41 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-24T09:04:41 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T09:04:41 - INFO: Sonar range is 0.939120 m
2026-03-24T09:04:41 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T09:04:41 - INFO: Processing 4914 sweeps...

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2026-03-24T09:04:57 - INFO: Prepared sonar data in 20.1196 s
2026-03-24T09:04:57 - INFO: No IMU data found
2026-03-24T09:04:57 - INFO: DataPrep took 0:00:20.733224
2026-03-24T09:04:57 - INFO: Extracted sonar data in 0:04:03.876477
2026-03-24T09:04:58 - INFO: MSIP3D took 0:04:04.424343