2026-03-26T01:43:59 - INFO: MSIP3D 0.2.0rc3
2026-03-26T01:43:59 - INFO: P3D files will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-26T01:43:59 - INFO: Found 10 TFD dictionary entries
2026-03-26T01:43:59 - INFO: Found TFD mission for SJ502828 DEP 516
2026-03-26T01:43:59 - INFO: Recording will be processed as MD
2026-03-26T01:43:59 - INFO: Copying assets JSON to output directory...
2026-03-26T01:43:59 - INFO: Preparing counter data...
2026-03-26T01:43:59 - INFO: Interpreting counter as imperial
2026-03-26T01:43:59 - INFO: Preparing size track from assets JSON...
2026-03-26T01:43:59 - INFO: Preparing shape track from assets JSON...
2026-03-26T01:43:59 - INFO: Preparing material track from assets JSON...
2026-03-26T01:43:59 - INFO: Prepared counter data in 0.0981 s
2026-03-26T01:43:59 - 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: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
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/s66 / 4206 [->__________________________________________________________________________] 1.57% ? p/s90 / 4206 [->________________________________________________________________________] 2.14% 113 p/s113 / 4206 [->_______________________________________________________________________] 2.69% 113 p/s135 / 4206 [-->______________________________________________________________________] 3.21% 113 p/s159 / 4206 [-->______________________________________________________________________] 3.78% 113 p/s181 / 4206 [--->_____________________________________________________________________] 4.30% 113 p/s204 / 4206 [--->_____________________________________________________________________] 4.85% 113 p/s227 / 4206 [--->_____________________________________________________________________] 5.40% 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/s339 / 4206 [----->___________________________________________________________________] 8.06% 113 p/s362 / 4206 [------>__________________________________________________________________] 8.61% 113 p/s386 / 4206 [------>__________________________________________________________________] 9.18% 113 p/s408 / 4206 [------->_________________________________________________________________] 9.70% 113 p/s429 / 4206 [------->________________________________________________________________] 10.20% 113 p/s453 / 4206 [------->________________________________________________________________] 10.77% 113 p/s475 / 4206 [-------->_______________________________________________________________] 11.29% 113 p/s497 / 4206 [-------->_______________________________________________________________] 11.82% 113 p/s520 / 4206 [-------->_______________________________________________________________] 12.36% 113 p/s543 / 4206 [--------->______________________________________________________________] 12.91% 113 p/s566 / 4206 [--------->______________________________________________________________] 13.46% 113 p/s589 / 4206 [---------->_____________________________________________________________] 14.00% 113 p/s613 / 4206 [---------->_____________________________________________________________] 14.57% 113 p/s636 / 4206 [---------->_____________________________________________________________] 15.12% 114 p/s660 / 4206 [----------->____________________________________________________________] 15.69% 114 p/s683 / 4206 [----------->____________________________________________________________] 16.24% 114 p/s706 / 4206 [------------>___________________________________________________________] 16.79% 114 p/s730 / 4206 [------------>___________________________________________________________] 17.36% 114 p/s752 / 4206 [------------>___________________________________________________________] 17.88% 114 p/s775 / 4206 [------------->__________________________________________________________] 18.43% 114 p/s799 / 4206 [------------->__________________________________________________________] 19.00% 114 p/s822 / 4206 [-------------->_________________________________________________________] 19.54% 114 p/s846 / 4206 [-------------->_________________________________________________________] 20.11% 114 p/s869 / 4206 [-------------->_________________________________________________________] 20.66% 114 p/s893 / 4206 [--------------->________________________________________________________] 21.23% 114 p/s916 / 4206 [--------------->________________________________________________________] 21.78% 114 p/s940 / 4206 [---------------->_______________________________________________________] 22.35% 114 p/s962 / 4206 [---------------->_______________________________________________________] 22.87% 114 p/s985 / 4206 [---------------->_______________________________________________________] 23.42% 114 p/s1008 / 4206 [----------------->_____________________________________________________] 23.97% 114 p/s1030 / 4206 [----------------->_____________________________________________________] 24.49% 114 p/s1054 / 4206 [----------------->_____________________________________________________] 25.06% 114 p/s1077 / 4206 [------------------>____________________________________________________] 25.61% 114 p/s1101 / 4206 [------------------>____________________________________________________] 26.18% 114 p/s1124 / 4206 [------------------>____________________________________________________] 26.72% 115 p/s1147 / 4206 [------------------->___________________________________________________] 27.27% 115 p/s1171 / 4206 [------------------->___________________________________________________] 27.84% 115 p/s1194 / 4206 [-------------------->__________________________________________________] 28.39% 115 p/s1217 / 4206 [-------------------->__________________________________________________] 28.93% 115 p/s1240 / 4206 [-------------------->__________________________________________________] 29.48% 115 p/s1263 / 4206 [--------------------->_________________________________________________] 30.03% 115 p/s1285 / 4206 [--------------------->_________________________________________________] 30.55% 115 p/s1308 / 4206 [---------------------->________________________________________________] 31.10% 115 p/s1331 / 4206 [---------------------->________________________________________________] 31.65% 115 p/s1354 / 4206 [---------------------->________________________________________________] 32.19% 115 p/s1377 / 4206 [----------------------->_______________________________________________] 32.74% 115 p/s1401 / 4206 [----------------------->_______________________________________________] 33.31% 115 p/s1424 / 4206 [------------------------>______________________________________________] 33.86% 115 p/s1447 / 4206 [------------------------>______________________________________________] 34.40% 115 p/s1470 / 4206 [------------------------>______________________________________________] 34.95% 115 p/s1492 / 4206 [------------------------->_____________________________________________] 35.47% 115 p/s1515 / 4206 [------------------------->_____________________________________________] 36.02% 115 p/s1538 / 4206 [------------------------->_____________________________________________] 36.57% 115 p/s1561 / 4206 [-------------------------->____________________________________________] 37.11% 115 p/s1584 / 4206 [-------------------------->____________________________________________] 37.66% 115 p/s1607 / 4206 [--------------------------->___________________________________________] 38.21% 115 p/s1631 / 4206 [--------------------------->___________________________________________] 38.78% 115 p/s1654 / 4206 [--------------------------->___________________________________________] 39.32% 115 p/s1677 / 4206 [---------------------------->__________________________________________] 39.87% 115 p/s1700 / 4206 [---------------------------->__________________________________________] 40.42% 115 p/s1722 / 4206 [----------------------------->_________________________________________] 40.94% 115 p/s1745 / 4206 [----------------------------->_________________________________________] 41.49% 115 p/s1768 / 4206 [----------------------------->_________________________________________] 42.04% 115 p/s1791 / 4206 [------------------------------>________________________________________] 42.58% 115 p/s1815 / 4206 [------------------------------>________________________________________] 43.15% 115 p/s1838 / 4206 [------------------------------->_______________________________________] 43.70% 115 p/s1861 / 4206 [------------------------------->_______________________________________] 44.25% 115 p/s1884 / 4206 [------------------------------->_______________________________________] 44.79% 115 p/s1906 / 4206 [-------------------------------->______________________________________] 45.32% 115 p/s1929 / 4206 [-------------------------------->______________________________________] 45.86% 115 p/s1953 / 4206 [-------------------------------->______________________________________] 46.43% 115 p/s1976 / 4206 [--------------------------------->_____________________________________] 46.98% 115 p/s1999 / 4206 [--------------------------------->_____________________________________] 47.53% 115 p/s2022 / 4206 [---------------------------------->____________________________________] 48.07% 115 p/s2044 / 4206 [---------------------------------->____________________________________] 48.60% 115 p/s2068 / 4206 [---------------------------------->____________________________________] 49.17% 115 p/s2091 / 4206 [----------------------------------->___________________________________] 49.71% 115 p/s2114 / 4206 [----------------------------------->___________________________________] 50.26% 115 p/s2137 / 4206 [------------------------------------>__________________________________] 50.81% 115 p/s2161 / 4206 [------------------------------------>__________________________________] 51.38% 115 p/s2184 / 4206 [------------------------------------>__________________________________] 51.93% 115 p/s2205 / 4206 [------------------------------------->_________________________________] 52.43% 115 p/s2226 / 4206 [------------------------------------->_________________________________] 52.92% 115 p/s2248 / 4206 [------------------------------------->_________________________________] 53.45% 115 p/s2262 / 4206 [-------------------------------------->________________________________] 53.78% 115 p/s2281 / 4206 [-------------------------------------->________________________________] 54.23% 113 p/s2298 / 4206 [-------------------------------------->________________________________] 54.64% 113 p/s2321 / 4206 [--------------------------------------->_______________________________] 55.18% 113 p/s2343 / 4206 [--------------------------------------->_______________________________] 55.71% 112 p/s2366 / 4206 [--------------------------------------->_______________________________] 56.25% 112 p/s2389 / 4206 [---------------------------------------->______________________________] 56.80% 112 p/s2411 / 4206 [---------------------------------------->______________________________] 57.32% 113 p/s2432 / 4206 [----------------------------------------->_____________________________] 57.82% 113 p/s2455 / 4206 [----------------------------------------->_____________________________] 58.37% 113 p/s2478 / 4206 [----------------------------------------->_____________________________] 58.92% 112 p/s2500 / 4206 [------------------------------------------>____________________________] 59.44% 112 p/s2523 / 4206 [------------------------------------------>____________________________] 59.99% 112 p/s2546 / 4206 [------------------------------------------>____________________________] 60.53% 113 p/s2569 / 4206 [------------------------------------------->___________________________] 61.08% 113 p/s2590 / 4206 [------------------------------------------->___________________________] 61.58% 113 p/s2613 / 4206 [-------------------------------------------->__________________________] 62.13% 112 p/s2636 / 4206 [-------------------------------------------->__________________________] 62.67% 112 p/s2659 / 4206 [-------------------------------------------->__________________________] 63.22% 112 p/s2682 / 4206 [--------------------------------------------->_________________________] 63.77% 113 p/s2705 / 4206 [--------------------------------------------->_________________________] 64.31% 113 p/s2728 / 4206 [---------------------------------------------->________________________] 64.86% 113 p/s2751 / 4206 [---------------------------------------------->________________________] 65.41% 113 p/s2774 / 4206 [---------------------------------------------->________________________] 65.95% 113 p/s2797 / 4206 [----------------------------------------------->_______________________] 66.50% 113 p/s2810 / 4206 [----------------------------------------------->_______________________] 66.81% 112 p/s2833 / 4206 [----------------------------------------------->_______________________] 67.36% 112 p/s2856 / 4206 [------------------------------------------------>______________________] 67.90% 112 p/s2876 / 4206 [------------------------------------------------>______________________] 68.38% 112 p/s2899 / 4206 [------------------------------------------------>______________________] 68.93% 112 p/s2921 / 4206 [------------------------------------------------->_____________________] 69.45% 112 p/s2944 / 4206 [------------------------------------------------->_____________________] 70.00% 112 p/s2967 / 4206 [-------------------------------------------------->____________________] 70.54% 112 p/s2989 / 4206 [-------------------------------------------------->____________________] 71.07% 112 p/s3013 / 4206 [-------------------------------------------------->____________________] 71.64% 112 p/s3035 / 4206 [--------------------------------------------------->___________________] 72.16% 112 p/s3059 / 4206 [--------------------------------------------------->___________________] 72.73% 112 p/s3082 / 4206 [---------------------------------------------------->__________________] 73.28% 112 p/s3105 / 4206 [---------------------------------------------------->__________________] 73.82% 112 p/s3128 / 4206 [---------------------------------------------------->__________________] 74.37% 112 p/s3150 / 4206 [----------------------------------------------------->_________________] 74.89% 112 p/s3173 / 4206 [----------------------------------------------------->_________________] 75.44% 112 p/s3196 / 4206 [----------------------------------------------------->_________________] 75.99% 112 p/s3218 / 4206 [------------------------------------------------------>________________] 76.51% 112 p/s3241 / 4206 [------------------------------------------------------>________________] 77.06% 112 p/s3264 / 4206 [------------------------------------------------------->_______________] 77.60% 112 p/s3286 / 4206 [------------------------------------------------------->_______________] 78.13% 112 p/s3309 / 4206 [------------------------------------------------------->_______________] 78.67% 112 p/s3333 / 4206 [-------------------------------------------------------->______________] 79.24% 112 p/s3355 / 4206 [-------------------------------------------------------->______________] 79.77% 113 p/s3378 / 4206 [--------------------------------------------------------->_____________] 80.31% 113 p/s3399 / 4206 [--------------------------------------------------------->_____________] 80.81% 113 p/s3422 / 4206 [--------------------------------------------------------->_____________] 81.36% 113 p/s3445 / 4206 [---------------------------------------------------------->____________] 81.91% 113 p/s3466 / 4206 [---------------------------------------------------------->____________] 82.41% 113 p/s3487 / 4206 [---------------------------------------------------------->____________] 82.91% 112 p/s3510 / 4206 [----------------------------------------------------------->___________] 83.45% 112 p/s3532 / 4206 [----------------------------------------------------------->___________] 83.98% 112 p/s3556 / 4206 [------------------------------------------------------------>__________] 84.55% 112 p/s3578 / 4206 [------------------------------------------------------------>__________] 85.07% 112 p/s3601 / 4206 [------------------------------------------------------------>__________] 85.62% 112 p/s3624 / 4206 [------------------------------------------------------------->_________] 86.16% 112 p/s3646 / 4206 [------------------------------------------------------------->_________] 86.69% 112 p/s3669 / 4206 [------------------------------------------------------------->_________] 87.23% 112 p/s3692 / 4206 [-------------------------------------------------------------->________] 87.78% 113 p/s3712 / 4206 [-------------------------------------------------------------->________] 88.25% 113 p/s3731 / 4206 [-------------------------------------------------------------->________] 88.71% 113 p/s3753 / 4206 [--------------------------------------------------------------->_______] 89.23% 112 p/s3777 / 4206 [--------------------------------------------------------------->_______] 89.80% 112 p/s3799 / 4206 [---------------------------------------------------------------->______] 90.32% 112 p/s3823 / 4206 [---------------------------------------------------------------->______] 90.89% 112 p/s3846 / 4206 [---------------------------------------------------------------->______] 91.44% 112 p/s3868 / 4206 [----------------------------------------------------------------->_____] 91.96% 112 p/s3891 / 4206 [----------------------------------------------------------------->_____] 92.51% 112 p/s3914 / 4206 [------------------------------------------------------------------>____] 93.06% 112 p/s3937 / 4206 [------------------------------------------------------------------>____] 93.60% 112 p/s3960 / 4206 [------------------------------------------------------------------>____] 94.15% 112 p/s3982 / 4206 [------------------------------------------------------------------->___] 94.67% 112 p/s4006 / 4206 [------------------------------------------------------------------->___] 95.24% 112 p/s4028 / 4206 [------------------------------------------------------------------->___] 95.77% 112 p/s4051 / 4206 [-------------------------------------------------------------------->__] 96.31% 112 p/s4073 / 4206 [-------------------------------------------------------------------->__] 96.84% 112 p/s4094 / 4206 [--------------------------------------------------------------------->_] 97.34% 112 p/s4117 / 4206 [--------------------------------------------------------------------->_] 97.88% 112 p/s4140 / 4206 [--------------------------------------------------------------------->_] 98.43% 112 p/s4163 / 4206 [---------------------------------------------------------------------->] 98.98% 112 p/s4186 / 4206 [---------------------------------------------------------------------->] 99.52% 112 p/s4206 / 4206 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-26T01:44:36 - INFO: Parsing 4206 sonar sweeps from /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-26T01:47:12 - 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"
2026-03-26T01:47:13 - INFO: DataPrep 0.14.0rc3
2026-03-26T01:47:13 - INFO: Prepared data will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/processing/data
2026-03-26T01:47:13 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-26T01:47:13 - deployment - INFO: Detected P3D version: P3D_1
2026-03-26T01:47:13 - INFO: Recording GUID: b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-26T01:47:13 - INFO: Preparing sonar data...
2026-03-26T01:47:13 - INFO: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-26T01:47:17 - INFO: Sonar epoch is 2026-02-19 16:14:27.055863+00:00 (1771517667055863227)
2026-03-26T01:47:17 - INFO: Creating sonar sensor alignment track...
2026-03-26T01:47:17 - INFO: Using sonar rotation of 0.628319 radians for wedge mask
2026-03-26T01:47:17 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-26T01:47:17 - INFO: Sonar range is 0.939120 m
2026-03-26T01:47:17 - INFO: Speed of sound is 1472.424156 m/s
2026-03-26T01:47:17 - INFO: Processing 4206 sweeps...

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2026-03-26T01:47:31 - INFO: Prepared sonar data in 17.9862 s
2026-03-26T01:47:31 - INFO: No IMU data found
2026-03-26T01:47:32 - INFO: DataPrep took 0:00:18.549552
2026-03-26T01:47:32 - INFO: Extracted sonar data in 0:03:32.908040
2026-03-26T01:47:32 - INFO: MSIP3D took 0:03:33.383799