2026-03-30T19:00:41 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:00:41 - INFO: P3D files will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-30T19:00:41 - INFO: Found 10 TFD dictionary entries
2026-03-30T19:00:41 - INFO: Found TFD mission for SJ502828 DEP 516
2026-03-30T19:00:41 - INFO: Recording will be processed as MD
2026-03-30T19:00:41 - INFO: Copying assets JSON to output directory...
2026-03-30T19:00:41 - INFO: Preparing counter data...
2026-03-30T19:00:41 - INFO: Interpreting counter as imperial
2026-03-30T19:00:41 - INFO: Preparing size track from assets JSON...
2026-03-30T19:00:41 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:00:41 - INFO: Preparing material track from assets JSON...
2026-03-30T19:00:41 - INFO: Prepared counter data in 0.1011 s
2026-03-30T19:00:41 - 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: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Getting track SONAR
Number of frames: 4206
21 / 4206 [>___________________________________________________________________________] 0.50% ? p/s44 / 4206 [>___________________________________________________________________________] 1.05% ? p/s66 / 4206 [->__________________________________________________________________________] 1.57% ? p/s89 / 4206 [->________________________________________________________________________] 2.12% 113 p/s112 / 4206 [->_______________________________________________________________________] 2.66% 113 p/s134 / 4206 [-->______________________________________________________________________] 3.19% 113 p/s157 / 4206 [-->______________________________________________________________________] 3.73% 113 p/s179 / 4206 [--->_____________________________________________________________________] 4.26% 113 p/s202 / 4206 [--->_____________________________________________________________________] 4.80% 113 p/s225 / 4206 [--->_____________________________________________________________________] 5.35% 113 p/s246 / 4206 [---->____________________________________________________________________] 5.85% 113 p/s268 / 4206 [---->____________________________________________________________________] 6.37% 113 p/s291 / 4206 [----->___________________________________________________________________] 6.92% 113 p/s314 / 4206 [----->___________________________________________________________________] 7.47% 113 p/s337 / 4206 [----->___________________________________________________________________] 8.01% 113 p/s360 / 4206 [------>__________________________________________________________________] 8.56% 113 p/s383 / 4206 [------>__________________________________________________________________] 9.11% 113 p/s406 / 4206 [------->_________________________________________________________________] 9.65% 113 p/s429 / 4206 [------->________________________________________________________________] 10.20% 113 p/s452 / 4206 [------->________________________________________________________________] 10.75% 113 p/s475 / 4206 [-------->_______________________________________________________________] 11.29% 113 p/s498 / 4206 [-------->_______________________________________________________________] 11.84% 113 p/s519 / 4206 [-------->_______________________________________________________________] 12.34% 113 p/s542 / 4206 [--------->______________________________________________________________] 12.89% 113 p/s564 / 4206 [--------->______________________________________________________________] 13.41% 113 p/s587 / 4206 [---------->_____________________________________________________________] 13.96% 113 p/s610 / 4206 [---------->_____________________________________________________________] 14.50% 113 p/s633 / 4206 [---------->_____________________________________________________________] 15.05% 113 p/s657 / 4206 [----------->____________________________________________________________] 15.62% 113 p/s680 / 4206 [----------->____________________________________________________________] 16.17% 113 p/s703 / 4206 [------------>___________________________________________________________] 16.71% 114 p/s726 / 4206 [------------>___________________________________________________________] 17.26% 114 p/s749 / 4206 [------------>___________________________________________________________] 17.81% 114 p/s773 / 4206 [------------->__________________________________________________________] 18.38% 114 p/s796 / 4206 [------------->__________________________________________________________] 18.93% 114 p/s819 / 4206 [-------------->_________________________________________________________] 19.47% 114 p/s842 / 4206 [-------------->_________________________________________________________] 20.02% 114 p/s865 / 4206 [-------------->_________________________________________________________] 20.57% 114 p/s888 / 4206 [--------------->________________________________________________________] 21.11% 114 p/s912 / 4206 [--------------->________________________________________________________] 21.68% 114 p/s935 / 4206 [---------------->_______________________________________________________] 22.23% 114 p/s958 / 4206 [---------------->_______________________________________________________] 22.78% 114 p/s980 / 4206 [---------------->_______________________________________________________] 23.30% 114 p/s1003 / 4206 [---------------->______________________________________________________] 23.85% 114 p/s1026 / 4206 [----------------->_____________________________________________________] 24.39% 114 p/s1049 / 4206 [----------------->_____________________________________________________] 24.94% 114 p/s1072 / 4206 [------------------>____________________________________________________] 25.49% 114 p/s1096 / 4206 [------------------>____________________________________________________] 26.06% 114 p/s1118 / 4206 [------------------>____________________________________________________] 26.58% 114 p/s1142 / 4206 [------------------->___________________________________________________] 27.15% 114 p/s1164 / 4206 [------------------->___________________________________________________] 27.67% 114 p/s1188 / 4206 [-------------------->__________________________________________________] 28.25% 114 p/s1211 / 4206 [-------------------->__________________________________________________] 28.79% 114 p/s1234 / 4206 [-------------------->__________________________________________________] 29.34% 114 p/s1257 / 4206 [--------------------->_________________________________________________] 29.89% 114 p/s1280 / 4206 [--------------------->_________________________________________________] 30.43% 114 p/s1302 / 4206 [--------------------->_________________________________________________] 30.96% 114 p/s1325 / 4206 [---------------------->________________________________________________] 31.50% 114 p/s1349 / 4206 [---------------------->________________________________________________] 32.07% 114 p/s1372 / 4206 [----------------------->_______________________________________________] 32.62% 114 p/s1395 / 4206 [----------------------->_______________________________________________] 33.17% 114 p/s1418 / 4206 [----------------------->_______________________________________________] 33.71% 114 p/s1441 / 4206 [------------------------>______________________________________________] 34.26% 114 p/s1463 / 4206 [------------------------>______________________________________________] 34.78% 114 p/s1486 / 4206 [------------------------->_____________________________________________] 35.33% 114 p/s1509 / 4206 [------------------------->_____________________________________________] 35.88% 114 p/s1532 / 4206 [------------------------->_____________________________________________] 36.42% 114 p/s1555 / 4206 [-------------------------->____________________________________________] 36.97% 114 p/s1578 / 4206 [-------------------------->____________________________________________] 37.52% 114 p/s1601 / 4206 [--------------------------->___________________________________________] 38.06% 114 p/s1624 / 4206 [--------------------------->___________________________________________] 38.61% 114 p/s1647 / 4206 [--------------------------->___________________________________________] 39.16% 114 p/s1667 / 4206 [---------------------------->__________________________________________] 39.63% 114 p/s1690 / 4206 [---------------------------->__________________________________________] 40.18% 114 p/s1713 / 4206 [---------------------------->__________________________________________] 40.73% 114 p/s1736 / 4206 [----------------------------->_________________________________________] 41.27% 114 p/s1759 / 4206 [----------------------------->_________________________________________] 41.82% 114 p/s1782 / 4206 [------------------------------>________________________________________] 42.37% 114 p/s1805 / 4206 [------------------------------>________________________________________] 42.91% 114 p/s1828 / 4206 [------------------------------>________________________________________] 43.46% 114 p/s1851 / 4206 [------------------------------->_______________________________________] 44.01% 114 p/s1874 / 4206 [------------------------------->_______________________________________] 44.56% 114 p/s1897 / 4206 [-------------------------------->______________________________________] 45.10% 114 p/s1921 / 4206 [-------------------------------->______________________________________] 45.67% 114 p/s1944 / 4206 [-------------------------------->______________________________________] 46.22% 114 p/s1966 / 4206 [--------------------------------->_____________________________________] 46.74% 114 p/s1989 / 4206 [--------------------------------->_____________________________________] 47.29% 114 p/s2012 / 4206 [--------------------------------->_____________________________________] 47.84% 114 p/s2035 / 4206 [---------------------------------->____________________________________] 48.38% 114 p/s2057 / 4206 [---------------------------------->____________________________________] 48.91% 114 p/s2080 / 4206 [----------------------------------->___________________________________] 49.45% 114 p/s2103 / 4206 [----------------------------------->___________________________________] 50.00% 114 p/s2126 / 4206 [----------------------------------->___________________________________] 50.55% 114 p/s2149 / 4206 [------------------------------------>__________________________________] 51.09% 114 p/s2172 / 4206 [------------------------------------>__________________________________] 51.64% 114 p/s2195 / 4206 [------------------------------------->_________________________________] 52.19% 114 p/s2218 / 4206 [------------------------------------->_________________________________] 52.73% 114 p/s2241 / 4206 [------------------------------------->_________________________________] 53.28% 114 p/s2258 / 4206 [-------------------------------------->________________________________] 53.69% 114 p/s2281 / 4206 [-------------------------------------->________________________________] 54.23% 114 p/s2304 / 4206 [-------------------------------------->________________________________] 54.78% 114 p/s2327 / 4206 [--------------------------------------->_______________________________] 55.33% 114 p/s2350 / 4206 [--------------------------------------->_______________________________] 55.87% 114 p/s2373 / 4206 [---------------------------------------->______________________________] 56.42% 114 p/s2396 / 4206 [---------------------------------------->______________________________] 56.97% 114 p/s2419 / 4206 [---------------------------------------->______________________________] 57.51% 114 p/s2442 / 4206 [----------------------------------------->_____________________________] 58.06% 114 p/s2465 / 4206 [----------------------------------------->_____________________________] 58.61% 114 p/s2488 / 4206 [----------------------------------------->_____________________________] 59.15% 114 p/s2511 / 4206 [------------------------------------------>____________________________] 59.70% 114 p/s2534 / 4206 [------------------------------------------>____________________________] 60.25% 114 p/s2557 / 4206 [------------------------------------------->___________________________] 60.79% 114 p/s2580 / 4206 [------------------------------------------->___________________________] 61.34% 114 p/s2603 / 4206 [------------------------------------------->___________________________] 61.89% 114 p/s2626 / 4206 [-------------------------------------------->__________________________] 62.43% 114 p/s2649 / 4206 [-------------------------------------------->__________________________] 62.98% 114 p/s2672 / 4206 [--------------------------------------------->_________________________] 63.53% 114 p/s2695 / 4206 [--------------------------------------------->_________________________] 64.08% 114 p/s2718 / 4206 [--------------------------------------------->_________________________] 64.62% 114 p/s2741 / 4206 [---------------------------------------------->________________________] 65.17% 114 p/s2764 / 4206 [---------------------------------------------->________________________] 65.72% 114 p/s2787 / 4206 [----------------------------------------------->_______________________] 66.26% 114 p/s2811 / 4206 [----------------------------------------------->_______________________] 66.83% 114 p/s2834 / 4206 [----------------------------------------------->_______________________] 67.38% 114 p/s2857 / 4206 [------------------------------------------------>______________________] 67.93% 114 p/s2880 / 4206 [------------------------------------------------>______________________] 68.47% 114 p/s2903 / 4206 [------------------------------------------------->_____________________] 69.02% 114 p/s2926 / 4206 [------------------------------------------------->_____________________] 69.57% 114 p/s2949 / 4206 [------------------------------------------------->_____________________] 70.11% 114 p/s2972 / 4206 [-------------------------------------------------->____________________] 70.66% 114 p/s2994 / 4206 [-------------------------------------------------->____________________] 71.18% 114 p/s3017 / 4206 [-------------------------------------------------->____________________] 71.73% 114 p/s3040 / 4206 [--------------------------------------------------->___________________] 72.28% 114 p/s3063 / 4206 [--------------------------------------------------->___________________] 72.82% 114 p/s3086 / 4206 [---------------------------------------------------->__________________] 73.37% 114 p/s3109 / 4206 [---------------------------------------------------->__________________] 73.92% 114 p/s3132 / 4206 [---------------------------------------------------->__________________] 74.47% 114 p/s3155 / 4206 [----------------------------------------------------->_________________] 75.01% 114 p/s3178 / 4206 [----------------------------------------------------->_________________] 75.56% 114 p/s3201 / 4206 [------------------------------------------------------>________________] 76.11% 114 p/s3224 / 4206 [------------------------------------------------------>________________] 76.65% 114 p/s3247 / 4206 [------------------------------------------------------>________________] 77.20% 115 p/s3270 / 4206 [------------------------------------------------------->_______________] 77.75% 115 p/s3293 / 4206 [------------------------------------------------------->_______________] 78.29% 115 p/s3316 / 4206 [------------------------------------------------------->_______________] 78.84% 115 p/s3339 / 4206 [-------------------------------------------------------->______________] 79.39% 115 p/s3362 / 4206 [-------------------------------------------------------->______________] 79.93% 115 p/s3385 / 4206 [--------------------------------------------------------->_____________] 80.48% 115 p/s3407 / 4206 [--------------------------------------------------------->_____________] 81.00% 115 p/s3430 / 4206 [--------------------------------------------------------->_____________] 81.55% 115 p/s3453 / 4206 [---------------------------------------------------------->____________] 82.10% 114 p/s3475 / 4206 [---------------------------------------------------------->____________] 82.62% 114 p/s3498 / 4206 [----------------------------------------------------------->___________] 83.17% 114 p/s3521 / 4206 [----------------------------------------------------------->___________] 83.71% 114 p/s3544 / 4206 [----------------------------------------------------------->___________] 84.26% 114 p/s3567 / 4206 [------------------------------------------------------------>__________] 84.81% 114 p/s3590 / 4206 [------------------------------------------------------------>__________] 85.35% 114 p/s3613 / 4206 [------------------------------------------------------------>__________] 85.90% 114 p/s3636 / 4206 [------------------------------------------------------------->_________] 86.45% 114 p/s3659 / 4206 [------------------------------------------------------------->_________] 86.99% 114 p/s3682 / 4206 [-------------------------------------------------------------->________] 87.54% 114 p/s3705 / 4206 [-------------------------------------------------------------->________] 88.09% 114 p/s3728 / 4206 [-------------------------------------------------------------->________] 88.64% 115 p/s3751 / 4206 [--------------------------------------------------------------->_______] 89.18% 115 p/s3774 / 4206 [--------------------------------------------------------------->_______] 89.73% 115 p/s3796 / 4206 [---------------------------------------------------------------->______] 90.25% 114 p/s3819 / 4206 [---------------------------------------------------------------->______] 90.80% 114 p/s3841 / 4206 [---------------------------------------------------------------->______] 91.32% 114 p/s3864 / 4206 [----------------------------------------------------------------->_____] 91.87% 114 p/s3887 / 4206 [----------------------------------------------------------------->_____] 92.42% 114 p/s3910 / 4206 [------------------------------------------------------------------>____] 92.96% 114 p/s3933 / 4206 [------------------------------------------------------------------>____] 93.51% 114 p/s3955 / 4206 [------------------------------------------------------------------>____] 94.03% 114 p/s3978 / 4206 [------------------------------------------------------------------->___] 94.58% 114 p/s4001 / 4206 [------------------------------------------------------------------->___] 95.13% 114 p/s4024 / 4206 [------------------------------------------------------------------->___] 95.67% 114 p/s4047 / 4206 [-------------------------------------------------------------------->__] 96.22% 114 p/s4070 / 4206 [-------------------------------------------------------------------->__] 96.77% 114 p/s4092 / 4206 [--------------------------------------------------------------------->_] 97.29% 114 p/s4115 / 4206 [--------------------------------------------------------------------->_] 97.84% 114 p/s4137 / 4206 [--------------------------------------------------------------------->_] 98.36% 114 p/s4160 / 4206 [---------------------------------------------------------------------->] 98.91% 114 p/s4182 / 4206 [---------------------------------------------------------------------->] 99.43% 114 p/s4205 / 4206 [---------------------------------------------------------------------->] 99.98% 114 p/s4206 / 4206 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-30T19:01:18 - INFO: Parsing 4206 sonar sweeps from /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:03:54 - 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"
2026-03-30T19:03:58 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:03:58 - INFO: Prepared data will be output to /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/processing/data
2026-03-30T19:03:58 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:03:58 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:03:58 - INFO: Recording GUID: b7588d94-7f91-bfa3-f5f7-ab3348b0f943
2026-03-30T19:03:58 - INFO: Preparing sonar data...
2026-03-30T19:03:58 - INFO: /working/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/b7588d94-7f91-bfa3-f5f7-ab3348b0f943/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:04:04 - INFO: Sonar epoch is 2026-02-19 16:14:27.055863+00:00 (1771517667055863227)
2026-03-30T19:04:04 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:04:04 - INFO: Using sonar rotation of 0.628319 radians for wedge mask
2026-03-30T19:04:04 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:04:04 - INFO: Sensor range is 0.939120 m
2026-03-30T19:04:04 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:04:04 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:04:04 - INFO: Scaled range is 0.921855 m
2026-03-30T19:04:04 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:04:04 - INFO: Processing 4206 sweeps...

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2026-03-30T19:04:22 - INFO: Prepared sonar data in 24.3857 s
2026-03-30T19:04:22 - INFO: No IMU data found
2026-03-30T19:04:23 - INFO: DataPrep took 0:00:24.993510
2026-03-30T19:04:23 - INFO: Extracted sonar data in 0:03:41.769965
2026-03-30T19:04:24 - INFO: MSIP3D took 0:03:42.367900