2026-05-20T20:04:36 - INFO: MSIP3D 0.2.6
2026-05-20T20:04:36 - INFO: P3D files will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-05-20T20:04:37 - INFO: Found 10 TFD dictionary entries
2026-05-20T20:04:37 - INFO: Found TFD mission for SJ502847 DEP 1
2026-05-20T20:04:37 - INFO: Recording will be processed as MD
2026-05-20T20:04:37 - INFO: Copying assets JSON to output directory...
2026-05-20T20:04:37 - INFO: Preparing counter data...
2026-05-20T20:04:37 - INFO: Interpreting counter as imperial
2026-05-20T20:04:37 - INFO: Preparing size track from assets JSON...
2026-05-20T20:04:37 - INFO: Preparing shape track from assets JSON...
2026-05-20T20:04:37 - INFO: Preparing material track from assets JSON...
2026-05-20T20:04:37 - INFO: Prepared counter data in 0.1675 s
2026-05-20T20:04:37 - INFO: Extracting sonar data...
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/SJ502847_DEP_1.tfd
TFD path: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012079240663880375
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Getting track SONAR
Number of frames: 5512
20 / 5512 [>___________________________________________________________________________] 0.36% ? p/s43 / 5512 [>___________________________________________________________________________] 0.78% ? p/s65 / 5512 [>___________________________________________________________________________] 1.18% ? p/s88 / 5512 [->________________________________________________________________________] 1.60% 113 p/s110 / 5512 [->_______________________________________________________________________] 2.00% 113 p/s131 / 5512 [->_______________________________________________________________________] 2.38% 113 p/s154 / 5512 [-->______________________________________________________________________] 2.79% 113 p/s176 / 5512 [-->______________________________________________________________________] 3.19% 113 p/s199 / 5512 [-->______________________________________________________________________] 3.61% 113 p/s221 / 5512 [-->______________________________________________________________________] 4.01% 113 p/s243 / 5512 [--->_____________________________________________________________________] 4.41% 113 p/s265 / 5512 [--->_____________________________________________________________________] 4.81% 113 p/s288 / 5512 [--->_____________________________________________________________________] 5.22% 113 p/s310 / 5512 [---->____________________________________________________________________] 5.62% 113 p/s333 / 5512 [---->____________________________________________________________________] 6.04% 113 p/s355 / 5512 [---->____________________________________________________________________] 6.44% 113 p/s377 / 5512 [---->____________________________________________________________________] 6.84% 113 p/s400 / 5512 [----->___________________________________________________________________] 7.26% 113 p/s423 / 5512 [----->___________________________________________________________________] 7.67% 113 p/s445 / 5512 [----->___________________________________________________________________] 8.07% 113 p/s467 / 5512 [------>__________________________________________________________________] 8.47% 113 p/s490 / 5512 [------>__________________________________________________________________] 8.89% 113 p/s512 / 5512 [------>__________________________________________________________________] 9.29% 113 p/s535 / 5512 [------->_________________________________________________________________] 9.71% 113 p/s557 / 5512 [------->________________________________________________________________] 10.11% 113 p/s580 / 5512 [------->________________________________________________________________] 10.52% 113 p/s603 / 5512 [------->________________________________________________________________] 10.94% 113 p/s625 / 5512 [-------->_______________________________________________________________] 11.34% 113 p/s648 / 5512 [-------->_______________________________________________________________] 11.76% 113 p/s670 / 5512 [-------->_______________________________________________________________] 12.16% 113 p/s693 / 5512 [--------->______________________________________________________________] 12.57% 113 p/s716 / 5512 [--------->______________________________________________________________] 12.99% 113 p/s739 / 5512 [--------->______________________________________________________________] 13.41% 113 p/s761 / 5512 [--------->______________________________________________________________] 13.81% 113 p/s784 / 5512 [---------->_____________________________________________________________] 14.22% 113 p/s807 / 5512 [---------->_____________________________________________________________] 14.64% 113 p/s830 / 5512 [---------->_____________________________________________________________] 15.06% 113 p/s852 / 5512 [----------->____________________________________________________________] 15.46% 113 p/s875 / 5512 [----------->____________________________________________________________] 15.87% 113 p/s898 / 5512 [----------->____________________________________________________________] 16.29% 113 p/s920 / 5512 [------------>___________________________________________________________] 16.69% 113 p/s943 / 5512 [------------>___________________________________________________________] 17.11% 113 p/s965 / 5512 [------------>___________________________________________________________] 17.51% 113 p/s988 / 5512 [------------>___________________________________________________________] 17.92% 113 p/s1010 / 5512 [------------->_________________________________________________________] 18.32% 113 p/s1033 / 5512 [------------->_________________________________________________________] 18.74% 113 p/s1056 / 5512 [------------->_________________________________________________________] 19.16% 113 p/s1078 / 5512 [------------->_________________________________________________________] 19.56% 113 p/s1101 / 5512 [-------------->________________________________________________________] 19.97% 113 p/s1125 / 5512 [-------------->________________________________________________________] 20.41% 113 p/s1148 / 5512 [-------------->________________________________________________________] 20.83% 113 p/s1171 / 5512 [--------------->_______________________________________________________] 21.24% 113 p/s1194 / 5512 [--------------->_______________________________________________________] 21.66% 113 p/s1217 / 5512 [--------------->_______________________________________________________] 22.08% 113 p/s1240 / 5512 [--------------->_______________________________________________________] 22.50% 113 p/s1263 / 5512 [---------------->______________________________________________________] 22.91% 113 p/s1285 / 5512 [---------------->______________________________________________________] 23.31% 113 p/s1308 / 5512 [---------------->______________________________________________________] 23.73% 113 p/s1331 / 5512 [----------------->_____________________________________________________] 24.15% 113 p/s1354 / 5512 [----------------->_____________________________________________________] 24.56% 113 p/s1377 / 5512 [----------------->_____________________________________________________] 24.98% 113 p/s1400 / 5512 [------------------>____________________________________________________] 25.40% 113 p/s1423 / 5512 [------------------>____________________________________________________] 25.82% 113 p/s1446 / 5512 [------------------>____________________________________________________] 26.23% 114 p/s1469 / 5512 [------------------>____________________________________________________] 26.65% 114 p/s1492 / 5512 [------------------->___________________________________________________] 27.07% 114 p/s1515 / 5512 [------------------->___________________________________________________] 27.49% 114 p/s1538 / 5512 [------------------->___________________________________________________] 27.90% 114 p/s1561 / 5512 [-------------------->__________________________________________________] 28.32% 114 p/s1584 / 5512 [-------------------->__________________________________________________] 28.74% 114 p/s1607 / 5512 [-------------------->__________________________________________________] 29.15% 114 p/s1630 / 5512 [-------------------->__________________________________________________] 29.57% 114 p/s1653 / 5512 [--------------------->_________________________________________________] 29.99% 114 p/s1676 / 5512 [--------------------->_________________________________________________] 30.41% 114 p/s1699 / 5512 [--------------------->_________________________________________________] 30.82% 114 p/s1722 / 5512 [---------------------->________________________________________________] 31.24% 114 p/s1745 / 5512 [---------------------->________________________________________________] 31.66% 114 p/s1767 / 5512 [---------------------->________________________________________________] 32.06% 114 p/s1790 / 5512 [----------------------->_______________________________________________] 32.47% 114 p/s1813 / 5512 [----------------------->_______________________________________________] 32.89% 114 p/s1836 / 5512 [----------------------->_______________________________________________] 33.31% 114 p/s1859 / 5512 [----------------------->_______________________________________________] 33.73% 114 p/s1882 / 5512 [------------------------>______________________________________________] 34.14% 114 p/s1905 / 5512 [------------------------>______________________________________________] 34.56% 114 p/s1928 / 5512 [------------------------>______________________________________________] 34.98% 114 p/s1951 / 5512 [------------------------->_____________________________________________] 35.40% 114 p/s1974 / 5512 [------------------------->_____________________________________________] 35.81% 114 p/s1997 / 5512 [------------------------->_____________________________________________] 36.23% 114 p/s2019 / 5512 [-------------------------->____________________________________________] 36.63% 114 p/s2041 / 5512 [-------------------------->____________________________________________] 37.03% 114 p/s2064 / 5512 [-------------------------->____________________________________________] 37.45% 114 p/s2087 / 5512 [-------------------------->____________________________________________] 37.86% 114 p/s2110 / 5512 [--------------------------->___________________________________________] 38.28% 114 p/s2133 / 5512 [--------------------------->___________________________________________] 38.70% 114 p/s2156 / 5512 [--------------------------->___________________________________________] 39.11% 114 p/s2178 / 5512 [---------------------------->__________________________________________] 39.51% 114 p/s2201 / 5512 [---------------------------->__________________________________________] 39.93% 114 p/s2215 / 5512 [---------------------------->__________________________________________] 40.19% 114 p/s2224 / 5512 [---------------------------->__________________________________________] 40.35% 114 p/s2247 / 5512 [---------------------------->__________________________________________] 40.77% 112 p/s2270 / 5512 [----------------------------->_________________________________________] 41.18% 112 p/s2293 / 5512 [----------------------------->_________________________________________] 41.60% 112 p/s2315 / 5512 [----------------------------->_________________________________________] 42.00% 112 p/s2338 / 5512 [------------------------------>________________________________________] 42.42% 112 p/s2361 / 5512 [------------------------------>________________________________________] 42.83% 112 p/s2384 / 5512 [------------------------------>________________________________________] 43.25% 112 p/s2406 / 5512 [------------------------------>________________________________________] 43.65% 112 p/s2430 / 5512 [------------------------------->_______________________________________] 44.09% 112 p/s2452 / 5512 [------------------------------->_______________________________________] 44.48% 112 p/s2475 / 5512 [------------------------------->_______________________________________] 44.90% 112 p/s2498 / 5512 [-------------------------------->______________________________________] 45.32% 112 p/s2522 / 5512 [-------------------------------->______________________________________] 45.75% 112 p/s2544 / 5512 [-------------------------------->______________________________________] 46.15% 112 p/s2567 / 5512 [--------------------------------->_____________________________________] 46.57% 112 p/s2590 / 5512 [--------------------------------->_____________________________________] 46.99% 112 p/s2614 / 5512 [--------------------------------->_____________________________________] 47.42% 112 p/s2637 / 5512 [--------------------------------->_____________________________________] 47.84% 112 p/s2660 / 5512 [---------------------------------->____________________________________] 48.26% 113 p/s2683 / 5512 [---------------------------------->____________________________________] 48.68% 113 p/s2707 / 5512 [---------------------------------->____________________________________] 49.11% 113 p/s2730 / 5512 [----------------------------------->___________________________________] 49.53% 113 p/s2752 / 5512 [----------------------------------->___________________________________] 49.93% 113 p/s2776 / 5512 [----------------------------------->___________________________________] 50.36% 113 p/s2799 / 5512 [------------------------------------>__________________________________] 50.78% 113 p/s2822 / 5512 [------------------------------------>__________________________________] 51.20% 113 p/s2845 / 5512 [------------------------------------>__________________________________] 51.61% 113 p/s2868 / 5512 [------------------------------------>__________________________________] 52.03% 113 p/s2892 / 5512 [------------------------------------->_________________________________] 52.47% 113 p/s2915 / 5512 [------------------------------------->_________________________________] 52.88% 113 p/s2939 / 5512 [------------------------------------->_________________________________] 53.32% 113 p/s2962 / 5512 [-------------------------------------->________________________________] 53.74% 113 p/s2986 / 5512 [-------------------------------------->________________________________] 54.17% 113 p/s3010 / 5512 [-------------------------------------->________________________________] 54.61% 114 p/s3033 / 5512 [--------------------------------------->_______________________________] 55.03% 114 p/s3057 / 5512 [--------------------------------------->_______________________________] 55.46% 114 p/s3081 / 5512 [--------------------------------------->_______________________________] 55.90% 114 p/s3104 / 5512 [--------------------------------------->_______________________________] 56.31% 114 p/s3127 / 5512 [---------------------------------------->______________________________] 56.73% 114 p/s3151 / 5512 [---------------------------------------->______________________________] 57.17% 114 p/s3175 / 5512 [---------------------------------------->______________________________] 57.60% 114 p/s3197 / 5512 [----------------------------------------->_____________________________] 58.00% 114 p/s3221 / 5512 [----------------------------------------->_____________________________] 58.44% 114 p/s3244 / 5512 [----------------------------------------->_____________________________] 58.85% 114 p/s3268 / 5512 [------------------------------------------>____________________________] 59.29% 114 p/s3291 / 5512 [------------------------------------------>____________________________] 59.71% 115 p/s3315 / 5512 [------------------------------------------>____________________________] 60.14% 115 p/s3338 / 5512 [------------------------------------------>____________________________] 60.56% 115 p/s3361 / 5512 [------------------------------------------->___________________________] 60.98% 115 p/s3385 / 5512 [------------------------------------------->___________________________] 61.41% 115 p/s3408 / 5512 [------------------------------------------->___________________________] 61.83% 115 p/s3432 / 5512 [-------------------------------------------->__________________________] 62.26% 115 p/s3455 / 5512 [-------------------------------------------->__________________________] 62.68% 115 p/s3478 / 5512 [-------------------------------------------->__________________________] 63.10% 115 p/s3502 / 5512 [--------------------------------------------->_________________________] 63.53% 115 p/s3525 / 5512 [--------------------------------------------->_________________________] 63.95% 115 p/s3548 / 5512 [--------------------------------------------->_________________________] 64.37% 115 p/s3570 / 5512 [--------------------------------------------->_________________________] 64.77% 115 p/s3594 / 5512 [---------------------------------------------->________________________] 65.20% 115 p/s3617 / 5512 [---------------------------------------------->________________________] 65.62% 115 p/s3640 / 5512 [---------------------------------------------->________________________] 66.04% 115 p/s3663 / 5512 [----------------------------------------------->_______________________] 66.46% 115 p/s3686 / 5512 [----------------------------------------------->_______________________] 66.87% 115 p/s3709 / 5512 [----------------------------------------------->_______________________] 67.29% 115 p/s3732 / 5512 [------------------------------------------------>______________________] 67.71% 115 p/s3754 / 5512 [------------------------------------------------>______________________] 68.11% 115 p/s3777 / 5512 [------------------------------------------------>______________________] 68.52% 115 p/s3800 / 5512 [------------------------------------------------>______________________] 68.94% 115 p/s3823 / 5512 [------------------------------------------------->_____________________] 69.36% 115 p/s3846 / 5512 [------------------------------------------------->_____________________] 69.78% 115 p/s3869 / 5512 [------------------------------------------------->_____________________] 70.19% 115 p/s3892 / 5512 [-------------------------------------------------->____________________] 70.61% 115 p/s3915 / 5512 [-------------------------------------------------->____________________] 71.03% 115 p/s3937 / 5512 [-------------------------------------------------->____________________] 71.43% 115 p/s3960 / 5512 [--------------------------------------------------->___________________] 71.84% 115 p/s3983 / 5512 [--------------------------------------------------->___________________] 72.26% 115 p/s4006 / 5512 [--------------------------------------------------->___________________] 72.68% 115 p/s4028 / 5512 [--------------------------------------------------->___________________] 73.08% 115 p/s4051 / 5512 [---------------------------------------------------->__________________] 73.49% 115 p/s4074 / 5512 [---------------------------------------------------->__________________] 73.91% 115 p/s4095 / 5512 [---------------------------------------------------->__________________] 74.29% 115 p/s4118 / 5512 [----------------------------------------------------->_________________] 74.71% 115 p/s4141 / 5512 [----------------------------------------------------->_________________] 75.13% 115 p/s4164 / 5512 [----------------------------------------------------->_________________] 75.54% 115 p/s4186 / 5512 [----------------------------------------------------->_________________] 75.94% 114 p/s4209 / 5512 [------------------------------------------------------>________________] 76.36% 114 p/s4232 / 5512 [------------------------------------------------------>________________] 76.78% 114 p/s4255 / 5512 [------------------------------------------------------>________________] 77.20% 114 p/s4277 / 5512 [------------------------------------------------------->_______________] 77.59% 114 p/s4300 / 5512 [------------------------------------------------------->_______________] 78.01% 114 p/s4322 / 5512 [------------------------------------------------------->_______________] 78.41% 114 p/s4345 / 5512 [------------------------------------------------------->_______________] 78.83% 114 p/s4368 / 5512 [-------------------------------------------------------->______________] 79.25% 114 p/s4390 / 5512 [-------------------------------------------------------->______________] 79.64% 114 p/s4413 / 5512 [-------------------------------------------------------->______________] 80.06% 114 p/s4436 / 5512 [--------------------------------------------------------->_____________] 80.48% 114 p/s4459 / 5512 [--------------------------------------------------------->_____________] 80.90% 114 p/s4481 / 5512 [--------------------------------------------------------->_____________] 81.30% 114 p/s4503 / 5512 [---------------------------------------------------------->____________] 81.69% 114 p/s4525 / 5512 [---------------------------------------------------------->____________] 82.09% 114 p/s4548 / 5512 [---------------------------------------------------------->____________] 82.51% 114 p/s4571 / 5512 [---------------------------------------------------------->____________] 82.93% 114 p/s4593 / 5512 [----------------------------------------------------------->___________] 83.33% 114 p/s4616 / 5512 [----------------------------------------------------------->___________] 83.74% 114 p/s4639 / 5512 [----------------------------------------------------------->___________] 84.16% 114 p/s4662 / 5512 [------------------------------------------------------------>__________] 84.58% 114 p/s4684 / 5512 [------------------------------------------------------------>__________] 84.98% 114 p/s4707 / 5512 [------------------------------------------------------------>__________] 85.40% 114 p/s4729 / 5512 [------------------------------------------------------------>__________] 85.79% 114 p/s4752 / 5512 [------------------------------------------------------------->_________] 86.21% 114 p/s4775 / 5512 [------------------------------------------------------------->_________] 86.63% 114 p/s4797 / 5512 [------------------------------------------------------------->_________] 87.03% 114 p/s4820 / 5512 [-------------------------------------------------------------->________] 87.45% 114 p/s4843 / 5512 [-------------------------------------------------------------->________] 87.86% 114 p/s4865 / 5512 [-------------------------------------------------------------->________] 88.26% 114 p/s4888 / 5512 [-------------------------------------------------------------->________] 88.68% 114 p/s4910 / 5512 [--------------------------------------------------------------->_______] 89.08% 114 p/s4933 / 5512 [--------------------------------------------------------------->_______] 89.50% 114 p/s4956 / 5512 [--------------------------------------------------------------->_______] 89.91% 114 p/s4979 / 5512 [---------------------------------------------------------------->______] 90.33% 114 p/s5002 / 5512 [---------------------------------------------------------------->______] 90.75% 114 p/s5024 / 5512 [---------------------------------------------------------------->______] 91.15% 114 p/s5047 / 5512 [----------------------------------------------------------------->_____] 91.56% 114 p/s5070 / 5512 [----------------------------------------------------------------->_____] 91.98% 114 p/s5092 / 5512 [----------------------------------------------------------------->_____] 92.38% 114 p/s5115 / 5512 [----------------------------------------------------------------->_____] 92.80% 114 p/s5138 / 5512 [------------------------------------------------------------------>____] 93.21% 114 p/s5161 / 5512 [------------------------------------------------------------------>____] 93.63% 114 p/s5183 / 5512 [------------------------------------------------------------------>____] 94.03% 114 p/s5206 / 5512 [------------------------------------------------------------------->___] 94.45% 114 p/s5229 / 5512 [------------------------------------------------------------------->___] 94.87% 114 p/s5252 / 5512 [------------------------------------------------------------------->___] 95.28% 114 p/s5274 / 5512 [------------------------------------------------------------------->___] 95.68% 114 p/s5297 / 5512 [-------------------------------------------------------------------->__] 96.10% 114 p/s5320 / 5512 [-------------------------------------------------------------------->__] 96.52% 114 p/s5344 / 5512 [-------------------------------------------------------------------->__] 96.95% 114 p/s5367 / 5512 [--------------------------------------------------------------------->_] 97.37% 114 p/s5391 / 5512 [--------------------------------------------------------------------->_] 97.80% 114 p/s5414 / 5512 [--------------------------------------------------------------------->_] 98.22% 114 p/s5438 / 5512 [---------------------------------------------------------------------->] 98.66% 114 p/s5462 / 5512 [---------------------------------------------------------------------->] 99.09% 114 p/s5485 / 5512 [---------------------------------------------------------------------->] 99.51% 114 p/s5509 / 5512 [---------------------------------------------------------------------->] 99.95% 114 p/s5512 / 5512 [----------------------------------------------------------------------] 100.00% 114 p/s2026-05-20T20:05:25 - INFO: Parsing 5512 sonar sweeps from /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-20T20:08:49 - WARNING: Expected 400 beams, got 168, dropping sweep 5511
2026-05-20T20:08:49 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308"
2026-05-20T20:08:50 - INFO: DataPrep 0.14.6
2026-05-20T20:08:50 - INFO: Prepared data will be output to /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/processing/data
2026-05-20T20:08:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-20T20:08:50 - deployment - INFO: Detected P3D version: P3D_1
2026-05-20T20:08:50 - INFO: Recording GUID: ee7cdc54-5ea6-1a44-ffa9-cb969bc10308
2026-05-20T20:08:50 - INFO: Preparing sonar data...
2026-05-20T20:08:50 - INFO: /working/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/ee7cdc54-5ea6-1a44-ffa9-cb969bc10308/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-20T20:08:56 - INFO: Sonar epoch is 2026-04-20 20:18:27.329469+00:00 (1776716307329468750)
2026-05-20T20:08:56 - INFO: Creating sonar sensor alignment track...
2026-05-20T20:08:56 - INFO: Using sonar rotation of 0.541052 radians for wedge mask
2026-05-20T20:08:56 - INFO: Sensor speed of sound is 1500 m/s
2026-05-20T20:08:56 - INFO: Sensor range is 0.939120 m
2026-05-20T20:08:56 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-20T20:08:56 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-20T20:08:56 - INFO: Scaled range is 0.935669 m
2026-05-20T20:08:56 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-20T20:08:56 - INFO: Processing 5511 sweeps...

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2026-05-20T20:09:06 - INFO: Prepared sonar data in 15.5776 s
2026-05-20T20:09:06 - INFO: No IMU data found
2026-05-20T20:09:07 - INFO: DataPrep took 0:00:16.126976
2026-05-20T20:09:07 - INFO: Extracted sonar data in 0:04:29.940146
2026-05-20T20:09:07 - INFO: MSIP3D took 0:04:30.601537