2026-03-18T06:39:23 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:39:23 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-18T06:39:23 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:39:23 - INFO: Found TFD mission for SJ502795 Dep 5
2026-03-18T06:39:23 - INFO: Recording will be processed as MD
2026-03-18T06:39:23 - INFO: Copying assets JSON to output directory...
2026-03-18T06:39:23 - INFO: Preparing counter data...
2026-03-18T06:39:23 - INFO: Interpreting counter as imperial
2026-03-18T06:39:23 - INFO: Preparing size track from assets JSON...
2026-03-18T06:39:23 - INFO: Preparing shape track from assets JSON...
2026-03-18T06:39:23 - INFO: Preparing material track from assets JSON...
2026-03-18T06:39:23 - INFO: Prepared counter data in 0.0724 s
2026-03-18T06:39:23 - INFO: Extracting sonar data...
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/SJ502795_Dep_5.tfd
TFD path: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 3029
21 / 3029 [>___________________________________________________________________________] 0.69% ? p/s43 / 3029 [->__________________________________________________________________________] 1.42% ? p/s65 / 3029 [->__________________________________________________________________________] 2.15% ? p/s87 / 3029 [-->_______________________________________________________________________] 2.87% 110 p/s110 / 3029 [-->______________________________________________________________________] 3.63% 110 p/s133 / 3029 [--->_____________________________________________________________________] 4.39% 110 p/s156 / 3029 [--->_____________________________________________________________________] 5.15% 110 p/s179 / 3029 [---->____________________________________________________________________] 5.91% 110 p/s202 / 3029 [---->____________________________________________________________________] 6.67% 110 p/s225 / 3029 [----->___________________________________________________________________] 7.43% 111 p/s248 / 3029 [----->___________________________________________________________________] 8.19% 111 p/s269 / 3029 [------>__________________________________________________________________] 8.88% 111 p/s292 / 3029 [------->_________________________________________________________________] 9.64% 111 p/s314 / 3029 [------->________________________________________________________________] 10.37% 111 p/s337 / 3029 [-------->_______________________________________________________________] 11.13% 111 p/s360 / 3029 [-------->_______________________________________________________________] 11.89% 111 p/s383 / 3029 [--------->______________________________________________________________] 12.64% 111 p/s405 / 3029 [--------->______________________________________________________________] 13.37% 111 p/s428 / 3029 [---------->_____________________________________________________________] 14.13% 111 p/s450 / 3029 [---------->_____________________________________________________________] 14.86% 111 p/s473 / 3029 [----------->____________________________________________________________] 15.62% 111 p/s495 / 3029 [----------->____________________________________________________________] 16.34% 111 p/s517 / 3029 [------------>___________________________________________________________] 17.07% 111 p/s539 / 3029 [------------>___________________________________________________________] 17.79% 111 p/s562 / 3029 [------------->__________________________________________________________] 18.55% 111 p/s585 / 3029 [------------->__________________________________________________________] 19.31% 111 p/s607 / 3029 [-------------->_________________________________________________________] 20.04% 111 p/s629 / 3029 [-------------->_________________________________________________________] 20.77% 111 p/s652 / 3029 [--------------->________________________________________________________] 21.53% 111 p/s675 / 3029 [---------------->_______________________________________________________] 22.28% 111 p/s697 / 3029 [---------------->_______________________________________________________] 23.01% 111 p/s720 / 3029 [----------------->______________________________________________________] 23.77% 111 p/s743 / 3029 [----------------->______________________________________________________] 24.53% 111 p/s765 / 3029 [------------------>_____________________________________________________] 25.26% 111 p/s788 / 3029 [------------------>_____________________________________________________] 26.02% 111 p/s810 / 3029 [------------------->____________________________________________________] 26.74% 111 p/s833 / 3029 [------------------->____________________________________________________] 27.50% 112 p/s856 / 3029 [-------------------->___________________________________________________] 28.26% 112 p/s878 / 3029 [-------------------->___________________________________________________] 28.99% 112 p/s901 / 3029 [--------------------->__________________________________________________] 29.75% 112 p/s923 / 3029 [--------------------->__________________________________________________] 30.47% 112 p/s946 / 3029 [---------------------->_________________________________________________] 31.23% 112 p/s968 / 3029 [----------------------->________________________________________________] 31.96% 112 p/s991 / 3029 [----------------------->________________________________________________] 32.72% 112 p/s1014 / 3029 [----------------------->_______________________________________________] 33.48% 112 p/s1036 / 3029 [------------------------>______________________________________________] 34.20% 112 p/s1059 / 3029 [------------------------>______________________________________________] 34.96% 112 p/s1082 / 3029 [------------------------->_____________________________________________] 35.72% 112 p/s1105 / 3029 [------------------------->_____________________________________________] 36.48% 112 p/s1128 / 3029 [-------------------------->____________________________________________] 37.24% 112 p/s1151 / 3029 [-------------------------->____________________________________________] 38.00% 112 p/s1173 / 3029 [--------------------------->___________________________________________] 38.73% 112 p/s1196 / 3029 [---------------------------->__________________________________________] 39.48% 112 p/s1219 / 3029 [---------------------------->__________________________________________] 40.24% 112 p/s1241 / 3029 [----------------------------->_________________________________________] 40.97% 112 p/s1264 / 3029 [----------------------------->_________________________________________] 41.73% 112 p/s1287 / 3029 [------------------------------>________________________________________] 42.49% 112 p/s1310 / 3029 [------------------------------>________________________________________] 43.25% 112 p/s1333 / 3029 [------------------------------->_______________________________________] 44.01% 112 p/s1356 / 3029 [------------------------------->_______________________________________] 44.77% 112 p/s1378 / 3029 [-------------------------------->______________________________________] 45.49% 112 p/s1401 / 3029 [-------------------------------->______________________________________] 46.25% 112 p/s1423 / 3029 [--------------------------------->_____________________________________] 46.98% 112 p/s1446 / 3029 [--------------------------------->_____________________________________] 47.74% 112 p/s1468 / 3029 [---------------------------------->____________________________________] 48.46% 112 p/s1491 / 3029 [---------------------------------->____________________________________] 49.22% 112 p/s1514 / 3029 [----------------------------------->___________________________________] 49.98% 113 p/s1536 / 3029 [------------------------------------>__________________________________] 50.71% 113 p/s1559 / 3029 [------------------------------------>__________________________________] 51.47% 113 p/s1581 / 3029 [------------------------------------->_________________________________] 52.20% 112 p/s1604 / 3029 [------------------------------------->_________________________________] 52.95% 112 p/s1626 / 3029 [-------------------------------------->________________________________] 53.68% 112 p/s1649 / 3029 [-------------------------------------->________________________________] 54.44% 113 p/s1672 / 3029 [--------------------------------------->_______________________________] 55.20% 113 p/s1695 / 3029 [--------------------------------------->_______________________________] 55.96% 113 p/s1717 / 3029 [---------------------------------------->______________________________] 56.69% 113 p/s1740 / 3029 [---------------------------------------->______________________________] 57.44% 113 p/s1763 / 3029 [----------------------------------------->_____________________________] 58.20% 113 p/s1786 / 3029 [----------------------------------------->_____________________________] 58.96% 113 p/s1809 / 3029 [------------------------------------------>____________________________] 59.72% 113 p/s1832 / 3029 [------------------------------------------>____________________________] 60.48% 113 p/s1855 / 3029 [------------------------------------------->___________________________] 61.24% 113 p/s1878 / 3029 [-------------------------------------------->__________________________] 62.00% 113 p/s1900 / 3029 [-------------------------------------------->__________________________] 62.73% 113 p/s1923 / 3029 [--------------------------------------------->_________________________] 63.49% 113 p/s1946 / 3029 [--------------------------------------------->_________________________] 64.25% 113 p/s1969 / 3029 [---------------------------------------------->________________________] 65.00% 113 p/s1992 / 3029 [---------------------------------------------->________________________] 65.76% 113 p/s2014 / 3029 [----------------------------------------------->_______________________] 66.49% 113 p/s2037 / 3029 [----------------------------------------------->_______________________] 67.25% 113 p/s2059 / 3029 [------------------------------------------------>______________________] 67.98% 113 p/s2083 / 3029 [------------------------------------------------>______________________] 68.77% 113 p/s2105 / 3029 [------------------------------------------------->_____________________] 69.49% 113 p/s2128 / 3029 [------------------------------------------------->_____________________] 70.25% 113 p/s2151 / 3029 [-------------------------------------------------->____________________] 71.01% 113 p/s2174 / 3029 [-------------------------------------------------->____________________] 71.77% 113 p/s2196 / 3029 [--------------------------------------------------->___________________] 72.50% 113 p/s2219 / 3029 [---------------------------------------------------->__________________] 73.26% 113 p/s2242 / 3029 [---------------------------------------------------->__________________] 74.02% 113 p/s2264 / 3029 [----------------------------------------------------->_________________] 74.74% 113 p/s2287 / 3029 [----------------------------------------------------->_________________] 75.50% 113 p/s2307 / 3029 [------------------------------------------------------>________________] 76.16% 113 p/s2325 / 3029 [------------------------------------------------------>________________] 76.76% 112 p/s2348 / 3029 [------------------------------------------------------->_______________] 77.52% 112 p/s2370 / 3029 [------------------------------------------------------->_______________] 78.24% 112 p/s2393 / 3029 [-------------------------------------------------------->______________] 79.00% 112 p/s2417 / 3029 [-------------------------------------------------------->______________] 79.80% 112 p/s2439 / 3029 [--------------------------------------------------------->_____________] 80.52% 112 p/s2462 / 3029 [--------------------------------------------------------->_____________] 81.28% 113 p/s2485 / 3029 [---------------------------------------------------------->____________] 82.04% 113 p/s2508 / 3029 [---------------------------------------------------------->____________] 82.80% 113 p/s2531 / 3029 [----------------------------------------------------------->___________] 83.56% 113 p/s2553 / 3029 [----------------------------------------------------------->___________] 84.29% 113 p/s2576 / 3029 [------------------------------------------------------------>__________] 85.04% 113 p/s2599 / 3029 [------------------------------------------------------------>__________] 85.80% 113 p/s2621 / 3029 [------------------------------------------------------------->_________] 86.53% 113 p/s2644 / 3029 [------------------------------------------------------------->_________] 87.29% 113 p/s2667 / 3029 [-------------------------------------------------------------->________] 88.05% 113 p/s2689 / 3029 [--------------------------------------------------------------->_______] 88.78% 113 p/s2712 / 3029 [--------------------------------------------------------------->_______] 89.53% 113 p/s2735 / 3029 [---------------------------------------------------------------->______] 90.29% 113 p/s2757 / 3029 [---------------------------------------------------------------->______] 91.02% 113 p/s2779 / 3029 [----------------------------------------------------------------->_____] 91.75% 113 p/s2802 / 3029 [----------------------------------------------------------------->_____] 92.51% 113 p/s2824 / 3029 [------------------------------------------------------------------>____] 93.23% 113 p/s2847 / 3029 [------------------------------------------------------------------>____] 93.99% 113 p/s2870 / 3029 [------------------------------------------------------------------->___] 94.75% 113 p/s2892 / 3029 [------------------------------------------------------------------->___] 95.48% 113 p/s2913 / 3029 [-------------------------------------------------------------------->__] 96.17% 113 p/s2933 / 3029 [-------------------------------------------------------------------->__] 96.83% 112 p/s2956 / 3029 [--------------------------------------------------------------------->_] 97.59% 112 p/s2978 / 3029 [--------------------------------------------------------------------->_] 98.32% 112 p/s3000 / 3029 [---------------------------------------------------------------------->] 99.04% 112 p/s3023 / 3029 [---------------------------------------------------------------------->] 99.80% 112 p/s3029 / 3029 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-18T06:39:50 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:41:39 - 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/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928"
2026-03-18T06:41:40 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:41:40 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-03-18T06:41:40 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:41:40 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:41:40 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-18T06:41:40 - INFO: Preparing sonar data...
2026-03-18T06:41:40 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:41:43 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-03-18T06:41:43 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:41:43 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-18T06:41:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:41:43 - INFO: Sonar range is 0.722400 m
2026-03-18T06:41:43 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:41:43 - INFO: Processing 3029 sweeps...

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2026-03-18T06:41:51 - INFO: Prepared sonar data in 10.6686 s
2026-03-18T06:41:51 - INFO: No IMU data found
2026-03-18T06:41:51 - INFO: DataPrep took 0:00:10.959651
2026-03-18T06:41:51 - INFO: Extracted sonar data in 0:02:28.647681
2026-03-18T06:41:52 - INFO: MSIP3D took 0:02:28.971821