2026-03-18T10:06:07 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:06:07 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-18T10:06:07 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:06:07 - INFO: Found TFD mission for SJ502795 Dep 5
2026-03-18T10:06:07 - INFO: Recording will be processed as MD
2026-03-18T10:06:07 - INFO: Copying assets JSON to output directory...
2026-03-18T10:06:07 - INFO: Preparing counter data...
2026-03-18T10:06:07 - INFO: Interpreting counter as imperial
2026-03-18T10:06:08 - INFO: Preparing size track from assets JSON...
2026-03-18T10:06:08 - INFO: Preparing shape track from assets JSON...
2026-03-18T10:06:08 - INFO: Preparing material track from assets JSON...
2026-03-18T10:06:08 - INFO: Prepared counter data in 0.0871 s
2026-03-18T10:06:08 - 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: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 3029
18 / 3029 [>___________________________________________________________________________] 0.59% ? p/s39 / 3029 [>___________________________________________________________________________] 1.29% ? p/s59 / 3029 [->__________________________________________________________________________] 1.95% ? p/s79 / 3029 [->________________________________________________________________________] 2.61% 102 p/s98 / 3029 [-->_______________________________________________________________________] 3.24% 102 p/s119 / 3029 [-->______________________________________________________________________] 3.93% 102 p/s137 / 3029 [--->_____________________________________________________________________] 4.52% 101 p/s157 / 3029 [--->_____________________________________________________________________] 5.18% 101 p/s179 / 3029 [---->____________________________________________________________________] 5.91% 101 p/s199 / 3029 [---->____________________________________________________________________] 6.57% 101 p/s219 / 3029 [----->___________________________________________________________________] 7.23% 101 p/s239 / 3029 [----->___________________________________________________________________] 7.89% 101 p/s260 / 3029 [------>__________________________________________________________________] 8.58% 101 p/s280 / 3029 [------>__________________________________________________________________] 9.24% 101 p/s298 / 3029 [------->_________________________________________________________________] 9.84% 101 p/s320 / 3029 [------->________________________________________________________________] 10.56% 101 p/s341 / 3029 [-------->_______________________________________________________________] 11.26% 101 p/s359 / 3029 [-------->_______________________________________________________________] 11.85% 101 p/s379 / 3029 [--------->______________________________________________________________] 12.51% 101 p/s398 / 3029 [--------->______________________________________________________________] 13.14% 101 p/s420 / 3029 [--------->______________________________________________________________] 13.87% 101 p/s438 / 3029 [---------->_____________________________________________________________] 14.46% 101 p/s458 / 3029 [---------->_____________________________________________________________] 15.12% 101 p/s478 / 3029 [----------->____________________________________________________________] 15.78% 101 p/s499 / 3029 [----------->____________________________________________________________] 16.47% 101 p/s518 / 3029 [------------>___________________________________________________________] 17.10% 101 p/s536 / 3029 [------------>___________________________________________________________] 17.70% 101 p/s556 / 3029 [------------->__________________________________________________________] 18.36% 101 p/s576 / 3029 [------------->__________________________________________________________] 19.02% 101 p/s595 / 3029 [-------------->_________________________________________________________] 19.64% 101 p/s615 / 3029 [-------------->_________________________________________________________] 20.30% 100 p/s635 / 3029 [--------------->________________________________________________________] 20.96% 100 p/s656 / 3029 [--------------->________________________________________________________] 21.66% 100 p/s677 / 3029 [---------------->_______________________________________________________] 22.35% 101 p/s696 / 3029 [---------------->_______________________________________________________] 22.98% 101 p/s717 / 3029 [----------------->______________________________________________________] 23.67% 101 p/s740 / 3029 [----------------->______________________________________________________] 24.43% 101 p/s761 / 3029 [------------------>_____________________________________________________] 25.12% 101 p/s783 / 3029 [------------------>_____________________________________________________] 25.85% 101 p/s804 / 3029 [------------------->____________________________________________________] 26.54% 101 p/s826 / 3029 [------------------->____________________________________________________] 27.27% 101 p/s847 / 3029 [-------------------->___________________________________________________] 27.96% 101 p/s867 / 3029 [-------------------->___________________________________________________] 28.62% 102 p/s888 / 3029 [--------------------->__________________________________________________] 29.32% 102 p/s911 / 3029 [--------------------->__________________________________________________] 30.08% 102 p/s931 / 3029 [---------------------->_________________________________________________] 30.74% 102 p/s951 / 3029 [---------------------->_________________________________________________] 31.40% 102 p/s972 / 3029 [----------------------->________________________________________________] 32.09% 102 p/s991 / 3029 [----------------------->________________________________________________] 32.72% 102 p/s1010 / 3029 [----------------------->_______________________________________________] 33.34% 102 p/s1030 / 3029 [------------------------>______________________________________________] 34.00% 102 p/s1050 / 3029 [------------------------>______________________________________________] 34.66% 102 p/s1072 / 3029 [------------------------->_____________________________________________] 35.39% 102 p/s1092 / 3029 [------------------------->_____________________________________________] 36.05% 102 p/s1114 / 3029 [-------------------------->____________________________________________] 36.78% 102 p/s1135 / 3029 [-------------------------->____________________________________________] 37.47% 102 p/s1156 / 3029 [--------------------------->___________________________________________] 38.16% 102 p/s1177 / 3029 [--------------------------->___________________________________________] 38.86% 102 p/s1200 / 3029 [---------------------------->__________________________________________] 39.62% 102 p/s1222 / 3029 [---------------------------->__________________________________________] 40.34% 102 p/s1245 / 3029 [----------------------------->_________________________________________] 41.10% 103 p/s1264 / 3029 [----------------------------->_________________________________________] 41.73% 103 p/s1287 / 3029 [------------------------------>________________________________________] 42.49% 103 p/s1307 / 3029 [------------------------------>________________________________________] 43.15% 103 p/s1328 / 3029 [------------------------------->_______________________________________] 43.84% 103 p/s1348 / 3029 [------------------------------->_______________________________________] 44.50% 103 p/s1369 / 3029 [-------------------------------->______________________________________] 45.20% 103 p/s1390 / 3029 [-------------------------------->______________________________________] 45.89% 103 p/s1412 / 3029 [--------------------------------->_____________________________________] 46.62% 103 p/s1432 / 3029 [--------------------------------->_____________________________________] 47.28% 103 p/s1451 / 3029 [---------------------------------->____________________________________] 47.90% 103 p/s1471 / 3029 [---------------------------------->____________________________________] 48.56% 103 p/s1492 / 3029 [---------------------------------->____________________________________] 49.26% 103 p/s1513 / 3029 [----------------------------------->___________________________________] 49.95% 103 p/s1534 / 3029 [----------------------------------->___________________________________] 50.64% 103 p/s1553 / 3029 [------------------------------------>__________________________________] 51.27% 103 p/s1575 / 3029 [------------------------------------>__________________________________] 52.00% 103 p/s1597 / 3029 [------------------------------------->_________________________________] 52.72% 103 p/s1616 / 3029 [------------------------------------->_________________________________] 53.35% 103 p/s1638 / 3029 [-------------------------------------->________________________________] 54.08% 103 p/s1660 / 3029 [-------------------------------------->________________________________] 54.80% 103 p/s1681 / 3029 [--------------------------------------->_______________________________] 55.50% 103 p/s1703 / 3029 [--------------------------------------->_______________________________] 56.22% 103 p/s1724 / 3029 [---------------------------------------->______________________________] 56.92% 103 p/s1742 / 3029 [---------------------------------------->______________________________] 57.51% 103 p/s1762 / 3029 [----------------------------------------->_____________________________] 58.17% 103 p/s1783 / 3029 [----------------------------------------->_____________________________] 58.86% 103 p/s1805 / 3029 [------------------------------------------>____________________________] 59.59% 103 p/s1827 / 3029 [------------------------------------------>____________________________] 60.32% 103 p/s1849 / 3029 [------------------------------------------->___________________________] 61.04% 103 p/s1868 / 3029 [------------------------------------------->___________________________] 61.67% 103 p/s1888 / 3029 [-------------------------------------------->__________________________] 62.33% 103 p/s1909 / 3029 [-------------------------------------------->__________________________] 63.02% 103 p/s1932 / 3029 [--------------------------------------------->_________________________] 63.78% 104 p/s1949 / 3029 [--------------------------------------------->_________________________] 64.34% 104 p/s1970 / 3029 [---------------------------------------------->________________________] 65.04% 104 p/s1991 / 3029 [---------------------------------------------->________________________] 65.73% 103 p/s2010 / 3029 [----------------------------------------------->_______________________] 66.36% 103 p/s2032 / 3029 [----------------------------------------------->_______________________] 67.08% 103 p/s2052 / 3029 [------------------------------------------------>______________________] 67.75% 103 p/s2074 / 3029 [------------------------------------------------>______________________] 68.47% 103 p/s2096 / 3029 [------------------------------------------------->_____________________] 69.20% 103 p/s2118 / 3029 [------------------------------------------------->_____________________] 69.92% 104 p/s2139 / 3029 [-------------------------------------------------->____________________] 70.62% 104 p/s2161 / 3029 [-------------------------------------------------->____________________] 71.34% 104 p/s2182 / 3029 [--------------------------------------------------->___________________] 72.04% 104 p/s2204 / 3029 [--------------------------------------------------->___________________] 72.76% 104 p/s2223 / 3029 [---------------------------------------------------->__________________] 73.39% 104 p/s2245 / 3029 [---------------------------------------------------->__________________] 74.12% 104 p/s2264 / 3029 [----------------------------------------------------->_________________] 74.74% 104 p/s2287 / 3029 [----------------------------------------------------->_________________] 75.50% 104 p/s2306 / 3029 [------------------------------------------------------>________________] 76.13% 104 p/s2327 / 3029 [------------------------------------------------------>________________] 76.82% 104 p/s2348 / 3029 [------------------------------------------------------->_______________] 77.52% 104 p/s2369 / 3029 [------------------------------------------------------->_______________] 78.21% 104 p/s2389 / 3029 [------------------------------------------------------->_______________] 78.87% 104 p/s2412 / 3029 [-------------------------------------------------------->______________] 79.63% 104 p/s2434 / 3029 [--------------------------------------------------------->_____________] 80.36% 104 p/s2454 / 3029 [--------------------------------------------------------->_____________] 81.02% 104 p/s2473 / 3029 [--------------------------------------------------------->_____________] 81.64% 104 p/s2490 / 3029 [---------------------------------------------------------->____________] 82.21% 103 p/s2512 / 3029 [---------------------------------------------------------->____________] 82.93% 103 p/s2535 / 3029 [----------------------------------------------------------->___________] 83.69% 103 p/s2556 / 3029 [----------------------------------------------------------->___________] 84.38% 104 p/s2575 / 3029 [------------------------------------------------------------>__________] 85.01% 104 p/s2595 / 3029 [------------------------------------------------------------>__________] 85.67% 104 p/s2617 / 3029 [------------------------------------------------------------->_________] 86.40% 104 p/s2637 / 3029 [------------------------------------------------------------->_________] 87.06% 104 p/s2657 / 3029 [-------------------------------------------------------------->________] 87.72% 104 p/s2679 / 3029 [-------------------------------------------------------------->________] 88.45% 104 p/s2701 / 3029 [--------------------------------------------------------------->_______] 89.17% 104 p/s2722 / 3029 [--------------------------------------------------------------->_______] 89.86% 104 p/s2744 / 3029 [---------------------------------------------------------------->______] 90.59% 104 p/s2764 / 3029 [---------------------------------------------------------------->______] 91.25% 104 p/s2785 / 3029 [----------------------------------------------------------------->_____] 91.94% 104 p/s2808 / 3029 [----------------------------------------------------------------->_____] 92.70% 104 p/s2830 / 3029 [------------------------------------------------------------------>____] 93.43% 104 p/s2850 / 3029 [------------------------------------------------------------------>____] 94.09% 104 p/s2870 / 3029 [------------------------------------------------------------------->___] 94.75% 104 p/s2891 / 3029 [------------------------------------------------------------------->___] 95.44% 104 p/s2912 / 3029 [-------------------------------------------------------------------->__] 96.14% 104 p/s2935 / 3029 [-------------------------------------------------------------------->__] 96.90% 104 p/s2956 / 3029 [--------------------------------------------------------------------->_] 97.59% 104 p/s2976 / 3029 [--------------------------------------------------------------------->_] 98.25% 104 p/s2994 / 3029 [---------------------------------------------------------------------->] 98.84% 104 p/s3016 / 3029 [---------------------------------------------------------------------->] 99.57% 104 p/s3029 / 3029 [----------------------------------------------------------------------] 100.00% 104 p/s2026-03-18T10:06:37 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:08:28 - 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"
2026-03-18T10:08:30 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:08:30 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-03-18T10:08:30 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:08:30 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:08:30 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-18T10:08:30 - INFO: Preparing sonar data...
2026-03-18T10:08:30 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:08:33 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-03-18T10:08:33 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:08:33 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-18T10:08:33 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:08:33 - INFO: Sonar range is 0.722400 m
2026-03-18T10:08:33 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:08:33 - INFO: Processing 3029 sweeps...

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2026-03-18T10:08:42 - INFO: Prepared sonar data in 12.0649 s
2026-03-18T10:08:42 - INFO: No IMU data found
2026-03-18T10:08:42 - INFO: DataPrep took 0:00:12.376251
2026-03-18T10:08:42 - INFO: Extracted sonar data in 0:02:34.830611
2026-03-18T10:08:43 - INFO: MSIP3D took 0:02:35.199908