2026-03-24T08:59:22 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:59:22 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-24T08:59:22 - INFO: Found 10 TFD dictionary entries
2026-03-24T08:59:22 - INFO: Found TFD mission for SJ502795 Dep 5
2026-03-24T08:59:22 - INFO: Recording will be processed as MD
2026-03-24T08:59:22 - INFO: Copying assets JSON to output directory...
2026-03-24T08:59:22 - INFO: Preparing counter data...
2026-03-24T08:59:22 - INFO: Interpreting counter as imperial
2026-03-24T08:59:23 - INFO: Preparing size track from assets JSON...
2026-03-24T08:59:23 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:59:23 - INFO: Preparing material track from assets JSON...
2026-03-24T08:59:23 - INFO: Prepared counter data in 0.0733 s
2026-03-24T08:59:23 - 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: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 3029
21 / 3029 [>___________________________________________________________________________] 0.69% ? p/s44 / 3029 [->__________________________________________________________________________] 1.45% ? p/s65 / 3029 [->__________________________________________________________________________] 2.15% ? p/s87 / 3029 [-->_______________________________________________________________________] 2.87% 110 p/s110 / 3029 [-->______________________________________________________________________] 3.63% 110 p/s132 / 3029 [--->_____________________________________________________________________] 4.36% 110 p/s155 / 3029 [--->_____________________________________________________________________] 5.12% 110 p/s175 / 3029 [---->____________________________________________________________________] 5.78% 110 p/s198 / 3029 [---->____________________________________________________________________] 6.54% 110 p/s221 / 3029 [----->___________________________________________________________________] 7.30% 110 p/s242 / 3029 [----->___________________________________________________________________] 7.99% 110 p/s262 / 3029 [------>__________________________________________________________________] 8.65% 110 p/s284 / 3029 [------>__________________________________________________________________] 9.38% 110 p/s306 / 3029 [------->________________________________________________________________] 10.10% 110 p/s329 / 3029 [------->________________________________________________________________] 10.86% 110 p/s351 / 3029 [-------->_______________________________________________________________] 11.59% 110 p/s374 / 3029 [-------->_______________________________________________________________] 12.35% 110 p/s396 / 3029 [--------->______________________________________________________________] 13.07% 110 p/s419 / 3029 [--------->______________________________________________________________] 13.83% 110 p/s442 / 3029 [---------->_____________________________________________________________] 14.59% 110 p/s464 / 3029 [----------->____________________________________________________________] 15.32% 110 p/s486 / 3029 [----------->____________________________________________________________] 16.04% 110 p/s508 / 3029 [------------>___________________________________________________________] 16.77% 110 p/s530 / 3029 [------------>___________________________________________________________] 17.50% 110 p/s553 / 3029 [------------->__________________________________________________________] 18.26% 110 p/s575 / 3029 [------------->__________________________________________________________] 18.98% 110 p/s598 / 3029 [-------------->_________________________________________________________] 19.74% 110 p/s620 / 3029 [-------------->_________________________________________________________] 20.47% 110 p/s642 / 3029 [--------------->________________________________________________________] 21.20% 110 p/s665 / 3029 [--------------->________________________________________________________] 21.95% 110 p/s688 / 3029 [---------------->_______________________________________________________] 22.71% 111 p/s710 / 3029 [---------------->_______________________________________________________] 23.44% 111 p/s733 / 3029 [----------------->______________________________________________________] 24.20% 111 p/s755 / 3029 [----------------->______________________________________________________] 24.93% 111 p/s778 / 3029 [------------------>_____________________________________________________] 25.69% 111 p/s800 / 3029 [------------------->____________________________________________________] 26.41% 111 p/s817 / 3029 [------------------->____________________________________________________] 26.97% 110 p/s832 / 3029 [------------------->____________________________________________________] 27.47% 110 p/s847 / 3029 [-------------------->___________________________________________________] 27.96% 110 p/s861 / 3029 [-------------------->___________________________________________________] 28.43% 108 p/s875 / 3029 [-------------------->___________________________________________________] 28.89% 108 p/s890 / 3029 [--------------------->__________________________________________________] 29.38% 108 p/s905 / 3029 [--------------------->__________________________________________________] 29.88% 106 p/s917 / 3029 [--------------------->__________________________________________________] 30.27% 106 p/s930 / 3029 [---------------------->_________________________________________________] 30.70% 106 p/s943 / 3029 [---------------------->_________________________________________________] 31.13% 103 p/s959 / 3029 [---------------------->_________________________________________________] 31.66% 103 p/s973 / 3029 [----------------------->________________________________________________] 32.12% 103 p/s988 / 3029 [----------------------->________________________________________________] 32.62% 101 p/s1005 / 3029 [----------------------->_______________________________________________] 33.18% 101 p/s1024 / 3029 [------------------------>______________________________________________] 33.81% 101 p/s1039 / 3029 [------------------------>______________________________________________] 34.30% 100 p/s1053 / 3029 [------------------------>______________________________________________] 34.76% 100 p/s1067 / 3029 [------------------------->_____________________________________________] 35.23% 100 p/s1081 / 3029 [------------------------->______________________________________________] 35.69% 98 p/s1097 / 3029 [-------------------------->_____________________________________________] 36.22% 98 p/s1117 / 3029 [-------------------------->_____________________________________________] 36.88% 98 p/s1135 / 3029 [-------------------------->_____________________________________________] 37.47% 98 p/s1151 / 3029 [--------------------------->____________________________________________] 38.00% 98 p/s1164 / 3029 [--------------------------->____________________________________________] 38.43% 98 p/s1181 / 3029 [---------------------------->___________________________________________] 38.99% 96 p/s1195 / 3029 [---------------------------->___________________________________________] 39.45% 96 p/s1208 / 3029 [---------------------------->___________________________________________] 39.88% 96 p/s1221 / 3029 [----------------------------->__________________________________________] 40.31% 94 p/s1235 / 3029 [----------------------------->__________________________________________] 40.77% 94 p/s1249 / 3029 [----------------------------->__________________________________________] 41.23% 94 p/s1262 / 3029 [----------------------------->__________________________________________] 41.66% 93 p/s1276 / 3029 [------------------------------>_________________________________________] 42.13% 93 p/s1291 / 3029 [------------------------------>_________________________________________] 42.62% 93 p/s1304 / 3029 [------------------------------>_________________________________________] 43.05% 91 p/s1319 / 3029 [------------------------------->________________________________________] 43.55% 91 p/s1334 / 3029 [------------------------------->________________________________________] 44.04% 91 p/s1347 / 3029 [-------------------------------->_______________________________________] 44.47% 90 p/s1361 / 3029 [-------------------------------->_______________________________________] 44.93% 90 p/s1376 / 3029 [-------------------------------->_______________________________________] 45.43% 90 p/s1390 / 3029 [--------------------------------->______________________________________] 45.89% 89 p/s1403 / 3029 [--------------------------------->______________________________________] 46.32% 89 p/s1416 / 3029 [--------------------------------->______________________________________] 46.75% 89 p/s1430 / 3029 [--------------------------------->______________________________________] 47.21% 87 p/s1445 / 3029 [---------------------------------->_____________________________________] 47.71% 87 p/s1456 / 3029 [---------------------------------->_____________________________________] 48.07% 87 p/s1472 / 3029 [---------------------------------->_____________________________________] 48.60% 86 p/s1490 / 3029 [----------------------------------->____________________________________] 49.19% 86 p/s1504 / 3029 [----------------------------------->____________________________________] 49.65% 86 p/s1517 / 3029 [------------------------------------>___________________________________] 50.08% 85 p/s1532 / 3029 [------------------------------------>___________________________________] 50.58% 85 p/s1548 / 3029 [------------------------------------>___________________________________] 51.11% 85 p/s1563 / 3029 [------------------------------------->__________________________________] 51.60% 85 p/s1578 / 3029 [------------------------------------->__________________________________] 52.10% 85 p/s1593 / 3029 [------------------------------------->__________________________________] 52.59% 85 p/s1615 / 3029 [-------------------------------------->_________________________________] 53.32% 85 p/s1637 / 3029 [-------------------------------------->_________________________________] 54.04% 85 p/s1660 / 3029 [--------------------------------------->________________________________] 54.80% 85 p/s1683 / 3029 [---------------------------------------->_______________________________] 55.56% 87 p/s1705 / 3029 [---------------------------------------->_______________________________] 56.29% 87 p/s1728 / 3029 [----------------------------------------->______________________________] 57.05% 87 p/s1751 / 3029 [----------------------------------------->______________________________] 57.81% 89 p/s1774 / 3029 [------------------------------------------>_____________________________] 58.57% 89 p/s1796 / 3029 [------------------------------------------>_____________________________] 59.29% 89 p/s1820 / 3029 [------------------------------------------->____________________________] 60.09% 90 p/s1842 / 3029 [------------------------------------------->____________________________] 60.81% 90 p/s1865 / 3029 [-------------------------------------------->___________________________] 61.57% 90 p/s1888 / 3029 [-------------------------------------------->___________________________] 62.33% 92 p/s1910 / 3029 [--------------------------------------------->__________________________] 63.06% 92 p/s1933 / 3029 [--------------------------------------------->__________________________] 63.82% 92 p/s1956 / 3029 [---------------------------------------------->_________________________] 64.58% 93 p/s1979 / 3029 [----------------------------------------------->________________________] 65.34% 93 p/s2002 / 3029 [----------------------------------------------->________________________] 66.09% 93 p/s2024 / 3029 [------------------------------------------------>_______________________] 66.82% 94 p/s2046 / 3029 [------------------------------------------------>_______________________] 67.55% 94 p/s2068 / 3029 [------------------------------------------------->______________________] 68.27% 94 p/s2091 / 3029 [------------------------------------------------->______________________] 69.03% 96 p/s2114 / 3029 [-------------------------------------------------->_____________________] 69.79% 96 p/s2137 / 3029 [-------------------------------------------------->_____________________] 70.55% 96 p/s2159 / 3029 [--------------------------------------------------->____________________] 71.28% 97 p/s2182 / 3029 [--------------------------------------------------->____________________] 72.04% 97 p/s2204 / 3029 [---------------------------------------------------->___________________] 72.76% 97 p/s2227 / 3029 [---------------------------------------------------->___________________] 73.52% 98 p/s2249 / 3029 [----------------------------------------------------->__________________] 74.25% 98 p/s2272 / 3029 [------------------------------------------------------>_________________] 75.01% 98 p/s2294 / 3029 [------------------------------------------------------>_________________] 75.73% 99 p/s2317 / 3029 [------------------------------------------------------->________________] 76.49% 99 p/s2339 / 3029 [------------------------------------------------------->________________] 77.22% 99 p/s2359 / 3029 [-------------------------------------------------------->_______________] 77.88% 99 p/s2381 / 3029 [-------------------------------------------------------->_______________] 78.61% 99 p/s2404 / 3029 [--------------------------------------------------------->______________] 79.37% 99 p/s2427 / 3029 [-------------------------------------------------------->______________] 80.13% 100 p/s2449 / 3029 [--------------------------------------------------------->_____________] 80.85% 100 p/s2471 / 3029 [--------------------------------------------------------->_____________] 81.58% 100 p/s2493 / 3029 [---------------------------------------------------------->____________] 82.30% 101 p/s2516 / 3029 [---------------------------------------------------------->____________] 83.06% 101 p/s2539 / 3029 [----------------------------------------------------------->___________] 83.82% 101 p/s2562 / 3029 [------------------------------------------------------------>__________] 84.58% 102 p/s2584 / 3029 [------------------------------------------------------------>__________] 85.31% 102 p/s2607 / 3029 [------------------------------------------------------------->_________] 86.07% 102 p/s2630 / 3029 [------------------------------------------------------------->_________] 86.83% 102 p/s2652 / 3029 [-------------------------------------------------------------->________] 87.55% 102 p/s2675 / 3029 [-------------------------------------------------------------->________] 88.31% 102 p/s2697 / 3029 [--------------------------------------------------------------->_______] 89.04% 103 p/s2720 / 3029 [--------------------------------------------------------------->_______] 89.80% 103 p/s2743 / 3029 [---------------------------------------------------------------->______] 90.56% 103 p/s2765 / 3029 [---------------------------------------------------------------->______] 91.28% 104 p/s2788 / 3029 [----------------------------------------------------------------->_____] 92.04% 104 p/s2810 / 3029 [----------------------------------------------------------------->_____] 92.77% 104 p/s2833 / 3029 [------------------------------------------------------------------>____] 93.53% 104 p/s2856 / 3029 [------------------------------------------------------------------>____] 94.29% 104 p/s2878 / 3029 [------------------------------------------------------------------->___] 95.01% 104 p/s2900 / 3029 [------------------------------------------------------------------->___] 95.74% 105 p/s2923 / 3029 [-------------------------------------------------------------------->__] 96.50% 105 p/s2945 / 3029 [--------------------------------------------------------------------->_] 97.23% 105 p/s2968 / 3029 [--------------------------------------------------------------------->_] 97.99% 105 p/s2990 / 3029 [---------------------------------------------------------------------->] 98.71% 105 p/s3013 / 3029 [---------------------------------------------------------------------->] 99.47% 105 p/s3029 / 3029 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-24T08:59:53 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T09:01:43 - 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"
2026-03-24T09:01:44 - INFO: DataPrep 0.14.0rc3
2026-03-24T09:01:44 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-03-24T09:01:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T09:01:44 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T09:01:44 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-24T09:01:44 - INFO: Preparing sonar data...
2026-03-24T09:01:44 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T09:01:47 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-03-24T09:01:47 - INFO: Creating sonar sensor alignment track...
2026-03-24T09:01:47 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-24T09:01:47 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T09:01:47 - INFO: Sonar range is 0.722400 m
2026-03-24T09:01:47 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T09:01:47 - INFO: Processing 3029 sweeps...

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2026-03-24T09:01:56 - INFO: Prepared sonar data in 11.9875 s
2026-03-24T09:01:56 - INFO: No IMU data found
2026-03-24T09:01:57 - INFO: DataPrep took 0:00:12.302180
2026-03-24T09:01:57 - INFO: Extracted sonar data in 0:02:34.317404
2026-03-24T09:01:57 - INFO: MSIP3D took 0:02:34.652064