2026-03-30T18:56:43 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:56:43 - INFO: P3D files will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-30T18:56:43 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:56:43 - INFO: Found TFD mission for SJ502795 Dep 5
2026-03-30T18:56:43 - INFO: Recording will be processed as MD
2026-03-30T18:56:43 - INFO: Copying assets JSON to output directory...
2026-03-30T18:56:43 - INFO: Preparing counter data...
2026-03-30T18:56:43 - INFO: Interpreting counter as imperial
2026-03-30T18:56:44 - INFO: Preparing size track from assets JSON...
2026-03-30T18:56:44 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:56:44 - INFO: Preparing material track from assets JSON...
2026-03-30T18:56:44 - INFO: Prepared counter data in 0.0744 s
2026-03-30T18:56:44 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 3029
21 / 3029 [>___________________________________________________________________________] 0.69% ? p/s44 / 3029 [->__________________________________________________________________________] 1.45% ? p/s66 / 3029 [->__________________________________________________________________________] 2.18% ? p/s88 / 3029 [-->_______________________________________________________________________] 2.91% 112 p/s110 / 3029 [-->______________________________________________________________________] 3.63% 112 p/s133 / 3029 [--->_____________________________________________________________________] 4.39% 112 p/s156 / 3029 [--->_____________________________________________________________________] 5.15% 112 p/s179 / 3029 [---->____________________________________________________________________] 5.91% 112 p/s202 / 3029 [---->____________________________________________________________________] 6.67% 112 p/s225 / 3029 [----->___________________________________________________________________] 7.43% 112 p/s248 / 3029 [----->___________________________________________________________________] 8.19% 112 p/s269 / 3029 [------>__________________________________________________________________] 8.88% 112 p/s291 / 3029 [------->_________________________________________________________________] 9.61% 112 p/s313 / 3029 [------->________________________________________________________________] 10.33% 112 p/s336 / 3029 [------->________________________________________________________________] 11.09% 112 p/s358 / 3029 [-------->_______________________________________________________________] 11.82% 112 p/s381 / 3029 [--------->______________________________________________________________] 12.58% 112 p/s403 / 3029 [--------->______________________________________________________________] 13.30% 112 p/s426 / 3029 [---------->_____________________________________________________________] 14.06% 112 p/s448 / 3029 [---------->_____________________________________________________________] 14.79% 112 p/s470 / 3029 [----------->____________________________________________________________] 15.52% 112 p/s492 / 3029 [----------->____________________________________________________________] 16.24% 112 p/s514 / 3029 [------------>___________________________________________________________] 16.97% 112 p/s535 / 3029 [------------>___________________________________________________________] 17.66% 112 p/s558 / 3029 [------------->__________________________________________________________] 18.42% 112 p/s580 / 3029 [------------->__________________________________________________________] 19.15% 112 p/s602 / 3029 [-------------->_________________________________________________________] 19.87% 112 p/s625 / 3029 [-------------->_________________________________________________________] 20.63% 112 p/s647 / 3029 [--------------->________________________________________________________] 21.36% 112 p/s669 / 3029 [--------------->________________________________________________________] 22.09% 112 p/s692 / 3029 [---------------->_______________________________________________________] 22.85% 112 p/s714 / 3029 [---------------->_______________________________________________________] 23.57% 112 p/s736 / 3029 [----------------->______________________________________________________] 24.30% 112 p/s759 / 3029 [------------------>_____________________________________________________] 25.06% 112 p/s781 / 3029 [------------------>_____________________________________________________] 25.78% 112 p/s803 / 3029 [------------------->____________________________________________________] 26.51% 112 p/s826 / 3029 [------------------->____________________________________________________] 27.27% 112 p/s848 / 3029 [-------------------->___________________________________________________] 28.00% 112 p/s871 / 3029 [-------------------->___________________________________________________] 28.76% 112 p/s893 / 3029 [--------------------->__________________________________________________] 29.48% 112 p/s916 / 3029 [--------------------->__________________________________________________] 30.24% 112 p/s938 / 3029 [---------------------->_________________________________________________] 30.97% 112 p/s960 / 3029 [---------------------->_________________________________________________] 31.69% 112 p/s983 / 3029 [----------------------->________________________________________________] 32.45% 112 p/s1006 / 3029 [----------------------->_______________________________________________] 33.21% 112 p/s1028 / 3029 [------------------------>______________________________________________] 33.94% 112 p/s1050 / 3029 [------------------------>______________________________________________] 34.66% 112 p/s1073 / 3029 [------------------------->_____________________________________________] 35.42% 112 p/s1096 / 3029 [------------------------->_____________________________________________] 36.18% 112 p/s1118 / 3029 [-------------------------->____________________________________________] 36.91% 112 p/s1140 / 3029 [-------------------------->____________________________________________] 37.64% 112 p/s1163 / 3029 [--------------------------->___________________________________________] 38.40% 112 p/s1180 / 3029 [--------------------------->___________________________________________] 38.96% 112 p/s1202 / 3029 [---------------------------->__________________________________________] 39.68% 112 p/s1225 / 3029 [---------------------------->__________________________________________] 40.44% 111 p/s1247 / 3029 [----------------------------->_________________________________________] 41.17% 111 p/s1270 / 3029 [----------------------------->_________________________________________] 41.93% 111 p/s1292 / 3029 [------------------------------>________________________________________] 42.65% 111 p/s1315 / 3029 [------------------------------>________________________________________] 43.41% 111 p/s1338 / 3029 [------------------------------->_______________________________________] 44.17% 111 p/s1360 / 3029 [------------------------------->_______________________________________] 44.90% 111 p/s1383 / 3029 [-------------------------------->______________________________________] 45.66% 111 p/s1405 / 3029 [-------------------------------->______________________________________] 46.38% 111 p/s1427 / 3029 [--------------------------------->_____________________________________] 47.11% 111 p/s1450 / 3029 [--------------------------------->_____________________________________] 47.87% 111 p/s1472 / 3029 [---------------------------------->____________________________________] 48.60% 111 p/s1494 / 3029 [----------------------------------->___________________________________] 49.32% 112 p/s1517 / 3029 [----------------------------------->___________________________________] 50.08% 112 p/s1539 / 3029 [------------------------------------>__________________________________] 50.81% 112 p/s1561 / 3029 [------------------------------------>__________________________________] 51.54% 112 p/s1583 / 3029 [------------------------------------->_________________________________] 52.26% 112 p/s1606 / 3029 [------------------------------------->_________________________________] 53.02% 112 p/s1628 / 3029 [-------------------------------------->________________________________] 53.75% 112 p/s1650 / 3029 [-------------------------------------->________________________________] 54.47% 112 p/s1673 / 3029 [--------------------------------------->_______________________________] 55.23% 112 p/s1696 / 3029 [--------------------------------------->_______________________________] 55.99% 112 p/s1718 / 3029 [---------------------------------------->______________________________] 56.72% 112 p/s1740 / 3029 [---------------------------------------->______________________________] 57.44% 112 p/s1760 / 3029 [----------------------------------------->_____________________________] 58.10% 111 p/s1782 / 3029 [----------------------------------------->_____________________________] 58.83% 111 p/s1805 / 3029 [------------------------------------------>____________________________] 59.59% 111 p/s1827 / 3029 [------------------------------------------>____________________________] 60.32% 111 p/s1850 / 3029 [------------------------------------------->___________________________] 61.08% 111 p/s1873 / 3029 [------------------------------------------->___________________________] 61.84% 111 p/s1895 / 3029 [-------------------------------------------->__________________________] 62.56% 111 p/s1917 / 3029 [-------------------------------------------->__________________________] 63.29% 111 p/s1940 / 3029 [--------------------------------------------->_________________________] 64.05% 111 p/s1962 / 3029 [--------------------------------------------->_________________________] 64.77% 111 p/s1985 / 3029 [---------------------------------------------->________________________] 65.53% 111 p/s2008 / 3029 [----------------------------------------------->_______________________] 66.29% 111 p/s2030 / 3029 [----------------------------------------------->_______________________] 67.02% 112 p/s2052 / 3029 [------------------------------------------------>______________________] 67.75% 112 p/s2074 / 3029 [------------------------------------------------>______________________] 68.47% 112 p/s2097 / 3029 [------------------------------------------------->_____________________] 69.23% 112 p/s2119 / 3029 [------------------------------------------------->_____________________] 69.96% 112 p/s2142 / 3029 [-------------------------------------------------->____________________] 70.72% 112 p/s2164 / 3029 [-------------------------------------------------->____________________] 71.44% 112 p/s2187 / 3029 [--------------------------------------------------->___________________] 72.20% 112 p/s2209 / 3029 [--------------------------------------------------->___________________] 72.93% 112 p/s2231 / 3029 [---------------------------------------------------->__________________] 73.65% 112 p/s2254 / 3029 [---------------------------------------------------->__________________] 74.41% 112 p/s2276 / 3029 [----------------------------------------------------->_________________] 75.14% 112 p/s2298 / 3029 [----------------------------------------------------->_________________] 75.87% 112 p/s2321 / 3029 [------------------------------------------------------>________________] 76.63% 112 p/s2342 / 3029 [------------------------------------------------------>________________] 77.32% 112 p/s2365 / 3029 [------------------------------------------------------->_______________] 78.08% 112 p/s2388 / 3029 [------------------------------------------------------->_______________] 78.84% 112 p/s2410 / 3029 [-------------------------------------------------------->______________] 79.56% 112 p/s2433 / 3029 [--------------------------------------------------------->_____________] 80.32% 112 p/s2456 / 3029 [--------------------------------------------------------->_____________] 81.08% 112 p/s2479 / 3029 [---------------------------------------------------------->____________] 81.84% 112 p/s2501 / 3029 [---------------------------------------------------------->____________] 82.57% 112 p/s2524 / 3029 [----------------------------------------------------------->___________] 83.33% 112 p/s2546 / 3029 [----------------------------------------------------------->___________] 84.05% 112 p/s2569 / 3029 [------------------------------------------------------------>__________] 84.81% 112 p/s2591 / 3029 [------------------------------------------------------------>__________] 85.54% 112 p/s2614 / 3029 [------------------------------------------------------------->_________] 86.30% 112 p/s2637 / 3029 [------------------------------------------------------------->_________] 87.06% 112 p/s2659 / 3029 [-------------------------------------------------------------->________] 87.78% 112 p/s2682 / 3029 [-------------------------------------------------------------->________] 88.54% 112 p/s2704 / 3029 [--------------------------------------------------------------->_______] 89.27% 112 p/s2727 / 3029 [--------------------------------------------------------------->_______] 90.03% 112 p/s2749 / 3029 [---------------------------------------------------------------->______] 90.76% 112 p/s2771 / 3029 [---------------------------------------------------------------->______] 91.48% 112 p/s2794 / 3029 [----------------------------------------------------------------->_____] 92.24% 112 p/s2817 / 3029 [------------------------------------------------------------------>____] 93.00% 112 p/s2839 / 3029 [------------------------------------------------------------------>____] 93.73% 112 p/s2861 / 3029 [------------------------------------------------------------------->___] 94.45% 112 p/s2883 / 3029 [------------------------------------------------------------------->___] 95.18% 112 p/s2906 / 3029 [-------------------------------------------------------------------->__] 95.94% 112 p/s2928 / 3029 [-------------------------------------------------------------------->__] 96.67% 112 p/s2951 / 3029 [--------------------------------------------------------------------->_] 97.42% 112 p/s2973 / 3029 [--------------------------------------------------------------------->_] 98.15% 112 p/s2995 / 3029 [---------------------------------------------------------------------->] 98.88% 112 p/s3017 / 3029 [---------------------------------------------------------------------->] 99.60% 112 p/s3029 / 3029 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-30T18:57:11 - INFO: Parsing 3029 sonar sweeps from /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:59:00 - 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"
2026-03-30T18:59:02 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:59:02 - INFO: Prepared data will be output to /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/processing/data
2026-03-30T18:59:02 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:59:02 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:59:02 - INFO: Recording GUID: 96b03f96-ca3c-f9ba-5640-31f014d0a928
2026-03-30T18:59:02 - INFO: Preparing sonar data...
2026-03-30T18:59:02 - INFO: /working/96b03f96-ca3c-f9ba-5640-31f014d0a928/96b03f96-ca3c-f9ba-5640-31f014d0a928/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:59:04 - INFO: Sonar epoch is 2026-01-08 15:14:24.050111+00:00 (1767885264050110453)
2026-03-30T18:59:04 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:59:04 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-30T18:59:04 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:59:04 - INFO: Sensor range is 0.722400 m
2026-03-30T18:59:04 - INFO: Sensor micrometres per sample is 2400.000032
2026-03-30T18:59:04 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:59:04 - INFO: Scaled range is 0.709119 m
2026-03-30T18:59:04 - INFO: Scaled micrometres per sample is 2355.878681
2026-03-30T18:59:04 - INFO: Processing 3029 sweeps...

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2026-03-30T18:59:11 - INFO: Prepared sonar data in 9.5479 s
2026-03-30T18:59:11 - INFO: No IMU data found
2026-03-30T18:59:11 - INFO: DataPrep took 0:00:09.835895
2026-03-30T18:59:12 - INFO: Extracted sonar data in 0:02:28.123024
2026-03-30T18:59:12 - INFO: MSIP3D took 0:02:28.457819