2026-03-30T18:55:49 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:55:49 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-30T18:55:49 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:55:49 - INFO: Found TFD mission for SJ502795 Dep 4
2026-03-30T18:55:49 - INFO: Recording will be processed as MD
2026-03-30T18:55:49 - INFO: Copying assets JSON to output directory...
2026-03-30T18:55:49 - INFO: Preparing counter data...
2026-03-30T18:55:49 - INFO: Interpreting counter as imperial
2026-03-30T18:55:49 - INFO: Preparing size track from assets JSON...
2026-03-30T18:55:49 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:55:49 - INFO: Preparing material track from assets JSON...
2026-03-30T18:55:49 - INFO: Prepared counter data in 0.0610 s
2026-03-30T18:55:49 - INFO: Extracting sonar data...
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/SJ502795_Dep_4.tfd
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s44 / 4634 [>___________________________________________________________________________] 0.95% ? p/s65 / 4634 [->__________________________________________________________________________] 1.40% ? p/s87 / 4634 [->________________________________________________________________________] 1.88% 108 p/s110 / 4634 [->_______________________________________________________________________] 2.37% 108 p/s131 / 4634 [-->______________________________________________________________________] 2.83% 108 p/s154 / 4634 [-->______________________________________________________________________] 3.32% 109 p/s176 / 4634 [-->______________________________________________________________________] 3.80% 109 p/s199 / 4634 [--->_____________________________________________________________________] 4.29% 109 p/s221 / 4634 [--->_____________________________________________________________________] 4.77% 109 p/s243 / 4634 [--->_____________________________________________________________________] 5.24% 109 p/s265 / 4634 [---->____________________________________________________________________] 5.72% 109 p/s288 / 4634 [---->____________________________________________________________________] 6.21% 109 p/s310 / 4634 [---->____________________________________________________________________] 6.69% 109 p/s332 / 4634 [----->___________________________________________________________________] 7.16% 109 p/s355 / 4634 [----->___________________________________________________________________] 7.66% 109 p/s377 / 4634 [----->___________________________________________________________________] 8.14% 109 p/s400 / 4634 [------>__________________________________________________________________] 8.63% 109 p/s422 / 4634 [------>__________________________________________________________________] 9.11% 109 p/s445 / 4634 [------->_________________________________________________________________] 9.60% 109 p/s468 / 4634 [------->________________________________________________________________] 10.10% 109 p/s491 / 4634 [------->________________________________________________________________] 10.60% 110 p/s513 / 4634 [------->________________________________________________________________] 11.07% 110 p/s536 / 4634 [-------->_______________________________________________________________] 11.57% 110 p/s558 / 4634 [-------->_______________________________________________________________] 12.04% 110 p/s581 / 4634 [--------->______________________________________________________________] 12.54% 110 p/s603 / 4634 [--------->______________________________________________________________] 13.01% 110 p/s625 / 4634 [--------->______________________________________________________________] 13.49% 110 p/s647 / 4634 [---------->_____________________________________________________________] 13.96% 110 p/s670 / 4634 [---------->_____________________________________________________________] 14.46% 110 p/s692 / 4634 [---------->_____________________________________________________________] 14.93% 110 p/s714 / 4634 [----------->____________________________________________________________] 15.41% 110 p/s736 / 4634 [----------->____________________________________________________________] 15.88% 110 p/s758 / 4634 [----------->____________________________________________________________] 16.36% 110 p/s780 / 4634 [------------>___________________________________________________________] 16.83% 110 p/s802 / 4634 [------------>___________________________________________________________] 17.31% 110 p/s824 / 4634 [------------>___________________________________________________________] 17.78% 110 p/s846 / 4634 [------------->__________________________________________________________] 18.26% 110 p/s868 / 4634 [------------->__________________________________________________________] 18.73% 110 p/s890 / 4634 [------------->__________________________________________________________] 19.21% 110 p/s912 / 4634 [-------------->_________________________________________________________] 19.68% 110 p/s934 / 4634 [-------------->_________________________________________________________] 20.16% 110 p/s956 / 4634 [-------------->_________________________________________________________] 20.63% 110 p/s979 / 4634 [--------------->________________________________________________________] 21.13% 110 p/s1001 / 4634 [--------------->_______________________________________________________] 21.60% 110 p/s1022 / 4634 [--------------->_______________________________________________________] 22.05% 110 p/s1044 / 4634 [--------------->_______________________________________________________] 22.53% 110 p/s1066 / 4634 [---------------->______________________________________________________] 23.00% 110 p/s1088 / 4634 [---------------->______________________________________________________] 23.48% 110 p/s1110 / 4634 [----------------->_____________________________________________________] 23.95% 110 p/s1132 / 4634 [----------------->_____________________________________________________] 24.43% 110 p/s1154 / 4634 [----------------->_____________________________________________________] 24.90% 110 p/s1176 / 4634 [------------------>____________________________________________________] 25.38% 110 p/s1199 / 4634 [------------------>____________________________________________________] 25.87% 110 p/s1221 / 4634 [------------------>____________________________________________________] 26.35% 110 p/s1243 / 4634 [------------------->___________________________________________________] 26.82% 110 p/s1265 / 4634 [------------------->___________________________________________________] 27.30% 110 p/s1288 / 4634 [------------------->___________________________________________________] 27.79% 110 p/s1310 / 4634 [-------------------->__________________________________________________] 28.27% 110 p/s1332 / 4634 [-------------------->__________________________________________________] 28.74% 110 p/s1354 / 4634 [-------------------->__________________________________________________] 29.22% 110 p/s1377 / 4634 [--------------------->_________________________________________________] 29.72% 110 p/s1399 / 4634 [--------------------->_________________________________________________] 30.19% 110 p/s1421 / 4634 [--------------------->_________________________________________________] 30.66% 110 p/s1444 / 4634 [---------------------->________________________________________________] 31.16% 110 p/s1466 / 4634 [---------------------->________________________________________________] 31.64% 110 p/s1489 / 4634 [---------------------->________________________________________________] 32.13% 110 p/s1511 / 4634 [----------------------->_______________________________________________] 32.61% 110 p/s1534 / 4634 [----------------------->_______________________________________________] 33.10% 110 p/s1556 / 4634 [----------------------->_______________________________________________] 33.58% 111 p/s1579 / 4634 [------------------------>______________________________________________] 34.07% 111 p/s1601 / 4634 [------------------------>______________________________________________] 34.55% 111 p/s1624 / 4634 [------------------------>______________________________________________] 35.05% 111 p/s1645 / 4634 [------------------------->_____________________________________________] 35.50% 111 p/s1667 / 4634 [------------------------->_____________________________________________] 35.97% 111 p/s1689 / 4634 [------------------------->_____________________________________________] 36.45% 111 p/s1710 / 4634 [-------------------------->____________________________________________] 36.90% 111 p/s1732 / 4634 [-------------------------->____________________________________________] 37.38% 111 p/s1754 / 4634 [-------------------------->____________________________________________] 37.85% 110 p/s1776 / 4634 [--------------------------->___________________________________________] 38.33% 110 p/s1799 / 4634 [--------------------------->___________________________________________] 38.82% 110 p/s1819 / 4634 [--------------------------->___________________________________________] 39.25% 110 p/s1842 / 4634 [---------------------------->__________________________________________] 39.75% 110 p/s1864 / 4634 [---------------------------->__________________________________________] 40.22% 110 p/s1886 / 4634 [---------------------------->__________________________________________] 40.70% 110 p/s1908 / 4634 [----------------------------->_________________________________________] 41.17% 110 p/s1930 / 4634 [----------------------------->_________________________________________] 41.65% 110 p/s1952 / 4634 [----------------------------->_________________________________________] 42.12% 110 p/s1974 / 4634 [------------------------------>________________________________________] 42.60% 110 p/s1996 / 4634 [------------------------------>________________________________________] 43.07% 110 p/s2018 / 4634 [------------------------------>________________________________________] 43.55% 110 p/s2039 / 4634 [------------------------------->_______________________________________] 44.00% 110 p/s2060 / 4634 [------------------------------->_______________________________________] 44.45% 110 p/s2082 / 4634 [------------------------------->_______________________________________] 44.93% 110 p/s2104 / 4634 [-------------------------------->______________________________________] 45.40% 110 p/s2126 / 4634 [-------------------------------->______________________________________] 45.88% 110 p/s2149 / 4634 [-------------------------------->______________________________________] 46.37% 110 p/s2171 / 4634 [--------------------------------->_____________________________________] 46.85% 110 p/s2188 / 4634 [--------------------------------->_____________________________________] 47.22% 110 p/s2201 / 4634 [--------------------------------->_____________________________________] 47.50% 109 p/s2223 / 4634 [---------------------------------->____________________________________] 47.97% 109 p/s2246 / 4634 [---------------------------------->____________________________________] 48.47% 109 p/s2268 / 4634 [---------------------------------->____________________________________] 48.94% 109 p/s2290 / 4634 [----------------------------------->___________________________________] 49.42% 109 p/s2312 / 4634 [----------------------------------->___________________________________] 49.89% 109 p/s2334 / 4634 [----------------------------------->___________________________________] 50.37% 109 p/s2356 / 4634 [------------------------------------>__________________________________] 50.84% 109 p/s2378 / 4634 [------------------------------------>__________________________________] 51.32% 109 p/s2400 / 4634 [------------------------------------>__________________________________] 51.79% 109 p/s2422 / 4634 [------------------------------------->_________________________________] 52.27% 109 p/s2445 / 4634 [------------------------------------->_________________________________] 52.76% 109 p/s2467 / 4634 [------------------------------------->_________________________________] 53.24% 109 p/s2489 / 4634 [-------------------------------------->________________________________] 53.71% 109 p/s2511 / 4634 [-------------------------------------->________________________________] 54.19% 109 p/s2533 / 4634 [-------------------------------------->________________________________] 54.66% 109 p/s2555 / 4634 [--------------------------------------->_______________________________] 55.14% 109 p/s2577 / 4634 [--------------------------------------->_______________________________] 55.61% 109 p/s2599 / 4634 [--------------------------------------->_______________________________] 56.09% 109 p/s2621 / 4634 [---------------------------------------->______________________________] 56.56% 109 p/s2643 / 4634 [---------------------------------------->______________________________] 57.03% 109 p/s2665 / 4634 [---------------------------------------->______________________________] 57.51% 109 p/s2687 / 4634 [----------------------------------------->_____________________________] 57.98% 109 p/s2709 / 4634 [----------------------------------------->_____________________________] 58.46% 109 p/s2732 / 4634 [----------------------------------------->_____________________________] 58.96% 109 p/s2754 / 4634 [------------------------------------------>____________________________] 59.43% 109 p/s2776 / 4634 [------------------------------------------>____________________________] 59.91% 109 p/s2799 / 4634 [------------------------------------------>____________________________] 60.40% 110 p/s2821 / 4634 [------------------------------------------->___________________________] 60.88% 110 p/s2844 / 4634 [------------------------------------------->___________________________] 61.37% 110 p/s2866 / 4634 [------------------------------------------->___________________________] 61.85% 110 p/s2888 / 4634 [-------------------------------------------->__________________________] 62.32% 110 p/s2910 / 4634 [-------------------------------------------->__________________________] 62.80% 110 p/s2932 / 4634 [-------------------------------------------->__________________________] 63.27% 110 p/s2954 / 4634 [--------------------------------------------->_________________________] 63.75% 110 p/s2976 / 4634 [--------------------------------------------->_________________________] 64.22% 110 p/s2999 / 4634 [--------------------------------------------->_________________________] 64.72% 110 p/s3021 / 4634 [---------------------------------------------->________________________] 65.19% 110 p/s3043 / 4634 [---------------------------------------------->________________________] 65.67% 110 p/s3065 / 4634 [---------------------------------------------->________________________] 66.14% 110 p/s3088 / 4634 [----------------------------------------------->_______________________] 66.64% 110 p/s3110 / 4634 [----------------------------------------------->_______________________] 67.11% 110 p/s3132 / 4634 [----------------------------------------------->_______________________] 67.59% 110 p/s3155 / 4634 [------------------------------------------------>______________________] 68.08% 110 p/s3177 / 4634 [------------------------------------------------>______________________] 68.56% 110 p/s3200 / 4634 [------------------------------------------------->_____________________] 69.05% 110 p/s3222 / 4634 [------------------------------------------------->_____________________] 69.53% 110 p/s3245 / 4634 [------------------------------------------------->_____________________] 70.03% 110 p/s3267 / 4634 [-------------------------------------------------->____________________] 70.50% 110 p/s3281 / 4634 [-------------------------------------------------->____________________] 70.80% 110 p/s3303 / 4634 [-------------------------------------------------->____________________] 71.28% 110 p/s3317 / 4634 [-------------------------------------------------->____________________] 71.58% 109 p/s3336 / 4634 [--------------------------------------------------->___________________] 71.99% 109 p/s3358 / 4634 [--------------------------------------------------->___________________] 72.46% 109 p/s3380 / 4634 [--------------------------------------------------->___________________] 72.94% 108 p/s3401 / 4634 [---------------------------------------------------->__________________] 73.39% 108 p/s3423 / 4634 [---------------------------------------------------->__________________] 73.87% 108 p/s3446 / 4634 [---------------------------------------------------->__________________] 74.36% 108 p/s3468 / 4634 [----------------------------------------------------->_________________] 74.84% 108 p/s3490 / 4634 [----------------------------------------------------->_________________] 75.31% 108 p/s3512 / 4634 [----------------------------------------------------->_________________] 75.79% 109 p/s3534 / 4634 [------------------------------------------------------>________________] 76.26% 109 p/s3557 / 4634 [------------------------------------------------------>________________] 76.76% 109 p/s3580 / 4634 [------------------------------------------------------>________________] 77.26% 109 p/s3602 / 4634 [------------------------------------------------------->_______________] 77.73% 109 p/s3624 / 4634 [------------------------------------------------------->_______________] 78.20% 109 p/s3647 / 4634 [------------------------------------------------------->_______________] 78.70% 109 p/s3668 / 4634 [-------------------------------------------------------->______________] 79.15% 109 p/s3690 / 4634 [-------------------------------------------------------->______________] 79.63% 109 p/s3713 / 4634 [-------------------------------------------------------->______________] 80.13% 109 p/s3735 / 4634 [--------------------------------------------------------->_____________] 80.60% 109 p/s3756 / 4634 [--------------------------------------------------------->_____________] 81.05% 109 p/s3779 / 4634 [--------------------------------------------------------->_____________] 81.55% 109 p/s3801 / 4634 [---------------------------------------------------------->____________] 82.02% 109 p/s3824 / 4634 [---------------------------------------------------------->____________] 82.52% 109 p/s3846 / 4634 [---------------------------------------------------------->____________] 83.00% 109 p/s3868 / 4634 [----------------------------------------------------------->___________] 83.47% 109 p/s3891 / 4634 [----------------------------------------------------------->___________] 83.97% 109 p/s3913 / 4634 [----------------------------------------------------------->___________] 84.44% 109 p/s3935 / 4634 [------------------------------------------------------------>__________] 84.92% 109 p/s3958 / 4634 [------------------------------------------------------------>__________] 85.41% 109 p/s3980 / 4634 [------------------------------------------------------------>__________] 85.89% 110 p/s4002 / 4634 [------------------------------------------------------------->_________] 86.36% 110 p/s4025 / 4634 [------------------------------------------------------------->_________] 86.86% 110 p/s4047 / 4634 [-------------------------------------------------------------->________] 87.33% 110 p/s4069 / 4634 [-------------------------------------------------------------->________] 87.81% 110 p/s4090 / 4634 [-------------------------------------------------------------->________] 88.26% 110 p/s4111 / 4634 [-------------------------------------------------------------->________] 88.71% 110 p/s4133 / 4634 [--------------------------------------------------------------->_______] 89.19% 110 p/s4155 / 4634 [--------------------------------------------------------------->_______] 89.66% 110 p/s4177 / 4634 [--------------------------------------------------------------->_______] 90.14% 110 p/s4199 / 4634 [---------------------------------------------------------------->______] 90.61% 110 p/s4221 / 4634 [---------------------------------------------------------------->______] 91.09% 110 p/s4242 / 4634 [---------------------------------------------------------------->______] 91.54% 110 p/s4265 / 4634 [----------------------------------------------------------------->_____] 92.04% 110 p/s4287 / 4634 [----------------------------------------------------------------->_____] 92.51% 110 p/s4309 / 4634 [------------------------------------------------------------------>____] 92.99% 110 p/s4331 / 4634 [------------------------------------------------------------------>____] 93.46% 110 p/s4354 / 4634 [------------------------------------------------------------------>____] 93.96% 110 p/s4376 / 4634 [------------------------------------------------------------------->___] 94.43% 110 p/s4398 / 4634 [------------------------------------------------------------------->___] 94.91% 110 p/s4421 / 4634 [------------------------------------------------------------------->___] 95.40% 110 p/s4443 / 4634 [-------------------------------------------------------------------->__] 95.88% 110 p/s4465 / 4634 [-------------------------------------------------------------------->__] 96.35% 110 p/s4487 / 4634 [-------------------------------------------------------------------->__] 96.83% 110 p/s4509 / 4634 [--------------------------------------------------------------------->_] 97.30% 110 p/s4531 / 4634 [--------------------------------------------------------------------->_] 97.78% 110 p/s4553 / 4634 [--------------------------------------------------------------------->_] 98.25% 110 p/s4575 / 4634 [---------------------------------------------------------------------->] 98.73% 110 p/s4598 / 4634 [---------------------------------------------------------------------->] 99.22% 110 p/s4620 / 4634 [---------------------------------------------------------------------->] 99.70% 110 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-30T18:56:32 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:59:24 - 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/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-03-30T18:59:26 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:59:26 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-03-30T18:59:26 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:59:26 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:59:26 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-03-30T18:59:26 - INFO: Preparing sonar data...
2026-03-30T18:59:26 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:59:30 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-03-30T18:59:30 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:59:30 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-30T18:59:30 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:59:30 - INFO: Sensor range is 0.939120 m
2026-03-30T18:59:30 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T18:59:30 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:59:30 - INFO: Scaled range is 0.921855 m
2026-03-30T18:59:30 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T18:59:30 - INFO: Processing 4634 sweeps...

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2026-03-30T18:59:42 - INFO: Prepared sonar data in 16.0813 s
2026-03-30T18:59:42 - INFO: No IMU data found
2026-03-30T18:59:42 - INFO: DataPrep took 0:00:16.581429
2026-03-30T18:59:42 - INFO: Extracted sonar data in 0:03:52.861405
2026-03-30T18:59:43 - INFO: MSIP3D took 0:03:53.344841