2026-03-30T18:57:05 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:57:05 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-30T18:57:05 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:57:05 - INFO: Found TFD mission for SJ502795 Dep 7
2026-03-30T18:57:05 - INFO: Recording will be processed as MD
2026-03-30T18:57:05 - INFO: Copying assets JSON to output directory...
2026-03-30T18:57:05 - INFO: Preparing counter data...
2026-03-30T18:57:05 - INFO: Interpreting counter as imperial
2026-03-30T18:57:05 - INFO: Preparing size track from assets JSON...
2026-03-30T18:57:05 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:57:05 - INFO: Preparing material track from assets JSON...
2026-03-30T18:57:05 - INFO: Prepared counter data in 0.0472 s
2026-03-30T18:57:05 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1851
21 / 1851 [>___________________________________________________________________________] 1.13% ? p/s44 / 1851 [->__________________________________________________________________________] 2.38% ? p/s65 / 1851 [-->_________________________________________________________________________] 3.51% ? p/s87 / 1851 [--->______________________________________________________________________] 4.70% 110 p/s109 / 1851 [---->____________________________________________________________________] 5.89% 110 p/s130 / 1851 [----->___________________________________________________________________] 7.02% 110 p/s152 / 1851 [----->___________________________________________________________________] 8.21% 110 p/s174 / 1851 [------>__________________________________________________________________] 9.40% 110 p/s196 / 1851 [------->________________________________________________________________] 10.59% 110 p/s218 / 1851 [-------->_______________________________________________________________] 11.78% 110 p/s240 / 1851 [--------->______________________________________________________________] 12.97% 110 p/s262 / 1851 [---------->_____________________________________________________________] 14.15% 110 p/s283 / 1851 [----------->____________________________________________________________] 15.29% 110 p/s306 / 1851 [----------->____________________________________________________________] 16.53% 110 p/s328 / 1851 [------------>___________________________________________________________] 17.72% 110 p/s350 / 1851 [------------->__________________________________________________________] 18.91% 110 p/s373 / 1851 [-------------->_________________________________________________________] 20.15% 110 p/s395 / 1851 [--------------->________________________________________________________] 21.34% 110 p/s417 / 1851 [---------------->_______________________________________________________] 22.53% 110 p/s440 / 1851 [----------------->______________________________________________________] 23.77% 110 p/s462 / 1851 [----------------->______________________________________________________] 24.96% 110 p/s485 / 1851 [------------------>_____________________________________________________] 26.20% 110 p/s506 / 1851 [------------------->____________________________________________________] 27.34% 110 p/s528 / 1851 [-------------------->___________________________________________________] 28.53% 110 p/s550 / 1851 [--------------------->__________________________________________________] 29.71% 110 p/s572 / 1851 [---------------------->_________________________________________________] 30.90% 110 p/s595 / 1851 [----------------------->________________________________________________] 32.14% 110 p/s617 / 1851 [----------------------->________________________________________________] 33.33% 110 p/s639 / 1851 [------------------------>_______________________________________________] 34.52% 110 p/s661 / 1851 [------------------------->______________________________________________] 35.71% 110 p/s682 / 1851 [-------------------------->_____________________________________________] 36.84% 110 p/s704 / 1851 [--------------------------->____________________________________________] 38.03% 110 p/s726 / 1851 [---------------------------->___________________________________________] 39.22% 110 p/s748 / 1851 [----------------------------->__________________________________________] 40.41% 110 p/s770 / 1851 [----------------------------->__________________________________________] 41.60% 110 p/s791 / 1851 [------------------------------>_________________________________________] 42.73% 110 p/s813 / 1851 [------------------------------->________________________________________] 43.92% 110 p/s835 / 1851 [-------------------------------->_______________________________________] 45.11% 110 p/s857 / 1851 [--------------------------------->______________________________________] 46.30% 110 p/s879 / 1851 [---------------------------------->_____________________________________] 47.49% 110 p/s901 / 1851 [----------------------------------->____________________________________] 48.68% 110 p/s923 / 1851 [----------------------------------->____________________________________] 49.86% 110 p/s945 / 1851 [------------------------------------>___________________________________] 51.05% 110 p/s967 / 1851 [------------------------------------->__________________________________] 52.24% 110 p/s990 / 1851 [-------------------------------------->_________________________________] 53.48% 110 p/s1012 / 1851 [-------------------------------------->________________________________] 54.67% 110 p/s1033 / 1851 [--------------------------------------->_______________________________] 55.81% 110 p/s1056 / 1851 [---------------------------------------->______________________________] 57.05% 110 p/s1078 / 1851 [----------------------------------------->_____________________________] 58.24% 110 p/s1100 / 1851 [------------------------------------------>____________________________] 59.43% 110 p/s1122 / 1851 [------------------------------------------->___________________________] 60.62% 110 p/s1144 / 1851 [------------------------------------------->___________________________] 61.80% 110 p/s1167 / 1851 [-------------------------------------------->__________________________] 63.05% 110 p/s1189 / 1851 [--------------------------------------------->_________________________] 64.24% 110 p/s1211 / 1851 [---------------------------------------------->________________________] 65.42% 110 p/s1233 / 1851 [----------------------------------------------->_______________________] 66.61% 110 p/s1256 / 1851 [------------------------------------------------>______________________] 67.86% 110 p/s1278 / 1851 [------------------------------------------------->_____________________] 69.04% 110 p/s1301 / 1851 [------------------------------------------------->_____________________] 70.29% 110 p/s1323 / 1851 [-------------------------------------------------->____________________] 71.47% 110 p/s1345 / 1851 [--------------------------------------------------->___________________] 72.66% 110 p/s1367 / 1851 [---------------------------------------------------->__________________] 73.85% 110 p/s1389 / 1851 [----------------------------------------------------->_________________] 75.04% 110 p/s1412 / 1851 [------------------------------------------------------>________________] 76.28% 110 p/s1434 / 1851 [------------------------------------------------------->_______________] 77.47% 110 p/s1457 / 1851 [------------------------------------------------------->_______________] 78.71% 110 p/s1479 / 1851 [-------------------------------------------------------->______________] 79.90% 111 p/s1501 / 1851 [--------------------------------------------------------->_____________] 81.09% 111 p/s1523 / 1851 [---------------------------------------------------------->____________] 82.28% 111 p/s1546 / 1851 [----------------------------------------------------------->___________] 83.52% 111 p/s1568 / 1851 [------------------------------------------------------------>__________] 84.71% 111 p/s1590 / 1851 [------------------------------------------------------------>__________] 85.90% 111 p/s1612 / 1851 [------------------------------------------------------------->_________] 87.09% 111 p/s1635 / 1851 [-------------------------------------------------------------->________] 88.33% 111 p/s1657 / 1851 [--------------------------------------------------------------->_______] 89.52% 111 p/s1679 / 1851 [---------------------------------------------------------------->______] 90.71% 111 p/s1701 / 1851 [----------------------------------------------------------------->_____] 91.90% 111 p/s1722 / 1851 [------------------------------------------------------------------>____] 93.03% 111 p/s1744 / 1851 [------------------------------------------------------------------>____] 94.22% 110 p/s1766 / 1851 [------------------------------------------------------------------->___] 95.41% 110 p/s1787 / 1851 [-------------------------------------------------------------------->__] 96.54% 110 p/s1809 / 1851 [--------------------------------------------------------------------->_] 97.73% 110 p/s1831 / 1851 [---------------------------------------------------------------------->] 98.92% 110 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 112 p/s2026-03-30T18:57:22 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:58:30 - 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/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-03-30T18:58:31 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:58:31 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-03-30T18:58:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:58:31 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:58:31 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-03-30T18:58:31 - INFO: Preparing sonar data...
2026-03-30T18:58:31 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:58:33 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-03-30T18:58:33 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:58:33 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-03-30T18:58:33 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:58:33 - INFO: Sensor range is 0.722400 m
2026-03-30T18:58:33 - INFO: Sensor micrometres per sample is 2400.000032
2026-03-30T18:58:33 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:58:33 - INFO: Scaled range is 0.709119 m
2026-03-30T18:58:33 - INFO: Scaled micrometres per sample is 2355.878681
2026-03-30T18:58:33 - INFO: Processing 1851 sweeps...

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2026-03-30T18:58:38 - INFO: Prepared sonar data in 6.5430 s
2026-03-30T18:58:38 - INFO: No IMU data found
2026-03-30T18:58:38 - INFO: DataPrep took 0:00:06.747095
2026-03-30T18:58:38 - INFO: Extracted sonar data in 0:01:33.312482
2026-03-30T18:58:39 - INFO: MSIP3D took 0:01:33.504418