2026-03-30T19:00:16 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:00:16 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-03-30T19:00:16 - INFO: Found 10 TFD dictionary entries
2026-03-30T19:00:16 - INFO: Found TFD mission for SJ502795 Dep 10
2026-03-30T19:00:16 - INFO: Recording will be processed as MD
2026-03-30T19:00:16 - INFO: Copying assets JSON to output directory...
2026-03-30T19:00:16 - INFO: Preparing counter data...
2026-03-30T19:00:16 - INFO: Interpreting counter as imperial
2026-03-30T19:00:16 - INFO: Preparing size track from assets JSON...
2026-03-30T19:00:16 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:00:16 - INFO: Preparing material track from assets JSON...
2026-03-30T19:00:16 - INFO: Prepared counter data in 0.1081 s
2026-03-30T19:00:16 - INFO: Extracting sonar data...
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/SJ502795_Dep_10.tfd
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 3238
20 / 3238 [>___________________________________________________________________________] 0.62% ? p/s43 / 3238 [->__________________________________________________________________________] 1.33% ? p/s64 / 3238 [->__________________________________________________________________________] 1.98% ? p/s86 / 3238 [->________________________________________________________________________] 2.66% 110 p/s109 / 3238 [-->______________________________________________________________________] 3.37% 110 p/s131 / 3238 [-->______________________________________________________________________] 4.05% 110 p/s154 / 3238 [--->_____________________________________________________________________] 4.76% 110 p/s176 / 3238 [--->_____________________________________________________________________] 5.44% 110 p/s199 / 3238 [---->____________________________________________________________________] 6.15% 110 p/s222 / 3238 [----->___________________________________________________________________] 6.86% 110 p/s245 / 3238 [----->___________________________________________________________________] 7.57% 110 p/s266 / 3238 [----->___________________________________________________________________] 8.21% 110 p/s289 / 3238 [------>__________________________________________________________________] 8.93% 111 p/s311 / 3238 [------->_________________________________________________________________] 9.60% 111 p/s333 / 3238 [------->________________________________________________________________] 10.28% 111 p/s356 / 3238 [------->________________________________________________________________] 10.99% 111 p/s379 / 3238 [-------->_______________________________________________________________] 11.70% 111 p/s402 / 3238 [-------->_______________________________________________________________] 12.42% 111 p/s424 / 3238 [--------->______________________________________________________________] 13.09% 111 p/s447 / 3238 [--------->______________________________________________________________] 13.80% 111 p/s470 / 3238 [---------->_____________________________________________________________] 14.52% 111 p/s493 / 3238 [---------->_____________________________________________________________] 15.23% 111 p/s515 / 3238 [----------->____________________________________________________________] 15.90% 111 p/s537 / 3238 [----------->____________________________________________________________] 16.58% 111 p/s559 / 3238 [------------>___________________________________________________________] 17.26% 111 p/s582 / 3238 [------------>___________________________________________________________] 17.97% 111 p/s604 / 3238 [------------->__________________________________________________________] 18.65% 111 p/s627 / 3238 [------------->__________________________________________________________] 19.36% 111 p/s650 / 3238 [-------------->_________________________________________________________] 20.07% 111 p/s672 / 3238 [-------------->_________________________________________________________] 20.75% 111 p/s695 / 3238 [--------------->________________________________________________________] 21.46% 111 p/s718 / 3238 [--------------->________________________________________________________] 22.17% 111 p/s740 / 3238 [---------------->_______________________________________________________] 22.85% 111 p/s763 / 3238 [---------------->_______________________________________________________] 23.56% 111 p/s786 / 3238 [----------------->______________________________________________________] 24.27% 111 p/s809 / 3238 [----------------->______________________________________________________] 24.98% 111 p/s830 / 3238 [------------------>_____________________________________________________] 25.63% 111 p/s853 / 3238 [------------------>_____________________________________________________] 26.34% 111 p/s876 / 3238 [------------------->____________________________________________________] 27.05% 111 p/s898 / 3238 [------------------->____________________________________________________] 27.73% 112 p/s920 / 3238 [-------------------->___________________________________________________] 28.41% 112 p/s943 / 3238 [-------------------->___________________________________________________] 29.12% 112 p/s966 / 3238 [--------------------->__________________________________________________] 29.83% 112 p/s987 / 3238 [--------------------->__________________________________________________] 30.48% 112 p/s1010 / 3238 [---------------------->________________________________________________] 31.19% 112 p/s1032 / 3238 [---------------------->________________________________________________] 31.87% 112 p/s1055 / 3238 [----------------------->_______________________________________________] 32.58% 112 p/s1078 / 3238 [----------------------->_______________________________________________] 33.29% 112 p/s1100 / 3238 [------------------------>______________________________________________] 33.97% 112 p/s1123 / 3238 [------------------------>______________________________________________] 34.68% 112 p/s1146 / 3238 [------------------------->_____________________________________________] 35.39% 112 p/s1168 / 3238 [------------------------->_____________________________________________] 36.07% 112 p/s1191 / 3238 [-------------------------->____________________________________________] 36.78% 112 p/s1214 / 3238 [-------------------------->____________________________________________] 37.49% 112 p/s1236 / 3238 [--------------------------->___________________________________________] 38.17% 112 p/s1259 / 3238 [--------------------------->___________________________________________] 38.88% 112 p/s1282 / 3238 [---------------------------->__________________________________________] 39.59% 112 p/s1305 / 3238 [---------------------------->__________________________________________] 40.30% 112 p/s1328 / 3238 [----------------------------->_________________________________________] 41.01% 112 p/s1351 / 3238 [----------------------------->_________________________________________] 41.72% 112 p/s1373 / 3238 [------------------------------>________________________________________] 42.40% 112 p/s1396 / 3238 [------------------------------>________________________________________] 43.11% 112 p/s1418 / 3238 [------------------------------->_______________________________________] 43.79% 112 p/s1441 / 3238 [------------------------------->_______________________________________] 44.50% 112 p/s1464 / 3238 [-------------------------------->______________________________________] 45.21% 112 p/s1486 / 3238 [-------------------------------->______________________________________] 45.89% 112 p/s1509 / 3238 [--------------------------------->_____________________________________] 46.60% 112 p/s1532 / 3238 [--------------------------------->_____________________________________] 47.31% 112 p/s1554 / 3238 [---------------------------------->____________________________________] 47.99% 112 p/s1577 / 3238 [---------------------------------->____________________________________] 48.70% 112 p/s1600 / 3238 [----------------------------------->___________________________________] 49.41% 112 p/s1623 / 3238 [----------------------------------->___________________________________] 50.12% 112 p/s1646 / 3238 [------------------------------------>__________________________________] 50.83% 113 p/s1669 / 3238 [------------------------------------>__________________________________] 51.54% 113 p/s1691 / 3238 [------------------------------------->_________________________________] 52.22% 113 p/s1714 / 3238 [------------------------------------->_________________________________] 52.93% 113 p/s1737 / 3238 [-------------------------------------->________________________________] 53.64% 113 p/s1760 / 3238 [-------------------------------------->________________________________] 54.35% 113 p/s1783 / 3238 [--------------------------------------->_______________________________] 55.06% 113 p/s1805 / 3238 [--------------------------------------->_______________________________] 55.74% 113 p/s1828 / 3238 [---------------------------------------->______________________________] 56.45% 113 p/s1851 / 3238 [---------------------------------------->______________________________] 57.16% 113 p/s1874 / 3238 [----------------------------------------->_____________________________] 57.88% 113 p/s1897 / 3238 [----------------------------------------->_____________________________] 58.59% 113 p/s1919 / 3238 [------------------------------------------>____________________________] 59.26% 113 p/s1942 / 3238 [------------------------------------------>____________________________] 59.98% 113 p/s1965 / 3238 [------------------------------------------->___________________________] 60.69% 113 p/s1987 / 3238 [------------------------------------------->___________________________] 61.37% 113 p/s2010 / 3238 [-------------------------------------------->__________________________] 62.08% 113 p/s2033 / 3238 [-------------------------------------------->__________________________] 62.79% 113 p/s2055 / 3238 [--------------------------------------------->_________________________] 63.47% 113 p/s2078 / 3238 [--------------------------------------------->_________________________] 64.18% 113 p/s2101 / 3238 [---------------------------------------------->________________________] 64.89% 113 p/s2122 / 3238 [---------------------------------------------->________________________] 65.53% 113 p/s2145 / 3238 [----------------------------------------------->_______________________] 66.24% 113 p/s2168 / 3238 [----------------------------------------------->_______________________] 66.95% 113 p/s2191 / 3238 [------------------------------------------------>______________________] 67.67% 113 p/s2214 / 3238 [------------------------------------------------>______________________] 68.38% 113 p/s2236 / 3238 [------------------------------------------------->_____________________] 69.05% 113 p/s2259 / 3238 [------------------------------------------------->_____________________] 69.77% 113 p/s2281 / 3238 [-------------------------------------------------->____________________] 70.44% 113 p/s2304 / 3238 [-------------------------------------------------->____________________] 71.16% 113 p/s2326 / 3238 [--------------------------------------------------->___________________] 71.83% 113 p/s2349 / 3238 [--------------------------------------------------->___________________] 72.54% 113 p/s2372 / 3238 [---------------------------------------------------->__________________] 73.26% 113 p/s2394 / 3238 [---------------------------------------------------->__________________] 73.93% 113 p/s2417 / 3238 [---------------------------------------------------->__________________] 74.64% 113 p/s2439 / 3238 [----------------------------------------------------->_________________] 75.32% 113 p/s2462 / 3238 [----------------------------------------------------->_________________] 76.03% 113 p/s2485 / 3238 [------------------------------------------------------>________________] 76.74% 113 p/s2508 / 3238 [------------------------------------------------------>________________] 77.46% 113 p/s2530 / 3238 [------------------------------------------------------->_______________] 78.13% 113 p/s2553 / 3238 [------------------------------------------------------->_______________] 78.84% 113 p/s2576 / 3238 [-------------------------------------------------------->______________] 79.56% 113 p/s2599 / 3238 [-------------------------------------------------------->______________] 80.27% 113 p/s2622 / 3238 [--------------------------------------------------------->_____________] 80.98% 113 p/s2644 / 3238 [--------------------------------------------------------->_____________] 81.66% 113 p/s2667 / 3238 [---------------------------------------------------------->____________] 82.37% 113 p/s2690 / 3238 [---------------------------------------------------------->____________] 83.08% 113 p/s2713 / 3238 [----------------------------------------------------------->___________] 83.79% 113 p/s2736 / 3238 [----------------------------------------------------------->___________] 84.50% 113 p/s2758 / 3238 [------------------------------------------------------------>__________] 85.18% 113 p/s2781 / 3238 [------------------------------------------------------------>__________] 85.89% 113 p/s2804 / 3238 [------------------------------------------------------------->_________] 86.60% 113 p/s2827 / 3238 [------------------------------------------------------------->_________] 87.31% 113 p/s2849 / 3238 [-------------------------------------------------------------->________] 87.99% 113 p/s2872 / 3238 [-------------------------------------------------------------->________] 88.70% 113 p/s2895 / 3238 [--------------------------------------------------------------->_______] 89.41% 113 p/s2917 / 3238 [--------------------------------------------------------------->_______] 90.09% 113 p/s2940 / 3238 [---------------------------------------------------------------->______] 90.80% 113 p/s2963 / 3238 [---------------------------------------------------------------->______] 91.51% 113 p/s2986 / 3238 [----------------------------------------------------------------->_____] 92.22% 113 p/s3008 / 3238 [----------------------------------------------------------------->_____] 92.90% 113 p/s3030 / 3238 [------------------------------------------------------------------>____] 93.58% 113 p/s3053 / 3238 [------------------------------------------------------------------>____] 94.29% 113 p/s3076 / 3238 [------------------------------------------------------------------->___] 95.00% 113 p/s3099 / 3238 [------------------------------------------------------------------->___] 95.71% 113 p/s3122 / 3238 [-------------------------------------------------------------------->__] 96.42% 113 p/s3144 / 3238 [-------------------------------------------------------------------->__] 97.10% 113 p/s3167 / 3238 [--------------------------------------------------------------------->_] 97.81% 113 p/s3189 / 3238 [--------------------------------------------------------------------->_] 98.49% 113 p/s3212 / 3238 [---------------------------------------------------------------------->] 99.20% 113 p/s3235 / 3238 [---------------------------------------------------------------------->] 99.91% 113 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-30T19:00:45 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:02:41 - 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/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99"
2026-03-30T19:02:43 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:02:43 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-03-30T19:02:43 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:02:43 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:02:43 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-03-30T19:02:43 - INFO: Preparing sonar data...
2026-03-30T19:02:43 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:02:46 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-03-30T19:02:46 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:02:46 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-30T19:02:46 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:02:46 - INFO: Sensor range is 0.939120 m
2026-03-30T19:02:46 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:02:46 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:02:46 - INFO: Scaled range is 0.921855 m
2026-03-30T19:02:46 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:02:46 - INFO: Processing 3237 sweeps...

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100%|██████████| 3237/3237 [00:06<00:00, 495.96sw/s]
2026-03-30T19:02:54 - INFO: Prepared sonar data in 11.4049 s
2026-03-30T19:02:54 - INFO: No IMU data found
2026-03-30T19:02:55 - INFO: DataPrep took 0:00:11.775934
2026-03-30T19:02:55 - INFO: Extracted sonar data in 0:02:38.434970
2026-03-30T19:02:55 - INFO: MSIP3D took 0:02:38.830299