2026-03-30T18:55:14 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:55:14 - INFO: P3D files will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285
2026-03-30T18:55:14 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:55:14 - INFO: Found TFD mission for SJ502795 Dep 12
2026-03-30T18:55:14 - INFO: Recording will be processed as MD
2026-03-30T18:55:14 - INFO: Copying assets JSON to output directory...
2026-03-30T18:55:14 - INFO: Preparing counter data...
2026-03-30T18:55:14 - INFO: Interpreting counter as imperial
2026-03-30T18:55:14 - INFO: Preparing size track from assets JSON...
2026-03-30T18:55:14 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:55:14 - INFO: Preparing material track from assets JSON...
2026-03-30T18:55:14 - INFO: Prepared counter data in 0.0360 s
2026-03-30T18:55:14 - INFO: Extracting sonar data...
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/SJ502795_Dep_12.tfd
TFD path: /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 1141
21 / 1141 [->__________________________________________________________________________] 1.84% ? p/s42 / 1141 [-->_________________________________________________________________________] 3.68% ? p/s58 / 1141 [--->________________________________________________________________________] 5.08% ? p/s80 / 1141 [----->_____________________________________________________________________] 7.01% 98 p/s102 / 1141 [------>___________________________________________________________________] 8.94% 98 p/s123 / 1141 [------->_________________________________________________________________] 10.78% 98 p/s146 / 1141 [--------->_______________________________________________________________] 12.80% 99 p/s168 / 1141 [---------->______________________________________________________________] 14.72% 99 p/s190 / 1141 [------------>____________________________________________________________] 16.65% 99 p/s212 / 1141 [------------->__________________________________________________________] 18.58% 100 p/s234 / 1141 [-------------->_________________________________________________________] 20.51% 100 p/s255 / 1141 [---------------->_______________________________________________________] 22.35% 100 p/s278 / 1141 [----------------->______________________________________________________] 24.36% 100 p/s300 / 1141 [------------------>_____________________________________________________] 26.29% 100 p/s322 / 1141 [-------------------->___________________________________________________] 28.22% 100 p/s344 / 1141 [--------------------->__________________________________________________] 30.15% 101 p/s366 / 1141 [----------------------->________________________________________________] 32.08% 101 p/s388 / 1141 [------------------------>_______________________________________________] 34.01% 101 p/s410 / 1141 [------------------------->______________________________________________] 35.93% 102 p/s431 / 1141 [--------------------------->____________________________________________] 37.77% 102 p/s453 / 1141 [---------------------------->___________________________________________] 39.70% 102 p/s476 / 1141 [------------------------------>_________________________________________] 41.72% 102 p/s497 / 1141 [------------------------------->________________________________________] 43.56% 102 p/s519 / 1141 [-------------------------------->_______________________________________] 45.49% 102 p/s541 / 1141 [---------------------------------->_____________________________________] 47.41% 103 p/s562 / 1141 [----------------------------------->____________________________________] 49.26% 103 p/s584 / 1141 [------------------------------------>___________________________________] 51.18% 103 p/s606 / 1141 [-------------------------------------->_________________________________] 53.11% 103 p/s628 / 1141 [--------------------------------------->________________________________] 55.04% 103 p/s650 / 1141 [----------------------------------------->______________________________] 56.97% 103 p/s672 / 1141 [------------------------------------------>_____________________________] 58.90% 103 p/s694 / 1141 [------------------------------------------->____________________________] 60.82% 103 p/s716 / 1141 [--------------------------------------------->__________________________] 62.75% 103 p/s738 / 1141 [---------------------------------------------->_________________________] 64.68% 104 p/s760 / 1141 [----------------------------------------------->________________________] 66.61% 104 p/s782 / 1141 [------------------------------------------------->______________________] 68.54% 104 p/s804 / 1141 [-------------------------------------------------->_____________________] 70.46% 104 p/s826 / 1141 [---------------------------------------------------->___________________] 72.39% 104 p/s847 / 1141 [----------------------------------------------------->__________________] 74.23% 104 p/s869 / 1141 [------------------------------------------------------>_________________] 76.16% 105 p/s891 / 1141 [-------------------------------------------------------->_______________] 78.09% 105 p/s913 / 1141 [--------------------------------------------------------->______________] 80.02% 105 p/s935 / 1141 [----------------------------------------------------------->____________] 81.95% 105 p/s957 / 1141 [------------------------------------------------------------>___________] 83.87% 105 p/s979 / 1141 [------------------------------------------------------------->__________] 85.80% 105 p/s1001 / 1141 [-------------------------------------------------------------->________] 87.73% 105 p/s1022 / 1141 [--------------------------------------------------------------->_______] 89.57% 105 p/s1044 / 1141 [---------------------------------------------------------------->______] 91.50% 105 p/s1066 / 1141 [------------------------------------------------------------------>____] 93.43% 105 p/s1087 / 1141 [------------------------------------------------------------------->___] 95.27% 105 p/s1109 / 1141 [--------------------------------------------------------------------->_] 97.20% 105 p/s1131 / 1141 [---------------------------------------------------------------------->] 99.12% 106 p/s1141 / 1141 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-30T18:55:25 - INFO: Parsing 1141 sonar sweeps from /working/0e64463b-6de9-f271-1b54-813be6f54285/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:56:06 - 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/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285"
2026-03-30T18:56:11 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:56:11 - INFO: Prepared data will be output to /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/processing/data
2026-03-30T18:56:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:56:11 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:56:11 - INFO: Recording GUID: 0e64463b-6de9-f271-1b54-813be6f54285
2026-03-30T18:56:11 - INFO: Preparing sonar data...
2026-03-30T18:56:11 - INFO: /working/0e64463b-6de9-f271-1b54-813be6f54285/0e64463b-6de9-f271-1b54-813be6f54285/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:56:12 - INFO: Sonar epoch is 2026-01-12 20:14:38.716807+00:00 (1768248878716807426)
2026-03-30T18:56:12 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:56:12 - INFO: Using sonar rotation of 0.122173 radians for wedge mask
2026-03-30T18:56:12 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:56:12 - INFO: Sensor range is 0.939120 m
2026-03-30T18:56:12 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T18:56:12 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:56:12 - INFO: Scaled range is 0.921855 m
2026-03-30T18:56:12 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T18:56:12 - INFO: Processing 1140 sweeps...

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2026-03-30T18:56:16 - INFO: Prepared sonar data in 4.9775 s
2026-03-30T18:56:16 - INFO: No IMU data found
2026-03-30T18:56:16 - INFO: DataPrep took 0:00:05.125272
2026-03-30T18:56:16 - INFO: Extracted sonar data in 0:01:02.020340
2026-03-30T18:56:16 - INFO: MSIP3D took 0:01:02.143820