2026-03-30T18:58:39 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:58:39 - INFO: P3D files will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-30T18:58:39 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:58:39 - INFO: Found TFD mission for SJ502795 Dep 14
2026-03-30T18:58:39 - INFO: Recording will be processed as MD
2026-03-30T18:58:39 - INFO: Copying assets JSON to output directory...
2026-03-30T18:58:39 - INFO: Preparing counter data...
2026-03-30T18:58:39 - INFO: Interpreting counter as imperial
2026-03-30T18:58:39 - INFO: Preparing size track from assets JSON...
2026-03-30T18:58:39 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:58:39 - INFO: Preparing material track from assets JSON...
2026-03-30T18:58:39 - INFO: Prepared counter data in 0.0844 s
2026-03-30T18:58:39 - INFO: Extracting sonar data...
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/SJ502795_Dep_14.tfd
TFD path: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 2860
20 / 2860 [>___________________________________________________________________________] 0.70% ? p/s43 / 2860 [->__________________________________________________________________________] 1.50% ? p/s63 / 2860 [->__________________________________________________________________________] 2.20% ? p/s86 / 2860 [-->_______________________________________________________________________] 3.01% 110 p/s107 / 2860 [-->______________________________________________________________________] 3.74% 110 p/s129 / 2860 [--->_____________________________________________________________________] 4.51% 110 p/s151 / 2860 [--->_____________________________________________________________________] 5.28% 110 p/s174 / 2860 [---->____________________________________________________________________] 6.08% 110 p/s197 / 2860 [----->___________________________________________________________________] 6.89% 110 p/s219 / 2860 [----->___________________________________________________________________] 7.66% 110 p/s241 / 2860 [------>__________________________________________________________________] 8.43% 110 p/s263 / 2860 [------>__________________________________________________________________] 9.20% 110 p/s286 / 2860 [------->________________________________________________________________] 10.00% 110 p/s308 / 2860 [------->________________________________________________________________] 10.77% 110 p/s331 / 2860 [-------->_______________________________________________________________] 11.57% 110 p/s353 / 2860 [-------->_______________________________________________________________] 12.34% 110 p/s376 / 2860 [--------->______________________________________________________________] 13.15% 110 p/s398 / 2860 [---------->_____________________________________________________________] 13.92% 110 p/s421 / 2860 [---------->_____________________________________________________________] 14.72% 110 p/s443 / 2860 [----------->____________________________________________________________] 15.49% 110 p/s466 / 2860 [----------->____________________________________________________________] 16.29% 110 p/s488 / 2860 [------------>___________________________________________________________] 17.06% 111 p/s510 / 2860 [------------>___________________________________________________________] 17.83% 111 p/s532 / 2860 [------------->__________________________________________________________] 18.60% 111 p/s555 / 2860 [------------->__________________________________________________________] 19.41% 111 p/s576 / 2860 [-------------->_________________________________________________________] 20.14% 111 p/s598 / 2860 [--------------->________________________________________________________] 20.91% 111 p/s620 / 2860 [--------------->________________________________________________________] 21.68% 110 p/s643 / 2860 [---------------->_______________________________________________________] 22.48% 110 p/s665 / 2860 [---------------->_______________________________________________________] 23.25% 110 p/s688 / 2860 [----------------->______________________________________________________] 24.06% 111 p/s710 / 2860 [----------------->______________________________________________________] 24.83% 111 p/s733 / 2860 [------------------>_____________________________________________________] 25.63% 111 p/s745 / 2860 [------------------>_____________________________________________________] 26.05% 109 p/s753 / 2860 [------------------>_____________________________________________________] 26.33% 109 p/s775 / 2860 [------------------->____________________________________________________] 27.10% 109 p/s798 / 2860 [-------------------->___________________________________________________] 27.90% 109 p/s821 / 2860 [-------------------->___________________________________________________] 28.71% 109 p/s843 / 2860 [--------------------->__________________________________________________] 29.48% 109 p/s866 / 2860 [--------------------->__________________________________________________] 30.28% 109 p/s888 / 2860 [---------------------->_________________________________________________] 31.05% 109 p/s911 / 2860 [---------------------->_________________________________________________] 31.85% 109 p/s933 / 2860 [----------------------->________________________________________________] 32.62% 109 p/s956 / 2860 [------------------------>_______________________________________________] 33.43% 109 p/s978 / 2860 [------------------------>_______________________________________________] 34.20% 109 p/s1001 / 2860 [------------------------>______________________________________________] 35.00% 109 p/s1023 / 2860 [------------------------->_____________________________________________] 35.77% 110 p/s1046 / 2860 [------------------------->_____________________________________________] 36.57% 110 p/s1068 / 2860 [-------------------------->____________________________________________] 37.34% 110 p/s1091 / 2860 [--------------------------->___________________________________________] 38.15% 110 p/s1113 / 2860 [--------------------------->___________________________________________] 38.92% 110 p/s1136 / 2860 [---------------------------->__________________________________________] 39.72% 110 p/s1159 / 2860 [---------------------------->__________________________________________] 40.52% 110 p/s1182 / 2860 [----------------------------->_________________________________________] 41.33% 110 p/s1204 / 2860 [----------------------------->_________________________________________] 42.10% 110 p/s1227 / 2860 [------------------------------>________________________________________] 42.90% 110 p/s1249 / 2860 [------------------------------->_______________________________________] 43.67% 110 p/s1271 / 2860 [------------------------------->_______________________________________] 44.44% 110 p/s1294 / 2860 [-------------------------------->______________________________________] 45.24% 110 p/s1313 / 2860 [-------------------------------->______________________________________] 45.91% 110 p/s1324 / 2860 [-------------------------------->______________________________________] 46.29% 110 p/s1347 / 2860 [--------------------------------->_____________________________________] 47.10% 109 p/s1369 / 2860 [--------------------------------->_____________________________________] 47.87% 109 p/s1392 / 2860 [---------------------------------->____________________________________] 48.67% 109 p/s1415 / 2860 [----------------------------------->___________________________________] 49.48% 109 p/s1438 / 2860 [----------------------------------->___________________________________] 50.28% 109 p/s1461 / 2860 [------------------------------------>__________________________________] 51.08% 109 p/s1483 / 2860 [------------------------------------>__________________________________] 51.85% 109 p/s1506 / 2860 [------------------------------------->_________________________________] 52.66% 109 p/s1529 / 2860 [------------------------------------->_________________________________] 53.46% 109 p/s1552 / 2860 [-------------------------------------->________________________________] 54.27% 110 p/s1575 / 2860 [--------------------------------------->_______________________________] 55.07% 110 p/s1598 / 2860 [--------------------------------------->_______________________________] 55.87% 110 p/s1621 / 2860 [---------------------------------------->______________________________] 56.68% 110 p/s1644 / 2860 [---------------------------------------->______________________________] 57.48% 110 p/s1667 / 2860 [----------------------------------------->_____________________________] 58.29% 110 p/s1689 / 2860 [----------------------------------------->_____________________________] 59.06% 110 p/s1712 / 2860 [------------------------------------------>____________________________] 59.86% 110 p/s1735 / 2860 [------------------------------------------->___________________________] 60.66% 110 p/s1757 / 2860 [------------------------------------------->___________________________] 61.43% 111 p/s1780 / 2860 [-------------------------------------------->__________________________] 62.24% 111 p/s1803 / 2860 [-------------------------------------------->__________________________] 63.04% 111 p/s1825 / 2860 [--------------------------------------------->_________________________] 63.81% 111 p/s1848 / 2860 [--------------------------------------------->_________________________] 64.62% 111 p/s1871 / 2860 [---------------------------------------------->________________________] 65.42% 111 p/s1891 / 2860 [---------------------------------------------->________________________] 66.12% 111 p/s1914 / 2860 [----------------------------------------------->_______________________] 66.92% 111 p/s1937 / 2860 [------------------------------------------------>______________________] 67.73% 111 p/s1959 / 2860 [------------------------------------------------>______________________] 68.50% 111 p/s1982 / 2860 [------------------------------------------------->_____________________] 69.30% 111 p/s2005 / 2860 [------------------------------------------------->_____________________] 70.10% 111 p/s2027 / 2860 [-------------------------------------------------->____________________] 70.87% 111 p/s2049 / 2860 [-------------------------------------------------->____________________] 71.64% 111 p/s2071 / 2860 [--------------------------------------------------->___________________] 72.41% 111 p/s2094 / 2860 [--------------------------------------------------->___________________] 73.22% 111 p/s2116 / 2860 [---------------------------------------------------->__________________] 73.99% 111 p/s2139 / 2860 [----------------------------------------------------->_________________] 74.79% 111 p/s2162 / 2860 [----------------------------------------------------->_________________] 75.59% 111 p/s2184 / 2860 [------------------------------------------------------>________________] 76.36% 111 p/s2207 / 2860 [------------------------------------------------------>________________] 77.17% 111 p/s2229 / 2860 [------------------------------------------------------->_______________] 77.94% 111 p/s2252 / 2860 [------------------------------------------------------->_______________] 78.74% 111 p/s2274 / 2860 [-------------------------------------------------------->______________] 79.51% 111 p/s2297 / 2860 [--------------------------------------------------------->_____________] 80.31% 111 p/s2319 / 2860 [--------------------------------------------------------->_____________] 81.08% 111 p/s2342 / 2860 [---------------------------------------------------------->____________] 81.89% 111 p/s2365 / 2860 [---------------------------------------------------------->____________] 82.69% 111 p/s2387 / 2860 [----------------------------------------------------------->___________] 83.46% 111 p/s2410 / 2860 [----------------------------------------------------------->___________] 84.27% 111 p/s2432 / 2860 [------------------------------------------------------------>__________] 85.03% 111 p/s2454 / 2860 [------------------------------------------------------------>__________] 85.80% 111 p/s2474 / 2860 [------------------------------------------------------------->_________] 86.50% 111 p/s2496 / 2860 [------------------------------------------------------------->_________] 87.27% 111 p/s2519 / 2860 [-------------------------------------------------------------->________] 88.08% 111 p/s2541 / 2860 [--------------------------------------------------------------->_______] 88.85% 111 p/s2563 / 2860 [--------------------------------------------------------------->_______] 89.62% 111 p/s2586 / 2860 [---------------------------------------------------------------->______] 90.42% 111 p/s2608 / 2860 [---------------------------------------------------------------->______] 91.19% 111 p/s2631 / 2860 [----------------------------------------------------------------->_____] 91.99% 111 p/s2652 / 2860 [----------------------------------------------------------------->_____] 92.73% 111 p/s2675 / 2860 [------------------------------------------------------------------>____] 93.53% 111 p/s2697 / 2860 [------------------------------------------------------------------>____] 94.30% 111 p/s2720 / 2860 [------------------------------------------------------------------->___] 95.10% 111 p/s2742 / 2860 [-------------------------------------------------------------------->__] 95.87% 111 p/s2765 / 2860 [-------------------------------------------------------------------->__] 96.68% 111 p/s2786 / 2860 [--------------------------------------------------------------------->_] 97.41% 111 p/s2807 / 2860 [--------------------------------------------------------------------->_] 98.15% 111 p/s2830 / 2860 [---------------------------------------------------------------------->] 98.95% 111 p/s2852 / 2860 [---------------------------------------------------------------------->] 99.72% 111 p/s2860 / 2860 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-30T18:59:05 - INFO: Parsing 2860 sonar sweeps from /working/0280e857-c05b-5c85-04b8-18aa8b09a245/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:00:49 - 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/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245"
2026-03-30T19:00:51 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:00:51 - INFO: Prepared data will be output to /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/processing/data
2026-03-30T19:00:51 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:00:51 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:00:51 - INFO: Recording GUID: 0280e857-c05b-5c85-04b8-18aa8b09a245
2026-03-30T19:00:51 - INFO: Preparing sonar data...
2026-03-30T19:00:51 - INFO: /working/0280e857-c05b-5c85-04b8-18aa8b09a245/0280e857-c05b-5c85-04b8-18aa8b09a245/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:00:54 - INFO: Sonar epoch is 2026-01-13 18:41:41.182331+00:00 (1768329701182330931)
2026-03-30T19:00:54 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:00:54 - INFO: Using sonar rotation of 0.087266 radians for wedge mask
2026-03-30T19:00:54 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:00:54 - INFO: Sensor range is 0.939120 m
2026-03-30T19:00:54 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:00:54 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:00:54 - INFO: Scaled range is 0.921855 m
2026-03-30T19:00:54 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:00:54 - INFO: Processing 2860 sweeps...

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2026-03-30T19:01:03 - INFO: Prepared sonar data in 12.2740 s
2026-03-30T19:01:03 - INFO: No IMU data found
2026-03-30T19:01:04 - INFO: DataPrep took 0:00:12.643410
2026-03-30T19:01:04 - INFO: Extracted sonar data in 0:02:24.246334
2026-03-30T19:01:04 - INFO: MSIP3D took 0:02:24.588830