2026-03-30T19:00:10 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:00:10 - INFO: P3D files will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-30T19:00:10 - INFO: Found 10 TFD dictionary entries
2026-03-30T19:00:10 - INFO: Found TFD mission for SJ502828 DEP 507
2026-03-30T19:00:10 - INFO: Recording will be processed as MD
2026-03-30T19:00:10 - INFO: Copying assets JSON to output directory...
2026-03-30T19:00:10 - INFO: Preparing counter data...
2026-03-30T19:00:10 - INFO: Interpreting counter as imperial
2026-03-30T19:00:10 - INFO: Preparing size track from assets JSON...
2026-03-30T19:00:10 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:00:10 - INFO: Preparing material track from assets JSON...
2026-03-30T19:00:10 - INFO: Prepared counter data in 0.1692 s
2026-03-30T19:00:10 - INFO: Extracting sonar data...
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/SJ502828_DEP_507.tfd
TFD path: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215974206753356
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215974206753347
Getting track SONAR
Number of frames: 4223
22 / 4223 [>___________________________________________________________________________] 0.52% ? p/s45 / 4223 [>___________________________________________________________________________] 1.07% ? p/s67 / 4223 [->__________________________________________________________________________] 1.59% ? p/s90 / 4223 [->________________________________________________________________________] 2.13% 113 p/s113 / 4223 [->_______________________________________________________________________] 2.68% 113 p/s136 / 4223 [-->______________________________________________________________________] 3.22% 113 p/s158 / 4223 [-->______________________________________________________________________] 3.74% 113 p/s181 / 4223 [--->_____________________________________________________________________] 4.29% 113 p/s205 / 4223 [--->_____________________________________________________________________] 4.85% 113 p/s228 / 4223 [--->_____________________________________________________________________] 5.40% 114 p/s250 / 4223 [---->____________________________________________________________________] 5.92% 114 p/s273 / 4223 [---->____________________________________________________________________] 6.46% 114 p/s296 / 4223 [----->___________________________________________________________________] 7.01% 114 p/s319 / 4223 [----->___________________________________________________________________] 7.55% 114 p/s342 / 4223 [----->___________________________________________________________________] 8.10% 114 p/s366 / 4223 [------>__________________________________________________________________] 8.67% 114 p/s388 / 4223 [------>__________________________________________________________________] 9.19% 114 p/s411 / 4223 [------->_________________________________________________________________] 9.73% 114 p/s434 / 4223 [------->________________________________________________________________] 10.28% 114 p/s457 / 4223 [------->________________________________________________________________] 10.82% 114 p/s481 / 4223 [-------->_______________________________________________________________] 11.39% 114 p/s504 / 4223 [-------->_______________________________________________________________] 11.93% 114 p/s526 / 4223 [-------->_______________________________________________________________] 12.46% 114 p/s549 / 4223 [--------->______________________________________________________________] 13.00% 114 p/s572 / 4223 [--------->______________________________________________________________] 13.54% 114 p/s595 / 4223 [---------->_____________________________________________________________] 14.09% 114 p/s618 / 4223 [---------->_____________________________________________________________] 14.63% 114 p/s638 / 4223 [---------->_____________________________________________________________] 15.11% 114 p/s661 / 4223 [----------->____________________________________________________________] 15.65% 114 p/s684 / 4223 [----------->____________________________________________________________] 16.20% 114 p/s706 / 4223 [------------>___________________________________________________________] 16.72% 114 p/s729 / 4223 [------------>___________________________________________________________] 17.26% 114 p/s753 / 4223 [------------>___________________________________________________________] 17.83% 114 p/s775 / 4223 [------------->__________________________________________________________] 18.35% 114 p/s798 / 4223 [------------->__________________________________________________________] 18.90% 114 p/s822 / 4223 [-------------->_________________________________________________________] 19.46% 114 p/s845 / 4223 [-------------->_________________________________________________________] 20.01% 114 p/s867 / 4223 [-------------->_________________________________________________________] 20.53% 114 p/s891 / 4223 [--------------->________________________________________________________] 21.10% 114 p/s914 / 4223 [--------------->________________________________________________________] 21.64% 114 p/s936 / 4223 [--------------->________________________________________________________] 22.16% 114 p/s959 / 4223 [---------------->_______________________________________________________] 22.71% 114 p/s982 / 4223 [---------------->_______________________________________________________] 23.25% 114 p/s1005 / 4223 [---------------->______________________________________________________] 23.80% 114 p/s1027 / 4223 [----------------->_____________________________________________________] 24.32% 114 p/s1050 / 4223 [----------------->_____________________________________________________] 24.86% 114 p/s1073 / 4223 [------------------>____________________________________________________] 25.41% 114 p/s1096 / 4223 [------------------>____________________________________________________] 25.95% 114 p/s1119 / 4223 [------------------>____________________________________________________] 26.50% 114 p/s1142 / 4223 [------------------->___________________________________________________] 27.04% 114 p/s1165 / 4223 [------------------->___________________________________________________] 27.59% 114 p/s1188 / 4223 [------------------->___________________________________________________] 28.13% 114 p/s1211 / 4223 [-------------------->__________________________________________________] 28.68% 114 p/s1234 / 4223 [-------------------->__________________________________________________] 29.22% 114 p/s1256 / 4223 [--------------------->_________________________________________________] 29.74% 114 p/s1279 / 4223 [--------------------->_________________________________________________] 30.29% 114 p/s1302 / 4223 [--------------------->_________________________________________________] 30.83% 114 p/s1325 / 4223 [---------------------->________________________________________________] 31.38% 114 p/s1348 / 4223 [---------------------->________________________________________________] 31.92% 114 p/s1371 / 4223 [----------------------->_______________________________________________] 32.47% 114 p/s1394 / 4223 [----------------------->_______________________________________________] 33.01% 114 p/s1418 / 4223 [----------------------->_______________________________________________] 33.58% 114 p/s1441 / 4223 [------------------------>______________________________________________] 34.12% 114 p/s1464 / 4223 [------------------------>______________________________________________] 34.67% 114 p/s1487 / 4223 [------------------------->_____________________________________________] 35.21% 114 p/s1509 / 4223 [------------------------->_____________________________________________] 35.73% 114 p/s1532 / 4223 [------------------------->_____________________________________________] 36.28% 114 p/s1556 / 4223 [-------------------------->____________________________________________] 36.85% 114 p/s1579 / 4223 [-------------------------->____________________________________________] 37.39% 114 p/s1601 / 4223 [-------------------------->____________________________________________] 37.91% 114 p/s1624 / 4223 [--------------------------->___________________________________________] 38.46% 114 p/s1647 / 4223 [--------------------------->___________________________________________] 39.00% 114 p/s1669 / 4223 [---------------------------->__________________________________________] 39.52% 114 p/s1692 / 4223 [---------------------------->__________________________________________] 40.07% 114 p/s1715 / 4223 [---------------------------->__________________________________________] 40.61% 114 p/s1738 / 4223 [----------------------------->_________________________________________] 41.16% 114 p/s1761 / 4223 [----------------------------->_________________________________________] 41.70% 114 p/s1785 / 4223 [------------------------------>________________________________________] 42.27% 114 p/s1808 / 4223 [------------------------------>________________________________________] 42.81% 114 p/s1831 / 4223 [------------------------------>________________________________________] 43.36% 114 p/s1854 / 4223 [------------------------------->_______________________________________] 43.90% 114 p/s1877 / 4223 [------------------------------->_______________________________________] 44.45% 114 p/s1901 / 4223 [------------------------------->_______________________________________] 45.02% 114 p/s1924 / 4223 [-------------------------------->______________________________________] 45.56% 114 p/s1947 / 4223 [-------------------------------->______________________________________] 46.10% 115 p/s1970 / 4223 [--------------------------------->_____________________________________] 46.65% 115 p/s1993 / 4223 [--------------------------------->_____________________________________] 47.19% 115 p/s2017 / 4223 [--------------------------------->_____________________________________] 47.76% 115 p/s2040 / 4223 [---------------------------------->____________________________________] 48.31% 115 p/s2062 / 4223 [---------------------------------->____________________________________] 48.83% 115 p/s2084 / 4223 [----------------------------------->___________________________________] 49.35% 115 p/s2108 / 4223 [----------------------------------->___________________________________] 49.92% 115 p/s2131 / 4223 [----------------------------------->___________________________________] 50.46% 115 p/s2154 / 4223 [------------------------------------>__________________________________] 51.01% 115 p/s2176 / 4223 [------------------------------------>__________________________________] 51.53% 115 p/s2199 / 4223 [------------------------------------>__________________________________] 52.07% 115 p/s2222 / 4223 [------------------------------------->_________________________________] 52.62% 115 p/s2245 / 4223 [------------------------------------->_________________________________] 53.16% 115 p/s2268 / 4223 [-------------------------------------->________________________________] 53.71% 115 p/s2291 / 4223 [-------------------------------------->________________________________] 54.25% 115 p/s2314 / 4223 [-------------------------------------->________________________________] 54.80% 115 p/s2337 / 4223 [--------------------------------------->_______________________________] 55.34% 115 p/s2360 / 4223 [--------------------------------------->_______________________________] 55.88% 115 p/s2383 / 4223 [---------------------------------------->______________________________] 56.43% 115 p/s2406 / 4223 [---------------------------------------->______________________________] 56.97% 115 p/s2429 / 4223 [---------------------------------------->______________________________] 57.52% 115 p/s2452 / 4223 [----------------------------------------->_____________________________] 58.06% 115 p/s2475 / 4223 [----------------------------------------->_____________________________] 58.61% 115 p/s2499 / 4223 [------------------------------------------>____________________________] 59.18% 115 p/s2522 / 4223 [------------------------------------------>____________________________] 59.72% 115 p/s2545 / 4223 [------------------------------------------>____________________________] 60.27% 115 p/s2568 / 4223 [------------------------------------------->___________________________] 60.81% 115 p/s2592 / 4223 [------------------------------------------->___________________________] 61.38% 115 p/s2615 / 4223 [------------------------------------------->___________________________] 61.92% 115 p/s2638 / 4223 [-------------------------------------------->__________________________] 62.47% 115 p/s2661 / 4223 [-------------------------------------------->__________________________] 63.01% 115 p/s2685 / 4223 [--------------------------------------------->_________________________] 63.58% 115 p/s2708 / 4223 [--------------------------------------------->_________________________] 64.13% 115 p/s2731 / 4223 [--------------------------------------------->_________________________] 64.67% 115 p/s2754 / 4223 [---------------------------------------------->________________________] 65.21% 115 p/s2777 / 4223 [---------------------------------------------->________________________] 65.76% 115 p/s2800 / 4223 [----------------------------------------------->_______________________] 66.30% 115 p/s2824 / 4223 [----------------------------------------------->_______________________] 66.87% 115 p/s2846 / 4223 [----------------------------------------------->_______________________] 67.39% 115 p/s2869 / 4223 [------------------------------------------------>______________________] 67.94% 115 p/s2892 / 4223 [------------------------------------------------>______________________] 68.48% 115 p/s2915 / 4223 [------------------------------------------------->_____________________] 69.03% 115 p/s2936 / 4223 [------------------------------------------------->_____________________] 69.52% 115 p/s2959 / 4223 [------------------------------------------------->_____________________] 70.07% 115 p/s2982 / 4223 [-------------------------------------------------->____________________] 70.61% 115 p/s3006 / 4223 [-------------------------------------------------->____________________] 71.18% 115 p/s3028 / 4223 [-------------------------------------------------->____________________] 71.70% 115 p/s3050 / 4223 [--------------------------------------------------->___________________] 72.22% 115 p/s3073 / 4223 [--------------------------------------------------->___________________] 72.77% 115 p/s3096 / 4223 [---------------------------------------------------->__________________] 73.31% 115 p/s3119 / 4223 [---------------------------------------------------->__________________] 73.86% 115 p/s3142 / 4223 [---------------------------------------------------->__________________] 74.40% 115 p/s3165 / 4223 [----------------------------------------------------->_________________] 74.95% 115 p/s3188 / 4223 [----------------------------------------------------->_________________] 75.49% 115 p/s3211 / 4223 [----------------------------------------------------->_________________] 76.04% 115 p/s3234 / 4223 [------------------------------------------------------>________________] 76.58% 115 p/s3258 / 4223 [------------------------------------------------------>________________] 77.15% 115 p/s3281 / 4223 [------------------------------------------------------->_______________] 77.69% 115 p/s3304 / 4223 [------------------------------------------------------->_______________] 78.24% 115 p/s3327 / 4223 [------------------------------------------------------->_______________] 78.78% 115 p/s3350 / 4223 [-------------------------------------------------------->______________] 79.33% 115 p/s3373 / 4223 [-------------------------------------------------------->______________] 79.87% 115 p/s3396 / 4223 [--------------------------------------------------------->_____________] 80.42% 115 p/s3419 / 4223 [--------------------------------------------------------->_____________] 80.96% 115 p/s3442 / 4223 [--------------------------------------------------------->_____________] 81.51% 115 p/s3465 / 4223 [---------------------------------------------------------->____________] 82.05% 115 p/s3488 / 4223 [---------------------------------------------------------->____________] 82.60% 115 p/s3512 / 4223 [----------------------------------------------------------->___________] 83.16% 115 p/s3535 / 4223 [----------------------------------------------------------->___________] 83.71% 115 p/s3558 / 4223 [----------------------------------------------------------->___________] 84.25% 115 p/s3580 / 4223 [------------------------------------------------------------>__________] 84.77% 115 p/s3603 / 4223 [------------------------------------------------------------>__________] 85.32% 115 p/s3626 / 4223 [------------------------------------------------------------>__________] 85.86% 115 p/s3649 / 4223 [------------------------------------------------------------->_________] 86.41% 115 p/s3672 / 4223 [------------------------------------------------------------->_________] 86.95% 115 p/s3695 / 4223 [-------------------------------------------------------------->________] 87.50% 115 p/s3718 / 4223 [-------------------------------------------------------------->________] 88.04% 115 p/s3741 / 4223 [-------------------------------------------------------------->________] 88.59% 115 p/s3763 / 4223 [--------------------------------------------------------------->_______] 89.11% 115 p/s3786 / 4223 [--------------------------------------------------------------->_______] 89.65% 115 p/s3809 / 4223 [---------------------------------------------------------------->______] 90.20% 115 p/s3832 / 4223 [---------------------------------------------------------------->______] 90.74% 115 p/s3855 / 4223 [---------------------------------------------------------------->______] 91.29% 115 p/s3879 / 4223 [----------------------------------------------------------------->_____] 91.85% 115 p/s3901 / 4223 [----------------------------------------------------------------->_____] 92.38% 115 p/s3924 / 4223 [----------------------------------------------------------------->_____] 92.92% 115 p/s3947 / 4223 [------------------------------------------------------------------>____] 93.46% 115 p/s3970 / 4223 [------------------------------------------------------------------>____] 94.01% 115 p/s3993 / 4223 [------------------------------------------------------------------->___] 94.55% 115 p/s4016 / 4223 [------------------------------------------------------------------->___] 95.10% 115 p/s4039 / 4223 [------------------------------------------------------------------->___] 95.64% 115 p/s4062 / 4223 [-------------------------------------------------------------------->__] 96.19% 115 p/s4085 / 4223 [-------------------------------------------------------------------->__] 96.73% 115 p/s4106 / 4223 [--------------------------------------------------------------------->_] 97.23% 115 p/s4129 / 4223 [--------------------------------------------------------------------->_] 97.77% 115 p/s4152 / 4223 [--------------------------------------------------------------------->_] 98.32% 115 p/s4175 / 4223 [---------------------------------------------------------------------->] 98.86% 115 p/s4198 / 4223 [---------------------------------------------------------------------->] 99.41% 115 p/s4221 / 4223 [---------------------------------------------------------------------->] 99.95% 115 p/s4223 / 4223 [----------------------------------------------------------------------] 100.00% 115 p/s2026-03-30T19:00:47 - INFO: Parsing 4223 sonar sweeps from /working/59f93b14-ef03-f70d-ad9c-dad518af580c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:03:22 - 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/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c"
2026-03-30T19:03:24 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:03:24 - INFO: Prepared data will be output to /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/processing/data
2026-03-30T19:03:24 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:03:24 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:03:24 - INFO: Recording GUID: 59f93b14-ef03-f70d-ad9c-dad518af580c
2026-03-30T19:03:24 - INFO: Preparing sonar data...
2026-03-30T19:03:24 - INFO: /working/59f93b14-ef03-f70d-ad9c-dad518af580c/59f93b14-ef03-f70d-ad9c-dad518af580c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:03:28 - INFO: Sonar epoch is 2026-02-11 15:25:40.380259+00:00 (1770823540380259354)
2026-03-30T19:03:28 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:03:28 - INFO: Using sonar rotation of 0.663225 radians for wedge mask
2026-03-30T19:03:28 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:03:28 - INFO: Sensor range is 0.939120 m
2026-03-30T19:03:28 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:03:28 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:03:28 - INFO: Scaled range is 0.921855 m
2026-03-30T19:03:28 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:03:28 - INFO: Processing 4223 sweeps...

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2026-03-30T19:03:45 - INFO: Prepared sonar data in 21.3984 s
2026-03-30T19:03:45 - INFO: No IMU data found
2026-03-30T19:03:46 - INFO: DataPrep took 0:00:22.424812
2026-03-30T19:03:46 - INFO: Extracted sonar data in 0:03:36.040561
2026-03-30T19:03:47 - INFO: MSIP3D took 0:03:36.766567