2026-03-30T18:54:14 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:54:15 - INFO: P3D files will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-30T18:54:15 - INFO: Found 11 TFD dictionary entries
2026-03-30T18:54:15 - INFO: Found TFD mission for SJ502828 DEP 514
2026-03-30T18:54:15 - INFO: Recording will be processed as SMD
2026-03-30T18:54:15 - INFO: Copying assets JSON to output directory...
2026-03-30T18:54:15 - INFO: Preparing counter data...
2026-03-30T18:54:15 - INFO: Interpreting counter as imperial
2026-03-30T18:54:15 - INFO: Preparing size track from assets JSON...
2026-03-30T18:54:15 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:54:15 - INFO: Preparing material track from assets JSON...
2026-03-30T18:54:15 - INFO: Prepared counter data in 0.1289 s
2026-03-30T18:54:15 - INFO: Extracting sonar data...
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/SJ502828_DEP_514.tfd
TFD path: /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 1806
19 / 1806 [>___________________________________________________________________________] 1.05% ? p/s38 / 1806 [->__________________________________________________________________________] 2.10% ? p/s57 / 1806 [-->_________________________________________________________________________] 3.16% ? p/s77 / 1806 [--->_______________________________________________________________________] 4.26% 97 p/s96 / 1806 [--->_______________________________________________________________________] 5.32% 97 p/s116 / 1806 [---->_____________________________________________________________________] 6.42% 97 p/s134 / 1806 [----->____________________________________________________________________] 7.42% 97 p/s154 / 1806 [------>___________________________________________________________________] 8.53% 97 p/s173 / 1806 [------->__________________________________________________________________] 9.58% 97 p/s193 / 1806 [------->_________________________________________________________________] 10.69% 97 p/s212 / 1806 [-------->________________________________________________________________] 11.74% 97 p/s232 / 1806 [--------->_______________________________________________________________] 12.85% 97 p/s251 / 1806 [---------->______________________________________________________________] 13.90% 97 p/s270 / 1806 [---------->______________________________________________________________] 14.95% 97 p/s290 / 1806 [----------->_____________________________________________________________] 16.06% 97 p/s309 / 1806 [------------>____________________________________________________________] 17.11% 97 p/s329 / 1806 [------------->___________________________________________________________] 18.22% 97 p/s348 / 1806 [-------------->__________________________________________________________] 19.27% 97 p/s354 / 1806 [-------------->__________________________________________________________] 19.60% 95 p/s374 / 1806 [--------------->_________________________________________________________] 20.71% 95 p/s393 / 1806 [--------------->_________________________________________________________] 21.76% 95 p/s412 / 1806 [---------------->________________________________________________________] 22.81% 95 p/s432 / 1806 [----------------->_______________________________________________________] 23.92% 95 p/s451 / 1806 [------------------>______________________________________________________] 24.97% 95 p/s471 / 1806 [------------------->_____________________________________________________] 26.08% 96 p/s490 / 1806 [------------------->_____________________________________________________] 27.13% 96 p/s509 / 1806 [-------------------->____________________________________________________] 28.18% 96 p/s528 / 1806 [--------------------->___________________________________________________] 29.24% 96 p/s548 / 1806 [---------------------->__________________________________________________] 30.34% 96 p/s567 / 1806 [---------------------->__________________________________________________] 31.40% 96 p/s587 / 1806 [----------------------->_________________________________________________] 32.50% 96 p/s606 / 1806 [------------------------>________________________________________________] 33.55% 96 p/s626 / 1806 [------------------------->_______________________________________________] 34.66% 96 p/s645 / 1806 [-------------------------->______________________________________________] 35.71% 96 p/s665 / 1806 [-------------------------->______________________________________________] 36.82% 96 p/s685 / 1806 [--------------------------->_____________________________________________] 37.93% 96 p/s704 / 1806 [---------------------------->____________________________________________] 38.98% 96 p/s723 / 1806 [----------------------------->___________________________________________] 40.03% 96 p/s743 / 1806 [------------------------------>__________________________________________] 41.14% 96 p/s762 / 1806 [------------------------------>__________________________________________] 42.19% 96 p/s781 / 1806 [------------------------------->_________________________________________] 43.24% 96 p/s800 / 1806 [-------------------------------->________________________________________] 44.30% 96 p/s820 / 1806 [--------------------------------->_______________________________________] 45.40% 96 p/s839 / 1806 [--------------------------------->_______________________________________] 46.46% 96 p/s859 / 1806 [---------------------------------->______________________________________] 47.56% 96 p/s879 / 1806 [----------------------------------->_____________________________________] 48.67% 96 p/s898 / 1806 [------------------------------------>____________________________________] 49.72% 96 p/s918 / 1806 [------------------------------------->___________________________________] 50.83% 96 p/s937 / 1806 [------------------------------------->___________________________________] 51.88% 96 p/s957 / 1806 [-------------------------------------->__________________________________] 52.99% 96 p/s976 / 1806 [--------------------------------------->_________________________________] 54.04% 96 p/s996 / 1806 [---------------------------------------->________________________________] 55.15% 96 p/s1016 / 1806 [---------------------------------------->_______________________________] 56.26% 96 p/s1035 / 1806 [----------------------------------------->______________________________] 57.31% 96 p/s1055 / 1806 [------------------------------------------>_____________________________] 58.42% 96 p/s1074 / 1806 [------------------------------------------>_____________________________] 59.47% 96 p/s1094 / 1806 [------------------------------------------->____________________________] 60.58% 96 p/s1113 / 1806 [-------------------------------------------->___________________________] 61.63% 96 p/s1133 / 1806 [--------------------------------------------->__________________________] 62.74% 96 p/s1152 / 1806 [--------------------------------------------->__________________________] 63.79% 96 p/s1172 / 1806 [---------------------------------------------->_________________________] 64.89% 97 p/s1191 / 1806 [----------------------------------------------->________________________] 65.95% 97 p/s1211 / 1806 [------------------------------------------------>_______________________] 67.05% 97 p/s1231 / 1806 [------------------------------------------------->______________________] 68.16% 97 p/s1250 / 1806 [------------------------------------------------->______________________] 69.21% 97 p/s1269 / 1806 [-------------------------------------------------->_____________________] 70.27% 97 p/s1289 / 1806 [--------------------------------------------------->____________________] 71.37% 97 p/s1308 / 1806 [---------------------------------------------------->___________________] 72.43% 97 p/s1328 / 1806 [---------------------------------------------------->___________________] 73.53% 97 p/s1347 / 1806 [----------------------------------------------------->__________________] 74.58% 97 p/s1367 / 1806 [------------------------------------------------------>_________________] 75.69% 97 p/s1386 / 1806 [------------------------------------------------------->________________] 76.74% 97 p/s1405 / 1806 [-------------------------------------------------------->_______________] 77.80% 97 p/s1423 / 1806 [-------------------------------------------------------->_______________] 78.79% 97 p/s1442 / 1806 [--------------------------------------------------------->______________] 79.84% 97 p/s1460 / 1806 [---------------------------------------------------------->_____________] 80.84% 96 p/s1480 / 1806 [----------------------------------------------------------->____________] 81.95% 96 p/s1499 / 1806 [----------------------------------------------------------->____________] 83.00% 96 p/s1519 / 1806 [------------------------------------------------------------>___________] 84.11% 97 p/s1539 / 1806 [------------------------------------------------------------->__________] 85.22% 97 p/s1556 / 1806 [-------------------------------------------------------------->_________] 86.16% 97 p/s1576 / 1806 [-------------------------------------------------------------->_________] 87.26% 96 p/s1595 / 1806 [--------------------------------------------------------------->________] 88.32% 96 p/s1615 / 1806 [---------------------------------------------------------------->_______] 89.42% 96 p/s1634 / 1806 [----------------------------------------------------------------->______] 90.48% 96 p/s1654 / 1806 [----------------------------------------------------------------->______] 91.58% 96 p/s1673 / 1806 [------------------------------------------------------------------>_____] 92.64% 96 p/s1692 / 1806 [------------------------------------------------------------------->____] 93.69% 96 p/s1712 / 1806 [-------------------------------------------------------------------->___] 94.80% 96 p/s1731 / 1806 [--------------------------------------------------------------------->__] 95.85% 96 p/s1749 / 1806 [--------------------------------------------------------------------->__] 96.84% 96 p/s1768 / 1806 [---------------------------------------------------------------------->_] 97.90% 96 p/s1788 / 1806 [----------------------------------------------------------------------->] 99.00% 96 p/s1806 / 1806 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-03-30T18:54:34 - INFO: Parsing 1806 sonar sweeps from /working/ff883c96-e1bb-93e4-510b-821ba3503243/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:55:44 - 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 /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243"
2026-03-30T18:55:45 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:55:45 - INFO: Prepared data will be output to /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/processing/data
2026-03-30T18:55:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:55:45 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:55:45 - INFO: Recording GUID: ff883c96-e1bb-93e4-510b-821ba3503243
2026-03-30T18:55:45 - INFO: Preparing sonar data...
2026-03-30T18:55:45 - INFO: /working/ff883c96-e1bb-93e4-510b-821ba3503243/ff883c96-e1bb-93e4-510b-821ba3503243/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:55:47 - INFO: Sonar epoch is 2026-02-17 15:56:29.762329+00:00 (1771343789762328850)
2026-03-30T18:55:47 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:55:47 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-03-30T18:55:47 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:55:47 - INFO: Sensor range is 1.589280 m
2026-03-30T18:55:47 - INFO: Sensor micrometres per sample is 5280.000031
2026-03-30T18:55:47 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:55:47 - INFO: Scaled range is 1.560063 m
2026-03-30T18:55:47 - INFO: Scaled micrometres per sample is 5182.933059
2026-03-30T18:55:47 - INFO: Processing 1806 sweeps...

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2026-03-30T18:55:55 - INFO: Prepared sonar data in 9.2783 s
2026-03-30T18:55:55 - INFO: No IMU data found
2026-03-30T18:55:55 - INFO: DataPrep took 0:00:09.543912
2026-03-30T18:55:55 - INFO: Extracted sonar data in 0:01:40.169775
2026-03-30T18:55:55 - INFO: MSIP3D took 0:01:40.463339