2026-03-30T18:56:15 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:56:15 - INFO: P3D files will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-30T18:56:15 - INFO: Found 11 TFD dictionary entries
2026-03-30T18:56:15 - INFO: Found TFD mission for SJ502828 DEP 518
2026-03-30T18:56:15 - INFO: Recording will be processed as SMD
2026-03-30T18:56:15 - INFO: Copying assets JSON to output directory...
2026-03-30T18:56:15 - INFO: Preparing counter data...
2026-03-30T18:56:15 - INFO: Interpreting counter as imperial
2026-03-30T18:56:15 - INFO: Preparing size track from assets JSON...
2026-03-30T18:56:15 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:56:15 - INFO: Preparing material track from assets JSON...
2026-03-30T18:56:15 - INFO: Prepared counter data in 0.2972 s
2026-03-30T18:56:15 - INFO: Extracting sonar data...
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/SJ502828_DEP_518.tfd
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 2696
19 / 2696 [>___________________________________________________________________________] 0.70% ? p/s38 / 2696 [->__________________________________________________________________________] 1.41% ? p/s57 / 2696 [->__________________________________________________________________________] 2.11% ? p/s76 / 2696 [-->________________________________________________________________________] 2.82% 95 p/s96 / 2696 [-->________________________________________________________________________] 3.56% 95 p/s116 / 2696 [--->______________________________________________________________________] 4.30% 95 p/s136 / 2696 [--->______________________________________________________________________] 5.04% 95 p/s155 / 2696 [---->_____________________________________________________________________] 5.75% 95 p/s175 / 2696 [---->_____________________________________________________________________] 6.49% 95 p/s195 / 2696 [----->____________________________________________________________________] 7.23% 96 p/s215 / 2696 [----->____________________________________________________________________] 7.97% 96 p/s234 / 2696 [------>___________________________________________________________________] 8.68% 96 p/s253 / 2696 [------>___________________________________________________________________] 9.38% 96 p/s273 / 2696 [------->_________________________________________________________________] 10.13% 96 p/s293 / 2696 [------->_________________________________________________________________] 10.87% 96 p/s312 / 2696 [-------->________________________________________________________________] 11.57% 96 p/s332 / 2696 [-------->________________________________________________________________] 12.31% 96 p/s352 / 2696 [--------->_______________________________________________________________] 13.06% 96 p/s372 / 2696 [---------->______________________________________________________________] 13.80% 96 p/s391 / 2696 [---------->______________________________________________________________] 14.50% 96 p/s411 / 2696 [----------->_____________________________________________________________] 15.24% 96 p/s431 / 2696 [----------->_____________________________________________________________] 15.99% 96 p/s450 / 2696 [------------>____________________________________________________________] 16.69% 96 p/s470 / 2696 [------------>____________________________________________________________] 17.43% 96 p/s490 / 2696 [------------->___________________________________________________________] 18.18% 96 p/s509 / 2696 [------------->___________________________________________________________] 18.88% 96 p/s529 / 2696 [-------------->__________________________________________________________] 19.62% 96 p/s548 / 2696 [-------------->__________________________________________________________] 20.33% 96 p/s568 / 2696 [--------------->_________________________________________________________] 21.07% 96 p/s588 / 2696 [--------------->_________________________________________________________] 21.81% 96 p/s608 / 2696 [---------------->________________________________________________________] 22.55% 97 p/s627 / 2696 [---------------->________________________________________________________] 23.26% 97 p/s647 / 2696 [----------------->_______________________________________________________] 24.00% 97 p/s667 / 2696 [------------------>______________________________________________________] 24.74% 97 p/s687 / 2696 [------------------>______________________________________________________] 25.48% 97 p/s707 / 2696 [------------------->_____________________________________________________] 26.22% 97 p/s727 / 2696 [------------------->_____________________________________________________] 26.97% 97 p/s746 / 2696 [-------------------->____________________________________________________] 27.67% 97 p/s766 / 2696 [-------------------->____________________________________________________] 28.41% 97 p/s786 / 2696 [--------------------->___________________________________________________] 29.15% 97 p/s806 / 2696 [--------------------->___________________________________________________] 29.90% 97 p/s825 / 2696 [---------------------->__________________________________________________] 30.60% 97 p/s845 / 2696 [---------------------->__________________________________________________] 31.34% 97 p/s865 / 2696 [----------------------->_________________________________________________] 32.08% 97 p/s885 / 2696 [----------------------->_________________________________________________] 32.83% 97 p/s905 / 2696 [------------------------>________________________________________________] 33.57% 97 p/s924 / 2696 [------------------------->_______________________________________________] 34.27% 97 p/s943 / 2696 [------------------------->_______________________________________________] 34.98% 97 p/s963 / 2696 [-------------------------->______________________________________________] 35.72% 97 p/s983 / 2696 [-------------------------->______________________________________________] 36.46% 97 p/s1003 / 2696 [-------------------------->_____________________________________________] 37.20% 97 p/s1022 / 2696 [--------------------------->____________________________________________] 37.91% 97 p/s1041 / 2696 [--------------------------->____________________________________________] 38.61% 97 p/s1061 / 2696 [---------------------------->___________________________________________] 39.35% 97 p/s1081 / 2696 [---------------------------->___________________________________________] 40.10% 97 p/s1100 / 2696 [----------------------------->__________________________________________] 40.80% 97 p/s1120 / 2696 [----------------------------->__________________________________________] 41.54% 97 p/s1140 / 2696 [------------------------------>_________________________________________] 42.28% 97 p/s1160 / 2696 [------------------------------>_________________________________________] 43.03% 97 p/s1180 / 2696 [------------------------------->________________________________________] 43.77% 97 p/s1199 / 2696 [-------------------------------->_______________________________________] 44.47% 97 p/s1219 / 2696 [-------------------------------->_______________________________________] 45.22% 97 p/s1239 / 2696 [--------------------------------->______________________________________] 45.96% 97 p/s1258 / 2696 [--------------------------------->______________________________________] 46.66% 98 p/s1278 / 2696 [---------------------------------->_____________________________________] 47.40% 98 p/s1298 / 2696 [---------------------------------->_____________________________________] 48.15% 98 p/s1318 / 2696 [----------------------------------->____________________________________] 48.89% 98 p/s1338 / 2696 [----------------------------------->____________________________________] 49.63% 98 p/s1358 / 2696 [------------------------------------>___________________________________] 50.37% 98 p/s1378 / 2696 [------------------------------------>___________________________________] 51.11% 98 p/s1397 / 2696 [------------------------------------->__________________________________] 51.82% 98 p/s1417 / 2696 [------------------------------------->__________________________________] 52.56% 98 p/s1437 / 2696 [-------------------------------------->_________________________________] 53.30% 98 p/s1456 / 2696 [-------------------------------------->_________________________________] 54.01% 98 p/s1476 / 2696 [--------------------------------------->________________________________] 54.75% 98 p/s1496 / 2696 [--------------------------------------->________________________________] 55.49% 98 p/s1516 / 2696 [---------------------------------------->_______________________________] 56.23% 98 p/s1536 / 2696 [----------------------------------------->______________________________] 56.97% 98 p/s1556 / 2696 [----------------------------------------->______________________________] 57.72% 98 p/s1576 / 2696 [------------------------------------------>_____________________________] 58.46% 98 p/s1595 / 2696 [------------------------------------------>_____________________________] 59.16% 98 p/s1615 / 2696 [------------------------------------------->____________________________] 59.90% 98 p/s1635 / 2696 [------------------------------------------->____________________________] 60.65% 98 p/s1654 / 2696 [-------------------------------------------->___________________________] 61.35% 98 p/s1674 / 2696 [-------------------------------------------->___________________________] 62.09% 98 p/s1694 / 2696 [--------------------------------------------->__________________________] 62.83% 98 p/s1713 / 2696 [--------------------------------------------->__________________________] 63.54% 98 p/s1733 / 2696 [---------------------------------------------->_________________________] 64.28% 98 p/s1753 / 2696 [---------------------------------------------->_________________________] 65.02% 98 p/s1772 / 2696 [----------------------------------------------->________________________] 65.73% 98 p/s1792 / 2696 [----------------------------------------------->________________________] 66.47% 98 p/s1812 / 2696 [------------------------------------------------>_______________________] 67.21% 98 p/s1832 / 2696 [------------------------------------------------>_______________________] 67.95% 98 p/s1851 / 2696 [------------------------------------------------->______________________] 68.66% 98 p/s1871 / 2696 [------------------------------------------------->______________________] 69.40% 98 p/s1891 / 2696 [-------------------------------------------------->_____________________] 70.14% 98 p/s1911 / 2696 [--------------------------------------------------->____________________] 70.88% 98 p/s1930 / 2696 [--------------------------------------------------->____________________] 71.59% 98 p/s1950 / 2696 [---------------------------------------------------->___________________] 72.33% 98 p/s1970 / 2696 [---------------------------------------------------->___________________] 73.07% 98 p/s1989 / 2696 [----------------------------------------------------->__________________] 73.78% 98 p/s2009 / 2696 [----------------------------------------------------->__________________] 74.52% 98 p/s2028 / 2696 [------------------------------------------------------>_________________] 75.22% 98 p/s2047 / 2696 [------------------------------------------------------>_________________] 75.93% 98 p/s2067 / 2696 [------------------------------------------------------->________________] 76.67% 98 p/s2087 / 2696 [------------------------------------------------------->________________] 77.41% 98 p/s2106 / 2696 [-------------------------------------------------------->_______________] 78.12% 98 p/s2126 / 2696 [-------------------------------------------------------->_______________] 78.86% 98 p/s2146 / 2696 [--------------------------------------------------------->______________] 79.60% 98 p/s2165 / 2696 [--------------------------------------------------------->______________] 80.30% 98 p/s2185 / 2696 [---------------------------------------------------------->_____________] 81.05% 98 p/s2205 / 2696 [---------------------------------------------------------->_____________] 81.79% 98 p/s2225 / 2696 [----------------------------------------------------------->____________] 82.53% 98 p/s2245 / 2696 [----------------------------------------------------------->____________] 83.27% 98 p/s2264 / 2696 [------------------------------------------------------------>___________] 83.98% 98 p/s2284 / 2696 [------------------------------------------------------------>___________] 84.72% 98 p/s2304 / 2696 [------------------------------------------------------------->__________] 85.46% 98 p/s2323 / 2696 [-------------------------------------------------------------->_________] 86.16% 98 p/s2343 / 2696 [-------------------------------------------------------------->_________] 86.91% 98 p/s2363 / 2696 [--------------------------------------------------------------->________] 87.65% 98 p/s2383 / 2696 [--------------------------------------------------------------->________] 88.39% 98 p/s2402 / 2696 [---------------------------------------------------------------->_______] 89.09% 98 p/s2422 / 2696 [---------------------------------------------------------------->_______] 89.84% 98 p/s2442 / 2696 [----------------------------------------------------------------->______] 90.58% 98 p/s2461 / 2696 [----------------------------------------------------------------->______] 91.28% 98 p/s2481 / 2696 [------------------------------------------------------------------>_____] 92.03% 98 p/s2500 / 2696 [------------------------------------------------------------------>_____] 92.73% 98 p/s2520 / 2696 [------------------------------------------------------------------->____] 93.47% 98 p/s2540 / 2696 [------------------------------------------------------------------->____] 94.21% 98 p/s2560 / 2696 [-------------------------------------------------------------------->___] 94.96% 98 p/s2579 / 2696 [-------------------------------------------------------------------->___] 95.66% 98 p/s2599 / 2696 [--------------------------------------------------------------------->__] 96.40% 98 p/s2618 / 2696 [--------------------------------------------------------------------->__] 97.11% 98 p/s2638 / 2696 [---------------------------------------------------------------------->_] 97.85% 98 p/s2657 / 2696 [---------------------------------------------------------------------->_] 98.55% 98 p/s2677 / 2696 [----------------------------------------------------------------------->] 99.30% 98 p/s2696 / 2696 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-30T18:56:43 - INFO: Parsing 2696 sonar sweeps from /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:58:28 - 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/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87"
2026-03-30T18:58:34 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:58:34 - INFO: Prepared data will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/processing/data
2026-03-30T18:58:34 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:58:34 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:58:34 - INFO: Recording GUID: a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-30T18:58:34 - INFO: Preparing sonar data...
2026-03-30T18:58:34 - INFO: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:58:36 - INFO: Sonar epoch is 2026-02-21 21:34:27.238529+00:00 (1771709667238529185)
2026-03-30T18:58:36 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:58:36 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-30T18:58:36 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:58:36 - INFO: Sensor range is 2.167200 m
2026-03-30T18:58:36 - INFO: Sensor micrometres per sample is 7200.000294
2026-03-30T18:58:36 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:58:36 - INFO: Scaled range is 2.127359 m
2026-03-30T18:58:36 - INFO: Scaled micrometres per sample is 7067.636237
2026-03-30T18:58:36 - INFO: Processing 2695 sweeps...

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 96%|█████████▋| 2595/2695 [00:32<00:01, 70.20sw/s]
 97%|█████████▋| 2612/2695 [00:32<00:00, 92.87sw/s]
 97%|█████████▋| 2623/2695 [00:32<00:00, 82.46sw/s]
 98%|█████████▊| 2633/2695 [00:32<00:00, 82.79sw/s]
 98%|█████████▊| 2642/2695 [00:32<00:00, 81.58sw/s]
 98%|█████████▊| 2653/2695 [00:32<00:00, 86.63sw/s]
 99%|█████████▉| 2662/2695 [00:32<00:00, 80.08sw/s]
 99%|█████████▉| 2674/2695 [00:32<00:00, 88.93sw/s]
100%|█████████▉| 2685/2695 [00:33<00:00, 87.10sw/s]
100%|██████████| 2695/2695 [00:33<00:00, 81.34sw/s]
2026-03-30T18:59:10 - INFO: Prepared sonar data in 36.0098 s
2026-03-30T18:59:10 - INFO: No IMU data found
2026-03-30T18:59:10 - INFO: DataPrep took 0:00:36.272361
2026-03-30T18:59:10 - INFO: Extracted sonar data in 0:02:54.961032
2026-03-30T18:59:11 - INFO: MSIP3D took 0:02:55.494816