2026-03-30T19:03:16 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:03:16 - INFO: P3D files will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-30T19:03:16 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:03:16 - INFO: Found TFD mission for SJ502828 DEP 519
2026-03-30T19:03:16 - INFO: Recording will be processed as SMD
2026-03-30T19:03:16 - INFO: Copying assets JSON to output directory...
2026-03-30T19:03:16 - INFO: Preparing counter data...
2026-03-30T19:03:16 - INFO: Interpreting counter as imperial
2026-03-30T19:03:16 - INFO: Preparing size track from assets JSON...
2026-03-30T19:03:16 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:03:16 - INFO: Preparing material track from assets JSON...
2026-03-30T19:03:16 - INFO: Prepared counter data in 0.1885 s
2026-03-30T19:03:16 - INFO: Extracting sonar data...
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/SJ502828_DEP_519.tfd
TFD path: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2393
18 / 2393 [>___________________________________________________________________________] 0.75% ? p/s37 / 2393 [->__________________________________________________________________________] 1.55% ? p/s56 / 2393 [->__________________________________________________________________________] 2.34% ? p/s75 / 2393 [-->________________________________________________________________________] 3.13% 95 p/s95 / 2393 [-->________________________________________________________________________] 3.97% 95 p/s115 / 2393 [--->______________________________________________________________________] 4.81% 95 p/s133 / 2393 [---->_____________________________________________________________________] 5.56% 95 p/s153 / 2393 [---->_____________________________________________________________________] 6.39% 95 p/s173 / 2393 [----->____________________________________________________________________] 7.23% 95 p/s192 / 2393 [----->____________________________________________________________________] 8.02% 95 p/s212 / 2393 [------>___________________________________________________________________] 8.86% 95 p/s231 / 2393 [------->__________________________________________________________________] 9.65% 95 p/s250 / 2393 [------->_________________________________________________________________] 10.45% 95 p/s270 / 2393 [-------->________________________________________________________________] 11.28% 95 p/s289 / 2393 [-------->________________________________________________________________] 12.08% 95 p/s309 / 2393 [--------->_______________________________________________________________] 12.91% 96 p/s329 / 2393 [---------->______________________________________________________________] 13.75% 96 p/s348 / 2393 [---------->______________________________________________________________] 14.54% 96 p/s368 / 2393 [----------->_____________________________________________________________] 15.38% 96 p/s387 / 2393 [----------->_____________________________________________________________] 16.17% 96 p/s407 / 2393 [------------>____________________________________________________________] 17.01% 96 p/s426 / 2393 [------------>____________________________________________________________] 17.80% 96 p/s446 / 2393 [------------->___________________________________________________________] 18.64% 96 p/s466 / 2393 [-------------->__________________________________________________________] 19.47% 96 p/s485 / 2393 [-------------->__________________________________________________________] 20.27% 96 p/s504 / 2393 [--------------->_________________________________________________________] 21.06% 96 p/s524 / 2393 [--------------->_________________________________________________________] 21.90% 96 p/s543 / 2393 [---------------->________________________________________________________] 22.69% 96 p/s563 / 2393 [----------------->_______________________________________________________] 23.53% 96 p/s582 / 2393 [----------------->_______________________________________________________] 24.32% 96 p/s602 / 2393 [------------------>______________________________________________________] 25.16% 96 p/s621 / 2393 [------------------>______________________________________________________] 25.95% 96 p/s641 / 2393 [------------------->_____________________________________________________] 26.79% 96 p/s661 / 2393 [-------------------->____________________________________________________] 27.62% 96 p/s680 / 2393 [-------------------->____________________________________________________] 28.42% 96 p/s700 / 2393 [--------------------->___________________________________________________] 29.25% 96 p/s720 / 2393 [--------------------->___________________________________________________] 30.09% 96 p/s739 / 2393 [---------------------->__________________________________________________] 30.88% 96 p/s759 / 2393 [----------------------->_________________________________________________] 31.72% 96 p/s778 / 2393 [----------------------->_________________________________________________] 32.51% 96 p/s798 / 2393 [------------------------>________________________________________________] 33.35% 96 p/s818 / 2393 [------------------------>________________________________________________] 34.18% 96 p/s837 / 2393 [------------------------->_______________________________________________] 34.98% 97 p/s844 / 2393 [------------------------->_______________________________________________] 35.27% 97 p/s858 / 2393 [-------------------------->______________________________________________] 35.85% 97 p/s877 / 2393 [-------------------------->______________________________________________] 36.65% 95 p/s897 / 2393 [--------------------------->_____________________________________________] 37.48% 95 p/s916 / 2393 [--------------------------->_____________________________________________] 38.28% 95 p/s936 / 2393 [---------------------------->____________________________________________] 39.11% 95 p/s955 / 2393 [----------------------------->___________________________________________] 39.91% 95 p/s975 / 2393 [----------------------------->___________________________________________] 40.74% 95 p/s994 / 2393 [------------------------------>__________________________________________] 41.54% 95 p/s1014 / 2393 [------------------------------>_________________________________________] 42.37% 95 p/s1033 / 2393 [------------------------------->________________________________________] 43.17% 95 p/s1052 / 2393 [------------------------------->________________________________________] 43.96% 95 p/s1072 / 2393 [-------------------------------->_______________________________________] 44.80% 95 p/s1092 / 2393 [-------------------------------->_______________________________________] 45.63% 95 p/s1111 / 2393 [--------------------------------->______________________________________] 46.43% 95 p/s1131 / 2393 [---------------------------------->_____________________________________] 47.26% 95 p/s1151 / 2393 [---------------------------------->_____________________________________] 48.10% 95 p/s1170 / 2393 [----------------------------------->____________________________________] 48.89% 96 p/s1190 / 2393 [----------------------------------->____________________________________] 49.73% 96 p/s1209 / 2393 [------------------------------------>___________________________________] 50.52% 96 p/s1229 / 2393 [------------------------------------>___________________________________] 51.36% 96 p/s1248 / 2393 [------------------------------------->__________________________________] 52.15% 96 p/s1268 / 2393 [-------------------------------------->_________________________________] 52.99% 96 p/s1287 / 2393 [-------------------------------------->_________________________________] 53.78% 96 p/s1307 / 2393 [--------------------------------------->________________________________] 54.62% 96 p/s1327 / 2393 [--------------------------------------->________________________________] 55.45% 96 p/s1346 / 2393 [---------------------------------------->_______________________________] 56.25% 96 p/s1366 / 2393 [----------------------------------------->______________________________] 57.08% 96 p/s1386 / 2393 [----------------------------------------->______________________________] 57.92% 96 p/s1405 / 2393 [------------------------------------------>_____________________________] 58.71% 96 p/s1425 / 2393 [------------------------------------------>_____________________________] 59.55% 96 p/s1445 / 2393 [------------------------------------------->____________________________] 60.38% 96 p/s1464 / 2393 [-------------------------------------------->___________________________] 61.18% 96 p/s1483 / 2393 [-------------------------------------------->___________________________] 61.97% 96 p/s1503 / 2393 [--------------------------------------------->__________________________] 62.81% 96 p/s1523 / 2393 [--------------------------------------------->__________________________] 63.64% 96 p/s1542 / 2393 [---------------------------------------------->_________________________] 64.44% 96 p/s1562 / 2393 [---------------------------------------------->_________________________] 65.27% 96 p/s1581 / 2393 [----------------------------------------------->________________________] 66.07% 96 p/s1601 / 2393 [------------------------------------------------>_______________________] 66.90% 96 p/s1621 / 2393 [------------------------------------------------>_______________________] 67.74% 96 p/s1640 / 2393 [------------------------------------------------->______________________] 68.53% 97 p/s1660 / 2393 [------------------------------------------------->______________________] 69.37% 97 p/s1679 / 2393 [-------------------------------------------------->_____________________] 70.16% 97 p/s1699 / 2393 [--------------------------------------------------->____________________] 71.00% 97 p/s1718 / 2393 [--------------------------------------------------->____________________] 71.79% 97 p/s1738 / 2393 [---------------------------------------------------->___________________] 72.63% 97 p/s1758 / 2393 [---------------------------------------------------->___________________] 73.46% 97 p/s1777 / 2393 [----------------------------------------------------->__________________] 74.26% 97 p/s1797 / 2393 [------------------------------------------------------>_________________] 75.09% 97 p/s1816 / 2393 [------------------------------------------------------>_________________] 75.89% 97 p/s1836 / 2393 [------------------------------------------------------->________________] 76.72% 97 p/s1855 / 2393 [------------------------------------------------------->________________] 77.52% 97 p/s1875 / 2393 [-------------------------------------------------------->_______________] 78.35% 97 p/s1894 / 2393 [-------------------------------------------------------->_______________] 79.15% 97 p/s1914 / 2393 [--------------------------------------------------------->______________] 79.98% 97 p/s1933 / 2393 [---------------------------------------------------------->_____________] 80.78% 97 p/s1953 / 2393 [---------------------------------------------------------->_____________] 81.61% 97 p/s1972 / 2393 [----------------------------------------------------------->____________] 82.41% 97 p/s1992 / 2393 [----------------------------------------------------------->____________] 83.24% 97 p/s2012 / 2393 [------------------------------------------------------------>___________] 84.08% 97 p/s2031 / 2393 [------------------------------------------------------------->__________] 84.87% 97 p/s2049 / 2393 [------------------------------------------------------------->__________] 85.62% 97 p/s2069 / 2393 [-------------------------------------------------------------->_________] 86.46% 97 p/s2088 / 2393 [-------------------------------------------------------------->_________] 87.25% 97 p/s2108 / 2393 [--------------------------------------------------------------->________] 88.09% 97 p/s2128 / 2393 [---------------------------------------------------------------->_______] 88.93% 97 p/s2147 / 2393 [---------------------------------------------------------------->_______] 89.72% 97 p/s2166 / 2393 [----------------------------------------------------------------->______] 90.51% 97 p/s2186 / 2393 [----------------------------------------------------------------->______] 91.35% 97 p/s2205 / 2393 [------------------------------------------------------------------>_____] 92.14% 97 p/s2225 / 2393 [------------------------------------------------------------------>_____] 92.98% 97 p/s2244 / 2393 [------------------------------------------------------------------->____] 93.77% 97 p/s2264 / 2393 [-------------------------------------------------------------------->___] 94.61% 97 p/s2283 / 2393 [-------------------------------------------------------------------->___] 95.40% 97 p/s2303 / 2393 [--------------------------------------------------------------------->__] 96.24% 97 p/s2322 / 2393 [--------------------------------------------------------------------->__] 97.03% 97 p/s2342 / 2393 [---------------------------------------------------------------------->_] 97.87% 97 p/s2361 / 2393 [----------------------------------------------------------------------->] 98.66% 97 p/s2381 / 2393 [----------------------------------------------------------------------->] 99.50% 97 p/s2393 / 2393 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-30T19:03:41 - INFO: Parsing 2393 sonar sweeps from /working/4adf039d-7368-0d68-0220-8ad50070fc3b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:05:14 - 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/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b"
2026-03-30T19:05:16 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:05:16 - INFO: Prepared data will be output to /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/processing/data
2026-03-30T19:05:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:05:16 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:05:16 - INFO: Recording GUID: 4adf039d-7368-0d68-0220-8ad50070fc3b
2026-03-30T19:05:16 - INFO: Preparing sonar data...
2026-03-30T19:05:16 - INFO: /working/4adf039d-7368-0d68-0220-8ad50070fc3b/4adf039d-7368-0d68-0220-8ad50070fc3b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:05:18 - INFO: Sonar epoch is 2026-02-22 15:54:25.597311+00:00 (1771775665597311200)
2026-03-30T19:05:18 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:05:18 - INFO: Sensor range is 2.094960 m
2026-03-30T19:05:18 - INFO: Sensor micrometres per sample is 6959.999915
2026-03-30T19:05:18 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:05:18 - INFO: Scaled range is 2.056446 m
2026-03-30T19:05:18 - INFO: Scaled micrometres per sample is 6832.048000
2026-03-30T19:05:18 - INFO: Processing 2392 sweeps...

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2026-03-30T19:05:27 - INFO: Prepared sonar data in 10.9462 s
2026-03-30T19:05:27 - INFO: No IMU data found
2026-03-30T19:05:27 - INFO: DataPrep took 0:00:11.281934
2026-03-30T19:05:27 - INFO: Extracted sonar data in 0:02:11.076267
2026-03-30T19:05:28 - INFO: MSIP3D took 0:02:11.468421