2026-03-30T19:01:31 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:01:31 - INFO: P3D files will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223
2026-03-30T19:01:31 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:01:31 - INFO: Found TFD mission for SJ502828 DEP 520
2026-03-30T19:01:31 - INFO: Recording will be processed as SMD
2026-03-30T19:01:31 - INFO: Copying assets JSON to output directory...
2026-03-30T19:01:31 - INFO: Preparing counter data...
2026-03-30T19:01:31 - INFO: Interpreting counter as imperial
2026-03-30T19:01:31 - INFO: Preparing size track from assets JSON...
2026-03-30T19:01:31 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:01:31 - INFO: Preparing material track from assets JSON...
2026-03-30T19:01:31 - INFO: Prepared counter data in 0.1930 s
2026-03-30T19:01:31 - INFO: Extracting sonar data...
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/SJ502828_DEP_520.tfd
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 1457
18 / 1457 [>___________________________________________________________________________] 1.24% ? p/s38 / 1457 [->__________________________________________________________________________] 2.61% ? p/s57 / 1457 [-->_________________________________________________________________________] 3.91% ? p/s76 / 1457 [--->_______________________________________________________________________] 5.22% 97 p/s96 / 1457 [---->______________________________________________________________________] 6.59% 97 p/s116 / 1457 [----->____________________________________________________________________] 7.96% 97 p/s135 / 1457 [------>___________________________________________________________________] 9.27% 97 p/s154 / 1457 [------->_________________________________________________________________] 10.57% 97 p/s174 / 1457 [-------->________________________________________________________________] 11.94% 97 p/s194 / 1457 [--------->_______________________________________________________________] 13.32% 97 p/s214 / 1457 [---------->______________________________________________________________] 14.69% 97 p/s233 / 1457 [----------->_____________________________________________________________] 15.99% 97 p/s253 / 1457 [------------>____________________________________________________________] 17.36% 97 p/s273 / 1457 [------------->___________________________________________________________] 18.74% 97 p/s292 / 1457 [-------------->__________________________________________________________] 20.04% 97 p/s312 / 1457 [--------------->_________________________________________________________] 21.41% 97 p/s332 / 1457 [---------------->________________________________________________________] 22.79% 97 p/s352 / 1457 [----------------->_______________________________________________________] 24.16% 97 p/s371 / 1457 [------------------>______________________________________________________] 25.46% 97 p/s391 / 1457 [------------------->_____________________________________________________] 26.84% 97 p/s412 / 1457 [-------------------->____________________________________________________] 28.28% 97 p/s432 / 1457 [--------------------->___________________________________________________] 29.65% 97 p/s452 / 1457 [---------------------->__________________________________________________] 31.02% 97 p/s471 / 1457 [----------------------->_________________________________________________] 32.33% 97 p/s492 / 1457 [------------------------>________________________________________________] 33.77% 98 p/s512 / 1457 [------------------------->_______________________________________________] 35.14% 98 p/s533 / 1457 [-------------------------->______________________________________________] 36.58% 98 p/s554 / 1457 [--------------------------->_____________________________________________] 38.02% 98 p/s575 / 1457 [---------------------------->____________________________________________] 39.46% 98 p/s596 / 1457 [----------------------------->___________________________________________] 40.91% 98 p/s618 / 1457 [------------------------------>__________________________________________] 42.42% 99 p/s639 / 1457 [-------------------------------->________________________________________] 43.86% 99 p/s659 / 1457 [--------------------------------->_______________________________________] 45.23% 99 p/s680 / 1457 [---------------------------------->______________________________________] 46.67% 99 p/s702 / 1457 [----------------------------------->_____________________________________] 48.18% 99 p/s723 / 1457 [------------------------------------>____________________________________] 49.62% 99 p/s744 / 1457 [------------------------------------->___________________________________] 51.06% 99 p/s764 / 1457 [-------------------------------------->__________________________________] 52.44% 99 p/s785 / 1457 [--------------------------------------->_________________________________] 53.88% 99 p/s805 / 1457 [---------------------------------------->________________________________] 55.25% 99 p/s826 / 1457 [----------------------------------------->_______________________________] 56.69% 99 p/s847 / 1457 [------------------------------------------>______________________________] 58.13% 99 p/s867 / 1457 [------------------------------------------>_____________________________] 59.51% 100 p/s887 / 1457 [------------------------------------------->____________________________] 60.88% 100 p/s899 / 1457 [-------------------------------------------->___________________________] 61.70% 100 p/s918 / 1457 [--------------------------------------------->___________________________] 63.01% 99 p/s939 / 1457 [----------------------------------------------->_________________________] 64.45% 99 p/s959 / 1457 [------------------------------------------------>________________________] 65.82% 99 p/s979 / 1457 [------------------------------------------------->_______________________] 67.19% 99 p/s1000 / 1457 [------------------------------------------------->______________________] 68.63% 99 p/s1020 / 1457 [-------------------------------------------------->_____________________] 70.01% 99 p/s1040 / 1457 [--------------------------------------------------->____________________] 71.38% 99 p/s1061 / 1457 [---------------------------------------------------->___________________] 72.82% 99 p/s1082 / 1457 [----------------------------------------------------->__________________] 74.26% 99 p/s1104 / 1457 [----------------------------------------------------->_________________] 75.77% 100 p/s1125 / 1457 [------------------------------------------------------>________________] 77.21% 100 p/s1147 / 1457 [------------------------------------------------------->_______________] 78.72% 100 p/s1168 / 1457 [-------------------------------------------------------->______________] 80.16% 100 p/s1189 / 1457 [--------------------------------------------------------->_____________] 81.61% 100 p/s1211 / 1457 [----------------------------------------------------------->___________] 83.12% 100 p/s1231 / 1457 [----------------------------------------------------------->___________] 84.49% 100 p/s1252 / 1457 [------------------------------------------------------------->_________] 85.93% 100 p/s1273 / 1457 [-------------------------------------------------------------->________] 87.37% 100 p/s1293 / 1457 [--------------------------------------------------------------->_______] 88.74% 101 p/s1314 / 1457 [---------------------------------------------------------------->______] 90.19% 101 p/s1335 / 1457 [----------------------------------------------------------------->_____] 91.63% 101 p/s1355 / 1457 [------------------------------------------------------------------>____] 93.00% 101 p/s1376 / 1457 [------------------------------------------------------------------->___] 94.44% 101 p/s1397 / 1457 [-------------------------------------------------------------------->__] 95.88% 101 p/s1417 / 1457 [--------------------------------------------------------------------->_] 97.25% 101 p/s1437 / 1457 [---------------------------------------------------------------------->] 98.63% 101 p/s1457 / 1457 [----------------------------------------------------------------------] 100.00% 103 p/s2026-03-30T19:01:46 - INFO: Parsing 1457 sonar sweeps from /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:02:41 - 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/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223"
2026-03-30T19:02:42 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:02:42 - INFO: Prepared data will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/processing/data
2026-03-30T19:02:42 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:02:42 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:02:42 - INFO: Recording GUID: 73936444-88dc-73e6-66fd-1462a3391223
2026-03-30T19:02:42 - INFO: Preparing sonar data...
2026-03-30T19:02:42 - INFO: /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:02:44 - INFO: Sonar epoch is 2026-02-22 22:00:20.642585+00:00 (1771797620642585129)
2026-03-30T19:02:44 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:02:44 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-30T19:02:44 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:02:44 - INFO: Sensor range is 2.094960 m
2026-03-30T19:02:44 - INFO: Sensor micrometres per sample is 6959.999915
2026-03-30T19:02:44 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:02:44 - INFO: Scaled range is 2.056446 m
2026-03-30T19:02:44 - INFO: Scaled micrometres per sample is 6832.048000
2026-03-30T19:02:44 - INFO: Processing 1457 sweeps...

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2026-03-30T19:02:49 - INFO: Prepared sonar data in 6.3301 s
2026-03-30T19:02:49 - INFO: No IMU data found
2026-03-30T19:02:49 - INFO: DataPrep took 0:00:06.520657
2026-03-30T19:02:49 - INFO: Extracted sonar data in 0:01:17.848070
2026-03-30T19:02:49 - INFO: MSIP3D took 0:01:18.168814