2026-03-30T19:02:18 - INFO: MSIP3D 0.2.0rc5
2026-03-30T19:02:18 - INFO: P3D files will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-30T19:02:18 - INFO: Found 11 TFD dictionary entries
2026-03-30T19:02:18 - INFO: Found TFD mission for SJ502828 DEP 521
2026-03-30T19:02:18 - INFO: Recording will be processed as SMD
2026-03-30T19:02:18 - INFO: Copying assets JSON to output directory...
2026-03-30T19:02:18 - INFO: Preparing counter data...
2026-03-30T19:02:18 - INFO: Interpreting counter as imperial
2026-03-30T19:02:18 - INFO: Preparing size track from assets JSON...
2026-03-30T19:02:18 - INFO: Preparing shape track from assets JSON...
2026-03-30T19:02:18 - INFO: Preparing material track from assets JSON...
2026-03-30T19:02:18 - INFO: Prepared counter data in 0.2898 s
2026-03-30T19:02:18 - INFO: Extracting sonar data...
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/SJ502828_DEP_521.tfd
TFD path: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 2756
19 / 2756 [>___________________________________________________________________________] 0.69% ? p/s38 / 2756 [->__________________________________________________________________________] 1.38% ? p/s57 / 2756 [->__________________________________________________________________________] 2.07% ? p/s76 / 2756 [-->________________________________________________________________________] 2.76% 95 p/s96 / 2756 [-->________________________________________________________________________] 3.48% 95 p/s116 / 2756 [--->______________________________________________________________________] 4.21% 95 p/s135 / 2756 [--->______________________________________________________________________] 4.90% 95 p/s154 / 2756 [---->_____________________________________________________________________] 5.59% 95 p/s174 / 2756 [---->_____________________________________________________________________] 6.31% 95 p/s193 / 2756 [----->____________________________________________________________________] 7.00% 95 p/s213 / 2756 [----->____________________________________________________________________] 7.73% 95 p/s233 / 2756 [------>___________________________________________________________________] 8.45% 95 p/s251 / 2756 [------>___________________________________________________________________] 9.11% 95 p/s271 / 2756 [------->__________________________________________________________________] 9.83% 95 p/s291 / 2756 [------->_________________________________________________________________] 10.56% 95 p/s310 / 2756 [-------->________________________________________________________________] 11.25% 96 p/s330 / 2756 [-------->________________________________________________________________] 11.97% 96 p/s350 / 2756 [--------->_______________________________________________________________] 12.70% 96 p/s369 / 2756 [--------->_______________________________________________________________] 13.39% 96 p/s389 / 2756 [---------->______________________________________________________________] 14.11% 96 p/s408 / 2756 [---------->______________________________________________________________] 14.80% 96 p/s428 / 2756 [----------->_____________________________________________________________] 15.53% 96 p/s447 / 2756 [----------->_____________________________________________________________] 16.22% 96 p/s466 / 2756 [------------>____________________________________________________________] 16.91% 96 p/s486 / 2756 [------------>____________________________________________________________] 17.63% 96 p/s505 / 2756 [------------->___________________________________________________________] 18.32% 96 p/s525 / 2756 [------------->___________________________________________________________] 19.05% 96 p/s545 / 2756 [-------------->__________________________________________________________] 19.78% 96 p/s564 / 2756 [-------------->__________________________________________________________] 20.46% 96 p/s584 / 2756 [--------------->_________________________________________________________] 21.19% 96 p/s603 / 2756 [--------------->_________________________________________________________] 21.88% 96 p/s623 / 2756 [---------------->________________________________________________________] 22.61% 96 p/s642 / 2756 [----------------->_______________________________________________________] 23.29% 96 p/s662 / 2756 [----------------->_______________________________________________________] 24.02% 96 p/s682 / 2756 [------------------>______________________________________________________] 24.75% 96 p/s701 / 2756 [------------------>______________________________________________________] 25.44% 96 p/s721 / 2756 [------------------->_____________________________________________________] 26.16% 96 p/s740 / 2756 [------------------->_____________________________________________________] 26.85% 96 p/s759 / 2756 [-------------------->____________________________________________________] 27.54% 96 p/s779 / 2756 [-------------------->____________________________________________________] 28.27% 96 p/s798 / 2756 [--------------------->___________________________________________________] 28.96% 96 p/s818 / 2756 [--------------------->___________________________________________________] 29.68% 96 p/s837 / 2756 [---------------------->__________________________________________________] 30.37% 96 p/s857 / 2756 [---------------------->__________________________________________________] 31.10% 96 p/s877 / 2756 [----------------------->_________________________________________________] 31.82% 96 p/s896 / 2756 [----------------------->_________________________________________________] 32.51% 97 p/s916 / 2756 [------------------------>________________________________________________] 33.24% 97 p/s936 / 2756 [------------------------>________________________________________________] 33.96% 97 p/s955 / 2756 [------------------------->_______________________________________________] 34.65% 97 p/s975 / 2756 [------------------------->_______________________________________________] 35.38% 97 p/s993 / 2756 [-------------------------->______________________________________________] 36.03% 97 p/s1012 / 2756 [-------------------------->_____________________________________________] 36.72% 97 p/s1032 / 2756 [-------------------------->_____________________________________________] 37.45% 97 p/s1051 / 2756 [--------------------------->____________________________________________] 38.13% 97 p/s1071 / 2756 [--------------------------->____________________________________________] 38.86% 97 p/s1090 / 2756 [---------------------------->___________________________________________] 39.55% 97 p/s1110 / 2756 [---------------------------->___________________________________________] 40.28% 97 p/s1129 / 2756 [----------------------------->__________________________________________] 40.97% 97 p/s1149 / 2756 [------------------------------>_________________________________________] 41.69% 97 p/s1169 / 2756 [------------------------------>_________________________________________] 42.42% 97 p/s1189 / 2756 [------------------------------->________________________________________] 43.14% 97 p/s1208 / 2756 [------------------------------->________________________________________] 43.83% 97 p/s1228 / 2756 [-------------------------------->_______________________________________] 44.56% 97 p/s1248 / 2756 [-------------------------------->_______________________________________] 45.28% 97 p/s1268 / 2756 [--------------------------------->______________________________________] 46.01% 97 p/s1287 / 2756 [--------------------------------->______________________________________] 46.70% 97 p/s1307 / 2756 [---------------------------------->_____________________________________] 47.42% 97 p/s1327 / 2756 [---------------------------------->_____________________________________] 48.15% 97 p/s1346 / 2756 [----------------------------------->____________________________________] 48.84% 97 p/s1366 / 2756 [----------------------------------->____________________________________] 49.56% 97 p/s1385 / 2756 [------------------------------------>___________________________________] 50.25% 97 p/s1405 / 2756 [------------------------------------>___________________________________] 50.98% 97 p/s1425 / 2756 [------------------------------------->__________________________________] 51.71% 97 p/s1444 / 2756 [------------------------------------->__________________________________] 52.39% 97 p/s1464 / 2756 [-------------------------------------->_________________________________] 53.12% 97 p/s1484 / 2756 [-------------------------------------->_________________________________] 53.85% 97 p/s1504 / 2756 [--------------------------------------->________________________________] 54.57% 97 p/s1523 / 2756 [--------------------------------------->________________________________] 55.26% 97 p/s1543 / 2756 [---------------------------------------->_______________________________] 55.99% 97 p/s1562 / 2756 [---------------------------------------->_______________________________] 56.68% 97 p/s1582 / 2756 [----------------------------------------->______________________________] 57.40% 97 p/s1602 / 2756 [----------------------------------------->______________________________] 58.13% 97 p/s1622 / 2756 [------------------------------------------>_____________________________] 58.85% 97 p/s1642 / 2756 [------------------------------------------>_____________________________] 59.58% 97 p/s1661 / 2756 [------------------------------------------->____________________________] 60.27% 97 p/s1681 / 2756 [------------------------------------------->____________________________] 60.99% 97 p/s1701 / 2756 [-------------------------------------------->___________________________] 61.72% 97 p/s1721 / 2756 [-------------------------------------------->___________________________] 62.45% 98 p/s1741 / 2756 [--------------------------------------------->__________________________] 63.17% 98 p/s1760 / 2756 [--------------------------------------------->__________________________] 63.86% 98 p/s1780 / 2756 [---------------------------------------------->_________________________] 64.59% 98 p/s1800 / 2756 [----------------------------------------------->________________________] 65.31% 98 p/s1820 / 2756 [----------------------------------------------->________________________] 66.04% 98 p/s1840 / 2756 [------------------------------------------------>_______________________] 66.76% 98 p/s1860 / 2756 [------------------------------------------------>_______________________] 67.49% 98 p/s1880 / 2756 [------------------------------------------------->______________________] 68.21% 98 p/s1900 / 2756 [------------------------------------------------->______________________] 68.94% 98 p/s1919 / 2756 [-------------------------------------------------->_____________________] 69.63% 98 p/s1939 / 2756 [-------------------------------------------------->_____________________] 70.36% 98 p/s1959 / 2756 [--------------------------------------------------->____________________] 71.08% 98 p/s1979 / 2756 [--------------------------------------------------->____________________] 71.81% 98 p/s1999 / 2756 [---------------------------------------------------->___________________] 72.53% 98 p/s2019 / 2756 [---------------------------------------------------->___________________] 73.26% 98 p/s2039 / 2756 [----------------------------------------------------->__________________] 73.98% 98 p/s2058 / 2756 [----------------------------------------------------->__________________] 74.67% 98 p/s2078 / 2756 [------------------------------------------------------>_________________] 75.40% 98 p/s2098 / 2756 [------------------------------------------------------>_________________] 76.12% 98 p/s2118 / 2756 [------------------------------------------------------->________________] 76.85% 98 p/s2138 / 2756 [------------------------------------------------------->________________] 77.58% 98 p/s2158 / 2756 [-------------------------------------------------------->_______________] 78.30% 98 p/s2178 / 2756 [-------------------------------------------------------->_______________] 79.03% 98 p/s2198 / 2756 [--------------------------------------------------------->______________] 79.75% 98 p/s2219 / 2756 [--------------------------------------------------------->______________] 80.52% 98 p/s2239 / 2756 [---------------------------------------------------------->_____________] 81.24% 98 p/s2260 / 2756 [----------------------------------------------------------->____________] 82.00% 99 p/s2280 / 2756 [----------------------------------------------------------->____________] 82.73% 99 p/s2300 / 2756 [------------------------------------------------------------>___________] 83.45% 99 p/s2321 / 2756 [------------------------------------------------------------>___________] 84.22% 99 p/s2341 / 2756 [------------------------------------------------------------->__________] 84.94% 99 p/s2361 / 2756 [------------------------------------------------------------->__________] 85.67% 99 p/s2381 / 2756 [-------------------------------------------------------------->_________] 86.39% 99 p/s2402 / 2756 [-------------------------------------------------------------->_________] 87.16% 99 p/s2422 / 2756 [--------------------------------------------------------------->________] 87.88% 99 p/s2442 / 2756 [--------------------------------------------------------------->________] 88.61% 99 p/s2462 / 2756 [---------------------------------------------------------------->_______] 89.33% 99 p/s2483 / 2756 [---------------------------------------------------------------->_______] 90.09% 99 p/s2504 / 2756 [----------------------------------------------------------------->______] 90.86% 99 p/s2525 / 2756 [----------------------------------------------------------------->______] 91.62% 99 p/s2546 / 2756 [------------------------------------------------------------------>_____] 92.38% 99 p/s2566 / 2756 [------------------------------------------------------------------>____] 93.11% 100 p/s2586 / 2756 [------------------------------------------------------------------>____] 93.83% 100 p/s2606 / 2756 [------------------------------------------------------------------->___] 94.56% 100 p/s2626 / 2756 [------------------------------------------------------------------->___] 95.28% 100 p/s2646 / 2756 [-------------------------------------------------------------------->__] 96.01% 100 p/s2666 / 2756 [-------------------------------------------------------------------->__] 96.73% 100 p/s2685 / 2756 [--------------------------------------------------------------------->_] 97.42% 100 p/s2705 / 2756 [--------------------------------------------------------------------->_] 98.15% 100 p/s2725 / 2756 [---------------------------------------------------------------------->] 98.88% 100 p/s2746 / 2756 [---------------------------------------------------------------------->] 99.64% 100 p/s2756 / 2756 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-03-30T19:02:46 - INFO: Parsing 2756 sonar sweeps from /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:04:34 - 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/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c"
2026-03-30T19:04:35 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:04:35 - INFO: Prepared data will be output to /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/processing/data
2026-03-30T19:04:35 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:04:35 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:04:35 - INFO: Recording GUID: 81041dd7-f3c1-b2ba-09d1-1df106bb925c
2026-03-30T19:04:35 - INFO: Preparing sonar data...
2026-03-30T19:04:35 - INFO: /working/81041dd7-f3c1-b2ba-09d1-1df106bb925c/81041dd7-f3c1-b2ba-09d1-1df106bb925c/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:04:38 - INFO: Sonar epoch is 2026-02-23 17:09:14.871653+00:00 (1771866554871652952)
2026-03-30T19:04:38 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:04:38 - INFO: Using sonar rotation of -0.052360 radians for wedge mask
2026-03-30T19:04:38 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:04:38 - INFO: Sensor range is 2.094960 m
2026-03-30T19:04:38 - INFO: Sensor micrometres per sample is 6959.999915
2026-03-30T19:04:38 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:04:38 - INFO: Scaled range is 2.056446 m
2026-03-30T19:04:38 - INFO: Scaled micrometres per sample is 6832.048000
2026-03-30T19:04:38 - INFO: Processing 2755 sweeps...

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2026-03-30T19:04:48 - INFO: Prepared sonar data in 12.5983 s
2026-03-30T19:04:48 - INFO: No IMU data found
2026-03-30T19:04:48 - INFO: DataPrep took 0:00:12.996784
2026-03-30T19:04:48 - INFO: Extracted sonar data in 0:02:30.276804
2026-03-30T19:04:49 - INFO: MSIP3D took 0:02:30.815841