2026-03-30T18:58:13 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:58:13 - INFO: P3D files will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-30T18:58:13 - INFO: Found 11 TFD dictionary entries
2026-03-30T18:58:13 - INFO: Found TFD mission for SJ502828 DEP 523
2026-03-30T18:58:13 - INFO: Recording will be processed as SMD
2026-03-30T18:58:13 - INFO: Copying assets JSON to output directory...
2026-03-30T18:58:13 - INFO: Preparing counter data...
2026-03-30T18:58:13 - INFO: Interpreting counter as imperial
2026-03-30T18:58:14 - INFO: Preparing size track from assets JSON...
2026-03-30T18:58:14 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:58:14 - INFO: Preparing material track from assets JSON...
2026-03-30T18:58:14 - INFO: Prepared counter data in 0.1292 s
2026-03-30T18:58:14 - INFO: Extracting sonar data...
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/SJ502828_DEP_523.tfd
TFD path: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Getting track SONAR
Number of frames: 1391
19 / 1391 [->__________________________________________________________________________] 1.37% ? p/s38 / 1391 [-->_________________________________________________________________________] 2.73% ? p/s57 / 1391 [--->________________________________________________________________________] 4.10% ? p/s76 / 1391 [---->______________________________________________________________________] 5.46% 95 p/s96 / 1391 [----->_____________________________________________________________________] 6.90% 95 p/s115 / 1391 [------>___________________________________________________________________] 8.27% 95 p/s134 / 1391 [------->__________________________________________________________________] 9.63% 95 p/s154 / 1391 [-------->________________________________________________________________] 11.07% 95 p/s173 / 1391 [--------->_______________________________________________________________] 12.44% 95 p/s193 / 1391 [---------->______________________________________________________________] 13.87% 95 p/s212 / 1391 [----------->_____________________________________________________________] 15.24% 95 p/s232 / 1391 [------------>____________________________________________________________] 16.68% 95 p/s250 / 1391 [------------->___________________________________________________________] 17.97% 95 p/s270 / 1391 [-------------->__________________________________________________________] 19.41% 95 p/s289 / 1391 [--------------->_________________________________________________________] 20.78% 95 p/s309 / 1391 [---------------->________________________________________________________] 22.21% 96 p/s328 / 1391 [----------------->_______________________________________________________] 23.58% 96 p/s348 / 1391 [------------------>______________________________________________________] 25.02% 96 p/s368 / 1391 [------------------->_____________________________________________________] 26.46% 96 p/s387 / 1391 [-------------------->____________________________________________________] 27.82% 96 p/s407 / 1391 [--------------------->___________________________________________________] 29.26% 96 p/s426 / 1391 [---------------------->__________________________________________________] 30.63% 96 p/s446 / 1391 [----------------------->_________________________________________________] 32.06% 96 p/s465 / 1391 [------------------------>________________________________________________] 33.43% 96 p/s485 / 1391 [------------------------->_______________________________________________] 34.87% 96 p/s504 / 1391 [-------------------------->______________________________________________] 36.23% 96 p/s523 / 1391 [--------------------------->_____________________________________________] 37.60% 96 p/s542 / 1391 [---------------------------->____________________________________________] 38.96% 96 p/s562 / 1391 [----------------------------->___________________________________________] 40.40% 96 p/s581 / 1391 [------------------------------>__________________________________________] 41.77% 96 p/s600 / 1391 [------------------------------->_________________________________________] 43.13% 96 p/s620 / 1391 [-------------------------------->________________________________________] 44.57% 96 p/s639 / 1391 [--------------------------------->_______________________________________] 45.94% 96 p/s659 / 1391 [---------------------------------->______________________________________] 47.38% 96 p/s679 / 1391 [----------------------------------->_____________________________________] 48.81% 96 p/s698 / 1391 [------------------------------------>____________________________________] 50.18% 96 p/s717 / 1391 [------------------------------------->___________________________________] 51.55% 96 p/s736 / 1391 [-------------------------------------->__________________________________] 52.91% 96 p/s754 / 1391 [--------------------------------------->_________________________________] 54.21% 96 p/s774 / 1391 [---------------------------------------->________________________________] 55.64% 96 p/s793 / 1391 [----------------------------------------->_______________________________] 57.01% 96 p/s813 / 1391 [------------------------------------------>______________________________] 58.45% 96 p/s832 / 1391 [------------------------------------------->_____________________________] 59.81% 96 p/s852 / 1391 [-------------------------------------------->____________________________] 61.25% 96 p/s871 / 1391 [--------------------------------------------->___________________________] 62.62% 96 p/s891 / 1391 [---------------------------------------------->__________________________] 64.05% 96 p/s911 / 1391 [----------------------------------------------->_________________________] 65.49% 96 p/s930 / 1391 [------------------------------------------------>________________________] 66.86% 96 p/s949 / 1391 [------------------------------------------------->_______________________] 68.22% 96 p/s968 / 1391 [-------------------------------------------------->______________________] 69.59% 96 p/s987 / 1391 [--------------------------------------------------->_____________________] 70.96% 96 p/s1006 / 1391 [---------------------------------------------------->___________________] 72.32% 96 p/s1025 / 1391 [----------------------------------------------------->__________________] 73.69% 96 p/s1044 / 1391 [------------------------------------------------------>_________________] 75.05% 96 p/s1064 / 1391 [------------------------------------------------------->________________] 76.49% 96 p/s1082 / 1391 [-------------------------------------------------------->_______________] 77.79% 96 p/s1101 / 1391 [-------------------------------------------------------->_______________] 79.15% 96 p/s1120 / 1391 [--------------------------------------------------------->______________] 80.52% 96 p/s1138 / 1391 [---------------------------------------------------------->_____________] 81.81% 96 p/s1157 / 1391 [----------------------------------------------------------->____________] 83.18% 96 p/s1176 / 1391 [------------------------------------------------------------>___________] 84.54% 96 p/s1195 / 1391 [------------------------------------------------------------->__________] 85.91% 96 p/s1214 / 1391 [-------------------------------------------------------------->_________] 87.28% 96 p/s1233 / 1391 [--------------------------------------------------------------->________] 88.64% 96 p/s1252 / 1391 [---------------------------------------------------------------->_______] 90.01% 96 p/s1272 / 1391 [----------------------------------------------------------------->______] 91.45% 96 p/s1291 / 1391 [------------------------------------------------------------------>_____] 92.81% 96 p/s1311 / 1391 [------------------------------------------------------------------->____] 94.25% 96 p/s1331 / 1391 [-------------------------------------------------------------------->___] 95.69% 96 p/s1349 / 1391 [--------------------------------------------------------------------->__] 96.98% 96 p/s1369 / 1391 [---------------------------------------------------------------------->_] 98.42% 96 p/s1389 / 1391 [----------------------------------------------------------------------->] 99.86% 96 p/s1391 / 1391 [-----------------------------------------------------------------------] 100.00% 98 p/s2026-03-30T18:58:28 - INFO: Parsing 1391 sonar sweeps from /working/0048e1ff-9a8a-5270-c756-f026b92203ed/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:59:23 - 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/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed"
2026-03-30T18:59:27 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:59:27 - INFO: Prepared data will be output to /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/processing/data
2026-03-30T18:59:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:59:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:59:27 - INFO: Recording GUID: 0048e1ff-9a8a-5270-c756-f026b92203ed
2026-03-30T18:59:27 - INFO: Preparing sonar data...
2026-03-30T18:59:27 - INFO: /working/0048e1ff-9a8a-5270-c756-f026b92203ed/0048e1ff-9a8a-5270-c756-f026b92203ed/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:59:29 - INFO: Sonar epoch is 2026-02-24 19:26:35.225468+00:00 (1771961195225468283)
2026-03-30T18:59:29 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:59:29 - INFO: Using sonar rotation of -0.104720 radians for wedge mask
2026-03-30T18:59:29 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:59:29 - INFO: Sensor range is 1.589280 m
2026-03-30T18:59:29 - INFO: Sensor micrometres per sample is 5280.000031
2026-03-30T18:59:29 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:59:29 - INFO: Scaled range is 1.560063 m
2026-03-30T18:59:29 - INFO: Scaled micrometres per sample is 5182.933059
2026-03-30T18:59:29 - INFO: Processing 1391 sweeps...

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2026-03-30T18:59:36 - INFO: Prepared sonar data in 8.8636 s
2026-03-30T18:59:36 - INFO: No IMU data found
2026-03-30T18:59:36 - INFO: DataPrep took 0:00:09.082802
2026-03-30T18:59:36 - INFO: Extracted sonar data in 0:01:22.899653
2026-03-30T18:59:37 - INFO: MSIP3D took 0:01:23.196725