2026-03-30T18:58:11 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:58:11 - INFO: P3D files will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-30T18:58:11 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:58:11 - INFO: Found TFD mission for SJ502828 DEP 524
2026-03-30T18:58:11 - INFO: Recording will be processed as MD
2026-03-30T18:58:11 - INFO: Copying assets JSON to output directory...
2026-03-30T18:58:11 - INFO: Preparing counter data...
2026-03-30T18:58:11 - INFO: Interpreting counter as imperial
2026-03-30T18:58:12 - INFO: Preparing size track from assets JSON...
2026-03-30T18:58:12 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:58:12 - INFO: Preparing material track from assets JSON...
2026-03-30T18:58:12 - INFO: Prepared counter data in 0.0775 s
2026-03-30T18:58:12 - INFO: Extracting sonar data...
TFD path: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/SJ502828_DEP_524_002.tfd
TFD path: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215974206753347
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: LASER, Tag: 4855215974206753356
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 3530
22 / 3530 [>___________________________________________________________________________] 0.62% ? p/s46 / 3530 [>___________________________________________________________________________] 1.30% ? p/s68 / 3530 [->__________________________________________________________________________] 1.93% ? p/s91 / 3530 [->________________________________________________________________________] 2.58% 115 p/s114 / 3530 [-->______________________________________________________________________] 3.23% 115 p/s137 / 3530 [-->______________________________________________________________________] 3.88% 115 p/s160 / 3530 [--->_____________________________________________________________________] 4.53% 115 p/s183 / 3530 [--->_____________________________________________________________________] 5.18% 115 p/s206 / 3530 [---->____________________________________________________________________] 5.84% 115 p/s228 / 3530 [---->____________________________________________________________________] 6.46% 115 p/s250 / 3530 [----->___________________________________________________________________] 7.08% 115 p/s273 / 3530 [----->___________________________________________________________________] 7.73% 115 p/s295 / 3530 [------>__________________________________________________________________] 8.36% 115 p/s318 / 3530 [------>__________________________________________________________________] 9.01% 115 p/s341 / 3530 [------->_________________________________________________________________] 9.66% 115 p/s363 / 3530 [------->________________________________________________________________] 10.28% 115 p/s384 / 3530 [------->________________________________________________________________] 10.88% 115 p/s407 / 3530 [-------->_______________________________________________________________] 11.53% 115 p/s429 / 3530 [-------->_______________________________________________________________] 12.15% 114 p/s452 / 3530 [--------->______________________________________________________________] 12.80% 114 p/s474 / 3530 [--------->______________________________________________________________] 13.43% 114 p/s497 / 3530 [---------->_____________________________________________________________] 14.08% 114 p/s517 / 3530 [---------->_____________________________________________________________] 14.65% 114 p/s539 / 3530 [---------->_____________________________________________________________] 15.27% 114 p/s561 / 3530 [----------->____________________________________________________________] 15.89% 114 p/s584 / 3530 [----------->____________________________________________________________] 16.54% 114 p/s607 / 3530 [------------>___________________________________________________________] 17.20% 114 p/s629 / 3530 [------------>___________________________________________________________] 17.82% 114 p/s652 / 3530 [------------->__________________________________________________________] 18.47% 114 p/s674 / 3530 [------------->__________________________________________________________] 19.09% 114 p/s697 / 3530 [-------------->_________________________________________________________] 19.75% 114 p/s719 / 3530 [-------------->_________________________________________________________] 20.37% 114 p/s742 / 3530 [--------------->________________________________________________________] 21.02% 114 p/s764 / 3530 [--------------->________________________________________________________] 21.64% 114 p/s787 / 3530 [---------------->_______________________________________________________] 22.29% 114 p/s810 / 3530 [---------------->_______________________________________________________] 22.95% 114 p/s830 / 3530 [---------------->_______________________________________________________] 23.51% 113 p/s853 / 3530 [----------------->______________________________________________________] 24.16% 113 p/s875 / 3530 [----------------->______________________________________________________] 24.79% 113 p/s897 / 3530 [------------------>_____________________________________________________] 25.41% 113 p/s920 / 3530 [------------------>_____________________________________________________] 26.06% 113 p/s942 / 3530 [------------------->____________________________________________________] 26.69% 113 p/s965 / 3530 [------------------->____________________________________________________] 27.34% 113 p/s988 / 3530 [-------------------->___________________________________________________] 27.99% 113 p/s1010 / 3530 [-------------------->__________________________________________________] 28.61% 113 p/s1029 / 3530 [-------------------->__________________________________________________] 29.15% 113 p/s1052 / 3530 [--------------------->_________________________________________________] 29.80% 113 p/s1075 / 3530 [--------------------->_________________________________________________] 30.45% 113 p/s1097 / 3530 [---------------------->________________________________________________] 31.08% 113 p/s1120 / 3530 [---------------------->________________________________________________] 31.73% 113 p/s1143 / 3530 [---------------------->________________________________________________] 32.38% 113 p/s1166 / 3530 [----------------------->_______________________________________________] 33.03% 113 p/s1187 / 3530 [----------------------->_______________________________________________] 33.63% 113 p/s1210 / 3530 [------------------------>______________________________________________] 34.28% 113 p/s1233 / 3530 [------------------------>______________________________________________] 34.93% 113 p/s1255 / 3530 [------------------------->_____________________________________________] 35.55% 113 p/s1278 / 3530 [------------------------->_____________________________________________] 36.20% 113 p/s1301 / 3530 [-------------------------->____________________________________________] 36.86% 113 p/s1324 / 3530 [-------------------------->____________________________________________] 37.51% 113 p/s1346 / 3530 [--------------------------->___________________________________________] 38.13% 113 p/s1369 / 3530 [--------------------------->___________________________________________] 38.78% 113 p/s1392 / 3530 [--------------------------->___________________________________________] 39.43% 113 p/s1415 / 3530 [---------------------------->__________________________________________] 40.08% 113 p/s1438 / 3530 [---------------------------->__________________________________________] 40.74% 113 p/s1461 / 3530 [----------------------------->_________________________________________] 41.39% 113 p/s1484 / 3530 [----------------------------->_________________________________________] 42.04% 113 p/s1506 / 3530 [------------------------------>________________________________________] 42.66% 113 p/s1528 / 3530 [------------------------------>________________________________________] 43.29% 113 p/s1550 / 3530 [------------------------------->_______________________________________] 43.91% 113 p/s1573 / 3530 [------------------------------->_______________________________________] 44.56% 113 p/s1594 / 3530 [-------------------------------->______________________________________] 45.16% 113 p/s1617 / 3530 [-------------------------------->______________________________________] 45.81% 113 p/s1640 / 3530 [-------------------------------->______________________________________] 46.46% 113 p/s1663 / 3530 [--------------------------------->_____________________________________] 47.11% 113 p/s1686 / 3530 [--------------------------------->_____________________________________] 47.76% 113 p/s1709 / 3530 [---------------------------------->____________________________________] 48.41% 113 p/s1731 / 3530 [---------------------------------->____________________________________] 49.04% 113 p/s1754 / 3530 [----------------------------------->___________________________________] 49.69% 113 p/s1777 / 3530 [----------------------------------->___________________________________] 50.34% 113 p/s1800 / 3530 [------------------------------------>__________________________________] 50.99% 113 p/s1822 / 3530 [------------------------------------>__________________________________] 51.61% 113 p/s1845 / 3530 [------------------------------------->_________________________________] 52.27% 113 p/s1867 / 3530 [------------------------------------->_________________________________] 52.89% 113 p/s1889 / 3530 [------------------------------------->_________________________________] 53.51% 113 p/s1912 / 3530 [-------------------------------------->________________________________] 54.16% 113 p/s1935 / 3530 [-------------------------------------->________________________________] 54.82% 113 p/s1958 / 3530 [--------------------------------------->_______________________________] 55.47% 113 p/s1981 / 3530 [--------------------------------------->_______________________________] 56.12% 113 p/s2003 / 3530 [---------------------------------------->______________________________] 56.74% 113 p/s2026 / 3530 [---------------------------------------->______________________________] 57.39% 113 p/s2048 / 3530 [----------------------------------------->_____________________________] 58.02% 113 p/s2071 / 3530 [----------------------------------------->_____________________________] 58.67% 113 p/s2093 / 3530 [------------------------------------------>____________________________] 59.29% 113 p/s2116 / 3530 [------------------------------------------>____________________________] 59.94% 113 p/s2139 / 3530 [------------------------------------------->___________________________] 60.59% 113 p/s2162 / 3530 [------------------------------------------->___________________________] 61.25% 113 p/s2185 / 3530 [------------------------------------------->___________________________] 61.90% 113 p/s2207 / 3530 [-------------------------------------------->__________________________] 62.52% 113 p/s2230 / 3530 [-------------------------------------------->__________________________] 63.17% 113 p/s2253 / 3530 [--------------------------------------------->_________________________] 63.82% 113 p/s2275 / 3530 [--------------------------------------------->_________________________] 64.45% 113 p/s2298 / 3530 [---------------------------------------------->________________________] 65.10% 113 p/s2321 / 3530 [---------------------------------------------->________________________] 65.75% 113 p/s2343 / 3530 [----------------------------------------------->_______________________] 66.37% 113 p/s2366 / 3530 [----------------------------------------------->_______________________] 67.03% 113 p/s2389 / 3530 [------------------------------------------------>______________________] 67.68% 113 p/s2411 / 3530 [------------------------------------------------>______________________] 68.30% 113 p/s2434 / 3530 [------------------------------------------------>______________________] 68.95% 113 p/s2457 / 3530 [------------------------------------------------->_____________________] 69.60% 113 p/s2480 / 3530 [------------------------------------------------->_____________________] 70.25% 113 p/s2503 / 3530 [-------------------------------------------------->____________________] 70.91% 113 p/s2525 / 3530 [-------------------------------------------------->____________________] 71.53% 113 p/s2548 / 3530 [--------------------------------------------------->___________________] 72.18% 113 p/s2570 / 3530 [--------------------------------------------------->___________________] 72.80% 113 p/s2593 / 3530 [---------------------------------------------------->__________________] 73.46% 113 p/s2615 / 3530 [---------------------------------------------------->__________________] 74.08% 113 p/s2637 / 3530 [----------------------------------------------------->_________________] 74.70% 113 p/s2659 / 3530 [----------------------------------------------------->_________________] 75.33% 113 p/s2682 / 3530 [----------------------------------------------------->_________________] 75.98% 113 p/s2703 / 3530 [------------------------------------------------------>________________] 76.57% 113 p/s2726 / 3530 [------------------------------------------------------>________________] 77.22% 113 p/s2749 / 3530 [------------------------------------------------------->_______________] 77.88% 113 p/s2772 / 3530 [------------------------------------------------------->_______________] 78.53% 113 p/s2794 / 3530 [-------------------------------------------------------->______________] 79.15% 113 p/s2817 / 3530 [-------------------------------------------------------->______________] 79.80% 113 p/s2839 / 3530 [--------------------------------------------------------->_____________] 80.42% 113 p/s2862 / 3530 [--------------------------------------------------------->_____________] 81.08% 113 p/s2885 / 3530 [---------------------------------------------------------->____________] 81.73% 113 p/s2907 / 3530 [---------------------------------------------------------->____________] 82.35% 113 p/s2930 / 3530 [---------------------------------------------------------->____________] 83.00% 113 p/s2952 / 3530 [----------------------------------------------------------->___________] 83.63% 113 p/s2975 / 3530 [----------------------------------------------------------->___________] 84.28% 113 p/s2998 / 3530 [------------------------------------------------------------>__________] 84.93% 113 p/s3021 / 3530 [------------------------------------------------------------>__________] 85.58% 113 p/s3043 / 3530 [------------------------------------------------------------->_________] 86.20% 113 p/s3066 / 3530 [------------------------------------------------------------->_________] 86.86% 113 p/s3089 / 3530 [-------------------------------------------------------------->________] 87.51% 113 p/s3112 / 3530 [-------------------------------------------------------------->________] 88.16% 113 p/s3135 / 3530 [--------------------------------------------------------------->_______] 88.81% 113 p/s3157 / 3530 [--------------------------------------------------------------->_______] 89.43% 113 p/s3180 / 3530 [--------------------------------------------------------------->_______] 90.08% 113 p/s3203 / 3530 [---------------------------------------------------------------->______] 90.74% 113 p/s3224 / 3530 [---------------------------------------------------------------->______] 91.33% 113 p/s3246 / 3530 [----------------------------------------------------------------->_____] 91.95% 113 p/s3269 / 3530 [----------------------------------------------------------------->_____] 92.61% 113 p/s3292 / 3530 [------------------------------------------------------------------>____] 93.26% 113 p/s3315 / 3530 [------------------------------------------------------------------>____] 93.91% 113 p/s3338 / 3530 [------------------------------------------------------------------->___] 94.56% 113 p/s3361 / 3530 [------------------------------------------------------------------->___] 95.21% 113 p/s3382 / 3530 [-------------------------------------------------------------------->__] 95.81% 113 p/s3404 / 3530 [-------------------------------------------------------------------->__] 96.43% 113 p/s3427 / 3530 [-------------------------------------------------------------------->__] 97.08% 113 p/s3450 / 3530 [--------------------------------------------------------------------->_] 97.73% 113 p/s3473 / 3530 [--------------------------------------------------------------------->_] 98.39% 113 p/s3496 / 3530 [---------------------------------------------------------------------->] 99.04% 113 p/s3519 / 3530 [---------------------------------------------------------------------->] 99.69% 113 p/s3530 / 3530 [----------------------------------------------------------------------] 100.00% 114 p/s2026-03-30T18:58:43 - INFO: Parsing 3530 sonar sweeps from /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T19:00:52 - 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 --sonar-flip /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73"
2026-03-30T19:00:53 - INFO: DataPrep 0.14.0rc5
2026-03-30T19:00:53 - INFO: Prepared data will be output to /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/processing/data
2026-03-30T19:00:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T19:00:53 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T19:00:53 - INFO: Recording GUID: 8258b1d7-7b59-bec1-b5c8-67fe372b7f73
2026-03-30T19:00:53 - INFO: Preparing sonar data...
2026-03-30T19:00:53 - INFO: /working/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/8258b1d7-7b59-bec1-b5c8-67fe372b7f73/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T19:00:57 - INFO: Sonar epoch is 2026-02-25 14:51:35.271113+00:00 (1772031095271113559)
2026-03-30T19:00:57 - INFO: Creating sonar sensor alignment track...
2026-03-30T19:00:57 - INFO: Using sonar rotation of 0.349066 radians for wedge mask
2026-03-30T19:00:57 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T19:00:57 - INFO: Sensor range is 0.939120 m
2026-03-30T19:00:57 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T19:00:57 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T19:00:57 - INFO: Scaled range is 0.921855 m
2026-03-30T19:00:57 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T19:00:57 - INFO: Processing 3530 sweeps...

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2026-03-30T19:01:10 - INFO: Prepared sonar data in 16.5586 s
2026-03-30T19:01:10 - INFO: No IMU data found
2026-03-30T19:01:11 - INFO: DataPrep took 0:00:17.065835
2026-03-30T19:01:11 - INFO: Extracted sonar data in 0:02:59.143368
2026-03-30T19:01:11 - INFO: MSIP3D took 0:02:59.491966