2026-03-30T18:57:11 - INFO: MSIP3D 0.2.0rc5
2026-03-30T18:57:12 - INFO: P3D files will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-30T18:57:12 - INFO: Found 10 TFD dictionary entries
2026-03-30T18:57:12 - INFO: Found TFD mission for SJ502828 DEP 525
2026-03-30T18:57:12 - INFO: Recording will be processed as MD
2026-03-30T18:57:12 - INFO: Copying assets JSON to output directory...
2026-03-30T18:57:12 - INFO: Preparing counter data...
2026-03-30T18:57:12 - INFO: Interpreting counter as imperial
2026-03-30T18:57:12 - INFO: Preparing size track from assets JSON...
2026-03-30T18:57:12 - INFO: Preparing shape track from assets JSON...
2026-03-30T18:57:12 - INFO: Preparing material track from assets JSON...
2026-03-30T18:57:12 - INFO: Prepared counter data in 0.0729 s
2026-03-30T18:57:12 - INFO: Extracting sonar data...
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/SJ502828_DEP_525.tfd
TFD path: /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215974206753356
Name: CCTV, Tag: 4855215974206753347
Getting track SONAR
Number of frames: 2233
21 / 2233 [>___________________________________________________________________________] 0.94% ? p/s43 / 2233 [->__________________________________________________________________________] 1.93% ? p/s64 / 2233 [-->_________________________________________________________________________] 2.87% ? p/s85 / 2233 [-->_______________________________________________________________________] 3.81% 107 p/s107 / 2233 [--->_____________________________________________________________________] 4.79% 107 p/s129 / 2233 [---->____________________________________________________________________] 5.78% 107 p/s151 / 2233 [---->____________________________________________________________________] 6.76% 107 p/s173 / 2233 [----->___________________________________________________________________] 7.75% 107 p/s195 / 2233 [------>__________________________________________________________________] 8.73% 107 p/s217 / 2233 [------->_________________________________________________________________] 9.72% 107 p/s239 / 2233 [------->________________________________________________________________] 10.70% 107 p/s261 / 2233 [-------->_______________________________________________________________] 11.69% 107 p/s283 / 2233 [--------->______________________________________________________________] 12.67% 107 p/s305 / 2233 [--------->______________________________________________________________] 13.66% 107 p/s326 / 2233 [---------->_____________________________________________________________] 14.60% 107 p/s347 / 2233 [----------->____________________________________________________________] 15.54% 107 p/s368 / 2233 [----------->____________________________________________________________] 16.48% 107 p/s390 / 2233 [------------>___________________________________________________________] 17.47% 107 p/s412 / 2233 [------------->__________________________________________________________] 18.45% 107 p/s434 / 2233 [------------->__________________________________________________________] 19.44% 107 p/s457 / 2233 [-------------->_________________________________________________________] 20.47% 107 p/s479 / 2233 [--------------->________________________________________________________] 21.45% 108 p/s502 / 2233 [---------------->_______________________________________________________] 22.48% 108 p/s524 / 2233 [---------------->_______________________________________________________] 23.47% 108 p/s537 / 2233 [----------------->______________________________________________________] 24.05% 107 p/s556 / 2233 [----------------->______________________________________________________] 24.90% 107 p/s579 / 2233 [------------------>_____________________________________________________] 25.93% 107 p/s602 / 2233 [------------------->____________________________________________________] 26.96% 107 p/s625 / 2233 [-------------------->___________________________________________________] 27.99% 107 p/s646 / 2233 [-------------------->___________________________________________________] 28.93% 107 p/s669 / 2233 [--------------------->__________________________________________________] 29.96% 107 p/s692 / 2233 [---------------------->_________________________________________________] 30.99% 107 p/s715 / 2233 [----------------------->________________________________________________] 32.02% 107 p/s738 / 2233 [----------------------->________________________________________________] 33.05% 108 p/s761 / 2233 [------------------------>_______________________________________________] 34.08% 108 p/s783 / 2233 [------------------------->______________________________________________] 35.06% 108 p/s806 / 2233 [------------------------->______________________________________________] 36.09% 108 p/s829 / 2233 [-------------------------->_____________________________________________] 37.12% 108 p/s852 / 2233 [--------------------------->____________________________________________] 38.15% 108 p/s875 / 2233 [---------------------------->___________________________________________] 39.18% 109 p/s898 / 2233 [---------------------------->___________________________________________] 40.21% 109 p/s921 / 2233 [----------------------------->__________________________________________] 41.24% 109 p/s944 / 2233 [------------------------------>_________________________________________] 42.27% 109 p/s966 / 2233 [------------------------------->________________________________________] 43.26% 109 p/s989 / 2233 [------------------------------->________________________________________] 44.29% 109 p/s1012 / 2233 [-------------------------------->______________________________________] 45.32% 109 p/s1035 / 2233 [-------------------------------->______________________________________] 46.35% 109 p/s1058 / 2233 [--------------------------------->_____________________________________] 47.38% 109 p/s1081 / 2233 [---------------------------------->____________________________________] 48.41% 110 p/s1094 / 2233 [---------------------------------->____________________________________] 48.99% 110 p/s1115 / 2233 [----------------------------------->___________________________________] 49.93% 110 p/s1138 / 2233 [------------------------------------>__________________________________] 50.96% 109 p/s1161 / 2233 [------------------------------------>__________________________________] 51.99% 109 p/s1184 / 2233 [------------------------------------->_________________________________] 53.02% 109 p/s1206 / 2233 [-------------------------------------->________________________________] 54.01% 109 p/s1229 / 2233 [--------------------------------------->_______________________________] 55.04% 109 p/s1252 / 2233 [--------------------------------------->_______________________________] 56.07% 109 p/s1274 / 2233 [---------------------------------------->______________________________] 57.05% 109 p/s1297 / 2233 [----------------------------------------->_____________________________] 58.08% 109 p/s1320 / 2233 [----------------------------------------->_____________________________] 59.11% 109 p/s1343 / 2233 [------------------------------------------>____________________________] 60.14% 110 p/s1366 / 2233 [------------------------------------------->___________________________] 61.17% 110 p/s1389 / 2233 [-------------------------------------------->__________________________] 62.20% 110 p/s1412 / 2233 [-------------------------------------------->__________________________] 63.23% 110 p/s1435 / 2233 [--------------------------------------------->_________________________] 64.26% 110 p/s1458 / 2233 [---------------------------------------------->________________________] 65.29% 110 p/s1481 / 2233 [----------------------------------------------->_______________________] 66.32% 110 p/s1503 / 2233 [----------------------------------------------->_______________________] 67.31% 110 p/s1527 / 2233 [------------------------------------------------>______________________] 68.38% 110 p/s1550 / 2233 [------------------------------------------------->_____________________] 69.41% 111 p/s1572 / 2233 [------------------------------------------------->_____________________] 70.40% 111 p/s1595 / 2233 [-------------------------------------------------->____________________] 71.43% 111 p/s1618 / 2233 [--------------------------------------------------->___________________] 72.46% 111 p/s1641 / 2233 [---------------------------------------------------->__________________] 73.49% 111 p/s1655 / 2233 [---------------------------------------------------->__________________] 74.12% 111 p/s1671 / 2233 [----------------------------------------------------->_________________] 74.83% 109 p/s1694 / 2233 [----------------------------------------------------->_________________] 75.86% 109 p/s1717 / 2233 [------------------------------------------------------>________________] 76.89% 109 p/s1740 / 2233 [------------------------------------------------------->_______________] 77.92% 110 p/s1763 / 2233 [-------------------------------------------------------->______________] 78.95% 110 p/s1785 / 2233 [-------------------------------------------------------->______________] 79.94% 110 p/s1807 / 2233 [--------------------------------------------------------->_____________] 80.92% 110 p/s1830 / 2233 [---------------------------------------------------------->____________] 81.95% 110 p/s1853 / 2233 [---------------------------------------------------------->____________] 82.98% 110 p/s1876 / 2233 [----------------------------------------------------------->___________] 84.01% 110 p/s1899 / 2233 [------------------------------------------------------------>__________] 85.04% 110 p/s1922 / 2233 [------------------------------------------------------------->_________] 86.07% 110 p/s1945 / 2233 [------------------------------------------------------------->_________] 87.10% 110 p/s1968 / 2233 [-------------------------------------------------------------->________] 88.13% 110 p/s1991 / 2233 [--------------------------------------------------------------->_______] 89.16% 110 p/s2014 / 2233 [---------------------------------------------------------------->______] 90.19% 111 p/s2036 / 2233 [---------------------------------------------------------------->______] 91.18% 111 p/s2058 / 2233 [----------------------------------------------------------------->_____] 92.16% 111 p/s2081 / 2233 [------------------------------------------------------------------>____] 93.19% 111 p/s2104 / 2233 [------------------------------------------------------------------>____] 94.22% 111 p/s2127 / 2233 [------------------------------------------------------------------->___] 95.25% 111 p/s2143 / 2233 [-------------------------------------------------------------------->__] 95.97% 110 p/s2158 / 2233 [-------------------------------------------------------------------->__] 96.64% 110 p/s2176 / 2233 [--------------------------------------------------------------------->_] 97.45% 110 p/s2190 / 2233 [--------------------------------------------------------------------->_] 98.07% 108 p/s2212 / 2233 [---------------------------------------------------------------------->] 99.06% 108 p/s2233 / 2233 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-30T18:57:32 - INFO: Parsing 2233 sonar sweeps from /working/1063a476-ebd6-ea57-6012-f96e6648999d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-30T18:58:55 - 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/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d"
2026-03-30T18:58:56 - INFO: DataPrep 0.14.0rc5
2026-03-30T18:58:56 - INFO: Prepared data will be output to /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/processing/data
2026-03-30T18:58:56 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-30T18:58:56 - deployment - INFO: Detected P3D version: P3D_1
2026-03-30T18:58:56 - INFO: Recording GUID: 1063a476-ebd6-ea57-6012-f96e6648999d
2026-03-30T18:58:56 - INFO: Preparing sonar data...
2026-03-30T18:58:56 - INFO: /working/1063a476-ebd6-ea57-6012-f96e6648999d/1063a476-ebd6-ea57-6012-f96e6648999d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-30T18:58:58 - INFO: Sonar epoch is 2026-02-26 18:29:36.826920+00:00 (1772130576826919698)
2026-03-30T18:58:58 - INFO: Creating sonar sensor alignment track...
2026-03-30T18:58:58 - INFO: Using sonar rotation of 0.331613 radians for wedge mask
2026-03-30T18:58:58 - INFO: Sensor speed of sound is 1500 m/s
2026-03-30T18:58:58 - INFO: Sensor range is 0.939120 m
2026-03-30T18:58:58 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-30T18:58:58 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-30T18:58:58 - INFO: Scaled range is 0.921855 m
2026-03-30T18:58:58 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-30T18:58:58 - INFO: Processing 2233 sweeps...

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2026-03-30T18:59:07 - INFO: Prepared sonar data in 11.0222 s
2026-03-30T18:59:07 - INFO: No IMU data found
2026-03-30T18:59:07 - INFO: DataPrep took 0:00:11.348122
2026-03-30T18:59:07 - INFO: Extracted sonar data in 0:01:55.746967
2026-03-30T18:59:08 - INFO: MSIP3D took 0:01:56.004433