2026-06-16T08:38:42 - INFO: MSIP3D 0.2.7
2026-06-16T08:38:42 - INFO: P3D files will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-06-16T08:38:42 - INFO: Found 11 TFD dictionary entries
2026-06-16T08:38:42 - INFO: Found TFD mission for SJ502828 DEP 517
2026-06-16T08:38:42 - INFO: Recording will be processed as SMD
2026-06-16T08:38:42 - INFO: Copying assets JSON to output directory...
2026-06-16T08:38:42 - INFO: Preparing counter data...
2026-06-16T08:38:42 - INFO: Interpreting counter as imperial
2026-06-16T08:38:42 - INFO: Preparing size track from assets JSON...
2026-06-16T08:38:42 - INFO: Preparing shape track from assets JSON...
2026-06-16T08:38:42 - INFO: Preparing material track from assets JSON...
2026-06-16T08:38:42 - INFO: Prepared counter data in 0.1894 s
2026-06-16T08:38:42 - INFO: Extracting sonar data...
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/SJ502828_DEP_517.tfd
TFD path: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 1337
19 / 1337 [->__________________________________________________________________________] 1.42% ? p/s39 / 1337 [-->_________________________________________________________________________] 2.92% ? p/s59 / 1337 [--->________________________________________________________________________] 4.41% ? p/s79 / 1337 [---->_____________________________________________________________________] 5.91% 100 p/s99 / 1337 [----->____________________________________________________________________] 7.40% 100 p/s119 / 1337 [------>__________________________________________________________________] 8.90% 100 p/s139 / 1337 [------->________________________________________________________________] 10.40% 100 p/s159 / 1337 [-------->_______________________________________________________________] 11.89% 100 p/s179 / 1337 [--------->______________________________________________________________] 13.39% 100 p/s199 / 1337 [---------->_____________________________________________________________] 14.88% 100 p/s219 / 1337 [----------->____________________________________________________________] 16.38% 100 p/s239 / 1337 [------------>___________________________________________________________] 17.88% 100 p/s258 / 1337 [------------->__________________________________________________________] 19.30% 100 p/s278 / 1337 [-------------->_________________________________________________________] 20.79% 100 p/s298 / 1337 [---------------->_______________________________________________________] 22.29% 100 p/s318 / 1337 [----------------->______________________________________________________] 23.78% 100 p/s338 / 1337 [------------------>_____________________________________________________] 25.28% 100 p/s358 / 1337 [------------------->____________________________________________________] 26.78% 100 p/s378 / 1337 [-------------------->___________________________________________________] 28.27% 100 p/s398 / 1337 [--------------------->__________________________________________________] 29.77% 100 p/s418 / 1337 [---------------------->_________________________________________________] 31.26% 100 p/s439 / 1337 [----------------------->________________________________________________] 32.83% 100 p/s459 / 1337 [------------------------>_______________________________________________] 34.33% 100 p/s478 / 1337 [------------------------->______________________________________________] 35.75% 100 p/s499 / 1337 [-------------------------->_____________________________________________] 37.32% 100 p/s518 / 1337 [--------------------------->____________________________________________] 38.74% 100 p/s538 / 1337 [---------------------------->___________________________________________] 40.24% 100 p/s558 / 1337 [------------------------------>_________________________________________] 41.74% 100 p/s578 / 1337 [------------------------------->________________________________________] 43.23% 100 p/s598 / 1337 [-------------------------------->_______________________________________] 44.73% 100 p/s618 / 1337 [--------------------------------->______________________________________] 46.22% 100 p/s638 / 1337 [---------------------------------->_____________________________________] 47.72% 100 p/s658 / 1337 [----------------------------------->____________________________________] 49.21% 100 p/s678 / 1337 [------------------------------------>___________________________________] 50.71% 100 p/s698 / 1337 [------------------------------------->__________________________________] 52.21% 100 p/s718 / 1337 [-------------------------------------->_________________________________] 53.70% 100 p/s738 / 1337 [--------------------------------------->________________________________] 55.20% 100 p/s758 / 1337 [---------------------------------------->_______________________________] 56.69% 100 p/s778 / 1337 [----------------------------------------->______________________________] 58.19% 100 p/s798 / 1337 [------------------------------------------>_____________________________] 59.69% 100 p/s818 / 1337 [-------------------------------------------->___________________________] 61.18% 100 p/s838 / 1337 [--------------------------------------------->__________________________] 62.68% 100 p/s858 / 1337 [---------------------------------------------->_________________________] 64.17% 100 p/s878 / 1337 [----------------------------------------------->________________________] 65.67% 100 p/s899 / 1337 [------------------------------------------------>_______________________] 67.24% 100 p/s919 / 1337 [------------------------------------------------->______________________] 68.74% 100 p/s938 / 1337 [-------------------------------------------------->_____________________] 70.16% 100 p/s958 / 1337 [--------------------------------------------------->____________________] 71.65% 100 p/s978 / 1337 [---------------------------------------------------->___________________] 73.15% 100 p/s998 / 1337 [----------------------------------------------------->__________________] 74.64% 100 p/s1017 / 1337 [------------------------------------------------------>________________] 76.07% 100 p/s1037 / 1337 [------------------------------------------------------->_______________] 77.56% 100 p/s1057 / 1337 [-------------------------------------------------------->______________] 79.06% 100 p/s1077 / 1337 [--------------------------------------------------------->_____________] 80.55% 100 p/s1097 / 1337 [---------------------------------------------------------->____________] 82.05% 100 p/s1117 / 1337 [----------------------------------------------------------->___________] 83.55% 100 p/s1137 / 1337 [------------------------------------------------------------>__________] 85.04% 100 p/s1156 / 1337 [------------------------------------------------------------->_________] 86.46% 100 p/s1176 / 1337 [-------------------------------------------------------------->________] 87.96% 100 p/s1196 / 1337 [--------------------------------------------------------------->_______] 89.45% 100 p/s1216 / 1337 [---------------------------------------------------------------->______] 90.95% 100 p/s1236 / 1337 [----------------------------------------------------------------->_____] 92.45% 100 p/s1256 / 1337 [------------------------------------------------------------------>____] 93.94% 100 p/s1276 / 1337 [------------------------------------------------------------------->___] 95.44% 100 p/s1296 / 1337 [-------------------------------------------------------------------->__] 96.93% 100 p/s1316 / 1337 [--------------------------------------------------------------------->_] 98.43% 100 p/s1336 / 1337 [---------------------------------------------------------------------->] 99.93% 100 p/s1337 / 1337 [----------------------------------------------------------------------] 100.00% 101 p/s2026-06-16T08:38:56 - INFO: Parsing 1337 sonar sweeps from /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-06-16T08:39:47 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f"
2026-06-16T08:39:49 - INFO: DataPrep 0.14.7
2026-06-16T08:39:49 - INFO: Prepared data will be output to /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/processing/data
2026-06-16T08:39:49 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-16T08:39:49 - deployment - INFO: Detected P3D version: P3D_1
2026-06-16T08:39:49 - INFO: Recording GUID: b07fddac-32c2-b749-d7db-c6c85da6f81f
2026-06-16T08:39:49 - INFO: Preparing sonar data...
2026-06-16T08:39:49 - INFO: /working/b07fddac-32c2-b749-d7db-c6c85da6f81f/b07fddac-32c2-b749-d7db-c6c85da6f81f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-16T08:39:50 - INFO: Sonar epoch is 2026-02-21 15:46:03.030020+00:00 (1771688763030019651)
2026-06-16T08:39:50 - INFO: Creating sonar sensor alignment track...
2026-06-16T08:39:50 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-06-16T08:39:50 - INFO: Sensor speed of sound is 1500 m/s
2026-06-16T08:39:50 - INFO: Sensor range is 2.094960 m
2026-06-16T08:39:50 - INFO: Sensor micrometres per sample is 6959.999915
2026-06-16T08:39:50 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-16T08:39:50 - INFO: Scaled range is 2.087263 m
2026-06-16T08:39:50 - INFO: Scaled micrometres per sample is 6934.426966
2026-06-16T08:39:50 - INFO: Processing 1337 sweeps...

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2026-06-16T08:39:55 - INFO: Prepared sonar data in 6.3604 s
2026-06-16T08:39:55 - INFO: No IMU data found
2026-06-16T08:39:55 - INFO: DataPrep took 0:00:06.575340
2026-06-16T08:39:55 - INFO: Extracted sonar data in 0:01:13.387431
2026-06-16T08:39:56 - INFO: MSIP3D took 0:01:13.691000