2026-04-14T13:00:23 - INFO: MSIP3D 0.2.1
2026-04-14T13:00:23 - INFO: P3D files will be output to /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764
2026-04-14T13:00:23 - INFO: Found 10 TFD dictionary entries
2026-04-14T13:00:23 - INFO: Found TFD mission for SJ502795 Dep 19
2026-04-14T13:00:23 - INFO: Recording will be processed as MD
2026-04-14T13:00:23 - INFO: Preparing counter data...
2026-04-14T13:00:23 - INFO: Interpreting counter as imperial
2026-04-14T13:00:23 - INFO: Prepared counter data in 0.0179 s
2026-04-14T13:00:23 - INFO: Extracting sonar data...
TFD path: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/SJ502795_Dep_19.tfd
TFD path: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 2906
22 / 2906 [>___________________________________________________________________________] 0.76% ? p/s45 / 2906 [->__________________________________________________________________________] 1.55% ? p/s67 / 2906 [->__________________________________________________________________________] 2.31% ? p/s89 / 2906 [-->_______________________________________________________________________] 3.06% 112 p/s112 / 2906 [-->______________________________________________________________________] 3.85% 112 p/s133 / 2906 [--->_____________________________________________________________________] 4.58% 112 p/s154 / 2906 [--->_____________________________________________________________________] 5.30% 111 p/s176 / 2906 [---->____________________________________________________________________] 6.06% 111 p/s198 / 2906 [---->____________________________________________________________________] 6.81% 111 p/s220 / 2906 [----->___________________________________________________________________] 7.57% 111 p/s241 / 2906 [------>__________________________________________________________________] 8.29% 111 p/s263 / 2906 [------>__________________________________________________________________] 9.05% 111 p/s285 / 2906 [------->_________________________________________________________________] 9.81% 111 p/s307 / 2906 [------->________________________________________________________________] 10.56% 111 p/s329 / 2906 [-------->_______________________________________________________________] 11.32% 111 p/s351 / 2906 [-------->_______________________________________________________________] 12.08% 111 p/s373 / 2906 [--------->______________________________________________________________] 12.84% 111 p/s395 / 2906 [--------->______________________________________________________________] 13.59% 111 p/s416 / 2906 [---------->_____________________________________________________________] 14.32% 111 p/s438 / 2906 [---------->_____________________________________________________________] 15.07% 111 p/s460 / 2906 [----------->____________________________________________________________] 15.83% 111 p/s482 / 2906 [----------->____________________________________________________________] 16.59% 111 p/s504 / 2906 [------------>___________________________________________________________] 17.34% 111 p/s525 / 2906 [------------->__________________________________________________________] 18.07% 111 p/s547 / 2906 [------------->__________________________________________________________] 18.82% 111 p/s569 / 2906 [-------------->_________________________________________________________] 19.58% 111 p/s591 / 2906 [-------------->_________________________________________________________] 20.34% 111 p/s613 / 2906 [--------------->________________________________________________________] 21.09% 111 p/s635 / 2906 [--------------->________________________________________________________] 21.85% 111 p/s656 / 2906 [---------------->_______________________________________________________] 22.57% 111 p/s679 / 2906 [---------------->_______________________________________________________] 23.37% 111 p/s701 / 2906 [----------------->______________________________________________________] 24.12% 111 p/s723 / 2906 [----------------->______________________________________________________] 24.88% 111 p/s746 / 2906 [------------------>_____________________________________________________] 25.67% 111 p/s769 / 2906 [------------------->____________________________________________________] 26.46% 111 p/s793 / 2906 [------------------->____________________________________________________] 27.29% 111 p/s816 / 2906 [-------------------->___________________________________________________] 28.08% 111 p/s839 / 2906 [-------------------->___________________________________________________] 28.87% 111 p/s862 / 2906 [--------------------->__________________________________________________] 29.66% 111 p/s884 / 2906 [--------------------->__________________________________________________] 30.42% 111 p/s907 / 2906 [---------------------->_________________________________________________] 31.21% 111 p/s930 / 2906 [----------------------->________________________________________________] 32.00% 111 p/s954 / 2906 [----------------------->________________________________________________] 32.83% 112 p/s977 / 2906 [------------------------>_______________________________________________] 33.62% 112 p/s1000 / 2906 [------------------------>______________________________________________] 34.41% 112 p/s1023 / 2906 [------------------------>______________________________________________] 35.20% 112 p/s1046 / 2906 [------------------------->_____________________________________________] 35.99% 112 p/s1069 / 2906 [-------------------------->____________________________________________] 36.79% 112 p/s1092 / 2906 [-------------------------->____________________________________________] 37.58% 112 p/s1116 / 2906 [--------------------------->___________________________________________] 38.40% 112 p/s1139 / 2906 [--------------------------->___________________________________________] 39.19% 112 p/s1162 / 2906 [---------------------------->__________________________________________] 39.99% 112 p/s1185 / 2906 [---------------------------->__________________________________________] 40.78% 112 p/s1209 / 2906 [----------------------------->_________________________________________] 41.60% 112 p/s1232 / 2906 [------------------------------>________________________________________] 42.40% 113 p/s1255 / 2906 [------------------------------>________________________________________] 43.19% 113 p/s1278 / 2906 [------------------------------->_______________________________________] 43.98% 113 p/s1300 / 2906 [------------------------------->_______________________________________] 44.74% 113 p/s1322 / 2906 [-------------------------------->______________________________________] 45.49% 113 p/s1344 / 2906 [-------------------------------->______________________________________] 46.25% 113 p/s1367 / 2906 [--------------------------------->_____________________________________] 47.04% 113 p/s1389 / 2906 [--------------------------------->_____________________________________] 47.80% 113 p/s1412 / 2906 [---------------------------------->____________________________________] 48.59% 113 p/s1434 / 2906 [----------------------------------->___________________________________] 49.35% 112 p/s1456 / 2906 [----------------------------------->___________________________________] 50.10% 112 p/s1479 / 2906 [------------------------------------>__________________________________] 50.89% 112 p/s1501 / 2906 [------------------------------------>__________________________________] 51.65% 112 p/s1524 / 2906 [------------------------------------->_________________________________] 52.44% 112 p/s1546 / 2906 [------------------------------------->_________________________________] 53.20% 112 p/s1568 / 2906 [-------------------------------------->________________________________] 53.96% 112 p/s1591 / 2906 [-------------------------------------->________________________________] 54.75% 112 p/s1613 / 2906 [--------------------------------------->_______________________________] 55.51% 112 p/s1636 / 2906 [--------------------------------------->_______________________________] 56.30% 112 p/s1658 / 2906 [---------------------------------------->______________________________] 57.05% 112 p/s1681 / 2906 [----------------------------------------->_____________________________] 57.85% 112 p/s1703 / 2906 [----------------------------------------->_____________________________] 58.60% 112 p/s1726 / 2906 [------------------------------------------>____________________________] 59.39% 112 p/s1748 / 2906 [------------------------------------------>____________________________] 60.15% 112 p/s1770 / 2906 [------------------------------------------->___________________________] 60.91% 112 p/s1793 / 2906 [------------------------------------------->___________________________] 61.70% 112 p/s1815 / 2906 [-------------------------------------------->__________________________] 62.46% 112 p/s1838 / 2906 [-------------------------------------------->__________________________] 63.25% 112 p/s1860 / 2906 [--------------------------------------------->_________________________] 64.01% 112 p/s1883 / 2906 [---------------------------------------------->________________________] 64.80% 112 p/s1906 / 2906 [---------------------------------------------->________________________] 65.59% 112 p/s1928 / 2906 [----------------------------------------------->_______________________] 66.35% 112 p/s1951 / 2906 [----------------------------------------------->_______________________] 67.14% 112 p/s1973 / 2906 [------------------------------------------------>______________________] 67.89% 112 p/s1995 / 2906 [------------------------------------------------>______________________] 68.65% 112 p/s2018 / 2906 [------------------------------------------------->_____________________] 69.44% 112 p/s2040 / 2906 [------------------------------------------------->_____________________] 70.20% 112 p/s2062 / 2906 [-------------------------------------------------->____________________] 70.96% 112 p/s2084 / 2906 [-------------------------------------------------->____________________] 71.71% 112 p/s2107 / 2906 [--------------------------------------------------->___________________] 72.51% 112 p/s2129 / 2906 [---------------------------------------------------->__________________] 73.26% 112 p/s2151 / 2906 [---------------------------------------------------->__________________] 74.02% 112 p/s2174 / 2906 [----------------------------------------------------->_________________] 74.81% 112 p/s2196 / 2906 [----------------------------------------------------->_________________] 75.57% 112 p/s2219 / 2906 [------------------------------------------------------>________________] 76.36% 112 p/s2231 / 2906 [------------------------------------------------------>________________] 76.77% 111 p/s2253 / 2906 [------------------------------------------------------->_______________] 77.53% 111 p/s2275 / 2906 [------------------------------------------------------->_______________] 78.29% 111 p/s2298 / 2906 [-------------------------------------------------------->______________] 79.08% 111 p/s2320 / 2906 [-------------------------------------------------------->______________] 79.83% 111 p/s2342 / 2906 [--------------------------------------------------------->_____________] 80.59% 111 p/s2364 / 2906 [--------------------------------------------------------->_____________] 81.35% 111 p/s2387 / 2906 [---------------------------------------------------------->____________] 82.14% 111 p/s2409 / 2906 [---------------------------------------------------------->____________] 82.90% 111 p/s2431 / 2906 [----------------------------------------------------------->___________] 83.65% 111 p/s2453 / 2906 [----------------------------------------------------------->___________] 84.41% 111 p/s2474 / 2906 [------------------------------------------------------------>__________] 85.13% 111 p/s2496 / 2906 [------------------------------------------------------------>__________] 85.89% 111 p/s2519 / 2906 [------------------------------------------------------------->_________] 86.68% 111 p/s2541 / 2906 [-------------------------------------------------------------->________] 87.44% 111 p/s2563 / 2906 [-------------------------------------------------------------->________] 88.20% 111 p/s2585 / 2906 [--------------------------------------------------------------->_______] 88.95% 111 p/s2608 / 2906 [--------------------------------------------------------------->_______] 89.75% 111 p/s2630 / 2906 [---------------------------------------------------------------->______] 90.50% 111 p/s2653 / 2906 [---------------------------------------------------------------->______] 91.29% 111 p/s2676 / 2906 [----------------------------------------------------------------->_____] 92.09% 111 p/s2699 / 2906 [----------------------------------------------------------------->_____] 92.88% 111 p/s2722 / 2906 [------------------------------------------------------------------>____] 93.67% 111 p/s2745 / 2906 [------------------------------------------------------------------->___] 94.46% 111 p/s2768 / 2906 [------------------------------------------------------------------->___] 95.25% 112 p/s2791 / 2906 [-------------------------------------------------------------------->__] 96.04% 112 p/s2814 / 2906 [-------------------------------------------------------------------->__] 96.83% 112 p/s2837 / 2906 [--------------------------------------------------------------------->_] 97.63% 112 p/s2861 / 2906 [--------------------------------------------------------------------->_] 98.45% 112 p/s2884 / 2906 [---------------------------------------------------------------------->] 99.24% 112 p/s2906 / 2906 [----------------------------------------------------------------------] 100.00% 113 p/s2026-04-14T13:00:49 - INFO: Parsing 2906 sonar sweeps from /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-14T13:02:37 - 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/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764"
2026-04-14T13:02:38 - INFO: DataPrep 0.14.0
2026-04-14T13:02:38 - INFO: Prepared data will be output to /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764/processing/data
2026-04-14T13:02:38 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T13:02:38 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T13:02:38 - INFO: Recording GUID: 9dbb69f4-3dba-a315-9a3e-5004937a8764
2026-04-14T13:02:38 - INFO: Preparing sonar data...
2026-04-14T13:02:38 - INFO: /working/9dbb69f4-3dba-a315-9a3e-5004937a8764/9dbb69f4-3dba-a315-9a3e-5004937a8764/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T13:02:41 - INFO: Sonar epoch is 2026-03-26 13:15:44.418798+00:00 (1774530944418797965)
2026-04-14T13:02:41 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T13:02:41 - INFO: Sensor range is 0.722400 m
2026-04-14T13:02:41 - INFO: Sensor micrometres per sample is 2400.000032
2026-04-14T13:02:41 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T13:02:41 - INFO: Scaled range is 0.709119 m
2026-04-14T13:02:41 - INFO: Scaled micrometres per sample is 2355.878681
2026-04-14T13:02:41 - INFO: Processing 2906 sweeps...

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2026-04-14T13:02:50 - INFO: Prepared sonar data in 11.4312 s
2026-04-14T13:02:50 - INFO: No IMU data found
2026-04-14T13:02:50 - INFO: DataPrep took 0:00:11.795411
2026-04-14T13:02:50 - INFO: Extracted sonar data in 0:02:26.748000
2026-04-14T13:02:50 - INFO: MSIP3D took 0:02:27.015567