2026-04-14T13:05:17 - INFO: MSIP3D 0.2.1
2026-04-14T13:05:17 - INFO: P3D files will be output to /working/af937f46-efa3-ba35-d014-17e5d422f816/af937f46-efa3-ba35-d014-17e5d422f816
2026-04-14T13:05:17 - INFO: Found 11 TFD dictionary entries
2026-04-14T13:05:17 - INFO: Found TFD mission for SJ502776 Dep 593
2026-04-14T13:05:17 - INFO: Recording will be processed as SMD
2026-04-14T13:05:17 - INFO: Copying assets JSON to output directory...
2026-04-14T13:05:17 - INFO: Preparing counter data...
2026-04-14T13:05:17 - INFO: Interpreting counter as imperial
2026-04-14T13:05:17 - INFO: Preparing size track from assets JSON...
2026-04-14T13:05:17 - INFO: Preparing shape track from assets JSON...
2026-04-14T13:05:17 - INFO: Preparing material track from assets JSON...
2026-04-14T13:05:17 - INFO: Prepared counter data in 0.0133 s
2026-04-14T13:05:17 - INFO: Extracting sonar data...
TFD path: /working/af937f46-efa3-ba35-d014-17e5d422f816/tfd/SJ502776_Dep_593.tfd
TFD path: /working/af937f46-efa3-ba35-d014-17e5d422f816/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855215978501720652
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215974206753347
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 603
18 / 603 [-->__________________________________________________________________________] 2.99% ? p/s37 / 603 [---->________________________________________________________________________] 6.14% ? p/s56 / 603 [------->_____________________________________________________________________] 9.29% ? p/s75 / 603 [--------->_________________________________________________________________] 12.44% 95 p/s94 / 603 [----------->_______________________________________________________________] 15.59% 95 p/s114 / 603 [------------->____________________________________________________________] 18.91% 95 p/s131 / 603 [---------------->_________________________________________________________] 21.72% 95 p/s150 / 603 [------------------>_______________________________________________________] 24.88% 95 p/s170 / 603 [-------------------->_____________________________________________________] 28.19% 95 p/s189 / 603 [----------------------->__________________________________________________] 31.34% 95 p/s209 / 603 [------------------------->________________________________________________] 34.66% 95 p/s228 / 603 [--------------------------->______________________________________________] 37.81% 95 p/s247 / 603 [------------------------------>___________________________________________] 40.96% 95 p/s266 / 603 [-------------------------------->_________________________________________] 44.11% 95 p/s285 / 603 [---------------------------------->_______________________________________] 47.26% 95 p/s305 / 603 [------------------------------------->____________________________________] 50.58% 95 p/s324 / 603 [--------------------------------------->__________________________________] 53.73% 95 p/s344 / 603 [------------------------------------------>_______________________________] 57.05% 95 p/s363 / 603 [-------------------------------------------->_____________________________] 60.20% 95 p/s382 / 603 [---------------------------------------------->___________________________] 63.35% 95 p/s401 / 603 [------------------------------------------------->________________________] 66.50% 95 p/s421 / 603 [--------------------------------------------------->______________________] 69.82% 95 p/s440 / 603 [----------------------------------------------------->____________________] 72.97% 95 p/s459 / 603 [-------------------------------------------------------->_________________] 76.12% 95 p/s478 / 603 [---------------------------------------------------------->_______________] 79.27% 95 p/s498 / 603 [------------------------------------------------------------->____________] 82.59% 95 p/s516 / 603 [--------------------------------------------------------------->__________] 85.57% 95 p/s535 / 603 [----------------------------------------------------------------->________] 88.72% 95 p/s554 / 603 [------------------------------------------------------------------->______] 91.87% 95 p/s574 / 603 [---------------------------------------------------------------------->___] 95.19% 95 p/s593 / 603 [------------------------------------------------------------------------>_] 98.34% 95 p/s603 / 603 [-------------------------------------------------------------------------] 100.00% 99 p/s2026-04-14T13:05:23 - INFO: Parsing 603 sonar sweeps from /working/af937f46-efa3-ba35-d014-17e5d422f816/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-14T13:05:47 - 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/af937f46-efa3-ba35-d014-17e5d422f816/af937f46-efa3-ba35-d014-17e5d422f816"
2026-04-14T13:05:48 - INFO: DataPrep 0.14.0
2026-04-14T13:05:48 - INFO: Prepared data will be output to /working/af937f46-efa3-ba35-d014-17e5d422f816/af937f46-efa3-ba35-d014-17e5d422f816/processing/data
2026-04-14T13:05:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T13:05:48 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T13:05:48 - INFO: Recording GUID: af937f46-efa3-ba35-d014-17e5d422f816
2026-04-14T13:05:48 - INFO: Preparing sonar data...
2026-04-14T13:05:48 - INFO: /working/af937f46-efa3-ba35-d014-17e5d422f816/af937f46-efa3-ba35-d014-17e5d422f816/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T13:05:49 - INFO: Sonar epoch is 2026-03-03 20:40:49.584721+00:00 (1772570449584720974)
2026-04-14T13:05:49 - INFO: Creating sonar sensor alignment track...
2026-04-14T13:05:49 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-04-14T13:05:49 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T13:05:49 - INFO: Sensor range is 1.372560 m
2026-04-14T13:05:49 - INFO: Sensor micrometres per sample is 4560.000081
2026-04-14T13:05:49 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T13:05:49 - INFO: Scaled range is 1.347327 m
2026-04-14T13:05:49 - INFO: Scaled micrometres per sample is 4476.169513
2026-04-14T13:05:49 - INFO: Processing 603 sweeps...

  0%|          | 0/603 [00:00<?, ?sw/s]
  6%|▋         | 39/603 [00:00<00:01, 389.03sw/s]
 16%|█▌        | 95/603 [00:00<00:01, 480.45sw/s]
 25%|██▌       | 152/603 [00:00<00:00, 514.04sw/s]
 34%|███▍      | 206/603 [00:00<00:00, 521.59sw/s]
 45%|████▍     | 270/603 [00:00<00:00, 559.11sw/s]
 56%|█████▌    | 335/603 [00:00<00:00, 586.85sw/s]
 66%|██████▌   | 396/603 [00:00<00:00, 589.85sw/s]
 79%|███████▉  | 477/603 [00:00<00:00, 656.43sw/s]
 91%|█████████ | 549/603 [00:00<00:00, 671.38sw/s]
100%|██████████| 603/603 [00:00<00:00, 610.48sw/s]
2026-04-14T13:05:50 - INFO: Prepared sonar data in 1.6864 s
2026-04-14T13:05:50 - INFO: No IMU data found
2026-04-14T13:05:50 - INFO: DataPrep took 0:00:01.744930
2026-04-14T13:05:50 - INFO: Extracted sonar data in 0:00:33.302998
2026-04-14T13:05:50 - INFO: MSIP3D took 0:00:33.364324