2026-04-08T07:22:50 - INFO: MSIP3D 0.2.1
2026-04-08T07:22:50 - INFO: P3D files will be output to /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f
2026-04-08T07:22:50 - INFO: Found 10 TFD dictionary entries
2026-04-08T07:22:50 - INFO: Found TFD mission for 50001817
2026-04-08T07:22:50 - INFO: Recording will be processed as MD
2026-04-08T07:22:50 - INFO: Copying assets JSON to output directory...
2026-04-08T07:22:50 - INFO: Preparing counter data...
2026-04-08T07:22:50 - INFO: Interpreting counter as metric
2026-04-08T07:22:50 - INFO: Preparing size track from assets JSON...
2026-04-08T07:22:50 - INFO: Preparing material track from assets JSON...
2026-04-08T07:22:50 - INFO: Prepared counter data in 0.0114 s
2026-04-08T07:22:50 - INFO: Extracting sonar data...
TFD path: /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/tfd/50001817_001.tfd
TFD path: /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 512
21 / 512 [--->_________________________________________________________________________] 4.10% ? p/s43 / 512 [------>______________________________________________________________________] 8.40% ? p/s65 / 512 [--------->__________________________________________________________________] 12.70% ? p/s87 / 512 [------------>_____________________________________________________________] 16.99% 110 p/s109 / 512 [--------------->_________________________________________________________] 21.29% 110 p/s130 / 512 [------------------>______________________________________________________] 25.39% 110 p/s153 / 512 [--------------------->___________________________________________________] 29.88% 110 p/s175 / 512 [------------------------>________________________________________________] 34.18% 110 p/s197 / 512 [---------------------------->____________________________________________] 38.48% 110 p/s220 / 512 [------------------------------->_________________________________________] 42.97% 110 p/s242 / 512 [---------------------------------->______________________________________] 47.27% 110 p/s264 / 512 [------------------------------------->___________________________________] 51.56% 110 p/s286 / 512 [---------------------------------------->________________________________] 55.86% 110 p/s309 / 512 [-------------------------------------------->____________________________] 60.35% 110 p/s331 / 512 [----------------------------------------------->_________________________] 64.65% 110 p/s353 / 512 [-------------------------------------------------->______________________] 68.95% 110 p/s376 / 512 [----------------------------------------------------->___________________] 73.44% 110 p/s398 / 512 [-------------------------------------------------------->________________] 77.73% 110 p/s420 / 512 [----------------------------------------------------------->_____________] 82.03% 110 p/s443 / 512 [--------------------------------------------------------------->_________] 86.52% 110 p/s465 / 512 [------------------------------------------------------------------>______] 90.82% 110 p/s488 / 512 [--------------------------------------------------------------------->___] 95.31% 110 p/s510 / 512 [------------------------------------------------------------------------>] 99.61% 110 p/s512 / 512 [------------------------------------------------------------------------] 100.00% 116 p/s2026-04-08T07:22:55 - INFO: Parsing 512 sonar sweeps from /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-08T07:23:14 - WARNING: Expected 400 beams, got 14, dropping sweep 504
2026-04-08T07:23:14 - 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/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f"
2026-04-08T07:23:16 - INFO: DataPrep 0.14.0
2026-04-08T07:23:16 - INFO: Prepared data will be output to /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/processing/data
2026-04-08T07:23:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-08T07:23:16 - deployment - INFO: Detected P3D version: P3D_1
2026-04-08T07:23:16 - INFO: Recording GUID: ab2687ac-f0be-7ffd-2b31-cd865ecb306f
2026-04-08T07:23:16 - INFO: Preparing sonar data...
2026-04-08T07:23:16 - INFO: /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-08T07:23:16 - INFO: Sonar epoch is 2025-10-09 13:11:35.636375+00:00 (1760015495636374834)
2026-04-08T07:23:16 - INFO: Creating sonar sensor alignment track...
2026-04-08T07:23:16 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-08T07:23:16 - INFO: Sensor speed of sound is 1500 m/s
2026-04-08T07:23:16 - INFO: Sensor range is 0.939120 m
2026-04-08T07:23:16 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-08T07:23:16 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-08T07:23:16 - INFO: Scaled range is 0.921855 m
2026-04-08T07:23:16 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-08T07:23:16 - INFO: Processing 511 sweeps...

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2026-04-08T07:23:18 - INFO: Prepared sonar data in 1.9803 s
2026-04-08T07:23:18 - INFO: No IMU data found
2026-04-08T07:23:18 - INFO: DataPrep took 0:00:02.036045
2026-04-08T07:23:18 - INFO: Extracted sonar data in 0:00:27.598490
2026-04-08T07:23:18 - INFO: MSIP3D took 0:00:27.652005