2026-04-08T19:48:11 - INFO: MSIP3D 0.2.1
2026-04-08T19:48:11 - INFO: P3D files will be output to /working/456f1b22-51bc-5dca-cf63-14022e10ea73/456f1b22-51bc-5dca-cf63-14022e10ea73
2026-04-08T19:48:11 - INFO: Found 10 TFD dictionary entries
2026-04-08T19:48:11 - INFO: Found TFD mission for 50003944
2026-04-08T19:48:11 - INFO: Recording will be processed as MD
2026-04-08T19:48:11 - INFO: Copying assets JSON to output directory...
2026-04-08T19:48:11 - INFO: Preparing counter data...
2026-04-08T19:48:11 - INFO: Interpreting counter as metric
2026-04-08T19:48:12 - INFO: Preparing size track from assets JSON...
2026-04-08T19:48:12 - INFO: Preparing shape track from assets JSON...
2026-04-08T19:48:12 - INFO: Preparing material track from assets JSON...
2026-04-08T19:48:12 - INFO: Prepared counter data in 0.2145 s
2026-04-08T19:48:12 - INFO: Extracting sonar data...
TFD path: /working/456f1b22-51bc-5dca-cf63-14022e10ea73/tfd/50003944.tfd
TFD path: /working/456f1b22-51bc-5dca-cf63-14022e10ea73/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 5537
22 / 5537 [>___________________________________________________________________________] 0.40% ? p/s46 / 5537 [>___________________________________________________________________________] 0.83% ? p/s68 / 5537 [>___________________________________________________________________________] 1.23% ? p/s92 / 5537 [->________________________________________________________________________] 1.66% 117 p/s115 / 5537 [->_______________________________________________________________________] 2.08% 117 p/s137 / 5537 [->_______________________________________________________________________] 2.47% 117 p/s160 / 5537 [-->______________________________________________________________________] 2.89% 116 p/s184 / 5537 [-->______________________________________________________________________] 3.32% 116 p/s207 / 5537 [-->______________________________________________________________________] 3.74% 116 p/s231 / 5537 [--->_____________________________________________________________________] 4.17% 117 p/s253 / 5537 [--->_____________________________________________________________________] 4.57% 117 p/s276 / 5537 [--->_____________________________________________________________________] 4.98% 117 p/s300 / 5537 [--->_____________________________________________________________________] 5.42% 116 p/s321 / 5537 [---->____________________________________________________________________] 5.80% 116 p/s343 / 5537 [---->____________________________________________________________________] 6.19% 116 p/s366 / 5537 [---->____________________________________________________________________] 6.61% 116 p/s389 / 5537 [----->___________________________________________________________________] 7.03% 116 p/s410 / 5537 [----->___________________________________________________________________] 7.40% 116 p/s434 / 5537 [----->___________________________________________________________________] 7.84% 116 p/s456 / 5537 [------>__________________________________________________________________] 8.24% 116 p/s479 / 5537 [------>__________________________________________________________________] 8.65% 116 p/s502 / 5537 [------>__________________________________________________________________] 9.07% 116 p/s524 / 5537 [------>__________________________________________________________________] 9.46% 116 p/s547 / 5537 [------->_________________________________________________________________] 9.88% 116 p/s570 / 5537 [------->________________________________________________________________] 10.29% 116 p/s593 / 5537 [------->________________________________________________________________] 10.71% 116 p/s617 / 5537 [-------->_______________________________________________________________] 11.14% 116 p/s640 / 5537 [-------->_______________________________________________________________] 11.56% 116 p/s664 / 5537 [-------->_______________________________________________________________] 11.99% 116 p/s687 / 5537 [-------->_______________________________________________________________] 12.41% 116 p/s710 / 5537 [--------->______________________________________________________________] 12.82% 116 p/s733 / 5537 [--------->______________________________________________________________] 13.24% 116 p/s756 / 5537 [--------->______________________________________________________________] 13.65% 116 p/s780 / 5537 [---------->_____________________________________________________________] 14.09% 116 p/s803 / 5537 [---------->_____________________________________________________________] 14.50% 116 p/s827 / 5537 [---------->_____________________________________________________________] 14.94% 116 p/s850 / 5537 [----------->____________________________________________________________] 15.35% 116 p/s873 / 5537 [----------->____________________________________________________________] 15.77% 116 p/s896 / 5537 [----------->____________________________________________________________] 16.18% 116 p/s920 / 5537 [----------->____________________________________________________________] 16.62% 116 p/s942 / 5537 [------------>___________________________________________________________] 17.01% 116 p/s965 / 5537 [------------>___________________________________________________________] 17.43% 116 p/s989 / 5537 [------------>___________________________________________________________] 17.86% 116 p/s1011 / 5537 [------------>__________________________________________________________] 18.26% 116 p/s1032 / 5537 [------------->_________________________________________________________] 18.64% 116 p/s1055 / 5537 [------------->_________________________________________________________] 19.05% 115 p/s1078 / 5537 [------------->_________________________________________________________] 19.47% 115 p/s1100 / 5537 [-------------->________________________________________________________] 19.87% 115 p/s1122 / 5537 [-------------->________________________________________________________] 20.26% 115 p/s1144 / 5537 [-------------->________________________________________________________] 20.66% 115 p/s1167 / 5537 [-------------->________________________________________________________] 21.08% 115 p/s1190 / 5537 [--------------->_______________________________________________________] 21.49% 115 p/s1214 / 5537 [--------------->_______________________________________________________] 21.93% 115 p/s1237 / 5537 [--------------->_______________________________________________________] 22.34% 115 p/s1260 / 5537 [---------------->______________________________________________________] 22.76% 115 p/s1283 / 5537 [---------------->______________________________________________________] 23.17% 115 p/s1307 / 5537 [---------------->______________________________________________________] 23.60% 115 p/s1330 / 5537 [----------------->_____________________________________________________] 24.02% 115 p/s1354 / 5537 [----------------->_____________________________________________________] 24.45% 115 p/s1377 / 5537 [----------------->_____________________________________________________] 24.87% 115 p/s1400 / 5537 [----------------->_____________________________________________________] 25.28% 115 p/s1422 / 5537 [------------------>____________________________________________________] 25.68% 115 p/s1446 / 5537 [------------------>____________________________________________________] 26.12% 115 p/s1469 / 5537 [------------------>____________________________________________________] 26.53% 115 p/s1492 / 5537 [------------------->___________________________________________________] 26.95% 115 p/s1516 / 5537 [------------------->___________________________________________________] 27.38% 115 p/s1540 / 5537 [------------------->___________________________________________________] 27.81% 116 p/s1563 / 5537 [-------------------->__________________________________________________] 28.23% 116 p/s1586 / 5537 [-------------------->__________________________________________________] 28.64% 116 p/s1610 / 5537 [-------------------->__________________________________________________] 29.08% 116 p/s1633 / 5537 [-------------------->__________________________________________________] 29.49% 116 p/s1656 / 5537 [--------------------->_________________________________________________] 29.91% 116 p/s1680 / 5537 [--------------------->_________________________________________________] 30.34% 116 p/s1704 / 5537 [--------------------->_________________________________________________] 30.77% 116 p/s1727 / 5537 [---------------------->________________________________________________] 31.19% 116 p/s1750 / 5537 [---------------------->________________________________________________] 31.61% 116 p/s1774 / 5537 [---------------------->________________________________________________] 32.04% 116 p/s1797 / 5537 [----------------------->_______________________________________________] 32.45% 116 p/s1820 / 5537 [----------------------->_______________________________________________] 32.87% 116 p/s1843 / 5537 [----------------------->_______________________________________________] 33.29% 116 p/s1865 / 5537 [----------------------->_______________________________________________] 33.68% 116 p/s1889 / 5537 [------------------------>______________________________________________] 34.12% 116 p/s1911 / 5537 [------------------------>______________________________________________] 34.51% 116 p/s1935 / 5537 [------------------------>______________________________________________] 34.95% 116 p/s1956 / 5537 [------------------------->_____________________________________________] 35.33% 115 p/s1979 / 5537 [------------------------->_____________________________________________] 35.74% 115 p/s2002 / 5537 [------------------------->_____________________________________________] 36.16% 115 p/s2025 / 5537 [------------------------->_____________________________________________] 36.57% 115 p/s2047 / 5537 [-------------------------->____________________________________________] 36.97% 115 p/s2071 / 5537 [-------------------------->____________________________________________] 37.40% 115 p/s2093 / 5537 [-------------------------->____________________________________________] 37.80% 115 p/s2115 / 5537 [--------------------------->___________________________________________] 38.20% 115 p/s2136 / 5537 [--------------------------->___________________________________________] 38.58% 115 p/s2158 / 5537 [--------------------------->___________________________________________] 38.97% 115 p/s2181 / 5537 [--------------------------->___________________________________________] 39.39% 115 p/s2205 / 5537 [---------------------------->__________________________________________] 39.82% 115 p/s2228 / 5537 [---------------------------->__________________________________________] 40.24% 115 p/s2251 / 5537 [---------------------------->__________________________________________] 40.65% 115 p/s2271 / 5537 [----------------------------->_________________________________________] 41.01% 115 p/s2294 / 5537 [----------------------------->_________________________________________] 41.43% 115 p/s2317 / 5537 [----------------------------->_________________________________________] 41.85% 115 p/s2341 / 5537 [------------------------------>________________________________________] 42.28% 115 p/s2364 / 5537 [------------------------------>________________________________________] 42.69% 115 p/s2388 / 5537 [------------------------------>________________________________________] 43.13% 115 p/s2411 / 5537 [------------------------------>________________________________________] 43.54% 115 p/s2435 / 5537 [------------------------------->_______________________________________] 43.98% 115 p/s2458 / 5537 [------------------------------->_______________________________________] 44.39% 115 p/s2481 / 5537 [------------------------------->_______________________________________] 44.81% 115 p/s2505 / 5537 [-------------------------------->______________________________________] 45.24% 115 p/s2528 / 5537 [-------------------------------->______________________________________] 45.66% 115 p/s2551 / 5537 [-------------------------------->______________________________________] 46.07% 115 p/s2575 / 5537 [--------------------------------->_____________________________________] 46.51% 115 p/s2598 / 5537 [--------------------------------->_____________________________________] 46.92% 115 p/s2622 / 5537 [--------------------------------->_____________________________________] 47.35% 115 p/s2645 / 5537 [--------------------------------->_____________________________________] 47.77% 115 p/s2668 / 5537 [---------------------------------->____________________________________] 48.18% 115 p/s2692 / 5537 [---------------------------------->____________________________________] 48.62% 115 p/s2715 / 5537 [---------------------------------->____________________________________] 49.03% 115 p/s2738 / 5537 [----------------------------------->___________________________________] 49.45% 115 p/s2761 / 5537 [----------------------------------->___________________________________] 49.86% 115 p/s2785 / 5537 [----------------------------------->___________________________________] 50.30% 115 p/s2808 / 5537 [------------------------------------>__________________________________] 50.71% 115 p/s2831 / 5537 [------------------------------------>__________________________________] 51.13% 115 p/s2855 / 5537 [------------------------------------>__________________________________] 51.56% 116 p/s2878 / 5537 [------------------------------------>__________________________________] 51.98% 116 p/s2901 / 5537 [------------------------------------->_________________________________] 52.39% 116 p/s2925 / 5537 [------------------------------------->_________________________________] 52.83% 116 p/s2948 / 5537 [------------------------------------->_________________________________] 53.24% 116 p/s2971 / 5537 [-------------------------------------->________________________________] 53.66% 116 p/s2994 / 5537 [-------------------------------------->________________________________] 54.07% 116 p/s3018 / 5537 [-------------------------------------->________________________________] 54.51% 116 p/s3041 / 5537 [-------------------------------------->________________________________] 54.92% 116 p/s3065 / 5537 [--------------------------------------->_______________________________] 55.35% 116 p/s3088 / 5537 [--------------------------------------->_______________________________] 55.77% 116 p/s3111 / 5537 [--------------------------------------->_______________________________] 56.19% 116 p/s3135 / 5537 [---------------------------------------->______________________________] 56.62% 116 p/s3158 / 5537 [---------------------------------------->______________________________] 57.03% 116 p/s3181 / 5537 [---------------------------------------->______________________________] 57.45% 116 p/s3204 / 5537 [----------------------------------------->_____________________________] 57.87% 116 p/s3227 / 5537 [----------------------------------------->_____________________________] 58.28% 116 p/s3251 / 5537 [----------------------------------------->_____________________________] 58.71% 116 p/s3274 / 5537 [----------------------------------------->_____________________________] 59.13% 116 p/s3297 / 5537 [------------------------------------------>____________________________] 59.54% 116 p/s3321 / 5537 [------------------------------------------>____________________________] 59.98% 116 p/s3344 / 5537 [------------------------------------------>____________________________] 60.39% 116 p/s3367 / 5537 [------------------------------------------->___________________________] 60.81% 116 p/s3391 / 5537 [------------------------------------------->___________________________] 61.24% 116 p/s3414 / 5537 [------------------------------------------->___________________________] 61.66% 116 p/s3437 / 5537 [-------------------------------------------->__________________________] 62.07% 116 p/s3461 / 5537 [-------------------------------------------->__________________________] 62.51% 116 p/s3484 / 5537 [-------------------------------------------->__________________________] 62.92% 116 p/s3508 / 5537 [-------------------------------------------->__________________________] 63.36% 116 p/s3530 / 5537 [--------------------------------------------->_________________________] 63.75% 116 p/s3553 / 5537 [--------------------------------------------->_________________________] 64.17% 116 p/s3577 / 5537 [--------------------------------------------->_________________________] 64.60% 116 p/s3600 / 5537 [---------------------------------------------->________________________] 65.02% 116 p/s3624 / 5537 [---------------------------------------------->________________________] 65.45% 116 p/s3647 / 5537 [---------------------------------------------->________________________] 65.87% 116 p/s3671 / 5537 [----------------------------------------------->_______________________] 66.30% 116 p/s3694 / 5537 [----------------------------------------------->_______________________] 66.71% 116 p/s3717 / 5537 [----------------------------------------------->_______________________] 67.13% 116 p/s3741 / 5537 [----------------------------------------------->_______________________] 67.56% 116 p/s3764 / 5537 [------------------------------------------------>______________________] 67.98% 116 p/s3787 / 5537 [------------------------------------------------>______________________] 68.39% 116 p/s3810 / 5537 [------------------------------------------------>______________________] 68.81% 116 p/s3834 / 5537 [------------------------------------------------->_____________________] 69.24% 116 p/s3857 / 5537 [------------------------------------------------->_____________________] 69.66% 116 p/s3880 / 5537 [------------------------------------------------->_____________________] 70.07% 116 p/s3904 / 5537 [-------------------------------------------------->____________________] 70.51% 116 p/s3927 / 5537 [-------------------------------------------------->____________________] 70.92% 116 p/s3950 / 5537 [-------------------------------------------------->____________________] 71.34% 116 p/s3973 / 5537 [-------------------------------------------------->____________________] 71.75% 116 p/s3996 / 5537 [--------------------------------------------------->___________________] 72.17% 116 p/s4020 / 5537 [--------------------------------------------------->___________________] 72.60% 116 p/s4043 / 5537 [--------------------------------------------------->___________________] 73.02% 116 p/s4066 / 5537 [---------------------------------------------------->__________________] 73.43% 116 p/s4088 / 5537 [---------------------------------------------------->__________________] 73.83% 116 p/s4111 / 5537 [---------------------------------------------------->__________________] 74.25% 116 p/s4135 / 5537 [----------------------------------------------------->_________________] 74.68% 116 p/s4158 / 5537 [----------------------------------------------------->_________________] 75.09% 116 p/s4181 / 5537 [----------------------------------------------------->_________________] 75.51% 116 p/s4204 / 5537 [----------------------------------------------------->_________________] 75.93% 116 p/s4225 / 5537 [------------------------------------------------------>________________] 76.30% 116 p/s4248 / 5537 [------------------------------------------------------>________________] 76.72% 116 p/s4271 / 5537 [------------------------------------------------------>________________] 77.14% 116 p/s4294 / 5537 [------------------------------------------------------->_______________] 77.55% 116 p/s4317 / 5537 [------------------------------------------------------->_______________] 77.97% 116 p/s4340 / 5537 [------------------------------------------------------->_______________] 78.38% 116 p/s4363 / 5537 [------------------------------------------------------->_______________] 78.80% 116 p/s4386 / 5537 [-------------------------------------------------------->______________] 79.21% 116 p/s4409 / 5537 [-------------------------------------------------------->______________] 79.63% 116 p/s4432 / 5537 [-------------------------------------------------------->______________] 80.04% 116 p/s4456 / 5537 [--------------------------------------------------------->_____________] 80.48% 116 p/s4479 / 5537 [--------------------------------------------------------->_____________] 80.89% 116 p/s4501 / 5537 [--------------------------------------------------------->_____________] 81.29% 116 p/s4525 / 5537 [---------------------------------------------------------->____________] 81.72% 116 p/s4546 / 5537 [---------------------------------------------------------->____________] 82.10% 116 p/s4559 / 5537 [---------------------------------------------------------->____________] 82.34% 116 p/s4577 / 5537 [---------------------------------------------------------->____________] 82.66% 114 p/s4600 / 5537 [---------------------------------------------------------->____________] 83.08% 114 p/s4623 / 5537 [----------------------------------------------------------->___________] 83.49% 114 p/s4646 / 5537 [----------------------------------------------------------->___________] 83.91% 114 p/s4670 / 5537 [----------------------------------------------------------->___________] 84.34% 114 p/s4693 / 5537 [------------------------------------------------------------>__________] 84.76% 114 p/s4716 / 5537 [------------------------------------------------------------>__________] 85.17% 114 p/s4739 / 5537 [------------------------------------------------------------>__________] 85.59% 114 p/s4762 / 5537 [------------------------------------------------------------->_________] 86.00% 114 p/s4785 / 5537 [------------------------------------------------------------->_________] 86.42% 114 p/s4808 / 5537 [------------------------------------------------------------->_________] 86.83% 114 p/s4831 / 5537 [------------------------------------------------------------->_________] 87.25% 114 p/s4854 / 5537 [-------------------------------------------------------------->________] 87.66% 114 p/s4877 / 5537 [-------------------------------------------------------------->________] 88.08% 114 p/s4899 / 5537 [-------------------------------------------------------------->________] 88.48% 114 p/s4921 / 5537 [--------------------------------------------------------------->_______] 88.87% 114 p/s4945 / 5537 [--------------------------------------------------------------->_______] 89.31% 114 p/s4967 / 5537 [--------------------------------------------------------------->_______] 89.71% 114 p/s4990 / 5537 [--------------------------------------------------------------->_______] 90.12% 114 p/s5011 / 5537 [---------------------------------------------------------------->______] 90.50% 114 p/s5034 / 5537 [---------------------------------------------------------------->______] 90.92% 114 p/s5057 / 5537 [---------------------------------------------------------------->______] 91.33% 114 p/s5081 / 5537 [----------------------------------------------------------------->_____] 91.76% 114 p/s5103 / 5537 [----------------------------------------------------------------->_____] 92.16% 114 p/s5121 / 5537 [----------------------------------------------------------------->_____] 92.49% 113 p/s5144 / 5537 [----------------------------------------------------------------->_____] 92.90% 113 p/s5166 / 5537 [------------------------------------------------------------------>____] 93.30% 113 p/s5189 / 5537 [------------------------------------------------------------------>____] 93.72% 113 p/s5212 / 5537 [------------------------------------------------------------------>____] 94.13% 113 p/s5235 / 5537 [------------------------------------------------------------------->___] 94.55% 113 p/s5258 / 5537 [------------------------------------------------------------------->___] 94.96% 114 p/s5281 / 5537 [------------------------------------------------------------------->___] 95.38% 114 p/s5304 / 5537 [-------------------------------------------------------------------->__] 95.79% 114 p/s5326 / 5537 [-------------------------------------------------------------------->__] 96.19% 114 p/s5348 / 5537 [-------------------------------------------------------------------->__] 96.59% 114 p/s5370 / 5537 [-------------------------------------------------------------------->__] 96.98% 114 p/s5394 / 5537 [--------------------------------------------------------------------->_] 97.42% 114 p/s5417 / 5537 [--------------------------------------------------------------------->_] 97.83% 114 p/s5440 / 5537 [--------------------------------------------------------------------->_] 98.25% 114 p/s5463 / 5537 [---------------------------------------------------------------------->] 98.66% 114 p/s5486 / 5537 [---------------------------------------------------------------------->] 99.08% 114 p/s5509 / 5537 [---------------------------------------------------------------------->] 99.49% 114 p/s5532 / 5537 [---------------------------------------------------------------------->] 99.91% 114 p/s5537 / 5537 [----------------------------------------------------------------------] 100.00% 115 p/s2026-04-08T19:49:00 - INFO: Parsing 5537 sonar sweeps from /working/456f1b22-51bc-5dca-cf63-14022e10ea73/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-08T19:54:21 - WARNING: Expected 400 beams, got 136, dropping sweep 5536
2026-04-08T19:54:21 - 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/456f1b22-51bc-5dca-cf63-14022e10ea73/456f1b22-51bc-5dca-cf63-14022e10ea73"
2026-04-08T19:54:22 - INFO: DataPrep 0.14.0
2026-04-08T19:54:22 - INFO: Prepared data will be output to /working/456f1b22-51bc-5dca-cf63-14022e10ea73/456f1b22-51bc-5dca-cf63-14022e10ea73/processing/data
2026-04-08T19:54:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-08T19:54:22 - deployment - INFO: Detected P3D version: P3D_1
2026-04-08T19:54:22 - INFO: Recording GUID: 456f1b22-51bc-5dca-cf63-14022e10ea73
2026-04-08T19:54:22 - INFO: Preparing sonar data...
2026-04-08T19:54:22 - INFO: /working/456f1b22-51bc-5dca-cf63-14022e10ea73/456f1b22-51bc-5dca-cf63-14022e10ea73/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-08T19:54:28 - INFO: Sonar epoch is 2025-10-10 12:08:39.965641+00:00 (1760098119965640732)
2026-04-08T19:54:28 - INFO: Creating sonar sensor alignment track...
2026-04-08T19:54:28 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-04-08T19:54:28 - INFO: Sensor speed of sound is 1500 m/s
2026-04-08T19:54:28 - INFO: Sensor range is 0.939120 m
2026-04-08T19:54:28 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-08T19:54:28 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-08T19:54:28 - INFO: Scaled range is 0.921855 m
2026-04-08T19:54:28 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-08T19:54:28 - INFO: Processing 5536 sweeps...

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2026-04-08T19:54:43 - INFO: Prepared sonar data in 20.7082 s
2026-04-08T19:54:43 - INFO: No IMU data found
2026-04-08T19:54:44 - INFO: DataPrep took 0:00:21.378847
2026-04-08T19:54:44 - INFO: Extracted sonar data in 0:06:32.417798
2026-04-08T19:54:44 - INFO: MSIP3D took 0:06:33.083095