2026-04-08T21:04:29 - INFO: MSIP3D 0.2.1
2026-04-08T21:04:29 - INFO: P3D files will be output to /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f
2026-04-08T21:04:29 - INFO: Found 10 TFD dictionary entries
2026-04-08T21:04:29 - INFO: Found TFD mission for 50001817
2026-04-08T21:04:29 - INFO: Recording will be processed as MD
2026-04-08T21:04:29 - INFO: Copying assets JSON to output directory...
2026-04-08T21:04:29 - INFO: Preparing counter data...
2026-04-08T21:04:29 - INFO: Interpreting counter as metric
2026-04-08T21:04:29 - INFO: Preparing size track from assets JSON...
2026-04-08T21:04:29 - INFO: Preparing shape track from assets JSON...
2026-04-08T21:04:29 - INFO: Preparing material track from assets JSON...
2026-04-08T21:04:29 - INFO: Prepared counter data in 0.0167 s
2026-04-08T21:04:29 - 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: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 512
21 / 512 [--->_________________________________________________________________________] 4.10% ? p/s43 / 512 [------>______________________________________________________________________] 8.40% ? p/s64 / 512 [--------->__________________________________________________________________] 12.50% ? p/s86 / 512 [------------>_____________________________________________________________] 16.80% 108 p/s108 / 512 [--------------->_________________________________________________________] 21.09% 108 p/s129 / 512 [------------------>______________________________________________________] 25.20% 108 p/s151 / 512 [--------------------->___________________________________________________] 29.49% 108 p/s173 / 512 [------------------------>________________________________________________] 33.79% 108 p/s196 / 512 [--------------------------->_____________________________________________] 38.28% 108 p/s218 / 512 [------------------------------->_________________________________________] 42.58% 109 p/s240 / 512 [---------------------------------->______________________________________] 46.88% 109 p/s262 / 512 [------------------------------------->___________________________________] 51.17% 109 p/s284 / 512 [---------------------------------------->________________________________] 55.47% 109 p/s306 / 512 [------------------------------------------->_____________________________] 59.77% 109 p/s328 / 512 [---------------------------------------------->__________________________] 64.06% 109 p/s350 / 512 [------------------------------------------------->_______________________] 68.36% 109 p/s372 / 512 [----------------------------------------------------->___________________] 72.66% 109 p/s395 / 512 [-------------------------------------------------------->________________] 77.15% 109 p/s417 / 512 [----------------------------------------------------------->_____________] 81.45% 109 p/s439 / 512 [-------------------------------------------------------------->__________] 85.74% 109 p/s462 / 512 [----------------------------------------------------------------->_______] 90.23% 109 p/s484 / 512 [--------------------------------------------------------------------->___] 94.53% 109 p/s506 / 512 [------------------------------------------------------------------------>] 98.83% 109 p/s512 / 512 [------------------------------------------------------------------------] 100.00% 115 p/s2026-04-08T21:04:34 - INFO: Parsing 512 sonar sweeps from /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-08T21:04:53 - WARNING: Expected 400 beams, got 14, dropping sweep 504
2026-04-08T21:04:53 - 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"
2026-04-08T21:04:54 - INFO: DataPrep 0.14.0
2026-04-08T21:04:54 - INFO: Prepared data will be output to /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/processing/data
2026-04-08T21:04:54 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-08T21:04:54 - deployment - INFO: Detected P3D version: P3D_1
2026-04-08T21:04:54 - INFO: Recording GUID: ab2687ac-f0be-7ffd-2b31-cd865ecb306f
2026-04-08T21:04:54 - INFO: Preparing sonar data...
2026-04-08T21:04:54 - INFO: /working/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/ab2687ac-f0be-7ffd-2b31-cd865ecb306f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-08T21:04:55 - INFO: Sonar epoch is 2025-10-09 13:11:35.636375+00:00 (1760015495636374834)
2026-04-08T21:04:55 - INFO: Creating sonar sensor alignment track...
2026-04-08T21:04:55 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-08T21:04:55 - INFO: Sensor speed of sound is 1500 m/s
2026-04-08T21:04:55 - INFO: Sensor range is 0.939120 m
2026-04-08T21:04:55 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-08T21:04:55 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-08T21:04:55 - INFO: Scaled range is 0.921855 m
2026-04-08T21:04:55 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-08T21:04:55 - INFO: Processing 511 sweeps...

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2026-04-08T21:04:56 - INFO: Prepared sonar data in 2.0565 s
2026-04-08T21:04:56 - INFO: No IMU data found
2026-04-08T21:04:56 - INFO: DataPrep took 0:00:02.114210
2026-04-08T21:04:57 - INFO: Extracted sonar data in 0:00:27.589605
2026-04-08T21:04:57 - INFO: MSIP3D took 0:00:27.645223