2026-04-14T13:17:12 - INFO: MSIP3D 0.2.1
2026-04-14T13:17:12 - INFO: P3D files will be output to /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/c6f8e223-2807-39cf-96f1-e8034a58d4a8
2026-04-14T13:17:12 - INFO: Found 11 TFD dictionary entries
2026-04-14T13:17:12 - INFO: Found TFD mission for SJ502776 Dep 592
2026-04-14T13:17:12 - INFO: Recording will be processed as SMD
2026-04-14T13:17:12 - INFO: Copying assets JSON to output directory...
2026-04-14T13:17:13 - INFO: Preparing counter data...
2026-04-14T13:17:13 - INFO: Interpreting counter as imperial
2026-04-14T13:17:13 - INFO: Preparing size track from assets JSON...
2026-04-14T13:17:13 - INFO: Preparing shape track from assets JSON...
2026-04-14T13:17:13 - INFO: Preparing material track from assets JSON...
2026-04-14T13:17:13 - INFO: Prepared counter data in 0.0118 s
2026-04-14T13:17:13 - INFO: Extracting sonar data...
TFD path: /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/tfd/SJ502776_Dep_592.tfd
TFD path: /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215974206753347
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 188
16 / 188 [------>______________________________________________________________________] 8.51% ? p/s29 / 188 [----------->________________________________________________________________] 15.43% ? p/s48 / 188 [------------------->________________________________________________________] 25.53% ? p/s66 / 188 [-------------------------->________________________________________________] 35.11% 83 p/s84 / 188 [--------------------------------->_________________________________________] 44.68% 83 p/s102 / 188 [---------------------------------------->_________________________________] 54.26% 83 p/s120 / 188 [----------------------------------------------->__________________________] 63.83% 84 p/s139 / 188 [------------------------------------------------------>___________________] 73.94% 84 p/s157 / 188 [------------------------------------------------------------->____________] 83.51% 84 p/s176 / 188 [--------------------------------------------------------------------->____] 93.62% 84 p/s188 / 188 [-------------------------------------------------------------------------] 100.00% 98 p/s2026-04-14T13:17:15 - INFO: Parsing 188 sonar sweeps from /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/tfd/output/SONAR/all-sweeps-info.csv...

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100%|██████████| 188/188 [00:07<00:00, 26.53it/s]
2026-04-14T13:17:22 - WARNING: Expected 400 beams, got 189, dropping sweep 187
2026-04-14T13:17:22 - 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/c6f8e223-2807-39cf-96f1-e8034a58d4a8/c6f8e223-2807-39cf-96f1-e8034a58d4a8"
2026-04-14T13:17:23 - INFO: DataPrep 0.14.0
2026-04-14T13:17:23 - INFO: Prepared data will be output to /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/c6f8e223-2807-39cf-96f1-e8034a58d4a8/processing/data
2026-04-14T13:17:23 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T13:17:23 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T13:17:23 - INFO: Recording GUID: c6f8e223-2807-39cf-96f1-e8034a58d4a8
2026-04-14T13:17:23 - INFO: Preparing sonar data...
2026-04-14T13:17:23 - INFO: /working/c6f8e223-2807-39cf-96f1-e8034a58d4a8/c6f8e223-2807-39cf-96f1-e8034a58d4a8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T13:17:23 - INFO: Sonar epoch is 2026-03-03 17:02:55.915087+00:00 (1772557375915087086)
2026-04-14T13:17:23 - INFO: Creating sonar sensor alignment track...
2026-04-14T13:17:23 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-14T13:17:23 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T13:17:23 - INFO: Sensor range is 1.878240 m
2026-04-14T13:17:23 - INFO: Sensor micrometres per sample is 6239.999964
2026-04-14T13:17:23 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T13:17:23 - INFO: Scaled range is 1.843711 m
2026-04-14T13:17:23 - INFO: Scaled micrometres per sample is 6125.284454
2026-04-14T13:17:23 - INFO: Processing 187 sweeps...

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100%|██████████| 187/187 [00:00<00:00, 380.50sw/s]
2026-04-14T13:17:24 - INFO: Prepared sonar data in 0.9566 s
2026-04-14T13:17:24 - INFO: No IMU data found
2026-04-14T13:17:24 - INFO: DataPrep took 0:00:00.981011
2026-04-14T13:17:24 - INFO: Extracted sonar data in 0:00:11.908236
2026-04-14T13:17:24 - INFO: MSIP3D took 0:00:11.934729