2026-05-14T21:19:05 - INFO: MSIP3D 0.2.5
2026-05-14T21:19:05 - INFO: P3D files will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-14T21:19:05 - INFO: Found 16 TFD dictionary entries
2026-05-14T21:19:05 - INFO: Found TFD mission for 200087_200086
2026-05-14T21:19:05 - INFO: Recording will be processed as MD
2026-05-14T21:19:05 - INFO: Copying assets JSON to output directory...
2026-05-14T21:19:05 - INFO: Preparing counter data...
2026-05-14T21:19:05 - INFO: Interpreting counter as imperial
2026-05-14T21:19:06 - INFO: Preparing size track from assets JSON...
2026-05-14T21:19:06 - INFO: Preparing material track from assets JSON...
2026-05-14T21:19:06 - INFO: Prepared counter data in 0.0578 s
2026-05-14T21:19:06 - INFO: Extracting sonar data...
TFD path: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/200087_200086.tfd
TFD path: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 2088
22 / 2088 [>___________________________________________________________________________] 1.05% ? p/s46 / 2088 [->__________________________________________________________________________] 2.20% ? p/s68 / 2088 [-->_________________________________________________________________________] 3.26% ? p/s91 / 2088 [--->______________________________________________________________________] 4.36% 115 p/s114 / 2088 [--->_____________________________________________________________________] 5.46% 115 p/s136 / 2088 [---->____________________________________________________________________] 6.51% 115 p/s159 / 2088 [----->___________________________________________________________________] 7.61% 115 p/s182 / 2088 [------>__________________________________________________________________] 8.72% 115 p/s205 / 2088 [------->_________________________________________________________________] 9.82% 115 p/s229 / 2088 [------->________________________________________________________________] 10.97% 115 p/s251 / 2088 [-------->_______________________________________________________________] 12.02% 115 p/s274 / 2088 [--------->______________________________________________________________] 13.12% 115 p/s298 / 2088 [---------->_____________________________________________________________] 14.27% 115 p/s321 / 2088 [----------->____________________________________________________________] 15.37% 115 p/s344 / 2088 [----------->____________________________________________________________] 16.48% 115 p/s367 / 2088 [------------>___________________________________________________________] 17.58% 115 p/s391 / 2088 [------------->__________________________________________________________] 18.73% 115 p/s413 / 2088 [-------------->_________________________________________________________] 19.78% 115 p/s436 / 2088 [--------------->________________________________________________________] 20.88% 115 p/s459 / 2088 [--------------->________________________________________________________] 21.98% 115 p/s483 / 2088 [---------------->_______________________________________________________] 23.13% 115 p/s505 / 2088 [----------------->______________________________________________________] 24.19% 115 p/s528 / 2088 [------------------>_____________________________________________________] 25.29% 115 p/s551 / 2088 [------------------>_____________________________________________________] 26.39% 115 p/s575 / 2088 [------------------->____________________________________________________] 27.54% 115 p/s598 / 2088 [-------------------->___________________________________________________] 28.64% 115 p/s621 / 2088 [--------------------->__________________________________________________] 29.74% 115 p/s645 / 2088 [---------------------->_________________________________________________] 30.89% 115 p/s668 / 2088 [----------------------->________________________________________________] 31.99% 115 p/s691 / 2088 [----------------------->________________________________________________] 33.09% 115 p/s714 / 2088 [------------------------>_______________________________________________] 34.20% 115 p/s738 / 2088 [------------------------->______________________________________________] 35.34% 115 p/s760 / 2088 [-------------------------->_____________________________________________] 36.40% 115 p/s783 / 2088 [-------------------------->_____________________________________________] 37.50% 115 p/s807 / 2088 [--------------------------->____________________________________________] 38.65% 115 p/s830 / 2088 [---------------------------->___________________________________________] 39.75% 115 p/s853 / 2088 [----------------------------->__________________________________________] 40.85% 115 p/s876 / 2088 [------------------------------>_________________________________________] 41.95% 115 p/s899 / 2088 [------------------------------>_________________________________________] 43.06% 115 p/s923 / 2088 [------------------------------->________________________________________] 44.20% 115 p/s946 / 2088 [-------------------------------->_______________________________________] 45.31% 115 p/s969 / 2088 [--------------------------------->______________________________________] 46.41% 115 p/s991 / 2088 [---------------------------------->_____________________________________] 47.46% 115 p/s1014 / 2088 [---------------------------------->____________________________________] 48.56% 115 p/s1036 / 2088 [----------------------------------->___________________________________] 49.62% 115 p/s1059 / 2088 [------------------------------------>__________________________________] 50.72% 115 p/s1082 / 2088 [------------------------------------>__________________________________] 51.82% 115 p/s1105 / 2088 [------------------------------------->_________________________________] 52.92% 115 p/s1128 / 2088 [-------------------------------------->________________________________] 54.02% 115 p/s1151 / 2088 [--------------------------------------->_______________________________] 55.12% 115 p/s1174 / 2088 [--------------------------------------->_______________________________] 56.23% 115 p/s1197 / 2088 [---------------------------------------->______________________________] 57.33% 115 p/s1219 / 2088 [----------------------------------------->_____________________________] 58.38% 115 p/s1242 / 2088 [------------------------------------------>____________________________] 59.48% 115 p/s1265 / 2088 [------------------------------------------->___________________________] 60.58% 115 p/s1288 / 2088 [------------------------------------------->___________________________] 61.69% 115 p/s1312 / 2088 [-------------------------------------------->__________________________] 62.84% 115 p/s1335 / 2088 [--------------------------------------------->_________________________] 63.94% 115 p/s1358 / 2088 [---------------------------------------------->________________________] 65.04% 115 p/s1381 / 2088 [---------------------------------------------->________________________] 66.14% 115 p/s1404 / 2088 [----------------------------------------------->_______________________] 67.24% 115 p/s1427 / 2088 [------------------------------------------------>______________________] 68.34% 115 p/s1451 / 2088 [------------------------------------------------->_____________________] 69.49% 115 p/s1474 / 2088 [-------------------------------------------------->____________________] 70.59% 115 p/s1496 / 2088 [-------------------------------------------------->____________________] 71.65% 115 p/s1519 / 2088 [--------------------------------------------------->___________________] 72.75% 115 p/s1542 / 2088 [---------------------------------------------------->__________________] 73.85% 115 p/s1565 / 2088 [----------------------------------------------------->_________________] 74.95% 115 p/s1588 / 2088 [----------------------------------------------------->_________________] 76.05% 115 p/s1611 / 2088 [------------------------------------------------------>________________] 77.16% 115 p/s1635 / 2088 [------------------------------------------------------->_______________] 78.30% 115 p/s1658 / 2088 [-------------------------------------------------------->______________] 79.41% 115 p/s1681 / 2088 [--------------------------------------------------------->_____________] 80.51% 115 p/s1704 / 2088 [--------------------------------------------------------->_____________] 81.61% 115 p/s1727 / 2088 [---------------------------------------------------------->____________] 82.71% 115 p/s1750 / 2088 [----------------------------------------------------------->___________] 83.81% 115 p/s1774 / 2088 [------------------------------------------------------------>__________] 84.96% 115 p/s1797 / 2088 [------------------------------------------------------------->_________] 86.06% 115 p/s1820 / 2088 [------------------------------------------------------------->_________] 87.16% 115 p/s1843 / 2088 [-------------------------------------------------------------->________] 88.27% 115 p/s1866 / 2088 [--------------------------------------------------------------->_______] 89.37% 115 p/s1889 / 2088 [---------------------------------------------------------------->______] 90.47% 115 p/s1912 / 2088 [----------------------------------------------------------------->_____] 91.57% 115 p/s1936 / 2088 [----------------------------------------------------------------->_____] 92.72% 115 p/s1959 / 2088 [------------------------------------------------------------------>____] 93.82% 115 p/s1982 / 2088 [------------------------------------------------------------------->___] 94.92% 115 p/s2005 / 2088 [-------------------------------------------------------------------->__] 96.02% 115 p/s2029 / 2088 [-------------------------------------------------------------------->__] 97.17% 115 p/s2051 / 2088 [--------------------------------------------------------------------->_] 98.23% 115 p/s2074 / 2088 [---------------------------------------------------------------------->] 99.33% 115 p/s2088 / 2088 [----------------------------------------------------------------------] 100.00% 117 p/s2026-05-14T21:19:24 - INFO: Parsing 2088 sonar sweeps from /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-14T21:20:40 - WARNING: Expected 400 beams, got 99, dropping sweep 2087
2026-05-14T21:20:40 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip --sonar-sample-offset -1 /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7"
2026-05-14T21:20:42 - INFO: DataPrep 0.14.4
2026-05-14T21:20:42 - INFO: Prepared data will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/processing/data
2026-05-14T21:20:42 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-14T21:20:42 - deployment - INFO: Detected P3D version: P3D_1
2026-05-14T21:20:42 - INFO: Recording GUID: 27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-14T21:20:42 - INFO: Preparing sonar data...
2026-05-14T21:20:42 - INFO: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-14T21:20:44 - INFO: Sonar epoch is 2026-02-10 16:57:05.954168+00:00 (1770742625954167722)
2026-05-14T21:20:44 - INFO: Creating sonar sensor alignment track...
2026-05-14T21:20:44 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-14T21:20:44 - INFO: Sensor speed of sound is 1500 m/s
2026-05-14T21:20:44 - INFO: Sensor range is 0.722400 m
2026-05-14T21:20:44 - INFO: Sensor micrometres per sample is 2400.000032
2026-05-14T21:20:44 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-14T21:20:44 - INFO: Scaled range is 0.719746 m
2026-05-14T21:20:44 - INFO: Scaled micrometres per sample is 2391.181774
2026-05-14T21:20:44 - INFO: Processing 2087 sweeps...

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2026-05-14T21:20:49 - INFO: Prepared sonar data in 7.3086 s
2026-05-14T21:20:49 - INFO: No IMU data found
2026-05-14T21:20:49 - INFO: DataPrep took 0:00:07.543790
2026-05-14T21:20:49 - INFO: Extracted sonar data in 0:01:43.816981
2026-05-14T21:20:50 - INFO: MSIP3D took 0:01:44.045433