2026-05-14T21:21:29 - INFO: MSIP3D 0.2.5
2026-05-14T21:21:29 - INFO: P3D files will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-14T21:21:29 - INFO: Found 10 TFD dictionary entries
2026-05-14T21:21:29 - INFO: Found TFD mission for 200161
2026-05-14T21:21:29 - INFO: Recording will be processed as MD
2026-05-14T21:21:29 - INFO: Copying assets JSON to output directory...
2026-05-14T21:21:29 - INFO: Preparing counter data...
2026-05-14T21:21:29 - INFO: Interpreting counter as imperial
2026-05-14T21:21:29 - INFO: Preparing size track from assets JSON...
2026-05-14T21:21:29 - INFO: Preparing material track from assets JSON...
2026-05-14T21:21:29 - INFO: Prepared counter data in 0.0670 s
2026-05-14T21:21:29 - INFO: Extracting sonar data...
TFD path: /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/tfd/200161.tfd
TFD path: /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2369
23 / 2369 [>___________________________________________________________________________] 0.97% ? p/s46 / 2369 [->__________________________________________________________________________] 1.94% ? p/s69 / 2369 [-->_________________________________________________________________________] 2.91% ? p/s92 / 2369 [-->_______________________________________________________________________] 3.88% 115 p/s116 / 2369 [--->_____________________________________________________________________] 4.90% 115 p/s138 / 2369 [---->____________________________________________________________________] 5.83% 115 p/s162 / 2369 [---->____________________________________________________________________] 6.84% 115 p/s185 / 2369 [----->___________________________________________________________________] 7.81% 115 p/s207 / 2369 [------>__________________________________________________________________] 8.74% 115 p/s231 / 2369 [------->_________________________________________________________________] 9.75% 115 p/s253 / 2369 [------->________________________________________________________________] 10.68% 115 p/s276 / 2369 [-------->_______________________________________________________________] 11.65% 115 p/s299 / 2369 [--------->______________________________________________________________] 12.62% 115 p/s323 / 2369 [--------->______________________________________________________________] 13.63% 115 p/s345 / 2369 [---------->_____________________________________________________________] 14.56% 115 p/s368 / 2369 [----------->____________________________________________________________] 15.53% 115 p/s391 / 2369 [----------->____________________________________________________________] 16.50% 115 p/s415 / 2369 [------------>___________________________________________________________] 17.52% 115 p/s433 / 2369 [------------->__________________________________________________________] 18.28% 115 p/s456 / 2369 [------------->__________________________________________________________] 19.25% 115 p/s480 / 2369 [-------------->_________________________________________________________] 20.26% 115 p/s503 / 2369 [--------------->________________________________________________________] 21.23% 115 p/s525 / 2369 [--------------->________________________________________________________] 22.16% 115 p/s548 / 2369 [---------------->_______________________________________________________] 23.13% 115 p/s571 / 2369 [----------------->______________________________________________________] 24.10% 115 p/s594 / 2369 [------------------>_____________________________________________________] 25.07% 115 p/s617 / 2369 [------------------>_____________________________________________________] 26.04% 115 p/s640 / 2369 [------------------->____________________________________________________] 27.02% 115 p/s663 / 2369 [-------------------->___________________________________________________] 27.99% 115 p/s686 / 2369 [-------------------->___________________________________________________] 28.96% 115 p/s709 / 2369 [--------------------->__________________________________________________] 29.93% 115 p/s732 / 2369 [---------------------->_________________________________________________] 30.90% 115 p/s755 / 2369 [---------------------->_________________________________________________] 31.87% 115 p/s777 / 2369 [----------------------->________________________________________________] 32.80% 115 p/s800 / 2369 [------------------------>_______________________________________________] 33.77% 115 p/s823 / 2369 [------------------------->______________________________________________] 34.74% 115 p/s846 / 2369 [------------------------->______________________________________________] 35.71% 115 p/s869 / 2369 [-------------------------->_____________________________________________] 36.68% 115 p/s892 / 2369 [--------------------------->____________________________________________] 37.65% 115 p/s915 / 2369 [--------------------------->____________________________________________] 38.62% 115 p/s938 / 2369 [---------------------------->___________________________________________] 39.59% 115 p/s962 / 2369 [----------------------------->__________________________________________] 40.61% 115 p/s985 / 2369 [----------------------------->__________________________________________] 41.58% 115 p/s1008 / 2369 [------------------------------>________________________________________] 42.55% 115 p/s1030 / 2369 [------------------------------>________________________________________] 43.48% 115 p/s1053 / 2369 [------------------------------->_______________________________________] 44.45% 115 p/s1076 / 2369 [-------------------------------->______________________________________] 45.42% 115 p/s1099 / 2369 [-------------------------------->______________________________________] 46.39% 115 p/s1122 / 2369 [--------------------------------->_____________________________________] 47.36% 115 p/s1145 / 2369 [---------------------------------->____________________________________] 48.33% 115 p/s1168 / 2369 [----------------------------------->___________________________________] 49.30% 115 p/s1191 / 2369 [----------------------------------->___________________________________] 50.27% 115 p/s1213 / 2369 [------------------------------------>__________________________________] 51.20% 115 p/s1236 / 2369 [------------------------------------->_________________________________] 52.17% 115 p/s1259 / 2369 [------------------------------------->_________________________________] 53.14% 115 p/s1282 / 2369 [-------------------------------------->________________________________] 54.12% 115 p/s1305 / 2369 [--------------------------------------->_______________________________] 55.09% 115 p/s1328 / 2369 [--------------------------------------->_______________________________] 56.06% 115 p/s1351 / 2369 [---------------------------------------->______________________________] 57.03% 115 p/s1374 / 2369 [----------------------------------------->_____________________________] 58.00% 115 p/s1397 / 2369 [----------------------------------------->_____________________________] 58.97% 115 p/s1420 / 2369 [------------------------------------------>____________________________] 59.94% 115 p/s1443 / 2369 [------------------------------------------->___________________________] 60.91% 115 p/s1465 / 2369 [------------------------------------------->___________________________] 61.84% 115 p/s1488 / 2369 [-------------------------------------------->__________________________] 62.81% 115 p/s1511 / 2369 [--------------------------------------------->_________________________] 63.78% 115 p/s1534 / 2369 [--------------------------------------------->_________________________] 64.75% 115 p/s1557 / 2369 [---------------------------------------------->________________________] 65.72% 115 p/s1579 / 2369 [----------------------------------------------->_______________________] 66.65% 115 p/s1602 / 2369 [------------------------------------------------>______________________] 67.62% 115 p/s1624 / 2369 [------------------------------------------------>______________________] 68.55% 115 p/s1647 / 2369 [------------------------------------------------->_____________________] 69.52% 115 p/s1670 / 2369 [-------------------------------------------------->____________________] 70.49% 114 p/s1693 / 2369 [-------------------------------------------------->____________________] 71.46% 114 p/s1716 / 2369 [--------------------------------------------------->___________________] 72.44% 114 p/s1739 / 2369 [---------------------------------------------------->__________________] 73.41% 114 p/s1762 / 2369 [---------------------------------------------------->__________________] 74.38% 114 p/s1785 / 2369 [----------------------------------------------------->_________________] 75.35% 114 p/s1807 / 2369 [------------------------------------------------------>________________] 76.28% 114 p/s1830 / 2369 [------------------------------------------------------>________________] 77.25% 114 p/s1853 / 2369 [------------------------------------------------------->_______________] 78.22% 114 p/s1875 / 2369 [-------------------------------------------------------->______________] 79.15% 114 p/s1898 / 2369 [-------------------------------------------------------->______________] 80.12% 114 p/s1921 / 2369 [--------------------------------------------------------->_____________] 81.09% 114 p/s1944 / 2369 [---------------------------------------------------------->____________] 82.06% 114 p/s1967 / 2369 [---------------------------------------------------------->____________] 83.03% 114 p/s1990 / 2369 [----------------------------------------------------------->___________] 84.00% 114 p/s2013 / 2369 [------------------------------------------------------------>__________] 84.97% 114 p/s2036 / 2369 [------------------------------------------------------------->_________] 85.94% 114 p/s2058 / 2369 [------------------------------------------------------------->_________] 86.87% 114 p/s2081 / 2369 [-------------------------------------------------------------->________] 87.84% 114 p/s2104 / 2369 [--------------------------------------------------------------->_______] 88.81% 114 p/s2127 / 2369 [--------------------------------------------------------------->_______] 89.78% 114 p/s2150 / 2369 [---------------------------------------------------------------->______] 90.76% 114 p/s2174 / 2369 [----------------------------------------------------------------->_____] 91.77% 114 p/s2197 / 2369 [----------------------------------------------------------------->_____] 92.74% 114 p/s2220 / 2369 [------------------------------------------------------------------>____] 93.71% 115 p/s2244 / 2369 [------------------------------------------------------------------->___] 94.72% 115 p/s2267 / 2369 [------------------------------------------------------------------->___] 95.69% 115 p/s2291 / 2369 [-------------------------------------------------------------------->__] 96.71% 115 p/s2314 / 2369 [--------------------------------------------------------------------->_] 97.68% 115 p/s2338 / 2369 [---------------------------------------------------------------------->] 98.69% 115 p/s2361 / 2369 [---------------------------------------------------------------------->] 99.66% 115 p/s2369 / 2369 [----------------------------------------------------------------------] 100.00% 116 p/s2026-05-14T21:21:50 - INFO: Parsing 2369 sonar sweeps from /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-14T21:23:17 - WARNING: Expected 400 beams, got 175, dropping sweep 2368
2026-05-14T21:23:17 - 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/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d"
2026-05-14T21:23:19 - INFO: DataPrep 0.14.4
2026-05-14T21:23:19 - INFO: Prepared data will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/processing/data
2026-05-14T21:23:19 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-14T21:23:19 - deployment - INFO: Detected P3D version: P3D_1
2026-05-14T21:23:19 - INFO: Recording GUID: eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-14T21:23:19 - INFO: Preparing sonar data...
2026-05-14T21:23:19 - INFO: /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-14T21:23:21 - INFO: Sonar epoch is 2026-02-12 18:43:18.049909+00:00 (1770921798049909049)
2026-05-14T21:23:21 - INFO: Creating sonar sensor alignment track...
2026-05-14T21:23:21 - INFO: Using sonar rotation of 0.174533 radians for wedge mask
2026-05-14T21:23:21 - INFO: Sensor speed of sound is 1500 m/s
2026-05-14T21:23:21 - INFO: Sensor range is 0.939120 m
2026-05-14T21:23:21 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-14T21:23:21 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-14T21:23:21 - INFO: Scaled range is 0.935669 m
2026-05-14T21:23:21 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-14T21:23:21 - INFO: Processing 2368 sweeps...

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2026-05-14T21:23:29 - INFO: Prepared sonar data in 10.6927 s
2026-05-14T21:23:29 - INFO: No IMU data found
2026-05-14T21:23:30 - INFO: DataPrep took 0:00:11.020987
2026-05-14T21:23:30 - INFO: Extracted sonar data in 0:02:00.528051
2026-05-14T21:23:30 - INFO: MSIP3D took 0:02:00.790307