2026-05-14T21:22:42 - INFO: MSIP3D 0.2.5
2026-05-14T21:22:42 - INFO: P3D files will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-14T21:22:42 - INFO: Found 16 TFD dictionary entries
2026-05-14T21:22:42 - INFO: Found TFD mission for 200310_200379
2026-05-14T21:22:42 - INFO: Recording will be processed as MD
2026-05-14T21:22:42 - INFO: Copying assets JSON to output directory...
2026-05-14T21:22:42 - INFO: Preparing counter data...
2026-05-14T21:22:42 - INFO: Interpreting counter as imperial
2026-05-14T21:22:42 - INFO: Preparing size track from assets JSON...
2026-05-14T21:22:42 - INFO: Preparing material track from assets JSON...
2026-05-14T21:22:42 - INFO: Prepared counter data in 0.0476 s
2026-05-14T21:22:42 - INFO: Extracting sonar data...
TFD path: /working/0da5452d-73f8-71d8-9a61-d53037e54814/tfd/200310_200379.tfd
TFD path: /working/0da5452d-73f8-71d8-9a61-d53037e54814/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2054
23 / 2054 [>___________________________________________________________________________] 1.12% ? p/s47 / 2054 [->__________________________________________________________________________] 2.29% ? p/s70 / 2054 [-->_________________________________________________________________________] 3.41% ? p/s93 / 2054 [--->______________________________________________________________________] 4.53% 117 p/s116 / 2054 [---->____________________________________________________________________] 5.65% 117 p/s140 / 2054 [---->____________________________________________________________________] 6.82% 117 p/s164 / 2054 [----->___________________________________________________________________] 7.98% 117 p/s187 / 2054 [------>__________________________________________________________________] 9.10% 117 p/s211 / 2054 [------->________________________________________________________________] 10.27% 117 p/s235 / 2054 [-------->_______________________________________________________________] 11.44% 117 p/s258 / 2054 [--------->______________________________________________________________] 12.56% 117 p/s281 / 2054 [--------->______________________________________________________________] 13.68% 117 p/s305 / 2054 [---------->_____________________________________________________________] 14.85% 117 p/s329 / 2054 [----------->____________________________________________________________] 16.02% 117 p/s353 / 2054 [------------>___________________________________________________________] 17.19% 117 p/s376 / 2054 [------------->__________________________________________________________] 18.31% 117 p/s400 / 2054 [-------------->_________________________________________________________] 19.47% 117 p/s423 / 2054 [-------------->_________________________________________________________] 20.59% 117 p/s446 / 2054 [--------------->________________________________________________________] 21.71% 117 p/s469 / 2054 [---------------->_______________________________________________________] 22.83% 117 p/s492 / 2054 [----------------->______________________________________________________] 23.95% 117 p/s514 / 2054 [------------------>_____________________________________________________] 25.02% 117 p/s537 / 2054 [------------------>_____________________________________________________] 26.14% 117 p/s560 / 2054 [------------------->____________________________________________________] 27.26% 117 p/s582 / 2054 [-------------------->___________________________________________________] 28.33% 117 p/s605 / 2054 [--------------------->__________________________________________________] 29.45% 117 p/s628 / 2054 [---------------------->_________________________________________________] 30.57% 117 p/s651 / 2054 [---------------------->_________________________________________________] 31.69% 116 p/s673 / 2054 [----------------------->________________________________________________] 32.77% 116 p/s696 / 2054 [------------------------>_______________________________________________] 33.89% 116 p/s719 / 2054 [------------------------->______________________________________________] 35.00% 116 p/s741 / 2054 [------------------------->______________________________________________] 36.08% 116 p/s764 / 2054 [-------------------------->_____________________________________________] 37.20% 116 p/s772 / 2054 [--------------------------->____________________________________________] 37.59% 114 p/s795 / 2054 [--------------------------->____________________________________________] 38.70% 114 p/s818 / 2054 [---------------------------->___________________________________________] 39.82% 114 p/s841 / 2054 [----------------------------->__________________________________________] 40.94% 114 p/s863 / 2054 [------------------------------>_________________________________________] 42.02% 114 p/s886 / 2054 [------------------------------->________________________________________] 43.14% 114 p/s909 / 2054 [------------------------------->________________________________________] 44.26% 114 p/s932 / 2054 [-------------------------------->_______________________________________] 45.37% 114 p/s955 / 2054 [--------------------------------->______________________________________] 46.49% 114 p/s978 / 2054 [---------------------------------->_____________________________________] 47.61% 114 p/s1000 / 2054 [---------------------------------->____________________________________] 48.69% 114 p/s1023 / 2054 [----------------------------------->___________________________________] 49.81% 114 p/s1046 / 2054 [------------------------------------>__________________________________] 50.93% 114 p/s1069 / 2054 [------------------------------------>__________________________________] 52.04% 114 p/s1092 / 2054 [------------------------------------->_________________________________] 53.16% 114 p/s1115 / 2054 [-------------------------------------->________________________________] 54.28% 114 p/s1138 / 2054 [--------------------------------------->_______________________________] 55.40% 114 p/s1161 / 2054 [---------------------------------------->______________________________] 56.52% 114 p/s1184 / 2054 [---------------------------------------->______________________________] 57.64% 114 p/s1207 / 2054 [----------------------------------------->_____________________________] 58.76% 114 p/s1230 / 2054 [------------------------------------------>____________________________] 59.88% 114 p/s1253 / 2054 [------------------------------------------->___________________________] 61.00% 114 p/s1276 / 2054 [-------------------------------------------->__________________________] 62.12% 114 p/s1299 / 2054 [-------------------------------------------->__________________________] 63.24% 114 p/s1322 / 2054 [--------------------------------------------->_________________________] 64.36% 114 p/s1345 / 2054 [---------------------------------------------->________________________] 65.48% 114 p/s1368 / 2054 [----------------------------------------------->_______________________] 66.60% 114 p/s1392 / 2054 [------------------------------------------------>______________________] 67.77% 115 p/s1415 / 2054 [------------------------------------------------>______________________] 68.89% 115 p/s1438 / 2054 [------------------------------------------------->_____________________] 70.01% 115 p/s1461 / 2054 [-------------------------------------------------->____________________] 71.13% 115 p/s1484 / 2054 [--------------------------------------------------->___________________] 72.25% 115 p/s1507 / 2054 [---------------------------------------------------->__________________] 73.37% 115 p/s1530 / 2054 [---------------------------------------------------->__________________] 74.49% 115 p/s1553 / 2054 [----------------------------------------------------->_________________] 75.61% 115 p/s1576 / 2054 [------------------------------------------------------>________________] 76.73% 115 p/s1599 / 2054 [------------------------------------------------------->_______________] 77.85% 115 p/s1622 / 2054 [-------------------------------------------------------->______________] 78.97% 115 p/s1646 / 2054 [-------------------------------------------------------->______________] 80.14% 115 p/s1669 / 2054 [--------------------------------------------------------->_____________] 81.26% 115 p/s1692 / 2054 [---------------------------------------------------------->____________] 82.38% 115 p/s1715 / 2054 [----------------------------------------------------------->___________] 83.50% 115 p/s1739 / 2054 [------------------------------------------------------------>__________] 84.66% 115 p/s1762 / 2054 [------------------------------------------------------------>__________] 85.78% 115 p/s1785 / 2054 [------------------------------------------------------------->_________] 86.90% 115 p/s1808 / 2054 [-------------------------------------------------------------->________] 88.02% 115 p/s1831 / 2054 [--------------------------------------------------------------->_______] 89.14% 115 p/s1855 / 2054 [---------------------------------------------------------------->______] 90.31% 115 p/s1878 / 2054 [---------------------------------------------------------------->______] 91.43% 115 p/s1901 / 2054 [----------------------------------------------------------------->_____] 92.55% 115 p/s1924 / 2054 [------------------------------------------------------------------>____] 93.67% 115 p/s1947 / 2054 [------------------------------------------------------------------->___] 94.79% 115 p/s1970 / 2054 [-------------------------------------------------------------------->__] 95.91% 115 p/s1993 / 2054 [-------------------------------------------------------------------->__] 97.03% 115 p/s2017 / 2054 [--------------------------------------------------------------------->_] 98.20% 115 p/s2040 / 2054 [---------------------------------------------------------------------->] 99.32% 115 p/s2054 / 2054 [----------------------------------------------------------------------] 100.00% 116 p/s2026-05-14T21:23:00 - INFO: Parsing 2054 sonar sweeps from /working/0da5452d-73f8-71d8-9a61-d53037e54814/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2054 [00:00<?, ?it/s]
  0%|          | 3/2054 [00:00<01:13, 27.75it/s]
  0%|          | 6/2054 [00:00<01:12, 28.38it/s]
  0%|          | 9/2054 [00:00<01:11, 28.60it/s]
  1%|          | 12/2054 [00:00<01:11, 28.69it/s]
  1%|          | 15/2054 [00:00<01:10, 28.72it/s]
  1%|          | 18/2054 [00:00<01:10, 28.69it/s]
  1%|          | 21/2054 [00:00<01:10, 28.70it/s]
  1%|          | 24/2054 [00:00<01:10, 28.71it/s]
  1%|▏         | 27/2054 [00:00<01:10, 28.75it/s]
  1%|▏         | 30/2054 [00:01<01:10, 28.72it/s]
  2%|▏         | 33/2054 [00:01<01:11, 28.22it/s]
  2%|▏         | 36/2054 [00:01<01:11, 28.38it/s]
  2%|▏         | 39/2054 [00:01<01:10, 28.49it/s]
  2%|▏         | 42/2054 [00:01<01:10, 28.54it/s]
  2%|▏         | 45/2054 [00:01<01:10, 28.57it/s]
  2%|▏         | 48/2054 [00:01<01:10, 28.61it/s]
  2%|▏         | 51/2054 [00:01<01:10, 28.61it/s]
  3%|▎         | 54/2054 [00:01<01:09, 28.61it/s]
  3%|▎         | 57/2054 [00:01<01:10, 28.44it/s]
  3%|▎         | 60/2054 [00:02<01:10, 28.38it/s]
  3%|▎         | 63/2054 [00:02<01:10, 28.37it/s]
  3%|▎         | 66/2054 [00:02<01:10, 28.34it/s]
  3%|▎         | 69/2054 [00:02<01:10, 28.31it/s]
  4%|▎         | 72/2054 [00:02<01:10, 28.26it/s]
  4%|▎         | 75/2054 [00:02<01:10, 28.23it/s]
  4%|▍         | 78/2054 [00:02<01:09, 28.36it/s]
  4%|▍         | 81/2054 [00:02<01:09, 28.42it/s]
  4%|▍         | 84/2054 [00:02<01:09, 28.47it/s]
  4%|▍         | 87/2054 [00:03<01:08, 28.52it/s]
  4%|▍         | 90/2054 [00:03<01:09, 28.46it/s]
  5%|▍         | 93/2054 [00:03<01:08, 28.48it/s]
  5%|▍         | 96/2054 [00:03<01:08, 28.46it/s]
  5%|▍         | 99/2054 [00:03<01:08, 28.46it/s]
  5%|▍         | 102/2054 [00:03<01:08, 28.52it/s]
  5%|▌         | 105/2054 [00:03<01:09, 28.16it/s]
  5%|▌         | 108/2054 [00:03<01:08, 28.27it/s]
  5%|▌         | 111/2054 [00:03<01:09, 28.16it/s]
  6%|▌         | 114/2054 [00:04<01:08, 28.24it/s]
  6%|▌         | 117/2054 [00:04<01:08, 28.37it/s]
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  6%|▌         | 123/2054 [00:04<01:07, 28.51it/s]
  6%|▌         | 126/2054 [00:04<01:07, 28.59it/s]
  6%|▋         | 129/2054 [00:04<01:07, 28.60it/s]
  6%|▋         | 132/2054 [00:04<01:07, 28.52it/s]
  7%|▋         | 135/2054 [00:04<01:07, 28.55it/s]
  7%|▋         | 138/2054 [00:04<01:07, 28.58it/s]
  7%|▋         | 141/2054 [00:04<01:07, 28.47it/s]
  7%|▋         | 144/2054 [00:05<01:06, 28.56it/s]
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 14%|█▍        | 285/2054 [00:09<01:01, 28.68it/s]
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 14%|█▍        | 297/2054 [00:10<01:04, 27.33it/s]
 15%|█▍        | 300/2054 [00:10<01:03, 27.65it/s]
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 15%|█▌        | 309/2054 [00:10<01:01, 28.21it/s]
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2026-05-14T21:24:16 - WARNING: Expected 400 beams, got 162, dropping sweep 2053
2026-05-14T21:24:16 - 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/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814"
2026-05-14T21:24:17 - INFO: DataPrep 0.14.4
2026-05-14T21:24:17 - INFO: Prepared data will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/processing/data
2026-05-14T21:24:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-14T21:24:17 - deployment - INFO: Detected P3D version: P3D_1
2026-05-14T21:24:17 - INFO: Recording GUID: 0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-14T21:24:17 - INFO: Preparing sonar data...
2026-05-14T21:24:17 - INFO: /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-14T21:24:19 - INFO: Sonar epoch is 2026-02-11 14:26:01.613885+00:00 (1770819961613884565)
2026-05-14T21:24:19 - INFO: Creating sonar sensor alignment track...
2026-05-14T21:24:19 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-14T21:24:19 - INFO: Sensor speed of sound is 1500 m/s
2026-05-14T21:24:19 - INFO: Sensor range is 0.794640 m
2026-05-14T21:24:19 - INFO: Sensor micrometres per sample is 2640.000015
2026-05-14T21:24:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-14T21:24:19 - INFO: Scaled range is 0.791720 m
2026-05-14T21:24:19 - INFO: Scaled micrometres per sample is 2630.299931
2026-05-14T21:24:19 - INFO: Processing 2053 sweeps...

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2026-05-14T21:24:26 - INFO: Prepared sonar data in 9.1221 s
2026-05-14T21:24:26 - INFO: No IMU data found
2026-05-14T21:24:26 - INFO: DataPrep took 0:00:09.408071
2026-05-14T21:24:27 - INFO: Extracted sonar data in 0:01:44.862987
2026-05-14T21:24:27 - INFO: MSIP3D took 0:01:45.097411