2026-05-15T00:07:01 - INFO: MSIP3D 0.2.5
2026-05-15T00:07:01 - INFO: P3D files will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-15T00:07:01 - INFO: Found 10 TFD dictionary entries
2026-05-15T00:07:01 - INFO: Found TFD mission for 200161
2026-05-15T00:07:01 - INFO: Recording will be processed as MD
2026-05-15T00:07:01 - INFO: Copying assets JSON to output directory...
2026-05-15T00:07:01 - INFO: Preparing counter data...
2026-05-15T00:07:01 - INFO: Interpreting counter as imperial
2026-05-15T00:07:01 - INFO: Preparing size track from assets JSON...
2026-05-15T00:07:01 - INFO: Preparing material track from assets JSON...
2026-05-15T00:07:01 - INFO: Prepared counter data in 0.0567 s
2026-05-15T00:07:01 - 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: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2369
22 / 2369 [>___________________________________________________________________________] 0.93% ? p/s44 / 2369 [->__________________________________________________________________________] 1.86% ? p/s67 / 2369 [-->_________________________________________________________________________] 2.83% ? p/s90 / 2369 [-->_______________________________________________________________________] 3.80% 113 p/s113 / 2369 [--->_____________________________________________________________________] 4.77% 113 p/s135 / 2369 [---->____________________________________________________________________] 5.70% 113 p/s158 / 2369 [---->____________________________________________________________________] 6.67% 113 p/s180 / 2369 [----->___________________________________________________________________] 7.60% 113 p/s202 / 2369 [------>__________________________________________________________________] 8.53% 113 p/s225 / 2369 [------>__________________________________________________________________] 9.50% 113 p/s247 / 2369 [------->________________________________________________________________] 10.43% 113 p/s270 / 2369 [-------->_______________________________________________________________] 11.40% 113 p/s292 / 2369 [-------->_______________________________________________________________] 12.33% 113 p/s315 / 2369 [--------->______________________________________________________________] 13.30% 113 p/s338 / 2369 [---------->_____________________________________________________________] 14.27% 113 p/s361 / 2369 [---------->_____________________________________________________________] 15.24% 113 p/s384 / 2369 [----------->____________________________________________________________] 16.21% 113 p/s406 / 2369 [------------>___________________________________________________________] 17.14% 113 p/s429 / 2369 [------------->__________________________________________________________] 18.11% 113 p/s452 / 2369 [------------->__________________________________________________________] 19.08% 113 p/s475 / 2369 [-------------->_________________________________________________________] 20.05% 113 p/s497 / 2369 [--------------->________________________________________________________] 20.98% 113 p/s519 / 2369 [--------------->________________________________________________________] 21.91% 113 p/s542 / 2369 [---------------->_______________________________________________________] 22.88% 113 p/s564 / 2369 [----------------->______________________________________________________] 23.81% 113 p/s587 / 2369 [----------------->______________________________________________________] 24.78% 113 p/s609 / 2369 [------------------>_____________________________________________________] 25.71% 113 p/s632 / 2369 [------------------->____________________________________________________] 26.68% 113 p/s654 / 2369 [------------------->____________________________________________________] 27.61% 113 p/s677 / 2369 [-------------------->___________________________________________________] 28.58% 113 p/s699 / 2369 [--------------------->__________________________________________________] 29.51% 113 p/s722 / 2369 [--------------------->__________________________________________________] 30.48% 113 p/s745 / 2369 [---------------------->_________________________________________________] 31.45% 113 p/s767 / 2369 [----------------------->________________________________________________] 32.38% 113 p/s790 / 2369 [------------------------>_______________________________________________] 33.35% 113 p/s812 / 2369 [------------------------>_______________________________________________] 34.28% 113 p/s835 / 2369 [------------------------->______________________________________________] 35.25% 113 p/s857 / 2369 [-------------------------->_____________________________________________] 36.18% 113 p/s880 / 2369 [-------------------------->_____________________________________________] 37.15% 113 p/s903 / 2369 [--------------------------->____________________________________________] 38.12% 113 p/s925 / 2369 [---------------------------->___________________________________________] 39.05% 113 p/s948 / 2369 [---------------------------->___________________________________________] 40.02% 113 p/s971 / 2369 [----------------------------->__________________________________________] 40.99% 113 p/s994 / 2369 [------------------------------>_________________________________________] 41.96% 113 p/s1016 / 2369 [------------------------------>________________________________________] 42.89% 113 p/s1038 / 2369 [------------------------------->_______________________________________] 43.82% 113 p/s1061 / 2369 [------------------------------->_______________________________________] 44.79% 113 p/s1084 / 2369 [-------------------------------->______________________________________] 45.76% 113 p/s1106 / 2369 [--------------------------------->_____________________________________] 46.69% 113 p/s1129 / 2369 [--------------------------------->_____________________________________] 47.66% 113 p/s1151 / 2369 [---------------------------------->____________________________________] 48.59% 113 p/s1173 / 2369 [----------------------------------->___________________________________] 49.51% 113 p/s1196 / 2369 [----------------------------------->___________________________________] 50.49% 113 p/s1218 / 2369 [------------------------------------>__________________________________] 51.41% 113 p/s1241 / 2369 [------------------------------------->_________________________________] 52.38% 113 p/s1264 / 2369 [------------------------------------->_________________________________] 53.36% 113 p/s1286 / 2369 [-------------------------------------->________________________________] 54.28% 113 p/s1309 / 2369 [--------------------------------------->_______________________________] 55.26% 113 p/s1331 / 2369 [--------------------------------------->_______________________________] 56.18% 113 p/s1353 / 2369 [---------------------------------------->______________________________] 57.11% 113 p/s1376 / 2369 [----------------------------------------->_____________________________] 58.08% 113 p/s1399 / 2369 [----------------------------------------->_____________________________] 59.05% 113 p/s1421 / 2369 [------------------------------------------>____________________________] 59.98% 113 p/s1444 / 2369 [------------------------------------------->___________________________] 60.95% 113 p/s1466 / 2369 [------------------------------------------->___________________________] 61.88% 113 p/s1488 / 2369 [-------------------------------------------->__________________________] 62.81% 113 p/s1511 / 2369 [--------------------------------------------->_________________________] 63.78% 113 p/s1533 / 2369 [--------------------------------------------->_________________________] 64.71% 113 p/s1556 / 2369 [---------------------------------------------->________________________] 65.68% 113 p/s1578 / 2369 [----------------------------------------------->_______________________] 66.61% 113 p/s1600 / 2369 [----------------------------------------------->_______________________] 67.54% 113 p/s1623 / 2369 [------------------------------------------------>______________________] 68.51% 113 p/s1645 / 2369 [------------------------------------------------->_____________________] 69.44% 113 p/s1668 / 2369 [------------------------------------------------->_____________________] 70.41% 113 p/s1690 / 2369 [-------------------------------------------------->____________________] 71.34% 113 p/s1713 / 2369 [--------------------------------------------------->___________________] 72.31% 113 p/s1735 / 2369 [--------------------------------------------------->___________________] 73.24% 113 p/s1758 / 2369 [---------------------------------------------------->__________________] 74.21% 113 p/s1780 / 2369 [----------------------------------------------------->_________________] 75.14% 113 p/s1802 / 2369 [------------------------------------------------------>________________] 76.07% 113 p/s1824 / 2369 [------------------------------------------------------>________________] 76.99% 113 p/s1846 / 2369 [------------------------------------------------------->_______________] 77.92% 113 p/s1869 / 2369 [-------------------------------------------------------->______________] 78.89% 113 p/s1891 / 2369 [-------------------------------------------------------->______________] 79.82% 113 p/s1913 / 2369 [--------------------------------------------------------->_____________] 80.75% 112 p/s1936 / 2369 [---------------------------------------------------------->____________] 81.72% 112 p/s1958 / 2369 [---------------------------------------------------------->____________] 82.65% 112 p/s1981 / 2369 [----------------------------------------------------------->___________] 83.62% 113 p/s2003 / 2369 [------------------------------------------------------------>__________] 84.55% 113 p/s2026 / 2369 [------------------------------------------------------------>__________] 85.52% 113 p/s2048 / 2369 [------------------------------------------------------------->_________] 86.45% 112 p/s2071 / 2369 [-------------------------------------------------------------->________] 87.42% 112 p/s2093 / 2369 [-------------------------------------------------------------->________] 88.35% 112 p/s2116 / 2369 [--------------------------------------------------------------->_______] 89.32% 113 p/s2139 / 2369 [---------------------------------------------------------------->______] 90.29% 113 p/s2162 / 2369 [---------------------------------------------------------------->______] 91.26% 113 p/s2186 / 2369 [----------------------------------------------------------------->_____] 92.28% 113 p/s2209 / 2369 [------------------------------------------------------------------>____] 93.25% 113 p/s2232 / 2369 [------------------------------------------------------------------>____] 94.22% 113 p/s2255 / 2369 [------------------------------------------------------------------->___] 95.19% 113 p/s2278 / 2369 [-------------------------------------------------------------------->__] 96.16% 113 p/s2301 / 2369 [-------------------------------------------------------------------->__] 97.13% 113 p/s2325 / 2369 [--------------------------------------------------------------------->_] 98.14% 113 p/s2348 / 2369 [---------------------------------------------------------------------->] 99.11% 113 p/s2369 / 2369 [----------------------------------------------------------------------] 100.00% 114 p/s2026-05-15T00:07:22 - INFO: Parsing 2369 sonar sweeps from /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-15T00:08:50 - WARNING: Expected 400 beams, got 175, dropping sweep 2368
2026-05-15T00:08:50 - 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"
2026-05-15T00:08:52 - INFO: DataPrep 0.14.4
2026-05-15T00:08:52 - INFO: Prepared data will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/processing/data
2026-05-15T00:08:52 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-15T00:08:52 - deployment - INFO: Detected P3D version: P3D_1
2026-05-15T00:08:52 - INFO: Recording GUID: eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-15T00:08:52 - INFO: Preparing sonar data...
2026-05-15T00:08:52 - INFO: /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-15T00:08:54 - INFO: Sonar epoch is 2026-02-12 18:43:18.049909+00:00 (1770921798049909049)
2026-05-15T00:08:54 - INFO: Creating sonar sensor alignment track...
2026-05-15T00:08:54 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-05-15T00:08:54 - INFO: Sensor speed of sound is 1500 m/s
2026-05-15T00:08:54 - INFO: Sensor range is 0.939120 m
2026-05-15T00:08:54 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-15T00:08:54 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-15T00:08:54 - INFO: Scaled range is 0.935669 m
2026-05-15T00:08:54 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-15T00:08:54 - INFO: Processing 2368 sweeps...

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2026-05-15T00:09:03 - INFO: Prepared sonar data in 10.9323 s
2026-05-15T00:09:03 - INFO: No IMU data found
2026-05-15T00:09:03 - INFO: DataPrep took 0:00:11.272140
2026-05-15T00:09:03 - INFO: Extracted sonar data in 0:02:01.927238
2026-05-15T00:09:03 - INFO: MSIP3D took 0:02:02.195361