2026-05-15T02:12:34 - INFO: MSIP3D 0.2.6
2026-05-15T02:12:34 - INFO: P3D files will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-15T02:12:34 - INFO: Found 16 TFD dictionary entries
2026-05-15T02:12:34 - INFO: Found TFD mission for 200310_200379
2026-05-15T02:12:34 - INFO: Recording will be processed as MD
2026-05-15T02:12:34 - INFO: Copying assets JSON to output directory...
2026-05-15T02:12:34 - INFO: Preparing counter data...
2026-05-15T02:12:34 - INFO: Interpreting counter as imperial
2026-05-15T02:12:34 - INFO: Preparing size track from assets JSON...
2026-05-15T02:12:34 - INFO: Preparing material track from assets JSON...
2026-05-15T02:12:34 - INFO: Prepared counter data in 0.0516 s
2026-05-15T02:12:34 - 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: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 2054
23 / 2054 [>___________________________________________________________________________] 1.12% ? p/s46 / 2054 [->__________________________________________________________________________] 2.24% ? p/s69 / 2054 [-->_________________________________________________________________________] 3.36% ? p/s92 / 2054 [--->______________________________________________________________________] 4.48% 115 p/s116 / 2054 [---->____________________________________________________________________] 5.65% 115 p/s139 / 2054 [---->____________________________________________________________________] 6.77% 115 p/s162 / 2054 [----->___________________________________________________________________] 7.89% 115 p/s186 / 2054 [------>__________________________________________________________________] 9.06% 115 p/s210 / 2054 [------->________________________________________________________________] 10.22% 115 p/s233 / 2054 [-------->_______________________________________________________________] 11.34% 115 p/s256 / 2054 [-------->_______________________________________________________________] 12.46% 115 p/s280 / 2054 [--------->______________________________________________________________] 13.63% 115 p/s303 / 2054 [---------->_____________________________________________________________] 14.75% 115 p/s327 / 2054 [----------->____________________________________________________________] 15.92% 115 p/s350 / 2054 [------------>___________________________________________________________] 17.04% 115 p/s374 / 2054 [------------->__________________________________________________________] 18.21% 116 p/s397 / 2054 [------------->__________________________________________________________] 19.33% 116 p/s420 / 2054 [-------------->_________________________________________________________] 20.45% 116 p/s443 / 2054 [--------------->________________________________________________________] 21.57% 116 p/s465 / 2054 [---------------->_______________________________________________________] 22.64% 116 p/s488 / 2054 [----------------->______________________________________________________] 23.76% 116 p/s510 / 2054 [----------------->______________________________________________________] 24.83% 115 p/s533 / 2054 [------------------>_____________________________________________________] 25.95% 115 p/s556 / 2054 [------------------->____________________________________________________] 27.07% 115 p/s578 / 2054 [-------------------->___________________________________________________] 28.14% 115 p/s600 / 2054 [--------------------->__________________________________________________] 29.21% 115 p/s623 / 2054 [--------------------->__________________________________________________] 30.33% 115 p/s646 / 2054 [---------------------->_________________________________________________] 31.45% 115 p/s669 / 2054 [----------------------->________________________________________________] 32.57% 115 p/s691 / 2054 [------------------------>_______________________________________________] 33.64% 115 p/s714 / 2054 [------------------------->______________________________________________] 34.76% 115 p/s737 / 2054 [------------------------->______________________________________________] 35.88% 115 p/s760 / 2054 [-------------------------->_____________________________________________] 37.00% 115 p/s783 / 2054 [--------------------------->____________________________________________] 38.12% 115 p/s805 / 2054 [---------------------------->___________________________________________] 39.19% 115 p/s828 / 2054 [----------------------------->__________________________________________] 40.31% 115 p/s851 / 2054 [----------------------------->__________________________________________] 41.43% 115 p/s873 / 2054 [------------------------------>_________________________________________] 42.50% 115 p/s896 / 2054 [------------------------------->________________________________________] 43.62% 115 p/s919 / 2054 [-------------------------------->_______________________________________] 44.74% 115 p/s941 / 2054 [-------------------------------->_______________________________________] 45.81% 115 p/s964 / 2054 [--------------------------------->______________________________________] 46.93% 115 p/s986 / 2054 [---------------------------------->_____________________________________] 48.00% 115 p/s1008 / 2054 [---------------------------------->____________________________________] 49.07% 115 p/s1030 / 2054 [----------------------------------->___________________________________] 50.15% 115 p/s1053 / 2054 [------------------------------------>__________________________________] 51.27% 114 p/s1076 / 2054 [------------------------------------->_________________________________] 52.39% 114 p/s1099 / 2054 [------------------------------------->_________________________________] 53.51% 114 p/s1122 / 2054 [-------------------------------------->________________________________] 54.63% 114 p/s1144 / 2054 [--------------------------------------->_______________________________] 55.70% 114 p/s1167 / 2054 [---------------------------------------->______________________________] 56.82% 114 p/s1189 / 2054 [----------------------------------------->_____________________________] 57.89% 114 p/s1212 / 2054 [----------------------------------------->_____________________________] 59.01% 114 p/s1235 / 2054 [------------------------------------------>____________________________] 60.13% 114 p/s1258 / 2054 [------------------------------------------->___________________________] 61.25% 114 p/s1280 / 2054 [-------------------------------------------->__________________________] 62.32% 114 p/s1303 / 2054 [--------------------------------------------->_________________________] 63.44% 114 p/s1326 / 2054 [--------------------------------------------->_________________________] 64.56% 114 p/s1349 / 2054 [---------------------------------------------->________________________] 65.68% 114 p/s1372 / 2054 [----------------------------------------------->_______________________] 66.80% 114 p/s1395 / 2054 [------------------------------------------------>______________________] 67.92% 114 p/s1418 / 2054 [------------------------------------------------->_____________________] 69.04% 114 p/s1441 / 2054 [------------------------------------------------->_____________________] 70.16% 114 p/s1464 / 2054 [-------------------------------------------------->____________________] 71.28% 114 p/s1486 / 2054 [--------------------------------------------------->___________________] 72.35% 114 p/s1509 / 2054 [---------------------------------------------------->__________________] 73.47% 114 p/s1532 / 2054 [---------------------------------------------------->__________________] 74.59% 114 p/s1555 / 2054 [----------------------------------------------------->_________________] 75.71% 114 p/s1578 / 2054 [------------------------------------------------------>________________] 76.83% 114 p/s1602 / 2054 [------------------------------------------------------->_______________] 77.99% 114 p/s1624 / 2054 [-------------------------------------------------------->______________] 79.07% 114 p/s1647 / 2054 [-------------------------------------------------------->______________] 80.19% 114 p/s1670 / 2054 [--------------------------------------------------------->_____________] 81.30% 114 p/s1693 / 2054 [---------------------------------------------------------->____________] 82.42% 114 p/s1716 / 2054 [----------------------------------------------------------->___________] 83.54% 114 p/s1739 / 2054 [------------------------------------------------------------>__________] 84.66% 114 p/s1762 / 2054 [------------------------------------------------------------>__________] 85.78% 114 p/s1785 / 2054 [------------------------------------------------------------->_________] 86.90% 114 p/s1809 / 2054 [-------------------------------------------------------------->________] 88.07% 115 p/s1832 / 2054 [--------------------------------------------------------------->_______] 89.19% 115 p/s1854 / 2054 [---------------------------------------------------------------->______] 90.26% 115 p/s1878 / 2054 [---------------------------------------------------------------->______] 91.43% 115 p/s1901 / 2054 [----------------------------------------------------------------->_____] 92.55% 115 p/s1924 / 2054 [------------------------------------------------------------------>____] 93.67% 115 p/s1946 / 2054 [------------------------------------------------------------------->___] 94.74% 114 p/s1970 / 2054 [-------------------------------------------------------------------->__] 95.91% 114 p/s1993 / 2054 [-------------------------------------------------------------------->__] 97.03% 114 p/s2016 / 2054 [--------------------------------------------------------------------->_] 98.15% 115 p/s2039 / 2054 [---------------------------------------------------------------------->] 99.27% 115 p/s2054 / 2054 [----------------------------------------------------------------------] 100.00% 116 p/s2026-05-15T02:12:52 - 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, 27.74it/s]
  0%|          | 6/2054 [00:00<01:12, 28.24it/s]
  0%|          | 9/2054 [00:00<01:12, 28.19it/s]
  1%|          | 12/2054 [00:00<01:11, 28.50it/s]
  1%|          | 15/2054 [00:00<01:11, 28.65it/s]
  1%|          | 18/2054 [00:00<01:10, 28.73it/s]
  1%|          | 21/2054 [00:00<01:10, 28.76it/s]
  1%|          | 24/2054 [00:00<01:10, 28.64it/s]
  1%|▏         | 27/2054 [00:00<01:10, 28.62it/s]
  1%|▏         | 30/2054 [00:01<01:10, 28.66it/s]
  2%|▏         | 33/2054 [00:01<01:11, 28.25it/s]
  2%|▏         | 36/2054 [00:01<01:10, 28.46it/s]
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  2%|▏         | 42/2054 [00:01<01:10, 28.62it/s]
  2%|▏         | 45/2054 [00:01<01:10, 28.66it/s]
  2%|▏         | 48/2054 [00:01<01:09, 28.69it/s]
  2%|▏         | 51/2054 [00:01<01:09, 28.67it/s]
  3%|▎         | 54/2054 [00:01<01:09, 28.70it/s]
  3%|▎         | 57/2054 [00:01<01:09, 28.55it/s]
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  3%|▎         | 63/2054 [00:02<01:09, 28.47it/s]
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  3%|▎         | 69/2054 [00:02<01:09, 28.56it/s]
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  4%|▍         | 78/2054 [00:02<01:09, 28.58it/s]
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  4%|▍         | 84/2054 [00:02<01:09, 28.45it/s]
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  4%|▍         | 90/2054 [00:03<01:09, 28.46it/s]
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  6%|▋         | 129/2054 [00:04<01:07, 28.66it/s]
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  7%|▋         | 135/2054 [00:04<01:06, 28.70it/s]
  7%|▋         | 138/2054 [00:04<01:06, 28.65it/s]
  7%|▋         | 141/2054 [00:04<01:06, 28.64it/s]
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2026-05-15T02:14:06 - WARNING: Expected 400 beams, got 162, dropping sweep 2053
2026-05-15T02:14:06 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814"
2026-05-15T02:14:08 - INFO: DataPrep 0.14.6
2026-05-15T02:14:08 - INFO: Prepared data will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/processing/data
2026-05-15T02:14:08 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-15T02:14:08 - deployment - INFO: Detected P3D version: P3D_1
2026-05-15T02:14:08 - INFO: Recording GUID: 0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-15T02:14:08 - INFO: Preparing sonar data...
2026-05-15T02:14:08 - INFO: /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-15T02:14:10 - INFO: Sonar epoch is 2026-02-11 14:26:01.613885+00:00 (1770819961613884565)
2026-05-15T02:14:10 - INFO: Creating sonar sensor alignment track...
2026-05-15T02:14:10 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-15T02:14:10 - INFO: Sensor speed of sound is 1500 m/s
2026-05-15T02:14:10 - INFO: Sensor range is 0.794640 m
2026-05-15T02:14:10 - INFO: Sensor micrometres per sample is 2640.000015
2026-05-15T02:14:10 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-15T02:14:10 - INFO: Scaled range is 0.791720 m
2026-05-15T02:14:10 - INFO: Scaled micrometres per sample is 2630.299931
2026-05-15T02:14:10 - INFO: Processing 2053 sweeps...

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2026-05-15T02:14:17 - INFO: Prepared sonar data in 9.1753 s
2026-05-15T02:14:17 - INFO: No IMU data found
2026-05-15T02:14:17 - INFO: DataPrep took 0:00:09.460249
2026-05-15T02:14:17 - INFO: Extracted sonar data in 0:01:43.464684
2026-05-15T02:14:18 - INFO: MSIP3D took 0:01:43.701388