2026-05-15T02:12:09 - INFO: MSIP3D 0.2.6
2026-05-15T02:12:09 - INFO: P3D files will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-15T02:12:09 - INFO: Found 10 TFD dictionary entries
2026-05-15T02:12:09 - INFO: Found TFD mission for 200161
2026-05-15T02:12:09 - INFO: Recording will be processed as MD
2026-05-15T02:12:09 - INFO: Copying assets JSON to output directory...
2026-05-15T02:12:09 - INFO: Preparing counter data...
2026-05-15T02:12:09 - INFO: Interpreting counter as imperial
2026-05-15T02:12:09 - INFO: Preparing size track from assets JSON...
2026-05-15T02:12:09 - INFO: Preparing material track from assets JSON...
2026-05-15T02:12:09 - INFO: Prepared counter data in 0.0565 s
2026-05-15T02:12:09 - 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: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2369
23 / 2369 [>___________________________________________________________________________] 0.97% ? p/s45 / 2369 [->__________________________________________________________________________] 1.90% ? p/s68 / 2369 [-->_________________________________________________________________________] 2.87% ? p/s91 / 2369 [-->_______________________________________________________________________] 3.84% 113 p/s115 / 2369 [--->_____________________________________________________________________] 4.85% 113 p/s137 / 2369 [---->____________________________________________________________________] 5.78% 113 p/s161 / 2369 [---->____________________________________________________________________] 6.80% 114 p/s184 / 2369 [----->___________________________________________________________________] 7.77% 114 p/s207 / 2369 [------>__________________________________________________________________] 8.74% 114 p/s230 / 2369 [------->_________________________________________________________________] 9.71% 114 p/s253 / 2369 [------->________________________________________________________________] 10.68% 114 p/s276 / 2369 [-------->_______________________________________________________________] 11.65% 114 p/s299 / 2369 [--------->______________________________________________________________] 12.62% 114 p/s322 / 2369 [--------->______________________________________________________________] 13.59% 114 p/s346 / 2369 [---------->_____________________________________________________________] 14.61% 114 p/s369 / 2369 [----------->____________________________________________________________] 15.58% 114 p/s392 / 2369 [----------->____________________________________________________________] 16.55% 114 p/s415 / 2369 [------------>___________________________________________________________] 17.52% 114 p/s438 / 2369 [------------->__________________________________________________________] 18.49% 114 p/s461 / 2369 [-------------->_________________________________________________________] 19.46% 114 p/s485 / 2369 [-------------->_________________________________________________________] 20.47% 114 p/s507 / 2369 [--------------->________________________________________________________] 21.40% 114 p/s531 / 2369 [---------------->_______________________________________________________] 22.41% 114 p/s553 / 2369 [---------------->_______________________________________________________] 23.34% 114 p/s576 / 2369 [----------------->______________________________________________________] 24.31% 114 p/s599 / 2369 [------------------>_____________________________________________________] 25.28% 114 p/s622 / 2369 [------------------>_____________________________________________________] 26.26% 114 p/s646 / 2369 [------------------->____________________________________________________] 27.27% 114 p/s668 / 2369 [-------------------->___________________________________________________] 28.20% 114 p/s691 / 2369 [--------------------->__________________________________________________] 29.17% 114 p/s714 / 2369 [--------------------->__________________________________________________] 30.14% 114 p/s737 / 2369 [---------------------->_________________________________________________] 31.11% 114 p/s760 / 2369 [----------------------->________________________________________________] 32.08% 114 p/s783 / 2369 [----------------------->________________________________________________] 33.05% 114 p/s806 / 2369 [------------------------>_______________________________________________] 34.02% 114 p/s830 / 2369 [------------------------->______________________________________________] 35.04% 114 p/s852 / 2369 [------------------------->______________________________________________] 35.96% 114 p/s875 / 2369 [-------------------------->_____________________________________________] 36.94% 114 p/s899 / 2369 [--------------------------->____________________________________________] 37.95% 114 p/s922 / 2369 [---------------------------->___________________________________________] 38.92% 114 p/s945 / 2369 [---------------------------->___________________________________________] 39.89% 114 p/s968 / 2369 [----------------------------->__________________________________________] 40.86% 114 p/s992 / 2369 [------------------------------>_________________________________________] 41.87% 115 p/s1015 / 2369 [------------------------------>________________________________________] 42.85% 115 p/s1037 / 2369 [------------------------------->_______________________________________] 43.77% 115 p/s1060 / 2369 [------------------------------->_______________________________________] 44.74% 115 p/s1083 / 2369 [-------------------------------->______________________________________] 45.72% 115 p/s1106 / 2369 [--------------------------------->_____________________________________] 46.69% 115 p/s1129 / 2369 [--------------------------------->_____________________________________] 47.66% 115 p/s1152 / 2369 [---------------------------------->____________________________________] 48.63% 115 p/s1175 / 2369 [----------------------------------->___________________________________] 49.60% 115 p/s1198 / 2369 [----------------------------------->___________________________________] 50.57% 115 p/s1222 / 2369 [------------------------------------>__________________________________] 51.58% 115 p/s1245 / 2369 [------------------------------------->_________________________________] 52.55% 115 p/s1268 / 2369 [-------------------------------------->________________________________] 53.52% 115 p/s1291 / 2369 [-------------------------------------->________________________________] 54.50% 115 p/s1314 / 2369 [--------------------------------------->_______________________________] 55.47% 115 p/s1337 / 2369 [---------------------------------------->______________________________] 56.44% 115 p/s1360 / 2369 [---------------------------------------->______________________________] 57.41% 115 p/s1383 / 2369 [----------------------------------------->_____________________________] 58.38% 115 p/s1405 / 2369 [------------------------------------------>____________________________] 59.31% 115 p/s1429 / 2369 [------------------------------------------>____________________________] 60.32% 115 p/s1451 / 2369 [------------------------------------------->___________________________] 61.25% 115 p/s1474 / 2369 [-------------------------------------------->__________________________] 62.22% 115 p/s1497 / 2369 [-------------------------------------------->__________________________] 63.19% 115 p/s1520 / 2369 [--------------------------------------------->_________________________] 64.16% 115 p/s1543 / 2369 [---------------------------------------------->________________________] 65.13% 115 p/s1565 / 2369 [---------------------------------------------->________________________] 66.06% 115 p/s1588 / 2369 [----------------------------------------------->_______________________] 67.03% 115 p/s1611 / 2369 [------------------------------------------------>______________________] 68.00% 115 p/s1634 / 2369 [------------------------------------------------>______________________] 68.97% 115 p/s1657 / 2369 [------------------------------------------------->_____________________] 69.95% 115 p/s1680 / 2369 [-------------------------------------------------->____________________] 70.92% 115 p/s1703 / 2369 [--------------------------------------------------->___________________] 71.89% 115 p/s1726 / 2369 [--------------------------------------------------->___________________] 72.86% 115 p/s1749 / 2369 [---------------------------------------------------->__________________] 73.83% 115 p/s1771 / 2369 [----------------------------------------------------->_________________] 74.76% 115 p/s1794 / 2369 [----------------------------------------------------->_________________] 75.73% 115 p/s1817 / 2369 [------------------------------------------------------>________________] 76.70% 115 p/s1839 / 2369 [------------------------------------------------------->_______________] 77.63% 115 p/s1862 / 2369 [------------------------------------------------------->_______________] 78.60% 115 p/s1885 / 2369 [-------------------------------------------------------->______________] 79.57% 115 p/s1908 / 2369 [--------------------------------------------------------->_____________] 80.54% 115 p/s1931 / 2369 [--------------------------------------------------------->_____________] 81.51% 115 p/s1954 / 2369 [---------------------------------------------------------->____________] 82.48% 115 p/s1977 / 2369 [----------------------------------------------------------->___________] 83.45% 115 p/s2000 / 2369 [----------------------------------------------------------->___________] 84.42% 115 p/s2023 / 2369 [------------------------------------------------------------>__________] 85.39% 115 p/s2045 / 2369 [------------------------------------------------------------->_________] 86.32% 115 p/s2068 / 2369 [------------------------------------------------------------->_________] 87.29% 115 p/s2091 / 2369 [-------------------------------------------------------------->________] 88.27% 114 p/s2113 / 2369 [--------------------------------------------------------------->_______] 89.19% 114 p/s2136 / 2369 [---------------------------------------------------------------->______] 90.16% 114 p/s2160 / 2369 [---------------------------------------------------------------->______] 91.18% 115 p/s2183 / 2369 [----------------------------------------------------------------->_____] 92.15% 115 p/s2207 / 2369 [------------------------------------------------------------------>____] 93.16% 115 p/s2230 / 2369 [------------------------------------------------------------------>____] 94.13% 115 p/s2254 / 2369 [------------------------------------------------------------------->___] 95.15% 115 p/s2277 / 2369 [-------------------------------------------------------------------->__] 96.12% 115 p/s2286 / 2369 [-------------------------------------------------------------------->__] 96.50% 113 p/s2310 / 2369 [--------------------------------------------------------------------->_] 97.51% 113 p/s2333 / 2369 [--------------------------------------------------------------------->_] 98.48% 113 p/s2357 / 2369 [---------------------------------------------------------------------->] 99.49% 114 p/s2369 / 2369 [----------------------------------------------------------------------] 100.00% 116 p/s2026-05-15T02:12:30 - INFO: Parsing 2369 sonar sweeps from /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-15T02:13:55 - WARNING: Expected 400 beams, got 175, dropping sweep 2368
2026-05-15T02:13:55 - 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/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d"
2026-05-15T02:13:56 - INFO: DataPrep 0.14.6
2026-05-15T02:13:56 - INFO: Prepared data will be output to /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/processing/data
2026-05-15T02:13:56 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-15T02:13:56 - deployment - INFO: Detected P3D version: P3D_1
2026-05-15T02:13:56 - INFO: Recording GUID: eb8410a0-a360-533f-c4c1-ef14fb10cd5d
2026-05-15T02:13:56 - INFO: Preparing sonar data...
2026-05-15T02:13:56 - INFO: /working/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/eb8410a0-a360-533f-c4c1-ef14fb10cd5d/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-15T02:13:58 - INFO: Sonar epoch is 2026-02-12 18:43:18.049909+00:00 (1770921798049909049)
2026-05-15T02:13:58 - INFO: Creating sonar sensor alignment track...
2026-05-15T02:13:58 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-05-15T02:13:58 - INFO: Sensor speed of sound is 1500 m/s
2026-05-15T02:13:58 - INFO: Sensor range is 0.939120 m
2026-05-15T02:13:58 - INFO: Sensor micrometres per sample is 3119.999982
2026-05-15T02:13:58 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-15T02:13:58 - INFO: Scaled range is 0.935669 m
2026-05-15T02:13:58 - INFO: Scaled micrometres per sample is 3108.536247
2026-05-15T02:13:58 - INFO: Processing 2368 sweeps...

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2026-05-15T02:14:07 - INFO: Prepared sonar data in 10.7746 s
2026-05-15T02:14:07 - INFO: No IMU data found
2026-05-15T02:14:07 - INFO: DataPrep took 0:00:11.108869
2026-05-15T02:14:07 - INFO: Extracted sonar data in 0:01:58.236543
2026-05-15T02:14:08 - INFO: MSIP3D took 0:01:58.499301