2026-05-15T02:51:56 - INFO: MSIP3D 0.2.6
2026-05-15T02:51:56 - INFO: P3D files will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-15T02:51:56 - INFO: Found 16 TFD dictionary entries
2026-05-15T02:51:56 - INFO: Found TFD mission for 200087_200086
2026-05-15T02:51:56 - INFO: Recording will be processed as MD
2026-05-15T02:51:56 - INFO: Copying assets JSON to output directory...
2026-05-15T02:51:56 - INFO: Preparing counter data...
2026-05-15T02:51:56 - INFO: Interpreting counter as imperial
2026-05-15T02:51:56 - INFO: Preparing size track from assets JSON...
2026-05-15T02:51:56 - INFO: Preparing material track from assets JSON...
2026-05-15T02:51:56 - INFO: Prepared counter data in 0.0543 s
2026-05-15T02:51:56 - INFO: Extracting sonar data...
TFD path: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/200087_200086.tfd
TFD path: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2088
22 / 2088 [>___________________________________________________________________________] 1.05% ? p/s45 / 2088 [->__________________________________________________________________________] 2.16% ? p/s67 / 2088 [-->_________________________________________________________________________] 3.21% ? p/s90 / 2088 [--->______________________________________________________________________] 4.31% 113 p/s112 / 2088 [--->_____________________________________________________________________] 5.36% 113 p/s134 / 2088 [---->____________________________________________________________________] 6.42% 113 p/s157 / 2088 [----->___________________________________________________________________] 7.52% 113 p/s180 / 2088 [------>__________________________________________________________________] 8.62% 113 p/s202 / 2088 [------->_________________________________________________________________] 9.67% 113 p/s225 / 2088 [------->________________________________________________________________] 10.78% 113 p/s248 / 2088 [-------->_______________________________________________________________] 11.88% 113 p/s270 / 2088 [--------->______________________________________________________________] 12.93% 113 p/s293 / 2088 [---------->_____________________________________________________________] 14.03% 113 p/s316 / 2088 [---------->_____________________________________________________________] 15.13% 113 p/s339 / 2088 [----------->____________________________________________________________] 16.24% 113 p/s361 / 2088 [------------>___________________________________________________________] 17.29% 113 p/s384 / 2088 [------------->__________________________________________________________] 18.39% 113 p/s407 / 2088 [-------------->_________________________________________________________] 19.49% 113 p/s430 / 2088 [-------------->_________________________________________________________] 20.59% 113 p/s453 / 2088 [--------------->________________________________________________________] 21.70% 113 p/s475 / 2088 [---------------->_______________________________________________________] 22.75% 113 p/s498 / 2088 [----------------->______________________________________________________] 23.85% 113 p/s520 / 2088 [----------------->______________________________________________________] 24.90% 113 p/s543 / 2088 [------------------>_____________________________________________________] 26.01% 113 p/s566 / 2088 [------------------->____________________________________________________] 27.11% 113 p/s589 / 2088 [-------------------->___________________________________________________] 28.21% 113 p/s612 / 2088 [--------------------->__________________________________________________] 29.31% 113 p/s635 / 2088 [--------------------->__________________________________________________] 30.41% 113 p/s657 / 2088 [---------------------->_________________________________________________] 31.47% 113 p/s680 / 2088 [----------------------->________________________________________________] 32.57% 113 p/s703 / 2088 [------------------------>_______________________________________________] 33.67% 113 p/s726 / 2088 [------------------------->______________________________________________] 34.77% 113 p/s748 / 2088 [------------------------->______________________________________________] 35.82% 113 p/s770 / 2088 [-------------------------->_____________________________________________] 36.88% 113 p/s793 / 2088 [--------------------------->____________________________________________] 37.98% 113 p/s816 / 2088 [---------------------------->___________________________________________] 39.08% 113 p/s839 / 2088 [---------------------------->___________________________________________] 40.18% 113 p/s862 / 2088 [----------------------------->__________________________________________] 41.28% 113 p/s885 / 2088 [------------------------------>_________________________________________] 42.39% 113 p/s908 / 2088 [------------------------------->________________________________________] 43.49% 114 p/s931 / 2088 [-------------------------------->_______________________________________] 44.59% 114 p/s953 / 2088 [-------------------------------->_______________________________________] 45.64% 114 p/s976 / 2088 [--------------------------------->______________________________________] 46.74% 114 p/s998 / 2088 [---------------------------------->_____________________________________] 47.80% 114 p/s1020 / 2088 [---------------------------------->____________________________________] 48.85% 114 p/s1042 / 2088 [----------------------------------->___________________________________] 49.90% 113 p/s1065 / 2088 [------------------------------------>__________________________________] 51.01% 113 p/s1087 / 2088 [------------------------------------>__________________________________] 52.06% 113 p/s1109 / 2088 [------------------------------------->_________________________________] 53.11% 113 p/s1132 / 2088 [-------------------------------------->________________________________] 54.21% 113 p/s1154 / 2088 [--------------------------------------->_______________________________] 55.27% 113 p/s1177 / 2088 [---------------------------------------->______________________________] 56.37% 113 p/s1199 / 2088 [---------------------------------------->______________________________] 57.42% 113 p/s1222 / 2088 [----------------------------------------->_____________________________] 58.52% 113 p/s1245 / 2088 [------------------------------------------>____________________________] 59.63% 113 p/s1267 / 2088 [------------------------------------------->___________________________] 60.68% 113 p/s1290 / 2088 [------------------------------------------->___________________________] 61.78% 113 p/s1312 / 2088 [-------------------------------------------->__________________________] 62.84% 113 p/s1335 / 2088 [--------------------------------------------->_________________________] 63.94% 113 p/s1358 / 2088 [---------------------------------------------->________________________] 65.04% 113 p/s1380 / 2088 [---------------------------------------------->________________________] 66.09% 113 p/s1403 / 2088 [----------------------------------------------->_______________________] 67.19% 113 p/s1426 / 2088 [------------------------------------------------>______________________] 68.30% 113 p/s1448 / 2088 [------------------------------------------------->_____________________] 69.35% 113 p/s1471 / 2088 [-------------------------------------------------->____________________] 70.45% 113 p/s1494 / 2088 [-------------------------------------------------->____________________] 71.55% 113 p/s1517 / 2088 [--------------------------------------------------->___________________] 72.65% 113 p/s1540 / 2088 [---------------------------------------------------->__________________] 73.75% 113 p/s1563 / 2088 [----------------------------------------------------->_________________] 74.86% 113 p/s1586 / 2088 [----------------------------------------------------->_________________] 75.96% 113 p/s1608 / 2088 [------------------------------------------------------>________________] 77.01% 113 p/s1631 / 2088 [------------------------------------------------------->_______________] 78.11% 113 p/s1654 / 2088 [-------------------------------------------------------->______________] 79.21% 113 p/s1677 / 2088 [--------------------------------------------------------->_____________] 80.32% 113 p/s1700 / 2088 [--------------------------------------------------------->_____________] 81.42% 113 p/s1723 / 2088 [---------------------------------------------------------->____________] 82.52% 113 p/s1746 / 2088 [----------------------------------------------------------->___________] 83.62% 113 p/s1769 / 2088 [------------------------------------------------------------>__________] 84.72% 113 p/s1791 / 2088 [------------------------------------------------------------>__________] 85.78% 113 p/s1814 / 2088 [------------------------------------------------------------->_________] 86.88% 113 p/s1837 / 2088 [-------------------------------------------------------------->________] 87.98% 113 p/s1859 / 2088 [--------------------------------------------------------------->_______] 89.03% 113 p/s1882 / 2088 [--------------------------------------------------------------->_______] 90.13% 113 p/s1905 / 2088 [---------------------------------------------------------------->______] 91.24% 113 p/s1928 / 2088 [----------------------------------------------------------------->_____] 92.34% 114 p/s1951 / 2088 [------------------------------------------------------------------>____] 93.44% 114 p/s1974 / 2088 [------------------------------------------------------------------->___] 94.54% 114 p/s1997 / 2088 [------------------------------------------------------------------->___] 95.64% 114 p/s2020 / 2088 [-------------------------------------------------------------------->__] 96.74% 114 p/s2042 / 2088 [--------------------------------------------------------------------->_] 97.80% 114 p/s2065 / 2088 [---------------------------------------------------------------------->] 98.90% 114 p/s2088 / 2088 [----------------------------------------------------------------------] 100.00% 115 p/s2026-05-15T02:52:15 - INFO: Parsing 2088 sonar sweeps from /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-15T02:53:30 - WARNING: Expected 400 beams, got 99, dropping sweep 2087
2026-05-15T02:53:30 - 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/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7"
2026-05-15T02:53:31 - INFO: DataPrep 0.14.6
2026-05-15T02:53:31 - INFO: Prepared data will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/processing/data
2026-05-15T02:53:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-15T02:53:31 - deployment - INFO: Detected P3D version: P3D_1
2026-05-15T02:53:31 - INFO: Recording GUID: 27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-15T02:53:31 - INFO: Preparing sonar data...
2026-05-15T02:53:31 - INFO: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-15T02:53:33 - INFO: Sonar epoch is 2026-02-10 16:57:05.954168+00:00 (1770742625954167722)
2026-05-15T02:53:33 - INFO: Creating sonar sensor alignment track...
2026-05-15T02:53:33 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-15T02:53:33 - INFO: Sensor speed of sound is 1500 m/s
2026-05-15T02:53:33 - INFO: Sensor range is 0.722400 m
2026-05-15T02:53:33 - INFO: Sensor micrometres per sample is 2400.000032
2026-05-15T02:53:33 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-15T02:53:33 - INFO: Scaled range is 0.719746 m
2026-05-15T02:53:33 - INFO: Scaled micrometres per sample is 2391.181774
2026-05-15T02:53:33 - INFO: Processing 2087 sweeps...

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2026-05-15T02:53:39 - INFO: Prepared sonar data in 7.1243 s
2026-05-15T02:53:39 - INFO: No IMU data found
2026-05-15T02:53:39 - INFO: DataPrep took 0:00:07.368951
2026-05-15T02:53:39 - INFO: Extracted sonar data in 0:01:42.791620
2026-05-15T02:53:39 - INFO: MSIP3D took 0:01:43.020105