2026-05-18T03:33:24 - INFO: MSIP3D 0.2.6
2026-05-18T03:33:24 - INFO: P3D files will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-18T03:33:24 - INFO: Found 16 TFD dictionary entries
2026-05-18T03:33:24 - INFO: Found TFD mission for 200310_200379
2026-05-18T03:33:24 - INFO: Recording will be processed as MD
2026-05-18T03:33:24 - INFO: Copying assets JSON to output directory...
2026-05-18T03:33:24 - INFO: Preparing counter data...
2026-05-18T03:33:24 - INFO: Interpreting counter as imperial
2026-05-18T03:33:24 - INFO: Preparing size track from assets JSON...
2026-05-18T03:33:24 - INFO: Preparing material track from assets JSON...
2026-05-18T03:33:24 - INFO: Prepared counter data in 0.0504 s
2026-05-18T03:33:24 - 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: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 2054
22 / 2054 [>___________________________________________________________________________] 1.07% ? p/s46 / 2054 [->__________________________________________________________________________] 2.24% ? p/s68 / 2054 [-->_________________________________________________________________________] 3.31% ? p/s91 / 2054 [--->______________________________________________________________________] 4.43% 115 p/s114 / 2054 [---->____________________________________________________________________] 5.55% 115 p/s137 / 2054 [---->____________________________________________________________________] 6.67% 115 p/s160 / 2054 [----->___________________________________________________________________] 7.79% 115 p/s183 / 2054 [------>__________________________________________________________________] 8.91% 115 p/s207 / 2054 [------->________________________________________________________________] 10.08% 115 p/s230 / 2054 [-------->_______________________________________________________________] 11.20% 115 p/s254 / 2054 [-------->_______________________________________________________________] 12.37% 115 p/s277 / 2054 [--------->______________________________________________________________] 13.49% 115 p/s300 / 2054 [---------->_____________________________________________________________] 14.61% 115 p/s324 / 2054 [----------->____________________________________________________________] 15.77% 115 p/s348 / 2054 [------------>___________________________________________________________] 16.94% 115 p/s371 / 2054 [------------->__________________________________________________________] 18.06% 115 p/s394 / 2054 [------------->__________________________________________________________] 19.18% 115 p/s417 / 2054 [-------------->_________________________________________________________] 20.30% 115 p/s440 / 2054 [--------------->________________________________________________________] 21.42% 115 p/s463 / 2054 [---------------->_______________________________________________________] 22.54% 115 p/s485 / 2054 [----------------->______________________________________________________] 23.61% 115 p/s506 / 2054 [----------------->______________________________________________________] 24.63% 115 p/s529 / 2054 [------------------>_____________________________________________________] 25.75% 115 p/s552 / 2054 [------------------->____________________________________________________] 26.87% 115 p/s568 / 2054 [------------------->____________________________________________________] 27.65% 114 p/s590 / 2054 [-------------------->___________________________________________________] 28.72% 114 p/s613 / 2054 [--------------------->__________________________________________________] 29.84% 114 p/s636 / 2054 [---------------------->_________________________________________________] 30.96% 114 p/s658 / 2054 [----------------------->________________________________________________] 32.04% 114 p/s680 / 2054 [----------------------->________________________________________________] 33.11% 114 p/s703 / 2054 [------------------------>_______________________________________________] 34.23% 114 p/s726 / 2054 [------------------------->______________________________________________] 35.35% 114 p/s748 / 2054 [-------------------------->_____________________________________________] 36.42% 114 p/s771 / 2054 [--------------------------->____________________________________________] 37.54% 114 p/s793 / 2054 [--------------------------->____________________________________________] 38.61% 114 p/s816 / 2054 [---------------------------->___________________________________________] 39.73% 114 p/s839 / 2054 [----------------------------->__________________________________________] 40.85% 114 p/s862 / 2054 [------------------------------>_________________________________________] 41.97% 114 p/s884 / 2054 [------------------------------>_________________________________________] 43.04% 114 p/s907 / 2054 [------------------------------->________________________________________] 44.16% 114 p/s929 / 2054 [-------------------------------->_______________________________________] 45.23% 114 p/s952 / 2054 [--------------------------------->______________________________________] 46.35% 114 p/s975 / 2054 [---------------------------------->_____________________________________] 47.47% 114 p/s998 / 2054 [---------------------------------->_____________________________________] 48.59% 114 p/s1020 / 2054 [----------------------------------->___________________________________] 49.66% 114 p/s1043 / 2054 [------------------------------------>__________________________________] 50.78% 114 p/s1066 / 2054 [------------------------------------>__________________________________] 51.90% 114 p/s1089 / 2054 [------------------------------------->_________________________________] 53.02% 114 p/s1112 / 2054 [-------------------------------------->________________________________] 54.14% 114 p/s1135 / 2054 [--------------------------------------->_______________________________] 55.26% 114 p/s1158 / 2054 [---------------------------------------->______________________________] 56.38% 114 p/s1181 / 2054 [---------------------------------------->______________________________] 57.50% 114 p/s1204 / 2054 [----------------------------------------->_____________________________] 58.62% 114 p/s1227 / 2054 [------------------------------------------>____________________________] 59.74% 114 p/s1250 / 2054 [------------------------------------------->___________________________] 60.86% 114 p/s1273 / 2054 [-------------------------------------------->__________________________] 61.98% 114 p/s1296 / 2054 [-------------------------------------------->__________________________] 63.10% 114 p/s1318 / 2054 [--------------------------------------------->_________________________] 64.17% 114 p/s1341 / 2054 [---------------------------------------------->________________________] 65.29% 114 p/s1364 / 2054 [----------------------------------------------->_______________________] 66.41% 114 p/s1387 / 2054 [----------------------------------------------->_______________________] 67.53% 114 p/s1409 / 2054 [------------------------------------------------>______________________] 68.60% 114 p/s1433 / 2054 [------------------------------------------------->_____________________] 69.77% 114 p/s1452 / 2054 [-------------------------------------------------->____________________] 70.69% 113 p/s1464 / 2054 [-------------------------------------------------->____________________] 71.28% 113 p/s1487 / 2054 [--------------------------------------------------->___________________] 72.40% 113 p/s1510 / 2054 [---------------------------------------------------->__________________] 73.52% 113 p/s1534 / 2054 [----------------------------------------------------->_________________] 74.68% 113 p/s1557 / 2054 [----------------------------------------------------->_________________] 75.80% 113 p/s1580 / 2054 [------------------------------------------------------>________________] 76.92% 113 p/s1603 / 2054 [------------------------------------------------------->_______________] 78.04% 113 p/s1625 / 2054 [-------------------------------------------------------->______________] 79.11% 113 p/s1649 / 2054 [--------------------------------------------------------->_____________] 80.28% 113 p/s1672 / 2054 [--------------------------------------------------------->_____________] 81.40% 113 p/s1695 / 2054 [---------------------------------------------------------->____________] 82.52% 113 p/s1718 / 2054 [----------------------------------------------------------->___________] 83.64% 113 p/s1741 / 2054 [------------------------------------------------------------>__________] 84.76% 113 p/s1764 / 2054 [------------------------------------------------------------>__________] 85.88% 113 p/s1787 / 2054 [------------------------------------------------------------->_________] 87.00% 113 p/s1811 / 2054 [-------------------------------------------------------------->________] 88.17% 113 p/s1834 / 2054 [--------------------------------------------------------------->_______] 89.29% 113 p/s1857 / 2054 [---------------------------------------------------------------->______] 90.41% 114 p/s1880 / 2054 [---------------------------------------------------------------->______] 91.53% 114 p/s1903 / 2054 [----------------------------------------------------------------->_____] 92.65% 114 p/s1927 / 2054 [------------------------------------------------------------------>____] 93.82% 114 p/s1949 / 2054 [------------------------------------------------------------------->___] 94.89% 114 p/s1973 / 2054 [-------------------------------------------------------------------->__] 96.06% 114 p/s1996 / 2054 [-------------------------------------------------------------------->__] 97.18% 114 p/s2019 / 2054 [--------------------------------------------------------------------->_] 98.30% 114 p/s2041 / 2054 [---------------------------------------------------------------------->] 99.37% 114 p/s2054 / 2054 [----------------------------------------------------------------------] 100.00% 115 p/s2026-05-18T03:33:42 - 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]
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  0%|          | 6/2054 [00:00<01:13, 28.01it/s]
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2026-05-18T03:34:56 - WARNING: Expected 400 beams, got 162, dropping sweep 2053
2026-05-18T03:34:56 - 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"
2026-05-18T03:34:58 - INFO: DataPrep 0.14.6
2026-05-18T03:34:58 - INFO: Prepared data will be output to /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/processing/data
2026-05-18T03:34:58 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-18T03:34:58 - deployment - INFO: Detected P3D version: P3D_1
2026-05-18T03:34:58 - INFO: Recording GUID: 0da5452d-73f8-71d8-9a61-d53037e54814
2026-05-18T03:34:58 - INFO: Preparing sonar data...
2026-05-18T03:34:58 - INFO: /working/0da5452d-73f8-71d8-9a61-d53037e54814/0da5452d-73f8-71d8-9a61-d53037e54814/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-18T03:35:00 - INFO: Sonar epoch is 2026-02-11 14:26:01.613885+00:00 (1770819961613884565)
2026-05-18T03:35:00 - INFO: Creating sonar sensor alignment track...
2026-05-18T03:35:00 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-18T03:35:00 - INFO: Sensor speed of sound is 1500 m/s
2026-05-18T03:35:00 - INFO: Sensor range is 0.794640 m
2026-05-18T03:35:00 - INFO: Sensor micrometres per sample is 2640.000015
2026-05-18T03:35:00 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-18T03:35:00 - INFO: Scaled range is 0.791720 m
2026-05-18T03:35:00 - INFO: Scaled micrometres per sample is 2630.299931
2026-05-18T03:35:00 - INFO: Processing 2053 sweeps...

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2026-05-18T03:35:07 - INFO: Prepared sonar data in 9.3701 s
2026-05-18T03:35:07 - INFO: No IMU data found
2026-05-18T03:35:08 - INFO: DataPrep took 0:00:09.652142
2026-05-18T03:35:08 - INFO: Extracted sonar data in 0:01:43.606136
2026-05-18T03:35:08 - INFO: MSIP3D took 0:01:43.837332