2026-05-15T00:39:19 - INFO: MSIP3D 0.2.6
2026-05-15T00:39:19 - INFO: P3D files will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-15T00:39:19 - INFO: Found 16 TFD dictionary entries
2026-05-15T00:39:19 - INFO: Found TFD mission for 200087_200086
2026-05-15T00:39:19 - INFO: Recording will be processed as MD
2026-05-15T00:39:19 - INFO: Copying assets JSON to output directory...
2026-05-15T00:39:19 - INFO: Preparing counter data...
2026-05-15T00:39:19 - INFO: Interpreting counter as imperial
2026-05-15T00:39:19 - INFO: Preparing size track from assets JSON...
2026-05-15T00:39:19 - INFO: Preparing material track from assets JSON...
2026-05-15T00:39:19 - INFO: Prepared counter data in 0.0610 s
2026-05-15T00:39:19 - 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, Tag: 6012080331585573559
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
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/s113 / 2088 [--->_____________________________________________________________________] 5.41% 113 p/s135 / 2088 [---->____________________________________________________________________] 6.47% 113 p/s157 / 2088 [----->___________________________________________________________________] 7.52% 113 p/s180 / 2088 [------>__________________________________________________________________] 8.62% 113 p/s203 / 2088 [------->_________________________________________________________________] 9.72% 113 p/s226 / 2088 [------->________________________________________________________________] 10.82% 113 p/s248 / 2088 [-------->_______________________________________________________________] 11.88% 113 p/s272 / 2088 [--------->______________________________________________________________] 13.03% 113 p/s295 / 2088 [---------->_____________________________________________________________] 14.13% 113 p/s318 / 2088 [---------->_____________________________________________________________] 15.23% 113 p/s341 / 2088 [----------->____________________________________________________________] 16.33% 113 p/s364 / 2088 [------------>___________________________________________________________] 17.43% 113 p/s387 / 2088 [------------->__________________________________________________________] 18.53% 113 p/s410 / 2088 [-------------->_________________________________________________________] 19.64% 113 p/s433 / 2088 [-------------->_________________________________________________________] 20.74% 114 p/s456 / 2088 [--------------->________________________________________________________] 21.84% 114 p/s479 / 2088 [---------------->_______________________________________________________] 22.94% 114 p/s502 / 2088 [----------------->______________________________________________________] 24.04% 114 p/s524 / 2088 [------------------>_____________________________________________________] 25.10% 114 p/s547 / 2088 [------------------>_____________________________________________________] 26.20% 114 p/s570 / 2088 [------------------->____________________________________________________] 27.30% 114 p/s593 / 2088 [-------------------->___________________________________________________] 28.40% 114 p/s616 / 2088 [--------------------->__________________________________________________] 29.50% 114 p/s639 / 2088 [---------------------->_________________________________________________] 30.60% 114 p/s661 / 2088 [---------------------->_________________________________________________] 31.66% 114 p/s684 / 2088 [----------------------->________________________________________________] 32.76% 114 p/s708 / 2088 [------------------------>_______________________________________________] 33.91% 114 p/s731 / 2088 [------------------------->______________________________________________] 35.01% 114 p/s754 / 2088 [------------------------->______________________________________________] 36.11% 114 p/s777 / 2088 [-------------------------->_____________________________________________] 37.21% 114 p/s800 / 2088 [--------------------------->____________________________________________] 38.31% 114 p/s824 / 2088 [---------------------------->___________________________________________] 39.46% 114 p/s847 / 2088 [----------------------------->__________________________________________] 40.57% 114 p/s870 / 2088 [----------------------------->__________________________________________] 41.67% 114 p/s893 / 2088 [------------------------------>_________________________________________] 42.77% 114 p/s916 / 2088 [------------------------------->________________________________________] 43.87% 114 p/s939 / 2088 [-------------------------------->_______________________________________] 44.97% 114 p/s962 / 2088 [--------------------------------->______________________________________] 46.07% 114 p/s984 / 2088 [--------------------------------->______________________________________] 47.13% 114 p/s1007 / 2088 [---------------------------------->____________________________________] 48.23% 114 p/s1029 / 2088 [---------------------------------->____________________________________] 49.28% 114 p/s1051 / 2088 [----------------------------------->___________________________________] 50.34% 114 p/s1074 / 2088 [------------------------------------>__________________________________] 51.44% 114 p/s1097 / 2088 [------------------------------------->_________________________________] 52.54% 114 p/s1119 / 2088 [-------------------------------------->________________________________] 53.59% 114 p/s1142 / 2088 [-------------------------------------->________________________________] 54.69% 114 p/s1164 / 2088 [--------------------------------------->_______________________________] 55.75% 114 p/s1187 / 2088 [---------------------------------------->______________________________] 56.85% 114 p/s1210 / 2088 [----------------------------------------->_____________________________] 57.95% 114 p/s1234 / 2088 [----------------------------------------->_____________________________] 59.10% 114 p/s1257 / 2088 [------------------------------------------>____________________________] 60.20% 114 p/s1280 / 2088 [------------------------------------------->___________________________] 61.30% 114 p/s1303 / 2088 [-------------------------------------------->__________________________] 62.40% 114 p/s1327 / 2088 [--------------------------------------------->_________________________] 63.55% 114 p/s1350 / 2088 [--------------------------------------------->_________________________] 64.66% 114 p/s1373 / 2088 [---------------------------------------------->________________________] 65.76% 114 p/s1395 / 2088 [----------------------------------------------->_______________________] 66.81% 114 p/s1418 / 2088 [------------------------------------------------>______________________] 67.91% 114 p/s1441 / 2088 [------------------------------------------------>______________________] 69.01% 114 p/s1464 / 2088 [------------------------------------------------->_____________________] 70.11% 114 p/s1487 / 2088 [-------------------------------------------------->____________________] 71.22% 114 p/s1510 / 2088 [--------------------------------------------------->___________________] 72.32% 114 p/s1533 / 2088 [---------------------------------------------------->__________________] 73.42% 114 p/s1556 / 2088 [---------------------------------------------------->__________________] 74.52% 114 p/s1579 / 2088 [----------------------------------------------------->_________________] 75.62% 114 p/s1602 / 2088 [------------------------------------------------------>________________] 76.72% 114 p/s1625 / 2088 [------------------------------------------------------->_______________] 77.83% 114 p/s1649 / 2088 [-------------------------------------------------------->______________] 78.98% 114 p/s1671 / 2088 [-------------------------------------------------------->______________] 80.03% 114 p/s1695 / 2088 [--------------------------------------------------------->_____________] 81.18% 114 p/s1718 / 2088 [---------------------------------------------------------->____________] 82.28% 114 p/s1741 / 2088 [----------------------------------------------------------->___________] 83.38% 115 p/s1764 / 2088 [----------------------------------------------------------->___________] 84.48% 115 p/s1788 / 2088 [------------------------------------------------------------>__________] 85.63% 115 p/s1811 / 2088 [------------------------------------------------------------->_________] 86.73% 115 p/s1833 / 2088 [-------------------------------------------------------------->________] 87.79% 115 p/s1856 / 2088 [--------------------------------------------------------------->_______] 88.89% 115 p/s1879 / 2088 [--------------------------------------------------------------->_______] 89.99% 115 p/s1903 / 2088 [---------------------------------------------------------------->______] 91.14% 115 p/s1926 / 2088 [----------------------------------------------------------------->_____] 92.24% 115 p/s1949 / 2088 [------------------------------------------------------------------>____] 93.34% 115 p/s1973 / 2088 [------------------------------------------------------------------->___] 94.49% 115 p/s1996 / 2088 [------------------------------------------------------------------->___] 95.59% 115 p/s2019 / 2088 [-------------------------------------------------------------------->__] 96.70% 115 p/s2041 / 2088 [--------------------------------------------------------------------->_] 97.75% 115 p/s2065 / 2088 [---------------------------------------------------------------------->] 98.90% 115 p/s2088 / 2088 [----------------------------------------------------------------------] 100.00% 116 p/s2026-05-15T00:39:37 - INFO: Parsing 2088 sonar sweeps from /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2088 [00:00<?, ?it/s]
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2026-05-15T00:40:53 - WARNING: Expected 400 beams, got 99, dropping sweep 2087
2026-05-15T00:40:53 - 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"
2026-05-15T00:40:54 - INFO: DataPrep 0.14.6
2026-05-15T00:40:54 - INFO: Prepared data will be output to /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/processing/data
2026-05-15T00:40:54 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-15T00:40:54 - deployment - INFO: Detected P3D version: P3D_1
2026-05-15T00:40:54 - INFO: Recording GUID: 27a8b49a-6763-3d68-30c9-e2268c4e94a7
2026-05-15T00:40:54 - INFO: Preparing sonar data...
2026-05-15T00:40:54 - INFO: /working/27a8b49a-6763-3d68-30c9-e2268c4e94a7/27a8b49a-6763-3d68-30c9-e2268c4e94a7/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-15T00:40:56 - INFO: Sonar epoch is 2026-02-10 16:57:05.954168+00:00 (1770742625954167722)
2026-05-15T00:40:56 - INFO: Creating sonar sensor alignment track...
2026-05-15T00:40:56 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-05-15T00:40:56 - INFO: Sensor speed of sound is 1500 m/s
2026-05-15T00:40:56 - INFO: Sensor range is 0.722400 m
2026-05-15T00:40:56 - INFO: Sensor micrometres per sample is 2400.000032
2026-05-15T00:40:56 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-15T00:40:56 - INFO: Scaled range is 0.719746 m
2026-05-15T00:40:56 - INFO: Scaled micrometres per sample is 2391.181774
2026-05-15T00:40:56 - INFO: Processing 2087 sweeps...

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2026-05-15T00:41:02 - INFO: Prepared sonar data in 7.3552 s
2026-05-15T00:41:02 - INFO: No IMU data found
2026-05-15T00:41:02 - INFO: DataPrep took 0:00:07.600525
2026-05-15T00:41:02 - INFO: Extracted sonar data in 0:01:43.001275
2026-05-15T00:41:02 - INFO: MSIP3D took 0:01:43.219561