2026-01-08T01:05:39 - INFO: MSIP3D 0.1.5
2026-01-08T01:05:39 - INFO: P3D files will be output to /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/870d7de3-c03c-bd9f-dd34-101f15ab99cc
2026-01-08T01:05:39 - INFO: Found 11 TFD dictionary entries
2026-01-08T01:05:39 - INFO: Found TFD mission for Rz flat laser mrc sonar
2026-01-08T01:05:39 - INFO: Recording will be processed as SMD
2026-01-08T01:05:39 - INFO: Copying assets JSON to output directory...
2026-01-08T01:05:39 - INFO: Preparing counter data...
2026-01-08T01:05:39 - INFO: Interpreting counter as metric
2026-01-08T01:05:39 - INFO: Prepared counter data in 0.0059 s
2026-01-08T01:05:39 - INFO: Extracting sonar data...
TFD path: /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/tfd/Rz_flat_laser_mrc_sonar_001.tfd
TFD path: /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 70
21 / 70 [----------------------->_____________________________________________________] 30.00% ? p/s43 / 70 [----------------------------------------------->_____________________________] 61.43% ? p/s63 / 70 [--------------------------------------------------------------------->_______] 90.00% ? p/s70 / 70 [--------------------------------------------------------------------------] 100.00% 153 p/s2026-01-08T01:05:40 - INFO: Parsing 70 sonar sweeps from /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-08T01:05:43 - 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-casing-threshold 150 --sonar-sample-threshold 100 --sonar-mask-angle 90 --sonar-despike /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/870d7de3-c03c-bd9f-dd34-101f15ab99cc"
2026-01-08T01:05:44 - INFO: DataPrep 0.13.7rc1
2026-01-08T01:05:44 - INFO: Prepared data will be output to /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/870d7de3-c03c-bd9f-dd34-101f15ab99cc/processing/data
2026-01-08T01:05:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-08T01:05:44 - deployment - INFO: Detected P3D version: P3D_1
2026-01-08T01:05:44 - INFO: Recording GUID: 870d7de3-c03c-bd9f-dd34-101f15ab99cc
2026-01-08T01:05:44 - INFO: Preparing sonar data...
2026-01-08T01:05:44 - INFO: /working/870d7de3-c03c-bd9f-dd34-101f15ab99cc/870d7de3-c03c-bd9f-dd34-101f15ab99cc/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-08T01:05:44 - INFO: Sonar epoch is 2024-08-18 23:36:20.127232+00:00 (1724024180127231498)
2026-01-08T01:05:44 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-08T01:05:44 - INFO: Sonar range is 1.083600 m
2026-01-08T01:05:44 - INFO: Speed of sound is 1494 m/s
2026-01-08T01:05:44 - INFO: Processing 70 sweeps...

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2026-01-08T01:05:44 - INFO: Creating sonar sensor alignment track...
2026-01-08T01:05:44 - INFO: Prepared sonar data in 0.4849 s
2026-01-08T01:05:44 - INFO: No IMU data found
2026-01-08T01:05:44 - INFO: DataPrep took 0:00:00.494958
2026-01-08T01:05:44 - INFO: Extracted sonar data in 0:00:05.012897
2026-01-08T01:05:44 - INFO: MSIP3D took 0:00:05.023998