2026-01-14T20:47:08 - INFO: MSIP3D 0.1.5
2026-01-14T20:47:08 - INFO: P3D files will be output to /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/42defc44-23d0-3a38-c8d4-db5b4d48fd16
2026-01-14T20:47:08 - INFO: Found 11 TFD dictionary entries
2026-01-14T20:47:08 - INFO: Found TFD mission for d1-d2                  
2026-01-14T20:47:08 - INFO: Recording will be processed as SMD
2026-01-14T20:47:08 - INFO: Copying assets JSON to output directory...
2026-01-14T20:47:08 - INFO: Preparing counter data...
2026-01-14T20:47:08 - INFO: Interpreting counter as metric
2026-01-14T20:47:08 - INFO: Prepared counter data in 0.0059 s
2026-01-14T20:47:08 - INFO: Extracting sonar data...
TFD path: /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/tfd/msi-run-b-mm.tfd
TFD path: /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 70
20 / 70 [--------------------->_______________________________________________________] 28.57% ? p/s40 / 70 [------------------------------------------->_________________________________] 57.14% ? p/s60 / 70 [----------------------------------------------------------------->___________] 85.71% ? p/s70 / 70 [--------------------------------------------------------------------------] 100.00% 144 p/s2026-01-14T20:47:09 - INFO: Parsing 70 sonar sweeps from /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-14T20:47:12 - 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/42defc44-23d0-3a38-c8d4-db5b4d48fd16/42defc44-23d0-3a38-c8d4-db5b4d48fd16"
2026-01-14T20:47:13 - INFO: DataPrep 0.13.7rc1
2026-01-14T20:47:13 - INFO: Prepared data will be output to /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/42defc44-23d0-3a38-c8d4-db5b4d48fd16/processing/data
2026-01-14T20:47:13 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-14T20:47:13 - deployment - INFO: Detected P3D version: P3D_1
2026-01-14T20:47:13 - INFO: Recording GUID: 42defc44-23d0-3a38-c8d4-db5b4d48fd16
2026-01-14T20:47:13 - INFO: Preparing sonar data...
2026-01-14T20:47:13 - INFO: /working/42defc44-23d0-3a38-c8d4-db5b4d48fd16/42defc44-23d0-3a38-c8d4-db5b4d48fd16/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-14T20:47:13 - INFO: Sonar epoch is 2024-08-18 23:36:20.127232+00:00 (1724024180127231498)
2026-01-14T20:47:13 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-14T20:47:13 - INFO: Sonar range is 1.083600 m
2026-01-14T20:47:13 - INFO: Speed of sound is 1494 m/s
2026-01-14T20:47:13 - INFO: Processing 70 sweeps...

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2026-01-14T20:47:13 - INFO: Creating sonar sensor alignment track...
2026-01-14T20:47:13 - INFO: Prepared sonar data in 0.5019 s
2026-01-14T20:47:13 - INFO: No IMU data found
2026-01-14T20:47:13 - INFO: DataPrep took 0:00:00.513563
2026-01-14T20:47:13 - INFO: Extracted sonar data in 0:00:04.899606
2026-01-14T20:47:13 - INFO: MSIP3D took 0:00:04.910861