2026-04-07T03:46:12 - INFO: MSIP3D 0.2.0
2026-04-07T03:46:12 - INFO: P3D files will be output to /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc
2026-04-07T03:46:12 - INFO: Found 10 TFD dictionary entries
2026-04-07T03:46:12 - INFO: Found TFD mission for 51139922
2026-04-07T03:46:12 - INFO: Recording will be processed as MD
2026-04-07T03:46:12 - INFO: Copying assets JSON to output directory...
2026-04-07T03:46:12 - INFO: Preparing counter data...
2026-04-07T03:46:12 - INFO: Interpreting counter as metric
2026-04-07T03:46:12 - INFO: Preparing size track from assets JSON...
2026-04-07T03:46:12 - INFO: Preparing material track from assets JSON...
2026-04-07T03:46:12 - INFO: Prepared counter data in 0.0029 s
2026-04-07T03:46:12 - INFO: Extracting sonar data...
TFD path: /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/tfd/51139922.tfd
TFD path: /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 254
20 / 254 [------>______________________________________________________________________] 7.87% ? p/s41 / 254 [------------>_______________________________________________________________] 16.14% ? p/s62 / 254 [------------------>_________________________________________________________] 24.41% ? p/s83 / 254 [------------------------>_________________________________________________] 32.68% 105 p/s104 / 254 [----------------------------->___________________________________________] 40.94% 105 p/s124 / 254 [----------------------------------->_____________________________________] 48.82% 105 p/s145 / 254 [----------------------------------------->_______________________________] 57.09% 105 p/s166 / 254 [----------------------------------------------->_________________________] 65.35% 105 p/s188 / 254 [------------------------------------------------------>__________________] 74.02% 105 p/s209 / 254 [------------------------------------------------------------>____________] 82.28% 105 p/s231 / 254 [------------------------------------------------------------------>______] 90.94% 105 p/s252 / 254 [------------------------------------------------------------------------>] 99.21% 105 p/s254 / 254 [------------------------------------------------------------------------] 100.00% 115 p/s2026-04-07T03:46:14 - INFO: Parsing 254 sonar sweeps from /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-07T03:46:24 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc"
2026-04-07T03:46:25 - INFO: DataPrep 0.14.0
2026-04-07T03:46:25 - INFO: Prepared data will be output to /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/processing/data
2026-04-07T03:46:25 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-07T03:46:25 - deployment - INFO: Detected P3D version: P3D_1
2026-04-07T03:46:25 - INFO: Recording GUID: 1a209fdd-83d4-d8cc-faa5-eb295e0588dc
2026-04-07T03:46:25 - INFO: Preparing sonar data...
2026-04-07T03:46:25 - INFO: /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-04-07T03:46:26 - INFO: Sonar epoch is 2025-10-10 15:16:50.168987+00:00 (1760109410168987303)
2026-04-07T03:46:26 - INFO: Creating sonar sensor alignment track...
2026-04-07T03:46:26 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-04-07T03:46:26 - INFO: Sensor speed of sound is 1500 m/s
2026-04-07T03:46:26 - INFO: Sensor range is 0.939120 m
2026-04-07T03:46:26 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-07T03:46:26 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-07T03:46:26 - INFO: Scaled range is 0.921855 m
2026-04-07T03:46:26 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-07T03:46:26 - INFO: Processing 254 sweeps...

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2026-04-07T03:46:27 - INFO: Prepared sonar data in 1.1273 s
2026-04-07T03:46:27 - INFO: No IMU data found
2026-04-07T03:46:27 - INFO: DataPrep took 0:00:01.157514
2026-04-07T03:46:27 - INFO: Extracted sonar data in 0:00:14.618475
2026-04-07T03:46:27 - INFO: MSIP3D took 0:00:14.640488