2026-04-08T19:17:39 - INFO: MSIP3D 0.2.1
2026-04-08T19:17:39 - INFO: P3D files will be output to /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc
2026-04-08T19:17:39 - INFO: Found 10 TFD dictionary entries
2026-04-08T19:17:39 - INFO: Found TFD mission for 51139922
2026-04-08T19:17:39 - INFO: Recording will be processed as MD
2026-04-08T19:17:39 - INFO: Copying assets JSON to output directory...
2026-04-08T19:17:39 - INFO: Preparing counter data...
2026-04-08T19:17:39 - INFO: Interpreting counter as metric
2026-04-08T19:17:39 - INFO: Preparing size track from assets JSON...
2026-04-08T19:17:39 - INFO: Preparing shape track from assets JSON...
2026-04-08T19:17:39 - INFO: Preparing material track from assets JSON...
2026-04-08T19:17:39 - INFO: Prepared counter data in 0.0031 s
2026-04-08T19:17:39 - 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: SONAR, Tag: 6012079240663880375
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 254
21 / 254 [------>______________________________________________________________________] 8.27% ? p/s42 / 254 [------------>_______________________________________________________________] 16.54% ? p/s62 / 254 [------------------>_________________________________________________________] 24.41% ? p/s84 / 254 [------------------------>_________________________________________________] 33.07% 105 p/s106 / 254 [------------------------------>__________________________________________] 41.73% 105 p/s126 / 254 [------------------------------------>____________________________________] 49.61% 105 p/s148 / 254 [------------------------------------------>______________________________] 58.27% 105 p/s170 / 254 [------------------------------------------------>________________________] 66.93% 105 p/s191 / 254 [------------------------------------------------------>__________________] 75.20% 105 p/s213 / 254 [------------------------------------------------------------->___________] 83.86% 105 p/s234 / 254 [------------------------------------------------------------------->_____] 92.13% 105 p/s254 / 254 [------------------------------------------------------------------------] 100.00% 116 p/s2026-04-08T19:17:42 - INFO: Parsing 254 sonar sweeps from /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-08T19:17:51 - 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"
2026-04-08T19:17:52 - INFO: DataPrep 0.14.0
2026-04-08T19:17:52 - INFO: Prepared data will be output to /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/processing/data
2026-04-08T19:17:52 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-08T19:17:52 - deployment - INFO: Detected P3D version: P3D_1
2026-04-08T19:17:52 - INFO: Recording GUID: 1a209fdd-83d4-d8cc-faa5-eb295e0588dc
2026-04-08T19:17:52 - INFO: Preparing sonar data...
2026-04-08T19:17:52 - INFO: /working/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/1a209fdd-83d4-d8cc-faa5-eb295e0588dc/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-08T19:17:53 - INFO: Sonar epoch is 2025-10-10 15:16:50.168987+00:00 (1760109410168987303)
2026-04-08T19:17:53 - INFO: Creating sonar sensor alignment track...
2026-04-08T19:17:53 - INFO: Using sonar rotation of 0.052360 radians for wedge mask
2026-04-08T19:17:53 - INFO: Sensor speed of sound is 1500 m/s
2026-04-08T19:17:53 - INFO: Sensor range is 0.939120 m
2026-04-08T19:17:53 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-08T19:17:53 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-08T19:17:53 - INFO: Scaled range is 0.921855 m
2026-04-08T19:17:53 - INFO: Scaled micrometres per sample is 3062.642227
2026-04-08T19:17:53 - INFO: Processing 254 sweeps...

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2026-04-08T19:17:54 - INFO: Prepared sonar data in 1.1446 s
2026-04-08T19:17:54 - INFO: No IMU data found
2026-04-08T19:17:54 - INFO: DataPrep took 0:00:01.174064
2026-04-08T19:17:54 - INFO: Extracted sonar data in 0:00:14.648604
2026-04-08T19:17:54 - INFO: MSIP3D took 0:00:14.671189