2026-05-20T00:09:51 - INFO: MSIP3D 0.2.6
2026-05-20T00:09:51 - INFO: P3D files will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-20T00:09:51 - INFO: Found 11 TFD dictionary entries
2026-05-20T00:09:51 - INFO: Found TFD mission for DSSIN001-DSEIN016
2026-05-20T00:09:51 - INFO: Recording will be processed as SMD
2026-05-20T00:09:51 - INFO: Preparing counter data...
2026-05-20T00:09:51 - INFO: Interpreting counter as metric
2026-05-20T00:09:51 - INFO: Prepared counter data in 0.0417 s
2026-05-20T00:09:51 - INFO: Extracting sonar data...
TFD path: /working/771f23d2-9e99-e6b8-320b-790e35a6241c/tfd/DSSIN001-DSEIN016_002.tfd
TFD path: /working/771f23d2-9e99-e6b8-320b-790e35a6241c/tfd/output
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 1011
22 / 1011 [->__________________________________________________________________________] 2.18% ? p/s44 / 1011 [--->________________________________________________________________________] 4.35% ? p/s66 / 1011 [---->_______________________________________________________________________] 6.53% ? p/s90 / 1011 [------>___________________________________________________________________] 8.90% 113 p/s113 / 1011 [-------->_______________________________________________________________] 11.18% 113 p/s135 / 1011 [--------->______________________________________________________________] 13.35% 113 p/s158 / 1011 [----------->____________________________________________________________] 15.63% 113 p/s182 / 1011 [------------>___________________________________________________________] 18.00% 113 p/s205 / 1011 [-------------->_________________________________________________________] 20.28% 113 p/s228 / 1011 [---------------->_______________________________________________________] 22.55% 113 p/s250 / 1011 [----------------->______________________________________________________] 24.73% 113 p/s274 / 1011 [------------------->____________________________________________________] 27.10% 113 p/s297 / 1011 [--------------------->__________________________________________________] 29.38% 114 p/s320 / 1011 [---------------------->_________________________________________________] 31.65% 114 p/s343 / 1011 [------------------------>_______________________________________________] 33.93% 114 p/s367 / 1011 [-------------------------->_____________________________________________] 36.30% 114 p/s390 / 1011 [--------------------------->____________________________________________] 38.58% 114 p/s413 / 1011 [----------------------------->__________________________________________] 40.85% 114 p/s437 / 1011 [------------------------------->________________________________________] 43.22% 114 p/s460 / 1011 [-------------------------------->_______________________________________] 45.50% 114 p/s483 / 1011 [---------------------------------->_____________________________________] 47.77% 114 p/s506 / 1011 [------------------------------------>___________________________________] 50.05% 114 p/s529 / 1011 [------------------------------------->__________________________________] 52.32% 114 p/s553 / 1011 [--------------------------------------->________________________________] 54.70% 114 p/s576 / 1011 [----------------------------------------->______________________________] 56.97% 114 p/s599 / 1011 [------------------------------------------>_____________________________] 59.25% 114 p/s622 / 1011 [-------------------------------------------->___________________________] 61.52% 114 p/s646 / 1011 [---------------------------------------------->_________________________] 63.90% 114 p/s669 / 1011 [----------------------------------------------->________________________] 66.17% 114 p/s693 / 1011 [------------------------------------------------->______________________] 68.55% 114 p/s716 / 1011 [-------------------------------------------------->_____________________] 70.82% 114 p/s740 / 1011 [---------------------------------------------------->___________________] 73.19% 114 p/s763 / 1011 [------------------------------------------------------>_________________] 75.47% 114 p/s787 / 1011 [-------------------------------------------------------->_______________] 77.84% 115 p/s810 / 1011 [--------------------------------------------------------->______________] 80.12% 115 p/s833 / 1011 [----------------------------------------------------------->____________] 82.39% 115 p/s856 / 1011 [------------------------------------------------------------>___________] 84.67% 115 p/s880 / 1011 [-------------------------------------------------------------->_________] 87.04% 115 p/s903 / 1011 [---------------------------------------------------------------->_______] 89.32% 115 p/s926 / 1011 [----------------------------------------------------------------->______] 91.59% 115 p/s949 / 1011 [------------------------------------------------------------------->____] 93.87% 115 p/s973 / 1011 [--------------------------------------------------------------------->__] 96.24% 115 p/s996 / 1011 [---------------------------------------------------------------------->_] 98.52% 115 p/s1011 / 1011 [----------------------------------------------------------------------] 100.00% 119 p/s2026-05-20T00:10:00 - INFO: Parsing 1011 sonar sweeps from /working/771f23d2-9e99-e6b8-320b-790e35a6241c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-20T00:10:37 - 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-distance-threshold 60 --sonar-sample-offset -1 /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c"
2026-05-20T00:10:39 - INFO: DataPrep 0.14.6
2026-05-20T00:10:39 - INFO: Prepared data will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/processing/data
2026-05-20T00:10:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-20T00:10:39 - deployment - INFO: Detected P3D version: P3D_1
2026-05-20T00:10:39 - INFO: Recording GUID: 771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-20T00:10:39 - INFO: Preparing sonar data...
2026-05-20T00:10:39 - INFO: /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-20T00:10:39 - INFO: Sonar epoch is 2025-09-30 10:33:44.776334+00:00 (1759228424776334404)
2026-05-20T00:10:39 - INFO: Sensor speed of sound is 1500 m/s
2026-05-20T00:10:39 - INFO: Sensor range is 1.228080 m
2026-05-20T00:10:39 - INFO: Sensor micrometres per sample is 4080.000114
2026-05-20T00:10:39 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-20T00:10:39 - INFO: Scaled range is 1.223568 m
2026-05-20T00:10:39 - INFO: Scaled micrometres per sample is 4065.009075
2026-05-20T00:10:39 - INFO: Processing 1011 sweeps...

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2026-05-20T00:10:43 - INFO: Prepared sonar data in 4.9610 s
2026-05-20T00:10:43 - INFO: No IMU data found
2026-05-20T00:10:44 - INFO: DataPrep took 0:00:05.099907
2026-05-20T00:10:44 - INFO: Extracted sonar data in 0:00:52.652874
2026-05-20T00:10:44 - INFO: MSIP3D took 0:00:52.766742