2026-05-20T02:23:38 - INFO: MSIP3D 0.2.6
2026-05-20T02:23:38 - INFO: P3D files will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-20T02:23:38 - INFO: Found 11 TFD dictionary entries
2026-05-20T02:23:38 - INFO: Found TFD mission for DSSIN001-DSEIN016
2026-05-20T02:23:38 - INFO: Recording will be processed as SMD
2026-05-20T02:23:38 - INFO: Copying assets JSON to output directory...
2026-05-20T02:23:38 - INFO: Preparing counter data...
2026-05-20T02:23:38 - INFO: Interpreting counter as metric
2026-05-20T02:23:38 - INFO: Preparing size track from assets JSON...
2026-05-20T02:23:38 - INFO: Preparing material track from assets JSON...
2026-05-20T02:23:38 - INFO: Prepared counter data in 0.0383 s
2026-05-20T02:23:38 - 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: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 1011
22 / 1011 [->__________________________________________________________________________] 2.18% ? p/s45 / 1011 [--->________________________________________________________________________] 4.45% ? p/s68 / 1011 [----->______________________________________________________________________] 6.73% ? p/s91 / 1011 [------>___________________________________________________________________] 9.00% 115 p/s114 / 1011 [-------->_______________________________________________________________] 11.28% 115 p/s136 / 1011 [--------->______________________________________________________________] 13.45% 115 p/s160 / 1011 [----------->____________________________________________________________] 15.83% 115 p/s183 / 1011 [------------->__________________________________________________________] 18.10% 115 p/s206 / 1011 [-------------->_________________________________________________________] 20.38% 115 p/s229 / 1011 [---------------->_______________________________________________________] 22.65% 115 p/s252 / 1011 [----------------->______________________________________________________] 24.93% 115 p/s276 / 1011 [------------------->____________________________________________________] 27.30% 115 p/s299 / 1011 [--------------------->__________________________________________________] 29.57% 115 p/s322 / 1011 [---------------------->_________________________________________________] 31.85% 115 p/s345 / 1011 [------------------------>_______________________________________________] 34.12% 115 p/s369 / 1011 [-------------------------->_____________________________________________] 36.50% 115 p/s392 / 1011 [--------------------------->____________________________________________] 38.77% 115 p/s415 / 1011 [----------------------------->__________________________________________] 41.05% 115 p/s438 / 1011 [------------------------------->________________________________________] 43.32% 115 p/s461 / 1011 [-------------------------------->_______________________________________] 45.60% 115 p/s484 / 1011 [---------------------------------->_____________________________________] 47.87% 115 p/s507 / 1011 [------------------------------------>___________________________________] 50.15% 115 p/s530 / 1011 [------------------------------------->__________________________________] 52.42% 115 p/s554 / 1011 [--------------------------------------->________________________________] 54.80% 115 p/s576 / 1011 [----------------------------------------->______________________________] 56.97% 115 p/s599 / 1011 [------------------------------------------>_____________________________] 59.25% 115 p/s623 / 1011 [-------------------------------------------->___________________________] 61.62% 115 p/s646 / 1011 [---------------------------------------------->_________________________] 63.90% 115 p/s669 / 1011 [----------------------------------------------->________________________] 66.17% 115 p/s693 / 1011 [------------------------------------------------->______________________] 68.55% 115 p/s716 / 1011 [-------------------------------------------------->_____________________] 70.82% 115 p/s740 / 1011 [---------------------------------------------------->___________________] 73.19% 115 p/s763 / 1011 [------------------------------------------------------>_________________] 75.47% 115 p/s786 / 1011 [------------------------------------------------------->________________] 77.74% 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% 116 p/s949 / 1011 [------------------------------------------------------------------->____] 93.87% 116 p/s972 / 1011 [--------------------------------------------------------------------->__] 96.14% 116 p/s995 / 1011 [---------------------------------------------------------------------->_] 98.42% 116 p/s1011 / 1011 [----------------------------------------------------------------------] 100.00% 119 p/s2026-05-20T02:23:47 - INFO: Parsing 1011 sonar sweeps from /working/771f23d2-9e99-e6b8-320b-790e35a6241c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-20T02:24:24 - 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"
2026-05-20T02:24:25 - INFO: DataPrep 0.14.6
2026-05-20T02:24:25 - INFO: Prepared data will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/processing/data
2026-05-20T02:24:25 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-20T02:24:25 - deployment - INFO: Detected P3D version: P3D_1
2026-05-20T02:24:25 - INFO: Recording GUID: 771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-20T02:24:25 - INFO: Preparing sonar data...
2026-05-20T02:24:25 - INFO: /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-20T02:24:26 - INFO: Sonar epoch is 2025-09-30 10:33:44.776334+00:00 (1759228424776334404)
2026-05-20T02:24:26 - INFO: Creating sonar sensor alignment track...
2026-05-20T02:24:26 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-05-20T02:24:26 - INFO: Sensor speed of sound is 1500 m/s
2026-05-20T02:24:26 - INFO: Sensor range is 1.228080 m
2026-05-20T02:24:26 - INFO: Sensor micrometres per sample is 4080.000114
2026-05-20T02:24:26 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-20T02:24:26 - INFO: Scaled range is 1.223568 m
2026-05-20T02:24:26 - INFO: Scaled micrometres per sample is 4065.009075
2026-05-20T02:24:26 - INFO: Processing 1011 sweeps...

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2026-05-20T02:24:30 - INFO: Prepared sonar data in 4.9622 s
2026-05-20T02:24:30 - INFO: No IMU data found
2026-05-20T02:24:30 - INFO: DataPrep took 0:00:05.100503
2026-05-20T02:24:30 - INFO: Extracted sonar data in 0:00:52.527092
2026-05-20T02:24:30 - INFO: MSIP3D took 0:00:52.639804