2026-05-21T00:18:50 - INFO: MSIP3D 0.2.6
2026-05-21T00:18:50 - INFO: P3D files will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-21T00:18:50 - INFO: Found 11 TFD dictionary entries
2026-05-21T00:18:50 - INFO: Found TFD mission for DSSIN001-DSEIN016
2026-05-21T00:18:50 - INFO: Recording will be processed as SMD
2026-05-21T00:18:50 - INFO: Copying assets JSON to output directory...
2026-05-21T00:18:50 - INFO: Preparing counter data...
2026-05-21T00:18:50 - INFO: Interpreting counter as metric
2026-05-21T00:18:50 - INFO: Preparing size track from assets JSON...
2026-05-21T00:18:50 - INFO: Preparing material track from assets JSON...
2026-05-21T00:18:50 - INFO: Prepared counter data in 0.0339 s
2026-05-21T00:18:50 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 1011
22 / 1011 [->__________________________________________________________________________] 2.18% ? p/s44 / 1011 [--->________________________________________________________________________] 4.35% ? p/s67 / 1011 [----->______________________________________________________________________] 6.63% ? p/s89 / 1011 [------>___________________________________________________________________] 8.80% 112 p/s112 / 1011 [------->________________________________________________________________] 11.08% 112 p/s134 / 1011 [--------->______________________________________________________________] 13.25% 112 p/s157 / 1011 [----------->____________________________________________________________] 15.53% 112 p/s180 / 1011 [------------>___________________________________________________________] 17.80% 112 p/s202 / 1011 [-------------->_________________________________________________________] 19.98% 112 p/s224 / 1011 [--------------->________________________________________________________] 22.16% 112 p/s246 / 1011 [----------------->______________________________________________________] 24.33% 112 p/s267 / 1011 [------------------->____________________________________________________] 26.41% 112 p/s288 / 1011 [-------------------->___________________________________________________] 28.49% 111 p/s310 / 1011 [---------------------->_________________________________________________] 30.66% 111 p/s331 / 1011 [----------------------->________________________________________________] 32.74% 111 p/s353 / 1011 [------------------------->______________________________________________] 34.92% 111 p/s375 / 1011 [-------------------------->_____________________________________________] 37.09% 111 p/s397 / 1011 [---------------------------->___________________________________________] 39.27% 111 p/s419 / 1011 [----------------------------->__________________________________________] 41.44% 111 p/s441 / 1011 [------------------------------->________________________________________] 43.62% 111 p/s462 / 1011 [-------------------------------->_______________________________________] 45.70% 111 p/s484 / 1011 [---------------------------------->_____________________________________] 47.87% 111 p/s506 / 1011 [------------------------------------>___________________________________] 50.05% 111 p/s527 / 1011 [------------------------------------->__________________________________] 52.13% 111 p/s549 / 1011 [--------------------------------------->________________________________] 54.30% 111 p/s570 / 1011 [---------------------------------------->_______________________________] 56.38% 111 p/s592 / 1011 [------------------------------------------>_____________________________] 58.56% 111 p/s614 / 1011 [------------------------------------------->____________________________] 60.73% 111 p/s636 / 1011 [--------------------------------------------->__________________________] 62.91% 111 p/s657 / 1011 [---------------------------------------------->_________________________] 64.99% 111 p/s679 / 1011 [------------------------------------------------>_______________________] 67.16% 111 p/s701 / 1011 [------------------------------------------------->______________________] 69.34% 111 p/s723 / 1011 [--------------------------------------------------->____________________] 71.51% 111 p/s745 / 1011 [----------------------------------------------------->__________________] 73.69% 110 p/s766 / 1011 [------------------------------------------------------>_________________] 75.77% 110 p/s788 / 1011 [-------------------------------------------------------->_______________] 77.94% 110 p/s810 / 1011 [--------------------------------------------------------->______________] 80.12% 110 p/s831 / 1011 [----------------------------------------------------------->____________] 82.20% 110 p/s853 / 1011 [------------------------------------------------------------>___________] 84.37% 110 p/s875 / 1011 [-------------------------------------------------------------->_________] 86.55% 110 p/s897 / 1011 [--------------------------------------------------------------->________] 88.72% 110 p/s919 / 1011 [----------------------------------------------------------------->______] 90.90% 110 p/s940 / 1011 [------------------------------------------------------------------>_____] 92.98% 110 p/s962 / 1011 [-------------------------------------------------------------------->___] 95.15% 110 p/s984 / 1011 [---------------------------------------------------------------------->_] 97.33% 110 p/s1006 / 1011 [---------------------------------------------------------------------->] 99.51% 110 p/s1011 / 1011 [----------------------------------------------------------------------] 100.00% 112 p/s2026-05-21T00:18:59 - INFO: Parsing 1011 sonar sweeps from /working/771f23d2-9e99-e6b8-320b-790e35a6241c/tfd/output/SONAR/all-sweeps-info.csv...

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2026-05-21T00:19:37 - 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"
2026-05-21T00:19:38 - INFO: DataPrep 0.14.6
2026-05-21T00:19:38 - INFO: Prepared data will be output to /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/processing/data
2026-05-21T00:19:38 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-05-21T00:19:38 - deployment - INFO: Detected P3D version: P3D_1
2026-05-21T00:19:38 - INFO: Recording GUID: 771f23d2-9e99-e6b8-320b-790e35a6241c
2026-05-21T00:19:38 - INFO: Preparing sonar data...
2026-05-21T00:19:38 - INFO: /working/771f23d2-9e99-e6b8-320b-790e35a6241c/771f23d2-9e99-e6b8-320b-790e35a6241c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-05-21T00:19:39 - INFO: Sonar epoch is 2025-09-30 10:33:44.776334+00:00 (1759228424776334404)
2026-05-21T00:19:39 - INFO: Creating sonar sensor alignment track...
2026-05-21T00:19:39 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-05-21T00:19:39 - INFO: Sensor speed of sound is 1500 m/s
2026-05-21T00:19:39 - INFO: Sensor range is 1.228080 m
2026-05-21T00:19:39 - INFO: Sensor micrometres per sample is 4080.000114
2026-05-21T00:19:39 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-05-21T00:19:39 - INFO: Scaled range is 1.223568 m
2026-05-21T00:19:39 - INFO: Scaled micrometres per sample is 4065.009075
2026-05-21T00:19:39 - INFO: Processing 1011 sweeps...

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2026-05-21T00:19:44 - INFO: Prepared sonar data in 5.1121 s
2026-05-21T00:19:44 - INFO: No IMU data found
2026-05-21T00:19:44 - INFO: DataPrep took 0:00:05.256042
2026-05-21T00:19:44 - INFO: Extracted sonar data in 0:00:53.675767
2026-05-21T00:19:44 - INFO: MSIP3D took 0:00:53.795714