2026-03-18T06:52:18 - INFO: MSIP3D 0.2.0rc2
2026-03-18T06:52:18 - INFO: P3D files will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30
2026-03-18T06:52:18 - INFO: Found 10 TFD dictionary entries
2026-03-18T06:52:18 - INFO: Found TFD mission for DSSIN090-DSSIN090A
2026-03-18T06:52:18 - INFO: Recording will be processed as MD
2026-03-18T06:52:18 - INFO: Copying assets JSON to output directory...
2026-03-18T06:52:18 - INFO: Preparing counter data...
2026-03-18T06:52:18 - INFO: Interpreting counter as metric
2026-03-18T06:52:18 - INFO: Preparing size track from assets JSON...
2026-03-18T06:52:18 - INFO: Preparing material track from assets JSON...
2026-03-18T06:52:18 - INFO: Prepared counter data in 0.0384 s
2026-03-18T06:52:18 - INFO: Extracting sonar data...
TFD path: /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/DSSIN090-DSSIN090A_003.tfd
TFD path: /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1482
22 / 1482 [->__________________________________________________________________________] 1.48% ? p/s44 / 1482 [-->_________________________________________________________________________] 2.97% ? p/s66 / 1482 [--->________________________________________________________________________] 4.45% ? p/s89 / 1482 [---->_____________________________________________________________________] 6.01% 112 p/s111 / 1482 [----->___________________________________________________________________] 7.49% 112 p/s133 / 1482 [------>__________________________________________________________________] 8.97% 112 p/s155 / 1482 [------->________________________________________________________________] 10.46% 112 p/s178 / 1482 [-------->_______________________________________________________________] 12.01% 112 p/s200 / 1482 [--------->______________________________________________________________] 13.50% 112 p/s222 / 1482 [---------->_____________________________________________________________] 14.98% 112 p/s244 / 1482 [----------->____________________________________________________________] 16.46% 112 p/s266 / 1482 [------------>___________________________________________________________] 17.95% 112 p/s288 / 1482 [------------->__________________________________________________________] 19.43% 111 p/s310 / 1482 [--------------->________________________________________________________] 20.92% 111 p/s332 / 1482 [---------------->_______________________________________________________] 22.40% 111 p/s354 / 1482 [----------------->______________________________________________________] 23.89% 111 p/s377 / 1482 [------------------>_____________________________________________________] 25.44% 111 p/s399 / 1482 [------------------->____________________________________________________] 26.92% 111 p/s421 / 1482 [-------------------->___________________________________________________] 28.41% 111 p/s444 / 1482 [--------------------->__________________________________________________] 29.96% 111 p/s466 / 1482 [---------------------->_________________________________________________] 31.44% 111 p/s488 / 1482 [----------------------->________________________________________________] 32.93% 111 p/s510 / 1482 [------------------------>_______________________________________________] 34.41% 111 p/s532 / 1482 [------------------------->______________________________________________] 35.90% 111 p/s554 / 1482 [-------------------------->_____________________________________________] 37.38% 111 p/s576 / 1482 [--------------------------->____________________________________________] 38.87% 111 p/s598 / 1482 [----------------------------->__________________________________________] 40.35% 111 p/s620 / 1482 [------------------------------>_________________________________________] 41.84% 111 p/s643 / 1482 [------------------------------->________________________________________] 43.39% 111 p/s665 / 1482 [-------------------------------->_______________________________________] 44.87% 111 p/s687 / 1482 [--------------------------------->______________________________________] 46.36% 111 p/s709 / 1482 [---------------------------------->_____________________________________] 47.84% 111 p/s732 / 1482 [----------------------------------->____________________________________] 49.39% 111 p/s754 / 1482 [------------------------------------>___________________________________] 50.88% 111 p/s776 / 1482 [------------------------------------->__________________________________] 52.36% 111 p/s799 / 1482 [-------------------------------------->_________________________________] 53.91% 111 p/s821 / 1482 [--------------------------------------->________________________________] 55.40% 111 p/s844 / 1482 [----------------------------------------->______________________________] 56.95% 111 p/s866 / 1482 [------------------------------------------>_____________________________] 58.43% 111 p/s889 / 1482 [------------------------------------------->____________________________] 59.99% 111 p/s912 / 1482 [-------------------------------------------->___________________________] 61.54% 111 p/s935 / 1482 [--------------------------------------------->__________________________] 63.09% 111 p/s957 / 1482 [---------------------------------------------->_________________________] 64.57% 112 p/s980 / 1482 [----------------------------------------------->________________________] 66.13% 112 p/s1002 / 1482 [------------------------------------------------>______________________] 67.61% 112 p/s1024 / 1482 [------------------------------------------------->_____________________] 69.10% 112 p/s1046 / 1482 [-------------------------------------------------->____________________] 70.58% 112 p/s1068 / 1482 [--------------------------------------------------->___________________] 72.06% 112 p/s1091 / 1482 [---------------------------------------------------->__________________] 73.62% 112 p/s1113 / 1482 [----------------------------------------------------->_________________] 75.10% 112 p/s1135 / 1482 [------------------------------------------------------>________________] 76.59% 112 p/s1157 / 1482 [------------------------------------------------------->_______________] 78.07% 111 p/s1179 / 1482 [-------------------------------------------------------->______________] 79.55% 111 p/s1201 / 1482 [--------------------------------------------------------->_____________] 81.04% 111 p/s1224 / 1482 [---------------------------------------------------------->____________] 82.59% 111 p/s1246 / 1482 [----------------------------------------------------------->___________] 84.08% 111 p/s1268 / 1482 [------------------------------------------------------------>__________] 85.56% 111 p/s1291 / 1482 [------------------------------------------------------------->_________] 87.11% 111 p/s1308 / 1482 [-------------------------------------------------------------->________] 88.26% 111 p/s1330 / 1482 [--------------------------------------------------------------->_______] 89.74% 111 p/s1353 / 1482 [---------------------------------------------------------------->______] 91.30% 111 p/s1375 / 1482 [----------------------------------------------------------------->_____] 92.78% 111 p/s1397 / 1482 [------------------------------------------------------------------>____] 94.26% 111 p/s1419 / 1482 [------------------------------------------------------------------->___] 95.75% 111 p/s1441 / 1482 [--------------------------------------------------------------------->_] 97.23% 111 p/s1464 / 1482 [---------------------------------------------------------------------->] 98.79% 111 p/s1482 / 1482 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T06:52:32 - INFO: Parsing 1482 sonar sweeps from /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T06:53:26 - 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/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30"
2026-03-18T06:53:27 - INFO: DataPrep 0.14.0rc2
2026-03-18T06:53:27 - INFO: Prepared data will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/processing/data
2026-03-18T06:53:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T06:53:27 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T06:53:27 - INFO: Recording GUID: a776bf63-707a-8da0-45e5-d65284964d30
2026-03-18T06:53:27 - INFO: Preparing sonar data...
2026-03-18T06:53:27 - INFO: /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T06:53:29 - INFO: Sonar epoch is 2025-09-16 02:01:46.533826+00:00 (1757988106533825986)
2026-03-18T06:53:29 - INFO: Creating sonar sensor alignment track...
2026-03-18T06:53:29 - INFO: Using sonar rotation of 0.034907 radians for wedge mask
2026-03-18T06:53:29 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T06:53:29 - INFO: Sonar range is 0.939120 m
2026-03-18T06:53:29 - INFO: Speed of sound is 1472 m/s
2026-03-18T06:53:29 - INFO: Processing 1482 sweeps...

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2026-03-18T06:53:34 - INFO: Prepared sonar data in 6.6057 s
2026-03-18T06:53:34 - INFO: No IMU data found
2026-03-18T06:53:34 - INFO: DataPrep took 0:00:06.804514
2026-03-18T06:53:34 - INFO: Extracted sonar data in 0:01:15.995542
2026-03-18T06:53:34 - INFO: MSIP3D took 0:01:16.151870