2026-03-18T10:07:19 - INFO: MSIP3D 0.2.0rc2
2026-03-18T10:07:19 - INFO: P3D files will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30
2026-03-18T10:07:19 - INFO: Found 10 TFD dictionary entries
2026-03-18T10:07:19 - INFO: Found TFD mission for DSSIN090-DSSIN090A
2026-03-18T10:07:19 - INFO: Recording will be processed as MD
2026-03-18T10:07:19 - INFO: Copying assets JSON to output directory...
2026-03-18T10:07:19 - INFO: Preparing counter data...
2026-03-18T10:07:19 - INFO: Interpreting counter as metric
2026-03-18T10:07:19 - INFO: Preparing size track from assets JSON...
2026-03-18T10:07:19 - INFO: Preparing material track from assets JSON...
2026-03-18T10:07:19 - INFO: Prepared counter data in 0.0457 s
2026-03-18T10:07:19 - 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: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720643
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1482
22 / 1482 [->__________________________________________________________________________] 1.48% ? p/s45 / 1482 [-->_________________________________________________________________________] 3.04% ? p/s66 / 1482 [--->________________________________________________________________________] 4.45% ? p/s88 / 1482 [---->_____________________________________________________________________] 5.94% 110 p/s110 / 1482 [----->___________________________________________________________________] 7.42% 110 p/s131 / 1482 [------>__________________________________________________________________] 8.84% 110 p/s153 / 1482 [------->________________________________________________________________] 10.32% 110 p/s176 / 1482 [-------->_______________________________________________________________] 11.88% 110 p/s198 / 1482 [--------->______________________________________________________________] 13.36% 110 p/s220 / 1482 [---------->_____________________________________________________________] 14.84% 110 p/s243 / 1482 [----------->____________________________________________________________] 16.40% 110 p/s263 / 1482 [------------>___________________________________________________________] 17.75% 110 p/s286 / 1482 [------------->__________________________________________________________] 19.30% 110 p/s308 / 1482 [-------------->_________________________________________________________] 20.78% 110 p/s331 / 1482 [---------------->_______________________________________________________] 22.33% 110 p/s353 / 1482 [----------------->______________________________________________________] 23.82% 110 p/s375 / 1482 [------------------>_____________________________________________________] 25.30% 110 p/s398 / 1482 [------------------->____________________________________________________] 26.86% 110 p/s420 / 1482 [-------------------->___________________________________________________] 28.34% 110 p/s442 / 1482 [--------------------->__________________________________________________] 29.82% 110 p/s465 / 1482 [---------------------->_________________________________________________] 31.38% 110 p/s487 / 1482 [----------------------->________________________________________________] 32.86% 110 p/s508 / 1482 [------------------------>_______________________________________________] 34.28% 110 p/s530 / 1482 [------------------------->______________________________________________] 35.76% 110 p/s552 / 1482 [-------------------------->_____________________________________________] 37.25% 110 p/s574 / 1482 [--------------------------->____________________________________________] 38.73% 110 p/s597 / 1482 [----------------------------->__________________________________________] 40.28% 110 p/s618 / 1482 [------------------------------>_________________________________________] 41.70% 110 p/s641 / 1482 [------------------------------->________________________________________] 43.25% 110 p/s663 / 1482 [-------------------------------->_______________________________________] 44.74% 110 p/s685 / 1482 [--------------------------------->______________________________________] 46.22% 110 p/s708 / 1482 [---------------------------------->_____________________________________] 47.77% 110 p/s730 / 1482 [----------------------------------->____________________________________] 49.26% 110 p/s753 / 1482 [------------------------------------>___________________________________] 50.81% 110 p/s775 / 1482 [------------------------------------->__________________________________] 52.29% 110 p/s798 / 1482 [-------------------------------------->_________________________________] 53.85% 110 p/s820 / 1482 [--------------------------------------->________________________________] 55.33% 111 p/s843 / 1482 [---------------------------------------->_______________________________] 56.88% 111 p/s866 / 1482 [------------------------------------------>_____________________________] 58.43% 111 p/s888 / 1482 [------------------------------------------->____________________________] 59.92% 111 p/s911 / 1482 [-------------------------------------------->___________________________] 61.47% 111 p/s934 / 1482 [--------------------------------------------->__________________________] 63.02% 111 p/s957 / 1482 [---------------------------------------------->_________________________] 64.57% 111 p/s979 / 1482 [----------------------------------------------->________________________] 66.06% 111 p/s1001 / 1482 [----------------------------------------------->_______________________] 67.54% 111 p/s1023 / 1482 [------------------------------------------------->_____________________] 69.03% 111 p/s1045 / 1482 [-------------------------------------------------->____________________] 70.51% 111 p/s1068 / 1482 [--------------------------------------------------->___________________] 72.06% 111 p/s1090 / 1482 [---------------------------------------------------->__________________] 73.55% 111 p/s1113 / 1482 [----------------------------------------------------->_________________] 75.10% 111 p/s1135 / 1482 [------------------------------------------------------>________________] 76.59% 111 p/s1157 / 1482 [------------------------------------------------------->_______________] 78.07% 111 p/s1180 / 1482 [-------------------------------------------------------->______________] 79.62% 111 p/s1202 / 1482 [--------------------------------------------------------->_____________] 81.11% 111 p/s1224 / 1482 [---------------------------------------------------------->____________] 82.59% 111 p/s1246 / 1482 [----------------------------------------------------------->___________] 84.08% 111 p/s1269 / 1482 [------------------------------------------------------------>__________] 85.63% 111 p/s1291 / 1482 [------------------------------------------------------------->_________] 87.11% 111 p/s1313 / 1482 [-------------------------------------------------------------->________] 88.60% 111 p/s1335 / 1482 [--------------------------------------------------------------->_______] 90.08% 111 p/s1358 / 1482 [----------------------------------------------------------------->_____] 91.63% 111 p/s1380 / 1482 [------------------------------------------------------------------>____] 93.12% 111 p/s1402 / 1482 [------------------------------------------------------------------->___] 94.60% 111 p/s1425 / 1482 [-------------------------------------------------------------------->__] 96.15% 111 p/s1447 / 1482 [--------------------------------------------------------------------->_] 97.64% 111 p/s1470 / 1482 [---------------------------------------------------------------------->] 99.19% 111 p/s1482 / 1482 [----------------------------------------------------------------------] 100.00% 113 p/s2026-03-18T10:07:32 - INFO: Parsing 1482 sonar sweeps from /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-18T10:08:26 - 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"
2026-03-18T10:08:28 - INFO: DataPrep 0.14.0rc2
2026-03-18T10:08:28 - INFO: Prepared data will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/processing/data
2026-03-18T10:08:28 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-18T10:08:28 - deployment - INFO: Detected P3D version: P3D_1
2026-03-18T10:08:28 - INFO: Recording GUID: a776bf63-707a-8da0-45e5-d65284964d30
2026-03-18T10:08:28 - INFO: Preparing sonar data...
2026-03-18T10:08:28 - INFO: /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-18T10:08:29 - INFO: Sonar epoch is 2025-09-16 02:01:46.533826+00:00 (1757988106533825986)
2026-03-18T10:08:29 - INFO: Creating sonar sensor alignment track...
2026-03-18T10:08:29 - INFO: Using sonar rotation of 0.034907 radians for wedge mask
2026-03-18T10:08:29 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-18T10:08:29 - INFO: Sonar range is 0.939120 m
2026-03-18T10:08:29 - INFO: Speed of sound is 1472 m/s
2026-03-18T10:08:29 - INFO: Processing 1482 sweeps...

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2026-03-18T10:08:34 - INFO: Prepared sonar data in 6.6741 s
2026-03-18T10:08:34 - INFO: No IMU data found
2026-03-18T10:08:34 - INFO: DataPrep took 0:00:06.881282
2026-03-18T10:08:35 - INFO: Extracted sonar data in 0:01:15.921924
2026-03-18T10:08:35 - INFO: MSIP3D took 0:01:16.095473