2026-03-29T23:06:26 - INFO: MSIP3D 0.2.0rc5
2026-03-29T23:06:26 - INFO: P3D files will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30
2026-03-29T23:06:26 - INFO: Found 10 TFD dictionary entries
2026-03-29T23:06:26 - INFO: Found TFD mission for DSSIN090-DSSIN090A
2026-03-29T23:06:26 - INFO: Recording will be processed as MD
2026-03-29T23:06:26 - INFO: Copying assets JSON to output directory...
2026-03-29T23:06:26 - INFO: Preparing counter data...
2026-03-29T23:06:26 - INFO: Interpreting counter as metric
2026-03-29T23:06:26 - INFO: Preparing size track from assets JSON...
2026-03-29T23:06:26 - INFO: Preparing material track from assets JSON...
2026-03-29T23:06:26 - INFO: Prepared counter data in 0.0423 s
2026-03-29T23:06:26 - 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: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720643
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 1482
22 / 1482 [->__________________________________________________________________________] 1.48% ? p/s44 / 1482 [-->_________________________________________________________________________] 2.97% ? p/s65 / 1482 [--->________________________________________________________________________] 4.39% ? p/s87 / 1482 [---->_____________________________________________________________________] 5.87% 108 p/s109 / 1482 [----->___________________________________________________________________] 7.35% 108 p/s131 / 1482 [------>__________________________________________________________________] 8.84% 108 p/s153 / 1482 [------->________________________________________________________________] 10.32% 108 p/s175 / 1482 [-------->_______________________________________________________________] 11.81% 108 p/s197 / 1482 [--------->______________________________________________________________] 13.29% 108 p/s219 / 1482 [---------->_____________________________________________________________] 14.78% 109 p/s241 / 1482 [----------->____________________________________________________________] 16.26% 109 p/s262 / 1482 [------------>___________________________________________________________] 17.68% 109 p/s284 / 1482 [------------->__________________________________________________________] 19.16% 109 p/s306 / 1482 [-------------->_________________________________________________________] 20.65% 109 p/s328 / 1482 [--------------->________________________________________________________] 22.13% 109 p/s350 / 1482 [----------------->______________________________________________________] 23.62% 109 p/s372 / 1482 [------------------>_____________________________________________________] 25.10% 109 p/s394 / 1482 [------------------->____________________________________________________] 26.59% 109 p/s416 / 1482 [-------------------->___________________________________________________] 28.07% 109 p/s438 / 1482 [--------------------->__________________________________________________] 29.55% 109 p/s460 / 1482 [---------------------->_________________________________________________] 31.04% 109 p/s482 / 1482 [----------------------->________________________________________________] 32.52% 109 p/s504 / 1482 [------------------------>_______________________________________________] 34.01% 109 p/s525 / 1482 [------------------------->______________________________________________] 35.43% 109 p/s547 / 1482 [-------------------------->_____________________________________________] 36.91% 109 p/s569 / 1482 [--------------------------->____________________________________________] 38.39% 109 p/s591 / 1482 [---------------------------->___________________________________________] 39.88% 109 p/s613 / 1482 [----------------------------->__________________________________________] 41.36% 109 p/s635 / 1482 [------------------------------>_________________________________________] 42.85% 109 p/s657 / 1482 [------------------------------->________________________________________] 44.33% 109 p/s679 / 1482 [-------------------------------->_______________________________________] 45.82% 109 p/s701 / 1482 [---------------------------------->_____________________________________] 47.30% 109 p/s722 / 1482 [----------------------------------->____________________________________] 48.72% 109 p/s744 / 1482 [------------------------------------>___________________________________] 50.20% 109 p/s767 / 1482 [------------------------------------->__________________________________] 51.75% 109 p/s789 / 1482 [-------------------------------------->_________________________________] 53.24% 109 p/s811 / 1482 [--------------------------------------->________________________________] 54.72% 109 p/s833 / 1482 [---------------------------------------->_______________________________] 56.21% 109 p/s855 / 1482 [----------------------------------------->______________________________] 57.69% 109 p/s878 / 1482 [------------------------------------------>_____________________________] 59.24% 109 p/s900 / 1482 [------------------------------------------->____________________________] 60.73% 109 p/s922 / 1482 [-------------------------------------------->___________________________] 62.21% 109 p/s944 / 1482 [--------------------------------------------->__________________________] 63.70% 109 p/s967 / 1482 [---------------------------------------------->_________________________] 65.25% 109 p/s989 / 1482 [------------------------------------------------>_______________________] 66.73% 109 p/s1011 / 1482 [------------------------------------------------>______________________] 68.22% 109 p/s1032 / 1482 [------------------------------------------------->_____________________] 69.64% 109 p/s1054 / 1482 [-------------------------------------------------->____________________] 71.12% 109 p/s1076 / 1482 [--------------------------------------------------->___________________] 72.60% 109 p/s1098 / 1482 [---------------------------------------------------->__________________] 74.09% 109 p/s1120 / 1482 [----------------------------------------------------->_________________] 75.57% 109 p/s1142 / 1482 [------------------------------------------------------>________________] 77.06% 109 p/s1164 / 1482 [------------------------------------------------------->_______________] 78.54% 109 p/s1186 / 1482 [-------------------------------------------------------->______________] 80.03% 109 p/s1208 / 1482 [--------------------------------------------------------->_____________] 81.51% 109 p/s1230 / 1482 [---------------------------------------------------------->____________] 83.00% 109 p/s1251 / 1482 [----------------------------------------------------------->___________] 84.41% 109 p/s1273 / 1482 [------------------------------------------------------------>__________] 85.90% 109 p/s1295 / 1482 [-------------------------------------------------------------->________] 87.38% 109 p/s1317 / 1482 [--------------------------------------------------------------->_______] 88.87% 109 p/s1339 / 1482 [---------------------------------------------------------------->______] 90.35% 109 p/s1361 / 1482 [----------------------------------------------------------------->_____] 91.84% 109 p/s1383 / 1482 [------------------------------------------------------------------>____] 93.32% 109 p/s1405 / 1482 [------------------------------------------------------------------->___] 94.80% 109 p/s1427 / 1482 [-------------------------------------------------------------------->__] 96.29% 109 p/s1448 / 1482 [--------------------------------------------------------------------->_] 97.71% 109 p/s1471 / 1482 [---------------------------------------------------------------------->] 99.26% 109 p/s1482 / 1482 [----------------------------------------------------------------------] 100.00% 111 p/s2026-03-29T23:06:39 - INFO: Parsing 1482 sonar sweeps from /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-29T23:07:34 - 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"
2026-03-29T23:07:36 - INFO: DataPrep 0.14.0rc5
2026-03-29T23:07:36 - INFO: Prepared data will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/processing/data
2026-03-29T23:07:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-29T23:07:36 - deployment - INFO: Detected P3D version: P3D_1
2026-03-29T23:07:36 - INFO: Recording GUID: a776bf63-707a-8da0-45e5-d65284964d30
2026-03-29T23:07:36 - INFO: Preparing sonar data...
2026-03-29T23:07:36 - INFO: /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-29T23:07:37 - INFO: Sonar epoch is 2025-09-16 02:01:46.533826+00:00 (1757988106533825986)
2026-03-29T23:07:37 - INFO: Creating sonar sensor alignment track...
2026-03-29T23:07:37 - INFO: Using sonar rotation of 0.034907 radians for wedge mask
2026-03-29T23:07:37 - INFO: Sensor speed of sound is 1500 m/s
2026-03-29T23:07:37 - INFO: Sensor range is 0.939120 m
2026-03-29T23:07:37 - INFO: Sensor micrometres per sample is 3119.999982
2026-03-29T23:07:37 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-03-29T23:07:37 - INFO: Scaled range is 0.921855 m
2026-03-29T23:07:37 - INFO: Scaled micrometres per sample is 3062.642227
2026-03-29T23:07:37 - INFO: Processing 1482 sweeps...

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2026-03-29T23:07:42 - INFO: Prepared sonar data in 6.5232 s
2026-03-29T23:07:42 - INFO: No IMU data found
2026-03-29T23:07:43 - INFO: DataPrep took 0:00:06.725114
2026-03-29T23:07:43 - INFO: Extracted sonar data in 0:01:16.732865
2026-03-29T23:07:43 - INFO: MSIP3D took 0:01:16.890275