2026-01-28T03:12:47 - INFO: MSIP3D 0.2.0a1
2026-01-28T03:12:47 - INFO: P3D files will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30
2026-01-28T03:12:47 - INFO: Found 10 TFD dictionary entries
2026-01-28T03:12:47 - INFO: Found TFD mission for DSSIN090-DSSIN090A
2026-01-28T03:12:47 - INFO: Recording will be processed as MD
2026-01-28T03:12:47 - INFO: Copying assets JSON to output directory...
2026-01-28T03:12:47 - INFO: Preparing counter data...
2026-01-28T03:12:47 - INFO: Interpreting counter as metric
2026-01-28T03:12:47 - INFO: Prepared counter data in 0.0391 s
2026-01-28T03:12:47 - 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: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: MISSION_FILE, Tag: 5073671569755687501
Getting track SONAR
Number of frames: 1482
21 / 1482 [->__________________________________________________________________________] 1.42% ? p/s43 / 1482 [-->_________________________________________________________________________] 2.90% ? p/s63 / 1482 [--->________________________________________________________________________] 4.25% ? p/s85 / 1482 [---->_____________________________________________________________________] 5.74% 107 p/s107 / 1482 [----->___________________________________________________________________] 7.22% 107 p/s128 / 1482 [------>__________________________________________________________________] 8.64% 107 p/s149 / 1482 [------->________________________________________________________________] 10.05% 107 p/s171 / 1482 [-------->_______________________________________________________________] 11.54% 107 p/s192 / 1482 [--------->______________________________________________________________] 12.96% 107 p/s214 / 1482 [---------->_____________________________________________________________] 14.44% 107 p/s235 / 1482 [----------->____________________________________________________________] 15.86% 107 p/s257 / 1482 [------------>___________________________________________________________] 17.34% 107 p/s278 / 1482 [------------->__________________________________________________________] 18.76% 107 p/s300 / 1482 [-------------->_________________________________________________________] 20.24% 107 p/s321 / 1482 [--------------->________________________________________________________] 21.66% 107 p/s343 / 1482 [---------------->_______________________________________________________] 23.14% 107 p/s365 / 1482 [----------------->______________________________________________________] 24.63% 107 p/s386 / 1482 [------------------>_____________________________________________________] 26.05% 107 p/s408 / 1482 [------------------->____________________________________________________] 27.53% 107 p/s429 / 1482 [-------------------->___________________________________________________] 28.95% 107 p/s451 / 1482 [--------------------->__________________________________________________] 30.43% 107 p/s472 / 1482 [---------------------->_________________________________________________] 31.85% 107 p/s493 / 1482 [----------------------->________________________________________________] 33.27% 107 p/s514 / 1482 [------------------------>_______________________________________________] 34.68% 107 p/s535 / 1482 [------------------------->______________________________________________] 36.10% 107 p/s557 / 1482 [--------------------------->____________________________________________] 37.58% 107 p/s578 / 1482 [---------------------------->___________________________________________] 39.00% 107 p/s600 / 1482 [----------------------------->__________________________________________] 40.49% 107 p/s621 / 1482 [------------------------------>_________________________________________] 41.90% 107 p/s643 / 1482 [------------------------------->________________________________________] 43.39% 107 p/s664 / 1482 [-------------------------------->_______________________________________] 44.80% 107 p/s685 / 1482 [--------------------------------->______________________________________] 46.22% 107 p/s707 / 1482 [---------------------------------->_____________________________________] 47.71% 107 p/s728 / 1482 [----------------------------------->____________________________________] 49.12% 107 p/s750 / 1482 [------------------------------------>___________________________________] 50.61% 107 p/s771 / 1482 [------------------------------------->__________________________________] 52.02% 107 p/s793 / 1482 [-------------------------------------->_________________________________] 53.51% 107 p/s814 / 1482 [--------------------------------------->________________________________] 54.93% 107 p/s836 / 1482 [---------------------------------------->_______________________________] 56.41% 107 p/s858 / 1482 [----------------------------------------->______________________________] 57.89% 107 p/s880 / 1482 [------------------------------------------>_____________________________] 59.38% 107 p/s901 / 1482 [------------------------------------------->____________________________] 60.80% 107 p/s923 / 1482 [-------------------------------------------->___________________________] 62.28% 107 p/s945 / 1482 [--------------------------------------------->__________________________] 63.77% 107 p/s967 / 1482 [---------------------------------------------->_________________________] 65.25% 107 p/s988 / 1482 [----------------------------------------------->________________________] 66.67% 107 p/s1010 / 1482 [------------------------------------------------>______________________] 68.15% 107 p/s1031 / 1482 [------------------------------------------------->_____________________] 69.57% 107 p/s1053 / 1482 [-------------------------------------------------->____________________] 71.05% 107 p/s1074 / 1482 [--------------------------------------------------->___________________] 72.47% 107 p/s1095 / 1482 [---------------------------------------------------->__________________] 73.89% 107 p/s1116 / 1482 [----------------------------------------------------->_________________] 75.30% 107 p/s1138 / 1482 [------------------------------------------------------>________________] 76.79% 107 p/s1159 / 1482 [------------------------------------------------------->_______________] 78.21% 107 p/s1180 / 1482 [-------------------------------------------------------->______________] 79.62% 107 p/s1202 / 1482 [--------------------------------------------------------->_____________] 81.11% 107 p/s1223 / 1482 [---------------------------------------------------------->____________] 82.52% 107 p/s1245 / 1482 [----------------------------------------------------------->___________] 84.01% 107 p/s1266 / 1482 [------------------------------------------------------------>__________] 85.43% 107 p/s1287 / 1482 [------------------------------------------------------------->_________] 86.84% 107 p/s1308 / 1482 [-------------------------------------------------------------->________] 88.26% 107 p/s1330 / 1482 [--------------------------------------------------------------->_______] 89.74% 107 p/s1351 / 1482 [---------------------------------------------------------------->______] 91.16% 107 p/s1372 / 1482 [----------------------------------------------------------------->_____] 92.58% 107 p/s1394 / 1482 [------------------------------------------------------------------>____] 94.06% 107 p/s1415 / 1482 [------------------------------------------------------------------->___] 95.48% 107 p/s1436 / 1482 [-------------------------------------------------------------------->__] 96.90% 107 p/s1457 / 1482 [--------------------------------------------------------------------->_] 98.31% 107 p/s1479 / 1482 [---------------------------------------------------------------------->] 99.80% 107 p/s1482 / 1482 [----------------------------------------------------------------------] 100.00% 109 p/s2026-01-28T03:13:01 - INFO: Parsing 1482 sonar sweeps from /working/a776bf63-707a-8da0-45e5-d65284964d30/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-28T03:13:57 - 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-casing-threshold 150 --sonar-sample-threshold 20 --sonar-mask-angle 120 --sonar-despike --sonar-flip /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30"
2026-01-28T03:13:57 - INFO: DataPrep 0.14.0a1
2026-01-28T03:13:57 - INFO: Prepared data will be output to /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/processing/data
2026-01-28T03:13:57 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-28T03:13:57 - deployment - INFO: Detected P3D version: P3D_1
2026-01-28T03:13:57 - INFO: Recording GUID: a776bf63-707a-8da0-45e5-d65284964d30
2026-01-28T03:13:57 - INFO: Preparing sonar data...
2026-01-28T03:13:57 - INFO: /working/a776bf63-707a-8da0-45e5-d65284964d30/a776bf63-707a-8da0-45e5-d65284964d30/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-28T03:13:59 - INFO: Sonar epoch is 2025-09-16 02:01:46.533826+00:00 (1757988106533825986)
2026-01-28T03:13:59 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-28T03:13:59 - INFO: Sonar range is 0.939120 m
2026-01-28T03:13:59 - INFO: Speed of sound is 1494 m/s
2026-01-28T03:13:59 - INFO: Processing 1482 sweeps...

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/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),

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/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),

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/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in divide
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in divide
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in divide
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in divide
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),
/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
  ((denoised_f - denoised.min()) / (denoised.max() - denoised.min()) * 255).astype(np.uint8),

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/usr/local/lib/python3.11/site-packages/dataprep/sonar.py:411: RuntimeWarning: invalid value encountered in cast
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2026-01-28T03:14:05 - INFO: Creating sonar sensor alignment track...
2026-01-28T03:14:06 - INFO: Prepared sonar data in 9.0127 s
2026-01-28T03:14:06 - INFO: No IMU data found
2026-01-28T03:14:07 - INFO: DataPrep took 0:00:09.203108
2026-01-28T03:14:07 - INFO: Extracted sonar data in 0:01:19.646291
2026-01-28T03:14:07 - INFO: MSIP3D took 0:01:19.805435