2026-04-15T04:25:44 - INFO: MSIP3D 0.2.5
2026-04-15T04:25:44 - INFO: P3D files will be output to /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148
2026-04-15T04:25:44 - INFO: Found 10 TFD dictionary entries
2026-04-15T04:25:44 - INFO: Found TFD mission for Md pool test 1047
2026-04-15T04:25:44 - INFO: Recording will be processed as MD
2026-04-15T04:25:44 - INFO: Copying assets JSON to output directory...
2026-04-15T04:25:44 - INFO: Preparing counter data...
2026-04-15T04:25:44 - INFO: Interpreting counter as metric
2026-04-15T04:25:44 - INFO: Preparing size track from assets JSON...
2026-04-15T04:25:44 - INFO: Preparing shape track from assets JSON...
2026-04-15T04:25:44 - INFO: Preparing material track from assets JSON...
2026-04-15T04:25:44 - INFO: Prepared counter data in 0.0060 s
2026-04-15T04:25:44 - INFO: Extracting sonar data...
TFD path: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/Md_pool_test_1047_002.tfd
TFD path: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080327290606263
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 11
11 / 11 [----------------------------------------------------------------------------] 100.00% ? p/s2026-04-15T04:25:44 - INFO: Parsing 11 sonar sweeps from /working/9aa26041-3164-7a9e-cd1b-d5029b876148/tfd/output/SONAR/all-sweeps-info.csv...

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 55%|█████▍    | 6/11 [00:00<00:00, 27.86it/s]
 82%|████████▏ | 9/11 [00:00<00:00, 27.97it/s]
100%|██████████| 11/11 [00:00<00:00, 27.98it/s]
2026-04-15T04:25:45 - 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-flip --sonar-sample-offset -1 /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148"
2026-04-15T04:25:48 - INFO: DataPrep 0.14.4
2026-04-15T04:25:48 - INFO: Prepared data will be output to /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148/processing/data
2026-04-15T04:25:48 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-15T04:25:48 - deployment - INFO: Detected P3D version: P3D_1
2026-04-15T04:25:48 - INFO: Recording GUID: 9aa26041-3164-7a9e-cd1b-d5029b876148
2026-04-15T04:25:48 - INFO: Preparing sonar data...
2026-04-15T04:25:48 - INFO: /working/9aa26041-3164-7a9e-cd1b-d5029b876148/9aa26041-3164-7a9e-cd1b-d5029b876148/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-15T04:25:48 - INFO: Sonar epoch is 2026-04-15 03:17:23.821864+00:00 (1776223043821864495)
2026-04-15T04:25:48 - INFO: Creating sonar sensor alignment track...
2026-04-15T04:25:48 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-04-15T04:25:48 - INFO: Sensor speed of sound is 1500 m/s
2026-04-15T04:25:48 - INFO: Sensor range is 0.939120 m
2026-04-15T04:25:48 - INFO: Sensor micrometres per sample is 3119.999982
2026-04-15T04:25:48 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-04-15T04:25:48 - INFO: Scaled range is 0.935669 m
2026-04-15T04:25:48 - INFO: Scaled micrometres per sample is 3108.536247
2026-04-15T04:25:48 - INFO: Processing 11 sweeps...

  0%|          | 0/11 [00:00<?, ?sw/s]
100%|██████████| 11/11 [00:00<00:00, 151.12sw/s]
2026-04-15T04:25:48 - INFO: Prepared sonar data in 0.2510 s
2026-04-15T04:25:48 - INFO: No IMU data found
2026-04-15T04:25:48 - INFO: DataPrep took 0:00:00.254083
2026-04-15T04:25:49 - INFO: Extracted sonar data in 0:00:04.393892
2026-04-15T04:25:49 - INFO: MSIP3D took 0:00:04.401225