2026-01-14T20:42:08 - INFO: MSIP3D 0.1.5
2026-01-14T20:42:08 - INFO: P3D files will be output to /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/4fce5eca-44d5-0367-659e-77d76b9c8ba9
2026-01-14T20:42:08 - INFO: Found 11 TFD dictionary entries
2026-01-14T20:42:08 - INFO: Found TFD mission for c1-c2                  
2026-01-14T20:42:08 - INFO: Recording will be processed as SMD
2026-01-14T20:42:08 - INFO: Copying assets JSON to output directory...
2026-01-14T20:42:08 - INFO: Preparing counter data...
2026-01-14T20:42:08 - INFO: Interpreting counter as imperial
2026-01-14T20:42:08 - INFO: Prepared counter data in 0.0061 s
2026-01-14T20:42:08 - INFO: Extracting sonar data...
TFD path: /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/tfd/msi-run-a-in.tfd
TFD path: /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: CCTV, Tag: 4855215978501720644
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 70
20 / 70 [--------------------->_______________________________________________________] 28.57% ? p/s42 / 70 [---------------------------------------------->______________________________] 60.00% ? p/s61 / 70 [------------------------------------------------------------------->_________] 87.14% ? p/s70 / 70 [--------------------------------------------------------------------------] 100.00% 145 p/s2026-01-14T20:42:08 - INFO: Parsing 70 sonar sweeps from /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/70 [00:00<?, ?it/s]
  4%|▍         | 3/70 [00:00<00:02, 26.64it/s]
  9%|▊         | 6/70 [00:00<00:02, 27.08it/s]
 13%|█▎        | 9/70 [00:00<00:02, 27.31it/s]
 17%|█▋        | 12/70 [00:00<00:02, 27.44it/s]
 21%|██▏       | 15/70 [00:00<00:01, 27.51it/s]
 26%|██▌       | 18/70 [00:00<00:01, 27.54it/s]
 30%|███       | 21/70 [00:00<00:01, 27.59it/s]
 34%|███▍      | 24/70 [00:00<00:01, 27.62it/s]
 39%|███▊      | 27/70 [00:00<00:01, 27.65it/s]
 43%|████▎     | 30/70 [00:01<00:01, 27.64it/s]
 47%|████▋     | 33/70 [00:01<00:01, 27.60it/s]
 51%|█████▏    | 36/70 [00:01<00:01, 27.57it/s]
 56%|█████▌    | 39/70 [00:01<00:01, 27.59it/s]
 60%|██████    | 42/70 [00:01<00:01, 27.61it/s]
 64%|██████▍   | 45/70 [00:01<00:00, 27.54it/s]
 69%|██████▊   | 48/70 [00:01<00:00, 27.58it/s]
 73%|███████▎  | 51/70 [00:01<00:00, 27.58it/s]
 77%|███████▋  | 54/70 [00:01<00:00, 27.63it/s]
 81%|████████▏ | 57/70 [00:02<00:00, 27.15it/s]
 86%|████████▌ | 60/70 [00:02<00:00, 27.31it/s]
 90%|█████████ | 63/70 [00:02<00:00, 27.36it/s]
 94%|█████████▍| 66/70 [00:02<00:00, 27.43it/s]
 99%|█████████▊| 69/70 [00:02<00:00, 27.49it/s]
100%|██████████| 70/70 [00:02<00:00, 27.49it/s]
2026-01-14T20:42:11 - 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 100 --sonar-mask-angle 90 --sonar-despike /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/4fce5eca-44d5-0367-659e-77d76b9c8ba9"
2026-01-14T20:42:12 - INFO: DataPrep 0.13.7rc1
2026-01-14T20:42:12 - INFO: Prepared data will be output to /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/4fce5eca-44d5-0367-659e-77d76b9c8ba9/processing/data
2026-01-14T20:42:12 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-14T20:42:12 - deployment - INFO: Detected P3D version: P3D_1
2026-01-14T20:42:12 - INFO: Recording GUID: 4fce5eca-44d5-0367-659e-77d76b9c8ba9
2026-01-14T20:42:12 - INFO: Preparing sonar data...
2026-01-14T20:42:12 - INFO: /working/4fce5eca-44d5-0367-659e-77d76b9c8ba9/4fce5eca-44d5-0367-659e-77d76b9c8ba9/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-14T20:42:12 - INFO: Sonar epoch is 2024-08-18 23:36:20.127232+00:00 (1724024180127231498)
2026-01-14T20:42:12 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-14T20:42:12 - INFO: Sonar range is 1.083600 m
2026-01-14T20:42:12 - INFO: Speed of sound is 1494 m/s
2026-01-14T20:42:12 - INFO: Processing 70 sweeps...

  0%|          | 0/70 [00:00<?, ?it/s]
 39%|███▊      | 27/70 [00:00<00:00, 262.60it/s]
100%|██████████| 70/70 [00:00<00:00, 349.60it/s]
2026-01-14T20:42:12 - INFO: Creating sonar sensor alignment track...
2026-01-14T20:42:12 - INFO: Prepared sonar data in 0.4583 s
2026-01-14T20:42:12 - INFO: No IMU data found
2026-01-14T20:42:13 - INFO: DataPrep took 0:00:00.468634
2026-01-14T20:42:13 - INFO: Extracted sonar data in 0:00:04.803314
2026-01-14T20:42:13 - INFO: MSIP3D took 0:00:04.815061