2026-01-16T17:15:55 - INFO: MSIP3D 0.1.6
2026-01-16T17:15:55 - INFO: P3D files will be output to /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af
2026-01-16T17:15:55 - INFO: Found 10 TFD dictionary entries
2026-01-16T17:15:55 - INFO: Found TFD mission for SJ502788 DEP 33
2026-01-16T17:15:55 - INFO: Recording will be processed as MD
2026-01-16T17:15:55 - INFO: Copying assets JSON to output directory...
2026-01-16T17:15:55 - INFO: Preparing counter data...
2026-01-16T17:15:55 - INFO: Interpreting counter as imperial
2026-01-16T17:15:56 - INFO: Prepared counter data in 0.0324 s
2026-01-16T17:15:56 - INFO: Extracting sonar data...
TFD path: /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/tfd/SJ502788_DEP_33.tfd
TFD path: /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/tfd/output
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215974206753347
Name: LASER, Tag: 4855215974206753356
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2514
21 / 2514 [>___________________________________________________________________________] 0.84% ? p/s42 / 2514 [->__________________________________________________________________________] 1.67% ? p/s64 / 2514 [->__________________________________________________________________________] 2.55% ? p/s86 / 2514 [-->_______________________________________________________________________] 3.42% 108 p/s108 / 2514 [--->_____________________________________________________________________] 4.30% 108 p/s130 / 2514 [--->_____________________________________________________________________] 5.17% 108 p/s152 / 2514 [---->____________________________________________________________________] 6.05% 108 p/s174 / 2514 [----->___________________________________________________________________] 6.92% 108 p/s196 / 2514 [----->___________________________________________________________________] 7.80% 108 p/s218 / 2514 [------>__________________________________________________________________] 8.67% 109 p/s241 / 2514 [------>__________________________________________________________________] 9.59% 109 p/s262 / 2514 [------->________________________________________________________________] 10.42% 109 p/s284 / 2514 [-------->_______________________________________________________________] 11.30% 109 p/s306 / 2514 [-------->_______________________________________________________________] 12.17% 109 p/s329 / 2514 [--------->______________________________________________________________] 13.09% 109 p/s352 / 2514 [---------->_____________________________________________________________] 14.00% 109 p/s374 / 2514 [---------->_____________________________________________________________] 14.88% 109 p/s396 / 2514 [----------->____________________________________________________________] 15.75% 109 p/s418 / 2514 [----------->____________________________________________________________] 16.63% 109 p/s440 / 2514 [------------>___________________________________________________________] 17.50% 109 p/s463 / 2514 [------------->__________________________________________________________] 18.42% 109 p/s484 / 2514 [------------->__________________________________________________________] 19.25% 109 p/s506 / 2514 [-------------->_________________________________________________________] 20.13% 109 p/s529 / 2514 [--------------->________________________________________________________] 21.04% 109 p/s551 / 2514 [--------------->________________________________________________________] 21.92% 109 p/s574 / 2514 [---------------->_______________________________________________________] 22.83% 109 p/s597 / 2514 [----------------->______________________________________________________] 23.75% 109 p/s619 / 2514 [----------------->______________________________________________________] 24.62% 110 p/s642 / 2514 [------------------>_____________________________________________________] 25.54% 110 p/s665 / 2514 [------------------->____________________________________________________] 26.45% 110 p/s688 / 2514 [------------------->____________________________________________________] 27.37% 110 p/s711 / 2514 [-------------------->___________________________________________________] 28.28% 110 p/s734 / 2514 [--------------------->__________________________________________________] 29.20% 110 p/s757 / 2514 [--------------------->__________________________________________________] 30.11% 110 p/s780 / 2514 [---------------------->_________________________________________________] 31.03% 110 p/s802 / 2514 [---------------------->_________________________________________________] 31.90% 110 p/s825 / 2514 [----------------------->________________________________________________] 32.82% 110 p/s848 / 2514 [------------------------>_______________________________________________] 33.73% 110 p/s870 / 2514 [------------------------>_______________________________________________] 34.61% 110 p/s893 / 2514 [------------------------->______________________________________________] 35.52% 111 p/s916 / 2514 [-------------------------->_____________________________________________] 36.44% 111 p/s939 / 2514 [-------------------------->_____________________________________________] 37.35% 111 p/s961 / 2514 [--------------------------->____________________________________________] 38.23% 111 p/s984 / 2514 [---------------------------->___________________________________________] 39.14% 111 p/s1007 / 2514 [---------------------------->__________________________________________] 40.06% 111 p/s1028 / 2514 [----------------------------->_________________________________________] 40.89% 111 p/s1050 / 2514 [----------------------------->_________________________________________] 41.77% 111 p/s1073 / 2514 [------------------------------>________________________________________] 42.68% 111 p/s1095 / 2514 [------------------------------>________________________________________] 43.56% 111 p/s1117 / 2514 [------------------------------->_______________________________________] 44.43% 111 p/s1140 / 2514 [-------------------------------->______________________________________] 45.35% 111 p/s1162 / 2514 [-------------------------------->______________________________________] 46.22% 111 p/s1184 / 2514 [--------------------------------->_____________________________________] 47.10% 111 p/s1206 / 2514 [---------------------------------->____________________________________] 47.97% 111 p/s1229 / 2514 [---------------------------------->____________________________________] 48.89% 111 p/s1251 / 2514 [----------------------------------->___________________________________] 49.76% 111 p/s1273 / 2514 [----------------------------------->___________________________________] 50.64% 111 p/s1294 / 2514 [------------------------------------>__________________________________] 51.47% 111 p/s1317 / 2514 [------------------------------------->_________________________________] 52.39% 111 p/s1339 / 2514 [------------------------------------->_________________________________] 53.26% 111 p/s1361 / 2514 [-------------------------------------->________________________________] 54.14% 111 p/s1383 / 2514 [--------------------------------------->_______________________________] 55.01% 111 p/s1405 / 2514 [--------------------------------------->_______________________________] 55.89% 111 p/s1427 / 2514 [---------------------------------------->______________________________] 56.76% 111 p/s1449 / 2514 [---------------------------------------->______________________________] 57.64% 111 p/s1471 / 2514 [----------------------------------------->_____________________________] 58.51% 111 p/s1494 / 2514 [------------------------------------------>____________________________] 59.43% 111 p/s1516 / 2514 [------------------------------------------>____________________________] 60.30% 111 p/s1538 / 2514 [------------------------------------------->___________________________] 61.18% 111 p/s1560 / 2514 [-------------------------------------------->__________________________] 62.05% 111 p/s1582 / 2514 [-------------------------------------------->__________________________] 62.93% 111 p/s1604 / 2514 [--------------------------------------------->_________________________] 63.80% 111 p/s1626 / 2514 [--------------------------------------------->_________________________] 64.68% 111 p/s1648 / 2514 [---------------------------------------------->________________________] 65.55% 111 p/s1670 / 2514 [----------------------------------------------->_______________________] 66.43% 111 p/s1692 / 2514 [----------------------------------------------->_______________________] 67.30% 111 p/s1714 / 2514 [------------------------------------------------>______________________] 68.18% 111 p/s1736 / 2514 [------------------------------------------------->_____________________] 69.05% 111 p/s1758 / 2514 [------------------------------------------------->_____________________] 69.93% 111 p/s1781 / 2514 [-------------------------------------------------->____________________] 70.84% 111 p/s1803 / 2514 [-------------------------------------------------->____________________] 71.72% 111 p/s1825 / 2514 [--------------------------------------------------->___________________] 72.59% 111 p/s1847 / 2514 [---------------------------------------------------->__________________] 73.47% 111 p/s1869 / 2514 [---------------------------------------------------->__________________] 74.34% 111 p/s1891 / 2514 [----------------------------------------------------->_________________] 75.22% 111 p/s1912 / 2514 [----------------------------------------------------->_________________] 76.05% 111 p/s1934 / 2514 [------------------------------------------------------>________________] 76.93% 111 p/s1956 / 2514 [------------------------------------------------------->_______________] 77.80% 111 p/s1977 / 2514 [------------------------------------------------------->_______________] 78.64% 111 p/s1999 / 2514 [-------------------------------------------------------->______________] 79.51% 111 p/s2022 / 2514 [--------------------------------------------------------->_____________] 80.43% 110 p/s2043 / 2514 [--------------------------------------------------------->_____________] 81.26% 110 p/s2065 / 2514 [---------------------------------------------------------->____________] 82.14% 110 p/s2087 / 2514 [---------------------------------------------------------->____________] 83.02% 110 p/s2109 / 2514 [----------------------------------------------------------->___________] 83.89% 110 p/s2131 / 2514 [------------------------------------------------------------>__________] 84.77% 110 p/s2152 / 2514 [------------------------------------------------------------>__________] 85.60% 110 p/s2174 / 2514 [------------------------------------------------------------->_________] 86.48% 110 p/s2196 / 2514 [-------------------------------------------------------------->________] 87.35% 110 p/s2218 / 2514 [-------------------------------------------------------------->________] 88.23% 110 p/s2240 / 2514 [--------------------------------------------------------------->_______] 89.10% 110 p/s2262 / 2514 [--------------------------------------------------------------->_______] 89.98% 110 p/s2284 / 2514 [---------------------------------------------------------------->______] 90.85% 110 p/s2305 / 2514 [----------------------------------------------------------------->_____] 91.69% 110 p/s2327 / 2514 [----------------------------------------------------------------->_____] 92.56% 110 p/s2349 / 2514 [------------------------------------------------------------------>____] 93.44% 110 p/s2371 / 2514 [------------------------------------------------------------------>____] 94.31% 110 p/s2393 / 2514 [------------------------------------------------------------------->___] 95.19% 110 p/s2414 / 2514 [-------------------------------------------------------------------->__] 96.02% 110 p/s2436 / 2514 [-------------------------------------------------------------------->__] 96.90% 110 p/s2458 / 2514 [--------------------------------------------------------------------->_] 97.77% 110 p/s2480 / 2514 [---------------------------------------------------------------------->] 98.65% 110 p/s2501 / 2514 [---------------------------------------------------------------------->] 99.48% 110 p/s2514 / 2514 [----------------------------------------------------------------------] 100.00% 112 p/s2026-01-16T17:16:18 - INFO: Parsing 2514 sonar sweeps from /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2514 [00:00<?, ?it/s]
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2026-01-16T17:17:50 - 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 --sonar-flip /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af"
2026-01-16T17:17:51 - INFO: DataPrep 0.13.9
2026-01-16T17:17:51 - INFO: Prepared data will be output to /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/processing/data
2026-01-16T17:17:51 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-16T17:17:51 - deployment - INFO: Detected P3D version: P3D_1
2026-01-16T17:17:51 - INFO: Recording GUID: 74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af
2026-01-16T17:17:51 - INFO: Preparing sonar data...
2026-01-16T17:17:51 - INFO: /working/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/74806c9b-8a7e-18f1-a3f9-2b6dfafaa4af/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-16T17:17:54 - INFO: Sonar epoch is 2025-11-14 18:00:01.986798+00:00 (1763143201986798229)
2026-01-16T17:17:54 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-16T17:17:54 - INFO: Sonar range is 0.722400 m
2026-01-16T17:17:54 - INFO: Speed of sound is 1494 m/s
2026-01-16T17:17:54 - INFO: Processing 2514 sweeps...

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2026-01-16T17:17:58 - INFO: Creating sonar sensor alignment track...
2026-01-16T17:17:58 - INFO: Prepared sonar data in 6.8371 s
2026-01-16T17:17:58 - INFO: No IMU data found
2026-01-16T17:17:58 - INFO: DataPrep took 0:00:07.075622
2026-01-16T17:17:59 - INFO: Extracted sonar data in 0:02:02.996779
2026-01-16T17:17:59 - INFO: MSIP3D took 0:02:03.230378