2026-01-22T13:38:28 - INFO: MSIP3D 0.1.6
2026-01-22T13:38:28 - INFO: P3D files will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888
2026-01-22T13:38:29 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:38:29 - INFO: Found TFD mission for SJ502795 Dep 4
2026-01-22T13:38:29 - INFO: Recording will be processed as MD
2026-01-22T13:38:29 - INFO: Copying assets JSON to output directory...
2026-01-22T13:38:29 - INFO: Preparing counter data...
2026-01-22T13:38:29 - INFO: Interpreting counter as imperial
2026-01-22T13:38:29 - INFO: Prepared counter data in 0.0675 s
2026-01-22T13:38:29 - INFO: Extracting sonar data...
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/SJ502795_Dep_4.tfd
TFD path: /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855221467469924931
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 4634
22 / 4634 [>___________________________________________________________________________] 0.47% ? p/s43 / 4634 [>___________________________________________________________________________] 0.93% ? p/s64 / 4634 [->__________________________________________________________________________] 1.38% ? p/s86 / 4634 [->________________________________________________________________________] 1.86% 107 p/s108 / 4634 [->_______________________________________________________________________] 2.33% 107 p/s128 / 4634 [-->______________________________________________________________________] 2.76% 107 p/s150 / 4634 [-->______________________________________________________________________] 3.24% 107 p/s173 / 4634 [-->______________________________________________________________________] 3.73% 107 p/s195 / 4634 [--->_____________________________________________________________________] 4.21% 107 p/s217 / 4634 [--->_____________________________________________________________________] 4.68% 107 p/s239 / 4634 [--->_____________________________________________________________________] 5.16% 107 p/s261 / 4634 [---->____________________________________________________________________] 5.63% 107 p/s283 / 4634 [---->____________________________________________________________________] 6.11% 107 p/s305 / 4634 [---->____________________________________________________________________] 6.58% 107 p/s327 / 4634 [----->___________________________________________________________________] 7.06% 107 p/s349 / 4634 [----->___________________________________________________________________] 7.53% 107 p/s372 / 4634 [----->___________________________________________________________________] 8.03% 107 p/s394 / 4634 [------>__________________________________________________________________] 8.50% 107 p/s417 / 4634 [------>__________________________________________________________________] 9.00% 108 p/s440 / 4634 [------>__________________________________________________________________] 9.50% 108 p/s462 / 4634 [------->_________________________________________________________________] 9.97% 108 p/s485 / 4634 [------->________________________________________________________________] 10.47% 108 p/s507 / 4634 [------->________________________________________________________________] 10.94% 108 p/s530 / 4634 [-------->_______________________________________________________________] 11.44% 108 p/s552 / 4634 [-------->_______________________________________________________________] 11.91% 108 p/s574 / 4634 [-------->_______________________________________________________________] 12.39% 108 p/s597 / 4634 [--------->______________________________________________________________] 12.88% 108 p/s619 / 4634 [--------->______________________________________________________________] 13.36% 109 p/s642 / 4634 [--------->______________________________________________________________] 13.85% 109 p/s664 / 4634 [---------->_____________________________________________________________] 14.33% 109 p/s686 / 4634 [---------->_____________________________________________________________] 14.80% 109 p/s708 / 4634 [----------->____________________________________________________________] 15.28% 109 p/s730 / 4634 [----------->____________________________________________________________] 15.75% 109 p/s752 / 4634 [----------->____________________________________________________________] 16.23% 109 p/s774 / 4634 [------------>___________________________________________________________] 16.70% 109 p/s796 / 4634 [------------>___________________________________________________________] 17.18% 109 p/s818 / 4634 [------------>___________________________________________________________] 17.65% 109 p/s840 / 4634 [------------->__________________________________________________________] 18.13% 109 p/s860 / 4634 [------------->__________________________________________________________] 18.56% 109 p/s882 / 4634 [------------->__________________________________________________________] 19.03% 109 p/s904 / 4634 [-------------->_________________________________________________________] 19.51% 109 p/s927 / 4634 [-------------->_________________________________________________________] 20.00% 109 p/s949 / 4634 [-------------->_________________________________________________________] 20.48% 109 p/s971 / 4634 [--------------->________________________________________________________] 20.95% 109 p/s994 / 4634 [--------------->________________________________________________________] 21.45% 109 p/s1016 / 4634 [--------------->_______________________________________________________] 21.92% 109 p/s1037 / 4634 [--------------->_______________________________________________________] 22.38% 109 p/s1059 / 4634 [---------------->______________________________________________________] 22.85% 109 p/s1081 / 4634 [---------------->______________________________________________________] 23.33% 109 p/s1103 / 4634 [---------------->______________________________________________________] 23.80% 109 p/s1125 / 4634 [----------------->_____________________________________________________] 24.28% 109 p/s1147 / 4634 [----------------->_____________________________________________________] 24.75% 109 p/s1169 / 4634 [----------------->_____________________________________________________] 25.23% 109 p/s1191 / 4634 [------------------>____________________________________________________] 25.70% 109 p/s1213 / 4634 [------------------>____________________________________________________] 26.18% 109 p/s1235 / 4634 [------------------>____________________________________________________] 26.65% 109 p/s1256 / 4634 [------------------->___________________________________________________] 27.10% 109 p/s1278 / 4634 [------------------->___________________________________________________] 27.58% 109 p/s1301 / 4634 [------------------->___________________________________________________] 28.08% 109 p/s1323 / 4634 [-------------------->__________________________________________________] 28.55% 109 p/s1345 / 4634 [-------------------->__________________________________________________] 29.02% 109 p/s1367 / 4634 [-------------------->__________________________________________________] 29.50% 109 p/s1390 / 4634 [--------------------->_________________________________________________] 30.00% 109 p/s1412 / 4634 [--------------------->_________________________________________________] 30.47% 109 p/s1435 / 4634 [--------------------->_________________________________________________] 30.97% 109 p/s1457 / 4634 [---------------------->________________________________________________] 31.44% 109 p/s1479 / 4634 [---------------------->________________________________________________] 31.92% 110 p/s1502 / 4634 [----------------------->_______________________________________________] 32.41% 110 p/s1525 / 4634 [----------------------->_______________________________________________] 32.91% 110 p/s1547 / 4634 [----------------------->_______________________________________________] 33.38% 110 p/s1569 / 4634 [------------------------>______________________________________________] 33.86% 110 p/s1592 / 4634 [------------------------>______________________________________________] 34.35% 110 p/s1614 / 4634 [------------------------>______________________________________________] 34.83% 110 p/s1637 / 4634 [------------------------->_____________________________________________] 35.33% 110 p/s1659 / 4634 [------------------------->_____________________________________________] 35.80% 110 p/s1681 / 4634 [------------------------->_____________________________________________] 36.28% 110 p/s1703 / 4634 [-------------------------->____________________________________________] 36.75% 110 p/s1725 / 4634 [-------------------------->____________________________________________] 37.22% 110 p/s1747 / 4634 [-------------------------->____________________________________________] 37.70% 110 p/s1769 / 4634 [--------------------------->___________________________________________] 38.17% 110 p/s1791 / 4634 [--------------------------->___________________________________________] 38.65% 110 p/s1814 / 4634 [--------------------------->___________________________________________] 39.15% 110 p/s1836 / 4634 [---------------------------->__________________________________________] 39.62% 110 p/s1858 / 4634 [---------------------------->__________________________________________] 40.09% 110 p/s1880 / 4634 [---------------------------->__________________________________________] 40.57% 110 p/s1902 / 4634 [----------------------------->_________________________________________] 41.04% 110 p/s1924 / 4634 [----------------------------->_________________________________________] 41.52% 110 p/s1946 / 4634 [----------------------------->_________________________________________] 41.99% 110 p/s1968 / 4634 [------------------------------>________________________________________] 42.47% 110 p/s1990 / 4634 [------------------------------>________________________________________] 42.94% 110 p/s2012 / 4634 [------------------------------>________________________________________] 43.42% 110 p/s2034 / 4634 [------------------------------->_______________________________________] 43.89% 110 p/s2055 / 4634 [------------------------------->_______________________________________] 44.35% 110 p/s2077 / 4634 [------------------------------->_______________________________________] 44.82% 110 p/s2099 / 4634 [-------------------------------->______________________________________] 45.30% 110 p/s2121 / 4634 [-------------------------------->______________________________________] 45.77% 110 p/s2143 / 4634 [-------------------------------->______________________________________] 46.25% 110 p/s2165 / 4634 [--------------------------------->_____________________________________] 46.72% 110 p/s2187 / 4634 [--------------------------------->_____________________________________] 47.19% 110 p/s2209 / 4634 [--------------------------------->_____________________________________] 47.67% 110 p/s2231 / 4634 [---------------------------------->____________________________________] 48.14% 110 p/s2253 / 4634 [---------------------------------->____________________________________] 48.62% 110 p/s2275 / 4634 [---------------------------------->____________________________________] 49.09% 110 p/s2297 / 4634 [----------------------------------->___________________________________] 49.57% 110 p/s2320 / 4634 [----------------------------------->___________________________________] 50.06% 110 p/s2342 / 4634 [----------------------------------->___________________________________] 50.54% 110 p/s2364 / 4634 [------------------------------------>__________________________________] 51.01% 110 p/s2385 / 4634 [------------------------------------>__________________________________] 51.47% 110 p/s2407 / 4634 [------------------------------------>__________________________________] 51.94% 110 p/s2429 / 4634 [------------------------------------->_________________________________] 52.42% 110 p/s2451 / 4634 [------------------------------------->_________________________________] 52.89% 110 p/s2473 / 4634 [------------------------------------->_________________________________] 53.37% 110 p/s2495 / 4634 [-------------------------------------->________________________________] 53.84% 110 p/s2516 / 4634 [-------------------------------------->________________________________] 54.29% 110 p/s2539 / 4634 [-------------------------------------->________________________________] 54.79% 110 p/s2560 / 4634 [--------------------------------------->_______________________________] 55.24% 110 p/s2582 / 4634 [--------------------------------------->_______________________________] 55.72% 110 p/s2604 / 4634 [--------------------------------------->_______________________________] 56.19% 110 p/s2626 / 4634 [---------------------------------------->______________________________] 56.67% 110 p/s2648 / 4634 [---------------------------------------->______________________________] 57.14% 110 p/s2669 / 4634 [---------------------------------------->______________________________] 57.60% 110 p/s2691 / 4634 [----------------------------------------->_____________________________] 58.07% 110 p/s2713 / 4634 [----------------------------------------->_____________________________] 58.55% 110 p/s2735 / 4634 [----------------------------------------->_____________________________] 59.02% 110 p/s2757 / 4634 [------------------------------------------>____________________________] 59.50% 110 p/s2780 / 4634 [------------------------------------------>____________________________] 59.99% 110 p/s2802 / 4634 [------------------------------------------>____________________________] 60.47% 110 p/s2825 / 4634 [------------------------------------------->___________________________] 60.96% 110 p/s2847 / 4634 [------------------------------------------->___________________________] 61.44% 110 p/s2869 / 4634 [------------------------------------------->___________________________] 61.91% 110 p/s2892 / 4634 [-------------------------------------------->__________________________] 62.41% 110 p/s2914 / 4634 [-------------------------------------------->__________________________] 62.88% 110 p/s2935 / 4634 [-------------------------------------------->__________________________] 63.34% 110 p/s2957 / 4634 [--------------------------------------------->_________________________] 63.81% 110 p/s2979 / 4634 [--------------------------------------------->_________________________] 64.29% 110 p/s3000 / 4634 [--------------------------------------------->_________________________] 64.74% 110 p/s3022 / 4634 [---------------------------------------------->________________________] 65.21% 110 p/s3044 / 4634 [---------------------------------------------->________________________] 65.69% 110 p/s3065 / 4634 [---------------------------------------------->________________________] 66.14% 110 p/s3088 / 4634 [----------------------------------------------->_______________________] 66.64% 110 p/s3110 / 4634 [----------------------------------------------->_______________________] 67.11% 110 p/s3133 / 4634 [------------------------------------------------>______________________] 67.61% 110 p/s3155 / 4634 [------------------------------------------------>______________________] 68.08% 110 p/s3177 / 4634 [------------------------------------------------>______________________] 68.56% 110 p/s3199 / 4634 [------------------------------------------------->_____________________] 69.03% 110 p/s3221 / 4634 [------------------------------------------------->_____________________] 69.51% 110 p/s3243 / 4634 [------------------------------------------------->_____________________] 69.98% 110 p/s3265 / 4634 [-------------------------------------------------->____________________] 70.46% 110 p/s3287 / 4634 [-------------------------------------------------->____________________] 70.93% 110 p/s3309 / 4634 [-------------------------------------------------->____________________] 71.41% 110 p/s3331 / 4634 [--------------------------------------------------->___________________] 71.88% 110 p/s3353 / 4634 [--------------------------------------------------->___________________] 72.36% 110 p/s3375 / 4634 [--------------------------------------------------->___________________] 72.83% 110 p/s3397 / 4634 [---------------------------------------------------->__________________] 73.31% 110 p/s3418 / 4634 [---------------------------------------------------->__________________] 73.76% 110 p/s3440 / 4634 [---------------------------------------------------->__________________] 74.23% 110 p/s3462 / 4634 [----------------------------------------------------->_________________] 74.71% 110 p/s3484 / 4634 [----------------------------------------------------->_________________] 75.18% 110 p/s3506 / 4634 [----------------------------------------------------->_________________] 75.66% 110 p/s3529 / 4634 [------------------------------------------------------>________________] 76.15% 110 p/s3551 / 4634 [------------------------------------------------------>________________] 76.63% 110 p/s3573 / 4634 [------------------------------------------------------>________________] 77.10% 110 p/s3595 / 4634 [------------------------------------------------------->_______________] 77.58% 110 p/s3618 / 4634 [------------------------------------------------------->_______________] 78.08% 110 p/s3640 / 4634 [------------------------------------------------------->_______________] 78.55% 110 p/s3662 / 4634 [-------------------------------------------------------->______________] 79.02% 110 p/s3684 / 4634 [-------------------------------------------------------->______________] 79.50% 110 p/s3706 / 4634 [-------------------------------------------------------->______________] 79.97% 110 p/s3727 / 4634 [--------------------------------------------------------->_____________] 80.43% 110 p/s3749 / 4634 [--------------------------------------------------------->_____________] 80.90% 110 p/s3771 / 4634 [--------------------------------------------------------->_____________] 81.38% 110 p/s3793 / 4634 [---------------------------------------------------------->____________] 81.85% 110 p/s3815 / 4634 [---------------------------------------------------------->____________] 82.33% 110 p/s3838 / 4634 [---------------------------------------------------------->____________] 82.82% 110 p/s3860 / 4634 [----------------------------------------------------------->___________] 83.30% 110 p/s3882 / 4634 [----------------------------------------------------------->___________] 83.77% 110 p/s3905 / 4634 [----------------------------------------------------------->___________] 84.27% 110 p/s3927 / 4634 [------------------------------------------------------------>__________] 84.74% 110 p/s3949 / 4634 [------------------------------------------------------------>__________] 85.22% 110 p/s3972 / 4634 [------------------------------------------------------------>__________] 85.71% 110 p/s3993 / 4634 [------------------------------------------------------------->_________] 86.17% 110 p/s4016 / 4634 [------------------------------------------------------------->_________] 86.66% 110 p/s4038 / 4634 [------------------------------------------------------------->_________] 87.14% 110 p/s4060 / 4634 [-------------------------------------------------------------->________] 87.61% 110 p/s4082 / 4634 [-------------------------------------------------------------->________] 88.09% 110 p/s4103 / 4634 [-------------------------------------------------------------->________] 88.54% 110 p/s4125 / 4634 [--------------------------------------------------------------->_______] 89.02% 110 p/s4147 / 4634 [--------------------------------------------------------------->_______] 89.49% 110 p/s4168 / 4634 [--------------------------------------------------------------->_______] 89.94% 110 p/s4190 / 4634 [---------------------------------------------------------------->______] 90.42% 110 p/s4211 / 4634 [---------------------------------------------------------------->______] 90.87% 110 p/s4233 / 4634 [---------------------------------------------------------------->______] 91.35% 110 p/s4255 / 4634 [----------------------------------------------------------------->_____] 91.82% 110 p/s4276 / 4634 [----------------------------------------------------------------->_____] 92.27% 110 p/s4298 / 4634 [----------------------------------------------------------------->_____] 92.75% 110 p/s4320 / 4634 [------------------------------------------------------------------>____] 93.22% 110 p/s4342 / 4634 [------------------------------------------------------------------>____] 93.70% 110 p/s4365 / 4634 [------------------------------------------------------------------>____] 94.20% 110 p/s4387 / 4634 [------------------------------------------------------------------->___] 94.67% 110 p/s4409 / 4634 [------------------------------------------------------------------->___] 95.14% 110 p/s4431 / 4634 [------------------------------------------------------------------->___] 95.62% 110 p/s4453 / 4634 [-------------------------------------------------------------------->__] 96.09% 110 p/s4475 / 4634 [-------------------------------------------------------------------->__] 96.57% 110 p/s4497 / 4634 [-------------------------------------------------------------------->__] 97.04% 110 p/s4519 / 4634 [--------------------------------------------------------------------->_] 97.52% 110 p/s4540 / 4634 [--------------------------------------------------------------------->_] 97.97% 110 p/s4562 / 4634 [--------------------------------------------------------------------->_] 98.45% 110 p/s4584 / 4634 [---------------------------------------------------------------------->] 98.92% 110 p/s4606 / 4634 [---------------------------------------------------------------------->] 99.40% 110 p/s4629 / 4634 [---------------------------------------------------------------------->] 99.89% 110 p/s4634 / 4634 [----------------------------------------------------------------------] 100.00% 111 p/s2026-01-22T13:39:11 - INFO: Parsing 4634 sonar sweeps from /working/87883c20-65ef-15f4-70ff-84f90ace6888/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4634 [00:00<?, ?it/s]
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2026-01-22T13:42:06 - 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/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888"
2026-01-22T13:42:07 - INFO: DataPrep 0.13.9
2026-01-22T13:42:07 - INFO: Prepared data will be output to /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/processing/data
2026-01-22T13:42:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:42:07 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:42:07 - INFO: Recording GUID: 87883c20-65ef-15f4-70ff-84f90ace6888
2026-01-22T13:42:07 - INFO: Preparing sonar data...
2026-01-22T13:42:07 - INFO: /working/87883c20-65ef-15f4-70ff-84f90ace6888/87883c20-65ef-15f4-70ff-84f90ace6888/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:42:12 - INFO: Sonar epoch is 2026-01-07 17:03:38.953295+00:00 (1767805418953294901)
2026-01-22T13:42:12 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:42:12 - INFO: Sonar range is 0.939120 m
2026-01-22T13:42:12 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:42:12 - INFO: Processing 4634 sweeps...

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2026-01-22T13:42:25 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:42:27 - INFO: Prepared sonar data in 20.3716 s
2026-01-22T13:42:27 - INFO: No IMU data found
2026-01-22T13:42:28 - INFO: DataPrep took 0:00:21.030385
2026-01-22T13:42:28 - INFO: Extracted sonar data in 0:03:59.312845
2026-01-22T13:42:29 - INFO: MSIP3D took 0:03:59.925506