2026-01-22T13:26:26 - INFO: MSIP3D 0.1.6
2026-01-22T13:26:26 - INFO: P3D files will be output to /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/9c9e7180-bd7e-58cb-88f1-547e9ee9386d
2026-01-22T13:26:26 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:26:26 - INFO: Found TFD mission for SJ502795 Dep 6
2026-01-22T13:26:26 - INFO: Recording will be processed as MD
2026-01-22T13:26:26 - INFO: Copying assets JSON to output directory...
2026-01-22T13:26:26 - INFO: Preparing counter data...
2026-01-22T13:26:26 - INFO: Interpreting counter as imperial
2026-01-22T13:26:26 - INFO: Prepared counter data in 0.0072 s
2026-01-22T13:26:26 - INFO: Extracting sonar data...
TFD path: /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/tfd/SJ502795_Dep_6.tfd
TFD path: /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Getting track SONAR
Number of frames: 1011
21 / 1011 [->__________________________________________________________________________] 2.08% ? p/s43 / 1011 [--->________________________________________________________________________] 4.25% ? p/s63 / 1011 [---->_______________________________________________________________________] 6.23% ? p/s86 / 1011 [------>___________________________________________________________________] 8.51% 108 p/s108 / 1011 [------->________________________________________________________________] 10.68% 108 p/s129 / 1011 [--------->______________________________________________________________] 12.76% 108 p/s151 / 1011 [---------->_____________________________________________________________] 14.94% 108 p/s173 / 1011 [------------>___________________________________________________________] 17.11% 108 p/s196 / 1011 [------------->__________________________________________________________] 19.39% 108 p/s218 / 1011 [--------------->________________________________________________________] 21.56% 109 p/s240 / 1011 [----------------->______________________________________________________] 23.74% 109 p/s262 / 1011 [------------------>_____________________________________________________] 25.91% 109 p/s284 / 1011 [-------------------->___________________________________________________] 28.09% 109 p/s306 / 1011 [--------------------->__________________________________________________] 30.27% 109 p/s327 / 1011 [----------------------->________________________________________________] 32.34% 109 p/s349 / 1011 [------------------------>_______________________________________________] 34.52% 109 p/s371 / 1011 [-------------------------->_____________________________________________] 36.70% 109 p/s393 / 1011 [--------------------------->____________________________________________] 38.87% 109 p/s415 / 1011 [----------------------------->__________________________________________] 41.05% 109 p/s436 / 1011 [------------------------------->________________________________________] 43.13% 109 p/s458 / 1011 [-------------------------------->_______________________________________] 45.30% 109 p/s480 / 1011 [---------------------------------->_____________________________________] 47.48% 109 p/s502 / 1011 [----------------------------------->____________________________________] 49.65% 109 p/s523 / 1011 [------------------------------------->__________________________________] 51.73% 109 p/s545 / 1011 [-------------------------------------->_________________________________] 53.91% 109 p/s566 / 1011 [---------------------------------------->_______________________________] 55.98% 109 p/s588 / 1011 [----------------------------------------->______________________________] 58.16% 109 p/s609 / 1011 [------------------------------------------->____________________________] 60.24% 109 p/s631 / 1011 [-------------------------------------------->___________________________] 62.41% 109 p/s653 / 1011 [---------------------------------------------->_________________________] 64.59% 109 p/s675 / 1011 [------------------------------------------------>_______________________] 66.77% 109 p/s697 / 1011 [------------------------------------------------->______________________] 68.94% 109 p/s719 / 1011 [--------------------------------------------------->____________________] 71.12% 109 p/s741 / 1011 [---------------------------------------------------->___________________] 73.29% 109 p/s764 / 1011 [------------------------------------------------------>_________________] 75.57% 109 p/s786 / 1011 [------------------------------------------------------->________________] 77.74% 109 p/s808 / 1011 [--------------------------------------------------------->______________] 79.92% 109 p/s830 / 1011 [----------------------------------------------------------->____________] 82.10% 109 p/s852 / 1011 [------------------------------------------------------------>___________] 84.27% 109 p/s874 / 1011 [-------------------------------------------------------------->_________] 86.45% 109 p/s897 / 1011 [--------------------------------------------------------------->________] 88.72% 109 p/s919 / 1011 [----------------------------------------------------------------->______] 90.90% 109 p/s941 / 1011 [------------------------------------------------------------------->____] 93.08% 109 p/s963 / 1011 [-------------------------------------------------------------------->___] 95.25% 109 p/s985 / 1011 [---------------------------------------------------------------------->_] 97.43% 109 p/s1007 / 1011 [---------------------------------------------------------------------->] 99.60% 109 p/s1011 / 1011 [----------------------------------------------------------------------] 100.00% 112 p/s2026-01-22T13:26:36 - INFO: Parsing 1011 sonar sweeps from /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-22T13:27:13 - 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/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/9c9e7180-bd7e-58cb-88f1-547e9ee9386d"
2026-01-22T13:27:14 - INFO: DataPrep 0.13.9
2026-01-22T13:27:14 - INFO: Prepared data will be output to /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/processing/data
2026-01-22T13:27:14 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:27:14 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:27:14 - INFO: Recording GUID: 9c9e7180-bd7e-58cb-88f1-547e9ee9386d
2026-01-22T13:27:14 - INFO: Preparing sonar data...
2026-01-22T13:27:14 - INFO: /working/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/9c9e7180-bd7e-58cb-88f1-547e9ee9386d/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:27:15 - INFO: Sonar epoch is 2026-01-08 18:45:22.704704+00:00 (1767897922704704153)
2026-01-22T13:27:15 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:27:15 - INFO: Sonar range is 0.722400 m
2026-01-22T13:27:15 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:27:15 - INFO: Processing 1011 sweeps...

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2026-01-22T13:27:17 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:27:17 - INFO: Prepared sonar data in 2.7733 s
2026-01-22T13:27:17 - INFO: No IMU data found
2026-01-22T13:27:17 - INFO: DataPrep took 0:00:02.855385
2026-01-22T13:27:17 - INFO: Extracted sonar data in 0:00:50.873105
2026-01-22T13:27:17 - INFO: MSIP3D took 0:00:50.960550