2026-01-22T13:31:14 - INFO: MSIP3D 0.1.6
2026-01-22T13:31:14 - INFO: P3D files will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324
2026-01-22T13:31:14 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:31:14 - INFO: Found TFD mission for SJ502795 Dep 7
2026-01-22T13:31:14 - INFO: Recording will be processed as MD
2026-01-22T13:31:14 - INFO: Copying assets JSON to output directory...
2026-01-22T13:31:14 - INFO: Preparing counter data...
2026-01-22T13:31:14 - INFO: Interpreting counter as imperial
2026-01-22T13:31:14 - INFO: Prepared counter data in 0.0502 s
2026-01-22T13:31:14 - INFO: Extracting sonar data...
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/SJ502795_Dep_7.tfd
TFD path: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1851
20 / 1851 [>___________________________________________________________________________] 1.08% ? p/s42 / 1851 [->__________________________________________________________________________] 2.27% ? p/s64 / 1851 [-->_________________________________________________________________________] 3.46% ? p/s86 / 1851 [--->______________________________________________________________________] 4.65% 110 p/s108 / 1851 [---->____________________________________________________________________] 5.83% 110 p/s129 / 1851 [----->___________________________________________________________________] 6.97% 110 p/s151 / 1851 [----->___________________________________________________________________] 8.16% 110 p/s173 / 1851 [------>__________________________________________________________________] 9.35% 110 p/s195 / 1851 [------->________________________________________________________________] 10.53% 110 p/s216 / 1851 [-------->_______________________________________________________________] 11.67% 110 p/s239 / 1851 [--------->______________________________________________________________] 12.91% 110 p/s260 / 1851 [---------->_____________________________________________________________] 14.05% 110 p/s282 / 1851 [---------->_____________________________________________________________] 15.24% 110 p/s304 / 1851 [----------->____________________________________________________________] 16.42% 110 p/s326 / 1851 [------------>___________________________________________________________] 17.61% 110 p/s349 / 1851 [------------->__________________________________________________________] 18.85% 110 p/s371 / 1851 [-------------->_________________________________________________________] 20.04% 110 p/s393 / 1851 [--------------->________________________________________________________] 21.23% 110 p/s414 / 1851 [---------------->_______________________________________________________] 22.37% 110 p/s436 / 1851 [---------------->_______________________________________________________] 23.55% 110 p/s457 / 1851 [----------------->______________________________________________________] 24.69% 110 p/s480 / 1851 [------------------>_____________________________________________________] 25.93% 110 p/s501 / 1851 [------------------->____________________________________________________] 27.07% 110 p/s523 / 1851 [-------------------->___________________________________________________] 28.25% 110 p/s544 / 1851 [--------------------->__________________________________________________] 29.39% 110 p/s566 / 1851 [---------------------->_________________________________________________] 30.58% 110 p/s588 / 1851 [---------------------->_________________________________________________] 31.77% 110 p/s610 / 1851 [----------------------->________________________________________________] 32.96% 110 p/s630 / 1851 [------------------------>_______________________________________________] 34.04% 110 p/s649 / 1851 [------------------------->______________________________________________] 35.06% 110 p/s670 / 1851 [-------------------------->_____________________________________________] 36.20% 109 p/s691 / 1851 [-------------------------->_____________________________________________] 37.33% 109 p/s712 / 1851 [--------------------------->____________________________________________] 38.47% 109 p/s734 / 1851 [---------------------------->___________________________________________] 39.65% 109 p/s755 / 1851 [----------------------------->__________________________________________] 40.79% 109 p/s777 / 1851 [------------------------------>_________________________________________] 41.98% 109 p/s798 / 1851 [------------------------------->________________________________________] 43.11% 109 p/s820 / 1851 [------------------------------->________________________________________] 44.30% 109 p/s841 / 1851 [-------------------------------->_______________________________________] 45.43% 109 p/s863 / 1851 [--------------------------------->______________________________________] 46.62% 109 p/s885 / 1851 [---------------------------------->_____________________________________] 47.81% 109 p/s906 / 1851 [----------------------------------->____________________________________] 48.95% 109 p/s928 / 1851 [------------------------------------>___________________________________] 50.14% 109 p/s950 / 1851 [------------------------------------>___________________________________] 51.32% 109 p/s972 / 1851 [------------------------------------->__________________________________] 52.51% 109 p/s994 / 1851 [-------------------------------------->_________________________________] 53.70% 109 p/s1016 / 1851 [-------------------------------------->________________________________] 54.89% 109 p/s1037 / 1851 [--------------------------------------->_______________________________] 56.02% 109 p/s1059 / 1851 [---------------------------------------->______________________________] 57.21% 109 p/s1081 / 1851 [----------------------------------------->_____________________________] 58.40% 109 p/s1102 / 1851 [------------------------------------------>____________________________] 59.54% 109 p/s1124 / 1851 [------------------------------------------->___________________________] 60.72% 109 p/s1146 / 1851 [------------------------------------------->___________________________] 61.91% 109 p/s1168 / 1851 [-------------------------------------------->__________________________] 63.10% 109 p/s1190 / 1851 [--------------------------------------------->_________________________] 64.29% 109 p/s1212 / 1851 [---------------------------------------------->________________________] 65.48% 109 p/s1234 / 1851 [----------------------------------------------->_______________________] 66.67% 109 p/s1256 / 1851 [------------------------------------------------>______________________] 67.86% 109 p/s1278 / 1851 [------------------------------------------------->_____________________] 69.04% 109 p/s1300 / 1851 [------------------------------------------------->_____________________] 70.23% 109 p/s1322 / 1851 [-------------------------------------------------->____________________] 71.42% 109 p/s1344 / 1851 [--------------------------------------------------->___________________] 72.61% 109 p/s1366 / 1851 [---------------------------------------------------->__________________] 73.80% 109 p/s1387 / 1851 [----------------------------------------------------->_________________] 74.93% 109 p/s1409 / 1851 [------------------------------------------------------>________________] 76.12% 109 p/s1431 / 1851 [------------------------------------------------------>________________] 77.31% 109 p/s1453 / 1851 [------------------------------------------------------->_______________] 78.50% 109 p/s1475 / 1851 [-------------------------------------------------------->______________] 79.69% 109 p/s1497 / 1851 [--------------------------------------------------------->_____________] 80.88% 109 p/s1519 / 1851 [---------------------------------------------------------->____________] 82.06% 109 p/s1541 / 1851 [----------------------------------------------------------->___________] 83.25% 109 p/s1562 / 1851 [----------------------------------------------------------->___________] 84.39% 109 p/s1584 / 1851 [------------------------------------------------------------>__________] 85.58% 109 p/s1605 / 1851 [------------------------------------------------------------->_________] 86.71% 109 p/s1627 / 1851 [-------------------------------------------------------------->________] 87.90% 109 p/s1649 / 1851 [--------------------------------------------------------------->_______] 89.09% 109 p/s1670 / 1851 [---------------------------------------------------------------->______] 90.22% 109 p/s1692 / 1851 [---------------------------------------------------------------->______] 91.41% 109 p/s1713 / 1851 [----------------------------------------------------------------->_____] 92.54% 109 p/s1735 / 1851 [------------------------------------------------------------------>____] 93.73% 109 p/s1756 / 1851 [------------------------------------------------------------------->___] 94.87% 109 p/s1778 / 1851 [-------------------------------------------------------------------->__] 96.06% 109 p/s1799 / 1851 [--------------------------------------------------------------------->_] 97.19% 109 p/s1820 / 1851 [--------------------------------------------------------------------->_] 98.33% 109 p/s1842 / 1851 [---------------------------------------------------------------------->] 99.51% 109 p/s1851 / 1851 [----------------------------------------------------------------------] 100.00% 110 p/s2026-01-22T13:31:31 - INFO: Parsing 1851 sonar sweeps from /working/f5562d52-75c9-a78c-6b91-a323cbfef324/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1851 [00:00<?, ?it/s]
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2026-01-22T13:32:41 - 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/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324"
2026-01-22T13:32:42 - INFO: DataPrep 0.13.9
2026-01-22T13:32:42 - INFO: Prepared data will be output to /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/processing/data
2026-01-22T13:32:42 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:32:42 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:32:42 - INFO: Recording GUID: f5562d52-75c9-a78c-6b91-a323cbfef324
2026-01-22T13:32:42 - INFO: Preparing sonar data...
2026-01-22T13:32:42 - INFO: /working/f5562d52-75c9-a78c-6b91-a323cbfef324/f5562d52-75c9-a78c-6b91-a323cbfef324/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:32:43 - INFO: Sonar epoch is 2026-01-08 20:50:12.714075+00:00 (1767905412714074940)
2026-01-22T13:32:43 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:32:43 - INFO: Sonar range is 0.722400 m
2026-01-22T13:32:43 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:32:43 - INFO: Processing 1851 sweeps...

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2026-01-22T13:32:47 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:32:47 - INFO: Prepared sonar data in 5.5284 s
2026-01-22T13:32:47 - INFO: No IMU data found
2026-01-22T13:32:47 - INFO: DataPrep took 0:00:05.719218
2026-01-22T13:32:47 - INFO: Extracted sonar data in 0:01:33.538527
2026-01-22T13:32:47 - INFO: MSIP3D took 0:01:33.754670