2026-01-22T13:32:01 - INFO: MSIP3D 0.1.6
2026-01-22T13:32:01 - INFO: P3D files will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b
2026-01-22T13:32:01 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:32:01 - INFO: Found TFD mission for SJ502795 Dep 9
2026-01-22T13:32:01 - INFO: Recording will be processed as MD
2026-01-22T13:32:01 - INFO: Copying assets JSON to output directory...
2026-01-22T13:32:01 - INFO: Preparing counter data...
2026-01-22T13:32:01 - INFO: Interpreting counter as imperial
2026-01-22T13:32:01 - INFO: Prepared counter data in 0.0253 s
2026-01-22T13:32:01 - INFO: Extracting sonar data...
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/SJ502795_Dep_9.tfd
TFD path: /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 707
20 / 707 [-->__________________________________________________________________________] 2.83% ? p/s42 / 707 [---->________________________________________________________________________] 5.94% ? p/s63 / 707 [------>______________________________________________________________________] 8.91% ? p/s84 / 707 [-------->_________________________________________________________________] 11.88% 107 p/s107 / 707 [----------->_____________________________________________________________] 15.13% 107 p/s126 / 707 [------------->___________________________________________________________] 17.82% 107 p/s148 / 707 [--------------->_________________________________________________________] 20.93% 107 p/s170 / 707 [----------------->_______________________________________________________] 24.05% 107 p/s192 / 707 [------------------->_____________________________________________________] 27.16% 107 p/s214 / 707 [---------------------->__________________________________________________] 30.27% 107 p/s236 / 707 [------------------------>________________________________________________] 33.38% 107 p/s255 / 707 [-------------------------->______________________________________________] 36.07% 107 p/s277 / 707 [---------------------------->____________________________________________] 39.18% 107 p/s298 / 707 [------------------------------>__________________________________________] 42.15% 107 p/s319 / 707 [-------------------------------->________________________________________] 45.12% 107 p/s340 / 707 [----------------------------------->_____________________________________] 48.09% 107 p/s362 / 707 [------------------------------------->___________________________________] 51.20% 107 p/s383 / 707 [--------------------------------------->_________________________________] 54.17% 107 p/s404 / 707 [----------------------------------------->_______________________________] 57.14% 107 p/s426 / 707 [------------------------------------------->_____________________________] 60.25% 107 p/s447 / 707 [---------------------------------------------->__________________________] 63.22% 107 p/s468 / 707 [------------------------------------------------>________________________] 66.20% 107 p/s491 / 707 [-------------------------------------------------->______________________] 69.45% 107 p/s511 / 707 [---------------------------------------------------->____________________] 72.28% 107 p/s533 / 707 [------------------------------------------------------->_________________] 75.39% 107 p/s555 / 707 [--------------------------------------------------------->_______________] 78.50% 107 p/s578 / 707 [----------------------------------------------------------->_____________] 81.75% 107 p/s600 / 707 [------------------------------------------------------------->___________] 84.87% 107 p/s622 / 707 [---------------------------------------------------------------->________] 87.98% 107 p/s644 / 707 [------------------------------------------------------------------>______] 91.09% 107 p/s665 / 707 [-------------------------------------------------------------------->____] 94.06% 107 p/s688 / 707 [----------------------------------------------------------------------->_] 97.31% 107 p/s707 / 707 [------------------------------------------------------------------------] 100.00% 111 p/s2026-01-22T13:32:08 - INFO: Parsing 707 sonar sweeps from /working/d6de24b3-08ca-5140-7547-484f4d37850b/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-22T13:32:40 - 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/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b"
2026-01-22T13:32:41 - INFO: DataPrep 0.13.9
2026-01-22T13:32:41 - INFO: Prepared data will be output to /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/processing/data
2026-01-22T13:32:41 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:32:41 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:32:41 - INFO: Recording GUID: d6de24b3-08ca-5140-7547-484f4d37850b
2026-01-22T13:32:41 - INFO: Preparing sonar data...
2026-01-22T13:32:41 - INFO: /working/d6de24b3-08ca-5140-7547-484f4d37850b/d6de24b3-08ca-5140-7547-484f4d37850b/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:32:42 - INFO: Sonar epoch is 2026-01-09 16:49:57.037993+00:00 (1767977397037993503)
2026-01-22T13:32:42 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:32:42 - INFO: Sonar range is 0.939120 m
2026-01-22T13:32:42 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:32:42 - INFO: Processing 707 sweeps...

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2026-01-22T13:32:44 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:32:44 - INFO: Prepared sonar data in 2.7597 s
2026-01-22T13:32:44 - INFO: No IMU data found
2026-01-22T13:32:44 - INFO: DataPrep took 0:00:02.837767
2026-01-22T13:32:44 - INFO: Extracted sonar data in 0:00:43.082640
2026-01-22T13:32:44 - INFO: MSIP3D took 0:00:43.183286