2026-01-22T13:39:19 - INFO: MSIP3D 0.1.6
2026-01-22T13:39:19 - INFO: P3D files will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99
2026-01-22T13:39:19 - INFO: Found 10 TFD dictionary entries
2026-01-22T13:39:19 - INFO: Found TFD mission for SJ502795 Dep 10
2026-01-22T13:39:19 - INFO: Recording will be processed as MD
2026-01-22T13:39:19 - INFO: Copying assets JSON to output directory...
2026-01-22T13:39:19 - INFO: Preparing counter data...
2026-01-22T13:39:19 - INFO: Interpreting counter as imperial
2026-01-22T13:39:19 - INFO: Prepared counter data in 0.1760 s
2026-01-22T13:39:19 - INFO: Extracting sonar data...
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/SJ502795_Dep_10.tfd
TFD path: /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 3238
13 / 3238 [>___________________________________________________________________________] 0.40% ? p/s27 / 3238 [>___________________________________________________________________________] 0.83% ? p/s45 / 3238 [->__________________________________________________________________________] 1.39% ? p/s61 / 3238 [->_________________________________________________________________________] 1.88% 80 p/s74 / 3238 [->_________________________________________________________________________] 2.29% 80 p/s91 / 3238 [-->________________________________________________________________________] 2.81% 80 p/s108 / 3238 [-->_______________________________________________________________________] 3.34% 80 p/s125 / 3238 [-->_______________________________________________________________________] 3.86% 80 p/s140 / 3238 [--->______________________________________________________________________] 4.32% 80 p/s155 / 3238 [--->______________________________________________________________________] 4.79% 80 p/s170 / 3238 [--->______________________________________________________________________] 5.25% 80 p/s186 / 3238 [---->_____________________________________________________________________] 5.74% 80 p/s201 / 3238 [---->_____________________________________________________________________] 6.21% 80 p/s217 / 3238 [---->_____________________________________________________________________] 6.70% 80 p/s232 / 3238 [----->____________________________________________________________________] 7.16% 80 p/s247 / 3238 [----->____________________________________________________________________] 7.63% 79 p/s265 / 3238 [------>___________________________________________________________________] 8.18% 79 p/s280 / 3238 [------>___________________________________________________________________] 8.65% 79 p/s298 / 3238 [------>___________________________________________________________________] 9.20% 80 p/s314 / 3238 [------->__________________________________________________________________] 9.70% 80 p/s329 / 3238 [------->_________________________________________________________________] 10.16% 80 p/s343 / 3238 [------->_________________________________________________________________] 10.59% 79 p/s360 / 3238 [-------->________________________________________________________________] 11.12% 79 p/s380 / 3238 [-------->________________________________________________________________] 11.74% 79 p/s396 / 3238 [-------->________________________________________________________________] 12.23% 80 p/s412 / 3238 [--------->_______________________________________________________________] 12.72% 80 p/s429 / 3238 [--------->_______________________________________________________________] 13.25% 80 p/s442 / 3238 [--------->_______________________________________________________________] 13.65% 80 p/s459 / 3238 [---------->______________________________________________________________] 14.18% 80 p/s476 / 3238 [---------->______________________________________________________________] 14.70% 80 p/s492 / 3238 [----------->_____________________________________________________________] 15.19% 80 p/s508 / 3238 [----------->_____________________________________________________________] 15.69% 80 p/s522 / 3238 [----------->_____________________________________________________________] 16.12% 80 p/s538 / 3238 [------------>____________________________________________________________] 16.62% 80 p/s554 / 3238 [------------>____________________________________________________________] 17.11% 80 p/s573 / 3238 [------------>____________________________________________________________] 17.70% 80 p/s591 / 3238 [------------->___________________________________________________________] 18.25% 80 p/s613 / 3238 [------------->___________________________________________________________] 18.93% 80 p/s636 / 3238 [-------------->__________________________________________________________] 19.64% 80 p/s658 / 3238 [-------------->__________________________________________________________] 20.32% 82 p/s680 / 3238 [--------------->_________________________________________________________] 21.00% 82 p/s703 / 3238 [--------------->_________________________________________________________] 21.71% 82 p/s725 / 3238 [---------------->________________________________________________________] 22.39% 84 p/s747 / 3238 [---------------->________________________________________________________] 23.07% 84 p/s770 / 3238 [----------------->_______________________________________________________] 23.78% 84 p/s792 / 3238 [----------------->_______________________________________________________] 24.46% 86 p/s814 / 3238 [------------------>______________________________________________________] 25.14% 86 p/s836 / 3238 [------------------>______________________________________________________] 25.82% 86 p/s857 / 3238 [------------------->_____________________________________________________] 26.47% 87 p/s879 / 3238 [------------------->_____________________________________________________] 27.15% 87 p/s901 / 3238 [-------------------->____________________________________________________] 27.83% 87 p/s924 / 3238 [-------------------->____________________________________________________] 28.54% 89 p/s946 / 3238 [--------------------->___________________________________________________] 29.22% 89 p/s969 / 3238 [--------------------->___________________________________________________] 29.93% 89 p/s991 / 3238 [---------------------->__________________________________________________] 30.61% 90 p/s1013 / 3238 [---------------------->_________________________________________________] 31.28% 90 p/s1034 / 3238 [---------------------->_________________________________________________] 31.93% 90 p/s1055 / 3238 [----------------------->________________________________________________] 32.58% 92 p/s1078 / 3238 [----------------------->________________________________________________] 33.29% 92 p/s1100 / 3238 [------------------------>_______________________________________________] 33.97% 92 p/s1122 / 3238 [------------------------>_______________________________________________] 34.65% 93 p/s1144 / 3238 [------------------------->______________________________________________] 35.33% 93 p/s1167 / 3238 [------------------------->______________________________________________] 36.04% 93 p/s1189 / 3238 [-------------------------->_____________________________________________] 36.72% 94 p/s1211 / 3238 [-------------------------->_____________________________________________] 37.40% 94 p/s1234 / 3238 [--------------------------->____________________________________________] 38.11% 94 p/s1256 / 3238 [--------------------------->____________________________________________] 38.79% 95 p/s1277 / 3238 [---------------------------->___________________________________________] 39.44% 95 p/s1299 / 3238 [---------------------------->___________________________________________] 40.12% 95 p/s1321 / 3238 [----------------------------->__________________________________________] 40.80% 96 p/s1344 / 3238 [----------------------------->__________________________________________] 41.51% 96 p/s1366 / 3238 [------------------------------>_________________________________________] 42.19% 96 p/s1388 / 3238 [------------------------------>_________________________________________] 42.87% 97 p/s1410 / 3238 [------------------------------->________________________________________] 43.55% 97 p/s1433 / 3238 [------------------------------->________________________________________] 44.26% 97 p/s1455 / 3238 [-------------------------------->_______________________________________] 44.94% 98 p/s1476 / 3238 [-------------------------------->_______________________________________] 45.58% 98 p/s1499 / 3238 [--------------------------------->______________________________________] 46.29% 98 p/s1521 / 3238 [--------------------------------->______________________________________] 46.97% 99 p/s1543 / 3238 [---------------------------------->_____________________________________] 47.65% 99 p/s1566 / 3238 [---------------------------------->_____________________________________] 48.36% 99 p/s1587 / 3238 [----------------------------------->____________________________________] 49.01% 99 p/s1609 / 3238 [----------------------------------->____________________________________] 49.69% 99 p/s1631 / 3238 [------------------------------------>___________________________________] 50.37% 99 p/s1653 / 3238 [------------------------------------>__________________________________] 51.05% 100 p/s1675 / 3238 [------------------------------------>__________________________________] 51.73% 100 p/s1697 / 3238 [------------------------------------->_________________________________] 52.41% 100 p/s1720 / 3238 [------------------------------------->_________________________________] 53.12% 101 p/s1742 / 3238 [-------------------------------------->________________________________] 53.80% 101 p/s1764 / 3238 [-------------------------------------->________________________________] 54.48% 101 p/s1786 / 3238 [--------------------------------------->_______________________________] 55.16% 101 p/s1807 / 3238 [--------------------------------------->_______________________________] 55.81% 101 p/s1829 / 3238 [---------------------------------------->______________________________] 56.49% 101 p/s1851 / 3238 [---------------------------------------->______________________________] 57.16% 102 p/s1873 / 3238 [----------------------------------------->_____________________________] 57.84% 102 p/s1895 / 3238 [----------------------------------------->_____________________________] 58.52% 102 p/s1917 / 3238 [------------------------------------------>____________________________] 59.20% 102 p/s1939 / 3238 [------------------------------------------>____________________________] 59.88% 102 p/s1962 / 3238 [------------------------------------------->___________________________] 60.59% 102 p/s1984 / 3238 [------------------------------------------->___________________________] 61.27% 103 p/s2005 / 3238 [------------------------------------------->___________________________] 61.92% 103 p/s2027 / 3238 [-------------------------------------------->__________________________] 62.60% 103 p/s2049 / 3238 [-------------------------------------------->__________________________] 63.28% 103 p/s2071 / 3238 [--------------------------------------------->_________________________] 63.96% 103 p/s2093 / 3238 [--------------------------------------------->_________________________] 64.64% 103 p/s2116 / 3238 [---------------------------------------------->________________________] 65.35% 104 p/s2138 / 3238 [---------------------------------------------->________________________] 66.03% 104 p/s2160 / 3238 [----------------------------------------------->_______________________] 66.71% 104 p/s2183 / 3238 [----------------------------------------------->_______________________] 67.42% 104 p/s2205 / 3238 [------------------------------------------------>______________________] 68.10% 104 p/s2227 / 3238 [------------------------------------------------>______________________] 68.78% 104 p/s2250 / 3238 [------------------------------------------------->_____________________] 69.49% 105 p/s2272 / 3238 [------------------------------------------------->_____________________] 70.17% 105 p/s2295 / 3238 [-------------------------------------------------->____________________] 70.88% 105 p/s2317 / 3238 [-------------------------------------------------->____________________] 71.56% 105 p/s2339 / 3238 [--------------------------------------------------->___________________] 72.24% 105 p/s2361 / 3238 [--------------------------------------------------->___________________] 72.92% 105 p/s2384 / 3238 [---------------------------------------------------->__________________] 73.63% 106 p/s2406 / 3238 [---------------------------------------------------->__________________] 74.31% 106 p/s2428 / 3238 [----------------------------------------------------->_________________] 74.98% 106 p/s2448 / 3238 [----------------------------------------------------->_________________] 75.60% 106 p/s2470 / 3238 [------------------------------------------------------>________________] 76.28% 106 p/s2492 / 3238 [------------------------------------------------------>________________] 76.96% 106 p/s2514 / 3238 [------------------------------------------------------->_______________] 77.64% 106 p/s2536 / 3238 [------------------------------------------------------->_______________] 78.32% 106 p/s2558 / 3238 [-------------------------------------------------------->______________] 79.00% 106 p/s2581 / 3238 [-------------------------------------------------------->______________] 79.71% 106 p/s2603 / 3238 [--------------------------------------------------------->_____________] 80.39% 106 p/s2625 / 3238 [--------------------------------------------------------->_____________] 81.07% 106 p/s2647 / 3238 [---------------------------------------------------------->____________] 81.75% 107 p/s2669 / 3238 [---------------------------------------------------------->____________] 82.43% 107 p/s2691 / 3238 [----------------------------------------------------------->___________] 83.11% 107 p/s2713 / 3238 [----------------------------------------------------------->___________] 83.79% 107 p/s2735 / 3238 [----------------------------------------------------------->___________] 84.47% 107 p/s2757 / 3238 [------------------------------------------------------------>__________] 85.15% 107 p/s2779 / 3238 [------------------------------------------------------------>__________] 85.82% 107 p/s2801 / 3238 [------------------------------------------------------------->_________] 86.50% 107 p/s2823 / 3238 [------------------------------------------------------------->_________] 87.18% 107 p/s2846 / 3238 [-------------------------------------------------------------->________] 87.89% 107 p/s2868 / 3238 [-------------------------------------------------------------->________] 88.57% 107 p/s2890 / 3238 [--------------------------------------------------------------->_______] 89.25% 107 p/s2912 / 3238 [--------------------------------------------------------------->_______] 89.93% 108 p/s2934 / 3238 [---------------------------------------------------------------->______] 90.61% 108 p/s2956 / 3238 [---------------------------------------------------------------->______] 91.29% 108 p/s2978 / 3238 [----------------------------------------------------------------->_____] 91.97% 108 p/s3000 / 3238 [----------------------------------------------------------------->_____] 92.65% 108 p/s3022 / 3238 [------------------------------------------------------------------>____] 93.33% 108 p/s3044 / 3238 [------------------------------------------------------------------>____] 94.01% 108 p/s3066 / 3238 [------------------------------------------------------------------->___] 94.69% 108 p/s3088 / 3238 [------------------------------------------------------------------->___] 95.37% 108 p/s3110 / 3238 [-------------------------------------------------------------------->__] 96.05% 108 p/s3132 / 3238 [-------------------------------------------------------------------->__] 96.73% 108 p/s3154 / 3238 [--------------------------------------------------------------------->_] 97.41% 108 p/s3177 / 3238 [--------------------------------------------------------------------->_] 98.12% 108 p/s3198 / 3238 [---------------------------------------------------------------------->] 98.76% 108 p/s3221 / 3238 [---------------------------------------------------------------------->] 99.47% 108 p/s3238 / 3238 [----------------------------------------------------------------------] 100.00% 104 p/s2026-01-22T13:39:51 - INFO: Parsing 3238 sonar sweeps from /working/290f223a-0243-e65c-3be3-219b17d86e99/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-22T13:41:52 - 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/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99"
2026-01-22T13:41:53 - INFO: DataPrep 0.13.9
2026-01-22T13:41:53 - INFO: Prepared data will be output to /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/processing/data
2026-01-22T13:41:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T13:41:53 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T13:41:53 - INFO: Recording GUID: 290f223a-0243-e65c-3be3-219b17d86e99
2026-01-22T13:41:53 - INFO: Preparing sonar data...
2026-01-22T13:41:53 - INFO: /working/290f223a-0243-e65c-3be3-219b17d86e99/290f223a-0243-e65c-3be3-219b17d86e99/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T13:41:56 - INFO: Sonar epoch is 2026-01-09 17:52:26.634379+00:00 (1767981146634378712)
2026-01-22T13:41:56 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T13:41:56 - INFO: Sonar range is 0.939120 m
2026-01-22T13:41:56 - INFO: Speed of sound is 1494 m/s
2026-01-22T13:41:56 - INFO: Processing 3237 sweeps...

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2026-01-22T13:42:02 - INFO: Creating sonar sensor alignment track...
2026-01-22T13:42:03 - INFO: Prepared sonar data in 9.9244 s
2026-01-22T13:42:03 - INFO: No IMU data found
2026-01-22T13:42:03 - INFO: DataPrep took 0:00:10.293345
2026-01-22T13:42:03 - INFO: Extracted sonar data in 0:02:44.000147
2026-01-22T13:42:04 - INFO: MSIP3D took 0:02:44.471056