2026-01-22T15:27:31 - INFO: MSIP3D 0.1.6
2026-01-22T15:27:31 - INFO: P3D files will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-01-22T15:27:31 - INFO: Found 10 TFD dictionary entries
2026-01-22T15:27:31 - INFO: Found TFD mission for SJ502795 Dep 2
2026-01-22T15:27:31 - INFO: Recording will be processed as MD
2026-01-22T15:27:31 - INFO: Copying assets JSON to output directory...
2026-01-22T15:27:31 - INFO: Preparing counter data...
2026-01-22T15:27:31 - INFO: Interpreting counter as imperial
2026-01-22T15:27:31 - INFO: Prepared counter data in 0.0112 s
2026-01-22T15:27:31 - INFO: Extracting sonar data...
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/SJ502795_Dep_2.tfd
TFD path: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2550
21 / 2550 [>___________________________________________________________________________] 0.82% ? p/s43 / 2550 [->__________________________________________________________________________] 1.69% ? p/s64 / 2550 [->__________________________________________________________________________] 2.51% ? p/s86 / 2550 [-->_______________________________________________________________________] 3.37% 108 p/s108 / 2550 [--->_____________________________________________________________________] 4.24% 108 p/s129 / 2550 [--->_____________________________________________________________________] 5.06% 108 p/s151 / 2550 [---->____________________________________________________________________] 5.92% 108 p/s172 / 2550 [---->____________________________________________________________________] 6.75% 108 p/s194 / 2550 [----->___________________________________________________________________] 7.61% 108 p/s216 / 2550 [------>__________________________________________________________________] 8.47% 108 p/s237 / 2550 [------>__________________________________________________________________] 9.29% 108 p/s258 / 2550 [------->________________________________________________________________] 10.12% 108 p/s280 / 2550 [------->________________________________________________________________] 10.98% 108 p/s302 / 2550 [-------->_______________________________________________________________] 11.84% 108 p/s323 / 2550 [--------->______________________________________________________________] 12.67% 108 p/s345 / 2550 [--------->______________________________________________________________] 13.53% 108 p/s367 / 2550 [---------->_____________________________________________________________] 14.39% 108 p/s388 / 2550 [---------->_____________________________________________________________] 15.22% 108 p/s410 / 2550 [----------->____________________________________________________________] 16.08% 108 p/s431 / 2550 [------------>___________________________________________________________] 16.90% 108 p/s453 / 2550 [------------>___________________________________________________________] 17.76% 108 p/s475 / 2550 [------------->__________________________________________________________] 18.63% 108 p/s497 / 2550 [-------------->_________________________________________________________] 19.49% 108 p/s518 / 2550 [-------------->_________________________________________________________] 20.31% 108 p/s539 / 2550 [--------------->________________________________________________________] 21.14% 108 p/s561 / 2550 [--------------->________________________________________________________] 22.00% 108 p/s583 / 2550 [---------------->_______________________________________________________] 22.86% 108 p/s605 / 2550 [----------------->______________________________________________________] 23.73% 108 p/s627 / 2550 [----------------->______________________________________________________] 24.59% 108 p/s649 / 2550 [------------------>_____________________________________________________] 25.45% 108 p/s671 / 2550 [------------------>_____________________________________________________] 26.31% 108 p/s693 / 2550 [------------------->____________________________________________________] 27.18% 108 p/s715 / 2550 [-------------------->___________________________________________________] 28.04% 108 p/s737 / 2550 [-------------------->___________________________________________________] 28.90% 108 p/s759 / 2550 [--------------------->__________________________________________________] 29.76% 108 p/s781 / 2550 [---------------------->_________________________________________________] 30.63% 108 p/s802 / 2550 [---------------------->_________________________________________________] 31.45% 108 p/s824 / 2550 [----------------------->________________________________________________] 32.31% 108 p/s846 / 2550 [----------------------->________________________________________________] 33.18% 108 p/s868 / 2550 [------------------------>_______________________________________________] 34.04% 109 p/s889 / 2550 [------------------------->______________________________________________] 34.86% 109 p/s911 / 2550 [------------------------->______________________________________________] 35.73% 109 p/s933 / 2550 [-------------------------->_____________________________________________] 36.59% 109 p/s955 / 2550 [-------------------------->_____________________________________________] 37.45% 109 p/s977 / 2550 [--------------------------->____________________________________________] 38.31% 109 p/s999 / 2550 [---------------------------->___________________________________________] 39.18% 109 p/s1019 / 2550 [---------------------------->__________________________________________] 39.96% 109 p/s1042 / 2550 [----------------------------->_________________________________________] 40.86% 109 p/s1063 / 2550 [----------------------------->_________________________________________] 41.69% 109 p/s1085 / 2550 [------------------------------>________________________________________] 42.55% 109 p/s1107 / 2550 [------------------------------>________________________________________] 43.41% 109 p/s1129 / 2550 [------------------------------->_______________________________________] 44.27% 109 p/s1150 / 2550 [-------------------------------->______________________________________] 45.10% 109 p/s1172 / 2550 [-------------------------------->______________________________________] 45.96% 109 p/s1194 / 2550 [--------------------------------->_____________________________________] 46.82% 109 p/s1215 / 2550 [--------------------------------->_____________________________________] 47.65% 109 p/s1237 / 2550 [---------------------------------->____________________________________] 48.51% 109 p/s1259 / 2550 [----------------------------------->___________________________________] 49.37% 109 p/s1280 / 2550 [----------------------------------->___________________________________] 50.20% 109 p/s1302 / 2550 [------------------------------------>__________________________________] 51.06% 109 p/s1323 / 2550 [------------------------------------>__________________________________] 51.88% 108 p/s1345 / 2550 [------------------------------------->_________________________________] 52.75% 108 p/s1367 / 2550 [-------------------------------------->________________________________] 53.61% 108 p/s1388 / 2550 [-------------------------------------->________________________________] 54.43% 108 p/s1410 / 2550 [--------------------------------------->_______________________________] 55.29% 108 p/s1432 / 2550 [--------------------------------------->_______________________________] 56.16% 108 p/s1453 / 2550 [---------------------------------------->______________________________] 56.98% 108 p/s1475 / 2550 [----------------------------------------->_____________________________] 57.84% 108 p/s1497 / 2550 [----------------------------------------->_____________________________] 58.71% 108 p/s1518 / 2550 [------------------------------------------>____________________________] 59.53% 108 p/s1540 / 2550 [------------------------------------------>____________________________] 60.39% 108 p/s1562 / 2550 [------------------------------------------->___________________________] 61.25% 108 p/s1583 / 2550 [-------------------------------------------->__________________________] 62.08% 108 p/s1605 / 2550 [-------------------------------------------->__________________________] 62.94% 108 p/s1627 / 2550 [--------------------------------------------->_________________________] 63.80% 108 p/s1649 / 2550 [--------------------------------------------->_________________________] 64.67% 109 p/s1671 / 2550 [---------------------------------------------->________________________] 65.53% 109 p/s1692 / 2550 [----------------------------------------------->_______________________] 66.35% 109 p/s1714 / 2550 [----------------------------------------------->_______________________] 67.22% 109 p/s1736 / 2550 [------------------------------------------------>______________________] 68.08% 109 p/s1758 / 2550 [------------------------------------------------>______________________] 68.94% 109 p/s1780 / 2550 [------------------------------------------------->_____________________] 69.80% 109 p/s1801 / 2550 [-------------------------------------------------->____________________] 70.63% 109 p/s1823 / 2550 [-------------------------------------------------->____________________] 71.49% 109 p/s1844 / 2550 [--------------------------------------------------->___________________] 72.31% 108 p/s1866 / 2550 [--------------------------------------------------->___________________] 73.18% 108 p/s1888 / 2550 [---------------------------------------------------->__________________] 74.04% 108 p/s1909 / 2550 [----------------------------------------------------->_________________] 74.86% 108 p/s1931 / 2550 [----------------------------------------------------->_________________] 75.73% 108 p/s1953 / 2550 [------------------------------------------------------>________________] 76.59% 108 p/s1975 / 2550 [------------------------------------------------------>________________] 77.45% 109 p/s1996 / 2550 [------------------------------------------------------->_______________] 78.27% 109 p/s2018 / 2550 [-------------------------------------------------------->______________] 79.14% 109 p/s2040 / 2550 [-------------------------------------------------------->______________] 80.00% 109 p/s2061 / 2550 [--------------------------------------------------------->_____________] 80.82% 109 p/s2083 / 2550 [--------------------------------------------------------->_____________] 81.69% 109 p/s2104 / 2550 [---------------------------------------------------------->____________] 82.51% 108 p/s2126 / 2550 [----------------------------------------------------------->___________] 83.37% 108 p/s2148 / 2550 [----------------------------------------------------------->___________] 84.24% 108 p/s2170 / 2550 [------------------------------------------------------------>__________] 85.10% 109 p/s2193 / 2550 [------------------------------------------------------------->_________] 86.00% 109 p/s2214 / 2550 [------------------------------------------------------------->_________] 86.82% 109 p/s2236 / 2550 [-------------------------------------------------------------->________] 87.69% 109 p/s2258 / 2550 [-------------------------------------------------------------->________] 88.55% 109 p/s2279 / 2550 [--------------------------------------------------------------->_______] 89.37% 109 p/s2300 / 2550 [---------------------------------------------------------------->______] 90.20% 109 p/s2322 / 2550 [---------------------------------------------------------------->______] 91.06% 109 p/s2344 / 2550 [----------------------------------------------------------------->_____] 91.92% 109 p/s2366 / 2550 [----------------------------------------------------------------->_____] 92.78% 109 p/s2388 / 2550 [------------------------------------------------------------------>____] 93.65% 109 p/s2409 / 2550 [------------------------------------------------------------------->___] 94.47% 109 p/s2431 / 2550 [------------------------------------------------------------------->___] 95.33% 109 p/s2454 / 2550 [-------------------------------------------------------------------->__] 96.24% 109 p/s2475 / 2550 [-------------------------------------------------------------------->__] 97.06% 109 p/s2497 / 2550 [--------------------------------------------------------------------->_] 97.92% 109 p/s2520 / 2550 [---------------------------------------------------------------------->] 98.82% 109 p/s2542 / 2550 [---------------------------------------------------------------------->] 99.69% 109 p/s2550 / 2550 [----------------------------------------------------------------------] 100.00% 110 p/s2026-01-22T15:27:55 - INFO: Parsing 2550 sonar sweeps from /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2550 [00:00<?, ?it/s]
  0%|          | 3/2550 [00:00<01:39, 25.70it/s]
  0%|          | 6/2550 [00:00<01:37, 26.21it/s]
  0%|          | 9/2550 [00:00<01:35, 26.50it/s]
  0%|          | 12/2550 [00:00<01:35, 26.50it/s]
  1%|          | 15/2550 [00:00<01:34, 26.79it/s]
  1%|          | 18/2550 [00:00<01:33, 26.94it/s]
  1%|          | 21/2550 [00:00<01:33, 27.12it/s]
  1%|          | 24/2550 [00:00<01:32, 27.20it/s]
  1%|          | 27/2550 [00:01<01:32, 27.18it/s]
  1%|          | 30/2550 [00:01<01:32, 27.13it/s]
  1%|▏         | 33/2550 [00:01<01:32, 27.19it/s]
  1%|▏         | 36/2550 [00:01<01:32, 27.20it/s]
  2%|▏         | 39/2550 [00:01<01:32, 27.23it/s]
  2%|▏         | 42/2550 [00:01<01:32, 27.22it/s]
  2%|▏         | 45/2550 [00:01<01:31, 27.26it/s]
  2%|▏         | 48/2550 [00:01<01:31, 27.26it/s]
  2%|▏         | 51/2550 [00:01<01:31, 27.29it/s]
  2%|▏         | 54/2550 [00:01<01:31, 27.28it/s]
  2%|▏         | 57/2550 [00:02<01:33, 26.74it/s]
  2%|▏         | 60/2550 [00:02<01:32, 26.86it/s]
  2%|▏         | 63/2550 [00:02<01:32, 26.98it/s]
  3%|▎         | 66/2550 [00:02<01:32, 27.00it/s]
  3%|▎         | 69/2550 [00:02<01:32, 26.85it/s]
  3%|▎         | 72/2550 [00:02<01:32, 26.79it/s]
  3%|▎         | 75/2550 [00:02<01:32, 26.90it/s]
  3%|▎         | 78/2550 [00:02<01:31, 26.90it/s]
  3%|▎         | 81/2550 [00:03<01:31, 26.97it/s]
  3%|▎         | 84/2550 [00:03<01:31, 26.98it/s]
  3%|▎         | 87/2550 [00:03<01:31, 26.95it/s]
  4%|▎         | 90/2550 [00:03<01:31, 27.01it/s]
  4%|▎         | 93/2550 [00:03<01:30, 27.04it/s]
  4%|▍         | 96/2550 [00:03<01:31, 26.93it/s]
  4%|▍         | 99/2550 [00:03<01:31, 26.88it/s]
  4%|▍         | 102/2550 [00:03<01:30, 26.92it/s]
  4%|▍         | 105/2550 [00:03<01:31, 26.85it/s]
  4%|▍         | 108/2550 [00:04<01:31, 26.79it/s]
  4%|▍         | 111/2550 [00:04<01:30, 26.84it/s]
  4%|▍         | 114/2550 [00:04<01:30, 26.93it/s]
  5%|▍         | 117/2550 [00:04<01:30, 26.98it/s]
  5%|▍         | 120/2550 [00:04<01:29, 27.03it/s]
  5%|▍         | 123/2550 [00:04<01:30, 26.94it/s]
  5%|▍         | 126/2550 [00:04<01:30, 26.84it/s]
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  5%|▌         | 135/2550 [00:05<01:29, 26.85it/s]
  5%|▌         | 138/2550 [00:05<01:30, 26.71it/s]
  6%|▌         | 141/2550 [00:05<01:29, 26.84it/s]
  6%|▌         | 144/2550 [00:05<01:29, 26.91it/s]
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  6%|▋         | 162/2550 [00:06<01:28, 26.90it/s]
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  7%|▋         | 171/2550 [00:06<01:28, 26.96it/s]
  7%|▋         | 174/2550 [00:06<01:27, 27.05it/s]
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  7%|▋         | 189/2550 [00:07<01:30, 26.18it/s]
  8%|▊         | 192/2550 [00:07<01:29, 26.42it/s]
  8%|▊         | 195/2550 [00:07<01:28, 26.59it/s]
  8%|▊         | 198/2550 [00:07<01:27, 26.80it/s]
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  8%|▊         | 204/2550 [00:07<01:26, 27.00it/s]
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  8%|▊         | 210/2550 [00:07<01:26, 27.13it/s]
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 10%|▉         | 243/2550 [00:09<01:25, 27.06it/s]
 10%|▉         | 246/2550 [00:09<01:24, 27.12it/s]
 10%|▉         | 249/2550 [00:09<01:24, 27.10it/s]
 10%|▉         | 252/2550 [00:09<01:24, 27.11it/s]
 10%|█         | 255/2550 [00:09<01:24, 27.05it/s]
 10%|█         | 258/2550 [00:09<01:24, 27.00it/s]
 10%|█         | 261/2550 [00:09<01:24, 26.93it/s]
 10%|█         | 264/2550 [00:09<01:24, 26.99it/s]
 10%|█         | 267/2550 [00:09<01:24, 27.02it/s]
 11%|█         | 270/2550 [00:10<01:24, 26.97it/s]
 11%|█         | 273/2550 [00:10<01:24, 26.99it/s]
 11%|█         | 276/2550 [00:10<01:23, 27.11it/s]
 11%|█         | 279/2550 [00:10<01:23, 27.06it/s]
 11%|█         | 282/2550 [00:10<01:23, 27.14it/s]
 11%|█         | 285/2550 [00:10<01:23, 27.21it/s]
 11%|█▏        | 288/2550 [00:10<01:23, 27.17it/s]
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 12%|█▏        | 300/2550 [00:11<01:23, 26.87it/s]
 12%|█▏        | 303/2550 [00:11<01:23, 26.91it/s]
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 12%|█▏        | 309/2550 [00:11<01:23, 26.94it/s]
 12%|█▏        | 312/2550 [00:11<01:22, 26.98it/s]
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 13%|█▎        | 321/2550 [00:11<01:26, 25.65it/s]
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 15%|█▍        | 372/2550 [00:13<01:21, 26.82it/s]
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2026-01-22T15:29:32 - 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/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1"
2026-01-22T15:29:32 - INFO: DataPrep 0.13.9
2026-01-22T15:29:32 - INFO: Prepared data will be output to /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/processing/data
2026-01-22T15:29:32 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T15:29:32 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T15:29:32 - INFO: Recording GUID: 0bb08273-ed2f-46c7-47cc-f94624d8a9b1
2026-01-22T15:29:32 - INFO: Preparing sonar data...
2026-01-22T15:29:32 - INFO: /working/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/0bb08273-ed2f-46c7-47cc-f94624d8a9b1/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T15:29:35 - INFO: Sonar epoch is 2026-01-06 18:27:05.429847+00:00 (1767724025429847484)
2026-01-22T15:29:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T15:29:35 - INFO: Sonar range is 0.722400 m
2026-01-22T15:29:35 - INFO: Speed of sound is 1494 m/s
2026-01-22T15:29:35 - INFO: Processing 2549 sweeps...

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2026-01-22T15:29:40 - INFO: Creating sonar sensor alignment track...
2026-01-22T15:29:41 - INFO: Prepared sonar data in 8.7895 s
2026-01-22T15:29:41 - INFO: No IMU data found
2026-01-22T15:29:42 - INFO: DataPrep took 0:00:09.111610
2026-01-22T15:29:42 - INFO: Extracted sonar data in 0:02:10.203339
2026-01-22T15:29:42 - INFO: MSIP3D took 0:02:10.443056