2026-01-22T23:05:39 - INFO: MSIP3D 0.1.6
2026-01-22T23:05:39 - INFO: P3D files will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-01-22T23:05:39 - INFO: Found 10 TFD dictionary entries
2026-01-22T23:05:39 - INFO: Found TFD mission for SJ502795 Dep 1
2026-01-22T23:05:39 - INFO: Recording will be processed as MD
2026-01-22T23:05:39 - INFO: Copying assets JSON to output directory...
2026-01-22T23:05:39 - INFO: Preparing counter data...
2026-01-22T23:05:39 - INFO: Interpreting counter as imperial
2026-01-22T23:05:39 - INFO: Prepared counter data in 0.0320 s
2026-01-22T23:05:39 - INFO: Extracting sonar data...
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/SJ502795_Dep_1_001.tfd
TFD path: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1895
22 / 1895 [>___________________________________________________________________________] 1.16% ? p/s44 / 1895 [->__________________________________________________________________________] 2.32% ? p/s66 / 1895 [-->_________________________________________________________________________] 3.48% ? p/s88 / 1895 [--->______________________________________________________________________] 4.64% 110 p/s110 / 1895 [---->____________________________________________________________________] 5.80% 110 p/s132 / 1895 [----->___________________________________________________________________] 6.97% 110 p/s155 / 1895 [----->___________________________________________________________________] 8.18% 110 p/s177 / 1895 [------>__________________________________________________________________] 9.34% 110 p/s199 / 1895 [------->________________________________________________________________] 10.50% 110 p/s222 / 1895 [-------->_______________________________________________________________] 11.72% 110 p/s244 / 1895 [--------->______________________________________________________________] 12.88% 110 p/s266 / 1895 [---------->_____________________________________________________________] 14.04% 110 p/s288 / 1895 [---------->_____________________________________________________________] 15.20% 110 p/s311 / 1895 [----------->____________________________________________________________] 16.41% 110 p/s333 / 1895 [------------>___________________________________________________________] 17.57% 110 p/s356 / 1895 [------------->__________________________________________________________] 18.79% 110 p/s378 / 1895 [-------------->_________________________________________________________] 19.95% 110 p/s401 / 1895 [--------------->________________________________________________________] 21.16% 110 p/s423 / 1895 [---------------->_______________________________________________________] 22.32% 111 p/s445 / 1895 [---------------->_______________________________________________________] 23.48% 111 p/s467 / 1895 [----------------->______________________________________________________] 24.64% 111 p/s489 / 1895 [------------------>_____________________________________________________] 25.80% 110 p/s511 / 1895 [------------------->____________________________________________________] 26.97% 110 p/s533 / 1895 [-------------------->___________________________________________________] 28.13% 110 p/s555 / 1895 [--------------------->__________________________________________________] 29.29% 110 p/s578 / 1895 [--------------------->__________________________________________________] 30.50% 110 p/s600 / 1895 [---------------------->_________________________________________________] 31.66% 110 p/s623 / 1895 [----------------------->________________________________________________] 32.88% 111 p/s645 / 1895 [------------------------>_______________________________________________] 34.04% 111 p/s668 / 1895 [------------------------->______________________________________________] 35.25% 111 p/s691 / 1895 [-------------------------->_____________________________________________] 36.46% 111 p/s714 / 1895 [--------------------------->____________________________________________] 37.68% 111 p/s736 / 1895 [--------------------------->____________________________________________] 38.84% 111 p/s759 / 1895 [---------------------------->___________________________________________] 40.05% 111 p/s781 / 1895 [----------------------------->__________________________________________] 41.21% 111 p/s803 / 1895 [------------------------------>_________________________________________] 42.37% 111 p/s826 / 1895 [------------------------------->________________________________________] 43.59% 111 p/s848 / 1895 [-------------------------------->_______________________________________] 44.75% 111 p/s871 / 1895 [--------------------------------->______________________________________] 45.96% 111 p/s893 / 1895 [--------------------------------->______________________________________] 47.12% 111 p/s916 / 1895 [---------------------------------->_____________________________________] 48.34% 111 p/s938 / 1895 [----------------------------------->____________________________________] 49.50% 111 p/s961 / 1895 [------------------------------------>___________________________________] 50.71% 111 p/s983 / 1895 [------------------------------------->__________________________________] 51.87% 111 p/s1005 / 1895 [------------------------------------->_________________________________] 53.03% 111 p/s1027 / 1895 [-------------------------------------->________________________________] 54.20% 111 p/s1049 / 1895 [--------------------------------------->_______________________________] 55.36% 111 p/s1072 / 1895 [---------------------------------------->______________________________] 56.57% 111 p/s1094 / 1895 [---------------------------------------->______________________________] 57.73% 111 p/s1116 / 1895 [----------------------------------------->_____________________________] 58.89% 111 p/s1138 / 1895 [------------------------------------------>____________________________] 60.05% 111 p/s1161 / 1895 [------------------------------------------->___________________________] 61.27% 111 p/s1183 / 1895 [-------------------------------------------->__________________________] 62.43% 111 p/s1205 / 1895 [--------------------------------------------->_________________________] 63.59% 111 p/s1227 / 1895 [--------------------------------------------->_________________________] 64.75% 111 p/s1249 / 1895 [---------------------------------------------->________________________] 65.91% 111 p/s1271 / 1895 [----------------------------------------------->_______________________] 67.07% 111 p/s1293 / 1895 [------------------------------------------------>______________________] 68.23% 111 p/s1315 / 1895 [------------------------------------------------->_____________________] 69.39% 111 p/s1336 / 1895 [-------------------------------------------------->____________________] 70.50% 111 p/s1358 / 1895 [-------------------------------------------------->____________________] 71.66% 111 p/s1380 / 1895 [--------------------------------------------------->___________________] 72.82% 111 p/s1402 / 1895 [---------------------------------------------------->__________________] 73.98% 111 p/s1424 / 1895 [----------------------------------------------------->_________________] 75.15% 111 p/s1446 / 1895 [------------------------------------------------------>________________] 76.31% 111 p/s1468 / 1895 [------------------------------------------------------->_______________] 77.47% 111 p/s1490 / 1895 [------------------------------------------------------->_______________] 78.63% 111 p/s1513 / 1895 [-------------------------------------------------------->______________] 79.84% 111 p/s1533 / 1895 [--------------------------------------------------------->_____________] 80.90% 111 p/s1555 / 1895 [---------------------------------------------------------->____________] 82.06% 111 p/s1577 / 1895 [----------------------------------------------------------->___________] 83.22% 111 p/s1600 / 1895 [----------------------------------------------------------->___________] 84.43% 111 p/s1621 / 1895 [------------------------------------------------------------>__________] 85.54% 111 p/s1643 / 1895 [------------------------------------------------------------->_________] 86.70% 111 p/s1664 / 1895 [-------------------------------------------------------------->________] 87.81% 111 p/s1684 / 1895 [--------------------------------------------------------------->_______] 88.87% 110 p/s1707 / 1895 [--------------------------------------------------------------->_______] 90.08% 110 p/s1729 / 1895 [---------------------------------------------------------------->______] 91.24% 110 p/s1751 / 1895 [----------------------------------------------------------------->_____] 92.40% 110 p/s1773 / 1895 [------------------------------------------------------------------>____] 93.56% 110 p/s1796 / 1895 [------------------------------------------------------------------->___] 94.78% 110 p/s1818 / 1895 [-------------------------------------------------------------------->__] 95.94% 110 p/s1840 / 1895 [-------------------------------------------------------------------->__] 97.10% 110 p/s1863 / 1895 [--------------------------------------------------------------------->_] 98.31% 110 p/s1885 / 1895 [---------------------------------------------------------------------->] 99.47% 110 p/s1895 / 1895 [----------------------------------------------------------------------] 100.00% 112 p/s2026-01-22T23:05:56 - INFO: Parsing 1895 sonar sweeps from /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/1895 [00:00<?, ?it/s]
  0%|          | 3/1895 [00:00<01:09, 27.04it/s]
  0%|          | 6/1895 [00:00<01:08, 27.39it/s]
  0%|          | 9/1895 [00:00<01:08, 27.58it/s]
  1%|          | 12/1895 [00:00<01:08, 27.59it/s]
  1%|          | 15/1895 [00:00<01:08, 27.51it/s]
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  1%|          | 21/1895 [00:00<01:08, 27.53it/s]
  1%|▏         | 24/1895 [00:00<01:07, 27.53it/s]
  1%|▏         | 27/1895 [00:00<01:07, 27.47it/s]
  2%|▏         | 30/1895 [00:01<01:07, 27.51it/s]
  2%|▏         | 33/1895 [00:01<01:07, 27.49it/s]
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  2%|▏         | 39/1895 [00:01<01:07, 27.61it/s]
  2%|▏         | 42/1895 [00:01<01:08, 27.15it/s]
  2%|▏         | 45/1895 [00:01<01:07, 27.34it/s]
  3%|▎         | 48/1895 [00:01<01:07, 27.44it/s]
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  4%|▍         | 84/1895 [00:03<01:06, 27.19it/s]
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 15%|█▍        | 276/1895 [00:10<00:58, 27.44it/s]
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 15%|█▌        | 285/1895 [00:10<00:58, 27.50it/s]
 15%|█▌        | 288/1895 [00:10<00:58, 27.55it/s]
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2026-01-22T23:07:06 - 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/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0"
2026-01-22T23:07:07 - INFO: DataPrep 0.13.9
2026-01-22T23:07:07 - INFO: Prepared data will be output to /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/processing/data
2026-01-22T23:07:07 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-22T23:07:07 - deployment - INFO: Detected P3D version: P3D_1
2026-01-22T23:07:07 - INFO: Recording GUID: 373a8e8d-a558-a915-4c56-44e5a2c73df0
2026-01-22T23:07:07 - INFO: Preparing sonar data...
2026-01-22T23:07:07 - INFO: /working/373a8e8d-a558-a915-4c56-44e5a2c73df0/373a8e8d-a558-a915-4c56-44e5a2c73df0/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-22T23:07:09 - INFO: Sonar epoch is 2026-01-06 15:07:55.189517+00:00 (1767712075189516770)
2026-01-22T23:07:09 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-22T23:07:09 - INFO: Sonar range is 0.939120 m
2026-01-22T23:07:09 - INFO: Speed of sound is 1494 m/s
2026-01-22T23:07:09 - INFO: Processing 1894 sweeps...

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2026-01-22T23:07:12 - INFO: Creating sonar sensor alignment track...
2026-01-22T23:07:12 - INFO: Prepared sonar data in 5.1048 s
2026-01-22T23:07:12 - INFO: No IMU data found
2026-01-22T23:07:12 - INFO: DataPrep took 0:00:05.274412
2026-01-22T23:07:12 - INFO: Extracted sonar data in 0:01:33.343712
2026-01-22T23:07:13 - INFO: MSIP3D took 0:01:33.523636