2026-01-13T23:25:28 - INFO: MSIP3D 0.1.6
2026-01-13T23:25:28 - INFO: P3D files will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-13T23:25:28 - INFO: Found 11 TFD dictionary entries
2026-01-13T23:25:28 - INFO: Found TFD mission for Nsoos
2026-01-13T23:25:28 - INFO: Recording will be processed as SMD
2026-01-13T23:25:28 - INFO: Copying assets JSON to output directory...
2026-01-13T23:25:28 - INFO: Preparing counter data...
2026-01-13T23:25:28 - INFO: Interpreting counter as metric
2026-01-13T23:25:29 - INFO: Prepared counter data in 0.3425 s
2026-01-13T23:25:29 - INFO: Extracting sonar data...
TFD path: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/tfd/Nsoos_002.tfd
TFD path: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215961321851459
Name: SONAR, Tag: 6012080327290606263
Getting track SONAR
Number of frames: 2956
11 / 2956 [>___________________________________________________________________________] 0.37% ? p/s22 / 2956 [>___________________________________________________________________________] 0.74% ? p/s34 / 2956 [>___________________________________________________________________________] 1.15% ? p/s45 / 2956 [->_________________________________________________________________________] 1.52% 57 p/s56 / 2956 [->_________________________________________________________________________] 1.89% 57 p/s67 / 2956 [->_________________________________________________________________________] 2.27% 57 p/s79 / 2956 [-->________________________________________________________________________] 2.67% 57 p/s90 / 2956 [-->________________________________________________________________________] 3.04% 57 p/s101 / 2956 [-->_______________________________________________________________________] 3.42% 57 p/s113 / 2956 [-->_______________________________________________________________________] 3.82% 57 p/s125 / 2956 [--->______________________________________________________________________] 4.23% 57 p/s135 / 2956 [--->______________________________________________________________________] 4.57% 57 p/s147 / 2956 [--->______________________________________________________________________] 4.97% 57 p/s158 / 2956 [--->______________________________________________________________________] 5.35% 57 p/s170 / 2956 [---->_____________________________________________________________________] 5.75% 57 p/s181 / 2956 [---->_____________________________________________________________________] 6.12% 57 p/s193 / 2956 [---->_____________________________________________________________________] 6.53% 57 p/s205 / 2956 [----->____________________________________________________________________] 6.94% 57 p/s216 / 2956 [----->____________________________________________________________________] 7.31% 57 p/s226 / 2956 [----->____________________________________________________________________] 7.65% 57 p/s238 / 2956 [----->____________________________________________________________________] 8.05% 57 p/s249 / 2956 [------>___________________________________________________________________] 8.42% 57 p/s260 / 2956 [------>___________________________________________________________________] 8.80% 57 p/s271 / 2956 [------>___________________________________________________________________] 9.17% 57 p/s283 / 2956 [------->__________________________________________________________________] 9.57% 57 p/s294 / 2956 [------->__________________________________________________________________] 9.95% 57 p/s305 / 2956 [------->_________________________________________________________________] 10.32% 57 p/s315 / 2956 [------->_________________________________________________________________] 10.66% 57 p/s326 / 2956 [-------->________________________________________________________________] 11.03% 57 p/s338 / 2956 [-------->________________________________________________________________] 11.43% 57 p/s350 / 2956 [-------->________________________________________________________________] 11.84% 57 p/s361 / 2956 [-------->________________________________________________________________] 12.21% 57 p/s372 / 2956 [--------->_______________________________________________________________] 12.58% 57 p/s384 / 2956 [--------->_______________________________________________________________] 12.99% 57 p/s396 / 2956 [--------->_______________________________________________________________] 13.40% 57 p/s407 / 2956 [---------->______________________________________________________________] 13.77% 57 p/s418 / 2956 [---------->______________________________________________________________] 14.14% 57 p/s429 / 2956 [---------->______________________________________________________________] 14.51% 57 p/s441 / 2956 [---------->______________________________________________________________] 14.92% 57 p/s452 / 2956 [----------->_____________________________________________________________] 15.29% 57 p/s464 / 2956 [----------->_____________________________________________________________] 15.70% 57 p/s475 / 2956 [----------->_____________________________________________________________] 16.07% 57 p/s487 / 2956 [------------>____________________________________________________________] 16.47% 57 p/s498 / 2956 [------------>____________________________________________________________] 16.85% 57 p/s509 / 2956 [------------>____________________________________________________________] 17.22% 57 p/s519 / 2956 [------------>____________________________________________________________] 17.56% 57 p/s530 / 2956 [------------->___________________________________________________________] 17.93% 57 p/s541 / 2956 [------------->___________________________________________________________] 18.30% 57 p/s553 / 2956 [------------->___________________________________________________________] 18.71% 57 p/s565 / 2956 [------------->___________________________________________________________] 19.11% 57 p/s576 / 2956 [-------------->__________________________________________________________] 19.49% 57 p/s587 / 2956 [-------------->__________________________________________________________] 19.86% 57 p/s599 / 2956 [-------------->__________________________________________________________] 20.26% 57 p/s610 / 2956 [--------------->_________________________________________________________] 20.64% 57 p/s622 / 2956 [--------------->_________________________________________________________] 21.04% 57 p/s634 / 2956 [--------------->_________________________________________________________] 21.45% 57 p/s645 / 2956 [--------------->_________________________________________________________] 21.82% 57 p/s656 / 2956 [---------------->________________________________________________________] 22.19% 57 p/s667 / 2956 [---------------->________________________________________________________] 22.56% 57 p/s678 / 2956 [---------------->________________________________________________________] 22.94% 57 p/s689 / 2956 [----------------->_______________________________________________________] 23.31% 57 p/s701 / 2956 [----------------->_______________________________________________________] 23.71% 57 p/s713 / 2956 [----------------->_______________________________________________________] 24.12% 57 p/s724 / 2956 [----------------->_______________________________________________________] 24.49% 57 p/s736 / 2956 [------------------>______________________________________________________] 24.90% 57 p/s747 / 2956 [------------------>______________________________________________________] 25.27% 57 p/s759 / 2956 [------------------>______________________________________________________] 25.68% 57 p/s770 / 2956 [------------------->_____________________________________________________] 26.05% 57 p/s782 / 2956 [------------------->_____________________________________________________] 26.45% 57 p/s793 / 2956 [------------------->_____________________________________________________] 26.83% 57 p/s805 / 2956 [------------------->_____________________________________________________] 27.23% 57 p/s816 / 2956 [-------------------->____________________________________________________] 27.60% 57 p/s828 / 2956 [-------------------->____________________________________________________] 28.01% 57 p/s839 / 2956 [-------------------->____________________________________________________] 28.38% 57 p/s851 / 2956 [--------------------->___________________________________________________] 28.79% 57 p/s863 / 2956 [--------------------->___________________________________________________] 29.19% 57 p/s874 / 2956 [--------------------->___________________________________________________] 29.57% 57 p/s885 / 2956 [--------------------->___________________________________________________] 29.94% 57 p/s897 / 2956 [---------------------->__________________________________________________] 30.35% 57 p/s909 / 2956 [---------------------->__________________________________________________] 30.75% 57 p/s920 / 2956 [---------------------->__________________________________________________] 31.12% 57 p/s931 / 2956 [---------------------->__________________________________________________] 31.50% 57 p/s943 / 2956 [----------------------->_________________________________________________] 31.90% 57 p/s955 / 2956 [----------------------->_________________________________________________] 32.31% 57 p/s966 / 2956 [----------------------->_________________________________________________] 32.68% 57 p/s977 / 2956 [------------------------>________________________________________________] 33.05% 57 p/s989 / 2956 [------------------------>________________________________________________] 33.46% 57 p/s1000 / 2956 [------------------------>_______________________________________________] 33.83% 57 p/s1011 / 2956 [------------------------>_______________________________________________] 34.20% 57 p/s1022 / 2956 [------------------------>_______________________________________________] 34.57% 57 p/s1034 / 2956 [------------------------->______________________________________________] 34.98% 57 p/s1046 / 2956 [------------------------->______________________________________________] 35.39% 57 p/s1057 / 2956 [------------------------->______________________________________________] 35.76% 57 p/s1068 / 2956 [-------------------------->_____________________________________________] 36.13% 57 p/s1079 / 2956 [-------------------------->_____________________________________________] 36.50% 57 p/s1091 / 2956 [-------------------------->_____________________________________________] 36.91% 57 p/s1102 / 2956 [-------------------------->_____________________________________________] 37.28% 57 p/s1113 / 2956 [--------------------------->____________________________________________] 37.65% 57 p/s1124 / 2956 [--------------------------->____________________________________________] 38.02% 57 p/s1136 / 2956 [--------------------------->____________________________________________] 38.43% 57 p/s1147 / 2956 [--------------------------->____________________________________________] 38.80% 57 p/s1158 / 2956 [---------------------------->___________________________________________] 39.17% 57 p/s1169 / 2956 [---------------------------->___________________________________________] 39.55% 57 p/s1180 / 2956 [---------------------------->___________________________________________] 39.92% 57 p/s1192 / 2956 [----------------------------->__________________________________________] 40.32% 57 p/s1203 / 2956 [----------------------------->__________________________________________] 40.70% 57 p/s1215 / 2956 [----------------------------->__________________________________________] 41.10% 57 p/s1226 / 2956 [----------------------------->__________________________________________] 41.47% 57 p/s1237 / 2956 [------------------------------>_________________________________________] 41.85% 57 p/s1249 / 2956 [------------------------------>_________________________________________] 42.25% 57 p/s1260 / 2956 [------------------------------>_________________________________________] 42.63% 57 p/s1272 / 2956 [------------------------------>_________________________________________] 43.03% 57 p/s1283 / 2956 [------------------------------->________________________________________] 43.40% 57 p/s1295 / 2956 [------------------------------->________________________________________] 43.81% 57 p/s1306 / 2956 [------------------------------->________________________________________] 44.18% 57 p/s1317 / 2956 [-------------------------------->_______________________________________] 44.55% 57 p/s1329 / 2956 [-------------------------------->_______________________________________] 44.96% 57 p/s1340 / 2956 [-------------------------------->_______________________________________] 45.33% 57 p/s1351 / 2956 [-------------------------------->_______________________________________] 45.70% 57 p/s1362 / 2956 [--------------------------------->______________________________________] 46.08% 57 p/s1374 / 2956 [--------------------------------->______________________________________] 46.48% 57 p/s1384 / 2956 [--------------------------------->______________________________________] 46.82% 57 p/s1396 / 2956 [---------------------------------->_____________________________________] 47.23% 57 p/s1407 / 2956 [---------------------------------->_____________________________________] 47.60% 57 p/s1419 / 2956 [---------------------------------->_____________________________________] 48.00% 57 p/s1429 / 2956 [---------------------------------->_____________________________________] 48.34% 57 p/s1440 / 2956 [----------------------------------->____________________________________] 48.71% 57 p/s1452 / 2956 [----------------------------------->____________________________________] 49.12% 57 p/s1462 / 2956 [----------------------------------->____________________________________] 49.46% 57 p/s1474 / 2956 [----------------------------------->____________________________________] 49.86% 57 p/s1486 / 2956 [------------------------------------>___________________________________] 50.27% 57 p/s1497 / 2956 [------------------------------------>___________________________________] 50.64% 57 p/s1507 / 2956 [------------------------------------>___________________________________] 50.98% 57 p/s1519 / 2956 [------------------------------------>___________________________________] 51.39% 57 p/s1531 / 2956 [------------------------------------->__________________________________] 51.79% 57 p/s1543 / 2956 [------------------------------------->__________________________________] 52.20% 57 p/s1554 / 2956 [------------------------------------->__________________________________] 52.57% 57 p/s1565 / 2956 [-------------------------------------->_________________________________] 52.94% 57 p/s1577 / 2956 [-------------------------------------->_________________________________] 53.35% 57 p/s1599 / 2956 [-------------------------------------->_________________________________] 54.09% 57 p/s1620 / 2956 [--------------------------------------->________________________________] 54.80% 57 p/s1633 / 2956 [--------------------------------------->________________________________] 55.24% 59 p/s1654 / 2956 [---------------------------------------->_______________________________] 55.95% 59 p/s1677 / 2956 [---------------------------------------->_______________________________] 56.73% 59 p/s1700 / 2956 [----------------------------------------->______________________________] 57.51% 62 p/s1721 / 2956 [----------------------------------------->______________________________] 58.22% 62 p/s1744 / 2956 [------------------------------------------>_____________________________] 59.00% 62 p/s1767 / 2956 [------------------------------------------->____________________________] 59.78% 66 p/s1790 / 2956 [------------------------------------------->____________________________] 60.55% 66 p/s1812 / 2956 [-------------------------------------------->___________________________] 61.30% 66 p/s1835 / 2956 [-------------------------------------------->___________________________] 62.08% 69 p/s1858 / 2956 [--------------------------------------------->__________________________] 62.86% 69 p/s1876 / 2956 [--------------------------------------------->__________________________] 63.46% 69 p/s1888 / 2956 [--------------------------------------------->__________________________] 63.87% 70 p/s1900 / 2956 [---------------------------------------------->_________________________] 64.28% 70 p/s1911 / 2956 [---------------------------------------------->_________________________] 64.65% 70 p/s1923 / 2956 [---------------------------------------------->_________________________] 65.05% 69 p/s1934 / 2956 [----------------------------------------------->________________________] 65.43% 69 p/s1946 / 2956 [----------------------------------------------->________________________] 65.83% 69 p/s1957 / 2956 [----------------------------------------------->________________________] 66.20% 68 p/s1969 / 2956 [----------------------------------------------->________________________] 66.61% 68 p/s1980 / 2956 [------------------------------------------------>_______________________] 66.98% 68 p/s1992 / 2956 [------------------------------------------------>_______________________] 67.39% 68 p/s2004 / 2956 [------------------------------------------------>_______________________] 67.79% 68 p/s2015 / 2956 [------------------------------------------------->______________________] 68.17% 68 p/s2026 / 2956 [------------------------------------------------->______________________] 68.54% 67 p/s2038 / 2956 [------------------------------------------------->______________________] 68.94% 67 p/s2049 / 2956 [------------------------------------------------->______________________] 69.32% 67 p/s2060 / 2956 [-------------------------------------------------->_____________________] 69.69% 66 p/s2071 / 2956 [-------------------------------------------------->_____________________] 70.06% 66 p/s2082 / 2956 [-------------------------------------------------->_____________________] 70.43% 66 p/s2093 / 2956 [-------------------------------------------------->_____________________] 70.81% 66 p/s2114 / 2956 [--------------------------------------------------->____________________] 71.52% 66 p/s2131 / 2956 [--------------------------------------------------->____________________] 72.09% 66 p/s2146 / 2956 [---------------------------------------------------->___________________] 72.60% 67 p/s2158 / 2956 [---------------------------------------------------->___________________] 73.00% 67 p/s2170 / 2956 [---------------------------------------------------->___________________] 73.41% 67 p/s2181 / 2956 [----------------------------------------------------->__________________] 73.78% 67 p/s2193 / 2956 [----------------------------------------------------->__________________] 74.19% 67 p/s2205 / 2956 [----------------------------------------------------->__________________] 74.59% 67 p/s2216 / 2956 [----------------------------------------------------->__________________] 74.97% 66 p/s2228 / 2956 [------------------------------------------------------>_________________] 75.37% 66 p/s2240 / 2956 [------------------------------------------------------>_________________] 75.78% 66 p/s2250 / 2956 [------------------------------------------------------>_________________] 76.12% 65 p/s2262 / 2956 [------------------------------------------------------->________________] 76.52% 65 p/s2273 / 2956 [------------------------------------------------------->________________] 76.89% 65 p/s2284 / 2956 [------------------------------------------------------->________________] 77.27% 65 p/s2296 / 2956 [------------------------------------------------------->________________] 77.67% 65 p/s2307 / 2956 [-------------------------------------------------------->_______________] 78.04% 65 p/s2319 / 2956 [-------------------------------------------------------->_______________] 78.45% 64 p/s2330 / 2956 [-------------------------------------------------------->_______________] 78.82% 64 p/s2341 / 2956 [--------------------------------------------------------->______________] 79.19% 64 p/s2352 / 2956 [--------------------------------------------------------->______________] 79.57% 64 p/s2363 / 2956 [--------------------------------------------------------->______________] 79.94% 64 p/s2375 / 2956 [--------------------------------------------------------->______________] 80.35% 64 p/s2386 / 2956 [---------------------------------------------------------->_____________] 80.72% 63 p/s2398 / 2956 [---------------------------------------------------------->_____________] 81.12% 63 p/s2410 / 2956 [---------------------------------------------------------->_____________] 81.53% 63 p/s2422 / 2956 [---------------------------------------------------------->_____________] 81.94% 63 p/s2433 / 2956 [----------------------------------------------------------->____________] 82.31% 63 p/s2445 / 2956 [----------------------------------------------------------->____________] 82.71% 63 p/s2456 / 2956 [----------------------------------------------------------->____________] 83.09% 63 p/s2467 / 2956 [------------------------------------------------------------>___________] 83.46% 63 p/s2478 / 2956 [------------------------------------------------------------>___________] 83.83% 63 p/s2490 / 2956 [------------------------------------------------------------>___________] 84.24% 62 p/s2501 / 2956 [------------------------------------------------------------>___________] 84.61% 62 p/s2512 / 2956 [------------------------------------------------------------->__________] 84.98% 62 p/s2523 / 2956 [------------------------------------------------------------->__________] 85.35% 62 p/s2534 / 2956 [------------------------------------------------------------->__________] 85.72% 62 p/s2545 / 2956 [------------------------------------------------------------->__________] 86.10% 62 p/s2556 / 2956 [-------------------------------------------------------------->_________] 86.47% 61 p/s2567 / 2956 [-------------------------------------------------------------->_________] 86.84% 61 p/s2579 / 2956 [-------------------------------------------------------------->_________] 87.25% 61 p/s2590 / 2956 [--------------------------------------------------------------->________] 87.62% 61 p/s2600 / 2956 [--------------------------------------------------------------->________] 87.96% 61 p/s2612 / 2956 [--------------------------------------------------------------->________] 88.36% 61 p/s2623 / 2956 [--------------------------------------------------------------->________] 88.73% 61 p/s2635 / 2956 [---------------------------------------------------------------->_______] 89.14% 61 p/s2646 / 2956 [---------------------------------------------------------------->_______] 89.51% 61 p/s2658 / 2956 [---------------------------------------------------------------->_______] 89.92% 61 p/s2669 / 2956 [----------------------------------------------------------------->______] 90.29% 61 p/s2680 / 2956 [----------------------------------------------------------------->______] 90.66% 61 p/s2691 / 2956 [----------------------------------------------------------------->______] 91.04% 60 p/s2703 / 2956 [----------------------------------------------------------------->______] 91.44% 60 p/s2715 / 2956 [------------------------------------------------------------------>_____] 91.85% 60 p/s2727 / 2956 [------------------------------------------------------------------>_____] 92.25% 60 p/s2738 / 2956 [------------------------------------------------------------------>_____] 92.63% 60 p/s2750 / 2956 [------------------------------------------------------------------>_____] 93.03% 60 p/s2761 / 2956 [------------------------------------------------------------------->____] 93.40% 60 p/s2773 / 2956 [------------------------------------------------------------------->____] 93.81% 60 p/s2784 / 2956 [------------------------------------------------------------------->____] 94.18% 60 p/s2795 / 2956 [-------------------------------------------------------------------->___] 94.55% 60 p/s2806 / 2956 [-------------------------------------------------------------------->___] 94.93% 60 p/s2817 / 2956 [-------------------------------------------------------------------->___] 95.30% 60 p/s2828 / 2956 [-------------------------------------------------------------------->___] 95.67% 59 p/s2840 / 2956 [--------------------------------------------------------------------->__] 96.08% 59 p/s2852 / 2956 [--------------------------------------------------------------------->__] 96.48% 59 p/s2864 / 2956 [--------------------------------------------------------------------->__] 96.89% 59 p/s2875 / 2956 [---------------------------------------------------------------------->_] 97.26% 59 p/s2887 / 2956 [---------------------------------------------------------------------->_] 97.67% 59 p/s2899 / 2956 [---------------------------------------------------------------------->_] 98.07% 59 p/s2910 / 2956 [---------------------------------------------------------------------->_] 98.44% 59 p/s2922 / 2956 [----------------------------------------------------------------------->] 98.85% 59 p/s2934 / 2956 [----------------------------------------------------------------------->] 99.26% 59 p/s2945 / 2956 [----------------------------------------------------------------------->] 99.63% 59 p/s2956 / 2956 [-----------------------------------------------------------------------] 100.00% 60 p/s2026-01-13T23:26:18 - INFO: Parsing 2956 sonar sweeps from /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2956 [00:00<?, ?it/s]
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2026-01-13T23:29:52 - 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 /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2"
2026-01-13T23:29:53 - INFO: DataPrep 0.13.9
2026-01-13T23:29:53 - INFO: Prepared data will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/processing/data
2026-01-13T23:29:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-13T23:29:53 - deployment - INFO: Detected P3D version: P3D_1
2026-01-13T23:29:53 - INFO: Recording GUID: c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-13T23:29:53 - INFO: Preparing sonar data...
2026-01-13T23:29:53 - INFO: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-13T23:29:58 - INFO: Sonar epoch is 2025-11-07 21:51:06.614140+00:00 (1762552266614139788)
2026-01-13T23:29:58 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-13T23:29:58 - INFO: Sonar range is 3.250800 m
2026-01-13T23:29:58 - INFO: Speed of sound is 1494 m/s
2026-01-13T23:29:58 - INFO: Processing 2956 sweeps...

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2026-01-13T23:30:13 - INFO: Creating sonar sensor alignment track...
2026-01-13T23:30:15 - INFO: Prepared sonar data in 21.1916 s
2026-01-13T23:30:15 - INFO: No IMU data found
2026-01-13T23:30:15 - INFO: DataPrep took 0:00:21.676499
2026-01-13T23:30:15 - INFO: Extracted sonar data in 0:04:46.265180
2026-01-13T23:30:16 - INFO: MSIP3D took 0:04:47.012609