2026-01-14T03:34:52 - INFO: MSIP3D 0.1.6
2026-01-14T03:34:52 - INFO: P3D files will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-14T03:34:52 - INFO: Found 11 TFD dictionary entries
2026-01-14T03:34:52 - INFO: Found TFD mission for Nsoos
2026-01-14T03:34:52 - INFO: Recording will be processed as SMD
2026-01-14T03:34:52 - INFO: Copying assets JSON to output directory...
2026-01-14T03:34:53 - INFO: Preparing counter data...
2026-01-14T03:34:53 - INFO: Interpreting counter as metric
2026-01-14T03:34:53 - INFO: Prepared counter data in 0.3332 s
2026-01-14T03:34:53 - 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: CCTV, Tag: 4855221467469924931
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: CCTV, Tag: 4855215961321851459
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080327290606263
Getting track SONAR
Number of frames: 2956
10 / 2956 [>___________________________________________________________________________] 0.34% ? p/s22 / 2956 [>___________________________________________________________________________] 0.74% ? p/s34 / 2956 [>___________________________________________________________________________] 1.15% ? p/s46 / 2956 [->_________________________________________________________________________] 1.56% 60 p/s57 / 2956 [->_________________________________________________________________________] 1.93% 60 p/s69 / 2956 [->_________________________________________________________________________] 2.33% 60 p/s80 / 2956 [-->________________________________________________________________________] 2.71% 60 p/s92 / 2956 [-->________________________________________________________________________] 3.11% 60 p/s104 / 2956 [-->_______________________________________________________________________] 3.52% 60 p/s114 / 2956 [-->_______________________________________________________________________] 3.86% 60 p/s125 / 2956 [--->______________________________________________________________________] 4.23% 60 p/s136 / 2956 [--->______________________________________________________________________] 4.60% 60 p/s148 / 2956 [--->______________________________________________________________________] 5.01% 59 p/s161 / 2956 [---->_____________________________________________________________________] 5.45% 59 p/s173 / 2956 [---->_____________________________________________________________________] 5.85% 59 p/s185 / 2956 [---->_____________________________________________________________________] 6.26% 60 p/s197 / 2956 [---->_____________________________________________________________________] 6.66% 60 p/s207 / 2956 [----->____________________________________________________________________] 7.00% 60 p/s219 / 2956 [----->____________________________________________________________________] 7.41% 59 p/s231 / 2956 [----->____________________________________________________________________] 7.81% 59 p/s242 / 2956 [------>___________________________________________________________________] 8.19% 59 p/s253 / 2956 [------>___________________________________________________________________] 8.56% 59 p/s264 / 2956 [------>___________________________________________________________________] 8.93% 59 p/s276 / 2956 [------>___________________________________________________________________] 9.34% 59 p/s288 / 2956 [------->__________________________________________________________________] 9.74% 59 p/s299 / 2956 [------->_________________________________________________________________] 10.12% 59 p/s311 / 2956 [------->_________________________________________________________________] 10.52% 59 p/s322 / 2956 [------->_________________________________________________________________] 10.89% 59 p/s334 / 2956 [-------->________________________________________________________________] 11.30% 59 p/s345 / 2956 [-------->________________________________________________________________] 11.67% 59 p/s356 / 2956 [-------->________________________________________________________________] 12.04% 59 p/s367 / 2956 [--------->_______________________________________________________________] 12.42% 59 p/s378 / 2956 [--------->_______________________________________________________________] 12.79% 59 p/s389 / 2956 [--------->_______________________________________________________________] 13.16% 59 p/s401 / 2956 [--------->_______________________________________________________________] 13.57% 59 p/s412 / 2956 [---------->______________________________________________________________] 13.94% 59 p/s424 / 2956 [---------->______________________________________________________________] 14.34% 59 p/s435 / 2956 [---------->______________________________________________________________] 14.72% 59 p/s447 / 2956 [----------->_____________________________________________________________] 15.12% 59 p/s458 / 2956 [----------->_____________________________________________________________] 15.49% 58 p/s470 / 2956 [----------->_____________________________________________________________] 15.90% 58 p/s481 / 2956 [----------->_____________________________________________________________] 16.27% 58 p/s492 / 2956 [------------>____________________________________________________________] 16.64% 58 p/s504 / 2956 [------------>____________________________________________________________] 17.05% 58 p/s515 / 2956 [------------>____________________________________________________________] 17.42% 58 p/s526 / 2956 [------------>____________________________________________________________] 17.79% 58 p/s537 / 2956 [------------->___________________________________________________________] 18.17% 58 p/s548 / 2956 [------------->___________________________________________________________] 18.54% 58 p/s559 / 2956 [------------->___________________________________________________________] 18.91% 58 p/s571 / 2956 [-------------->__________________________________________________________] 19.32% 58 p/s583 / 2956 [-------------->__________________________________________________________] 19.72% 58 p/s594 / 2956 [-------------->__________________________________________________________] 20.09% 58 p/s606 / 2956 [-------------->__________________________________________________________] 20.50% 58 p/s618 / 2956 [--------------->_________________________________________________________] 20.91% 58 p/s629 / 2956 [--------------->_________________________________________________________] 21.28% 58 p/s641 / 2956 [--------------->_________________________________________________________] 21.68% 58 p/s652 / 2956 [---------------->________________________________________________________] 22.06% 58 p/s664 / 2956 [---------------->________________________________________________________] 22.46% 58 p/s675 / 2956 [---------------->________________________________________________________] 22.83% 58 p/s686 / 2956 [---------------->________________________________________________________] 23.21% 58 p/s697 / 2956 [----------------->_______________________________________________________] 23.58% 58 p/s709 / 2956 [----------------->_______________________________________________________] 23.99% 58 p/s721 / 2956 [----------------->_______________________________________________________] 24.39% 58 p/s732 / 2956 [------------------>______________________________________________________] 24.76% 58 p/s744 / 2956 [------------------>______________________________________________________] 25.17% 58 p/s755 / 2956 [------------------>______________________________________________________] 25.54% 58 p/s767 / 2956 [------------------>______________________________________________________] 25.95% 58 p/s778 / 2956 [------------------->_____________________________________________________] 26.32% 58 p/s789 / 2956 [------------------->_____________________________________________________] 26.69% 58 p/s800 / 2956 [------------------->_____________________________________________________] 27.06% 58 p/s812 / 2956 [-------------------->____________________________________________________] 27.47% 58 p/s824 / 2956 [-------------------->____________________________________________________] 27.88% 58 p/s836 / 2956 [-------------------->____________________________________________________] 28.28% 58 p/s847 / 2956 [-------------------->____________________________________________________] 28.65% 58 p/s859 / 2956 [--------------------->___________________________________________________] 29.06% 58 p/s870 / 2956 [--------------------->___________________________________________________] 29.43% 58 p/s881 / 2956 [--------------------->___________________________________________________] 29.80% 58 p/s893 / 2956 [---------------------->__________________________________________________] 30.21% 58 p/s904 / 2956 [---------------------->__________________________________________________] 30.58% 58 p/s916 / 2956 [---------------------->__________________________________________________] 30.99% 58 p/s927 / 2956 [---------------------->__________________________________________________] 31.36% 58 p/s939 / 2956 [----------------------->_________________________________________________] 31.77% 58 p/s951 / 2956 [----------------------->_________________________________________________] 32.17% 58 p/s962 / 2956 [----------------------->_________________________________________________] 32.54% 58 p/s974 / 2956 [------------------------>________________________________________________] 32.95% 58 p/s985 / 2956 [------------------------>________________________________________________] 33.32% 58 p/s997 / 2956 [------------------------>________________________________________________] 33.73% 58 p/s1009 / 2956 [------------------------>_______________________________________________] 34.13% 58 p/s1020 / 2956 [------------------------>_______________________________________________] 34.51% 58 p/s1031 / 2956 [------------------------->______________________________________________] 34.88% 58 p/s1043 / 2956 [------------------------->______________________________________________] 35.28% 58 p/s1065 / 2956 [------------------------->______________________________________________] 36.03% 58 p/s1082 / 2956 [-------------------------->_____________________________________________] 36.60% 58 p/s1093 / 2956 [-------------------------->_____________________________________________] 36.98% 59 p/s1110 / 2956 [--------------------------->____________________________________________] 37.55% 59 p/s1123 / 2956 [--------------------------->____________________________________________] 37.99% 59 p/s1141 / 2956 [--------------------------->____________________________________________] 38.60% 61 p/s1164 / 2956 [---------------------------->___________________________________________] 39.38% 61 p/s1187 / 2956 [---------------------------->___________________________________________] 40.16% 61 p/s1207 / 2956 [----------------------------->__________________________________________] 40.83% 64 p/s1230 / 2956 [----------------------------->__________________________________________] 41.61% 64 p/s1253 / 2956 [------------------------------>_________________________________________] 42.39% 64 p/s1275 / 2956 [------------------------------->________________________________________] 43.13% 67 p/s1298 / 2956 [------------------------------->________________________________________] 43.91% 67 p/s1322 / 2956 [-------------------------------->_______________________________________] 44.72% 67 p/s1345 / 2956 [-------------------------------->_______________________________________] 45.50% 70 p/s1364 / 2956 [--------------------------------->______________________________________] 46.14% 70 p/s1375 / 2956 [--------------------------------->______________________________________] 46.52% 70 p/s1386 / 2956 [--------------------------------->______________________________________] 46.89% 70 p/s1398 / 2956 [---------------------------------->_____________________________________] 47.29% 70 p/s1409 / 2956 [---------------------------------->_____________________________________] 47.67% 70 p/s1421 / 2956 [---------------------------------->_____________________________________] 48.07% 69 p/s1433 / 2956 [---------------------------------->_____________________________________] 48.48% 69 p/s1445 / 2956 [----------------------------------->____________________________________] 48.88% 69 p/s1456 / 2956 [----------------------------------->____________________________________] 49.26% 69 p/s1468 / 2956 [----------------------------------->____________________________________] 49.66% 69 p/s1480 / 2956 [------------------------------------>___________________________________] 50.07% 69 p/s1491 / 2956 [------------------------------------>___________________________________] 50.44% 68 p/s1502 / 2956 [------------------------------------>___________________________________] 50.81% 68 p/s1514 / 2956 [------------------------------------>___________________________________] 51.22% 68 p/s1526 / 2956 [------------------------------------->__________________________________] 51.62% 67 p/s1537 / 2956 [------------------------------------->__________________________________] 52.00% 67 p/s1548 / 2956 [------------------------------------->__________________________________] 52.37% 67 p/s1559 / 2956 [------------------------------------->__________________________________] 52.74% 67 p/s1569 / 2956 [-------------------------------------->_________________________________] 53.08% 67 p/s1583 / 2956 [-------------------------------------->_________________________________] 53.55% 67 p/s1604 / 2956 [--------------------------------------->________________________________] 54.26% 67 p/s1624 / 2956 [--------------------------------------->________________________________] 54.94% 67 p/s1636 / 2956 [--------------------------------------->________________________________] 55.35% 67 p/s1648 / 2956 [---------------------------------------->_______________________________] 55.75% 68 p/s1659 / 2956 [---------------------------------------->_______________________________] 56.12% 68 p/s1671 / 2956 [---------------------------------------->_______________________________] 56.53% 68 p/s1683 / 2956 [---------------------------------------->_______________________________] 56.94% 67 p/s1694 / 2956 [----------------------------------------->______________________________] 57.31% 67 p/s1706 / 2956 [----------------------------------------->______________________________] 57.71% 67 p/s1718 / 2956 [----------------------------------------->______________________________] 58.12% 66 p/s1730 / 2956 [------------------------------------------>_____________________________] 58.53% 66 p/s1741 / 2956 [------------------------------------------>_____________________________] 58.90% 66 p/s1753 / 2956 [------------------------------------------>_____________________________] 59.30% 66 p/s1764 / 2956 [------------------------------------------>_____________________________] 59.68% 66 p/s1775 / 2956 [------------------------------------------->____________________________] 60.05% 66 p/s1787 / 2956 [------------------------------------------->____________________________] 60.45% 65 p/s1797 / 2956 [------------------------------------------->____________________________] 60.79% 65 p/s1809 / 2956 [-------------------------------------------->___________________________] 61.20% 65 p/s1820 / 2956 [-------------------------------------------->___________________________] 61.57% 65 p/s1831 / 2956 [-------------------------------------------->___________________________] 61.94% 65 p/s1842 / 2956 [-------------------------------------------->___________________________] 62.31% 65 p/s1853 / 2956 [--------------------------------------------->__________________________] 62.69% 64 p/s1868 / 2956 [--------------------------------------------->__________________________] 63.19% 64 p/s1880 / 2956 [--------------------------------------------->__________________________] 63.60% 64 p/s1892 / 2956 [---------------------------------------------->_________________________] 64.01% 64 p/s1904 / 2956 [---------------------------------------------->_________________________] 64.41% 64 p/s1915 / 2956 [---------------------------------------------->_________________________] 64.78% 64 p/s1927 / 2956 [---------------------------------------------->_________________________] 65.19% 64 p/s1939 / 2956 [----------------------------------------------->________________________] 65.60% 64 p/s1950 / 2956 [----------------------------------------------->________________________] 65.97% 64 p/s1962 / 2956 [----------------------------------------------->________________________] 66.37% 63 p/s1974 / 2956 [------------------------------------------------>_______________________] 66.78% 63 p/s1985 / 2956 [------------------------------------------------>_______________________] 67.15% 63 p/s1996 / 2956 [------------------------------------------------>_______________________] 67.52% 63 p/s2007 / 2956 [------------------------------------------------>_______________________] 67.90% 63 p/s2019 / 2956 [------------------------------------------------->______________________] 68.30% 63 p/s2030 / 2956 [------------------------------------------------->______________________] 68.67% 63 p/s2041 / 2956 [------------------------------------------------->______________________] 69.05% 63 p/s2051 / 2956 [------------------------------------------------->______________________] 69.38% 63 p/s2062 / 2956 [-------------------------------------------------->_____________________] 69.76% 62 p/s2074 / 2956 [-------------------------------------------------->_____________________] 70.16% 62 p/s2086 / 2956 [-------------------------------------------------->_____________________] 70.57% 62 p/s2097 / 2956 [--------------------------------------------------->____________________] 70.94% 62 p/s2109 / 2956 [--------------------------------------------------->____________________] 71.35% 62 p/s2121 / 2956 [--------------------------------------------------->____________________] 71.75% 62 p/s2132 / 2956 [--------------------------------------------------->____________________] 72.12% 61 p/s2143 / 2956 [---------------------------------------------------->___________________] 72.50% 61 p/s2154 / 2956 [---------------------------------------------------->___________________] 72.87% 61 p/s2166 / 2956 [---------------------------------------------------->___________________] 73.27% 61 p/s2178 / 2956 [----------------------------------------------------->__________________] 73.68% 61 p/s2189 / 2956 [----------------------------------------------------->__________________] 74.05% 61 p/s2201 / 2956 [----------------------------------------------------->__________________] 74.46% 61 p/s2213 / 2956 [----------------------------------------------------->__________________] 74.86% 61 p/s2225 / 2956 [------------------------------------------------------>_________________] 75.27% 61 p/s2236 / 2956 [------------------------------------------------------>_________________] 75.64% 61 p/s2247 / 2956 [------------------------------------------------------>_________________] 76.01% 61 p/s2258 / 2956 [------------------------------------------------------>_________________] 76.39% 61 p/s2269 / 2956 [------------------------------------------------------->________________] 76.76% 60 p/s2280 / 2956 [------------------------------------------------------->________________] 77.13% 60 p/s2292 / 2956 [------------------------------------------------------->________________] 77.54% 60 p/s2303 / 2956 [-------------------------------------------------------->_______________] 77.91% 60 p/s2315 / 2956 [-------------------------------------------------------->_______________] 78.32% 60 p/s2326 / 2956 [-------------------------------------------------------->_______________] 78.69% 60 p/s2337 / 2956 [-------------------------------------------------------->_______________] 79.06% 60 p/s2349 / 2956 [--------------------------------------------------------->______________] 79.47% 60 p/s2361 / 2956 [--------------------------------------------------------->______________] 79.87% 60 p/s2373 / 2956 [--------------------------------------------------------->______________] 80.28% 60 p/s2384 / 2956 [---------------------------------------------------------->_____________] 80.65% 60 p/s2395 / 2956 [---------------------------------------------------------->_____________] 81.02% 60 p/s2407 / 2956 [---------------------------------------------------------->_____________] 81.43% 60 p/s2419 / 2956 [---------------------------------------------------------->_____________] 81.83% 60 p/s2430 / 2956 [----------------------------------------------------------->____________] 82.21% 60 p/s2442 / 2956 [----------------------------------------------------------->____________] 82.61% 60 p/s2453 / 2956 [----------------------------------------------------------->____________] 82.98% 60 p/s2465 / 2956 [------------------------------------------------------------>___________] 83.39% 60 p/s2477 / 2956 [------------------------------------------------------------>___________] 83.80% 60 p/s2487 / 2956 [------------------------------------------------------------>___________] 84.13% 60 p/s2497 / 2956 [------------------------------------------------------------>___________] 84.47% 60 p/s2509 / 2956 [------------------------------------------------------------->__________] 84.88% 59 p/s2520 / 2956 [------------------------------------------------------------->__________] 85.25% 59 p/s2534 / 2956 [------------------------------------------------------------->__________] 85.72% 59 p/s2544 / 2956 [------------------------------------------------------------->__________] 86.06% 59 p/s2556 / 2956 [-------------------------------------------------------------->_________] 86.47% 59 p/s2568 / 2956 [-------------------------------------------------------------->_________] 86.87% 59 p/s2579 / 2956 [-------------------------------------------------------------->_________] 87.25% 59 p/s2591 / 2956 [--------------------------------------------------------------->________] 87.65% 59 p/s2603 / 2956 [--------------------------------------------------------------->________] 88.06% 59 p/s2615 / 2956 [--------------------------------------------------------------->________] 88.46% 59 p/s2626 / 2956 [--------------------------------------------------------------->________] 88.84% 59 p/s2638 / 2956 [---------------------------------------------------------------->_______] 89.24% 59 p/s2649 / 2956 [---------------------------------------------------------------->_______] 89.61% 59 p/s2661 / 2956 [---------------------------------------------------------------->_______] 90.02% 59 p/s2673 / 2956 [----------------------------------------------------------------->______] 90.43% 59 p/s2685 / 2956 [----------------------------------------------------------------->______] 90.83% 59 p/s2697 / 2956 [----------------------------------------------------------------->______] 91.24% 59 p/s2708 / 2956 [----------------------------------------------------------------->______] 91.61% 59 p/s2720 / 2956 [------------------------------------------------------------------>_____] 92.02% 59 p/s2731 / 2956 [------------------------------------------------------------------>_____] 92.39% 59 p/s2744 / 2956 [------------------------------------------------------------------>_____] 92.83% 59 p/s2755 / 2956 [------------------------------------------------------------------->____] 93.20% 59 p/s2766 / 2956 [------------------------------------------------------------------->____] 93.57% 59 p/s2778 / 2956 [------------------------------------------------------------------->____] 93.98% 59 p/s2789 / 2956 [------------------------------------------------------------------->____] 94.35% 59 p/s2800 / 2956 [-------------------------------------------------------------------->___] 94.72% 59 p/s2811 / 2956 [-------------------------------------------------------------------->___] 95.09% 59 p/s2823 / 2956 [-------------------------------------------------------------------->___] 95.50% 59 p/s2835 / 2956 [--------------------------------------------------------------------->__] 95.91% 59 p/s2846 / 2956 [--------------------------------------------------------------------->__] 96.28% 59 p/s2858 / 2956 [--------------------------------------------------------------------->__] 96.68% 59 p/s2869 / 2956 [--------------------------------------------------------------------->__] 97.06% 59 p/s2881 / 2956 [---------------------------------------------------------------------->_] 97.46% 59 p/s2893 / 2956 [---------------------------------------------------------------------->_] 97.87% 59 p/s2904 / 2956 [---------------------------------------------------------------------->_] 98.24% 59 p/s2916 / 2956 [----------------------------------------------------------------------->] 98.65% 59 p/s2927 / 2956 [----------------------------------------------------------------------->] 99.02% 58 p/s2938 / 2956 [----------------------------------------------------------------------->] 99.39% 58 p/s2949 / 2956 [----------------------------------------------------------------------->] 99.76% 58 p/s2956 / 2956 [-----------------------------------------------------------------------] 100.00% 61 p/s2026-01-14T03:35:42 - 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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2026-01-14T03:39:14 - 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"
2026-01-14T03:39:15 - INFO: DataPrep 0.13.9
2026-01-14T03:39:15 - INFO: Prepared data will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/processing/data
2026-01-14T03:39:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-14T03:39:15 - deployment - INFO: Detected P3D version: P3D_1
2026-01-14T03:39:15 - INFO: Recording GUID: c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-14T03:39:15 - INFO: Preparing sonar data...
2026-01-14T03:39:15 - INFO: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-14T03:39:20 - INFO: Sonar epoch is 2025-11-07 21:51:06.614140+00:00 (1762552266614139788)
2026-01-14T03:39:20 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-14T03:39:20 - INFO: Sonar range is 3.250800 m
2026-01-14T03:39:20 - INFO: Speed of sound is 1494 m/s
2026-01-14T03:39:20 - INFO: Processing 2956 sweeps...

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2026-01-14T03:39:35 - INFO: Creating sonar sensor alignment track...
2026-01-14T03:39:37 - INFO: Prepared sonar data in 21.4095 s
2026-01-14T03:39:37 - INFO: No IMU data found
2026-01-14T03:39:37 - INFO: DataPrep took 0:00:21.897720
2026-01-14T03:39:37 - INFO: Extracted sonar data in 0:04:44.368172
2026-01-14T03:39:38 - INFO: MSIP3D took 0:04:45.119376