2026-01-13T03:22:51 - INFO: MSIP3D 0.1.5
2026-01-13T03:22:52 - INFO: P3D files will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-13T03:22:52 - INFO: Found 11 TFD dictionary entries
2026-01-13T03:22:52 - INFO: Found TFD mission for Nsoos
2026-01-13T03:22:52 - INFO: Recording will be processed as SMD
2026-01-13T03:22:52 - INFO: Copying assets JSON to output directory...
2026-01-13T03:22:52 - INFO: Preparing counter data...
2026-01-13T03:22:52 - INFO: Interpreting counter as metric
2026-01-13T03:22:52 - INFO: Prepared counter data in 0.1825 s
2026-01-13T03:22:52 - 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: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: CCTV, Tag: 4855215961321851459
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080327290606263
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2956
22 / 2956 [>___________________________________________________________________________] 0.74% ? p/s45 / 2956 [->__________________________________________________________________________] 1.52% ? p/s67 / 2956 [->__________________________________________________________________________] 2.27% ? p/s90 / 2956 [-->_______________________________________________________________________] 3.04% 113 p/s112 / 2956 [-->______________________________________________________________________] 3.79% 113 p/s135 / 2956 [--->_____________________________________________________________________] 4.57% 113 p/s157 / 2956 [--->_____________________________________________________________________] 5.31% 113 p/s180 / 2956 [---->____________________________________________________________________] 6.09% 113 p/s203 / 2956 [----->___________________________________________________________________] 6.87% 113 p/s226 / 2956 [----->___________________________________________________________________] 7.65% 113 p/s248 / 2956 [------>__________________________________________________________________] 8.39% 113 p/s271 / 2956 [------>__________________________________________________________________] 9.17% 113 p/s294 / 2956 [------->_________________________________________________________________] 9.95% 113 p/s317 / 2956 [------->________________________________________________________________] 10.72% 113 p/s340 / 2956 [-------->_______________________________________________________________] 11.50% 113 p/s363 / 2956 [-------->_______________________________________________________________] 12.28% 113 p/s385 / 2956 [--------->______________________________________________________________] 13.02% 113 p/s407 / 2956 [--------->______________________________________________________________] 13.77% 113 p/s430 / 2956 [---------->_____________________________________________________________] 14.55% 113 p/s452 / 2956 [----------->____________________________________________________________] 15.29% 113 p/s475 / 2956 [----------->____________________________________________________________] 16.07% 113 p/s498 / 2956 [------------>___________________________________________________________] 16.85% 113 p/s520 / 2956 [------------>___________________________________________________________] 17.59% 113 p/s542 / 2956 [------------->__________________________________________________________] 18.34% 113 p/s565 / 2956 [------------->__________________________________________________________] 19.11% 113 p/s588 / 2956 [-------------->_________________________________________________________] 19.89% 113 p/s610 / 2956 [-------------->_________________________________________________________] 20.64% 113 p/s633 / 2956 [--------------->________________________________________________________] 21.41% 113 p/s656 / 2956 [--------------->________________________________________________________] 22.19% 113 p/s678 / 2956 [---------------->_______________________________________________________] 22.94% 113 p/s701 / 2956 [----------------->______________________________________________________] 23.71% 113 p/s724 / 2956 [----------------->______________________________________________________] 24.49% 113 p/s747 / 2956 [------------------>_____________________________________________________] 25.27% 113 p/s770 / 2956 [------------------>_____________________________________________________] 26.05% 113 p/s792 / 2956 [------------------->____________________________________________________] 26.79% 113 p/s815 / 2956 [------------------->____________________________________________________] 27.57% 113 p/s838 / 2956 [-------------------->___________________________________________________] 28.35% 113 p/s860 / 2956 [-------------------->___________________________________________________] 29.09% 113 p/s883 / 2956 [--------------------->__________________________________________________] 29.87% 113 p/s906 / 2956 [---------------------->_________________________________________________] 30.65% 113 p/s929 / 2956 [---------------------->_________________________________________________] 31.43% 113 p/s952 / 2956 [----------------------->________________________________________________] 32.21% 113 p/s975 / 2956 [----------------------->________________________________________________] 32.98% 113 p/s997 / 2956 [------------------------>_______________________________________________] 33.73% 113 p/s1019 / 2956 [------------------------>______________________________________________] 34.47% 113 p/s1041 / 2956 [------------------------->_____________________________________________] 35.22% 113 p/s1064 / 2956 [------------------------->_____________________________________________] 35.99% 113 p/s1087 / 2956 [-------------------------->____________________________________________] 36.77% 113 p/s1109 / 2956 [-------------------------->____________________________________________] 37.52% 113 p/s1132 / 2956 [--------------------------->___________________________________________] 38.29% 113 p/s1154 / 2956 [--------------------------->___________________________________________] 39.04% 113 p/s1177 / 2956 [---------------------------->__________________________________________] 39.82% 113 p/s1200 / 2956 [---------------------------->__________________________________________] 40.60% 113 p/s1223 / 2956 [----------------------------->_________________________________________] 41.37% 113 p/s1246 / 2956 [----------------------------->_________________________________________] 42.15% 113 p/s1268 / 2956 [------------------------------>________________________________________] 42.90% 113 p/s1291 / 2956 [------------------------------->_______________________________________] 43.67% 113 p/s1314 / 2956 [------------------------------->_______________________________________] 44.45% 113 p/s1337 / 2956 [-------------------------------->______________________________________] 45.23% 113 p/s1359 / 2956 [-------------------------------->______________________________________] 45.97% 113 p/s1382 / 2956 [--------------------------------->_____________________________________] 46.75% 113 p/s1405 / 2956 [--------------------------------->_____________________________________] 47.53% 113 p/s1428 / 2956 [---------------------------------->____________________________________] 48.31% 113 p/s1450 / 2956 [---------------------------------->____________________________________] 49.05% 113 p/s1473 / 2956 [----------------------------------->___________________________________] 49.83% 113 p/s1496 / 2956 [----------------------------------->___________________________________] 50.61% 113 p/s1519 / 2956 [------------------------------------>__________________________________] 51.39% 113 p/s1542 / 2956 [------------------------------------->_________________________________] 52.17% 113 p/s1564 / 2956 [------------------------------------->_________________________________] 52.91% 113 p/s1587 / 2956 [-------------------------------------->________________________________] 53.69% 113 p/s1610 / 2956 [-------------------------------------->________________________________] 54.47% 113 p/s1633 / 2956 [--------------------------------------->_______________________________] 55.24% 113 p/s1656 / 2956 [--------------------------------------->_______________________________] 56.02% 114 p/s1678 / 2956 [---------------------------------------->______________________________] 56.77% 114 p/s1701 / 2956 [---------------------------------------->______________________________] 57.54% 114 p/s1724 / 2956 [----------------------------------------->_____________________________] 58.32% 114 p/s1747 / 2956 [----------------------------------------->_____________________________] 59.10% 114 p/s1769 / 2956 [------------------------------------------>____________________________] 59.84% 114 p/s1792 / 2956 [------------------------------------------->___________________________] 60.62% 114 p/s1815 / 2956 [------------------------------------------->___________________________] 61.40% 114 p/s1838 / 2956 [-------------------------------------------->__________________________] 62.18% 114 p/s1861 / 2956 [-------------------------------------------->__________________________] 62.96% 114 p/s1884 / 2956 [--------------------------------------------->_________________________] 63.73% 114 p/s1906 / 2956 [--------------------------------------------->_________________________] 64.48% 114 p/s1929 / 2956 [---------------------------------------------->________________________] 65.26% 114 p/s1952 / 2956 [---------------------------------------------->________________________] 66.04% 114 p/s1975 / 2956 [----------------------------------------------->_______________________] 66.81% 114 p/s1997 / 2956 [----------------------------------------------->_______________________] 67.56% 114 p/s2020 / 2956 [------------------------------------------------>______________________] 68.34% 114 p/s2042 / 2956 [------------------------------------------------->_____________________] 69.08% 114 p/s2065 / 2956 [------------------------------------------------->_____________________] 69.86% 114 p/s2087 / 2956 [-------------------------------------------------->____________________] 70.60% 114 p/s2110 / 2956 [-------------------------------------------------->____________________] 71.38% 114 p/s2133 / 2956 [--------------------------------------------------->___________________] 72.16% 114 p/s2156 / 2956 [--------------------------------------------------->___________________] 72.94% 114 p/s2178 / 2956 [---------------------------------------------------->__________________] 73.68% 114 p/s2201 / 2956 [---------------------------------------------------->__________________] 74.46% 114 p/s2223 / 2956 [----------------------------------------------------->_________________] 75.20% 114 p/s2246 / 2956 [----------------------------------------------------->_________________] 75.98% 114 p/s2268 / 2956 [------------------------------------------------------>________________] 76.73% 113 p/s2291 / 2956 [------------------------------------------------------->_______________] 77.50% 113 p/s2314 / 2956 [------------------------------------------------------->_______________] 78.28% 113 p/s2336 / 2956 [-------------------------------------------------------->______________] 79.03% 113 p/s2359 / 2956 [-------------------------------------------------------->______________] 79.80% 113 p/s2382 / 2956 [--------------------------------------------------------->_____________] 80.58% 113 p/s2405 / 2956 [--------------------------------------------------------->_____________] 81.36% 114 p/s2427 / 2956 [---------------------------------------------------------->____________] 82.10% 114 p/s2450 / 2956 [---------------------------------------------------------->____________] 82.88% 114 p/s2473 / 2956 [----------------------------------------------------------->___________] 83.66% 114 p/s2495 / 2956 [----------------------------------------------------------->___________] 84.40% 114 p/s2518 / 2956 [------------------------------------------------------------>__________] 85.18% 114 p/s2540 / 2956 [------------------------------------------------------------->_________] 85.93% 113 p/s2563 / 2956 [------------------------------------------------------------->_________] 86.71% 113 p/s2586 / 2956 [-------------------------------------------------------------->________] 87.48% 113 p/s2608 / 2956 [-------------------------------------------------------------->________] 88.23% 113 p/s2630 / 2956 [--------------------------------------------------------------->_______] 88.97% 113 p/s2653 / 2956 [--------------------------------------------------------------->_______] 89.75% 113 p/s2676 / 2956 [---------------------------------------------------------------->______] 90.53% 113 p/s2699 / 2956 [---------------------------------------------------------------->______] 91.31% 113 p/s2721 / 2956 [----------------------------------------------------------------->_____] 92.05% 113 p/s2744 / 2956 [----------------------------------------------------------------->_____] 92.83% 113 p/s2766 / 2956 [------------------------------------------------------------------>____] 93.57% 113 p/s2789 / 2956 [------------------------------------------------------------------>____] 94.35% 113 p/s2811 / 2956 [------------------------------------------------------------------->___] 95.09% 113 p/s2834 / 2956 [-------------------------------------------------------------------->__] 95.87% 113 p/s2857 / 2956 [-------------------------------------------------------------------->__] 96.65% 113 p/s2880 / 2956 [--------------------------------------------------------------------->_] 97.43% 113 p/s2902 / 2956 [--------------------------------------------------------------------->_] 98.17% 113 p/s2925 / 2956 [---------------------------------------------------------------------->] 98.95% 113 p/s2947 / 2956 [---------------------------------------------------------------------->] 99.70% 113 p/s2956 / 2956 [----------------------------------------------------------------------] 100.00% 114 p/s2026-01-13T03:23:18 - INFO: Parsing 2956 sonar sweeps from /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/tfd/output/SONAR/all-sweeps-info.csv...

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2026-01-13T03:25:09 - 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"
2026-01-13T03:25:12 - INFO: DataPrep 0.13.7rc1
2026-01-13T03:25:12 - INFO: Prepared data will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/processing/data
2026-01-13T03:25:12 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-01-13T03:25:12 - deployment - INFO: Detected P3D version: P3D_1
2026-01-13T03:25:12 - INFO: Recording GUID: c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-01-13T03:25:12 - INFO: Preparing sonar data...
2026-01-13T03:25:12 - INFO: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-01-13T03:25:14 - INFO: Sonar epoch is 2025-11-07 21:51:06.614140+00:00 (1762552266614139788)
2026-01-13T03:25:14 - INFO: Sonar configured speed of sound was 1500 m/s
2026-01-13T03:25:14 - INFO: Sonar range is 3.250800 m
2026-01-13T03:25:14 - INFO: Speed of sound is 1494 m/s
2026-01-13T03:25:14 - INFO: Processing 2956 sweeps...

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2026-01-13T03:25:20 - INFO: Creating sonar sensor alignment track...
2026-01-13T03:25:21 - INFO: Prepared sonar data in 9.8338 s
2026-01-13T03:25:21 - INFO: No IMU data found
2026-01-13T03:25:22 - INFO: DataPrep took 0:00:10.170219
2026-01-13T03:25:22 - INFO: Extracted sonar data in 0:02:29.841049
2026-01-13T03:25:22 - INFO: MSIP3D took 0:02:30.280494