2026-03-11T03:11:47 - INFO: MSIP3D 0.2.0a11
2026-03-11T03:11:47 - INFO: P3D files will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-03-11T03:11:47 - INFO: Found 11 TFD dictionary entries
2026-03-11T03:11:47 - INFO: Found TFD mission for Nsoos
2026-03-11T03:11:47 - INFO: Recording will be processed as SMD
2026-03-11T03:11:47 - INFO: Copying assets JSON to output directory...
2026-03-11T03:11:47 - INFO: Preparing counter data...
2026-03-11T03:11:47 - INFO: Interpreting counter as metric
2026-03-11T03:11:47 - INFO: Prepared counter data in 0.1783 s
2026-03-11T03:11:47 - 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: CCTV, Tag: 4855215961321851459
Name: LASER, Tag: 4855221467469924940
Name: SONAR, Tag: 6012080327290606263
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080327290604115
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2956
23 / 2956 [>___________________________________________________________________________] 0.78% ? p/s46 / 2956 [->__________________________________________________________________________] 1.56% ? p/s67 / 2956 [->__________________________________________________________________________] 2.27% ? p/s91 / 2956 [-->_______________________________________________________________________] 3.08% 113 p/s114 / 2956 [-->______________________________________________________________________] 3.86% 113 p/s137 / 2956 [--->_____________________________________________________________________] 4.63% 113 p/s160 / 2956 [--->_____________________________________________________________________] 5.41% 113 p/s183 / 2956 [---->____________________________________________________________________] 6.19% 113 p/s207 / 2956 [----->___________________________________________________________________] 7.00% 113 p/s231 / 2956 [----->___________________________________________________________________] 7.81% 114 p/s251 / 2956 [------>__________________________________________________________________] 8.49% 114 p/s275 / 2956 [------>__________________________________________________________________] 9.30% 114 p/s298 / 2956 [------->________________________________________________________________] 10.08% 114 p/s322 / 2956 [------->________________________________________________________________] 10.89% 114 p/s345 / 2956 [-------->_______________________________________________________________] 11.67% 114 p/s369 / 2956 [-------->_______________________________________________________________] 12.48% 114 p/s392 / 2956 [--------->______________________________________________________________] 13.26% 114 p/s416 / 2956 [---------->_____________________________________________________________] 14.07% 114 p/s439 / 2956 [---------->_____________________________________________________________] 14.85% 114 p/s463 / 2956 [----------->____________________________________________________________] 15.66% 114 p/s486 / 2956 [----------->____________________________________________________________] 16.44% 114 p/s508 / 2956 [------------>___________________________________________________________] 17.19% 114 p/s531 / 2956 [------------>___________________________________________________________] 17.96% 114 p/s554 / 2956 [------------->__________________________________________________________] 18.74% 114 p/s578 / 2956 [-------------->_________________________________________________________] 19.55% 114 p/s601 / 2956 [-------------->_________________________________________________________] 20.33% 114 p/s625 / 2956 [--------------->________________________________________________________] 21.14% 114 p/s648 / 2956 [--------------->________________________________________________________] 21.92% 114 p/s672 / 2956 [---------------->_______________________________________________________] 22.73% 114 p/s695 / 2956 [---------------->_______________________________________________________] 23.51% 114 p/s719 / 2956 [----------------->______________________________________________________] 24.32% 115 p/s742 / 2956 [------------------>_____________________________________________________] 25.10% 115 p/s766 / 2956 [------------------>_____________________________________________________] 25.91% 115 p/s789 / 2956 [------------------->____________________________________________________] 26.69% 115 p/s812 / 2956 [------------------->____________________________________________________] 27.47% 115 p/s836 / 2956 [-------------------->___________________________________________________] 28.28% 115 p/s859 / 2956 [-------------------->___________________________________________________] 29.06% 115 p/s883 / 2956 [--------------------->__________________________________________________] 29.87% 115 p/s906 / 2956 [---------------------->_________________________________________________] 30.65% 115 p/s929 / 2956 [---------------------->_________________________________________________] 31.43% 115 p/s952 / 2956 [----------------------->________________________________________________] 32.21% 115 p/s975 / 2956 [----------------------->________________________________________________] 32.98% 115 p/s999 / 2956 [------------------------>_______________________________________________] 33.80% 115 p/s1021 / 2956 [------------------------>______________________________________________] 34.54% 115 p/s1045 / 2956 [------------------------->_____________________________________________] 35.35% 115 p/s1068 / 2956 [------------------------->_____________________________________________] 36.13% 115 p/s1092 / 2956 [-------------------------->____________________________________________] 36.94% 115 p/s1114 / 2956 [-------------------------->____________________________________________] 37.69% 115 p/s1138 / 2956 [--------------------------->___________________________________________] 38.50% 115 p/s1161 / 2956 [--------------------------->___________________________________________] 39.28% 115 p/s1185 / 2956 [---------------------------->__________________________________________] 40.09% 115 p/s1208 / 2956 [----------------------------->_________________________________________] 40.87% 115 p/s1231 / 2956 [----------------------------->_________________________________________] 41.64% 115 p/s1255 / 2956 [------------------------------>________________________________________] 42.46% 115 p/s1279 / 2956 [------------------------------>________________________________________] 43.27% 116 p/s1302 / 2956 [------------------------------->_______________________________________] 44.05% 116 p/s1326 / 2956 [------------------------------->_______________________________________] 44.86% 116 p/s1349 / 2956 [-------------------------------->______________________________________] 45.64% 116 p/s1373 / 2956 [-------------------------------->______________________________________] 46.45% 116 p/s1396 / 2956 [--------------------------------->_____________________________________] 47.23% 116 p/s1420 / 2956 [---------------------------------->____________________________________] 48.04% 116 p/s1443 / 2956 [---------------------------------->____________________________________] 48.82% 116 p/s1467 / 2956 [----------------------------------->___________________________________] 49.63% 116 p/s1490 / 2956 [----------------------------------->___________________________________] 50.41% 116 p/s1513 / 2956 [------------------------------------>__________________________________] 51.18% 116 p/s1537 / 2956 [------------------------------------>__________________________________] 52.00% 116 p/s1561 / 2956 [------------------------------------->_________________________________] 52.81% 116 p/s1584 / 2956 [-------------------------------------->________________________________] 53.59% 116 p/s1608 / 2956 [-------------------------------------->________________________________] 54.40% 116 p/s1631 / 2956 [--------------------------------------->_______________________________] 55.18% 116 p/s1655 / 2956 [--------------------------------------->_______________________________] 55.99% 116 p/s1678 / 2956 [---------------------------------------->______________________________] 56.77% 116 p/s1702 / 2956 [---------------------------------------->______________________________] 57.58% 116 p/s1725 / 2956 [----------------------------------------->_____________________________] 58.36% 116 p/s1749 / 2956 [------------------------------------------>____________________________] 59.17% 116 p/s1772 / 2956 [------------------------------------------>____________________________] 59.95% 116 p/s1795 / 2956 [------------------------------------------->___________________________] 60.72% 116 p/s1819 / 2956 [------------------------------------------->___________________________] 61.54% 116 p/s1842 / 2956 [-------------------------------------------->__________________________] 62.31% 116 p/s1865 / 2956 [-------------------------------------------->__________________________] 63.09% 116 p/s1889 / 2956 [--------------------------------------------->_________________________] 63.90% 116 p/s1912 / 2956 [--------------------------------------------->_________________________] 64.68% 116 p/s1936 / 2956 [---------------------------------------------->________________________] 65.49% 116 p/s1957 / 2956 [----------------------------------------------->_______________________] 66.20% 116 p/s1980 / 2956 [----------------------------------------------->_______________________] 66.98% 116 p/s2004 / 2956 [------------------------------------------------>______________________] 67.79% 116 p/s2027 / 2956 [------------------------------------------------>______________________] 68.57% 116 p/s2049 / 2956 [------------------------------------------------->_____________________] 69.32% 116 p/s2072 / 2956 [------------------------------------------------->_____________________] 70.09% 116 p/s2096 / 2956 [-------------------------------------------------->____________________] 70.91% 116 p/s2119 / 2956 [-------------------------------------------------->____________________] 71.68% 116 p/s2143 / 2956 [--------------------------------------------------->___________________] 72.50% 116 p/s2166 / 2956 [---------------------------------------------------->__________________] 73.27% 116 p/s2190 / 2956 [---------------------------------------------------->__________________] 74.09% 116 p/s2213 / 2956 [----------------------------------------------------->_________________] 74.86% 116 p/s2237 / 2956 [----------------------------------------------------->_________________] 75.68% 116 p/s2260 / 2956 [------------------------------------------------------>________________] 76.45% 116 p/s2284 / 2956 [------------------------------------------------------>________________] 77.27% 116 p/s2307 / 2956 [------------------------------------------------------->_______________] 78.04% 116 p/s2331 / 2956 [------------------------------------------------------->_______________] 78.86% 116 p/s2354 / 2956 [-------------------------------------------------------->______________] 79.63% 116 p/s2378 / 2956 [--------------------------------------------------------->_____________] 80.45% 116 p/s2401 / 2956 [--------------------------------------------------------->_____________] 81.22% 116 p/s2425 / 2956 [---------------------------------------------------------->____________] 82.04% 116 p/s2448 / 2956 [---------------------------------------------------------->____________] 82.81% 116 p/s2472 / 2956 [----------------------------------------------------------->___________] 83.63% 117 p/s2495 / 2956 [----------------------------------------------------------->___________] 84.40% 117 p/s2519 / 2956 [------------------------------------------------------------>__________] 85.22% 117 p/s2542 / 2956 [------------------------------------------------------------->_________] 85.99% 117 p/s2566 / 2956 [------------------------------------------------------------->_________] 86.81% 117 p/s2589 / 2956 [-------------------------------------------------------------->________] 87.58% 117 p/s2613 / 2956 [-------------------------------------------------------------->________] 88.40% 117 p/s2636 / 2956 [--------------------------------------------------------------->_______] 89.17% 117 p/s2660 / 2956 [--------------------------------------------------------------->_______] 89.99% 117 p/s2683 / 2956 [---------------------------------------------------------------->______] 90.76% 117 p/s2707 / 2956 [----------------------------------------------------------------->_____] 91.58% 117 p/s2730 / 2956 [----------------------------------------------------------------->_____] 92.35% 117 p/s2753 / 2956 [------------------------------------------------------------------>____] 93.13% 117 p/s2777 / 2956 [------------------------------------------------------------------>____] 93.94% 117 p/s2800 / 2956 [------------------------------------------------------------------->___] 94.72% 117 p/s2823 / 2956 [------------------------------------------------------------------->___] 95.50% 117 p/s2847 / 2956 [-------------------------------------------------------------------->__] 96.31% 117 p/s2870 / 2956 [-------------------------------------------------------------------->__] 97.09% 117 p/s2893 / 2956 [--------------------------------------------------------------------->_] 97.87% 117 p/s2917 / 2956 [---------------------------------------------------------------------->] 98.68% 117 p/s2940 / 2956 [---------------------------------------------------------------------->] 99.46% 117 p/s2956 / 2956 [----------------------------------------------------------------------] 100.00% 118 p/s2026-03-11T03:12:13 - 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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2026-03-11T03:14:02 - 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-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2"
2026-03-11T03:14:03 - INFO: DataPrep 0.14.0a7
2026-03-11T03:14:03 - INFO: Prepared data will be output to /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/processing/data
2026-03-11T03:14:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-11T03:14:03 - deployment - INFO: Detected P3D version: P3D_1
2026-03-11T03:14:03 - INFO: Recording GUID: c9dfd761-7c79-2768-5f0d-9632f71650c2
2026-03-11T03:14:03 - INFO: Preparing sonar data...
2026-03-11T03:14:03 - INFO: /working/c9dfd761-7c79-2768-5f0d-9632f71650c2/c9dfd761-7c79-2768-5f0d-9632f71650c2/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-11T03:14:06 - INFO: Sonar epoch is 2025-11-07 21:51:06.614140+00:00 (1762552266614139788)
2026-03-11T03:14:06 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-11T03:14:06 - INFO: Sonar range is 3.250800 m
2026-03-11T03:14:06 - INFO: Speed of sound is 1494 m/s
2026-03-11T03:14:06 - INFO: Processing 2956 sweeps...

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2026-03-11T03:14:13 - INFO: Creating sonar sensor alignment track...
2026-03-11T03:14:15 - INFO: Prepared sonar data in 11.7389 s
2026-03-11T03:14:15 - INFO: No IMU data found
2026-03-11T03:14:15 - INFO: DataPrep took 0:00:12.113310
2026-03-11T03:14:15 - INFO: Extracted sonar data in 0:02:27.968203
2026-03-11T03:14:16 - INFO: MSIP3D took 0:02:28.412728