+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ [ md = md ]
+ echo --laser-front
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --laser-front --sonar-sample-offset -1 /working/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-20T02:58:40 - INFO: MSIP3D 0.2.10
2026-07-20T02:58:40 - INFO: P3D files will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-20T02:58:40 - INFO: Found 10 TFD dictionary entries
2026-07-20T02:58:40 - INFO: Found TFD mission for 1654SS
2026-07-20T02:58:40 - INFO: Recording will be processed as MD
2026-07-20T02:58:40 - INFO: Copying assets JSON to output directory...
2026-07-20T02:58:40 - INFO: Preparing counter data...
2026-07-20T02:58:40 - INFO: Interpreting counter as imperial
2026-07-20T02:58:40 - INFO: Preparing size track from assets JSON...
2026-07-20T02:58:40 - INFO: Preparing shape track from assets JSON...
2026-07-20T02:58:40 - INFO: Preparing material track from assets JSON...
2026-07-20T02:58:40 - INFO: Prepared counter data in 0.0546 s
2026-07-20T02:58:40 - INFO: Extracting sonar data...
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/1654SS.tfd
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215965616818755
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 1384
22 / 1384 [->__________________________________________________________________________] 1.59% ? p/s44 / 1384 [-->_________________________________________________________________________] 3.18% ? p/s66 / 1384 [--->________________________________________________________________________] 4.77% ? p/s87 / 1384 [---->_____________________________________________________________________] 6.29% 108 p/s109 / 1384 [----->___________________________________________________________________] 7.88% 108 p/s129 / 1384 [------>__________________________________________________________________] 9.32% 108 p/s151 / 1384 [------->________________________________________________________________] 10.91% 108 p/s174 / 1384 [--------->______________________________________________________________] 12.57% 108 p/s197 / 1384 [---------->_____________________________________________________________] 14.23% 108 p/s219 / 1384 [----------->____________________________________________________________] 15.82% 109 p/s240 / 1384 [------------>___________________________________________________________] 17.34% 109 p/s262 / 1384 [------------->__________________________________________________________] 18.93% 109 p/s284 / 1384 [-------------->_________________________________________________________] 20.52% 108 p/s306 / 1384 [--------------->________________________________________________________] 22.11% 108 p/s328 / 1384 [----------------->______________________________________________________] 23.70% 108 p/s350 / 1384 [------------------>_____________________________________________________] 25.29% 109 p/s372 / 1384 [------------------->____________________________________________________] 26.88% 109 p/s394 / 1384 [-------------------->___________________________________________________] 28.47% 109 p/s416 / 1384 [--------------------->__________________________________________________] 30.06% 109 p/s439 / 1384 [---------------------->_________________________________________________] 31.72% 109 p/s461 / 1384 [----------------------->________________________________________________] 33.31% 109 p/s483 / 1384 [------------------------->______________________________________________] 34.90% 109 p/s504 / 1384 [-------------------------->_____________________________________________] 36.42% 109 p/s526 / 1384 [--------------------------->____________________________________________] 38.01% 109 p/s548 / 1384 [---------------------------->___________________________________________] 39.60% 109 p/s570 / 1384 [----------------------------->__________________________________________] 41.18% 109 p/s592 / 1384 [------------------------------>_________________________________________] 42.77% 109 p/s614 / 1384 [------------------------------->________________________________________] 44.36% 109 p/s636 / 1384 [--------------------------------->______________________________________] 45.95% 109 p/s658 / 1384 [---------------------------------->_____________________________________] 47.54% 109 p/s680 / 1384 [----------------------------------->____________________________________] 49.13% 109 p/s702 / 1384 [------------------------------------>___________________________________] 50.72% 109 p/s724 / 1384 [------------------------------------->__________________________________] 52.31% 109 p/s746 / 1384 [-------------------------------------->_________________________________] 53.90% 109 p/s768 / 1384 [--------------------------------------->________________________________] 55.49% 109 p/s790 / 1384 [----------------------------------------->______________________________] 57.08% 109 p/s812 / 1384 [------------------------------------------>_____________________________] 58.67% 109 p/s834 / 1384 [------------------------------------------->____________________________] 60.26% 109 p/s856 / 1384 [-------------------------------------------->___________________________] 61.85% 109 p/s878 / 1384 [--------------------------------------------->__________________________] 63.44% 109 p/s900 / 1384 [---------------------------------------------->_________________________] 65.03% 109 p/s922 / 1384 [----------------------------------------------->________________________] 66.62% 109 p/s945 / 1384 [------------------------------------------------->______________________] 68.28% 109 p/s967 / 1384 [-------------------------------------------------->_____________________] 69.87% 109 p/s989 / 1384 [--------------------------------------------------->____________________] 71.46% 109 p/s1011 / 1384 [--------------------------------------------------->___________________] 73.05% 109 p/s1033 / 1384 [---------------------------------------------------->__________________] 74.64% 109 p/s1055 / 1384 [------------------------------------------------------>________________] 76.23% 109 p/s1077 / 1384 [------------------------------------------------------->_______________] 77.82% 109 p/s1100 / 1384 [-------------------------------------------------------->______________] 79.48% 109 p/s1122 / 1384 [--------------------------------------------------------->_____________] 81.07% 109 p/s1145 / 1384 [---------------------------------------------------------->____________] 82.73% 110 p/s1167 / 1384 [----------------------------------------------------------->___________] 84.32% 110 p/s1189 / 1384 [------------------------------------------------------------>__________] 85.91% 110 p/s1211 / 1384 [-------------------------------------------------------------->________] 87.50% 110 p/s1234 / 1384 [--------------------------------------------------------------->_______] 89.16% 110 p/s1256 / 1384 [---------------------------------------------------------------->______] 90.75% 110 p/s1279 / 1384 [----------------------------------------------------------------->_____] 92.41% 110 p/s1301 / 1384 [------------------------------------------------------------------>____] 94.00% 110 p/s1323 / 1384 [------------------------------------------------------------------->___] 95.59% 110 p/s1346 / 1384 [--------------------------------------------------------------------->_] 97.25% 110 p/s1369 / 1384 [---------------------------------------------------------------------->] 98.92% 110 p/s1384 / 1384 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-20T02:58:53 - INFO: Parsing 1384 sonar sweeps from /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T02:59:44 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --sonar-ptd-format binary --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-mask-angle 120 --sonar-distance-threshold 60 --sonar-sample-offset -1 --sonar-near-field-ratio 0.1 --sonar-threshold-sigma 2.0 --sonar-min-threshold 8.0 --sonar-edge-candidate-count 8 --sonar-edge-window-samples 5 --sonar-edge-min-gradient 6.0 --sonar-edge-min-intensity 8.0 --sonar-edge-jump-penalty 1.8 --sonar-edge-missing-beam-penalty 8.0 --sonar-edge-max-beam-gap 24 --sonar-edge-max-sample-jump 15 --sonar-edge-max-total-sample-jump 60 --sonar-edge-path-count 6 --sonar-edge-path-suppression-samples 24 --sonar-edge-path-range-weight 5.0 --sonar-edge-path-smoothness-penalty 4.0 --sonar-edge-path-max-beam-span-ratio 0.6 --sonar-edge-outer-envelope-beam-radius 4 --sonar-edge-outer-envelope-margin-samples 18 --sonar-edge-outer-envelope-penalty 6.0 --sonar-component-max-count 4 --sonar-component-edge-min-points 8 --sonar-component-edge-threshold-ratio 0.45 --sonar-component-edge-min-intensity 8.0 --sonar-component-close-beams 5 --sonar-component-close-samples 3 --sonar-component-min-area 24 --sonar-component-min-density 0.18 --sonar-component-min-beam-span 8 --sonar-component-min-edge-coverage 0.35 --sonar-component-score-ratio 0.25 --sonar-break-gap-beams 8 --sonar-break-gap-samples 40 --sonar-despike-sample-threshold 45 --sonar-despike-neighbor-threshold 20 --sonar-despike-max-beam-gap 3 --sonar-min-segment-points 8 --sonar-smooth-window 5 --sonar-smooth-passes 1 --sonar-despike --no-sonar-row-weighting --sonar-edge-path --sonar-flip /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0"
2026-07-20T02:59:44 - INFO: DataPrep 0.15.0
2026-07-20T02:59:44 - INFO: Prepared data will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/processing/data
2026-07-20T02:59:44 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T02:59:44 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T02:59:44 - INFO: Recording GUID: b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-20T02:59:44 - INFO: Preparing sonar data...
2026-07-20T02:59:44 - INFO: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T02:59:45 - INFO: Sonar epoch is 2026-03-10 14:34:59.788422+00:00 (1773153299788422280)
2026-07-20T02:59:45 - INFO: Creating sonar sensor alignment track...
2026-07-20T02:59:45 - INFO: Using sonar rotation of 0.279253 radians for wedge mask
2026-07-20T02:59:45 - INFO: Using sonar digitizer
2026-07-20T02:59:45 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T02:59:45 - INFO: Sensor range is 0.722400 m
2026-07-20T02:59:45 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T02:59:45 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-20T02:59:45 - INFO: Processing 1384 snapshot scans from 1384 source sweeps...
2026-07-20T02:59:45 - INFO: Processing sonar scans with 8 worker processes and chunksize 43

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2026-07-20T02:59:57 - INFO: Prepared sonar data in 12.8238 s
2026-07-20T02:59:57 - INFO: No IMU data found
2026-07-20T02:59:57 - INFO: DataPrep took 0:00:12.951794
2026-07-20T02:59:57 - INFO: Extracted sonar data in 0:01:17.277070
2026-07-20T02:59:57 - INFO: MSIP3D took 0:01:17.447775