+ [ 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-20T03:07:14 - INFO: MSIP3D 0.2.10
2026-07-20T03:07:15 - INFO: P3D files will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-20T03:07:15 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:07:15 - INFO: Found TFD mission for 1661SS
2026-07-20T03:07:15 - INFO: Recording will be processed as MD
2026-07-20T03:07:15 - INFO: Copying assets JSON to output directory...
2026-07-20T03:07:15 - INFO: Preparing counter data...
2026-07-20T03:07:15 - INFO: Interpreting counter as imperial
2026-07-20T03:07:15 - INFO: Preparing size track from assets JSON...
2026-07-20T03:07:15 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:07:15 - INFO: Preparing material track from assets JSON...
2026-07-20T03:07:15 - INFO: Prepared counter data in 0.1484 s
2026-07-20T03:07:15 - INFO: Extracting sonar data...
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/1661SS.tfd
TFD path: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5153
14 / 5153 [>___________________________________________________________________________] 0.27% ? p/s29 / 5153 [>___________________________________________________________________________] 0.56% ? p/s42 / 5153 [>___________________________________________________________________________] 0.82% ? p/s56 / 5153 [>__________________________________________________________________________] 1.09% 70 p/s72 / 5153 [->_________________________________________________________________________] 1.40% 70 p/s86 / 5153 [->_________________________________________________________________________] 1.67% 70 p/s101 / 5153 [->________________________________________________________________________] 1.96% 70 p/s116 / 5153 [->________________________________________________________________________] 2.25% 70 p/s128 / 5153 [->________________________________________________________________________] 2.48% 70 p/s143 / 5153 [-->_______________________________________________________________________] 2.78% 70 p/s158 / 5153 [-->_______________________________________________________________________] 3.07% 70 p/s170 / 5153 [-->_______________________________________________________________________] 3.30% 70 p/s184 / 5153 [-->_______________________________________________________________________] 3.57% 70 p/s199 / 5153 [-->_______________________________________________________________________] 3.86% 70 p/s212 / 5153 [--->______________________________________________________________________] 4.11% 70 p/s225 / 5153 [--->______________________________________________________________________] 4.37% 70 p/s239 / 5153 [--->______________________________________________________________________] 4.64% 70 p/s252 / 5153 [--->______________________________________________________________________] 4.89% 70 p/s266 / 5153 [--->______________________________________________________________________] 5.16% 70 p/s279 / 5153 [---->_____________________________________________________________________] 5.41% 70 p/s297 / 5153 [---->_____________________________________________________________________] 5.76% 70 p/s311 / 5153 [---->_____________________________________________________________________] 6.04% 70 p/s324 / 5153 [---->_____________________________________________________________________] 6.29% 70 p/s338 / 5153 [---->_____________________________________________________________________] 6.56% 70 p/s351 / 5153 [----->____________________________________________________________________] 6.81% 70 p/s365 / 5153 [----->____________________________________________________________________] 7.08% 70 p/s379 / 5153 [----->____________________________________________________________________] 7.35% 70 p/s391 / 5153 [----->____________________________________________________________________] 7.59% 70 p/s408 / 5153 [----->____________________________________________________________________] 7.92% 70 p/s422 / 5153 [------>___________________________________________________________________] 8.19% 70 p/s435 / 5153 [------>___________________________________________________________________] 8.44% 70 p/s449 / 5153 [------>___________________________________________________________________] 8.71% 70 p/s463 / 5153 [------>___________________________________________________________________] 8.99% 70 p/s476 / 5153 [------>___________________________________________________________________] 9.24% 70 p/s490 / 5153 [------->__________________________________________________________________] 9.51% 70 p/s503 / 5153 [------->__________________________________________________________________] 9.76% 70 p/s515 / 5153 [------->__________________________________________________________________] 9.99% 70 p/s529 / 5153 [------->_________________________________________________________________] 10.27% 70 p/s543 / 5153 [------->_________________________________________________________________] 10.54% 70 p/s556 / 5153 [------->_________________________________________________________________] 10.79% 70 p/s570 / 5153 [-------->________________________________________________________________] 11.06% 70 p/s583 / 5153 [-------->________________________________________________________________] 11.31% 70 p/s597 / 5153 [-------->________________________________________________________________] 11.59% 69 p/s611 / 5153 [-------->________________________________________________________________] 11.86% 69 p/s623 / 5153 [-------->________________________________________________________________] 12.09% 69 p/s637 / 5153 [--------->_______________________________________________________________] 12.36% 69 p/s651 / 5153 [--------->_______________________________________________________________] 12.63% 69 p/s664 / 5153 [--------->_______________________________________________________________] 12.89% 69 p/s681 / 5153 [--------->_______________________________________________________________] 13.22% 70 p/s696 / 5153 [--------->_______________________________________________________________] 13.51% 70 p/s709 / 5153 [---------->______________________________________________________________] 13.76% 70 p/s723 / 5153 [---------->______________________________________________________________] 14.03% 70 p/s738 / 5153 [---------->______________________________________________________________] 14.32% 70 p/s756 / 5153 [---------->______________________________________________________________] 14.67% 70 p/s770 / 5153 [---------->______________________________________________________________] 14.94% 70 p/s782 / 5153 [----------->_____________________________________________________________] 15.18% 70 p/s797 / 5153 [----------->_____________________________________________________________] 15.47% 70 p/s812 / 5153 [----------->_____________________________________________________________] 15.76% 70 p/s825 / 5153 [----------->_____________________________________________________________] 16.01% 70 p/s839 / 5153 [----------->_____________________________________________________________] 16.28% 70 p/s852 / 5153 [------------>____________________________________________________________] 16.53% 70 p/s866 / 5153 [------------>____________________________________________________________] 16.81% 70 p/s880 / 5153 [------------>____________________________________________________________] 17.08% 70 p/s893 / 5153 [------------>____________________________________________________________] 17.33% 70 p/s907 / 5153 [------------>____________________________________________________________] 17.60% 70 p/s921 / 5153 [------------->___________________________________________________________] 17.87% 70 p/s934 / 5153 [------------->___________________________________________________________] 18.13% 70 p/s949 / 5153 [------------->___________________________________________________________] 18.42% 70 p/s963 / 5153 [------------->___________________________________________________________] 18.69% 70 p/s975 / 5153 [------------->___________________________________________________________] 18.92% 70 p/s989 / 5153 [-------------->__________________________________________________________] 19.19% 70 p/s1002 / 5153 [-------------->_________________________________________________________] 19.44% 70 p/s1014 / 5153 [-------------->_________________________________________________________] 19.68% 69 p/s1026 / 5153 [-------------->_________________________________________________________] 19.91% 69 p/s1040 / 5153 [-------------->_________________________________________________________] 20.18% 69 p/s1053 / 5153 [-------------->_________________________________________________________] 20.43% 69 p/s1067 / 5153 [-------------->_________________________________________________________] 20.71% 69 p/s1081 / 5153 [--------------->________________________________________________________] 20.98% 69 p/s1094 / 5153 [--------------->________________________________________________________] 21.23% 69 p/s1108 / 5153 [--------------->________________________________________________________] 21.50% 69 p/s1121 / 5153 [--------------->________________________________________________________] 21.75% 69 p/s1140 / 5153 [--------------->________________________________________________________] 22.12% 69 p/s1154 / 5153 [---------------->_______________________________________________________] 22.39% 69 p/s1167 / 5153 [---------------->_______________________________________________________] 22.65% 69 p/s1181 / 5153 [---------------->_______________________________________________________] 22.92% 69 p/s1194 / 5153 [---------------->_______________________________________________________] 23.17% 69 p/s1208 / 5153 [---------------->_______________________________________________________] 23.44% 69 p/s1222 / 5153 [----------------->______________________________________________________] 23.71% 69 p/s1236 / 5153 [----------------->______________________________________________________] 23.99% 69 p/s1249 / 5153 [----------------->______________________________________________________] 24.24% 69 p/s1265 / 5153 [----------------->______________________________________________________] 24.55% 69 p/s1281 / 5153 [----------------->______________________________________________________] 24.86% 69 p/s1296 / 5153 [------------------>_____________________________________________________] 25.15% 69 p/s1310 / 5153 [------------------>_____________________________________________________] 25.42% 70 p/s1323 / 5153 [------------------>_____________________________________________________] 25.67% 70 p/s1336 / 5153 [------------------>_____________________________________________________] 25.93% 70 p/s1350 / 5153 [------------------>_____________________________________________________] 26.20% 70 p/s1363 / 5153 [------------------->____________________________________________________] 26.45% 70 p/s1377 / 5153 [------------------->____________________________________________________] 26.72% 70 p/s1391 / 5153 [------------------->____________________________________________________] 26.99% 70 p/s1404 / 5153 [------------------->____________________________________________________] 27.25% 70 p/s1419 / 5153 [------------------->____________________________________________________] 27.54% 70 p/s1433 / 5153 [-------------------->___________________________________________________] 27.81% 70 p/s1446 / 5153 [-------------------->___________________________________________________] 28.06% 70 p/s1460 / 5153 [-------------------->___________________________________________________] 28.33% 70 p/s1473 / 5153 [-------------------->___________________________________________________] 28.59% 69 p/s1487 / 5153 [-------------------->___________________________________________________] 28.86% 69 p/s1502 / 5153 [-------------------->___________________________________________________] 29.15% 69 p/s1515 / 5153 [--------------------->__________________________________________________] 29.40% 69 p/s1531 / 5153 [--------------------->__________________________________________________] 29.71% 69 p/s1546 / 5153 [--------------------->__________________________________________________] 30.00% 69 p/s1559 / 5153 [--------------------->__________________________________________________] 30.25% 70 p/s1573 / 5153 [--------------------->__________________________________________________] 30.53% 70 p/s1588 / 5153 [---------------------->_________________________________________________] 30.82% 70 p/s1600 / 5153 [---------------------->_________________________________________________] 31.05% 70 p/s1615 / 5153 [---------------------->_________________________________________________] 31.34% 70 p/s1629 / 5153 [---------------------->_________________________________________________] 31.61% 70 p/s1642 / 5153 [---------------------->_________________________________________________] 31.86% 70 p/s1656 / 5153 [----------------------->________________________________________________] 32.14% 70 p/s1670 / 5153 [----------------------->________________________________________________] 32.41% 70 p/s1684 / 5153 [----------------------->________________________________________________] 32.68% 70 p/s1698 / 5153 [----------------------->________________________________________________] 32.95% 70 p/s1712 / 5153 [----------------------->________________________________________________] 33.22% 70 p/s1734 / 5153 [------------------------>_______________________________________________] 33.65% 71 p/s1757 / 5153 [------------------------>_______________________________________________] 34.10% 71 p/s1779 / 5153 [------------------------>_______________________________________________] 34.52% 71 p/s1801 / 5153 [------------------------->______________________________________________] 34.95% 73 p/s1823 / 5153 [------------------------->______________________________________________] 35.38% 73 p/s1846 / 5153 [------------------------->______________________________________________] 35.82% 73 p/s1868 / 5153 [-------------------------->_____________________________________________] 36.25% 76 p/s1890 / 5153 [-------------------------->_____________________________________________] 36.68% 76 p/s1912 / 5153 [-------------------------->_____________________________________________] 37.10% 76 p/s1934 / 5153 [--------------------------->____________________________________________] 37.53% 78 p/s1957 / 5153 [--------------------------->____________________________________________] 37.98% 78 p/s1979 / 5153 [--------------------------->____________________________________________] 38.40% 78 p/s2001 / 5153 [--------------------------->____________________________________________] 38.83% 80 p/s2023 / 5153 [---------------------------->___________________________________________] 39.26% 80 p/s2045 / 5153 [---------------------------->___________________________________________] 39.69% 80 p/s2068 / 5153 [---------------------------->___________________________________________] 40.13% 82 p/s2090 / 5153 [----------------------------->__________________________________________] 40.56% 82 p/s2112 / 5153 [----------------------------->__________________________________________] 40.99% 82 p/s2133 / 5153 [----------------------------->__________________________________________] 41.39% 84 p/s2156 / 5153 [------------------------------>_________________________________________] 41.84% 84 p/s2178 / 5153 [------------------------------>_________________________________________] 42.27% 84 p/s2201 / 5153 [------------------------------>_________________________________________] 42.71% 86 p/s2223 / 5153 [------------------------------->________________________________________] 43.14% 86 p/s2245 / 5153 [------------------------------->________________________________________] 43.57% 86 p/s2267 / 5153 [------------------------------->________________________________________] 43.99% 87 p/s2290 / 5153 [------------------------------->________________________________________] 44.44% 87 p/s2312 / 5153 [-------------------------------->_______________________________________] 44.87% 87 p/s2334 / 5153 [-------------------------------->_______________________________________] 45.29% 89 p/s2355 / 5153 [-------------------------------->_______________________________________] 45.70% 89 p/s2377 / 5153 [--------------------------------->______________________________________] 46.13% 89 p/s2400 / 5153 [--------------------------------->______________________________________] 46.57% 90 p/s2422 / 5153 [--------------------------------->______________________________________] 47.00% 90 p/s2443 / 5153 [---------------------------------->_____________________________________] 47.41% 90 p/s2465 / 5153 [---------------------------------->_____________________________________] 47.84% 91 p/s2488 / 5153 [---------------------------------->_____________________________________] 48.28% 91 p/s2510 / 5153 [----------------------------------->____________________________________] 48.71% 91 p/s2532 / 5153 [----------------------------------->____________________________________] 49.14% 93 p/s2555 / 5153 [----------------------------------->____________________________________] 49.58% 93 p/s2577 / 5153 [------------------------------------>___________________________________] 50.01% 93 p/s2599 / 5153 [------------------------------------>___________________________________] 50.44% 94 p/s2622 / 5153 [------------------------------------>___________________________________] 50.88% 94 p/s2643 / 5153 [------------------------------------>___________________________________] 51.29% 94 p/s2665 / 5153 [------------------------------------->__________________________________] 51.72% 95 p/s2687 / 5153 [------------------------------------->__________________________________] 52.14% 95 p/s2710 / 5153 [------------------------------------->__________________________________] 52.59% 95 p/s2732 / 5153 [-------------------------------------->_________________________________] 53.02% 96 p/s2755 / 5153 [-------------------------------------->_________________________________] 53.46% 96 p/s2777 / 5153 [-------------------------------------->_________________________________] 53.89% 96 p/s2800 / 5153 [--------------------------------------->________________________________] 54.34% 97 p/s2823 / 5153 [--------------------------------------->________________________________] 54.78% 97 p/s2846 / 5153 [--------------------------------------->________________________________] 55.23% 97 p/s2869 / 5153 [---------------------------------------->_______________________________] 55.68% 98 p/s2892 / 5153 [---------------------------------------->_______________________________] 56.12% 98 p/s2915 / 5153 [---------------------------------------->_______________________________] 56.57% 98 p/s2938 / 5153 [----------------------------------------->______________________________] 57.02% 99 p/s2961 / 5153 [----------------------------------------->______________________________] 57.46% 99 p/s2984 / 5153 [----------------------------------------->______________________________] 57.91% 99 p/s3007 / 5153 [----------------------------------------->_____________________________] 58.35% 100 p/s3030 / 5153 [----------------------------------------->_____________________________] 58.80% 100 p/s3053 / 5153 [------------------------------------------>____________________________] 59.25% 100 p/s3076 / 5153 [------------------------------------------>____________________________] 59.69% 101 p/s3098 / 5153 [------------------------------------------>____________________________] 60.12% 101 p/s3121 / 5153 [------------------------------------------->___________________________] 60.57% 101 p/s3144 / 5153 [------------------------------------------->___________________________] 61.01% 102 p/s3166 / 5153 [------------------------------------------->___________________________] 61.44% 102 p/s3188 / 5153 [------------------------------------------->___________________________] 61.87% 102 p/s3211 / 5153 [-------------------------------------------->__________________________] 62.31% 103 p/s3234 / 5153 [-------------------------------------------->__________________________] 62.76% 103 p/s3257 / 5153 [-------------------------------------------->__________________________] 63.21% 103 p/s3280 / 5153 [--------------------------------------------->_________________________] 63.65% 104 p/s3301 / 5153 [--------------------------------------------->_________________________] 64.06% 104 p/s3324 / 5153 [--------------------------------------------->_________________________] 64.51% 104 p/s3347 / 5153 [---------------------------------------------->________________________] 64.95% 104 p/s3369 / 5153 [---------------------------------------------->________________________] 65.38% 104 p/s3391 / 5153 [---------------------------------------------->________________________] 65.81% 104 p/s3414 / 5153 [----------------------------------------------->_______________________] 66.25% 105 p/s3437 / 5153 [----------------------------------------------->_______________________] 66.70% 105 p/s3460 / 5153 [----------------------------------------------->_______________________] 67.15% 105 p/s3482 / 5153 [----------------------------------------------->_______________________] 67.57% 105 p/s3505 / 5153 [------------------------------------------------>______________________] 68.02% 105 p/s3528 / 5153 [------------------------------------------------>______________________] 68.46% 105 p/s3551 / 5153 [------------------------------------------------>______________________] 68.91% 106 p/s3574 / 5153 [------------------------------------------------->_____________________] 69.36% 106 p/s3597 / 5153 [------------------------------------------------->_____________________] 69.80% 106 p/s3620 / 5153 [------------------------------------------------->_____________________] 70.25% 106 p/s3643 / 5153 [-------------------------------------------------->____________________] 70.70% 106 p/s3666 / 5153 [-------------------------------------------------->____________________] 71.14% 106 p/s3689 / 5153 [-------------------------------------------------->____________________] 71.59% 107 p/s3711 / 5153 [--------------------------------------------------->___________________] 72.02% 107 p/s3734 / 5153 [--------------------------------------------------->___________________] 72.46% 107 p/s3756 / 5153 [--------------------------------------------------->___________________] 72.89% 107 p/s3779 / 5153 [---------------------------------------------------->__________________] 73.34% 107 p/s3802 / 5153 [---------------------------------------------------->__________________] 73.78% 107 p/s3825 / 5153 [---------------------------------------------------->__________________] 74.23% 108 p/s3848 / 5153 [----------------------------------------------------->_________________] 74.67% 108 p/s3871 / 5153 [----------------------------------------------------->_________________] 75.12% 108 p/s3893 / 5153 [----------------------------------------------------->_________________] 75.55% 108 p/s3916 / 5153 [----------------------------------------------------->_________________] 75.99% 108 p/s3939 / 5153 [------------------------------------------------------>________________] 76.44% 108 p/s3962 / 5153 [------------------------------------------------------>________________] 76.89% 109 p/s3985 / 5153 [------------------------------------------------------>________________] 77.33% 109 p/s4008 / 5153 [------------------------------------------------------->_______________] 77.78% 109 p/s4031 / 5153 [------------------------------------------------------->_______________] 78.23% 109 p/s4053 / 5153 [------------------------------------------------------->_______________] 78.65% 109 p/s4075 / 5153 [-------------------------------------------------------->______________] 79.08% 109 p/s4097 / 5153 [-------------------------------------------------------->______________] 79.51% 109 p/s4120 / 5153 [-------------------------------------------------------->______________] 79.95% 109 p/s4143 / 5153 [--------------------------------------------------------->_____________] 80.40% 109 p/s4166 / 5153 [--------------------------------------------------------->_____________] 80.85% 109 p/s4189 / 5153 [--------------------------------------------------------->_____________] 81.29% 109 p/s4211 / 5153 [---------------------------------------------------------->____________] 81.72% 109 p/s4234 / 5153 [---------------------------------------------------------->____________] 82.17% 110 p/s4257 / 5153 [---------------------------------------------------------->____________] 82.61% 110 p/s4280 / 5153 [---------------------------------------------------------->____________] 83.06% 110 p/s4303 / 5153 [----------------------------------------------------------->___________] 83.50% 110 p/s4326 / 5153 [----------------------------------------------------------->___________] 83.95% 110 p/s4349 / 5153 [----------------------------------------------------------->___________] 84.40% 110 p/s4372 / 5153 [------------------------------------------------------------>__________] 84.84% 110 p/s4394 / 5153 [------------------------------------------------------------>__________] 85.27% 110 p/s4417 / 5153 [------------------------------------------------------------>__________] 85.72% 110 p/s4440 / 5153 [------------------------------------------------------------->_________] 86.16% 110 p/s4463 / 5153 [------------------------------------------------------------->_________] 86.61% 110 p/s4486 / 5153 [------------------------------------------------------------->_________] 87.06% 110 p/s4508 / 5153 [-------------------------------------------------------------->________] 87.48% 111 p/s4531 / 5153 [-------------------------------------------------------------->________] 87.93% 111 p/s4554 / 5153 [-------------------------------------------------------------->________] 88.38% 111 p/s4576 / 5153 [--------------------------------------------------------------->_______] 88.80% 111 p/s4599 / 5153 [--------------------------------------------------------------->_______] 89.25% 111 p/s4622 / 5153 [--------------------------------------------------------------->_______] 89.70% 111 p/s4643 / 5153 [--------------------------------------------------------------->_______] 90.10% 111 p/s4666 / 5153 [---------------------------------------------------------------->______] 90.55% 111 p/s4689 / 5153 [---------------------------------------------------------------->______] 91.00% 111 p/s4712 / 5153 [---------------------------------------------------------------->______] 91.44% 111 p/s4735 / 5153 [----------------------------------------------------------------->_____] 91.89% 111 p/s4758 / 5153 [----------------------------------------------------------------->_____] 92.33% 111 p/s4781 / 5153 [----------------------------------------------------------------->_____] 92.78% 111 p/s4804 / 5153 [------------------------------------------------------------------>____] 93.23% 111 p/s4826 / 5153 [------------------------------------------------------------------>____] 93.65% 111 p/s4849 / 5153 [------------------------------------------------------------------>____] 94.10% 112 p/s4872 / 5153 [------------------------------------------------------------------->___] 94.55% 112 p/s4895 / 5153 [------------------------------------------------------------------->___] 94.99% 112 p/s4918 / 5153 [------------------------------------------------------------------->___] 95.44% 112 p/s4941 / 5153 [-------------------------------------------------------------------->__] 95.89% 112 p/s4964 / 5153 [-------------------------------------------------------------------->__] 96.33% 112 p/s4987 / 5153 [-------------------------------------------------------------------->__] 96.78% 112 p/s5010 / 5153 [--------------------------------------------------------------------->_] 97.22% 112 p/s5032 / 5153 [--------------------------------------------------------------------->_] 97.65% 112 p/s5055 / 5153 [--------------------------------------------------------------------->_] 98.10% 112 p/s5077 / 5153 [--------------------------------------------------------------------->_] 98.53% 112 p/s5100 / 5153 [---------------------------------------------------------------------->] 98.97% 112 p/s5123 / 5153 [---------------------------------------------------------------------->] 99.42% 112 p/s5145 / 5153 [---------------------------------------------------------------------->] 99.84% 112 p/s5153 / 5153 [-----------------------------------------------------------------------] 100.00% 94 p/s2026-07-20T03:08:10 - INFO: Parsing 5153 sonar sweeps from /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5153 [00:00<?, ?it/s]
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2026-07-20T03:11:20 - 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/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e"
2026-07-20T03:11:20 - INFO: DataPrep 0.15.0
2026-07-20T03:11:20 - INFO: Prepared data will be output to /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/processing/data
2026-07-20T03:11:20 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:11:20 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:11:20 - INFO: Recording GUID: 51979b48-5a91-d8d6-f46f-9dd3f9e5a34e
2026-07-20T03:11:20 - INFO: Preparing sonar data...
2026-07-20T03:11:20 - INFO: /working/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/51979b48-5a91-d8d6-f46f-9dd3f9e5a34e/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:11:25 - INFO: Sonar epoch is 2026-02-20 14:02:42.166236+00:00 (1771596162166235655)
2026-07-20T03:11:25 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:11:25 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-07-20T03:11:25 - INFO: Using sonar digitizer
2026-07-20T03:11:25 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:11:25 - INFO: Sensor range is 0.722400 m
2026-07-20T03:11:25 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:11:25 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-20T03:11:25 - INFO: Processing 5153 snapshot scans from 5153 source sweeps...
2026-07-20T03:11:25 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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 99%|█████████▉| 5090/5153 [00:48<00:00, 152.49scan/s]
100%|██████████| 5153/5153 [00:48<00:00, 105.48scan/s]
2026-07-20T03:12:15 - INFO: Prepared sonar data in 54.8246 s
2026-07-20T03:12:15 - INFO: No IMU data found
2026-07-20T03:12:16 - INFO: DataPrep took 0:00:55.337727
2026-07-20T03:12:16 - INFO: Extracted sonar data in 0:05:00.845716
2026-07-20T03:12:16 - INFO: MSIP3D took 0:05:01.522306