+ [ 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-20T03:05:38 - INFO: MSIP3D 0.2.10
2026-07-20T03:05:38 - INFO: P3D files will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-20T03:05:38 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:05:38 - INFO: Found TFD mission for 1663SS
2026-07-20T03:05:38 - INFO: Recording will be processed as MD
2026-07-20T03:05:38 - INFO: Copying assets JSON to output directory...
2026-07-20T03:05:38 - INFO: Preparing counter data...
2026-07-20T03:05:38 - INFO: Interpreting counter as imperial
2026-07-20T03:05:38 - INFO: Preparing size track from assets JSON...
2026-07-20T03:05:38 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:05:38 - INFO: Preparing material track from assets JSON...
2026-07-20T03:05:38 - INFO: Prepared counter data in 0.0348 s
2026-07-20T03:05:38 - INFO: Extracting sonar data...
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/1663SS.tfd
TFD path: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2007
18 / 2007 [>___________________________________________________________________________] 0.90% ? p/s39 / 2007 [->__________________________________________________________________________] 1.94% ? p/s61 / 2007 [-->_________________________________________________________________________] 3.04% ? p/s82 / 2007 [--->______________________________________________________________________] 4.09% 107 p/s104 / 2007 [--->_____________________________________________________________________] 5.18% 107 p/s125 / 2007 [---->____________________________________________________________________] 6.23% 107 p/s148 / 2007 [----->___________________________________________________________________] 7.37% 107 p/s170 / 2007 [------>__________________________________________________________________] 8.47% 107 p/s193 / 2007 [------->_________________________________________________________________] 9.62% 107 p/s215 / 2007 [------->________________________________________________________________] 10.71% 107 p/s237 / 2007 [-------->_______________________________________________________________] 11.81% 107 p/s259 / 2007 [--------->______________________________________________________________] 12.90% 107 p/s281 / 2007 [---------->_____________________________________________________________] 14.00% 107 p/s304 / 2007 [---------->_____________________________________________________________] 15.15% 107 p/s326 / 2007 [----------->____________________________________________________________] 16.24% 107 p/s349 / 2007 [------------>___________________________________________________________] 17.39% 108 p/s371 / 2007 [------------->__________________________________________________________] 18.49% 108 p/s393 / 2007 [-------------->_________________________________________________________] 19.58% 108 p/s416 / 2007 [-------------->_________________________________________________________] 20.73% 108 p/s438 / 2007 [--------------->________________________________________________________] 21.82% 108 p/s460 / 2007 [---------------->_______________________________________________________] 22.92% 108 p/s483 / 2007 [----------------->______________________________________________________] 24.07% 108 p/s504 / 2007 [------------------>_____________________________________________________] 25.11% 108 p/s526 / 2007 [------------------>_____________________________________________________] 26.21% 108 p/s548 / 2007 [------------------->____________________________________________________] 27.30% 108 p/s570 / 2007 [-------------------->___________________________________________________] 28.40% 108 p/s593 / 2007 [--------------------->__________________________________________________] 29.55% 108 p/s616 / 2007 [---------------------->_________________________________________________] 30.69% 109 p/s638 / 2007 [---------------------->_________________________________________________] 31.79% 109 p/s660 / 2007 [----------------------->________________________________________________] 32.88% 109 p/s683 / 2007 [------------------------>_______________________________________________] 34.03% 109 p/s705 / 2007 [------------------------->______________________________________________] 35.13% 109 p/s727 / 2007 [-------------------------->_____________________________________________] 36.22% 109 p/s749 / 2007 [-------------------------->_____________________________________________] 37.32% 109 p/s772 / 2007 [--------------------------->____________________________________________] 38.47% 109 p/s794 / 2007 [---------------------------->___________________________________________] 39.56% 109 p/s816 / 2007 [----------------------------->__________________________________________] 40.66% 109 p/s838 / 2007 [------------------------------>_________________________________________] 41.75% 109 p/s861 / 2007 [------------------------------>_________________________________________] 42.90% 109 p/s883 / 2007 [------------------------------->________________________________________] 44.00% 109 p/s906 / 2007 [-------------------------------->_______________________________________] 45.14% 109 p/s928 / 2007 [--------------------------------->______________________________________] 46.24% 109 p/s951 / 2007 [---------------------------------->_____________________________________] 47.38% 109 p/s973 / 2007 [---------------------------------->_____________________________________] 48.48% 109 p/s996 / 2007 [----------------------------------->____________________________________] 49.63% 109 p/s1018 / 2007 [------------------------------------>__________________________________] 50.72% 110 p/s1041 / 2007 [------------------------------------>__________________________________] 51.87% 110 p/s1063 / 2007 [------------------------------------->_________________________________] 52.96% 110 p/s1085 / 2007 [-------------------------------------->________________________________] 54.06% 110 p/s1108 / 2007 [--------------------------------------->_______________________________] 55.21% 110 p/s1130 / 2007 [--------------------------------------->_______________________________] 56.30% 110 p/s1153 / 2007 [---------------------------------------->______________________________] 57.45% 110 p/s1175 / 2007 [----------------------------------------->_____________________________] 58.55% 110 p/s1198 / 2007 [------------------------------------------>____________________________] 59.69% 110 p/s1220 / 2007 [------------------------------------------->___________________________] 60.79% 110 p/s1243 / 2007 [------------------------------------------->___________________________] 61.93% 110 p/s1265 / 2007 [-------------------------------------------->__________________________] 63.03% 110 p/s1288 / 2007 [--------------------------------------------->_________________________] 64.18% 110 p/s1310 / 2007 [---------------------------------------------->________________________] 65.27% 110 p/s1332 / 2007 [----------------------------------------------->_______________________] 66.37% 110 p/s1354 / 2007 [----------------------------------------------->_______________________] 67.46% 110 p/s1377 / 2007 [------------------------------------------------>______________________] 68.61% 110 p/s1399 / 2007 [------------------------------------------------->_____________________] 69.71% 110 p/s1421 / 2007 [-------------------------------------------------->____________________] 70.80% 110 p/s1443 / 2007 [--------------------------------------------------->___________________] 71.90% 110 p/s1466 / 2007 [--------------------------------------------------->___________________] 73.04% 110 p/s1489 / 2007 [---------------------------------------------------->__________________] 74.19% 111 p/s1511 / 2007 [----------------------------------------------------->_________________] 75.29% 111 p/s1534 / 2007 [------------------------------------------------------>________________] 76.43% 111 p/s1556 / 2007 [------------------------------------------------------->_______________] 77.53% 111 p/s1578 / 2007 [------------------------------------------------------->_______________] 78.62% 111 p/s1600 / 2007 [-------------------------------------------------------->______________] 79.72% 111 p/s1623 / 2007 [--------------------------------------------------------->_____________] 80.87% 111 p/s1645 / 2007 [---------------------------------------------------------->____________] 81.96% 111 p/s1668 / 2007 [----------------------------------------------------------->___________] 83.11% 111 p/s1691 / 2007 [----------------------------------------------------------->___________] 84.26% 111 p/s1713 / 2007 [------------------------------------------------------------>__________] 85.35% 111 p/s1736 / 2007 [------------------------------------------------------------->_________] 86.50% 111 p/s1759 / 2007 [-------------------------------------------------------------->________] 87.64% 111 p/s1783 / 2007 [--------------------------------------------------------------->_______] 88.84% 111 p/s1806 / 2007 [--------------------------------------------------------------->_______] 89.99% 111 p/s1829 / 2007 [---------------------------------------------------------------->______] 91.13% 111 p/s1852 / 2007 [----------------------------------------------------------------->_____] 92.28% 111 p/s1875 / 2007 [------------------------------------------------------------------>____] 93.42% 111 p/s1897 / 2007 [------------------------------------------------------------------->___] 94.52% 112 p/s1920 / 2007 [------------------------------------------------------------------->___] 95.67% 112 p/s1943 / 2007 [-------------------------------------------------------------------->__] 96.81% 112 p/s1966 / 2007 [--------------------------------------------------------------------->_] 97.96% 112 p/s1989 / 2007 [---------------------------------------------------------------------->] 99.10% 112 p/s2007 / 2007 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-20T03:05:56 - INFO: Parsing 2007 sonar sweeps from /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2007 [00:00<?, ?it/s]
  0%|          | 3/2007 [00:00<01:13, 27.41it/s]
  0%|          | 6/2007 [00:00<01:11, 27.85it/s]
  0%|          | 9/2007 [00:00<01:11, 28.13it/s]
  1%|          | 12/2007 [00:00<01:10, 28.17it/s]
  1%|          | 15/2007 [00:00<01:10, 28.16it/s]
  1%|          | 18/2007 [00:00<01:10, 28.16it/s]
  1%|          | 21/2007 [00:00<01:10, 28.15it/s]
  1%|          | 24/2007 [00:00<01:10, 28.17it/s]
  1%|▏         | 27/2007 [00:00<01:10, 28.19it/s]
  1%|▏         | 30/2007 [00:01<01:10, 28.20it/s]
  2%|▏         | 33/2007 [00:01<01:10, 28.13it/s]
  2%|▏         | 36/2007 [00:01<01:09, 28.17it/s]
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  3%|▎         | 51/2007 [00:01<01:10, 27.94it/s]
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  5%|▌         | 102/2007 [00:03<01:07, 28.11it/s]
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  6%|▌         | 111/2007 [00:03<01:07, 28.14it/s]
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2026-07-20T03:07:10 - 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/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c"
2026-07-20T03:07:11 - INFO: DataPrep 0.15.0
2026-07-20T03:07:11 - INFO: Prepared data will be output to /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/processing/data
2026-07-20T03:07:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:07:11 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:07:11 - INFO: Recording GUID: 9e4fec19-8b34-1f52-b9ff-b5f8d973b31c
2026-07-20T03:07:11 - INFO: Preparing sonar data...
2026-07-20T03:07:11 - INFO: /working/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/9e4fec19-8b34-1f52-b9ff-b5f8d973b31c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:07:13 - INFO: Sonar epoch is 2026-02-19 18:37:54.821940+00:00 (1771526274821939978)
2026-07-20T03:07:13 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:07:13 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-20T03:07:13 - INFO: Using sonar digitizer
2026-07-20T03:07:13 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:07:13 - INFO: Sensor range is 0.722400 m
2026-07-20T03:07:13 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:07:13 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-20T03:07:13 - INFO: Processing 2007 snapshot scans from 2007 source sweeps...
2026-07-20T03:07:13 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

  0%|          | 0/2007 [00:00<?, ?scan/s]
  0%|          | 1/2007 [00:02<1:39:42,  2.98s/scan]
  3%|▎         | 63/2007 [00:03<01:12, 26.84scan/s] 
  6%|▌         | 125/2007 [00:03<00:31, 59.19scan/s]
  9%|▉         | 187/2007 [00:03<00:24, 75.80scan/s]
 12%|█▏        | 249/2007 [00:04<00:23, 74.36scan/s]
 19%|█▊        | 373/2007 [00:05<00:13, 116.72scan/s]
 22%|██▏       | 435/2007 [00:06<00:15, 99.46scan/s] 
 25%|██▍       | 497/2007 [00:07<00:22, 67.29scan/s]
 28%|██▊       | 559/2007 [00:08<00:16, 85.35scan/s]
 31%|███       | 621/2007 [00:08<00:13, 102.49scan/s]
 34%|███▍      | 683/2007 [00:08<00:10, 128.24scan/s]
 37%|███▋      | 745/2007 [00:08<00:07, 164.42scan/s]
 40%|████      | 807/2007 [00:09<00:07, 160.10scan/s]
 43%|████▎     | 869/2007 [00:09<00:06, 189.03scan/s]
 46%|████▋     | 931/2007 [00:09<00:05, 193.08scan/s]
 49%|████▉     | 993/2007 [00:10<00:06, 152.16scan/s]
 53%|█████▎    | 1055/2007 [00:10<00:05, 162.76scan/s]
 56%|█████▌    | 1117/2007 [00:10<00:04, 194.14scan/s]
 59%|█████▊    | 1179/2007 [00:11<00:04, 200.81scan/s]
 62%|██████▏   | 1241/2007 [00:12<00:09, 77.74scan/s] 
 68%|██████▊   | 1365/2007 [00:13<00:05, 125.73scan/s]
 77%|███████▋  | 1551/2007 [00:14<00:02, 161.52scan/s]
 85%|████████▍ | 1698/2007 [00:14<00:01, 215.83scan/s]
 88%|████████▊ | 1760/2007 [00:14<00:01, 200.40scan/s]
 94%|█████████▍| 1884/2007 [00:15<00:00, 224.09scan/s]
100%|██████████| 2007/2007 [00:15<00:00, 132.23scan/s]
2026-07-20T03:07:28 - INFO: Prepared sonar data in 17.4871 s
2026-07-20T03:07:28 - INFO: No IMU data found
2026-07-20T03:07:29 - INFO: DataPrep took 0:00:17.677292
2026-07-20T03:07:29 - INFO: Extracted sonar data in 0:01:50.218210
2026-07-20T03:07:29 - INFO: MSIP3D took 0:01:50.432850