+ [ 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-20T03:03:45 - INFO: MSIP3D 0.2.10
2026-07-20T03:03:45 - INFO: P3D files will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-20T03:03:45 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:03:45 - INFO: Found TFD mission for 1708SS
2026-07-20T03:03:45 - INFO: Recording will be processed as MD
2026-07-20T03:03:45 - INFO: Copying assets JSON to output directory...
2026-07-20T03:03:45 - INFO: Preparing counter data...
2026-07-20T03:03:45 - INFO: Interpreting counter as imperial
2026-07-20T03:03:45 - INFO: Preparing size track from assets JSON...
2026-07-20T03:03:45 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:03:45 - INFO: Preparing material track from assets JSON...
2026-07-20T03:03:45 - INFO: Prepared counter data in 0.0199 s
2026-07-20T03:03:45 - INFO: Extracting sonar data...
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/1708SS.tfd
TFD path: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Getting track SONAR
Number of frames: 1437
21 / 1437 [->__________________________________________________________________________] 1.46% ? p/s44 / 1437 [-->_________________________________________________________________________] 3.06% ? p/s65 / 1437 [--->________________________________________________________________________] 4.52% ? p/s88 / 1437 [---->_____________________________________________________________________] 6.12% 112 p/s111 / 1437 [----->___________________________________________________________________] 7.72% 112 p/s132 / 1437 [------>__________________________________________________________________] 9.19% 112 p/s154 / 1437 [------->________________________________________________________________] 10.72% 112 p/s175 / 1437 [-------->_______________________________________________________________] 12.18% 112 p/s197 / 1437 [--------->______________________________________________________________] 13.71% 112 p/s219 / 1437 [---------->_____________________________________________________________] 15.24% 111 p/s242 / 1437 [------------>___________________________________________________________] 16.84% 111 p/s264 / 1437 [------------->__________________________________________________________] 18.37% 111 p/s286 / 1437 [-------------->_________________________________________________________] 19.90% 111 p/s308 / 1437 [--------------->________________________________________________________] 21.43% 111 p/s330 / 1437 [---------------->_______________________________________________________] 22.96% 111 p/s353 / 1437 [----------------->______________________________________________________] 24.57% 111 p/s375 / 1437 [------------------>_____________________________________________________] 26.10% 111 p/s397 / 1437 [------------------->____________________________________________________] 27.63% 111 p/s419 / 1437 [-------------------->___________________________________________________] 29.16% 111 p/s442 / 1437 [---------------------->_________________________________________________] 30.76% 111 p/s464 / 1437 [----------------------->________________________________________________] 32.29% 111 p/s486 / 1437 [------------------------>_______________________________________________] 33.82% 111 p/s507 / 1437 [------------------------->______________________________________________] 35.28% 111 p/s530 / 1437 [-------------------------->_____________________________________________] 36.88% 111 p/s552 / 1437 [--------------------------->____________________________________________] 38.41% 111 p/s574 / 1437 [---------------------------->___________________________________________] 39.94% 111 p/s596 / 1437 [----------------------------->__________________________________________] 41.48% 111 p/s619 / 1437 [------------------------------->________________________________________] 43.08% 111 p/s641 / 1437 [-------------------------------->_______________________________________] 44.61% 111 p/s664 / 1437 [--------------------------------->______________________________________] 46.21% 111 p/s686 / 1437 [---------------------------------->_____________________________________] 47.74% 111 p/s709 / 1437 [----------------------------------->____________________________________] 49.34% 111 p/s731 / 1437 [------------------------------------>___________________________________] 50.87% 111 p/s753 / 1437 [------------------------------------->__________________________________] 52.40% 111 p/s776 / 1437 [-------------------------------------->_________________________________] 54.00% 111 p/s798 / 1437 [--------------------------------------->________________________________] 55.53% 111 p/s821 / 1437 [----------------------------------------->______________________________] 57.13% 111 p/s843 / 1437 [------------------------------------------>_____________________________] 58.66% 111 p/s865 / 1437 [------------------------------------------->____________________________] 60.19% 111 p/s888 / 1437 [-------------------------------------------->___________________________] 61.80% 111 p/s910 / 1437 [--------------------------------------------->__________________________] 63.33% 111 p/s933 / 1437 [---------------------------------------------->_________________________] 64.93% 111 p/s955 / 1437 [----------------------------------------------->________________________] 66.46% 111 p/s978 / 1437 [------------------------------------------------->______________________] 68.06% 111 p/s1000 / 1437 [------------------------------------------------->_____________________] 69.59% 111 p/s1022 / 1437 [-------------------------------------------------->____________________] 71.12% 111 p/s1044 / 1437 [--------------------------------------------------->___________________] 72.65% 111 p/s1067 / 1437 [---------------------------------------------------->__________________] 74.25% 111 p/s1089 / 1437 [----------------------------------------------------->_________________] 75.78% 111 p/s1111 / 1437 [------------------------------------------------------>________________] 77.31% 111 p/s1134 / 1437 [-------------------------------------------------------->______________] 78.91% 111 p/s1156 / 1437 [--------------------------------------------------------->_____________] 80.45% 111 p/s1178 / 1437 [---------------------------------------------------------->____________] 81.98% 111 p/s1201 / 1437 [----------------------------------------------------------->___________] 83.58% 111 p/s1223 / 1437 [------------------------------------------------------------>__________] 85.11% 112 p/s1246 / 1437 [------------------------------------------------------------->_________] 86.71% 112 p/s1269 / 1437 [-------------------------------------------------------------->________] 88.31% 112 p/s1292 / 1437 [--------------------------------------------------------------->_______] 89.91% 112 p/s1314 / 1437 [---------------------------------------------------------------->______] 91.44% 112 p/s1337 / 1437 [------------------------------------------------------------------>____] 93.04% 112 p/s1359 / 1437 [------------------------------------------------------------------->___] 94.57% 112 p/s1382 / 1437 [-------------------------------------------------------------------->__] 96.17% 112 p/s1404 / 1437 [--------------------------------------------------------------------->_] 97.70% 112 p/s1426 / 1437 [---------------------------------------------------------------------->] 99.23% 112 p/s1437 / 1437 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-20T03:03:58 - INFO: Parsing 1437 sonar sweeps from /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:04:51 - 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/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba"
2026-07-20T03:04:51 - INFO: DataPrep 0.15.0
2026-07-20T03:04:51 - INFO: Prepared data will be output to /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/processing/data
2026-07-20T03:04:51 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:04:51 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:04:51 - INFO: Recording GUID: dbcc6178-5ce9-cc58-4507-41bd5f09d3ba
2026-07-20T03:04:51 - INFO: Preparing sonar data...
2026-07-20T03:04:51 - INFO: /working/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/dbcc6178-5ce9-cc58-4507-41bd5f09d3ba/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:04:52 - INFO: Sonar epoch is 2026-03-13 18:17:17.651546+00:00 (1773425837651546015)
2026-07-20T03:04:52 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:04:52 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-20T03:04:52 - INFO: Using sonar digitizer
2026-07-20T03:04:52 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:04:52 - INFO: Sensor range is 0.794640 m
2026-07-20T03:04:52 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:04:52 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-20T03:04:52 - INFO: Processing 1437 snapshot scans from 1437 source sweeps...
2026-07-20T03:04:52 - INFO: Processing sonar scans with 8 worker processes and chunksize 44

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2026-07-20T03:05:09 - INFO: Prepared sonar data in 17.5355 s
2026-07-20T03:05:09 - INFO: No IMU data found
2026-07-20T03:05:09 - INFO: DataPrep took 0:00:17.681279
2026-07-20T03:05:09 - INFO: Extracted sonar data in 0:01:23.729248
2026-07-20T03:05:09 - INFO: MSIP3D took 0:01:23.873539