+ [ 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/5374e387-9562-9104-be28-f29093014db4
2026-07-20T03:04:50 - INFO: MSIP3D 0.2.10
2026-07-20T03:04:50 - INFO: P3D files will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4
2026-07-20T03:04:50 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:04:50 - INFO: Found TFD mission for 1717SS
2026-07-20T03:04:50 - INFO: Recording will be processed as MD
2026-07-20T03:04:50 - INFO: Copying assets JSON to output directory...
2026-07-20T03:04:50 - INFO: Preparing counter data...
2026-07-20T03:04:50 - INFO: Interpreting counter as imperial
2026-07-20T03:04:50 - INFO: Preparing size track from assets JSON...
2026-07-20T03:04:50 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:04:50 - INFO: Preparing material track from assets JSON...
2026-07-20T03:04:50 - INFO: Prepared counter data in 0.1002 s
2026-07-20T03:04:50 - INFO: Extracting sonar data...
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/1717SS.tfd
TFD path: /working/5374e387-9562-9104-be28-f29093014db4/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215965616818764
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2279
23 / 2279 [>___________________________________________________________________________] 1.01% ? p/s45 / 2279 [->__________________________________________________________________________] 1.97% ? p/s66 / 2279 [-->_________________________________________________________________________] 2.90% ? p/s88 / 2279 [-->_______________________________________________________________________] 3.86% 108 p/s110 / 2279 [--->_____________________________________________________________________] 4.83% 108 p/s133 / 2279 [---->____________________________________________________________________] 5.84% 108 p/s155 / 2279 [---->____________________________________________________________________] 6.80% 109 p/s178 / 2279 [----->___________________________________________________________________] 7.81% 109 p/s202 / 2279 [------>__________________________________________________________________] 8.86% 109 p/s224 / 2279 [------->_________________________________________________________________] 9.83% 109 p/s246 / 2279 [------->________________________________________________________________] 10.79% 109 p/s268 / 2279 [-------->_______________________________________________________________] 11.76% 109 p/s290 / 2279 [--------->______________________________________________________________] 12.72% 109 p/s313 / 2279 [--------->______________________________________________________________] 13.73% 109 p/s336 / 2279 [---------->_____________________________________________________________] 14.74% 109 p/s359 / 2279 [----------->____________________________________________________________] 15.75% 109 p/s381 / 2279 [------------>___________________________________________________________] 16.72% 109 p/s404 / 2279 [------------>___________________________________________________________] 17.73% 109 p/s427 / 2279 [------------->__________________________________________________________] 18.74% 110 p/s449 / 2279 [-------------->_________________________________________________________] 19.70% 110 p/s472 / 2279 [-------------->_________________________________________________________] 20.71% 110 p/s495 / 2279 [--------------->________________________________________________________] 21.72% 110 p/s517 / 2279 [---------------->_______________________________________________________] 22.69% 110 p/s539 / 2279 [----------------->______________________________________________________] 23.65% 110 p/s561 / 2279 [----------------->______________________________________________________] 24.62% 110 p/s583 / 2279 [------------------>_____________________________________________________] 25.58% 110 p/s606 / 2279 [------------------->____________________________________________________] 26.59% 110 p/s628 / 2279 [------------------->____________________________________________________] 27.56% 110 p/s651 / 2279 [-------------------->___________________________________________________] 28.57% 110 p/s673 / 2279 [--------------------->__________________________________________________] 29.53% 110 p/s695 / 2279 [--------------------->__________________________________________________] 30.50% 110 p/s717 / 2279 [---------------------->_________________________________________________] 31.46% 110 p/s739 / 2279 [----------------------->________________________________________________] 32.43% 110 p/s761 / 2279 [------------------------>_______________________________________________] 33.39% 110 p/s784 / 2279 [------------------------>_______________________________________________] 34.40% 110 p/s806 / 2279 [------------------------->______________________________________________] 35.37% 110 p/s828 / 2279 [-------------------------->_____________________________________________] 36.33% 110 p/s851 / 2279 [-------------------------->_____________________________________________] 37.34% 110 p/s873 / 2279 [--------------------------->____________________________________________] 38.31% 110 p/s896 / 2279 [---------------------------->___________________________________________] 39.32% 110 p/s918 / 2279 [----------------------------->__________________________________________] 40.28% 110 p/s940 / 2279 [----------------------------->__________________________________________] 41.25% 110 p/s962 / 2279 [------------------------------>_________________________________________] 42.21% 110 p/s985 / 2279 [------------------------------->________________________________________] 43.22% 110 p/s1008 / 2279 [------------------------------->_______________________________________] 44.23% 110 p/s1029 / 2279 [-------------------------------->______________________________________] 45.15% 110 p/s1052 / 2279 [-------------------------------->______________________________________] 46.16% 110 p/s1075 / 2279 [--------------------------------->_____________________________________] 47.17% 110 p/s1097 / 2279 [---------------------------------->____________________________________] 48.14% 111 p/s1120 / 2279 [---------------------------------->____________________________________] 49.14% 111 p/s1143 / 2279 [----------------------------------->___________________________________] 50.15% 111 p/s1165 / 2279 [------------------------------------>__________________________________] 51.12% 111 p/s1188 / 2279 [------------------------------------->_________________________________] 52.13% 111 p/s1210 / 2279 [------------------------------------->_________________________________] 53.09% 111 p/s1233 / 2279 [-------------------------------------->________________________________] 54.10% 111 p/s1255 / 2279 [--------------------------------------->_______________________________] 55.07% 111 p/s1278 / 2279 [--------------------------------------->_______________________________] 56.08% 111 p/s1300 / 2279 [---------------------------------------->______________________________] 57.04% 111 p/s1323 / 2279 [----------------------------------------->_____________________________] 58.05% 111 p/s1345 / 2279 [----------------------------------------->_____________________________] 59.02% 111 p/s1368 / 2279 [------------------------------------------>____________________________] 60.03% 111 p/s1390 / 2279 [------------------------------------------->___________________________] 60.99% 111 p/s1413 / 2279 [-------------------------------------------->__________________________] 62.00% 111 p/s1435 / 2279 [-------------------------------------------->__________________________] 62.97% 111 p/s1458 / 2279 [--------------------------------------------->_________________________] 63.98% 111 p/s1480 / 2279 [---------------------------------------------->________________________] 64.94% 111 p/s1502 / 2279 [---------------------------------------------->________________________] 65.91% 111 p/s1525 / 2279 [----------------------------------------------->_______________________] 66.92% 111 p/s1547 / 2279 [------------------------------------------------>______________________] 67.88% 111 p/s1570 / 2279 [------------------------------------------------>______________________] 68.89% 111 p/s1592 / 2279 [------------------------------------------------->_____________________] 69.86% 111 p/s1614 / 2279 [-------------------------------------------------->____________________] 70.82% 111 p/s1637 / 2279 [-------------------------------------------------->____________________] 71.83% 111 p/s1659 / 2279 [--------------------------------------------------->___________________] 72.80% 111 p/s1682 / 2279 [---------------------------------------------------->__________________] 73.80% 111 p/s1704 / 2279 [----------------------------------------------------->_________________] 74.77% 111 p/s1727 / 2279 [----------------------------------------------------->_________________] 75.78% 111 p/s1749 / 2279 [------------------------------------------------------>________________] 76.74% 111 p/s1772 / 2279 [------------------------------------------------------->_______________] 77.75% 112 p/s1795 / 2279 [------------------------------------------------------->_______________] 78.76% 112 p/s1817 / 2279 [-------------------------------------------------------->______________] 79.73% 112 p/s1840 / 2279 [--------------------------------------------------------->_____________] 80.74% 112 p/s1862 / 2279 [---------------------------------------------------------->____________] 81.70% 112 p/s1885 / 2279 [---------------------------------------------------------->____________] 82.71% 112 p/s1907 / 2279 [----------------------------------------------------------->___________] 83.68% 112 p/s1930 / 2279 [------------------------------------------------------------>__________] 84.69% 112 p/s1952 / 2279 [------------------------------------------------------------>__________] 85.65% 112 p/s1975 / 2279 [------------------------------------------------------------->_________] 86.66% 112 p/s1997 / 2279 [-------------------------------------------------------------->________] 87.63% 112 p/s2020 / 2279 [-------------------------------------------------------------->________] 88.64% 112 p/s2042 / 2279 [--------------------------------------------------------------->_______] 89.60% 112 p/s2065 / 2279 [---------------------------------------------------------------->______] 90.61% 112 p/s2087 / 2279 [----------------------------------------------------------------->_____] 91.58% 112 p/s2110 / 2279 [----------------------------------------------------------------->_____] 92.58% 112 p/s2132 / 2279 [------------------------------------------------------------------>____] 93.55% 112 p/s2153 / 2279 [------------------------------------------------------------------->___] 94.47% 112 p/s2176 / 2279 [------------------------------------------------------------------->___] 95.48% 112 p/s2198 / 2279 [-------------------------------------------------------------------->__] 96.45% 112 p/s2221 / 2279 [--------------------------------------------------------------------->_] 97.46% 112 p/s2243 / 2279 [--------------------------------------------------------------------->_] 98.42% 112 p/s2266 / 2279 [---------------------------------------------------------------------->] 99.43% 112 p/s2279 / 2279 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-20T03:05:10 - INFO: Parsing 2279 sonar sweeps from /working/5374e387-9562-9104-be28-f29093014db4/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:06:36 - 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/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4"
2026-07-20T03:06:36 - INFO: DataPrep 0.15.0
2026-07-20T03:06:36 - INFO: Prepared data will be output to /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/processing/data
2026-07-20T03:06:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:06:36 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:06:36 - INFO: Recording GUID: 5374e387-9562-9104-be28-f29093014db4
2026-07-20T03:06:36 - INFO: Preparing sonar data...
2026-07-20T03:06:36 - INFO: /working/5374e387-9562-9104-be28-f29093014db4/5374e387-9562-9104-be28-f29093014db4/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:06:38 - INFO: Sonar epoch is 2026-02-23 16:56:38.831213+00:00 (1771865798831213277)
2026-07-20T03:06:38 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:06:38 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-20T03:06:38 - INFO: Using sonar digitizer
2026-07-20T03:06:38 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:06:38 - INFO: Sensor range is 0.939120 m
2026-07-20T03:06:38 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:06:38 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-20T03:06:38 - INFO: Processing 2279 snapshot scans from 2279 source sweeps...
2026-07-20T03:06:38 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-20T03:07:06 - INFO: Prepared sonar data in 29.8867 s
2026-07-20T03:07:06 - INFO: No IMU data found
2026-07-20T03:07:06 - INFO: DataPrep took 0:00:30.111213
2026-07-20T03:07:06 - INFO: Extracted sonar data in 0:02:16.440488
2026-07-20T03:07:07 - INFO: MSIP3D took 0:02:16.750803