+ [ 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/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-20T03:04:18 - INFO: MSIP3D 0.2.10
2026-07-20T03:04:18 - INFO: P3D files will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-20T03:04:18 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:04:18 - INFO: Found TFD mission for 1726SS
2026-07-20T03:04:18 - INFO: Recording will be processed as MD
2026-07-20T03:04:18 - INFO: Copying assets JSON to output directory...
2026-07-20T03:04:18 - INFO: Preparing counter data...
2026-07-20T03:04:18 - INFO: Interpreting counter as imperial
2026-07-20T03:04:18 - INFO: Preparing size track from assets JSON...
2026-07-20T03:04:18 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:04:18 - INFO: Preparing material track from assets JSON...
2026-07-20T03:04:18 - INFO: Prepared counter data in 0.0536 s
2026-07-20T03:04:18 - INFO: Extracting sonar data...
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/1726SS.tfd
TFD path: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215965616818755
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2012
21 / 2012 [>___________________________________________________________________________] 1.04% ? p/s41 / 2012 [->__________________________________________________________________________] 2.04% ? p/s63 / 2012 [-->_________________________________________________________________________] 3.13% ? p/s85 / 2012 [--->______________________________________________________________________] 4.22% 107 p/s108 / 2012 [--->_____________________________________________________________________] 5.37% 107 p/s129 / 2012 [---->____________________________________________________________________] 6.41% 107 p/s152 / 2012 [----->___________________________________________________________________] 7.55% 107 p/s174 / 2012 [------>__________________________________________________________________] 8.65% 107 p/s196 / 2012 [------->_________________________________________________________________] 9.74% 107 p/s217 / 2012 [------->________________________________________________________________] 10.79% 107 p/s240 / 2012 [-------->_______________________________________________________________] 11.93% 107 p/s261 / 2012 [--------->______________________________________________________________] 12.97% 107 p/s283 / 2012 [---------->_____________________________________________________________] 14.07% 107 p/s305 / 2012 [---------->_____________________________________________________________] 15.16% 107 p/s328 / 2012 [----------->____________________________________________________________] 16.30% 107 p/s350 / 2012 [------------>___________________________________________________________] 17.40% 108 p/s372 / 2012 [------------->__________________________________________________________] 18.49% 108 p/s395 / 2012 [-------------->_________________________________________________________] 19.63% 108 p/s417 / 2012 [-------------->_________________________________________________________] 20.73% 108 p/s439 / 2012 [--------------->________________________________________________________] 21.82% 108 p/s462 / 2012 [---------------->_______________________________________________________] 22.96% 108 p/s485 / 2012 [----------------->______________________________________________________] 24.11% 108 p/s506 / 2012 [------------------>_____________________________________________________] 25.15% 108 p/s528 / 2012 [------------------>_____________________________________________________] 26.24% 108 p/s551 / 2012 [------------------->____________________________________________________] 27.39% 108 p/s573 / 2012 [-------------------->___________________________________________________] 28.48% 108 p/s596 / 2012 [--------------------->__________________________________________________] 29.62% 108 p/s618 / 2012 [---------------------->_________________________________________________] 30.72% 109 p/s641 / 2012 [---------------------->_________________________________________________] 31.86% 109 p/s664 / 2012 [----------------------->________________________________________________] 33.00% 109 p/s686 / 2012 [------------------------>_______________________________________________] 34.10% 109 p/s709 / 2012 [------------------------->______________________________________________] 35.24% 109 p/s731 / 2012 [-------------------------->_____________________________________________] 36.33% 109 p/s753 / 2012 [-------------------------->_____________________________________________] 37.43% 109 p/s776 / 2012 [--------------------------->____________________________________________] 38.57% 109 p/s798 / 2012 [---------------------------->___________________________________________] 39.66% 109 p/s820 / 2012 [----------------------------->__________________________________________] 40.76% 109 p/s842 / 2012 [------------------------------>_________________________________________] 41.85% 109 p/s864 / 2012 [------------------------------>_________________________________________] 42.94% 109 p/s886 / 2012 [------------------------------->________________________________________] 44.04% 109 p/s909 / 2012 [-------------------------------->_______________________________________] 45.18% 109 p/s931 / 2012 [--------------------------------->______________________________________] 46.27% 109 p/s953 / 2012 [---------------------------------->_____________________________________] 47.37% 109 p/s975 / 2012 [---------------------------------->_____________________________________] 48.46% 109 p/s998 / 2012 [----------------------------------->____________________________________] 49.60% 109 p/s1019 / 2012 [----------------------------------->___________________________________] 50.65% 109 p/s1042 / 2012 [------------------------------------>__________________________________] 51.79% 109 p/s1064 / 2012 [------------------------------------->_________________________________] 52.88% 109 p/s1086 / 2012 [-------------------------------------->________________________________] 53.98% 110 p/s1107 / 2012 [--------------------------------------->_______________________________] 55.02% 110 p/s1130 / 2012 [--------------------------------------->_______________________________] 56.16% 110 p/s1152 / 2012 [---------------------------------------->______________________________] 57.26% 110 p/s1173 / 2012 [----------------------------------------->_____________________________] 58.30% 110 p/s1196 / 2012 [------------------------------------------>____________________________] 59.44% 110 p/s1218 / 2012 [------------------------------------------>____________________________] 60.54% 110 p/s1240 / 2012 [------------------------------------------->___________________________] 61.63% 110 p/s1261 / 2012 [-------------------------------------------->__________________________] 62.67% 110 p/s1284 / 2012 [--------------------------------------------->_________________________] 63.82% 110 p/s1306 / 2012 [---------------------------------------------->________________________] 64.91% 110 p/s1328 / 2012 [---------------------------------------------->________________________] 66.00% 110 p/s1350 / 2012 [----------------------------------------------->_______________________] 67.10% 110 p/s1373 / 2012 [------------------------------------------------>______________________] 68.24% 110 p/s1395 / 2012 [------------------------------------------------->_____________________] 69.33% 110 p/s1418 / 2012 [-------------------------------------------------->____________________] 70.48% 110 p/s1438 / 2012 [-------------------------------------------------->____________________] 71.47% 110 p/s1460 / 2012 [--------------------------------------------------->___________________] 72.56% 110 p/s1483 / 2012 [---------------------------------------------------->__________________] 73.71% 110 p/s1505 / 2012 [----------------------------------------------------->_________________] 74.80% 110 p/s1527 / 2012 [----------------------------------------------------->_________________] 75.89% 110 p/s1550 / 2012 [------------------------------------------------------>________________] 77.04% 110 p/s1572 / 2012 [------------------------------------------------------->_______________] 78.13% 110 p/s1595 / 2012 [-------------------------------------------------------->______________] 79.27% 110 p/s1617 / 2012 [--------------------------------------------------------->_____________] 80.37% 110 p/s1639 / 2012 [--------------------------------------------------------->_____________] 81.46% 110 p/s1662 / 2012 [---------------------------------------------------------->____________] 82.60% 110 p/s1684 / 2012 [----------------------------------------------------------->___________] 83.70% 110 p/s1707 / 2012 [------------------------------------------------------------>__________] 84.84% 110 p/s1729 / 2012 [------------------------------------------------------------->_________] 85.93% 110 p/s1752 / 2012 [------------------------------------------------------------->_________] 87.08% 110 p/s1774 / 2012 [-------------------------------------------------------------->________] 88.17% 110 p/s1797 / 2012 [--------------------------------------------------------------->_______] 89.31% 110 p/s1819 / 2012 [---------------------------------------------------------------->______] 90.41% 110 p/s1842 / 2012 [----------------------------------------------------------------->_____] 91.55% 110 p/s1864 / 2012 [----------------------------------------------------------------->_____] 92.64% 110 p/s1887 / 2012 [------------------------------------------------------------------>____] 93.79% 111 p/s1909 / 2012 [------------------------------------------------------------------->___] 94.88% 111 p/s1932 / 2012 [-------------------------------------------------------------------->__] 96.02% 111 p/s1955 / 2012 [-------------------------------------------------------------------->__] 97.17% 111 p/s1976 / 2012 [--------------------------------------------------------------------->_] 98.21% 111 p/s1999 / 2012 [---------------------------------------------------------------------->] 99.35% 111 p/s2012 / 2012 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-20T03:04:36 - INFO: Parsing 2012 sonar sweeps from /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2012 [00:00<?, ?it/s]
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2026-07-20T03:05:52 - WARNING: Expected 400 beams, got 160, dropping sweep 2011
2026-07-20T03:05:52 - 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/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818"
2026-07-20T03:05:53 - INFO: DataPrep 0.15.0
2026-07-20T03:05:53 - INFO: Prepared data will be output to /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/processing/data
2026-07-20T03:05:53 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:05:53 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:05:53 - INFO: Recording GUID: 1a63e554-5375-65f0-9ab5-57b6e4adc818
2026-07-20T03:05:53 - INFO: Preparing sonar data...
2026-07-20T03:05:53 - INFO: /working/1a63e554-5375-65f0-9ab5-57b6e4adc818/1a63e554-5375-65f0-9ab5-57b6e4adc818/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:05:55 - INFO: Sonar epoch is 2026-02-23 15:27:45.343647+00:00 (1771860465343647207)
2026-07-20T03:05:55 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:05:55 - INFO: Using sonar rotation of 0.209440 radians for wedge mask
2026-07-20T03:05:55 - INFO: Using sonar digitizer
2026-07-20T03:05:55 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:05:55 - INFO: Sensor range is 0.939120 m
2026-07-20T03:05:55 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:05:55 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-20T03:05:55 - INFO: Processing 2011 snapshot scans from 2011 source sweeps...
2026-07-20T03:05:55 - INFO: Processing sonar scans with 8 worker processes and chunksize 62

  0%|          | 0/2011 [00:00<?, ?scan/s]
  0%|          | 1/2011 [00:03<1:59:14,  3.56s/scan]
  3%|▎         | 63/2011 [00:05<02:09, 15.03scan/s] 
  6%|▌         | 125/2011 [00:05<01:04, 29.10scan/s]
  9%|▉         | 187/2011 [00:06<00:39, 46.42scan/s]
 12%|█▏        | 249/2011 [00:06<00:28, 62.17scan/s]
 19%|█▊        | 373/2011 [00:07<00:15, 106.32scan/s]
 25%|██▍       | 497/2011 [00:09<00:18, 82.41scan/s] 
 28%|██▊       | 559/2011 [00:11<00:24, 58.65scan/s]
 31%|███       | 621/2011 [00:11<00:19, 72.19scan/s]
 34%|███▍      | 683/2011 [00:11<00:14, 91.52scan/s]
 37%|███▋      | 745/2011 [00:11<00:10, 115.75scan/s]
 40%|████      | 807/2011 [00:12<00:09, 120.89scan/s]
 43%|████▎     | 869/2011 [00:12<00:10, 113.06scan/s]
 46%|████▋     | 931/2011 [00:13<00:09, 114.08scan/s]
 49%|████▉     | 993/2011 [00:15<00:13, 73.80scan/s] 
 52%|█████▏    | 1055/2011 [00:16<00:18, 52.92scan/s]
 56%|█████▌    | 1117/2011 [00:17<00:14, 62.50scan/s]
 59%|█████▊    | 1179/2011 [00:17<00:09, 85.08scan/s]
 62%|██████▏   | 1241/2011 [00:18<00:08, 93.93scan/s]
 65%|██████▍   | 1303/2011 [00:18<00:05, 119.95scan/s]
 68%|██████▊   | 1365/2011 [00:18<00:05, 119.38scan/s]
 71%|███████   | 1427/2011 [00:19<00:04, 120.19scan/s]
 74%|███████▍  | 1489/2011 [00:21<00:08, 65.22scan/s] 
 77%|███████▋  | 1551/2011 [00:22<00:06, 68.14scan/s]
 78%|███████▊  | 1578/2011 [00:23<00:08, 53.67scan/s]
 82%|████████▏ | 1640/2011 [00:23<00:05, 65.87scan/s]
 85%|████████▍ | 1702/2011 [00:24<00:03, 83.97scan/s]
 91%|█████████ | 1826/2011 [00:24<00:01, 146.09scan/s]
 94%|█████████▍| 1888/2011 [00:24<00:00, 169.59scan/s]
 97%|█████████▋| 1950/2011 [00:24<00:00, 150.30scan/s]
100%|██████████| 2011/2011 [00:24<00:00, 80.45scan/s] 
2026-07-20T03:06:21 - INFO: Prepared sonar data in 27.7416 s
2026-07-20T03:06:21 - INFO: No IMU data found
2026-07-20T03:06:21 - INFO: DataPrep took 0:00:27.943454
2026-07-20T03:06:21 - INFO: Extracted sonar data in 0:02:02.681566
2026-07-20T03:06:21 - INFO: MSIP3D took 0:02:02.910535