+ [ 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/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-20T03:05:21 - INFO: MSIP3D 0.2.10
2026-07-20T03:05:21 - INFO: P3D files will be output to /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-20T03:05:21 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:05:22 - INFO: Found TFD mission for 1729SS
2026-07-20T03:05:22 - INFO: Recording will be processed as MD
2026-07-20T03:05:22 - INFO: Copying assets JSON to output directory...
2026-07-20T03:05:22 - INFO: Preparing counter data...
2026-07-20T03:05:22 - INFO: Interpreting counter as imperial
2026-07-20T03:05:22 - INFO: Preparing size track from assets JSON...
2026-07-20T03:05:22 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:05:22 - INFO: Preparing material track from assets JSON...
2026-07-20T03:05:22 - INFO: Prepared counter data in 0.0985 s
2026-07-20T03:05:22 - INFO: Extracting sonar data...
TFD path: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/1729SS.tfd
TFD path: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 2583
22 / 2583 [>___________________________________________________________________________] 0.85% ? p/s44 / 2583 [->__________________________________________________________________________] 1.70% ? p/s66 / 2583 [->__________________________________________________________________________] 2.56% ? p/s89 / 2583 [-->_______________________________________________________________________] 3.45% 112 p/s110 / 2583 [--->_____________________________________________________________________] 4.26% 112 p/s132 / 2583 [--->_____________________________________________________________________] 5.11% 112 p/s155 / 2583 [---->____________________________________________________________________] 6.00% 112 p/s175 / 2583 [---->____________________________________________________________________] 6.78% 112 p/s198 / 2583 [----->___________________________________________________________________] 7.67% 112 p/s221 / 2583 [------>__________________________________________________________________] 8.56% 111 p/s243 / 2583 [------>__________________________________________________________________] 9.41% 111 p/s265 / 2583 [------->________________________________________________________________] 10.26% 111 p/s288 / 2583 [-------->_______________________________________________________________] 11.15% 111 p/s311 / 2583 [-------->_______________________________________________________________] 12.04% 111 p/s333 / 2583 [--------->______________________________________________________________] 12.89% 111 p/s356 / 2583 [--------->______________________________________________________________] 13.78% 112 p/s378 / 2583 [---------->_____________________________________________________________] 14.63% 112 p/s401 / 2583 [----------->____________________________________________________________] 15.52% 112 p/s424 / 2583 [----------->____________________________________________________________] 16.42% 112 p/s447 / 2583 [------------>___________________________________________________________] 17.31% 112 p/s469 / 2583 [------------->__________________________________________________________] 18.16% 112 p/s492 / 2583 [------------->__________________________________________________________] 19.05% 112 p/s514 / 2583 [-------------->_________________________________________________________] 19.90% 112 p/s536 / 2583 [-------------->_________________________________________________________] 20.75% 112 p/s559 / 2583 [--------------->________________________________________________________] 21.64% 112 p/s582 / 2583 [---------------->_______________________________________________________] 22.53% 112 p/s603 / 2583 [---------------->_______________________________________________________] 23.34% 112 p/s626 / 2583 [----------------->______________________________________________________] 24.24% 112 p/s648 / 2583 [------------------>_____________________________________________________] 25.09% 112 p/s671 / 2583 [------------------>_____________________________________________________] 25.98% 112 p/s694 / 2583 [------------------->____________________________________________________] 26.87% 112 p/s716 / 2583 [------------------->____________________________________________________] 27.72% 112 p/s739 / 2583 [-------------------->___________________________________________________] 28.61% 112 p/s762 / 2583 [--------------------->__________________________________________________] 29.50% 112 p/s784 / 2583 [--------------------->__________________________________________________] 30.35% 112 p/s807 / 2583 [---------------------->_________________________________________________] 31.24% 112 p/s830 / 2583 [----------------------->________________________________________________] 32.13% 112 p/s853 / 2583 [----------------------->________________________________________________] 33.02% 112 p/s875 / 2583 [------------------------>_______________________________________________] 33.88% 112 p/s898 / 2583 [------------------------->______________________________________________] 34.77% 112 p/s921 / 2583 [------------------------->______________________________________________] 35.66% 112 p/s944 / 2583 [-------------------------->_____________________________________________] 36.55% 112 p/s966 / 2583 [-------------------------->_____________________________________________] 37.40% 112 p/s989 / 2583 [--------------------------->____________________________________________] 38.29% 112 p/s1012 / 2583 [--------------------------->___________________________________________] 39.18% 112 p/s1034 / 2583 [---------------------------->__________________________________________] 40.03% 112 p/s1057 / 2583 [----------------------------->_________________________________________] 40.92% 112 p/s1080 / 2583 [----------------------------->_________________________________________] 41.81% 112 p/s1102 / 2583 [------------------------------>________________________________________] 42.66% 112 p/s1125 / 2583 [------------------------------>________________________________________] 43.55% 112 p/s1148 / 2583 [------------------------------->_______________________________________] 44.44% 112 p/s1171 / 2583 [-------------------------------->______________________________________] 45.33% 113 p/s1193 / 2583 [-------------------------------->______________________________________] 46.19% 113 p/s1216 / 2583 [--------------------------------->_____________________________________] 47.08% 113 p/s1239 / 2583 [---------------------------------->____________________________________] 47.97% 113 p/s1261 / 2583 [---------------------------------->____________________________________] 48.82% 113 p/s1284 / 2583 [----------------------------------->___________________________________] 49.71% 113 p/s1305 / 2583 [----------------------------------->___________________________________] 50.52% 112 p/s1327 / 2583 [------------------------------------>__________________________________] 51.37% 112 p/s1350 / 2583 [------------------------------------->_________________________________] 52.26% 112 p/s1373 / 2583 [------------------------------------->_________________________________] 53.16% 112 p/s1395 / 2583 [-------------------------------------->________________________________] 54.01% 112 p/s1418 / 2583 [-------------------------------------->________________________________] 54.90% 112 p/s1441 / 2583 [--------------------------------------->_______________________________] 55.79% 113 p/s1463 / 2583 [---------------------------------------->______________________________] 56.64% 113 p/s1486 / 2583 [---------------------------------------->______________________________] 57.53% 113 p/s1509 / 2583 [----------------------------------------->_____________________________] 58.42% 113 p/s1531 / 2583 [------------------------------------------>____________________________] 59.27% 113 p/s1554 / 2583 [------------------------------------------>____________________________] 60.16% 113 p/s1577 / 2583 [------------------------------------------->___________________________] 61.05% 113 p/s1599 / 2583 [------------------------------------------->___________________________] 61.90% 113 p/s1622 / 2583 [-------------------------------------------->__________________________] 62.80% 113 p/s1644 / 2583 [--------------------------------------------->_________________________] 63.65% 113 p/s1667 / 2583 [--------------------------------------------->_________________________] 64.54% 113 p/s1690 / 2583 [---------------------------------------------->________________________] 65.43% 113 p/s1712 / 2583 [----------------------------------------------->_______________________] 66.28% 113 p/s1735 / 2583 [----------------------------------------------->_______________________] 67.17% 113 p/s1758 / 2583 [------------------------------------------------>______________________] 68.06% 113 p/s1780 / 2583 [------------------------------------------------>______________________] 68.91% 113 p/s1803 / 2583 [------------------------------------------------->_____________________] 69.80% 113 p/s1825 / 2583 [-------------------------------------------------->____________________] 70.65% 113 p/s1848 / 2583 [-------------------------------------------------->____________________] 71.54% 113 p/s1871 / 2583 [--------------------------------------------------->___________________] 72.44% 113 p/s1893 / 2583 [---------------------------------------------------->__________________] 73.29% 113 p/s1916 / 2583 [---------------------------------------------------->__________________] 74.18% 113 p/s1939 / 2583 [----------------------------------------------------->_________________] 75.07% 113 p/s1961 / 2583 [----------------------------------------------------->_________________] 75.92% 113 p/s1984 / 2583 [------------------------------------------------------>________________] 76.81% 113 p/s2006 / 2583 [------------------------------------------------------->_______________] 77.66% 113 p/s2029 / 2583 [------------------------------------------------------->_______________] 78.55% 113 p/s2051 / 2583 [-------------------------------------------------------->______________] 79.40% 113 p/s2074 / 2583 [--------------------------------------------------------->_____________] 80.29% 113 p/s2097 / 2583 [--------------------------------------------------------->_____________] 81.18% 113 p/s2120 / 2583 [---------------------------------------------------------->____________] 82.08% 113 p/s2143 / 2583 [---------------------------------------------------------->____________] 82.97% 113 p/s2166 / 2583 [----------------------------------------------------------->___________] 83.86% 113 p/s2188 / 2583 [------------------------------------------------------------>__________] 84.71% 113 p/s2209 / 2583 [------------------------------------------------------------>__________] 85.52% 113 p/s2231 / 2583 [------------------------------------------------------------->_________] 86.37% 113 p/s2253 / 2583 [------------------------------------------------------------->_________] 87.22% 113 p/s2276 / 2583 [-------------------------------------------------------------->________] 88.11% 113 p/s2298 / 2583 [--------------------------------------------------------------->_______] 88.97% 113 p/s2321 / 2583 [--------------------------------------------------------------->_______] 89.86% 113 p/s2342 / 2583 [---------------------------------------------------------------->______] 90.67% 113 p/s2364 / 2583 [---------------------------------------------------------------->______] 91.52% 113 p/s2387 / 2583 [----------------------------------------------------------------->_____] 92.41% 112 p/s2409 / 2583 [------------------------------------------------------------------>____] 93.26% 112 p/s2432 / 2583 [------------------------------------------------------------------>____] 94.15% 112 p/s2455 / 2583 [------------------------------------------------------------------->___] 95.04% 113 p/s2478 / 2583 [-------------------------------------------------------------------->__] 95.93% 113 p/s2501 / 2583 [-------------------------------------------------------------------->__] 96.83% 113 p/s2524 / 2583 [--------------------------------------------------------------------->_] 97.72% 113 p/s2547 / 2583 [---------------------------------------------------------------------->] 98.61% 113 p/s2570 / 2583 [---------------------------------------------------------------------->] 99.50% 113 p/s2583 / 2583 [----------------------------------------------------------------------] 100.00% 114 p/s2026-07-20T03:05:45 - INFO: Parsing 2583 sonar sweeps from /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2583 [00:00<?, ?it/s]
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2026-07-20T03:07:21 - 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/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9"
2026-07-20T03:07:22 - INFO: DataPrep 0.15.0
2026-07-20T03:07:22 - INFO: Prepared data will be output to /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/processing/data
2026-07-20T03:07:22 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:07:22 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:07:22 - INFO: Recording GUID: d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9
2026-07-20T03:07:22 - INFO: Preparing sonar data...
2026-07-20T03:07:22 - INFO: /working/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/d63d5fd5-3b00-6fda-2f35-d8dd3e8b41c9/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:07:24 - INFO: Sonar epoch is 2026-03-10 16:48:16.930644+00:00 (1773161296930643385)
2026-07-20T03:07:24 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:07:24 - INFO: Using sonar rotation of 0.261799 radians for wedge mask
2026-07-20T03:07:24 - INFO: Using sonar digitizer
2026-07-20T03:07:24 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:07:24 - INFO: Sensor range is 0.939120 m
2026-07-20T03:07:24 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:07:24 - INFO: Scaled micrometres per sample is 3108.536247
2026-07-20T03:07:24 - INFO: Processing 2583 snapshot scans from 2583 source sweeps...
2026-07-20T03:07:24 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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 62%|██████▏   | 1601/2583 [00:16<00:10, 92.93scan/s] 
 64%|██████▍   | 1665/2583 [00:16<00:09, 99.41scan/s]
 67%|██████▋   | 1729/2583 [00:17<00:07, 120.50scan/s]
 69%|██████▉   | 1793/2583 [00:17<00:05, 137.96scan/s]
 72%|███████▏  | 1857/2583 [00:17<00:04, 161.12scan/s]
 74%|███████▍  | 1921/2583 [00:17<00:03, 186.52scan/s]
 77%|███████▋  | 1985/2583 [00:18<00:02, 199.73scan/s]
 82%|████████▏ | 2113/2583 [00:18<00:02, 180.99scan/s]
 83%|████████▎ | 2137/2583 [00:19<00:03, 117.02scan/s]
 85%|████████▌ | 2200/2583 [00:19<00:02, 145.40scan/s]
 90%|█████████ | 2328/2583 [00:20<00:01, 159.47scan/s]
 93%|█████████▎| 2392/2583 [00:20<00:01, 167.00scan/s]
 98%|█████████▊| 2520/2583 [00:21<00:00, 233.34scan/s]
100%|██████████| 2583/2583 [00:21<00:00, 122.38scan/s]
2026-07-20T03:07:46 - INFO: Prepared sonar data in 24.0239 s
2026-07-20T03:07:46 - INFO: No IMU data found
2026-07-20T03:07:46 - INFO: DataPrep took 0:00:24.261298
2026-07-20T03:07:46 - INFO: Extracted sonar data in 0:02:24.550925
2026-07-20T03:07:46 - INFO: MSIP3D took 0:02:24.878521