+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ [ smd = md ]
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-sample-offset -1 /working/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T03:23:17 - INFO: MSIP3D 0.2.10
2026-07-20T03:23:17 - INFO: P3D files will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T03:23:17 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:23:17 - INFO: Found TFD mission for 1736SS
2026-07-20T03:23:17 - INFO: Recording will be processed as SMD
2026-07-20T03:23:17 - INFO: Copying assets JSON to output directory...
2026-07-20T03:23:17 - INFO: Preparing counter data...
2026-07-20T03:23:17 - INFO: Interpreting counter as imperial
2026-07-20T03:23:18 - INFO: Preparing size track from assets JSON...
2026-07-20T03:23:18 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:23:18 - INFO: Preparing material track from assets JSON...
2026-07-20T03:23:18 - INFO: Prepared counter data in 0.2255 s
2026-07-20T03:23:18 - INFO: Extracting sonar data...
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/1736SS.tfd
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2628
18 / 2628 [>___________________________________________________________________________] 0.68% ? p/s35 / 2628 [->__________________________________________________________________________] 1.33% ? p/s53 / 2628 [->__________________________________________________________________________] 2.02% ? p/s71 / 2628 [-->________________________________________________________________________] 2.70% 88 p/s91 / 2628 [-->________________________________________________________________________] 3.46% 88 p/s110 / 2628 [--->______________________________________________________________________] 4.19% 88 p/s129 / 2628 [--->______________________________________________________________________] 4.91% 89 p/s147 / 2628 [---->_____________________________________________________________________] 5.59% 89 p/s167 / 2628 [---->_____________________________________________________________________] 6.35% 89 p/s186 / 2628 [----->____________________________________________________________________] 7.08% 89 p/s206 / 2628 [----->____________________________________________________________________] 7.84% 89 p/s226 / 2628 [------>___________________________________________________________________] 8.60% 89 p/s245 / 2628 [------>___________________________________________________________________] 9.32% 90 p/s263 / 2628 [------->_________________________________________________________________] 10.01% 90 p/s282 / 2628 [------->_________________________________________________________________] 10.73% 90 p/s302 / 2628 [-------->________________________________________________________________] 11.49% 90 p/s320 / 2628 [-------->________________________________________________________________] 12.18% 90 p/s337 / 2628 [--------->_______________________________________________________________] 12.82% 90 p/s357 / 2628 [--------->_______________________________________________________________] 13.58% 90 p/s376 / 2628 [---------->______________________________________________________________] 14.31% 90 p/s395 / 2628 [---------->______________________________________________________________] 15.03% 90 p/s413 / 2628 [----------->_____________________________________________________________] 15.72% 90 p/s433 / 2628 [------------>____________________________________________________________] 16.48% 90 p/s453 / 2628 [------------>____________________________________________________________] 17.24% 90 p/s473 / 2628 [------------->___________________________________________________________] 18.00% 91 p/s493 / 2628 [------------->___________________________________________________________] 18.76% 91 p/s513 / 2628 [-------------->__________________________________________________________] 19.52% 91 p/s533 / 2628 [-------------->__________________________________________________________] 20.28% 92 p/s552 / 2628 [--------------->_________________________________________________________] 21.00% 92 p/s571 / 2628 [--------------->_________________________________________________________] 21.73% 92 p/s590 / 2628 [---------------->________________________________________________________] 22.45% 92 p/s610 / 2628 [---------------->________________________________________________________] 23.21% 92 p/s630 / 2628 [----------------->_______________________________________________________] 23.97% 92 p/s648 / 2628 [----------------->_______________________________________________________] 24.66% 92 p/s668 / 2628 [------------------>______________________________________________________] 25.42% 92 p/s688 / 2628 [------------------->_____________________________________________________] 26.18% 92 p/s707 / 2628 [------------------->_____________________________________________________] 26.90% 93 p/s726 / 2628 [-------------------->____________________________________________________] 27.63% 93 p/s746 / 2628 [-------------------->____________________________________________________] 28.39% 93 p/s764 / 2628 [--------------------->___________________________________________________] 29.07% 93 p/s784 / 2628 [--------------------->___________________________________________________] 29.83% 93 p/s804 / 2628 [---------------------->__________________________________________________] 30.59% 93 p/s822 / 2628 [---------------------->__________________________________________________] 31.28% 93 p/s842 / 2628 [----------------------->_________________________________________________] 32.04% 93 p/s862 / 2628 [----------------------->_________________________________________________] 32.80% 93 p/s880 / 2628 [------------------------>________________________________________________] 33.49% 93 p/s898 / 2628 [------------------------>________________________________________________] 34.17% 93 p/s917 / 2628 [------------------------->_______________________________________________] 34.89% 93 p/s935 / 2628 [------------------------->_______________________________________________] 35.58% 93 p/s955 / 2628 [-------------------------->______________________________________________] 36.34% 93 p/s975 / 2628 [--------------------------->_____________________________________________] 37.10% 93 p/s992 / 2628 [--------------------------->_____________________________________________] 37.75% 93 p/s1012 / 2628 [--------------------------->____________________________________________] 38.51% 93 p/s1031 / 2628 [---------------------------->___________________________________________] 39.23% 93 p/s1050 / 2628 [---------------------------->___________________________________________] 39.95% 93 p/s1070 / 2628 [----------------------------->__________________________________________] 40.72% 93 p/s1090 / 2628 [----------------------------->__________________________________________] 41.48% 93 p/s1110 / 2628 [------------------------------>_________________________________________] 42.24% 94 p/s1130 / 2628 [------------------------------>_________________________________________] 43.00% 94 p/s1150 / 2628 [------------------------------->________________________________________] 43.76% 94 p/s1170 / 2628 [-------------------------------->_______________________________________] 44.52% 94 p/s1188 / 2628 [-------------------------------->_______________________________________] 45.21% 94 p/s1207 / 2628 [--------------------------------->______________________________________] 45.93% 94 p/s1227 / 2628 [--------------------------------->______________________________________] 46.69% 94 p/s1246 / 2628 [---------------------------------->_____________________________________] 47.41% 94 p/s1266 / 2628 [---------------------------------->_____________________________________] 48.17% 94 p/s1285 / 2628 [----------------------------------->____________________________________] 48.90% 94 p/s1304 / 2628 [----------------------------------->____________________________________] 49.62% 94 p/s1324 / 2628 [------------------------------------>___________________________________] 50.38% 94 p/s1343 / 2628 [------------------------------------>___________________________________] 51.10% 95 p/s1363 / 2628 [------------------------------------->__________________________________] 51.86% 95 p/s1381 / 2628 [------------------------------------->__________________________________] 52.55% 95 p/s1401 / 2628 [-------------------------------------->_________________________________] 53.31% 95 p/s1420 / 2628 [-------------------------------------->_________________________________] 54.03% 95 p/s1439 / 2628 [--------------------------------------->________________________________] 54.76% 95 p/s1459 / 2628 [--------------------------------------->________________________________] 55.52% 95 p/s1479 / 2628 [---------------------------------------->_______________________________] 56.28% 95 p/s1499 / 2628 [----------------------------------------->______________________________] 57.04% 95 p/s1518 / 2628 [----------------------------------------->______________________________] 57.76% 95 p/s1538 / 2628 [------------------------------------------>_____________________________] 58.52% 95 p/s1557 / 2628 [------------------------------------------>_____________________________] 59.25% 95 p/s1577 / 2628 [------------------------------------------->____________________________] 60.01% 95 p/s1597 / 2628 [------------------------------------------->____________________________] 60.77% 95 p/s1617 / 2628 [-------------------------------------------->___________________________] 61.53% 95 p/s1636 / 2628 [-------------------------------------------->___________________________] 62.25% 96 p/s1655 / 2628 [--------------------------------------------->__________________________] 62.98% 96 p/s1675 / 2628 [--------------------------------------------->__________________________] 63.74% 96 p/s1693 / 2628 [---------------------------------------------->_________________________] 64.42% 95 p/s1713 / 2628 [---------------------------------------------->_________________________] 65.18% 95 p/s1733 / 2628 [----------------------------------------------->________________________] 65.94% 95 p/s1752 / 2628 [----------------------------------------------->________________________] 66.67% 96 p/s1772 / 2628 [------------------------------------------------>_______________________] 67.43% 96 p/s1791 / 2628 [------------------------------------------------->______________________] 68.15% 96 p/s1809 / 2628 [------------------------------------------------->______________________] 68.84% 96 p/s1828 / 2628 [-------------------------------------------------->_____________________] 69.56% 96 p/s1847 / 2628 [-------------------------------------------------->_____________________] 70.28% 96 p/s1867 / 2628 [--------------------------------------------------->____________________] 71.04% 96 p/s1885 / 2628 [--------------------------------------------------->____________________] 71.73% 96 p/s1905 / 2628 [---------------------------------------------------->___________________] 72.49% 96 p/s1922 / 2628 [---------------------------------------------------->___________________] 73.14% 95 p/s1941 / 2628 [----------------------------------------------------->__________________] 73.86% 95 p/s1960 / 2628 [----------------------------------------------------->__________________] 74.58% 95 p/s1979 / 2628 [------------------------------------------------------>_________________] 75.30% 95 p/s1999 / 2628 [------------------------------------------------------>_________________] 76.07% 95 p/s2017 / 2628 [------------------------------------------------------->________________] 76.75% 95 p/s2036 / 2628 [------------------------------------------------------->________________] 77.47% 95 p/s2055 / 2628 [-------------------------------------------------------->_______________] 78.20% 95 p/s2075 / 2628 [-------------------------------------------------------->_______________] 78.96% 95 p/s2093 / 2628 [--------------------------------------------------------->______________] 79.64% 95 p/s2113 / 2628 [--------------------------------------------------------->______________] 80.40% 95 p/s2133 / 2628 [---------------------------------------------------------->_____________] 81.16% 95 p/s2153 / 2628 [---------------------------------------------------------->_____________] 81.93% 96 p/s2173 / 2628 [----------------------------------------------------------->____________] 82.69% 96 p/s2193 / 2628 [------------------------------------------------------------>___________] 83.45% 96 p/s2212 / 2628 [------------------------------------------------------------>___________] 84.17% 96 p/s2232 / 2628 [------------------------------------------------------------->__________] 84.93% 96 p/s2252 / 2628 [------------------------------------------------------------->__________] 85.69% 96 p/s2272 / 2628 [-------------------------------------------------------------->_________] 86.45% 96 p/s2290 / 2628 [-------------------------------------------------------------->_________] 87.14% 96 p/s2309 / 2628 [--------------------------------------------------------------->________] 87.86% 96 p/s2328 / 2628 [--------------------------------------------------------------->________] 88.58% 96 p/s2349 / 2628 [---------------------------------------------------------------->_______] 89.38% 96 p/s2367 / 2628 [---------------------------------------------------------------->_______] 90.07% 96 p/s2387 / 2628 [----------------------------------------------------------------->______] 90.83% 96 p/s2405 / 2628 [----------------------------------------------------------------->______] 91.51% 96 p/s2423 / 2628 [------------------------------------------------------------------>_____] 92.20% 96 p/s2443 / 2628 [------------------------------------------------------------------>_____] 92.96% 96 p/s2464 / 2628 [------------------------------------------------------------------->____] 93.76% 96 p/s2484 / 2628 [-------------------------------------------------------------------->___] 94.52% 96 p/s2504 / 2628 [-------------------------------------------------------------------->___] 95.28% 96 p/s2524 / 2628 [--------------------------------------------------------------------->__] 96.04% 96 p/s2544 / 2628 [--------------------------------------------------------------------->__] 96.80% 96 p/s2564 / 2628 [---------------------------------------------------------------------->_] 97.56% 97 p/s2583 / 2628 [---------------------------------------------------------------------->_] 98.29% 97 p/s2603 / 2628 [----------------------------------------------------------------------->] 99.05% 97 p/s2622 / 2628 [----------------------------------------------------------------------->] 99.77% 97 p/s2628 / 2628 [-----------------------------------------------------------------------] 100.00% 97 p/s2026-07-20T03:23:45 - INFO: Parsing 2628 sonar sweeps from /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:25:26 - 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 /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f"
2026-07-20T03:25:27 - INFO: DataPrep 0.15.0
2026-07-20T03:25:27 - INFO: Prepared data will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/processing/data
2026-07-20T03:25:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:25:27 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:25:27 - INFO: Recording GUID: 1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T03:25:27 - INFO: Preparing sonar data...
2026-07-20T03:25:27 - INFO: /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:25:29 - INFO: Sonar epoch is 2026-03-12 15:23:35.861661+00:00 (1773329015861661460)
2026-07-20T03:25:29 - INFO: Using sonar digitizer
2026-07-20T03:25:29 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:25:29 - INFO: Sensor range is 1.589280 m
2026-07-20T03:25:29 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:25:29 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T03:25:29 - INFO: Processing 2628 snapshot scans from 2628 source sweeps...
2026-07-20T03:25:29 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

  0%|          | 0/2628 [00:00<?, ?scan/s]
  0%|          | 1/2628 [00:02<1:47:41,  2.46s/scan]
  2%|▏         | 65/2628 [00:02<01:22, 31.16scan/s] 
  5%|▍         | 129/2628 [00:02<00:35, 69.72scan/s]
  7%|▋         | 193/2628 [00:03<00:21, 113.05scan/s]
 10%|▉         | 257/2628 [00:03<00:20, 113.97scan/s]
 12%|█▏        | 321/2628 [00:05<00:37, 62.11scan/s] 
 15%|█▍        | 385/2628 [00:06<00:34, 64.96scan/s]
 17%|█▋        | 449/2628 [00:06<00:24, 88.79scan/s]
 20%|█▉        | 513/2628 [00:06<00:18, 115.91scan/s]
 24%|██▍       | 641/2628 [00:07<00:18, 109.55scan/s]
 29%|██▉       | 769/2628 [00:08<00:13, 142.38scan/s]
 32%|███▏      | 833/2628 [00:10<00:21, 82.86scan/s] 
 34%|███▍      | 897/2628 [00:11<00:21, 81.91scan/s]
 37%|███▋      | 961/2628 [00:11<00:16, 102.52scan/s]
 39%|███▉      | 1025/2628 [00:11<00:12, 123.67scan/s]
 41%|████▏     | 1089/2628 [00:11<00:11, 134.34scan/s]
 44%|████▍     | 1153/2628 [00:12<00:13, 112.91scan/s]
 49%|████▊     | 1281/2628 [00:13<00:11, 112.27scan/s]
 51%|█████     | 1345/2628 [00:15<00:16, 76.12scan/s] 
 54%|█████▎    | 1409/2628 [00:15<00:13, 91.30scan/s]
 56%|█████▌    | 1473/2628 [00:16<00:10, 112.30scan/s]
 61%|██████    | 1601/2628 [00:16<00:06, 165.18scan/s]
 63%|██████▎   | 1665/2628 [00:17<00:07, 125.63scan/s]
 66%|██████▌   | 1729/2628 [00:17<00:06, 142.13scan/s]
 68%|██████▊   | 1793/2628 [00:18<00:07, 113.51scan/s]
 71%|███████   | 1857/2628 [00:19<00:09, 83.35scan/s] 
 76%|███████▌  | 1985/2628 [00:19<00:04, 133.17scan/s]
 78%|███████▊  | 2049/2628 [00:20<00:04, 141.05scan/s]
 80%|████████  | 2113/2628 [00:20<00:03, 157.76scan/s]
 83%|████████▎ | 2177/2628 [00:20<00:02, 178.93scan/s]
 84%|████████▍ | 2203/2628 [00:21<00:02, 145.05scan/s]
 85%|████████▌ | 2245/2628 [00:21<00:02, 148.82scan/s]
 88%|████████▊ | 2309/2628 [00:22<00:02, 119.60scan/s]
 90%|█████████ | 2373/2628 [00:23<00:03, 77.73scan/s] 
 93%|█████████▎| 2437/2628 [00:23<00:01, 105.78scan/s]
 98%|█████████▊| 2565/2628 [00:24<00:00, 170.79scan/s]
100%|██████████| 2628/2628 [00:24<00:00, 109.28scan/s]
2026-07-20T03:25:54 - INFO: Prepared sonar data in 26.9414 s
2026-07-20T03:25:54 - INFO: No IMU data found
2026-07-20T03:25:54 - INFO: DataPrep took 0:00:27.183734
2026-07-20T03:25:54 - INFO: Extracted sonar data in 0:02:36.608311
2026-07-20T03:25:54 - INFO: MSIP3D took 0:02:37.069562