+ [ 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/a11084ce-ee89-89e6-e978-c9e483327272
2026-07-20T03:21:31 - INFO: MSIP3D 0.2.10
2026-07-20T03:21:31 - INFO: P3D files will be output to /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272
2026-07-20T03:21:31 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:21:31 - INFO: Found TFD mission for 2094SS
2026-07-20T03:21:31 - INFO: Recording will be processed as SMD
2026-07-20T03:21:31 - INFO: Copying assets JSON to output directory...
2026-07-20T03:21:31 - INFO: Preparing counter data...
2026-07-20T03:21:31 - INFO: Interpreting counter as imperial
2026-07-20T03:21:31 - INFO: Preparing size track from assets JSON...
2026-07-20T03:21:31 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:21:31 - INFO: Preparing material track from assets JSON...
2026-07-20T03:21:31 - INFO: Prepared counter data in 0.1468 s
2026-07-20T03:21:31 - INFO: Extracting sonar data...
TFD path: /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/2094SS.tfd
TFD path: /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 3237
18 / 3237 [>___________________________________________________________________________] 0.56% ? p/s38 / 3237 [>___________________________________________________________________________] 1.17% ? p/s57 / 3237 [->__________________________________________________________________________] 1.76% ? p/s77 / 3237 [->_________________________________________________________________________] 2.38% 98 p/s96 / 3237 [-->________________________________________________________________________] 2.97% 98 p/s116 / 3237 [-->_______________________________________________________________________] 3.58% 98 p/s135 / 3237 [--->______________________________________________________________________] 4.17% 98 p/s154 / 3237 [--->______________________________________________________________________] 4.76% 98 p/s174 / 3237 [--->______________________________________________________________________] 5.38% 98 p/s194 / 3237 [---->_____________________________________________________________________] 5.99% 98 p/s213 / 3237 [---->_____________________________________________________________________] 6.58% 98 p/s233 / 3237 [----->____________________________________________________________________] 7.20% 98 p/s253 / 3237 [----->____________________________________________________________________] 7.82% 98 p/s272 / 3237 [------>___________________________________________________________________] 8.40% 98 p/s292 / 3237 [------>___________________________________________________________________] 9.02% 98 p/s312 / 3237 [------->__________________________________________________________________] 9.64% 98 p/s332 / 3237 [------->_________________________________________________________________] 10.26% 98 p/s352 / 3237 [------->_________________________________________________________________] 10.87% 98 p/s372 / 3237 [-------->________________________________________________________________] 11.49% 98 p/s391 / 3237 [-------->________________________________________________________________] 12.08% 98 p/s411 / 3237 [--------->_______________________________________________________________] 12.70% 98 p/s431 / 3237 [--------->_______________________________________________________________] 13.31% 98 p/s451 / 3237 [---------->______________________________________________________________] 13.93% 98 p/s471 / 3237 [---------->______________________________________________________________] 14.55% 98 p/s491 / 3237 [----------->_____________________________________________________________] 15.17% 98 p/s510 / 3237 [----------->_____________________________________________________________] 15.76% 98 p/s531 / 3237 [----------->_____________________________________________________________] 16.40% 98 p/s550 / 3237 [------------>____________________________________________________________] 16.99% 98 p/s570 / 3237 [------------>____________________________________________________________] 17.61% 98 p/s590 / 3237 [------------->___________________________________________________________] 18.23% 98 p/s610 / 3237 [------------->___________________________________________________________] 18.84% 99 p/s630 / 3237 [-------------->__________________________________________________________] 19.46% 99 p/s650 / 3237 [-------------->__________________________________________________________] 20.08% 99 p/s670 / 3237 [--------------->_________________________________________________________] 20.70% 99 p/s690 / 3237 [--------------->_________________________________________________________] 21.32% 99 p/s710 / 3237 [---------------->________________________________________________________] 21.93% 99 p/s730 / 3237 [---------------->________________________________________________________] 22.55% 99 p/s749 / 3237 [---------------->________________________________________________________] 23.14% 99 p/s769 / 3237 [----------------->_______________________________________________________] 23.76% 99 p/s789 / 3237 [----------------->_______________________________________________________] 24.37% 99 p/s809 / 3237 [------------------>______________________________________________________] 24.99% 99 p/s829 / 3237 [------------------>______________________________________________________] 25.61% 99 p/s848 / 3237 [------------------->_____________________________________________________] 26.20% 99 p/s868 / 3237 [------------------->_____________________________________________________] 26.81% 99 p/s888 / 3237 [-------------------->____________________________________________________] 27.43% 99 p/s908 / 3237 [-------------------->____________________________________________________] 28.05% 99 p/s928 / 3237 [-------------------->____________________________________________________] 28.67% 99 p/s948 / 3237 [--------------------->___________________________________________________] 29.29% 99 p/s968 / 3237 [--------------------->___________________________________________________] 29.90% 99 p/s988 / 3237 [---------------------->__________________________________________________] 30.52% 99 p/s1007 / 3237 [---------------------->_________________________________________________] 31.11% 99 p/s1027 / 3237 [---------------------->_________________________________________________] 31.73% 99 p/s1047 / 3237 [----------------------->________________________________________________] 32.34% 99 p/s1066 / 3237 [----------------------->________________________________________________] 32.93% 99 p/s1086 / 3237 [------------------------>_______________________________________________] 33.55% 99 p/s1106 / 3237 [------------------------>_______________________________________________] 34.17% 99 p/s1126 / 3237 [------------------------->______________________________________________] 34.79% 99 p/s1146 / 3237 [------------------------->______________________________________________] 35.40% 99 p/s1165 / 3237 [------------------------->______________________________________________] 35.99% 99 p/s1185 / 3237 [-------------------------->_____________________________________________] 36.61% 99 p/s1206 / 3237 [-------------------------->_____________________________________________] 37.26% 99 p/s1225 / 3237 [--------------------------->____________________________________________] 37.84% 99 p/s1245 / 3237 [--------------------------->____________________________________________] 38.46% 99 p/s1265 / 3237 [---------------------------->___________________________________________] 39.08% 99 p/s1285 / 3237 [---------------------------->___________________________________________] 39.70% 99 p/s1305 / 3237 [----------------------------->__________________________________________] 40.32% 99 p/s1325 / 3237 [----------------------------->__________________________________________] 40.93% 99 p/s1345 / 3237 [----------------------------->__________________________________________] 41.55% 99 p/s1365 / 3237 [------------------------------>_________________________________________] 42.17% 99 p/s1385 / 3237 [------------------------------>_________________________________________] 42.79% 99 p/s1405 / 3237 [------------------------------->________________________________________] 43.40% 99 p/s1424 / 3237 [------------------------------->________________________________________] 43.99% 99 p/s1444 / 3237 [-------------------------------->_______________________________________] 44.61% 99 p/s1464 / 3237 [-------------------------------->_______________________________________] 45.23% 99 p/s1483 / 3237 [-------------------------------->_______________________________________] 45.81% 99 p/s1503 / 3237 [--------------------------------->______________________________________] 46.43% 99 p/s1523 / 3237 [--------------------------------->______________________________________] 47.05% 99 p/s1542 / 3237 [---------------------------------->_____________________________________] 47.64% 99 p/s1562 / 3237 [---------------------------------->_____________________________________] 48.25% 99 p/s1582 / 3237 [----------------------------------->____________________________________] 48.87% 99 p/s1602 / 3237 [----------------------------------->____________________________________] 49.49% 99 p/s1622 / 3237 [------------------------------------>___________________________________] 50.11% 99 p/s1642 / 3237 [------------------------------------>___________________________________] 50.73% 99 p/s1662 / 3237 [------------------------------------>___________________________________] 51.34% 99 p/s1682 / 3237 [------------------------------------->__________________________________] 51.96% 99 p/s1702 / 3237 [------------------------------------->__________________________________] 52.58% 99 p/s1722 / 3237 [-------------------------------------->_________________________________] 53.20% 99 p/s1742 / 3237 [-------------------------------------->_________________________________] 53.82% 99 p/s1761 / 3237 [--------------------------------------->________________________________] 54.40% 99 p/s1781 / 3237 [--------------------------------------->________________________________] 55.02% 99 p/s1801 / 3237 [---------------------------------------->_______________________________] 55.64% 99 p/s1821 / 3237 [---------------------------------------->_______________________________] 56.26% 99 p/s1841 / 3237 [---------------------------------------->_______________________________] 56.87% 99 p/s1861 / 3237 [----------------------------------------->______________________________] 57.49% 99 p/s1881 / 3237 [----------------------------------------->______________________________] 58.11% 99 p/s1901 / 3237 [------------------------------------------>_____________________________] 58.73% 99 p/s1921 / 3237 [------------------------------------------>_____________________________] 59.35% 99 p/s1940 / 3237 [------------------------------------------->____________________________] 59.93% 99 p/s1960 / 3237 [------------------------------------------->____________________________] 60.55% 99 p/s1980 / 3237 [-------------------------------------------->___________________________] 61.17% 99 p/s2000 / 3237 [-------------------------------------------->___________________________] 61.79% 99 p/s2020 / 3237 [-------------------------------------------->___________________________] 62.40% 99 p/s2040 / 3237 [--------------------------------------------->__________________________] 63.02% 99 p/s2059 / 3237 [--------------------------------------------->__________________________] 63.61% 99 p/s2079 / 3237 [---------------------------------------------->_________________________] 64.23% 99 p/s2099 / 3237 [---------------------------------------------->_________________________] 64.84% 99 p/s2118 / 3237 [----------------------------------------------->________________________] 65.43% 99 p/s2138 / 3237 [----------------------------------------------->________________________] 66.05% 99 p/s2157 / 3237 [----------------------------------------------->________________________] 66.64% 99 p/s2177 / 3237 [------------------------------------------------>_______________________] 67.25% 99 p/s2197 / 3237 [------------------------------------------------>_______________________] 67.87% 99 p/s2217 / 3237 [------------------------------------------------->______________________] 68.49% 99 p/s2237 / 3237 [------------------------------------------------->______________________] 69.11% 99 p/s2257 / 3237 [-------------------------------------------------->_____________________] 69.73% 99 p/s2276 / 3237 [-------------------------------------------------->_____________________] 70.31% 99 p/s2296 / 3237 [--------------------------------------------------->____________________] 70.93% 99 p/s2316 / 3237 [--------------------------------------------------->____________________] 71.55% 99 p/s2336 / 3237 [--------------------------------------------------->____________________] 72.17% 99 p/s2355 / 3237 [---------------------------------------------------->___________________] 72.75% 99 p/s2375 / 3237 [---------------------------------------------------->___________________] 73.37% 99 p/s2394 / 3237 [----------------------------------------------------->__________________] 73.96% 99 p/s2414 / 3237 [----------------------------------------------------->__________________] 74.58% 99 p/s2430 / 3237 [------------------------------------------------------>_________________] 75.07% 99 p/s2447 / 3237 [------------------------------------------------------>_________________] 75.59% 98 p/s2467 / 3237 [------------------------------------------------------>_________________] 76.21% 98 p/s2486 / 3237 [------------------------------------------------------->________________] 76.80% 98 p/s2506 / 3237 [------------------------------------------------------->________________] 77.42% 98 p/s2526 / 3237 [-------------------------------------------------------->_______________] 78.04% 98 p/s2546 / 3237 [-------------------------------------------------------->_______________] 78.65% 98 p/s2566 / 3237 [--------------------------------------------------------->______________] 79.27% 98 p/s2586 / 3237 [--------------------------------------------------------->______________] 79.89% 98 p/s2606 / 3237 [--------------------------------------------------------->______________] 80.51% 98 p/s2625 / 3237 [---------------------------------------------------------->_____________] 81.09% 98 p/s2645 / 3237 [---------------------------------------------------------->_____________] 81.71% 98 p/s2665 / 3237 [----------------------------------------------------------->____________] 82.33% 98 p/s2685 / 3237 [----------------------------------------------------------->____________] 82.95% 98 p/s2704 / 3237 [------------------------------------------------------------>___________] 83.53% 98 p/s2724 / 3237 [------------------------------------------------------------>___________] 84.15% 98 p/s2744 / 3237 [------------------------------------------------------------->__________] 84.77% 98 p/s2764 / 3237 [------------------------------------------------------------->__________] 85.39% 98 p/s2784 / 3237 [------------------------------------------------------------->__________] 86.01% 98 p/s2804 / 3237 [-------------------------------------------------------------->_________] 86.62% 99 p/s2824 / 3237 [-------------------------------------------------------------->_________] 87.24% 99 p/s2843 / 3237 [--------------------------------------------------------------->________] 87.83% 99 p/s2863 / 3237 [--------------------------------------------------------------->________] 88.45% 99 p/s2883 / 3237 [---------------------------------------------------------------->_______] 89.06% 99 p/s2902 / 3237 [---------------------------------------------------------------->_______] 89.65% 99 p/s2922 / 3237 [---------------------------------------------------------------->_______] 90.27% 99 p/s2942 / 3237 [----------------------------------------------------------------->______] 90.89% 99 p/s2962 / 3237 [----------------------------------------------------------------->______] 91.50% 99 p/s2981 / 3237 [------------------------------------------------------------------>_____] 92.09% 99 p/s3001 / 3237 [------------------------------------------------------------------>_____] 92.71% 99 p/s3021 / 3237 [------------------------------------------------------------------->____] 93.33% 99 p/s3040 / 3237 [------------------------------------------------------------------->____] 93.91% 98 p/s3060 / 3237 [-------------------------------------------------------------------->___] 94.53% 98 p/s3080 / 3237 [-------------------------------------------------------------------->___] 95.15% 98 p/s3100 / 3237 [-------------------------------------------------------------------->___] 95.77% 99 p/s3120 / 3237 [--------------------------------------------------------------------->__] 96.39% 99 p/s3139 / 3237 [--------------------------------------------------------------------->__] 96.97% 99 p/s3159 / 3237 [---------------------------------------------------------------------->_] 97.59% 99 p/s3179 / 3237 [---------------------------------------------------------------------->_] 98.21% 99 p/s3198 / 3237 [----------------------------------------------------------------------->] 98.80% 99 p/s3218 / 3237 [----------------------------------------------------------------------->] 99.41% 99 p/s3237 / 3237 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-07-20T03:22:04 - INFO: Parsing 3237 sonar sweeps from /working/a11084ce-ee89-89e6-e978-c9e483327272/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:24:12 - WARNING: Expected 400 beams, got 159, dropping sweep 3236
2026-07-20T03:24:12 - 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/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272"
2026-07-20T03:24:12 - INFO: DataPrep 0.15.0
2026-07-20T03:24:12 - INFO: Prepared data will be output to /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272/processing/data
2026-07-20T03:24:12 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:24:12 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:24:12 - INFO: Recording GUID: a11084ce-ee89-89e6-e978-c9e483327272
2026-07-20T03:24:12 - INFO: Preparing sonar data...
2026-07-20T03:24:12 - INFO: /working/a11084ce-ee89-89e6-e978-c9e483327272/a11084ce-ee89-89e6-e978-c9e483327272/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:24:15 - INFO: Sonar epoch is 2026-03-25 17:48:22.041291+00:00 (1774460902041291034)
2026-07-20T03:24:15 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:24:15 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-07-20T03:24:15 - INFO: Using sonar digitizer
2026-07-20T03:24:15 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:24:15 - INFO: Sensor range is 1.589280 m
2026-07-20T03:24:15 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:24:15 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T03:24:15 - INFO: Processing 3236 snapshot scans from 3236 source sweeps...
2026-07-20T03:24:15 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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 61%|██████▏   | 1985/3236 [00:15<00:06, 181.64scan/s]
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 69%|██████▉   | 2241/3236 [00:18<00:09, 101.71scan/s]
 71%|███████   | 2305/3236 [00:18<00:08, 112.95scan/s]
 73%|███████▎  | 2369/3236 [00:19<00:06, 127.66scan/s]
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 81%|████████  | 2625/3236 [00:20<00:02, 231.15scan/s]
 83%|████████▎ | 2689/3236 [00:21<00:05, 100.58scan/s]
 85%|████████▌ | 2753/3236 [00:22<00:03, 126.63scan/s]
 87%|████████▋ | 2817/3236 [00:22<00:03, 129.79scan/s]
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100%|██████████| 3236/3236 [00:23<00:00, 134.90scan/s]
2026-07-20T03:24:39 - INFO: Prepared sonar data in 26.8997 s
2026-07-20T03:24:39 - INFO: No IMU data found
2026-07-20T03:24:39 - INFO: DataPrep took 0:00:27.170578
2026-07-20T03:24:40 - INFO: Extracted sonar data in 0:03:08.120204
2026-07-20T03:24:40 - INFO: MSIP3D took 0:03:08.552558