+ [ 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/bbf0eb20-5bcb-1c15-df2b-bdf968591919
2026-07-20T03:23:51 - INFO: MSIP3D 0.2.10
2026-07-20T03:23:51 - INFO: P3D files will be output to /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/bbf0eb20-5bcb-1c15-df2b-bdf968591919
2026-07-20T03:23:51 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:23:51 - INFO: Found TFD mission for 2099SS
2026-07-20T03:23:51 - INFO: Recording will be processed as SMD
2026-07-20T03:23:51 - INFO: Copying assets JSON to output directory...
2026-07-20T03:23:51 - INFO: Preparing counter data...
2026-07-20T03:23:51 - INFO: Interpreting counter as imperial
2026-07-20T03:23:52 - INFO: Preparing size track from assets JSON...
2026-07-20T03:23:52 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:23:52 - INFO: Preparing material track from assets JSON...
2026-07-20T03:23:52 - INFO: Prepared counter data in 0.2125 s
2026-07-20T03:23:52 - INFO: Extracting sonar data...
TFD path: /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/tfd/2099SS.tfd
TFD path: /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/tfd/output
Name: CCTV, Tag: 4855215978501720644
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5354
18 / 5354 [>___________________________________________________________________________] 0.34% ? p/s38 / 5354 [>___________________________________________________________________________] 0.71% ? p/s57 / 5354 [>___________________________________________________________________________] 1.06% ? p/s77 / 5354 [->_________________________________________________________________________] 1.44% 98 p/s97 / 5354 [->_________________________________________________________________________] 1.81% 98 p/s115 / 5354 [->________________________________________________________________________] 2.15% 98 p/s135 / 5354 [->________________________________________________________________________] 2.52% 98 p/s153 / 5354 [-->_______________________________________________________________________] 2.86% 98 p/s173 / 5354 [-->_______________________________________________________________________] 3.23% 98 p/s191 / 5354 [-->_______________________________________________________________________] 3.57% 98 p/s211 / 5354 [-->_______________________________________________________________________] 3.94% 98 p/s231 / 5354 [--->______________________________________________________________________] 4.31% 98 p/s250 / 5354 [--->______________________________________________________________________] 4.67% 98 p/s270 / 5354 [--->______________________________________________________________________] 5.04% 98 p/s290 / 5354 [---->_____________________________________________________________________] 5.42% 98 p/s309 / 5354 [---->_____________________________________________________________________] 5.77% 98 p/s329 / 5354 [---->_____________________________________________________________________] 6.14% 98 p/s350 / 5354 [---->_____________________________________________________________________] 6.54% 98 p/s370 / 5354 [----->____________________________________________________________________] 6.91% 98 p/s390 / 5354 [----->____________________________________________________________________] 7.28% 98 p/s410 / 5354 [----->____________________________________________________________________] 7.66% 98 p/s430 / 5354 [----->____________________________________________________________________] 8.03% 98 p/s450 / 5354 [------>___________________________________________________________________] 8.40% 98 p/s469 / 5354 [------>___________________________________________________________________] 8.76% 98 p/s489 / 5354 [------>___________________________________________________________________] 9.13% 98 p/s509 / 5354 [------->__________________________________________________________________] 9.51% 98 p/s529 / 5354 [------->__________________________________________________________________] 9.88% 98 p/s549 / 5354 [------->_________________________________________________________________] 10.25% 98 p/s569 / 5354 [------->_________________________________________________________________] 10.63% 98 p/s589 / 5354 [-------->________________________________________________________________] 11.00% 98 p/s609 / 5354 [-------->________________________________________________________________] 11.37% 99 p/s629 / 5354 [-------->________________________________________________________________] 11.75% 99 p/s649 / 5354 [-------->________________________________________________________________] 12.12% 99 p/s668 / 5354 [--------->_______________________________________________________________] 12.48% 99 p/s688 / 5354 [--------->_______________________________________________________________] 12.85% 99 p/s708 / 5354 [--------->_______________________________________________________________] 13.22% 99 p/s728 / 5354 [--------->_______________________________________________________________] 13.60% 99 p/s748 / 5354 [---------->______________________________________________________________] 13.97% 99 p/s768 / 5354 [---------->______________________________________________________________] 14.34% 99 p/s788 / 5354 [---------->______________________________________________________________] 14.72% 99 p/s808 / 5354 [----------->_____________________________________________________________] 15.09% 99 p/s828 / 5354 [----------->_____________________________________________________________] 15.47% 99 p/s848 / 5354 [----------->_____________________________________________________________] 15.84% 99 p/s868 / 5354 [----------->_____________________________________________________________] 16.21% 99 p/s888 / 5354 [------------>____________________________________________________________] 16.59% 99 p/s907 / 5354 [------------>____________________________________________________________] 16.94% 99 p/s927 / 5354 [------------>____________________________________________________________] 17.31% 99 p/s947 / 5354 [------------>____________________________________________________________] 17.69% 99 p/s967 / 5354 [------------->___________________________________________________________] 18.06% 99 p/s987 / 5354 [------------->___________________________________________________________] 18.43% 99 p/s1007 / 5354 [------------->__________________________________________________________] 18.81% 99 p/s1026 / 5354 [------------->__________________________________________________________] 19.16% 99 p/s1046 / 5354 [-------------->_________________________________________________________] 19.54% 99 p/s1066 / 5354 [-------------->_________________________________________________________] 19.91% 99 p/s1086 / 5354 [-------------->_________________________________________________________] 20.28% 99 p/s1106 / 5354 [-------------->_________________________________________________________] 20.66% 99 p/s1125 / 5354 [--------------->________________________________________________________] 21.01% 99 p/s1146 / 5354 [--------------->________________________________________________________] 21.40% 99 p/s1166 / 5354 [--------------->________________________________________________________] 21.78% 99 p/s1185 / 5354 [--------------->________________________________________________________] 22.13% 99 p/s1206 / 5354 [---------------->_______________________________________________________] 22.53% 99 p/s1226 / 5354 [---------------->_______________________________________________________] 22.90% 99 p/s1246 / 5354 [---------------->_______________________________________________________] 23.27% 99 p/s1265 / 5354 [----------------->______________________________________________________] 23.63% 99 p/s1285 / 5354 [----------------->______________________________________________________] 24.00% 99 p/s1305 / 5354 [----------------->______________________________________________________] 24.37% 99 p/s1325 / 5354 [----------------->______________________________________________________] 24.75% 99 p/s1345 / 5354 [------------------>_____________________________________________________] 25.12% 99 p/s1365 / 5354 [------------------>_____________________________________________________] 25.49% 99 p/s1385 / 5354 [------------------>_____________________________________________________] 25.87% 99 p/s1405 / 5354 [------------------>_____________________________________________________] 26.24% 99 p/s1421 / 5354 [------------------->____________________________________________________] 26.54% 99 p/s1441 / 5354 [------------------->____________________________________________________] 26.91% 99 p/s1460 / 5354 [------------------->____________________________________________________] 27.27% 99 p/s1480 / 5354 [------------------->____________________________________________________] 27.64% 99 p/s1500 / 5354 [-------------------->___________________________________________________] 28.02% 99 p/s1520 / 5354 [-------------------->___________________________________________________] 28.39% 99 p/s1540 / 5354 [-------------------->___________________________________________________] 28.76% 99 p/s1560 / 5354 [-------------------->___________________________________________________] 29.14% 99 p/s1580 / 5354 [--------------------->__________________________________________________] 29.51% 99 p/s1600 / 5354 [--------------------->__________________________________________________] 29.88% 99 p/s1620 / 5354 [--------------------->__________________________________________________] 30.26% 99 p/s1640 / 5354 [---------------------->_________________________________________________] 30.63% 99 p/s1660 / 5354 [---------------------->_________________________________________________] 31.00% 99 p/s1680 / 5354 [---------------------->_________________________________________________] 31.38% 99 p/s1701 / 5354 [---------------------->_________________________________________________] 31.77% 99 p/s1721 / 5354 [----------------------->________________________________________________] 32.14% 99 p/s1741 / 5354 [----------------------->________________________________________________] 32.52% 99 p/s1761 / 5354 [----------------------->________________________________________________] 32.89% 99 p/s1780 / 5354 [----------------------->________________________________________________] 33.25% 99 p/s1800 / 5354 [------------------------>_______________________________________________] 33.62% 99 p/s1820 / 5354 [------------------------>_______________________________________________] 33.99% 99 p/s1840 / 5354 [------------------------>_______________________________________________] 34.37% 99 p/s1860 / 5354 [------------------------->______________________________________________] 34.74% 99 p/s1880 / 5354 [------------------------->______________________________________________] 35.11% 99 p/s1900 / 5354 [------------------------->______________________________________________] 35.49% 99 p/s1920 / 5354 [------------------------->______________________________________________] 35.86% 99 p/s1940 / 5354 [-------------------------->_____________________________________________] 36.23% 99 p/s1960 / 5354 [-------------------------->_____________________________________________] 36.61% 99 p/s1979 / 5354 [-------------------------->_____________________________________________] 36.96% 99 p/s1999 / 5354 [-------------------------->_____________________________________________] 37.34% 99 p/s2018 / 5354 [--------------------------->____________________________________________] 37.69% 99 p/s2039 / 5354 [--------------------------->____________________________________________] 38.08% 99 p/s2057 / 5354 [--------------------------->____________________________________________] 38.42% 99 p/s2077 / 5354 [--------------------------->____________________________________________] 38.79% 99 p/s2097 / 5354 [---------------------------->___________________________________________] 39.17% 99 p/s2117 / 5354 [---------------------------->___________________________________________] 39.54% 99 p/s2137 / 5354 [---------------------------->___________________________________________] 39.91% 99 p/s2157 / 5354 [----------------------------->__________________________________________] 40.29% 99 p/s2177 / 5354 [----------------------------->__________________________________________] 40.66% 99 p/s2196 / 5354 [----------------------------->__________________________________________] 41.02% 99 p/s2216 / 5354 [----------------------------->__________________________________________] 41.39% 99 p/s2236 / 5354 [------------------------------>_________________________________________] 41.76% 99 p/s2256 / 5354 [------------------------------>_________________________________________] 42.14% 99 p/s2276 / 5354 [------------------------------>_________________________________________] 42.51% 99 p/s2296 / 5354 [------------------------------>_________________________________________] 42.88% 99 p/s2316 / 5354 [------------------------------->________________________________________] 43.26% 99 p/s2336 / 5354 [------------------------------->________________________________________] 43.63% 99 p/s2356 / 5354 [------------------------------->________________________________________] 44.00% 99 p/s2376 / 5354 [------------------------------->________________________________________] 44.38% 99 p/s2396 / 5354 [-------------------------------->_______________________________________] 44.75% 99 p/s2415 / 5354 [-------------------------------->_______________________________________] 45.11% 99 p/s2435 / 5354 [-------------------------------->_______________________________________] 45.48% 99 p/s2455 / 5354 [--------------------------------->______________________________________] 45.85% 99 p/s2475 / 5354 [--------------------------------->______________________________________] 46.23% 99 p/s2494 / 5354 [--------------------------------->______________________________________] 46.58% 99 p/s2514 / 5354 [--------------------------------->______________________________________] 46.96% 99 p/s2534 / 5354 [---------------------------------->_____________________________________] 47.33% 99 p/s2554 / 5354 [---------------------------------->_____________________________________] 47.70% 99 p/s2574 / 5354 [---------------------------------->_____________________________________] 48.08% 99 p/s2594 / 5354 [---------------------------------->_____________________________________] 48.45% 99 p/s2614 / 5354 [----------------------------------->____________________________________] 48.82% 99 p/s2634 / 5354 [----------------------------------->____________________________________] 49.20% 99 p/s2654 / 5354 [----------------------------------->____________________________________] 49.57% 99 p/s2674 / 5354 [----------------------------------->____________________________________] 49.94% 99 p/s2694 / 5354 [------------------------------------>___________________________________] 50.32% 99 p/s2714 / 5354 [------------------------------------>___________________________________] 50.69% 99 p/s2734 / 5354 [------------------------------------>___________________________________] 51.06% 99 p/s2754 / 5354 [------------------------------------->__________________________________] 51.44% 99 p/s2774 / 5354 [------------------------------------->__________________________________] 51.81% 99 p/s2794 / 5354 [------------------------------------->__________________________________] 52.19% 99 p/s2814 / 5354 [------------------------------------->__________________________________] 52.56% 99 p/s2834 / 5354 [-------------------------------------->_________________________________] 52.93% 99 p/s2854 / 5354 [-------------------------------------->_________________________________] 53.31% 99 p/s2874 / 5354 [-------------------------------------->_________________________________] 53.68% 99 p/s2894 / 5354 [-------------------------------------->_________________________________] 54.05% 99 p/s2914 / 5354 [--------------------------------------->________________________________] 54.43% 99 p/s2934 / 5354 [--------------------------------------->________________________________] 54.80% 99 p/s2954 / 5354 [--------------------------------------->________________________________] 55.17% 99 p/s2973 / 5354 [--------------------------------------->________________________________] 55.53% 99 p/s2993 / 5354 [---------------------------------------->_______________________________] 55.90% 99 p/s3013 / 5354 [---------------------------------------->_______________________________] 56.28% 99 p/s3033 / 5354 [---------------------------------------->_______________________________] 56.65% 99 p/s3053 / 5354 [----------------------------------------->______________________________] 57.02% 99 p/s3073 / 5354 [----------------------------------------->______________________________] 57.40% 99 p/s3093 / 5354 [----------------------------------------->______________________________] 57.77% 99 p/s3112 / 5354 [----------------------------------------->______________________________] 58.12% 99 p/s3132 / 5354 [------------------------------------------>_____________________________] 58.50% 99 p/s3152 / 5354 [------------------------------------------>_____________________________] 58.87% 99 p/s3172 / 5354 [------------------------------------------>_____________________________] 59.25% 99 p/s3192 / 5354 [------------------------------------------>_____________________________] 59.62% 99 p/s3212 / 5354 [------------------------------------------->____________________________] 59.99% 99 p/s3231 / 5354 [------------------------------------------->____________________________] 60.35% 99 p/s3251 / 5354 [------------------------------------------->____________________________] 60.72% 99 p/s3271 / 5354 [------------------------------------------->____________________________] 61.09% 99 p/s3291 / 5354 [-------------------------------------------->___________________________] 61.47% 99 p/s3310 / 5354 [-------------------------------------------->___________________________] 61.82% 99 p/s3331 / 5354 [-------------------------------------------->___________________________] 62.22% 99 p/s3350 / 5354 [--------------------------------------------->__________________________] 62.57% 99 p/s3370 / 5354 [--------------------------------------------->__________________________] 62.94% 99 p/s3390 / 5354 [--------------------------------------------->__________________________] 63.32% 99 p/s3410 / 5354 [--------------------------------------------->__________________________] 63.69% 99 p/s3430 / 5354 [---------------------------------------------->_________________________] 64.06% 99 p/s3449 / 5354 [---------------------------------------------->_________________________] 64.42% 99 p/s3469 / 5354 [---------------------------------------------->_________________________] 64.79% 99 p/s3489 / 5354 [---------------------------------------------->_________________________] 65.17% 99 p/s3509 / 5354 [----------------------------------------------->________________________] 65.54% 99 p/s3529 / 5354 [----------------------------------------------->________________________] 65.91% 99 p/s3549 / 5354 [----------------------------------------------->________________________] 66.29% 99 p/s3569 / 5354 [----------------------------------------------->________________________] 66.66% 99 p/s3589 / 5354 [------------------------------------------------>_______________________] 67.03% 99 p/s3609 / 5354 [------------------------------------------------>_______________________] 67.41% 99 p/s3629 / 5354 [------------------------------------------------>_______________________] 67.78% 99 p/s3649 / 5354 [------------------------------------------------->______________________] 68.15% 99 p/s3669 / 5354 [------------------------------------------------->______________________] 68.53% 99 p/s3688 / 5354 [------------------------------------------------->______________________] 68.88% 99 p/s3708 / 5354 [------------------------------------------------->______________________] 69.26% 99 p/s3728 / 5354 [-------------------------------------------------->_____________________] 69.63% 99 p/s3748 / 5354 [-------------------------------------------------->_____________________] 70.00% 99 p/s3768 / 5354 [-------------------------------------------------->_____________________] 70.38% 99 p/s3788 / 5354 [-------------------------------------------------->_____________________] 70.75% 99 p/s3808 / 5354 [--------------------------------------------------->____________________] 71.12% 99 p/s3828 / 5354 [--------------------------------------------------->____________________] 71.50% 99 p/s3848 / 5354 [--------------------------------------------------->____________________] 71.87% 99 p/s3868 / 5354 [---------------------------------------------------->___________________] 72.25% 99 p/s3888 / 5354 [---------------------------------------------------->___________________] 72.62% 99 p/s3908 / 5354 [---------------------------------------------------->___________________] 72.99% 99 p/s3928 / 5354 [---------------------------------------------------->___________________] 73.37% 99 p/s3947 / 5354 [----------------------------------------------------->__________________] 73.72% 99 p/s3967 / 5354 [----------------------------------------------------->__________________] 74.09% 99 p/s3987 / 5354 [----------------------------------------------------->__________________] 74.47% 99 p/s4007 / 5354 [----------------------------------------------------->__________________] 74.84% 99 p/s4027 / 5354 [------------------------------------------------------>_________________] 75.21% 99 p/s4047 / 5354 [------------------------------------------------------>_________________] 75.59% 99 p/s4066 / 5354 [------------------------------------------------------>_________________] 75.94% 99 p/s4087 / 5354 [------------------------------------------------------>_________________] 76.34% 99 p/s4106 / 5354 [------------------------------------------------------->________________] 76.69% 99 p/s4126 / 5354 [------------------------------------------------------->________________] 77.06% 99 p/s4146 / 5354 [------------------------------------------------------->________________] 77.44% 99 p/s4166 / 5354 [-------------------------------------------------------->_______________] 77.81% 99 p/s4186 / 5354 [-------------------------------------------------------->_______________] 78.18% 99 p/s4206 / 5354 [-------------------------------------------------------->_______________] 78.56% 99 p/s4226 / 5354 [-------------------------------------------------------->_______________] 78.93% 99 p/s4246 / 5354 [--------------------------------------------------------->______________] 79.31% 99 p/s4265 / 5354 [--------------------------------------------------------->______________] 79.66% 99 p/s4285 / 5354 [--------------------------------------------------------->______________] 80.03% 99 p/s4305 / 5354 [--------------------------------------------------------->______________] 80.41% 99 p/s4325 / 5354 [---------------------------------------------------------->_____________] 80.78% 99 p/s4345 / 5354 [---------------------------------------------------------->_____________] 81.15% 99 p/s4364 / 5354 [---------------------------------------------------------->_____________] 81.51% 99 p/s4384 / 5354 [---------------------------------------------------------->_____________] 81.88% 99 p/s4404 / 5354 [----------------------------------------------------------->____________] 82.26% 99 p/s4424 / 5354 [----------------------------------------------------------->____________] 82.63% 99 p/s4444 / 5354 [----------------------------------------------------------->____________] 83.00% 99 p/s4464 / 5354 [------------------------------------------------------------>___________] 83.38% 99 p/s4484 / 5354 [------------------------------------------------------------>___________] 83.75% 99 p/s4504 / 5354 [------------------------------------------------------------>___________] 84.12% 99 p/s4524 / 5354 [------------------------------------------------------------>___________] 84.50% 99 p/s4544 / 5354 [------------------------------------------------------------->__________] 84.87% 99 p/s4564 / 5354 [------------------------------------------------------------->__________] 85.24% 99 p/s4583 / 5354 [------------------------------------------------------------->__________] 85.60% 99 p/s4603 / 5354 [------------------------------------------------------------->__________] 85.97% 99 p/s4623 / 5354 [-------------------------------------------------------------->_________] 86.35% 99 p/s4643 / 5354 [-------------------------------------------------------------->_________] 86.72% 99 p/s4663 / 5354 [-------------------------------------------------------------->_________] 87.09% 99 p/s4683 / 5354 [-------------------------------------------------------------->_________] 87.47% 99 p/s4703 / 5354 [--------------------------------------------------------------->________] 87.84% 99 p/s4723 / 5354 [--------------------------------------------------------------->________] 88.21% 99 p/s4743 / 5354 [--------------------------------------------------------------->________] 88.59% 99 p/s4762 / 5354 [---------------------------------------------------------------->_______] 88.94% 99 p/s4782 / 5354 [---------------------------------------------------------------->_______] 89.32% 99 p/s4802 / 5354 [---------------------------------------------------------------->_______] 89.69% 99 p/s4822 / 5354 [---------------------------------------------------------------->_______] 90.06% 99 p/s4842 / 5354 [----------------------------------------------------------------->______] 90.44% 99 p/s4862 / 5354 [----------------------------------------------------------------->______] 90.81% 99 p/s4882 / 5354 [----------------------------------------------------------------->______] 91.18% 99 p/s4902 / 5354 [----------------------------------------------------------------->______] 91.56% 99 p/s4922 / 5354 [------------------------------------------------------------------>_____] 91.93% 99 p/s4942 / 5354 [------------------------------------------------------------------>_____] 92.30% 99 p/s4962 / 5354 [----------------------------------------------------------------->_____] 92.68% 100 p/s4982 / 5354 [------------------------------------------------------------------>____] 93.05% 100 p/s5002 / 5354 [------------------------------------------------------------------>____] 93.43% 100 p/s5022 / 5354 [------------------------------------------------------------------>____] 93.80% 100 p/s5042 / 5354 [------------------------------------------------------------------>____] 94.17% 100 p/s5062 / 5354 [------------------------------------------------------------------->___] 94.55% 100 p/s5081 / 5354 [-------------------------------------------------------------------->___] 94.90% 99 p/s5101 / 5354 [-------------------------------------------------------------------->___] 95.27% 99 p/s5122 / 5354 [-------------------------------------------------------------------->___] 95.67% 99 p/s5141 / 5354 [--------------------------------------------------------------------->__] 96.02% 99 p/s5161 / 5354 [--------------------------------------------------------------------->__] 96.40% 99 p/s5181 / 5354 [--------------------------------------------------------------------->__] 96.77% 99 p/s5201 / 5354 [-------------------------------------------------------------------->__] 97.14% 100 p/s5221 / 5354 [--------------------------------------------------------------------->_] 97.52% 100 p/s5240 / 5354 [--------------------------------------------------------------------->_] 97.87% 100 p/s5260 / 5354 [---------------------------------------------------------------------->_] 98.24% 99 p/s5280 / 5354 [----------------------------------------------------------------------->] 98.62% 99 p/s5300 / 5354 [----------------------------------------------------------------------->] 98.99% 99 p/s5320 / 5354 [----------------------------------------------------------------------->] 99.36% 99 p/s5340 / 5354 [----------------------------------------------------------------------->] 99.74% 99 p/s5354 / 5354 [----------------------------------------------------------------------] 100.00% 100 p/s2026-07-20T03:24:46 - INFO: Parsing 5354 sonar sweeps from /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5354 [00:00<?, ?it/s]
  0%|          | 3/5354 [00:00<03:39, 24.40it/s]
  0%|          | 6/5354 [00:00<03:34, 24.95it/s]
  0%|          | 9/5354 [00:00<03:30, 25.34it/s]
  0%|          | 12/5354 [00:00<03:27, 25.76it/s]
  0%|          | 15/5354 [00:00<03:24, 26.16it/s]
  0%|          | 18/5354 [00:00<03:22, 26.33it/s]
  0%|          | 21/5354 [00:00<03:21, 26.47it/s]
  0%|          | 24/5354 [00:00<03:20, 26.59it/s]
  1%|          | 27/5354 [00:01<03:19, 26.66it/s]
  1%|          | 30/5354 [00:01<03:19, 26.65it/s]
  1%|          | 33/5354 [00:01<03:20, 26.52it/s]
  1%|          | 36/5354 [00:01<03:20, 26.50it/s]
  1%|          | 39/5354 [00:01<03:20, 26.56it/s]
  1%|          | 42/5354 [00:01<03:19, 26.58it/s]
  1%|          | 45/5354 [00:01<03:19, 26.61it/s]
  1%|          | 48/5354 [00:01<03:19, 26.63it/s]
  1%|          | 51/5354 [00:01<03:18, 26.68it/s]
  1%|          | 54/5354 [00:02<03:18, 26.65it/s]
  1%|          | 57/5354 [00:02<03:18, 26.63it/s]
  1%|          | 60/5354 [00:02<03:18, 26.68it/s]
  1%|          | 63/5354 [00:02<03:17, 26.73it/s]
  1%|          | 66/5354 [00:02<03:23, 25.96it/s]
  1%|▏         | 69/5354 [00:02<03:21, 26.18it/s]
  1%|▏         | 72/5354 [00:02<03:20, 26.33it/s]
  1%|▏         | 75/5354 [00:02<03:19, 26.47it/s]
  1%|▏         | 78/5354 [00:02<03:19, 26.50it/s]
  2%|▏         | 81/5354 [00:03<03:18, 26.58it/s]
  2%|▏         | 84/5354 [00:03<03:17, 26.62it/s]
  2%|▏         | 87/5354 [00:03<03:17, 26.64it/s]
  2%|▏         | 90/5354 [00:03<03:17, 26.66it/s]
  2%|▏         | 93/5354 [00:03<03:17, 26.70it/s]
  2%|▏         | 96/5354 [00:03<03:16, 26.76it/s]
  2%|▏         | 99/5354 [00:03<03:16, 26.73it/s]
  2%|▏         | 102/5354 [00:03<03:16, 26.69it/s]
  2%|▏         | 105/5354 [00:03<03:16, 26.67it/s]
  2%|▏         | 108/5354 [00:04<03:16, 26.68it/s]
  2%|▏         | 111/5354 [00:04<03:16, 26.71it/s]
  2%|▏         | 114/5354 [00:04<03:16, 26.71it/s]
  2%|▏         | 117/5354 [00:04<03:15, 26.74it/s]
  2%|▏         | 120/5354 [00:04<03:15, 26.71it/s]
  2%|▏         | 123/5354 [00:04<03:15, 26.69it/s]
  2%|▏         | 126/5354 [00:04<03:16, 26.65it/s]
  2%|▏         | 129/5354 [00:04<03:16, 26.61it/s]
  2%|▏         | 132/5354 [00:04<03:15, 26.66it/s]
  3%|▎         | 135/5354 [00:05<03:15, 26.64it/s]
  3%|▎         | 138/5354 [00:05<03:15, 26.62it/s]
  3%|▎         | 141/5354 [00:05<03:15, 26.66it/s]
  3%|▎         | 144/5354 [00:05<03:16, 26.57it/s]
  3%|▎         | 147/5354 [00:05<03:15, 26.60it/s]
  3%|▎         | 150/5354 [00:05<03:15, 26.61it/s]
  3%|▎         | 153/5354 [00:05<03:15, 26.62it/s]
  3%|▎         | 156/5354 [00:05<03:15, 26.66it/s]
  3%|▎         | 159/5354 [00:05<03:14, 26.68it/s]
  3%|▎         | 162/5354 [00:06<03:14, 26.68it/s]
  3%|▎         | 165/5354 [00:06<03:14, 26.64it/s]
  3%|▎         | 168/5354 [00:06<03:14, 26.66it/s]
  3%|▎         | 171/5354 [00:06<03:15, 26.51it/s]
  3%|▎         | 174/5354 [00:06<03:17, 26.27it/s]
  3%|▎         | 177/5354 [00:06<03:16, 26.31it/s]
  3%|▎         | 180/5354 [00:06<03:16, 26.33it/s]
  3%|▎         | 183/5354 [00:06<03:16, 26.30it/s]
  3%|▎         | 186/5354 [00:07<03:16, 26.25it/s]
  4%|▎         | 189/5354 [00:07<03:17, 26.19it/s]
  4%|▎         | 192/5354 [00:07<03:17, 26.14it/s]
  4%|▎         | 195/5354 [00:07<03:17, 26.15it/s]
  4%|▎         | 198/5354 [00:07<03:24, 25.20it/s]
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2026-07-20T03:28:16 - 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/bbf0eb20-5bcb-1c15-df2b-bdf968591919/bbf0eb20-5bcb-1c15-df2b-bdf968591919"
2026-07-20T03:28:16 - INFO: DataPrep 0.15.0
2026-07-20T03:28:16 - INFO: Prepared data will be output to /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/bbf0eb20-5bcb-1c15-df2b-bdf968591919/processing/data
2026-07-20T03:28:16 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:28:16 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:28:16 - INFO: Recording GUID: bbf0eb20-5bcb-1c15-df2b-bdf968591919
2026-07-20T03:28:16 - INFO: Preparing sonar data...
2026-07-20T03:28:16 - INFO: /working/bbf0eb20-5bcb-1c15-df2b-bdf968591919/bbf0eb20-5bcb-1c15-df2b-bdf968591919/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:28:21 - INFO: Sonar epoch is 2026-03-18 14:43:37.297312+00:00 (1773845017297312359)
2026-07-20T03:28:21 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:28:21 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-20T03:28:21 - INFO: Using sonar digitizer
2026-07-20T03:28:21 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:28:21 - INFO: Sensor range is 1.589280 m
2026-07-20T03:28:21 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:28:21 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T03:28:21 - INFO: Processing 5354 snapshot scans from 5354 source sweeps...
2026-07-20T03:28:21 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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100%|██████████| 5354/5354 [00:43<00:00, 122.12scan/s]
2026-07-20T03:29:05 - INFO: Prepared sonar data in 48.8505 s
2026-07-20T03:29:05 - INFO: No IMU data found
2026-07-20T03:29:06 - INFO: DataPrep took 0:00:49.312528
2026-07-20T03:29:06 - INFO: Extracted sonar data in 0:05:14.068581
2026-07-20T03:29:06 - INFO: MSIP3D took 0:05:14.763800