+ [ 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/192fad53-fc69-7ce6-8975-7eac2eee35de
2026-07-20T03:18:46 - INFO: MSIP3D 0.2.10
2026-07-20T03:18:46 - INFO: P3D files will be output to /working/192fad53-fc69-7ce6-8975-7eac2eee35de/192fad53-fc69-7ce6-8975-7eac2eee35de
2026-07-20T03:18:47 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:18:47 - INFO: Found TFD mission for 2101SS
2026-07-20T03:18:47 - INFO: Recording will be processed as SMD
2026-07-20T03:18:47 - INFO: Copying assets JSON to output directory...
2026-07-20T03:18:47 - INFO: Preparing counter data...
2026-07-20T03:18:47 - INFO: Interpreting counter as imperial
2026-07-20T03:18:47 - INFO: Preparing size track from assets JSON...
2026-07-20T03:18:47 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:18:47 - INFO: Preparing material track from assets JSON...
2026-07-20T03:18:47 - INFO: Prepared counter data in 0.2072 s
2026-07-20T03:18:47 - INFO: Extracting sonar data...
TFD path: /working/192fad53-fc69-7ce6-8975-7eac2eee35de/tfd/2101SS_001.tfd
TFD path: /working/192fad53-fc69-7ce6-8975-7eac2eee35de/tfd/output
Name: CCTV, Tag: 4855215978501720644
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 3668
18 / 3668 [>___________________________________________________________________________] 0.49% ? p/s36 / 3668 [>___________________________________________________________________________] 0.98% ? p/s54 / 3668 [->__________________________________________________________________________] 1.47% ? p/s72 / 3668 [->_________________________________________________________________________] 1.96% 90 p/s91 / 3668 [->_________________________________________________________________________] 2.48% 90 p/s110 / 3668 [-->_______________________________________________________________________] 3.00% 90 p/s128 / 3668 [-->_______________________________________________________________________] 3.49% 90 p/s147 / 3668 [-->_______________________________________________________________________] 4.01% 90 p/s166 / 3668 [--->______________________________________________________________________] 4.53% 90 p/s186 / 3668 [--->______________________________________________________________________] 5.07% 91 p/s205 / 3668 [---->_____________________________________________________________________] 5.59% 91 p/s223 / 3668 [---->_____________________________________________________________________] 6.08% 91 p/s241 / 3668 [---->_____________________________________________________________________] 6.57% 91 p/s260 / 3668 [----->____________________________________________________________________] 7.09% 91 p/s279 / 3668 [----->____________________________________________________________________] 7.61% 91 p/s297 / 3668 [----->____________________________________________________________________] 8.10% 91 p/s317 / 3668 [------>___________________________________________________________________] 8.64% 91 p/s336 / 3668 [------>___________________________________________________________________] 9.16% 91 p/s354 / 3668 [------->__________________________________________________________________] 9.65% 91 p/s374 / 3668 [------->_________________________________________________________________] 10.20% 91 p/s392 / 3668 [------->_________________________________________________________________] 10.69% 91 p/s412 / 3668 [-------->________________________________________________________________] 11.23% 92 p/s431 / 3668 [-------->________________________________________________________________] 11.75% 92 p/s450 / 3668 [-------->________________________________________________________________] 12.27% 92 p/s469 / 3668 [--------->_______________________________________________________________] 12.79% 92 p/s489 / 3668 [--------->_______________________________________________________________] 13.33% 92 p/s506 / 3668 [---------->______________________________________________________________] 13.79% 92 p/s525 / 3668 [---------->______________________________________________________________] 14.31% 92 p/s542 / 3668 [---------->______________________________________________________________] 14.78% 92 p/s562 / 3668 [----------->_____________________________________________________________] 15.32% 92 p/s581 / 3668 [----------->_____________________________________________________________] 15.84% 92 p/s600 / 3668 [----------->_____________________________________________________________] 16.36% 92 p/s619 / 3668 [------------>____________________________________________________________] 16.88% 92 p/s638 / 3668 [------------>____________________________________________________________] 17.39% 92 p/s657 / 3668 [------------->___________________________________________________________] 17.91% 92 p/s676 / 3668 [------------->___________________________________________________________] 18.43% 92 p/s695 / 3668 [------------->___________________________________________________________] 18.95% 92 p/s714 / 3668 [-------------->__________________________________________________________] 19.47% 92 p/s734 / 3668 [-------------->__________________________________________________________] 20.01% 92 p/s752 / 3668 [-------------->__________________________________________________________] 20.50% 92 p/s773 / 3668 [--------------->_________________________________________________________] 21.07% 92 p/s792 / 3668 [--------------->_________________________________________________________] 21.59% 92 p/s811 / 3668 [---------------->________________________________________________________] 22.11% 93 p/s831 / 3668 [---------------->________________________________________________________] 22.66% 93 p/s849 / 3668 [---------------->________________________________________________________] 23.15% 93 p/s870 / 3668 [----------------->_______________________________________________________] 23.72% 93 p/s889 / 3668 [----------------->_______________________________________________________] 24.24% 93 p/s909 / 3668 [------------------>______________________________________________________] 24.78% 93 p/s927 / 3668 [------------------>______________________________________________________] 25.27% 93 p/s947 / 3668 [------------------>______________________________________________________] 25.82% 93 p/s967 / 3668 [------------------->_____________________________________________________] 26.36% 93 p/s986 / 3668 [------------------->_____________________________________________________] 26.88% 94 p/s1005 / 3668 [------------------->____________________________________________________] 27.40% 94 p/s1025 / 3668 [-------------------->___________________________________________________] 27.94% 94 p/s1043 / 3668 [-------------------->___________________________________________________] 28.44% 94 p/s1063 / 3668 [-------------------->___________________________________________________] 28.98% 94 p/s1080 / 3668 [--------------------->__________________________________________________] 29.44% 94 p/s1100 / 3668 [--------------------->__________________________________________________] 29.99% 94 p/s1120 / 3668 [--------------------->__________________________________________________] 30.53% 94 p/s1140 / 3668 [---------------------->_________________________________________________] 31.08% 94 p/s1159 / 3668 [---------------------->_________________________________________________] 31.60% 94 p/s1178 / 3668 [----------------------->________________________________________________] 32.12% 94 p/s1198 / 3668 [----------------------->________________________________________________] 32.66% 94 p/s1216 / 3668 [----------------------->________________________________________________] 33.15% 94 p/s1236 / 3668 [------------------------>_______________________________________________] 33.70% 94 p/s1255 / 3668 [------------------------>_______________________________________________] 34.21% 94 p/s1275 / 3668 [------------------------->______________________________________________] 34.76% 94 p/s1294 / 3668 [------------------------->______________________________________________] 35.28% 94 p/s1314 / 3668 [------------------------->______________________________________________] 35.82% 94 p/s1332 / 3668 [-------------------------->_____________________________________________] 36.31% 94 p/s1352 / 3668 [-------------------------->_____________________________________________] 36.86% 94 p/s1372 / 3668 [-------------------------->_____________________________________________] 37.40% 94 p/s1391 / 3668 [--------------------------->____________________________________________] 37.92% 95 p/s1411 / 3668 [--------------------------->____________________________________________] 38.47% 95 p/s1429 / 3668 [---------------------------->___________________________________________] 38.96% 95 p/s1447 / 3668 [---------------------------->___________________________________________] 39.45% 95 p/s1466 / 3668 [---------------------------->___________________________________________] 39.97% 95 p/s1484 / 3668 [----------------------------->__________________________________________] 40.46% 95 p/s1504 / 3668 [----------------------------->__________________________________________] 41.00% 95 p/s1519 / 3668 [----------------------------->__________________________________________] 41.41% 95 p/s1539 / 3668 [------------------------------>_________________________________________] 41.96% 95 p/s1559 / 3668 [------------------------------>_________________________________________] 42.50% 94 p/s1578 / 3668 [------------------------------>_________________________________________] 43.02% 94 p/s1596 / 3668 [------------------------------->________________________________________] 43.51% 94 p/s1615 / 3668 [------------------------------->________________________________________] 44.03% 94 p/s1635 / 3668 [-------------------------------->_______________________________________] 44.57% 94 p/s1655 / 3668 [-------------------------------->_______________________________________] 45.12% 94 p/s1672 / 3668 [-------------------------------->_______________________________________] 45.58% 94 p/s1692 / 3668 [--------------------------------->______________________________________] 46.13% 94 p/s1710 / 3668 [--------------------------------->______________________________________] 46.62% 94 p/s1729 / 3668 [--------------------------------->______________________________________] 47.14% 94 p/s1748 / 3668 [---------------------------------->_____________________________________] 47.66% 94 p/s1768 / 3668 [---------------------------------->_____________________________________] 48.20% 94 p/s1788 / 3668 [----------------------------------->____________________________________] 48.75% 95 p/s1806 / 3668 [----------------------------------->____________________________________] 49.24% 95 p/s1825 / 3668 [----------------------------------->____________________________________] 49.75% 95 p/s1845 / 3668 [------------------------------------>___________________________________] 50.30% 95 p/s1863 / 3668 [------------------------------------>___________________________________] 50.79% 95 p/s1882 / 3668 [------------------------------------>___________________________________] 51.31% 95 p/s1902 / 3668 [------------------------------------->__________________________________] 51.85% 95 p/s1921 / 3668 [------------------------------------->__________________________________] 52.37% 95 p/s1940 / 3668 [-------------------------------------->_________________________________] 52.89% 95 p/s1960 / 3668 [-------------------------------------->_________________________________] 53.44% 95 p/s1980 / 3668 [-------------------------------------->_________________________________] 53.98% 95 p/s1999 / 3668 [--------------------------------------->________________________________] 54.50% 95 p/s2019 / 3668 [--------------------------------------->________________________________] 55.04% 95 p/s2038 / 3668 [---------------------------------------->_______________________________] 55.56% 95 p/s2057 / 3668 [---------------------------------------->_______________________________] 56.08% 95 p/s2076 / 3668 [---------------------------------------->_______________________________] 56.60% 95 p/s2095 / 3668 [----------------------------------------->______________________________] 57.12% 95 p/s2115 / 3668 [----------------------------------------->______________________________] 57.66% 95 p/s2135 / 3668 [----------------------------------------->______________________________] 58.21% 95 p/s2154 / 3668 [------------------------------------------>_____________________________] 58.72% 95 p/s2174 / 3668 [------------------------------------------>_____________________________] 59.27% 95 p/s2194 / 3668 [------------------------------------------->____________________________] 59.81% 95 p/s2212 / 3668 [------------------------------------------->____________________________] 60.31% 95 p/s2231 / 3668 [------------------------------------------->____________________________] 60.82% 95 p/s2251 / 3668 [-------------------------------------------->___________________________] 61.37% 95 p/s2269 / 3668 [-------------------------------------------->___________________________] 61.86% 95 p/s2287 / 3668 [-------------------------------------------->___________________________] 62.35% 95 p/s2306 / 3668 [--------------------------------------------->__________________________] 62.87% 95 p/s2325 / 3668 [--------------------------------------------->__________________________] 63.39% 95 p/s2344 / 3668 [---------------------------------------------->_________________________] 63.90% 95 p/s2363 / 3668 [---------------------------------------------->_________________________] 64.42% 95 p/s2382 / 3668 [---------------------------------------------->_________________________] 64.94% 95 p/s2401 / 3668 [----------------------------------------------->________________________] 65.46% 95 p/s2421 / 3668 [----------------------------------------------->________________________] 66.00% 95 p/s2441 / 3668 [----------------------------------------------->________________________] 66.55% 95 p/s2459 / 3668 [------------------------------------------------>_______________________] 67.04% 95 p/s2479 / 3668 [------------------------------------------------>_______________________] 67.58% 95 p/s2498 / 3668 [------------------------------------------------->______________________] 68.10% 95 p/s2518 / 3668 [------------------------------------------------->______________________] 68.65% 95 p/s2538 / 3668 [------------------------------------------------->______________________] 69.19% 96 p/s2557 / 3668 [-------------------------------------------------->_____________________] 69.71% 96 p/s2577 / 3668 [-------------------------------------------------->_____________________] 70.26% 96 p/s2596 / 3668 [-------------------------------------------------->_____________________] 70.77% 96 p/s2615 / 3668 [--------------------------------------------------->____________________] 71.29% 96 p/s2636 / 3668 [--------------------------------------------------->____________________] 71.86% 96 p/s2655 / 3668 [---------------------------------------------------->___________________] 72.38% 96 p/s2674 / 3668 [---------------------------------------------------->___________________] 72.90% 96 p/s2694 / 3668 [---------------------------------------------------->___________________] 73.45% 96 p/s2713 / 3668 [----------------------------------------------------->__________________] 73.96% 96 p/s2733 / 3668 [----------------------------------------------------->__________________] 74.51% 96 p/s2753 / 3668 [------------------------------------------------------>_________________] 75.05% 96 p/s2770 / 3668 [------------------------------------------------------>_________________] 75.52% 96 p/s2790 / 3668 [------------------------------------------------------>_________________] 76.06% 96 p/s2809 / 3668 [------------------------------------------------------->________________] 76.58% 96 p/s2829 / 3668 [------------------------------------------------------->________________] 77.13% 96 p/s2849 / 3668 [------------------------------------------------------->________________] 77.67% 96 p/s2868 / 3668 [-------------------------------------------------------->_______________] 78.19% 96 p/s2886 / 3668 [-------------------------------------------------------->_______________] 78.68% 96 p/s2905 / 3668 [--------------------------------------------------------->______________] 79.20% 96 p/s2925 / 3668 [--------------------------------------------------------->______________] 79.74% 96 p/s2944 / 3668 [--------------------------------------------------------->______________] 80.26% 96 p/s2962 / 3668 [---------------------------------------------------------->_____________] 80.75% 96 p/s2982 / 3668 [---------------------------------------------------------->_____________] 81.30% 96 p/s3002 / 3668 [---------------------------------------------------------->_____________] 81.84% 96 p/s3021 / 3668 [----------------------------------------------------------->____________] 82.36% 96 p/s3041 / 3668 [----------------------------------------------------------->____________] 82.91% 96 p/s3060 / 3668 [------------------------------------------------------------>___________] 83.42% 96 p/s3079 / 3668 [------------------------------------------------------------>___________] 83.94% 96 p/s3099 / 3668 [------------------------------------------------------------>___________] 84.49% 96 p/s3119 / 3668 [------------------------------------------------------------->__________] 85.03% 96 p/s3138 / 3668 [------------------------------------------------------------->__________] 85.55% 96 p/s3157 / 3668 [------------------------------------------------------------->__________] 86.07% 96 p/s3176 / 3668 [-------------------------------------------------------------->_________] 86.59% 96 p/s3195 / 3668 [-------------------------------------------------------------->_________] 87.10% 96 p/s3215 / 3668 [--------------------------------------------------------------->________] 87.65% 96 p/s3234 / 3668 [--------------------------------------------------------------->________] 88.17% 96 p/s3254 / 3668 [--------------------------------------------------------------->________] 88.71% 96 p/s3274 / 3668 [---------------------------------------------------------------->_______] 89.26% 96 p/s3291 / 3668 [---------------------------------------------------------------->_______] 89.72% 96 p/s3311 / 3668 [---------------------------------------------------------------->_______] 90.27% 96 p/s3330 / 3668 [----------------------------------------------------------------->______] 90.79% 96 p/s3350 / 3668 [----------------------------------------------------------------->______] 91.33% 96 p/s3370 / 3668 [------------------------------------------------------------------>_____] 91.88% 96 p/s3388 / 3668 [------------------------------------------------------------------>_____] 92.37% 96 p/s3408 / 3668 [------------------------------------------------------------------>_____] 92.91% 96 p/s3428 / 3668 [------------------------------------------------------------------->____] 93.46% 96 p/s3445 / 3668 [------------------------------------------------------------------->____] 93.92% 96 p/s3465 / 3668 [-------------------------------------------------------------------->___] 94.47% 96 p/s3485 / 3668 [-------------------------------------------------------------------->___] 95.01% 96 p/s3504 / 3668 [-------------------------------------------------------------------->___] 95.53% 96 p/s3524 / 3668 [--------------------------------------------------------------------->__] 96.07% 96 p/s3542 / 3668 [--------------------------------------------------------------------->__] 96.56% 96 p/s3562 / 3668 [--------------------------------------------------------------------->__] 97.11% 96 p/s3582 / 3668 [---------------------------------------------------------------------->_] 97.66% 96 p/s3600 / 3668 [---------------------------------------------------------------------->_] 98.15% 96 p/s3620 / 3668 [----------------------------------------------------------------------->] 98.69% 96 p/s3640 / 3668 [----------------------------------------------------------------------->] 99.24% 96 p/s3658 / 3668 [----------------------------------------------------------------------->] 99.73% 96 p/s3668 / 3668 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-07-20T03:19:25 - INFO: Parsing 3668 sonar sweeps from /working/192fad53-fc69-7ce6-8975-7eac2eee35de/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3668 [00:00<?, ?it/s]
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2026-07-20T03:21:46 - WARNING: Expected 400 beams, got 187, dropping sweep 3667
2026-07-20T03:21:46 - 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/192fad53-fc69-7ce6-8975-7eac2eee35de/192fad53-fc69-7ce6-8975-7eac2eee35de"
2026-07-20T03:21:47 - INFO: DataPrep 0.15.0
2026-07-20T03:21:47 - INFO: Prepared data will be output to /working/192fad53-fc69-7ce6-8975-7eac2eee35de/192fad53-fc69-7ce6-8975-7eac2eee35de/processing/data
2026-07-20T03:21:47 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:21:47 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:21:47 - INFO: Recording GUID: 192fad53-fc69-7ce6-8975-7eac2eee35de
2026-07-20T03:21:47 - INFO: Preparing sonar data...
2026-07-20T03:21:47 - INFO: /working/192fad53-fc69-7ce6-8975-7eac2eee35de/192fad53-fc69-7ce6-8975-7eac2eee35de/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:21:50 - INFO: Sonar epoch is 2026-03-17 15:18:50.167387+00:00 (1773760730167386748)
2026-07-20T03:21:50 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:21:50 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-20T03:21:50 - INFO: Using sonar digitizer
2026-07-20T03:21:50 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:21:50 - INFO: Sensor range is 1.589280 m
2026-07-20T03:21:50 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:21:50 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T03:21:50 - INFO: Processing 3667 snapshot scans from 3667 source sweeps...
2026-07-20T03:21:50 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-20T03:22:22 - INFO: Prepared sonar data in 35.4037 s
2026-07-20T03:22:22 - INFO: No IMU data found
2026-07-20T03:22:23 - INFO: DataPrep took 0:00:35.726402
2026-07-20T03:22:23 - INFO: Extracted sonar data in 0:03:35.749951
2026-07-20T03:22:23 - INFO: MSIP3D took 0:03:36.279256