+ [ 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/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-20T03:22:20 - INFO: MSIP3D 0.2.10
2026-07-20T03:22:20 - INFO: P3D files will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-20T03:22:20 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:22:20 - INFO: Found TFD mission for 2102SS
2026-07-20T03:22:20 - INFO: Recording will be processed as SMD
2026-07-20T03:22:20 - INFO: Copying assets JSON to output directory...
2026-07-20T03:22:20 - INFO: Preparing counter data...
2026-07-20T03:22:20 - INFO: Interpreting counter as imperial
2026-07-20T03:22:20 - INFO: Preparing size track from assets JSON...
2026-07-20T03:22:20 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:22:20 - INFO: Preparing material track from assets JSON...
2026-07-20T03:22:20 - INFO: Prepared counter data in 0.2348 s
2026-07-20T03:22:20 - INFO: Extracting sonar data...
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/2102SS_002.tfd
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 5076
17 / 5076 [>___________________________________________________________________________] 0.33% ? p/s35 / 5076 [>___________________________________________________________________________] 0.69% ? p/s55 / 5076 [>___________________________________________________________________________] 1.08% ? p/s73 / 5076 [->_________________________________________________________________________] 1.44% 93 p/s93 / 5076 [->_________________________________________________________________________] 1.83% 93 p/s113 / 5076 [->________________________________________________________________________] 2.23% 93 p/s129 / 5076 [->________________________________________________________________________] 2.54% 93 p/s147 / 5076 [-->_______________________________________________________________________] 2.90% 93 p/s167 / 5076 [-->_______________________________________________________________________] 3.29% 93 p/s186 / 5076 [-->_______________________________________________________________________] 3.66% 93 p/s205 / 5076 [-->_______________________________________________________________________] 4.04% 93 p/s223 / 5076 [--->______________________________________________________________________] 4.39% 93 p/s243 / 5076 [--->______________________________________________________________________] 4.79% 94 p/s262 / 5076 [--->______________________________________________________________________] 5.16% 94 p/s281 / 5076 [---->_____________________________________________________________________] 5.54% 94 p/s299 / 5076 [---->_____________________________________________________________________] 5.89% 94 p/s318 / 5076 [---->_____________________________________________________________________] 6.26% 94 p/s338 / 5076 [---->_____________________________________________________________________] 6.66% 94 p/s357 / 5076 [----->____________________________________________________________________] 7.03% 94 p/s376 / 5076 [----->____________________________________________________________________] 7.41% 94 p/s396 / 5076 [----->____________________________________________________________________] 7.80% 94 p/s414 / 5076 [------>___________________________________________________________________] 8.16% 94 p/s433 / 5076 [------>___________________________________________________________________] 8.53% 94 p/s453 / 5076 [------>___________________________________________________________________] 8.92% 94 p/s473 / 5076 [------>___________________________________________________________________] 9.32% 94 p/s492 / 5076 [------->__________________________________________________________________] 9.69% 94 p/s509 / 5076 [------->_________________________________________________________________] 10.03% 94 p/s529 / 5076 [------->_________________________________________________________________] 10.42% 94 p/s548 / 5076 [------->_________________________________________________________________] 10.80% 94 p/s566 / 5076 [-------->________________________________________________________________] 11.15% 94 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p/s778 / 5076 [----------->_____________________________________________________________] 15.33% 94 p/s798 / 5076 [----------->_____________________________________________________________] 15.72% 94 p/s817 / 5076 [----------->_____________________________________________________________] 16.10% 95 p/s837 / 5076 [------------>____________________________________________________________] 16.49% 95 p/s857 / 5076 [------------>____________________________________________________________] 16.88% 95 p/s877 / 5076 [------------>____________________________________________________________] 17.28% 95 p/s896 / 5076 [------------>____________________________________________________________] 17.65% 95 p/s915 / 5076 [------------->___________________________________________________________] 18.03% 95 p/s935 / 5076 [------------->___________________________________________________________] 18.42% 95 p/s955 / 5076 [------------->___________________________________________________________] 18.81% 95 p/s973 / 5076 [------------->___________________________________________________________] 19.17% 95 p/s993 / 5076 [-------------->__________________________________________________________] 19.56% 95 p/s1012 / 5076 [-------------->_________________________________________________________] 19.94% 95 p/s1028 / 5076 [-------------->_________________________________________________________] 20.25% 95 p/s1046 / 5076 [-------------->_________________________________________________________] 20.61% 95 p/s1064 / 5076 [--------------->________________________________________________________] 20.96% 95 p/s1084 / 5076 [--------------->________________________________________________________] 21.36% 95 p/s1102 / 5076 [--------------->________________________________________________________] 21.71% 95 p/s1122 / 5076 [--------------->________________________________________________________] 22.10% 95 p/s1140 / 5076 [---------------->_______________________________________________________] 22.46% 95 p/s1160 / 5076 [---------------->_______________________________________________________] 22.85% 95 p/s1178 / 5076 [---------------->_______________________________________________________] 23.21% 95 p/s1198 / 5076 [---------------->_______________________________________________________] 23.60% 95 p/s1218 / 5076 [----------------->______________________________________________________] 24.00% 95 p/s1237 / 5076 [----------------->______________________________________________________] 24.37% 95 p/s1255 / 5076 [----------------->______________________________________________________] 24.72% 95 p/s1275 / 5076 [------------------>_____________________________________________________] 25.12% 95 p/s1295 / 5076 [------------------>_____________________________________________________] 25.51% 95 p/s1314 / 5076 [------------------>_____________________________________________________] 25.89% 95 p/s1334 / 5076 [------------------>_____________________________________________________] 26.28% 95 p/s1352 / 5076 [------------------->____________________________________________________] 26.64% 95 p/s1372 / 5076 [------------------->____________________________________________________] 27.03% 95 p/s1392 / 5076 [------------------->____________________________________________________] 27.42% 95 p/s1411 / 5076 [-------------------->___________________________________________________] 27.80% 95 p/s1429 / 5076 [-------------------->___________________________________________________] 28.15% 95 p/s1449 / 5076 [-------------------->___________________________________________________] 28.55% 95 p/s1467 / 5076 [-------------------->___________________________________________________] 28.90% 95 p/s1486 / 5076 [--------------------->__________________________________________________] 29.28% 95 p/s1505 / 5076 [--------------------->__________________________________________________] 29.65% 95 p/s1524 / 5076 [--------------------->__________________________________________________] 30.02% 95 p/s1544 / 5076 [--------------------->__________________________________________________] 30.42% 95 p/s1563 / 5076 [---------------------->_________________________________________________] 30.79% 95 p/s1581 / 5076 [---------------------->_________________________________________________] 31.15% 95 p/s1598 / 5076 [---------------------->_________________________________________________] 31.48% 95 p/s1618 / 5076 [---------------------->_________________________________________________] 31.88% 95 p/s1638 / 5076 [----------------------->________________________________________________] 32.27% 95 p/s1657 / 5076 [----------------------->________________________________________________] 32.64% 95 p/s1677 / 5076 [----------------------->________________________________________________] 33.04% 95 p/s1697 / 5076 [------------------------>_______________________________________________] 33.43% 95 p/s1717 / 5076 [------------------------>_______________________________________________] 33.83% 95 p/s1736 / 5076 [------------------------>_______________________________________________] 34.20% 95 p/s1756 / 5076 [------------------------>_______________________________________________] 34.59% 95 p/s1776 / 5076 [------------------------->______________________________________________] 34.99% 95 p/s1795 / 5076 [------------------------->______________________________________________] 35.36% 96 p/s1815 / 5076 [------------------------->______________________________________________] 35.76% 96 p/s1834 / 5076 [-------------------------->_____________________________________________] 36.13% 96 p/s1849 / 5076 [-------------------------->_____________________________________________] 36.43% 95 p/s1860 / 5076 [-------------------------->_____________________________________________] 36.64% 95 p/s1880 / 5076 [-------------------------->_____________________________________________] 37.04% 95 p/s1898 / 5076 [-------------------------->_____________________________________________] 37.39% 94 p/s1917 / 5076 [--------------------------->____________________________________________] 37.77% 94 p/s1936 / 5076 [--------------------------->____________________________________________] 38.14% 94 p/s1954 / 5076 [--------------------------->____________________________________________] 38.49% 94 p/s1974 / 5076 [--------------------------->____________________________________________] 38.89% 94 p/s1993 / 5076 [---------------------------->___________________________________________] 39.26% 94 p/s2013 / 5076 [---------------------------->___________________________________________] 39.66% 95 p/s2030 / 5076 [---------------------------->___________________________________________] 39.99% 95 p/s2049 / 5076 [----------------------------->__________________________________________] 40.37% 95 p/s2069 / 5076 [----------------------------->__________________________________________] 40.76% 94 p/s2088 / 5076 [----------------------------->__________________________________________] 41.13% 94 p/s2107 / 5076 [----------------------------->__________________________________________] 41.51% 94 p/s2126 / 5076 [------------------------------>_________________________________________] 41.88% 94 p/s2144 / 5076 [------------------------------>_________________________________________] 42.24% 94 p/s2164 / 5076 [------------------------------>_________________________________________] 42.63% 94 p/s2183 / 5076 [------------------------------>_________________________________________] 43.01% 95 p/s2202 / 5076 [------------------------------->________________________________________] 43.38% 95 p/s2221 / 5076 [------------------------------->________________________________________] 43.75% 95 p/s2240 / 5076 [------------------------------->________________________________________] 44.13% 95 p/s2260 / 5076 [-------------------------------->_______________________________________] 44.52% 95 p/s2277 / 5076 [-------------------------------->_______________________________________] 44.86% 95 p/s2297 / 5076 [-------------------------------->_______________________________________] 45.25% 95 p/s2316 / 5076 [-------------------------------->_______________________________________] 45.63% 95 p/s2336 / 5076 [--------------------------------->______________________________________] 46.02% 95 p/s2356 / 5076 [--------------------------------->______________________________________] 46.41% 95 p/s2376 / 5076 [--------------------------------->______________________________________] 46.81% 95 p/s2396 / 5076 [--------------------------------->______________________________________] 47.20% 95 p/s2416 / 5076 [---------------------------------->_____________________________________] 47.60% 95 p/s2435 / 5076 [---------------------------------->_____________________________________] 47.97% 95 p/s2454 / 5076 [---------------------------------->_____________________________________] 48.35% 95 p/s2473 / 5076 [----------------------------------->____________________________________] 48.72% 95 p/s2493 / 5076 [----------------------------------->____________________________________] 49.11% 95 p/s2512 / 5076 [----------------------------------->____________________________________] 49.49% 95 p/s2531 / 5076 [----------------------------------->____________________________________] 49.86% 95 p/s2551 / 5076 [------------------------------------>___________________________________] 50.26% 95 p/s2570 / 5076 [------------------------------------>___________________________________] 50.63% 95 p/s2589 / 5076 [------------------------------------>___________________________________] 51.00% 95 p/s2609 / 5076 [------------------------------------->__________________________________] 51.40% 95 p/s2628 / 5076 [------------------------------------->__________________________________] 51.77% 95 p/s2647 / 5076 [------------------------------------->__________________________________] 52.15% 95 p/s2666 / 5076 [------------------------------------->__________________________________] 52.52% 95 p/s2686 / 5076 [-------------------------------------->_________________________________] 52.92% 95 p/s2705 / 5076 [-------------------------------------->_________________________________] 53.29% 96 p/s2724 / 5076 [-------------------------------------->_________________________________] 53.66% 96 p/s2743 / 5076 [-------------------------------------->_________________________________] 54.04% 96 p/s2763 / 5076 [--------------------------------------->________________________________] 54.43% 96 p/s2781 / 5076 [--------------------------------------->________________________________] 54.79% 96 p/s2799 / 5076 [--------------------------------------->________________________________] 55.14% 96 p/s2819 / 5076 [--------------------------------------->________________________________] 55.54% 95 p/s2839 / 5076 [---------------------------------------->_______________________________] 55.93% 95 p/s2858 / 5076 [---------------------------------------->_______________________________] 56.30% 95 p/s2878 / 5076 [---------------------------------------->_______________________________] 56.70% 96 p/s2897 / 5076 [----------------------------------------->______________________________] 57.07% 96 p/s2917 / 5076 [----------------------------------------->______________________________] 57.47% 96 p/s2937 / 5076 [----------------------------------------->______________________________] 57.86% 96 p/s2957 / 5076 [----------------------------------------->______________________________] 58.25% 96 p/s2976 / 5076 [------------------------------------------>_____________________________] 58.63% 96 p/s2995 / 5076 [------------------------------------------>_____________________________] 59.00% 96 p/s3013 / 5076 [------------------------------------------>_____________________________] 59.36% 96 p/s3031 / 5076 [------------------------------------------>_____________________________] 59.71% 96 p/s3051 / 5076 [------------------------------------------->____________________________] 60.11% 96 p/s3071 / 5076 [------------------------------------------->____________________________] 60.50% 96 p/s3090 / 5076 [------------------------------------------->____________________________] 60.87% 96 p/s3109 / 5076 [-------------------------------------------->___________________________] 61.25% 96 p/s3127 / 5076 [-------------------------------------------->___________________________] 61.60% 96 p/s3146 / 5076 [-------------------------------------------->___________________________] 61.98% 96 p/s3165 / 5076 [-------------------------------------------->___________________________] 62.35% 96 p/s3185 / 5076 [--------------------------------------------->__________________________] 62.75% 96 p/s3205 / 5076 [--------------------------------------------->__________________________] 63.14% 96 p/s3225 / 5076 [--------------------------------------------->__________________________] 63.53% 96 p/s3243 / 5076 [--------------------------------------------->__________________________] 63.89% 96 p/s3262 / 5076 [---------------------------------------------->_________________________] 64.26% 96 p/s3280 / 5076 [---------------------------------------------->_________________________] 64.62% 96 p/s3299 / 5076 [---------------------------------------------->_________________________] 64.99% 96 p/s3318 / 5076 [----------------------------------------------->________________________] 65.37% 96 p/s3336 / 5076 [----------------------------------------------->________________________] 65.72% 95 p/s3356 / 5076 [----------------------------------------------->________________________] 66.12% 95 p/s3374 / 5076 [----------------------------------------------->________________________] 66.47% 95 p/s3392 / 5076 [------------------------------------------------>_______________________] 66.82% 95 p/s3411 / 5076 [------------------------------------------------>_______________________] 67.20% 95 p/s3430 / 5076 [------------------------------------------------>_______________________] 67.57% 95 p/s3450 / 5076 [------------------------------------------------>_______________________] 67.97% 95 p/s3470 / 5076 [------------------------------------------------->______________________] 68.36% 95 p/s3489 / 5076 [------------------------------------------------->______________________] 68.74% 95 p/s3507 / 5076 [------------------------------------------------->______________________] 69.09% 95 p/s3527 / 5076 [-------------------------------------------------->_____________________] 69.48% 95 p/s3544 / 5076 [-------------------------------------------------->_____________________] 69.82% 95 p/s3564 / 5076 [-------------------------------------------------->_____________________] 70.21% 95 p/s3584 / 5076 [-------------------------------------------------->_____________________] 70.61% 95 p/s3603 / 5076 [--------------------------------------------------->____________________] 70.98% 95 p/s3622 / 5076 [--------------------------------------------------->____________________] 71.36% 95 p/s3642 / 5076 [--------------------------------------------------->____________________] 71.75% 95 p/s3661 / 5076 [--------------------------------------------------->____________________] 72.12% 95 p/s3681 / 5076 [---------------------------------------------------->___________________] 72.52% 96 p/s3699 / 5076 [---------------------------------------------------->___________________] 72.87% 96 p/s3717 / 5076 [---------------------------------------------------->___________________] 73.23% 96 p/s3735 / 5076 [---------------------------------------------------->___________________] 73.58% 95 p/s3751 / 5076 [----------------------------------------------------->__________________] 73.90% 95 p/s3771 / 5076 [----------------------------------------------------->__________________] 74.29% 95 p/s3791 / 5076 [----------------------------------------------------->__________________] 74.68% 95 p/s3810 / 5076 [------------------------------------------------------>_________________] 75.06% 95 p/s3830 / 5076 [------------------------------------------------------>_________________] 75.45% 95 p/s3848 / 5076 [------------------------------------------------------>_________________] 75.81% 95 p/s3867 / 5076 [------------------------------------------------------>_________________] 76.18% 95 p/s3885 / 5076 [------------------------------------------------------->________________] 76.54% 95 p/s3904 / 5076 [------------------------------------------------------->________________] 76.91% 95 p/s3924 / 5076 [------------------------------------------------------->________________] 77.30% 95 p/s3944 / 5076 [------------------------------------------------------->________________] 77.70% 95 p/s3964 / 5076 [-------------------------------------------------------->_______________] 78.09% 95 p/s3983 / 5076 [-------------------------------------------------------->_______________] 78.47% 95 p/s4002 / 5076 [-------------------------------------------------------->_______________] 78.84% 95 p/s4021 / 5076 [--------------------------------------------------------->______________] 79.22% 95 p/s4039 / 5076 [--------------------------------------------------------->______________] 79.57% 95 p/s4058 / 5076 [--------------------------------------------------------->______________] 79.94% 95 p/s4077 / 5076 [--------------------------------------------------------->______________] 80.32% 95 p/s4096 / 5076 [---------------------------------------------------------->_____________] 80.69% 95 p/s4116 / 5076 [---------------------------------------------------------->_____________] 81.09% 95 p/s4135 / 5076 [---------------------------------------------------------->_____________] 81.46% 95 p/s4155 / 5076 [---------------------------------------------------------->_____________] 81.86% 95 p/s4175 / 5076 [----------------------------------------------------------->____________] 82.25% 95 p/s4194 / 5076 [----------------------------------------------------------->____________] 82.62% 95 p/s4212 / 5076 [----------------------------------------------------------->____________] 82.98% 95 p/s4231 / 5076 [------------------------------------------------------------>___________] 83.35% 95 p/s4251 / 5076 [------------------------------------------------------------>___________] 83.75% 95 p/s4269 / 5076 [------------------------------------------------------------>___________] 84.10% 95 p/s4288 / 5076 [------------------------------------------------------------>___________] 84.48% 95 p/s4308 / 5076 [------------------------------------------------------------->__________] 84.87% 95 p/s4328 / 5076 [------------------------------------------------------------->__________] 85.26% 95 p/s4347 / 5076 [------------------------------------------------------------->__________] 85.64% 95 p/s4367 / 5076 [------------------------------------------------------------->__________] 86.03% 96 p/s4386 / 5076 [-------------------------------------------------------------->_________] 86.41% 96 p/s4406 / 5076 [-------------------------------------------------------------->_________] 86.80% 96 p/s4425 / 5076 [-------------------------------------------------------------->_________] 87.17% 96 p/s4445 / 5076 [--------------------------------------------------------------->________] 87.57% 96 p/s4464 / 5076 [--------------------------------------------------------------->________] 87.94% 96 p/s4483 / 5076 [--------------------------------------------------------------->________] 88.32% 96 p/s4502 / 5076 [--------------------------------------------------------------->________] 88.69% 96 p/s4521 / 5076 [---------------------------------------------------------------->_______] 89.07% 96 p/s4540 / 5076 [---------------------------------------------------------------->_______] 89.44% 96 p/s4560 / 5076 [---------------------------------------------------------------->_______] 89.83% 96 p/s4579 / 5076 [---------------------------------------------------------------->_______] 90.21% 96 p/s4598 / 5076 [----------------------------------------------------------------->______] 90.58% 96 p/s4618 / 5076 [----------------------------------------------------------------->______] 90.98% 96 p/s4638 / 5076 [----------------------------------------------------------------->______] 91.37% 96 p/s4657 / 5076 [------------------------------------------------------------------>_____] 91.75% 96 p/s4676 / 5076 [------------------------------------------------------------------>_____] 92.12% 96 p/s4696 / 5076 [------------------------------------------------------------------>_____] 92.51% 96 p/s4715 / 5076 [------------------------------------------------------------------>_____] 92.89% 96 p/s4734 / 5076 [------------------------------------------------------------------->____] 93.26% 96 p/s4753 / 5076 [------------------------------------------------------------------->____] 93.64% 96 p/s4772 / 5076 [------------------------------------------------------------------->____] 94.01% 96 p/s4791 / 5076 [------------------------------------------------------------------->____] 94.39% 96 p/s4811 / 5076 [-------------------------------------------------------------------->___] 94.78% 96 p/s4830 / 5076 [-------------------------------------------------------------------->___] 95.15% 96 p/s4848 / 5076 [-------------------------------------------------------------------->___] 95.51% 96 p/s4868 / 5076 [--------------------------------------------------------------------->__] 95.90% 96 p/s4887 / 5076 [--------------------------------------------------------------------->__] 96.28% 96 p/s4905 / 5076 [--------------------------------------------------------------------->__] 96.63% 96 p/s4924 / 5076 [--------------------------------------------------------------------->__] 97.01% 96 p/s4944 / 5076 [---------------------------------------------------------------------->_] 97.40% 96 p/s4963 / 5076 [---------------------------------------------------------------------->_] 97.77% 96 p/s4983 / 5076 [---------------------------------------------------------------------->_] 98.17% 96 p/s5003 / 5076 [---------------------------------------------------------------------->_] 98.56% 96 p/s5022 / 5076 [----------------------------------------------------------------------->] 98.94% 96 p/s5040 / 5076 [----------------------------------------------------------------------->] 99.29% 96 p/s5059 / 5076 [----------------------------------------------------------------------->] 99.67% 96 p/s5076 / 5076 [-----------------------------------------------------------------------] 100.00% 96 p/s2026-07-20T03:23:14 - INFO: Parsing 5076 sonar sweeps from /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:26:32 - 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/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090"
2026-07-20T03:26:32 - INFO: DataPrep 0.15.0
2026-07-20T03:26:32 - INFO: Prepared data will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/processing/data
2026-07-20T03:26:32 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:26:32 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:26:32 - INFO: Recording GUID: 5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-20T03:26:32 - INFO: Preparing sonar data...
2026-07-20T03:26:32 - INFO: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:26:36 - INFO: Sonar epoch is 2026-03-24 15:14:10.063964+00:00 (1774365250063964358)
2026-07-20T03:26:36 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:26:36 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-07-20T03:26:36 - INFO: Using sonar digitizer
2026-07-20T03:26:36 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:26:36 - INFO: Sensor range is 1.589280 m
2026-07-20T03:26:36 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:26:36 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T03:26:36 - INFO: Processing 5076 snapshot scans from 5076 source sweeps...
2026-07-20T03:26:36 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-20T03:27:22 - INFO: Prepared sonar data in 49.4865 s
2026-07-20T03:27:22 - INFO: No IMU data found
2026-07-20T03:27:22 - INFO: DataPrep took 0:00:49.924597
2026-07-20T03:27:22 - INFO: Extracted sonar data in 0:05:01.850268
2026-07-20T03:27:22 - INFO: MSIP3D took 0:05:02.531909