+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ [ md = md ]
+ echo --laser-front
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --laser-front --sonar-sample-offset -1 /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-20T03:06:57 - INFO: MSIP3D 0.2.10
2026-07-20T03:06:57 - INFO: P3D files will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-20T03:06:57 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:06:57 - INFO: Found TFD mission for 2409SS
2026-07-20T03:06:57 - INFO: Recording will be processed as MD
2026-07-20T03:06:57 - INFO: Copying assets JSON to output directory...
2026-07-20T03:06:57 - INFO: Preparing counter data...
2026-07-20T03:06:57 - INFO: Interpreting counter as imperial
2026-07-20T03:06:57 - INFO: Preparing size track from assets JSON...
2026-07-20T03:06:57 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:06:57 - INFO: Preparing material track from assets JSON...
2026-07-20T03:06:57 - INFO: Prepared counter data in 0.1373 s
2026-07-20T03:06:57 - INFO: Extracting sonar data...
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/2409SS.tfd
TFD path: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: CCTV, Tag: 4855215965616818755
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 4149
21 / 4149 [>___________________________________________________________________________] 0.51% ? p/s44 / 4149 [>___________________________________________________________________________] 1.06% ? p/s66 / 4149 [->__________________________________________________________________________] 1.59% ? p/s89 / 4149 [->________________________________________________________________________] 2.15% 113 p/s111 / 4149 [->_______________________________________________________________________] 2.68% 113 p/s131 / 4149 [-->______________________________________________________________________] 3.16% 113 p/s154 / 4149 [-->______________________________________________________________________] 3.71% 113 p/s177 / 4149 [--->_____________________________________________________________________] 4.27% 113 p/s200 / 4149 [--->_____________________________________________________________________] 4.82% 113 p/s222 / 4149 [--->_____________________________________________________________________] 5.35% 113 p/s245 / 4149 [---->____________________________________________________________________] 5.91% 113 p/s267 / 4149 [---->____________________________________________________________________] 6.44% 113 p/s289 / 4149 [----->___________________________________________________________________] 6.97% 113 p/s312 / 4149 [----->___________________________________________________________________] 7.52% 113 p/s335 / 4149 [----->___________________________________________________________________] 8.07% 113 p/s357 / 4149 [------>__________________________________________________________________] 8.60% 113 p/s380 / 4149 [------>__________________________________________________________________] 9.16% 113 p/s402 / 4149 [------->_________________________________________________________________] 9.69% 113 p/s425 / 4149 [------->________________________________________________________________] 10.24% 113 p/s448 / 4149 [------->________________________________________________________________] 10.80% 113 p/s470 / 4149 [-------->_______________________________________________________________] 11.33% 113 p/s493 / 4149 [-------->_______________________________________________________________] 11.88% 113 p/s514 / 4149 [-------->_______________________________________________________________] 12.39% 113 p/s537 / 4149 [--------->______________________________________________________________] 12.94% 113 p/s559 / 4149 [--------->______________________________________________________________] 13.47% 113 p/s581 / 4149 [---------->_____________________________________________________________] 14.00% 113 p/s602 / 4149 [---------->_____________________________________________________________] 14.51% 113 p/s625 / 4149 [---------->_____________________________________________________________] 15.06% 113 p/s648 / 4149 [----------->____________________________________________________________] 15.62% 113 p/s670 / 4149 [----------->____________________________________________________________] 16.15% 113 p/s692 / 4149 [------------>___________________________________________________________] 16.68% 113 p/s713 / 4149 [------------>___________________________________________________________] 17.18% 113 p/s736 / 4149 [------------>___________________________________________________________] 17.74% 113 p/s759 / 4149 [------------->__________________________________________________________] 18.29% 112 p/s781 / 4149 [------------->__________________________________________________________] 18.82% 112 p/s804 / 4149 [------------->__________________________________________________________] 19.38% 112 p/s826 / 4149 [-------------->_________________________________________________________] 19.91% 112 p/s848 / 4149 [-------------->_________________________________________________________] 20.44% 112 p/s871 / 4149 [--------------->________________________________________________________] 20.99% 112 p/s893 / 4149 [--------------->________________________________________________________] 21.52% 112 p/s916 / 4149 [--------------->________________________________________________________] 22.08% 112 p/s938 / 4149 [---------------->_______________________________________________________] 22.61% 112 p/s961 / 4149 [---------------->_______________________________________________________] 23.16% 112 p/s983 / 4149 [----------------->______________________________________________________] 23.69% 112 p/s1006 / 4149 [----------------->_____________________________________________________] 24.25% 112 p/s1028 / 4149 [----------------->_____________________________________________________] 24.78% 112 p/s1050 / 4149 [----------------->_____________________________________________________] 25.31% 112 p/s1072 / 4149 [------------------>____________________________________________________] 25.84% 112 p/s1095 / 4149 [------------------>____________________________________________________] 26.39% 112 p/s1117 / 4149 [------------------->___________________________________________________] 26.92% 112 p/s1140 / 4149 [------------------->___________________________________________________] 27.48% 112 p/s1162 / 4149 [------------------->___________________________________________________] 28.01% 112 p/s1185 / 4149 [-------------------->__________________________________________________] 28.56% 112 p/s1207 / 4149 [-------------------->__________________________________________________] 29.09% 112 p/s1230 / 4149 [--------------------->_________________________________________________] 29.65% 112 p/s1253 / 4149 [--------------------->_________________________________________________] 30.20% 112 p/s1275 / 4149 [--------------------->_________________________________________________] 30.73% 112 p/s1298 / 4149 [---------------------->________________________________________________] 31.28% 112 p/s1320 / 4149 [---------------------->________________________________________________] 31.81% 112 p/s1343 / 4149 [---------------------->________________________________________________] 32.37% 112 p/s1363 / 4149 [----------------------->_______________________________________________] 32.85% 112 p/s1384 / 4149 [----------------------->_______________________________________________] 33.36% 112 p/s1406 / 4149 [------------------------>______________________________________________] 33.89% 112 p/s1429 / 4149 [------------------------>______________________________________________] 34.44% 112 p/s1450 / 4149 [------------------------>______________________________________________] 34.95% 112 p/s1473 / 4149 [------------------------->_____________________________________________] 35.50% 112 p/s1495 / 4149 [------------------------->_____________________________________________] 36.03% 112 p/s1514 / 4149 [------------------------->_____________________________________________] 36.49% 112 p/s1536 / 4149 [-------------------------->____________________________________________] 37.02% 112 p/s1559 / 4149 [-------------------------->____________________________________________] 37.58% 112 p/s1581 / 4149 [--------------------------->___________________________________________] 38.11% 112 p/s1603 / 4149 [--------------------------->___________________________________________] 38.64% 112 p/s1626 / 4149 [--------------------------->___________________________________________] 39.19% 112 p/s1648 / 4149 [---------------------------->__________________________________________] 39.72% 112 p/s1671 / 4149 [---------------------------->__________________________________________] 40.27% 112 p/s1693 / 4149 [---------------------------->__________________________________________] 40.81% 112 p/s1715 / 4149 [----------------------------->_________________________________________] 41.34% 112 p/s1738 / 4149 [----------------------------->_________________________________________] 41.89% 112 p/s1760 / 4149 [------------------------------>________________________________________] 42.42% 112 p/s1783 / 4149 [------------------------------>________________________________________] 42.97% 112 p/s1804 / 4149 [------------------------------>________________________________________] 43.48% 112 p/s1825 / 4149 [------------------------------->_______________________________________] 43.99% 111 p/s1843 / 4149 [------------------------------->_______________________________________] 44.42% 111 p/s1863 / 4149 [------------------------------->_______________________________________] 44.90% 111 p/s1880 / 4149 [-------------------------------->______________________________________] 45.31% 110 p/s1896 / 4149 [-------------------------------->______________________________________] 45.70% 110 p/s1912 / 4149 [-------------------------------->______________________________________] 46.08% 110 p/s1928 / 4149 [-------------------------------->______________________________________] 46.47% 108 p/s1945 / 4149 [--------------------------------->_____________________________________] 46.88% 108 p/s1961 / 4149 [--------------------------------->_____________________________________] 47.26% 108 p/s1978 / 4149 [--------------------------------->_____________________________________] 47.67% 107 p/s1996 / 4149 [---------------------------------->____________________________________] 48.11% 107 p/s2009 / 4149 [---------------------------------->____________________________________] 48.42% 107 p/s2028 / 4149 [---------------------------------->____________________________________] 48.88% 105 p/s2045 / 4149 [---------------------------------->____________________________________] 49.29% 105 p/s2062 / 4149 [----------------------------------->___________________________________] 49.70% 105 p/s2080 / 4149 [----------------------------------->___________________________________] 50.13% 104 p/s2098 / 4149 [----------------------------------->___________________________________] 50.57% 104 p/s2116 / 4149 [------------------------------------>__________________________________] 51.00% 104 p/s2135 / 4149 [------------------------------------>__________________________________] 51.46% 103 p/s2153 / 4149 [------------------------------------>__________________________________] 51.89% 103 p/s2173 / 4149 [------------------------------------->_________________________________] 52.37% 103 p/s2192 / 4149 [------------------------------------->_________________________________] 52.83% 103 p/s2211 / 4149 [------------------------------------->_________________________________] 53.29% 103 p/s2230 / 4149 [-------------------------------------->________________________________] 53.75% 103 p/s2249 / 4149 [-------------------------------------->________________________________] 54.21% 102 p/s2266 / 4149 [-------------------------------------->________________________________] 54.62% 102 p/s2285 / 4149 [--------------------------------------->_______________________________] 55.07% 102 p/s2305 / 4149 [--------------------------------------->_______________________________] 55.56% 102 p/s2324 / 4149 [--------------------------------------->_______________________________] 56.01% 102 p/s2344 / 4149 [---------------------------------------->______________________________] 56.50% 102 p/s2363 / 4149 [---------------------------------------->______________________________] 56.95% 101 p/s2382 / 4149 [---------------------------------------->______________________________] 57.41% 101 p/s2400 / 4149 [----------------------------------------->_____________________________] 57.85% 101 p/s2417 / 4149 [----------------------------------------->_____________________________] 58.26% 100 p/s2435 / 4149 [----------------------------------------->_____________________________] 58.69% 100 p/s2451 / 4149 [----------------------------------------->_____________________________] 59.07% 100 p/s2468 / 4149 [------------------------------------------>_____________________________] 59.48% 99 p/s2488 / 4149 [------------------------------------------->____________________________] 59.97% 99 p/s2506 / 4149 [------------------------------------------->____________________________] 60.40% 99 p/s2522 / 4149 [------------------------------------------->____________________________] 60.79% 99 p/s2540 / 4149 [-------------------------------------------->___________________________] 61.22% 99 p/s2555 / 4149 [-------------------------------------------->___________________________] 61.58% 99 p/s2571 / 4149 [-------------------------------------------->___________________________] 61.97% 98 p/s2589 / 4149 [-------------------------------------------->___________________________] 62.40% 98 p/s2606 / 4149 [--------------------------------------------->__________________________] 62.81% 98 p/s2626 / 4149 [--------------------------------------------->__________________________] 63.29% 97 p/s2645 / 4149 [--------------------------------------------->__________________________] 63.75% 97 p/s2664 / 4149 [---------------------------------------------->_________________________] 64.21% 97 p/s2685 / 4149 [---------------------------------------------->_________________________] 64.71% 97 p/s2704 / 4149 [---------------------------------------------->_________________________] 65.17% 97 p/s2722 / 4149 [----------------------------------------------->________________________] 65.61% 97 p/s2742 / 4149 [----------------------------------------------->________________________] 66.09% 97 p/s2761 / 4149 [----------------------------------------------->________________________] 66.55% 97 p/s2778 / 4149 [------------------------------------------------>_______________________] 66.96% 97 p/s2796 / 4149 [------------------------------------------------>_______________________] 67.39% 97 p/s2817 / 4149 [------------------------------------------------>_______________________] 67.90% 97 p/s2835 / 4149 [------------------------------------------------->______________________] 68.33% 97 p/s2854 / 4149 [------------------------------------------------->______________________] 68.79% 97 p/s2874 / 4149 [------------------------------------------------->______________________] 69.27% 97 p/s2893 / 4149 [-------------------------------------------------->_____________________] 69.73% 97 p/s2911 / 4149 [-------------------------------------------------->_____________________] 70.16% 97 p/s2929 / 4149 [-------------------------------------------------->_____________________] 70.60% 97 p/s2948 / 4149 [--------------------------------------------------->____________________] 71.05% 97 p/s2967 / 4149 [--------------------------------------------------->____________________] 71.51% 96 p/s2985 / 4149 [--------------------------------------------------->____________________] 71.95% 96 p/s3004 / 4149 [---------------------------------------------------->___________________] 72.40% 96 p/s3021 / 4149 [---------------------------------------------------->___________________] 72.81% 96 p/s3042 / 4149 [---------------------------------------------------->___________________] 73.32% 96 p/s3064 / 4149 [----------------------------------------------------->__________________] 73.85% 96 p/s3085 / 4149 [----------------------------------------------------->__________________] 74.36% 97 p/s3107 / 4149 [----------------------------------------------------->__________________] 74.89% 97 p/s3129 / 4149 [------------------------------------------------------>_________________] 75.42% 97 p/s3151 / 4149 [------------------------------------------------------>_________________] 75.95% 98 p/s3173 / 4149 [------------------------------------------------------->________________] 76.48% 98 p/s3195 / 4149 [------------------------------------------------------->________________] 77.01% 98 p/s3217 / 4149 [------------------------------------------------------->________________] 77.54% 98 p/s3239 / 4149 [-------------------------------------------------------->_______________] 78.07% 98 p/s3262 / 4149 [-------------------------------------------------------->_______________] 78.62% 98 p/s3284 / 4149 [-------------------------------------------------------->_______________] 79.15% 99 p/s3306 / 4149 [--------------------------------------------------------->______________] 79.68% 99 p/s3329 / 4149 [--------------------------------------------------------->______________] 80.24% 99 p/s3351 / 4149 [--------------------------------------------------------->_____________] 80.77% 100 p/s3373 / 4149 [--------------------------------------------------------->_____________] 81.30% 100 p/s3396 / 4149 [---------------------------------------------------------->____________] 81.85% 100 p/s3418 / 4149 [---------------------------------------------------------->____________] 82.38% 101 p/s3441 / 4149 [---------------------------------------------------------->____________] 82.94% 101 p/s3463 / 4149 [----------------------------------------------------------->___________] 83.47% 101 p/s3485 / 4149 [----------------------------------------------------------->___________] 84.00% 101 p/s3508 / 4149 [------------------------------------------------------------>__________] 84.55% 101 p/s3530 / 4149 [------------------------------------------------------------>__________] 85.08% 101 p/s3552 / 4149 [------------------------------------------------------------>__________] 85.61% 102 p/s3572 / 4149 [------------------------------------------------------------->_________] 86.09% 102 p/s3595 / 4149 [------------------------------------------------------------->_________] 86.65% 102 p/s3617 / 4149 [------------------------------------------------------------->_________] 87.18% 103 p/s3640 / 4149 [-------------------------------------------------------------->________] 87.73% 103 p/s3662 / 4149 [-------------------------------------------------------------->________] 88.26% 103 p/s3685 / 4149 [--------------------------------------------------------------->_______] 88.82% 103 p/s3707 / 4149 [--------------------------------------------------------------->_______] 89.35% 103 p/s3730 / 4149 [--------------------------------------------------------------->_______] 89.90% 103 p/s3752 / 4149 [---------------------------------------------------------------->______] 90.43% 104 p/s3775 / 4149 [---------------------------------------------------------------->______] 90.99% 104 p/s3798 / 4149 [---------------------------------------------------------------->______] 91.54% 104 p/s3820 / 4149 [----------------------------------------------------------------->_____] 92.07% 104 p/s3843 / 4149 [----------------------------------------------------------------->_____] 92.62% 104 p/s3866 / 4149 [------------------------------------------------------------------>____] 93.18% 104 p/s3889 / 4149 [------------------------------------------------------------------>____] 93.73% 105 p/s3911 / 4149 [------------------------------------------------------------------>____] 94.26% 105 p/s3934 / 4149 [------------------------------------------------------------------->___] 94.82% 105 p/s3956 / 4149 [------------------------------------------------------------------->___] 95.35% 106 p/s3979 / 4149 [-------------------------------------------------------------------->__] 95.90% 106 p/s4002 / 4149 [-------------------------------------------------------------------->__] 96.46% 106 p/s4024 / 4149 [-------------------------------------------------------------------->__] 96.99% 106 p/s4047 / 4149 [--------------------------------------------------------------------->_] 97.54% 106 p/s4069 / 4149 [--------------------------------------------------------------------->_] 98.07% 106 p/s4091 / 4149 [---------------------------------------------------------------------->] 98.60% 106 p/s4113 / 4149 [---------------------------------------------------------------------->] 99.13% 106 p/s4136 / 4149 [---------------------------------------------------------------------->] 99.69% 106 p/s4149 / 4149 [----------------------------------------------------------------------] 100.00% 105 p/s2026-07-20T03:07:37 - INFO: Parsing 4149 sonar sweeps from /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4149 [00:00<?, ?it/s]
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2026-07-20T03:10:09 - WARNING: Expected 400 beams, got 198, dropping sweep 4148
2026-07-20T03:10:09 - 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 --sonar-flip /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8"
2026-07-20T03:10:10 - INFO: DataPrep 0.15.0
2026-07-20T03:10:10 - INFO: Prepared data will be output to /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/processing/data
2026-07-20T03:10:10 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:10:10 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:10:10 - INFO: Recording GUID: b795e2de-d6e5-0fa6-1e15-ce0a398506b8
2026-07-20T03:10:10 - INFO: Preparing sonar data...
2026-07-20T03:10:10 - INFO: /working/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/b795e2de-d6e5-0fa6-1e15-ce0a398506b8/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:10:13 - INFO: Sonar epoch is 2026-03-09 15:33:50.366696+00:00 (1773070430366696420)
2026-07-20T03:10:13 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:10:13 - INFO: Using sonar rotation of 0.226893 radians for wedge mask
2026-07-20T03:10:13 - INFO: Using sonar digitizer
2026-07-20T03:10:13 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:10:13 - INFO: Sensor range is 0.794640 m
2026-07-20T03:10:13 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:10:13 - INFO: Scaled micrometres per sample is 2630.299931
2026-07-20T03:10:13 - INFO: Processing 4148 snapshot scans from 4148 source sweeps...
2026-07-20T03:10:13 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-20T03:10:49 - INFO: Prepared sonar data in 39.0142 s
2026-07-20T03:10:49 - INFO: No IMU data found
2026-07-20T03:10:49 - INFO: DataPrep took 0:00:39.398321
2026-07-20T03:10:49 - INFO: Extracted sonar data in 0:03:51.813144
2026-07-20T03:10:49 - INFO: MSIP3D took 0:03:52.310145