+ [ 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/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-20T03:05:58 - INFO: MSIP3D 0.2.10
2026-07-20T03:05:58 - INFO: P3D files will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-20T03:05:58 - INFO: Found 10 TFD dictionary entries
2026-07-20T03:05:58 - INFO: Found TFD mission for 2490SS
2026-07-20T03:05:58 - INFO: Recording will be processed as MD
2026-07-20T03:05:58 - INFO: Copying assets JSON to output directory...
2026-07-20T03:05:58 - INFO: Preparing counter data...
2026-07-20T03:05:58 - INFO: Interpreting counter as imperial
2026-07-20T03:05:58 - INFO: Preparing size track from assets JSON...
2026-07-20T03:05:58 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:05:58 - INFO: Preparing material track from assets JSON...
2026-07-20T03:05:58 - INFO: Prepared counter data in 0.0590 s
2026-07-20T03:05:58 - INFO: Extracting sonar data...
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/2490SS.tfd
TFD path: /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: CCTV, Tag: 4855215965616818755
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 1573
21 / 1573 [->__________________________________________________________________________] 1.34% ? p/s43 / 1573 [-->_________________________________________________________________________] 2.73% ? p/s65 / 1573 [--->________________________________________________________________________] 4.13% ? p/s87 / 1573 [---->_____________________________________________________________________] 5.53% 110 p/s109 / 1573 [----->___________________________________________________________________] 6.93% 110 p/s131 / 1573 [------>__________________________________________________________________] 8.33% 110 p/s153 / 1573 [------->_________________________________________________________________] 9.73% 110 p/s175 / 1573 [-------->_______________________________________________________________] 11.13% 110 p/s197 / 1573 [--------->______________________________________________________________] 12.52% 110 p/s220 / 1573 [---------->_____________________________________________________________] 13.99% 110 p/s242 / 1573 [----------->____________________________________________________________] 15.38% 110 p/s264 / 1573 [------------>___________________________________________________________] 16.78% 110 p/s286 / 1573 [------------->__________________________________________________________] 18.18% 110 p/s308 / 1573 [-------------->_________________________________________________________] 19.58% 110 p/s330 / 1573 [--------------->________________________________________________________] 20.98% 110 p/s352 / 1573 [---------------->_______________________________________________________] 22.38% 110 p/s374 / 1573 [----------------->______________________________________________________] 23.78% 110 p/s396 / 1573 [------------------>_____________________________________________________] 25.17% 110 p/s418 / 1573 [------------------->____________________________________________________] 26.57% 110 p/s440 / 1573 [-------------------->___________________________________________________] 27.97% 110 p/s462 / 1573 [--------------------->__________________________________________________] 29.37% 110 p/s484 / 1573 [---------------------->_________________________________________________] 30.77% 110 p/s507 / 1573 [----------------------->________________________________________________] 32.23% 110 p/s528 / 1573 [------------------------>_______________________________________________] 33.57% 110 p/s551 / 1573 [------------------------->______________________________________________] 35.03% 110 p/s573 / 1573 [-------------------------->_____________________________________________] 36.43% 110 p/s595 / 1573 [--------------------------->____________________________________________] 37.83% 110 p/s616 / 1573 [---------------------------->___________________________________________] 39.16% 110 p/s639 / 1573 [----------------------------->__________________________________________] 40.62% 110 p/s661 / 1573 [------------------------------>_________________________________________] 42.02% 110 p/s682 / 1573 [------------------------------->________________________________________] 43.36% 110 p/s704 / 1573 [-------------------------------->_______________________________________] 44.76% 110 p/s726 / 1573 [--------------------------------->______________________________________] 46.15% 110 p/s748 / 1573 [---------------------------------->_____________________________________] 47.55% 110 p/s770 / 1573 [----------------------------------->____________________________________] 48.95% 110 p/s792 / 1573 [------------------------------------>___________________________________] 50.35% 110 p/s814 / 1573 [------------------------------------->__________________________________] 51.75% 110 p/s836 / 1573 [-------------------------------------->_________________________________] 53.15% 110 p/s858 / 1573 [--------------------------------------->________________________________] 54.55% 110 p/s880 / 1573 [---------------------------------------->_______________________________] 55.94% 110 p/s903 / 1573 [----------------------------------------->______________________________] 57.41% 110 p/s925 / 1573 [------------------------------------------>_____________________________] 58.80% 110 p/s946 / 1573 [------------------------------------------->____________________________] 60.14% 110 p/s969 / 1573 [-------------------------------------------->___________________________] 61.60% 110 p/s991 / 1573 [--------------------------------------------->__________________________] 63.00% 110 p/s1012 / 1573 [--------------------------------------------->_________________________] 64.34% 110 p/s1034 / 1573 [---------------------------------------------->________________________] 65.73% 110 p/s1056 / 1573 [----------------------------------------------->_______________________] 67.13% 110 p/s1078 / 1573 [------------------------------------------------>______________________] 68.53% 110 p/s1100 / 1573 [------------------------------------------------->_____________________] 69.93% 110 p/s1122 / 1573 [-------------------------------------------------->____________________] 71.33% 110 p/s1144 / 1573 [--------------------------------------------------->___________________] 72.73% 110 p/s1166 / 1573 [---------------------------------------------------->__________________] 74.13% 110 p/s1188 / 1573 [----------------------------------------------------->_________________] 75.52% 110 p/s1210 / 1573 [------------------------------------------------------>________________] 76.92% 110 p/s1232 / 1573 [------------------------------------------------------->_______________] 78.32% 110 p/s1254 / 1573 [-------------------------------------------------------->______________] 79.72% 110 p/s1276 / 1573 [--------------------------------------------------------->_____________] 81.12% 110 p/s1298 / 1573 [---------------------------------------------------------->____________] 82.52% 110 p/s1320 / 1573 [----------------------------------------------------------->___________] 83.92% 110 p/s1342 / 1573 [------------------------------------------------------------>__________] 85.31% 110 p/s1364 / 1573 [------------------------------------------------------------->_________] 86.71% 110 p/s1386 / 1573 [-------------------------------------------------------------->________] 88.11% 110 p/s1408 / 1573 [--------------------------------------------------------------->_______] 89.51% 110 p/s1430 / 1573 [---------------------------------------------------------------->______] 90.91% 110 p/s1452 / 1573 [----------------------------------------------------------------->_____] 92.31% 110 p/s1474 / 1573 [------------------------------------------------------------------>____] 93.71% 110 p/s1497 / 1573 [------------------------------------------------------------------->___] 95.17% 110 p/s1520 / 1573 [-------------------------------------------------------------------->__] 96.63% 110 p/s1543 / 1573 [--------------------------------------------------------------------->_] 98.09% 110 p/s1565 / 1573 [---------------------------------------------------------------------->] 99.49% 110 p/s1573 / 1573 [----------------------------------------------------------------------] 100.00% 112 p/s2026-07-20T03:06:13 - INFO: Parsing 1573 sonar sweeps from /working/eaea867d-008b-f5cf-8879-b575884ce28f/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-20T03:07:11 - WARNING: Expected 400 beams, got 181, dropping sweep 1572
2026-07-20T03:07:11 - 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/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f"
2026-07-20T03:07:11 - INFO: DataPrep 0.15.0
2026-07-20T03:07:11 - INFO: Prepared data will be output to /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/processing/data
2026-07-20T03:07:11 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T03:07:11 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T03:07:11 - INFO: Recording GUID: eaea867d-008b-f5cf-8879-b575884ce28f
2026-07-20T03:07:11 - INFO: Preparing sonar data...
2026-07-20T03:07:11 - INFO: /working/eaea867d-008b-f5cf-8879-b575884ce28f/eaea867d-008b-f5cf-8879-b575884ce28f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T03:07:13 - INFO: Sonar epoch is 2026-02-20 16:43:29.607919+00:00 (1771605809607919305)
2026-07-20T03:07:13 - INFO: Creating sonar sensor alignment track...
2026-07-20T03:07:13 - INFO: Using sonar rotation of 0.244346 radians for wedge mask
2026-07-20T03:07:13 - INFO: Using sonar digitizer
2026-07-20T03:07:13 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T03:07:13 - INFO: Sensor range is 0.722400 m
2026-07-20T03:07:13 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T03:07:13 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-20T03:07:13 - INFO: Processing 1572 snapshot scans from 1572 source sweeps...
2026-07-20T03:07:13 - INFO: Processing sonar scans with 8 worker processes and chunksize 49

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2026-07-20T03:07:31 - INFO: Prepared sonar data in 19.7866 s
2026-07-20T03:07:31 - INFO: No IMU data found
2026-07-20T03:07:31 - INFO: DataPrep took 0:00:19.942358
2026-07-20T03:07:31 - INFO: Extracted sonar data in 0:01:32.777752
2026-07-20T03:07:31 - INFO: MSIP3D took 0:01:32.975604