+ [ 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/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T03:59:42 - INFO: MSIP3D 0.2.10
2026-07-20T03:59:42 - INFO: P3D files will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T03:59:43 - INFO: Found 11 TFD dictionary entries
2026-07-20T03:59:43 - INFO: Found TFD mission for 1736SS
2026-07-20T03:59:43 - INFO: Recording will be processed as SMD
2026-07-20T03:59:43 - INFO: Copying assets JSON to output directory...
2026-07-20T03:59:43 - INFO: Preparing counter data...
2026-07-20T03:59:43 - INFO: Interpreting counter as imperial
2026-07-20T03:59:43 - INFO: Preparing size track from assets JSON...
2026-07-20T03:59:43 - INFO: Preparing shape track from assets JSON...
2026-07-20T03:59:43 - INFO: Preparing material track from assets JSON...
2026-07-20T03:59:43 - INFO: Prepared counter data in 0.2512 s
2026-07-20T03:59:43 - INFO: Extracting sonar data...
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/1736SS.tfd
TFD path: /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855215978501720644
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 2628
18 / 2628 [>___________________________________________________________________________] 0.68% ? p/s38 / 2628 [->__________________________________________________________________________] 1.45% ? p/s57 / 2628 [->__________________________________________________________________________] 2.17% ? p/s77 / 2628 [-->________________________________________________________________________] 2.93% 98 p/s97 / 2628 [-->________________________________________________________________________] 3.69% 98 p/s117 / 2628 [--->______________________________________________________________________] 4.45% 98 p/s137 / 2628 [--->______________________________________________________________________] 5.21% 98 p/s157 / 2628 [---->_____________________________________________________________________] 5.97% 98 p/s176 / 2628 [---->_____________________________________________________________________] 6.70% 98 p/s196 / 2628 [----->____________________________________________________________________] 7.46% 98 p/s217 / 2628 [------>___________________________________________________________________] 8.26% 98 p/s237 / 2628 [------>___________________________________________________________________] 9.02% 98 p/s256 / 2628 [------->__________________________________________________________________] 9.74% 99 p/s276 / 2628 [------->_________________________________________________________________] 10.50% 99 p/s296 / 2628 [-------->________________________________________________________________] 11.26% 99 p/s314 / 2628 [-------->________________________________________________________________] 11.95% 98 p/s333 / 2628 [--------->_______________________________________________________________] 12.67% 98 p/s351 / 2628 [--------->_______________________________________________________________] 13.36% 98 p/s371 / 2628 [---------->______________________________________________________________] 14.12% 98 p/s390 / 2628 [---------->______________________________________________________________] 14.84% 98 p/s409 / 2628 [----------->_____________________________________________________________] 15.56% 98 p/s429 / 2628 [----------->_____________________________________________________________] 16.32% 98 p/s449 / 2628 [------------>____________________________________________________________] 17.09% 98 p/s469 / 2628 [------------->___________________________________________________________] 17.85% 98 p/s489 / 2628 [------------->___________________________________________________________] 18.61% 98 p/s509 / 2628 [-------------->__________________________________________________________] 19.37% 98 p/s529 / 2628 [-------------->__________________________________________________________] 20.13% 98 p/s549 / 2628 [--------------->_________________________________________________________] 20.89% 98 p/s569 / 2628 [--------------->_________________________________________________________] 21.65% 98 p/s589 / 2628 [---------------->________________________________________________________] 22.41% 98 p/s609 / 2628 [---------------->________________________________________________________] 23.17% 98 p/s629 / 2628 [----------------->_______________________________________________________] 23.93% 98 p/s650 / 2628 [------------------>______________________________________________________] 24.73% 98 p/s670 / 2628 [------------------>______________________________________________________] 25.49% 99 p/s689 / 2628 [------------------->_____________________________________________________] 26.22% 99 p/s710 / 2628 [------------------->_____________________________________________________] 27.02% 99 p/s730 / 2628 [-------------------->____________________________________________________] 27.78% 99 p/s750 / 2628 [-------------------->____________________________________________________] 28.54% 99 p/s770 / 2628 [--------------------->___________________________________________________] 29.30% 99 p/s790 / 2628 [--------------------->___________________________________________________] 30.06% 99 p/s810 / 2628 [---------------------->__________________________________________________] 30.82% 99 p/s830 / 2628 [----------------------->_________________________________________________] 31.58% 99 p/s850 / 2628 [----------------------->_________________________________________________] 32.34% 99 p/s870 / 2628 [------------------------>________________________________________________] 33.11% 99 p/s890 / 2628 [------------------------>________________________________________________] 33.87% 99 p/s910 / 2628 [------------------------->_______________________________________________] 34.63% 99 p/s930 / 2628 [------------------------->_______________________________________________] 35.39% 99 p/s950 / 2628 [-------------------------->______________________________________________] 36.15% 99 p/s968 / 2628 [-------------------------->______________________________________________] 36.83% 99 p/s988 / 2628 [--------------------------->_____________________________________________] 37.60% 99 p/s1008 / 2628 [--------------------------->____________________________________________] 38.36% 99 p/s1027 / 2628 [---------------------------->___________________________________________] 39.08% 99 p/s1047 / 2628 [---------------------------->___________________________________________] 39.84% 99 p/s1067 / 2628 [----------------------------->__________________________________________] 40.60% 99 p/s1087 / 2628 [----------------------------->__________________________________________] 41.36% 99 p/s1107 / 2628 [------------------------------>_________________________________________] 42.12% 99 p/s1127 / 2628 [------------------------------>_________________________________________] 42.88% 99 p/s1147 / 2628 [------------------------------->________________________________________] 43.65% 99 p/s1167 / 2628 [------------------------------->________________________________________] 44.41% 99 p/s1187 / 2628 [-------------------------------->_______________________________________] 45.17% 99 p/s1207 / 2628 [--------------------------------->______________________________________] 45.93% 99 p/s1227 / 2628 [--------------------------------->______________________________________] 46.69% 99 p/s1247 / 2628 [---------------------------------->_____________________________________] 47.45% 99 p/s1267 / 2628 [---------------------------------->_____________________________________] 48.21% 99 p/s1287 / 2628 [----------------------------------->____________________________________] 48.97% 99 p/s1306 / 2628 [----------------------------------->____________________________________] 49.70% 99 p/s1326 / 2628 [------------------------------------>___________________________________] 50.46% 99 p/s1346 / 2628 [------------------------------------>___________________________________] 51.22% 99 p/s1366 / 2628 [------------------------------------->__________________________________] 51.98% 99 p/s1386 / 2628 [------------------------------------->__________________________________] 52.74% 99 p/s1406 / 2628 [-------------------------------------->_________________________________] 53.50% 99 p/s1426 / 2628 [--------------------------------------->________________________________] 54.26% 99 p/s1446 / 2628 [--------------------------------------->________________________________] 55.02% 99 p/s1466 / 2628 [---------------------------------------->_______________________________] 55.78% 99 p/s1487 / 2628 [---------------------------------------->_______________________________] 56.58% 99 p/s1506 / 2628 [----------------------------------------->______________________________] 57.31% 99 p/s1527 / 2628 [----------------------------------------->______________________________] 58.11% 99 p/s1547 / 2628 [------------------------------------------>_____________________________] 58.87% 99 p/s1567 / 2628 [------------------------------------------>_____________________________] 59.63% 99 p/s1587 / 2628 [------------------------------------------->____________________________] 60.39% 99 p/s1607 / 2628 [-------------------------------------------->___________________________] 61.15% 99 p/s1627 / 2628 [-------------------------------------------->___________________________] 61.91% 99 p/s1647 / 2628 [--------------------------------------------->__________________________] 62.67% 99 p/s1667 / 2628 [--------------------------------------------->__________________________] 63.43% 99 p/s1687 / 2628 [---------------------------------------------->_________________________] 64.19% 99 p/s1707 / 2628 [---------------------------------------------->_________________________] 64.95% 99 p/s1727 / 2628 [----------------------------------------------->________________________] 65.72% 99 p/s1747 / 2628 [----------------------------------------------->________________________] 66.48% 99 p/s1767 / 2628 [------------------------------------------------>_______________________] 67.24% 99 p/s1787 / 2628 [------------------------------------------------>_______________________] 68.00% 99 p/s1807 / 2628 [------------------------------------------------>______________________] 68.76% 100 p/s1827 / 2628 [------------------------------------------------->_____________________] 69.52% 100 p/s1847 / 2628 [------------------------------------------------->_____________________] 70.28% 100 p/s1867 / 2628 [-------------------------------------------------->____________________] 71.04% 100 p/s1887 / 2628 [-------------------------------------------------->____________________] 71.80% 100 p/s1907 / 2628 [--------------------------------------------------->___________________] 72.56% 100 p/s1927 / 2628 [---------------------------------------------------->__________________] 73.33% 100 p/s1947 / 2628 [---------------------------------------------------->__________________] 74.09% 100 p/s1967 / 2628 [----------------------------------------------------->_________________] 74.85% 100 p/s1987 / 2628 [----------------------------------------------------->_________________] 75.61% 100 p/s2007 / 2628 [------------------------------------------------------>________________] 76.37% 100 p/s2027 / 2628 [------------------------------------------------------>________________] 77.13% 100 p/s2047 / 2628 [------------------------------------------------------->_______________] 77.89% 100 p/s2067 / 2628 [------------------------------------------------------->_______________] 78.65% 100 p/s2087 / 2628 [-------------------------------------------------------->______________] 79.41% 100 p/s2107 / 2628 [-------------------------------------------------------->______________] 80.18% 100 p/s2127 / 2628 [--------------------------------------------------------->_____________] 80.94% 100 p/s2147 / 2628 [---------------------------------------------------------->____________] 81.70% 100 p/s2167 / 2628 [---------------------------------------------------------->____________] 82.46% 100 p/s2187 / 2628 [----------------------------------------------------------->___________] 83.22% 100 p/s2207 / 2628 [----------------------------------------------------------->___________] 83.98% 100 p/s2227 / 2628 [------------------------------------------------------------>__________] 84.74% 100 p/s2247 / 2628 [------------------------------------------------------------>__________] 85.50% 100 p/s2267 / 2628 [------------------------------------------------------------->_________] 86.26% 100 p/s2287 / 2628 [------------------------------------------------------------->_________] 87.02% 100 p/s2307 / 2628 [-------------------------------------------------------------->________] 87.79% 100 p/s2327 / 2628 [-------------------------------------------------------------->________] 88.55% 100 p/s2347 / 2628 [--------------------------------------------------------------->_______] 89.31% 100 p/s2367 / 2628 [--------------------------------------------------------------->_______] 90.07% 100 p/s2387 / 2628 [---------------------------------------------------------------->______] 90.83% 100 p/s2406 / 2628 [----------------------------------------------------------------->_____] 91.55% 100 p/s2427 / 2628 [----------------------------------------------------------------->_____] 92.35% 100 p/s2446 / 2628 [------------------------------------------------------------------>____] 93.07% 100 p/s2466 / 2628 [------------------------------------------------------------------>____] 93.84% 100 p/s2486 / 2628 [------------------------------------------------------------------->___] 94.60% 100 p/s2506 / 2628 [------------------------------------------------------------------->___] 95.36% 100 p/s2526 / 2628 [-------------------------------------------------------------------->__] 96.12% 100 p/s2546 / 2628 [-------------------------------------------------------------------->__] 96.88% 100 p/s2566 / 2628 [--------------------------------------------------------------------->_] 97.64% 100 p/s2586 / 2628 [--------------------------------------------------------------------->_] 98.40% 100 p/s2606 / 2628 [---------------------------------------------------------------------->] 99.16% 100 p/s2626 / 2628 [---------------------------------------------------------------------->] 99.92% 100 p/s2628 / 2628 [----------------------------------------------------------------------] 100.00% 100 p/s2026-07-20T04:00:09 - INFO: Parsing 2628 sonar sweeps from /working/1cb03372-cba3-4100-9453-17d34e148f8f/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2628 [00:00<?, ?it/s]
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2026-07-20T04:01:51 - 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/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f"
2026-07-20T04:01:51 - INFO: DataPrep 0.15.0
2026-07-20T04:01:51 - INFO: Prepared data will be output to /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/processing/data
2026-07-20T04:01:51 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T04:01:51 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T04:01:51 - INFO: Recording GUID: 1cb03372-cba3-4100-9453-17d34e148f8f
2026-07-20T04:01:51 - INFO: Preparing sonar data...
2026-07-20T04:01:51 - INFO: /working/1cb03372-cba3-4100-9453-17d34e148f8f/1cb03372-cba3-4100-9453-17d34e148f8f/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T04:01:53 - INFO: Sonar epoch is 2026-03-12 15:23:35.861661+00:00 (1773329015861661460)
2026-07-20T04:01:53 - INFO: Using sonar digitizer
2026-07-20T04:01:53 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T04:01:53 - INFO: Sensor range is 1.589280 m
2026-07-20T04:01:53 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T04:01:53 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T04:01:53 - INFO: Processing 2628 snapshot scans from 2628 source sweeps...
2026-07-20T04:01:53 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

  0%|          | 0/2628 [00:00<?, ?scan/s]
  0%|          | 1/2628 [00:02<1:33:44,  2.14s/scan]
  2%|▏         | 65/2628 [00:02<01:10, 36.30scan/s] 
  5%|▍         | 129/2628 [00:02<00:35, 70.12scan/s]
  7%|▋         | 193/2628 [00:02<00:20, 117.68scan/s]
 10%|▉         | 257/2628 [00:03<00:21, 108.18scan/s]
 12%|█▏        | 321/2628 [00:04<00:31, 73.26scan/s] 
 15%|█▍        | 385/2628 [00:05<00:28, 77.54scan/s]
 20%|█▉        | 513/2628 [00:05<00:16, 127.11scan/s]
 22%|██▏       | 577/2628 [00:06<00:14, 142.22scan/s]
 24%|██▍       | 641/2628 [00:06<00:15, 132.41scan/s]
 27%|██▋       | 705/2628 [00:07<00:15, 126.72scan/s]
 29%|██▉       | 769/2628 [00:07<00:14, 131.86scan/s]
 32%|███▏      | 833/2628 [00:09<00:21, 84.63scan/s] 
 34%|███▍      | 897/2628 [00:10<00:21, 81.82scan/s]
 39%|███▉      | 1025/2628 [00:10<00:12, 126.02scan/s]
 41%|████▏     | 1089/2628 [00:10<00:09, 156.67scan/s]
 44%|████▍     | 1153/2628 [00:11<00:09, 149.34scan/s]
 46%|████▋     | 1217/2628 [00:11<00:10, 132.83scan/s]
 49%|████▊     | 1281/2628 [00:12<00:11, 119.31scan/s]
 51%|█████     | 1345/2628 [00:13<00:14, 87.13scan/s] 
 54%|█████▎    | 1409/2628 [00:14<00:16, 74.57scan/s]
 63%|██████▎   | 1665/2628 [00:15<00:06, 148.11scan/s]
 66%|██████▌   | 1729/2628 [00:15<00:05, 149.87scan/s]
 68%|██████▊   | 1793/2628 [00:16<00:06, 135.65scan/s]
 71%|███████   | 1857/2628 [00:17<00:07, 98.07scan/s] 
 73%|███████▎  | 1921/2628 [00:18<00:07, 94.77scan/s]
 76%|███████▌  | 1985/2628 [00:18<00:05, 120.13scan/s]
 78%|███████▊  | 2049/2628 [00:18<00:04, 131.38scan/s]
 80%|████████  | 2113/2628 [00:19<00:03, 145.12scan/s]
 85%|████████▌ | 2241/2628 [00:19<00:01, 214.01scan/s]
 86%|████████▋ | 2272/2628 [00:19<00:01, 189.25scan/s]
 88%|████████▊ | 2309/2628 [00:20<00:02, 146.71scan/s]
 90%|█████████ | 2373/2628 [00:21<00:03, 82.56scan/s] 
 93%|█████████▎| 2437/2628 [00:22<00:02, 93.69scan/s]
 95%|█████████▌| 2501/2628 [00:22<00:01, 116.55scan/s]
 98%|█████████▊| 2565/2628 [00:22<00:00, 143.81scan/s]
100%|██████████| 2628/2628 [00:22<00:00, 115.36scan/s]
2026-07-20T04:02:17 - INFO: Prepared sonar data in 25.5052 s
2026-07-20T04:02:17 - INFO: No IMU data found
2026-07-20T04:02:17 - INFO: DataPrep took 0:00:25.721495
2026-07-20T04:02:17 - INFO: Extracted sonar data in 0:02:34.015382
2026-07-20T04:02:17 - INFO: MSIP3D took 0:02:34.502087