+ [ 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/d3e3de43-ff3b-d761-0e5f-16fd902cefc1
2026-08-04T15:56:56 - INFO: MSIP3D 0.2.10
2026-08-04T15:56:56 - INFO: P3D files will be output to /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/d3e3de43-ff3b-d761-0e5f-16fd902cefc1
2026-08-04T15:56:57 - INFO: Found 10 TFD dictionary entries
2026-08-04T15:56:57 - INFO: Found TFD mission for SJ502875 DEP 50
2026-08-04T15:56:57 - INFO: Recording will be processed as MD
2026-08-04T15:56:57 - INFO: Copying assets JSON to output directory...
2026-08-04T15:56:57 - INFO: Preparing counter data...
2026-08-04T15:56:57 - INFO: Interpreting counter as imperial
2026-08-04T15:56:57 - INFO: Preparing size track from assets JSON...
2026-08-04T15:56:57 - INFO: Preparing shape track from assets JSON...
2026-08-04T15:56:57 - INFO: Preparing material track from assets JSON...
2026-08-04T15:56:57 - INFO: Prepared counter data in 0.2018 s
2026-08-04T15:56:57 - INFO: Extracting sonar data...
TFD path: /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/tfd/SJ502875_DEP_50.tfd
TFD path: /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/tfd/output
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: CCTV, Tag: 4855215974206753347
Name: LASER, Tag: 4855215974206753356
Getting track SONAR
Number of frames: 8131
21 / 8131 [>___________________________________________________________________________] 0.26% ? p/s43 / 8131 [>___________________________________________________________________________] 0.53% ? p/s65 / 8131 [>___________________________________________________________________________] 0.80% ? p/s88 / 8131 [>_________________________________________________________________________] 1.08% 112 p/s110 / 8131 [>________________________________________________________________________] 1.35% 112 p/s130 / 8131 [->_______________________________________________________________________] 1.60% 112 p/s152 / 8131 [->_______________________________________________________________________] 1.87% 111 p/s174 / 8131 [->_______________________________________________________________________] 2.14% 111 p/s197 / 8131 [->_______________________________________________________________________] 2.42% 111 p/s219 / 8131 [->_______________________________________________________________________] 2.69% 111 p/s241 / 8131 [-->______________________________________________________________________] 2.96% 111 p/s263 / 8131 [-->______________________________________________________________________] 3.23% 111 p/s285 / 8131 [-->______________________________________________________________________] 3.51% 111 p/s308 / 8131 [-->______________________________________________________________________] 3.79% 111 p/s331 / 8131 [-->______________________________________________________________________] 4.07% 111 p/s353 / 8131 [--->_____________________________________________________________________] 4.34% 111 p/s376 / 8131 [--->_____________________________________________________________________] 4.62% 111 p/s398 / 8131 [--->_____________________________________________________________________] 4.89% 111 p/s421 / 8131 [--->_____________________________________________________________________] 5.18% 112 p/s443 / 8131 [--->_____________________________________________________________________] 5.45% 112 p/s465 / 8131 [---->____________________________________________________________________] 5.72% 112 p/s488 / 8131 [---->____________________________________________________________________] 6.00% 112 p/s510 / 8131 [---->____________________________________________________________________] 6.27% 112 p/s531 / 8131 [---->____________________________________________________________________] 6.53% 112 p/s553 / 8131 [---->____________________________________________________________________] 6.80% 111 p/s576 / 8131 [----->___________________________________________________________________] 7.08% 111 p/s599 / 8131 [----->___________________________________________________________________] 7.37% 111 p/s622 / 8131 [----->___________________________________________________________________] 7.65% 112 p/s645 / 8131 [----->___________________________________________________________________] 7.93% 112 p/s668 / 8131 [----->___________________________________________________________________] 8.22% 112 p/s691 / 8131 [------>__________________________________________________________________] 8.50% 112 p/s714 / 8131 [------>__________________________________________________________________] 8.78% 112 p/s737 / 8131 [------>__________________________________________________________________] 9.06% 112 p/s760 / 8131 [------>__________________________________________________________________] 9.35% 112 p/s783 / 8131 [------->_________________________________________________________________] 9.63% 112 p/s807 / 8131 [------->_________________________________________________________________] 9.92% 112 p/s830 / 8131 [------->________________________________________________________________] 10.21% 112 p/s853 / 8131 [------->________________________________________________________________] 10.49% 112 p/s876 / 8131 [------->________________________________________________________________] 10.77% 112 p/s899 / 8131 [------->________________________________________________________________] 11.06% 112 p/s922 / 8131 [-------->_______________________________________________________________] 11.34% 112 p/s946 / 8131 [-------->_______________________________________________________________] 11.63% 112 p/s969 / 8131 [-------->_______________________________________________________________] 11.92% 113 p/s992 / 8131 [-------->_______________________________________________________________] 12.20% 113 p/s1014 / 8131 [-------->______________________________________________________________] 12.47% 113 p/s1037 / 8131 [--------->_____________________________________________________________] 12.75% 113 p/s1060 / 8131 [--------->_____________________________________________________________] 13.04% 113 p/s1083 / 8131 [--------->_____________________________________________________________] 13.32% 113 p/s1106 / 8131 [--------->_____________________________________________________________] 13.60% 113 p/s1129 / 8131 [--------->_____________________________________________________________] 13.89% 113 p/s1152 / 8131 [---------->____________________________________________________________] 14.17% 113 p/s1175 / 8131 [---------->____________________________________________________________] 14.45% 113 p/s1198 / 8131 [---------->____________________________________________________________] 14.73% 113 p/s1221 / 8131 [---------->____________________________________________________________] 15.02% 113 p/s1245 / 8131 [---------->____________________________________________________________] 15.31% 113 p/s1267 / 8131 [----------->___________________________________________________________] 15.58% 113 p/s1290 / 8131 [----------->___________________________________________________________] 15.87% 113 p/s1314 / 8131 [----------->___________________________________________________________] 16.16% 113 p/s1336 / 8131 [----------->___________________________________________________________] 16.43% 113 p/s1359 / 8131 [----------->___________________________________________________________] 16.71% 113 p/s1383 / 8131 [------------>__________________________________________________________] 17.01% 114 p/s1406 / 8131 [------------>__________________________________________________________] 17.29% 114 p/s1429 / 8131 [------------>__________________________________________________________] 17.57% 114 p/s1452 / 8131 [------------>__________________________________________________________] 17.86% 114 p/s1475 / 8131 [------------>__________________________________________________________] 18.14% 114 p/s1498 / 8131 [------------->_________________________________________________________] 18.42% 114 p/s1521 / 8131 [------------->_________________________________________________________] 18.71% 114 p/s1544 / 8131 [------------->_________________________________________________________] 18.99% 114 p/s1567 / 8131 [------------->_________________________________________________________] 19.27% 114 p/s1589 / 8131 [------------->_________________________________________________________] 19.54% 114 p/s1613 / 8131 [-------------->________________________________________________________] 19.84% 114 p/s1636 / 8131 [-------------->________________________________________________________] 20.12% 114 p/s1659 / 8131 [-------------->________________________________________________________] 20.40% 114 p/s1682 / 8131 [-------------->________________________________________________________] 20.69% 114 p/s1705 / 8131 [-------------->________________________________________________________] 20.97% 114 p/s1728 / 8131 [--------------->_______________________________________________________] 21.25% 114 p/s1751 / 8131 [--------------->_______________________________________________________] 21.53% 114 p/s1774 / 8131 [--------------->_______________________________________________________] 21.82% 114 p/s1797 / 8131 [--------------->_______________________________________________________] 22.10% 114 p/s1820 / 8131 [--------------->_______________________________________________________] 22.38% 114 p/s1843 / 8131 [---------------->______________________________________________________] 22.67% 114 p/s1867 / 8131 [---------------->______________________________________________________] 22.96% 114 p/s1890 / 8131 [---------------->______________________________________________________] 23.24% 114 p/s1913 / 8131 [---------------->______________________________________________________] 23.53% 114 p/s1936 / 8131 [---------------->______________________________________________________] 23.81% 114 p/s1959 / 8131 [----------------->_____________________________________________________] 24.09% 114 p/s1982 / 8131 [----------------->_____________________________________________________] 24.38% 114 p/s2005 / 8131 [----------------->_____________________________________________________] 24.66% 114 p/s2028 / 8131 [----------------->_____________________________________________________] 24.94% 114 p/s2050 / 8131 [----------------->_____________________________________________________] 25.21% 114 p/s2072 / 8131 [------------------>____________________________________________________] 25.48% 114 p/s2096 / 8131 [------------------>____________________________________________________] 25.78% 114 p/s2119 / 8131 [------------------>____________________________________________________] 26.06% 114 p/s2142 / 8131 [------------------>____________________________________________________] 26.34% 114 p/s2165 / 8131 [------------------>____________________________________________________] 26.63% 114 p/s2188 / 8131 [------------------->___________________________________________________] 26.91% 114 p/s2211 / 8131 [------------------->___________________________________________________] 27.19% 114 p/s2235 / 8131 [------------------->___________________________________________________] 27.49% 114 p/s2258 / 8131 [------------------->___________________________________________________] 27.77% 114 p/s2281 / 8131 [------------------->___________________________________________________] 28.05% 114 p/s2305 / 8131 [-------------------->__________________________________________________] 28.35% 114 p/s2327 / 8131 [-------------------->__________________________________________________] 28.62% 114 p/s2351 / 8131 [-------------------->__________________________________________________] 28.91% 115 p/s2374 / 8131 [-------------------->__________________________________________________] 29.20% 115 p/s2397 / 8131 [-------------------->__________________________________________________] 29.48% 115 p/s2420 / 8131 [--------------------->_________________________________________________] 29.76% 115 p/s2443 / 8131 [--------------------->_________________________________________________] 30.05% 115 p/s2466 / 8131 [--------------------->_________________________________________________] 30.33% 115 p/s2490 / 8131 [--------------------->_________________________________________________] 30.62% 115 p/s2513 / 8131 [--------------------->_________________________________________________] 30.91% 115 p/s2535 / 8131 [---------------------->________________________________________________] 31.18% 115 p/s2558 / 8131 [---------------------->________________________________________________] 31.46% 115 p/s2581 / 8131 [---------------------->________________________________________________] 31.74% 115 p/s2604 / 8131 [---------------------->________________________________________________] 32.03% 115 p/s2626 / 8131 [---------------------->________________________________________________] 32.30% 115 p/s2649 / 8131 [----------------------->_______________________________________________] 32.58% 115 p/s2672 / 8131 [----------------------->_______________________________________________] 32.86% 115 p/s2694 / 8131 [----------------------->_______________________________________________] 33.13% 115 p/s2717 / 8131 [----------------------->_______________________________________________] 33.42% 115 p/s2740 / 8131 [----------------------->_______________________________________________] 33.70% 115 p/s2763 / 8131 [------------------------>______________________________________________] 33.98% 115 p/s2776 / 8131 [------------------------>______________________________________________] 34.14% 115 p/s2799 / 8131 [------------------------>______________________________________________] 34.42% 115 p/s2821 / 8131 [------------------------>______________________________________________] 34.69% 113 p/s2844 / 8131 [------------------------>______________________________________________] 34.98% 113 p/s2867 / 8131 [------------------------->_____________________________________________] 35.26% 113 p/s2889 / 8131 [------------------------->_____________________________________________] 35.53% 113 p/s2911 / 8131 [------------------------->_____________________________________________] 35.80% 113 p/s2934 / 8131 [------------------------->_____________________________________________] 36.08% 113 p/s2956 / 8131 [------------------------->_____________________________________________] 36.35% 113 p/s2979 / 8131 [-------------------------->____________________________________________] 36.64% 113 p/s3002 / 8131 [-------------------------->____________________________________________] 36.92% 113 p/s3025 / 8131 [-------------------------->____________________________________________] 37.20% 113 p/s3048 / 8131 [-------------------------->____________________________________________] 37.49% 113 p/s3071 / 8131 [-------------------------->____________________________________________] 37.77% 113 p/s3095 / 8131 [--------------------------->___________________________________________] 38.06% 114 p/s3118 / 8131 [--------------------------->___________________________________________] 38.35% 114 p/s3141 / 8131 [--------------------------->___________________________________________] 38.63% 114 p/s3164 / 8131 [--------------------------->___________________________________________] 38.91% 114 p/s3187 / 8131 [--------------------------->___________________________________________] 39.20% 114 p/s3210 / 8131 [---------------------------->__________________________________________] 39.48% 114 p/s3232 / 8131 [---------------------------->__________________________________________] 39.75% 114 p/s3254 / 8131 [---------------------------->__________________________________________] 40.02% 114 p/s3277 / 8131 [---------------------------->__________________________________________] 40.30% 114 p/s3299 / 8131 [---------------------------->__________________________________________] 40.57% 114 p/s3322 / 8131 [----------------------------->_________________________________________] 40.86% 114 p/s3344 / 8131 [----------------------------->_________________________________________] 41.13% 114 p/s3367 / 8131 [----------------------------->_________________________________________] 41.41% 114 p/s3389 / 8131 [----------------------------->_________________________________________] 41.68% 114 p/s3412 / 8131 [----------------------------->_________________________________________] 41.96% 114 p/s3435 / 8131 [----------------------------->_________________________________________] 42.25% 114 p/s3457 / 8131 [------------------------------>________________________________________] 42.52% 114 p/s3480 / 8131 [------------------------------>________________________________________] 42.80% 114 p/s3503 / 8131 [------------------------------>________________________________________] 43.08% 114 p/s3526 / 8131 [------------------------------>________________________________________] 43.36% 114 p/s3549 / 8131 [------------------------------>________________________________________] 43.65% 114 p/s3572 / 8131 [------------------------------->_______________________________________] 43.93% 114 p/s3595 / 8131 [------------------------------->_______________________________________] 44.21% 114 p/s3618 / 8131 [------------------------------->_______________________________________] 44.50% 114 p/s3640 / 8131 [------------------------------->_______________________________________] 44.77% 114 p/s3663 / 8131 [------------------------------->_______________________________________] 45.05% 114 p/s3685 / 8131 [-------------------------------->______________________________________] 45.32% 114 p/s3708 / 8131 [-------------------------------->______________________________________] 45.60% 114 p/s3731 / 8131 [-------------------------------->______________________________________] 45.89% 114 p/s3755 / 8131 [-------------------------------->______________________________________] 46.18% 114 p/s3778 / 8131 [-------------------------------->______________________________________] 46.46% 114 p/s3800 / 8131 [--------------------------------->_____________________________________] 46.73% 114 p/s3823 / 8131 [--------------------------------->_____________________________________] 47.02% 114 p/s3846 / 8131 [--------------------------------->_____________________________________] 47.30% 114 p/s3870 / 8131 [--------------------------------->_____________________________________] 47.60% 114 p/s3892 / 8131 [--------------------------------->_____________________________________] 47.87% 114 p/s3915 / 8131 [---------------------------------->____________________________________] 48.15% 114 p/s3938 / 8131 [---------------------------------->____________________________________] 48.43% 114 p/s3960 / 8131 [---------------------------------->____________________________________] 48.70% 114 p/s3983 / 8131 [---------------------------------->____________________________________] 48.99% 114 p/s4006 / 8131 [---------------------------------->____________________________________] 49.27% 114 p/s4029 / 8131 [----------------------------------->___________________________________] 49.55% 114 p/s4052 / 8131 [----------------------------------->___________________________________] 49.83% 114 p/s4075 / 8131 [----------------------------------->___________________________________] 50.12% 114 p/s4097 / 8131 [----------------------------------->___________________________________] 50.39% 114 p/s4120 / 8131 [----------------------------------->___________________________________] 50.67% 114 p/s4143 / 8131 [------------------------------------>__________________________________] 50.95% 114 p/s4166 / 8131 [------------------------------------>__________________________________] 51.24% 114 p/s4189 / 8131 [------------------------------------>__________________________________] 51.52% 114 p/s4212 / 8131 [------------------------------------>__________________________________] 51.80% 114 p/s4234 / 8131 [------------------------------------>__________________________________] 52.07% 114 p/s4257 / 8131 [------------------------------------->_________________________________] 52.36% 114 p/s4279 / 8131 [------------------------------------->_________________________________] 52.63% 114 p/s4302 / 8131 [------------------------------------->_________________________________] 52.91% 114 p/s4325 / 8131 [------------------------------------->_________________________________] 53.19% 114 p/s4348 / 8131 [------------------------------------->_________________________________] 53.47% 114 p/s4370 / 8131 [-------------------------------------->________________________________] 53.74% 114 p/s4393 / 8131 [-------------------------------------->________________________________] 54.03% 114 p/s4416 / 8131 [-------------------------------------->________________________________] 54.31% 114 p/s4439 / 8131 [-------------------------------------->________________________________] 54.59% 114 p/s4463 / 8131 [-------------------------------------->________________________________] 54.89% 114 p/s4486 / 8131 [--------------------------------------->_______________________________] 55.17% 114 p/s4508 / 8131 [--------------------------------------->_______________________________] 55.44% 114 p/s4531 / 8131 [--------------------------------------->_______________________________] 55.73% 114 p/s4554 / 8131 [--------------------------------------->_______________________________] 56.01% 114 p/s4576 / 8131 [--------------------------------------->_______________________________] 56.28% 114 p/s4599 / 8131 [---------------------------------------->______________________________] 56.56% 114 p/s4621 / 8131 [---------------------------------------->______________________________] 56.83% 114 p/s4644 / 8131 [---------------------------------------->______________________________] 57.11% 114 p/s4667 / 8131 [---------------------------------------->______________________________] 57.40% 114 p/s4690 / 8131 [---------------------------------------->______________________________] 57.68% 114 p/s4713 / 8131 [----------------------------------------->_____________________________] 57.96% 114 p/s4736 / 8131 [----------------------------------------->_____________________________] 58.25% 114 p/s4759 / 8131 [----------------------------------------->_____________________________] 58.53% 114 p/s4781 / 8131 [----------------------------------------->_____________________________] 58.80% 114 p/s4805 / 8131 [----------------------------------------->_____________________________] 59.09% 114 p/s4828 / 8131 [------------------------------------------>____________________________] 59.38% 114 p/s4850 / 8131 [------------------------------------------>____________________________] 59.65% 114 p/s4873 / 8131 [------------------------------------------>____________________________] 59.93% 114 p/s4896 / 8131 [------------------------------------------>____________________________] 60.21% 114 p/s4919 / 8131 [------------------------------------------>____________________________] 60.50% 114 p/s4942 / 8131 [------------------------------------------->___________________________] 60.78% 114 p/s4965 / 8131 [------------------------------------------->___________________________] 61.06% 114 p/s4988 / 8131 [------------------------------------------->___________________________] 61.35% 114 p/s5010 / 8131 [------------------------------------------->___________________________] 61.62% 114 p/s5033 / 8131 [------------------------------------------->___________________________] 61.90% 114 p/s5056 / 8131 [-------------------------------------------->__________________________] 62.18% 114 p/s5079 / 8131 [-------------------------------------------->__________________________] 62.46% 114 p/s5101 / 8131 [-------------------------------------------->__________________________] 62.74% 114 p/s5124 / 8131 [-------------------------------------------->__________________________] 63.02% 114 p/s5147 / 8131 [-------------------------------------------->__________________________] 63.30% 114 p/s5170 / 8131 [--------------------------------------------->_________________________] 63.58% 114 p/s5193 / 8131 [--------------------------------------------->_________________________] 63.87% 114 p/s5216 / 8131 [--------------------------------------------->_________________________] 64.15% 114 p/s5239 / 8131 [--------------------------------------------->_________________________] 64.43% 114 p/s5261 / 8131 [--------------------------------------------->_________________________] 64.70% 114 p/s5284 / 8131 [---------------------------------------------->________________________] 64.99% 114 p/s5307 / 8131 [---------------------------------------------->________________________] 65.27% 114 p/s5329 / 8131 [---------------------------------------------->________________________] 65.54% 114 p/s5353 / 8131 [---------------------------------------------->________________________] 65.83% 114 p/s5375 / 8131 [---------------------------------------------->________________________] 66.11% 114 p/s5398 / 8131 [----------------------------------------------->_______________________] 66.39% 114 p/s5421 / 8131 [----------------------------------------------->_______________________] 66.67% 114 p/s5444 / 8131 [----------------------------------------------->_______________________] 66.95% 114 p/s5467 / 8131 [----------------------------------------------->_______________________] 67.24% 114 p/s5490 / 8131 [----------------------------------------------->_______________________] 67.52% 114 p/s5513 / 8131 [------------------------------------------------>______________________] 67.80% 114 p/s5537 / 8131 [------------------------------------------------>______________________] 68.10% 114 p/s5560 / 8131 [------------------------------------------------>______________________] 68.38% 114 p/s5582 / 8131 [------------------------------------------------>______________________] 68.65% 114 p/s5605 / 8131 [------------------------------------------------>______________________] 68.93% 114 p/s5627 / 8131 [------------------------------------------------->_____________________] 69.20% 114 p/s5650 / 8131 [------------------------------------------------->_____________________] 69.49% 114 p/s5673 / 8131 [------------------------------------------------->_____________________] 69.77% 114 p/s5695 / 8131 [------------------------------------------------->_____________________] 70.04% 114 p/s5718 / 8131 [------------------------------------------------->_____________________] 70.32% 114 p/s5740 / 8131 [-------------------------------------------------->____________________] 70.59% 114 p/s5763 / 8131 [-------------------------------------------------->____________________] 70.88% 114 p/s5785 / 8131 [-------------------------------------------------->____________________] 71.15% 114 p/s5807 / 8131 [-------------------------------------------------->____________________] 71.42% 114 p/s5831 / 8131 [-------------------------------------------------->____________________] 71.71% 114 p/s5853 / 8131 [--------------------------------------------------->___________________] 71.98% 114 p/s5876 / 8131 [--------------------------------------------------->___________________] 72.27% 114 p/s5898 / 8131 [--------------------------------------------------->___________________] 72.54% 114 p/s5921 / 8131 [--------------------------------------------------->___________________] 72.82% 114 p/s5944 / 8131 [--------------------------------------------------->___________________] 73.10% 114 p/s5968 / 8131 [---------------------------------------------------->__________________] 73.40% 114 p/s5991 / 8131 [---------------------------------------------------->__________________] 73.68% 114 p/s6014 / 8131 [---------------------------------------------------->__________________] 73.96% 114 p/s6037 / 8131 [---------------------------------------------------->__________________] 74.25% 114 p/s6060 / 8131 [---------------------------------------------------->__________________] 74.53% 114 p/s6083 / 8131 [----------------------------------------------------->_________________] 74.81% 114 p/s6107 / 8131 [----------------------------------------------------->_________________] 75.11% 114 p/s6130 / 8131 [----------------------------------------------------->_________________] 75.39% 114 p/s6152 / 8131 [----------------------------------------------------->_________________] 75.66% 114 p/s6175 / 8131 [----------------------------------------------------->_________________] 75.94% 114 p/s6198 / 8131 [------------------------------------------------------>________________] 76.23% 114 p/s6222 / 8131 [------------------------------------------------------>________________] 76.52% 114 p/s6245 / 8131 [------------------------------------------------------>________________] 76.80% 114 p/s6268 / 8131 [------------------------------------------------------>________________] 77.09% 114 p/s6291 / 8131 [------------------------------------------------------>________________] 77.37% 114 p/s6314 / 8131 [------------------------------------------------------->_______________] 77.65% 114 p/s6337 / 8131 [------------------------------------------------------->_______________] 77.94% 114 p/s6360 / 8131 [------------------------------------------------------->_______________] 78.22% 114 p/s6383 / 8131 [------------------------------------------------------->_______________] 78.50% 114 p/s6407 / 8131 [------------------------------------------------------->_______________] 78.80% 114 p/s6429 / 8131 [-------------------------------------------------------->______________] 79.07% 114 p/s6452 / 8131 [-------------------------------------------------------->______________] 79.35% 114 p/s6475 / 8131 [-------------------------------------------------------->______________] 79.63% 114 p/s6498 / 8131 [-------------------------------------------------------->______________] 79.92% 114 p/s6521 / 8131 [-------------------------------------------------------->______________] 80.20% 114 p/s6544 / 8131 [--------------------------------------------------------->_____________] 80.48% 114 p/s6566 / 8131 [--------------------------------------------------------->_____________] 80.75% 114 p/s6589 / 8131 [--------------------------------------------------------->_____________] 81.04% 114 p/s6612 / 8131 [--------------------------------------------------------->_____________] 81.32% 114 p/s6635 / 8131 [--------------------------------------------------------->_____________] 81.60% 114 p/s6658 / 8131 [---------------------------------------------------------->____________] 81.88% 114 p/s6681 / 8131 [---------------------------------------------------------->____________] 82.17% 114 p/s6705 / 8131 [---------------------------------------------------------->____________] 82.46% 114 p/s6728 / 8131 [---------------------------------------------------------->____________] 82.75% 115 p/s6751 / 8131 [---------------------------------------------------------->____________] 83.03% 115 p/s6774 / 8131 [----------------------------------------------------------->___________] 83.31% 115 p/s6798 / 8131 [----------------------------------------------------------->___________] 83.61% 115 p/s6821 / 8131 [----------------------------------------------------------->___________] 83.89% 115 p/s6843 / 8131 [----------------------------------------------------------->___________] 84.16% 115 p/s6866 / 8131 [----------------------------------------------------------->___________] 84.44% 115 p/s6889 / 8131 [------------------------------------------------------------>__________] 84.73% 115 p/s6912 / 8131 [------------------------------------------------------------>__________] 85.01% 115 p/s6935 / 8131 [------------------------------------------------------------>__________] 85.29% 115 p/s6958 / 8131 [------------------------------------------------------------>__________] 85.57% 115 p/s6981 / 8131 [------------------------------------------------------------>__________] 85.86% 115 p/s7004 / 8131 [------------------------------------------------------------->_________] 86.14% 115 p/s7027 / 8131 [------------------------------------------------------------->_________] 86.42% 115 p/s7050 / 8131 [------------------------------------------------------------->_________] 86.71% 115 p/s7073 / 8131 [------------------------------------------------------------->_________] 86.99% 115 p/s7096 / 8131 [------------------------------------------------------------->_________] 87.27% 115 p/s7119 / 8131 [-------------------------------------------------------------->________] 87.55% 115 p/s7143 / 8131 [-------------------------------------------------------------->________] 87.85% 115 p/s7165 / 8131 [-------------------------------------------------------------->________] 88.12% 115 p/s7188 / 8131 [-------------------------------------------------------------->________] 88.40% 115 p/s7211 / 8131 [-------------------------------------------------------------->________] 88.69% 115 p/s7234 / 8131 [--------------------------------------------------------------->_______] 88.97% 115 p/s7256 / 8131 [--------------------------------------------------------------->_______] 89.24% 115 p/s7279 / 8131 [--------------------------------------------------------------->_______] 89.52% 115 p/s7302 / 8131 [--------------------------------------------------------------->_______] 89.80% 115 p/s7325 / 8131 [--------------------------------------------------------------->_______] 90.09% 115 p/s7347 / 8131 [---------------------------------------------------------------->______] 90.36% 115 p/s7370 / 8131 [---------------------------------------------------------------->______] 90.64% 115 p/s7393 / 8131 [---------------------------------------------------------------->______] 90.92% 115 p/s7416 / 8131 [---------------------------------------------------------------->______] 91.21% 115 p/s7439 / 8131 [---------------------------------------------------------------->______] 91.49% 115 p/s7462 / 8131 [----------------------------------------------------------------->_____] 91.77% 115 p/s7485 / 8131 [----------------------------------------------------------------->_____] 92.06% 115 p/s7508 / 8131 [----------------------------------------------------------------->_____] 92.34% 115 p/s7530 / 8131 [----------------------------------------------------------------->_____] 92.61% 115 p/s7553 / 8131 [----------------------------------------------------------------->_____] 92.89% 115 p/s7575 / 8131 [------------------------------------------------------------------>____] 93.16% 115 p/s7598 / 8131 [------------------------------------------------------------------>____] 93.44% 115 p/s7620 / 8131 [------------------------------------------------------------------>____] 93.72% 114 p/s7643 / 8131 [------------------------------------------------------------------>____] 94.00% 114 p/s7666 / 8131 [------------------------------------------------------------------>____] 94.28% 114 p/s7688 / 8131 [------------------------------------------------------------------->___] 94.55% 114 p/s7711 / 8131 [------------------------------------------------------------------->___] 94.83% 114 p/s7734 / 8131 [------------------------------------------------------------------->___] 95.12% 114 p/s7757 / 8131 [------------------------------------------------------------------->___] 95.40% 114 p/s7779 / 8131 [------------------------------------------------------------------->___] 95.67% 114 p/s7802 / 8131 [-------------------------------------------------------------------->__] 95.95% 114 p/s7825 / 8131 [-------------------------------------------------------------------->__] 96.24% 114 p/s7848 / 8131 [-------------------------------------------------------------------->__] 96.52% 114 p/s7871 / 8131 [-------------------------------------------------------------------->__] 96.80% 114 p/s7893 / 8131 [-------------------------------------------------------------------->__] 97.07% 114 p/s7915 / 8131 [--------------------------------------------------------------------->_] 97.34% 114 p/s7938 / 8131 [--------------------------------------------------------------------->_] 97.63% 114 p/s7960 / 8131 [--------------------------------------------------------------------->_] 97.90% 114 p/s7983 / 8131 [--------------------------------------------------------------------->_] 98.18% 114 p/s8006 / 8131 [--------------------------------------------------------------------->_] 98.46% 114 p/s8028 / 8131 [---------------------------------------------------------------------->] 98.73% 114 p/s8051 / 8131 [---------------------------------------------------------------------->] 99.02% 114 p/s8074 / 8131 [---------------------------------------------------------------------->] 99.30% 114 p/s8096 / 8131 [---------------------------------------------------------------------->] 99.57% 114 p/s8119 / 8131 [---------------------------------------------------------------------->] 99.85% 114 p/s8131 / 8131 [----------------------------------------------------------------------] 100.00% 114 p/s2026-08-04T15:58:08 - INFO: Parsing 8131 sonar sweeps from /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/8131 [00:00<?, ?it/s]
  0%|          | 3/8131 [00:00<05:05, 26.63it/s]
  0%|          | 6/8131 [00:00<05:00, 27.04it/s]
  0%|          | 9/8131 [00:00<04:58, 27.23it/s]
  0%|          | 12/8131 [00:00<04:56, 27.37it/s]
  0%|          | 15/8131 [00:00<04:54, 27.52it/s]
  0%|          | 18/8131 [00:00<04:53, 27.60it/s]
  0%|          | 21/8131 [00:00<04:51, 27.82it/s]
  0%|          | 24/8131 [00:00<04:49, 27.98it/s]
  0%|          | 27/8131 [00:00<04:48, 28.08it/s]
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2026-08-04T16:03:03 - 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/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/d3e3de43-ff3b-d761-0e5f-16fd902cefc1"
2026-08-04T16:03:03 - INFO: DataPrep 0.15.0
2026-08-04T16:03:03 - INFO: Prepared data will be output to /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/processing/data
2026-08-04T16:03:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-04T16:03:03 - deployment - INFO: Detected P3D version: P3D_1
2026-08-04T16:03:03 - INFO: Recording GUID: d3e3de43-ff3b-d761-0e5f-16fd902cefc1
2026-08-04T16:03:03 - INFO: Preparing sonar data...
2026-08-04T16:03:03 - INFO: /working/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/d3e3de43-ff3b-d761-0e5f-16fd902cefc1/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-04T16:03:10 - INFO: Sonar epoch is 2026-06-28 10:44:03.225662+00:00 (1782643443225661471)
2026-08-04T16:03:10 - INFO: Creating sonar sensor alignment track...
2026-08-04T16:03:10 - INFO: Using sonar rotation of 0.663225 radians for wedge mask
2026-08-04T16:03:10 - INFO: Using sonar digitizer
2026-08-04T16:03:10 - INFO: Sensor speed of sound is 1500 m/s
2026-08-04T16:03:10 - INFO: Sensor range is 0.939120 m
2026-08-04T16:03:10 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-04T16:03:10 - INFO: Scaled micrometres per sample is 3108.536247
2026-08-04T16:03:10 - INFO: Processing 8131 snapshot scans from 8131 source sweeps...
2026-08-04T16:03:10 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-04T16:04:01 - INFO: Prepared sonar data in 57.6765 s
2026-08-04T16:04:01 - INFO: No IMU data found
2026-08-04T16:04:02 - INFO: DataPrep took 0:00:58.470616
2026-08-04T16:04:02 - INFO: Extracted sonar data in 0:07:04.738457
2026-08-04T16:04:02 - INFO: MSIP3D took 0:07:05.659976