+ [ 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/71e39732-553a-edec-49f0-b6f29c6c3ad0
2026-08-04T16:00:31 - INFO: MSIP3D 0.2.10
2026-08-04T16:00:31 - INFO: P3D files will be output to /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/71e39732-553a-edec-49f0-b6f29c6c3ad0
2026-08-04T16:00:31 - INFO: Found 10 TFD dictionary entries
2026-08-04T16:00:31 - INFO: Found TFD mission for SJ502875 DEP 1
2026-08-04T16:00:31 - INFO: Recording will be processed as MD
2026-08-04T16:00:31 - INFO: Copying assets JSON to output directory...
2026-08-04T16:00:31 - INFO: Preparing counter data...
2026-08-04T16:00:31 - INFO: Interpreting counter as imperial
2026-08-04T16:00:32 - INFO: Preparing size track from assets JSON...
2026-08-04T16:00:32 - INFO: Preparing shape track from assets JSON...
2026-08-04T16:00:32 - INFO: Preparing material track from assets JSON...
2026-08-04T16:00:32 - INFO: Prepared counter data in 0.1756 s
2026-08-04T16:00:32 - INFO: Extracting sonar data...
TFD path: /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/tfd/SJ502875_DEP_1.tfd
TFD path: /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012080310110734931
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080310110737079
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215974206753347
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215974206753356
Getting track SONAR
Number of frames: 5896
21 / 5896 [>___________________________________________________________________________] 0.36% ? p/s44 / 5896 [>___________________________________________________________________________] 0.75% ? p/s64 / 5896 [>___________________________________________________________________________] 1.09% ? p/s87 / 5896 [->________________________________________________________________________] 1.48% 110 p/s107 / 5896 [->_______________________________________________________________________] 1.81% 110 p/s129 / 5896 [->_______________________________________________________________________] 2.19% 110 p/s149 / 5896 [->_______________________________________________________________________] 2.53% 110 p/s169 / 5896 [-->______________________________________________________________________] 2.87% 110 p/s192 / 5896 [-->______________________________________________________________________] 3.26% 110 p/s214 / 5896 [-->______________________________________________________________________] 3.63% 109 p/s237 / 5896 [-->______________________________________________________________________] 4.02% 109 p/s259 / 5896 [--->_____________________________________________________________________] 4.39% 109 p/s282 / 5896 [--->_____________________________________________________________________] 4.78% 110 p/s304 / 5896 [--->_____________________________________________________________________] 5.16% 110 p/s326 / 5896 [---->____________________________________________________________________] 5.53% 110 p/s349 / 5896 [---->____________________________________________________________________] 5.92% 110 p/s372 / 5896 [---->____________________________________________________________________] 6.31% 110 p/s395 / 5896 [---->____________________________________________________________________] 6.70% 110 p/s417 / 5896 [----->___________________________________________________________________] 7.07% 110 p/s440 / 5896 [----->___________________________________________________________________] 7.46% 110 p/s462 / 5896 [----->___________________________________________________________________] 7.84% 110 p/s485 / 5896 [------>__________________________________________________________________] 8.23% 110 p/s507 / 5896 [------>__________________________________________________________________] 8.60% 110 p/s529 / 5896 [------>__________________________________________________________________] 8.97% 110 p/s552 / 5896 [------>__________________________________________________________________] 9.36% 110 p/s575 / 5896 [------->_________________________________________________________________] 9.75% 110 p/s597 / 5896 [------->________________________________________________________________] 10.13% 110 p/s620 / 5896 [------->________________________________________________________________] 10.52% 111 p/s642 / 5896 [------->________________________________________________________________] 10.89% 111 p/s665 / 5896 [-------->_______________________________________________________________] 11.28% 111 p/s689 / 5896 [-------->_______________________________________________________________] 11.69% 111 p/s712 / 5896 [-------->_______________________________________________________________] 12.08% 111 p/s735 / 5896 [-------->_______________________________________________________________] 12.47% 111 p/s758 / 5896 [--------->______________________________________________________________] 12.86% 111 p/s781 / 5896 [--------->______________________________________________________________] 13.25% 111 p/s804 / 5896 [--------->______________________________________________________________] 13.64% 111 p/s827 / 5896 [---------->_____________________________________________________________] 14.03% 111 p/s850 / 5896 [---------->_____________________________________________________________] 14.42% 111 p/s873 / 5896 [---------->_____________________________________________________________] 14.81% 111 p/s896 / 5896 [---------->_____________________________________________________________] 15.20% 112 p/s919 / 5896 [----------->____________________________________________________________] 15.59% 112 p/s942 / 5896 [----------->____________________________________________________________] 15.98% 112 p/s965 / 5896 [----------->____________________________________________________________] 16.37% 112 p/s988 / 5896 [------------>___________________________________________________________] 16.76% 112 p/s1011 / 5896 [------------>__________________________________________________________] 17.15% 112 p/s1033 / 5896 [------------>__________________________________________________________] 17.52% 112 p/s1056 / 5896 [------------>__________________________________________________________] 17.91% 112 p/s1078 / 5896 [------------>__________________________________________________________] 18.28% 112 p/s1101 / 5896 [------------->_________________________________________________________] 18.67% 112 p/s1124 / 5896 [------------->_________________________________________________________] 19.06% 112 p/s1146 / 5896 [------------->_________________________________________________________] 19.44% 112 p/s1169 / 5896 [-------------->________________________________________________________] 19.83% 112 p/s1192 / 5896 [-------------->________________________________________________________] 20.22% 112 p/s1215 / 5896 [-------------->________________________________________________________] 20.61% 112 p/s1237 / 5896 [-------------->________________________________________________________] 20.98% 112 p/s1260 / 5896 [--------------->_______________________________________________________] 21.37% 112 p/s1283 / 5896 [--------------->_______________________________________________________] 21.76% 112 p/s1306 / 5896 [--------------->_______________________________________________________] 22.15% 112 p/s1329 / 5896 [---------------->______________________________________________________] 22.54% 112 p/s1351 / 5896 [---------------->______________________________________________________] 22.91% 112 p/s1374 / 5896 [---------------->______________________________________________________] 23.30% 112 p/s1397 / 5896 [---------------->______________________________________________________] 23.69% 112 p/s1420 / 5896 [----------------->_____________________________________________________] 24.08% 112 p/s1443 / 5896 [----------------->_____________________________________________________] 24.47% 113 p/s1465 / 5896 [----------------->_____________________________________________________] 24.85% 113 p/s1488 / 5896 [----------------->_____________________________________________________] 25.24% 113 p/s1511 / 5896 [------------------>____________________________________________________] 25.63% 113 p/s1534 / 5896 [------------------>____________________________________________________] 26.02% 113 p/s1556 / 5896 [------------------>____________________________________________________] 26.39% 113 p/s1579 / 5896 [------------------->___________________________________________________] 26.78% 113 p/s1602 / 5896 [------------------->___________________________________________________] 27.17% 113 p/s1625 / 5896 [------------------->___________________________________________________] 27.56% 113 p/s1647 / 5896 [------------------->___________________________________________________] 27.93% 113 p/s1670 / 5896 [-------------------->__________________________________________________] 28.32% 113 p/s1693 / 5896 [-------------------->__________________________________________________] 28.71% 113 p/s1715 / 5896 [-------------------->__________________________________________________] 29.09% 113 p/s1738 / 5896 [-------------------->__________________________________________________] 29.48% 113 p/s1760 / 5896 [--------------------->_________________________________________________] 29.85% 113 p/s1783 / 5896 [--------------------->_________________________________________________] 30.24% 113 p/s1806 / 5896 [--------------------->_________________________________________________] 30.63% 113 p/s1828 / 5896 [---------------------->________________________________________________] 31.00% 113 p/s1851 / 5896 [---------------------->________________________________________________] 31.39% 113 p/s1874 / 5896 [---------------------->________________________________________________] 31.78% 113 p/s1896 / 5896 [---------------------->________________________________________________] 32.16% 113 p/s1919 / 5896 [----------------------->_______________________________________________] 32.55% 113 p/s1942 / 5896 [----------------------->_______________________________________________] 32.94% 113 p/s1965 / 5896 [----------------------->_______________________________________________] 33.33% 113 p/s1987 / 5896 [----------------------->_______________________________________________] 33.70% 113 p/s2010 / 5896 [------------------------>______________________________________________] 34.09% 113 p/s2033 / 5896 [------------------------>______________________________________________] 34.48% 113 p/s2054 / 5896 [------------------------>______________________________________________] 34.84% 113 p/s2077 / 5896 [------------------------->_____________________________________________] 35.23% 113 p/s2100 / 5896 [------------------------->_____________________________________________] 35.62% 113 p/s2121 / 5896 [------------------------->_____________________________________________] 35.97% 113 p/s2143 / 5896 [------------------------->_____________________________________________] 36.35% 113 p/s2166 / 5896 [-------------------------->____________________________________________] 36.74% 113 p/s2188 / 5896 [-------------------------->____________________________________________] 37.11% 113 p/s2211 / 5896 [-------------------------->____________________________________________] 37.50% 113 p/s2222 / 5896 [-------------------------->____________________________________________] 37.69% 113 p/s2245 / 5896 [--------------------------->___________________________________________] 38.08% 112 p/s2268 / 5896 [--------------------------->___________________________________________] 38.47% 112 p/s2290 / 5896 [--------------------------->___________________________________________] 38.84% 112 p/s2313 / 5896 [--------------------------->___________________________________________] 39.23% 112 p/s2335 / 5896 [---------------------------->__________________________________________] 39.60% 112 p/s2358 / 5896 [---------------------------->__________________________________________] 39.99% 112 p/s2381 / 5896 [---------------------------->__________________________________________] 40.38% 112 p/s2403 / 5896 [---------------------------->__________________________________________] 40.76% 112 p/s2426 / 5896 [----------------------------->_________________________________________] 41.15% 112 p/s2449 / 5896 [----------------------------->_________________________________________] 41.54% 112 p/s2472 / 5896 [----------------------------->_________________________________________] 41.93% 112 p/s2495 / 5896 [------------------------------>________________________________________] 42.32% 112 p/s2518 / 5896 [------------------------------>________________________________________] 42.71% 112 p/s2541 / 5896 [------------------------------>________________________________________] 43.10% 112 p/s2564 / 5896 [------------------------------>________________________________________] 43.49% 112 p/s2586 / 5896 [------------------------------->_______________________________________] 43.86% 112 p/s2609 / 5896 [------------------------------->_______________________________________] 44.25% 112 p/s2632 / 5896 [------------------------------->_______________________________________] 44.64% 112 p/s2655 / 5896 [------------------------------->_______________________________________] 45.03% 112 p/s2677 / 5896 [-------------------------------->______________________________________] 45.40% 112 p/s2700 / 5896 [-------------------------------->______________________________________] 45.79% 112 p/s2723 / 5896 [-------------------------------->______________________________________] 46.18% 112 p/s2745 / 5896 [--------------------------------->_____________________________________] 46.56% 112 p/s2768 / 5896 [--------------------------------->_____________________________________] 46.95% 112 p/s2791 / 5896 [--------------------------------->_____________________________________] 47.34% 112 p/s2814 / 5896 [--------------------------------->_____________________________________] 47.73% 112 p/s2837 / 5896 [---------------------------------->____________________________________] 48.12% 112 p/s2860 / 5896 [---------------------------------->____________________________________] 48.51% 113 p/s2883 / 5896 [---------------------------------->____________________________________] 48.90% 113 p/s2905 / 5896 [---------------------------------->____________________________________] 49.27% 113 p/s2928 / 5896 [----------------------------------->___________________________________] 49.66% 113 p/s2951 / 5896 [----------------------------------->___________________________________] 50.05% 113 p/s2974 / 5896 [----------------------------------->___________________________________] 50.44% 113 p/s2997 / 5896 [------------------------------------>__________________________________] 50.83% 113 p/s3020 / 5896 [------------------------------------>__________________________________] 51.22% 113 p/s3042 / 5896 [------------------------------------>__________________________________] 51.59% 113 p/s3065 / 5896 [------------------------------------>__________________________________] 51.98% 113 p/s3088 / 5896 [------------------------------------->_________________________________] 52.37% 113 p/s3111 / 5896 [------------------------------------->_________________________________] 52.76% 113 p/s3134 / 5896 [------------------------------------->_________________________________] 53.15% 113 p/s3157 / 5896 [-------------------------------------->________________________________] 53.54% 113 p/s3180 / 5896 [-------------------------------------->________________________________] 53.93% 113 p/s3203 / 5896 [-------------------------------------->________________________________] 54.32% 113 p/s3226 / 5896 [-------------------------------------->________________________________] 54.72% 113 p/s3249 / 5896 [--------------------------------------->_______________________________] 55.11% 113 p/s3272 / 5896 [--------------------------------------->_______________________________] 55.50% 113 p/s3294 / 5896 [--------------------------------------->_______________________________] 55.87% 113 p/s3317 / 5896 [--------------------------------------->_______________________________] 56.26% 113 p/s3340 / 5896 [---------------------------------------->______________________________] 56.65% 113 p/s3363 / 5896 [---------------------------------------->______________________________] 57.04% 113 p/s3386 / 5896 [---------------------------------------->______________________________] 57.43% 113 p/s3409 / 5896 [----------------------------------------->_____________________________] 57.82% 113 p/s3432 / 5896 [----------------------------------------->_____________________________] 58.21% 113 p/s3455 / 5896 [----------------------------------------->_____________________________] 58.60% 113 p/s3478 / 5896 [----------------------------------------->_____________________________] 58.99% 113 p/s3501 / 5896 [------------------------------------------>____________________________] 59.38% 113 p/s3524 / 5896 [------------------------------------------>____________________________] 59.77% 113 p/s3547 / 5896 [------------------------------------------>____________________________] 60.16% 114 p/s3570 / 5896 [------------------------------------------>____________________________] 60.55% 114 p/s3593 / 5896 [------------------------------------------->___________________________] 60.94% 114 p/s3616 / 5896 [------------------------------------------->___________________________] 61.33% 114 p/s3639 / 5896 [------------------------------------------->___________________________] 61.72% 114 p/s3662 / 5896 [-------------------------------------------->__________________________] 62.11% 114 p/s3685 / 5896 [-------------------------------------------->__________________________] 62.50% 114 p/s3708 / 5896 [-------------------------------------------->__________________________] 62.89% 114 p/s3731 / 5896 [-------------------------------------------->__________________________] 63.28% 114 p/s3754 / 5896 [--------------------------------------------->_________________________] 63.67% 114 p/s3777 / 5896 [--------------------------------------------->_________________________] 64.06% 114 p/s3799 / 5896 [--------------------------------------------->_________________________] 64.43% 114 p/s3822 / 5896 [---------------------------------------------->________________________] 64.82% 114 p/s3845 / 5896 [---------------------------------------------->________________________] 65.21% 114 p/s3868 / 5896 [---------------------------------------------->________________________] 65.60% 114 p/s3891 / 5896 [---------------------------------------------->________________________] 65.99% 114 p/s3914 / 5896 [----------------------------------------------->_______________________] 66.38% 114 p/s3937 / 5896 [----------------------------------------------->_______________________] 66.77% 114 p/s3959 / 5896 [----------------------------------------------->_______________________] 67.15% 114 p/s3982 / 5896 [----------------------------------------------->_______________________] 67.54% 114 p/s4005 / 5896 [------------------------------------------------>______________________] 67.93% 114 p/s4028 / 5896 [------------------------------------------------>______________________] 68.32% 114 p/s4051 / 5896 [------------------------------------------------>______________________] 68.71% 114 p/s4073 / 5896 [------------------------------------------------->_____________________] 69.08% 114 p/s4096 / 5896 [------------------------------------------------->_____________________] 69.47% 114 p/s4119 / 5896 [------------------------------------------------->_____________________] 69.86% 114 p/s4142 / 5896 [------------------------------------------------->_____________________] 70.25% 114 p/s4165 / 5896 [-------------------------------------------------->____________________] 70.64% 114 p/s4187 / 5896 [-------------------------------------------------->____________________] 71.01% 114 p/s4210 / 5896 [-------------------------------------------------->____________________] 71.40% 114 p/s4232 / 5896 [-------------------------------------------------->____________________] 71.78% 114 p/s4255 / 5896 [--------------------------------------------------->___________________] 72.17% 114 p/s4278 / 5896 [--------------------------------------------------->___________________] 72.56% 114 p/s4301 / 5896 [--------------------------------------------------->___________________] 72.95% 114 p/s4324 / 5896 [---------------------------------------------------->__________________] 73.34% 114 p/s4347 / 5896 [---------------------------------------------------->__________________] 73.73% 114 p/s4370 / 5896 [---------------------------------------------------->__________________] 74.12% 114 p/s4393 / 5896 [---------------------------------------------------->__________________] 74.51% 114 p/s4416 / 5896 [----------------------------------------------------->_________________] 74.90% 114 p/s4439 / 5896 [----------------------------------------------------->_________________] 75.29% 114 p/s4461 / 5896 [----------------------------------------------------->_________________] 75.66% 114 p/s4484 / 5896 [----------------------------------------------------->_________________] 76.05% 114 p/s4507 / 5896 [------------------------------------------------------>________________] 76.44% 114 p/s4530 / 5896 [------------------------------------------------------>________________] 76.83% 114 p/s4553 / 5896 [------------------------------------------------------>________________] 77.22% 114 p/s4576 / 5896 [------------------------------------------------------->_______________] 77.61% 114 p/s4599 / 5896 [------------------------------------------------------->_______________] 78.00% 114 p/s4622 / 5896 [------------------------------------------------------->_______________] 78.39% 114 p/s4645 / 5896 [------------------------------------------------------->_______________] 78.78% 114 p/s4668 / 5896 [-------------------------------------------------------->______________] 79.17% 114 p/s4692 / 5896 [-------------------------------------------------------->______________] 79.58% 114 p/s4714 / 5896 [-------------------------------------------------------->______________] 79.95% 114 p/s4737 / 5896 [--------------------------------------------------------->_____________] 80.34% 114 p/s4760 / 5896 [--------------------------------------------------------->_____________] 80.73% 114 p/s4783 / 5896 [--------------------------------------------------------->_____________] 81.12% 114 p/s4805 / 5896 [--------------------------------------------------------->_____________] 81.50% 114 p/s4828 / 5896 [---------------------------------------------------------->____________] 81.89% 114 p/s4851 / 5896 [---------------------------------------------------------->____________] 82.28% 114 p/s4873 / 5896 [---------------------------------------------------------->____________] 82.65% 114 p/s4896 / 5896 [---------------------------------------------------------->____________] 83.04% 114 p/s4919 / 5896 [----------------------------------------------------------->___________] 83.43% 114 p/s4941 / 5896 [----------------------------------------------------------->___________] 83.80% 114 p/s4964 / 5896 [----------------------------------------------------------->___________] 84.19% 114 p/s4987 / 5896 [------------------------------------------------------------>__________] 84.58% 114 p/s5010 / 5896 [------------------------------------------------------------>__________] 84.97% 114 p/s5032 / 5896 [------------------------------------------------------------>__________] 85.35% 114 p/s5055 / 5896 [------------------------------------------------------------>__________] 85.74% 114 p/s5077 / 5896 [------------------------------------------------------------->_________] 86.11% 114 p/s5100 / 5896 [------------------------------------------------------------->_________] 86.50% 114 p/s5123 / 5896 [------------------------------------------------------------->_________] 86.89% 114 p/s5145 / 5896 [------------------------------------------------------------->_________] 87.26% 114 p/s5168 / 5896 [-------------------------------------------------------------->________] 87.65% 114 p/s5190 / 5896 [-------------------------------------------------------------->________] 88.03% 114 p/s5213 / 5896 [-------------------------------------------------------------->________] 88.42% 114 p/s5236 / 5896 [--------------------------------------------------------------->_______] 88.81% 114 p/s5259 / 5896 [--------------------------------------------------------------->_______] 89.20% 114 p/s5281 / 5896 [--------------------------------------------------------------->_______] 89.57% 114 p/s5304 / 5896 [--------------------------------------------------------------->_______] 89.96% 114 p/s5327 / 5896 [---------------------------------------------------------------->______] 90.35% 114 p/s5350 / 5896 [---------------------------------------------------------------->______] 90.74% 114 p/s5372 / 5896 [---------------------------------------------------------------->______] 91.11% 114 p/s5395 / 5896 [---------------------------------------------------------------->______] 91.50% 114 p/s5418 / 5896 [----------------------------------------------------------------->_____] 91.89% 114 p/s5440 / 5896 [----------------------------------------------------------------->_____] 92.27% 114 p/s5463 / 5896 [----------------------------------------------------------------->_____] 92.66% 114 p/s5485 / 5896 [------------------------------------------------------------------>____] 93.03% 114 p/s5508 / 5896 [------------------------------------------------------------------>____] 93.42% 114 p/s5530 / 5896 [------------------------------------------------------------------>____] 93.79% 114 p/s5552 / 5896 [------------------------------------------------------------------>____] 94.17% 114 p/s5575 / 5896 [------------------------------------------------------------------->___] 94.56% 114 p/s5597 / 5896 [------------------------------------------------------------------->___] 94.93% 114 p/s5620 / 5896 [------------------------------------------------------------------->___] 95.32% 114 p/s5642 / 5896 [------------------------------------------------------------------->___] 95.69% 114 p/s5665 / 5896 [-------------------------------------------------------------------->__] 96.08% 114 p/s5687 / 5896 [-------------------------------------------------------------------->__] 96.46% 114 p/s5710 / 5896 [-------------------------------------------------------------------->__] 96.85% 114 p/s5732 / 5896 [--------------------------------------------------------------------->_] 97.22% 113 p/s5755 / 5896 [--------------------------------------------------------------------->_] 97.61% 113 p/s5777 / 5896 [--------------------------------------------------------------------->_] 97.98% 113 p/s5799 / 5896 [--------------------------------------------------------------------->_] 98.35% 113 p/s5822 / 5896 [---------------------------------------------------------------------->] 98.74% 113 p/s5845 / 5896 [---------------------------------------------------------------------->] 99.14% 113 p/s5867 / 5896 [---------------------------------------------------------------------->] 99.51% 113 p/s5889 / 5896 [---------------------------------------------------------------------->] 99.88% 113 p/s5896 / 5896 [----------------------------------------------------------------------] 100.00% 114 p/s2026-08-04T16:01:24 - INFO: Parsing 5896 sonar sweeps from /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5896 [00:00<?, ?it/s]
  0%|          | 3/5896 [00:00<03:37, 27.06it/s]
  0%|          | 6/5896 [00:00<03:33, 27.56it/s]
  0%|          | 9/5896 [00:00<03:31, 27.79it/s]
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  0%|          | 15/5896 [00:00<03:30, 27.96it/s]
  0%|          | 18/5896 [00:00<03:31, 27.81it/s]
  0%|          | 21/5896 [00:00<03:30, 27.89it/s]
  0%|          | 24/5896 [00:00<03:30, 27.93it/s]
  0%|          | 27/5896 [00:00<03:29, 27.95it/s]
  1%|          | 30/5896 [00:01<03:30, 27.83it/s]
  1%|          | 33/5896 [00:01<03:30, 27.91it/s]
  1%|          | 36/5896 [00:01<03:29, 27.94it/s]
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  1%|          | 42/5896 [00:01<03:29, 28.00it/s]
  1%|          | 45/5896 [00:01<03:29, 27.99it/s]
  1%|          | 48/5896 [00:01<03:28, 28.03it/s]
  1%|          | 51/5896 [00:01<03:28, 28.04it/s]
  1%|          | 54/5896 [00:01<03:28, 28.00it/s]
  1%|          | 57/5896 [00:02<03:29, 27.92it/s]
  1%|          | 60/5896 [00:02<03:28, 27.95it/s]
  1%|          | 63/5896 [00:02<03:29, 27.88it/s]
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  1%|          | 69/5896 [00:02<03:28, 27.97it/s]
  1%|          | 72/5896 [00:02<03:27, 28.00it/s]
  1%|▏         | 75/5896 [00:02<03:27, 28.06it/s]
  1%|▏         | 78/5896 [00:02<03:27, 28.04it/s]
  1%|▏         | 81/5896 [00:02<03:27, 28.04it/s]
  1%|▏         | 84/5896 [00:03<03:27, 28.05it/s]
  1%|▏         | 87/5896 [00:03<03:27, 27.99it/s]
  2%|▏         | 90/5896 [00:03<03:27, 27.97it/s]
  2%|▏         | 93/5896 [00:03<03:33, 27.16it/s]
  2%|▏         | 96/5896 [00:03<03:32, 27.34it/s]
  2%|▏         | 99/5896 [00:03<03:30, 27.53it/s]
  2%|▏         | 102/5896 [00:03<03:30, 27.46it/s]
  2%|▏         | 105/5896 [00:03<03:31, 27.37it/s]
  2%|▏         | 108/5896 [00:03<03:30, 27.54it/s]
  2%|▏         | 111/5896 [00:03<03:29, 27.62it/s]
  2%|▏         | 114/5896 [00:04<03:29, 27.62it/s]
  2%|▏         | 117/5896 [00:04<03:28, 27.66it/s]
  2%|▏         | 120/5896 [00:04<03:28, 27.73it/s]
  2%|▏         | 123/5896 [00:04<03:27, 27.81it/s]
  2%|▏         | 126/5896 [00:04<03:27, 27.80it/s]
  2%|▏         | 129/5896 [00:04<03:27, 27.79it/s]
  2%|▏         | 132/5896 [00:04<03:27, 27.82it/s]
  2%|▏         | 135/5896 [00:04<03:27, 27.76it/s]
  2%|▏         | 138/5896 [00:04<03:26, 27.82it/s]
  2%|▏         | 141/5896 [00:05<03:26, 27.83it/s]
  2%|▏         | 144/5896 [00:05<03:26, 27.89it/s]
  2%|▏         | 147/5896 [00:05<03:26, 27.87it/s]
  3%|▎         | 150/5896 [00:05<03:26, 27.81it/s]
  3%|▎         | 153/5896 [00:05<03:26, 27.77it/s]
  3%|▎         | 156/5896 [00:05<03:26, 27.75it/s]
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  3%|▎         | 168/5896 [00:06<03:26, 27.75it/s]
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  3%|▎         | 174/5896 [00:06<03:26, 27.76it/s]
  3%|▎         | 177/5896 [00:06<03:25, 27.79it/s]
  3%|▎         | 180/5896 [00:06<03:26, 27.74it/s]
  3%|▎         | 183/5896 [00:06<03:26, 27.73it/s]
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  3%|▎         | 192/5896 [00:06<03:26, 27.69it/s]
  3%|▎         | 195/5896 [00:07<03:25, 27.68it/s]
  3%|▎         | 198/5896 [00:07<03:26, 27.54it/s]
  3%|▎         | 201/5896 [00:07<03:26, 27.59it/s]
  3%|▎         | 204/5896 [00:07<03:25, 27.74it/s]
  4%|▎         | 207/5896 [00:07<03:24, 27.81it/s]
  4%|▎         | 210/5896 [00:07<03:24, 27.83it/s]
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  4%|▎         | 216/5896 [00:07<03:24, 27.80it/s]
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2026-08-04T16:05:02 - 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/71e39732-553a-edec-49f0-b6f29c6c3ad0/71e39732-553a-edec-49f0-b6f29c6c3ad0"
2026-08-04T16:05:03 - INFO: DataPrep 0.15.0
2026-08-04T16:05:03 - INFO: Prepared data will be output to /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/71e39732-553a-edec-49f0-b6f29c6c3ad0/processing/data
2026-08-04T16:05:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-04T16:05:03 - deployment - INFO: Detected P3D version: P3D_1
2026-08-04T16:05:03 - INFO: Recording GUID: 71e39732-553a-edec-49f0-b6f29c6c3ad0
2026-08-04T16:05:03 - INFO: Preparing sonar data...
2026-08-04T16:05:03 - INFO: /working/71e39732-553a-edec-49f0-b6f29c6c3ad0/71e39732-553a-edec-49f0-b6f29c6c3ad0/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-04T16:05:08 - INFO: Sonar epoch is 2026-06-23 23:35:43.118537+00:00 (1782257743118536833)
2026-08-04T16:05:08 - INFO: Creating sonar sensor alignment track...
2026-08-04T16:05:08 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-08-04T16:05:08 - INFO: Using sonar digitizer
2026-08-04T16:05:08 - INFO: Sensor speed of sound is 1500 m/s
2026-08-04T16:05:08 - INFO: Sensor range is 0.794640 m
2026-08-04T16:05:08 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-04T16:05:08 - INFO: Scaled micrometres per sample is 2630.299931
2026-08-04T16:05:08 - INFO: Processing 5896 snapshot scans from 5896 source sweeps...
2026-08-04T16:05:08 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-04T16:06:00 - INFO: Prepared sonar data in 57.2960 s
2026-08-04T16:06:00 - INFO: No IMU data found
2026-08-04T16:06:01 - INFO: DataPrep took 0:00:57.893104
2026-08-04T16:06:01 - INFO: Extracted sonar data in 0:05:29.135219
2026-08-04T16:06:01 - INFO: MSIP3D took 0:05:29.834283