+ [ 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/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-20T00:44:29 - INFO: MSIP3D 0.2.10
2026-07-20T00:44:29 - INFO: P3D files will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-20T00:44:29 - INFO: Found 11 TFD dictionary entries
2026-07-20T00:44:29 - INFO: Found TFD mission for 2291SS
2026-07-20T00:44:29 - INFO: Recording will be processed as SMD
2026-07-20T00:44:29 - INFO: Copying assets JSON to output directory...
2026-07-20T00:44:29 - INFO: Preparing counter data...
2026-07-20T00:44:29 - INFO: Interpreting counter as imperial
2026-07-20T00:44:30 - INFO: Preparing size track from assets JSON...
2026-07-20T00:44:30 - INFO: Preparing shape track from assets JSON...
2026-07-20T00:44:30 - INFO: Preparing material track from assets JSON...
2026-07-20T00:44:30 - INFO: Prepared counter data in 0.0926 s
2026-07-20T00:44:30 - INFO: Extracting sonar data...
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/2291SS.tfd
TFD path: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 2170
19 / 2170 [>___________________________________________________________________________] 0.88% ? p/s39 / 2170 [->__________________________________________________________________________] 1.80% ? p/s58 / 2170 [-->_________________________________________________________________________] 2.67% ? p/s78 / 2170 [-->________________________________________________________________________] 3.59% 98 p/s97 / 2170 [--->_______________________________________________________________________] 4.47% 98 p/s118 / 2170 [---->_____________________________________________________________________] 5.44% 98 p/s137 / 2170 [---->_____________________________________________________________________] 6.31% 98 p/s157 / 2170 [----->____________________________________________________________________] 7.24% 98 p/s174 / 2170 [----->____________________________________________________________________] 8.02% 98 p/s194 / 2170 [------>___________________________________________________________________] 8.94% 98 p/s212 / 2170 [------->__________________________________________________________________] 9.77% 98 p/s230 / 2170 [------->_________________________________________________________________] 10.60% 98 p/s249 / 2170 [-------->________________________________________________________________] 11.47% 98 p/s269 / 2170 [--------->_______________________________________________________________] 12.40% 98 p/s288 / 2170 [--------->_______________________________________________________________] 13.27% 98 p/s308 / 2170 [---------->______________________________________________________________] 14.19% 98 p/s328 / 2170 [----------->_____________________________________________________________] 15.12% 98 p/s348 / 2170 [----------->_____________________________________________________________] 16.04% 98 p/s367 / 2170 [------------>____________________________________________________________] 16.91% 98 p/s387 / 2170 [------------->___________________________________________________________] 17.83% 98 p/s407 / 2170 [------------->___________________________________________________________] 18.76% 98 p/s427 / 2170 [-------------->__________________________________________________________] 19.68% 98 p/s446 / 2170 [--------------->_________________________________________________________] 20.55% 98 p/s466 / 2170 [--------------->_________________________________________________________] 21.47% 98 p/s486 / 2170 [---------------->________________________________________________________] 22.40% 98 p/s505 / 2170 [---------------->________________________________________________________] 23.27% 98 p/s524 / 2170 [----------------->_______________________________________________________] 24.15% 98 p/s544 / 2170 [------------------>______________________________________________________] 25.07% 98 p/s564 / 2170 [------------------>______________________________________________________] 25.99% 98 p/s584 / 2170 [------------------->_____________________________________________________] 26.91% 98 p/s604 / 2170 [-------------------->____________________________________________________] 27.83% 98 p/s623 / 2170 [-------------------->____________________________________________________] 28.71% 98 p/s643 / 2170 [--------------------->___________________________________________________] 29.63% 98 p/s663 / 2170 [---------------------->__________________________________________________] 30.55% 98 p/s683 / 2170 [---------------------->__________________________________________________] 31.47% 98 p/s703 / 2170 [----------------------->_________________________________________________] 32.40% 98 p/s723 / 2170 [------------------------>________________________________________________] 33.32% 98 p/s742 / 2170 [------------------------>________________________________________________] 34.19% 98 p/s762 / 2170 [------------------------->_______________________________________________] 35.12% 98 p/s782 / 2170 [-------------------------->______________________________________________] 36.04% 98 p/s802 / 2170 [-------------------------->______________________________________________] 36.96% 98 p/s822 / 2170 [--------------------------->_____________________________________________] 37.88% 98 p/s842 / 2170 [---------------------------->____________________________________________] 38.80% 98 p/s862 / 2170 [---------------------------->____________________________________________] 39.72% 98 p/s882 / 2170 [----------------------------->___________________________________________] 40.65% 98 p/s901 / 2170 [------------------------------>__________________________________________] 41.52% 98 p/s921 / 2170 [------------------------------>__________________________________________] 42.44% 98 p/s941 / 2170 [------------------------------->_________________________________________] 43.36% 98 p/s961 / 2170 [-------------------------------->________________________________________] 44.29% 98 p/s981 / 2170 [--------------------------------->_______________________________________] 45.21% 98 p/s1001 / 2170 [--------------------------------->______________________________________] 46.13% 98 p/s1020 / 2170 [--------------------------------->______________________________________] 47.00% 98 p/s1039 / 2170 [---------------------------------->_____________________________________] 47.88% 98 p/s1059 / 2170 [----------------------------------->____________________________________] 48.80% 98 p/s1079 / 2170 [----------------------------------->____________________________________] 49.72% 98 p/s1099 / 2170 [------------------------------------>___________________________________] 50.65% 98 p/s1119 / 2170 [------------------------------------->__________________________________] 51.57% 98 p/s1139 / 2170 [------------------------------------->__________________________________] 52.49% 99 p/s1159 / 2170 [-------------------------------------->_________________________________] 53.41% 99 p/s1179 / 2170 [--------------------------------------->________________________________] 54.33% 99 p/s1199 / 2170 [--------------------------------------->________________________________] 55.25% 99 p/s1219 / 2170 [---------------------------------------->_______________________________] 56.18% 99 p/s1238 / 2170 [----------------------------------------->______________________________] 57.05% 99 p/s1258 / 2170 [----------------------------------------->______________________________] 57.97% 99 p/s1278 / 2170 [------------------------------------------>_____________________________] 58.89% 99 p/s1298 / 2170 [------------------------------------------->____________________________] 59.82% 99 p/s1318 / 2170 [------------------------------------------->____________________________] 60.74% 99 p/s1338 / 2170 [-------------------------------------------->___________________________] 61.66% 99 p/s1357 / 2170 [--------------------------------------------->__________________________] 62.53% 99 p/s1377 / 2170 [--------------------------------------------->__________________________] 63.46% 99 p/s1397 / 2170 [---------------------------------------------->_________________________] 64.38% 99 p/s1417 / 2170 [----------------------------------------------->________________________] 65.30% 99 p/s1437 / 2170 [----------------------------------------------->________________________] 66.22% 99 p/s1457 / 2170 [------------------------------------------------>_______________________] 67.14% 99 p/s1477 / 2170 [------------------------------------------------->______________________] 68.06% 99 p/s1497 / 2170 [------------------------------------------------->______________________] 68.99% 99 p/s1516 / 2170 [-------------------------------------------------->_____________________] 69.86% 99 p/s1536 / 2170 [-------------------------------------------------->_____________________] 70.78% 99 p/s1556 / 2170 [--------------------------------------------------->____________________] 71.71% 99 p/s1576 / 2170 [---------------------------------------------------->___________________] 72.63% 99 p/s1596 / 2170 [---------------------------------------------------->___________________] 73.55% 99 p/s1616 / 2170 [----------------------------------------------------->__________________] 74.47% 99 p/s1636 / 2170 [------------------------------------------------------>_________________] 75.39% 99 p/s1656 / 2170 [------------------------------------------------------>_________________] 76.31% 99 p/s1675 / 2170 [------------------------------------------------------->________________] 77.19% 99 p/s1695 / 2170 [-------------------------------------------------------->_______________] 78.11% 99 p/s1715 / 2170 [-------------------------------------------------------->_______________] 79.03% 99 p/s1735 / 2170 [--------------------------------------------------------->______________] 79.95% 99 p/s1755 / 2170 [---------------------------------------------------------->_____________] 80.88% 99 p/s1775 / 2170 [---------------------------------------------------------->_____________] 81.80% 99 p/s1794 / 2170 [----------------------------------------------------------->____________] 82.67% 99 p/s1814 / 2170 [------------------------------------------------------------>___________] 83.59% 99 p/s1834 / 2170 [------------------------------------------------------------>___________] 84.52% 99 p/s1854 / 2170 [------------------------------------------------------------->__________] 85.44% 99 p/s1874 / 2170 [-------------------------------------------------------------->_________] 86.36% 99 p/s1894 / 2170 [-------------------------------------------------------------->_________] 87.28% 99 p/s1913 / 2170 [--------------------------------------------------------------->________] 88.16% 99 p/s1933 / 2170 [---------------------------------------------------------------->_______] 89.08% 99 p/s1944 / 2170 [---------------------------------------------------------------->_______] 89.59% 99 p/s1957 / 2170 [---------------------------------------------------------------->_______] 90.18% 97 p/s1971 / 2170 [----------------------------------------------------------------->______] 90.83% 97 p/s1991 / 2170 [------------------------------------------------------------------>_____] 91.75% 97 p/s2011 / 2170 [------------------------------------------------------------------>_____] 92.67% 97 p/s2031 / 2170 [------------------------------------------------------------------->____] 93.59% 97 p/s2050 / 2170 [-------------------------------------------------------------------->___] 94.47% 97 p/s2070 / 2170 [-------------------------------------------------------------------->___] 95.39% 97 p/s2090 / 2170 [--------------------------------------------------------------------->__] 96.31% 97 p/s2110 / 2170 [---------------------------------------------------------------------->_] 97.24% 97 p/s2129 / 2170 [---------------------------------------------------------------------->_] 98.11% 97 p/s2149 / 2170 [----------------------------------------------------------------------->] 99.03% 97 p/s2169 / 2170 [----------------------------------------------------------------------->] 99.95% 97 p/s2170 / 2170 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-07-20T00:44:52 - INFO: Parsing 2170 sonar sweeps from /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2170 [00:00<?, ?it/s]
  0%|          | 3/2170 [00:00<01:30, 24.05it/s]
  0%|          | 6/2170 [00:00<01:27, 24.69it/s]
  0%|          | 9/2170 [00:00<01:28, 24.55it/s]
  1%|          | 12/2170 [00:00<01:25, 25.17it/s]
  1%|          | 15/2170 [00:00<01:23, 25.66it/s]
  1%|          | 18/2170 [00:00<01:22, 25.93it/s]
  1%|          | 21/2170 [00:00<01:22, 26.16it/s]
  1%|          | 24/2170 [00:00<01:21, 26.31it/s]
  1%|          | 27/2170 [00:01<01:21, 26.42it/s]
  1%|▏         | 30/2170 [00:01<01:20, 26.43it/s]
  2%|▏         | 33/2170 [00:01<01:20, 26.49it/s]
  2%|▏         | 36/2170 [00:01<01:20, 26.55it/s]
  2%|▏         | 39/2170 [00:01<01:20, 26.51it/s]
  2%|▏         | 42/2170 [00:01<01:20, 26.59it/s]
  2%|▏         | 45/2170 [00:01<01:19, 26.62it/s]
  2%|▏         | 48/2170 [00:01<01:19, 26.67it/s]
  2%|▏         | 51/2170 [00:01<01:19, 26.70it/s]
  2%|▏         | 54/2170 [00:02<01:19, 26.72it/s]
  3%|▎         | 57/2170 [00:02<01:19, 26.71it/s]
  3%|▎         | 60/2170 [00:02<01:19, 26.70it/s]
  3%|▎         | 63/2170 [00:02<01:18, 26.71it/s]
  3%|▎         | 66/2170 [00:02<01:18, 26.73it/s]
  3%|▎         | 69/2170 [00:02<01:18, 26.71it/s]
  3%|▎         | 72/2170 [00:02<01:18, 26.74it/s]
  3%|▎         | 75/2170 [00:02<01:18, 26.77it/s]
  4%|▎         | 78/2170 [00:02<01:18, 26.76it/s]
  4%|▎         | 81/2170 [00:03<01:18, 26.77it/s]
  4%|▍         | 84/2170 [00:03<01:17, 26.79it/s]
  4%|▍         | 87/2170 [00:03<01:17, 26.82it/s]
  4%|▍         | 90/2170 [00:03<01:17, 26.82it/s]
  4%|▍         | 93/2170 [00:03<01:17, 26.80it/s]
  4%|▍         | 96/2170 [00:03<01:17, 26.80it/s]
  5%|▍         | 99/2170 [00:03<01:17, 26.82it/s]
  5%|▍         | 102/2170 [00:03<01:17, 26.80it/s]
  5%|▍         | 105/2170 [00:03<01:17, 26.75it/s]
  5%|▍         | 108/2170 [00:04<01:17, 26.75it/s]
  5%|▌         | 111/2170 [00:04<01:16, 26.76it/s]
  5%|▌         | 114/2170 [00:04<01:16, 26.78it/s]
  5%|▌         | 117/2170 [00:04<01:16, 26.76it/s]
  6%|▌         | 120/2170 [00:04<01:16, 26.64it/s]
  6%|▌         | 123/2170 [00:04<01:16, 26.65it/s]
  6%|▌         | 126/2170 [00:04<01:16, 26.63it/s]
  6%|▌         | 129/2170 [00:04<01:16, 26.61it/s]
  6%|▌         | 132/2170 [00:04<01:16, 26.53it/s]
  6%|▌         | 135/2170 [00:05<01:16, 26.45it/s]
  6%|▋         | 138/2170 [00:05<01:16, 26.52it/s]
  6%|▋         | 141/2170 [00:05<01:18, 25.75it/s]
  7%|▋         | 144/2170 [00:05<01:18, 25.96it/s]
  7%|▋         | 147/2170 [00:05<01:17, 26.16it/s]
  7%|▋         | 150/2170 [00:05<01:16, 26.32it/s]
  7%|▋         | 153/2170 [00:05<01:16, 26.38it/s]
  7%|▋         | 156/2170 [00:05<01:16, 26.43it/s]
  7%|▋         | 159/2170 [00:06<01:15, 26.50it/s]
  7%|▋         | 162/2170 [00:06<01:15, 26.60it/s]
  8%|▊         | 165/2170 [00:06<01:15, 26.62it/s]
  8%|▊         | 168/2170 [00:06<01:15, 26.55it/s]
  8%|▊         | 171/2170 [00:06<01:15, 26.58it/s]
  8%|▊         | 174/2170 [00:06<01:14, 26.62it/s]
  8%|▊         | 177/2170 [00:06<01:14, 26.62it/s]
  8%|▊         | 180/2170 [00:06<01:14, 26.66it/s]
  8%|▊         | 183/2170 [00:06<01:14, 26.66it/s]
  9%|▊         | 186/2170 [00:07<01:14, 26.70it/s]
  9%|▊         | 189/2170 [00:07<01:14, 26.69it/s]
  9%|▉         | 192/2170 [00:07<01:14, 26.72it/s]
  9%|▉         | 195/2170 [00:07<01:13, 26.75it/s]
  9%|▉         | 198/2170 [00:07<01:13, 26.77it/s]
  9%|▉         | 201/2170 [00:07<01:13, 26.77it/s]
  9%|▉         | 204/2170 [00:07<01:13, 26.75it/s]
 10%|▉         | 207/2170 [00:07<01:13, 26.74it/s]
 10%|▉         | 210/2170 [00:07<01:13, 26.71it/s]
 10%|▉         | 213/2170 [00:08<01:13, 26.68it/s]
 10%|▉         | 216/2170 [00:08<01:13, 26.71it/s]
 10%|█         | 219/2170 [00:08<01:13, 26.71it/s]
 10%|█         | 222/2170 [00:08<01:12, 26.71it/s]
 10%|█         | 225/2170 [00:08<01:12, 26.70it/s]
 11%|█         | 228/2170 [00:08<01:12, 26.73it/s]
 11%|█         | 231/2170 [00:08<01:12, 26.69it/s]
 11%|█         | 234/2170 [00:08<01:12, 26.70it/s]
 11%|█         | 237/2170 [00:08<01:12, 26.67it/s]
 11%|█         | 240/2170 [00:09<01:12, 26.57it/s]
 11%|█         | 243/2170 [00:09<01:12, 26.51it/s]
 11%|█▏        | 246/2170 [00:09<01:12, 26.52it/s]
 11%|█▏        | 249/2170 [00:09<01:12, 26.57it/s]
 12%|█▏        | 252/2170 [00:09<01:12, 26.63it/s]
 12%|█▏        | 255/2170 [00:09<01:11, 26.63it/s]
 12%|█▏        | 258/2170 [00:09<01:11, 26.66it/s]
 12%|█▏        | 261/2170 [00:09<01:11, 26.67it/s]
 12%|█▏        | 264/2170 [00:09<01:11, 26.71it/s]
 12%|█▏        | 267/2170 [00:10<01:11, 26.72it/s]
 12%|█▏        | 270/2170 [00:10<01:11, 26.71it/s]
 13%|█▎        | 273/2170 [00:10<01:14, 25.59it/s]
 13%|█▎        | 276/2170 [00:10<01:13, 25.83it/s]
 13%|█▎        | 279/2170 [00:10<01:12, 26.09it/s]
 13%|█▎        | 282/2170 [00:10<01:11, 26.26it/s]
 13%|█▎        | 285/2170 [00:10<01:11, 26.38it/s]
 13%|█▎        | 288/2170 [00:10<01:11, 26.38it/s]
 13%|█▎        | 291/2170 [00:10<01:11, 26.38it/s]
 14%|█▎        | 294/2170 [00:11<01:10, 26.45it/s]
 14%|█▎        | 297/2170 [00:11<01:10, 26.50it/s]
 14%|█▍        | 300/2170 [00:11<01:10, 26.43it/s]
 14%|█▍        | 303/2170 [00:11<01:10, 26.50it/s]
 14%|█▍        | 306/2170 [00:11<01:10, 26.52it/s]
 14%|█▍        | 309/2170 [00:11<01:10, 26.56it/s]
 14%|█▍        | 312/2170 [00:11<01:09, 26.56it/s]
 15%|█▍        | 315/2170 [00:11<01:09, 26.62it/s]
 15%|█▍        | 318/2170 [00:11<01:09, 26.67it/s]
 15%|█▍        | 321/2170 [00:12<01:09, 26.56it/s]
 15%|█▍        | 324/2170 [00:12<01:09, 26.53it/s]
 15%|█▌        | 327/2170 [00:12<01:09, 26.49it/s]
 15%|█▌        | 330/2170 [00:12<01:09, 26.50it/s]
 15%|█▌        | 333/2170 [00:12<01:09, 26.56it/s]
 15%|█▌        | 336/2170 [00:12<01:08, 26.61it/s]
 16%|█▌        | 339/2170 [00:12<01:09, 26.52it/s]
 16%|█▌        | 342/2170 [00:12<01:09, 26.26it/s]
 16%|█▌        | 345/2170 [00:13<01:10, 26.05it/s]
 16%|█▌        | 348/2170 [00:13<01:09, 26.11it/s]
 16%|█▌        | 351/2170 [00:13<01:09, 26.28it/s]
 16%|█▋        | 354/2170 [00:13<01:09, 26.00it/s]
 16%|█▋        | 357/2170 [00:13<01:10, 25.88it/s]
 17%|█▋        | 360/2170 [00:13<01:09, 26.07it/s]
 17%|█▋        | 363/2170 [00:13<01:09, 25.99it/s]
 17%|█▋        | 366/2170 [00:13<01:09, 26.12it/s]
 17%|█▋        | 369/2170 [00:13<01:08, 26.26it/s]
 17%|█▋        | 372/2170 [00:14<01:08, 26.39it/s]
 17%|█▋        | 375/2170 [00:14<01:07, 26.46it/s]
 17%|█▋        | 378/2170 [00:14<01:07, 26.53it/s]
 18%|█▊        | 381/2170 [00:14<01:07, 26.59it/s]
 18%|█▊        | 384/2170 [00:14<01:07, 26.63it/s]
 18%|█▊        | 387/2170 [00:14<01:06, 26.62it/s]
 18%|█▊        | 390/2170 [00:14<01:06, 26.62it/s]
 18%|█▊        | 393/2170 [00:14<01:06, 26.63it/s]
 18%|█▊        | 396/2170 [00:14<01:06, 26.60it/s]
 18%|█▊        | 399/2170 [00:15<01:06, 26.60it/s]
 19%|█▊        | 402/2170 [00:15<01:06, 26.60it/s]
 19%|█▊        | 405/2170 [00:15<01:06, 26.61it/s]
 19%|█▉        | 408/2170 [00:15<01:09, 25.19it/s]
 19%|█▉        | 411/2170 [00:15<01:08, 25.63it/s]
 19%|█▉        | 414/2170 [00:15<01:07, 25.97it/s]
 19%|█▉        | 417/2170 [00:15<01:07, 26.13it/s]
 19%|█▉        | 420/2170 [00:15<01:06, 26.27it/s]
 19%|█▉        | 423/2170 [00:15<01:06, 26.40it/s]
 20%|█▉        | 426/2170 [00:16<01:05, 26.48it/s]
 20%|█▉        | 429/2170 [00:16<01:05, 26.51it/s]
 20%|█▉        | 432/2170 [00:16<01:05, 26.54it/s]
 20%|██        | 435/2170 [00:16<01:05, 26.57it/s]
 20%|██        | 438/2170 [00:16<01:05, 26.56it/s]
 20%|██        | 441/2170 [00:16<01:05, 26.57it/s]
 20%|██        | 444/2170 [00:16<01:05, 26.52it/s]
 21%|██        | 447/2170 [00:16<01:04, 26.53it/s]
 21%|██        | 450/2170 [00:16<01:04, 26.59it/s]
 21%|██        | 453/2170 [00:17<01:04, 26.64it/s]
 21%|██        | 456/2170 [00:17<01:04, 26.62it/s]
 21%|██        | 459/2170 [00:17<01:04, 26.61it/s]
 21%|██▏       | 462/2170 [00:17<01:04, 26.61it/s]
 21%|██▏       | 465/2170 [00:17<01:04, 26.60it/s]
 22%|██▏       | 468/2170 [00:17<01:03, 26.64it/s]
 22%|██▏       | 471/2170 [00:17<01:04, 26.52it/s]
 22%|██▏       | 474/2170 [00:17<01:04, 26.31it/s]
 22%|██▏       | 477/2170 [00:18<01:05, 25.87it/s]
 22%|██▏       | 480/2170 [00:18<01:04, 26.07it/s]
 22%|██▏       | 483/2170 [00:18<01:04, 26.03it/s]
 22%|██▏       | 486/2170 [00:18<01:05, 25.80it/s]
 23%|██▎       | 489/2170 [00:18<01:04, 25.93it/s]
 23%|██▎       | 492/2170 [00:18<01:04, 26.07it/s]
 23%|██▎       | 495/2170 [00:18<01:03, 26.20it/s]
 23%|██▎       | 498/2170 [00:18<01:03, 26.33it/s]
 23%|██▎       | 501/2170 [00:18<01:03, 26.39it/s]
 23%|██▎       | 504/2170 [00:19<01:03, 26.43it/s]
 23%|██▎       | 507/2170 [00:19<01:02, 26.50it/s]
 24%|██▎       | 510/2170 [00:19<01:02, 26.58it/s]
 24%|██▎       | 513/2170 [00:19<01:02, 26.60it/s]
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2026-07-20T00:46:16 - WARNING: Expected 400 beams, got 155, dropping sweep 2169
2026-07-20T00:46:16 - 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/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c"
2026-07-20T00:46:17 - INFO: DataPrep 0.15.0
2026-07-20T00:46:17 - INFO: Prepared data will be output to /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/processing/data
2026-07-20T00:46:17 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-20T00:46:17 - deployment - INFO: Detected P3D version: P3D_1
2026-07-20T00:46:17 - INFO: Recording GUID: 2ec7c4cc-58ef-1243-c1eb-d532deadc16c
2026-07-20T00:46:17 - INFO: Preparing sonar data...
2026-07-20T00:46:17 - INFO: /working/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/2ec7c4cc-58ef-1243-c1eb-d532deadc16c/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-20T00:46:19 - INFO: Sonar epoch is 2026-03-13 15:19:58.275505+00:00 (1773415198275505293)
2026-07-20T00:46:19 - INFO: Creating sonar sensor alignment track...
2026-07-20T00:46:19 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-07-20T00:46:19 - INFO: Using sonar digitizer
2026-07-20T00:46:19 - INFO: Sensor speed of sound is 1500 m/s
2026-07-20T00:46:19 - INFO: Sensor range is 1.589280 m
2026-07-20T00:46:19 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-20T00:46:19 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-20T00:46:19 - INFO: Processing 2169 snapshot scans from 2169 source sweeps...
2026-07-20T00:46:19 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-20T00:46:36 - INFO: Prepared sonar data in 19.2976 s
2026-07-20T00:46:36 - INFO: No IMU data found
2026-07-20T00:46:36 - INFO: DataPrep took 0:00:19.498309
2026-07-20T00:46:36 - INFO: Extracted sonar data in 0:02:06.712389
2026-07-20T00:46:36 - INFO: MSIP3D took 0:02:06.996166