+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar --sonar-detection-method hessian-ridge --sonar-temporal-window 2
+ [ smd = md ]
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-detection-method hessian-ridge --sonar-temporal-window 2 --sonar-sample-offset -1 /working/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-29T05:05:57 - INFO: MSIP3D 0.2.11
2026-07-29T05:05:58 - INFO: P3D files will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-29T05:05:58 - INFO: Found 11 TFD dictionary entries
2026-07-29T05:05:58 - INFO: Found TFD mission for 2102SS
2026-07-29T05:05:58 - INFO: Recording will be processed as SMD
2026-07-29T05:05:58 - INFO: Copying assets JSON to output directory...
2026-07-29T05:05:58 - INFO: Preparing counter data...
2026-07-29T05:05:58 - INFO: Interpreting counter as imperial
2026-07-29T05:05:58 - INFO: Preparing size track from assets JSON...
2026-07-29T05:05:58 - INFO: Preparing shape track from assets JSON...
2026-07-29T05:05:58 - INFO: Preparing material track from assets JSON...
2026-07-29T05:05:58 - INFO: Prepared counter data in 0.2397 s
2026-07-29T05:05:58 - INFO: Extracting sonar data...
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/2102SS_002.tfd
TFD path: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: Index, Tag: 5291276999180902239
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215978501720643
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720644
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Getting track SONAR
Number of frames: 5076
18 / 5076 [>___________________________________________________________________________] 0.35% ? p/s37 / 5076 [>___________________________________________________________________________] 0.73% ? p/s57 / 5076 [>___________________________________________________________________________] 1.12% ? p/s74 / 5076 [->_________________________________________________________________________] 1.46% 93 p/s93 / 5076 [->_________________________________________________________________________] 1.83% 93 p/s112 / 5076 [->________________________________________________________________________] 2.21% 93 p/s131 / 5076 [->________________________________________________________________________] 2.58% 93 p/s150 / 5076 [-->_______________________________________________________________________] 2.96% 93 p/s166 / 5076 [-->_______________________________________________________________________] 3.27% 93 p/s186 / 5076 [-->_______________________________________________________________________] 3.66% 93 p/s206 / 5076 [--->______________________________________________________________________] 4.06% 93 p/s226 / 5076 [--->______________________________________________________________________] 4.45% 93 p/s246 / 5076 [--->______________________________________________________________________] 4.85% 94 p/s265 / 5076 [--->______________________________________________________________________] 5.22% 94 p/s285 / 5076 [---->_____________________________________________________________________] 5.61% 94 p/s305 / 5076 [---->_____________________________________________________________________] 6.01% 94 p/s325 / 5076 [---->_____________________________________________________________________] 6.40% 94 p/s345 / 5076 [----->____________________________________________________________________] 6.80% 94 p/s365 / 5076 [----->____________________________________________________________________] 7.19% 94 p/s384 / 5076 [----->____________________________________________________________________] 7.57% 94 p/s404 / 5076 [----->____________________________________________________________________] 7.96% 94 p/s424 / 5076 [------>___________________________________________________________________] 8.35% 95 p/s444 / 5076 [------>___________________________________________________________________] 8.75% 95 p/s464 / 5076 [------>___________________________________________________________________] 9.14% 95 p/s483 / 5076 [------->__________________________________________________________________] 9.52% 95 p/s504 / 5076 [------->__________________________________________________________________] 9.93% 95 p/s523 / 5076 [------->_________________________________________________________________] 10.30% 95 p/s543 / 5076 [------->_________________________________________________________________] 10.70% 95 p/s563 / 5076 [-------->________________________________________________________________] 11.09% 95 p/s583 / 5076 [-------->________________________________________________________________] 11.49% 95 p/s603 / 5076 [-------->________________________________________________________________] 11.88% 96 p/s623 / 5076 [-------->________________________________________________________________] 12.27% 96 p/s643 / 5076 [--------->_______________________________________________________________] 12.67% 96 p/s663 / 5076 [--------->_______________________________________________________________] 13.06% 96 p/s683 / 5076 [--------->_______________________________________________________________] 13.46% 96 p/s702 / 5076 [---------->______________________________________________________________] 13.83% 96 p/s722 / 5076 [---------->______________________________________________________________] 14.22% 96 p/s742 / 5076 [---------->______________________________________________________________] 14.62% 96 p/s762 / 5076 [---------->______________________________________________________________] 15.01% 96 p/s782 / 5076 [----------->_____________________________________________________________] 15.41% 96 p/s802 / 5076 [----------->_____________________________________________________________] 15.80% 96 p/s819 / 5076 [----------->_____________________________________________________________] 16.13% 96 p/s838 / 5076 [------------>____________________________________________________________] 16.51% 96 p/s858 / 5076 [------------>____________________________________________________________] 16.90% 96 p/s877 / 5076 [------------>____________________________________________________________] 17.28% 96 p/s897 / 5076 [------------>____________________________________________________________] 17.67% 96 p/s916 / 5076 [------------->___________________________________________________________] 18.05% 96 p/s933 / 5076 [------------->___________________________________________________________] 18.38% 96 p/s952 / 5076 [------------->___________________________________________________________] 18.75% 96 p/s972 / 5076 [------------->___________________________________________________________] 19.15% 96 p/s992 / 5076 [-------------->__________________________________________________________] 19.54% 96 p/s1012 / 5076 [-------------->_________________________________________________________] 19.94% 96 p/s1031 / 5076 [-------------->_________________________________________________________] 20.31% 96 p/s1051 / 5076 [-------------->_________________________________________________________] 20.71% 96 p/s1071 / 5076 [--------------->________________________________________________________] 21.10% 96 p/s1091 / 5076 [--------------->________________________________________________________] 21.49% 96 p/s1111 / 5076 [--------------->________________________________________________________] 21.89% 96 p/s1132 / 5076 [---------------->_______________________________________________________] 22.30% 97 p/s1152 / 5076 [---------------->_______________________________________________________] 22.70% 97 p/s1172 / 5076 [---------------->_______________________________________________________] 23.09% 97 p/s1192 / 5076 [---------------->_______________________________________________________] 23.48% 97 p/s1212 / 5076 [----------------->______________________________________________________] 23.88% 97 p/s1231 / 5076 [----------------->______________________________________________________] 24.25% 97 p/s1252 / 5076 [----------------->______________________________________________________] 24.67% 97 p/s1272 / 5076 [------------------>_____________________________________________________] 25.06% 97 p/s1292 / 5076 [------------------>_____________________________________________________] 25.45% 97 p/s1312 / 5076 [------------------>_____________________________________________________] 25.85% 97 p/s1332 / 5076 [------------------>_____________________________________________________] 26.24% 97 p/s1352 / 5076 [------------------->____________________________________________________] 26.64% 97 p/s1372 / 5076 [------------------->____________________________________________________] 27.03% 97 p/s1392 / 5076 [------------------->____________________________________________________] 27.42% 97 p/s1412 / 5076 [-------------------->___________________________________________________] 27.82% 97 p/s1432 / 5076 [-------------------->___________________________________________________] 28.21% 98 p/s1452 / 5076 [-------------------->___________________________________________________] 28.61% 98 p/s1473 / 5076 [-------------------->___________________________________________________] 29.02% 98 p/s1493 / 5076 [--------------------->__________________________________________________] 29.41% 98 p/s1513 / 5076 [--------------------->__________________________________________________] 29.81% 98 p/s1533 / 5076 [--------------------->__________________________________________________] 30.20% 98 p/s1553 / 5076 [---------------------->_________________________________________________] 30.59% 98 p/s1573 / 5076 [---------------------->_________________________________________________] 30.99% 98 p/s1593 / 5076 [---------------------->_________________________________________________] 31.38% 98 p/s1609 / 5076 [---------------------->_________________________________________________] 31.70% 98 p/s1620 / 5076 [---------------------->_________________________________________________] 31.91% 98 p/s1630 / 5076 [----------------------->________________________________________________] 32.11% 98 p/s1647 / 5076 [----------------------->________________________________________________] 32.45% 95 p/s1658 / 5076 [----------------------->________________________________________________] 32.66% 95 p/s1677 / 5076 [----------------------->________________________________________________] 33.04% 95 p/s1690 / 5076 [----------------------->________________________________________________] 33.29% 94 p/s1699 / 5076 [------------------------>_______________________________________________] 33.47% 94 p/s1709 / 5076 [------------------------>_______________________________________________] 33.67% 94 p/s1719 / 5076 [------------------------>_______________________________________________] 33.87% 91 p/s1729 / 5076 [------------------------>_______________________________________________] 34.06% 91 p/s1739 / 5076 [------------------------>_______________________________________________] 34.26% 91 p/s1749 / 5076 [------------------------>_______________________________________________] 34.46% 88 p/s1759 / 5076 [------------------------>_______________________________________________] 34.65% 88 p/s1769 / 5076 [------------------------->______________________________________________] 34.85% 88 p/s1781 / 5076 [------------------------->______________________________________________] 35.09% 86 p/s1794 / 5076 [------------------------->______________________________________________] 35.34% 86 p/s1805 / 5076 [------------------------->______________________________________________] 35.56% 86 p/s1816 / 5076 [------------------------->______________________________________________] 35.78% 84 p/s1829 / 5076 [------------------------->______________________________________________] 36.03% 84 p/s1849 / 5076 [-------------------------->_____________________________________________] 36.43% 84 p/s1869 / 5076 [-------------------------->_____________________________________________] 36.82% 85 p/s1887 / 5076 [-------------------------->_____________________________________________] 37.17% 85 p/s1899 / 5076 [-------------------------->_____________________________________________] 37.41% 85 p/s1911 / 5076 [--------------------------->____________________________________________] 37.65% 84 p/s1921 / 5076 [--------------------------->____________________________________________] 37.84% 84 p/s1933 / 5076 [--------------------------->____________________________________________] 38.08% 84 p/s1944 / 5076 [--------------------------->____________________________________________] 38.30% 82 p/s1958 / 5076 [--------------------------->____________________________________________] 38.57% 82 p/s1970 / 5076 [--------------------------->____________________________________________] 38.81% 82 p/s1981 / 5076 [---------------------------->___________________________________________] 39.03% 80 p/s1991 / 5076 [---------------------------->___________________________________________] 39.22% 80 p/s2001 / 5076 [---------------------------->___________________________________________] 39.42% 80 p/s2013 / 5076 [---------------------------->___________________________________________] 39.66% 79 p/s2026 / 5076 [---------------------------->___________________________________________] 39.91% 79 p/s2038 / 5076 [---------------------------->___________________________________________] 40.15% 79 p/s2050 / 5076 [----------------------------->__________________________________________] 40.39% 78 p/s2063 / 5076 [----------------------------->__________________________________________] 40.64% 78 p/s2076 / 5076 [----------------------------->__________________________________________] 40.90% 78 p/s2088 / 5076 [----------------------------->__________________________________________] 41.13% 77 p/s2100 / 5076 [----------------------------->__________________________________________] 41.37% 77 p/s2111 / 5076 [----------------------------->__________________________________________] 41.59% 77 p/s2121 / 5076 [------------------------------>_________________________________________] 41.78% 75 p/s2134 / 5076 [------------------------------>_________________________________________] 42.04% 75 p/s2146 / 5076 [------------------------------>_________________________________________] 42.28% 75 p/s2158 / 5076 [------------------------------>_________________________________________] 42.51% 74 p/s2171 / 5076 [------------------------------>_________________________________________] 42.77% 74 p/s2180 / 5076 [------------------------------>_________________________________________] 42.95% 74 p/s2191 / 5076 [------------------------------->________________________________________] 43.16% 73 p/s2204 / 5076 [------------------------------->________________________________________] 43.42% 73 p/s2217 / 5076 [------------------------------->________________________________________] 43.68% 73 p/s2230 / 5076 [------------------------------->________________________________________] 43.93% 73 p/s2243 / 5076 [------------------------------->________________________________________] 44.19% 73 p/s2256 / 5076 [------------------------------->________________________________________] 44.44% 73 p/s2268 / 5076 [-------------------------------->_______________________________________] 44.68% 72 p/s2280 / 5076 [-------------------------------->_______________________________________] 44.92% 72 p/s2292 / 5076 [-------------------------------->_______________________________________] 45.15% 72 p/s2305 / 5076 [-------------------------------->_______________________________________] 45.41% 71 p/s2317 / 5076 [-------------------------------->_______________________________________] 45.65% 71 p/s2327 / 5076 [--------------------------------->______________________________________] 45.84% 71 p/s2339 / 5076 [--------------------------------->______________________________________] 46.08% 70 p/s2352 / 5076 [--------------------------------->______________________________________] 46.34% 70 p/s2364 / 5076 [--------------------------------->______________________________________] 46.57% 70 p/s2374 / 5076 [--------------------------------->______________________________________] 46.77% 70 p/s2387 / 5076 [--------------------------------->______________________________________] 47.03% 70 p/s2399 / 5076 [---------------------------------->_____________________________________] 47.26% 70 p/s2410 / 5076 [---------------------------------->_____________________________________] 47.48% 69 p/s2420 / 5076 [---------------------------------->_____________________________________] 47.68% 69 p/s2430 / 5076 [---------------------------------->_____________________________________] 47.87% 69 p/s2440 / 5076 [---------------------------------->_____________________________________] 48.07% 68 p/s2452 / 5076 [---------------------------------->_____________________________________] 48.31% 68 p/s2465 / 5076 [---------------------------------->_____________________________________] 48.56% 68 p/s2475 / 5076 [----------------------------------->____________________________________] 48.76% 67 p/s2487 / 5076 [----------------------------------->____________________________________] 49.00% 67 p/s2498 / 5076 [----------------------------------->____________________________________] 49.21% 67 p/s2508 / 5076 [----------------------------------->____________________________________] 49.41% 66 p/s2518 / 5076 [----------------------------------->____________________________________] 49.61% 66 p/s2528 / 5076 [----------------------------------->____________________________________] 49.80% 66 p/s2538 / 5076 [----------------------------------->____________________________________] 50.00% 65 p/s2548 / 5076 [------------------------------------>___________________________________] 50.20% 65 p/s2561 / 5076 [------------------------------------>___________________________________] 50.45% 65 p/s2573 / 5076 [------------------------------------>___________________________________] 50.69% 65 p/s2584 / 5076 [------------------------------------>___________________________________] 50.91% 65 p/s2596 / 5076 [------------------------------------>___________________________________] 51.14% 65 p/s2608 / 5076 [------------------------------------>___________________________________] 51.38% 64 p/s2619 / 5076 [------------------------------------->__________________________________] 51.60% 64 p/s2629 / 5076 [------------------------------------->__________________________________] 51.79% 64 p/s2639 / 5076 [------------------------------------->__________________________________] 51.99% 64 p/s2649 / 5076 [------------------------------------->__________________________________] 52.19% 64 p/s2660 / 5076 [------------------------------------->__________________________________] 52.40% 64 p/s2669 / 5076 [------------------------------------->__________________________________] 52.58% 63 p/s2680 / 5076 [-------------------------------------->_________________________________] 52.80% 63 p/s2691 / 5076 [-------------------------------------->_________________________________] 53.01% 63 p/s2702 / 5076 [-------------------------------------->_________________________________] 53.23% 62 p/s2712 / 5076 [-------------------------------------->_________________________________] 53.43% 62 p/s2722 / 5076 [-------------------------------------->_________________________________] 53.62% 62 p/s2732 / 5076 [-------------------------------------->_________________________________] 53.82% 61 p/s2742 / 5076 [-------------------------------------->_________________________________] 54.02% 61 p/s2752 / 5076 [--------------------------------------->________________________________] 54.22% 61 p/s2763 / 5076 [--------------------------------------->________________________________] 54.43% 61 p/s2776 / 5076 [--------------------------------------->________________________________] 54.69% 61 p/s2786 / 5076 [--------------------------------------->________________________________] 54.89% 61 p/s2796 / 5076 [--------------------------------------->________________________________] 55.08% 60 p/s2806 / 5076 [--------------------------------------->________________________________] 55.28% 60 p/s2819 / 5076 [--------------------------------------->________________________________] 55.54% 60 p/s2829 / 5076 [---------------------------------------->_______________________________] 55.73% 60 p/s2841 / 5076 [---------------------------------------->_______________________________] 55.97% 60 p/s2854 / 5076 [---------------------------------------->_______________________________] 56.23% 60 p/s2865 / 5076 [---------------------------------------->_______________________________] 56.44% 60 p/s2877 / 5076 [---------------------------------------->_______________________________] 56.68% 60 p/s2889 / 5076 [---------------------------------------->_______________________________] 56.91% 60 p/s2902 / 5076 [----------------------------------------->______________________________] 57.17% 60 p/s2915 / 5076 [----------------------------------------->______________________________] 57.43% 60 p/s2924 / 5076 [----------------------------------------->______________________________] 57.60% 60 p/s2934 / 5076 [----------------------------------------->______________________________] 57.80% 60 p/s2944 / 5076 [----------------------------------------->______________________________] 58.00% 60 p/s2954 / 5076 [----------------------------------------->______________________________] 58.20% 60 p/s2964 / 5076 [------------------------------------------>_____________________________] 58.39% 59 p/s2975 / 5076 [------------------------------------------>_____________________________] 58.61% 59 p/s2987 / 5076 [------------------------------------------>_____________________________] 58.85% 59 p/s2997 / 5076 [------------------------------------------>_____________________________] 59.04% 59 p/s3007 / 5076 [------------------------------------------>_____________________________] 59.24% 59 p/s3017 / 5076 [------------------------------------------>_____________________________] 59.44% 59 p/s3027 / 5076 [------------------------------------------>_____________________________] 59.63% 58 p/s3037 / 5076 [------------------------------------------->____________________________] 59.83% 58 p/s3047 / 5076 [------------------------------------------->____________________________] 60.03% 58 p/s3057 / 5076 [------------------------------------------->____________________________] 60.22% 58 p/s3067 / 5076 [------------------------------------------->____________________________] 60.42% 58 p/s3079 / 5076 [------------------------------------------->____________________________] 60.66% 58 p/s3089 / 5076 [------------------------------------------->____________________________] 60.86% 57 p/s3099 / 5076 [------------------------------------------->____________________________] 61.05% 57 p/s3109 / 5076 [-------------------------------------------->___________________________] 61.25% 57 p/s3119 / 5076 [-------------------------------------------->___________________________] 61.45% 57 p/s3130 / 5076 [-------------------------------------------->___________________________] 61.66% 57 p/s3142 / 5076 [-------------------------------------------->___________________________] 61.90% 57 p/s3152 / 5076 [-------------------------------------------->___________________________] 62.10% 57 p/s3164 / 5076 [-------------------------------------------->___________________________] 62.33% 57 p/s3176 / 5076 [--------------------------------------------->__________________________] 62.57% 57 p/s3189 / 5076 [--------------------------------------------->__________________________] 62.83% 57 p/s3202 / 5076 [--------------------------------------------->__________________________] 63.08% 57 p/s3214 / 5076 [--------------------------------------------->__________________________] 63.32% 57 p/s3224 / 5076 [--------------------------------------------->__________________________] 63.51% 57 p/s3237 / 5076 [--------------------------------------------->__________________________] 63.77% 57 p/s3249 / 5076 [---------------------------------------------->_________________________] 64.01% 57 p/s3261 / 5076 [---------------------------------------------->_________________________] 64.24% 58 p/s3274 / 5076 [---------------------------------------------->_________________________] 64.50% 58 p/s3286 / 5076 [---------------------------------------------->_________________________] 64.74% 58 p/s3299 / 5076 [---------------------------------------------->_________________________] 64.99% 58 p/s3312 / 5076 [---------------------------------------------->_________________________] 65.25% 58 p/s3322 / 5076 [----------------------------------------------->________________________] 65.45% 58 p/s3333 / 5076 [----------------------------------------------->________________________] 65.66% 58 p/s3344 / 5076 [----------------------------------------------->________________________] 65.88% 58 p/s3354 / 5076 [----------------------------------------------->________________________] 66.08% 58 p/s3364 / 5076 [----------------------------------------------->________________________] 66.27% 57 p/s3376 / 5076 [----------------------------------------------->________________________] 66.51% 57 p/s3388 / 5076 [------------------------------------------------>_______________________] 66.75% 57 p/s3400 / 5076 [------------------------------------------------>_______________________] 66.98% 58 p/s3411 / 5076 [------------------------------------------------>_______________________] 67.20% 58 p/s3424 / 5076 [------------------------------------------------>_______________________] 67.45% 58 p/s3437 / 5076 [------------------------------------------------>_______________________] 67.71% 58 p/s3449 / 5076 [------------------------------------------------>_______________________] 67.95% 58 p/s3462 / 5076 [------------------------------------------------->______________________] 68.20% 58 p/s3473 / 5076 [------------------------------------------------->______________________] 68.42% 58 p/s3483 / 5076 [------------------------------------------------->______________________] 68.62% 58 p/s3496 / 5076 [------------------------------------------------->______________________] 68.87% 58 p/s3506 / 5076 [------------------------------------------------->______________________] 69.07% 58 p/s3516 / 5076 [------------------------------------------------->______________________] 69.27% 58 p/s3526 / 5076 [-------------------------------------------------->_____________________] 69.46% 58 p/s3539 / 5076 [-------------------------------------------------->_____________________] 69.72% 58 p/s3552 / 5076 [-------------------------------------------------->_____________________] 69.98% 58 p/s3564 / 5076 [-------------------------------------------------->_____________________] 70.21% 58 p/s3577 / 5076 [-------------------------------------------------->_____________________] 70.47% 58 p/s3589 / 5076 [-------------------------------------------------->_____________________] 70.71% 58 p/s3602 / 5076 [--------------------------------------------------->____________________] 70.96% 58 p/s3614 / 5076 [--------------------------------------------------->____________________] 71.20% 58 p/s3624 / 5076 [--------------------------------------------------->____________________] 71.39% 58 p/s3634 / 5076 [--------------------------------------------------->____________________] 71.59% 58 p/s3644 / 5076 [--------------------------------------------------->____________________] 71.79% 58 p/s3657 / 5076 [--------------------------------------------------->____________________] 72.04% 58 p/s3670 / 5076 [---------------------------------------------------->___________________] 72.30% 58 p/s3683 / 5076 [---------------------------------------------------->___________________] 72.56% 58 p/s3695 / 5076 [---------------------------------------------------->___________________] 72.79% 58 p/s3706 / 5076 [---------------------------------------------------->___________________] 73.01% 58 p/s3716 / 5076 [---------------------------------------------------->___________________] 73.21% 58 p/s3729 / 5076 [---------------------------------------------------->___________________] 73.46% 58 p/s3739 / 5076 [----------------------------------------------------->__________________] 73.66% 58 p/s3750 / 5076 [----------------------------------------------------->__________________] 73.88% 58 p/s3760 / 5076 [----------------------------------------------------->__________________] 74.07% 58 p/s3770 / 5076 [----------------------------------------------------->__________________] 74.27% 58 p/s3781 / 5076 [----------------------------------------------------->__________________] 74.49% 57 p/s3794 / 5076 [----------------------------------------------------->__________________] 74.74% 57 p/s3806 / 5076 [----------------------------------------------------->__________________] 74.98% 57 p/s3816 / 5076 [------------------------------------------------------>_________________] 75.18% 58 p/s3828 / 5076 [------------------------------------------------------>_________________] 75.41% 58 p/s3839 / 5076 [------------------------------------------------------>_________________] 75.63% 58 p/s3849 / 5076 [------------------------------------------------------>_________________] 75.83% 57 p/s3861 / 5076 [------------------------------------------------------>_________________] 76.06% 57 p/s3874 / 5076 [------------------------------------------------------>_________________] 76.32% 57 p/s3885 / 5076 [------------------------------------------------------->________________] 76.54% 58 p/s3894 / 5076 [------------------------------------------------------->________________] 76.71% 58 p/s3905 / 5076 [------------------------------------------------------->________________] 76.93% 58 p/s3915 / 5076 [------------------------------------------------------->________________] 77.13% 57 p/s3925 / 5076 [------------------------------------------------------->________________] 77.32% 57 p/s3937 / 5076 [------------------------------------------------------->________________] 77.56% 57 p/s3948 / 5076 [------------------------------------------------------->________________] 77.78% 57 p/s3960 / 5076 [-------------------------------------------------------->_______________] 78.01% 57 p/s3972 / 5076 [-------------------------------------------------------->_______________] 78.25% 57 p/s3982 / 5076 [-------------------------------------------------------->_______________] 78.45% 57 p/s3992 / 5076 [-------------------------------------------------------->_______________] 78.64% 57 p/s4002 / 5076 [-------------------------------------------------------->_______________] 78.84% 57 p/s4012 / 5076 [-------------------------------------------------------->_______________] 79.04% 56 p/s4022 / 5076 [--------------------------------------------------------->______________] 79.24% 56 p/s4032 / 5076 [--------------------------------------------------------->______________] 79.43% 56 p/s4042 / 5076 [--------------------------------------------------------->______________] 79.63% 56 p/s4052 / 5076 [--------------------------------------------------------->______________] 79.83% 56 p/s4062 / 5076 [--------------------------------------------------------->______________] 80.02% 56 p/s4074 / 5076 [--------------------------------------------------------->______________] 80.26% 56 p/s4087 / 5076 [--------------------------------------------------------->______________] 80.52% 56 p/s4098 / 5076 [---------------------------------------------------------->_____________] 80.73% 56 p/s4111 / 5076 [---------------------------------------------------------->_____________] 80.99% 56 p/s4124 / 5076 [---------------------------------------------------------->_____________] 81.25% 56 p/s4136 / 5076 [---------------------------------------------------------->_____________] 81.48% 56 p/s4149 / 5076 [---------------------------------------------------------->_____________] 81.74% 57 p/s4162 / 5076 [----------------------------------------------------------->____________] 81.99% 57 p/s4173 / 5076 [----------------------------------------------------------->____________] 82.21% 57 p/s4185 / 5076 [----------------------------------------------------------->____________] 82.45% 57 p/s4197 / 5076 [----------------------------------------------------------->____________] 82.68% 57 p/s4207 / 5076 [----------------------------------------------------------->____________] 82.88% 57 p/s4217 / 5076 [----------------------------------------------------------->____________] 83.08% 57 p/s4227 / 5076 [----------------------------------------------------------->____________] 83.27% 57 p/s4240 / 5076 [------------------------------------------------------------>___________] 83.53% 57 p/s4250 / 5076 [------------------------------------------------------------>___________] 83.73% 57 p/s4260 / 5076 [------------------------------------------------------------>___________] 83.92% 57 p/s4273 / 5076 [------------------------------------------------------------>___________] 84.18% 57 p/s4286 / 5076 [------------------------------------------------------------>___________] 84.44% 57 p/s4298 / 5076 [------------------------------------------------------------>___________] 84.67% 57 p/s4309 / 5076 [------------------------------------------------------------->__________] 84.89% 57 p/s4322 / 5076 [------------------------------------------------------------->__________] 85.15% 57 p/s4335 / 5076 [------------------------------------------------------------->__________] 85.40% 57 p/s4348 / 5076 [------------------------------------------------------------->__________] 85.66% 57 p/s4361 / 5076 [------------------------------------------------------------->__________] 85.91% 58 p/s4373 / 5076 [-------------------------------------------------------------->_________] 86.15% 58 p/s4386 / 5076 [-------------------------------------------------------------->_________] 86.41% 58 p/s4398 / 5076 [-------------------------------------------------------------->_________] 86.64% 58 p/s4411 / 5076 [-------------------------------------------------------------->_________] 86.90% 58 p/s4421 / 5076 [-------------------------------------------------------------->_________] 87.10% 58 p/s4431 / 5076 [-------------------------------------------------------------->_________] 87.29% 58 p/s4441 / 5076 [-------------------------------------------------------------->_________] 87.49% 58 p/s4451 / 5076 [--------------------------------------------------------------->________] 87.69% 58 p/s4461 / 5076 [--------------------------------------------------------------->________] 87.88% 57 p/s4471 / 5076 [--------------------------------------------------------------->________] 88.08% 57 p/s4481 / 5076 [--------------------------------------------------------------->________] 88.28% 57 p/s4491 / 5076 [--------------------------------------------------------------->________] 88.48% 57 p/s4501 / 5076 [--------------------------------------------------------------->________] 88.67% 57 p/s4512 / 5076 [--------------------------------------------------------------->________] 88.89% 57 p/s4524 / 5076 [---------------------------------------------------------------->_______] 89.13% 57 p/s4537 / 5076 [---------------------------------------------------------------->_______] 89.38% 57 p/s4550 / 5076 [---------------------------------------------------------------->_______] 89.64% 57 p/s4560 / 5076 [---------------------------------------------------------------->_______] 89.83% 57 p/s4570 / 5076 [---------------------------------------------------------------->_______] 90.03% 57 p/s4583 / 5076 [----------------------------------------------------------------->______] 90.29% 57 p/s4596 / 5076 [----------------------------------------------------------------->______] 90.54% 57 p/s4609 / 5076 [----------------------------------------------------------------->______] 90.80% 57 p/s4619 / 5076 [----------------------------------------------------------------->______] 91.00% 57 p/s4631 / 5076 [----------------------------------------------------------------->______] 91.23% 57 p/s4641 / 5076 [----------------------------------------------------------------->______] 91.43% 57 p/s4653 / 5076 [----------------------------------------------------------------->______] 91.67% 57 p/s4666 / 5076 [------------------------------------------------------------------>_____] 91.92% 57 p/s4678 / 5076 [------------------------------------------------------------------>_____] 92.16% 57 p/s4689 / 5076 [------------------------------------------------------------------>_____] 92.38% 57 p/s4700 / 5076 [------------------------------------------------------------------>_____] 92.59% 57 p/s4712 / 5076 [------------------------------------------------------------------>_____] 92.83% 57 p/s4725 / 5076 [------------------------------------------------------------------->____] 93.09% 57 p/s4738 / 5076 [------------------------------------------------------------------->____] 93.34% 58 p/s4748 / 5076 [------------------------------------------------------------------->____] 93.54% 58 p/s4758 / 5076 [------------------------------------------------------------------->____] 93.74% 58 p/s4769 / 5076 [------------------------------------------------------------------->____] 93.95% 57 p/s4778 / 5076 [------------------------------------------------------------------->____] 94.13% 57 p/s4788 / 5076 [------------------------------------------------------------------->____] 94.33% 57 p/s4798 / 5076 [-------------------------------------------------------------------->___] 94.52% 57 p/s4809 / 5076 [-------------------------------------------------------------------->___] 94.74% 57 p/s4821 / 5076 [-------------------------------------------------------------------->___] 94.98% 57 p/s4833 / 5076 [-------------------------------------------------------------------->___] 95.21% 57 p/s4846 / 5076 [-------------------------------------------------------------------->___] 95.47% 57 p/s4857 / 5076 [-------------------------------------------------------------------->___] 95.69% 57 p/s4867 / 5076 [--------------------------------------------------------------------->__] 95.88% 57 p/s4879 / 5076 [--------------------------------------------------------------------->__] 96.12% 57 p/s4892 / 5076 [--------------------------------------------------------------------->__] 96.38% 57 p/s4903 / 5076 [--------------------------------------------------------------------->__] 96.59% 57 p/s4914 / 5076 [--------------------------------------------------------------------->__] 96.81% 57 p/s4924 / 5076 [--------------------------------------------------------------------->__] 97.01% 57 p/s4935 / 5076 [--------------------------------------------------------------------->__] 97.22% 57 p/s4947 / 5076 [---------------------------------------------------------------------->_] 97.46% 57 p/s4960 / 5076 [---------------------------------------------------------------------->_] 97.71% 57 p/s4973 / 5076 [---------------------------------------------------------------------->_] 97.97% 57 p/s4986 / 5076 [---------------------------------------------------------------------->_] 98.23% 57 p/s4998 / 5076 [---------------------------------------------------------------------->_] 98.46% 57 p/s5008 / 5076 [----------------------------------------------------------------------->] 98.66% 57 p/s5017 / 5076 [----------------------------------------------------------------------->] 98.84% 57 p/s5027 / 5076 [----------------------------------------------------------------------->] 99.03% 57 p/s5037 / 5076 [----------------------------------------------------------------------->] 99.23% 57 p/s5046 / 5076 [----------------------------------------------------------------------->] 99.41% 57 p/s5056 / 5076 [----------------------------------------------------------------------->] 99.61% 57 p/s5067 / 5076 [----------------------------------------------------------------------->] 99.82% 56 p/s5076 / 5076 [-----------------------------------------------------------------------] 100.00% 66 p/s2026-07-29T05:07:15 - INFO: Parsing 5076 sonar sweeps from /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/5076 [00:00<?, ?it/s]
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  0%|          | 4/5076 [00:00<05:13, 16.18it/s]
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  0%|          | 24/5076 [00:01<04:52, 17.28it/s]
  1%|          | 26/5076 [00:01<04:51, 17.31it/s]
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  1%|          | 54/5076 [00:03<04:50, 17.27it/s]
  1%|          | 56/5076 [00:03<04:50, 17.25it/s]
  1%|          | 58/5076 [00:03<04:59, 16.76it/s]
  1%|          | 60/5076 [00:03<04:56, 16.90it/s]
  1%|          | 62/5076 [00:03<04:54, 17.01it/s]
  1%|▏         | 64/5076 [00:03<04:53, 17.07it/s]
  1%|▏         | 66/5076 [00:03<04:52, 17.13it/s]
  1%|▏         | 68/5076 [00:03<04:52, 17.11it/s]
  1%|▏         | 70/5076 [00:04<04:51, 17.15it/s]
  1%|▏         | 72/5076 [00:04<04:50, 17.20it/s]
  1%|▏         | 74/5076 [00:04<04:51, 17.18it/s]
  1%|▏         | 76/5076 [00:04<04:50, 17.19it/s]
  2%|▏         | 78/5076 [00:04<04:50, 17.21it/s]
  2%|▏         | 80/5076 [00:04<04:49, 17.23it/s]
  2%|▏         | 82/5076 [00:04<04:50, 17.22it/s]
  2%|▏         | 84/5076 [00:04<04:49, 17.25it/s]
  2%|▏         | 86/5076 [00:05<04:49, 17.25it/s]
  2%|▏         | 88/5076 [00:05<04:48, 17.27it/s]
  2%|▏         | 90/5076 [00:05<04:48, 17.26it/s]
  2%|▏         | 92/5076 [00:05<04:48, 17.26it/s]
  2%|▏         | 94/5076 [00:05<04:49, 17.23it/s]
  2%|▏         | 96/5076 [00:05<04:48, 17.24it/s]
  2%|▏         | 98/5076 [00:05<04:48, 17.28it/s]
  2%|▏         | 100/5076 [00:05<04:47, 17.29it/s]
  2%|▏         | 102/5076 [00:05<04:47, 17.29it/s]
  2%|▏         | 104/5076 [00:06<04:47, 17.31it/s]
  2%|▏         | 106/5076 [00:06<04:47, 17.32it/s]
  2%|▏         | 108/5076 [00:06<04:46, 17.33it/s]
  2%|▏         | 110/5076 [00:06<04:46, 17.31it/s]
  2%|▏         | 112/5076 [00:06<04:46, 17.32it/s]
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  2%|▏         | 116/5076 [00:06<04:46, 17.30it/s]
  2%|▏         | 118/5076 [00:06<04:46, 17.30it/s]
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  2%|▏         | 122/5076 [00:07<04:46, 17.32it/s]
  2%|▏         | 124/5076 [00:07<04:46, 17.30it/s]
  2%|▏         | 126/5076 [00:07<04:46, 17.31it/s]
  3%|▎         | 128/5076 [00:07<04:46, 17.29it/s]
  3%|▎         | 130/5076 [00:07<04:46, 17.29it/s]
  3%|▎         | 132/5076 [00:07<04:45, 17.30it/s]
  3%|▎         | 134/5076 [00:07<04:45, 17.34it/s]
  3%|▎         | 136/5076 [00:07<04:45, 17.31it/s]
  3%|▎         | 138/5076 [00:08<04:44, 17.33it/s]
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  3%|▎         | 142/5076 [00:08<04:45, 17.29it/s]
  3%|▎         | 144/5076 [00:08<04:44, 17.31it/s]
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  5%|▌         | 276/5076 [00:16<04:40, 17.14it/s]
  5%|▌         | 278/5076 [00:16<04:39, 17.18it/s]
  6%|▌         | 280/5076 [00:16<04:39, 17.18it/s]
  6%|▌         | 282/5076 [00:16<04:38, 17.21it/s]
  6%|▌         | 284/5076 [00:16<04:38, 17.23it/s]
  6%|▌         | 286/5076 [00:16<04:38, 17.22it/s]
  6%|▌         | 288/5076 [00:16<04:37, 17.23it/s]
  6%|▌         | 290/5076 [00:16<04:37, 17.24it/s]
  6%|▌         | 292/5076 [00:16<04:37, 17.26it/s]
  6%|▌         | 294/5076 [00:17<04:37, 17.25it/s]
  6%|▌         | 296/5076 [00:17<04:37, 17.24it/s]
  6%|▌         | 298/5076 [00:17<04:37, 17.21it/s]
  6%|▌         | 300/5076 [00:17<04:37, 17.20it/s]
  6%|▌         | 302/5076 [00:17<04:37, 17.22it/s]
  6%|▌         | 304/5076 [00:17<04:36, 17.23it/s]
  6%|▌         | 306/5076 [00:17<04:36, 17.25it/s]
  6%|▌         | 308/5076 [00:17<04:36, 17.25it/s]
  6%|▌         | 310/5076 [00:18<04:36, 17.22it/s]
  6%|▌         | 312/5076 [00:18<04:36, 17.23it/s]
  6%|▌         | 315/5076 [00:18<04:04, 19.45it/s]
  6%|▋         | 318/5076 [00:18<03:43, 21.28it/s]
  6%|▋         | 321/5076 [00:18<03:28, 22.77it/s]
  6%|▋         | 324/5076 [00:18<03:28, 22.77it/s]
  6%|▋         | 327/5076 [00:18<03:19, 23.79it/s]
  7%|▋         | 330/5076 [00:18<03:13, 24.51it/s]
  7%|▋         | 333/5076 [00:18<03:09, 25.02it/s]
  7%|▋         | 336/5076 [00:19<03:07, 25.34it/s]
  7%|▋         | 339/5076 [00:19<03:05, 25.60it/s]
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  7%|▋         | 348/5076 [00:19<03:04, 25.63it/s]
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  7%|▋         | 363/5076 [00:20<03:00, 26.08it/s]
  7%|▋         | 366/5076 [00:20<03:00, 26.15it/s]
  7%|▋         | 369/5076 [00:20<02:59, 26.20it/s]
  7%|▋         | 372/5076 [00:20<02:59, 26.24it/s]
  7%|▋         | 375/5076 [00:20<02:58, 26.28it/s]
  7%|▋         | 378/5076 [00:20<02:58, 26.32it/s]
  8%|▊         | 381/5076 [00:20<02:58, 26.30it/s]
  8%|▊         | 384/5076 [00:20<02:58, 26.22it/s]
  8%|▊         | 387/5076 [00:21<02:59, 26.19it/s]
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2026-07-29T05:10:42 - INFO: Writing sonar_raw.track.cbor
2026-07-29T05:12:00 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --no-sonar-raw --sonar-format cbor --sonar-ptd-format binary --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-mask-angle 120 --sonar-temporal-window 2 --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-detection-method hessian-ridge /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090"
2026-07-29T05:12:00 - INFO: DataPrep 0.15.2a2
2026-07-29T05:12:00 - INFO: Prepared data will be output to /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/processing/data
2026-07-29T05:12:00 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-29T05:12:00 - deployment - INFO: Detected P3D version: P3D_1
2026-07-29T05:12:00 - INFO: Recording GUID: 5f5c2782-4e06-d753-f6b8-e3f69533b090
2026-07-29T05:12:00 - INFO: Preparing sonar data...
2026-07-29T05:12:00 - INFO: /working/5f5c2782-4e06-d753-f6b8-e3f69533b090/5f5c2782-4e06-d753-f6b8-e3f69533b090/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-29T05:12:05 - INFO: Sonar epoch is 2026-03-24 15:14:10.063964+00:00 (1774365250063964358)
2026-07-29T05:12:05 - INFO: Creating sonar sensor alignment track...
2026-07-29T05:12:05 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-07-29T05:12:05 - INFO: Using sonar digitizer
2026-07-29T05:12:05 - INFO: Sensor speed of sound is 1500 m/s
2026-07-29T05:12:05 - INFO: Sensor range is 1.589280 m
2026-07-29T05:12:05 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-29T05:12:05 - INFO: Scaled micrometres per sample is 5260.599863
2026-07-29T05:12:05 - INFO: Processing 5076 snapshot scans from 5076 source sweeps...
2026-07-29T05:12:05 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-07-29T05:12:46 - INFO: Applying sonar temporal consistency...
2026-07-29T05:13:00 - INFO: Sonar temporal gap fill (window 2): 1123933 points, 21775 candidate beams, filled 21775
2026-07-29T05:13:01 - INFO: Sonar temporal segment pruning (window 3): removed 19 segments, 215 points
2026-07-29T05:13:08 - INFO: Prepared sonar data in 67.6785 s
2026-07-29T05:13:08 - INFO: No IMU data found
2026-07-29T05:13:09 - INFO: DataPrep took 0:01:08.261169
2026-07-29T05:13:09 - INFO: Extracted sonar data in 0:07:10.768080
2026-07-29T05:13:10 - INFO: MSIP3D took 0:07:12.055019