+ [ 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
+ [ md = md ]
+ echo --laser-front
+ 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 --laser-front --sonar-sample-offset -1 /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-08-05T09:31:33 - INFO: MSIP3D 0.2.11
2026-08-05T09:31:34 - INFO: P3D files will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-08-05T09:31:34 - INFO: Found 10 TFD dictionary entries
2026-08-05T09:31:34 - INFO: Found TFD mission for DSSIN075-DSSIN071
2026-08-05T09:31:34 - INFO: Recording will be processed as MD
2026-08-05T09:31:34 - INFO: Copying assets JSON to output directory...
2026-08-05T09:31:34 - INFO: Preparing counter data...
2026-08-05T09:31:34 - INFO: Interpreting counter as metric
2026-08-05T09:31:34 - INFO: Preparing size track from assets JSON...
2026-08-05T09:31:34 - INFO: Preparing shape track from assets JSON...
2026-08-05T09:31:34 - INFO: Preparing material track from assets JSON...
2026-08-05T09:31:34 - INFO: Prepared counter data in 0.2407 s
2026-08-05T09:31:34 - INFO: Extracting sonar data...
TFD path: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/DSSIN075-DSSIN071.tfd
TFD path: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/output
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079240663880375
Name: LASER, Tag: 4855215978501720652
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Getting track SONAR
Number of frames: 10339
22 / 10339 [>__________________________________________________________________________] 0.21% ? p/s43 / 10339 [>__________________________________________________________________________] 0.42% ? p/s66 / 10339 [>__________________________________________________________________________] 0.64% ? p/s89 / 10339 [>________________________________________________________________________] 0.86% 112 p/s113 / 10339 [>_______________________________________________________________________] 1.09% 112 p/s134 / 10339 [>_______________________________________________________________________] 1.30% 112 p/s157 / 10339 [->______________________________________________________________________] 1.52% 112 p/s180 / 10339 [->______________________________________________________________________] 1.74% 112 p/s201 / 10339 [->______________________________________________________________________] 1.94% 112 p/s225 / 10339 [->______________________________________________________________________] 2.18% 112 p/s248 / 10339 [->______________________________________________________________________] 2.40% 112 p/s270 / 10339 [->______________________________________________________________________] 2.61% 112 p/s294 / 10339 [-->_____________________________________________________________________] 2.84% 112 p/s317 / 10339 [-->_____________________________________________________________________] 3.07% 112 p/s340 / 10339 [-->_____________________________________________________________________] 3.29% 112 p/s363 / 10339 [-->_____________________________________________________________________] 3.51% 112 p/s387 / 10339 [-->_____________________________________________________________________] 3.74% 112 p/s410 / 10339 [-->_____________________________________________________________________] 3.97% 112 p/s433 / 10339 [--->____________________________________________________________________] 4.19% 113 p/s455 / 10339 [--->____________________________________________________________________] 4.40% 113 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p/s1164 / 10339 [------->______________________________________________________________] 11.26% 113 p/s1187 / 10339 [-------->_____________________________________________________________] 11.48% 113 p/s1210 / 10339 [-------->_____________________________________________________________] 11.70% 113 p/s1234 / 10339 [-------->_____________________________________________________________] 11.94% 113 p/s1256 / 10339 [-------->_____________________________________________________________] 12.15% 114 p/s1279 / 10339 [-------->_____________________________________________________________] 12.37% 114 p/s1303 / 10339 [-------->_____________________________________________________________] 12.60% 114 p/s1326 / 10339 [-------->_____________________________________________________________] 12.83% 114 p/s1349 / 10339 [--------->____________________________________________________________] 13.05% 114 p/s1372 / 10339 [--------->____________________________________________________________] 13.27% 114 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p/s1626 / 10339 [----------->__________________________________________________________] 15.73% 114 p/s1650 / 10339 [----------->__________________________________________________________] 15.96% 114 p/s1673 / 10339 [----------->__________________________________________________________] 16.18% 114 p/s1696 / 10339 [----------->__________________________________________________________] 16.40% 114 p/s1719 / 10339 [----------->__________________________________________________________] 16.63% 114 p/s1742 / 10339 [----------->__________________________________________________________] 16.85% 114 p/s1766 / 10339 [----------->__________________________________________________________] 17.08% 114 p/s1789 / 10339 [------------>_________________________________________________________] 17.30% 114 p/s1812 / 10339 [------------>_________________________________________________________] 17.53% 114 p/s1835 / 10339 [------------>_________________________________________________________] 17.75% 114 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p/s3003 / 10339 [-------------------->_________________________________________________] 29.05% 115 p/s3026 / 10339 [-------------------->_________________________________________________] 29.27% 115 p/s3049 / 10339 [-------------------->_________________________________________________] 29.49% 115 p/s3072 / 10339 [-------------------->_________________________________________________] 29.71% 115 p/s3095 / 10339 [-------------------->_________________________________________________] 29.94% 115 p/s3118 / 10339 [--------------------->________________________________________________] 30.16% 115 p/s3141 / 10339 [--------------------->________________________________________________] 30.38% 115 p/s3164 / 10339 [--------------------->________________________________________________] 30.60% 115 p/s3187 / 10339 [--------------------->________________________________________________] 30.83% 115 p/s3210 / 10339 [--------------------->________________________________________________] 31.05% 115 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p/s3696 / 10339 [------------------------->____________________________________________] 35.75% 115 p/s3718 / 10339 [------------------------->____________________________________________] 35.96% 115 p/s3742 / 10339 [------------------------->____________________________________________] 36.19% 115 p/s3765 / 10339 [------------------------->____________________________________________] 36.42% 115 p/s3788 / 10339 [------------------------->____________________________________________] 36.64% 115 p/s3811 / 10339 [------------------------->____________________________________________] 36.86% 115 p/s3834 / 10339 [------------------------->____________________________________________] 37.08% 115 p/s3857 / 10339 [-------------------------->___________________________________________] 37.31% 115 p/s3880 / 10339 [-------------------------->___________________________________________] 37.53% 115 p/s3903 / 10339 [-------------------------->___________________________________________] 37.75% 115 p/s3926 / 10339 [-------------------------->___________________________________________] 37.97% 115 p/s3949 / 10339 [-------------------------->___________________________________________] 38.20% 115 p/s3972 / 10339 [-------------------------->___________________________________________] 38.42% 115 p/s3995 / 10339 [--------------------------->__________________________________________] 38.64% 115 p/s4018 / 10339 [--------------------------->__________________________________________] 38.86% 115 p/s4041 / 10339 [--------------------------->__________________________________________] 39.09% 115 p/s4064 / 10339 [--------------------------->__________________________________________] 39.31% 115 p/s4087 / 10339 [--------------------------->__________________________________________] 39.53% 115 p/s4109 / 10339 [--------------------------->__________________________________________] 39.74% 115 p/s4132 / 10339 [--------------------------->__________________________________________] 39.97% 115 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p/s5076 / 10339 [---------------------------------->___________________________________] 49.10% 115 p/s5099 / 10339 [---------------------------------->___________________________________] 49.32% 115 p/s5122 / 10339 [---------------------------------->___________________________________] 49.54% 115 p/s5144 / 10339 [---------------------------------->___________________________________] 49.75% 115 p/s5167 / 10339 [---------------------------------->___________________________________] 49.98% 115 p/s5190 / 10339 [----------------------------------->__________________________________] 50.20% 115 p/s5213 / 10339 [----------------------------------->__________________________________] 50.42% 115 p/s5236 / 10339 [----------------------------------->__________________________________] 50.64% 115 p/s5259 / 10339 [----------------------------------->__________________________________] 50.87% 115 p/s5282 / 10339 [----------------------------------->__________________________________] 51.09% 115 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p/s6219 / 10339 [------------------------------------------>___________________________] 60.15% 114 p/s6242 / 10339 [------------------------------------------>___________________________] 60.37% 114 p/s6265 / 10339 [------------------------------------------>___________________________] 60.60% 114 p/s6288 / 10339 [------------------------------------------>___________________________] 60.82% 114 p/s6311 / 10339 [------------------------------------------>___________________________] 61.04% 114 p/s6334 / 10339 [------------------------------------------>___________________________] 61.26% 114 p/s6357 / 10339 [------------------------------------------->__________________________] 61.49% 115 p/s6380 / 10339 [------------------------------------------->__________________________] 61.71% 115 p/s6403 / 10339 [------------------------------------------->__________________________] 61.93% 115 p/s6426 / 10339 [------------------------------------------->__________________________] 62.15% 115 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p/s6676 / 10339 [--------------------------------------------->________________________] 64.57% 114 p/s6699 / 10339 [--------------------------------------------->________________________] 64.79% 114 p/s6722 / 10339 [--------------------------------------------->________________________] 65.02% 114 p/s6745 / 10339 [--------------------------------------------->________________________] 65.24% 114 p/s6767 / 10339 [--------------------------------------------->________________________] 65.45% 114 p/s6790 / 10339 [--------------------------------------------->________________________] 65.67% 114 p/s6813 / 10339 [---------------------------------------------->_______________________] 65.90% 114 p/s6836 / 10339 [---------------------------------------------->_______________________] 66.12% 114 p/s6858 / 10339 [---------------------------------------------->_______________________] 66.33% 114 p/s6881 / 10339 [---------------------------------------------->_______________________] 66.55% 114 p/s6905 / 10339 [---------------------------------------------->_______________________] 66.79% 114 p/s6927 / 10339 [---------------------------------------------->_______________________] 67.00% 114 p/s6950 / 10339 [----------------------------------------------->______________________] 67.22% 114 p/s6973 / 10339 [----------------------------------------------->______________________] 67.44% 114 p/s6996 / 10339 [----------------------------------------------->______________________] 67.67% 114 p/s7019 / 10339 [----------------------------------------------->______________________] 67.89% 114 p/s7041 / 10339 [----------------------------------------------->______________________] 68.10% 114 p/s7063 / 10339 [----------------------------------------------->______________________] 68.31% 114 p/s7086 / 10339 [----------------------------------------------->______________________] 68.54% 114 p/s7109 / 10339 [------------------------------------------------>_____________________] 68.76% 114 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p/s8043 / 10339 [------------------------------------------------------>_______________] 77.79% 114 p/s8066 / 10339 [------------------------------------------------------>_______________] 78.02% 114 p/s8089 / 10339 [------------------------------------------------------>_______________] 78.24% 114 p/s8112 / 10339 [------------------------------------------------------>_______________] 78.46% 114 p/s8135 / 10339 [------------------------------------------------------->______________] 78.68% 114 p/s8157 / 10339 [------------------------------------------------------->______________] 78.90% 114 p/s8179 / 10339 [------------------------------------------------------->______________] 79.11% 114 p/s8202 / 10339 [------------------------------------------------------->______________] 79.33% 114 p/s8225 / 10339 [------------------------------------------------------->______________] 79.55% 114 p/s8247 / 10339 [------------------------------------------------------->______________] 79.77% 114 p/s8270 / 10339 [------------------------------------------------------->______________] 79.99% 114 p/s8293 / 10339 [-------------------------------------------------------->_____________] 80.21% 114 p/s8316 / 10339 [-------------------------------------------------------->_____________] 80.43% 114 p/s8339 / 10339 [-------------------------------------------------------->_____________] 80.66% 114 p/s8361 / 10339 [-------------------------------------------------------->_____________] 80.87% 114 p/s8384 / 10339 [-------------------------------------------------------->_____________] 81.09% 114 p/s8407 / 10339 [-------------------------------------------------------->_____________] 81.31% 114 p/s8430 / 10339 [--------------------------------------------------------->____________] 81.54% 114 p/s8452 / 10339 [--------------------------------------------------------->____________] 81.75% 114 p/s8475 / 10339 [--------------------------------------------------------->____________] 81.97% 114 p/s8498 / 10339 [--------------------------------------------------------->____________] 82.19% 114 p/s8522 / 10339 [--------------------------------------------------------->____________] 82.43% 114 p/s8545 / 10339 [--------------------------------------------------------->____________] 82.65% 114 p/s8567 / 10339 [---------------------------------------------------------->___________] 82.86% 114 p/s8590 / 10339 [---------------------------------------------------------->___________] 83.08% 114 p/s8613 / 10339 [---------------------------------------------------------->___________] 83.31% 114 p/s8636 / 10339 [---------------------------------------------------------->___________] 83.53% 114 p/s8658 / 10339 [---------------------------------------------------------->___________] 83.74% 114 p/s8681 / 10339 [---------------------------------------------------------->___________] 83.96% 114 p/s8703 / 10339 [---------------------------------------------------------->___________] 84.18% 114 p/s8726 / 10339 [----------------------------------------------------------->__________] 84.40% 114 p/s8749 / 10339 [----------------------------------------------------------->__________] 84.62% 114 p/s8772 / 10339 [----------------------------------------------------------->__________] 84.84% 114 p/s8794 / 10339 [----------------------------------------------------------->__________] 85.06% 114 p/s8817 / 10339 [----------------------------------------------------------->__________] 85.28% 114 p/s8840 / 10339 [----------------------------------------------------------->__________] 85.50% 114 p/s8863 / 10339 [------------------------------------------------------------>_________] 85.72% 114 p/s8886 / 10339 [------------------------------------------------------------>_________] 85.95% 114 p/s8908 / 10339 [------------------------------------------------------------>_________] 86.16% 114 p/s8931 / 10339 [------------------------------------------------------------>_________] 86.38% 114 p/s8954 / 10339 [------------------------------------------------------------>_________] 86.60% 114 p/s8977 / 10339 [------------------------------------------------------------>_________] 86.83% 114 p/s9000 / 10339 [------------------------------------------------------------>_________] 87.05% 114 p/s9023 / 10339 [------------------------------------------------------------->________] 87.27% 114 p/s9046 / 10339 [------------------------------------------------------------->________] 87.49% 114 p/s9069 / 10339 [------------------------------------------------------------->________] 87.72% 114 p/s9092 / 10339 [------------------------------------------------------------->________] 87.94% 114 p/s9114 / 10339 [------------------------------------------------------------->________] 88.15% 114 p/s9137 / 10339 [------------------------------------------------------------->________] 88.37% 114 p/s9160 / 10339 [-------------------------------------------------------------->_______] 88.60% 114 p/s9183 / 10339 [-------------------------------------------------------------->_______] 88.82% 114 p/s9206 / 10339 [-------------------------------------------------------------->_______] 89.04% 114 p/s9229 / 10339 [-------------------------------------------------------------->_______] 89.26% 114 p/s9252 / 10339 [-------------------------------------------------------------->_______] 89.49% 114 p/s9275 / 10339 [-------------------------------------------------------------->_______] 89.71% 114 p/s9297 / 10339 [-------------------------------------------------------------->_______] 89.92% 114 p/s9320 / 10339 [--------------------------------------------------------------->______] 90.14% 114 p/s9342 / 10339 [--------------------------------------------------------------->______] 90.36% 114 p/s9365 / 10339 [--------------------------------------------------------------->______] 90.58% 114 p/s9388 / 10339 [--------------------------------------------------------------->______] 90.80% 114 p/s9411 / 10339 [--------------------------------------------------------------->______] 91.02% 114 p/s9434 / 10339 [--------------------------------------------------------------->______] 91.25% 114 p/s9456 / 10339 [---------------------------------------------------------------->_____] 91.46% 114 p/s9479 / 10339 [---------------------------------------------------------------->_____] 91.68% 114 p/s9502 / 10339 [---------------------------------------------------------------->_____] 91.90% 114 p/s9525 / 10339 [---------------------------------------------------------------->_____] 92.13% 114 p/s9548 / 10339 [---------------------------------------------------------------->_____] 92.35% 114 p/s9570 / 10339 [---------------------------------------------------------------->_____] 92.56% 114 p/s9593 / 10339 [---------------------------------------------------------------->_____] 92.78% 114 p/s9616 / 10339 [----------------------------------------------------------------->____] 93.01% 114 p/s9639 / 10339 [----------------------------------------------------------------->____] 93.23% 114 p/s9661 / 10339 [----------------------------------------------------------------->____] 93.44% 114 p/s9684 / 10339 [----------------------------------------------------------------->____] 93.66% 114 p/s9707 / 10339 [----------------------------------------------------------------->____] 93.89% 114 p/s9729 / 10339 [----------------------------------------------------------------->____] 94.10% 114 p/s9752 / 10339 [------------------------------------------------------------------>___] 94.32% 114 p/s9775 / 10339 [------------------------------------------------------------------>___] 94.54% 114 p/s9797 / 10339 [------------------------------------------------------------------>___] 94.76% 114 p/s9820 / 10339 [------------------------------------------------------------------>___] 94.98% 114 p/s9843 / 10339 [------------------------------------------------------------------>___] 95.20% 114 p/s9866 / 10339 [------------------------------------------------------------------>___] 95.43% 114 p/s9888 / 10339 [------------------------------------------------------------------>___] 95.64% 114 p/s9911 / 10339 [------------------------------------------------------------------->__] 95.86% 114 p/s9934 / 10339 [------------------------------------------------------------------->__] 96.08% 114 p/s9956 / 10339 [------------------------------------------------------------------->__] 96.30% 114 p/s9979 / 10339 [------------------------------------------------------------------->__] 96.52% 114 p/s10001 / 10339 [------------------------------------------------------------------>__] 96.73% 114 p/s10024 / 10339 [------------------------------------------------------------------>__] 96.95% 114 p/s10047 / 10339 [------------------------------------------------------------------->_] 97.18% 114 p/s10070 / 10339 [------------------------------------------------------------------->_] 97.40% 114 p/s10093 / 10339 [------------------------------------------------------------------->_] 97.62% 114 p/s10116 / 10339 [------------------------------------------------------------------->_] 97.84% 114 p/s10138 / 10339 [------------------------------------------------------------------->_] 98.06% 114 p/s10161 / 10339 [------------------------------------------------------------------->_] 98.28% 114 p/s10184 / 10339 [------------------------------------------------------------------->_] 98.50% 114 p/s10207 / 10339 [-------------------------------------------------------------------->] 98.72% 114 p/s10230 / 10339 [-------------------------------------------------------------------->] 98.95% 114 p/s10253 / 10339 [-------------------------------------------------------------------->] 99.17% 114 p/s10276 / 10339 [-------------------------------------------------------------------->] 99.39% 114 p/s10299 / 10339 [-------------------------------------------------------------------->] 99.61% 114 p/s10322 / 10339 [-------------------------------------------------------------------->] 99.84% 114 p/s10339 / 10339 [--------------------------------------------------------------------] 100.00% 115 p/s2026-08-05T09:33:05 - INFO: Parsing 10339 sonar sweeps from /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/10339 [00:00<?, ?it/s]
  0%|          | 3/10339 [00:00<06:12, 27.77it/s]
  0%|          | 6/10339 [00:00<06:09, 27.93it/s]
  0%|          | 9/10339 [00:00<06:07, 28.11it/s]
  0%|          | 12/10339 [00:00<06:06, 28.18it/s]
  0%|          | 15/10339 [00:00<06:06, 28.20it/s]
  0%|          | 18/10339 [00:00<06:07, 28.12it/s]
  0%|          | 21/10339 [00:00<06:06, 28.18it/s]
  0%|          | 24/10339 [00:00<06:05, 28.23it/s]
  0%|          | 27/10339 [00:00<06:06, 28.15it/s]
  0%|          | 30/10339 [00:01<06:05, 28.20it/s]
  0%|          | 33/10339 [00:01<06:06, 28.14it/s]
  0%|          | 36/10339 [00:01<06:05, 28.18it/s]
  0%|          | 39/10339 [00:01<06:05, 28.22it/s]
  0%|          | 42/10339 [00:01<06:04, 28.23it/s]
  0%|          | 45/10339 [00:01<06:04, 28.21it/s]
  0%|          | 48/10339 [00:01<06:16, 27.35it/s]
  0%|          | 51/10339 [00:01<06:12, 27.64it/s]
  1%|          | 54/10339 [00:01<06:09, 27.81it/s]
  1%|          | 57/10339 [00:02<06:09, 27.86it/s]
  1%|          | 60/10339 [00:02<06:07, 27.93it/s]
  1%|          | 63/10339 [00:02<06:06, 28.00it/s]
  1%|          | 66/10339 [00:02<06:05, 28.11it/s]
  1%|          | 69/10339 [00:02<06:05, 28.12it/s]
  1%|          | 72/10339 [00:02<06:05, 28.08it/s]
  1%|          | 75/10339 [00:02<06:04, 28.14it/s]
  1%|          | 78/10339 [00:02<06:03, 28.21it/s]
  1%|          | 81/10339 [00:02<06:03, 28.21it/s]
  1%|          | 84/10339 [00:02<06:03, 28.22it/s]
  1%|          | 87/10339 [00:03<06:04, 28.14it/s]
  1%|          | 90/10339 [00:03<06:04, 28.14it/s]
  1%|          | 93/10339 [00:03<06:04, 28.15it/s]
  1%|          | 96/10339 [00:03<06:03, 28.14it/s]
  1%|          | 99/10339 [00:03<06:02, 28.22it/s]
  1%|          | 102/10339 [00:03<06:02, 28.25it/s]
  1%|          | 105/10339 [00:03<06:02, 28.25it/s]
  1%|          | 108/10339 [00:03<06:02, 28.22it/s]
  1%|          | 111/10339 [00:03<06:03, 28.13it/s]
  1%|          | 114/10339 [00:04<06:03, 28.12it/s]
  1%|          | 117/10339 [00:04<06:08, 27.70it/s]
  1%|          | 120/10339 [00:04<06:11, 27.49it/s]
  1%|          | 123/10339 [00:04<06:12, 27.42it/s]
  1%|          | 126/10339 [00:04<06:12, 27.39it/s]
  1%|          | 129/10339 [00:04<06:14, 27.28it/s]
  1%|▏         | 132/10339 [00:04<06:14, 27.28it/s]
  1%|▏         | 135/10339 [00:04<06:13, 27.32it/s]
  1%|▏         | 138/10339 [00:04<06:14, 27.26it/s]
  1%|▏         | 141/10339 [00:05<06:12, 27.41it/s]
  1%|▏         | 144/10339 [00:05<06:08, 27.67it/s]
  1%|▏         | 147/10339 [00:05<06:04, 27.92it/s]
  1%|▏         | 150/10339 [00:05<06:03, 28.06it/s]
  1%|▏         | 153/10339 [00:05<06:03, 28.00it/s]
  2%|▏         | 156/10339 [00:05<06:02, 28.08it/s]
  2%|▏         | 159/10339 [00:05<06:02, 28.11it/s]
  2%|▏         | 162/10339 [00:05<06:01, 28.11it/s]
  2%|▏         | 165/10339 [00:05<06:01, 28.17it/s]
  2%|▏         | 168/10339 [00:06<06:00, 28.24it/s]
  2%|▏         | 171/10339 [00:06<06:00, 28.24it/s]
  2%|▏         | 174/10339 [00:06<05:59, 28.24it/s]
  2%|▏         | 177/10339 [00:06<06:00, 28.17it/s]
  2%|▏         | 180/10339 [00:06<06:14, 27.16it/s]
  2%|▏         | 183/10339 [00:06<06:10, 27.42it/s]
  2%|▏         | 186/10339 [00:06<06:06, 27.67it/s]
  2%|▏         | 189/10339 [00:06<06:04, 27.88it/s]
  2%|▏         | 192/10339 [00:06<06:02, 27.98it/s]
  2%|▏         | 195/10339 [00:06<06:01, 28.10it/s]
  2%|▏         | 198/10339 [00:07<05:59, 28.19it/s]
  2%|▏         | 201/10339 [00:07<05:58, 28.24it/s]
  2%|▏         | 204/10339 [00:07<05:59, 28.21it/s]
  2%|▏         | 207/10339 [00:07<05:59, 28.22it/s]
  2%|▏         | 210/10339 [00:07<05:58, 28.27it/s]
  2%|▏         | 213/10339 [00:07<05:59, 28.18it/s]
  2%|▏         | 216/10339 [00:07<06:00, 28.11it/s]
  2%|▏         | 219/10339 [00:07<05:58, 28.21it/s]
  2%|▏         | 222/10339 [00:07<05:58, 28.25it/s]
  2%|▏         | 225/10339 [00:08<05:58, 28.25it/s]
  2%|▏         | 228/10339 [00:08<05:58, 28.20it/s]
  2%|▏         | 231/10339 [00:08<05:57, 28.26it/s]
  2%|▏         | 234/10339 [00:08<05:56, 28.32it/s]
  2%|▏         | 237/10339 [00:08<05:58, 28.20it/s]
  2%|▏         | 240/10339 [00:08<05:59, 28.10it/s]
  2%|▏         | 243/10339 [00:08<05:58, 28.19it/s]
  2%|▏         | 246/10339 [00:08<05:57, 28.27it/s]
  2%|▏         | 249/10339 [00:08<05:57, 28.25it/s]
  2%|▏         | 252/10339 [00:08<05:56, 28.26it/s]
  2%|▏         | 255/10339 [00:09<05:56, 28.25it/s]
  2%|▏         | 258/10339 [00:09<05:57, 28.17it/s]
  3%|▎         | 261/10339 [00:09<05:58, 28.10it/s]
  3%|▎         | 264/10339 [00:09<05:59, 28.06it/s]
  3%|▎         | 267/10339 [00:09<05:59, 28.05it/s]
  3%|▎         | 270/10339 [00:09<05:58, 28.07it/s]
  3%|▎         | 273/10339 [00:09<05:59, 28.01it/s]
  3%|▎         | 276/10339 [00:09<05:59, 28.00it/s]
  3%|▎         | 279/10339 [00:09<05:59, 28.02it/s]
  3%|▎         | 282/10339 [00:10<05:58, 28.03it/s]
  3%|▎         | 285/10339 [00:10<05:58, 28.05it/s]
  3%|▎         | 288/10339 [00:10<05:59, 27.98it/s]
  3%|▎         | 291/10339 [00:10<05:58, 28.01it/s]
  3%|▎         | 294/10339 [00:10<05:58, 28.04it/s]
  3%|▎         | 297/10339 [00:10<05:58, 28.05it/s]
  3%|▎         | 300/10339 [00:10<05:57, 28.07it/s]
  3%|▎         | 303/10339 [00:10<05:57, 28.07it/s]
  3%|▎         | 306/10339 [00:10<05:56, 28.14it/s]
  3%|▎         | 309/10339 [00:11<05:57, 28.05it/s]
  3%|▎         | 312/10339 [00:11<05:59, 27.92it/s]
  3%|▎         | 315/10339 [00:11<06:18, 26.48it/s]
  3%|▎         | 318/10339 [00:11<06:11, 26.96it/s]
  3%|▎         | 321/10339 [00:11<06:08, 27.21it/s]
  3%|▎         | 324/10339 [00:11<06:04, 27.48it/s]
  3%|▎         | 327/10339 [00:11<06:02, 27.65it/s]
  3%|▎         | 330/10339 [00:11<06:00, 27.76it/s]
  3%|▎         | 333/10339 [00:11<05:59, 27.80it/s]
  3%|▎         | 336/10339 [00:12<05:59, 27.83it/s]
  3%|▎         | 339/10339 [00:12<05:58, 27.86it/s]
  3%|▎         | 342/10339 [00:12<05:58, 27.87it/s]
  3%|▎         | 345/10339 [00:12<05:57, 27.95it/s]
  3%|▎         | 348/10339 [00:12<05:56, 28.02it/s]
  3%|▎         | 351/10339 [00:12<05:55, 28.06it/s]
  3%|▎         | 354/10339 [00:12<05:56, 28.04it/s]
  3%|▎         | 357/10339 [00:12<05:55, 28.05it/s]
  3%|▎         | 360/10339 [00:12<05:56, 27.97it/s]
  4%|▎         | 363/10339 [00:12<05:57, 27.94it/s]
  4%|▎         | 366/10339 [00:13<05:56, 27.96it/s]
  4%|▎         | 369/10339 [00:13<05:55, 28.03it/s]
  4%|▎         | 372/10339 [00:13<05:56, 27.99it/s]
  4%|▎         | 375/10339 [00:13<05:59, 27.68it/s]
  4%|▎         | 378/10339 [00:13<05:58, 27.81it/s]
  4%|▎         | 381/10339 [00:13<05:58, 27.78it/s]
  4%|▎         | 384/10339 [00:13<05:58, 27.78it/s]
  4%|▎         | 387/10339 [00:13<05:58, 27.73it/s]
  4%|▍         | 390/10339 [00:13<05:58, 27.74it/s]
  4%|▍         | 393/10339 [00:14<05:59, 27.66it/s]
  4%|▍         | 396/10339 [00:14<06:00, 27.61it/s]
  4%|▍         | 399/10339 [00:14<06:07, 27.01it/s]
  4%|▍         | 402/10339 [00:14<06:06, 27.14it/s]
  4%|▍         | 405/10339 [00:14<06:04, 27.25it/s]
  4%|▍         | 408/10339 [00:14<06:04, 27.22it/s]
  4%|▍         | 411/10339 [00:14<06:03, 27.27it/s]
  4%|▍         | 414/10339 [00:14<06:01, 27.43it/s]
  4%|▍         | 417/10339 [00:14<06:00, 27.54it/s]
  4%|▍         | 420/10339 [00:15<06:03, 27.31it/s]
  4%|▍         | 423/10339 [00:15<06:02, 27.35it/s]
  4%|▍         | 426/10339 [00:15<06:01, 27.39it/s]
  4%|▍         | 429/10339 [00:15<06:01, 27.43it/s]
  4%|▍         | 432/10339 [00:15<06:00, 27.49it/s]
  4%|▍         | 435/10339 [00:15<06:00, 27.44it/s]
  4%|▍         | 438/10339 [00:15<05:59, 27.53it/s]
  4%|▍         | 441/10339 [00:15<06:00, 27.48it/s]
  4%|▍         | 444/10339 [00:15<05:59, 27.55it/s]
  4%|▍         | 447/10339 [00:16<06:25, 25.66it/s]
  4%|▍         | 450/10339 [00:16<06:17, 26.22it/s]
  4%|▍         | 453/10339 [00:16<06:10, 26.68it/s]
  4%|▍         | 456/10339 [00:16<06:07, 26.92it/s]
  4%|▍         | 459/10339 [00:16<06:07, 26.92it/s]
  4%|▍         | 462/10339 [00:16<06:05, 27.06it/s]
  4%|▍         | 465/10339 [00:16<06:03, 27.16it/s]
  5%|▍         | 468/10339 [00:16<06:03, 27.17it/s]
  5%|▍         | 471/10339 [00:16<06:01, 27.33it/s]
  5%|▍         | 474/10339 [00:17<05:59, 27.45it/s]
  5%|▍         | 477/10339 [00:17<05:59, 27.46it/s]
  5%|▍         | 480/10339 [00:17<05:59, 27.43it/s]
  5%|▍         | 483/10339 [00:17<05:58, 27.48it/s]
  5%|▍         | 486/10339 [00:17<05:57, 27.54it/s]
  5%|▍         | 489/10339 [00:17<05:57, 27.59it/s]
  5%|▍         | 492/10339 [00:17<05:56, 27.58it/s]
  5%|▍         | 495/10339 [00:17<05:56, 27.58it/s]
  5%|▍         | 498/10339 [00:17<05:56, 27.57it/s]
  5%|▍         | 501/10339 [00:18<05:56, 27.62it/s]
  5%|▍         | 504/10339 [00:18<05:55, 27.68it/s]
  5%|▍         | 507/10339 [00:18<05:55, 27.68it/s]
  5%|▍         | 510/10339 [00:18<05:55, 27.67it/s]
  5%|▍         | 513/10339 [00:18<05:55, 27.64it/s]
  5%|▍         | 516/10339 [00:18<05:55, 27.62it/s]
  5%|▌         | 519/10339 [00:18<05:55, 27.61it/s]
  5%|▌         | 522/10339 [00:18<05:55, 27.64it/s]
  5%|▌         | 525/10339 [00:18<05:54, 27.66it/s]
  5%|▌         | 528/10339 [00:18<05:54, 27.65it/s]
  5%|▌         | 531/10339 [00:19<05:54, 27.63it/s]
  5%|▌         | 534/10339 [00:19<05:54, 27.65it/s]
  5%|▌         | 537/10339 [00:19<05:54, 27.64it/s]
  5%|▌         | 540/10339 [00:19<05:54, 27.66it/s]
  5%|▌         | 543/10339 [00:19<05:55, 27.55it/s]
  5%|▌         | 546/10339 [00:19<05:55, 27.57it/s]
  5%|▌         | 549/10339 [00:19<05:55, 27.56it/s]
  5%|▌         | 552/10339 [00:19<05:54, 27.60it/s]
  5%|▌         | 555/10339 [00:19<05:54, 27.60it/s]
  5%|▌         | 558/10339 [00:20<05:54, 27.62it/s]
  5%|▌         | 561/10339 [00:20<05:53, 27.64it/s]
  5%|▌         | 564/10339 [00:20<05:53, 27.65it/s]
  5%|▌         | 567/10339 [00:20<05:53, 27.67it/s]
  6%|▌         | 570/10339 [00:20<05:53, 27.66it/s]
  6%|▌         | 573/10339 [00:20<05:53, 27.65it/s]
  6%|▌         | 576/10339 [00:20<05:55, 27.44it/s]
  6%|▌         | 579/10339 [00:20<05:56, 27.38it/s]
  6%|▌         | 582/10339 [00:20<05:57, 27.33it/s]
  6%|▌         | 585/10339 [00:21<05:57, 27.29it/s]
  6%|▌         | 588/10339 [00:21<05:56, 27.37it/s]
  6%|▌         | 591/10339 [00:21<05:55, 27.41it/s]
  6%|▌         | 594/10339 [00:21<05:55, 27.44it/s]
  6%|▌         | 597/10339 [00:21<05:55, 27.40it/s]
  6%|▌         | 600/10339 [00:21<05:54, 27.46it/s]
  6%|▌         | 603/10339 [00:21<05:55, 27.39it/s]
  6%|▌         | 606/10339 [00:21<05:54, 27.46it/s]
  6%|▌         | 609/10339 [00:21<05:55, 27.40it/s]
  6%|▌         | 612/10339 [00:22<05:55, 27.34it/s]
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2026-08-05T09:39:44 - INFO: Writing sonar_raw.track.cbor
2026-08-05T09:42:12 - 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 --sonar-flip /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc"
2026-08-05T09:42:12 - INFO: DataPrep 0.15.2a2
2026-08-05T09:42:12 - INFO: Prepared data will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/processing/data
2026-08-05T09:42:12 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-05T09:42:12 - deployment - INFO: Detected P3D version: P3D_1
2026-08-05T09:42:12 - INFO: Recording GUID: 9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-08-05T09:42:12 - INFO: Preparing sonar data...
2026-08-05T09:42:12 - INFO: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-05T09:42:21 - INFO: Sonar epoch is 2025-08-20 22:47:56.095679+00:00 (1755730076095678445)
2026-08-05T09:42:21 - INFO: Creating sonar sensor alignment track...
2026-08-05T09:42:21 - INFO: Using sonar rotation of -0.471239 radians for wedge mask
2026-08-05T09:42:21 - INFO: Using sonar digitizer
2026-08-05T09:42:21 - INFO: Sensor speed of sound is 1500 m/s
2026-08-05T09:42:21 - INFO: Sensor range is 0.939120 m
2026-08-05T09:42:21 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-05T09:42:21 - INFO: Scaled micrometres per sample is 3108.536247
2026-08-05T09:42:21 - INFO: Processing 10339 snapshot scans from 10339 source sweeps...
2026-08-05T09:42:21 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-05T09:43:39 - INFO: Applying sonar temporal consistency...
2026-08-05T09:44:08 - INFO: Sonar temporal gap fill (window 2): 2547564 points, 47704 candidate beams, filled 25205
2026-08-05T09:44:12 - INFO: Sonar temporal segment pruning (window 3): removed 507 segments, 9549 points
2026-08-05T09:44:29 - INFO: Prepared sonar data in 136.5305 s
2026-08-05T09:44:29 - INFO: No IMU data found
2026-08-05T09:44:30 - INFO: DataPrep took 0:02:17.934546
2026-08-05T09:44:30 - INFO: Extracted sonar data in 0:12:56.045408
2026-08-05T09:44:33 - INFO: MSIP3D took 0:12:58.882830