+ [ 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
2026-08-09T22:53:30 - INFO: MSIP3D 0.2.11
2026-08-09T22:53:30 - INFO: P3D files will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-08-09T22:53:31 - INFO: Found 10 TFD dictionary entries
2026-08-09T22:53:31 - INFO: Found TFD mission for DSSIN075-DSSIN071
2026-08-09T22:53:31 - INFO: Recording will be processed as MD
2026-08-09T22:53:31 - INFO: Copying assets JSON to output directory...
2026-08-09T22:53:31 - INFO: Preparing counter data...
2026-08-09T22:53:31 - INFO: Interpreting counter as metric
2026-08-09T22:53:31 - INFO: Preparing size track from assets JSON...
2026-08-09T22:53:31 - INFO: Preparing shape track from assets JSON...
2026-08-09T22:53:31 - INFO: Preparing material track from assets JSON...
2026-08-09T22:53:31 - INFO: Prepared counter data in 0.2469 s
2026-08-09T22:53:31 - 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: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: LASER, Tag: 4855215978501720652
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Getting track SONAR
Number of frames: 10339
20 / 10339 [>__________________________________________________________________________] 0.19% ? p/s41 / 10339 [>__________________________________________________________________________] 0.40% ? p/s61 / 10339 [>__________________________________________________________________________] 0.59% ? p/s84 / 10339 [>________________________________________________________________________] 0.81% 107 p/s107 / 10339 [>_______________________________________________________________________] 1.03% 107 p/s126 / 10339 [>_______________________________________________________________________] 1.22% 107 p/s148 / 10339 [->______________________________________________________________________] 1.43% 107 p/s169 / 10339 [->______________________________________________________________________] 1.63% 107 p/s193 / 10339 [->______________________________________________________________________] 1.87% 107 p/s215 / 10339 [->______________________________________________________________________] 2.08% 107 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p/s6848 / 10339 [---------------------------------------------->_______________________] 66.23% 101 p/s6871 / 10339 [---------------------------------------------->_______________________] 66.46% 101 p/s6894 / 10339 [---------------------------------------------->_______________________] 66.68% 102 p/s6915 / 10339 [---------------------------------------------->_______________________] 66.88% 102 p/s6934 / 10339 [---------------------------------------------->_______________________] 67.07% 102 p/s6949 / 10339 [----------------------------------------------->______________________] 67.21% 101 p/s6955 / 10339 [----------------------------------------------->______________________] 67.27% 101 p/s6977 / 10339 [----------------------------------------------->______________________] 67.48% 101 p/s6997 / 10339 [----------------------------------------------->______________________] 67.68% 100 p/s7016 / 10339 [----------------------------------------------->______________________] 67.86% 100 p/s7038 / 10339 [----------------------------------------------->______________________] 68.07% 100 p/s7058 / 10339 [----------------------------------------------->______________________] 68.27% 100 p/s7079 / 10339 [----------------------------------------------->______________________] 68.47% 100 p/s7098 / 10339 [------------------------------------------------>_____________________] 68.65% 100 p/s7119 / 10339 [------------------------------------------------>_____________________] 68.86% 100 p/s7140 / 10339 [------------------------------------------------>_____________________] 69.06% 100 p/s7161 / 10339 [------------------------------------------------>_____________________] 69.26% 100 p/s7184 / 10339 [------------------------------------------------>_____________________] 69.48% 100 p/s7204 / 10339 [------------------------------------------------>_____________________] 69.68% 100 p/s7226 / 10339 [------------------------------------------------>_____________________] 69.89% 100 p/s7247 / 10339 [------------------------------------------------->____________________] 70.09% 101 p/s7267 / 10339 [------------------------------------------------->____________________] 70.29% 101 p/s7288 / 10339 [------------------------------------------------->____________________] 70.49% 101 p/s7311 / 10339 [------------------------------------------------->____________________] 70.71% 101 p/s7333 / 10339 [------------------------------------------------->____________________] 70.93% 101 p/s7354 / 10339 [------------------------------------------------->____________________] 71.13% 101 p/s7375 / 10339 [------------------------------------------------->____________________] 71.33% 101 p/s7396 / 10339 [-------------------------------------------------->___________________] 71.53% 101 p/s7419 / 10339 [-------------------------------------------------->___________________] 71.76% 101 p/s7441 / 10339 [-------------------------------------------------->___________________] 71.97% 102 p/s7458 / 10339 [-------------------------------------------------->___________________] 72.13% 102 p/s7466 / 10339 [-------------------------------------------------->___________________] 72.21% 102 p/s7488 / 10339 [-------------------------------------------------->___________________] 72.42% 101 p/s7497 / 10339 [-------------------------------------------------->___________________] 72.51% 101 p/s7519 / 10339 [-------------------------------------------------->___________________] 72.72% 101 p/s7536 / 10339 [--------------------------------------------------->___________________] 72.89% 99 p/s7558 / 10339 [--------------------------------------------------->___________________] 73.10% 99 p/s7580 / 10339 [---------------------------------------------------->__________________] 73.31% 99 p/s7601 / 10339 [--------------------------------------------------->__________________] 73.52% 100 p/s7621 / 10339 [--------------------------------------------------->__________________] 73.71% 100 p/s7642 / 10339 [--------------------------------------------------->__________________] 73.91% 100 p/s7663 / 10339 [--------------------------------------------------->__________________] 74.12% 100 p/s7686 / 10339 [---------------------------------------------------->_________________] 74.34% 100 p/s7708 / 10339 [---------------------------------------------------->_________________] 74.55% 100 p/s7728 / 10339 [---------------------------------------------------->_________________] 74.75% 101 p/s7748 / 10339 [---------------------------------------------------->_________________] 74.94% 101 p/s7769 / 10339 [---------------------------------------------------->_________________] 75.14% 101 p/s7790 / 10339 [---------------------------------------------------->_________________] 75.35% 101 p/s7812 / 10339 [---------------------------------------------------->_________________] 75.56% 101 p/s7833 / 10339 [----------------------------------------------------->________________] 75.76% 101 p/s7852 / 10339 [----------------------------------------------------->________________] 75.95% 101 p/s7870 / 10339 [----------------------------------------------------->________________] 76.12% 101 p/s7892 / 10339 [----------------------------------------------------->________________] 76.33% 101 p/s7912 / 10339 [----------------------------------------------------->________________] 76.53% 101 p/s7932 / 10339 [----------------------------------------------------->________________] 76.72% 101 p/s7947 / 10339 [----------------------------------------------------->________________] 76.86% 101 p/s7953 / 10339 [------------------------------------------------------>________________] 76.92% 99 p/s7972 / 10339 [------------------------------------------------------>________________] 77.11% 99 p/s7995 / 10339 [------------------------------------------------------>________________] 77.33% 99 p/s8018 / 10339 [------------------------------------------------------->_______________] 77.55% 99 p/s8041 / 10339 [------------------------------------------------------->_______________] 77.77% 99 p/s8063 / 10339 [------------------------------------------------------->_______________] 77.99% 99 p/s8084 / 10339 [------------------------------------------------------>_______________] 78.19% 100 p/s8103 / 10339 [------------------------------------------------------>_______________] 78.37% 100 p/s8122 / 10339 [------------------------------------------------------>_______________] 78.56% 100 p/s8143 / 10339 [------------------------------------------------------->______________] 78.76% 100 p/s8164 / 10339 [------------------------------------------------------->______________] 78.96% 100 p/s8186 / 10339 [------------------------------------------------------->______________] 79.18% 100 p/s8209 / 10339 [------------------------------------------------------->______________] 79.40% 101 p/s8231 / 10339 [------------------------------------------------------->______________] 79.61% 101 p/s8254 / 10339 [------------------------------------------------------->______________] 79.83% 101 p/s8275 / 10339 [-------------------------------------------------------->_____________] 80.04% 101 p/s8295 / 10339 [-------------------------------------------------------->_____________] 80.23% 101 p/s8318 / 10339 [-------------------------------------------------------->_____________] 80.45% 101 p/s8340 / 10339 [-------------------------------------------------------->_____________] 80.67% 102 p/s8360 / 10339 [-------------------------------------------------------->_____________] 80.86% 102 p/s8381 / 10339 [-------------------------------------------------------->_____________] 81.06% 102 p/s8402 / 10339 [-------------------------------------------------------->_____________] 81.27% 102 p/s8424 / 10339 [--------------------------------------------------------->____________] 81.48% 102 p/s8447 / 10339 [--------------------------------------------------------->____________] 81.70% 102 p/s8463 / 10339 [--------------------------------------------------------->____________] 81.86% 102 p/s8472 / 10339 [--------------------------------------------------------->____________] 81.94% 102 p/s8494 / 10339 [--------------------------------------------------------->____________] 82.15% 102 p/s8516 / 10339 [--------------------------------------------------------->____________] 82.37% 101 p/s8539 / 10339 [--------------------------------------------------------->____________] 82.59% 101 p/s8561 / 10339 [--------------------------------------------------------->____________] 82.80% 101 p/s8584 / 10339 [---------------------------------------------------------->___________] 83.03% 102 p/s8606 / 10339 [---------------------------------------------------------->___________] 83.24% 102 p/s8628 / 10339 [---------------------------------------------------------->___________] 83.45% 102 p/s8649 / 10339 [---------------------------------------------------------->___________] 83.65% 102 p/s8669 / 10339 [---------------------------------------------------------->___________] 83.85% 102 p/s8691 / 10339 [---------------------------------------------------------->___________] 84.06% 102 p/s8713 / 10339 [---------------------------------------------------------->___________] 84.27% 102 p/s8735 / 10339 [----------------------------------------------------------->__________] 84.49% 102 p/s8757 / 10339 [----------------------------------------------------------->__________] 84.70% 102 p/s8780 / 10339 [----------------------------------------------------------->__________] 84.92% 103 p/s8797 / 10339 [----------------------------------------------------------->__________] 85.09% 103 p/s8813 / 10339 [----------------------------------------------------------->__________] 85.24% 103 p/s8830 / 10339 [----------------------------------------------------------->__________] 85.40% 102 p/s8852 / 10339 [----------------------------------------------------------->__________] 85.62% 102 p/s8873 / 10339 [------------------------------------------------------------>_________] 85.82% 102 p/s8889 / 10339 [------------------------------------------------------------>_________] 85.98% 102 p/s8910 / 10339 [------------------------------------------------------------>_________] 86.18% 102 p/s8931 / 10339 [------------------------------------------------------------>_________] 86.38% 102 p/s8952 / 10339 [------------------------------------------------------------>_________] 86.58% 102 p/s8968 / 10339 [------------------------------------------------------------>_________] 86.74% 102 p/s8982 / 10339 [------------------------------------------------------------>_________] 86.87% 102 p/s8999 / 10339 [------------------------------------------------------------>_________] 87.04% 100 p/s9019 / 10339 [------------------------------------------------------------->________] 87.23% 100 p/s9039 / 10339 [------------------------------------------------------------->________] 87.43% 100 p/s9061 / 10339 [------------------------------------------------------------->________] 87.64% 100 p/s9083 / 10339 [------------------------------------------------------------->________] 87.85% 100 p/s9104 / 10339 [------------------------------------------------------------->________] 88.05% 100 p/s9125 / 10339 [------------------------------------------------------------->________] 88.26% 101 p/s9148 / 10339 [------------------------------------------------------------->________] 88.48% 101 p/s9170 / 10339 [-------------------------------------------------------------->_______] 88.69% 101 p/s9193 / 10339 [-------------------------------------------------------------->_______] 88.92% 102 p/s9215 / 10339 [-------------------------------------------------------------->_______] 89.13% 102 p/s9237 / 10339 [-------------------------------------------------------------->_______] 89.34% 102 p/s9260 / 10339 [-------------------------------------------------------------->_______] 89.56% 102 p/s9282 / 10339 [-------------------------------------------------------------->_______] 89.78% 102 p/s9305 / 10339 [-------------------------------------------------------------->_______] 90.00% 102 p/s9327 / 10339 [--------------------------------------------------------------->______] 90.21% 103 p/s9348 / 10339 [--------------------------------------------------------------->______] 90.41% 103 p/s9371 / 10339 [--------------------------------------------------------------->______] 90.64% 103 p/s9393 / 10339 [--------------------------------------------------------------->______] 90.85% 103 p/s9416 / 10339 [--------------------------------------------------------------->______] 91.07% 103 p/s9439 / 10339 [--------------------------------------------------------------->______] 91.30% 103 p/s9462 / 10339 [---------------------------------------------------------------->_____] 91.52% 104 p/s9483 / 10339 [---------------------------------------------------------------->_____] 91.72% 104 p/s9500 / 10339 [---------------------------------------------------------------->_____] 91.89% 104 p/s9511 / 10339 [---------------------------------------------------------------->_____] 91.99% 103 p/s9533 / 10339 [---------------------------------------------------------------->_____] 92.20% 103 p/s9556 / 10339 [---------------------------------------------------------------->_____] 92.43% 103 p/s9579 / 10339 [---------------------------------------------------------------->_____] 92.65% 103 p/s9601 / 10339 [----------------------------------------------------------------->____] 92.86% 103 p/s9623 / 10339 [----------------------------------------------------------------->____] 93.07% 103 p/s9645 / 10339 [----------------------------------------------------------------->____] 93.29% 104 p/s9668 / 10339 [----------------------------------------------------------------->____] 93.51% 104 p/s9690 / 10339 [----------------------------------------------------------------->____] 93.72% 104 p/s9713 / 10339 [----------------------------------------------------------------->____] 93.95% 104 p/s9735 / 10339 [----------------------------------------------------------------->____] 94.16% 104 p/s9758 / 10339 [------------------------------------------------------------------>___] 94.38% 104 p/s9781 / 10339 [------------------------------------------------------------------>___] 94.60% 105 p/s9803 / 10339 [------------------------------------------------------------------>___] 94.82% 105 p/s9825 / 10339 [------------------------------------------------------------------>___] 95.03% 105 p/s9848 / 10339 [------------------------------------------------------------------>___] 95.25% 105 p/s9871 / 10339 [------------------------------------------------------------------>___] 95.47% 105 p/s9894 / 10339 [------------------------------------------------------------------>___] 95.70% 105 p/s9916 / 10339 [------------------------------------------------------------------->__] 95.91% 106 p/s9938 / 10339 [------------------------------------------------------------------->__] 96.12% 106 p/s9961 / 10339 [------------------------------------------------------------------->__] 96.34% 106 p/s9983 / 10339 [------------------------------------------------------------------->__] 96.56% 106 p/s10006 / 10339 [------------------------------------------------------------------>__] 96.78% 106 p/s10028 / 10339 [------------------------------------------------------------------>__] 96.99% 106 p/s10046 / 10339 [------------------------------------------------------------------->_] 97.17% 106 p/s10058 / 10339 [------------------------------------------------------------------->_] 97.28% 106 p/s10080 / 10339 [------------------------------------------------------------------->_] 97.49% 106 p/s10101 / 10339 [------------------------------------------------------------------->_] 97.70% 105 p/s10124 / 10339 [------------------------------------------------------------------->_] 97.92% 105 p/s10146 / 10339 [------------------------------------------------------------------->_] 98.13% 105 p/s10169 / 10339 [------------------------------------------------------------------->_] 98.36% 106 p/s10189 / 10339 [------------------------------------------------------------------->_] 98.55% 106 p/s10211 / 10339 [-------------------------------------------------------------------->] 98.76% 106 p/s10233 / 10339 [-------------------------------------------------------------------->] 98.97% 106 p/s10256 / 10339 [-------------------------------------------------------------------->] 99.20% 106 p/s10279 / 10339 [-------------------------------------------------------------------->] 99.42% 106 p/s10302 / 10339 [-------------------------------------------------------------------->] 99.64% 106 p/s10324 / 10339 [-------------------------------------------------------------------->] 99.85% 106 p/s10339 / 10339 [--------------------------------------------------------------------] 100.00% 102 p/s2026-08-09T22:55:13 - 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<06:37, 26.00it/s]
  0%|          | 6/10339 [00:00<06:29, 26.53it/s]
  0%|          | 9/10339 [00:00<06:32, 26.33it/s]
  0%|          | 12/10339 [00:00<06:36, 26.04it/s]
  0%|          | 15/10339 [00:00<06:25, 26.79it/s]
  0%|          | 18/10339 [00:00<06:19, 27.22it/s]
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  0%|          | 27/10339 [00:01<06:18, 27.25it/s]
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  0%|          | 33/10339 [00:01<06:17, 27.28it/s]
  0%|          | 36/10339 [00:01<06:17, 27.31it/s]
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  0%|          | 42/10339 [00:01<06:17, 27.24it/s]
  0%|          | 45/10339 [00:01<06:15, 27.43it/s]
  0%|          | 48/10339 [00:01<06:23, 26.85it/s]
  0%|          | 51/10339 [00:01<06:21, 26.99it/s]
  1%|          | 54/10339 [00:01<06:20, 27.06it/s]
  1%|          | 57/10339 [00:02<06:18, 27.14it/s]
  1%|          | 60/10339 [00:02<08:08, 21.03it/s]
  1%|          | 63/10339 [00:02<07:35, 22.57it/s]
  1%|          | 66/10339 [00:02<07:11, 23.79it/s]
  1%|          | 69/10339 [00:02<06:51, 24.95it/s]
  1%|          | 72/10339 [00:02<06:37, 25.81it/s]
  1%|          | 75/10339 [00:02<06:27, 26.48it/s]
  1%|          | 78/10339 [00:02<06:20, 26.93it/s]
  1%|          | 81/10339 [00:03<06:16, 27.22it/s]
  1%|          | 84/10339 [00:03<06:13, 27.44it/s]
  1%|          | 87/10339 [00:03<06:12, 27.55it/s]
  1%|          | 90/10339 [00:03<06:10, 27.65it/s]
  1%|          | 93/10339 [00:03<06:09, 27.72it/s]
  1%|          | 96/10339 [00:03<06:09, 27.74it/s]
  1%|          | 99/10339 [00:03<06:11, 27.57it/s]
  1%|          | 102/10339 [00:03<06:15, 27.25it/s]
  1%|          | 105/10339 [00:03<06:15, 27.24it/s]
  1%|          | 108/10339 [00:04<06:15, 27.24it/s]
  1%|          | 111/10339 [00:04<06:15, 27.26it/s]
  1%|          | 114/10339 [00:04<06:14, 27.29it/s]
  1%|          | 117/10339 [00:04<06:18, 26.99it/s]
  1%|          | 120/10339 [00:04<06:22, 26.73it/s]
  1%|          | 123/10339 [00:04<06:23, 26.62it/s]
  1%|          | 126/10339 [00:04<06:23, 26.61it/s]
  1%|          | 129/10339 [00:04<06:23, 26.62it/s]
  1%|▏         | 132/10339 [00:04<06:23, 26.61it/s]
  1%|▏         | 135/10339 [00:05<06:24, 26.54it/s]
  1%|▏         | 138/10339 [00:05<06:23, 26.57it/s]
  1%|▏         | 141/10339 [00:05<06:22, 26.67it/s]
  1%|▏         | 144/10339 [00:05<06:19, 26.87it/s]
  1%|▏         | 147/10339 [00:05<06:17, 27.00it/s]
  1%|▏         | 150/10339 [00:05<06:15, 27.14it/s]
  1%|▏         | 153/10339 [00:05<06:12, 27.33it/s]
  2%|▏         | 156/10339 [00:05<06:10, 27.49it/s]
  2%|▏         | 159/10339 [00:05<06:08, 27.61it/s]
  2%|▏         | 162/10339 [00:06<06:06, 27.74it/s]
  2%|▏         | 165/10339 [00:06<06:05, 27.83it/s]
  2%|▏         | 168/10339 [00:06<06:04, 27.89it/s]
  2%|▏         | 171/10339 [00:06<06:03, 27.96it/s]
  2%|▏         | 174/10339 [00:06<06:03, 27.99it/s]
  2%|▏         | 177/10339 [00:06<06:02, 28.03it/s]
  2%|▏         | 180/10339 [00:06<06:19, 26.79it/s]
  2%|▏         | 183/10339 [00:06<06:13, 27.16it/s]
  2%|▏         | 186/10339 [00:06<06:10, 27.41it/s]
  2%|▏         | 189/10339 [00:07<06:08, 27.55it/s]
  2%|▏         | 192/10339 [00:07<06:07, 27.64it/s]
  2%|▏         | 195/10339 [00:07<08:26, 20.04it/s]
  2%|▏         | 198/10339 [00:07<07:42, 21.91it/s]
  2%|▏         | 201/10339 [00:07<07:12, 23.43it/s]
  2%|▏         | 204/10339 [00:07<06:52, 24.60it/s]
  2%|▏         | 207/10339 [00:07<06:37, 25.51it/s]
  2%|▏         | 210/10339 [00:07<06:26, 26.20it/s]
  2%|▏         | 213/10339 [00:08<06:19, 26.72it/s]
  2%|▏         | 216/10339 [00:08<06:14, 27.06it/s]
  2%|▏         | 219/10339 [00:08<06:10, 27.33it/s]
  2%|▏         | 222/10339 [00:08<06:07, 27.54it/s]
  2%|▏         | 225/10339 [00:08<06:05, 27.65it/s]
  2%|▏         | 228/10339 [00:08<06:04, 27.71it/s]
  2%|▏         | 231/10339 [00:08<06:03, 27.79it/s]
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  2%|▏         | 237/10339 [00:08<06:02, 27.87it/s]
  2%|▏         | 240/10339 [00:08<06:02, 27.88it/s]
  2%|▏         | 243/10339 [00:09<06:01, 27.90it/s]
  2%|▏         | 246/10339 [00:09<06:02, 27.87it/s]
  2%|▏         | 249/10339 [00:09<06:02, 27.81it/s]
  2%|▏         | 252/10339 [00:09<06:02, 27.82it/s]
  2%|▏         | 255/10339 [00:09<06:01, 27.88it/s]
  2%|▏         | 258/10339 [00:09<06:04, 27.69it/s]
  3%|▎         | 261/10339 [00:09<06:03, 27.73it/s]
  3%|▎         | 264/10339 [00:09<06:02, 27.78it/s]
  3%|▎         | 267/10339 [00:09<06:01, 27.85it/s]
  3%|▎         | 270/10339 [00:10<06:01, 27.84it/s]
  3%|▎         | 273/10339 [00:10<06:00, 27.90it/s]
  3%|▎         | 276/10339 [00:10<06:00, 27.90it/s]
  3%|▎         | 279/10339 [00:10<06:00, 27.92it/s]
  3%|▎         | 282/10339 [00:10<06:00, 27.90it/s]
  3%|▎         | 285/10339 [00:10<06:00, 27.89it/s]
  3%|▎         | 288/10339 [00:10<06:00, 27.87it/s]
  3%|▎         | 291/10339 [00:10<05:59, 27.94it/s]
  3%|▎         | 294/10339 [00:10<05:59, 27.93it/s]
  3%|▎         | 297/10339 [00:11<05:59, 27.96it/s]
  3%|▎         | 300/10339 [00:11<05:59, 27.95it/s]
  3%|▎         | 303/10339 [00:11<05:58, 27.96it/s]
  3%|▎         | 306/10339 [00:11<05:58, 27.95it/s]
  3%|▎         | 309/10339 [00:11<05:58, 27.96it/s]
  3%|▎         | 312/10339 [00:11<06:01, 27.75it/s]
  3%|▎         | 315/10339 [00:11<06:23, 26.15it/s]
  3%|▎         | 318/10339 [00:11<06:15, 26.68it/s]
  3%|▎         | 321/10339 [00:11<06:09, 27.11it/s]
  3%|▎         | 324/10339 [00:12<06:05, 27.42it/s]
  3%|▎         | 327/10339 [00:12<06:02, 27.63it/s]
  3%|▎         | 330/10339 [00:12<06:00, 27.77it/s]
  3%|▎         | 333/10339 [00:12<07:37, 21.89it/s]
  3%|▎         | 336/10339 [00:12<07:06, 23.43it/s]
  3%|▎         | 339/10339 [00:12<06:46, 24.57it/s]
  3%|▎         | 342/10339 [00:12<06:32, 25.47it/s]
  3%|▎         | 345/10339 [00:12<06:21, 26.21it/s]
  3%|▎         | 348/10339 [00:12<06:14, 26.70it/s]
  3%|▎         | 351/10339 [00:13<06:09, 27.00it/s]
  3%|▎         | 354/10339 [00:13<06:07, 27.21it/s]
  3%|▎         | 357/10339 [00:13<06:03, 27.45it/s]
  3%|▎         | 360/10339 [00:13<06:01, 27.59it/s]
  4%|▎         | 363/10339 [00:13<06:00, 27.66it/s]
  4%|▎         | 366/10339 [00:13<05:59, 27.75it/s]
  4%|▎         | 369/10339 [00:13<05:58, 27.84it/s]
  4%|▎         | 372/10339 [00:13<05:57, 27.90it/s]
  4%|▎         | 375/10339 [00:13<05:57, 27.90it/s]
  4%|▎         | 378/10339 [00:14<05:56, 27.93it/s]
  4%|▎         | 381/10339 [00:14<05:55, 27.99it/s]
  4%|▎         | 384/10339 [00:14<05:56, 27.89it/s]
  4%|▎         | 387/10339 [00:14<05:59, 27.72it/s]
  4%|▍         | 390/10339 [00:14<06:01, 27.55it/s]
  4%|▍         | 393/10339 [00:14<06:00, 27.62it/s]
  4%|▍         | 396/10339 [00:14<05:59, 27.62it/s]
  4%|▍         | 399/10339 [00:14<05:59, 27.65it/s]
  4%|▍         | 402/10339 [00:14<05:59, 27.67it/s]
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  4%|▍         | 408/10339 [00:15<05:58, 27.68it/s]
  4%|▍         | 411/10339 [00:15<05:59, 27.63it/s]
  4%|▍         | 414/10339 [00:15<05:59, 27.61it/s]
  4%|▍         | 417/10339 [00:15<05:58, 27.64it/s]
  4%|▍         | 420/10339 [00:15<05:58, 27.67it/s]
  4%|▍         | 423/10339 [00:15<05:59, 27.61it/s]
  4%|▍         | 426/10339 [00:15<05:58, 27.65it/s]
  4%|▍         | 429/10339 [00:15<05:57, 27.70it/s]
  4%|▍         | 432/10339 [00:16<05:57, 27.68it/s]
  4%|▍         | 435/10339 [00:16<05:57, 27.67it/s]
  4%|▍         | 438/10339 [00:16<05:57, 27.67it/s]
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  4%|▍         | 444/10339 [00:16<05:57, 27.67it/s]
  4%|▍         | 447/10339 [00:16<06:29, 25.43it/s]
  4%|▍         | 450/10339 [00:16<06:22, 25.84it/s]
  4%|▍         | 453/10339 [00:16<06:17, 26.16it/s]
  4%|▍         | 456/10339 [00:16<06:14, 26.40it/s]
  4%|▍         | 459/10339 [00:17<06:12, 26.56it/s]
  4%|▍         | 462/10339 [00:17<06:10, 26.67it/s]
  4%|▍         | 465/10339 [00:17<06:10, 26.67it/s]
  5%|▍         | 468/10339 [00:17<06:45, 24.35it/s]
  5%|▍         | 471/10339 [00:17<06:33, 25.07it/s]
  5%|▍         | 474/10339 [00:17<06:24, 25.66it/s]
  5%|▍         | 477/10339 [00:17<06:18, 26.03it/s]
  5%|▍         | 480/10339 [00:17<06:13, 26.41it/s]
  5%|▍         | 483/10339 [00:17<06:08, 26.75it/s]
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2026-08-09T23:01:42 - INFO: Writing sonar_raw.track.cbor
2026-08-09T23:04:15 - 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"
2026-08-09T23:04:15 - INFO: DataPrep 0.15.2a2
2026-08-09T23:04:15 - INFO: Prepared data will be output to /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/processing/data
2026-08-09T23:04:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-08-09T23:04:15 - deployment - INFO: Detected P3D version: P3D_1
2026-08-09T23:04:15 - INFO: Recording GUID: 9667d9e2-f5c4-9b14-2ad5-fa61699e61bc
2026-08-09T23:04:15 - INFO: Preparing sonar data...
2026-08-09T23:04:15 - INFO: /working/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/9667d9e2-f5c4-9b14-2ad5-fa61699e61bc/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-08-09T23:04:24 - INFO: Sonar epoch is 2025-08-20 22:47:56.095679+00:00 (1755730076095678445)
2026-08-09T23:04:24 - INFO: Creating sonar sensor alignment track...
2026-08-09T23:04:24 - INFO: Using sonar rotation of -0.471239 radians for wedge mask
2026-08-09T23:04:24 - INFO: Using sonar digitizer
2026-08-09T23:04:24 - INFO: Sensor speed of sound is 1500 m/s
2026-08-09T23:04:24 - INFO: Sensor range is 0.939120 m
2026-08-09T23:04:24 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-08-09T23:04:24 - INFO: Scaled micrometres per sample is 3108.536247
2026-08-09T23:04:24 - INFO: Processing 10339 snapshot scans from 10339 source sweeps...
2026-08-09T23:04:24 - INFO: Processing sonar scans with 8 worker processes and chunksize 64

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2026-08-09T23:05:40 - INFO: Applying sonar temporal consistency...
2026-08-09T23:06:09 - INFO: Sonar temporal gap fill (window 2): 2547564 points, 47704 candidate beams, filled 25205
2026-08-09T23:06:13 - INFO: Sonar temporal segment pruning (window 3): removed 507 segments, 9549 points
2026-08-09T23:06:30 - INFO: Prepared sonar data in 134.3375 s
2026-08-09T23:06:30 - INFO: No IMU data found
2026-08-09T23:06:31 - INFO: DataPrep took 0:02:15.676589
2026-08-09T23:06:31 - INFO: Extracted sonar data in 0:13:00.183811
2026-08-09T23:06:34 - INFO: MSIP3D took 0:13:03.078766