+ [ true = true ]
+ echo --counter
+ [ false = true ]
+ echo --no-video
+ [ false = true ]
+ echo --no-laser
+ [ true = true ]
+ echo --sonar
+ python -m msip3d -v -f --write-result --result-path /working/result.json --counter --no-video --no-laser --sonar --sonar-sample-offset -1 /working/441bf068-b6ce-84a2-325d-f7523e8c4043
2026-06-29T21:43:41 - INFO: MSIP3D 0.2.8
2026-06-29T21:43:42 - INFO: P3D files will be output to /working/441bf068-b6ce-84a2-325d-f7523e8c4043/441bf068-b6ce-84a2-325d-f7523e8c4043
2026-06-29T21:43:42 - INFO: Found 11 TFD dictionary entries
2026-06-29T21:43:42 - INFO: Found TFD mission for SJ502855 DEP 1
2026-06-29T21:43:42 - INFO: Recording will be processed as SMD
2026-06-29T21:43:42 - INFO: Copying assets JSON to output directory...
2026-06-29T21:43:42 - INFO: Preparing counter data...
2026-06-29T21:43:42 - INFO: Interpreting counter as imperial
2026-06-29T21:43:42 - INFO: Preparing size track from assets JSON...
2026-06-29T21:43:42 - INFO: Preparing shape track from assets JSON...
2026-06-29T21:43:42 - INFO: Preparing material track from assets JSON...
2026-06-29T21:43:42 - INFO: Prepared counter data in 0.1484 s
2026-06-29T21:43:42 - INFO: Extracting sonar data...
TFD path: /working/441bf068-b6ce-84a2-325d-f7523e8c4043/tfd/SJ502855_DEP_1.tfd
TFD path: /working/441bf068-b6ce-84a2-325d-f7523e8c4043/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 1191
9 / 1191 [>____________________________________________________________________________] 0.76% ? p/s19 / 1191 [->__________________________________________________________________________] 1.60% ? p/s29 / 1191 [->__________________________________________________________________________] 2.43% ? p/s38 / 1191 [-->________________________________________________________________________] 3.19% 48 p/s49 / 1191 [--->_______________________________________________________________________] 4.11% 48 p/s60 / 1191 [--->_______________________________________________________________________] 5.04% 48 p/s70 / 1191 [---->______________________________________________________________________] 5.88% 49 p/s81 / 1191 [----->_____________________________________________________________________] 6.80% 49 p/s93 / 1191 [----->_____________________________________________________________________] 7.81% 49 p/s103 / 1191 [------>___________________________________________________________________] 8.65% 49 p/s114 / 1191 [------->__________________________________________________________________] 9.57% 49 p/s124 / 1191 [------->_________________________________________________________________] 10.41% 49 p/s134 / 1191 [-------->________________________________________________________________] 11.25% 49 p/s144 / 1191 [-------->________________________________________________________________] 12.09% 49 p/s155 / 1191 [--------->_______________________________________________________________] 13.01% 49 p/s166 / 1191 [---------->______________________________________________________________] 13.94% 49 p/s177 / 1191 [---------->______________________________________________________________] 14.86% 49 p/s187 / 1191 [----------->_____________________________________________________________] 15.70% 49 p/s197 / 1191 [------------>____________________________________________________________] 16.54% 50 p/s207 / 1191 [------------>____________________________________________________________] 17.38% 50 p/s218 / 1191 [------------->___________________________________________________________] 18.30% 50 p/s229 / 1191 [-------------->__________________________________________________________] 19.23% 50 p/s239 / 1191 [-------------->__________________________________________________________] 20.07% 50 p/s248 / 1191 [--------------->_________________________________________________________] 20.82% 50 p/s260 / 1191 [--------------->_________________________________________________________] 21.83% 50 p/s269 / 1191 [---------------->________________________________________________________] 22.59% 50 p/s280 / 1191 [----------------->_______________________________________________________] 23.51% 50 p/s290 / 1191 [----------------->_______________________________________________________] 24.35% 50 p/s301 / 1191 [------------------>______________________________________________________] 25.27% 50 p/s311 / 1191 [------------------->_____________________________________________________] 26.11% 50 p/s321 / 1191 [------------------->_____________________________________________________] 26.95% 50 p/s333 / 1191 [-------------------->____________________________________________________] 27.96% 50 p/s344 / 1191 [--------------------->___________________________________________________] 28.88% 50 p/s355 / 1191 [--------------------->___________________________________________________] 29.81% 51 p/s365 / 1191 [---------------------->__________________________________________________] 30.65% 51 p/s375 / 1191 [---------------------->__________________________________________________] 31.49% 51 p/s386 / 1191 [----------------------->_________________________________________________] 32.41% 51 p/s397 / 1191 [------------------------>________________________________________________] 33.33% 51 p/s407 / 1191 [------------------------>________________________________________________] 34.17% 51 p/s417 / 1191 [------------------------->_______________________________________________] 35.01% 51 p/s428 / 1191 [-------------------------->______________________________________________] 35.94% 51 p/s439 / 1191 [-------------------------->______________________________________________] 36.86% 51 p/s450 / 1191 [--------------------------->_____________________________________________] 37.78% 51 p/s460 / 1191 [---------------------------->____________________________________________] 38.62% 51 p/s470 / 1191 [---------------------------->____________________________________________] 39.46% 51 p/s481 / 1191 [----------------------------->___________________________________________] 40.39% 51 p/s491 / 1191 [------------------------------>__________________________________________] 41.23% 51 p/s501 / 1191 [------------------------------>__________________________________________] 42.07% 51 p/s511 / 1191 [------------------------------->_________________________________________] 42.91% 51 p/s522 / 1191 [------------------------------->_________________________________________] 43.83% 51 p/s532 / 1191 [-------------------------------->________________________________________] 44.67% 51 p/s543 / 1191 [--------------------------------->_______________________________________] 45.59% 51 p/s554 / 1191 [--------------------------------->_______________________________________] 46.52% 51 p/s565 / 1191 [---------------------------------->______________________________________] 47.44% 51 p/s576 / 1191 [----------------------------------->_____________________________________] 48.36% 51 p/s587 / 1191 [----------------------------------->_____________________________________] 49.29% 51 p/s598 / 1191 [------------------------------------>____________________________________] 50.21% 51 p/s609 / 1191 [------------------------------------->___________________________________] 51.13% 52 p/s620 / 1191 [-------------------------------------->__________________________________] 52.06% 52 p/s631 / 1191 [-------------------------------------->__________________________________] 52.98% 52 p/s642 / 1191 [--------------------------------------->_________________________________] 53.90% 52 p/s651 / 1191 [--------------------------------------->_________________________________] 54.66% 52 p/s661 / 1191 [---------------------------------------->________________________________] 55.50% 52 p/s672 / 1191 [----------------------------------------->_______________________________] 56.42% 52 p/s682 / 1191 [----------------------------------------->_______________________________] 57.26% 52 p/s692 / 1191 [------------------------------------------>______________________________] 58.10% 52 p/s704 / 1191 [------------------------------------------->_____________________________] 59.11% 52 p/s715 / 1191 [------------------------------------------->_____________________________] 60.03% 52 p/s724 / 1191 [-------------------------------------------->____________________________] 60.79% 52 p/s734 / 1191 [-------------------------------------------->____________________________] 61.63% 52 p/s745 / 1191 [--------------------------------------------->___________________________] 62.55% 52 p/s755 / 1191 [---------------------------------------------->__________________________] 63.39% 52 p/s765 / 1191 [---------------------------------------------->__________________________] 64.23% 52 p/s774 / 1191 [----------------------------------------------->_________________________] 64.99% 52 p/s784 / 1191 [------------------------------------------------>________________________] 65.83% 52 p/s795 / 1191 [------------------------------------------------>________________________] 66.75% 52 p/s807 / 1191 [------------------------------------------------->_______________________] 67.76% 52 p/s817 / 1191 [-------------------------------------------------->______________________] 68.60% 52 p/s828 / 1191 [-------------------------------------------------->______________________] 69.52% 52 p/s838 / 1191 [--------------------------------------------------->_____________________] 70.36% 52 p/s849 / 1191 [---------------------------------------------------->____________________] 71.28% 52 p/s860 / 1191 [---------------------------------------------------->____________________] 72.21% 52 p/s871 / 1191 [----------------------------------------------------->___________________] 73.13% 52 p/s883 / 1191 [------------------------------------------------------>__________________] 74.14% 52 p/s893 / 1191 [------------------------------------------------------>__________________] 74.98% 52 p/s903 / 1191 [------------------------------------------------------->_________________] 75.82% 52 p/s914 / 1191 [-------------------------------------------------------->________________] 76.74% 52 p/s924 / 1191 [-------------------------------------------------------->________________] 77.58% 52 p/s934 / 1191 [--------------------------------------------------------->_______________] 78.42% 52 p/s945 / 1191 [--------------------------------------------------------->_______________] 79.35% 52 p/s957 / 1191 [---------------------------------------------------------->______________] 80.35% 52 p/s968 / 1191 [----------------------------------------------------------->_____________] 81.28% 52 p/s980 / 1191 [------------------------------------------------------------>____________] 82.28% 52 p/s990 / 1191 [------------------------------------------------------------>____________] 83.12% 52 p/s1001 / 1191 [------------------------------------------------------------>___________] 84.05% 52 p/s1011 / 1191 [------------------------------------------------------------->__________] 84.89% 52 p/s1021 / 1191 [------------------------------------------------------------->__________] 85.73% 52 p/s1032 / 1191 [-------------------------------------------------------------->_________] 86.65% 52 p/s1043 / 1191 [--------------------------------------------------------------->________] 87.57% 52 p/s1053 / 1191 [--------------------------------------------------------------->________] 88.41% 52 p/s1063 / 1191 [---------------------------------------------------------------->_______] 89.25% 52 p/s1073 / 1191 [---------------------------------------------------------------->_______] 90.09% 52 p/s1083 / 1191 [----------------------------------------------------------------->______] 90.93% 52 p/s1093 / 1191 [------------------------------------------------------------------>_____] 91.77% 52 p/s1104 / 1191 [------------------------------------------------------------------>_____] 92.70% 52 p/s1114 / 1191 [------------------------------------------------------------------->____] 93.53% 52 p/s1125 / 1191 [-------------------------------------------------------------------->___] 94.46% 52 p/s1137 / 1191 [-------------------------------------------------------------------->___] 95.47% 52 p/s1149 / 1191 [--------------------------------------------------------------------->__] 96.47% 53 p/s1160 / 1191 [---------------------------------------------------------------------->_] 97.40% 53 p/s1172 / 1191 [---------------------------------------------------------------------->_] 98.40% 53 p/s1183 / 1191 [----------------------------------------------------------------------->] 99.33% 53 p/s1191 / 1191 [-----------------------------------------------------------------------] 100.00% 53 p/s2026-06-29T21:44:04 - INFO: Parsing 1191 sonar sweeps from /working/441bf068-b6ce-84a2-325d-f7523e8c4043/tfd/output/SONAR/all-sweeps-info.csv...

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2026-06-29T21:45:25 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 17.8 --pressure 17.8 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/441bf068-b6ce-84a2-325d-f7523e8c4043/441bf068-b6ce-84a2-325d-f7523e8c4043"
2026-06-29T21:45:27 - INFO: DataPrep 0.14.7
2026-06-29T21:45:27 - INFO: Prepared data will be output to /working/441bf068-b6ce-84a2-325d-f7523e8c4043/441bf068-b6ce-84a2-325d-f7523e8c4043/processing/data
2026-06-29T21:45:27 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-29T21:45:27 - deployment - INFO: Detected P3D version: P3D_1
2026-06-29T21:45:27 - INFO: Recording GUID: 441bf068-b6ce-84a2-325d-f7523e8c4042
2026-06-29T21:45:27 - INFO: Preparing sonar data...
2026-06-29T21:45:27 - INFO: /working/441bf068-b6ce-84a2-325d-f7523e8c4043/441bf068-b6ce-84a2-325d-f7523e8c4043/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-29T21:45:29 - INFO: Sonar epoch is 2026-05-19 13:34:59.685468+00:00 (1779197699685467587)
2026-06-29T21:45:29 - INFO: Creating sonar sensor alignment track...
2026-06-29T21:45:29 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-06-29T21:45:29 - INFO: Sensor speed of sound is 1500 m/s
2026-06-29T21:45:29 - INFO: Sensor range is 1.228080 m
2026-06-29T21:45:29 - INFO: Sensor micrometres per sample is 4080.000114
2026-06-29T21:45:29 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-29T21:45:29 - INFO: Scaled range is 1.223568 m
2026-06-29T21:45:29 - INFO: Scaled micrometres per sample is 4065.009075
2026-06-29T21:45:29 - INFO: Processing 1191 sweeps...

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2026-06-29T21:45:33 - INFO: Prepared sonar data in 6.3736 s
2026-06-29T21:45:33 - INFO: No IMU data found
2026-06-29T21:45:33 - INFO: DataPrep took 0:00:06.547287
2026-06-29T21:45:34 - INFO: Extracted sonar data in 0:01:51.975158
2026-06-29T21:45:34 - INFO: MSIP3D took 0:01:52.287350