+ [ 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/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2
2026-06-29T21:37:24 - INFO: MSIP3D 0.2.8
2026-06-29T21:37:24 - INFO: P3D files will be output to /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2
2026-06-29T21:37:25 - INFO: Found 11 TFD dictionary entries
2026-06-29T21:37:25 - INFO: Found TFD mission for SJ502855 DEP 5
2026-06-29T21:37:25 - INFO: Recording will be processed as SMD
2026-06-29T21:37:25 - INFO: Copying assets JSON to output directory...
2026-06-29T21:37:25 - INFO: Preparing counter data...
2026-06-29T21:37:25 - INFO: Interpreting counter as imperial
2026-06-29T21:37:25 - INFO: Preparing size track from assets JSON...
2026-06-29T21:37:25 - INFO: Preparing shape track from assets JSON...
2026-06-29T21:37:25 - INFO: Preparing material track from assets JSON...
2026-06-29T21:37:25 - INFO: Prepared counter data in 0.1609 s
2026-06-29T21:37:25 - INFO: Extracting sonar data...
TFD path: /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/tfd/SJ502855_DEP_5.tfd
TFD path: /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Getting track SONAR
Number of frames: 4079
19 / 4079 [>___________________________________________________________________________] 0.47% ? p/s39 / 4079 [>___________________________________________________________________________] 0.96% ? p/s59 / 4079 [->__________________________________________________________________________] 1.45% ? p/s79 / 4079 [->________________________________________________________________________] 1.94% 100 p/s99 / 4079 [->________________________________________________________________________] 2.43% 100 p/s120 / 4079 [-->______________________________________________________________________] 2.94% 100 p/s139 / 4079 [-->______________________________________________________________________] 3.41% 100 p/s159 / 4079 [-->______________________________________________________________________] 3.90% 100 p/s179 / 4079 [--->_____________________________________________________________________] 4.39% 100 p/s199 / 4079 [--->_____________________________________________________________________] 4.88% 100 p/s219 / 4079 [--->_____________________________________________________________________] 5.37% 100 p/s240 / 4079 [---->____________________________________________________________________] 5.88% 100 p/s259 / 4079 [---->____________________________________________________________________] 6.35% 100 p/s279 / 4079 [---->____________________________________________________________________] 6.84% 100 p/s299 / 4079 [----->___________________________________________________________________] 7.33% 100 p/s320 / 4079 [----->___________________________________________________________________] 7.85% 100 p/s340 / 4079 [------>__________________________________________________________________] 8.34% 100 p/s360 / 4079 [------>__________________________________________________________________] 8.83% 100 p/s380 / 4079 [------>__________________________________________________________________] 9.32% 100 p/s401 / 4079 [------->_________________________________________________________________] 9.83% 100 p/s421 / 4079 [------->________________________________________________________________] 10.32% 100 p/s441 / 4079 [------->________________________________________________________________] 10.81% 100 p/s461 / 4079 [-------->_______________________________________________________________] 11.30% 100 p/s481 / 4079 [-------->_______________________________________________________________] 11.79% 100 p/s501 / 4079 [-------->_______________________________________________________________] 12.28% 100 p/s521 / 4079 [--------->______________________________________________________________] 12.77% 100 p/s541 / 4079 [--------->______________________________________________________________] 13.26% 100 p/s561 / 4079 [--------->______________________________________________________________] 13.75% 100 p/s581 / 4079 [---------->_____________________________________________________________] 14.24% 100 p/s601 / 4079 [---------->_____________________________________________________________] 14.73% 100 p/s622 / 4079 [---------->_____________________________________________________________] 15.25% 100 p/s642 / 4079 [----------->____________________________________________________________] 15.74% 100 p/s662 / 4079 [----------->____________________________________________________________] 16.23% 100 p/s682 / 4079 [------------>___________________________________________________________] 16.72% 100 p/s702 / 4079 [------------>___________________________________________________________] 17.21% 100 p/s722 / 4079 [------------>___________________________________________________________] 17.70% 100 p/s742 / 4079 [------------->__________________________________________________________] 18.19% 100 p/s762 / 4079 [------------->__________________________________________________________] 18.68% 100 p/s783 / 4079 [------------->__________________________________________________________] 19.20% 100 p/s803 / 4079 [-------------->_________________________________________________________] 19.69% 100 p/s823 / 4079 [-------------->_________________________________________________________] 20.18% 100 p/s843 / 4079 [-------------->_________________________________________________________] 20.67% 100 p/s863 / 4079 [--------------->________________________________________________________] 21.16% 100 p/s883 / 4079 [--------------->________________________________________________________] 21.65% 100 p/s903 / 4079 [--------------->________________________________________________________] 22.14% 100 p/s923 / 4079 [---------------->_______________________________________________________] 22.63% 100 p/s943 / 4079 [---------------->_______________________________________________________] 23.12% 100 p/s963 / 4079 [---------------->_______________________________________________________] 23.61% 100 p/s983 / 4079 [----------------->______________________________________________________] 24.10% 100 p/s1003 / 4079 [----------------->_____________________________________________________] 24.59% 100 p/s1022 / 4079 [----------------->_____________________________________________________] 25.06% 100 p/s1042 / 4079 [------------------>____________________________________________________] 25.55% 100 p/s1063 / 4079 [------------------>____________________________________________________] 26.06% 100 p/s1083 / 4079 [------------------>____________________________________________________] 26.55% 100 p/s1103 / 4079 [------------------->___________________________________________________] 27.04% 100 p/s1123 / 4079 [------------------->___________________________________________________] 27.53% 100 p/s1144 / 4079 [------------------->___________________________________________________] 28.05% 100 p/s1164 / 4079 [-------------------->__________________________________________________] 28.54% 100 p/s1184 / 4079 [-------------------->__________________________________________________] 29.03% 100 p/s1203 / 4079 [-------------------->__________________________________________________] 29.49% 100 p/s1224 / 4079 [--------------------->_________________________________________________] 30.01% 100 p/s1244 / 4079 [--------------------->_________________________________________________] 30.50% 100 p/s1264 / 4079 [---------------------->________________________________________________] 30.99% 100 p/s1284 / 4079 [---------------------->________________________________________________] 31.48% 100 p/s1304 / 4079 [---------------------->________________________________________________] 31.97% 100 p/s1325 / 4079 [----------------------->_______________________________________________] 32.48% 100 p/s1345 / 4079 [----------------------->_______________________________________________] 32.97% 100 p/s1365 / 4079 [----------------------->_______________________________________________] 33.46% 100 p/s1385 / 4079 [------------------------>______________________________________________] 33.95% 100 p/s1406 / 4079 [------------------------>______________________________________________] 34.47% 100 p/s1426 / 4079 [------------------------>______________________________________________] 34.96% 100 p/s1446 / 4079 [------------------------->_____________________________________________] 35.45% 100 p/s1466 / 4079 [------------------------->_____________________________________________] 35.94% 100 p/s1487 / 4079 [------------------------->_____________________________________________] 36.46% 100 p/s1507 / 4079 [-------------------------->____________________________________________] 36.95% 100 p/s1527 / 4079 [-------------------------->____________________________________________] 37.44% 101 p/s1547 / 4079 [-------------------------->____________________________________________] 37.93% 101 p/s1567 / 4079 [--------------------------->___________________________________________] 38.42% 101 p/s1588 / 4079 [--------------------------->___________________________________________] 38.93% 101 p/s1608 / 4079 [--------------------------->___________________________________________] 39.42% 101 p/s1628 / 4079 [---------------------------->__________________________________________] 39.91% 101 p/s1648 / 4079 [---------------------------->__________________________________________] 40.40% 101 p/s1668 / 4079 [----------------------------->_________________________________________] 40.89% 101 p/s1688 / 4079 [----------------------------->_________________________________________] 41.38% 101 p/s1708 / 4079 [----------------------------->_________________________________________] 41.87% 101 p/s1729 / 4079 [------------------------------>________________________________________] 42.39% 101 p/s1749 / 4079 [------------------------------>________________________________________] 42.88% 101 p/s1769 / 4079 [------------------------------>________________________________________] 43.37% 101 p/s1789 / 4079 [------------------------------->_______________________________________] 43.86% 101 p/s1810 / 4079 [------------------------------->_______________________________________] 44.37% 101 p/s1830 / 4079 [------------------------------->_______________________________________] 44.86% 101 p/s1850 / 4079 [-------------------------------->______________________________________] 45.35% 101 p/s1871 / 4079 [-------------------------------->______________________________________] 45.87% 101 p/s1890 / 4079 [-------------------------------->______________________________________] 46.33% 101 p/s1910 / 4079 [--------------------------------->_____________________________________] 46.83% 101 p/s1930 / 4079 [--------------------------------->_____________________________________] 47.32% 101 p/s1950 / 4079 [--------------------------------->_____________________________________] 47.81% 101 p/s1970 / 4079 [---------------------------------->____________________________________] 48.30% 101 p/s1990 / 4079 [---------------------------------->____________________________________] 48.79% 101 p/s2010 / 4079 [---------------------------------->____________________________________] 49.28% 101 p/s2031 / 4079 [----------------------------------->___________________________________] 49.79% 101 p/s2050 / 4079 [----------------------------------->___________________________________] 50.26% 101 p/s2070 / 4079 [------------------------------------>__________________________________] 50.75% 101 p/s2090 / 4079 [------------------------------------>__________________________________] 51.24% 101 p/s2110 / 4079 [------------------------------------>__________________________________] 51.73% 101 p/s2130 / 4079 [------------------------------------->_________________________________] 52.22% 100 p/s2150 / 4079 [------------------------------------->_________________________________] 52.71% 100 p/s2170 / 4079 [------------------------------------->_________________________________] 53.20% 100 p/s2191 / 4079 [-------------------------------------->________________________________] 53.71% 101 p/s2211 / 4079 [-------------------------------------->________________________________] 54.20% 101 p/s2231 / 4079 [-------------------------------------->________________________________] 54.69% 101 p/s2251 / 4079 [--------------------------------------->_______________________________] 55.19% 101 p/s2271 / 4079 [--------------------------------------->_______________________________] 55.68% 101 p/s2292 / 4079 [--------------------------------------->_______________________________] 56.19% 101 p/s2312 / 4079 [---------------------------------------->______________________________] 56.68% 101 p/s2332 / 4079 [---------------------------------------->______________________________] 57.17% 101 p/s2352 / 4079 [---------------------------------------->______________________________] 57.66% 101 p/s2372 / 4079 [----------------------------------------->_____________________________] 58.15% 101 p/s2392 / 4079 [----------------------------------------->_____________________________] 58.64% 101 p/s2412 / 4079 [----------------------------------------->_____________________________] 59.13% 101 p/s2433 / 4079 [------------------------------------------>____________________________] 59.65% 101 p/s2452 / 4079 [------------------------------------------>____________________________] 60.11% 101 p/s2473 / 4079 [------------------------------------------->___________________________] 60.63% 101 p/s2493 / 4079 [------------------------------------------->___________________________] 61.12% 101 p/s2513 / 4079 [------------------------------------------->___________________________] 61.61% 101 p/s2533 / 4079 [-------------------------------------------->__________________________] 62.10% 101 p/s2553 / 4079 [-------------------------------------------->__________________________] 62.59% 101 p/s2573 / 4079 [-------------------------------------------->__________________________] 63.08% 101 p/s2593 / 4079 [--------------------------------------------->_________________________] 63.57% 101 p/s2614 / 4079 [--------------------------------------------->_________________________] 64.08% 101 p/s2634 / 4079 [--------------------------------------------->_________________________] 64.57% 101 p/s2654 / 4079 [---------------------------------------------->________________________] 65.06% 101 p/s2674 / 4079 [---------------------------------------------->________________________] 65.56% 101 p/s2694 / 4079 [---------------------------------------------->________________________] 66.05% 101 p/s2714 / 4079 [----------------------------------------------->_______________________] 66.54% 101 p/s2734 / 4079 [----------------------------------------------->_______________________] 67.03% 101 p/s2754 / 4079 [----------------------------------------------->_______________________] 67.52% 101 p/s2774 / 4079 [------------------------------------------------>______________________] 68.01% 101 p/s2794 / 4079 [------------------------------------------------>______________________] 68.50% 101 p/s2814 / 4079 [------------------------------------------------>______________________] 68.99% 101 p/s2834 / 4079 [------------------------------------------------->_____________________] 69.48% 101 p/s2854 / 4079 [------------------------------------------------->_____________________] 69.97% 100 p/s2874 / 4079 [-------------------------------------------------->____________________] 70.46% 100 p/s2895 / 4079 [-------------------------------------------------->____________________] 70.97% 100 p/s2914 / 4079 [-------------------------------------------------->____________________] 71.44% 100 p/s2934 / 4079 [--------------------------------------------------->___________________] 71.93% 100 p/s2954 / 4079 [--------------------------------------------------->___________________] 72.42% 100 p/s2974 / 4079 [--------------------------------------------------->___________________] 72.91% 100 p/s2994 / 4079 [---------------------------------------------------->__________________] 73.40% 100 p/s3015 / 4079 [---------------------------------------------------->__________________] 73.92% 100 p/s3035 / 4079 [---------------------------------------------------->__________________] 74.41% 100 p/s3055 / 4079 [----------------------------------------------------->_________________] 74.90% 100 p/s3075 / 4079 [----------------------------------------------------->_________________] 75.39% 100 p/s3095 / 4079 [----------------------------------------------------->_________________] 75.88% 100 p/s3116 / 4079 [------------------------------------------------------>________________] 76.39% 100 p/s3136 / 4079 [------------------------------------------------------>________________] 76.88% 100 p/s3156 / 4079 [------------------------------------------------------>________________] 77.37% 101 p/s3176 / 4079 [------------------------------------------------------->_______________] 77.86% 101 p/s3196 / 4079 [------------------------------------------------------->_______________] 78.35% 101 p/s3216 / 4079 [------------------------------------------------------->_______________] 78.84% 101 p/s3237 / 4079 [-------------------------------------------------------->______________] 79.36% 101 p/s3257 / 4079 [-------------------------------------------------------->______________] 79.85% 101 p/s3277 / 4079 [--------------------------------------------------------->_____________] 80.34% 101 p/s3297 / 4079 [--------------------------------------------------------->_____________] 80.83% 101 p/s3317 / 4079 [--------------------------------------------------------->_____________] 81.32% 101 p/s3337 / 4079 [---------------------------------------------------------->____________] 81.81% 101 p/s3358 / 4079 [---------------------------------------------------------->____________] 82.32% 101 p/s3378 / 4079 [---------------------------------------------------------->____________] 82.81% 101 p/s3398 / 4079 [----------------------------------------------------------->___________] 83.30% 101 p/s3418 / 4079 [----------------------------------------------------------->___________] 83.80% 101 p/s3439 / 4079 [----------------------------------------------------------->___________] 84.31% 101 p/s3459 / 4079 [------------------------------------------------------------>__________] 84.80% 101 p/s3479 / 4079 [------------------------------------------------------------>__________] 85.29% 101 p/s3499 / 4079 [------------------------------------------------------------>__________] 85.78% 101 p/s3519 / 4079 [------------------------------------------------------------->_________] 86.27% 101 p/s3539 / 4079 [------------------------------------------------------------->_________] 86.76% 101 p/s3559 / 4079 [------------------------------------------------------------->_________] 87.25% 101 p/s3580 / 4079 [-------------------------------------------------------------->________] 87.77% 101 p/s3599 / 4079 [-------------------------------------------------------------->________] 88.23% 101 p/s3620 / 4079 [--------------------------------------------------------------->_______] 88.75% 101 p/s3640 / 4079 [--------------------------------------------------------------->_______] 89.24% 101 p/s3660 / 4079 [--------------------------------------------------------------->_______] 89.73% 101 p/s3680 / 4079 [---------------------------------------------------------------->______] 90.22% 101 p/s3700 / 4079 [---------------------------------------------------------------->______] 90.71% 101 p/s3720 / 4079 [---------------------------------------------------------------->______] 91.20% 101 p/s3741 / 4079 [----------------------------------------------------------------->_____] 91.71% 101 p/s3761 / 4079 [----------------------------------------------------------------->_____] 92.20% 101 p/s3781 / 4079 [----------------------------------------------------------------->_____] 92.69% 101 p/s3801 / 4079 [------------------------------------------------------------------>____] 93.18% 101 p/s3821 / 4079 [------------------------------------------------------------------>____] 93.67% 101 p/s3841 / 4079 [------------------------------------------------------------------>____] 94.17% 101 p/s3861 / 4079 [------------------------------------------------------------------->___] 94.66% 101 p/s3882 / 4079 [------------------------------------------------------------------->___] 95.17% 101 p/s3902 / 4079 [------------------------------------------------------------------->___] 95.66% 101 p/s3920 / 4079 [-------------------------------------------------------------------->__] 96.10% 101 p/s3940 / 4079 [-------------------------------------------------------------------->__] 96.59% 100 p/s3960 / 4079 [-------------------------------------------------------------------->__] 97.08% 100 p/s3980 / 4079 [--------------------------------------------------------------------->_] 97.57% 100 p/s4000 / 4079 [--------------------------------------------------------------------->_] 98.06% 100 p/s4020 / 4079 [--------------------------------------------------------------------->_] 98.55% 100 p/s4040 / 4079 [---------------------------------------------------------------------->] 99.04% 100 p/s4060 / 4079 [---------------------------------------------------------------------->] 99.53% 100 p/s4079 / 4079 [----------------------------------------------------------------------] 100.00% 101 p/s2026-06-29T21:38:06 - INFO: Parsing 4079 sonar sweeps from /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/4079 [00:00<?, ?it/s]
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2026-06-29T21:40:44 - 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/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2"
2026-06-29T21:40:45 - INFO: DataPrep 0.14.7
2026-06-29T21:40:45 - INFO: Prepared data will be output to /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/processing/data
2026-06-29T21:40:45 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-29T21:40:45 - deployment - INFO: Detected P3D version: P3D_1
2026-06-29T21:40:45 - INFO: Recording GUID: dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2
2026-06-29T21:40:45 - INFO: Preparing sonar data...
2026-06-29T21:40:45 - INFO: /working/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/dbf7baa2-6c89-5b69-2c13-f81d78d8fdd2/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-29T21:40:49 - INFO: Sonar epoch is 2026-05-21 15:55:38.990513+00:00 (1779378938990513474)
2026-06-29T21:40:49 - INFO: Creating sonar sensor alignment track...
2026-06-29T21:40:49 - INFO: Using sonar rotation of -0.034907 radians for wedge mask
2026-06-29T21:40:49 - INFO: Sensor speed of sound is 1500 m/s
2026-06-29T21:40:49 - INFO: Sensor range is 1.589280 m
2026-06-29T21:40:49 - INFO: Sensor micrometres per sample is 5280.000031
2026-06-29T21:40:49 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-29T21:40:49 - INFO: Scaled range is 1.583441 m
2026-06-29T21:40:49 - INFO: Scaled micrometres per sample is 5260.599863
2026-06-29T21:40:49 - INFO: Processing 4079 sweeps...

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2026-06-29T21:41:00 - INFO: Prepared sonar data in 14.8470 s
2026-06-29T21:41:00 - INFO: No IMU data found
2026-06-29T21:41:00 - INFO: DataPrep took 0:00:15.349263
2026-06-29T21:41:00 - INFO: Extracted sonar data in 0:03:35.632712
2026-06-29T21:41:01 - INFO: MSIP3D took 0:03:36.156931