+ [ 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/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4
2026-06-29T21:22:34 - INFO: MSIP3D 0.2.8
2026-06-29T21:22:34 - INFO: P3D files will be output to /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4
2026-06-29T21:22:34 - INFO: Found 11 TFD dictionary entries
2026-06-29T21:22:34 - INFO: Found TFD mission for SJ502855 DEP 4
2026-06-29T21:22:34 - INFO: Recording will be processed as SMD
2026-06-29T21:22:34 - INFO: Copying assets JSON to output directory...
2026-06-29T21:22:34 - INFO: Preparing counter data...
2026-06-29T21:22:34 - INFO: Interpreting counter as imperial
2026-06-29T21:22:34 - INFO: Preparing size track from assets JSON...
2026-06-29T21:22:34 - INFO: Preparing shape track from assets JSON...
2026-06-29T21:22:34 - INFO: Preparing material track from assets JSON...
2026-06-29T21:22:34 - INFO: Prepared counter data in 0.1973 s
2026-06-29T21:22:34 - INFO: Extracting sonar data...
TFD path: /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/tfd/SJ502855_DEP_4.tfd
TFD path: /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855215978501720643
Name: CCTV, Tag: 4855221467469924931
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Getting track SONAR
Number of frames: 3728
18 / 3728 [>___________________________________________________________________________] 0.48% ? p/s39 / 3728 [>___________________________________________________________________________] 1.05% ? p/s59 / 3728 [->__________________________________________________________________________] 1.58% ? p/s79 / 3728 [->________________________________________________________________________] 2.12% 102 p/s99 / 3728 [->________________________________________________________________________] 2.66% 102 p/s120 / 3728 [-->______________________________________________________________________] 3.22% 102 p/s139 / 3728 [-->______________________________________________________________________] 3.73% 102 p/s160 / 3728 [--->_____________________________________________________________________] 4.29% 102 p/s180 / 3728 [--->_____________________________________________________________________] 4.83% 102 p/s200 / 3728 [--->_____________________________________________________________________] 5.36% 102 p/s221 / 3728 [---->____________________________________________________________________] 5.93% 102 p/s241 / 3728 [---->____________________________________________________________________] 6.46% 102 p/s261 / 3728 [----->___________________________________________________________________] 7.00% 102 p/s281 / 3728 [----->___________________________________________________________________] 7.54% 102 p/s301 / 3728 [----->___________________________________________________________________] 8.07% 102 p/s322 / 3728 [------>__________________________________________________________________] 8.64% 102 p/s342 / 3728 [------>__________________________________________________________________] 9.17% 102 p/s362 / 3728 [------->_________________________________________________________________] 9.71% 102 p/s383 / 3728 [------->________________________________________________________________] 10.27% 102 p/s403 / 3728 [------->________________________________________________________________] 10.81% 102 p/s423 / 3728 [-------->_______________________________________________________________] 11.35% 102 p/s444 / 3728 [-------->_______________________________________________________________] 11.91% 102 p/s463 / 3728 [-------->_______________________________________________________________] 12.42% 102 p/s484 / 3728 [--------->______________________________________________________________] 12.98% 102 p/s504 / 3728 [--------->______________________________________________________________] 13.52% 102 p/s524 / 3728 [---------->_____________________________________________________________] 14.06% 102 p/s544 / 3728 [---------->_____________________________________________________________] 14.59% 102 p/s565 / 3728 [---------->_____________________________________________________________] 15.16% 102 p/s584 / 3728 [----------->____________________________________________________________] 15.67% 102 p/s605 / 3728 [----------->____________________________________________________________] 16.23% 102 p/s625 / 3728 [------------>___________________________________________________________] 16.77% 101 p/s645 / 3728 [------------>___________________________________________________________] 17.30% 101 p/s666 / 3728 [------------>___________________________________________________________] 17.86% 101 p/s686 / 3728 [------------->__________________________________________________________] 18.40% 101 p/s706 / 3728 [------------->__________________________________________________________] 18.94% 101 p/s726 / 3728 [-------------->_________________________________________________________] 19.47% 101 p/s747 / 3728 [-------------->_________________________________________________________] 20.04% 101 p/s767 / 3728 [-------------->_________________________________________________________] 20.57% 101 p/s787 / 3728 [--------------->________________________________________________________] 21.11% 101 p/s808 / 3728 [--------------->________________________________________________________] 21.67% 101 p/s828 / 3728 [--------------->________________________________________________________] 22.21% 101 p/s848 / 3728 [---------------->_______________________________________________________] 22.75% 101 p/s869 / 3728 [---------------->_______________________________________________________] 23.31% 101 p/s889 / 3728 [----------------->______________________________________________________] 23.85% 101 p/s909 / 3728 [----------------->______________________________________________________] 24.38% 101 p/s930 / 3728 [----------------->______________________________________________________] 24.95% 101 p/s950 / 3728 [------------------>_____________________________________________________] 25.48% 101 p/s970 / 3728 [------------------>_____________________________________________________] 26.02% 101 p/s990 / 3728 [------------------->____________________________________________________] 26.56% 101 p/s1011 / 3728 [------------------->___________________________________________________] 27.12% 101 p/s1029 / 3728 [------------------->___________________________________________________] 27.60% 101 p/s1049 / 3728 [------------------->___________________________________________________] 28.14% 101 p/s1069 / 3728 [-------------------->__________________________________________________] 28.67% 101 p/s1089 / 3728 [-------------------->__________________________________________________] 29.21% 101 p/s1110 / 3728 [--------------------->_________________________________________________] 29.77% 101 p/s1130 / 3728 [--------------------->_________________________________________________] 30.31% 101 p/s1150 / 3728 [--------------------->_________________________________________________] 30.85% 101 p/s1171 / 3728 [---------------------->________________________________________________] 31.41% 101 p/s1191 / 3728 [---------------------->________________________________________________] 31.95% 101 p/s1211 / 3728 [----------------------->_______________________________________________] 32.48% 101 p/s1231 / 3728 [----------------------->_______________________________________________] 33.02% 101 p/s1252 / 3728 [----------------------->_______________________________________________] 33.58% 101 p/s1272 / 3728 [------------------------>______________________________________________] 34.12% 101 p/s1292 / 3728 [------------------------>______________________________________________] 34.66% 101 p/s1312 / 3728 [------------------------>______________________________________________] 35.19% 101 p/s1333 / 3728 [------------------------->_____________________________________________] 35.76% 101 p/s1353 / 3728 [------------------------->_____________________________________________] 36.29% 101 p/s1373 / 3728 [-------------------------->____________________________________________] 36.83% 101 p/s1393 / 3728 [-------------------------->____________________________________________] 37.37% 101 p/s1413 / 3728 [-------------------------->____________________________________________] 37.90% 101 p/s1434 / 3728 [--------------------------->___________________________________________] 38.47% 101 p/s1454 / 3728 [--------------------------->___________________________________________] 39.00% 101 p/s1474 / 3728 [---------------------------->__________________________________________] 39.54% 101 p/s1494 / 3728 [---------------------------->__________________________________________] 40.08% 101 p/s1515 / 3728 [---------------------------->__________________________________________] 40.64% 101 p/s1535 / 3728 [----------------------------->_________________________________________] 41.17% 101 p/s1556 / 3728 [----------------------------->_________________________________________] 41.74% 101 p/s1576 / 3728 [------------------------------>________________________________________] 42.27% 101 p/s1596 / 3728 [------------------------------>________________________________________] 42.81% 101 p/s1617 / 3728 [------------------------------>________________________________________] 43.37% 101 p/s1637 / 3728 [------------------------------->_______________________________________] 43.91% 101 p/s1658 / 3728 [------------------------------->_______________________________________] 44.47% 101 p/s1678 / 3728 [------------------------------->_______________________________________] 45.01% 101 p/s1698 / 3728 [-------------------------------->______________________________________] 45.55% 101 p/s1719 / 3728 [-------------------------------->______________________________________] 46.11% 101 p/s1739 / 3728 [--------------------------------->_____________________________________] 46.65% 101 p/s1759 / 3728 [--------------------------------->_____________________________________] 47.18% 101 p/s1780 / 3728 [--------------------------------->_____________________________________] 47.75% 101 p/s1800 / 3728 [---------------------------------->____________________________________] 48.28% 101 p/s1821 / 3728 [---------------------------------->____________________________________] 48.85% 101 p/s1841 / 3728 [----------------------------------->___________________________________] 49.38% 101 p/s1861 / 3728 [----------------------------------->___________________________________] 49.92% 101 p/s1882 / 3728 [----------------------------------->___________________________________] 50.48% 101 p/s1902 / 3728 [------------------------------------>__________________________________] 51.02% 101 p/s1922 / 3728 [------------------------------------>__________________________________] 51.56% 101 p/s1942 / 3728 [------------------------------------>__________________________________] 52.09% 101 p/s1963 / 3728 [------------------------------------->_________________________________] 52.66% 101 p/s1983 / 3728 [------------------------------------->_________________________________] 53.19% 101 p/s2003 / 3728 [-------------------------------------->________________________________] 53.73% 101 p/s2024 / 3728 [-------------------------------------->________________________________] 54.29% 101 p/s2043 / 3728 [-------------------------------------->________________________________] 54.80% 101 p/s2064 / 3728 [--------------------------------------->_______________________________] 55.36% 101 p/s2084 / 3728 [--------------------------------------->_______________________________] 55.90% 101 p/s2104 / 3728 [---------------------------------------->______________________________] 56.44% 101 p/s2124 / 3728 [---------------------------------------->______________________________] 56.97% 101 p/s2145 / 3728 [---------------------------------------->______________________________] 57.54% 101 p/s2165 / 3728 [----------------------------------------->_____________________________] 58.07% 101 p/s2186 / 3728 [----------------------------------------->_____________________________] 58.64% 101 p/s2206 / 3728 [------------------------------------------>____________________________] 59.17% 101 p/s2226 / 3728 [------------------------------------------>____________________________] 59.71% 101 p/s2246 / 3728 [------------------------------------------>____________________________] 60.25% 101 p/s2267 / 3728 [------------------------------------------->___________________________] 60.81% 101 p/s2287 / 3728 [------------------------------------------->___________________________] 61.35% 101 p/s2308 / 3728 [------------------------------------------->___________________________] 61.91% 101 p/s2328 / 3728 [-------------------------------------------->__________________________] 62.45% 101 p/s2348 / 3728 [-------------------------------------------->__________________________] 62.98% 101 p/s2368 / 3728 [--------------------------------------------->_________________________] 63.52% 101 p/s2389 / 3728 [--------------------------------------------->_________________________] 64.08% 101 p/s2409 / 3728 [--------------------------------------------->_________________________] 64.62% 101 p/s2429 / 3728 [---------------------------------------------->________________________] 65.16% 101 p/s2449 / 3728 [---------------------------------------------->________________________] 65.69% 101 p/s2470 / 3728 [----------------------------------------------->_______________________] 66.26% 101 p/s2479 / 3728 [----------------------------------------------->_______________________] 66.50% 101 p/s2500 / 3728 [----------------------------------------------->_______________________] 67.06% 100 p/s2520 / 3728 [----------------------------------------------->_______________________] 67.60% 100 p/s2540 / 3728 [------------------------------------------------>______________________] 68.13% 100 p/s2560 / 3728 [------------------------------------------------>______________________] 68.67% 100 p/s2581 / 3728 [------------------------------------------------->_____________________] 69.23% 100 p/s2601 / 3728 [------------------------------------------------->_____________________] 69.77% 100 p/s2621 / 3728 [------------------------------------------------->_____________________] 70.31% 100 p/s2641 / 3728 [-------------------------------------------------->____________________] 70.84% 100 p/s2662 / 3728 [-------------------------------------------------->____________________] 71.41% 100 p/s2682 / 3728 [--------------------------------------------------->___________________] 71.94% 100 p/s2702 / 3728 [--------------------------------------------------->___________________] 72.48% 100 p/s2722 / 3728 [--------------------------------------------------->___________________] 73.02% 100 p/s2742 / 3728 [---------------------------------------------------->__________________] 73.55% 100 p/s2763 / 3728 [---------------------------------------------------->__________________] 74.11% 100 p/s2783 / 3728 [----------------------------------------------------->_________________] 74.65% 100 p/s2803 / 3728 [----------------------------------------------------->_________________] 75.19% 101 p/s2823 / 3728 [----------------------------------------------------->_________________] 75.72% 101 p/s2844 / 3728 [------------------------------------------------------>________________] 76.29% 101 p/s2864 / 3728 [------------------------------------------------------>________________] 76.82% 101 p/s2884 / 3728 [------------------------------------------------------>________________] 77.36% 101 p/s2904 / 3728 [------------------------------------------------------->_______________] 77.90% 101 p/s2924 / 3728 [------------------------------------------------------->_______________] 78.43% 101 p/s2944 / 3728 [-------------------------------------------------------->______________] 78.97% 101 p/s2964 / 3728 [-------------------------------------------------------->______________] 79.51% 101 p/s2975 / 3728 [-------------------------------------------------------->______________] 79.80% 100 p/s2995 / 3728 [--------------------------------------------------------->_____________] 80.34% 100 p/s3015 / 3728 [--------------------------------------------------------->_____________] 80.87% 100 p/s3035 / 3728 [--------------------------------------------------------->_____________] 81.41% 100 p/s3055 / 3728 [---------------------------------------------------------->____________] 81.95% 100 p/s3076 / 3728 [---------------------------------------------------------->____________] 82.51% 100 p/s3096 / 3728 [---------------------------------------------------------->____________] 83.05% 100 p/s3116 / 3728 [----------------------------------------------------------->___________] 83.58% 100 p/s3136 / 3728 [----------------------------------------------------------->___________] 84.12% 100 p/s3157 / 3728 [------------------------------------------------------------>__________] 84.68% 100 p/s3177 / 3728 [------------------------------------------------------------>__________] 85.22% 100 p/s3197 / 3728 [------------------------------------------------------------>__________] 85.76% 100 p/s3217 / 3728 [------------------------------------------------------------->_________] 86.29% 100 p/s3238 / 3728 [------------------------------------------------------------->_________] 86.86% 100 p/s3258 / 3728 [-------------------------------------------------------------->________] 87.39% 100 p/s3278 / 3728 [-------------------------------------------------------------->________] 87.93% 100 p/s3298 / 3728 [-------------------------------------------------------------->________] 88.47% 100 p/s3318 / 3728 [--------------------------------------------------------------->_______] 89.00% 100 p/s3338 / 3728 [--------------------------------------------------------------->_______] 89.54% 100 p/s3358 / 3728 [--------------------------------------------------------------->_______] 90.08% 100 p/s3378 / 3728 [---------------------------------------------------------------->______] 90.61% 100 p/s3399 / 3728 [---------------------------------------------------------------->______] 91.17% 100 p/s3419 / 3728 [----------------------------------------------------------------->_____] 91.71% 100 p/s3439 / 3728 [----------------------------------------------------------------->_____] 92.25% 100 p/s3459 / 3728 [----------------------------------------------------------------->_____] 92.78% 100 p/s3478 / 3728 [------------------------------------------------------------------>____] 93.29% 100 p/s3498 / 3728 [------------------------------------------------------------------>____] 93.83% 100 p/s3518 / 3728 [------------------------------------------------------------------->___] 94.37% 100 p/s3539 / 3728 [------------------------------------------------------------------->___] 94.93% 100 p/s3559 / 3728 [------------------------------------------------------------------->___] 95.47% 100 p/s3579 / 3728 [-------------------------------------------------------------------->__] 96.00% 100 p/s3599 / 3728 [-------------------------------------------------------------------->__] 96.54% 100 p/s3620 / 3728 [-------------------------------------------------------------------->__] 97.10% 100 p/s3640 / 3728 [--------------------------------------------------------------------->_] 97.64% 100 p/s3660 / 3728 [--------------------------------------------------------------------->_] 98.18% 100 p/s3681 / 3728 [---------------------------------------------------------------------->] 98.74% 100 p/s3700 / 3728 [---------------------------------------------------------------------->] 99.25% 100 p/s3720 / 3728 [---------------------------------------------------------------------->] 99.79% 100 p/s3728 / 3728 [----------------------------------------------------------------------] 100.00% 101 p/s2026-06-29T21:23:11 - INFO: Parsing 3728 sonar sweeps from /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/tfd/output/SONAR/all-sweeps-info.csv...

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2026-06-29T21:25:35 - 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/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4"
2026-06-29T21:25:36 - INFO: DataPrep 0.14.7
2026-06-29T21:25:36 - INFO: Prepared data will be output to /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/processing/data
2026-06-29T21:25:36 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-29T21:25:36 - deployment - INFO: Detected P3D version: P3D_1
2026-06-29T21:25:36 - INFO: Recording GUID: 1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4
2026-06-29T21:25:36 - INFO: Preparing sonar data...
2026-06-29T21:25:36 - INFO: /working/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/1ec4fbef-bd11-4fa4-3ba9-30c2286ae4f4/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-29T21:25:40 - INFO: Sonar epoch is 2026-05-20 14:16:17.665843+00:00 (1779286577665842598)
2026-06-29T21:25:40 - INFO: Creating sonar sensor alignment track...
2026-06-29T21:25:40 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-06-29T21:25:40 - INFO: Sensor speed of sound is 1500 m/s
2026-06-29T21:25:40 - INFO: Sensor range is 1.733760 m
2026-06-29T21:25:40 - INFO: Sensor micrometres per sample is 5759.999998
2026-06-29T21:25:40 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-29T21:25:40 - INFO: Scaled range is 1.727390 m
2026-06-29T21:25:40 - INFO: Scaled micrometres per sample is 5738.836178
2026-06-29T21:25:40 - INFO: Processing 3728 sweeps...

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2026-06-29T21:25:54 - INFO: Prepared sonar data in 17.0974 s
2026-06-29T21:25:54 - INFO: No IMU data found
2026-06-29T21:25:54 - INFO: DataPrep took 0:00:17.640167
2026-06-29T21:25:54 - INFO: Extracted sonar data in 0:03:19.969042
2026-06-29T21:25:55 - INFO: MSIP3D took 0:03:20.486615