+ [ 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/61929236-cffd-2ba8-1ace-525d0d28622a
2026-06-29T21:21:38 - INFO: MSIP3D 0.2.8
2026-06-29T21:21:38 - INFO: P3D files will be output to /working/61929236-cffd-2ba8-1ace-525d0d28622a/61929236-cffd-2ba8-1ace-525d0d28622a
2026-06-29T21:21:38 - INFO: Found 11 TFD dictionary entries
2026-06-29T21:21:38 - INFO: Found TFD mission for SJ502855 DEP 3
2026-06-29T21:21:38 - INFO: Recording will be processed as SMD
2026-06-29T21:21:38 - INFO: Copying assets JSON to output directory...
2026-06-29T21:21:38 - INFO: Preparing counter data...
2026-06-29T21:21:38 - INFO: Interpreting counter as imperial
2026-06-29T21:21:38 - INFO: Preparing size track from assets JSON...
2026-06-29T21:21:38 - INFO: Preparing shape track from assets JSON...
2026-06-29T21:21:38 - INFO: Preparing material track from assets JSON...
2026-06-29T21:21:38 - INFO: Prepared counter data in 0.1482 s
2026-06-29T21:21:38 - INFO: Extracting sonar data...
TFD path: /working/61929236-cffd-2ba8-1ace-525d0d28622a/tfd/SJ502855_DEP_3.tfd
TFD path: /working/61929236-cffd-2ba8-1ace-525d0d28622a/tfd/output
Name: LASER, Tag: 4855221467469924940
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: CCTV, Tag: 4855221467469924931
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 2632
19 / 2632 [>___________________________________________________________________________] 0.72% ? p/s38 / 2632 [->__________________________________________________________________________] 1.44% ? p/s57 / 2632 [->__________________________________________________________________________] 2.17% ? p/s77 / 2632 [-->________________________________________________________________________] 2.93% 97 p/s97 / 2632 [-->________________________________________________________________________] 3.69% 97 p/s116 / 2632 [--->______________________________________________________________________] 4.41% 97 p/s135 / 2632 [--->______________________________________________________________________] 5.13% 97 p/s155 / 2632 [---->_____________________________________________________________________] 5.89% 97 p/s175 / 2632 [---->_____________________________________________________________________] 6.65% 97 p/s194 / 2632 [----->____________________________________________________________________] 7.37% 97 p/s214 / 2632 [------>___________________________________________________________________] 8.13% 97 p/s234 / 2632 [------>___________________________________________________________________] 8.89% 97 p/s253 / 2632 [------->__________________________________________________________________] 9.61% 97 p/s272 / 2632 [------->_________________________________________________________________] 10.33% 97 p/s292 / 2632 [-------->________________________________________________________________] 11.09% 97 p/s312 / 2632 [-------->________________________________________________________________] 11.85% 97 p/s332 / 2632 [--------->_______________________________________________________________] 12.61% 97 p/s352 / 2632 [--------->_______________________________________________________________] 13.37% 97 p/s371 / 2632 [---------->______________________________________________________________] 14.10% 97 p/s391 / 2632 [---------->______________________________________________________________] 14.86% 97 p/s411 / 2632 [----------->_____________________________________________________________] 15.62% 97 p/s431 / 2632 [----------->_____________________________________________________________] 16.38% 97 p/s451 / 2632 [------------>____________________________________________________________] 17.14% 97 p/s470 / 2632 [------------->___________________________________________________________] 17.86% 97 p/s490 / 2632 [------------->___________________________________________________________] 18.62% 97 p/s509 / 2632 [-------------->__________________________________________________________] 19.34% 97 p/s528 / 2632 [-------------->__________________________________________________________] 20.06% 97 p/s548 / 2632 [--------------->_________________________________________________________] 20.82% 97 p/s568 / 2632 [--------------->_________________________________________________________] 21.58% 97 p/s588 / 2632 [---------------->________________________________________________________] 22.34% 97 p/s608 / 2632 [---------------->________________________________________________________] 23.10% 97 p/s627 / 2632 [----------------->_______________________________________________________] 23.82% 97 p/s647 / 2632 [----------------->_______________________________________________________] 24.58% 97 p/s667 / 2632 [------------------>______________________________________________________] 25.34% 98 p/s687 / 2632 [------------------->_____________________________________________________] 26.10% 98 p/s706 / 2632 [------------------->_____________________________________________________] 26.82% 98 p/s726 / 2632 [-------------------->____________________________________________________] 27.58% 98 p/s746 / 2632 [-------------------->____________________________________________________] 28.34% 98 p/s766 / 2632 [--------------------->___________________________________________________] 29.10% 98 p/s785 / 2632 [--------------------->___________________________________________________] 29.83% 98 p/s805 / 2632 [---------------------->__________________________________________________] 30.59% 98 p/s825 / 2632 [---------------------->__________________________________________________] 31.34% 98 p/s845 / 2632 [----------------------->_________________________________________________] 32.10% 98 p/s864 / 2632 [----------------------->_________________________________________________] 32.83% 98 p/s884 / 2632 [------------------------>________________________________________________] 33.59% 98 p/s904 / 2632 [------------------------->_______________________________________________] 34.35% 98 p/s924 / 2632 [------------------------->_______________________________________________] 35.11% 98 p/s944 / 2632 [-------------------------->______________________________________________] 35.87% 98 p/s963 / 2632 [-------------------------->______________________________________________] 36.59% 98 p/s983 / 2632 [--------------------------->_____________________________________________] 37.35% 98 p/s1003 / 2632 [--------------------------->____________________________________________] 38.11% 98 p/s1021 / 2632 [--------------------------->____________________________________________] 38.79% 98 p/s1041 / 2632 [---------------------------->___________________________________________] 39.55% 98 p/s1061 / 2632 [----------------------------->__________________________________________] 40.31% 98 p/s1081 / 2632 [----------------------------->__________________________________________] 41.07% 98 p/s1100 / 2632 [------------------------------>_________________________________________] 41.79% 98 p/s1120 / 2632 [------------------------------>_________________________________________] 42.55% 98 p/s1140 / 2632 [------------------------------->________________________________________] 43.31% 98 p/s1160 / 2632 [------------------------------->________________________________________] 44.07% 98 p/s1179 / 2632 [-------------------------------->_______________________________________] 44.79% 98 p/s1199 / 2632 [-------------------------------->_______________________________________] 45.55% 98 p/s1219 / 2632 [--------------------------------->______________________________________] 46.31% 98 p/s1238 / 2632 [--------------------------------->______________________________________] 47.04% 98 p/s1258 / 2632 [---------------------------------->_____________________________________] 47.80% 98 p/s1278 / 2632 [---------------------------------->_____________________________________] 48.56% 98 p/s1298 / 2632 [----------------------------------->____________________________________] 49.32% 98 p/s1317 / 2632 [------------------------------------>___________________________________] 50.04% 98 p/s1337 / 2632 [------------------------------------>___________________________________] 50.80% 98 p/s1357 / 2632 [------------------------------------->__________________________________] 51.56% 98 p/s1376 / 2632 [------------------------------------->__________________________________] 52.28% 98 p/s1396 / 2632 [-------------------------------------->_________________________________] 53.04% 98 p/s1416 / 2632 [-------------------------------------->_________________________________] 53.80% 98 p/s1435 / 2632 [--------------------------------------->________________________________] 54.52% 98 p/s1455 / 2632 [--------------------------------------->________________________________] 55.28% 98 p/s1474 / 2632 [---------------------------------------->_______________________________] 56.00% 98 p/s1494 / 2632 [---------------------------------------->_______________________________] 56.76% 98 p/s1514 / 2632 [----------------------------------------->______________________________] 57.52% 98 p/s1533 / 2632 [----------------------------------------->______________________________] 58.24% 98 p/s1553 / 2632 [------------------------------------------>_____________________________] 59.00% 98 p/s1573 / 2632 [------------------------------------------->____________________________] 59.76% 98 p/s1593 / 2632 [------------------------------------------->____________________________] 60.52% 98 p/s1612 / 2632 [-------------------------------------------->___________________________] 61.25% 98 p/s1632 / 2632 [-------------------------------------------->___________________________] 62.01% 98 p/s1652 / 2632 [--------------------------------------------->__________________________] 62.77% 98 p/s1671 / 2632 [--------------------------------------------->__________________________] 63.49% 98 p/s1691 / 2632 [---------------------------------------------->_________________________] 64.25% 98 p/s1711 / 2632 [---------------------------------------------->_________________________] 65.01% 98 p/s1730 / 2632 [----------------------------------------------->________________________] 65.73% 98 p/s1750 / 2632 [----------------------------------------------->________________________] 66.49% 98 p/s1770 / 2632 [------------------------------------------------>_______________________] 67.25% 98 p/s1789 / 2632 [------------------------------------------------>_______________________] 67.97% 98 p/s1809 / 2632 [------------------------------------------------->______________________] 68.73% 98 p/s1829 / 2632 [-------------------------------------------------->_____________________] 69.49% 98 p/s1848 / 2632 [-------------------------------------------------->_____________________] 70.21% 98 p/s1868 / 2632 [--------------------------------------------------->____________________] 70.97% 98 p/s1888 / 2632 [--------------------------------------------------->____________________] 71.73% 98 p/s1907 / 2632 [---------------------------------------------------->___________________] 72.45% 98 p/s1927 / 2632 [---------------------------------------------------->___________________] 73.21% 98 p/s1936 / 2632 [---------------------------------------------------->___________________] 73.56% 98 p/s1955 / 2632 [----------------------------------------------------->__________________] 74.28% 97 p/s1974 / 2632 [----------------------------------------------------->__________________] 75.00% 97 p/s1994 / 2632 [------------------------------------------------------>_________________] 75.76% 97 p/s2014 / 2632 [------------------------------------------------------->________________] 76.52% 97 p/s2033 / 2632 [------------------------------------------------------->________________] 77.24% 97 p/s2052 / 2632 [-------------------------------------------------------->_______________] 77.96% 97 p/s2072 / 2632 [-------------------------------------------------------->_______________] 78.72% 97 p/s2091 / 2632 [--------------------------------------------------------->______________] 79.45% 97 p/s2111 / 2632 [--------------------------------------------------------->______________] 80.21% 97 p/s2130 / 2632 [---------------------------------------------------------->_____________] 80.93% 97 p/s2150 / 2632 [---------------------------------------------------------->_____________] 81.69% 97 p/s2169 / 2632 [----------------------------------------------------------->____________] 82.41% 97 p/s2188 / 2632 [----------------------------------------------------------->____________] 83.13% 97 p/s2208 / 2632 [------------------------------------------------------------>___________] 83.89% 97 p/s2228 / 2632 [------------------------------------------------------------>___________] 84.65% 97 p/s2247 / 2632 [------------------------------------------------------------->__________] 85.37% 97 p/s2267 / 2632 [-------------------------------------------------------------->_________] 86.13% 97 p/s2286 / 2632 [-------------------------------------------------------------->_________] 86.85% 97 p/s2306 / 2632 [--------------------------------------------------------------->________] 87.61% 97 p/s2326 / 2632 [--------------------------------------------------------------->________] 88.37% 97 p/s2345 / 2632 [---------------------------------------------------------------->_______] 89.10% 97 p/s2365 / 2632 [---------------------------------------------------------------->_______] 89.86% 97 p/s2385 / 2632 [----------------------------------------------------------------->______] 90.62% 97 p/s2404 / 2632 [----------------------------------------------------------------->______] 91.34% 97 p/s2424 / 2632 [------------------------------------------------------------------>_____] 92.10% 97 p/s2444 / 2632 [------------------------------------------------------------------>_____] 92.86% 97 p/s2463 / 2632 [------------------------------------------------------------------->____] 93.58% 97 p/s2483 / 2632 [------------------------------------------------------------------->____] 94.34% 97 p/s2503 / 2632 [-------------------------------------------------------------------->___] 95.10% 97 p/s2522 / 2632 [-------------------------------------------------------------------->___] 95.82% 97 p/s2542 / 2632 [--------------------------------------------------------------------->__] 96.58% 97 p/s2562 / 2632 [---------------------------------------------------------------------->_] 97.34% 97 p/s2581 / 2632 [---------------------------------------------------------------------->_] 98.06% 97 p/s2601 / 2632 [----------------------------------------------------------------------->] 98.82% 97 p/s2621 / 2632 [----------------------------------------------------------------------->] 99.58% 97 p/s2632 / 2632 [-----------------------------------------------------------------------] 100.00% 99 p/s2026-06-29T21:22:05 - INFO: Parsing 2632 sonar sweeps from /working/61929236-cffd-2ba8-1ace-525d0d28622a/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/2632 [00:00<?, ?it/s]
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2026-06-29T21:23:48 - WARNING: Expected 400 beams, got 258, dropping sweep 2631
2026-06-29T21:23:48 - 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/61929236-cffd-2ba8-1ace-525d0d28622a/61929236-cffd-2ba8-1ace-525d0d28622a"
2026-06-29T21:23:50 - INFO: DataPrep 0.14.7
2026-06-29T21:23:50 - INFO: Prepared data will be output to /working/61929236-cffd-2ba8-1ace-525d0d28622a/61929236-cffd-2ba8-1ace-525d0d28622a/processing/data
2026-06-29T21:23:50 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-29T21:23:50 - deployment - INFO: Detected P3D version: P3D_1
2026-06-29T21:23:50 - INFO: Recording GUID: 61929236-cffd-2ba8-1ace-525d0d28622a
2026-06-29T21:23:50 - INFO: Preparing sonar data...
2026-06-29T21:23:50 - INFO: /working/61929236-cffd-2ba8-1ace-525d0d28622a/61929236-cffd-2ba8-1ace-525d0d28622a/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-29T21:23:52 - INFO: Sonar epoch is 2026-05-20 12:05:22.250924+00:00 (1779278722250923444)
2026-06-29T21:23:52 - INFO: Creating sonar sensor alignment track...
2026-06-29T21:23:52 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-06-29T21:23:52 - INFO: Sensor speed of sound is 1500 m/s
2026-06-29T21:23:52 - INFO: Sensor range is 1.228080 m
2026-06-29T21:23:52 - INFO: Sensor micrometres per sample is 4080.000114
2026-06-29T21:23:52 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-29T21:23:52 - INFO: Scaled range is 1.223568 m
2026-06-29T21:23:52 - INFO: Scaled micrometres per sample is 4065.009075
2026-06-29T21:23:52 - INFO: Processing 2631 sweeps...

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2026-06-29T21:24:03 - INFO: Prepared sonar data in 12.6071 s
2026-06-29T21:24:03 - INFO: No IMU data found
2026-06-29T21:24:03 - INFO: DataPrep took 0:00:13.004592
2026-06-29T21:24:03 - INFO: Extracted sonar data in 0:02:24.809719
2026-06-29T21:24:03 - INFO: MSIP3D took 0:02:25.189873