+ [ 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/26c52e24-61c4-79bf-a1d6-40c4b973bed2
2026-06-30T23:18:58 - INFO: MSIP3D 0.2.8
2026-06-30T23:18:58 - INFO: P3D files will be output to /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2
2026-06-30T23:18:58 - INFO: Found 10 TFD dictionary entries
2026-06-30T23:18:58 - INFO: Found TFD mission for Riverlink
2026-06-30T23:18:58 - INFO: Recording will be processed as MD
2026-06-30T23:18:58 - INFO: Copying assets JSON to output directory...
2026-06-30T23:18:58 - INFO: Preparing counter data...
2026-06-30T23:18:58 - INFO: Interpreting counter as metric
2026-06-30T23:18:58 - INFO: Preparing size track from assets JSON...
2026-06-30T23:18:58 - INFO: Preparing shape track from assets JSON...
2026-06-30T23:18:58 - INFO: Preparing material track from assets JSON...
2026-06-30T23:18:58 - INFO: Prepared counter data in 0.0983 s
2026-06-30T23:18:58 - INFO: Extracting sonar data...
TFD path: /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/tfd/Riverlink.tfd
TFD path: /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/tfd/output
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012079240663880375
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Getting track SONAR
Number of frames: 3544
22 / 3544 [>___________________________________________________________________________] 0.62% ? p/s46 / 3544 [>___________________________________________________________________________] 1.30% ? p/s68 / 3544 [->__________________________________________________________________________] 1.92% ? p/s91 / 3544 [->________________________________________________________________________] 2.57% 115 p/s114 / 3544 [-->______________________________________________________________________] 3.22% 115 p/s137 / 3544 [-->______________________________________________________________________] 3.87% 115 p/s160 / 3544 [--->_____________________________________________________________________] 4.51% 115 p/s183 / 3544 [--->_____________________________________________________________________] 5.16% 115 p/s206 / 3544 [---->____________________________________________________________________] 5.81% 115 p/s230 / 3544 [---->____________________________________________________________________] 6.49% 115 p/s253 / 3544 [----->___________________________________________________________________] 7.14% 115 p/s276 / 3544 [----->___________________________________________________________________] 7.79% 115 p/s299 / 3544 [------>__________________________________________________________________] 8.44% 115 p/s322 / 3544 [------>__________________________________________________________________] 9.09% 115 p/s345 / 3544 [------->_________________________________________________________________] 9.73% 115 p/s369 / 3544 [------->________________________________________________________________] 10.41% 115 p/s392 / 3544 [------->________________________________________________________________] 11.06% 115 p/s415 / 3544 [-------->_______________________________________________________________] 11.71% 115 p/s438 / 3544 [-------->_______________________________________________________________] 12.36% 115 p/s461 / 3544 [--------->______________________________________________________________] 13.01% 115 p/s485 / 3544 [--------->______________________________________________________________] 13.69% 115 p/s507 / 3544 [---------->_____________________________________________________________] 14.31% 115 p/s529 / 3544 [---------->_____________________________________________________________] 14.93% 115 p/s552 / 3544 [----------->____________________________________________________________] 15.58% 115 p/s575 / 3544 [----------->____________________________________________________________] 16.22% 115 p/s598 / 3544 [------------>___________________________________________________________] 16.87% 115 p/s621 / 3544 [------------>___________________________________________________________] 17.52% 115 p/s644 / 3544 [------------->__________________________________________________________] 18.17% 115 p/s667 / 3544 [------------->__________________________________________________________] 18.82% 115 p/s691 / 3544 [-------------->_________________________________________________________] 19.50% 115 p/s714 / 3544 [-------------->_________________________________________________________] 20.15% 115 p/s738 / 3544 [-------------->_________________________________________________________] 20.82% 115 p/s761 / 3544 [--------------->________________________________________________________] 21.47% 115 p/s784 / 3544 [--------------->________________________________________________________] 22.12% 115 p/s807 / 3544 [---------------->_______________________________________________________] 22.77% 115 p/s830 / 3544 [---------------->_______________________________________________________] 23.42% 115 p/s853 / 3544 [----------------->______________________________________________________] 24.07% 115 p/s876 / 3544 [----------------->______________________________________________________] 24.72% 115 p/s899 / 3544 [------------------>_____________________________________________________] 25.37% 115 p/s922 / 3544 [------------------>_____________________________________________________] 26.02% 115 p/s945 / 3544 [------------------->____________________________________________________] 26.66% 115 p/s968 / 3544 [------------------->____________________________________________________] 27.31% 115 p/s991 / 3544 [-------------------->___________________________________________________] 27.96% 115 p/s1014 / 3544 [-------------------->__________________________________________________] 28.61% 115 p/s1036 / 3544 [-------------------->__________________________________________________] 29.23% 115 p/s1059 / 3544 [--------------------->_________________________________________________] 29.88% 115 p/s1082 / 3544 [--------------------->_________________________________________________] 30.53% 115 p/s1105 / 3544 [---------------------->________________________________________________] 31.18% 115 p/s1128 / 3544 [---------------------->________________________________________________] 31.83% 115 p/s1151 / 3544 [----------------------->_______________________________________________] 32.48% 115 p/s1175 / 3544 [----------------------->_______________________________________________] 33.15% 115 p/s1198 / 3544 [------------------------>______________________________________________] 33.80% 115 p/s1220 / 3544 [------------------------>______________________________________________] 34.42% 115 p/s1244 / 3544 [------------------------>______________________________________________] 35.10% 115 p/s1267 / 3544 [------------------------->_____________________________________________] 35.75% 115 p/s1290 / 3544 [------------------------->_____________________________________________] 36.40% 115 p/s1313 / 3544 [-------------------------->____________________________________________] 37.05% 115 p/s1336 / 3544 [-------------------------->____________________________________________] 37.70% 115 p/s1360 / 3544 [--------------------------->___________________________________________] 38.37% 115 p/s1383 / 3544 [--------------------------->___________________________________________] 39.02% 115 p/s1407 / 3544 [---------------------------->__________________________________________] 39.70% 115 p/s1430 / 3544 [---------------------------->__________________________________________] 40.35% 115 p/s1453 / 3544 [----------------------------->_________________________________________] 41.00% 115 p/s1476 / 3544 [----------------------------->_________________________________________] 41.65% 115 p/s1500 / 3544 [------------------------------>________________________________________] 42.33% 115 p/s1523 / 3544 [------------------------------>________________________________________] 42.97% 115 p/s1547 / 3544 [------------------------------>________________________________________] 43.65% 116 p/s1570 / 3544 [------------------------------->_______________________________________] 44.30% 116 p/s1593 / 3544 [------------------------------->_______________________________________] 44.95% 116 p/s1617 / 3544 [-------------------------------->______________________________________] 45.63% 116 p/s1640 / 3544 [-------------------------------->______________________________________] 46.28% 116 p/s1663 / 3544 [--------------------------------->_____________________________________] 46.92% 116 p/s1686 / 3544 [--------------------------------->_____________________________________] 47.57% 116 p/s1709 / 3544 [---------------------------------->____________________________________] 48.22% 116 p/s1732 / 3544 [---------------------------------->____________________________________] 48.87% 116 p/s1755 / 3544 [----------------------------------->___________________________________] 49.52% 116 p/s1779 / 3544 [----------------------------------->___________________________________] 50.20% 116 p/s1802 / 3544 [------------------------------------>__________________________________] 50.85% 116 p/s1825 / 3544 [------------------------------------>__________________________________] 51.50% 116 p/s1849 / 3544 [------------------------------------->_________________________________] 52.17% 116 p/s1872 / 3544 [------------------------------------->_________________________________] 52.82% 116 p/s1895 / 3544 [------------------------------------->_________________________________] 53.47% 116 p/s1918 / 3544 [-------------------------------------->________________________________] 54.12% 116 p/s1941 / 3544 [-------------------------------------->________________________________] 54.77% 116 p/s1964 / 3544 [--------------------------------------->_______________________________] 55.42% 116 p/s1987 / 3544 [--------------------------------------->_______________________________] 56.07% 116 p/s2010 / 3544 [---------------------------------------->______________________________] 56.72% 116 p/s2033 / 3544 [---------------------------------------->______________________________] 57.36% 116 p/s2055 / 3544 [----------------------------------------->_____________________________] 57.99% 116 p/s2078 / 3544 [----------------------------------------->_____________________________] 58.63% 116 p/s2101 / 3544 [------------------------------------------>____________________________] 59.28% 115 p/s2124 / 3544 [------------------------------------------>____________________________] 59.93% 115 p/s2147 / 3544 [------------------------------------------->___________________________] 60.58% 115 p/s2170 / 3544 [------------------------------------------->___________________________] 61.23% 115 p/s2193 / 3544 [------------------------------------------->___________________________] 61.88% 115 p/s2216 / 3544 [-------------------------------------------->__________________________] 62.53% 115 p/s2239 / 3544 [-------------------------------------------->__________________________] 63.18% 115 p/s2262 / 3544 [--------------------------------------------->_________________________] 63.83% 115 p/s2284 / 3544 [--------------------------------------------->_________________________] 64.45% 115 p/s2307 / 3544 [---------------------------------------------->________________________] 65.10% 115 p/s2330 / 3544 [---------------------------------------------->________________________] 65.74% 115 p/s2353 / 3544 [----------------------------------------------->_______________________] 66.39% 115 p/s2376 / 3544 [----------------------------------------------->_______________________] 67.04% 115 p/s2399 / 3544 [------------------------------------------------>______________________] 67.69% 115 p/s2422 / 3544 [------------------------------------------------>______________________] 68.34% 115 p/s2445 / 3544 [------------------------------------------------>______________________] 68.99% 115 p/s2468 / 3544 [------------------------------------------------->_____________________] 69.64% 115 p/s2491 / 3544 [------------------------------------------------->_____________________] 70.29% 115 p/s2514 / 3544 [-------------------------------------------------->____________________] 70.94% 115 p/s2536 / 3544 [-------------------------------------------------->____________________] 71.56% 115 p/s2560 / 3544 [--------------------------------------------------->___________________] 72.23% 115 p/s2583 / 3544 [--------------------------------------------------->___________________] 72.88% 115 p/s2605 / 3544 [---------------------------------------------------->__________________] 73.50% 115 p/s2628 / 3544 [---------------------------------------------------->__________________] 74.15% 115 p/s2651 / 3544 [----------------------------------------------------->_________________] 74.80% 115 p/s2674 / 3544 [----------------------------------------------------->_________________] 75.45% 115 p/s2697 / 3544 [------------------------------------------------------>________________] 76.10% 115 p/s2719 / 3544 [------------------------------------------------------>________________] 76.72% 115 p/s2742 / 3544 [------------------------------------------------------>________________] 77.37% 115 p/s2765 / 3544 [------------------------------------------------------->_______________] 78.02% 115 p/s2788 / 3544 [------------------------------------------------------->_______________] 78.67% 115 p/s2810 / 3544 [-------------------------------------------------------->______________] 79.29% 115 p/s2833 / 3544 [-------------------------------------------------------->______________] 79.94% 115 p/s2852 / 3544 [--------------------------------------------------------->_____________] 80.47% 114 p/s2875 / 3544 [--------------------------------------------------------->_____________] 81.12% 114 p/s2897 / 3544 [---------------------------------------------------------->____________] 81.74% 114 p/s2920 / 3544 [---------------------------------------------------------->____________] 82.39% 114 p/s2942 / 3544 [---------------------------------------------------------->____________] 83.01% 114 p/s2965 / 3544 [----------------------------------------------------------->___________] 83.66% 114 p/s2988 / 3544 [----------------------------------------------------------->___________] 84.31% 114 p/s3011 / 3544 [------------------------------------------------------------>__________] 84.96% 114 p/s3034 / 3544 [------------------------------------------------------------>__________] 85.61% 114 p/s3057 / 3544 [------------------------------------------------------------->_________] 86.26% 114 p/s3079 / 3544 [------------------------------------------------------------->_________] 86.88% 114 p/s3102 / 3544 [-------------------------------------------------------------->________] 87.53% 114 p/s3125 / 3544 [-------------------------------------------------------------->________] 88.18% 114 p/s3147 / 3544 [--------------------------------------------------------------->_______] 88.80% 114 p/s3170 / 3544 [--------------------------------------------------------------->_______] 89.45% 114 p/s3193 / 3544 [--------------------------------------------------------------->_______] 90.10% 114 p/s3216 / 3544 [---------------------------------------------------------------->______] 90.74% 114 p/s3238 / 3544 [---------------------------------------------------------------->______] 91.37% 114 p/s3261 / 3544 [----------------------------------------------------------------->_____] 92.01% 114 p/s3284 / 3544 [----------------------------------------------------------------->_____] 92.66% 114 p/s3307 / 3544 [------------------------------------------------------------------>____] 93.31% 114 p/s3330 / 3544 [------------------------------------------------------------------>____] 93.96% 114 p/s3353 / 3544 [------------------------------------------------------------------->___] 94.61% 114 p/s3376 / 3544 [------------------------------------------------------------------->___] 95.26% 114 p/s3399 / 3544 [-------------------------------------------------------------------->__] 95.91% 114 p/s3422 / 3544 [-------------------------------------------------------------------->__] 96.56% 114 p/s3444 / 3544 [-------------------------------------------------------------------->__] 97.18% 114 p/s3468 / 3544 [--------------------------------------------------------------------->_] 97.86% 114 p/s3492 / 3544 [--------------------------------------------------------------------->_] 98.53% 114 p/s3515 / 3544 [---------------------------------------------------------------------->] 99.18% 114 p/s3538 / 3544 [---------------------------------------------------------------------->] 99.83% 114 p/s3544 / 3544 [----------------------------------------------------------------------] 100.00% 116 p/s2026-06-30T23:19:29 - INFO: Parsing 3544 sonar sweeps from /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/tfd/output/SONAR/all-sweeps-info.csv...

  0%|          | 0/3544 [00:00<?, ?it/s]
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2026-06-30T23:21:38 - WARNING: Expected 400 beams, got 110, dropping sweep 3543
2026-06-30T23:21:38 - 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-flip --sonar-distance-threshold 60 --sonar-sample-offset -1 /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2"
2026-06-30T23:21:39 - INFO: DataPrep 0.14.7
2026-06-30T23:21:39 - INFO: Prepared data will be output to /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2/processing/data
2026-06-30T23:21:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-30T23:21:39 - deployment - INFO: Detected P3D version: P3D_1
2026-06-30T23:21:39 - INFO: Recording GUID: 26c52e24-61c4-79bf-a1d6-40c4b973bed2
2026-06-30T23:21:39 - INFO: Preparing sonar data...
2026-06-30T23:21:39 - INFO: /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-30T23:21:43 - INFO: Sonar epoch is 2026-06-22 16:06:28.351378+00:00 (1782144388351377870)
2026-06-30T23:21:43 - INFO: Creating sonar sensor alignment track...
2026-06-30T23:21:43 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-06-30T23:21:43 - INFO: Sensor speed of sound is 1500 m/s
2026-06-30T23:21:43 - INFO: Sensor range is 0.939120 m
2026-06-30T23:21:43 - INFO: Sensor micrometres per sample is 3119.999982
2026-06-30T23:21:43 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-30T23:21:43 - INFO: Scaled range is 0.935669 m
2026-06-30T23:21:43 - INFO: Scaled micrometres per sample is 3108.536247
2026-06-30T23:21:43 - INFO: Processing 3543 sweeps...

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2026-06-30T23:21:55 - INFO: Prepared sonar data in 15.6035 s
2026-06-30T23:21:55 - INFO: No IMU data found
2026-06-30T23:21:56 - INFO: DataPrep took 0:00:16.116158
2026-06-30T23:21:56 - INFO: Extracted sonar data in 0:02:57.604962
2026-06-30T23:21:56 - INFO: MSIP3D took 0:02:57.984089