+ [ 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
2026-06-30T23:40:56 - INFO: MSIP3D 0.2.8
2026-06-30T23:40:56 - INFO: P3D files will be output to /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2
2026-06-30T23:40:56 - INFO: Found 10 TFD dictionary entries
2026-06-30T23:40:56 - INFO: Found TFD mission for Riverlink
2026-06-30T23:40:56 - INFO: Recording will be processed as MD
2026-06-30T23:40:56 - INFO: Copying assets JSON to output directory...
2026-06-30T23:40:56 - INFO: Preparing counter data...
2026-06-30T23:40:56 - INFO: Interpreting counter as metric
2026-06-30T23:40:56 - INFO: Preparing size track from assets JSON...
2026-06-30T23:40:56 - INFO: Preparing shape track from assets JSON...
2026-06-30T23:40:56 - INFO: Preparing material track from assets JSON...
2026-06-30T23:40:56 - INFO: Prepared counter data in 0.1030 s
2026-06-30T23:40:56 - 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: Checkpoint, Tag: 4857243675797774090
Name: LASER, Tag: 4855215978501720652
Name: SONAR_SENSOR_DATA, Tag: 6012079240663878227
Name: SONAR, Tag: 6012079240663880375
Name: Dictionary, Tag: 18446744073709551615
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: Index, Tag: 5291276999180902239
Getting track SONAR
Number of frames: 3544
23 / 3544 [>___________________________________________________________________________] 0.65% ? p/s39 / 3544 [>___________________________________________________________________________] 1.10% ? p/s62 / 3544 [->__________________________________________________________________________] 1.75% ? p/s85 / 3544 [->________________________________________________________________________] 2.40% 103 p/s108 / 3544 [-->______________________________________________________________________] 3.05% 103 p/s131 / 3544 [-->______________________________________________________________________] 3.70% 103 p/s154 / 3544 [--->_____________________________________________________________________] 4.35% 104 p/s178 / 3544 [--->_____________________________________________________________________] 5.02% 104 p/s201 / 3544 [---->____________________________________________________________________] 5.67% 104 p/s224 / 3544 [---->____________________________________________________________________] 6.32% 105 p/s248 / 3544 [----->___________________________________________________________________] 7.00% 105 p/s270 / 3544 [----->___________________________________________________________________] 7.62% 105 p/s294 / 3544 [------>__________________________________________________________________] 8.30% 106 p/s317 / 3544 [------>__________________________________________________________________] 8.94% 106 p/s340 / 3544 [------->_________________________________________________________________] 9.59% 106 p/s364 / 3544 [------->________________________________________________________________] 10.27% 106 p/s387 / 3544 [------->________________________________________________________________] 10.92% 106 p/s410 / 3544 [-------->_______________________________________________________________] 11.57% 106 p/s433 / 3544 [-------->_______________________________________________________________] 12.22% 107 p/s457 / 3544 [--------->______________________________________________________________] 12.90% 107 p/s479 / 3544 [--------->______________________________________________________________] 13.52% 107 p/s503 / 3544 [---------->_____________________________________________________________] 14.19% 108 p/s525 / 3544 [---------->_____________________________________________________________] 14.81% 108 p/s548 / 3544 [----------->____________________________________________________________] 15.46% 108 p/s572 / 3544 [----------->____________________________________________________________] 16.14% 108 p/s594 / 3544 [------------>___________________________________________________________] 16.76% 108 p/s617 / 3544 [------------>___________________________________________________________] 17.41% 108 p/s640 / 3544 [------------->__________________________________________________________] 18.06% 108 p/s659 / 3544 [------------->__________________________________________________________] 18.59% 108 p/s682 / 3544 [------------->__________________________________________________________] 19.24% 108 p/s705 / 3544 [-------------->_________________________________________________________] 19.89% 108 p/s728 / 3544 [-------------->_________________________________________________________] 20.54% 108 p/s751 / 3544 [--------------->________________________________________________________] 21.19% 108 p/s774 / 3544 [--------------->________________________________________________________] 21.84% 109 p/s797 / 3544 [---------------->_______________________________________________________] 22.49% 109 p/s820 / 3544 [---------------->_______________________________________________________] 23.14% 109 p/s844 / 3544 [----------------->______________________________________________________] 23.81% 109 p/s867 / 3544 [----------------->______________________________________________________] 24.46% 109 p/s890 / 3544 [------------------>_____________________________________________________] 25.11% 109 p/s913 / 3544 [------------------>_____________________________________________________] 25.76% 110 p/s936 / 3544 [------------------->____________________________________________________] 26.41% 110 p/s959 / 3544 [------------------->____________________________________________________] 27.06% 110 p/s982 / 3544 [------------------->____________________________________________________] 27.71% 110 p/s1006 / 3544 [-------------------->__________________________________________________] 28.39% 110 p/s1028 / 3544 [-------------------->__________________________________________________] 29.01% 110 p/s1050 / 3544 [--------------------->_________________________________________________] 29.63% 110 p/s1073 / 3544 [--------------------->_________________________________________________] 30.28% 110 p/s1096 / 3544 [--------------------->_________________________________________________] 30.93% 110 p/s1119 / 3544 [---------------------->________________________________________________] 31.57% 111 p/s1143 / 3544 [---------------------->________________________________________________] 32.25% 111 p/s1166 / 3544 [----------------------->_______________________________________________] 32.90% 111 p/s1189 / 3544 [----------------------->_______________________________________________] 33.55% 111 p/s1212 / 3544 [------------------------>______________________________________________] 34.20% 111 p/s1236 / 3544 [------------------------>______________________________________________] 34.88% 111 p/s1259 / 3544 [------------------------->_____________________________________________] 35.52% 111 p/s1282 / 3544 [------------------------->_____________________________________________] 36.17% 111 p/s1306 / 3544 [-------------------------->____________________________________________] 36.85% 111 p/s1329 / 3544 [-------------------------->____________________________________________] 37.50% 112 p/s1353 / 3544 [--------------------------->___________________________________________] 38.18% 112 p/s1376 / 3544 [--------------------------->___________________________________________] 38.83% 112 p/s1399 / 3544 [---------------------------->__________________________________________] 39.48% 112 p/s1422 / 3544 [---------------------------->__________________________________________] 40.12% 112 p/s1445 / 3544 [---------------------------->__________________________________________] 40.77% 112 p/s1468 / 3544 [----------------------------->_________________________________________] 41.42% 112 p/s1492 / 3544 [----------------------------->_________________________________________] 42.10% 112 p/s1515 / 3544 [------------------------------>________________________________________] 42.75% 112 p/s1538 / 3544 [------------------------------>________________________________________] 43.40% 112 p/s1562 / 3544 [------------------------------->_______________________________________] 44.07% 112 p/s1585 / 3544 [------------------------------->_______________________________________] 44.72% 112 p/s1608 / 3544 [-------------------------------->______________________________________] 45.37% 113 p/s1631 / 3544 [-------------------------------->______________________________________] 46.02% 113 p/s1655 / 3544 [--------------------------------->_____________________________________] 46.70% 113 p/s1678 / 3544 [--------------------------------->_____________________________________] 47.35% 113 p/s1701 / 3544 [---------------------------------->____________________________________] 48.00% 113 p/s1725 / 3544 [---------------------------------->____________________________________] 48.67% 113 p/s1748 / 3544 [----------------------------------->___________________________________] 49.32% 113 p/s1771 / 3544 [----------------------------------->___________________________________] 49.97% 113 p/s1794 / 3544 [----------------------------------->___________________________________] 50.62% 113 p/s1818 / 3544 [------------------------------------>__________________________________] 51.30% 113 p/s1841 / 3544 [------------------------------------>__________________________________] 51.95% 113 p/s1864 / 3544 [------------------------------------->_________________________________] 52.60% 113 p/s1887 / 3544 [------------------------------------->_________________________________] 53.24% 114 p/s1910 / 3544 [-------------------------------------->________________________________] 53.89% 114 p/s1933 / 3544 [-------------------------------------->________________________________] 54.54% 114 p/s1956 / 3544 [--------------------------------------->_______________________________] 55.19% 114 p/s1979 / 3544 [--------------------------------------->_______________________________] 55.84% 114 p/s2002 / 3544 [---------------------------------------->______________________________] 56.49% 114 p/s2024 / 3544 [---------------------------------------->______________________________] 57.11% 114 p/s2047 / 3544 [----------------------------------------->_____________________________] 57.76% 114 p/s2070 / 3544 [----------------------------------------->_____________________________] 58.41% 114 p/s2093 / 3544 [----------------------------------------->_____________________________] 59.06% 114 p/s2116 / 3544 [------------------------------------------>____________________________] 59.71% 114 p/s2139 / 3544 [------------------------------------------>____________________________] 60.36% 114 p/s2163 / 3544 [------------------------------------------->___________________________] 61.03% 114 p/s2186 / 3544 [------------------------------------------->___________________________] 61.68% 114 p/s2209 / 3544 [-------------------------------------------->__________________________] 62.33% 114 p/s2232 / 3544 [-------------------------------------------->__________________________] 62.98% 114 p/s2255 / 3544 [--------------------------------------------->_________________________] 63.63% 114 p/s2278 / 3544 [--------------------------------------------->_________________________] 64.28% 114 p/s2301 / 3544 [---------------------------------------------->________________________] 64.93% 114 p/s2324 / 3544 [---------------------------------------------->________________________] 65.58% 114 p/s2347 / 3544 [----------------------------------------------->_______________________] 66.22% 114 p/s2370 / 3544 [----------------------------------------------->_______________________] 66.87% 114 p/s2393 / 3544 [----------------------------------------------->_______________________] 67.52% 114 p/s2416 / 3544 [------------------------------------------------>______________________] 68.17% 114 p/s2439 / 3544 [------------------------------------------------>______________________] 68.82% 114 p/s2462 / 3544 [------------------------------------------------->_____________________] 69.47% 114 p/s2485 / 3544 [------------------------------------------------->_____________________] 70.12% 114 p/s2508 / 3544 [-------------------------------------------------->____________________] 70.77% 114 p/s2531 / 3544 [-------------------------------------------------->____________________] 71.42% 114 p/s2554 / 3544 [--------------------------------------------------->___________________] 72.07% 114 p/s2577 / 3544 [--------------------------------------------------->___________________] 72.71% 114 p/s2600 / 3544 [---------------------------------------------------->__________________] 73.36% 114 p/s2623 / 3544 [---------------------------------------------------->__________________] 74.01% 114 p/s2646 / 3544 [----------------------------------------------------->_________________] 74.66% 114 p/s2669 / 3544 [----------------------------------------------------->_________________] 75.31% 114 p/s2692 / 3544 [----------------------------------------------------->_________________] 75.96% 114 p/s2715 / 3544 [------------------------------------------------------>________________] 76.61% 114 p/s2738 / 3544 [------------------------------------------------------>________________] 77.26% 114 p/s2761 / 3544 [------------------------------------------------------->_______________] 77.91% 114 p/s2784 / 3544 [------------------------------------------------------->_______________] 78.56% 114 p/s2807 / 3544 [-------------------------------------------------------->______________] 79.20% 114 p/s2830 / 3544 [-------------------------------------------------------->______________] 79.85% 114 p/s2853 / 3544 [--------------------------------------------------------->_____________] 80.50% 114 p/s2877 / 3544 [--------------------------------------------------------->_____________] 81.18% 114 p/s2900 / 3544 [---------------------------------------------------------->____________] 81.83% 114 p/s2922 / 3544 [---------------------------------------------------------->____________] 82.45% 114 p/s2945 / 3544 [---------------------------------------------------------->____________] 83.10% 114 p/s2968 / 3544 [----------------------------------------------------------->___________] 83.75% 114 p/s2991 / 3544 [----------------------------------------------------------->___________] 84.40% 115 p/s3014 / 3544 [------------------------------------------------------------>__________] 85.05% 115 p/s3037 / 3544 [------------------------------------------------------------>__________] 85.69% 115 p/s3060 / 3544 [------------------------------------------------------------->_________] 86.34% 115 p/s3083 / 3544 [------------------------------------------------------------->_________] 86.99% 115 p/s3106 / 3544 [-------------------------------------------------------------->________] 87.64% 115 p/s3129 / 3544 [-------------------------------------------------------------->________] 88.29% 115 p/s3152 / 3544 [--------------------------------------------------------------->_______] 88.94% 115 p/s3175 / 3544 [--------------------------------------------------------------->_______] 89.59% 115 p/s3198 / 3544 [---------------------------------------------------------------->______] 90.24% 115 p/s3221 / 3544 [---------------------------------------------------------------->______] 90.89% 115 p/s3244 / 3544 [---------------------------------------------------------------->______] 91.53% 115 p/s3267 / 3544 [----------------------------------------------------------------->_____] 92.18% 115 p/s3290 / 3544 [----------------------------------------------------------------->_____] 92.83% 115 p/s3313 / 3544 [------------------------------------------------------------------>____] 93.48% 115 p/s3336 / 3544 [------------------------------------------------------------------>____] 94.13% 115 p/s3359 / 3544 [------------------------------------------------------------------->___] 94.78% 115 p/s3381 / 3544 [------------------------------------------------------------------->___] 95.40% 115 p/s3404 / 3544 [-------------------------------------------------------------------->__] 96.05% 115 p/s3427 / 3544 [-------------------------------------------------------------------->__] 96.70% 115 p/s3451 / 3544 [--------------------------------------------------------------------->_] 97.38% 115 p/s3474 / 3544 [--------------------------------------------------------------------->_] 98.02% 115 p/s3497 / 3544 [---------------------------------------------------------------------->] 98.67% 115 p/s3521 / 3544 [---------------------------------------------------------------------->] 99.35% 115 p/s3544 / 3544 [----------------------------------------------------------------------] 100.00% 116 p/s2026-06-30T23:41:27 - 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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2026-06-30T23:43:37 - WARNING: Expected 400 beams, got 110, dropping sweep 3543
2026-06-30T23:43:37 - 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"
2026-06-30T23:43:38 - INFO: DataPrep 0.14.7
2026-06-30T23:43:38 - INFO: Prepared data will be output to /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2/processing/data
2026-06-30T23:43:38 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-06-30T23:43:38 - deployment - INFO: Detected P3D version: P3D_1
2026-06-30T23:43:38 - INFO: Recording GUID: 26c52e24-61c4-79bf-a1d6-40c4b973bed2
2026-06-30T23:43:38 - INFO: Preparing sonar data...
2026-06-30T23:43:38 - INFO: /working/26c52e24-61c4-79bf-a1d6-40c4b973bed2/26c52e24-61c4-79bf-a1d6-40c4b973bed2/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-06-30T23:43:41 - INFO: Sonar epoch is 2026-06-22 16:06:28.351378+00:00 (1782144388351377870)
2026-06-30T23:43:41 - INFO: Creating sonar sensor alignment track...
2026-06-30T23:43:41 - INFO: Using sonar rotation of 0.104720 radians for wedge mask
2026-06-30T23:43:41 - INFO: Sensor speed of sound is 1500 m/s
2026-06-30T23:43:41 - INFO: Sensor range is 0.939120 m
2026-06-30T23:43:41 - INFO: Sensor micrometres per sample is 3119.999982
2026-06-30T23:43:41 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-06-30T23:43:41 - INFO: Scaled range is 0.935669 m
2026-06-30T23:43:41 - INFO: Scaled micrometres per sample is 3108.536247
2026-06-30T23:43:41 - INFO: Processing 3543 sweeps...

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2026-06-30T23:43:54 - INFO: Prepared sonar data in 15.7106 s
2026-06-30T23:43:54 - INFO: No IMU data found
2026-06-30T23:43:54 - INFO: DataPrep took 0:00:16.230872
2026-06-30T23:43:54 - INFO: Extracted sonar data in 0:02:57.991545
2026-06-30T23:43:55 - INFO: MSIP3D took 0:02:58.420921