+ [ 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/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-16T03:20:35 - INFO: MSIP3D 0.2.8
2026-07-16T03:20:35 - INFO: P3D files will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-16T03:20:35 - INFO: Found 10 TFD dictionary entries
2026-07-16T03:20:35 - INFO: Found TFD mission for 1654SS
2026-07-16T03:20:35 - INFO: Recording will be processed as MD
2026-07-16T03:20:35 - INFO: Copying assets JSON to output directory...
2026-07-16T03:20:35 - INFO: Preparing counter data...
2026-07-16T03:20:35 - INFO: Interpreting counter as imperial
2026-07-16T03:20:35 - INFO: Preparing size track from assets JSON...
2026-07-16T03:20:35 - INFO: Preparing shape track from assets JSON...
2026-07-16T03:20:35 - INFO: Preparing material track from assets JSON...
2026-07-16T03:20:35 - INFO: Prepared counter data in 0.0476 s
2026-07-16T03:20:35 - INFO: Extracting sonar data...
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/1654SS.tfd
TFD path: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215965616818764
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Name: CCTV, Tag: 4855215965616818755
Name: SONAR, Tag: 6012080331585573559
Name: MISSION_FILE, Tag: 5073671569755687501
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Getting track SONAR
Number of frames: 1384
22 / 1384 [->__________________________________________________________________________] 1.59% ? p/s44 / 1384 [-->_________________________________________________________________________] 3.18% ? p/s66 / 1384 [--->________________________________________________________________________] 4.77% ? p/s88 / 1384 [---->_____________________________________________________________________] 6.36% 110 p/s110 / 1384 [----->___________________________________________________________________] 7.95% 110 p/s131 / 1384 [------>__________________________________________________________________] 9.47% 110 p/s154 / 1384 [-------->_______________________________________________________________] 11.13% 110 p/s177 / 1384 [--------->______________________________________________________________] 12.79% 110 p/s200 / 1384 [---------->_____________________________________________________________] 14.45% 110 p/s222 / 1384 [----------->____________________________________________________________] 16.04% 110 p/s245 / 1384 [------------>___________________________________________________________] 17.70% 110 p/s266 / 1384 [------------->__________________________________________________________] 19.22% 110 p/s289 / 1384 [--------------->________________________________________________________] 20.88% 110 p/s311 / 1384 [---------------->_______________________________________________________] 22.47% 110 p/s333 / 1384 [----------------->______________________________________________________] 24.06% 110 p/s356 / 1384 [------------------>_____________________________________________________] 25.72% 110 p/s378 / 1384 [------------------->____________________________________________________] 27.31% 110 p/s400 / 1384 [-------------------->___________________________________________________] 28.90% 110 p/s423 / 1384 [---------------------->_________________________________________________] 30.56% 110 p/s445 / 1384 [----------------------->________________________________________________] 32.15% 110 p/s467 / 1384 [------------------------>_______________________________________________] 33.74% 110 p/s490 / 1384 [------------------------->______________________________________________] 35.40% 111 p/s511 / 1384 [-------------------------->_____________________________________________] 36.92% 111 p/s533 / 1384 [--------------------------->____________________________________________] 38.51% 111 p/s555 / 1384 [---------------------------->___________________________________________] 40.10% 110 p/s578 / 1384 [------------------------------>_________________________________________] 41.76% 110 p/s600 / 1384 [------------------------------->________________________________________] 43.35% 110 p/s622 / 1384 [-------------------------------->_______________________________________] 44.94% 110 p/s645 / 1384 [--------------------------------->______________________________________] 46.60% 110 p/s667 / 1384 [---------------------------------->_____________________________________] 48.19% 110 p/s689 / 1384 [----------------------------------->____________________________________] 49.78% 111 p/s711 / 1384 [------------------------------------>___________________________________] 51.37% 111 p/s733 / 1384 [-------------------------------------->_________________________________] 52.96% 111 p/s756 / 1384 [--------------------------------------->________________________________] 54.62% 111 p/s778 / 1384 [---------------------------------------->_______________________________] 56.21% 111 p/s801 / 1384 [----------------------------------------->______________________________] 57.88% 111 p/s823 / 1384 [------------------------------------------>_____________________________] 59.47% 111 p/s846 / 1384 [-------------------------------------------->___________________________] 61.13% 111 p/s868 / 1384 [--------------------------------------------->__________________________] 62.72% 111 p/s890 / 1384 [---------------------------------------------->_________________________] 64.31% 111 p/s913 / 1384 [----------------------------------------------->________________________] 65.97% 111 p/s935 / 1384 [------------------------------------------------>_______________________] 67.56% 111 p/s958 / 1384 [------------------------------------------------->______________________] 69.22% 111 p/s980 / 1384 [-------------------------------------------------->_____________________] 70.81% 111 p/s1002 / 1384 [--------------------------------------------------->___________________] 72.40% 111 p/s1024 / 1384 [---------------------------------------------------->__________________] 73.99% 111 p/s1047 / 1384 [----------------------------------------------------->_________________] 75.65% 111 p/s1065 / 1384 [------------------------------------------------------>________________] 76.95% 111 p/s1087 / 1384 [------------------------------------------------------->_______________] 78.54% 110 p/s1110 / 1384 [-------------------------------------------------------->______________] 80.20% 110 p/s1132 / 1384 [---------------------------------------------------------->____________] 81.79% 110 p/s1155 / 1384 [----------------------------------------------------------->___________] 83.45% 111 p/s1177 / 1384 [------------------------------------------------------------>__________] 85.04% 111 p/s1200 / 1384 [------------------------------------------------------------->_________] 86.71% 111 p/s1223 / 1384 [-------------------------------------------------------------->________] 88.37% 111 p/s1245 / 1384 [--------------------------------------------------------------->_______] 89.96% 111 p/s1268 / 1384 [----------------------------------------------------------------->_____] 91.62% 111 p/s1291 / 1384 [------------------------------------------------------------------>____] 93.28% 111 p/s1313 / 1384 [------------------------------------------------------------------->___] 94.87% 111 p/s1336 / 1384 [-------------------------------------------------------------------->__] 96.53% 111 p/s1359 / 1384 [--------------------------------------------------------------------->_] 98.19% 111 p/s1381 / 1384 [---------------------------------------------------------------------->] 99.78% 111 p/s1384 / 1384 [----------------------------------------------------------------------] 100.00% 113 p/s2026-07-16T03:20:48 - INFO: Parsing 1384 sonar sweeps from /working/b9731b14-c505-8a4f-221c-d617decd4ce0/tfd/output/SONAR/all-sweeps-info.csv...

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2026-07-16T03:21:38 - 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/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0"
2026-07-16T03:21:39 - INFO: DataPrep 0.14.7
2026-07-16T03:21:39 - INFO: Prepared data will be output to /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/processing/data
2026-07-16T03:21:39 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-07-16T03:21:39 - deployment - INFO: Detected P3D version: P3D_1
2026-07-16T03:21:39 - INFO: Recording GUID: b9731b14-c505-8a4f-221c-d617decd4ce0
2026-07-16T03:21:39 - INFO: Preparing sonar data...
2026-07-16T03:21:39 - INFO: /working/b9731b14-c505-8a4f-221c-d617decd4ce0/b9731b14-c505-8a4f-221c-d617decd4ce0/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-07-16T03:21:41 - INFO: Sonar epoch is 2026-03-10 14:34:59.788422+00:00 (1773153299788422280)
2026-07-16T03:21:41 - INFO: Creating sonar sensor alignment track...
2026-07-16T03:21:41 - INFO: Using sonar rotation of 0.279253 radians for wedge mask
2026-07-16T03:21:41 - INFO: Sensor speed of sound is 1500 m/s
2026-07-16T03:21:41 - INFO: Sensor range is 0.722400 m
2026-07-16T03:21:41 - INFO: Sensor micrometres per sample is 2400.000032
2026-07-16T03:21:41 - INFO: Scaled speed of sound is 1494.488589 m/s
2026-07-16T03:21:41 - INFO: Scaled range is 0.719746 m
2026-07-16T03:21:41 - INFO: Scaled micrometres per sample is 2391.181774
2026-07-16T03:21:41 - INFO: Processing 1384 sweeps...

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2026-07-16T03:21:44 - INFO: Prepared sonar data in 4.7263 s
2026-07-16T03:21:44 - INFO: No IMU data found
2026-07-16T03:21:44 - INFO: DataPrep took 0:00:04.877661
2026-07-16T03:21:44 - INFO: Extracted sonar data in 0:01:09.252882
2026-07-16T03:21:45 - INFO: MSIP3D took 0:01:09.415900